No.

1L21700G-E-1

series

INSTRUCTION MANUAL
APPLICATION MANUAL

HANDLING

■ Read and follow these instructions and all safety blocks carefully.
■ Have only trained and qualified persons install, operate, or service this unit.

■ Give this manual to the operator.

■ For help, call your distributor.

This is dummy page. DO NOT ERASE.
 Be Sure to Read Instruction Manuals Before Use
Thank you for selecting DAIHEN arc welding robot Almega series.
Almega series are the robots with high performance and various functions developed by making full use of the
latest technology. Since the knowledge of welding peculiar to a welding machine maker is applied to both
hardware and software, we are sure that each user can be fully satisfied
In order to use the superior performance and the abundant functions safely and fully, be sure to read the
following instruction manuals including this manual and other attached documents, and understand the
knowledge of the machines, safety information, and notes thoroughly.
Instruction manuals related to the manipulator “V/B/H series”, and the robot control unit “FD11” are as follows.

■Standard Manuals
Instruction
Instruction Manual Type Main Contents
Manual No.
QUICK START Point on Safety, Transportation and Installation,
1L21700A
Turning the power on/off and manual operation, etc.
SETUP Safety precautions, installing & connecting method,
1L21700B starting up, periodical inspection, solution at the time
of failure
CONTROLLER MAINTENANCE Specifications of controller, explanation of each parts
1L21700K
and maintenance, parts list, etc.
MANIPULATOR Specifications or maintenance of manipulator, parts
1L11130A
（NB4 / NB4L / NB15 / NV6 / NV6L / NV20 / NH5） list, etc.
MANIPULATOR Specifications or maintenance of manipulator, parts
1L11312A
（NV50） list, etc.
MANIPULATOR Specifications or maintenance of manipulator, parts
1L11306A
（NV166 / NV210） list, etc.
BASIC OPERATIONS Explanation of manual operation, teaching, automatic
1L21700C operation, file utilities, backing-up data, basic
operations of Arc/Spot welding application, etc.
EXTERNAL INPUT/OUTPUT Interfacing method with external control device, list of
1L21700H
I/O signals and start/halt the automatic operation, etc.
Software PLC Create program,Input/output relay lists,List of
1L21700J
command words, etc.
CONTROL AND MAINTENANCE Edit logging,User Check,Troubleshooting, etc.
1L21700L
FUNCTION

■Application Manuals
Instruction
Instruction Manual Type Main Contents
Manual No.
APPLICATION MANUAL Basic settings, functions for arc welding, teaching
1L21700F
(ARC WELDING) technic, etc.
APPLICATION MANUAL Basic settings, functions for arc welding, teaching
1L21700E
(SPOT WELDING) technic, etc.
Instruction manuals are available other than the above for each optional function that you have purchased.

[Notes] 1. Specifications and information contained in these manuals are subject to change at any time without notice.
2. The screen display of a teach pendant shown in the manual are described as examples, which may be different from the actual
ones.
3. Although we cautiously compiled this standard specifications to eliminate as much error as possible, we do not take any
responsibility for damages resulting from neither direct nor indirect errors.
4. The manual is a part of robot products. When transferring or selling off a robot, be sure to append the manual.
5. No part of this manual may be reproduced without permission.
6. Prohibited altering or remodeling
- Do not alter or remodel our products.
- You may get injured or have your equipment damaged because of fire, failure or malfunction caused by altering or
remodeling the product.
The warranty does not cover any altered or remodeled products.

-1-
 Notice

Notes on Safety
Before installation, operation, be sure to read "Chapter 1 Points on Safety" in SETUP manual and other attached
documents thoroughly and acquire all the knowledge of machines, safety information, and precautions.
Furthermore, before maintenance, inspection, and trouble scene, be sure to read CONTROLLER
MAINTENANCE manual and MANIPULATOR manual and other attached documents thoroughly and acquire all
the knowledge of machines, safety information, and precautions.
If operating machines in a wrong way, the accident resulting in various ranks of injury or death, or damage may
occur.
In order to call attention to wrong handling, the following four ranks of safety notes (“DANGER”, “WARNING”,
“CAUTION”, and “IMPORTANT”) are provided.

Cases where a mistake made in handling is likely to cause the user to be exposed to
the danger of death or serious injury and where the degree of the urgency
(imminence) of the warning given for the danger to occur is at the high end of the
DANGER scale (including high-level danger).

Cases where a mistake made in handling is likely to cause the user to be exposed to
the danger of death or serious injury.
WARNING

Cases where a mistake made in handling is likely to cause the user to be exposed to
the danger of minor injuries or of property damage only.
CAUTION

The following symbol is also used for particularly important checkpoints:

This is a particularly important checkpoint.

IMPORTANT

Note that even the matters which are described as CAUTION can result in serious accident depending on the conditions.
Be sure to keep the safety notes since they describe very important matters.

The meanings of “Serious injury”, “Minor injury”, and “Damage” described above are as follows.

Serious injury ： Injury which has the aftereffect by loss of eyesight, an injury, the burn (high/low
temperature), an electric shock, fracture, poisoning, etc. and that which requires
hospitalization and long-term treatment as an outpatient.

Minor injury ： Injury which does not require either hospitalization or long-term treatment as an outpatient,
a burn (high temperature, low temperature), and an electric shock.

Damage ： Direct and indirect damage in connection with damage of property and equipment.

-2-
 Table of Contents

Table of Contents

Chapter1 Basic settings

1.1 Outline ....................................................................................................................................................... 1-1

1.2 Setup ......................................................................................................................................................... 1-2

1.2.1 Setup for handling applications ...................................................................................................... 1-2
1.2.2 Dedicated handling keys ................................................................................................................ 1-3
1.3 Allocating input/output signals................................................................................................................... 1-5
1.3.1 Dedicated handling input signals ................................................................................................... 1-5
1.3.2 Dedicated handling output signals ................................................................................................. 1-5

Chapter 2 Function Command

2.1 Robot interrupt (I-condition) (RINT <FN29>) ............................................................................................ 2-1
2.1.1 Outline of function .......................................................................................................................... 2-1
2.1.2 Example of operation ..................................................................................................................... 2-2
2.2 Search (SEA <FN59>) .............................................................................................................................. 2-3
2.2.1 Outline of function .......................................................................................................................... 2-3
2.2.2 Example of operation ..................................................................................................................... 2-4
2.3 Shift2 (SHIFTR <FN52>) .......................................................................................................................... 2-9
2.3.1 Outline of function .......................................................................................................................... 2-9
2.3.2 Example of operation ................................................................................................................... 2-10
2.4 Change coord. No. (shift) (CHGCOORD <FN113>) ............................................................................... 2-11
2.4.1 Outline of function ........................................................................................................................ 2-11
2.4.2 Example of operation ................................................................................................................... 2-11

Chapter3 Useful functions

3.1 Shift monitor .............................................................................................................................................. 3-1
3.1.1 Monitoring the current shift amounts.............................................................................................. 3-1
3.1.2 Monitoring the current shift register contents ................................................................................. 3-2
3.2 Manually resetting and presetting shift amounts ...................................................................................... 3-3
3.2.1 Direct editing using the shift register monitor ................................................................................. 3-3
3.2.2 Shortcut R162: Shift value change................................................................................................. 3-4
3.2.3 Shortcut R350: Shift register clear ................................................................................................. 3-4
3.2.4 Shortcut R163: Cancel shift value.................................................................................................. 3-4
3.3 Recording operations while shifts are executed ....................................................................................... 3-5
3.3.1 Precautions for recording and modifying positions which are in the process of being shifted ...... 3-5
3.3.2 Setting the shift amount cancel step recording .............................................................................. 3-6
3.4 Clearing shift registers at step 0 ............................................................................................................... 3-7
3.4.1 Automatic clearing of the shift registers ......................................................................................... 3-7
3.4.2 Setting shift register clear at step 0................................................................................................ 3-7
This is dummy page. DO NOT ERASE.
Chapter1 Basic settings

This chapter provides details of the operations for those operators who will be
using the robot for handling operations.

1.1 Outline ........................................................................................................1-1

1.2 Setup ..........................................................................................................1-2
1.2.1 Setup for handling applications .............................................................1-2
1.2.2 Dedicated handling keys .......................................................................1-3
1.3 Allocating input/output signals.....................................................................1-5
1.3.1 Dedicated handling input signals ..........................................................1-5
1.3.2 Dedicated handling output signals ........................................................1-5
 1.1 Outline

1.1 Outline
The term “handling” refers to the operations involved in moving work from one prescribed location to another
prescribed location. Due to the fact that the work (“materials”) involved in these operations is “handled,” the term
“material handling” is also sometimes used in the same context. No specific functions are required for the material
handling on the part of the robot. The handling can be achieved simply by controlling the input/output signals
which are supported as standard options.
However, there are special situations where it may be necessary to handle work while the position of the work
is detected each time since the work to be handled is positioned only approximately or where functions for easily
teaching the work involved in arranging large quantities of work (a job known as “palletizing”) in an orderly
manner may be required.
Among the various functions dedicated to handling and designed to support these special situations are those
functions which are provided as standard options. They are referred to by their general term of “material handling
functions,” and they are described in this manual. More specifically, the functions described in this manual are:
･ Robot interrupt function
･ Search function
･ Shift function
These functions are used to handle the work while simply detecting the positional shift amounts by robot and
compensating for these shifts.
Furthermore, the following functions are additionally provided as software designed for sophisticated handling
uses. Since they are all optional functions, they are not described in this manual. Refer to the applicable option
manual for details on each of these functions.
･ On-line shift function which support systems that use visual sensors
･ Palletizing function which enables the operations involved in arranging large quantities of work in an orderly
manner to be taught easily
･ Conveyor-synchronized function to perform operations for work which is moving
･ Adaptive Motion function that enables operations to be performed while tracking an external force
･ Other functions

1-1
1.2 Setup

1.2 Setup

1.2.1 Setup for handling applications

There are no special setup steps to be taken for handling applications. By selecting <Constant
Setting> - [12 Format and Configuration] – [7 Application], it becomes possible to use the handling
functions simply by setting the application in “Handling.”
Up to two applications can be defined for each unit. Therefore, when using the handling
application together with the spot welding application for instance, the first application (usage) is
set as “Spot welding” and the second application (usage) is set as “Handling.”

1 The operator must have the qualification level of EXPERT or above.

2 In the teach mode, select <Constant Setting> - [12 Format and Configuration].
>>A setting menu such as the one shown below now appears.

3 On the menu, select [7 Application].

>>A setting screen such as the one shown below appears.

4 Align the cursor with “Usage 1” or “Usage 2”, and press [Enter].
When, for instance, using the handling application together with the spot
welding application, set the first application (usage) as “Spot welding” and the
second application (usage) as “Handling.”
>>Several selection options for the applications are now displayed. Use the [Up] or
[Down] cursor keys to select “Handling”, and press [Enter] again.

5 After configuring the setting, press f12 <Complete>.

To cancel the settings, press the [RESET/R].

1-2
 1.2 Setup

1.2.2 Dedicated handling keys

Operators can use the “CLAMP/ARC” hard key on the teach pendant for applications that
exclusively involve the opening and closing of the gripper. By pressing this key, the ON/OFF
commands of the output signals for opening and closing the gripper can easily be recorded in a
program and, by pressing it together with the [ENABLE] key, it is possible to turn the output
signals ON and OFF manually. Use it as required.
In order to support a gripper that uses a double solenoid, the key can be allocated to two output
signals to turn one solenoid off while turning the other on.
Since this key is initially set to be used by the spot welding commands or arc welding
commands, follow the steps below to change the setting.

Fig. 1.2.1 CLAMP/ARC key on teach pendant

Setting the clamp key application

1 The operator must have the qualification level of EXPERT or above.

2 In the teach mode, select <Constant Setting> - [7 f-keys].

>>An f-key setting menu such as the one shown below now appears.

3 Select [5 Usage of Clamp Key] on the menu.

>>A setting screen such as the one shown below appears.

4 Align the cursor with “Usage”, and press [ENABLE] and the [cursor] keys
together to align it with “Output Signal”.
+

1-3
1.2 Setup

5 Next, align the cursor with “Alloc Signal”, input the number of the output signal
for opening and closing the gripper, and press [Enter].
The system is designed to enable two output signals to be recorded. If only one
Number signal is to be recorded, set the signal in “1” only.
When two signals are to be used as with a double solenoid, set the two signals,
one of which is to be turned on when the other is turned off, in “1” and “2”.
･ It is not possible to set the same signal as signal 1 and signal 2.
･ When setting multiple output signals, set them for signal 1 only. It is not
possible to set two multiple output signals.
･ Neither is it possible to set a signal which has already been allocated.
･ Setting “0” for the signal number cancels the function.
･ Even when the application differs depending on the unit, only one clamp key
application can be set in order to ensure safety.
6 Upon completion of the settings, press the f12 <Complete>.
To cancel the settings, press the [RESET/R].

Using the clamp key (operation when it is pressed together with [ENABLE])

(1) When general-purpose output signals have been set

1 In the teach mode, the output signals which have been set can be turned ON or
＋ OFF manually.
With the signal allocated as clamp key output signal 1 serving as the reference,
the signal ON setting is replaced with OFF and the signal OFF setting with ON,
and the signals are output and executed.

>>[ENABLE] + [CLAMP/ARC] when signal 1 is OFF

→ Signal 1 is turned ON and signal 2 is turned OFF regardless of the status of signal
2.
>>[ENABLE] + [CLAMP/ARC] when signal 1 is ON
→ Signal 1 is turned OFF and signal 2 is turned ON regardless of the status of signal
2.

(2) When multiple output signals have been set

1 In the teach mode, multiple output signals which have been set can be output
＋ manually.
>>An output data input dialog box such as the one shown below now appears.
2 Input the data to be output in decimal notation, and press [Enter].

>>The recorded output signals are turned ON and OFF in accordance with the
Number number assigned.

1-4
 1.3 Allocating input/output signals

1.3 Allocating input/output signals

The following input/output signals are available for use by the material handling functions supported as
standard options.
This manual does not provide details on the input/output signals related to any of the optional functions (such
as the on-line shift function, palletizing function and conveyor-synchronized function). Refer to the applicable
option manual for details on each of these signals.

1.3.1 Dedicated handling input signals

None of the dedicated handling input signals need to be allocated ahead of time as status
signals.

As with the input signals for robot interrupt, some of these signals are used by specifying
general-purpose input signals directly with the parameters of the application commands.

1.3.2 Dedicated handling output signals

The following dedicated handling output signals need to be allocated ahead of time as status
signals.
Proceed with the settings by selecting <Constant Setting> - [6 Signals] - [3 Output Signal
Assignment] - [1 Standard Outputs].

Basic output signal Factory settings

Description of function
designation Output signal
With the search function (which handles work whose
position has been shifted), this signal is turned ON
On searching 0 during a searching motion.
For details, refer to the description of the application
command “Search” (SEA <FN59>).
With the search function (which handles work whose
positions have been shifted), this signal is turned
ON while the search basis write mode is
established.
The work cannot be handled correctly if startup is
Write search org. 0 initiated in error while the search basis write mode
remains established.
Use the signal as a condition for starting up the
robot using the host controller, for example.
For details, refer to the description of the application
command “Search” (SEA <FN59>).

1-5
This is dummy page. DO NOT ERASE.
Chapter 2 Function Command

This chapter describes a number of the standard functions (application

commands) which can be used for handling applications.

2.1 Robot interrupt (I-condition) (RINT <FN29>)...............................................2-1

2.1.1 Outline of function .................................................................................2-1
2.1.2 Example of operation ............................................................................2-2
2.2 Search (SEA <FN59>) ................................................................................2-3
2.2.1 Outline of function .................................................................................2-3
2.2.2 Example of operation ............................................................................2-4
2.3 Shift2 (SHIFTR <FN52>) ............................................................................2-8
2.3.1 Outline of function .................................................................................2-8
2.3.2 Example of operation ............................................................................2-9
2.4 Change coord. No. (shift) (CHGCOORD <FN113>)..................................2-10
2.4.1 Outline of function ...............................................................................2-10
2.4.2 Example of operation ..........................................................................2-10
 2.1 Robot interrupt (I-condition) (RINT <FN29>)

2.1 Robot interrupt (I-condition) (RINT <FN29>)

2.1.1 Outline of function

Normal application commands are executed after the recording position has been reached. For this
reason, it is not possible to conduct such operations as changing the movement path or outputting the
output signals until the target step has been reached.
By using this application command, such operations as detecting obstacles and changing the movement
path or outputting general-purpose output signals can be conducted while moving between MOVE
commands.

The normal procedure to be followed when handling work with a poor positioning accuracy is to use the
inputs of the sensors attached to the gripper or other end effecter as the robot interrupt input signals and
perform the grip/release operations at the position where contact is made with the work.

Mnemonic Number Command

RINT FN29 Robot interrupt (I-condition)
Parameter
Data Description, setting range
First Input signal This is used to specify the number of the input
parameter signal serving as the robot interrupt condition.
(1 to 2048): General-purpose input signal number
(5101 to 5196): Multiple input signal number
Second Search Search basis write
parameter position setting
0: No setting
1: Setting established
Third Standard X X coordinate value
parameter when a
search basis write These parameters are
has been used by the search
performed function.
(–3000 to 3000) When a robot interrupt
Fourth Standard Y Y coordinate value command is used on its
parameter when a own, use the “0” setting for
search basis write all the parameters.
has been For details on the search
performed function, refer to “Search”
(–3000 to 3000) (SEA <FN59>).
Fifth Standard Z Z coordinate value
parameter when a
search basis write
has been
performed
(–3000 to 3000)

2-1
2.1 Robot interrupt (I-condition) (RINT <FN29>)

2.1.2 Example of operation

Fig. 2.1.1 Example of “Robot interrupt (I-condition)” (RINT <FN29>) operation

A case where the robot interrupt was recorded after MOVE(N+1) as shown in the figure is explained as
an example.

・ The robot interrupt section (range within which the interrupt processing is valid) extends from
MOVE(N+1), which is the movement command immediately before the robot interrupt command RINT
step, to MOVE(N+2) which is the movement command immediately after this step.
・ When the input of the input signal I5 is detected in this section, the process of moving to MOVE(N+2)
is exited immediately, and operation transfers to executing the command which has been recorded
following MOVE(N+2). Since, in the case of the example provided, the command recorded after the
MOVE(N+2) movement command is the SETM application command and the next one is the DELAY
application command, these application commands are executed at the position where I5 is detected,
and the robot next heads from that position toward the position of the MOVE(N+3) movement
command. (Path indicated by the dotted line in the figure)
・ The steps at both ends of the robot interrupt section (the MOVE(N+1) and MOVE(N+2) movement
commands in the case of the figure) forcibly entail the positioning of the robot irrespective of what has
been recorded.
・ If the input of the input signal (I5) has not been detected by the time when the position where
MOVE(N+2) was recorded is reached, the robot moves as usual up to the position where MOVE(N+2)
was recorded, and the next SETM <FN105> command is executed.
・ When the input of the input signal (I5) is detected as the robot heads toward MOVE(N+2) and then the
robot heads toward the position where MOVE(N+3) was recorded, it moves along the positioning path.
・ Record the MOVE(N+2) movement command at a low recording speed. If the robot is operated at a
high speed, the response to the interrupt detection may become slow.

2-2
 2.2 Search (SEA <FN59>)

2.2 Search (SEA <FN59>)

2.2.1 Outline of function

By using this application command, it is possible to detect shift amounts when there are
variations in the work positions and store those amounts in the shift register. By using the shift
amounts stored in the shift register, any multiple number of steps can be shifted altogether by the
shift command. When shift amounts in the work positions are to be detected, the search
command must be used together with the robot interrupt signal. This is the case so as to capture
the position where contact is made with the work.

Weld line (steps 5 and 6) is

Amount of work shift is detected
shifted in accordance with
by the searching motion of steps
the amount of work shift
2 and 3.
detected and played back.

Searching motion
Work shift
3
6 5 Position where interrupt is
generated during playback
2
Position during basis write
4
1
7 Search start

Fig. 2.2.1 Overview of searching motion

Before calculating the shift amounts, the work position serving as the basis must be obtained.
This is called the basis write mode. The difference between the basis position obtained in the
basis write mode and the actual work positions obtained in the normal mode are stored in the
specified shift register as the shift amount. The recording positions are then shifted using the shift
amount stored in the shift register.

For details on the robot interrupt application command, refer to “2.1 Robot interrupt
(I-condition) (RINT <FN29>)”, and for details on the shift application command, refer to “2.3 Shift2
(SHIFTR <FN52>)”.

Mnemonic Number Command

SEA FN59 Search
Parameter
Data Description, setting range
First Start2/start/ This is used to specify the start and end of the
parameter end search.
2 (start2): The machine coordinates at which the
shift amounts are not canceled when
the position was detected by <FN29>
(robot interrupt) are obtained.
1 (start): The machine coordinates at which the
shift amounts were canceled when the
position was detected by <FN29> (robot
interrupt) are obtained.
0 (end): This is used to end the search.
Second Coord This is used to specify the coordinate system that
parameter serves as the basis for the shift amounts to be set
in the shift register.
0 (machine coordinates): The shift amounts are set
in the shift register as the shift amounts in
the machine coordinate system.
1 (tool): The shift amounts are set in the shift
register as the shift amounts in the tool
coordinate system.

2-3
2.2 Search (SEA <FN59>)

Third Register No. This is used to specify the number of the shift
parameter register in which the shift amounts are to be set.
(1 to 9)

What is a “shift register”?

INFO.
A shift register is a temporary area mainly for storing the shift amounts sent from the visual sensors
or other external devices. The shift amounts detected by the search command (SEA: <FN59>) are
also stored in the same shift register. This controller is equipped with 9 shift registers. Although shift
registers are temporary areas, their values are retained in cases where, for instance, the power has
been cut off and restored when the power comes back on.

Furthermore, a shift register is normally initialized (cleared to zero) when step 0 is played back. If the
values inside a shift register are not to be cleared when step 0 is played back, they can be retained
by setting the “Shift clearance on step 0” to “No Clear” in the “Handling conditions” menu.

2.2.2 Example of operation

Proceed as follows to handle work using the search function.

Set the “Search range,” and perform the teaching

1) Teaching
for the searching motion.
↓
Obtain the position to be used the basis in the
2) Search basis write
“Search basis write” mode.
↓
The searching motion is executed with normal
playback.
3) Search execution
The shift amounts obtained are stored in the shift
register.
↓
Playback is performed in accordance with what is
4) Shift execution stored in the shift register while the prescribed
steps are shifted.

Fig. 2.2.2 Searching motion procedure

Step 1) Teaching the searching motion

First set the “Search range.” As shown in the figure below, the search range specifies how far the
searching motion (operation for searching the work position) is to be implemented.

Fig. 2.2.3 Search range

If there is a possibility that the work position may shift even further away from the search end point, set a
value other than 0 for “Search range.” The robot will pass through the search end point as far as the
specified position, and then continue to wait for the interrupt position.

The initial setting for “Search range” is 0.0.

2-4
 2.2 Search (SEA <FN59>)

1 Select <Service Utilities> - [22 Handling Application] - [1 Handling Conditions].

>> The teach/playback condition menu dedicated to handling applications shown
below now appears.

2 Align the cursor with “Search range,” input the desired value, and press [Enter].

Number
3 Upon completion of the settings, press the f12 [Complete].
(To suspend editing at any time, press the [RESET/R].)

The teaching of the searching motion is recorded as shown in the figure below.

Fig. 2.2.4 Teaching the searching motion

・ The teaching of the searching motion must be recorded without fail in the following sequence:
Search start (SEA <FN59>) → Robot interrupt (RINT <FN29>) → Search end (SEA <FN59>).
The search start command declares the processes performed when a recorded robot interrupt has
been subsequently implemented to be “search processes.”
・ The number of robot interrupts (RINT <FN29>) permitted between the search start (SEA <FN59>) and
search end (SEA <FN59>) is limited to one only. If two or more robot interrupts are recorded, the
search function will not work correctly.
・ The search section (range within which the interrupt processing is valid) is between MOVE(N+1), which
is the movement command immediately before the robot interrupt command RINT step, and
MOVE(N+2) which is the movement command immediately after this step, and it extends beyond
MOVE(N+2) along the straight line which links these two points up to the position specified by “Search
range.”
・ Movement command MOVE(N+2) is recorded at a low speed using linear interpolation ON. If the speed
at which a searching motion is performed is too high, the current position data obtained when the
interrupt was detected will vary, resulting in a poor accuracy.
・ When an interrupt is detected during a searching motion, it will be interpreted that the robot has
reached MOVE(N+2) at that point, and after search end (SEA <FN59>) has been executed, the next
step, namely, movement command MOVE(N+3) will be executed.

2-5
2.2 Search (SEA <FN59>)

Step 2) Saving the search basis position

Upon completion of the teaching, perform “search basis write.” “Search basis write” refers to the task that
remembers the “basis position.” The remembered basis position serves as the basis for future searching
motions, and the difference between this position and the position obtained by a normal searching motion is
used as the shift amount.

1 Select <Service Utilities> - [22 Handling Application] – [1 Handling Conditions].

>> The teach/playback condition menu dedicated to handling applications shown
below now appears.

2 Align the cursor with “Search basis write,” and set to “On” using the
＋ [ENABLE] and [Left] or [Right] cursor keys.
3 Upon completion of the settings, press the f12 [Complete].
(To suspend editing at any time, press the [RESET/R].)
>> When the top screen is restored, the status display icon appears as shown below,
advising the operator that the search basis write mode is currently established.

Furthermore, if the “Write search org.” signal is defined in advance as the output
signal, the output signal can be set to ON while the search basis write mode is
established.

4 Establish the playback mode, and play back one cycle of the robot program
which has been taught.
>> Be absolutely sure to implement the search basis write operation by 1-cycle
playback. If the program is played back in any other mode, alarm A2356 will result,
and it will not be possible to write the basis position in the robot interrupt application
command.

5 When the interrupt input signal (I5 in the example shown in the figure) is input
within the searching motion range, the machine coordinates of that position
(point A in the figure) are automatically written in the parameter of the
application command “Robot interrupt” (RINT <FN29>).

Fig. 2.2.5 “Basis write” searching motion

If the interrupt signal has not been detected within the searching motion range, alarm
A2357 results, and the robot stops. In this case, the basis position is not written.

2-6
 6 Upon completion of search basis write, the search basis write mode must be
released.
On the menu of step 2, return search basis write to “Off”.
>> The work cannot be handled correctly if startup is initiated in error while the search
basis write mode remains established. Make sure to return it to “Off” without fail.

The basis position is automatically written in the program as the parameter of the
application command “Robot interrupt” (RINT <FN29>) which was recorded in the program
POINT used. (The search position is set to 1, and the position is stored in standard XYZ.)
Therefore, refrain from initiating full protection for the program. (Once search basis write
has been completed, no problems are posed by providing protection for the program.)

Step 3) Executing the search

Once search basis write is completed, normal playback can be performed at any point.
Before proceeding with normal playback, be absolutely sure to check that search basis write is set to “Off”.

Fig. 2.2.6 Searching motion: Playback upon completion of basis write

・ The basis position (point A coordinate values) has already been recorded in the command “Robot
interrupt” (RINT <FN29>).
・ If an interrupt has been detected at point B during normal playback, the difference between the
coordinate values of the basis position (point A coordinate values) and the coordinate values of point B
is stored in the shift register as the “shift amount.”
・ The shift register in which the difference is to be stored can be specified by the search end command
(Shift register 1 in the operation shown in the figure).
・ If the “on searching” output signal has been allocated, the signal can be output during a searching
motion. This signal is output during search basis write operations as well.

Fig. 2.2.7 “On searching” output signal

Step 4) Executing the shift

The work is handled while the desired steps are shifted in accordance with the shift amounts stored in the
shift register. Application command Shift2 (SHIFTR <FN52>) is used for this. Specify the same shift register
number and coordinate system as the ones specified for search start (SEA <FN59>).

For details, refer to 2.3 Shift2 (SHIFTR <FN52>).

2-7
2.3 Shift2 (SHIFTR <FN52>)

2.3 Shift2 (SHIFTR <FN52>)

2.3.1 Outline of function

This application command functions to initiate playback while shifting the position recorded in the robot
program on the basis of the shift amount data stored in the specified shift register. One of four options —
“Machine coordinates (robot coordinates)”, “Tool coordinates,” “User coordinates” or “Absolute
coordinates (world coordinates)” — can be selected for the coordinate system to be moved.
If the shift amount data has not been set in the specified shift register, it is possible to jump to the
shelter step. Alternatively, the robot can be stopped immediately without escaping.

Mnemonic Number Command

SHIFTR FN52 Shift2
Parameter
Data Description, setting range
First Shift start/ This is used to specify the start or end of the shift
parameter end operation.
1: Start / 0: End
Second Coord This is used to specify the coordinate system to be
parameter shifted.
0: Machine coordinates (robot coordinates)
1: Tool coordinates
2: User coordinate
3: Absolute coordinates (world coordinates)

Before specifying the user coordinates, record the

coordinates by selecting “10 User Coord.
Definition” on the Service Utilities menu, and select
the user coordinate number used by the
application command “Change coord. No. (shift)”
(CHGCOORD <FN113>).
Third Register No. This is used to specify the shift register number.
parameter (1 to 9)
Fourth Shelter This is used to specify the number of the escape
parameter step destination step when the shift amount data was
not set in the specified shift register.
(0 to 10000)

Any number up to 9999 is valid as the step

number.
When 10000 is specified as the shelter step
number, an alarm
(A2118: “No data has been input in shift register.”)
results immediately with no escape operation
performed, and the robot can be stopped.

When using the shift amount detected by the command “Search” (SEA <FN59>) for shifting,
specify the same shift register number and coordinate system as the ones used by the command
“Search” (SEA <FN59>).

2-8
 2.3 Shift2 (SHIFTR <FN52>)

2.3.2 Example of operation

Fig. 2.3.1 Example of “Shift2” (SHIFTR <FN52>) operation

Record the shift start command before the position where the shift is to be started and the shift end
command before the position where the shift is to be ended, as shown in the figure.

When the program is played back, after reaching the position of movement command MOVE(N), the
robot reads the contents of the shift register specified by the command “Shift2 start” (SHIFTR <FN52>),
and it heads toward position MOVE(N'+1) obtained by shifting the target position of the next movement
command MOVE(N+1). In the same way, the recording position is continuously shifted up to the shift
end command. (Path indicated by the dotted line in the figure) After the command “Shift 2 end”
(SHIFTR <FN52>) is executed in Step 14, no further shifting is performed, and the program is played
back with the original recording positions unchanged.

If no data has been set when the contents of the shift register specified by the command “Shift2 start”
(SHIFTR <FN52>) are read and if the shelter step has been set by the command “Shift2 start” (SHIFTR
<FN52>), the robot heads toward the shelter step (Path indicated by the alternate long and short dash
line in the figure).

2-9
2.4 Change coord. No. (shift) (CHGCOORD <FN113>)

2.4 Change coord. No. (shift) (CHGCOORD <FN113>)

2.4.1 Outline of function

With the application commands such as “Shift2” (SHIFTR <FN52>) and “XYZ shift” (SHIFTA <FN58>)
that perform shift operations, a user coordinate system can be selected as the coordinate system that
serves as the basis for the shift. The CHGCOORD command specifies the number of the user coordinate
system to be used at this time.
When a shift operation has been executed using a user coordinate system with no user coordinate
system number selected by this application command, an alarm results, and the robot is stopped.
The user coordinate system must be recorded in advance by selecting <Service Utilities> - [10 User
Coord. Definition]. Up to a hundred coordinates can be registered.

Mnemonic Number Command

CHGCOORD FN113 This is used to select the shift coordinate system.
Parameter
Data Description, setting range
First User This is used to specify the user coordinate number
parameter coordinate to be used by the shift-related application
No. commands.
(0 to 100)
If 0 is specified, this parameter is not selected.

2.4.2 Example of operation

In the figure below, the application command “XYZ shift” (SHIFTA <FN58>) has been recorded in step 13,
and a user coordinate system has been selected as the coordinate system to be used for this. Therefore,
the command “Change coord. No. (shift)” (CHGCOORD <FN113>) is recorded in step 11 which is before
step 13, and user coordinate system No.1 has been specified.
The movement commands after step 14 operate with the positions (positions of steps 14' and 15' in the
figure) shifted by 121.3 mm in the X direction of user coordinate system No.1 serving as the movement
target.

Fig. 2.4.1 Example of operation by the command “Change coord. No. (shift)” (CHGCOORD <FN113>)

2-10
Chapter3 Useful functions

This chapter provides details of the operations, which are not described in the
Installation or Basic Operation manual, for those operators who will be using the
robot for handling operations.

3.1 Shift monitor................................................................................................3-1

3.1.1 Monitoring the current shift amounts .....................................................3-1
3.1.2 Monitoring the current shift register contents ........................................3-2
3.2 Manually resetting and presetting shift amounts .........................................3-3
3.2.1 Direct editing using the shift register monitor ........................................3-3
3.2.2 Shortcut R162: Shift value change........................................................3-4
3.2.3 Shortcut R350: Shift register clear ........................................................3-4
3.2.4 Shortcut R163: Cancel shift value.........................................................3-4
3.3 Recording operations while shifts are executed..........................................3-5
3.3.1 Precautions for recording and modifying positions which are in the
process of being shifted .......................................................................3-5
3.3.2 Setting the shift amount cancel step recording .....................................3-6
3.4 Clearing shift registers at step 0 .................................................................3-7
3.4.1 Automatic clearing of the shift registers.................................................3-7
3.4.2 Setting shift register clear at step 0 .......................................................3-7
 3.1 Shift monitor

3.1 Shift monitor

3.1.1 Monitoring the current shift amounts

The current shift amounts can be checked in real time. There are two kinds of shift operations:
･ Shifting by the application command “Shift2” (SHIFTR <FN52>)
The shift operation is based on the contents of the shift register.
･ Shifting by the application command “XYZ Shift” (SHIFTA <FN58>)
The shift amounts are written directly using the parameters of the application command.
These two kinds of operations can be executed simultaneously. When they are executed
simultaneously, the shift amounts are added for use.
When this monitor is used, each shift amount can be referenced separately.

1 Select [Service Utilities] - [Monitor] - [14 Handling Monitor].

>>A list of handling monitor menus such as the one shown below now appears.

2 Select [1 Current Shift Amount].

>>The monitor screen such as the one shown below appears.

Item Details
This indicates how far the robot has shifted at this moment in the
machine coordinate system. When a multiple number of shift functions
Total
have been used, it makes it possible to ascertain how far the robot has
ultimately shifted in the machine coordinate system.
These indicate the shift amounts specified by the application command
XYZ
“XYZ Shift” (SHIFTA <FN58>).
These indicate the shift amounts specified by the application command
Shift2 “Shift2” (SHIFTR <FN52>).
Its settings match the contents of one of the shift registers 1 to 9.

It is not possible to edit these data.

3-1
3.1 Shift monitor

3.1.2 Monitoring the current shift register contents

The contents of the nine shift registers provided can be referenced in real time.
They are not what are actually used by the robot as the shift amounts at the present time.
The contents are used when referencing the values written by the “Search” (SEA <FN59>),
“Shift data request (SREQ <FN51>)” and other application commands.

1 Select [Service Utilities] - [Monitor] - [14 Handling Monitor].

>>A list of handling monitor menus such as the one shown below now appears.

2 Select [2 Shift Buffer].

>>The monitor screen such as the one shown below appears.

Item Details
This indicates whether a data request is being made for an external
unit using the “Shift data request” (SREQ <FN51>) or other command.
Requesting 0: This indicates a status in which the shift amount data is not
requested.
1: This indicates a status in which the shift amount data is requested.
This indicates whether the shift amount data has been set.
Written 0: This indicates that the shift amount data has not been set.
1: This indicates that the shift amount data has been set.
These are the parallel shift amounts.
X,Y,Z
They are indicated in millimeters (mm).
These are the rotational shift amount data. They are used for tool
θx,θy,θz shifting.
They are indicated in degrees (deg).

3 Use the [Up] or [Down] cursor key to move the cursor on the screen and
display the contents of the desired shift register.

3-2
 3.2 Manually resetting and presetting shift amounts

3.2 Manually resetting and presetting shift amounts

Shift amounts can be reset or preset manually.
Use these functions at such times as when resuming shift operations which were partially completed or
stopping shift operations at a midway point.

Pay extra attention when operating the robot after shift amounts have been changed.
Mistakes made in the process of inputting may give rise to interference with surrounding
objects or other such unforeseen trouble.
CAUTION

3.2.1 Direct editing using the shift register monitor

1 Stop the robot for which playback is now underway.

Shift registers cannot be reset or preset during robot operations.
2 Open the monitor screen in “3.1.2 Monitoring the current shift register contents”.

3 Press the [EDIT].

>>The title bar of the shift register monitor screen changes to red, indicating that the
edit enable mode is established.

4 Align the cursor with the desired edit boxes, input the numerical values, and
press [Enter].
Number
5 Upon completion of the settings, press the f12 <Complete>.
>>The display returns to the shift register monitor screen. The data which has been
set is now reflected.

6 Resume operation.

3-3
3.2 Manually resetting and presetting shift amounts

3.2.2 Shortcut R162: Shift value change

The shift amounts used when shifting using the application command “Shift2” (SHIFTR
<FN52>) can be changed manually.
They cannot be used while the robot is operating.

Shortcut Description
R162 Shift value change
Parameter
Data Description, setting range
Shift value X This is used to specify the
First
shift amount in the X
parameter
direction.
Shift value Y This is used to specify the
Second
shift amount in the Y
parameter
direction.
Shift value Z This is used to specify the
Third
shift amount in the Z The setting
parameter
direction. range depends
Angle shift X This is used to specify the on the “shift
Fourth
tool vector rotational amount limit.”
parameter
amount around the X axis.
Angle shift Y This is used to specify the
Fifth
tool vector rotational
parameter
amount around the Y axis.
Angle shift Z This is used to specify the
Sixth
tool vector rotational
parameter
amount around the Z axis.

3.2.3 Shortcut R350: Shift register clear

This clears the contents of the specified shift register.
If “0” is specified, all the shift registers are cleared.
They cannot be used while the robot is operating.

Shortcut Description
R350 Shift register clear
Parameter
Data Description, setting range
No. of shift Specify the number of the shift register whose
First register shift amounts are to be cleared. If “0” is
parameter specified, the contents of all the shift registers
are cleared. (0 to 9)

3.2.4 Shortcut R163: Cancel shift value

This clears the amounts to be shifted by the application command “Shift2” (SHIFTR <FN52>) to
zero.
They cannot be used while the robot is operating.

Shortcut Description
R163 Cancel shift value
Parameter
Data Description, setting range
Shift This is used to specify whether or not shift
First value amounts are to be canceled by setting 0 or 1.
parameter cancel. 0: The shift amounts are not canceled.
Yes/no 1: The shift amounts are canceled.

3-4
 3.3 Recording operations while shifts are executed

3.3 Recording operations while shifts are executed

3.3.1 Precautions for recording and modifying positions which are in the
process of being shifted
When the robot is stopped during a shift operation and MOVE command [Record], [Add] or
[Modify] operations are performed, the current position is recorded. However, if these operations
are performed in the process of shifting, the resulting positions will be equivalent to the original
taught positions plus the shift amounts. Therefore, if operators modify the positions while
overlooking the fact that the positions were in the process of being shifted, the robot may move to
an unforeseen position.
This is explained in Fig. 3.3.1 Path of shift operations.
If the shift was started in step 8, the step 10 recording position will be shifted to the step 10
playback position during playback. If the robot is stopped here and an operation to modify the
position is performed, the step 10 playback position will become the new recording position of
step 10. In other words, during the next cycle playback, the robot will move to the step 10
playback position which is equivalent to the step 10 modified position plus the shift amount, as is
shown in Fig. 3.3.2 Path of shift operations after position modification.

STEP8 STEP10
Shift start Recorded position
STEP10
Playback position

Fig. 3.3.1 Path of shift operations

STEP8 STEP10
Shift start Recorded position
STEP10 STEP10
Modified position
Playback position

Fig. 3.3.2 Path of shift operations after position modification

In order to avoid a situation like this, it has been made possible when recording the steps (movement
commands) to obtain the recording position in a state where the current shift amounts have been subtracted.
Follow the procedure below to perform the settings.
The current shift amounts can be verified using the “Total” data in 3.1.1 Monitoring the current shift amounts.

Pay extra attention to recording and modifying positions which are in the process of
being shifted.
Mistakes made in the recorded or modified positions may give rise to interference with
surrounding objects or other such unforeseen trouble.
When the robot is stopped while positions are being shifted and a [Record], [Add] or
CAUTION [Modify] operation is performed, operators must check the recorded positions without fail
using CHECK/GO, etc. to confirm that these are in fact the intended positions.

3-5
3.3 Recording operations while shifts are executed

3.3.2 Setting the shift amount cancel step recording

1 Select<Service Utilities> - [22 Handling Application] – [1 Handling Conditions].

>> The teach/playback condition menu dedicated to handling applications shown below
now appears.

2 Align the cursor with “4 Shift Cancel Step Record,” and use the [ENABLE] and
＋ [Left] or [Right] cursor key to enable the setting.

Item Details
Disabled At this setting, the current position of the robot is recorded when
MOVE command [Record], [Add] or [Modify] operations are
performed.
Enabled At this setting, the position obtained by subtracting the current shift
amounts from the current position of the robot is calculated and
recorded when MOVE command [Record], [Add] or [Modify]
operations are performed.

3 Upon completion of the settings, press the f12 <Complete>.

(To suspend editing at any time, press the [RESET/R].)

3-6
 3.4 Clearing shift registers at step 0

3.4 Clearing shift registers at step 0

3.4.1 Automatic clearing of the shift registers

By intention, the contents of the nine shift registers used to store the shift amounts are
automatically cleared when the head (step 0) of the task program is played back. (This does not
apply when playing back step 0 of a program which has been called using the program call
command.)
However, it is possible to perform a setting to stop this clearing if it is inconvenient to have the
shift registers automatically cleared to zero for the application concerned. Follow the setting
procedure below.

3.4.2 Setting shift register clear at step 0

1 Select<Service Utilities> - [22 Handling Application] – [1 Handling Conditions].

>> The teach/playback condition menu dedicated to handling applications shown below
now appears.

2 Align the cursor with “5 Shift Clearance on step 0,” and press the [ENABLE] and
＋ [Left] or [Right] cursor keys.
Item Details
Clear The contents of the shift registers are cleared when step 0 is played
back.
No clear The contents of the shift registers are not cleared even when step 0
is played back.

3 Upon completion of the settings, press the f12 <Complete>.

(To suspend editing at any time, press the [RESET/R].)

3-7
This is dummy page. DO NOT ERASE.