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UM-RCS6-E0501

RCS-6000 Series
USER'S MANUAL

NewRO
AC 1-AXIS CONTROLLER

SAFETY INSTRUCTIONS
Before installing, running, repairing and examining our product, read all of the contents of this
manual and attached documents carefully. Please use controller after reading carefully
about the safety information of machinery and tools.

SAFETY SYMBOLS
This manual uses safety symbols as follow. As the safety symbols contain very important
matters, you must keep these in mind as you read through this manual.

If mishandled, you may suffer sever, or even fatal injury.

If mishandled, you may suffer serious or light injury. Keep in


mind that you may also suffer sever injury.

This mark is a notice of prohibition.


For example, strict prohibition of fire use is marked as

This mark is a notice of compulsive particular.


For example, mark of compulsive earth is
.

After reading, keep this manual somewhere easy to find for reference in the near future.

This manual contains other reasonable notices marked as follows, which need to be read carefully.

NOTE

or

Reference

FOR SAFE USE


For prevention of electric shock

z The wiring work and the check should be done after more than 3 minutes since the power was off
and after POWER LED was off.
z The controller and motor should be set up more than the third class grounding.
z A well-trained engineer should inspect the wiring work and the check only.
z Prevent cable from damaging, loading heavy things, and folding.

For prevention of fire

z In case of trouble, disconnect the controller power. It causes a fire if the charged current
flows continually.
z Install controller, resurrection resistor and servomotor at noninflammability things. If install
at or near inflammability things, it may causes fire.

For prevention of injury

z Do not input any voltage to each terminal except the voltage referred to the operating
manual. It causes an explosion, breakage, etc.
z Connect the terminal correctly. It causes an explosion, breakage, etc.
z Polarize correctly (R.S.T, U.V.W). It causes an explosion, breakage, etc.
z For a moment do not touch the resurrection resistor, heat radiation plate, servomotor, etc.,
while current flow or even power was off. It causes a burn.

Several Cautions
Caution about Installation

z
z
z
z
z
z

Keep the right using method of controller and servomotor combination. Else it causes fire
or trouble.
Do not use product in water sputtering or near inflammable gas area. It causes electric
shock or fire.
Keep standard distance between controller and additional machinery and tools.
Prevent insertion to controllers inside of any conductive material or oil.
Do not inflict considerable impact on controller or neither drop.
Fix the controller on weight supportable place and servomotor on machine firmly.

Caution about Wiring

z A ground terminal ( ) must be set up at third class grounding or higher. It causes electric shock
or fire.
z Do not touch any switch with wet hand. It causes electric shock.
z Implement wiring after fixing controller and servomotor.

z Correct the wiring polarity. It causes the shock-turn of motors.


z Do not connect three-phase power source to U, V, W terminals of controllers output
directly. It causes injury or fire.
z Fasten power source and output terminals with bolts firmly. It causes breakage or fire.

Caution about Running

z
z
z
z
z

Do not remodel product.


Check each parameter before running. As machines may operate unexpected action.
Do not change parameter extremely. It causes unstable motion.
Do not touch motors body of rotation while running. It causes injury.
Run with only servomotor (no connection between motor and machine) while test running
to avoid unexpected accident.
z Hold the emergency stop enabling state always when start running.
z Do not touch heat radiation plate while controller is running neither power was off
for a moment.

Caution about Maintenance and Repair

z
z
z
z
z

Do not disjoint product.


Do not touch inside of controller. It causes electric shock.
Do not change wiring while current flow.
Cover the terminal block with panel certainly while current flow.
Do not touch after more than 3 minutes since the power was off.

Contents

Safety Instruction
For Safe Use
Chapter 1

Product Overview

1.1 Summary

1-1

1.2 Product Composition

1-2

1.3 Configuration ( RCS-6000 Series )

1-3

1.4 Teach Pendant : RCS-7000T

1-10

1.5 I/O Terminal Block & Cable

1-14

1.6 I/O Connector

1-14

1.7 Back-up Battery Unit ( only for Absolute Encoder )

1-14

1.8 MPG Unit

1-14

1.9 PC Interface Program

1-15

1.10 Noise Filter

1-15

1.11 Cable

1-15

1.12 Brake Unit

1-20

Chapter 2

Installation and Connection

2.1 Placing and fixing Controller

2-2

2.2 Connecting Cables

2-3

2.2.1 Connection on Front Panel

Chapter 3

2-5

Parameter Setup

3.1 Opening Parameter Display

3-1

3.2 Parameter Setup

3-2

3.2.1 Parameter for SERVO

3-2

3.2.2 Parameter for MECH

3-10

3.2.3 Parameter for OPER

3-13

3.2.4 Parameter for I/O

3-26

C-1

Contents

Chapter 4

I/O Instructions

4.1 I/O Contact Status Verification & Test Method

Chapter 5

4-1

JOG operation & Origin

5.1 JOG Operation

5-1

5.2 IJOG (Inching Jog) Movement

5-2

5.3 In JOG Mode, trouble shooting when problem occur

5-3

5-4. Check the limit sensor of axis after moving the Robot to JOG

5-6

5-5. Operate Origin when there is no problem in Robot to move with JOG.

5-7

Chapter 6

Editing New Program

6.1 Edit and input new program

6-1

6.1.1 Edit program

Chapter 7

6-3

Point Teaching

7.1 How to teach MDI(Manual Direct value Input)

7-1

7.2 Teaching by JOG movement

7-2

7.3 Teaching by IJOG movement

7-4

Chapter 8

Robot Commands

8.1 Movement Condition Commands

8-1

8.2 Movement Commands

8-6

8.3 Variable Treatment Commands

8-12

8.4 I/O Treatment Commands

8-13

8.5 Program Control Commands

8-14

Chapter 9

PLC Commands

C-2

Contents

Chapter 10

Programming Example

10.1 Step (Incremental) Movement

10-1

10.2 Movement using I/O Port

10-3

10.3 Unlimited Constant Speed Movement

10-4

10.4 Movement by Pulse Input

10-5

10.5 Turret Movement

10-6

10.6 The plural operation program

10-7

10.7 SImple Pick & Place Systems with Palletizing Function

10-8

Chapter 11

Program RUN using T/P

11.1 Program Excution

11-1

11.1.1 Selection of Robot Program

11-1

11.1.2 Program Excution ( Step RUN -> AUTO RUN )

11-2

11.1.3 Restart from stopped step

11-4

11.2 PLC Program Selection

11-5

11.2.1 Select PLC Program

11-5

11.2.2 PLC program excution

11-6

Chapter 12

Program RUN using I/O

12.1 Contact point for JOG operation

12-1

12.1.1 Movement timing chart during JOG operation


12.2 Origin operation using external I/O contact point

12-2
12-3

12.2.1 Contact point during Origin operation

12-3

12.2.2 The Movement Timing Chart during Origin operation

12-3

12.3 Robot Program Operation using external Contact point

12-4

12.3.1 Contact point during Robot Program operation

12-4

12.3.2 The Movement Timing Chart during Program Operation

12-4

C-3

Contents

Appendix 1 . Trouble and Measures

Appendix 2. The Operation by Multipoint Communication

Appendix 3. Cautions on Installing Servo Motor

Appendix 4. The Structure of T/P Manu Tree

13. Warranty

14. Revision Record

C-4

Chap.1 Product Overview

Chapter 1 Product Overview

1-1. Summary

The single controller can construct the control system independently without other peripheral equipment
because it is united with the single axis controller, AC servo drive and PLC function.
Besides the single operation function, the single controller can also operate the synchronous operation,
the unlimited rotation operation, the determined position operation by external contact point , and the
MPG operation functions as well.
Embedded PLC has contact point arithmetic, counter, and timer functions, enabling it to process
several switch signals and sensors installed within the system.
This product is easily programmable due to the various program methods, and can respond to many
kinds
of AC servomotors according to digital control.
This product is able to keep accurate control because the extent of position control is a 1 pulse of the
encoder pulse.
This product is able to operate remotely through serial communication and up/down-loads of inputted
programs and parameters. Also each serial bus can connect to up to 32 controllers.
Our product is able to search the starting point without any origin sensors (CW, CCW, ORG sensor).
(When attached to rectangular machinery)
Basic user I/O functions are user selectable through the contact point terminal.
Available for single and three-phase power source.
This product can be used for linear movements, rotations, conveyor systems, turret machines, and roll
feeders.

1-1

Chap.1 Product Overview

1-2. Product Composition

Ref 1.1 Composition Table


Item

Product

Controller

RCS-6001~6045 (9 Models)

Teach Pendant

RCS-7000T

Main

Option

I/O Terminal Block

I/O Connector

PC Interface Program

Unihost

Serial Connector

RS 232C

Noise Filter

For Utiliy Power

Flexible Cable for Cartesian

Inflexible Cable for Cartesian

Cable
Regenerative resistor

6001,6002(X),6030,6045(2),Others(1)

Manual

Single Axis User's Manual

Unihost User's Manual

Basic Product Composition included in Controller BOX


- AC 1 Axis Controller (1)
- User's Manual (1)
- Unihost User's Manual (1)
- Regenerative Risistor (1ea / 6001, 6002 - None, 6030, 6045 - 2ea)

1-2

Remark

Chap.1 Product Overview

1-3. Configuration (RCS-6000 Series)

1-3-1. External Shape and Dimension

Small Capacity Size (RCS-6001 ~ 6004)

1-3

Chap.1 Product Overview

Middle Capacity Size (RCS-6005 ~ 6010)


In case of CE Controller, this size covers RCS-6001 to RCS-6010.

1-4

Chap.1 Product Overview

Large Capacity Size (RCS-6015 ~ 6045)

R O BO STAR
RCS-6000

1-5

Chap.1 Product Overview

1-3-2. Model Designation & Sticker Contents

Composition of Model Designation

RCS - 6001P
Description
RC : Robot Controller
S : Single (1 axis)
60 : 6000 Series
01 : Capacity (9 models)
01 (100W), 02 (200W), 04 (400W), 05 (500W)
10 (1KW), 15 (1.5KW), 20 (2KW), 30 (3KW), 45 (4.5KW)

Sticker Contents (attached on case of controller)

NewRo

AC ROBOT

Model : 1 AXIS CONTROLLER

Model

TYPE : RCS-6002

Model

SOURCE : AC 220~230V, 50/60 Hz

Input Power

OUTPUT CURRENT : 2.1A

Output Rated Current

SER No. : 9907 001

Robostar Co., Ltd.

Production Date & Order No.

Korean Design

1-6

Chap.1 Product Overview

1-3-3. Adopted Motor per Controller Capacity

Table for Adopted Motor per Controller Capacity

Size

Small

Middle

Large

Adopted Motor (LG Servo Motor)

Model

CN Series

LF Sries

TF Series

KF Series

RCS-6001

50W/100W

RCS-6002

200W

RCS-6004

300/400/500W

RCS-6005

400(N80)/600W

300W

450W

RCS-6010

800/1KW

600/900W

850W

750/1KW

RCS-6015

1.2KW

1.3KW

1.5KW

RCS-6020

2KW

1.8KW

2.2KW

RCS-6030

3KW

2.9KW

3.5KW

RCS-6045

4.4KW

5KW

Weight per Product Model


Weight

6001, 6002

6004

6005

6010

6015

6020

6030

6045

Net (kg)

1.2

1.5

2.2

2.2

4.15

4.25

4.25

4.3

Gross (kg)

1.4

1.7

2.52

2.52

4.55

4.75

4.75

4.8

Note) Net Weight : Controller Itself


Gross Weight : Controller + Package

1-7

Chap.1 Product Overview

1-3-4. System Specification

RCS-6000 Series
RCS-

Model
Item

6001/02

Input Voltage

6004

6005

6015

6020

6030

6045

1 AC220V
+10%~15%

Utility
Power

6010

3 Phase AC220V, +10%~15%, 50 / 60Hz

50 / 60Hz

Watt (KVA)
Regenerative Resistor

0.8

0.9

50
/500W

Cooling Method

1.1

2.1

3.1

50 /140W

4.1

6.0

25 220W (6030,6045 - 2 parallel)

Natural Air Cooling

Air Blowing (FAN)

Control Type

3 phase sine wave modulated PWM

Programming

Teach Pendant or PC (Above windows 95)

Encoder type

Incremental Encoder (15 signal, 9 signal), Absolute Encoder

Max. MPG frequency


Program size

8.0

300 (kpps)
1000 [step/program] (ROBOT, PLC program)

Circumstances of use
The conditions of use are as follows. If you consider using the product in an environment
that differs from the conditions below, contact the Customer Support Department
Environment

Condition

Temperature

0 ~ +45 (No freeze)

Humidity

Below 85% RH (No dew)

Preservative Temp.

-15 ~ +65(No freeze)

Preservative Humidity

Below 90% RH (No dew)

Room Condition

No dust or corrosive Gas

Vibration

0.6G

I/O Specification of the contact point


Item

Input Contact Point

Output Contact Point

Applying Voltage

DC24V

DC24V

Driving Current

5~10 mA

Max. 80 mA

1-8

Chap.1 Product Overview

1-3-5. Encoder information

Encoder : Line Driver (9 signal, 10 signal, 15 signal), Absolute type.


Encoder type

Pos. Order

UVW Order

Voltage

Line Driver 15 Signal

AB

UVW

5V

Line Driver 9 Signal

AB

UVW

5V

Absolute

AB

UVW

5V

Note) As it above, the motor rotation direction is CCW in view of motor shaft
10 signal (position, UVW phase: B A/WVU) has reverse order of 9 signal's position
& UVW.

1-3-6. Pulse Generator (MPG)

It is to drive Motor using MPG


MPG Output Voltage

Output Sequence (standard)

Rotating Direction of Motor

5V

AB

Configuring in Program

Input Pulse Line

Setting
Value

CW

CCW

A Phase

Remark

A Phase : Lead

B Phase : Lag
B Phase

A Phase

A Phase : CW

B Phase : CCW
B Phase

A Phase

A Phase : Pulse

B Phase :

B Phase

1-9

Direction

Chap.1 Product Overview

1-4. Teach Pendant : RCS-7000T

Outlook & Dimension

Controller Pin Wiring Information


Signal

15 Pin Connector

+12V

TxD

RxD

-12V

GND

EMG

Shield wire is connected to connector conductive part

Ordering T/P by different length of cable


Model

RCS-7000T

Cable Length

Order Number

5m

RCS-7000T

10 m

RCS-7000T-10

15 m

RCS-7000T-15

1-10

Chap.1 Product Overview

1-5. I/O Terminal Block & Cable (Non-CE type)

I/O Terminal Block Outlook & Dimension


When using the I/O Terminal Block, I/O Terminal Cable is needed.

Description of Contact Point


- E+24V, EG24 Port : External Power Port
- +24V, G24
: Controller Internal Power Connection
- Each Port of Terminal Block is matched to the signal of User I/O.

DO NOT CONNECT E+24V, EG24 AND +24V, G24 PORT AT A TIME.


IF SO, CONTROLLER CAN BE DAMMAGED.

1-11

Chap.1 Product Overview

1-5-1. I/O Terminal Block & Cable (CE type)

I/O Terminal Board Outlook (CE Type)


When using the I/O Terminal Block, I/O Terminal Cable is needed.

Description of Contact Point


- Only 24V external power is available
- +24V can be connected to PCOM1, PCOM2
- G24V(Ground of +24V) can be connected to NCOM1, NCOM2, NCOM3
- Each Port of Terminal Block is matched to the signal of User I/O.

1-12

Chap.1 Product Overview

10

106

I/O Terminal Block Bracket Dimension (CE type)

8.20

142.40

5
151.60

10

10
10.20

171.60

I/O Terminal Cable Outlook (Non-CE type)

HIF3BA-64D-2.54R(HIROSE)
CONNECTOR : 10150-3000VE(3M)
HOOD : 10350-52F0-006(3M)

1-13

Chap.1 Product Overview

I/O Terminal Cable Outlook (CE type)

HIF3BA-50D-2.54R(HIROSE)
CONNECTOR : 10150-3000VE(3M)
HOOD : 10350-3210-006(3M)

1-6. I/O Connector


Input/Output Connector connected to Controller
- Model No. : 10150-3000VE(3M)
- Connector Case : 10350-52F0-008(3M)

1-7. Back-up Battry Unit (only for Absolute Encoder)


It is to save data of Absolute Encoder.
- Composition part :
Battery Holder : 1 ea (to fix on PCB)
Battery Cover : 1 ea
3.6V Lithium Battery : 1 ea

1-8. MPG Unit


It is the manual pulse generator sending pulse to controller.
- TYPE : LGF-003-100 (SUMTAK)

1-14

Chap.1 Product Overview

1-9. PC Interface Program


It consists of as below.
- Unihost Program
- RS232C Cable : 15 Pin, 5M (1EA)
- Unihost User's Manual (1)

1-10. Noise Filter


It reduces noise through power line.
- Noise Filter (1EA)

1-11. Cable

Model Designation

RCK - 1N05DA-S
Description
RCK : Robot Cable
: RCS-6000 (SIngle Axis)
1
N : F (Flexible), N (Inflexible)
05 : Cable Length
03 (3 m) , 05 (5 m), 10 (10 m), 15 (15 m)
D : Encoder Type (15 signal)
A : Motor Type
A (PANASONIC,MSMZ)
B (PANASONIC,MSMA)
C (LG,CN)
D (LG,KF)
E (LG,TF)
S : Connector Type
S (Straight Type)
E (Elbow Type)
H (Housing Type)

1-15

Chap.1 Product Overview

1-11-1. Cable for N60 Series Motor

Soder Part:C-C'

No. Connector (Motor side)

SECTION:B-B'

No. Connector (Controller CN1 side)

Pin No.

Signal

Pin No.

Signal

Pin No.

Signal

Pin No.

Signal

11

11

/Z

/A

12

/W

/W

12

SHIELD

13

+5V

13

/B

/B

14

0V(GND)

/V

14

15

SHIELD

15

/A

/Z

/U

16

17

/U

18

0V(GND)

19

+5V

10

/V

10

20

NO. Connector (Motor Power Cable)


Pin No.

Signal

Pin No.

Signal

U (Red)

W (Black)

V (White)

FG (Green)

1-16

Chap.1 Product Overview

1-11-2. Cable for TF, KF Series Motor

Encoder
Cable
Encoder
Cable

Soder Part:C-C' SECTION:B-B'

Power Cable(Brake
)
Power
Cable (No
Brake)

Power
Cable (with
Power Cable(Brake
) Brake)

NO. Connector (Motor side)


Pin No.

Signal

Pin No.

Signal

/A

/V

/B

/W

+5V

/Z

0V (GND)

SHIELD

/U

No. Connector (Controller CN1 side) is same to the cable for N60 Motor.
No., Connector (Motor Power Cable)
Pin No.

Signal

Pin No.

Signal

Pin No.

Signal

U (Red)

W (Black)

BRAKE +

V (White)

FG (Green)

BRAKE -

1-17

Pin No. Signal


G

Chap.1 Product Overview

1-11-3. Cable for Cartesian (Non-CE type)

Soder Part: SECTION:B-B'


C-C'

Inflexible
Cable

Cable

CW
CCW
ORG
BRK+
BRK+ 24V
G24

Soder Part: SECTION:B-B'


C-C'

V
W
FG

Cable
Cable
Flexible

No. Connector (Motor side)


Pin No.

Signal

Pin No.

Signal

Pin No.

Signal

+5V

12

/V

23

BRAKE-

+5V

13

24

ENC SHILED

0V(GND)

14

/Z

0V(GND)

15

16

/W

/A

17

CW

FG

18

CCW

/U

19

+24V

20

G24

10

/B

21

ORG

11

22

BRAKE+

No. connector (Controller CN1 side) is same to N60 Motor's cable.

1-18

Chap.1 Product Overview

1-11-4. Cable for Cartesian (CE type)

G24
v

Soder Part: SECTION:B-B'


C-C'

Inflexible Cable
Cable

CW
CCW
ORG

Soder Part: SECTION:B-B'


C-C'

BRK+
BRKG24
+24 v

U
V
W
FG

Cable
Flexible Cable

No. Connector (Motor side)


Pin No.

Signal

Pin No.

Signal

Pin No.

Signal

+5V

12

/V

23

BRAKE-

+5V

13

24

ENC SHILED

0V(GND)

14

/Z

0V(GND)

15

16

/W

/A

17

CW

FG

18

CCW

/U

19

G24V

20

+24

10

/B

21

ORG

11

22

BRAKE+

No. connector (Controller CN1 side) is same to N60 Motor's cable.

1-19

Chap.1 Product Overview

1-11-4. Serial Cable (RS 232C)

Signal

9 pin connector of PC side

15 pin connector of Serial side

RxD - TxD

2 (RxD)

3 (TxD)

TxD - RxD

3 (TxD)

2 (RxD)

GND

DTR, DSR

Pin No. 4 & 6 Short

RTS, CTS

Pin No. 7 & 8 Short

SHILED

Connector Conductive part

1-12. Brake Unit


It is used to produce power to Brake of TF, KF Series Brake type motor.
- TYPE : BPU109-A (YILE)

1-20

Chap. 2. Installation and Connection

Chapter 2 Installation and Connection

Installation and Connection Procedure


1. Placing and Fixing Controller
2. Connect all connectors to Controller after deciding desired I/O
3. Setup Parameters (set I/O contact in Parameter)
4. I/O Connection Check

2-1

Chap. 2. Installation and Connection

2-1. Placing and fixing Controller

Caution on Installation
1. Do not inflict considerable impact on controller or neither drop .
It can cause breakage of internal devices in controller.
2. Keep the proper distance when placing Controller to Panel.
3. Do not use product in water sputtering or near inflammable gas area. It causes electric
shock or fire.
4. The regenerative resistor connected to P-B port of controller should be placed to
the well-heat-radiated place because it radiates heat according to rated output of motor
propotionally. It is recommanded that the resistor is far more than 20mm from controller.
5. To get more information on the condition for installation circumstances, refer to Chap.1,
Product Overview.

Bottom Direction

2-2

Chap. 2. Installation and Connection

2-2. Connect Cables

Fig 2.1 Example of General Connection (Non-CE


Type)
Regenerative Resistor

MCCB1

Choke
Coil 2
MC1 2

P
R

AC200~230V
AC200~230V
50/60Hz 3
50/60Hz 3

NF

(
R-S )
Small Capacity

uses 1 R-S
Choke

Coil 1
1

RCS-6000

NC
NC
ENC

Use circuit breaker


before AC input terminal
DCN
Dummy
Connector

I/O

Extension
I/O
I/O

EI/O
SERIAL

I/O

Teach Pendant,
PC,RS-422
Connector

The controller and motor should be at third class grounding or higher.

2-3

Chap. 2. Installation and Connection

Fig 2.2 Example of General Connection (CE Type)

Regenerative
Discharge Resistor
RCS-6000

AC INPUT
AC200~230V
50/60Hz
3-phase
(R,S single-phase
available at RCS
6001~6004)

EMC UNIT
(Option)

MCCB1
R
NF
(option
)

FG

FG

NC

NC

NC

NC

S
T

AMP Board

Use circuit breaker


before AC input terminal

EN

Main Board

I/O

SERIAL

I/O

Teach Pendent,
PC, RS-422 port

The controller and motor should be at third class grounding or higher.

2-4

Chap. 2. Installation and Connection

2-2-1. Connection on Front Panel

Power port (R,S,T) and Regenerative Resistor port (P,B)


Status LED
(Fig. 2.3)

T/P Connector

R,S,T Port
- AC 3 Input Port
- 1 AC220V :RCS-6001~6010
(Using R-S Port)
- 3 AC220V :RCS-6005 and above

P, B Port
- Output port for Regenerative
Discharging Energe from Motor.
- Port for connecting Regenerative
Resistor.

Encoder
Connector
R

R
S
T
NC

S
T
P
B

NC (Not
Connect)
:if needed,
connect it to
Choke Coil to
reduce noise.

NC
I/O Cable
Connector

U
V
W

P
B
U
V
W

U, V, W Port
- Connect power wires
of motor.
- U Port : Red Wire
V Port : White Wire
W Port : Black Wire

NC (Not
Connect)
:For CE
Controller, be sure
to connect it to
Choke Coil to
reduce noise.

Earth Port
- Controller FG port.
- Connect FG(green) wire of Motor
and connect the other wire to
ground.

Fig.2.3 Status LED

POWER (Green) : AC Power


ORIGIN (Green) : Origin complete
- When PLC program runs, it flashes every 0.4 seconds.
SVON (Orange) :
- When power produces to motor, it is ON (SVON state)
- When Robot Program runs (RUN), flashing every 0.4
seconds.
ALARM (Red) : Alarm, Error, Ext. EMG, it flashes.

2-5

Chap. 2. Installation and Connection

2> Connector pin specification of ENC (Encoder)


Connection method for encoder is shown as below.
15 signal type encoder connection
9 signal type encoder connection
Absolute encoder connection

Pin

Pin

No.

Encoder
Signal

No.

Encoder
Signal

W(Rx)

11

W(Rx)

12

SHIELD

13

14

15

16

BAT+

17

BAT-

18

GND(5V)

19

+V5

10

EP+5V

20

ERST

Encoder Signal

U, V, W

The encoder signal being the electric signal of motors, the U, V, W


of the motor are synchronized to this signal. When an error occurs
in this signal, the motor does not rotate.

A,B

Used to detect the position of the motor and its rotation number

Used to search the origin

+5V

Provides Vcc power to the encoder

EP +5V

Provide Vcc power to the encoder when using a 9 signal encoder.

GND (5V)

Basic electric potential for +5V and EP +5V.

BAT+,BAT-

Backup battery power for data of the absolute encoder

ERST

Data reset terminal of the absolute encoder

Rx, /Rx

Position receiver of the absolute encoder

2-6

Chap. 2. Installation and Connection

15 signal type encoder connection

Pin

Pin

No.

Encoder
Signal

No.

Encoder
Signal

11

12

SHIELD

13

14

15

16

17

18

19

+V5

GND(5V)

10

20

9 signal type encoder connection

Pin

Pin
No.

Encoder
Signal

11

12

SHIELD

13

14

15

16

17

18

No.

Encoder
Signal

GND(5V)

10

19
20

2-7

Chap. 2. Installation and Connection

Absolute encoder connection

Pin

Pin

No.

Encoder
Signal

No.

Encoder
Signal

Rx

11

Rx

12

SHIELD

13

14

15

16

BAT+

17

BAT-

18

GND(5V)

19

+V5

20

ERST

10

2-8

Chap. 2. Installation and Connection

3> Spedification of Serial signal


Serial communication type
RS232C
RS422
Teach Pendent
PC(Personal Computer)
MultiPoint

RS232C communication

Pin No Signal Pin No Signal


1

+V12

11

FG

RxD

12

RDA

TxD

13

RDB

-12V

14

SDA

GND

15

SDB

EMG

Communication
standard setting
- Type : Asynchronous
- Baud rate: 9600 bps (fixed)
- Stop bit : 1
- Frame bit : 8 Bit
- Parity check : No parity

7
8
9
10

Pin No Signal

RS422 communication

2-9

GND

11

FG

12

RDA

13

RDB

14

SDA

15

SDB

Chap. 2. Installation and Connection

Teach Pendent communication

Pin No Signal
1

+12V

RxD

TxD

-12V

GND

EMG

PC (Personal Computer) communication


PC communication consists of followings
- Unihost Program
- RS 232C cable (15 signal type - 5m)
- Refer to Unihost User's Manual

2-10

Chap. 2. Installation and Connection

4> I/O Connection


When connecting I/O,
A. Define input/output contact points, set these information in Parameter mode.
B. Connect contact points.

Fig 2.4 Table of I/O contact points


There are System I/O and User I/O
Address

Byte

Type

Contents

B000 ~ B022

Input Contact

Use of both System & User Input Contact

B030 ~ B047

Output Contact

Use of both System & User Output Contact

B050 ~ B317

27

Internal Contact

Use of User Internal Contact

B320 ~ B337

Extension Input Contact

Use of both System & User Input Contact

B340 ~ B347

Extension Output Contact

Use of both System & User Output Contact

B350 ~ B387

System Input Contact

Use of Internal System Input Contact

B390 ~ B417

System Output Contact

Use of Internal System Output Contact

A. Set I/O Contacts in Parameter mode


Set range in B000~B022 for input (Fig 2.4)
Set range in B030~B047 for output (Fig 2.4)

- Define I/O contact refering to Fig. 2.5 & Fig. 2.6


- Define original values of I/O
(Ex) System Input ORIGIN contact set to Not Use Set User Input to B005
(settable in range of B000~B022)

(Ex) System Output IN_POS contact set to Not Use Set User Output to B030
(settable in range of B030~B047)

2-11

Chap. 2. Installation and Connection

Fig 2.5 System Input Contact

Default : preset values in factory.

Signal

Group

Contents

ROB_RUN

Robot Program Execution

PLC_RUN

PLC Program Start

B000

STOP

Robot Program Stop

B001

RESET

Alarm Release

B002

SVON

Servo ON

Not Use

SVOFF

Servo OFF

B003

ORIGIN

Origin Execution

Not Use

STEP_RUN

Robot Program Step Execution

Not Use

PGM_SEL

Robot Program Step Clear & Program Selection

Not Use

PGM_SEL1

Robot Program Selection Code

JOGJOG_SET0
JOG_SET1
JOG_MODE

Not Use
Not Use

PGM_SEL2
JOG+

Not Use

Not Use

PGM_SEL0

Input

Default

Not Use

JOG Movement

Not Use

JOG Movement Selection Code


JOG Movement Method Selection

Not Use
Not Use
Not Use

IOPOS0

Not Use

IOPOS1

Not Use

IOPOS2

Not Use

IOPOS3
IOPOS4

Moving position selection code in MOVT command


(Robot Program)

Not Use
Not Use

IOPOS5

Not Use

IOPOS6

Not Use

IOPOS7

Not Use

IOSPD0
IOSPD1

Select SPD of Robot Program in IOSPD

Not Use
Not Use

CW S/W

CW Limit Switch

Not Use

CCW S/W

CCW Limit Switch

Not Use

ORG S/W

Origin Switch

Not Use

MPG_RATE

Select Input pulse & moving rate in MOVM

Not Use

MOVT_ST

Start movement by MOVT command

Not Use

2-12

Chap. 2. Installation and Connection

Fig 2.6 System Output Contact Point


Contents

Signal

Group

Default : Preset values in factory.


Default

ALARM

Alarm Status output

Not Use

READY

Output when no problem after power on

Not Use

ORIGIN

Output when Oringin executes without problem

Not Use

IN_POS

Output when arrival in position

Not Use
Not Use

Output ALARM0
ALARM1
ALARM2

Not Use

Alarm Information Code

Not Use
Not Use

ALARM3
BRAKE

Example

Output when Servo Motor Brake runs

- Input
ROB RUN : B000
STOP : B001
RESET : B002
ORIGIN : B003
PGM SEL : B004
CW S/W : B005
CCW S/W : B006

Not Use

- Output
ALARM : B030
READY : B031
ORIGIN : B032
IN POS : B033

Enter Contact Point Numbers (B000,B001,------)


defined above
in Parameter

Method to enter parameter


(Ex: Set B000 in ROB RUN Input Contact point)
Using T/P,
F4 : PARA F4:I/O F1:INPUT put * at "ROB RUN" using arrow keys
ENT type "B000" ENT push ESC key until seeing "SAVE" menu
F1:SAVE

2-13

Chap. 2. Installation and Connection

B. Connecting
Two types of I/O connection as below.
Using I/O Terminal Block
Not using I/O Terminal Block

Connection using I/O Terminal Block


1 Axis
Controller

Cable

Cable

1 Axis
Cartesian
CW
CC W
OR G
BR K+
BRK +24V
G24

U
V
W
FG

Encoder

CW
S/W

CCW
S/W

Cable

I/O
Motor
Power

Input

PLC

Input

PLC

CW,CCW,ORG S/W
BRK+,BRKInput
Output

I/O Terminal Block

Connection NOT using I/O Terminal Block


1 Axis
Controller
1Axis
Cartesian

Encoder

CW
S/W

CCW
S/W

I/O

Motor
Power

Output
CW,CCW,ORG S/W
BRK+,BRK-

2-14

Output

Chap. 2. Installation and Connection

Fig. 2.7 User I/O Connector Pin Assignment


(for PNP Type)
- User Input : B000~B022
- User output : B030~B047

I/O

Pin Assignment

Connector Contact Point


- Basic User Input : B000~B022 (19 ports)
- Basic User Output : B030~B047 (16 ports)
- EMG+, EMG- : Input contact point for emergency stop
- BRAKE+, BRAKE- : Output port for Brake ON/OFF
- MPGA, MPGB : Pulse Input Signal for the general purpose
- GND: Standard Electric Potential (0V) on MPG pulse input
NOTE

PNP Type : Input - N common, Output - P common


NPN Type : Input - P common, Output - N common

2-15

Chap. 2. Installation and Connection

Fig. 2.7.1 User I/O Connector Pin Assignment


(for NPN type)
- User Input : B000~B022
- User output : B030~B047

I/O

Pin Assignment

Soldering
side

Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25

Signal
GND(+5V)
/MPGA
/MPGB
B035
B032
B031
B041
B040
B045
B044
B047
NCOM2
B004
B005
B006
B007
PCOM1
B014
B012
B016
B010
B020
B021
EMGEMG+

Pin No.
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50

Signal
MPGA
MPGB
B037
B036
B034
B030
NCOM1
B033
B042
B043
B046
FG
B003
B002
B001
B000
B013
B015
B011
B017
PCOM2
B022
PCOM3
BRAKE+
BRAKE-

Connector Contact Point


- Basic User Input : B000~B022 (19 ports)
- Basic User Output : B030~B047 (16 ports)
- Emergency Stop Input : EMG+, EMG- Brake ON/OFF Output (Relay Contact): BRAKE+, BRAKE- General Purpose Pulse Input Signal : MPGA, MPGB
- Reference Electric Potential (0V) on MPG pulse input : GND

NOTE

PNP Type : Input - N common, Output - P common


NPN Type : Input - P common, Output - N common

2-16

Chap. 2. Installation and Connection

Fig. 2.8 User I/O Connection (for PNP Type)


- User Input : B000~B022,

- User Output : B030~B047

I/O Terminal
User Input

25(EMG+)
25(EMG-)

Controller Inside
I/O connector

41(B000)

User Output

32(PCOM1)
31(B030) LOAD

40(B001)

6(B031)

39(B002)

5(B032)

38(B003)

33(B033)

13(B004)
14(B005)

30(B034)

15(B006)

4(B035)

16(B007)

29(B036)

17(NCOM1)

28(B037)

21(B010)

LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD

12(PCOM2)
8(B040)

44(B011)

7(B041)

19(B012)

34(B042)

42(B013)

35(B043)

18(B014)
43(B015)

10(B044)

20(B016)

9(B045)

45(B017)

36(B046)

46(NCOM2)

11(B047)

LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD

22(B020)
23(B021)
47(B022)
48(NCOM3)

External
Power
Supply
(DC24V)
+24V
G24V

NOTE

External Power

Inside parenthesis represents the I/O Address.


The connection figure above has a common terminal per every 8th I/O port.

2-17

Chap. 2. Installation and Connection

Fig. 2.8.1 User I/O Connection (for NPN Type)


- User Input : B000~B022,
User
Input

25(EMG+)
24(EMG-)

- User Output : B030~B047


Controller
Inside

CN2 connector

17(PCOM1)
41(B000)

I/O Terminal Port


User
Output

13(B040)
49(B041)

40(B001)

15(B042)

39(B002)

51(B043)

38(B003)

17(B044)

13(B004)

16(B045)

14(B005)

LOAD
LOAD
LOAD
LOAD
LOAD
LOAD

50(B046)

LOAD
14(B047)
LOAD
48(NCOM2)

15(B006)
16(B007)
46(PCOM2)
21(B010)

44(B030) LOAD
10(B031)
LOAD
46(B032)
LOAD
12(B033)
LOAD

44(B011)
19(B012)
42(B013)

47(B034)

18(B014)

11(B035)

43(B015)

LOAD
LOAD

45(B036)

20(B016)

LOAD
9(B037)
LOAD
43(NCOM1)

45(B017)
48(PCOM3)
22(B020)
23(B021)
47(B022)

External
Power
Supply
(DC24V)
42(+24V)
40(G24)

+24V
G24

42(+24V
)
40(G24)

1) .
2) . 8 (Common) .
Inside parenthesis represents the I/O Address.
NOTE

The connection figure above has a common terminal per every 8th I/O port.

2-18

Chap. 2. Installation and Connection

Fig. 2.9 User Input (B000~B022) and Sensor Connection (for PNP Type)

Photo coupler

Input

Photo Coupler
Connection inside
Controller

Output

Inside Controller

10k
Maximum output
curerent is 80mA.

General switches or sensors


CW
Inside Controller
(Refer to User I/O Connection
diagram)

CCW

General Switches or
Sensor

DC24V
ORG
NCOM

For the sensors which needed driving power


+24V
out
G24

For the sensors which


needed driving power

CW

+24V CCW
out
G24

DC24V

Inside Controller
(Refer to User I/O Connection
diagram)

+24V ORG
out
G24
NCOM
Robostar actuator sensor connection
( Dashed line is Cable wire label)

Cartesian sensor
connection (Dashed line is
Cable wire label)

DC24V

P24V
CW

CW
CCW

CCW
ORG

ORG
NCOM

NOTE Inside Dashed line means inner side of Controller

2-19

Inside Controller
(Refer to User I/O Connection
diagram)

Chap. 2. Installation and Connection

Fig. 2.9.1 User Input (B000~B022) and Sensor Connection (for NPN Type)
Sensor type
CW Sensor (Normal close)
ORG Sensor (Normal open)
Input

Photo Coupler
Connection inside
Controller

CCW Sensor (Normal close)


Photo Coupler

10k ( )

Output

Inside Controller

Maximum output current


is 80mA.
80mA


PCOM

General Switches or
Sensor

Inside Controller
(Refer to User I/O Connection
diagram)

CW
DC24V

CCW

ORG

For the sensors which


needed driving power


PCOM
+24V
out
G24

CW

Inside Controller
(Refer to User I/O Connection
diagram)

DC24V
+24V
CCW
out
G24
+24V
out
G24

Cartesian sensor
connection (Dashed line is
Cable wire label)

ORG

Cable
( Cable wire label)
PCOM
CW

CW

CCW
DC24V

CCW
ORG
G24V

ORG

line
means
inner side
of Controller
NOTE Inside
) Dashed

2-20

Inside Controller
(Refer to User I/O Connection
diagram)

Chap. 2. Installation and Connection

2.10 MPG and Brake Connection


Inside
Controller

1) Standard
MPG(
Connection
( Use
External
for DC
1) MPG
DC 5V
Power
)
5V)
MPGA

A
A
B

/MPGA

/MPGB

MPGB

+5V
GND(+5V)

0V

Controller
Controller Inside

DC 5V
MPG(Manual
Pluse Generator)
MPG()

In caseMPG
of Syncronizing
driving,
connect
)NOTE

Encoder
signal like the above, instead of MPG.
2) Brake
Connection
for DC
24V
2) DC
24V Brake

External
Power Supply

DC 24V
BRAKE+

BRK+

SERVO
MOTOR

Varistor

BRAKE-

BRK-

Controller
Controller Inside

Motor
Motor
Brake
Brake
Wire

3) Brake
Unit and
DC 90V
3) Brake
unit Brake
DC Connection
90V Brakefor

Brake unit
+24V

BRK+

SERVO
MOTOR

Controller
Controller Inside

Varistor

BRAKE+
BRAKE-

Relay
External
Relay
G24

BRK-

AC 220V

Varistor
attached
in Motor
Brake
port
is for
absorbing
Surge
)
Brake

Varistor
Brake

SurgeVoltage
.
NOTE
which
is
induced
by
Brake
Coil.
Surge Diode Varistor .
Connect the Diode or Varistor for absorbing Surge Voltage close to Motor side.

2-21

Chap. 3 Parameter Setup

Chapter 3. Parameter Setup

* Most of parameters are related to I/O and Operation

3-1. Opening Parameter Display


Contents

No.

Turn Controller Power On

Select Teach Pendant

T/P Key

T/P Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load

Servo Controller
F1
ROBOT PLC PARA VIEW

F3

Select Parameter

(PARA)

F1

When setting Parameter for Servo

Parameter Setting
SERVO MECH OPER I/O

Servo Parameter
AMP/MOT GAIN BRAKE

(SERVO)

When setting Parameter for Manupulator

F2

MECH. Parameter
MIN_LMT
MAX_LMT

(MECH)
4
When setting Parameter for Operation

F3

OPER. Parameter
MODE JOG DFT ETC.

(OPER)

When setting Parameter for I/O

F4
(I/O)

3-1

I/O Setting
INPUT BRAKE OUTPUT

Chap. 3 Parameter Setup

3-2. Parameter Setup

Parameter Classification
- SERVO Parameter for Servo
- MECH Parameter for Mechanic (Manipulator)
- OPER Parameter for Operation
- I/O Parameter for I/O
To avoid unexpected movement, check each parameter before
running.
Do not change parameter too much. It can cause unstable motio

3-2-1. Parameter for SERVO

- Servo Driver Capacity, Servo Motor Capacity, Encoder Type, Gain, Condition for
Brake motor can be set.
- Three Groups are in this mode (AMP/MOT, GAIN, BRAKE)

1> AMP / MOT


Setup Procedure: SERVO AMP/MOT
AMP,MOT_TYPE, L, R, Kt, Jm, R_I, R_RPM, MAX_RPM, POLE,
MAX_TRQ
Setup embedded Servo Driver Capacity (AMP)
Group

Name

Content

Setting Range

AMP

Servo Driver Capacity

0~8
0 : 100W (RCS-6001)
1 : 200W (RCS-6002)
2 : 500W (RCS-6004)
3 : 600W (RCS-6005)
4 : 1000W (RCS-6010)
5 : 1300W (RCS-6015)
6 : 1800W (RCS-6020)
7 : 2900W (RCS-6030)
8 : 5000W (RCS-6045)

AMP/
MOT

3-2

Default

Chap. 3 Parameter Setup

Description
1) Setup embedded AMP capacity
2) The value is decided by the capacity of controller purchased.
If wrong value is entered, controller and motor can be damaged.

Setting up Servo Motor Capacity & Constant


: MOT_TYPE,L,R,Kt,Jm,R_I,R_RPM,MAX_RPM,POLE,MAX_TRQ
Name

Group

Content

Setting Range

Default

MOT_TYPE

Type of Motor to be used

0~99

94

Phase Inductance

0~999.99 (mH)

7.8

AMP/

Phase Resistance

0~999.99 ()

2.3

MOT

Kt

Torque Constant

0~999.99 (kgfcm/A)

Jm

Inerita Moment

0~999.999 (gfcms2)

0.17

R_I

Rated Current

0~999.999 (A)

1.6

R_RPM

Rated Rotation Speed

1~10000 (RPM)

3000

MAX_RPM

Maximum Rotation Speed

1~10000 (RPM)

5000

POLE

Number of Pole

1~99 (POLE)

MAX_TRQ

Instant Maximum Torque

0~999.999 (Nm)

8
1.91

Description
MOT_TYPE : (Refer to Fig. 3.1)

1) Setting Servo Motor Capacity to be used


2) If MOT_TYPE is set to 1~99, L ~ MAX_TRQ value is set automatically,
it can not be edit individually.
3) If an undesignated motor type is used or L ~MAX_TRQ needs to be revised
individually, the MOT_TYPE should be set to 0
4) Example, how to select value
- If MOT_TYPE is set for LF 0.6KW Motor : 32 (3 : Colume, 2 : Row)

If the motor to be used and number of MOT_TYPE is different,


Motor can be damaged

3-3

Chap. 3 Parameter Setup

L, R, Kt, Jm, R_I, R_RPM, MAX_RPM, POLE, MAX_TRQ :

If MOT_TYPE is set to 1~99, L ~ MAX_TRQ value is set automatically.


If wanting to modify indivisually, MOT_TYPE should be set to 0.

Fig. 3.1 Motor TYPE

No.

Default

N60

N80

LF-

TF-

KF-

TBL-I

LN,TN KN,CN

450

750

50

LN 0.3 KN 0.6

0.03

Minas
9

100

100

400

0.3K

200

200

600

0.6K

850

1.0K

100

LN 0.6 KN 1.0

0.05

300

300

800

0.9K

1.3K

1.5K

200

LN 0.9 KN 1.5

0.1

400

400

1.0K

1.2K

1.8K

2.2K

400

LN 1.2 KN 2.0

0.2

500

500

2.0K

2.9K

3.5K

600

TN0.45 CN 0.8

0.4

450

3.0K

4.4K

5.0K

800

TN0.85 CN 1.5

0.75

850

TN 1.3 CN 2.0

1.3K

TN 1.6 CN 3.0

1.8K

3-4

Chap. 3 Parameter Setup

Setting up Encoder Constant (ENC_TYPE, ENC_PLS)


Name

Group

Content

Setting Range

0~2

Encoder Type to use


AMP/
MOT

ENC_TYPE

ENC_PLS

Default

Setting Encoder Type


0 : Normal Incremental Encoder (15 line)
1 : 9 line type Incremental Encoder
2 : Absolute Encoder

1~10000 (Pulse)

Pulse number to use

2500

Description
1) Setting up Encoder to use.
2) Normal 15 signals Incremental Encoder is that consists of A,B,Z,U,V,W signal.
3) 9 signals Incremental Encoder is that consists of A,B,Z signal.
The Encoder outputs the signal of U, V, W during power input 5[msec] and after that
it outputs signal of A,B,Z. The signal of Z corresponds to the electric angle 0.
4) 10 line Incremental Encoder is that consists of A,B,Z,Rx signal.
5) The applicable Absolute Encoder is SUMTAK's AEF-010-2048.
It is possible to use other Encoder having same signal specification.
6) When changing Encoder Type, Main Power of controller should be recycled.
(Turn Off and turn on)
7) Setting up the Encoder pulse number.
- In case of Minas Motor : 2500 Pulse

3-5

Chap. 3 Parameter Setup

2> GAIN

Procedure to set
SERVO GAIN POS_P, SPD_P, SPD_I, FEED_FWD

Setting up GAIN (POS_P, SPD_P, SPD_I, FEED_FWD)


Group

Name

GAIN

Contents

Setting Range

Default

15~300 (1/s)

100

POS_P

Propotional gain for position


control loop

SPD_P

Propotional gain for speed


control loop

2~500

10

SPD_I

Integral Gain of speed control


loop

10~150

50

FEED_FWD

Feed-forward ratio of speed


calculated at Acc & Dec
Calculator

0~100 (%)

Description
1) The position control uses a Proportional(P) Control, while the speed control applies
Proportional Integral(PI) control.
2) In a normal application, it is recommended to adjust it from SPD_P.
If it is not successfully adjust with SPD_P, try to adjust it with POS_P.
3) When setting up SPD_P first, calculate the inertia moment of load converted to
servo motor axis, and then if it is n times from inertia moment, use default value
with n*10 +10.
4) The ACC/DEC (Acceleration & Deceleration) Calculator is satisfied with condition
of ACC/DEC time and Motion Speed, it calculates the speed and position to reach
desired position.
The Feed-Forward Ratio means the ratio reflecting to the speed command of
speed controller directly without pass by the position controller.
5) Feed-Forward Ratio depends on application, but Generally it is set to about 70%.

3-6

Chap. 3 Parameter Setup

Fig. 3.2 GAIN Adjustment


Do not change parameter too much. It can cause malfunction
of controller or motor.

Position Proportional Gain ( POS_P )


- The position proportional Gain is the value mediating the position following state.
The larger the value, the faster the position response. But the time arriving at the
steady state is delayed due to the overshoot proportional to this.
- Therefore the proper value is fixed when the motor is rotated. The proper value is
about 80 ~120, generally it is fixed as 100.

Speed Proportional, Integral Gain ( SPD_P,SPD_I )


Speed Proportional Gain ( SPD_P )
- In the speed controller, the speed proportion Gain revises the difference between
the standard value and the return-track value at the rate of as much as the value
set up in the speed proportion Gain.
- Therefore, if this value increases, the speed change rate decreases, but the
torque ripple increases due to the connection with the current controller.
- The proper value of speed controller should be mediated with the speed proportion
Gain proportionally.

Speed integral Gain ( SPD_I )


- The speed integral Gain improves the response about the normal state by accumulating
the value about the speed deflection, and it does not affect the change about the
external disturbance (generally Noise, Disturbance).
- If this value becomes large, the torque of motor can have an effect but the ripple
becomes large in proportion with it.
- The proper speed integral Gain value should be added or subtracted according to the
state of load from 30 ~ 70.
- In case of being attached the inertia load on a Motor, set the value between 40~70 to
lower the mechanical Overshoot.
- Set 30~50 in a Cartesian Robot.

3-7

Chap. 3 Parameter Setup

Feed-forward Gain ( FEED_FWD )


- The Feed forward Gain is the rate ordering to the speed controller directly in
the position-speed controller without passing the position controller.
- The larger this value, the better the response of the controller, but the overshoot becomes large and affects the speed ripple. The proper value is 30 ~ 70,
it is in a state of flux according to the kinds of motor.
- In addition, In case of Feeding equipment, set '0', taking the rolling condition
of material into consideration.

Standard Gain

For rectangular machinery and tools


- Using with rectangular machinery and tools, generally set SPD_I Gain below 40.
- When controller drives heavy load by belt or reduction gear, set SPD_I 40~100.

Gain

RCS-6001~4

6005

6010

6015~20

6020~30

POS_P

120

120

150

120

150

SPD_P

30

30

35

30

35

SPD_I

50

50

50

50

50

Driving inertial load like rotational circular plate


- When driving rotational load by a motor or belt reduction gear with a direct connection,
regulate the value of SPD_P and SPD_I as below.

Gain

RCS-6001~4

6005

6010

6015~20

6020~30

POS_P

120

120

150

120

150

SPD_P

50

50

50

30

35

SPD_I

60

60

60

55

55

3-8

Chap. 3 Parameter Setup

3> BRAKE

Procedure to set
SERVO BRAKE BRK_TIME, BRK_DLY, BRK_RPM

Brake Operation Condition Setting (BRK_TIME, BRK_DLY, BRK_RPM)


Name

Group

Contents

Setting range

Default

BRK_TIME

Waiting time until first


moving after Servo ON

0~1000 (ms)

BRK_DLY

Maximum time keeping Brake


Run after Servo OFF

0~1000 (ms)

BRK_RPM

Motor Speed to run Brake


after Servo OFF

2000~3000 (RPM)

2000

BRAKE

Description
Low
inertia
load


High inertia

load

Speed

Move
Command

BRK_RPM

Time

Brake

BRK_
BRKTIME
TIME

Servo
ON
ON

Brake
OFF
OFF

BRK_DLY
BRK-

DLY
OFF
Servo
OFF *1

*2

1) Start to brake when speed down to BRK_RPM before BRK_DLY. (*1)


2) Start to brake when speed does not go down below than BRK_RPM
even passing over BRK_DLY regardless speed. (*2)
3) Perform the brake run from Servo OFF to Motor Stop
4) It does not move during BRK_TIME after Servo ON even Move Command is applied.

3-9

Chap. 3 Parameter Setup

3-2-2. Parameter for MECH


The equipment parameter is data related to the motor and machinery. Be careful
for the fact that tampering with wrong values may damage the equipment.
Procedure to set
MECH MIN_LMT, MAX_LMT, LMT_RPM, LMT_TRQ,
ORG_OFS, MOV_MOT, MOV_MECH, MOV_POL,
MPG_MOV0, MPG_PLS0, MPG_MOV1, MPG_PLS1, T_CYCLE

Setting up the operation field (MIN_LMT, MAX_LMT)


Group

Name

Contents

Setting range

Default

MIN_LMT

Min.coordinate value in the operation field

-99999.999~99999.999

-99999.999

MAX_LMT

Max.coordinate value in the operation field

-99999.999~99999.999

99999.999

MECH

Description
1) During the Robot operation, if the position command is beyond limits of this parameter,
it is treated as an alarm.
2) This parameter value is ignored in the JOG and Origin operations, and the common
area that can be calculated is used as a limit value among user's coordinate value
and the number of encoder pulse. (-99999.999 <= user coordinates <= 99999.999,
-99999999 <= The number of encoder pulse <= 99999999)
3) The value of MIN_LMT and MAX_LMT should be within the scope of -99999999 99999999
when it is converted into the number of encoder pulse.
If it is beyond this scope, it is treated as an alarm.
4) In order to operate the endless track, the value should be changed into 0 by using
PLCR command each proper position among the programs. (In the incremental encoder only)

Setting up the operation limit (LMT_RPM, LMT_TRQ)


Group

Name

Contents

Setting range

Default

LMT_RPM

Set the Max. of operation speed

1~10000 (RPM)

3000

LMT_TRQ

Limited torque value in poeration

0~300 (%)

300

MECH

Description
1. The value fixed in the LMT_RPM is a standard of speed fixing in the Robot program.
ex) If the LMT_RPM is fixed as 3000 and then operates at SPD 1000, the
operating velocity is 300 RPM( 10% velocity of LMT_RPM).

3-10

Chap. 3 Parameter Setup

Setting up the user's the coordinate value(ORG_OFS, MOV_MOT,


MOV_MECH, MOV_POL)
Group

Name

MECH

Contents

Setting range

Default

-99999.999~99999.999

ORG_OFS

Coordinate value of orgin position


in the user's coordinate system

MOV_MOT

Rotation quantity of motor

1~10000

MOV_MECH

Movement quantity of machinery

1~10000

10

MOV_POL

Set the sign of User's coordinate


system

0~1
(0: In clockwise rotation
of motor + movement)

(1: In counterclockwise rota


-tion of motor - movement)

Description
1) The coordinate value of origin position is inputted in the ORG_OFS on the basis of coordinate
system that the user wants.
2) The position of power input is used as ORG_OFS until the origin is searched.
3) At the time of machinery application without origin, it is convenient to fix 0 as a value of
ORG_OFS.
4) MOV_MOT and MOV_MECH set up the movement quantity of the user's coordinate system
and the ratio converting the number of encoder pulse.
Ex1) If the coordinate system of [mm] is used on machinery moving 10[mm] per 1 motor
rotations, MOV_MOT is set to 1 and MOV_MECH is set to 10.
Ex2) If the coordinate system of [] is used on machinery moving 360,000[] per 50 motor
rotations, MOV_MOT is set to 50 and MOV_MECH is set to 360.
5) The available scope as a coordinate value of user's coordinate system is 99999.999
~99999.999.
6) The operation of Servo uses encoder pulse number, and the available scope of encoder
pulse number is -9999999999999999.
7)Though the allowable position value (No.4) in the user's coordinate system, if the pulse number
about its position exceeds the limited area(No.5) it is treated as an alarm.

3-11

Chap. 3 Parameter Setup

Setting up the special movement condition(MPG_MOV0, MPG_PLS0, MPG_MOV1,


MPG_PLS1, T_CYCLE)
Group

Name

MECH

MPG_PLS0

Contents

Setting range

Default

1~10000
Input quantity of MPG pulse

MPG_PLS1
MPG_MOV0
MPG_MOV1
T_CYCLE

Movement quantity of equipment part


about
the inputted MPG pulse

0.001~500.000

The position value of user's coordinate 0~10000.000


system equivalent to a circle of
machnery (Use in the MOVT command)

0.001

Description
1) By using MOVM of the Robot command, it can move into the fixed position using MPG
pulse. At this time, the input frequency of MPG pulse should be lower than the
movement speed fixed after (decel) accelerating lower than the acceleration &
deceleration condition.
If the acceleration & deceleration of MPG or the movement speed is larger than the
fixed value, It is operated in the controller according to the fixed value.
Also if the order value of MPG pulse exceeds the target position, it goes beyond to
next program after moving until the target position.
ex) MOV_MOT=1, MOV_MECH=1, MPG_PLS0=1, MPG_MOV=1 are fixed, the motor
rotates one time by the MPG 1 pulse.
2) (MPG_PLS0, MPG_MOV0), (MPG_PLS1, MPG_MOV1) the selection of combination is
determined according to the contact point input of MPG_RATE.
If the contact point input of MPG_RATE is 0, select the MPG_PLS0, MPG_MOV0.
3) With MOVM among the Robot command the fixed position value is selected according
to the contact point value IO_POS30 among the P0P15.
It starts movement if the contact point of MOVT_ST becomes to 1.
4) From a machinery structure viewpoint moving into coordinate 360.000 returns to the
same position.
If it is needed to move from the present position of 359.000 to 0.000, it needs to move
-359.000 without regard to the rotation direction.
But, since 0.000 and 360.000 are the same the desired position can be achieved by
moving 1.000 only from 359.000. In this case if the value of T_CYCLE is fixed as 360.000,
the controller make it move near position automatically at the time of MOVT command.
However, this function is used at the time of using the incremental encoder only.
5) If a pipe or wire exists in the load, do not use it since the wiring may intertwined
if T_CYCLE function is used.
6) If the value of T_CYCLE is set to 0.000, this function is not used.

3-12

Chap. 3 Parameter Setup

3-2-3. Parameter for OPER


It sets up the controller movement related parameter such as the operation
program selection and the origin operating method.
It is devided into 4 group. (MODE, DFT, JOG, ETC)

1> MODE
Procedure to set
OPER MODE AUTO_PLC, AUTO_ORG, S_MODE,
ORG_RULE, MPG_MODE

Setting up the auto-operation in putting power


(AUTO_PLC, AUTO_ORG)
Group

Name

Contents

Setting range

Default

AUTO_PLC

In putting power-PLC auto-run

0~1
(1:PLC AUTO RUN)

AUTO_ORG

In putting power-Origin auto-run

0~1
(1:ORG AUTO RUN)

MODE

Description
1) If the value of AUTO_PLC is fixed as "1", the PLC program selected by PLC_PGM
parameter is operated automatically at the time of power input. If the PLC program
concerned is not programmed or there is error in the grammar, it is treated as an
alarm.
2) If the value of AUTO_ORIGIN is fixed as "1", the movement of return to origin is
operated automatically according to the method selected by ORIGIN_RULE parameter
at the time of power input.
When using the absolute encoder, this function does not operate.

3-13

Chap. 3 Parameter Setup

Setting up the SOFT acceleration& deceleration (S_MODE)


Group

Name

contents

Setting range

Default

0~7
0 : No filter
1 : 2 (msec)
2 : 5 (msec)
MODE

S_MODE

Selection of filter in the


acceleration & deceleration

3 : 11 (msec)
4 : 23 (msec)
5 : 47 (msec)
6 : 95 (msec)
7 : 191 (msec)

Description
1) The acceleration & deceleration calculator can calculate the wave of the
acceleration & deceleration by the set-up parameter to the target position.
The calculated velocity wave has a trapezoid shape. The stairs type
torque(acceleration & deceleration) is occurred by each corner of the trapezoid
speed wave and owing to this the stairs-type torque, the vibration may be
occurred in some equipment.
In order to soften this feature, the acceleration & deceleration time is fixed long
or the value of S_MODE is arranged.
2) The filter operated by the S_MODE, is a first delay type filter.
3) Though there is a difference according to the set-up of the acceleration &
deceleration time, if S_MODE is used, the time needs 4 times as the normal filter
time constant to the motion additionally in comparison with the trapezoid
acceleration & deceleration. (Maximum 8 times)
4) If the delay by the S_MODE filter is exceeded excessively, the movement time
may be reduced by extending the acceleration & deceleration time and by using
the filter having a short time constant.
5) The S_MODE movement can be applied to the all movement commands.

3-14

Chap. 3 Parameter Setup

Setting up the method of return to origin(ORG_RULE)


Group

Name

MODE RG_RULE

Contents
Setting up the method of

Setting range

Default

0~16

searching
for origin

0 : No searching for Origin


1,2 : CW switch
3,4 : CCW switch
5,6 : CWdirection, ORG switch
7,8 : CCWdirection, ORG switch
9,10 : CWCCWdirection, ORGswitch
11,12 : CCWCWdirection,ORGswitch
13,14 : CW Damper
15,16 : CCW Damper

Description
1) The final sign to be decided the originsi c(z) phase of encoder.
2) The regular direction, from the point view of Servo motor, is the rotation direction
at the time of moving in the order of UVW, and for the LG servo motor, it is
CCW direction
3) In using the CCW limit switch, install it at the end of the rotation of the regular
direction. (CW is reverse direction.)
4) The last origin position may be different in accordance with the operating method
of odd(1,3,..15) and even(2,4..16) numbers.
Odd: Last arriving position=Last Z phase pulse position + Value fixed in the
ORG_OFS parameter. Last coordinate value is "0" .
Even: Last arriving position=Last Z phase pulse position
Last coordinate value is "ORG_OFS" set-up value.

5) In operating the origin, use the DFT_ACCand DFT_DEC as acceleration and


deceleration time.
6) If the origin command is receive, it is converted into Servo ON
automatically even at servo OFF.The servo ON/OFF can be determined using
ORG_SV (OPERETCORG_SV) parameter after completing the origin operation.
7) If the absolute encoder is fixed as a encoder(ENC_TYPE = 2), set up the origin by using
the JOG function after moving until the Origin position. At this time, reset hardwarely
the absolute encoder.
8) If the absolute encoder is fixed as a encoder(ENC_TYPE = 2), the origin command
by the contact point or the AUTO_ORG function is ignored, and the origin can be
operated in the T/P only.

3-15

Chap. 3 Parameter Setup

Reference 3.3 ORIGIN RULE Explanation


The method of detection origin about ORG_RULE 1 ~ 4

CCW direction

CW direction
CW limit
switch area

CCW limit
switch area

Z phase
ORG_RULE
=4

ORG_RULE
=2

Moving to
ORG_SPD0
Moving to
ORG_SPD1

ORG_RULE
=3

ORG_RULE
=1

ORG_OFS

ORG_OFS

Moving as
DFT_SPD to
ORG_OFS
Origin position

The method of detection origin about ORG_RULE 5 ~ 8


CCW direction

CW direction
CW limit
switch area

ORIGIN
switch area

CCW limit
switch area

Z phase
Moving as
ORG_SPD0
ORG_RULE
=6

ORIGIN
ERROR

Moving as
ORG_SPD1

ORG_RULE
=8

ORIGIN
ERROR

For ORG_RULE 5, 7 , refer to the Description 4).

3-16

Chap. 3 Parameter Setup

The method of detection origin about ORG_RULE 9 ~ 12


CCW direction

CW direction
CW limit
switch area

ORIGIN
switch area

CCW limit
switch area

Z phase

Moving as
ORG_SPD0

ORG_RULE
= 10

Moving as
ORG_SPD1

ORG_RULE
= 12

1) When ORG_RULE is 9 ~ 12, if the origin switch is not in the shuttle part of CW Limit switch
and the CCW Limit switch it is treated as an alarm.
2) For ORG_RULE 9, 11, refer to the description 4).

The method of detection origin about ORG_RULE 13 ~ 16


CCW direction

CW direction
CW Damper
area

CCW Damper
area

Z phase
ORG_RULE
= 16

ORG_RULE
= 14

Moving as
ORG_SPD0
ORG_RULE
= 15

ORG_RULE
= 13

ORG_OFS

ORG_OFS

Moving as
ORG_SPD1
Moving as
DFT_SPD
to ORG_OFS
Origin position

1) For ORG_RULE 13, 15, refer to the Description 4).


2) If the torque occurs more than the value fixed in the parameter ORG_TRQ after colliding
with the damper, it starts to rotate toward the reverse direction.

3-17

Chap. 3 Parameter Setup

Setting up the method of operating MPG (MPG_MODE)


Contents

Setting range

How to input MPG pulse

0~3

Name

Group

MODE

MPG_MODE

Default

0 : Not operating MPG


1 : A (Lead) , B (Lag) pulse
2 : A pulse clockwise, B pulse
counterclockwise
3 : A input pulse, B operation direction

Description

Input pulse width

Set-up value

Clockwise

Remarks

Counterclockwise

A phase

A phase: Lead

B phase: Lag
B phase

A phase:
clockwise

A phase

B phas:
counterclock
wise

B phase

A phase

A phase:
pulse

B phase

B phase:
direction

3
0

The max. allowable frequency of the input width is 400KHZ.

3-18

Chap. 3 Parameter Setup

2> JOG
Procedure to set
OPER JOG JOG_SPD0, JOG_SPD1, JOG_SPD2, JOG_SPD3, JOG_RES0,
JOG_RES1, JOG_RES2, JOG_RES3

Set-up JOG the jog operation(JOG)


: JOG_SPD0, JOG_SPD1, JOG_SPD2, JOG_SPD3, JOG_RES0, JOG_RES1,
JOG_RES2, JOG_RES3
Group

Name

Contents

Setting range

JOG_SPD0

100

JOG_SPD1

500
The movement speed of JOG

JOG

Default

1~10000

JOG_SPD2

1000

JOG_SPD3

3000

JOG_RES0

0.250

JOG_RES1
JOG_RES2

1 time transfer quantity


at the time of Incremental
JOG movement

0~99999.999

JOG_RES3

0.500
0.750
1.000

Description
1) A 4 step JOG speed can be used at the time of JOG operation.
This value of movement speed is fixed by JOG_SPD03 parameter.
2) If the value fixed by JOG_SPD03 is 10,000, it is operated by the speed
determined by the LMT_RPM (MECH LMT_RPM) parameter.
The speed is determined in the value less than that in accordance with the ratio.
(50% in case of 5,000)
3) The movement quantity about 1 time movement command is fixed by 4 steps at the
time of IJOG operation. This movement quantity is inputted by the value of user's
coordinate system.
4) The JOG movement may be stopped if it meets CW Limit switch during the operation
of JOG/IJOG.
5) DFT_ACC and DFT_DEC is used as the acceleration & deceleration time at the time
of JOG/IJOG operation.
6) If the JOG/IJOG command is received, it is converted into Servo ON automatically
even at servo OFF. The servo can be ON/OFF by using JOG_SV parameter after
completing JOG/IJOG operation.

3-19

Chapter 3. Parameter Setup

3> DFT
Procedure to set
OPER DFT DFT_SPD, DFT_ACC, DFT_DEC,ORG_SPD0,
ORG_SPD1, IO_SPD0, IO_SPD1, IO_SPD2, IO_SPD3

Set- up the basic movement condition(DFT_SPD, DFT_ACC,DFT_DEC)


Group

DFT

Name

Contents

Setting range

DFT_SPD

Value of basic movement speed

1~10000

DFT_ACC

Value of basic acceleration time

1~500 (10ms)

20

DFT_DEC

Value of basic deceleration time

1~500 (10ms)

20

Default
1000

Description
1) If the Robot program is operated, the speed fixed in the DFT_SPD is used as movement
speed until speed set-up is changed using SPD command.
To resume the Robot operation after stopping it temporarily, the speed value before the
suspension is used, DFT_SPD is used in case when the program is started from the
beginning.
2) If the value fixed by DFT_SPD is 10000, it is operated by the speed determined by
LMT_RPM (MECH->LMT_RPM) parameter.
The speed in the value less than that is determined in accordance with the ratio.
(50% in case of 5,000)
3) The value of acceleration time fixed by DFT_ACC is used in case when the Robot
program is started from the beginning, when it is moved with Jog and when the origin
is operated.
4) The value of DFT_ACC is the time value necessary for accelerating until MAX_RPM
(SERVO -> AMP/MOT-> MAX_RPM)If this value is 10, it is accelerated as much 0.10
[sec].
5) The value of deceleration time fixed by DFT_DEC is used if the Robot program is
started from the beginning, when it is moved with Jog/IJog, and when the origin is
operated.
6) The value of DFT_DEC is the time value necessary for decelerating until MAX_RPM.
If this value is 10, it is decelerated as much 0.10 [sec].

3-20

Chapter 3. Parameter Setup

Set-up the origin moving speed(ORG_SPD0, ORG_SPD1)


Group

Name

Contents

Setting range

Default

The moving speed until confirming the last

ORG_SPD0

1000
port at the time of operating the origin

DFT

1~10000
The moving speed from the last port to the Z

ORG_SPD1

500
phase at the time of operationg the origin

Description
1) In origin operation, it is moved by ORG_SPD0 speed until the last contact
point and moved by ORG_SPD1 speed until Z phase position.
2) If user selects ORG_RULE(OPER->MODE->ORG_RULE) moving into the
fixed ORG_OFS(MECH ->ORG_OFS), it is moved by DFT_SPD(OPER->
DET->DET_SPD) from Z phase position to the onset.
3) If the value fixed by ORG_SPD0 1 is 10000, it is operated by the speed
determined by LMT_RPM(MECH ->LMT_RPM) parameter.
The speed in the value less than that is determined in accordance with the
ratio. (50% in case of 5,000)
4) DFT_ACC and DFT_DEC is used as the acceleration & deceleration time at
the time of operating the origin.
5) If the origin command is received, it is converted into Servo ON
automatically even at servo OFF.
The servo can be ON/OFF by using ORG_SV(OPER ->ETC->ORG_SV)
parameter after completing the origin operation.

3-21

Chapter 3. Parameter Setup

Set-up the operation speed with the contact point(IO_SPD0,


IO_SPD1,IO_SPD2,IO_SPD3)
Group

Name

Contents

Setting range

IO_SPD0
IO_SPD1
DFT

IO_SPD2

Default
500

Moving speed in case the speed is


fixed by SPD IOSPD during the
operation of Robot program

1000
1~10000
1500

IO_SPD3

2000

Description
1) This function is used with the contact points IOSPD1, IOSPD0.
2) If the commands IOSPD1, IOSPD0 exist in Robot program operation according to
the contact point of IOSPD1, IOSPD0 when the command is operated, it is used
as movement speed later by selecting one of the speed values from IO_SPD0
IO_SPD3.

IO_SPD1

IO_SPD0

Selected speed value

OFF (0)

OFF (0)

IO_SPD0

OFF (0)

ON (1)

IO_SPD1

ON (1)

OFF (0)

IO_SPD2

ON (1)

ON (1)

IO_SPD3

3) If the value fixed by IO_SPD0 3 is 10,000, it is operated by the speed


determined by LMT_RPM(MECH->LMT_RPM) parameter.
The speed in the value less than that is determined in accordance with the
ratio. (50% in case of 5,000)

3-22

Chapter 3. Parameter Setup

4> ETC
Procedure
OPER ETC. FLO_ERR, INPOS, ROB_PGM, PLC_PGM, INI_TRQ, JOG_SV,
ORG_SV,ORG_TRQ, MY_ID BIT RATE, BCD_READ, BACKLASH,
Data Mode, User Mode,Sensor

Set-up the condition of Servo operation


: FLO_ERR, INPOS, INI_TRQ, JOG_SV, ORG_SV, ORG_TRQ, MY_ID BIT RATE,
BCD READ, BACKLASH,DATA MODE,USER MODE,SENSOR
Group

Name

Contents
Standard for the occurrence of excesive

Setting range

Default

0.001~10000.000

10.00

FLO_ERR
error about the movement deflection

ETC.

INPOS

The error scope estimated the movement


is completed

0.001~99999.999

0.05

ROB_PGM

Select the Robot program to be operated

0~8

PLC_PGM

Select the PLC program to be operated

0~4

INI_TRQ

The initial torque in case of Servo ON

-300~300 (%)

JOG_SV

The selection of Serbo On/Off after a JOG/IJOG

0~1

ORG_SV

The selection of Serbo On/Off after a Origin

0~1

ORG_TRQ

The torque when operation the Damper Origin

50~200 (%)

50

MY_ID

422 Multi point communication ID setting

0~255

BIT RATE

422 Multi point communication speed setting

0~3

BCD_READ

Decide if BCD DATA is applied

0,1

BACKLASH

BACKLASH compensation

-99999.999~99999.999

DATA MODE

Decide a option of DATA storage

0,1

USER MODE

Set- up the user's Mode

0~999

SENSOR

Set- up the type of sensor

0~99

11

Description
1) The trapezoid type acceleration & deceleration movement is used in every movement.
The Servo control part calculates internally the trapezoid type acceleration & deceleration
wave, and it controls the servomotor in accordance with the calculated position and speed.
If the gain of controller is fixed wrong or there is a wiring error, the large error occurs
between the calculated position and the servo position. In this case, FLO_ERR value is used
as a deflection standard value.

3-23

Chapter 3. Parameter Setup


2) About the various movement operation command, if the difference between
the position of servo motor and the position of target is included within the
value fixed with INPOS it is perceived as the state which arrives to the position
(IN POSITION).
The INPOS value is used as a standard for the completion of movement in
operation of Robot program (In case of FOS 100).
The INPOS and FLO_ERR value uses the unit of user's coordinate system.
3) If the ROB_PGM value selected is between 07, the program starting first
by the command of Robot run is fixed by value determined in this parameter.
If the ROB_PGM value selected is 8, the Robot operation program number is
selected by the contact point value PGM_SEL2 PGM_SEL1 PGM_SEL0 when the
contact point value PGM_SEL2 is 01.

PGM_SEL2

PGM_SEL1

PGM_SEL0

Selected Robot Program

OFF (0)

OFF (0)

OFF (0)

NO. 0

OFF (0)

OFF (0)

ON (1)

NO. 1

OFF (0)

ON (1)

OFF (0)

NO. 2

OFF (0)

ON (1)

ON (1)

NO. 3

ON (1)

OFF (0)

OFF (0)

NO. 4

ON (1)

OFF (0)

ON (1)

NO. 5

ON (1)

ON (1)

OFF (0)

NO. 6

ON (1)

ON (1)

ON (1)

NO. 7

4) The program number operated by the PLC run command is selected by


PLC_PGM value.
5) INI_TRQ is used for the restraint of initial drooping state at the time of
converting to servo movement after loosing the brake in case of the gravity
load. If it is fixed as the negative number(-) it becomes a reverse torque.
It can be fixed from -300 to 300[%] on the basis of the rated torque.
6) If JOG_SV is fixed as "1", it maintains Servo ON state after moving into JOG
and IJOG commands, and if this is fixed as "0", It becomes Servo OFF state
after moving.
7) If ORG_SV is fixed as "1", it maintains Servo ON state after operating the
Origin and if this is fixed as "0", It becomes Servo OFF state after origin
operation.

3-24

Chapter 3. Parameter Setup

8) ORG_TRQ is used for discerning that the equipment part has collided with
the Damper Origin at the time of Damper Origin operation. If this value is
100[%] and the torque is rated at the time of Damper Origin operation, it is
discerned that the equipment part has collided with the Damper Origin.
After this it starts rotating in reverse (In case of setting up Damper origin
of ORG_RULE 1316).
9) In case of using the 422 Multi communication, set the ID in a Controller.
10) In case of using the 422 Multi communication, set the speed.
(0: 9,600 bps, 1: 19,200bps)
11) BCD_READ
; Decide whether using BCD DATA or not (0 : No use , 1: use)
12) BACKLASH
; When occuring mechanical BACKLASH, compensate softwarely
(compensating by inputting as value as BACKLASH)
13) DATA MODE
; Set- up the option of Data storage(0 : Auto Save , 1 : No change a data)
14) USER MODE
; When setting with 911, cancel SYSTEN EMERGENCY
15) SENSOR

Setting

LIMIT

ORIGIN

NC

NC

NC

NO

10

NO

NC

11

NO

NO

3-25

Chapter 3. Parameter Setup

3-2-4. Parameter for I/O

1> Setting up system Input Contact point


Note
1. The system input is installed in the B350 ~ B387 area of SW contact point.
2. If the contact point between B000 ~ B337 among the contact point area is selected
about the system input necessary for the parameter set-up, the value of selected
contact point is copied into related system input, and it operates the system function
according to the value.
Especially since the B000 ~ B022 is the input contact point, if the parameter is selected
by this area, the input contact point is used as a system contact point.
The contact point not being used among the system inputs should be fixed by "Not"
3. If the same contact point is selected according to the another signal, it is treated an "Error".
4. The contact point between B320B347 as extension area, can be used by installing the
extension I/O board
5. If the result of operation is output into the wanted contact point among B350 B387 as system
input contact point area in the PLC program, the system operation can be operated by the
PLC program. In this case, The parameter about the contact point should be fixed as "Not".
6. Every contact point value in the system input becomes to "0" initially.
7. The set-up position parameter is I/O INPUT The contact point.
8. Every contact point except the CW S/W, CCW S/W, ORG S/W contact point, is changed
by the new value per 25 [msec].
9. The value of CW S/W, CCW S/W, ORG S/W contact point is discerned the new value
within 6 [msec] after the input is settled.

Procedure
I/O INPUT ROB_RUN,PLC_RUN,STOP,RESET,
SVON,SVOFF,ORIGIN,STEP_RUN,PGM_SEL,
PGM_SEL0,PGM_SEL1,PGM_SEL2,JOG+,
JOG-,JOG_SET1,JOG_MODE,IOPOS0,
IOPOS1,IOPOS2,IOPOS2,IOPOS2,IOPOS3,
IOPOS4,IOPOS5,IOPOS6,IOPOS7,IOSPD0,
IOSPD1,CW S/W,CCW S/W,ORG S/W,
MPG_RATE,MOVT_ST
Set up contact point of system input
Group

Name

Content
Robot Program Run Input Signal

INPUT

ROB_RUN

Bit No.

Default

B350

Not Use

Explanation
-.Robot Program Order ( '1' )
-.When running Robot Program from start: DFT_SPD,DFT_
ACC,DEC (OPERETCDFT_SPD..)
After making Parameter value as moving condition, run Robot
program.
-.For stopping Robot program in progress, it continues
Robot program from the status before stop.

3-26

Chapter 3. Parameter Setup

Group

Name

Content

Bit No.

Default

PLC_RUN

Run PLC program

B351

B000

STOP

Stop Robot Program

B352

B001

RESET

Reset Alarm

B353

B002

Not availalble unless it is in Alarm


SVON

Servo ON Command

B354

Not Use

SVOFF

Servo OFF Command

B355

B003

B356

Not Use

Not available while operating program


ORIGIN

Command of executing Origin

Description
-. Executing Origin command (1)
-. Not available in case the parameter value of ORG_RULE(OPER ->ETC
->ORG_RULE) is fixed as 0 (not operating the origin) or the parameter value
of ENC_TYPE(SERVO->AMP/MOT->ENC_TYPE) is fixed as 2 (absolute
encoder)ORG_RULE (OPER ETCORG_RULE)

STEP_RUN

Step Run command of Robot program

B357

Not Use

PGM_SEL

Reset command of Robot program ('1')

B360

Not Use

& Command of program selection


Description
-. Robot program Reset command ( '1' )
-. Available only in stopped status the operation of Robot program.
-. Initialize the present process state of the Robot program
-. If parameter value of ROB_PGM is 07, it is prepared to process
the program from the beginning, and if ROBT_PGM(OPER->ETC->
ROB_PGM) parameter is 8, program number is selected by
PGM_SEL2, PGM_SEL1 PGM_SEL0 value.

INPUT

PGM_SEL0
PGM_SEL1
PGM_SEL2

Robot program code selection


Description
-. Possible to select 8 programs
-. Initialize program number to run or
step to proceed.

B361

Not Use

B362

Not Use

B363

Not Use

JOG+

JOG movement (+ direction) Input

B364

Not Use

JOG-

JOG movement (- direction) Input

B365

Not Use

Description
-. The contact point of JOG_MODE is 0, the JOG is perated, and
if the value is "1", lJOG is operated.
-. For JOG operation, it continues to move during '1' Bit, and for lJOG
operation it moves by one time if this Bit changes from "0" to "1".

3-27

Chapter 3. Parameter Setup

Group

Name

Content

JOG_SET0
JOG_SET1

-. Selection code of JOG moving condition


-. This contact point value is used at
the time of operation by JOG+, JOGcontact point.

Bit No

Default

B366

Not Use

B367

Not Use

JOG_SET1

JOG_SET0

JOG Mode

IJOG Mode

OFF(0)

OFF(0)

JOG_SPD0

JOG_RES0

OFF(0)

ON(1)

JOG_SPD1

JOG_RES1

ON(1)

OFF(0)

JOG_SPD2

JOG_RES2

ON(1)

ON(1)

JOG_SPD3

JOG_RES3

JOG_MODE

Selection of JOG movement method

B370

Not Use

Description
-. Selection of JOG movement method
-. The contact point value of JOG_MODE is 0, JOG is
operated, and the value is "1" lJOG is operated.
-. This contact point value is used at the time of operation
by JOG+, JOG- contact point.

INPUT
IOPOS0
IOPOS1
IOPOS2
IOPOS3

-. The movement position code in the


MOVT command of Robot program.
-. It is used with MOVT_ST contact
point.
0 : OFF 1 : ON

IOPOS4

B371

Not Use

B372

Not Use

B373

Not Use

B374

Not Use

B375

Not Use

IOPOS5

IOPOS7..0

Moving position

B376

Not Use

IOPOS6

00000000

P0

B377

Not Use

IOPOS7

00000001

P1

B380

Not Use

00000010

P2

11111011

P251

11111100

P252

11111101

P253

3-28

Chapter 3. Parameter Setup

Group

Name
IOSPD0
IOSPD1

Content
The selection code of movement speed in the
SPD_IOSPD command of Program.

Bit No

Default

B381

Not Use

B382

Not Use

IOSPD1

IOSPD0

Moving Speed

OFF(0)

OFF(0)

IO_SPD0

OFF(0)

ON(1)

IO_SPD1

ON(1)

OFF(0)

IO_SPD2

ON(1)

ON(1)

IO_SPD3

CW S/W

CW Limit Switch input signal

B383

Not Use

CCW S/W

CCW limit switch input signal

B384

Not Use

ORG S/W

Origin Switch input signal

B385

Not Use

Description
-. Limit switch value (Normal Close)
-. No more rotation if it meets the switch during JOG operation
-. The hardware Alarm is occurred in case when it meets the
switch during the operation of the Robot program.
-. Origin switch value (Normal Open)

INPUT

MPG_RATE

MOVT_ST

Input pulse in "MOVM" command and rate


selection of moving amount

B386

MPG_RATE

Selection of moving rate

OFF(0)

MPG_PLS0, MPG_MOV0

ON(1)

MPG_PLS1, MPG_MOV1

Input signal to start movement


for "MOVT" command

B387

Description
-. Command to start movement about MOVT command ( '1' ).
-. MOVT command is started by receiving this contact point
input, and the target position is determined by the contact
point value IOSPD 3~0 when this contact point input is
received.

3-29

Not Use

Not Use

Chapter 3. Parameter Setup

2> Setting up System Output contact point


Note
1. The system output is installed in the area of SW contact point B 390 ~ B 407.
2. This system output can be used as input in the PLC program.
3. The necessary matter among this system output can be used by transmitting
to the output contact point directly in the parameter.
( it is transmitted by the 25 [msec]).
4. The parameter set-up location is at the I/O -> OUTPUT-> the contact point.
Procedure
I/O OUTPUT ALARM,READY,ORIGIN,IN_POS,
ALARM0, ALARM1, ALARM2, ALARM3, BRAKE
Group

Name
ALARM

Content
it is alarm status

Bit No

Default

B390

Not Use

B391

Not Use

B392

Not Use

B393

Not Use

Description
-. It is set in the various alarm state. ( '1' ).
-. The alarm code is output together at
the output contact point.ALARM 3-0
according to the kinds of alarm.

READY

if it is no problem after power input


Description
-.It is Set(1) after inputting the power and
completing the self- inspection.
-. It is Cleared in the alarm state (0).

OUTPUT

ORIGIN

Output when completed Origin movement


Description
-. It is set after completing the Origin
movement.
-. For using absolute encoder, if there is
no encoder Error, it is set at the time of
inputting the power.

IN_POS

if it reaches within position decision


range while moving Job point
Description
-. If the difference between target position
and current position within the parameter
value of INPOS(OPERETC), it will set.

If ALARM not output


Parameter -> OPER -> Mode -> Auto_PLC, change "0" -> "1"
create and save New Line at random in PLC after completing change

3-30

Chapter 3. Parameter Setup

Group

Name
BRAKE

Content
Output when driving Servo Motor Brake

Bit No

Default

B400

Not Use

Description
-.It is set when driving Servo Motor Brake.
-.This contact point value is similar with the state
of terminal for brake only.

ALARM 0

Alarm code at the time of alarm occurance

B394

Not Use

ALARM 1

Available when alarm contact point is "1"

B395

Not Use

ALARM 2

B396

Not Use

ALARM 3

B397

Not Use

ALARM 3~0

OUTPUT

Alarm Code Content

0000

Normal Condition

0001

Over Current (IPM Error)

0010

Over Load

0011

Over Voltage

0100

Over Heat

0101

Power Fail

0110

Data Back-up Error

0111

Encoder Error

1000

Hardware Limit

1001

Software Limit

1010

Following Error

1011

Program Error

1100

Emergency Stop

1101

Over Speed

1110

Parameter Error

1111

Software Alarm

3-31

Chapter 4. I/O Instructions

Chapter 4. I/O Instructions

First, connect them after selecting contact point of I/O to use.

4-1. I/O Contact Status Verification & Test Method


Content

Order

Key Operation

RCS-7000T Ver1.0B
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data Up/Down Load

Check if the power is on Controller.

Select F1

Press ENTER

Display

Robostar
Servo Controller
RCS-6000 vER 5.0C
PRESS ENT kEY

F1

Servo Controller
ENTE
R

ROBOT PLC PARA VIEW

PLC Control
4

F2

Select F2

PROG TEST

F2

Select F2

Description

PORT 01234567 STATE


B00 *00000000
I
B01 00000000
I
JMP

Port State
: B000~B041

Contact Point State


I : User Input
O: User Output
USER: Internal contact
OPT I : Extended Input
OPT O : Extended Output
SYS I : System Input
SYS O : System Output

BIT I/O State


0 : I(O) OFF State
1 : I(O) ON State

4-1

RUN

PORT 01234567 STATE


B00 *00000000
I
B01 00000000
I
JMP

PORT Movement
2

F4

(Up)

(Down)

(JUMP)

BIT Movement
4

(Left

(Right)

Chapter 4. I/O Instructions

I/O Reference on Chapter 4.1


Port Structure
-. The scope of I/O data consists of 42 ports from B00 to B41,
each port consists of 8 bits,
-. The system contact points are from B350 to B417.
-. Therefore, the available numbers of the contact point are 280 (35 x 8).

Address

Port

Usage

B00

B000

B001

B002

B003

B004

B005

B006

B007

User Input

B01

B010

B011

B012

B013

B014

B015

B016

B017

User Input

B02

B020

B021

B022

User Input

B03

B030

B031

B032

B033

B034

B035

B036

B037

User Output

B04

B040

B041

B042

B043

B044

B045

B046

B047

User Output

B05

B050

B051

B052

B053

B054

B055

B056

B057

Internal contact

B31

B310

B311

B312

B313

B314

B315

B316

B317

Internal contact

B32

B320

B321

B322

B323

B324

B325

B326

B327

Extended Input

B33

B330

B331

B332

B333

B334

B335

B336

B337

Extended Input

B34

B340

B341

B342

B343

B344

B345

B346

B347

Extended Output

B35

B350

B351

B352

B353

B354

B355

B356

B357

System Input

B36

B360

B361

B362

B363

B364

B365

B366

B367

System Input

B37

B370

B371

B372

B373

B374

B375

B376

B377

System Input

B38

B380

B381

B382

B383

B384

B385

B386

B387

System Input

B39

B390

B391

B392

B393

B394

B395

B396

B397

System Output

B40

B400

B401

B402

B403

B404

B405

B406

B407

System Output

B41

B410

B411

B412

B413

B414

B415

B416

B417

System Output

NOTE
1.B030~B217 bits will be cleared 0 when the controller is a alarm state,
except for while PLC program is running.
2.B220~B310 bits retain the previous state when the controller is in alarm state.
3.All I/O bits will be cleared when the power off.

4-2

Chapter 4. I/O Instructions

I/O Reference on Chapter 4.2


1. User input:
The user input could be used as ordinary user input and system input.
Set up it previously if you use as system input.
2. User output:
The user output can be used as ordinary user output and system output.
Set up it previously if you use as system output.
( For Instruction of setting up system I/O, see Chapter 5 )
3. Extended I/O:
The extended I/O can be used in case of installing extended I/O board.
The method of use is like user I/O.
4. Carefully wiring as the connection has a common terminal per every 8th I/O port.
5. User can treat user I/O directly by controller, outer wiring and PC.
6. The internal contact point can use parts of internal memory of controller as a contact
point variable, it can be treated by the Program, T/P and PC.
7. The state of I/O contact point can confirm real-time by using T/P and PC.
8. I/O of system the value of contact point is copied into relating System input, if selecting
contact point from B000 to B337 among the parts of contact point by user's setting up
parameter necessary for system input, and the function of System operates in accordance
with the value.
9. System I/O should not be revised freely by user.
10. Each contents of System I/O are as follows.

Input contact point


Add.

Content

Add.

B350

ROB_RUN

B365

B351

PLC_RUN

B366

B352

STOP

B353

Content
JOG-

Add.

Content

B365

IOSPD1

JOG_SET0

B366

CW S/W

B367

JOG_SET1

B367

CCW S/W

RESET

B370

JOG_MODE

B370

ORIGIN S/W

B354

SVON

B371

IOPOS0

B371

B355

SVOFF

B372

IOPOS1

B372

B356

ORIGIN

B373

IOPOS2

B373

B357

STEP

B374

IOPOS3

B374

B360

PRM_SEL

B375

IOPOS4

B375

B361

PRM_SEL0

B376

IOPOS5

B376

B362

PRM_SEL1

B377

IOPOS6

B377

B363

PRM_SEL2

B380

IOPOS7

B380

B364

JOG+

B381

IOSPD0

B381

4-3

Chapter 4. I/O Instructions

Output contact point


Content

Add.

B386

MPG_RATE

B393

IN_POS

B400

B387

MOVT_ST

B394

ALARM0

B401~B417

B390

ALARM

B395

ALARM1

B391

READY

B396

ALARM2

B392

ORIGIN_OK

B397

ALARM3

Bit No.

Content

Add.

Content
BRAKE
Not Use

NOTE
1. Be careful that internal contact point and output contact point are not cleared
after Alarm and EMG reset.
2. In case of power-OFF, internal contact point and output contact point is cleared
as "0".
3. Embedded PLC program keeps operation state after alarm or EMG reset, once
it executed
4. This may not be operated the desirable movement if the process time of embedded
PLC program and Robot program contact point and processing time of outer signal
not accord. This is no trouble but the case that outer signal is not accorded.
Please check processing time of signal.
5. If PLC program in on operation, it retains output and internal contact point
even in ALAM state, while output and interanl contact point is cleared as "0"
if it not on operation.

4-4

Chapter 5. JOG Operation & Origin

Chapter 5. Move Robot with Teach Pendent (JOG operation),


check current state of Robot, and execute origining (Origin).

Try to move Robot using JOG with T/P after finishing assembly and wiring of
manipulator and set up of the related parameter.
At this time, you must examine if it has abnormal state, and if seeing any problem
you should take the proper steps.
Refer to the contact of troubleshooting on Errors possible for happening in
operating with JOG.

5-1. JOG Operation


Procedure
Content

Order

Power-ON Controller

Select Teach Pendant

Key Operation

Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load

Servo Controller
F1
ROBOT PLC PARA VIEW

ROBOT Control

F1

Select ROBOT

PROG POS ORG RUN

(ROBOT)

ROBOT Control
P000 *0.123
P001 0.000
JOG+ JOG- spd0 IJOG

F2

Select POS

(POS)

Description
Change of JOG moving direction

F1

(+ Direction ~ - Direction)

JOG speed change (spd0 ~ spd3)

F3

5-1

or

F2

Chapter 5. JOG Operation & Origin

5-2. IJOG (Inching Jog) Operation


IJOG is the function to move as much the position transfer quantity fixed in
advance.
It can move closely by using Incremental JOG after moving as much rated position
with JOG function.
It goes into IJOG operation mode when pressing IJOG key in JOG display.

Procedure
Order

Content

Key Operation

Display
ROBOT Control
P000 *0.123
P001 0.000
JOG+ JOG- spd0 IJOG

In JOG operation display

ROBOT Control
P000 *0.123
P001 0.000
JOG+ JOG- res0 IJOG

F4

Select IJOG (spd0 res0)

(IJOG)

Change the direction of IJOG moving


direction (+direction ~ -direction)

F1

F2

or

(JOG+)

IJOG-)

ROBOT
ROBOT Control
Control
P000 *0.123
*0.123
P001 0.000
0.000
JOG+ JOGJOG- res0
res0 IJOG
IJOG

3
Change the speed of IJOG
(res0 ~ res3)

F3
(res0)

5-2

ROBOT Control
P000 *0.123
P001 0.000
JOG+ JOG- res1 IJOG

Chapter 5. JOG Operation & Origin

5-3. In JOG Mode, Trouble shooting when problem occur

Mechanical Noise
NO

Cause

Unproper Precision of installing floor

Measures
Install it after correcting precision(plane level)
by using Thickness Tape or something.
Re-Inject grease after removing grease and

Other substances mixing


other substances

Using it in over range of speed

Unfastened Coupling

Lower the speed within range


Re- connection a coupling (possible to be loosen within the
time of vibration state and limited acceleration & deceleration)
Re-Inject grease after removing grease and

Lack of grease
other substances
NOTE
1

Set GAIN wrong

Adjust P,V Gain

Inappropriate Timing Belt tension

Adjust Timing Belt tension

Damage of Ballscrew or
runing over 15,000 hours

Change Ballscrew

Damage of Bearing for linear motion


9

Change Bearing for Linear motion


or running over 25000km

10

Unusal operation of Brake

Change the Brake

11

Interference by breakage of
manipulator body

Change spare part

NOTE1

* How to regulate the Gain value


See" Reference 3.2 of Chapter 3" for details

5-3

Chapter 5. JOG Operation & Origin

In case of vibration
Cause

NO
1

Measures

Using over limited speed

Lower the speed under the limited speed

Use under the time of limited acceleration,

Regulate the time of acceleration,

deceleration

deceleration more longer

Complement the installation stand stiffness,

Lack of stiffness of a installation stand

fix the falt with drafting screw


Make sure if the balt is connected completely
and if the balt length is sutable
Inferiority the balt connection for

Connect with the connection torque of

Installing the Robot

standard after checking all above data.

4
Consider a counterplan to prevent of unfasten
-ing a bolt (Spread Loctite , adopt Nylok balt)
Lower the speed or make the time of

Overload

acceleration,deceleration long
6

Set GAIN incorrectly

Resonance with other machines

Regulate P, V Gain

NOTE1

Regulate acceleration, deceleration


and speed.

The unstable movement of Robot & overdriving


Cause

NO
1

Measures

The value of Pitch/Rev(Gear Ratio)is wrong

Revise the value of Pitch/Rev(Gear Ratio)

comformity origin Sensor and Encoder

Regulate the origin sensor or coupling position

Z-phase or proximity

if the pulse value of z phase is over 1000~9000

2
after origining on a T/P.

NOTE 1
* How to regulate the Gain value
See" Reference 3.2 of Chapter 3" for details

5-4

Chapter 5. JOG Operation & Origin

The position decision accuracy inferiority


Cause

NO

Measures
If need the position decision accuracy for

Mechanical Lead error


the process, contact our company.

The position decision accuracy inferiority


Cause

NO

Measures

Damage a ball screw

Replace a ball screw

Unproper Precision of installing floor

See the above "Unproper Precision of

2
installing floor"
Position Gain is low

Make Position Gain high.

Inferiority the balt connection for

See the above "Inferiority the balt connection

Installing the Robot

for installing the Robot"

Lack of stiffness of a installation stand

See the above "Lack of stiffness of

NOTE1

5
a installation stand"
Untighten coupling or breakdown

Re-tighten coupling or replace

NOTE 1
* How to regulate the Gain value
See" Reference 3.2 of Chapter 3" for details

5-5

Chapter 5. JOG Operation & Origin

5-4. Check the limit sensor of axis after moving the Robot to JOG

At this time, If occurring a alarm on T/P, It's normal.


If not, it's not normal so make sure the below item.
Is wire connected correctly?
Does sensor sensing space be attached in1mm?
Does the limit sensor be attached within the interference range between a axis
and a cartesian ?
I on the carrier?
Is the specification of a limit sensor(CW, CCW) correct (Normal B contact point)?
Is the specification of a origin sensor(CW, CCW) correct (Normal A contact point)?
Is setting the I/O contact point on the parameter correct?

Bad operating of Limit(origin)sensor


NO

Cause

Measures

The space is wide between proximity

Regulate the space of proximity

Sensor(Reed S/W) and Magnet

Sensor(Rees S/W) (1mm)

Damage proximity Sensor(Reed S/W)

Replace proximity Sensor(Reed S/W)

Error in set origin Parameter

Reset origin Parameter

5-6

Chapter 5. JOG Operation & Origin

5-5. Operate Origin when there is no problem in Robot


to move with JOG.
How to operate the Origin depends on the type of Encoder.

5-5-1. How to operate ORIGIN(Incremental Encoder)


Set up the related parameter before operating Origin.

Procedure
Contents

Order

Power-ON Controller

Select Teach Pendant

Display

Key Operation

RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load
Servo Controller
F1
ROBOT PLC PARA VIEW

F1

Select ROBOT

(ROBOT)

Select ORG
4

F3

if setting ORG_RULE with"1" in


the parameter

(ORG)

be regular over
(ORIGIN success)

F1
(YES)

ROBOT Control
PROG POS ORG RUN

No.1 CW SW Zero
15Line INC.Encoder
RUN?
YES NO
No.1 CW SW Zero
is running
STOP

ROBOT Control

be irregular over
(ORIGIN failure)

PROG POS ORG RUN

Not Find Origin

5-7

Chapter 5. JOG Operation & Origin

In case of setting ORG_RULE with "0" , you can see the warning
as below screen
Contents

Order

Key Operation

Display

Select ORG
4

Warning !

F3

In case of setting ORG_RULE


with "0" in the parameter

Not Origin Mode !


(ORG)

If failing in origining, examine the operation of the limit sensor,


or set ORG_RULE again and operate the origin.

5-5-2. How to operate ORIGIN(Absolute Encoder)


The parameter is set first before origining.
(See "Procedure 2 parameter setting up for parameter setting details)
How to operate Origin of absolute encoder
First, move to the wanted position with JOG operation and then re-set the
encoder to set up.
At this time, The value set in parameter ORG_RULE has nothing to do with the
movement. But, set ENC_TYPE with "2".

Contents

Procedure

Key Operation

Display
Servo Controller

Select Teach Pendant on the first screen

F1
ROBOT PLC PARA VIEW

ROBOT Control

F1

Select ROBOT

(ROBOT)

F3

Select ORG

(ORG)

F1

Select YES

(YES)

5-8

PROG POS ORG RUN

Origin
ABS. Encoder
SET ?
YES NO
Find Origin
Press 'ENT'
P255 *10.234
JOG+ JOG- spd0 IJOG

Chapter 5. JOG Operation & Origin

Order

Content

Normal complete
(ORIGIN complete)

Key Operation

Display

ENT

Wait 5 Seconds!
For Encoder Reset

ROBOT Control

6
PROG POS ORG RUN

5-9

Chapter 6. Editing new program

Chapter 6. Editing New Program

6-1. Edit and input new program


Programmable Robot programs are 8 in total from No. 0 to No.7
The maximum number of steps for each program is 1000 steps(4000
Words).
You can easily edit program, refering to below example.

In order to edit program, you should appoint 2 things.


Select USER I/O list to use.
Appoint point number to work.

Example: Description on Pick & Place Systems with Palletizer function:


- When start signal(B000) input, it picks up the object in P0(origin point)
after outputing the signal to operate up-down Cylinder and Finger
Cylinder, move and place it to P1, and return to P0(origin point).

B030,B031

Up-down Cylinder

B000

Finger Cylinder

P0 (origin point)

6-1

P1

Chapter 6. Editing new program

Reference 6.1

Group

Key

PROG

Robot Command
Selection Key

F1

(Refer it when input program)

Display
BS

F1

SERVO

F2

STOP

F3

MOVA

F4

MOVI

F1

F2

PEND

F3
F4

6-2

F1

ALARM

F2

F3

BB

F4

F1

CALL

F2

JPGM

F3

LOOP

F4

ENDL

F1

GOTO

F2

LBL

F3

SBRT

F4

RET

F1

DEC

F2

IF

F3

XIF

F4

WAIT

F1

REF

F2

PCLR

F3

SPD

F4

ACC

F1

MOVR

F2

MOVM

F3

MOVT

F4

FOS

Chapter 6. How to edit new program

6-1-1. Edit program

SERVO ON

: It turns Servo On

SPD 1000

: Set the speed 10% of parameter LMT_RPM.

LBL 1

: Set LABEL 1.

MOVA P0

: Move from P0 to the appointed point.

B040 = 1

: Output contact point B040(signal for originpoint reach) with 1.

WAIT B000 = 1

: Wait until input contact point becomes B000(contact of move start) 1.

B040 = 0

: Output contact point of output, B040(originpoint reach) with 0.

B030 = 1

: Output B030(signal to operate up-down Cylinder:move down) with 1.

B031 = 1

: Output B031(Finger Cylinder operation signal: picking) with 1.

B030 = 0

: Output B030(signal to operate up-down Cylinder: move up) with 0.

MOVA P1

: Move from P1 to the appointed point

B030 = 1

: Output B030(signal to operate up-down Cylinder: move down) with 1.

B031 = 0

: Output B031(signal to operate Finger Cylinder: Placing) with 0.

B030 = 0

: Output B030(signal to operate up-down Cylinder:move up) with 0.

GOTO 1

: It goes program execution to LBL1.

<end of file>

6-1-2. Input program


Content

Order

Turn controller ON

Select Teach Pendant

Key Operation

Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load

F1

ROBOT Controller
ROBOT PLC PARA VIEW

Select ROBOT
3

F1

(# sign: Complete program edit)

(ROBOT)

Move to not the edited program No.

2 time

6-3

PROGRAM
*0# 1#
4 5#
EDIT

No.0 3912
2
3
6
7
COPY DEL

PROGRAM
0# 1#
4 5#
EDIT

No.0 3912
*2
3
6
7
COPY DEL

Chapter 6. Editing new program

Content

Order

Key Operation

PROGRAM No.2
S000* <end of file>
S001
BLOCK
JMP DEL

F1

Select EDIT

(EDIT)

Select ENT

Input SERVO

PROGRAM No.2
S000*_
S001<end of file>
SERVO STOP MOVA MOVI

ENT

PROGRAM No.2
S000* SERVO _
S001<end of file>
ON OFF

F1
(SERVO)

SERVO
ON
Input

Input ON

Select ENT

10

Find and move SPD command

Display

PROGRAM No.2
S000* SERVO ON_
S001<end of file>
ON OFF

F1

S000 SERVO ON
S001* _
S002 <end of file>
SERVO STOP MOVA MOVI

ENT

S000 SERVO ON
S001* _
S002 <end of file>
REF PCLR SPD ACC

BS
5 time

11

S000 SERVO ON
S001* SPD _
S002 <end of file>
REF PCLR SPD ACC

F3

Input SPD

(SPD)

SPD
1000
input

12

Input 1000

13

Select ENT

14

ENT

Find LBL command and move

BS
6 time

6-4

S000 SERVO ON
S001* SPD 1000_
S002 <end of file>
REF PCLR SPD ACC

S001 SPD 1000


S002* _
S003 <end of file>
REF PCLR SPD ACC

S001 SPD 1000


S002* _
S003 <end of file>
GOTO LBL SBRT RET

Chapter 6. Editing new program

Content

Order

15

Key Operation

S001 SPD 1000


S002* LBL _
S003 <end of file>
GOTO LBL SBRT RET

F2

Input LBL

(LBL)

LBL 1
Input

16

Input 1

17

Select ENT

18

Find and move MOVA

Display

S001 SPD 1000


S002* LBL 1_
S003 <end of file>
GOTO LBL SBRT RET

ENT

S002 LBL 1
S003* _
S004 <end of file>
GOTO LBL SBRT RET

S002 LBL 1
S003* _
S004 <end of file>
SERVO STOP MOVA MOVI

BS
4 time

19

S002 LBL 1
S003* MOVA _
S004 <end of file>
P PI

F3

Input MOVA

(MOVA)

MOVA
P0
Input

20

21

22

Input P0

Select ENT

F1

(P)

(0)

S003 MOVA P0
S004*
S005 <end of file>
SERVO STOP MOVA MOVI

ENT

S003 MOVA P0
S004*
S005 <end of file>
ALARM B BB I

BS

Find B command and move

2 time

B040=1
Input

23

S003 MOVA P0
S004* B_
S005 <end of file>
ALARM B BB I

F2

Input B

(B)

24

Input 040

6-5

S002 LBL 1
S003* MOVA P0_
S004 <end of file>
SERVO STOP MOVA MOVI

S003 MOVA P0
S004* B040_
S005 <end of file>
= NOT

Chapter 6. Editing new program

Content

Order

25

Key Operation

F1

Input =1

S003 MOVA P0
S004* B040=1_
S005 <end of file>
= NOT

(=)

26

Select ENT

27

Find WAIT command and move

Display

S004 B040=1
S005* _
S006 <end of file>
ALARM B BB I

ENT

S004 B040=1
S005* _
S006 <end of file>
DEC IF XIF WAIT

BS
3 time

28

S004 B040=1
S005* WAIT_
S006 <end of file>
B
BB
I
P

F4

Select WAIT

(WAIT)

WAIT
B000=1
input

29

Input B000

F1

(B)

30

F1

Input =1

S004 B040=1
S005* WAIT B000=1_
S006 <end of file>
=

(=)

31

32

S005 WAIT B000=1


S006*
S007 <end of file>
DEC IF XIF WAIT

ENT

Select ENT

S005 WAIT B000=1


S006*
S007 <end of file>
ALARM B BB I

BS

Find B command and move

5 time

B040=0
input

33

Input B040

F2

(B)

34

F1

Input =0

(=)

6-6

S004 B040=1
S005* WAIT B000_
S006 <end of file>
=

S005 WAIT B000=1


S006* B040_
S007 <end of file>
= NOT

S005 WAIT B000=1


S006* B040=0_
S007 <end of file>
= NOT

Chapter 6. Editing new program

Content

Order

35

36

Key Operation

Input B030

S006 B040=0
S007* _
S008 <end of file>
ALARM B BB I

ENT

Select ENT

F2

(B)

B030=1
input

37

F1

Input =1

39

Input B031

S007 B030=1
S008* _
S009 <end of file>
ALARM B BB I

ENT

Select ENT

F2

(B)

B031=1
input

40

F1

Input =1

42

Input B030

S008 B031=1
S009* _
S010 <end of file>
ALARM B BB I

ENT

Select ENT

F2

(B)

B030=0
input

43

F1

Input =0

(=)

44

ENT

Select ENT

6-7

S007 B030=1
S008* B031_
S009 <end of file>
= NOT

S007 B030=1
S008* B031=1_
S009 <end of file>
= NOT

(=)

41

S006 B040=0
S007* B030_
S008 <end of file>
= NOT

S006 B040=0
S007* B030=1_
S008 <end of file>
= NOT

(=)

38

Display

S008 B031=1
S009* B030_
S010 <end of file>
= NOT

S008 B031=1
S009* B030=0_
S010 <end of file>
= NOT

S009 B030=0
S010* _
S011 <end of file>
ALARM B BB I

Chapter 6. Editing new program

Content

Order

45

Key Operation

S009 B030=0
S010* _
S011 <end of file>
SERVO STOP MOVA MOVI

BS

Find MOVA command and move

6 time

46

S009 B030=0
S010* MOVA _
S011 <end of file>
P PI

F3

Input MOVA

(MOVA)

MOVA P1
Input

47

F1

Input P1

S009 B030=0
S010* MOVA P1_
S011 <end of file>
P PI

(P)

48

49

S010 MOVA P1
S011* _
S012 <end of file>
SERVO STOP MOVA MOVI

ENT

Select ENT

S010 MOVA P1
S011* _
S012 <end of file>
ALARM B BB I

BS

Find B command and move

2 time

50

Input B030

F2

(B)

B030=1
Input

51

F1

Input =1

Select ENT

53

Input B031

S011 B030=1
S012* _
S013 <end of file>
ALARM B BB I

ENT

F2

(B)
B031=0
Input

54

F1

Input =0

(=)

6-8

S010 MOVA P1
S011* B030_
S012 <end of file>
= NOT

S010 MOVA P1
S011* B030=1_
S012 <end of file>
= NOT

(=)

52

Display

S011 B030=1
S012* B031_
S013 <end of file>
= NOT

S011 B030=1
S012* B031=0_
S013 <end of file>
= NOT

Chapter 6. Editing new program

Content

Order

56

57

Key Operation

F2

Input B

S012 B031=0
S013* _
S014 <end of file>
ALARM B BB I

ENT

Select ENT

Display

S012 B031=0
S013* B030_
S014 <end of file>
= NOT

(B)

B030=0
Input

58

F1

Input =0

S012 B031=0
S013* B030=0_
S014 <end of file>
= NOT

(=)

59

60

Select ENT

S013 B030=0
S014* _
S015 <end of file>
ALARM B BB I

ENT

S013 B030=0
S014* _
S015 <end of file>
GOTO LBL SBRT RET

BS

Find GOTO command and move

2 time

GOTO 1
Input

61

F1

Input GOTO

(GOTO)

62

63

Select ENT

Save program

S013 B030=0
S014* GOTO 1_
S015 <end of file>
GOTO LBL SBRT RET

ENT

S014 GOTO 1
S015* _
S016 <end of file>
GOTO LBL SBRT RET

ESC

PROGRAM No.2
Changed. Save?

2 time

YES NO

Save
program

64

F1

Complete save

(YES)

Reference

Teach points after completing program edit.

6-9

PROGRAM
0# 1#
4 5#
EDIT

No.2 3912
*2# 3
6
7
COPY DEL

Chapter 7. Point teaching

Chapter 7. Point Teaching


The position variable used in the program can be displayed on the screen
or change its value.
The available position variables are 256 from P0 ~P255, and the scope of
each variable is -99999.999 ~ 99999.999.
There are three methods of setting up the position variable
direct value input Jog input Incremental Jog input
The integer position variable is stored automatically at the time of power
failure.

7-1. How to teach MDI(Manual Direct value Input)


Ex) If teaching P0
Content

Order

Turn controller ON

Select Teach Pendant

Key Operation

Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load

ROBOT Controller
F1
PROG POS ORG RUN

POSITION DATA
P000 *0.000
P001 0.000
MDI TCH
JMP

F2

Select POS

(POS)

POSITION DATA
P000 *_
P001 0.000
MDI TCH
JMP

ENT

Input number
(example: if the value of P0 makes 10)

(1)

(0)

ENT

Select ENT

POSITION DATA
P000 *10_
P001 0.000
MDI TCH
JMP
POSITION DATA
P000 10
P001* _
MDI TCH
JMP

-. Because the position variable P 255 stores the value of the present position,
it is not user changeable.
-. Pressing the F1 key and the ENT key at P255 is ignored.

7-1

Chapter 7. Point teaching

7-2. Teaching by JOG movement


Ex) if teaching P1
Content

Order

Key Operation

Display
ROBOT Controller

F1

Select Teach Pendant

PROG POS ORG RUN

POSITION DATA
P000 *0.10
P001 0.000
MDI TCH
JMP

F2

Select POS

(POS)

POSITION DATA
P000* 0.123
P001 0.000
JOG+ JOG- spd0 IJOG

F2

Select TCH

(TCH)

POSITION DATA
P000 0.123
P001* 0.123
JOG+ JOG- spd0 IJOG

Select P1

Move Robot.
(Number increases or decreases)

F1

or

(JOG+)

(JOG-)

ENT

Select ENT

F2

POSITION DATA
P000 0.123
P001* 5.678
JOG+ JOG- spd0 IJOG
P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd0 IJOG

Description
POSITION DATA
P000 *0.10
P001 0.000
MDI TCH
JMP

POSITION DATA
P000* 0.123
P001 0.000
JOG+ JOG- spd0 IJOG

-. * : Position variable configuration currently teaching


-. MDI : Way to directly input configuration
-. TCH : Way to teach JOG
-. JMP : Move position variable configuration(P) number

-. *
: Position variable configuration currently teaching
-. JOG+ : It moves to + direction
-. JOG- : It moves to - direction
-. IJOG : Inching Jog moves as much as it previously
appointed position transfer amount.
-. spd0 : To change the JOG transfer rate, press the
key in the JOG mode screen. The transfer rate
may be changed from spd0 to spd3, gradually.

7-2

Chapter 7. Point teaching

Change of transfer speed in JOG mode


Order

Content

Key Operation

Speed change ( spd1 )

Speed change ( spd2 )

Speed change ( spd3 )

Speed change ( spd0 )

Display

F3

P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd1 IJOG

F3

P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd2 IJOG

F3

P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd3 IJOG

F3

P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd0 IJOG

Change of JOG mode


Order

Content

Key Operation

Display

Open TCH display

P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd0 IJOG

Change to IJOG(Inching) mode

P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- res0 IJOG

F4

7-3

Chapter 7. Point teaching

7-3. Teaching by IJOG(Inching Jog) Movement


Incremental Jog teaching is a function that moves a preset amount of positional transfer.
After moving a preset amount using incremental JOG, miniscule movements can be made.
To change the JOG transfer rate (res0 ~ res3) press F3 key. To change the JOG mode press
F4 key.
Pressing F1 and F2 keys will move the preset amount at a time.
After moving the cursor to the desired position using the F1(JOG+) and F2(JOG-) keys,
press the ENT key to change the position variable value. The screen will then enable other
variables to be inputted.
The next screen represents the movement of incremental JOG when res0 = 1.000

Procedure
Content

Order

Key Operation

POSITION DATA
P000 *0.00
P001 0.000
MDI TCH
JMP

F1: Teach Pendant ->F2: POS

F2

Select Teach mode

(TCH)

F4

Select Inching mode

(IJOG)

F1

Move +1mm

(JOG+)

F1

Move +1mm

(JOG+)

Display

Complete teaching P000

ENT

7-4

POSITION DATA
P000* 0.123
P001 0.000
JOG+ JOG- spd0 IJOG
POSITION DATA
P000* 0.123
P001 0.000
JOG+ JOG- res0 IJOG
POSITION DATA
P000* 1.123
P001 0.000
JOG+ JOG- res0 IJOG
POSITION DATA
P000* 2.123
P001 0.000
JOG+ JOG- res0 IJOG
P000 2.123
P001* 2.123
P002 0.000
JOG+ JOG- res0 IJOG

Chapter 7. Point teaching

Change of JOG transfer rate


-. The Jog transfer rate can be changed from res0 to res3 gradually by pressing the
F3 key in the IJOG screen.
-. To configure IJOG transfer rate, see "Parameter set up in Chapter 3.

Content

Order

Key Operation

Display
P000 2.123
P001* 2.123
P002 0.000
JOG+ JOG- res0 IJOG

F1: Teach Pendant -> F2:POS->


F2: TCH

F3 : (res0 ->res1)

F3

P000 2.123
P001* 2.123
P002 0.000
JOG+ JOG- res1 IJOG

F3 : (res1 ->res2)

F3

P000 2.123
P001* 2.123
P002 0.000
JOG+ JOG- res2 IJOG

F3

P000 2.123
P001* 2.123
P002 0.000
JOG+ JOG- res3 IJOG

F3 : (res2 ->res3)

Reference
When escaping from Jog mode by pressing the ESC key after completing Jog,
the user may modify the servo On/Off state to parameter ( OPER ETC JOG_SV ).

7-5

Chapter 8. Robot Commands

Chapter 8. Robot Commands

The Robot program command is a position control language being processed


in order, and it consists of below commands.
-. Movement condition commands
-. Movement commands
-. Variable handling commands
-. I/O handling commands
-. Program control commands.

8-1. Movement Condition Commands


Command

Detailed
command

Setting range

Servo power source ON

ON

SERVO

ALARM

SPD
(Speed)

Content

No
OFF

Servo power source OFF

No

0~255

No

1~10000

IOSPD

No

0~31

Generating user's ALARM


Setting up motor rotation speed
Setting up motor rotation with the contact point
Setting up motor rotation with the pointed
integer value

ACC

No

1~500

Setting up acceleration speed

(Acceleration)

0~31

Setting up acceleration speed with the pointed


integer value

DEC

No

1~500

Setting up deceleration speed

(Decrement)

0~31

Setting up deceleration speed with the pointed


integer value

No

0~100

0~31

No

No

FOS
PCLR
(Position Clear)

The program is processed during the MOVx


Setting up the standard coordinates
(current position value) with '0.000'.

8-1

Chapter 8. Robot Commands

SERVO
Turn ON/OFF the servo power source(U,V,W power).
Program example

:
SERVO ON
MOVA 10.000
SERVO OFF
:

: Turn ON the servo power source.


: Move as much coordinate 10.000 position
: Turn OFF the servo power source.

Reference
-.When inputting the power source to servo or cutting off from it, it is operated with
mechanical brake operation according to the integer value by the parameter
(Refer to the contents of Parameter setup).

ALARM
Stopping the process of program by generating users Alarm.
Program example
:
IF B050=1
ALARM 1
MOVA 10.000
IF B051=1
ALARM 2
:

: If the contact point B050 is ON(=1)


: Generate user's ALARM No.1.
: Move to coordinate 10.000.
: If the contact point B051 is ON(=1)
: Generate user's ALARM No.2.

Reference
-. The user's ALARM can be generated at any desired position of program.
The occurrence of ALARMs can be identified by the ALARM number.
-. The available alarm numbers are from 0225.
-. If the program command is stopped by the ALARM command, the ALARM bit becomes
"1" from the output contact point, T/P screen is changed into the ALARM state and
ALARM signal is indicated.
To continue processing the program in this state, the Run contact point should be
inputted after making the ALARM bit "0" by pressing the RESET contact point input or
the RESET of T/P.

8-2

Chapter 8. Robot Commands

SPD
Setting up the movement speed.
Program example
:
SPD 1000
MOVA 10.000
SPD IOSPD
SPD I5
:

: Set up the movement speed with 10% of parameter LMT_RPM.


: Move to the coordinate 10.000.
: Set up the movement speed in accordance with the external
contact point IOSPD0,1.
: Set up the movement speed with the integer value l5.

Reference
-. The set-up scope of SPD value is 1 10.000 and the unit is 1/100[%]. Being set
up as 10,000, it is moved by the speed integer in the parameter LMT_RPM.
-. If the movement is set by the SPD IOSPD, when the contact point value
IOSPD1, IO SPD0 at the time of operating this command is "00", "01",
"10", "11", they have the speed of parameter IO_SPD0, IO_SPD1
IO_SPD2, IO_PSD3 respectively.
Afterwards, The speed will not be changed by the contact point state or by
parameter value change.
-. The movement speed at the time of program operation from the beginning
becomes the value integer by the parameter DFT_SPD.
-. If the process of program can be operated before the completion of
movement by the FOS command, if the speed is changed by the SPD
command, the newly integer speed is used during the remaining movement.

PCLR
The function to change the present position of the standard coordinates into 0.000.
Program example
:
MOVA 20.000
PCLR
MOVA 10.000

: Move to coordinate 20.000.


: Change this position coordinates into 0.000.
: Move to 10.000 of new coordinates (previous coordinates
30.000)

:
Reference
-. If the coordinate system is changed by the PCLR command, it becomes the state
not searching the Origin position.
-. If the coordinate system is changed by the PCLR in a condition that the next
command can process before completing the movement by FOS set-up, the
position of new coordinates system at the time of operation, becomes 0.000, the
stop position about the movement command, continues its position integer by the
previous coordinates system.
-. This command can be used in the incremental encoder only.

8-3

Chapter 8. Robot Commands

ACC, DEC
Setting up acceleration time(ACC) and deceleration time(DEC).
Program example
:
SPD 5000
ACC 20
DEC 50
MOVA 10.000
ACC I4
:

: Set up the movement speed with 50% of parameter LMT_RPM.


: Set up the acceleration time with 20(unit:10ms) 0.2 sec.
: Set up the deceleration time with 50(unit:10ms) 0.5 sec.
: Move to coordinate 10.000.
: Set up the acceleration time with the value saved at integer I4.

Movement explanation

RPM

0.20[sec]

0.50[sec]

MAX_RPM
LMT_SPD
50% of the LMT_SPD
Area(quantity of the movement) = 50.000

Reference
-.The ACC, DEC commands set up the acceleration time and deceleration time
based on the parameter MAX_SPD.
-. The set-up scope of ACC, DEC value is 1500, the unit is 10[msec] (1[sec] in
case of 100).
-. The acceleration time at the time of operating the Robot program from the
beginning, becomes the value integer by the parameter DFT_ACC and DFT_DEC
respectively.
-. If the program process can be operated before the completion of movement by
the FOS command, if the acceleration time is changed by the ACC, DEC command,
the newly integer acceleration time is used during the remaining movement.

8-4

Time

Chapter 8. Robot Commands

FOS
The function to operate the program before the completion of MOVx operation.
Program example
:
MOVA 30.000
B050 = 0
FOS 50
MOVI 10.000
B050 = 1
MOVI 20.000
B050 = 0
FOS I3

: Move to the coordinate 30.000.


: Set up the contact point B050 as 0.
: Set up to operate the program at the time of moving 50[%].
: Move as much as 10.000 from the present position.
: Set up the contact point B050 as 1.
: Move as much as 20.000 from the present position.
: Set up the contact point B050 as 0.
: Set up the process rate of next step with the value saved at
integer I3.

Description on program movement


-. Moves to the coordinate 30.000, B010 becomes "0".
-. Set up the program to process continuously at the time of moving into 50[%] by
the FOS 50 command.
-. Moves to the coordinate 40.000 by the MOVI 10.000.
Passing the coordinates 35.000(50% movement) during the movement, the B050
becomes "1" for the process of program, and the movement target coordinates is
changed into 60.000 by the next MOVI 20.000.
-. Since the target coordinates is changed 40.000 into 60.000, if it passes the
position 50.000, the 50% movement position, The program is operated, B050
becomes "0".

Reference
-.The unit of FOS value is [%].
-. The operation of the next program may be delayed until a maximum of 15[msec]
after passing the determined position by FOS due to the operating time of
controller CPU.
-. The integer FOS value is continued until the next FOS command.
-. When processing the next command during the movement to FOS, if the new FOS
command is received, the new FOS value is used in the next movement.
-. The initial FOS value at the time of operating the Robot program, becomes 100.
-. FOS movement is the starting point of movement.

8-5

Chapter 8. Robot Commands

8-2. Movement Commands

Command

MOVA

MOVI

MOVR

Detailed
command

Setting range

No

-99999.999~99999.999

0~255

Move from origin position to the position

PI

0~31

appointed from the position variable value

No

-99999.999~99999.999

0~255

Move from present position to the position

PI

0~31

appointed from the position variable value

No

-99999.999~99999.999

0~255

Move from standard position to the position

PI

0~31

appointed from the position variable value

No

-99999.999~99999.999

Content
Move from origin position to appointed position.

Move from present position to appointed position.

Move from standard position to appointed position.

Move as much as appointed value from


the standard of MPG pulse input.

MOVM

MOVT

REF

0~255

Move as much as appointed from the position variable

PI

0~31

value from the standard of MPG pulse input.

PI

0~31

Wait as much as calculated amount of MPG pulse input.

No

-99999.999~99999.999

No

-99999.999~99999.999

0~255

PI

0~31

Move to the position selected in contact point.

Set up the standard position with the value appointed


from the position variable.

8-6

Chapter 8. Robot Commands

MOVA
Move to appointed position in the absolute coordinates system based on the origin.
Program example
:
MOVA 45.000
MOVA P10
MOVA PI1

: Move to the coordinate 45.000.


: Move to the integer coordinates in P10
(suppose that P10 is 45.000)
: If =I1 is 10, move to the integer coordinates in P10.

:
Explanation of program movement

(-) direction

(+) direction

Origin position

Before moving point

After moving point

Moving by MOVA
command
Base
coordinate
-20.000

45.000

0.000

( *Assume ORG_OFS = -20.000.)

Reference
-. Before the confirmation, the Origin position is used as the position at the
time of inputting the power source (In case of using the incremental
encoder).
-. If the movement target point is strayed from the integer value in the
parameter MIN_LMT, MAX_LMT, it is treated as an Error.

8-7

Chapter 8. Robot Commands

MOVI
Move as much as the determined position value on the basis of the present position.
Program example
:
MOVI -20.000 : Move as much as -20.000 from the present position.
MOVI P10 : Move the present position into as much the integer value by the
P10 (suppose that P10 is -20.000).
MOVI PI1 : If =I1 is 10, as much the integer value by the P10.
:
Explanation of program movement

(-) direction
Origin point

(+) direction
After moving point

Before moving point

Moving by MOVI
command
Base
coordinate
25.000

45.000

( * Assume that the coordinate value before moving is 45.000. )

Reference
-. If the movement target point is strayed from the integer value in the parameter
MIN_LMT, MAX_LMT, it is treated as an Error.
-. The position before the movement uses the position value commanded before.

8-8

Chapter 8. Robot Commands

REF, MOVR
Set up the temporary standard position, and move that position into
as much the integer value (MOVR).
Program example
:
REF 20.000 : Set up the standard position with the coordinate 20.000
MOVR 25.000 : Move the standard position into as much 25.000
:

Explanation of program movement

(-) direction
Origin point

(+) direction
Before moving point

After moving point

Moving by MOVR
command
Base
coordinate

-20.000

0.000

20.000

45.000

The reference point is set by REF command


* This value is saved at P254.
( * Assume ORG_OFS = -20.000. )
Reference
-. If the movement target point is strayed from the integer value in the parameter
MIN_LMT, MAX_LMT, it is treated as an Error.
-.The standard position integer by REF is stored in the P 254, and MOVR uses the
value of P254 as a standard.
-.The temporary standard position integer by REF is maintained until when the
REF command is used again and the value of P 254 is changed by other method.
-.The position value can be inputted just like MOVA or MOVI in the form of Pxxx or
Plxx in the REF, MOVR command.

8-9

Chapter 8. Robot Commands

MOVM
Move with determining the movement speed by input pulse.
Program example
:
MOVM 10.000
MOVM CP2

: MOVM 10.000 : Move to the coordinate 10.000


: Wait until the pulse receives as much as converted amount
from the value saved at position variable P002.

Description on program movement


-. Moves to the position 10.000.
-. The movement speed is determined by MPG pulse input frequency.
-. The MPG pulse exceeding the transfer quantity to the target point, is ignored
(In case when the parameter MPGPLS0 is 1, MOV0 is 0.1 and MPG_RATE is "0" if the
MPG 100 pulse is inputted, It is moved into the 10.000, and the more than 10 pulse is
ignored).
-. If the MPG pulse input exceeds the integer value of movement speed, the
movement is limited by the integer value.

Reference
-. If the movement target point is strayed from the integer value in the parameter
MIN_LMT, MAX_LMT, it is treated as an Error.
-. The position before the movement uses the position value commanded before.
-. The acceleration in the movement by MPG pulse is "0".

8-10

Chapter 8. Robot Commands

MOVT
Move from the value IOPOS (0~7) to the designated position variable coordinate value.
Program example

:
MOVT : Move to the coordinate integer at the Pxxx by IO_POS 3-0.
Supposed that IOOPS3-0 is 1:0:0:0, P8 is 25.000.
:

Explanation of program movement


-. The position variable value of number determined as IOPOS3, IOPOS2, IOPOS0
contact point value, is used as the movement position.
-. In this example, since the value of IOPOS 3-0 is binary code against 8 P8 is selected.
-. Since the value of P8 is 25.000, it is used as the movement position.
-. In the MOVT command, the movement is started after the contact point value of
MOVT_ST changes "0" into "1".
Also, the contact point values of IO_POS uses the value when the MOVT_ST contact
point is changed 0 into 1.
-. The movement method is like the MOVA command.

Reference
-. If the movement target point is strayed from the integer value in the
parameter MIN_LMT, MAX_LMT, it is treated as an Error.
-. The position before the movement uses the position value commanded before.
-. In case when the turret rotation cycle is integer, it moves into the shortest
distance within 1 rotation. "0" does not move to the shortest distance.

8-11

Chapter 8. Robot Commands

8-3. Variable Treatment Commands

Command

Detailed
command

Setting range

Content

I
0~31

Set up integer variable value.

0~255

Set up position variable value.

(Integral)

P
(Position)

I, P
Set up integral variable(I) or position variable(P) value.
Program example

:
I1 = 10 : Set up I1 of the integer variable into 10.
I1 = I2 : Set up I1 of the integer variable with the value in I2 of the integer variable.
I1 = II2 : If I2 is 5, I5 is 10, set up I1 with 10.
I1 += 10 : Add 10 to the integer variable I1.
I1 += I2 : Set the integer variable I1 with the integer variable I2.
I1 += II2 : If I2 is 5, I5 is 10, set up I1 with 10.
I1 -= 10 : Subtract 10 from the integer variable I1.
I1 -= I2 : Subtract from the integer variable I2.
I1 -= II2 : If I2 is 5, I5 is 10, subtract 10 from I1.

P1 = 10.000 : Set the position variable P1 with 10.000.


P1 = P2 : Set the position variable P1 with the value which is in the position
variable P1.
P1 = PI2 : If I2 is 5, P5 is 10,000, set the P1 with 10.000.
P1 += 10 : Add 10 to the position value P1.
P1 += P2 : Add the value which is set at the position variable P2 to P1.
P1 += PI2 : If I2 is 5, P5 is 10,000, add the10.000 to P1.
P1 -= 10 : Subtract 10 from P1 of the position variable.
P1 -= P2 : Subtract the value which is set at the position variable P2 from P1.
P1 -= PI2 : If I2 is 5, I5 is 10, subtract 10 from P1.
:

Reference
-. The available integer variable is I0I31.
-. The scope of value of the integer variable is 065535.
-. The available position variable P0P255.
-. The scope of value of the position variable is 99999.99999999.999.
-. P254 stores the value integer in the REF command.
-. P255 always indicates the present position value, it may not revised freely by
user.
-. II2 is like I(I2).
-. PI2 is like P(I2). Namely, when I2 is 4, PI2 is P4.

8-12

Chapter 8. Robot Commands

8-4. I/O Treatment Commands

Command

Detailed
command

Content

Setting range

0~347

It processes contact point by Bit unit.

BB

0~34

It processes contact point by Bit unit.

B, BB
Change the value of contact point.
Program example
:
B030 = 0 : Set up the contact point B030 with 0.
B031 = 1 : Set up the contact point B031 with 1.
B032 NOT : Turn reversibly the value of contact point B032.

BB03 = 11000011 : B030, B031, B036, B037 = 1; B032, B033, B034, B035 = 0.
BB04 = 00..11.. : B030,B031 = 0; B034, B035 = 1; The remaining bit keeps the
previous Value.
:

Reference
-. The quota value of BB command is from number 0 Bit (LSB).
-. The input contact point (Normal: B00B02, Extension: B32B33) should not be
integer as B, BB command.
-. Since the value of contact point (Bxxx, BBxx) is used commonly with the PLC
program, in case when the different value is integer at the same bit in Robot and
PLC program, no value may be known. Be careful when you program.
-. In the BB04=00...11, ". " means "Don't care".

8-13

Chapter 8. Robot Commands

8-5. Program Control commands


Command

Detailed
command

Setting range

STOP

No

No

000~347

BB

00~34

It processes the condition by contact point(Byte).

0~31

It processes the condition by interger variable value.

0~255

It processes the condition by position variable value.

000~347

BB

00~34

It processes the condition by contact point(Byte) during operation.

0~31

It processes the condition by interger variable during operation.

0~255

It processes the condition by position variable during operation.

No

0~10000

Wait as much as appointed time.

000~347

Wait until the appointed contact point becomes set value.

BB

00~34

0~31

Wait until it becomes set integer variable.

0~255

Wait until it becomes set position variable.

No

0~999

Start Subroutine.

No

No

End Subroutine.

CALL

No

0~999

Divide it with the appointed Subroutine.

GOTO

No

0~999

Divide it with the appointed Label.

No

0~999

Select Label.

No

0~999

It repeat to execute as much as set value until the appointed ENDL.

No

0~999

It means the end of appointed LOOP.

No

0~7

It divides with the appointed program.

No

No

It means the start of Subroutine.

Content

Stop the process of ROBOT program.

It processes the condition by contact point(Bit).

IF

It processes the condition by contact point(Bit) during operation.

XIF

WAIT

SBRT
(Subroutine)
RET
(Return)

LBL
(Label)
LOOP
ENDL
(End Loop)
JPGM
(Jump Program)
PEND
(Program End)

8-14

Chapter 8. Robot Commands

STOP
Stop the process of program.
Program example
:
IF B010 = 1 : If the contact point B010 is 1
STOP
:
Reference
-. If the progress of program is stopped by the STOP command, the program is
continued to progress by the input in Run contact point.

IF
If the state of the contact point value, the integer variable value or the state of position variable
value meets the conditions it then operates the next step command, otherwise it is not operated.
(If it is false, it operates the next step command).
Program example
:
IF B010 = 1
: If the contact point B01 is 1, move to the coordinate 10.000.
MOVA 10.000
:If the contact point B010 is 0, move to 10.000.
IF B010 = 0
MOVA -10.000
:

Reference

The available condition in the IF condition is as follows.


-. Inspect the contact point value.
B010=1
: Inspect the Bit unit.
B01=11..00.. : Inspect the Byte unit(The Bit appeared as "." does not inspect).
-. Inspect the integer variable value.
I0>(<,=,!=)10
: Compare I0 with 10.
I1
: Compare I0 with I1.
II3
: If I3 is 1, compare I0 with I1.
II2>(<,=,!=) 10 : If I2 is 0, compare I0 with I0.
I1
: If I2 is 0, compare I0 with I1.
II3
: If I2 is 0, I3 is 1, compare I0 with I1.
-. Inspect the position variable value.
P0>(<,=,!=) 10.000: Compare P0 with 10.000.
P1
: Compare P0 with P1.
P13
: If I3 is 1, compare P0 with P1.
PI2>(<,=,!=) 10.000 : If I2 is 0, compare P0 with 10.000.
P1
: If I2 is 0, compare P0 with P1.
PI3
: If I2 is 0, I3 is 1, compare P0 with P1.
( >: big , <: small , = :same , !=:not same)
-. The integer variable can be used from I0 to I31, The value of each one is 0
65535.
-. The position variable can be used from P0 to P255 The value of the position
variable is -99999.999 99999.999.

8-15

Chapter 8. Robot Commands

XIF
In operating the command (MOVx, WAIT) necessary for the time as well as inspecting
the condition, if the condition is met, it operates the next command.
Program example
:
MOVA 50.000 : Move to the coordinate 50.000.
X_IF B001 = 1 : If B001 becomes "1" during the movement, it changes the speed into
50[%] of LMT_RPM
SPD 5000
:

Reference
-. The available condition in the X_IF condition is like that of IF.
-. The command using after X_IF is limited to SPD, ACC, DEC, GOTO.
-. If the next of X_IF is GOTO command, if the condition meets, the program is
operated in the LBL position after stopping the movement and WAIT.
(If in moving, first stop it, the value of stopped position is stored in the position
variable P253)
-. The 3 X_IF conditions and the moving command can be used with MOVx, WAIT in
parallel.
-. If X_IF is used after the command except MOVx, WAIT, it is treated with IF equally.

WAIT
The function to stop the process for a specified amount of time.
Program example

:
MOVA 10.000 : Move to the coordinate 10.000.
WAIT 100
: Wait for 10[sec].
MOVA 20.000 : Move to the coordinate 20.000.
WAIT B010 = 1: Wait until the contact point B010 becomes 1.
:
Reference

-. The time scope integer in the WAIT command is 0~10000, the time unit is 100[msec].
-. The available condition in WAIT command is like that of IF.
(The contact point value, integer/position variable)

8-16

Chapter 8. Robot Commands

CALL, SBRT, RET


Operates the subroutine(Subroutine) program.
Program example
:
MOVA 10.000 : Moves Into the coordinate10.000.
CALL 1 : Operates the program between SERT1~RET (MOVA 10.000).
MOVA 30.000 : Move to the coordinate 30.000.

SBRT 1 : Indicate the start of Subroutine 1.


MOVA 10.000 : Move to the coordinate10.000.
RET : Indicate the end of Subroutine 1.
:

Reference
-. 1. The fixable SBRT number with CALL is 0255.
-. The same SBRT number may be used in each different program.
-. If the same SBRT number is found more than 2 times among the programs or the
integer SBRT number is not among them, It is treated as an error in the grammar
inspection program.
-. If there is no RET command equivalent to SBRT, it is treated as an Error in the
grammar inspection program.
-. Other SBRT can be used by using other CALL command before RET in SBRT.
However, this repetition should not exceed 16 times, in this case, it is treated as an
Error during RUN.

GOTO, LBL
The function to move process position of program.
Program example

:
MOVA 10.000 : Moves to the coordinate10.000.
GOTO 1 : Move the process of program to LBL position.
MOVA 10.000 : It is not operated because of the GOTO command.
LBL 1
MOVA 30.000 : Moves to the coordinate30.000.
:
Reference
-. The fixable LBL number with GOTO is 0255.
-. The same LBL number can be used in each different program.
-. If the same LBL number is found more than 2 times among the programs or the
LBL number determined by the GOTO is not among them, It is treated as an
error in the grammar inspection program.

8-17

Chapter 8. Robot Commands

LOOP, ENDL
The function to repeat the program between the integer section.
Program example

:
MOVA 10.000
LOOP 1 L 10 : Repeat 10 times the program between LOOP 1L10
ENDL 1
MOVA 20.000
MOVA 20.000
ENDL 1
MOVA 10.000
:
Reference
-. The fixable ENDL number with LOOP is 0255.
-. The same ENDL number can be used in each different program.
-. If the same ENDL number is found more than 2 times among the programs or
the ENDL number determined by the LOOP is not among them, It is treated as
an error in the grammar inspection program.
-. Other LOOP can be used in other LOOP command.
However, this repetition should not exceed 16 times, or else it is treated as an
Error during Run.

JPGM
The function to use the other program as sub-program.
Program example

:
MOVA 10.000
JPGM 1 : Progress program 1.
MOVA 20.000
: This is the return position after progressing to
PEND or <end of file> of program 1.
:
Reference
-. The self-program can not be determined with JPGM.
-. Other program can be called by using JPGM again in the program
called by JPGM. However, this repetition should not exceed 8 times,
or else it is treated as an Error during RUN.

8-18

Chapter 8. Robot Commands

PEND
Indicates the end of program.
Program example

:
MOVA 10.000
PEND : The program after PEND is not operated.
MOVA 20.000
:

Reference

-. If the subroutine is drawn after PEND and it is pressed, The related


subroutine is operated.
Example)
:
MOVA 10.000
CALL 1
:
PEND
SBRT 1
MOVA 20.000
RET
:

8-19

Chapter 8. Robot Commands

8-6. Additional Commands

Commands

Detailed
command

Input Data

No

1~300

TORQUE LIMIT

Unit: %

ALARM occurs if it exceeds

TRQ

Content

the given TORQUE LIMIT


No
TQS

1~300

TORQUE BRANCH

Unit: %

Execute the next line after reaching


at 100% of the given Torque.

1) ex) TRQ 300


If TORQUE value exceeds 300% the rated Torque, ALARM occurs.
2) ex) TRQ 100
It executes the next line after reaching at 100% of the rated Torque.

8-20

Chapter 9. PLC Commands

Chapter 9. PLC Commands


Robot PLC program commands are
-. Logic operation command
-. I/O port command
-. Relation command

9-1. Logic operation commands


Command

AND

OR

Detailed
command

Input Data

NOT

Contact point Address

Serial connection of logic operation (a contact point)

NOT

Contact point Address

Serial connection of logic operation (b contact point)

LOAD

No

Parallel connection of logic operation (a contact point)

No

Contact point Address

Parallel connection of logic operation (a contact point)

NOT

Contact point Address

Parallel connection of logic operation (b contact point)

LOAD

No

No

Contact point Address

Output the pulse for 1 scan if input condition rises

NOT

Contact point Address

Output the pulse for 1 scan if input condition descends.

Content

Parallel connection with two blocks

9-2. I/O port commands


Command

Detailed
command

Input Data

SET

No

Contact point Address

Set up the fixed contact point with '1'.

RST

No

Contact point Address

Be clear fixed contact point with '0'.

OUT

No

Contact point Address

Output the fixed contact point as '1'.

Content

9-3. Relation commands


Detailed
command

Input Data

No

Contact point Address

Start the logic operation(a contact point)

NOT

Contact point Address

Start the logic operation(b contact point)

NOT

No

Contact Address

MCS

No

No

Common Interlock Set

MCSC

No

No

Common Interlock Set Clear

TMR

BXXX<D>value

Contact Address

Command

Content

LOAD
Turn the result of operation in reverse.

If it '0' after subtracking it according to the condition,


output it.

CTR

BXXX<D>value

0~10000

If it '0' after subtracting it according to the condition


and input pulse, output it.

9-1

Chapter 9. PLC Commands

PLC program example


AND, AND NOT
AND : Serial connection of logic operation (a contact point)
AND NOT : Serial connection of logic operation (b contact point)

Sequence

000

Program

:
LOAD 000
AND 001
OUT 050
LOAD 000
AND NOT 001
OUT 051
:

001
050

000

001
051

Time Chart

000

001

050

051

T1

T2

T3

(T1,T2,T3:
within
25msec)
( T1, T2,
T3 : 25
msec )

9-2

Chapter 9. PLC Commands

AND LOAD

AND LOAD : Serial connection with two blocks

Sequence

Program

:
LOAD 000
AND 001
OR 002
AND LOAD
OUT 050
:

001
000
050

002

Time Chart

000

001

002

050

T1

T2

T3

T4

( T1, T2, T3, T4within


: 25 msec
)
(T1,T2,T3,T4:
25msec)

9-3

Chapter 9. PLC Commands

OR, OR NOT
OR : Serial connection of logic operation (a contact point)
OR NOT : Serial connection of logic operation (b contact point)

Sequence

Program

000

001

:
LOAD 000
OR 001
OUT 050
LOAD 000
OR NOT 001
OUT 051
:

050

000

001

051

Time Chart

000

001

050

051

T1

T2

(T1,T2,T3:
within
25msec)
( T1, T2, T3
: 25 msec
)

9-4

T3

Chapter 9. PLC Commands

OR LOAD

OR LOAD : Serial connection with two blocks

Sequence

Program

:
LOAD 000
LOAD 001
AND 002
OR LOAD
OUT 050
:

000

001

050

002

Time Chart

000

001

002

050

T1

T2

T3

T4

( T1, T2, T3, T4within


: 25 msec
)
(T1,T2,T3,T4:
25msec)

9-5

Chapter 9. PLC Commands

SET, RST
SET : Set the fixed port with '1' .
RST : Be clear the fixed port with '0'.

Sequence

Program

050

000

:
LOAD 000
SET 050
LOAD 001
RST 050
:

050

001

Time Chart

000

001

050

T1

T2
(T1,T2,:
25msec)
( T1, T2within
: 25 msec
)

9-6

Chapter 9. PLC Commands

OUT

OUT : Output the fixed port with '1'.

Sequence

Program

000

:
LOAD 000
OUT 050
LOAD NOT 000
OUT 051
:

050

000
051

Time Chart

000

050

051

T1

T2

(T1,T2,:
25msec)
( T1, T2within
: 25 msec
)

9-7

Chapter 9. PLC Commands

LOAD, LOAD NOT


LOAD : Start the logic operation (a contact point)
LOAD NOT : Start the logic operation (b contact point)

Sequence

Program

000

:
LOAD 000
OUT 050
LOAD NOT 000
OUT 051
:

050

000
051

Time Chart

000

050

051

T1

T2

(T1,T2,:
( T1, within
T2 : 2525msec)
msec )

9-8

Chapter 9. PLC Commands

NOT

NOT : Reverse the result of operation

Sequence

Program

:
LOAD 000
NOT
OUT 050
:

000
050

Time Chart

000

050

T1

T2

( T1, T2within
: 25 msec
)
(T1,T2,:
25msec)

9-9

Chapter 9. PLC Commands

MCS, MCSC
MCS : Common Interlock Set
MCSC : Common Interlock Set Clear

Sequence

000

Program

:
LOAD 000
MCS
LOAD 001
OUT 050
LOAD 002
OR NOT 003
OUT 051
MCSC
:

001
050
002

051

003

Time Chart

000
001
050
T1

T2

002
003
051
T3

T4 T5

T6

(T1~T6,:
within
( T1 ~ T6
: 25 25msec)
msec )

9-10

Chapter 9. PLC Commands

TMR
TMR : Subtract it according to the condition and output in case of '0'.

Sequence

Program

050

000

:
LOAD 000
LOAD 001
TMR 050 <D> 100
:

CLR

100

001

ENABLE

Time Chart

000

001
Timer
value

[0.1sec]

100

Ta

Tb

Tc

050
Ta+Tb = 10.0 [sec], Tc = 10.0[sec]
(Ta,
)
( Ta,Tb,
Tb, Tc:
Tc0~25
0 ~ 25msec
msecdeflection)

9-11

Chapter 9. PLC Commands

CTR
CTR : Subtract according to the condition and input pulse and
output in case of "0"

Sequence

Program

050

000

:
LOAD 000
LOAD 001
CTR 050 <D> 3
:

CLR

001

CLK

Time Chart

000

001
Counter
value

050
0 or( 1signal
each1
input should
have
25
msec
of0
25 msec
over

9-12

Chapter 10. Programming Example

Chapter 10. Programming example

10-1. Step Movement Program

Description : Return to the start position by changing the speed after moving
as much as the fixed time at regular distance determined by user.

P0

Example 1

P0+100

P0+100

P0+100

P0+100

: Program using the MOVI command repetedly.

SERVO ON

: Turn on the servo.

LBL 1

: Set the label with "1".

SPD 1000

: Set up the speed as 10% of parameter LMT_RPM.

MOVI 100

: Move the present position into as much as the user's


coordinates 100.

MOVI 100

: Move the present position into as much as the user's


coordinates 100.

MOVI 100

: Move the present position into as much as the user's


coordinates 100.

MOVI 100

: Move the present position into as much as the user's


coordinates 100.

SPD 3000

: Set up the speed as 30% of parameter LMT_RPM.

MOVA P0

: Move to the position fixed by the P0.

GOTO 1

: Transfer the operation of program into LBL1.

<end of file>

10-1

Chapter 10. Programming Example

Example 2

: program using the LOOP command.

SERVO ON

: Turn on the servo.

LBL 1

: Set the label with "1".

SPD 1000

: Set up the speed as 10% of parameter LMT_RPM.

LOOP 1 L 4

: Set up the LOOP that label is "1", repetition time is 4.

MOVI 100

: Move the present position into as much as the user's


coordinates 100.

ENDL 1

: Indicate the end of LOOP that label is "1".

SPD 3000

: Set up the speed as 30% of parameter LMT_RPM.

MOVA P0

: Move to the position fixed by the P0.

GOTO 1

: Transfer the operation of program into LBL1.

<end of file>

Example 3

: Program using the fixed variable counter.

SERVO ON

: Turn on the servo.

LBL 1

: Set the label with "1".

I0 = 0

: Set up the fixed variable I0 as "0".

SPD 1000

: Set up the speed as 10% of parameter LMT_RPM.

LBL 2

: Set the label with "2".

MOVI 100

: Move the present position into as much as the user's


coordinates 100.

I0 += 1

: Add the integer variable I0 with 1.

IF I0 = 4
GOTO 3
GOTO 2

: If the integer variable I0 is 4, move to LBL3


otherwise, move to LBL 2.

LBL 3

: Set the label with "3".

SPD 3000

: Set upthe speed as 30% of parameter LMT_RPM.

MOVA P0

: Move to the position fixed by the P0.

GOTO 1

: Transfer the operation of program into LBL1.

<end of file>

10-2

Chapter 10. Programming Example

10-2. Movement using I/O port

Description : The movement is put on hold until the designated contact point
satisfies the condition. The designated contact point is outputted
at the last position and thus waits for 1 second before returning
to its initial position.

P0

P1

P2

P3

Example 1

SERVO ON

: Turn on the servo.

LBL 1

: Set te label with "1".

SPD 1000

: Set up the speed as 10% of parameter LMT_RPM.

WAIT B020 = 1

: Wait until the input contact point B020 becomes "1".

MOVA P1

: Move to the position fixed by the P1.

WAIT B021 = 0

: Wait until the input contact point B020 becomes "0".

MOVA P2

: Move to the position fixed by the P2.

WAIT BB02 = . . . 01

: Wait until the input contact point B026 becomes "0",


B027 becomes "1".

MOVA P3

: Move to the position fixed by the P3.

B040 = 1

: Output the output contact point B040 as "1".

SPD 3000

: Set up the speed as 30% of parameter LMT_RPM.

WAIT 10

: Wait for a second.

MOVA P0

: Move to the position fixed by the P0.

GOTO 1

: Transfer the operation of program into LBL1.

<end of file>

10-3

Chapter 10. Programming Example

10-3. Unlimited Constant Speed Movement

Description : Move by the speed fixed by the user continuously,unlimitedly, and stop when the
fixed input occurs during the movement.
(The PCLR command used in this program can be used in the incremental
encoder only)

Example 1

SERVO ON

: Turn on the servo.

SPD 1000

: Set up the speed as 10% of parameter LMT_RPM.

FOS 50

: Operate the next step of program after moving to 50% of target


position.

LBL 1

: Set the label with "1".

MOVA 100

: Move to the user's coordinates 100.

XIF B027 = 1

: If the input contact point B027 becomes "1" during movement ,

GOTO 2

go to LBL2, otherwise change the present position of standard

PCLR

coordinates system into 0.000.

GOTO 1

: Tramsfer the operatopm of program into LBL1.

LBL 2

: Set the label with "2".

STOP

: Stop the operation of program.

<end of file>

10-4

Chapter 10. Programming Example

10-4. Movement by Pulse input

Description : It can operate synchronously using MOVM and by determining the


movement speed with the input pulse width.

P0 + 10.000

P0

Set up the parameter


MPG_MOV0 = 0.1, MPG_PLS0 = 1 and MPG_RATE contact point value is "0".

Example 1

SERVO ON

: Turn on the servo.

LBL 1

: Set up the speed as 10% of parameter LMT_RPM.

MOVM 10.000

: Move to the user's coordinates 10 according to the input pulse.


The pulse width input exceeding the target position is ignored.
(100 in the example)

MOVA P0

: Move to the position fixed by the P0.

GOTO 1

: Transfer the operation of program into LBL1.

<end of file>

10-5

Chapter 10. Programming Example

10-5. Turret Movement


Descriptipn : After moving a certain coordiante value,it will return to the origin
again from the point view of mechanical structure, if it has nothing
to do with the rotation direction, the shortest path is searched and
used through MOVT commands.(But, be sure to set up parameter
T_CYCLE and IOPOS0-3, MOVT_ST)

Standard position
P0 (0.00)

Set-up value

T_CYCLE = 360.000
P0 = 0.000
P1 = 70.000
P2 = 150.000
P3 = 230.000
P4 = 290.000

P4
P1

P3

P2

Example 1
SERVO ON

: Turn on the servo.

SPD 1000

: Set up the speed as 10% of parameter LMT_RPM.

LBL 1

: Set the label with "1".

MOVT

: Move to the position coordinates value fixed in the IOPOS0~3


in case when the contact point of MOVT_ST changes "0" into "1".

GOTO 1

: Transfer the operation of program into LBL1.

<end of file>

Program movement figure

Position

IOPOS0~1

P0

P1

P3

P4

MOVT_ST

10-6

Chapter 10. Programming Example

10-6. The plural operation program


Description: Form the 2-axis robot by using the user's contact point.
(However, if there are no circular arc and linear interpolation)

B000
(External input)
B040
B001

Movement path
B001
B040

Single controller 1
(X Axis)

X-Axis
100
1500
0

Y-Axis
1000
100
0

Single controller 2
(Y Axis)

Example 1
This program is for X axis and the content in the parentheses is for Y axis.

SERVO ON

: Turn on the servo.

SPD 1000

: Set up the speed as 10% of parameter LMT_RPM.

LBL 1

: Set up the label with "1".

WAIT B000 = 1

: Wait until the input contact point B000(movement start contact


point becomes"1")

CALL 10

: Call the SBRT10.

MOVA 100(1000)

: Move to the user's coordinates 100(1000).

CALL 10

: Call the SBRT10.

MOVA 1500(100)

: Move to the user's coordinates 100(1500).

CALL 10

: Call the SBRT10.

MOVA 0

: Move to the user's coordinates 0.

SBRT 10

: Start SBRT10.

B040 = 1

: Output the output contact point B040 as "1".

WAIT B001 = 1

: Wait until the input contact point B001 becomes "1".

B040 = 0

: Output the output contact point B040 as "0".

RET

: Return to the next step of CALL command by completing SBRT10.

<end of file>

10-7

Chapter 10. Programming Example

10-7. Simple Pick & Place System with Palletizing function


Description : If a start signal is inputted, a signal operating the up and down
cylinder and finger cylinder is outputted as the machine picks up
the product and moves it to P1, and afterwards returns to the
original position.
B030, B031

Up and
down
Cylinder

Finger
Cylinder

B000

P0

(origin point)

P1

Example 1
SERVO ON

: Turn on the servo.

SPD 1000

: Set up the speed as 10% of parameter LMT_RPM.

LBL 1

: Set up the label with "1".

MOVA P0

: Move to the position fixed by the P0.

B040 = 1

: Output the outputcontact point B040(arrival signal at the standard point)os as "1"

WAIT B000 = 1: Wait until the input contact point B000(Movement start contact point)becomes "1"
B040 = 0

: Output the outputcontact point B040(arrival signal at the standard point)of as "0"

B030 = 1

: Output B030(Up and down cylinder operation signal: operate to down)as "1"

B031 = 1

: Output B031(Up and down finger cylinder operation signal:picking)as "1"

B030 = 0

: Output B030(Up and down cylinder operation signal:operate to up)as "0"

MOVA P1

: Move to the position fixed by the P0.

B030 = 1

: Output B030(Up and down cylinder operation signal: operate to down)as "1"

B031 = 0

: Output B031(Up and down finger cylinder operation signal:laying)as "0"

B030 = 0

: Output B030(Up and down cylinder operation signal:


operate to up)as "0".

GOTO 1

: Transfer the operation of program into LBL1.

<end of file>

10-8

Chapter 11. Program RUN (T/P)

Chapter 11. Program RUN using T/P


After completing JOB, operate RUN
First, operate the Robot JOB with a T/P
If JOB has no problem, operate a Robot with a system mode(External PLC operation)

11-1. Program Execution


11-1-1. Selection of Robot Program
Content

Order

Power a controller on

Select Teach Pendant

Key operation

Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load
Servo Controller

F1
ROBOT PLC PARA VIEW
Parameter Setting

F3

Select Parameter

(PARA)

SERVO MECH OPER I/O


OPER. Parameter

F3

Select OPER

(OPER)

After selecting ETC, move to


5

ROB_PGM

F4

(ETC.)

Input the number of program (0~8)


6

after Enter

ENTE
R

MODE JOG DFT ETC.


INPOS
0.050
ROB_PGM *1
PLC_PGM 0
0,8
INPOS
0.050
ROB_PGM *_
PLC_PGM 0
0,8

Suggestions on selecting a program(2 ways)


In details of above No.6
1) If setting ROB_PGM '8'
In case of selecting a program after coding the value of the contact point
PGM_SEL2~0 from an external
( At this time, the contact point PGM_SEL, PGM_SEL2~0 must be set in the
parameter, for example If PGM_SEL2~0 is 001, selected program NO.1)
2) If setting the value between 0~7 of ROB_PGM
Select the program of set No and be operated.

11-1

Chapter 11. Program RUN (T/P)

11-1-2. Program Execution (Step RUN Auto RUN)

The program should be operated after selecting a program to operate.


-. If the seleted program is empty or the drawing up of program doesn't fit the regulation,
the Error happens.
-. At this time it should be operated again after selecting the program again or revising it correctly.

The below Error Type


may happen during
the operation

CURRENT STATE

Origin not found


ORIGIN ?

Warring !
No match LBL
PGM No.0 STEP 003

Program Error
HISTORY
RESET

YES NO

(Origin Not Done)

(The selected program is empty)

(Syntax Error occurred)

How to operate STEP RUN


Content

Order

Key operation

Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load

Controller Power on

Servo Controller

Select F1: Teach Pendant Mode

F1
ROBOT PLC PARA VIEW
ROBOT Control

Select ROBOT

F1
PROG POS ORG RUN

Select RUN

F4

PROGRAM No.7
S000 * SERVO ON
S001 SPD 3000
RUN RESET STEP SKIP

Operate STEP RUN

F3

S000 SERVO ON
S001 * SPD 3000
S002 MOVI 200.000
RUN RESET STEP SKIP
RUN : Auto Run
RESET : Move to the step 0
STEP : Step Run SKIP : Step Pass

11-2

Chapter 11. Program RUN (T/P)

Content

Order

Key operation

F3

Select STEP

Complete the move to MOVI 200.00


In case of continuing STEP RUN, select
STEP

Display
Change the number
(a present position
during move)

S001 SPD 3000


S002 * MOVI 200.000
S003 MOVI 10.000
STOP
15.233
S002 MOVI 200.000
S003 * MOVI 10.000
S004 GOTO 10
RUN RESET STEP SKIP

STEP RUN AUTO RUN


Key operation

Content

Order

Display
S002 MOVI 200.000
S003 * MOVI 10.000
S004 GOTO 10
RUN RESET STEP SKIP

On the screen of STEP RUN

Select AUTO RUN

Complete the move to AUTO RUN

F1

S002 MOVI 200.000


S003 * MOVI 10.000
S004 GOTO 10
STOP

To initialize a Robot program operating (Return to 0 step)


Content

Order

Key operation

S002 MOVI 200.000


S003 * MOVI 10.000
S004 GOTO 10
RUN RESET STEP SKIP

On the stationary screen

F2

Select RESET

Restart to Auto Run :

Display

F1

PROGRAM No.7
S000 * SERVO ON
S001 SPD 3000
RUN RESET STEP SKIP

Restart to Step Run :

11-3

F3

Chapter 11. Program RUN (T/P)

11-1-3. Restart from stopped Step


You will continuously see the screen displaying whether the operation or not from
stopped Step when the Robot program was opertaing before is not terminated.
(The stopped step memory during power off)

Procedure
Content

Order

Key operation

Program stopped
PGM No.0 STEP 011
CONTINUE ?
YES NO

If operating on state of not terminating a program

Select YES to operate from stopped


F3

step

Display

(YES)

S011 * MOVI 200.000


S012 MOVI 10.000
S013 GOTO 10
RUN RESET STEP SKIP

2
F4

Select NO to operate from 0 step

(NO)

Restart to Auto Run :

F1

Restar tto Step Run :

F3

11-4

PROGRAM No.7
S000 * SERVO ON
S001 SPD 3000
RUN RESET STEP SKIP

Chapter 11. Program RUN (T/P)

11- 2. PLC Program Selection

11-2-1. Select PLC program

Key operation

Content

Order

Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load

Controller power on

Servo Controller
2

Select Teach Pendant

F1
ROBOT PLC PARA VIEW
Parameter Setting

F3

Select Parameter

(PARA)

SERVO MECH OPER I/O


OPER. Parameter

F3

Select OPER

(OPER)

After selecting ETC, move to


5

F4

ROB_PGM

(ETC.)

Input the number of program (0~3)


6

ENTE
R

after Enter

11-5

MODE JOG DFT ETC.


INPOS
0.050
ROB_PGM 1
PLC_PGM * 0
0,3
INPOS
0.050
ROB_PGM 1
PLC_PGM *_
0,3

Chapter 11. Program RUN (T/P)

11-2-2. PLC Program Execution

The program should be operated after selecting PLC program to operate.


-. If the seleted program is empty or the drawing up of program doesn't fit the
regulation, the Error happens.
-. At this time it should be operated again after selecting the program again or revising
it correctly.
The below Error Type
may happen during
the operation

CURRENT STATE
Program Error
HISTORY
RESET

(The selected program is empty)

Warning !
Needs more 1 block

(Syntax Error occurred)

Procedure
Content

Order

Key operation

Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load

Controller power on

Servo Controller

Select Teach Pendant

F1
ROBOT PLC PARA VIEW
PLC Control

Select PLC

F2
PROG TEST

RUN

PGM NO.0 is Ready

F4

Select RUN

RUN
PGM NO.0 is Running

Select RUN

F4
STOP

Press STOP( F1) to stop a program

11-6

Chapter12. Program RUN (I/O)

Chapter 12 Program RUN using I/O


(How to use contact point of External I/O)

You should check if Robot and PLC program operate uprightly with a Teach
Pendant in Chapter 11. and then make operated from the external to the I/O contact
point.
You can operate this single controller with only I/O as belows.
-. JOG operation
-. Origin operation
-. Robot program
-. PLC program
The related system contact point parameter should bu set up in the parameter
before the I/O operation (See the Chapter 3.)

12-1. Contact point for JOG operation

JOG + , JOG : Make a turn the motor toward the direction where the position coordinates is
increased.(in case of "1" input, it is turned)
: If the contact point of JOG_MODE is "0", Jog operation, and if it is "1", IJOG
operation.
: In case of operating JOG, this contact point continues to move during"1", in case
of operating IJOG, this contact point moves by one time when "0" turns"1".
JOG_MODE
: Select JOG operation and IJOG operation. (0:JOG, 1:IJOG).
JOG_SET0 ~ 1
: Set up the JOGtransfer speed and transfer quantity. (JOG_MODE is"0",transfer
speed

12-1

Chapter12. Program RUN (I/O)

12-1-1. Movement Timing Chart during JOG operation

JOG_MODE = 0 (JOG Movement Mode)


JOG_MODE

JOG_SET1~0

00 (JOG_SPD0)

01 (JOG_SPD1)

10 (JOG_SPD2)

11 (JOG_SPD3)

JOG+
More than
25ms

JOG-

Within 25ms

Motor
speed

Within 6ms

IN POSITION

JOG_MODE = 1 (IJOG Movement Mode)


JOG_MODE

JOG_SET1~0

00 (JOG_RES0)

01 (JOG_RES1)

JOG+

JOG-

Motor speed

IN POSITION

12-2

10 (JOG_RES2)

11 (JOG_RES3)

Chapter12. Program RUN (I/O)

12-2. Origin Operation using external I/O contact point

12-2-1. Contact point during Origin operation

ORIGIN : When the contact point value changes "0" into "1", start the origin
movement.
CW S/W, CCW S/W : Limit Switch
ORG S/W : Origin Switch

12-2-2. Movement Timing Chart during Origin operation

ORG
operation
input

More than 25ms

Motor speed

Within 6ms

Within 25ms

Z Phase

Limit S/W

ORG
completion
output

Within 25ms

12-3

Chapter12. Program RUN (I/O)

12-3. Robot Program Operation using External Contact Point

12-3-1. Contact Point during Robot Program Operation


ROB_RUN : Operate the Robot program.
But, the syntax error should not be existed in the Robot program.
STOP : Stop the operation of Robot program.
STEP : Operate the Robot program by one step.
PGM_SEL2~0 : Select the Robot program to operate.
PGM_SEL
: In case when the value PGM_SEL is "1", the program by PGM_SEL2~0 is
selected.

12-3-2. Movement Timing Chart during Program Operation

ROB_RUN
More than 25ms

STOP

STEP

Motor
speed

Within 6ms

IN POSITION

PGM_SEL2~0

000 (Program No.0)

More than
25ms

PGM_SEL

This signal should be inputted if you want to operate a


Robot program from 0 step.

12-4

Appendix1. Trouble and Measures

Appendix 1. Trouble and Measures

The kinds of troubles are largely divided into the 3 as follows.


1> Protection function Alarm
2> Program Syntax Alarm
3> The Alarm generated from other operations
If an Alarm occurs, the content of Alarm is indicated in T/P, and if the protection function Alarm
occurs, the Alarm LED is lighted in front of a controller, and the Alarm contact point and
contat point of content are outputted.
At this time, the protection circuit operates to cut the output and the motor is stopped for emergency.
If the motor will be operated again, the cause of Alarm should be gotten rid of, and returned
to the normal state by the RESET key inT/P or RESET contact point.

1> Measures to Alarm of protection function


Problem

Cause
A short circuit of motor power

O.C
(IPM Error)

Over
Load

Measures

Remarks

Remove its cause


Mainly a trouble by the
gain

line during the operation


Device damage by other causes

Contact our company

In case of the excessive

Lower the movement condition

movement condition

such as the movement speed,

High input power voltage

Use the input power voltage within

Discharge circuit is damaged

Contact our company

Excessive movement condition

Lower the movement condition

acceleration and deceleration time


Over
Voltage

the rated range

The discharge circuit


may be damaged.

such as the movement speed,

Over Heat

acceleration and deceleration time

Power
Fail

The neighboring temperature is

Use if after lowering the neighbor

higher than allowable range

-ing temperature

Movement power failure more

Input the rated voltage

than allowable range

Movement power
failure/input the
lower voltage

Data Backup
Error

Accuring in the Flash Rom for

Contact our company

user's storage

Appendix1-1

Appendix1. Trouble and Measures

Problem

Cause

Measures

Disconnection of Encoder line


Encoder Error

Hardware
Limit
Software
Limit

Following
Error

Remarks

Comfirm and revise the

A Connection is unfasten

Encoder wiring

Device damage by other causes

Contact our company

The operation range is beyond Limit S/W range

Regulate the position of Limit S/W

The trouble of Limit S/W siring

Normal Close wiring

When the target position ordered in the


Robot program is beyond the scope of
parameter MIN_LMT~MAX_LMT

Revise the Robot program or the


parameter MIN_LMT, MAX_LMT

When the position , speed Gain is beyond

Regulate the position/

the rated scope

speed Gain

When the scope of Following Error is fixed

Revise the parameter

too small

FLO_ERR

A break is occurred due to the wiring trouble

Confirm the wiring of encoder

The Robot program to ve operated is empty

Program or change the

If the Flash Rom

program to operate

has had it,

Contact our company

replace the

and motor, revise them

Program
Error

A trouble occurs in the Flash ROM storing


the Robot program

Emergency
stop
Over Speed

Flash Rom
Remove the Emergency input

The Emergency input is occurred


fromT/P, I/O, PC

/EMG input is N.C cntact point

The speed rotated more than 120% of

Regulate the rotation speed fixed in the Robot program


below the parameter MAX_RPM

MAX_RPM

Parameter
Error

Line
Error

The positon, speed, acceleration and


deceleration command calculate by the wrong
fixed parameter ENC_PLS, MOV_MOT,
MOV_MECH,LMT_RPM is beyond the
allowable scope

Revise the parameter or the


position/speed/ acceleration
and deceleration command fixed in
the program

For the scope


and limited of
set-up,refer to
Chapter 3

A problem with the wrong parameter set-up


(AMP,MOTOR,GAIN value) etc, overload,
line

Revise the parameter,


work, line etc

ERRORCODE
has the vast
check scope

Appendix1-2

Appendix1. Trouble and Measures

2> Program Alarm and Measures


-.It occurs when programming the ROBOT, PLC proram wrong,operating the
program. At this time, the content of alarm and the step occurred alarm is
displayed on T/P screen.

2.1> Robot Program Syntax Alarm


Program
No match LBL

Cause

Measures

There is no LBL xxx corresponding

Insert LBL xxx

to GOTO xxx
Ex)There is GOTO 10 in the program

Insert LBL 10

but no LBL 10
There are more than two LBL xxx
same LBL
number

corresponding to GOTO xxx

Delete the LBL 10

Ex)There are more tha 2 LBL 10

except one

in the program
RET before
SBRT

The RET command is used on

Confirm and revise the

ahead of the SBRT command

encoder and motor line

Ex) RET

The order: SBRT 10->

SBRT 10

RET

There is no SBRT xxx corresponding


No match
SBRT

Contact our company

to CALL xxx
Ex)There is CALL 10 in the program

Insert LBL 10

but no SBRT 10
same LBL
number

There are more than two LBL xxx


corresponding to GOTO xxx

Delete the LBL 10

Ex)There are more tha 2 LBL 10

except one

in the program
JPGM too
many

The use fo the JPGM command


exceeds 8 times

Limit the use of JPGM


with 8 tmes in maximum

Appendix1-3

Remarks

Appendix1. Trouble and Measures

Problem
JPGM to itself

Cause

Measures

Intend to move to the program used


JPGM command

JPGM to
empty

Ex)When the present program No is 1

Change the program

when using the JPGM 1

No. to move

Intend to move to theprogram is not


programmed
Ex)Intend to move with the program

1.Change the program No. to move

No.1 empty

2.Program the program 1

There is no END xxx corresponding to


No match
ENDL

LOOP xxx Lyy


Ex) There is LOOP 10 L5

Delete LOOP 10 L5 or

But no ENDL 10

Insert ENDL 10

There are more than two END xxx


Same ENDL
number

corresponding to LOOP xxx Lyy

Delete the ENDL 10

Ex)There are more than two ENDL10

except one

in the pgm
LOOP too
many
nest

The use of LOOP exceeds 16 times


in the LOOP

Limit less than 16times LOOP

Ex) LOOP repetition exceeds

repetition between

16 times

LOOP~ ENDL

There is no LOOP xxx Lyy


No match
LOOP

corresponding to ENDLxxx
Ex) There is ENDL 10

Delete ENDL 10 or

No LOOP 10 Lxx

insert LOOP 10 Lxx

There is more than two LOOP xxx Lyy


Same LOOP
number

corresponding to ENDLxxx

Delete LOOP 10 Lxx

Ex)There are more than two LOOP xxx

except one

Lyy in the pgm


ENDL before
LOOP

ENDL Command is used to the first


than LOOP command
Ex) ENDL 10
LOOP 10 L5

Then order: LOOP 10 L5 ->


ENDL 10

Appendix1-4

Remarks

Appendix1. Trouble and Measures

Problem
Not Output port

Cause

Measures

The contact point fixed by Bxxx,


BBxx is input port
Ex) B001=1
B001 is a input port

Not mapping
IOPOS

IOPOS0~3 and MOVT_ST is not


fixed as a contact point when
MOVT command is used

Fix the contact point with the output


port or the internal contact point
1.Delete MOVT command
2.Set up the contact point IOPOS0~3,
MOVT_ST in the parameter

1.Delete IOSPD command


Not mapping
IOSPD

IOSPD0~1 is not fixed as a


contact poing when SPD IOSPD
command is used

Invalid XIF
command

The next command of XIF


command is not
SPD,ACC,DEC,GOTO

Invalid
command

The Robot program area of Flash


ROM is damaged

2.Set up the contact point IOSPD0~1


in the parameter

The next command of


XIF is limited to use
SPD,ACC,DEC,GOTO

Delete the pgm

Appendix1-5

Remarks

Appendix1. Trouble and Measures

2.2> PLC Program Syntax Alarm

Problem
Invalid bit addr

Cause

Measures

The Address set up in the program


'is beyond the scope
Ex) LOAD 008

LOAD too
many

LOAD expected

Needs more 2
blocks

It shold be LOAD xxy:0xx41, 0y7

The stored contact point used by


LOAD(LOAD NOT) is not used
as D,OUT command but stored
more than 30

The stored contact point used by


LOAD(LOAD NOT) is used as
MCS,NOT command

The stored contact point used by


LOAD(LOAD NOT) is less than 2

Set up the contact point to output


Not Output port

as an input contact point

Do not use the contact point to in the

Ex) D 000

contact point to output such as D,SET,OUT

D(OUT) too
many

The use of D(D NOT),CTR


command exceeds 288 times

Needs more 1
blocks

The out command is used


without the stored contact point
used by LOAD(LOAD NOT)

The use of D(DNOT),


CTR command is limited to less than 288
times

The out command can be used only in


case when the stored contact point ysed
by LOAD(LOAD NOT)

Appendix1-6

Remarks

Appendix1. Trouble and Measures

Problem

Cause

MCS too many


nest

The reiteration of MCS~MCSC


Block exceeds 30 times

MCS block not


end

The stored contact point used by


LOAD(LOAD NOT) is not used
all between MCS~MCSC block

No MCS block

MCS command is used without


the use of MCSC command

Program not
end

Flash structure
fail

Measures

The reiteration of MCS~MCSC Block is


limited to less than 30 times

The stored contact point used by LOAD(LOAD


NOT),
between MCS~MCSC block should be used
by using OUT,D command

MCSC command should be used with MCS

The stored contact point used by


The stored information of the contact point
LOAD(LOAD NOT) is not used
using LOAD(LOAD NOT) should be used by
all
using D,OUT

The PLC program area of Flash

Delete the pgm

ROM is damged

Appendix1-7

Remarks

Appendix1. Trouble and Measures

2.3> Others Alarms and measures

Problem
Invalid number

Cause

Measures

Beyond the input scope in case of

Input the value suitable

setting up the Program edition or

for the scope

the parameter
Ex) SPD 15000

Revise the value suitable for


the scope of SPD 10000

Last Step
S(I,B,P)xxx

Input the value suitable


When the fuction of LINE JUMP is used in
the program, fixed variable, position
variable, contact point edition. Screen, the
value more than last is inputted as the
value of JUMP LINE

for the scope

Program No.x
is not empty

Intent to copy other program by


the stored porgram

1.Delete the stored program and copy


again
2.Copy at other empty places

Program No.x
is empty

Intend to copy the empty


program

Program the program and


copy

Not copy itself

Intend to copy the same program

The other empty programs can copy it


only

Step not
enought

When the fixed program block is Copied or


Written, the Step numberof program
exceeds 1000, the Byte number exceeds
4000

Each program should be within 1000


Step or 4000 Byte

Not end block


set

The edition by the Block is intended at the


time of not completing the Block set-up of
program

Edit Block after completion block setup of program

Appendix1-8

Remarks

Appendix1. Trouble and Measures

Problem

Cause

Measures

Too large block

The size of fixed Block exceeds 2500Byte

The size of Block should be


within 2500Byte

Clipboard
Empty

The Block Write is operated without


storing in the memory by Reading the
fixed block

Operate the Block Write with


storing in the memory by
Reading the fixed Block

Robot is
running

Jog is running

Origin is
running

Not Origin
Mode

Default
Parameter

Same Input
port

When the JOG or Origin is operating by


the Robot program during the operation

Stop operationg the Robot


program and operate the Jog or
Origin

When the Robot program or Origin is


operated by the Jog during the
operation

Stop operating the Jog and


operate the Robot program or
Origin

When the Robot or Jog is operated


during the Origin operation

The Origin intends to be operated by


setting up the parameter ORG_RULE 0

When Jog, Origin program is operated


without changing parameter at the time
of first use after forwarding Controller
from the factory

In case of setting up input contact point


parameter, and setting up the input
contact point to the other fuction

Operate the Jog and the Robot


program after completion the
Origin movemnet

Set up the parameter


ORG_RULE with other value not
0
Operate after setting up
parameter for the user's
application

Set up each fuction with other


contact point

Appendix1-9

Remarks

Appendix1. Trouble and Measures

Problem

Cause

Measures

Not Input port

In case of setting up the input contact


point parameter, set up the output contact
point to the input fuction

The input and the user's contact


point can be fixed at the input
fuction contact point

Not Output port

In case of setting up the ouput contact


point parameter, set up the input contact
point to the output fuction

The output and the user's contact


point can be fixed at the output
fution contact point

Not Save in
Robot Running

Not Change
inServo On

Not
ChangePre_def
ined value

Intend to store parameter in operation of


Robot program

In case of changing the parameter


among servo except GAIN

Intend to chnge the alue of parameter L ~


MAX_TRQ after Setting up the prameter
MOT_TYPE(Value not 0)by the defined
LG motor already

Not Edit in
Running

Intend to edit the program in


operation of Robot program

Not Delete in
Running

Intend to delete the program in


operation of Robot program

Parameter after stopping the


operation of Robot program

Change parameter after Servo Off

Change the value of parameter L


~ MAX_TRQ setting up the
parameter after MOT_TYPE s 0

Edit the program after stopping


the operation of Robot program

Delete the program after stopping


the operation of Robot program

Appendix1-10

Remarks

Appendix 2. The operation by Multipoint Communication

Appendix 2. The operation by Multipoint Communication

You can use many single controller(Max.32) by using one PC or the RS-422
terminal of Touch screen.
At this time, Each controller shold have its ID because all are connected to the
single RS-422 Serial bus.

1> Pin assignments


6
11

FG
RDA
RDB
SDA
10

SDB
15

GND
(RS-422 Pin signal of SERIAL connector )
*RS-422 signal name
RDA : Receive Data Non-inverting(RxD)
RDB : Receive Data Inverting(/RxD)
SDA : Sending Data Non-inverting(TxD)
SDB : Sending Data Inverting(/TxD)
GND : Signal Ground
FG : Frame Ground

RDA
RDB
SDA
SDB
GND
FG
PC or other
equipments

RDA

RDA

RDA

RDB

RDB

RDB

SDA

SDA

SDA

SDB

SDB

SDB

GND

GND

GND

FG

FG

FG

controller
MY_ID = n-1

controller
MY_ID = 1

Max. value of "n" is 32.


( RS-422 signal connection )

Appendix2-1

controller
MY_ID = n

Appendix 2. The operation by Multipoint Communication

2> Connection of the terminal resistor

PC of other
equipments

controller
MY_ID=1

controller
controller
MY_ID=n-1
MY_ID=n

Max. value of "n" is 32


(End-Line resistor connection)

3> Connections to PC

convertor
convertor

(Connection with PC RS-232)

connector

(Connection with PC RS-422)

Appendix2-2

Appendix 2. The operation by Multipoint Communication

4> Protocol
The Data format to send to a Controller is as follows.
-. You have to select and input MY_ID among 1~255 in the PARA-ETC mode of a
controller to communicate with RS-422
-. If the MY_ID number is "0", RS-232 communication is available with REMOTE terminal.
But No RS-422 communication by the RS-422 communication terminal at this time.

Protocol format
-. The Protocol is the same to the Protocol used in the UniHost but the ID information
should be inserted in the communication Data to communicate with RS-422.
-. ID format : ID header + ID No.
ID header : #(ASCII code) 1 Byte data
ID No. : 1~255(Decimal) or 0x01 ~ 0x20 1 Byte data
-. RS-422 communication packet is as follows
Transmitter

ID header

STX

ID No.

DATA

ETX

LRC

Receiver
STX : 0x02

ACK
ETX : 0x03

ACK : 0x06

NAK : 0x15

RST : 0x12

-. How to calculate LRC ( exclusive-OR except STX, LRC)


LRC = [ID header]^[ID No.]^DATA[0]^DATA[1]^....^DATA[N]^ETX
-. If the value of LRC is 0, ETX
Ex)Select and read position, integer data in the controller.(In case Y_ID = 1)

STX

D1

ETX

LRC

ACK
STX

D2

DATA

ETX

LRC

-. D1 : Number of the position or integer(3 bytes) + position or integer variable(3 bytes)


-4bytes
-. D2 : 0x30(OK flag)
-. DATA : Data that stored in the position or interger variable.
Caution) Do npt use 3 and 7 in the MY_ID

See the Unihost Protocol for details

Appendix2-3

Appendix 3. Cautions on installing Servo Motor

Appendix 3. Cautions on installing Servo Motor

1> Check item when the goods arrives

Please check item when the goods arrives as bellows.


-. Confirm in the NAME PLATE of Motor whether the goods accords with the
ordered product or not.
-. Confirm the appearance wheter there is troble or not.
-. Confirm a MOTOR whether the output axis rotates softly by hand or not
(But, if does not rotate in attaching with BRAKE)
-. Confirm whether the connection part of screw loses or not.
If there is the above problem, contact our company.

2> Measures before the installation

Since the paint against rust is painted during preservation in the axis part or
FLANGE part of AC SERVO MOTOR, wipe this with the thinner before installation
at this time, be careful lest other part the thinner should smear.

3> Selection good place to install

Generally, it makes it a rule to install indoors. use it in the following


circumstance.
-. The place where there is no corrosive and explosive GAS.
-. The palce where the temperature is 0+40.
-. The place where it is well ventilated, dust or mote and humidity are few.
-. The place where it is easy to clean and check.
AC SERVO MOTOR can be protected form little oil and water by the basic
structure. Howerve, in case of using it in a lot of water and oil, work out a
counter measure by attaching with the extra COVER.

Appendix3-1

Appendix 3. Cautions on installing Servo Motor

4> Use circumstance


-. Neighboring temperature : 040
-. Preservation temperature : -20+80
-. Humidity : 80%RH(Max)

5> Combination with the opposite machinery


It is important to accord the axis center of MOTOR axis and opposite machinery.
Otherwise, it will cause vibration and it is possible to damage the BEARING.
If installing the COUPLING, relieve the shock lest the excessive power should
act on axis and BEARING by using the rubber hammer.(see Figure1)

Figure1>

Measuring value at four point


should be below 0.03.

Measuring value at four point


should be below 0.03.

6> Allowable laod of BEARING

Be careful lest the excessive RADIAL load, THRUST load should be given to AC
SERVO MOTOR.

Appendix3-2

Appendix 3. Cautions on installing Servo Motor

7>Check item when testing the operation


Check the following items before the test operation.
-. Whether the connection with machinery and equipment, wiring, FUSE,
grounding is done well or not.
-. Where the each connection has the loosensee or not.
-. Whether in case of the attachment type with OIL-SEAL, it is damaged or the oil
is given to it, or not.
If the above should occur, take a proper measure immediately. Also during the
test operation, AC SERVO MOTOR should be operated without load to prevent
from the unexpected accident. Unavoidably, in case of the test operation with
opposite machinery, operate it in a condition that the emergency stop is possible.

8> Maintenance and Inspections


The maintenance of AC SERVO MOTOR is enough with the ordinary simple check
because there is no abrasion. See the below table.
Check this in proper time according to the use circustance and condition, since
the check time in the table is reference.
Also, do not disjoint AC SERVO MOTOR. Unavoidably, in case of the disjoint,
call our company.

M&I
Vibration and

Check time
Every day

noise

Check and claening Method

Remarks

By the sense of touch

The change and increase

and hearings

of level should not be


existed domparing to the
ordinary times

Appearance

Insulation

Depends on the

Clean with a piece of cloth

stain and damage

and an air

Every year

Lose the contact with the control

Refer to our company in

layer and measure the terminal

case of less than 10M

resistance

with 500 V Megger


OIL-SEAL

5,000 Hours

Check the state of damage by

The exchange is

separating it from the machinery

necessary in case of the


damage

Overall check

20,000 Hours

Refer to our company

* Notice: M & I= Maintenance and Inspections

Appendix3-3

Exchange and clean

Appendix 3. Cautions on installing Servo Motor

1> Problem and Measures


In case when the trouble is accurred during the operation, treat a trouble properly
with the method of the below table.
In case when the trouble is not revised despite the examination and measure as below, call our company.
Problem

Cause

Examination method

A Motor does

The Motor terminal

Measure the Motor Lead

not work

valtage declined

terminal by TESTER

Inferiority of motor

Measures
Rated voltage

Change the Motor in case of


rated voltage

Excessive heavy load Driving with no load

In case when the Motor is oper


ated,reduce the load or replace
with big capacity Motor

Connection is loosed

Check the connection by a screw

Tighten up the loosed part,

Failure of external

drive, check the wiring

wire correctly with consulting

wiring

the connection chart

The rotation is Inferiority of

Check the contact of

Maintenance the wrong part

not stable

Connection

Motor LEAD terminal

The Motor is

The neighboring

Confirm whether the neighboring

Confirm whether the

overheated

temperature is high

temperature is less than 40 or not

neighboring temperature is
less than 40 or not

The surface of Motor

Confirm whether other substance is

is stained

attached on the surface of Motor or not

The excessive load is

Driving with no load

carried

In case when the Motor is


operated,reduce the load or
replace with big capacity Motor

The unusal

Inferiority of

Check the stat of screw tightness in

Thighten the screw and revise

sound is

installation

the installation part and the concentric

the wrongly passing in the

degree in the connection part

connection part

The trouble of

Inspect the gap near the

Call our company

BEARING

Bearing and the vibration

occurred

-stance exist in the operation


of machinery part or not

Appendix3-4

Appendix 4. The Structure of T/P Menu Tree

Appendix 4. The Structure of T/P Menu Tree


ROBOT

PROG

POS

EDIT

BLOCK

COPY

JMP

DEL

DEL

P000~P255

MDI

START
END
COPY
DEL
READ
WRITE
JMP

PLC

TCH

P000~P255

SAV

JOG+
JOGs pd0 ~ spd3 / res 0
IJOG / JOG

PROG

EDIT

BLOCK

COPY

JM P

DEL

DEL

TEST

ORG

JMP
RUN
PARA

SERVO

AM P/ MOT

GAIN

BRAKE
MECH

OPER

MIN_LMT
MAX_LM T
LMT_RPM
LMT_TRQ
ORG_OFS
MOV _MOT
MOV _MECH
MOV _POL
MPG_PLS0
MPG_MOV0
MPG_PLS1
MPG_MOV1
T_CY CLE
MODE

INC
DEC
REPL

V IEW

POS_P
SPD_P
SPD_I
FEED_FWD

BRK_TIM E
BRK_DLY
BRK_RPM

AUTO _PLC
AUTO_ORG
S_MODE
ORG_RULE
MPG_M ODE
JOG_SPD0 ~ JOG_SPD3
JOG_RES0 ~ JOG_RES3

DFT

DFT_SPD
DFT_ACC
DFT_DEC
ORG_SPD0
ORG_SPD1
IO_SPD0 ~ IO_SPD3
FLO_ERR
INPOS
ROB_PGM
PLC_PGM
INI_TRQ
JOG_SV
ORG_SV
ORG_TRQ

INPUT
BRAKE

ALARM

SERVO

JOG

ETC
I/ O

AMP
MOT_TYPE
L
R
Kt
Jm
R_I
R_RPM
MAX _RPM
POLE
MAX _TRQ
ENC_TYPE
ENC_PLS

RUN

MY _ID
BIT RATE
BCD_READ
BACKLASH
Data Mode
Us er M ode
Sens or

ROB_RUN
PLC_RUN
STOP
RESET
SV ON
SV OFF
ORIGIN
STEP_RUN
PGM_SEL
PGM_SEL0
PGM_SEL1
PGM_SEL2
JOG+
JOGJOG_SET0
JOG_SET1
JOG_MODE
IOPOS0
IOPOS1
IOPOS2
IOPOS3
IOPOS4
IOPOS5
IOPOS6
IOPOS7
IOSPD0
IOSPD1
CW S/ W
CCW S/ W
ORG S/ W
M PG_RATE
M OVT_ST

ON
OFF

OUTPUT

Appendix4-1

INT

ALARM
READY
ORIGIN
IN_POS
ALARM 0
ALARM 1
ALARM 2
ALARM 3
BRAKE

HISTORY
SPD CMD
CUR SPD
POS CM D
CUR POS
TORQUE
I00
I01
I02
I03
I04
I05
I06
I07
I08
I09
I10
I11
I12
I13
I14
I15
I16
I17
I18
I19
I20
I21
I22
I23
I24
I25
I26
I27
I28
I29
I30
I31

B00
B01
B02
B03
B04
B05
B06
B07
B08
B09
B10
B11
B12
B13
B14
B15
B16
B17
B18
B19
B20
B21
B22
B23
B24
B25
B26
B27
B28
B29
B30
B31
B32
B33
B34
B35
B36
B37
B38
B39
B40
B41

START
END
COPY
DEL
READ
WRITE
JM P

PROG
SERVO
STOP
M OVA
M OVI
M OVR
M OVM
M OVT
FOS
REF
PCLR
SPD
ACC
DEC
IF
X IF
WAIT
GOTO
LBL
SBRT
RET
CALL
JPGM
LOOP
ENDL
ALARM
B
BB
I
P
PEND
TRQ
TQS

13. Warranty
1 Free warranty period
The free warranty period is until the time of 1 year and an half from the purchase date.

2 Free warranty scope


Problems that occur (except for those by natural disaster) within the free warranty period
can be repaired from our company. However, if the product is disjointed or reconstructed
intentionally by the user or revised artificially the repair of product is charged.

3 The warranty period after stopping the production


Except the free warranty period, if the production is stopped, the possession period of the
component is 5 years from the day when product is stopped.

4 The Robostar company has no responsibility about the damage during the installation, test
operation, on-the-spot changes or transfer.

5 Our company has no responsibility for the damage occurred by using other components
except the components supplied from our company (including optional part)

6 Specifications and appearance are subject to change without prior notice.

14. Revision Record


Publishing Date

Manual No.

Revision content

S/W Ver.

1999.12.14

RCS-6000-A

First edition

Ver 2.0A

2000. 8.25

RCS-6000-BE

Second edition

Ver 2.8A

2001.12.20

RCS-6000-E

First edition

Ver 2.8B

2005.1.1

UM-RCS6-E0501

Second edition

Ver 5.0C

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