Professional Documents
Culture Documents
Inform II
User’s Manual
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
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The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2007 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
TABLE OF CONTENTS
Section Page
1 INTRODUCTION
1.1 About this Document .................................................................................................... 1-1
1.2 Reference to Other Documentation................................................................................ 1-1
1.3 Customer Service Information....................................................................................... 1-1
2 SAFETY
2.1 Introduction .................................................................................................................. 2-1
2.2 Standard Conventions................................................................................................... 2-2
2.3 General Safeguarding Tips............................................................................................ 2-4
2.4 Mechanical Safety Devices............................................................................................ 2-4
2.5 Installation Safety.......................................................................................................... 2-5
2.6 Programming Safety ..................................................................................................... 2-5
2.7 Operation Safety............................................................................................................ 2-6
2.8 Maintenance Safety....................................................................................................... 2-7
3 INFORM INSTRUCTIONS
1 Manual Outline ............................................................................................................. 1-1
2 Inform Explanations ....... .............................................................................................. 2-1
NOTES
We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not been
trained!
We recommend that all personnel who intend to operate, program, repair, or use
the robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)
DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent hazards
that, if not avoided, will result in immediate, serious personal injury
or loss of life in addition to equipment damage.
WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards that
can result in personal injury or loss of life in addition to equipment
damage.
CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.
NOTE: Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.
YASNAC XRC
INFORM MANUAL
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-
INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL FOR BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
• General items related to safety are listed in the Setup Manual Section 1:
Safety. To ensure correct and safe operation, carefully read the Setup
Manual before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
ii
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or ”PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
iii
WARNING
• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON
• Always set the Teach Lock before entering the robot work envelope to
teach a job.
Operator injury can occur if the Teach Lock is not set and the manipulator is started from
the playback panel.
Injury may result if anyone enters the working envelope of the manipulator during opera-
tion. Always press an emergency stop button immediately if there are problems.The
emergency stop button is located on the right side of both the YASNAC XRC playback
panel and programming pendant.
iv
CAUTION
• Perform the following inspection procedures prior to conducting manip-
ulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the XRC cabinet
after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.
• Read and understand the Explanation of the Alarm Display in the Setup
Manual before operating the manipulator.
v
Descriptions of the programming pendant and playback panel keys, buttons, and displays are
shown as follows:
Programming Character Keys The keys which have characters printed on them are
Pendant denoted with [ ].
ex. [ENTER]
Symbol Keys The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
Axis Keys “Axis Keys” and “Number Keys” are generic names
Number Keys for the keys for axis operation and number input.
vi
1 INFORM Manual Outline
1.1 About INFORM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.1.1 With INFORM II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.1.2 Type of Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.1.3 Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
" Selecting Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.1.4 Variables to be Used in Instructions . . . . . . . . . . . . . . . . . . . . .1-3
" Set Value of Variable and Numeric Data. . . . . . . . . . . . . . . .1-3
1.2 Registration of Instructions . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.2.1 Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.2.2 Learning Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
1.3 Detail Edit Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6
1.4 Registration of Expression . . . . . . . . . . . . . . . . . . . . . . . . . .1-7
1.4.1 Expression. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7
1.4.2 Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-9
1.5 INFORM Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-11
" INFORM Structure Elements. . . . . . . . . . . . . . . . . . . . . . . .1-12
" Meaning of INFORM Structure . . . . . . . . . . . . . . . . . . . . . .1-12
" Explanation Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-13
2 INFORM Explanation
2.1 I/O Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
DOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
DIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
WAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
PULSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12
AOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-15
ARATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-16
ARATIOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-20
ANTOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-21
2.2 Control Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-27
JUMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-27
CALL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-31
TIMER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-34
* (LABEL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-35
’ (COMMENT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-36
RET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-37
NOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-38
PAUSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-39
CWAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-40
ADVINIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-41
ADVSTOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-42
2.3 Operating Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-43
CLEAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-43
INC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-47
DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-49
SET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-51
ADD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-61
SUB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-70
vii
MUL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-80
DIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-90
CNVRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-99
AND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-102
OR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-104
NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-106
XOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-108
MFRAME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-110
SETE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-113
GETE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-116
GETS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-118
SQRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-124
SIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-126
COS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-128
ATAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-130
MULMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-132
INVMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-135
SETFILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-137
GETFILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-141
2.4 Move Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-143
MOVJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-143
MOVL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-154
MOVC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-165
MOVS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-174
IMOV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-183
SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-191
REFP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-194
2.5 Shift Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-201
SFTON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-201
SFTOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-206
MSHIFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-208
2.6 Instruction Which Adheres to an Instruction. . . . . . . 2-211
IF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-211
UNTIL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-224
ENWAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-226
2.7 Arc Welding Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-227
ARCON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-227
ARCOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-232
VWELD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-236
AWELD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-238
ARCSET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-240
WVON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-244
WVOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-250
ARCCTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-252
ARCCTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-256
2.8 Handling Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-261
HAND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-261
HSEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-263
2.9 Spot Welding Instruction . . . . . . . . . . . . . . . . . . . . . . . . . 2-265
GUNCL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-265
SPOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-267
STROKE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-271
STRWAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-272
2.10 General-purpose Instruction . . . . . . . . . . . . . . . . . . . . 2-275
TOOLON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-275
TOOLOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-277
viii
1.1 About INFORM
MOVJ VJ=50.00
• Instruction : It is used to execute the operation and processing. In the case of a move
instruction, when a position is taught, the move instruction is automatically displayed
according to the interpolation method.
• Additional item : The speed, time, etc. are set according to the type of instruction.
Numeric data and character data are added to the tag that specifies the condition as nec-
essary.
1-1
1.1 About INFORM
Select {SETUP} under the top menu Select {TEACHING COND}*1 Select “LAN-
*2 *3
GUAGE LEVEL” Select the language level (instruction set)
Explanation
*1 The teaching condition display is shown.
1-2
1.1 About INFORM
1-3
1.2 Registration of Instructions
1.2.1 Registration
INFORM
Press [INFORM LIST] LIST
. while the job content display is shown to register instructions.
Operation
Select {JOB} under the top menu Select {JOB}*1 Press [ INFORM LIST ]*2
Select the desired instruction group*3 Select the desired instruction*4 Press
*5
[ENTER ]
Explanation
*1 The job content display is shown.
*5 The instruction displayed in the input buffer line is registered in the job.
Also, if the instruction must be registered during the job, press [INSERT] before press-
ing [ENTER].
SUPPLE-
MENT
Refer to the Operator’s Manual “5.2 Editing Instructions” for details on editing instructions.
1-4
1.2 Registration of Instructions
Operation
Select {SETUP} under the top menu Select {TEACHING COND}*1 Move the cur-
*2
sor to “INSTRUCTION INPUT LEARNING” Press [SELECT]
Explanation
*1 The teaching condition display is shown.
*2 Each time [SELECT] is pressed, you switch from “VALID” to “INVALID” and vice versa.
1-5
1.3 Detail Edit Display
#Instructions
The instruction is displayed.
%Additional Item
The additional item is shown.
The tag selection dialog box is displayed when the cursor is on the additional item and
[SELECT] is pressed.
When “NOT USED” is selected, the tag is omitted.
1-6
1.4 Registration of Expression
1.4.1 Expression
With INFORM II, an expression can be added to the SET instruction.
SUPPLE-
Expressions can be registered only when “STANDARD” or “EXPANDED” has been
MENT selected for the language level (instruction set).
- (negative)
$( &(
Data type selection icon
%(
Data
#Starting parentheses
Move the cursor to the parentheses, and press [SELECT]. Each time [SELECT] is pressed,
three types of parentheses are displayed in the following order.
( → (( → ((( → -( → -(( → -(((
$ - (negative)
Move the cursor to the desired position, and press [SELECT]. Each time [SELECT] is
pressed, the negative is alternately added and omitted and vice versa.
1-7
1.4 Registration of Expression
%Data
The data type of the expression is displayed. The following types of data can be registered.
• Constant (byte type, integer type, double-precision type, and real-number type)
• Byte type variable (B, B[], LB, and LB[])
• Integer type variable (I, I[], LI, and LI[])
• Double-precision type variable (D, D[], LD, and LD[])
• Real-number type variable (R, R[], LR, and LR[])
Move the cursor to the desired position, and press [SELECT] to enter the numeric value
input status. Change the numeric value of the constant data and the variable number.
Change the data type by using the &Data type selection icon.
'Ending parentheses
Move the cursor to the parentheses and press [SELECT]. Each time [SELECT] is pressed,
three types of parentheses are displayed in the following order.
) → )) → )))
)Operator
Move the cursor to the operator to be changed and press [SELECT]. The operator selec-
tion dialog box is displayed. Move the cursor to the operator to be selected and press
[SELECT].
1-8
1.4 Registration of Expression
1.4.2 Registration
Operation
Select {JOB} under the top menu Select {JOB} Press [INFORM LIST] Select
“ARITH” Select “SET” Press [SELECT]*1 Move the cursor to the button
Explanation
*1 The DETAIL EDIT display for the SET instruction is shown.
=>SET B000 1
!
1-9
1.4 Registration of Expression
=>SET B000 1
!
=>1
!
1-10
1.5 INFORM Structure
An example of the INFORM structure is shown in the following structure flowchart. The
INFORM structure chart is composed of the structure elements (instruction, tag, and data).
The order of the rows is shown with the numbers and arrows.
P/LP/P[]/
2 LP[]
Variable No. A B
Station teaching
3 point file No.
EX/LEX/
4 EX[]/ Variable No.
LEX[]
A B
BP/LBP/ EX/LEX/
7 BP[]/ Variable No. 8 EX[]/ Variable No.
LBP[] LEX[]
C D
D E
E END
14 NWAIT 15 UNTIL
1-11
1.5 INFORM Structure
INFORM Structure
Explanation Note
Element
1-12
1.5 INFORM Structure
• NO.
The tag number is shown. It corresponds to the number in the INFORM structure.
• Tag
The surface description of the tag is shown.
• Explanation
It provides an explanation of the tag.
1-13
1.5 INFORM Structure
1-14
2.1 I/O Instructions
2 INFORM Explanation
DOUT
Instruction set:
Function
B/LB/B[]/
DOUT 1 OT# ( Output No. ) 4 LB[]
Variable No. END
5 ON/OFF
Explanation
1. OT# (Output number) /OG# (Output group number) /OGH# (Output group
number)
2-1
2.1 I/O Instructions
Output signal
SUPPLE-
MENT
Output signal OT#(xx) is 1 point, OGH#(xx) is 1 group 4 points, and OG#(xx) is 1 group 8
points.
2. B Variable number /LB Variable number /B [Array number] /LB [Array num-
ber] /ON /OFF
When OT# (output number) is selected from the table in part 1 of this Explanation, choose one
of the tags from the following table.
4 B Variable num- The least significant bit of the specified byte type Least significant bit :
ber/ variable specifies on/off of the output signal. 0 : OFF
LB Variable num- 1 : ON
ber /
B [Array number]/
LB [Array number
]
2-2
2.1 I/O Instructions
When OG# (Output group number) or OGH# (Output group number) is selected from the table
in part 1 of this Explanation, choose one of the tags from the following table.
6 B Variable num- Specifies on/off of the output signal by the speci- bit :
ber/ fied bit value byte type variable. 0 : OFF
LB Variable num- 1 : ON
ber/
B [Array number]/
LB [Array num-
ber]
7 Byte type con- When the constant byte type is expressed in bit
stant form, the corresponding on/off output signal is
specied. Specifies on/off of the output signal by
bit value.
Example
(1) DOUT OT#(12) ON
General output signal no. 12 is turned on.
ON
2-3
2.1 I/O Instructions
DIN
Instruction set:
Function
Refers to the byte type variable for the status of the signal.
Construction
B/LB/B[]/
DIN 1 LB[]
Variable No. 2 IN# ( Input No. ) END
Output group
5 OG# (
No.
)
Specific
6 SIN# (
input No.
)
Specific
7 SOUT# (
output No.
)
Output group
9 OGH# ( No.
)
Explanation
1. B Variable Number / LB Variable Number / B [Array Number] / LB [Array
Number]
1 B Variable Num- Specifies the number of byte type variable for the
ber/ signal.
LB Variable Num-
ber/
B [Array Number]/
LB [Array Num-
ber]
2-4
2.1 I/O Instructions
2 IN#(Input num- Specifies the general input signal number which No:1 to 192
ber) shows the signal status. Variable B/I/D/LB/LI/
LD can be used.
3 IG#(Input group Specifies the general input group signal number No:1 to 24
number) (1 group 8 points) which shows the signal status. Variable B/I/D/LB/LI/
LD can be used.
4 OT#(Output num- Specifies the general output signal number No:1 to 192
ber) which shows the signal status. Variable B/I/D/LB/LI/
LD can be used.
6 SIN#(Specific Specifies the specific input signal number which No:1 to 128
input number) shows the signal status. Variable B/I/D/LB/LI/
LD can be used.
Input signal
SUPPLE-
MENT
Input signal IN#(xx) is 1 point, IGH#(xx) is 1 group 4 points, and IG#(xx) is 1group 8
points.
2-5
2.1 I/O Instructions
Example
(1) DIN B016 IN#(12)
The on/off status of general input signal no.12 is shown in byte type variable No.16.
When the general input signal No.12 is on, the status of the general input signal is
B016=1 (decimal)=00000001(binary).
ON
2-6
2.1 I/O Instructions
WAIT
Instruction set:
Function
Waits until the status of the external signal or byte type variable is the same as the specified
status.
Construction
B/LB/B[]/
WAIT 1 IN# ( Input No. ) 10 = 11 LB[]
Variable No. A
Specific
4 SOUT# (
output No.
)
B/LB/B[]/
5 IG# ( Input group No. ) 13 = 15 LB[]
Variable No.
Output group
6 OG# (
No.
) 14 <>
Byte type
16 constant
Input group No.
7 IGH# (
(4 Point)
)
Output group
8 OGH# (
No. (4 Point)
)
A END
B/LB/B[]/
9 LB[]
Variable No. 17 T= Time (sec)
2-7
2.1 I/O Instructions
Explanation
1. IN#(Input number) / OT#(Output number) / SIN#(Specific input number) /
SOUT#(Specific output number) / IG#(Input group number) / OG#(Output
group number) / IGH#(Input group number) / OGH#(Output group number)
/ B Variable Number / LB Variable Number / B [Array Number] / LB [Array
Number]
1 IN# (Input num- Specifies the number of the general input signal No:1 to 192
ber) for the waiting condition. Variable B/I/D/LB/LI/
LD can be used.
2 OT# (Output Specifies the number of the general output signal No:1 to 192
numbe) for the waiting condition. Variable B/I/D/LB/LI/
LD can be used.
3 SIN# (Specific Specifies the number of the specific input signal No:1 to 128
input number) for the waiting condition. Variable B/I/D/LB/LI/
LD can be used.
4 SOUT# (Specific Specifies the number of the specific output signal No:1 to 208
output number) for the waiting condition. Variable B/I/D/LB/LI/
LD can be used.
9 B Variable num- Specifies the byte type variable for the waiting
ber/ condition.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
2-8
2.1 I/O Instructions
2. =
When an IN# (input number), OT# (output number), SIN# (specific input number), or SOUT#
(specific output number) is selected from the table in part 1 of this Explanation, add the follow-
ing tag.
10 = It is equal.
When an IN# (input number), OT#(output number), SIN# (specific input number), or SOUT#(
specific output number ) is selected from the table in part 1 of this Explanation, choose one of
the tags from the following table.
11 B Variable num- Specifies byte type variable which becomes a Least significant bit:
ber/ waiting condition. 0:OFF
LB Variable num- 1:ON
ber/
B [Array number]/
LB [Array num-
ber]
4. =/<>
When an IG# (input group number), OG# (output group number), IGH# (input group number),
OGH# (output group number), B variable number, LB variable number, B [array number], or
LB [array number] is selected from the table in part 1 of this Explanation, choose one of the
tags from the following table.
13 = It is equal.
2-9
2.1 I/O Instructions
When an IG# (input group number), OG# (output group number), IGH# (input group number),
OGH# (output group number), B variable number, LB variable number, B [array number], or
LB [array number] is selected from the table in part 1 of this Explanation, choose one of the
tags from the following table.
6. T=time
Example
(1) WAIT IN#(12)=ON
Waits until general input signal no.12 is turned on.
2-10
2.1 I/O Instructions
Waits until general input signal nos.5 and 7 are turned off and general input signal
nos. 6 and 8 are turned on.
2-11
2.1 I/O Instructions
PULSE
Instruction set:
Function
The pulse signal is output to the general output signal only for the specified time.
The PULSE instruction, without waiting for completion of the instruction, executes the next
one.
Construction
A END
6 T= Time (second)
2-12
2.1 I/O Instructions
Explanation
1. OT# (output number) / OG# (output group number) / OGH# (output group
number)
1 OT# (Output No.) Specifies the number of the signal to which the No.: 1 to 192
pulse signal is output. Variable B/I/D/LB/LI/
LD can be used.
When OG# (output group number) or OGH# (output group number) in the above table is
selected, choose one of the tags from the following table.
2-13
2.1 I/O Instructions
3. T=Time
6 T=Time Specifies the time during which the pulse signal Units: seconds
is output. Variable I/LI/I[]/LI[]
The pulse signal is output during the specified can be used.
time T. (Units: 0.01 seconds)
When the time is not
specified, the pulse
signal is output dur-
ing 0.30 seconds.
Example
(1) PULSE OT#(128)
The pulse signal is output for 0.30 seconds to general output signal No.128.
Pulse signal
0.3sec
The pulse signal is output for 1.0 seconds to general output signal No.5.
ON
Pulse signal
1.0 sec OFF
ON
The pulse signal is output for 0.30 seconds to the general output signal No.’s 20 and
21.
2-14
2.1 I/O Instructions
AOUT
Instruction set:
Function
Outputs the set voltage value to the general-purpose analog output port.
Construction
Explanation
1. AO# (Analog output port number)
1 AO# (Analog out- Specifies the number of the analog output port to No.: 1 to 12
put port number) which the set voltage value is output. Variable B/I/D/LB/LI/
LD can be used.
Example
SET I000 1270
AOUT AO#(1) I000
The voltage of 12.7 V is output to the analog output port No. 1.
2-15
2.1 I/O Instructions
ARATION
Instruction set:
Function
Analog output
ARATION 1 AO# ( port No.
) A
Basic voltage
2 BV=
(V)
A END
Explanation
1. AO# (Analog output port number)
1 AO# (Analog out- Specifies the number of the analog output port No.: 1 to 12
put port number) that outputs the voltage corresponding to the Variable B/I/D/LB/LI/
speed. LD can be used.
2. BV=Basic voltage
2 BV=Basic voltage Specifies the voltage to be output when running Voltage value:
at the speed set in part 3 of this Explanation. -14.00 to +14.00 V
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 V)
2-16
2.1 I/O Instructions
3. V=Basic speed
3 V=Basic speed Specifies the speed at which the set voltage Speed: 0.1 to 1500.0
value is output. mm/s.
Variable B/I/D/LB/LI/
LD can be used.
(Units: 0.1 mm/s.)
4. OFV=Offset voltage
4 OFV=Offset volt- Specifies the analog voltage to be output at the Voltage value:
age motion speed “0”. -14.00 to +14.00 V
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 V)
2-17
2.1 I/O Instructions
On the base of the set value for the ARATION instruction, the output characteristic, which
decides the relation between the motion speed and the analog voltage, is calculated. The
analog output corresponding to speed is output according to this output characteristic.
Analog output
14V
Basic voltage
Offset voltage
Motion speed
0 Basic speed
Example
When the basic voltage is 7.00 V at a motion speed of 150.0 mm/sec for the analog output
port number 1, an offset voltage of -10.0 V is output.
2-18
2.1 I/O Instructions
Analog voltage
(V)
14
10
Basic voltage 7
Motion speed
0 50 100 150 200
(mm/sec)
Basic speed
-5
2-19
2.1 I/O Instructions
ARATIOF
Instruction set:
Function
Analog output
ARATIOF 1 AO# (
port No.
) END
Explanation
1. AO# (Analog output port number)
Example
ARATIOF AO#(1)
The analog output corresponding to the speed at the analog output port number 1 is can-
celled.
2-20
2.1 I/O Instructions
ANTOUT
The ANTOUT instruction can be used only with parameter S4C008.
Instruction set:
Function
Carries out the anticipation output function to adjust the timing of the signal output.
2-21
2.1 I/O Instructions
This function corrects work timing errors due to delays in the motions of a peripheral device
and/or the manipulator.
Setting the time to a negative value (-) advances the signal output.
This can be used to correct work timing errors due to delays in the motions of a peripheral
device.
Setting the time to a positive value (+) delays the signal output.
This can be used to correct work timing errors due to delays in the motions of the manipu-
lator.
n-1 n n+1
Step
Step Instructions
Setting of
n-1 MOVL general
n MOVL NWAIT output
ANTOUT AT#(1) ON ON
n+1 MOVL OFF
n-1 n n+1
Step
Step Instructions
Setting of
general
n-1 MOVL
output
n MOVL NWAIT
ANTOUT AT#(2) ON ON
n+1 MOVL OFF
For details of the aniticipation output function, refer to YASNAC XRC OPTIONS INSTRUC-
TIONS FOR ANTICIPATION OUTPUT FUNCTION (HW0480179).
2-22
2.1 I/O Instructions
Construction
Anticipation
ANTOUT 1 AT# (
output No.
) 3 ON/OFF A
Anticipation
B/LB/B[]/
2 AG# ( group output ) 4 LB[]
Variable No.
No.
Byte type
5 constant
A END
Anticipation
6 ANT=
time (s)
Explanation
1. AT# (Anticipation output number) / AG# (Anticipation group output num-
ber)
1 AT# (Anticipation Specifies the number of the signal whose timing No.: 1 to 4
output number) is adjusted. Variable B/I/D/LB/LI/
LD can be used.
2 AG# (Anticipation Specifies the group number of the signal whose No.: 1 or 2
group output timing is adjusted. Variable B/I/D/LB/LI/
number) LD can be used.
2-23
2.1 I/O Instructions
2. ON/OFF
When an AT#(anticipation output number) is selected from the table in part 1 of this Explana-
tion, add the following tag.
2-24
2.1 I/O Instructions
When an AG#(anticipation group output number) is selected from the table in part 1 of this
Explanation, choose one of the tags from the following table.
4 B Variable num- Specifies the ON/OFF status of the output signal Bit:
ber/ corrresponding to each bit when the contents of 0: OFF
LB Variable num- the specified byte type variable is expressed in 1: ON
ber/ bits.
B [Array number]/
LB [Array num-
ber]
5 Byte type con- Specifies the ON/OFF status of the output signal
stant corrresponding to each bit when the contents of
the specified byte type variable is expressed in
bits.
4. ANT=Anticipation time
6 ANT=Anticipation Specifies the delay/advance time for the output Units: seconds
time signal timing. Variable I/LI/I[]/LI[]
can be used. (Units:
0.01 seconds)
When the time is not
specified, the time
set in the signal tim-
ing adjustment file is
applied.
Example
Step Instructions
DATA EDIT DISPLAY UTILITY
n-1 MOVL V=100 L
ANTICIPATION OUTPUT R1 C S
n MOVL V=100 NWAIT <SINGLE>
AT NO. OT OUTPUT ON TIME OFF TIME
ANTOUT AT#(1) ON 1 10 -0.50 -0.50
n+1 MOVL V=100 2 11 0.50 -0.50
3 --- 0.00 0.00
4 --- 0.00 0.00
Turns ON the general-purpose signal number 10 <GROUP>
AG NO. OG OUTPUT TIME
0.5 seconds before the manipulator reaches the 1 --- 0.00
step. !
(Advanced signal output)
2-25
2.1 I/O Instructions
2-26
2.2 Control Instruction
JUMP
Instruction set:
Function
Label character
JUMP 1 * string
A
B/LB/B[]/
2 LABEL: 10 LB[]
Variable No.
3 JOB:
User
13 UF# ( coordinate No.
)
B/LB/B[]/
4 LB[]
Variable No.
6 QUE 14 IF
I/LI/I[]
7 /LI[]
Variable No.
D/LD/D[]/
8 LD[]
Variable No.
B C
2-27
2.2 Control Instruction
Explanation
1. *Label character string /LABEL:/JOB:/B Variable number /LB Variable
number /B [Array number ] /LB [Array number ] /IG# (Input group number)
/ QUE/I Variable number/LI Variable number/I [Array number]/LI [Array
number]/D Variable number/LD Variable number/ D [Array number]/LD
[Array number]/ JET# (Job registration table number)
5 IG#(Input group The numerical value specified by the input group No:1 to 24
number) number is considered to be a job. Variable B/I/D/LB/LI/
LD can be used.
6 QUE Jumps to the job stored in the queue. Available only in the
queue function
(option: S4C003).
9 JET# (Job regis- Specifies the job registration table number. No.: 1 to 3
tration table num- The job of the jump destination can be registered Variable B/I/D/LB/LI/
ber) in the job registration table. LD can be used.
Available only with
the job registration
table function
(option: S2C273)
2-28
2.2 Control Instruction
When a LABEL: is selected from the table in part 1 of this Explanation, choose one of the tags
from the following table.
11 IG#(Input group Specifies the input group number of the numeri- No:1 to 24
number) cal value for the label. B/I/D/LB/LI/LD Vari-
able can be used.
3. ENTRY=Registration number
When a JET#(job registration table number) is selected from the table in part 1 of this Expla-
nation, add the following tag.
12 ENTRY=Registra- Specifies the registration number of the job reg- No.: 1 to 1024
tion number istered in the specified job registration table. Variable B/B[]/LB/
LB[]/I/I[] can be used.
When JOB:, B variable number, LB variable number, B [Array number], LB [Array number],
IG# (Input group number), QUE, I Variable number, LI Variable number, I [Array number], LI
[Array number], D Variable number, LD Variable number, D [Array number], LD [Array num-
ber], or JET# (Job registration table number) is selected from the table in part 1 of this Expla-
nation, the following tag can be added.
13 UF# (User coordi- Specifies the coordinates of the job. Available only in the
nate number) relative job function.
2-29
2.2 Control Instruction
5. IF
Example
(1) JUMP *1
Jumps to *1.
2-30
2.2 Control Instruction
CALL
Instruction set:
Function
CALL 1 JOB: A
User
9 UF# (
coordinate No.
)
B/LB/B[]/
2 LB[]
Variable No.
A END
3 IG# ( Input group No. )
10 IF
4 QUE
I/LI/I[]
5 /LI[]
Variable No.
D/LD/D[]/
6 LD[]
Variable No.
B C
2-31
2.2 Control Instruction
Explanation
1. JOB: / B Variable number / LB Variable number / B [Array number] / LB [
Array number] / IG#(Input group number) / QUE/I Variable number/LI Vari-
able number/I [Array number]/LI [Array number]/D Variable number/LD
Variable number/ D [Array number]/LD [Array number]/ JET# (Job registra-
tion table number)
3 IG# (Input group The numerical value specified in the input group No:1 to 24
number) number is considered to be the call job. Variable B/I/D/LB/LI/
LD can be used.
4 QUE The job stored in the queue is called. Available only in the
queue function
(option: S4C003).
7 JET# (Job regis- Specifies the table number of the job registration. No.: 1 to 3
tration table num- The call job can be registered in the job registra- Variable B/I/D/LB/LI/
ber) tion table. LD can be used.
Available only in the
job registration table
function (option:
S2C273)
2-32
2.2 Control Instruction
2. ENTRY=Registration number
When a JET#(job registration table number) is selected from the table in part 1 of this Expla-
nation, add the following tag.
8 ENTRY=Registra- Specifies the registration number of the job reg- No.: 1 to 1024
tion number istered in the specified job registration table. Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[] can
be used.
9 UF# (User coordi- Specifies the user coordinate system of the job Available only in the
nate number ) to be called. relative job function.
4. IF
Example
(1) CALL JOB:TEST1
The job named TEST1 is called.
2-33
2.2 Control Instruction
TIMER
Instruction set:
Function
Explanation
1. T=timer
Example
(1) TIMER T=12.50
Stops for 12.5 seconds.
2-34
2.2 Control Instruction
* (LABEL)
Instruction set:
Function
Explanation
1. *Label strings
Example
NOP
*1
JUMP JOB:1 IF IN#(1)=ON Repeat
JUMP JOB:2 IF IN#(2)=ON
JUMP *1
END
IF general input signal No.1 and No.2 are off, if loops infinitely between “*1" and “JUMP *1".
NOTE The label is effective only in the same job. It does not jump to the same label in other jobs.
2-35
2.2 Control Instruction
’ (COMMENT)
Instruction set:
Function
Explanation
1. 'Comment strings
Example
NOP
'Waiting Position
MOVJ VJ=100.00
MOVJ VJ=100.00
MOVJ VJ=25.00
'Welding Start
ARCON ASF#(1)
MOVL V=138
'Welding end
ARCOF
MOVJ VJ=25.00
'Waiting Position
MOVJ VJ=100.00
END
The comment clarifies the job content.
2-36
2.2 Control Instruction
RET
Instruction set:
Function
Returns from the called job to the original job which has been called.
Construction
RET END
1 IF
Explanation
1. IF
Example
RET IF IN#(12)=ON
If general input signal No.12 is on, it returns to the job of the call origin.
NOP NOP
MOVJ VJ=100.00 DOUT OT#(1) ON
MOVJ VJ=100.00 WAIT IN#(1)=ON
CALL JOB:2 DOUT OT#(1) OFF
MOVJ VJ=100.00 RET IF IN#(12)=ON
END
END
2-37
2.2 Control Instruction
NOP
Instruction set:
Function
NOP END
Example
NOP
END
2-38
2.2 Control Instruction
PAUSE
Instruction set:
Function
PAUSE END
1 IF
Explanation
1. IF
Example
PAUSE IF IN#(12)=ON
Stops the job temporarily if general-purpose input signal number 12 is ON.
2-39
2.2 Control Instruction
CWAIT
Instruction set:
Function
CWAIT END
Example
<Step> <Instructions>
n MOVL V=100 NWAIT
DOUT OT#(1) ON
CWAIT
DOUT OT#(1) OFF
n+1 MOVL V=100
Turns ON the general-purpose output signal number 1 when the manipulator starts moving
from the step n to the step n+1, and turns it OFF when the manipulator reaches the step n+1.
2-40
2.2 Control Instruction
ADVINIT
Instruction set:
Function
When the same variable is used for multiple systems in the optional independent control func-
tion, ADVINIT controls the timing to change the variable data among the systems.
ADVINIT is an instruction used to control YASNAC XRC internal processing, and so, execut-
ing this instruction does not affect the job.
Construction
ADVINIT END
2-41
2.2 Control Instruction
ADVSTOP
Instruction set:
Function
When the same variable is used for multiple systems in the optional independent control func-
tion, ADVSTOP controls the access timing of the variable data among the systems.
ADVSTOP is an instruction used to control YASNAC XRC internal processing, and so, execut-
ing this instruction does not affect the job.
Construction
ADVSTOP END
2-42
2.3 Operating Instruction
CLEAR
Instruction set:
Function
In Data 1, the variable content from the specified number on, is cleared to 0 only by the
amount specified in Data 2.
Construction
CLEAR <Data 1> <Data 2>
9 ALL
I/LI/I[]
2 /LI[]
Variable No.
D/LD/D[]/
3 LD[]
Variable No.
R/LR/R[]/
4 LR[]
Variable No.
5 STACK
6 QUE
7 MPF
2-43
2.3 Operating Instruction
Explanation
1. B Variable number /LB Variable number /B [Array number] /LB [Array num-
ber] /I Variable number /LI Variable number /I [Array number] /LI [Array
number] /D Variable number /LD Variable number /D [Array number] /LD
[Array number] /R Variable number/ LR Variable number /R [Array number]
/LR [Array number] /STACK/QUE/MPF
1 B Variable num- Specifies the number of the byte type variable to < Data 1 >
ber/ be cleared.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
2 I Variable num- Specifies the number of the integer type variable < Data 1 >
ber/ to be cleared.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
3 D Variable num- Specifies the number of the double precision < Data 1 >
ber/ type variable to be cleared.
LD Variable num-
ber/
D [Array number]/
LD [Array num-
ber]
4 R Variable num- Specifies the number of the real type variable to < Data 1 >
ber/ be cleared.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
5 STACK There are eight stacks, and they store the called < Data 1 >
position.
7 MPF Clears all the contents of the memo play file. <Data 1>
Available only with
the optional memo
play function.
2-44
2.3 Operating Instruction
Job call
Job A
Job call
Job B
Job call
Job C
Return
Job call
Job D
Return
Return
When a B Variable number, LB Variable number, B [Array number], LB [Array number], I Vari-
able number, LI Variable number, I [Array number], LI [Array number], D Variable number, LD
Variable number, D [Array number], LD [Array number], R Variable number, LR Variable num-
ber, R [Array number], or LR [Array number] is selected from the table in part 1 of this Expla-
nation, choose one of the tags from the following table.
8 Byte type con- Specifies the number cleared starting from the
stant number of the specified variable.
Example
(1) CLEAR B003 10
The content of the variables from B003 to B0012 are cleared to 0.
2-45
2.3 Operating Instruction
END
JUMP JOB:4
END
JOB:2
Cleared Cleared all
JOB:1 JOB:1 JOB:1
2-46
2.3 Operating Instruction
INC
Instruction set:
Function
B/LB/B[]/
INC 1 LB[]
Variable No. END
I/LI/
2 I[]/LI[]
Variable No.
D/LD/D[]/
3 LD[]
Variable No.
2-47
2.3 Operating Instruction
Explanation
1. B Variable number /LB Variable number /B [Array number] /LB [Array num-
ber] /I Variable number/ L IVariable number /I [Array number] /LI [Array
number] /D Variable number/ LD Variable number /D [Array number] /LD
[Array number]
Example
NOP
SET B000 0
*1
1 is repeatedly added to B000 until it reaches 200.
MOVJ VJ=100.00
MOVJ VJ=50.00
2-48
2.3 Operating Instruction
DEC
Instruction set:
Function
B/LB/B[]/
DEC 1 LB[]
Variable No. END
I/LI/I[]
2 /LI[]
Variable No.
D/LD/D[]/
3 LD[]
Variable No.
Explanation
1. B Variable number/LB Variable number/B [Array numver]/LB [Array num-
ber]/I Variable number/LI Variable number/I [Array number]/LI [Array num-
ber]/ D Variable number/LD Variable number/D [Array number]/LD [Array
number]
2-49
2.3 Operating Instruction
Example
NOP
SET B000 200
*1
MOVJ VJ=100.00 1 is repeatedly subtracted from B000 until it
MOVJ VJ=50.00 reaches 0.
2-50
2.3 Operating Instruction
SET
Instruction set:
Function
B/LB/B[]/
SET 1 LB[]
Variable No. A B END
I/LI/
2 I[]/LI[]
Variable No. C D
D/LD/D[]/
3 LD[]
Variable No. E F
R/LR/R[]/
4 LR[]
Variable No. G H
P/LP/P[]/ P/LP/P[]/
5 LP[]
Variable No. 32 LP[]
Variable No.
BP/LBP/ BP/LBP/
6 BP[]/ Variable No. 33 BP[]/ Variable No.
LBP[] LBP[]
EX/LEX/ EX/LEX/
7 EX[]/ Variable No. 34 EX[]/ Variable No.
LEX[] LEX[]
2-51
2.3 Operating Instruction
B/LB/B[]/ B/LB/B[]/
9 LB[]
Variable No. 15 LB[]
Variable No.
I/LI/I[] I/LI/I[]
10 /LI[]
Variable No. 16 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
11 LD[]
Variable No. 17 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
12 LR[]
Variable No. 18 LR[]
Variable No.
13 Expression 19 Expression
Double-precision Real-number
E 20 type constant
F G 26 type constant
H
B/LB/B[]/ B/LB/B[]/
21 LB[]
Variable No. 27 LB[]
Variable No.
I/LI/I[] I/LI/I[]
22 /LI[]
Variable No. 28 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
23 LD[]
Variable No. 29 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
24 LR[]
Variable No. 30 LR[]
Variable No.
25 Expression 31 Expression
2-52
2.3 Operating Instruction
Explanation
1. B Variable number /LB Variable number /B [Array number] /LB [Array num-
ber] /I Variable number /LI Variable number /I [Array number] /LI [Array
number] /D Variable number /LD Variable number /D [Array number] /LD
[Array number] /R Variable number /LR Variable number /R [Array number]
/LR [Array number] /P Variable number /LP Variable number /P [Array num-
ber] /LP [Array number] /BP Variable number /LBP Variable number /BP
[Array number] /LBP [Array number] /EX Variable number /LEX Variable
number /EX [Array number] /LEX [Array number]
1 B Variable num- Specifies the number of the byte type variable to < Data1>
ber/ which data is set.
LB Variable num-
ber/
Ba[Array num-
ber]/
LBa[Array num-
ber]
2 I Variable num- Specifies the number of the integer type variable < Data 1>
ber/ to which data is set.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
3 D Variable num- Specifies the number of the double precision < Data 1>
ber/ type variable to which data is set.
LD Variable num-
ber/
Da[Array num-
ber]/
LDa[Array num-
ber]
4 R Variable num- Specifies the number of the real type variable to < Data 1>
ber/ which data is set.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
5 P Variable num- Specifies the number of the robot axis positional < Data 1>
ber/ variable to which data is set.
LP Variable num-
ber/
P [Array number]/
LP [Array num-
ber]
2-53
2.3 Operating Instruction
6 BP Variable num- Specifies the number of the base axis positional < Data 1>
ber/ variable to which data is set.
LBP Variable
number/
BP [Array num-
ber]/
LBP [Array num-
ber]
7 EX Variable num- Specifies the number of the station axis posi- < Data 1>
ber/ tional variable to which data is set.
LEX Variable
number/
EX [Array num-
ber]/
LEX [Array num-
ber]
2-54
2.3 Operating Instruction
8 Byte type con- Specifies the byte type constant. < Data 2>
stant
9 B Variable num- Specifies the number of the byte type variable. < Data 2>
ber/
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
10 I Variable num- Specifies the number of the integer type variable. < Data 2>
ber/
LI Variable num-
ber/
I [Array number]/
LI [Array number]
11 D Variable num- Specifies the number of the double precision < Data 2>
ber/ type variable.
LD Variable num-
ber/
D [Array number]/
LD [Array num-
ber]
12 R Variable num- Specifies the number of the real type variable. < Data 2>
ber/
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-55
2.3 Operating Instruction
14 Integer type con- Specifies the integer type constant. < Data 2>
stant
15 B Variable num- Specifies the number of the byte type variable. < Data 2>
ber/
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
16 I Variable num- Specifies the number of the integer type variable. < Data 2>
ber/
LI Variable num-
ber/
I [Array number]/
LI [Array number]
17 D Variable num- Specifies the number of the double precision < Data 2>
ber/ type variable.
LD Variable num-
ber/
D [Array number]/
LD [Array num-
ber]
18 R Variable num- Specifies the number of the real type variable. < Data 2>
ber/
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-56
2.3 Operating Instruction
20 Double precision Specifies the double precision type constant. < Data 2>
type constant
21 B Variable num- Specifies the number of the byte type variable. < Data 2>
ber/
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
22 I Variable num- Specifies the number of the integer type variable. < Data 2>
ber/
LI Variable num-
ber/
I [Array number]/
LI [Array number]
23 D Variable num- Specifies the number of the double precision < Data 2>
ber/ type variable.
LD Variable num-
ber/
D [Array number]/
LD [Array num-
ber]
24 R Variable num- Specifies the number of the real type variable. < Data 2>
ber/
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-57
2.3 Operating Instruction
26 Real type con- Specifies the real type constant. < Data 2>
stant
27 B Variable num- Specifies the number of the byte type variable. < Data2>
ber/
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
28 I Variable num- Specifies the number of the integer type variable. < Data 2>
ber/
LI Variable numb
er/
I[Array number]/
LI [Array number]
29 D Variable num- Specifies the number of the double precision < Data 2>
ber/ type variable.
LD Variable num-
ber/
D [Array number]/
LD [Array num-
ber]
30 R Variable num- Specifies the number of the real type variable. < Data 2>
ber/
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-58
2.3 Operating Instruction
6. P Variable number /LP Variable number /P [Array number] /LP [Array num-
ber]
32 P Variable num- Specifies the number of the robot axis position < Data 2>
ber/ variable.
LP Variable num-
ber/
P [Array number]/
LP [Array num-
ber]
7. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
When a BP Variable number, LBP Variable number, BP [Array number] , or LBP [Array num-
ber] is selected from the table in part 1 of this Explanation, add the following tag.
33 BP Variable num- Specifies the number of the base axis position < Data 2>
ber/ variable.
LBP Variable
number/
BP [Array num-
ber]/
LBP [[Array num-
ber]
8. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
When an EX Variable number, LEX Variable number, EX [Array number] , or LEX [Array num-
ber] is selected from the table in part 1 of this Explanation, add the following tag.
34 EX Variable num- Specifies the number of the station axis position < Data 2>
ber/ variable.
LEX Variable
number/
EX [Array num-
ber]/
LEX [Array num-
ber]
2-59
2.3 Operating Instruction
Example
(1) SET B000 0
0 is set in B000.
2-60
2.3 Operating Instruction
ADD
Instruction set:
Function
B/LB/B[]/
ADD 1 LB[]
Variable No. A B END
I/LI/I[]
2 /LI[]
Variable No. C D
D/LD/D[]/
3 LD[]
Variable No. E F
R/LR/R[]/
4 LR[]
Variable No. G H
P/LP/P[]/ P/LP/P[]/
5 LP[]
Variable No. 28 LP[]
Variable No.
BP/LBP/ BP/LBP/
6 BP[]/ Variable No. 29 BP[]/ Variable No.
LBP[] LBP[]
EX/LEX/ EX/LEX/
7 EX[]/ Variable No. 30 EX[]/ Variable No.
LEX[] LEX[]
2-61
2.3 Operating Instruction
B/LB/B[]/ B/LB/B[]/
9 LB[]
Variable No. 14 LB[]
Variable No.
I/LI/I[] I/LI/I[]
10 /LI[]
Variable No. 15 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
11 LD[]
Variable No. 16 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
12 LR[]
Variable No. 17 LR[]
Variable No.
Double-precision Real-number
E 18 type constant
F G 23 type constant
H
B/LB/B[]/ B/LB/B[]/
19 LB[]
Variable No. 24 LB[]
Variable No.
I/LI/I[] I/LI/I[]
20 /LI[]
Variable No. 25 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
21 LD[]
Variable No. 26 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
22 LR[]
Variable No. 27 LR[]
Variable No.
2-62
2.3 Operating Instruction
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array num-
ber]/I Variable number/LI Variable number/I [Array number]/LI [Array num-
ber]/D Variable number/LD Variable number/D [Array number]/LD [Array
number]/R Variable number/LR Variable number/R [Array number]/LR
[Array number]/P Variable number/LP Variable number/P [Array number]/
LP [Array number]/BP Variable number/LBP Variable number/BP [Array
number]/LBP [Array number]/EX Variable number/LEX Variable number/EX
[Array number]/LEX [Array number]
1 B Variable number/ Specifies the number of the byte type variable to <Data 1>
LB Variable number/ be added.
B [Array number]/
LB [Array number]
2 I Variable number/ LI Specifies the number of the integer type variable <Data 1>
Variable number/ to be added.
I [Array number]/
LI [Array number]
4 R Variable number/ Specifies the number of the real-number type <Data 1>
LR Variable number/ variable to be added.
R [Array number]/
LR [Array number]
5 P Variable number/ Specifies the number of the robot axis position <Data 1>
LP Variable number/ type variable to be added.
P [Array number]/
LP [Array number]
6 BP Variable number/ Specifies the number of the base axis position <Data 1>
LBP Variable num- type variable to be added.
ber/
BP [Array number]/
LBP [Array number]
7 EX Variable number/ Specifies the number of the station axis position <Data 1>
LEX Variable num- type variable to be added.
ber/
EX [Array number]/
LEX [Array number]
2-63
2.3 Operating Instruction
8 Byte type con- Specifies the byte type data to be added. <Data 2>
stant
9 B Variable num- Specifies the number of the byte type variable to <Data 2>
ber/LB Variable be added.
number/
B [Array number]/
LB [Array num-
ber]
10 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/LI Variable to be added.
number/
I [Array number]/
LI [Array number]
12 R Variable num- Specifies the number of the real-number type <Data 2>
ber/LR Variable variable to be added.
number/
R [Array number]/
LR [Array num-
ber]
2-64
2.3 Operating Instruction
13 Integer type con- Specifies the integer type data to be added. <Data 2>
stant
14 B Variable num- Specifies the number of the byte-type variable to <Data 2>
ber/LB Variable be added.
number/
B [Array number]/
LB [Array num-
ber]
15 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/LI Variable to be added.
number/
I [Array number]/
LI [Array number]
17 R Variable num- Specifies the number of the real-number type <Data 2>
ber/LR Variable variable to be added.
number/
R [Array number]/
LR [Array num-
ber]
2-65
2.3 Operating Instruction
19 B Variable num- Specifies the number of the byte type variable to <Data 2>
ber/LB Variable be added.
number/
B [Array number]/
LB [Array num-
ber]
20 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/LI Variable to be added.
number/
I [Array number]/
LI [Array number]
22 R Variable num- Specifies the number of the real-number type <Data 2>
ber/LR Variable variable to be added.
number/
R [Array number]/
LR [Array num-
ber]
2-66
2.3 Operating Instruction
23 Real-number type Specifies the real-number type data to be added. <Data 2>
constant
24 B Variable num- Specifies the number of the byte type variable to <Data 2>
ber/LB Variable be added.
number/
B [Array number]/
LB [Array num-
ber]
25 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/LI Variable to be added.
number/
I [Array number]/
LI [Array number]
27 R Variable num- Specifies the number of the real-number type <Data 2>
ber/LR Variable variable to be added.
number/
R [Array number]/
LR [Array num-
ber]
2-67
2.3 Operating Instruction
28 P Variable num- Specifies the number of the robot axis position <Data 2>
ber/LP Variable type variable to be added.
number/
P [Array number]/
LP [Array num-
ber]
When a BP Variable number, LBP Variable number, BP [Array number], or LBP [Array num-
ber] is selected from the table in part 1 of this Explanation, add the following tag.
29 BP Variable num- Specifies the number of the base axis position <Data 2>
ber/ type variable to be added.
LBP Variable
number/
BP [Array num-
ber]/
LBP [Array num-
ber]
When an EX Variable number, LEX Variable number, EX [Array number], or LEX [Array num-
ber] is selected from the table in part 1 of this Explanation, add the following tag.
30 EX Variable num- Specifies the number of the station axis position <Data 2>
ber/ type variable to be added.
LEX Variable
number/
EX [Array num-
ber]/
LEX [Array num-
ber]
2-68
2.3 Operating Instruction
Example
(1) ADD B000 10
Adds 10 to B000, and stores the result in B000.
2-69
2.3 Operating Instruction
SUB
Instruction set:
Function
B/LB/B[]/
SUB 1 LB[]
Variable No. A B END
I/LI/I[]
2 /LI[]
Variable No. C D
D/LD/D[]/
3 LD[]
Variable No. E F
R/LR/R[]/
4 LR[]
Variable No. G H
P/LP/P[]/ P/LP/P[]/
5 LP[]
Variable No. 28 LP[]
Variable No.
BP/LBP/ BP/LBP/
6 BP[]/ Variable No. 29 BP[]/ Variable No.
LBP[] LBP[]
EX/LEX/ EX/LEX/
7 EX[]/ Variable No. 30 EX[]/ Variable No.
LEX[] LEX[]
2-70
2.3 Operating Instruction
B/LB/B[]/ B/LB/B[]/
9 LB[]
Variable No. 14 LB[]
Variable No.
I/LI/I[] I/LI/I[]
10 /LI[]
Variable No. 15 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
11 LD[]
Variable No. 16 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
12 LR[]
Variable No. 17 LR[]
Variable No.
Double-precision Real-number
E 18 type constant
F G 23 type constant
H
B/LB/B[]/ B/LB/B[]/
19 LB[]
Variable No. 24 LB[]
Variable No.
I/LI/I[] I/LI/I[]
20 /LI[]
Variable No. 25 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
21 LD[]
Variable No. 26 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
22 LR[]
Variable No. 27 LR[]
Variable No.
2-71
2.3 Operating Instruction
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array num-
ber]/I Variable number/LI Variable number/I [Array number]/LI [Array num-
ber]/D Variable number/LD Variable number/D [Array number]/LD [Array
number]/R Variable number/LR Variable number/R [Array number]/LR
[Array number]/P Variable number/LP Variable number/P [Array number]/
LP [Array number]/BP Variable number/LBP Variable number/BP [Array
number]/LBP [Array number]/EX Variable number/LEX Variable number/EX
[Array number]/LEX [Array number]
1 B Variable num- Specifies the number of the byte type variable to <Data 1>
ber/ be subtracted.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
2 I Variable num- Specifies the number of the integer type variable <Data 1>
ber/ to be subtracted.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
4 R Variable num- Specifies the number of the real-number type <Data 1>
ber/ variable to be subtracted.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
5 P Variable num- Specifies the number of the robot axis position <Data 1>
ber/ type variable to be subtracted.
LP Variable num-
ber/
P [Array number]/
LP [Array num-
ber]
2-72
2.3 Operating Instruction
6 BP Variable num- Specifies the number of the base axis position <Data 1>
ber/ type variable to be subtracted.
LBP Variable
number/
BP [Array num-
ber]/
LBP [Array num-
ber]
7 EX Variable num- Specifies the number of the station axis position <Data 1>
ber/ type variable to be subtracted.
LEX Variable
number/
EX [Array num-
ber]/
LEX [Array num-
ber]
2-73
2.3 Operating Instruction
8 Byte type con- Specifies the byte type data to be subtracted. <Data 2>
stant
9 B Variable num- Specifies the number of the byte type variable to <Data 2>
ber/ be subtracted.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
10 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ to be subtracted.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
12 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable to be subtracted.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-74
2.3 Operating Instruction
13 Integer type con- Specifies the integer type data to be subtracted. <Data 2>
stant
14 B Variable num- Specifies the number of the byte type variable to <Data 2>
ber/ be subtracted.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
15 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ to be subtracted.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
17 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable to be subtracted.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-75
2.3 Operating Instruction
19 B Variable num- Specifies the number of the byte type variable to <Data 2>
ber/ be subtracted.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
20 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ to be subtracted.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
22 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable to be subtracted.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-76
2.3 Operating Instruction
23 Real-number type Specifies the real-number type data to be sub- <Data 2>
constant tracted.
24 B Variable num- Specifies the number of the byte type variable to <Data 2>
ber/ be subtracted.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
25 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ to be subtracted.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
27 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable to be subtracted.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-77
2.3 Operating Instruction
28 P Variable num- Specifies the number of the robot axis position <Data 2>
ber/ type variable to be subtracted.
LP Variable num-
ber/
P [Array number]/
LP [Array num-
ber]
When a BP Variable number, LBP Variable number, BP [Array number], or LBP [Array num-
ber] is selected from the table in part 1 of this Explanation, add the following tag.
29 BP Variable num- Specifies the number of the base axis position <Data 2>
ber/ type variable to be subtracted.
LBP Variable
number/
BP [Array num-
ber]/
LBP [Array num-
ber]
When an EX Variable number, LEX Variable number, EX [Array number], or LEX [Array num-
ber] is selected from the table in part 1 of this Explanation, add the following tag.
30 EX Variable num- Specifies the number of the station axis position <Data 2>
ber/ type variable to be subtracted.
LEX Variable
number/
EX [Array num-
ber]/
LEX [Array num-
ber]
2-78
2.3 Operating Instruction
Example
(1) SUB B000 10
Subtracts 10 from B000, and stores the result in B000.
2-79
2.3 Operating Instruction
MUL
Instruction set:
Function
B/LB/B[]/
MUL 1 LB[]
Variable No. A B END
I/LI/I[]
2 /LI[]
Variable No. C D
D/LD/D[]/
3 LD[]
Variable No. E F
R/LR/R[]/
4 LR[]
Variable No. G H
P/LP/P[]/
5 LP[]
Variable No. I J
BP/LBP/
6 BP[]/ Variable No.
LBP[]
EX/LEX/
7 EX[]/ Variable No.
LEX[]
2-80
2.3 Operating Instruction
B/LB/B[]/ B/LB/B[]/
9 LB[]
Variable No. 14 LB[]
Variable No.
I/LI/I[] I/LI/I[]
10 /LI[]
Variable No. 15 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
11 LD[]
Variable No. 16 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
12 LR[]
Variable No. 17 LR[]
Variable No.
Double-precision Real-number
E 18 type constant
F G 23 type constant
H
B/LB/B[]/ B/LB/B[]/
19 LB[]
Variable No. 24 LB[]
Variable No.
I/LI/I[] I/LI/I[]
20 /LI[]
Variable No. 25 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
21 LD[]
Variable No. 26 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
22 LR[]
Variable No. 27 LR[]
Variable No.
D/LD/D[]/
I 29 LD[]
Variable No. J
28 ( Element No. )
Double-precision
30 type constant
2-81
2.3 Operating Instruction
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array num-
ber]/I Variable number/LI Variable number/I [Array number]/LI [Array num-
ber]/D Variable number/LD Variable number/D [Array number]/LD [Array
number]/R Variable number/LR Variable number/R [Array number]/LR
[Array number]/P Variable number/LP Variable number/P [Array number]/
LP [Array number]/BP Variable number/LBP Variable number/BP [Array
number]/LBP [Array number]/EX Variable number/LEX Variable number/EX
[Array number]/LEX [Array number]
1 B Variable num- Specifies the number of the byte type variable to <Data 1>
ber/ be multiplied.
LB Variable num-
ber
B [Array number]/
LB [Array num-
ber]
2 I Variable num- Specifies the number of the integer type variable <Data 1>
ber/ to be multiplied.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
4 R Variable num- Specifies the number of the real-number type <Data 1>
ber/ variable to be multiplied.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
5 P Variable num- Specifies the number of the robot axis position <Data 1>
ber/ type variable to be multiplied.
LP Variable num-
ber/
P [Array number]/
LP [Array num-
ber]
2-82
2.3 Operating Instruction
6 BP Variable num- Specifies the number of the base axis position <Data 1>
ber/ type variable to be multiplied.
LBP Variable
number/
BP [Array num-
ber]/
LBP [Array num-
ber]
7 EX Variable num- Specifies the number of the station axis position <Data 1>
ber/ type variable to be multiplied.
LEX Variable
number/
EX [Array num-
ber]/
LEX [Array num-
ber]
2-83
2.3 Operating Instruction
8 Byte type con- Specifies the byte type data to be multiplied. <Data 2>
stant
9 B Variable num- Specifies the number of the byte type variable to <Data 2>
ber/ be multiplied.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
10 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ to be multiplied.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
12 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable to be multiplied.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-84
2.3 Operating Instruction
13 Integer type con- Specifies the integer type data to be multiplied. <Data 2>
stant
14 B Variable num- Specifies the number of the byte type variable to <Data 2>
ber/ be multiplied.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
15 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ to be multiplied.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
17 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable to be multiplied.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-85
2.3 Operating Instruction
19 B Variable num- Specifies the number of the byte type variable to <Data 2>
ber/ be multiplied.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
20 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ to be multiplied.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
22 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable to be multiplied.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-86
2.3 Operating Instruction
23 Real-number type Specifies the real-number type data to be multi- <Data 2>
constant plied.
24 B Variable num- Specifies the number of the byte type variable to <Data 2>
ber/ be multiplied.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
25 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ to be multiplied.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
27 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable to be multiplied.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-87
2.3 Operating Instruction
6. (Element number)
28 (Element number) Specifies the element of the position type vari- Element number: 1
able to be multiplied. to 255
If omitted, all the elements of the position type Variable B/LB can be
variable are specified. used.
<XYZ type>
(1): X axis data, (2): Y axis data, (3) Z axis data,
(4): Tx axis data, (5): Ty axis data, (6): Tz axis data
2-88
2.3 Operating Instruction
Example
(1) MUL B000 10
Multiplies B000 by 10, and stores the result in B000.
2-89
2.3 Operating Instruction
DIV
Instruction set:
Function
B/LB/B[]/
DIV 1 LB[]
Variable No. A B END
I/LI/I[]
2 /LI[]
Variable No. C D
D/LD/D[]/
3 LD[]
Variable No. E F
R/LR/R[]/
4 LR[]
Variable No. G H
P/LP/P[]/
5 LP[]
Variable No. I J
BP/LBP/
6 BP[]/ Variable No.
LBP[]
EX/LEX/
7 EX[]/ Variable No.
LEX[]
2-90
2.3 Operating Instruction
B/LB/B[]/ B/LB/B[]/
9 LB[]
Variable No. 14 LB[]
Variable No.
I/LI/I[] I/LI/I[]
10 /LI[]
Variable No. 15 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
11 LD[]
Variable No. 16 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
12 LR[]
Variable No. 17 LR[]
Variable No.
Double-precision Real-number
E 18 type constant
F G 23 type constant
H
B/LB/B[]/ B/LB/B[]/
19 LB[]
Variable No. 24 LB[]
Variable No.
I/LI/I[] I/LI/I[]
20 /LI[]
Variable No. 25 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
21 LD[]
Variable No. 26 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
22 LR[]
Variable No. 27 LR[]
Variable No.
D/LD/D[]/
I 29 LD[]
Variable No. J
28 ( Element No. )
Double-precision
30 type constant
2-91
2.3 Operating Instruction
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array num-
ber]/I Variable number/LI Variable number/I [Array number]/LI [Array num-
ber]/D Variable number/LD Variable number/D [Array number]/LD [Array
number]/R Variable number/LR Variable number/R [Array number]/LR
[Array number]/P Variable number/LP Variable number/P [Array number]/
LP [Array number]/BP Variable number/LBP Variable number/BP [Array
number]/LBP [Array number]/EX Variable number/LEX Variable number/EX
[Array number]/LEX [Array number]
1 B Variable num- Specifies the number of the byte type variable to <Data 1>
ber/ be divided.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
2 I Variable num- Specifies the number of the integer type variable <Data 1>
ber/ to be divided.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
4 R Variable num- Specifies the number of the real-number type <Data 1>
ber/ variable to be divided.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
5 P Variable num- Specifies the number of the robot axis position <Data 1>
ber/ type variable to be divided.
LP Variable num-
ber/
P [Array number]/
LP [Array num-
ber]
2-92
2.3 Operating Instruction
6 BP Variable num- Specifies the number of the base axis position <Data 1>
ber/ type variable to be divided.
LBP Variable
number/
BP [Array num-
ber]/
LBP [Array num-
ber]
7 EX Variable num- Specifies the number of the station axis position <Data 1>
ber/ type variable to be divided.
LEX Variable
number/
EX [Array num-
ber]/
LEX [Array num-
ber]
2-93
2.3 Operating Instruction
8 Byte type con- Specifies the byte type data by which Data 1 is <Data 2>
stant divided.
9 B Variable num- Specifies the number of the byte type variable by <Data 2>
ber/ which Data 1 is divided.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
10 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ by which Data 1 is divided.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
12 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable by which Data 1 is divided.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-94
2.3 Operating Instruction
13 Integer type con- Specifies the integer type data by which Data 1 <Data 2>
stant is divided.
14 B Variable num- Specifies the number of the byte type variable by <Data 2>
ber/ which Data 1 is divided.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
15 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ by which Data 1 is divided.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
17 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable by which Data 1 is divided.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-95
2.3 Operating Instruction
19 B Variable num- Specifies the number of the byte type variable by <Data 2>
ber/ which Data 1 is divided.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
20 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ by which Data 1 is divided.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
22 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable by which Data 1 is divided.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-96
2.3 Operating Instruction
23 Real-number type Specifies the real-number type data by which <Data 2>
constant Data 1 is divided.
24 B Variable num- Specifies the number of the byte type variable by <Data 2>
ber/ which Data 1 is divided.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
25 I Variable num- Specifies the number of the integer type variable <Data 2>
ber/ by which Data 1 is divided.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
27 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable by which Data 1 is divided.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-97
2.3 Operating Instruction
6. (Element number)
28 (Element number) Specifies the element of the position type vari- Element number: 1
able by which Data 1 is divided. to 255
If omitted, all the elements of the position type Variable B/LB can
variable are specified. be used.
Example
(1) DIV B000 10
Divides B000 by 10, and stores the result in B000.
2-98
2.3 Operating Instruction
CNVRT
Instruction set:
Function
Converts the pulse type position type variable of Data 2 to the XYZ type position type variable
in the specified coordinate system, and stores the result in Data 1.
Construction
CNVRT <Data 1> <Data 2> Coordinate system designation
PX/PX[] PX/PX[]
CNVRT 1 /LPX Variable No. 2 /LPX Variable No. A
/LPX[] /LPX[]
A 3 BF END
4 RF
5 TF
User
6 UF# (
coordinate No.
)
7 MTF
Explanation
1. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array
number]
1 PX Variable num- Specifies the number of the expanded position <Data 1>
ber/ type variable where the converted data is stored.
LPX Variable
number/
PX [Array num-
ber]/
LPX [Array num-
ber]
2-99
2.3 Operating Instruction
<Example>
• When the control group is R1:
PX000 indicates P000.
• When the control group is R1 + B1:
PX000 indicates P000 and BP000.
• When the control group is R1 + B1 + ST1:
PX000 indicates P000 + BP000 + EX000.
• When the control group is R1 + R2 + B1 + B2 + ST1 in the coordinated job (master R1 +
B1):
PX000 indicates the following:
P000: R2 (slave), P001: R1 (master)
BP000: B2 (slave), BP001: B1 (master)
EX000: ST1
2 PX Variable num- Specifies the number of the expanded position <Data 2>
ber/ type variable to be converted.
LPX Variable
number/
PX [Array num-
ber]/
LPX [Array num-
ber]
2-100
2.3 Operating Instruction
6 UF# (User coordi- Specifies the conversion in the user coordinate No.: 1 to 24
nate number) system. Variable B/I/D/LB/LI/
LD can be used.
7 MTF Specifies the conversion on the master tool coor- Available only with
dinate system. the optional indepen-
On the master tool coordinate system, the data is dent coordinate func-
converted to a position relative to the master tion.
manipulator.
Example
CNVRT PX000 PX001 BF
For the job R1, the pulse type position data of P001 is converted to the XYZ type position data
in the base coordinate system and stores the converted data in P000.
2-101
2.3 Operating Instruction
AND
Instruction set:
Function
Carries out logical multiplication of Data 1 and Data 2, and stores the result in Data 1.
Construction
AND <Data 1> <Data 2>
B/LB/B[]/ B/LB/B[]/
AND 1 LB[]
Variable No. 2 LB[]
Variable No. END
Byte type
3 constant
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array num-
ber]
1 B Variable num- Specifies the number of the byte type variable for <Data 1>
ber/ which the logical multiplication is carried out.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
2-102
2.3 Operating Instruction
2 B Variable num- Specifies the number of the byte type variable for <Data 2>
ber/ which the logical multiplication is carried out.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
3 Byte type con- Specifies the byte type data for which the logical <Data 2>
stant multiplication is carried out.
Example
SET B000 5
SET B010 1
AND B000 B010
Carries out the logical multiplication of B000 (0000 0101) and B010 (0000 0001), and stores
the result (0000 0001=1) in B000.
2-103
2.3 Operating Instruction
OR
Instruction set:
Function
Carries out the logical sum of Data 1 and Data 2, and stores the result in Data 1.
Construction
OR <Data 1> <Data 2>
B/LB/B[]/ B/LB/B[]/
OR 1 LB[]
Variable No. 2 LB[]
Variable No. END
Byte type
3 constant
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array num-
ber]
1 B Variable num- Specifies the number of the byte type variable for <Data 1>
ber/ which the logical sum is carried out.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
2-104
2.3 Operating Instruction
2 B Variable num- Specifies the number of the byte type variable for <Data 2>
ber/ which the logical sum is carried out.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
3 Byte type con- Specifies the byte type data for which the logical <Data 2>
stant sum is carried out.
Example
SET B000 5
SET B010 10
OR B000 B010
Carries out the logical sum of B000 (0000 0101) and B010 (0000 1010), and stores the result
(0000 1111=15) in B000.
2-105
2.3 Operating Instruction
NOT
Instruction set:
Function
Carries out the logical negation of Data 2, and stores the result in Data 1.
Construction
NOT <Data 1> <Data 2>
B/LB/B[]/ B/LB/B[]/
NOT 1 LB[]
Variable No. 2 LB[]
Variable No. END
Byte type
3 constant
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array num-
ber]
1 B Variable num- Specifies the number of the byte type variable to <Data 1>
ber/ store the result of logical negation.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
2-106
2.3 Operating Instruction
2 B Variable num- Specifies the number of the byte type variable for <Data 2>
ber/ which the logical negation is carried out.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
3 Byte type con- Specifies the byte type data for which the logical <Data 2>
stant negation is carried out.
Example
SET B000 0
SET B010 1
NOT B000 B010
Carries out the logical negation of B010 (0000 0001), and stores the result (1111 1110=254) in
B000.
2-107
2.3 Operating Instruction
XOR
Instruction set:
Function
Carries out the logical exclusive OR of Data 1 and Data 2, and stores the result in Data 1.
Construction
XOR <Data 1> <Data 2>
B/LB/B[]/ B/LB/B[]/
XOR 1 LB[]
Variable No. 2 LB[]
Variable No. END
Byte type
3 constant
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array num-
ber]
1 B Variable num- Specifies the number of the byte type variable for <Data 1>
ber/ which the exclusive OR is carried out.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
2-108
2.3 Operating Instruction
2 B Variable num- Specifies the number of the byte type variable for <Data 2>
ber/ which the exclusive OR is carried out.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
3 Byte type con- Specifies the byte type data for which the exclu- <Data 2>
stant sive OR is carried out.
Example
SET B000 1
SET B010 5
XOR B000 B010
Carries out the exclusive OR of B000 (0000 0001) and B010 (0000 0101), and stores the
result (0000 0100=4) in B000.
2-109
2.3 Operating Instruction
MFRAME
Instruction set:
Function
Creates the user coordinates according to three types of position data; Data 1, Data 2, and
Data 3.
Data 1 indicates the position data of the defined point ORG; Data 2 indicates the position data
of the defined point XX; and Data 3 indicates the position data of the defined point XY.
Construction
MFRAME User coordinate designation <Data 1> <Data 2> <Data 3>
PX/PX[]
User
MFRAME 1 UF# (
coordinate No.
) 3 /LPX Variable No. A
/LPX[]
P/LP/P[]/
2 LP[]
Variable No.
PX/PX[] PX/PX[]
A 4 /LPX Variable No. 5 /LPX Variable No. END
/LPX[] /LPX[]
Explanation
1. UF# (User coordinate number)/P Variable number/LP Variable number/P
[Array number]/LP [Array number]
1 UF# (User coordi- Allocates the number for the user coordinate to No.: 1 to 24
nate number) be created. Variable B/I/D/LB/LI/
LD can be used.
2-110
2.3 Operating Instruction
3 PX Variable num- Specifies the number of the expanded position <Data 1>
ber/ type variable where the position data of the user
LPX Variable coordinate’s defined point ORG has been stored.
number/
PX [Array num-
ber]/
LPX [Array num-
ber]
4 PX Variable num- Specifies the number of the expanded position <Data 2>
ber/ type variable where the position data of the user
LPX Variable coordinate’s defined point XX has been stored.
number/
PX [Array num-
ber]/
LPX [Array num-
ber]
5 PX Variable num- Specifies the number of the expanded position <Data 3>
ber/ type variable where the position data of the user
LPX Variable coordinate’s defined point XY has been stored.
number/
PX [Array num-
ber]/
LPX [Array num-
ber]
2-111
2.3 Operating Instruction
Example
MFRAME UF#(1) PX000 PX001 PX002
For the job R1, the user coordinate number 1 is created according to three types of position
data; P000, P001, and P002 of the user coordinate system.
2-112
2.3 Operating Instruction
SETE
Instruction set:
Function
P/LP/P[]/
SETE 1 LP[]
Variable No. 4 ( Element No. ) A
BP/LBP/
Double-precision
2 BP[]/ Variable No. A 5 constant
END
LBP[]
EX/LEX/ D/LD/D[]/
6 Variable No.
3 EX[]/ Variable No. LD[]
LEX[]
2-113
2.3 Operating Instruction
Explanation
1. P Variable number/LP Variable number/P [Array number]/LP [Array num-
ber]/BP Variable number/LBP Variable number/BP [Array number]/LBP
[Array number]/BP [Array number]/LBP [Array number]/EX Variable num-
ber/LEX Variable number/EX [Array number]/LEX [Array number]
1 P Variable num- Specifies the number of the robot axis position <Data 1>
ber/ type variable where Data 2 is set as an element.
LP Variable num-
ber/
P [Array number]/
LP [Array num-
ber]
2 BP Variable num- Specifies the number of the base axis position <Data 1>
ber/ type variable where Data 2 is set as an element.
LBP Variable
number/
BP [Array num-
ber]/
LBP [Array num-
ber]
3 EX Variable num- Specifies the number of the station axis position <Data 1>
ber/ type variable where Data 2 is set as an element.
LEX Variable
number/
EX [Array num-
ber]/
LEX [Array num-
ber]
2. (Element number)
4 (Element number) Specifies the element of the position type vari- Element No.: 1 to
able to be set. 255
Variable B/LB can be
used.
2-114
2.3 Operating Instruction
Example
SETE P000 (3) 2000
2-115
2.3 Operating Instruction
GETE
Instruction set:
Function
D/LD/D[]/ P/LP/P[]/
GETE 1 LD[]
Variable No. 2 LP[]
Variable No. A
BP/LBP/
3 BP[]/ Variable No.
LBP[]
EX/LEX/
4 EX[]/ Variable No.
LEX[]
Explanation
1. D Variable number/LD Variable number/D [Array number]/LD [Array num-
ber]
2-116
2.3 Operating Instruction
2 P Variable num- Specifies the number of the robot axis position <Data 2>
ber/ type variable to be stored.
LP Variable num-
ber/
P [Array number]/
LP [Array number
3 BP Variable num- Specifies the number of the base axis position <Data 2>
ber/ type variable to be stored.
LBP Variable
number/
BP [Array num-
ber]/
LBP [Array num-
ber]
4 EX Variable num- Specifies the number of the station axis position <Data 2>
ber/ type variable to be stored.
LEX Variable
number/
EX [Array num-
ber]/
LEX [Array num-
ber]
3. (Element number)
5 (Element number) Specified the number of the of the position type Element No.: 1 to
variable element to be stored. 255
Variable B/LB can
be used.
Example
GETE D000 P000 (3)
2-117
2.3 Operating Instruction
GETS
Instruction set:
Function
B/LB/B[]/
GETS 1 LB[]
Variable No. 6 $B/$B[] Variable No. END
I/LI/I[]
2 /LI[]
Variable No. 7 $I/$I[] Variable No.
D/LD/D[]/
3 LD[]
Variable No. 8 $D/$D[] Variable No.
R/LR/R[]/
4 LR[]
Variable No. 9 $R/$R[] Variable No.
PX/PX[]
$PX/
5 /LPX Variable No. 10 $PX[]
Variable No.
/LPX[]
2-118
2.3 Operating Instruction
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array num-
ber]/I Variable number/LI Variable number/I [Array number]/LI [Array num-
ber]/D Variable number/LD Variable number/D [Array number]/LD [Array
number]/R Variable number/LR Variable number/R [Array number]/LR
[Array number]/PX Variable number/LPX Variable number/PX [Array num-
ber]/LPX [Array number]
1 B Variable num- Specifies the number of the byte type variable to <Data 1>
ber/ store the system variable.
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
2 I Variable num- Specifies the number of the integer type variable <Data 1>
ber/ to store the system variable.
LI Variable num-
ber/
I [Array number]/
LI [Array number]
5 PX Variable num- Specifies the number of the expanded position <Data 1>
ber/ type variable to store the system variable.
LPX Variable
number/
PX [Array num-
ber]/
LPX [Array num-
ber]
2-119
2.3 Operating Instruction
System variable
SUPPLE-
MENT
The system variables are written by the controller system and can be referred only by a
GETS instruction. The following system variables are available.
System
Type No. Explanation
Variable
Continued
2-120
2.3 Operating Instruction
SUPPLE-
MENT Continued
System
Type No. Explanation
Variable
$PX150
RIN#(1)’s detected position by the optional
to
NSRCH instruction (XYZ type)
$PX199
$PX200
RIN#(2)’s detected position by the optional
to
NSRCH instruction (pulse type)
$PX249
$PX250
RIN#(2)’s detected position by the optional
to
NSRCH instruction (XYZ type)
$PX299
$PX300
RIN#(3)’s detected position by the optional
to
NSRCH instruction (pulse type)
$PX349
$PX350
RIN#(3)’s detected position by the optional
to
NSRCH instruction (XYZ type)
$PX399
2-121
2.3 Operating Instruction
6 $B Variable num- Specifies the number of the byte type system <Data 2>
ber/ variable to be stored.
$B [Array num-
ber]
7 $I Variable num- Specifies the number of the integer type system <Data 2>
ber/ variable to be stored.
$I [Array number]
9 $R Variable num- Specifies the number of the real-number type <Data 2>
ber/ system variable to be stored.
$R [Array num-
ber]
2-122
2.3 Operating Instruction
When a PX Variable number, LPX Variable number, PX [Array number], or LPX [Array num-
ber] is selected from the table in part 1 of this Explanation, add the following tag.
10 $PX Variable Specifies the number of the expanded position <Data 2>
number/ type system variable to be stored.
$PX [Array num-
ber]
Example
(1) GETS B000 $B002
For the job R1, the pulse type current value is stored in P000.
2-123
2.3 Operating Instruction
SQRT
Instruction set:
Function
Calculates the square root of Data 2, and stores the result in Data 1.
Construction
SQRT <Data 1> <Data 2>
R/LR/R[]/ R/LR/R[]/
SQRT 1 LR[]
Variable No. 2 LR[]
Variable No. END
Real-number
3 type constant
Explanation
1. R Variable number/LR Variable number/R [Array number]/LR [Array num-
ber]
1 R Variable num- Specifies the number of the real-number type <Data 1>
ber/ variable to store the result.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-124
2.3 Operating Instruction
2 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable whose square root is calculated.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
3 Real-number type Specifies the real-number type data whose <Data 2>
constant square root is calculated.
Example
SQRT R000 2
2-125
2.3 Operating Instruction
SIN
Instruction set:
Function
R/LR/R[]/ R/LR/R[]/
SIN 1 LR[]
Variable No. 2 LR[]
Variable No. END
Real-number
3 type constant
Explanation
1. R Variable number/LR Variable number/R [Array number]/LR [Array num-
ber]
1 R Variable num- Specifies the number of the real-number type <Data 1>
ber/ variable to store the result.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-126
2.3 Operating Instruction
2 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable whose sine is calculated.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
3 Real-number type Specifies the real-number type data whose sine <Data 2>
constant is calculated.
Example
SIN R000 60
2-127
2.3 Operating Instruction
COS
Instruction set:
Function
R/LR/R[]/ R/LR/R[]/
COS 1 LR[]
Variable No. 2 LR[]
Variable No. END
Real-number
3 type constant
Explanation
1. R Variable number/LR Variable number/R [Array number]/LR [Array num-
ber]
1 R Variable num- Specifies the number of the real-number type <Data 1>
ber/ variable to store the result.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-128
2.3 Operating Instruction
2 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable whose cosine is calculated.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
3 Real-number type Specifies the real-number type data whose <Data 2>
constant cosine is calculated.
Example
COS R000 60
2-129
2.3 Operating Instruction
ATAN
Instruction set:
Function
Calculates the arc tangent of Data 2, and stores the result in Data 1.
Construction
ATAN <Data 1> <Data 2>
R/LR/R[]/ R/LR/R[]/
ATAN 1 LR[]
Variable No. 2 LR[]
Variable No. END
Real-number
3 type constant
Explanation
1. R Variable number/LR Variable number/R [Array number]/LR [Array num-
ber]
1 R Variable num- Specifies the number of the real-number type <Data 1>
ber/ variable to store the result.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-130
2.3 Operating Instruction
2 R Variable num- Specifies the number of the real-number type <Data 2>
ber/ variable whose arc tangent is calculated.
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
3 Real-number type Specifies the real-number type data whose arc <Data 2>
constant tangent is calculated.
Example
ATAN R000 60
2-131
2.3 Operating Instruction
MULMAT
Instruction set:
Function
Calculates the matrix multiplication of Data 2 and Data 3, and stores the result in Data 1.
Construction
MULMAT <Data 1> <Data 2> <Data 3>
P/LP/P[]/ P/LP/P[]/
MULMAT 1 LP[]
Variable No. 2 LP[]
Variable No. A
P/LP/P[]/
A 3 LP[]
Variable No. END
Explanation
1. P Variable number/LP Variable number/P [Array number]/LP [Array num-
ber]
1 P Variable num- Specifies the number of the position type vari- <Data 1>
ber/ able to store the result.
LP Variable num-
ber/
P [Array number]/
LP [Array num-
ber]
2-132
2.3 Operating Instruction
2 P Variable num- Specifies the number of the position type vari- <Data 2>
ber/ able for which the matrix multiplication is calcu-
LP Variable num- lated.
ber/
P [Array number]/
LP [Array num-
ber]
3 P Variable num- Specified the number of the position type vari- <Data 3>
ber/ able for which the matrix multiplication is calcu-
LP Variable num- lated.
ber/
P [Array number]/
LP [Array num-
ber]
The target value for a three-dimensional shift can be calculated by the following equation.
Pnew=P3d × Pold
Where Pnew: Target position after a three-dimensional shift
P3d: Three-dimensional shift amount
Pold: Taught position
The amount of a three-dimensional shift can be obtained as follows:
P3d=Pnew × Pold-1
2-133
2.3 Operating Instruction
Example
2-134
2.3 Operating Instruction
INVMAT
Instruction set:
Function
Calculates the inverse matrix of Data 2, and stores the result in Data 1.
Construction
INVMAT <Data 1> <Data 2>
P/LP/P[]/ P/LP/P[]/
INVMAT 1 LP[]
Variable No. 2 LP[]
Variable No. END
Explanation
1. P Variable number/LP Variable number/P [Array number]/LP [Array num-
ber]
1 P Variable num- Specifies the number of the position type vari- <Data 1>
ber/ able to store the result.
LP Variable num-
ber/
P [Array number]/
LP [Array num-
ber]
2 P Variable num- Specifies the number of the position type vari- <Data 2>
ber/ able for which the inverse matrix is calculated.
LP Variable num-
ber/
P [Array number]/
LP [Array num-
ber]
2-135
2.3 Operating Instruction
Example
2-136
2.3 Operating Instruction
SETFILE
Instruction set:
Function
Changes the specified data of the specified condition file to the numeric data of Data 1.
Specify the data of the condition file to be changed by its element number.
Construction
SETFILE Condition file specification (Element number) <Data 1>
Sealing adjustment
SETFILE 1 SPR# ( condition file No. ) 4 ( Element No. ) A
Under-coating
2 UDC# ( adjustment condition )
file No.
Weaving condition
3 WEV# ( file No.
)
Double-precision
A 5 type constant
END
D/LD/D[]/
6 LD[]
Variable No.
2-137
2.3 Operating Instruction
Explanation
1. SPR# (Sealing adjustment condition file number)/UDC# (Under-coating
adjustment condition file number)/WEV# (Weaving condition file number)
2 UDC# (Under- Specifies the number of the number of the under- No.: 1
coating adjust- coating adjustment condition file. Variable B/I/D/LB/LI/
ment condition file LD can be used.
number) Available only with
the optional under-
coating function.
2. (Element number)
4 (Element number) Specifies the element number of the condition Element No.: 1 to
file data to be changed. 255
Variable B/LB can be
used.
2-138
2.3 Operating Instruction
2-139
2.3 Operating Instruction
Element
Item Units Remarks
No.
1 MODE
2 SMOOTHING
3 SPEED
4 FREQUENCY 0.1 Hz
AMPLITUDE (ACTIVE IN
5 0.001 mm
SINGLE)
Stop positions 1 to 4
TIMER MODE
10 (SECT 1 to 4) desig-
(SECT 1 to 4)
nated by bit data
Duration of a pause
15 to18 TIMER (timer count) 0.1 sec.
between two sections.
For details of the weaving condition file, refer to Chapter 9 Weaving Condition File of YAS-
NAC XRC OPERATOR’S MANUAL FOR ARC WELDING.
Example
SETFILE WEV#(1) (5) 3500
Changes the amplitude setting in the weaving condition file number 1 to 3.500 mm.
2-140
2.3 Operating Instruction
GETFILE
Instruction set:
Function
Under-coating
3 UDC# ( adjustment condition )
file No.
Weaving condition
4 WEV# ( file No.
)
Explanation
1. D Variable number/LD Variable number/D [Array number]/LD [Array num-
ber]
2-141
2.3 Operating Instruction
5 AMF# (Arc moni- Specifies the number of the arc monitor file. No.: 1 to 50
tor file number) Variable B/I/D/LB/LI/
LD can be used.
Available only with
the optional arc mon-
itor function.
3. (Element number)
6 (Element number) Specifies the element number of the condition Element No.: 1 to
file data to be stored. 255
Variable B/LB can be
used.
Example
GETFILE D000 WEV#(1) (6)
Stores the vertical distance (PATTERN VERTICAL) in the weaving condition file nubmer 1 in
D000.
2-142
2.4 Move Instruction
MOVJ
Instruction set:
Function
P/LP/P[]/
2 LP[]
Variable No. C D
Station teaching
3 position file No.
E F
EX/LEX
4 /EX[] Variable No.
/LEX[]
A B
Point Variable
7 T No.
C D
BP/LBP EX/LEX
8 /BP[] Variable No. 9 /EX[] Variable No.
/LBP[] /LEX[]
E F
Point Variable
10 T
No.
2-143
2.4 Move Instruction
G H
H I
Amount of
Amount of the
14 MT=
T axis rotation 15 MTE= station axis
rotation
I J
Acceleration
16 NWAIT 18 UNTIL 20 ACC= adjustment
ratio (%)
17 ENWAIT 19 NSRCH
J 22 +MOVJ END
Deceleration
21 DEC= adjustment
ratio (%) 23 +MOVL
24 +MOVC
25 +MOVS
2-144
2.4 Move Instruction
Control Group
No Tag Note
1 2 3 4 5 6 7
1 Robot teaching
+ + + + × + +
position file number
2 P/LP/P[]/LP[] + + + + × + +
3 Station teaching
× × × × + × ×
position file number
4 EX/LEX/EX[]/LEX[] × × × × + × ×
5 Base axis teaching
× + × + × × +
position file number
6 Station teaching
× × + + × × ×
position file number
7 T , , , , × , , Optional
8 BP/LBP/BP[]/LBP[] × + × + × × +
9 EX/LEX/EX[]/LEX[]
× × + + × × ×
10 T × × × × , × × Optional
11 VJ= + + + + + + +
12 PL= + + + + + + +
13 SPDL= , , , , × , , Optional
14 MT= , , , , × × × Optional
15 MTE= × × , , , × × Optional
16 NWAIT + + + + + + +
17 ENWAIT , , , , , , , Optional
18 UNTIL + + + + + + +
19 NSRCH , , , , , , , Optional
20 ACC= + + + + + + +
21 DEC= + + + + + + +
22 +MOVJ × × × × × , , Optional
23 +MOVL × × × × × , , Optional
24 +MOVC × × × × × , , Optional
25 +MOVS × × × × × , , Optional
+: Available
,: Available only with optional function enabled
×: Not available
2-145
2.4 Move Instruction
Explanation
1. Robot teaching position file number /P Variable number /LP Variable num-
ber /P [Array number] /LP [Array number] /Station teaching position file
number /EX Variable number /LEX Variable number /EX [Array number] /
LEX [Array number]
1 Robot teaching The robot axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
2 P Variable num- Specifies the position variable number of the Variable number :
ber/ robot axis. 000 to 127
LP Variable num- Moves to the position data set in the variable of
ber/ the specified number.
P [Array number]/
LP [Array num-
ber]
3 Station teaching The station axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
4 EX Variable num- Specifies the position variable number of the sta- Variable number :
ber/ tion axis. 000 to 127
LEX Variable Moves to the position data set in the variable of
number/ the specified number.
EX [Array num-
ber]/
LEX [Array num-
ber]
Position Variables
SUPPLE-
MENT
There are the following three kinds of position variables.
Robot axis : P000-P127
Base axis : BP000-BP127
Station axis : EX000-EX127
A position variable can store the position data as pulse type or XYZ type.
2-146
2.4 Move Instruction
When a robot teaching position file number is selected from the table in part 1 of this Explana-
tion, add the following tag.
5 Base teaching The base axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
When a robot teaching position file number is selected from the table in part 1 of this Explana-
tion, add the following tag.
6 Station teaching The station axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
When a robot teaching position file number is selected from the table in part 1 of this Explana-
tion, the following tag can be added or omitted.
7 T Point Variable Specifies the number of the point variable. Available only with
number The point variable manages the teaching posi- the optional point
tions registered in the job, and is used to move variable function.
the manipulator to the same position several
times in one job.
5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
When a P Variable number, LP Variable number,P [Array number], or LBP [Array number] is
selected from the table in part 1 of this Explanation, the following tag can be added.
8 BP Variable num- Specifies the position variable number of the Variable number :
ber/ base axis. 000 to 127
LBP Variable Moves to the position data set in the variable of
number/ the specified number.
BP [Array num-
ber] /
LBP [Array num-
ber]
2-147
2.4 Move Instruction
6. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
9 EX Variable num- Specifies the position variable number of the sta- Variable number :
ber/ tion axis. 000 to 127
LEX Variable Moves to the position data set in the variable of
number/ the specified number.
EX [Array num-
ber]/
LEX [Array num-
ber]
When a robot teaching position file number is selected from the table in part 1 of this Explana-
tion, the following tag can be added or omitted.
10 T Point Variable Specifies the number of the point variable. Available only with
number The point variable manages the teaching posi- the optional point
tions registered in the job, and is used to move variable function.
the manipulator to the same position several
times in one job.
8. VJ=Joint speed
2-148
2.4 Move Instruction
Position level
SUPPLE-
MENT
The approach level when the manipulator passes the position where the teaching proce-
dure was performed is called a position level.
Positioning level 0
P2
P3
S1CxG33
S1CxG34
Positioning level 1
S1CxG35 Positioning level 2
Positioning level 3
.
..
Positioning level 8
S1CxG40
P1
2-149
2.4 Move Instruction
15 MTE= Amount of Specifies the amount of the station axis rotation. Amount of rotation :
the station axis The operation of the station axis can be specified -100 to 100
rotation by the number of rotations. Availabe only with
the optional axis end-
less function.
12. NWAIT/ENWAIT
2-150
2.4 Move Instruction
13. UNTIL/NSRCH
2-151
2.4 Move Instruction
Speed Ordinary
acceleration
ACC=70% Specified
DEC=50% ratio
Time
16. +MOVJ/+MOVL/+MOVC/+MOVS
22 +MOVJ Specifies the joint interpolation motion instruction Available only with
on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
23 +MOVL Specifies the linear interpolation motion instruc- Available only with
tion on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
25 +MOVS Specifies the spline interpolation motion instruc- Available only with
tion on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
2-152
2.4 Move Instruction
Example
MOVJ P000 VJ=50.00
Move from the manipulator’s waiting position to step 1. Move by joint interpolation at a speed
of 50%.
The position in Step 1 is registered to the P variable no. 0.
The path during movement is not specified. Be careful of interference.
Waiting position
Path
Step 1
2-153
2.4 Move Instruction
MOVL
Instruction set:
Function
P/LP/P[]/
2 LP[]
Variable No. C D
A B
Point variable
5 T No.
C D
BP/LBP EX/LEX
6 /BP[] Variable No. 7 /EX[] Variable No.
/LBP[] /LEX[]
E F
2-154
2.4 Move Instruction
F G
Amount of
14 MTE= station axis 15 NWAIT
rotation
16 ENWAIT
G H
Acceleration
17 UNTIL 22 ACC= adjustment
ratio (%)
18 SRCH
19 ASRCH
20 HPSRCH
21 NSRCH
H 24 +MOVJ END
Deceleration
23 DEC= adjustment
ratio (%) 25 +MOVL
26 +MOVC
27 +MOVS
2-155
2.4 Move Instruction
Control Group
No Tag Note
1 2 3 4 5 6
1 Robot teaching
+ + + + + +
position file number
2 P/LP/P[]/LP[] + + + + + +
3 Base teaching
× + × + × +
position file number
4 Station teaching
× × + + × ×
position file number
5 T , , , , , , Optional
6 BP/LBP/BP[]/LBP[] × + × + × +
7 EX/LEX/EX[]/LEX[] × × + + × ×
8 V= + + + + + +
9 VR= + + + + + +
10 VE= × × + + × ×
11 PL= + + + + + +
12 CR= + + + + + +
13 SPDL= , , , , , , Optional
14 MTE= × × , , × × Optional
15 NWAIT + + + + + +
16 ENWAIT , , , , , , Optional
17 UNTIL + + + + + +
18 SRCH , , , , , , Optional
19 ASRCH , , , , , , Optional
20 HPSRCH , , , , , , Optional
21 NSRCH , , , , , , Optional
22 ACC = + + + + + +
23 DEC = + + + + + +
24 +MOVJ × × × × , , Optional
25 +MOVL × × × × , , Optional
26 +MOVC × × × × , , Optional
27 +MOVS × × × × , , Optional
+: Available
,: Available only with optional function enabled
×: Not available
2-156
2.4 Move Instruction
Explanation
1. Robot teaching position file number /P Variable number /LP Variable num-
ber /P [Array number] /LP [Array number]
1 Robot teaching The robot axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
2 P Variable num- Specifies the position variable number of the Variable number :
ber/ robot axis. 000 to 127
LP Variable num- Moves to the position data set in the variable of
ber/ the specified number.
P [Array number]/
LP [Array num-
ber]
When a robot teaching position file number is selected from the table in part 1 of this Explana-
tion, add the following tag.
3 Base teaching The base axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
When a robot teaching position file number is selected from the table in part 1 of this Explana-
tion, add the following tag.
4 Station teaching The station axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
2-157
2.4 Move Instruction
When the robot teaching position file number is selected from the table in part 1 of this Expla-
nation, the following can be added or omitted. .
5 T Point Variable Specifies the point variable number. Available only with
number The point variable manages the teaching posi- the optional point
tion registered in the job, and is used to move the variable function.
manipulator to the same position several times in
one job.
5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
6 BP Variable num- Specifies the position variable number of the Variable number :
ber/ base axis. 000 to 127
LBP Variable Moves to the position data set in the variable of
number/ the specified number.
BP [Array num-
ber]/
LBP [Array num-
ber]
6. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
7 EX Variable num- Specifies the position variable number of the sta- Variable number :
ber/ tion axis. 000 to 127
LEX Vriable num- Moves to the position data set in the variable of
ber/ the specified number.
EX [Array num-
ber]/
LEX [Array num-
ber]
2-158
2.4 Move Instruction
8 V=Tool center Specifies the tool center point speed. Speed : 0.1 mm to
point speed 1500.0 mm/s
The units can be
changed by setting
the parameter
S2C101.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
2-159
2.4 Move Instruction
Corner radius
SUPPLE-
MENT
The manipulator operates by circular interpolation in which the corner radius is specified.
Corner radius
2-160
2.4 Move Instruction
10. NWAIT/ENWAIT
2-161
2.4 Move Instruction
11. SRCH/UNTIL/ASRCH/HPSRCH/NSRCH
2-162
2.4 Move Instruction
14. +MOVJ/+MOVL/+MOVC/+MOVS
24 +MOVJ Specifies the joint interpolation motion instruction Available only with
on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
25 +MOVL Specifies the linear interpolation motion instruc- Available only with
tion on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
27 +MOVS Specifies the spline interpolation motion instruc- Available only with
tion on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
2-163
2.4 Move Instruction
Example
NOP
MOVJ VJ=50.00
MOVJ VJ=25.00
MOVJ VJ=12.50 *(*(* Step 3
MOVL V=138 *(*(* Step 4
Moves from Step 3 to Step 4 by the linear interpolation at a rate of 138cm/min.
Waiting position
Step 1
Step 2
Step 3
Step 4
2-164
2.4 Move Instruction
MOVC
Instruction set:
Function
P/LP/P[]/
2 LP[]
Variable No. C D
A B
Point variable
5 T
No.
C D
BP/LBP EX/LEX
6 /BP[] Variable No. 7 /EX[] Variable No.
/LBP[] /LEX[]
E F
Position angular
9 VR= speed (deg/s) 12 SPDL= Speed level
External axis
10 VE=
speed (%)
2-165
2.4 Move Instruction
F G
Amount of
13 MTE= station axis 14 NWAIT
rotation
15 ENWAIT
G H
Acceleration Deceleration
16 ACC= adjustment 17 DEC= adjustment
ratio (%) ratio (%)
H 18 +MOVJ END
19 +MOVL
20 +MOVC
21 +MOVS
2-166
2.4 Move Instruction
Control Group
No Tag Note
1 2 3 4 5 6
1 Robot teaching
+ + + + + +
position file number
2 P/LP/P[]/LP[] + + + + + +
3 Base teaching
× + × + × +
position file number
4 Station teaching
× × + + × ×
position file number
5 T , , , , , , Optional
6 BP/LBP/BP[]/LBP[] × + × + × +
7 EX/LEX/EX[]/LEX[]
× × + + × ×
8 V= + + + + + +
9 VR= + + + + + +
10 VE= × × + + × ×
11 PL= + + + + + +
12 SPDL= , , , , , , Optional
13 MTE= × × , , × × Optional
14 NWAIT + + + + + +
15 ENWAIT , , , , , , Optional
16 ACC= + + + + + +
17 DEC = + + + + + +
18 +MOVJ × × × × , , Optional
19 +MOVL × × × × , , Optional
20 +MOVC × × × × , , Optional
21 +MOVS × × × × , , Optional
+: Available
,: Available only with optional function enabled
×: Not available
2-167
2.4 Move Instruction
Explanation
1. Robot teaching position file number /P Variable number /LP Variable num-
ber /P [Array number] /LP [Array number]
1 Robot teaching The robot axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
2 P Variable num- Specifies the position variable number of the Variable number :
ber/ robot axis. 000 to 127
LP Variable num- Moves to the position data set in the variable of
ber/ the specified number.
P [Array number]/
LP [Array num-
ber]
When a base teaching position file number is selected from the table in part 1 of this Explana-
tion, added the following tag.
3 Base teaching The base axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
When a base teaching position file number is selected from the table in part 1 of this Explana-
tion, added the following tag.
4 Station teaching The station axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
2-168
2.4 Move Instruction
When the robot teaching position file number is selected from the table in part 1 of this Expla-
nation, the following tag can be added or omitted.
5 T Point Variable Specifies the point variable number. Available only with
number The point variable manages the teaching posi- the optional point
tion registered in the job, and is used to move the variable function.
manipulator to the same position several times in
one job.
5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
6 BP Variable num- Specifies the position variable number of the Variable number :
ber/ base axis. 000 to 127
LBP Variable Moves to the position data set in the variable of
number/ the specified number.
BP [Array num-
ber]/
LBP [Array num-
ber]
6. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
7 EX Variable num- Specifies the position variable number of the sta- Variable number :
ber/ tion axis. 000 to 127
LEX Variable Moves to the position data set in the variable of
number/ the specified number.
EX [Array num-
ber]/
LEX [Array num-
ber]
2-169
2.4 Move Instruction
8 V=Tool center Specifies the tool center point speed. Speed : 0.1 mm to
point speed 1500.0 mm/s
The units can be
changed by setting
the parameter
S2C101.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
2-170
2.4 Move Instruction
10. NWAIT/ENWAIT
2-171
2.4 Move Instruction
13. +MOVJ/+MOVL/+MOVC/+MOVS
18 +MOVJ Specifies the joint interpolation motion instruction Available only with
on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
19 +MOVL Specifies the linear interpolation motion instruc- Available only with
tion on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
21 +MOVS Specifies the spline interpolation motion instruc- Available only with
tion on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
2-172
2.4 Move Instruction
Example
NOP
MOVL V=138
MOVC V=138 *(*(* Step 2
MOVC V=138 *(*(* Step 3
MOVC V=138 *(*(* Step 4
MOVC V=138 *(*(* Step 5
MOVL V=138
END
Step 3
MOVC Step 4
MOVC
Step 1
MOVL
Step 5 Step 6
Step 2
MOVC MOVL
MOVC
2-173
2.4 Move Instruction
MOVS
Instruction set:
Function
P/LP/P[]/
2 LP[]
Variable No. C D
A B
Point variable
5 T No.
C D
BP/LBP EX/LEX
6 /BP[] Variable No. 7 /EX[] Variable No.
/LBP[] /LEX[]
E F
Position angular
9 VR= speed (deg/s) 12 SPDL= Speed level
External axis
10 VE=
speed (%)
2-174
2.4 Move Instruction
F G
Acceleration
13 NWAIT 15 ACC= adjustment
ratio (%)
14 ENWAIT
G 17 +MOVJ END
Deceleration
16 DEC= adjustment
ratio (%) 18 +MOVL
19 +MOVC
20 +MOVS
2-175
2.4 Move Instruction
Control Group
No Tag Note
1 2 3 4 5 6
1 Robot teaching
+ + + + + +
position file number
2 P/LP/P[]/LP[] + + + + + +
3 Base teaching
× + × + × +
position file number
4 Station teaching
× × + + × ×
position file number
5 T , , , , , , Optional
6 BP/LBP/BP[]/LBP[] × + × + × +
7 EX/LEX/EX[]/LEX[] × × + + × ×
8 V= + + + + + +
9 VR= + + + + + +
10 VE= × × + + × ×
11 PL= + + + + + +
12 SPDL= , , , , , , Optional
13 NWAIT + + + + + +
14 ENWAIT , , , , , , Optional
15 ACC = + + + + + +
16 DEC = + + + + + +
17 +MOVJ × × × × , , Optional
18 +MOVL × × × × , , Optional
19 +MOVC × × × × , , Optional
20 +MOVS × × × × , , Optional
+: Available
,: Available only with optional function enabled
×: Not available
2-176
2.4 Move Instruction
Explanation
1. Robot teaching position file number /P Variable number /LP Variable num-
ber /P [Array number] /LP [Array number]
1 Robot teaching The robot axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
2 P Variable num- Specifies the position variable number of the Variable number :
ber / robot axis. 000 to 127
LP Variable num- Moves to the position data set in the variable of
ber / the specified number.
P [Array number]/
LP [Array num-
ber]
When a robot teaching position file number is selected from the table in part 1 of this Explana-
tion, add the following tag.
3 Base teaching The base axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
When a robot teaching position file number is selected from the table in part 1 of this Explana-
tion, add the following tag.
4 Station teaching The station axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
2-177
2.4 Move Instruction
5 T Point Variable Specifies the point variable number. Available only with
number The point variable manages the teaching posi- the optional point
tion registered in the job, and is used to move the variable function.
manipulator to the same position several times in
one job.
5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
6 BP Variable num- Specifies the position variable number of the Variable number :
ber / base axis. 000 to 127
LBP Variable Moves to the position data set in the variable of
number / the specified number.
BP [Array num-
ber]/
LBP [Array num-
ber]
6. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
7 EX Variable num- Specifies the position variable number of the sta- Variable number :
ber / tion axis. 000 to 127
LEX Variable Moves to the position data set in the variable of
number / the specified number.
EX [Array num-
ber]/
LEX [Array num-
ber]
2-178
2.4 Move Instruction
8 V=Tool center Specifies the tool center point speed. Speed : 0.1 mm to
point speed 1500.0 mm/s
The units can be
changed by setting
the parameter
S2C101.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
2-179
2.4 Move Instruction
9. NWAIT/ENWAIT
2-180
2.4 Move Instruction
12. +MOVJ/+MOVL/+MOVC/+MOVS
17 +MOVJ Specifies the joint interpolation motion instruction Available only with
on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
18 +MOVL Specifies the linear interpolation motion instruc- Available only with
tion on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
20 +MOVS Specifies the spline interpolation motion instruc- Available only with
tion on the master manipulator’s side. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
2-181
2.4 Move Instruction
Example
NOP
MOVL V=138
MOVS V=138 *(*(* Step 2
MOVS V=138 *(*(* Step 3
MOVS V=138 *(*(* Step 4
MOVS V=138 *(*(* Step 5
MOVS V=138 *(*(* Step 6
MOVL V=138
END
Step 3
MOVS
Step 4
MOVS Step 6 Step 6
Step 1 Step 2
MOVS MOVL
MOVL MOVS
Step 5
MOVS
2-182
2.4 Move Instruction
IMOV
Instruction set:
Function
Moves by linear interpolation from the current position for the specified incremental value.
Construction
The tag which can be used is limited by the type of the job.
P/LP/P[]/
IMOV 1 LP[]
Variable No. A
BP/LBP
3 /BP[] Variable No.
/LBP[]
EX/LEX
2 /EX[] Variable No. D
/LEX[]
Joint speed
4 VJ=
(%)
A B
EX/LEX
TCP speed
5 /EX[] Variable No. 6 V= (mm/s)
/LEX[]
Position angular
7 VR= speed (deg/s)
External axis
8 VE=
speed (%)
B C
Positioning
9 PL=
level
10 NWAIT
2-183
2.4 Move Instruction
C E
11 BF 16 UNTIL
12 RF
17 SRCH
13 TF
User
14 UF# (
coordinate No.
) 18 NSRCH
15 MTF
E F
Acceleration Deceleration
19 ACC= adjustment 20 DEC= adjustment
ratio (%) ratio (%)
F 21 +IMOV END
2-184
2.4 Move Instruction
Control Group
No Tag Note
1 2 3 4 5 6 7
1 P/LP/P[]/LP[] + + + + × + +
2 EX/LEX/EX[]/LEX[] × × × × + × ×
3 BP/LBP/BP[]/LBP[] × + × + × × +
4 VJ= × × × × + × ×
5 EX/LEX/EX[]/LEX[] × × + + × × ×
6 V= + + + + × + +
7 VR= + + + + × + +
8 VE= × × + + × × ×
9 PL= + + + + × + +
10 NWAIT + + + + × + +
11 BF + + + + × + +
12 RF + + + + × + +
13 TF + + + + × + +
14 UF#() + + + + × + +
15 MTF × × × × × + +
16 UNTIL + + + + × + +
17 SRCH , , , , × , , Optional
18 NSRCH , , , , × , , Optional
19 ACC = + + + + + + +
20 DEC = + + + + + + +
21 +IMOV × × × × × , , Optional
+: Available
,: Available only with optional function enabled
×: Not available
2-185
2.4 Move Instruction
Explanation
1. P Variable number /LP Variable number /P [Array number] /LP [Array num-
ber] /EX Variable number /LEX Variable number /EX [Array number] /LEX
[Array number]
1 P Variable num- Specifies the position variable number of the Variable number :
ber / manipulator axis. 000 to 127
LP Variable num- Moves the axis according to the position data set
ber / in the specified variable number.
P [Array number]/
LP [Array num-
ber]
2 EX Variable num- Specifies the position variable number of the sta- Variable number :
ber / tion axis. 000 to 127
LEX Variable Moves the axis according to the position data set
number / in the specified variable number.
EX [Array num-
ber]/
LEX [Array num-
ber]
2. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
3 BP Variable num- Specifies the position variable number of the Variable number :
ber / base axis. 000 to 127
LBP Variable Moves the axis according to the position data set
number / in the specified variable number.
BP [Array num-
ber]/
LBP [Array num-
ber]
2-186
2.4 Move Instruction
3. VJ=Joint speed
4. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
5 EX Variable num- Specifies the position variable number of the sta- Variable number :
ber / tion axis. 000 to 127
LEX Variable Moves the axis according to the position data set
number / in the specified variable number.
EX [Array num-
ber]/
LEX [Array num-
ber]
2-187
2.4 Move Instruction
6 V=Tool center Specifies the tool center point speed. Speed : 0.1 mm to
point speed 1500.0 mm/s
The units can be
changed by setting
the parameter
S2C101.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
6. PL=Position level
7. NWAIT
2-188
2.4 Move Instruction
15 MTF Specifies the incremental value in the master Available only with
tool coordinate system. the optional indepen-
In the master tool coordinate system, position dent/coordinated
data is converted to positions relative to the mas- function.
ter manipulator.
9. UNTIL/SRCH/NSRCH
2-189
2.4 Move Instruction
12. +IMOV
22 +IMOV Specifies the move instruction for an incremental Available only with
value of the master manipulator. the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function for details.
Example
IMOV P000 V=138 RF
Moves from the current position at a rate of 138cm/min for the incremental value specified in
P000 in the robot coordinate system.
2-190
2.4 Move Instruction
SPEED
Instruction set:
Function
Sets the playback speed. The manipulator operates at the speed specified in the SPEED
instruction when the speed is not specified in the move instruction.
Construction
The tag which can be used is limited by the type of the job.
SPEED A
Control point
1 VJ= Joint speed (%) 2 V=
speed (mm/s)
A END
Control Group
No Tag Note
1 2 3
1 VJ= + + +
2 V= + + ×
3 VR= + + ×
4 VE= × + ×
+: Available
×: Not available
2-191
2.4 Move Instruction
Explanation
1. VJ=Joint speed
2 V=Tool center Specifies the tool center point speed. Speed : 0.1 mm to
point speed 1500.0 mm/s
The units can be
changed by setting
the parameter
S2C101.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
2-192
2.4 Move Instruction
Example
NOP
MOVJ VJ=100.00 *(*(* Moves at the joint speed 100.00%.
MOVL V=138 *(*(* Moves at the control point speed 138cm/min.
SPEED VJ=50.00 V=276 VR=30.0 *(*(* Moves at the joint speed 50.00%.
MOVJ *(*(* Moves at the control point speed 276 cm/min.
MOVL *(*(* Moves at the position angular speed 60.0
degree/s.
MOVL VR=60.0
END
2-193
2.4 Move Instruction
REFP
Instruction set:
Function
It is an instruction which has the position data by which a supplementary point of the wall
point, etc. for weaving is set.
Construction
The tag which can be used is limited by the type of the job.
Reference
REFP 1 point No.
2 RB1 A B END
3 RB2
4 RB3
5 ST1 C D
6 ST2
7 ST3
8 ST4
9 ST5
10 ST6
2-194
2.4 Move Instruction
P/LP/P[]/
12 LP[]
Variable No. E F
BP/LBP
15 /BP[] Variable No.
/LBP[]
E F
EX/LEX
16 /EX[] Variable No.
/LEX[]
Station teaching
C 17 position file No.
D
EX/LEX
18 /EX[] Variable No.
/LEX[]
2-195
2.4 Move Instruction
Control Group
No Tag Note
1 2 3 4 5 6 7 8 9
1 Reference point
+ + + + + + + + +
number
2 RB1 × × × × × + + + +
3 RB2 × × × × × + + + +
4 RB3 × × × × × + + + +
5 ST1 × × × × × × × + +
6 ST2 × × × × × × × + +
7 ST3 × × × × × × × + +
8 ST4 × × × × × × × + +
9 ST5 × × × × × × × + +
10 ST6 × × × × × × × + +
11 Robot teaching
+ + + + × + + + +
position file number
12 P/LP/P[]/LP[] + + + + × + + + +
13 Base-axis teach-
ing position file × + × + × × + × +
number
14 Station teaching
× × + + × × × × ×
position file number
15 BP/LBP/BP[]/LBP[] × + × + × × + × +
16 EX/LEX/EX[]/LEX[] × × + + × × × × ×
17 Station teaching
× × × × + × × + +
position file number
18 EX/LEX/EX[]/LEX[]
× × × × + × × + +
+: Available
×: Not available
Explanation
1. Reference Point Number
1 Reference point Specifies the reference point (REFP) number. Reference points :
number 1 to 8
2-196
2.4 Move Instruction
REFP1 REFP2
Wall Wall
REFP2
REFP1
REFP2
REFP1 Advanced Advanced
direction direction
Horizontal
direction
2. RB1/RB2/RB3/ST1/ST2/ST3/ST4/ST5/ST6
2-197
2.4 Move Instruction
3. Robot teaching position file number /P Variable number /LP Variable num-
ber /P [Array number] /LP [Array number]
11 Robot teaching The position in the reference point where the On the job display,
position file num- robot axis is taught is unconditionally written in this tag is not dis-
ber this file. This teaching position cannot be edited. played.
12 P Variable num- Specifies the position variable number of the Variable number :
ber/ robot axis. 000 to 127
LP Variable num- The position data set in the variable of the speci-
ber/ fied number becomes a reference point.
P [Array number]/
LP [Array num-
ber]
When the robot teaching position file number is selected from the table in part 3 of this Expla-
nation, add the following tag.
13 Base teaching The position in the reference point where the On the job display,
position file num- base axis is taught is unconditionally written in this tag is not dis-
ber this file. This teaching position cannot be edited. played.
When the robot teaching position file number is selected from the table in part 3 of this Expla-
nation, add the following tag.
14 Station teaching The position in the reference point where the sta- On the job display,
position file num- tion axis is taught is unconditionally written in this this tag is not dis-
ber file. This teaching position cannot be edited. played.
2-198
2.4 Move Instruction
6. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
15 BP Variable num- Specifies the position variable number of the Variable number :
ber/ base axis. 000 to 127
LBP Variable The position data set in the variable of the speci-
number/ fied number becomes a reference point.
BP [Array num-
ber]/
LBP [Array num-
ber]
7. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
16 EX Variable num- Specifies the position variable number of the sta- Variable number :
ber/ tion axis. 000 to 127
LEX Variable The position data set in the variable of the speci-
number/ fied number becomes a reference point.
EX [Array num-
ber]/
LEX [Array num-
ber]
2-199
2.4 Move Instruction
17 Station teaching The station axis teaching position in each step is On the job display,
position file num- written in this file unconditionally when the step is this tag is not dis-
ber taught. This teaching position cannot be edited. played.
18 EX Variable num- Specifies the position variable number of the sta- Variable number :
ber/ tion axis. 000 to 127
LEX Variable The position data set in the variable of a speci-
number/ fied number becomes a reference point.
EX [Array num-
ber]/
LEX [Array num-
ber]
Example
(1) Register REFP1 when the wall direction and the Z direction of the robot axis are dif-
ferent.
Z-axis
Wall direction
MOVL V=138
REFP1
ARCON ASF#(1)
REFP 1
MOVL V=138
(2) Register REFP2 when the approach point is on the other side of the wall.
Wall
MOVJ VJ=25.00 *(*(* Approach point Approach point
MOVL V=138
ARCON ASF#(1) REFP2
REFP 2
MOVL V=138
2-200
2.5 Shift Instruction
SFTON
Instruction set:
Function
Begins the parallel shift operation. The amount of the parallel shift is set in a positional vari-
able by the increment value of X, Y, and Z in each coordinate system.
Construction
The tag which can be used is limited by the type of the job.
P/LP/P[]/
SFTON 1 RB1 4 LP[]
Variable No. A B END
2 RB2
3 RB3 BP/LBP
5 /BP[] Variable No.
/LBP[]
EX/LEX
6 /EX[] Variable No.
/LEX[]
A C
BP/LBP EX/LEX
7 /BP[] Variable No. 8 /EX[] Variable No.
/LBP[] /LEX[]
C B
9 BF
10 RF
11 TF
User
12 UF# (
coordinate No.
)
2-201
2.5 Shift Instruction
Control Group
No Tag Note
1 2 3 4 5 6 7 8 9
1 RB1 × × × × × + + + +
2 RB2 × × × × × + + + +
3 RB3 × × × × × + + + +
4 P/LP/P[]/LP[] + + + + × + + + +
5 BP/LBP/BP[]/LBP[] × + × + × × + × +
6 EX/LEX/EX[]/LEX[] × × + + + × × + +
7 BP/LBP/BP[]/LBP[] × + × + × × + × +
8 EX/LEX/EX[]/LEX[] × × + + × × × + +
9 BF + + + + × + + + +
10 RF + + + + × + + + +
11 TF + + + + × + + + +
12 UF#() + + + + × + + + +
+: Available
×: Not available
2-202
2.5 Shift Instruction
Explanation
1. RB1/RB2/RB3
2. P Variable number /LP Variable number /P [Array number] /LP [Array num-
ber] /BP Variable number /LBP Variable number /BP [Array number] /LBP
[Array number] /EX Variable number /LEX Variable number /EX [Array
number] /LEX [Array number]
4 P Variable num- Specifies the position variable number of the Variable number :
ber/ robot axis by which the shift value is set. 000 to 127
LP Variable num- Only the increment value set in the variable of
ber/ the specified number shifts.
P [Array number]/
LP [Array num-
ber]
5 BP Variable num- Specifies the position variable number of the Variable number :
ber/ base axis by which the shift value is set. 000 to 127
LBP Variable Only the increment value set in the variable of
number/ the specified number shifts.
BP [Array num-
ber]/
LBP [Array num-
ber]
6 EX Variable num- Specifies the position variable number of the sta- Variable number :
ber/ tion axis by which the shift value is set. 000 to 127
LEX Variable Only the increment value set in the variable of
number/ the specified number shifts.
EX [Array num-
ber]/
LEX [Array num-
ber]
2-203
2.5 Shift Instruction
3. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
7 BP Variable num- Specifies the position variable number of the Variable number :
ber/ base axis by which the shift value is set. 000 to 127
LBP Variable Only the increment value set in the variable of
number/ the specified number shifts.
BP [Array num-
ber]/
LBP [Array num-
ber]
4. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
8 EX Variable num- Specifies the position variable number of the sta- Variable number :
ber/ tion axis by which the shift value is set. 000 to 127
LEX Variable Only the increment value set in the variable of
number/ the specified number shifts.
EX [Array num-
ber]/
LEX [Array num-
ber]
2-204
2.5 Shift Instruction
12 UF#(User coordi- Specifies the increment value in the user coordi- No.1 to 24
nate number) nate system. Variable B/I/D/LB/LI/
LD can be used.
Example
NOP
MOVJ VJ=50.0
MOVL V=138
SFTON P000 UF#(1)
Step 2 Step 4 Step 6
MOVL V=138 Step 1 Step 3 Step 5
MOVL V=138 Shifted section
MOVL V=138
SFTOF
MOVL V=138
2-205
2.5 Shift Instruction
SFTOF
Instruction set:
Function
SFTOF END
1 RB1
2 RB2
3 RB3
4 ST
2 RB2 × + +
3 RB3 × + +
4 ST × × +
+: Available
×: Not available
2-206
2.5 Shift Instruction
Explanation
1. RB1/RB2/RB3/ST
Example
NOP
MOVJ VJ=50.0
MOVL V=138
SFTON P000 UF#(1) Step 2 Step 4 Step 6
MOVL V=138 Step 1 Step 3 Step 5
MOVL V=138 Shifted section
MOVL V=138
SFTOF
MOVL V=138
2-207
2.5 Shift Instruction
MSHIFT
Instruction set:
Function
Calculates the amount of the shift in the specified coordinate system according to Data 2 and
Data 3 and stores the result in Data 1.
Data 2 indicates the reference position to carry out the parallel shift, and Data 3 is the target
position (shifted position).
Construction
MSHIFT <Data 1> Coordinate system designation <Data 2> <Data 3>
PX/PX[]
MSHIFT 1 /LPX Variable No. A
/LPX[]
A 2 BF B
3 RF
4 TF
User
5 UF# (
coordinate No.
)
6 MTF
PX/PX[] PX/PX[]
B 7 /LPX Variable No. 8 /LPX Variable No. END
/LPX[] /LPX[]
2-208
2.5 Shift Instruction
Explanation
1. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array
number]
1 PX Variable num- Specifies the number of the expanded position <Data 1>
ber/ variable to store the calculated shift.
LPX Variable
number/
PX [Array num-
ber]/
LPX [Array num-
ber]
5 UF# (User coordi- Specifies the calculation of the shift amount in No.: 1 to 24
nate number) the user coordinate system. Variable B/I/D/LB/LI/
LD can be used.
6 MTF Specifies the calculation of the shift amount in Available only with
the master tool coordinate system. the optional indepen-
dent/coordinated
function.
2-209
2.5 Shift Instruction
7 PX Variable num- Specifies the expanded position type variable <Data 2>
ber/ number of the reference position to calculate the
LPX Variable amount of the shift.
number/
PX [Array num-
ber]/
LPX [Array num-
ber]
8 PX Variable num- Specifies the expanded position type variable <Data 3>
ber/ number of the target position to calculate the
LPX Variable amount of the shift.
number/
PX [Array num-
ber]/
LPX [Array num-
ber]
Example
NOP
MOVJ VJ=20.00 : Moves to the reference position.
GETS PX000 $PX000 : Sets the current position (the reference position) in the
position variable P000.
MOVJ VJ=20.00 : Moves to the target position.
GETS PX001 $PX000 : Sets the current position (the target position) in the
position variable P001.
MSHIFT PX010 BF PX000 PX001 : Calculates the shift amount and stores it in the position
END variable P010.
2-210
2.6 Instruction Which Adheres to an Instruction
IF
Instruction set:
Function
Evaluates the various conditions during operation. This instruction is added after other
instructions for processing.
Construction
IF <Comparison element 1> =, <>, <=, >=, <, > <Comparison element 2>
B/LB/B[]/
3 LB[]
Variable No. E F
I/LI/
4 I[]/LI[]
Variable No. G H
D/LD/D[]/
5 LD[]
Variable No. I J
R/LR/R[]/
6 LR[]
Variable No. K L
2-211
2.6 Instruction Which Adheres to an Instruction
B/LB/B[]/
A 7 = 8 LB[]
Variable No. B
9 ON/OFF
B/LB/B[]/
C 10 = 12 LB[]
Variable No. D
11 <>
Byte type
13 constant
Byte type
E 14 = 20 constant
F
15 <>
B/LB/B[]/
21 LB[]
Variable No.
16 >
17 >= I/LI/
22 I[]/LI[]
Variable No.
18 <
D/LD/D[]/
19 <= 23 LD[]
Variable No.
R/LR/R[]/
24 LR[]
Variable No.
Integer type
G 25 = 31 constant
H
26 <>
B/LB/B[]/
32 LB[]
Variable No.
27 >
28 >= I/LI/
33 I[]/LI[]
Variable No.
29 <
D/LD/D[]/
30 <= 34 LD[]
Variable No.
R/LR/R[]/
35 LR[]
Variable No.
2-212
2.6 Instruction Which Adheres to an Instruction
Double integer
I 36 = 42 type constant
J
37 <>
B/LB/B[]/
43 LB[]
Variable No.
38 >
39 >= I/LI/
44 I[]/LI[]
Variable No.
40 <
D/LD/D[]/
41 <= 45 LD[]
Variable No.
R/LR/R[]/
46 LR[]
Variable No.
Real type
K 47 = 53 constant
L
48 <>
B/LB/B[]/
54 LB[]
Variable No.
49 >
50 >= I/LI/
55 I[]/LI[]
Variable No.
51 <
D/LD/D[]/
52 <= 56 LD[]
Variable No.
R/LR/R[]/
57 LR[]
Variable No.
2-213
2.6 Instruction Which Adheres to an Instruction
Explanation
1. IN# (Input number) /IG# (Input group number) /B Variable number /LB Vari-
able number /B [Array number] /LB [Array number] /I Variable number /LI
Variable number /I [Array number] /LI [Array number] /D Variable number /
LD Variable number /D [Array number] /LD [Array number] /R Variable
number /LR Variable number /R [Array number] /LR [Array number]
1 IN# (Input num- Specifies the number of the general input signal <Comparison ele-
ber) to be compared. ment 1>
No. : 1 to 192
Variable B/I/D/LB/LI/
LD can be used.
2 IG# (Input group Specifies the number of the general input group <Comparison ele-
number) signal to be compared. ment 1>
No. : 1 to 24
Variable B/I/D/LB/LI/
LD can be used.
3 B Variable num- Specifies the number of the byte type variable to <Comparison ele-
ber/ be compared. ment 1>
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
4 I Variable num- Specifies the number of the integer type variable <Comparison ele-
ber/ to be compared. ment 1>
LI Variable num-
ber/
I [Array number]/
LI [Array number]
5 D Variable num- Specifies the number of the double precision <Comparison ele-
ber/ type variable to be compared. ment 1>
LD Variable num-
ber/
D [Array number]/
LD [Array num-
ber]
6 R Variable num- Specifies the number of the real type variable to <Comparison ele-
ber/ be compared. ment 1>
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-214
2.6 Instruction Which Adheres to an Instruction
2. =
When an IN#(Input number) is selected from the table in part 1 of this Explanation, add the fol-
lowing tag.
7 = It is equal.
3. B Variable number /LB Variable number /B [Array number] /LB [Array num-
ber] /ON /OFF
When an IN#(Input number) is selected from the table in part 1 of this Explanation, choose
one of the tags from the following table after the equal sign (=) is added from the table in part
2 of this Explanation.
8 B Variable num- Specifies the byte type variable which becomes <Comparison ele-
ber/ a comparison condition. ment 2>
LB Variable num- Least significant bit :
ber/ 0 : OFF
B [Array number]/ 1 : ON
LB [Array num-
ber]
4. =/<>
When an IG#(Input group number) is selected from the table in part 1 of this Explanation,
choose one of the tags from the following table.
10 = It is equal.
2-215
2.6 Instruction Which Adheres to an Instruction
5. B Variable number /LB Variable number /B [Array number] /LB [Array num-
ber] /ON /OFF
When an IG#(Input group number) is selected from the table in part 1 of this Explanation,
choose one of the tags from the following table after “=” or “<>” are added from the table in
part 4 of this Explanation.
12 B Variable num- Specifies the byte type variable which becomes <Comparison ele-
ber/ a comparison condition. ment 2>
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
13 Byte type con- The comparison condition is specified by byte <Comparison ele-
stant type constant. ment 2>
6. =/<>/>/>=/</<=
14 = It is equal.
2-216
2.6 Instruction Which Adheres to an Instruction
20 Byte type con- The comparison condition is specified by the <Comparison ele-
stant byte type constant. ment 2>
21 B Variable num- Specifies the byte type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
22 I Variable num- Specifies the integer type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LI Variable num-
ber/
I [Array number]/
LI [Array number]
23 D Variable num- Specifies the double precision type variable <Comparison ele-
ber/ number which becomes a comparison condition. ment 2>
LD Variable num-
ber/
D [Array number]/
LD [Array num-
ber]
24 R Varaible num- Specifies the real type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-217
2.6 Instruction Which Adheres to an Instruction
8. =/<>/>/>=/</<=
25 = It is equal.
2-218
2.6 Instruction Which Adheres to an Instruction
31 Integer type con- The comparison condition is specified by the <Comparison ele-
stant integer type constant. ment 2>
32 B Variable num- Specifies the byte type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
33 I Variable num- Specifies the integer type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LI Variable num-
ber/
I [Array number]/
LI [Array number]
34 D Variable num- Specifies the double precision type variable <Comparison ele-
ber/ number which becomes a comparison condition. ment 2>
LD Variable num-
ber/
D [Array number]/
LD [Array num-
ber]
35 R Varaible num- Specifies the real type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-219
2.6 Instruction Which Adheres to an Instruction
10. =/<>/>/>=/</<=
36 = It is equal.
2-220
2.6 Instruction Which Adheres to an Instruction
11. Double precision type constant/ B Variable number /LB Variable number
/B [Array number] /LB [Array number] /I Variable number /LI Variable num-
ber /I [Array number] /LI [Array number] /D Variable number /LD Variable
number /D [Array number] /LD [Array number] /R Variable number /LR Vari-
able number /R [Array number] /LR [Array number]
43 B Variable num- Specifies the byte type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
44 I Variable num- Specifies the integer type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LI Variable num-
ber/
I [Array number]/
LI [Array number]
45 D Variable num- Specifies the double precision type variable <Comparison ele-
ber/ number which becomes a comparison condition. ment 2>
LD Variable num-
ber/
D [Array number]/
LD [Array num-
ber]
46 R Varaible num- Specifies the real type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
2-221
2.6 Instruction Which Adheres to an Instruction
12. =/<>/>/>=/</<=
47 = It is equal.
2-222
2.6 Instruction Which Adheres to an Instruction
13. Real type constant /B Variable number /LB Variable number /B [Array
number] /LB [Array number] /I Variable number /LI Variable number /I
[Array number] /LI [Array number] /D Variable number /LD Variable num-
ber /D [Array number] /LD [Array number] /R Variable number /LR Variable
number /R [Array number] /LR [Array number]
53 Real type con- The comparison condition is specified by the real <Comparison ele-
stant type constant. ment 2>
54 B Variable num- Specifies the byte type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LB Variable num-
ber/
B [Array number]/
LB [Array num-
ber]
55 I Variable num- Specifies the integer type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LI Variable num-
ber/
I [Array number]/
LI [Array number]
56 D Variable num- Specifies the double precision type variable <Comparison ele-
ber/ number which becomes a comparison condition. ment 2>
LD Variable num-
ber/
D [Array number]/
LD [Array num-
ber]
57 R Varaible num- Specifies the real type variable number which <Comparison ele-
ber/ becomes a comparison condition. ment 2>
LR Variable num-
ber/
R [Array number]/
LR [Array num-
ber]
Example
(1) SET B000 1
JUMP B000 IF IN#(14)=ON
It jumps to Job 1 if input signal No.14 is turned ON.
2-223
2.6 Instruction Which Adheres to an Instruction
UNTIL
Instruction set:
Function
Evaluates the input conditions during operation. This instruction is added after other instruc-
tions for processing.
Construction
B/LB/B[]/
UNTIL 1 IN# ( Input No. ) 2 = 3 LB[]
Variable No. END
4 ON/OFF
Explanation
1. IN# (Input number)
1 IN# (Input num- Specifies the number of the general-purpose No.: 1 to 192
ber) input signal which becomes a input condition. Variable B/I/D/LB/LI/
LD can be used.
2. =
2 = It is equal.
2-224
2.6 Instruction Which Adheres to an Instruction
Choose one of the tags from the following table after “=” is selected from the table in part 2 of
this Explanation.
3 B Variable num- Specifies the byte type variable to be the condi- Least significant bit:
ber/ tion of execution. 0: OFF
LB Variable num- 1: ON
ber/
B [Array number]/
LB [Array num-
ber]
Example
Step 1 MOVJ VJ=100.00
Step 2 MOVJ VJ=50.00 UNTIL IN#(14)=ON
Step 3 MOVJ VJ=25.00
The axis moves toward Step 2 until input signal No. 14 is turned ON. When input signal No.
14 is turned ON, the axis moves toward Step 3.
Step 3
Step 2
MOVJ VJ=50.00 UNTIL
IN#(14)=ON
2-225
2.6 Instruction Which Adheres to an Instruction
ENWAIT
The ENWAIT instruction can be used only with parameter S4C076.
Instruction set:
Function
Carries out, in advance for the specified time, an instruction other than a move instruction on
the instruction line next to the move instruction that was added with ENWAIT.
Construction
Explanation
1. T=Time
1 T=Time Specifies the time in which the next instruction Units: seconds
excluding a move instruction is carried out. Variable I/LI/I []/LI []
can be used.
(Units: 0.01 seconds)
Example
Step 1 MOVL V=136
Step 2 MOVL V=136 ENWAIT T=3.00
ÉXÉe DOUT OT#(1) ON
DOUT on the next instruction line is carried out 3 seconds before reaching Step 2.
Step 2
MOVL V=136 ENWAIT T=3.00
3 seconds
DOUT OT#(1) ON
2-226
2.7 Arc Welding Instruction
ARCON
For arc welding applications
Instruction set:
Function
ARCON END
Current output
2 WELD2 5 AC=
(A)
A B C
3 WELD3
Voltage output
A 6 AV=
(V)
B
Ratio to proper
7 AVP= voltage output 8 T= Time (s)
value (%)
B C
2-227
2.7 Arc Welding Instruction
Explanation
1. WELD1/WELD2/WELD3
Choose one of the tags from the following table. These tags are valid for a system with multi-
ple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
5 AC=Current out- Specifies the output value of the welding current. Current value : 1 to
put value 999A
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
When AC=Current output value is selected from the table in part 2 of this Explanation, choose
one of the tags from the following table.
6 AV=Voltage out- Specifies the output value of the arc voltage. Voltage value :
put value When the welder power supply is ’Individual’ ,the 0.1V to 50.0 V
output value of the arc voltage is specified. Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1V)
7 AVP=Ratio to Specifies the ratio to the aptitude output value of Ratio : 50% to 150 %
proper voltage the arc voltage. Variable B/I/D/B[]/I[]/
output value When the welder power supply is ’Same’, the D[]/LB/LI/LD/LB[]/
ratio to the aptitude output value of the arc volt- LI[]/LD[] can be used.
age is specified.
2-228
2.7 Arc Welding Instruction
4. T=Time
When AC=Current output value is selected from the table in part 2 of this Explanation, the fol-
lowing tag can be added or omitted.
8 T=Time Specifies the timer value at the welding start. Unit : Seconds
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
5. V=Welding speed
When AC=Current output value is selected from the table in part 2 of this Explanation, the fol-
lowing tag can be added or omitted.
6. RETRY
When AC=Current output value is selected from the table in part 2 of this Explanation, the fol-
lowing tag can be added or omitted.
7. REPLAY
When RETRY is selected from the table in part 6 of this Explanation, add the following tag.
2-229
2.7 Arc Welding Instruction
RETRY function
SUPPLE-
MENT
The RETRY function performs the arc retry automatically with a condition set in the auxil-
iary condition file, when an arc generation error occurs.
When ARCON is processed again, the arc is generated and the manipulator continues
working.
SUPPLE-
MENT
For details of the RETRY function, refer to the “Operator’s Manual for Arc Welding”.
2-230
2.7 Arc Welding Instruction
Example
(1) ARCON ASF#(1)
Starts welding with the condition set to No.1 in the arc start condition file.
(2) NOP
MOVJ VJ=50.00 *(*(* Step 1
MOVL V=200 *(*(* Step 2
MOVL V=220 *(*(* Step 3
WVON WEV#(2) *(*(* Weaving starts
ARCON AC=220 AVP=100 T=0.50 *(*(* Welding starts
MOVL V=138 *(*(* Step 4
ARCOF *(*(* Welding ends
WVOF *(*(* Weaving ends
MOVL V=200 *(*(* Step 5
MOVJ VJ=50.00 *(*(* Step 6
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-231
2.7 Arc Welding Instruction
ARCOF
For arc welding applications
Instruction set:
Function
ARCOF END
Arc end
condition file
1 WELD1 4 AEF# ( No.
)
Current output
2 WELD2 5 AC=
(A)
A B
3 WELD3
Voltage output
A 6 AV=
(V)
B
Explanation
1. WELD1 /WELD2/WELD3
Choose one of the tags from the following table. These tags are valid for a system with multi-
ple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
2-232
2.7 Arc Welding Instruction
4 AEF#(Arc end Specifies the arc end condition file number. No. : 1 to 12
condition file The condition when welding has ended is regis- Variable B/I/D/LB/LI/
number) tered in the arc end condition file. LD can be used.
5 AC=Current out- Specifies the output value of the welding current. Current value :
put value 1 to 999A
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
When AC=Current output value is selected from the table in part 2 of this Explanation, choose
one of the tags from the following table.
6 AV=Voltage out- Specifies the output value of the arc voltage. Voltage value : 0.1 V
put value When the welder power supply is ’Individual’ the to 50.0 V
output value of the arc voltage is specified. Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1 V)
7 AVP=Ratio to Specifies the ratio to the aptitude output value of Ratio : 50 % to 150
proper voltage the arc voltage. %
output value When the welder power supply is ’Same’ the Variable B/I/D/B[]/I[]/
ratio to the aptitude output value of the arc volt- D[]/LB/LI/LD/LB[]/
age is specified. LI[]/LD[] can be used.
4. T=Time
When AC=Current output value is selected from the table in part 2 of this Explanation, the fol-
lowing tag can be added or omitted.
2-233
2.7 Arc Welding Instruction
5. ANTSTK
When AC=Current output value is selected from the table in part 2 of this Explanation, the fol-
lowing tag can be added or omitted.
9 ANTSTK Specifies the automatic sticking release function. Refer to the supple-
The automatic wire sticking release function in ment “Automatic wire
which the wire sticking is released automatically. sticking release func-
It puts out a constant voltage without outputting tion”.
the wire sticking signal once wire sticking is
detected.
SUPPLE-
For details of the automatic wire sticking release function, refer to the “Operator’s Manual
MENT for Arc Weldiing”.
2-234
2.7 Arc Welding Instruction
Example
(1) ARCOF AEF#(1)
The welding end condition is set in the arc end condition file No.1.
(2) NOP
MOVJ VJ=50.00 *(*(* Step 1
MOVL V=220 *(*(* Step 2
MOVL V=200 *(*(* Step 3
WVON WEV#(2) *(*(* Weaving start
ARCON AC=220 AVP=100 T=0.50 *(*(* Welding start
MOVL V=138 *(*(* Step 4
ARCOF AC=160 AVP=90 T=0.50 *(*(* Welding end
WVOF *(*(* Weaving end
MOVL V=200 *(*(* Step 5
MOVJ VJ=50.00 *(*(* Step 6
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-235
2.7 Arc Welding Instruction
VWELD
For arc welding applications
Instruction set:
Function
Voltage
VWELD 4 reference value END
(V)
1 WELD1
I/LI/
5 I[]/LI[]
Variable No.
2 WELD2
3 WELD3
Explanation
1. WELD1 /WELD2/WELD3
Choose one of the tags from the following table. These tags are valid for a system with multi-
ple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
2-236
2.7 Arc Welding Instruction
3 Voltage com- Specifies the command value of the arc voltage. Command value :
mand value This is a command value of the voltage which is -14.00 V to +14.00 V
trasmitted from the controller to the welder to Variable I/LI/I[]/LI[]
output the welding voltage from the welder. The can be used.
relation between the command welding voltage (Units: 0.01 V)
and the output value is different depending on
the model of the welder.
SUPPLE-
For details of the output characteristics of the welder, refer to the “Operator’s Manual for
MENT Arc Welding”.
Example
(1) VWELD 6.0
The command value of the arc voltage is set to 6.0V.
2-237
2.7 Arc Welding Instruction
AWELD
For arc welding applications
Instruction set:
Function
Current reference
AWELD 4 value (A)
END
1 WELD1
I/LI/
5 I[]/LI[]
Variable No.
2 WELD2
3 WELD3
Explanation
1. WELD1/WELD2/WELD3
Choose one of the tags from the following table. These tags are valid for a system with multi-
ple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
2-238
2.7 Arc Welding Instruction
3 Current command Specifies the command value of the welding cur- Command value :
value rent. -14.00 V to +14.00 V
This is a command value of the current which is Variable I/LI/I[]/LI[]
trasmitted from the controller to the welder to can be used.
output the welding current from the welder. The (Units: 0.01 V)
relation between the command welding current
and the output value is different depending on
the model of the welder.
SUPPLE-
For details of the output characteristics of the welder, refer to the “Operator’s Manual for
MENT Arc Welding”.
Example
(1) AWELD 6.0
The command value of the welding current is set to 6.0V.
2-239
2.7 Arc Welding Instruction
ARCSET
For arc welding applications
Instruction set:
Function
ARCSET A
Current output
1 WELD1 4 AC=
value (A)
2 WELD2
3 WELD3
A B
Voltage output
5 AV=
value (V) 7 V= Welding speed
Ratio to proper
6 AVP= voltage output
(%)
B END
Aimed value of Aimed value of
8 AN3= instruction 9 AN4= instruction
voltage (V) voltage (V)
2-240
2.7 Arc Welding Instruction
Explanation
1. WELD1/WELD2/WELD3
Choose one of the tags from the following table. These tags are valid for a system with multi-
ple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
4 AC=Current out- Specifies the output value of the welding current. Current value:
put value 1 to 999 A
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
5 AV=Voltage out- Specifies the output value of the arc voltage. Voltage value :
put value When the welder power supply is ’Individual’ ,the 0.1V to 50.0 V
output value of the arc voltage is specified. Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1V)
6 AVP=Ratio to Specifies the ratio to the aptitude output value of Ratio : 50% to 150 %
proper voltage the arc voltage. Variable B/I/D/B[]/I[]/
output value When the welder power supply is ’Same’, the D[]/LB/LI/LD/LB[]/
ratio to the aptitude output value of the arc volt- LI[]/LD[] can be used.
age is specified.
2-241
2.7 Arc Welding Instruction
4. V=Welding speed
8 AN3=Aimed value Specifies the aimed value of the instruction volt- Aimed value:
of instruction volt- age to analog output 3. -14.00 V to +14.00 V
age Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 V)
9 AN4=Aimed value Specifies the aimed value of the instruction volt- Aimed value:
of instruction volt- age to analog output 4. -14.00 V to +14.00 V
age Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 V)
2-242
2.7 Arc Welding Instruction
Example
NOP
MOVJ VJ=50.00 *(*(* Step 1
MOVJ VJ=80.00 *(*(* Step 2 (Arc start position)
ARCON AC=200 AVP=100 T=0.30 *(*(* Arc starts
MOVL V=50 *(*(* Step 3
MOVL V=50 *(*(* Step 4
ARCSET AC=250 *(*(* Changes the welding condition (AC=200
MOVL V=65 → AC=250)
ARCOF *(*(* Step 5
MOVJ VJ=50.00 *(*(* Arc ends
MOVJ VJ=100.00 *(*(* Step 6
END *(*(* Step 7
2-243
2.7 Arc Welding Instruction
WVON
For arc, general-purpose, and laser welding applications
Instruction set:
Function
Weaving condition
WVON 1 RB1 4 WEV# (
file No.
) C
Weaving single
2 RB2 5 AMP= amplitude (mm)
A B
3 RB3
Weaving
A 6 FREQ=
frequency (Hz)
B
Weaving angle
7 ANGL=
(degree)
C END
Direction of
8 DIR=
oscillation
2-244
2.7 Arc Welding Instruction
2 RB2 × +
3 RB3 × +
4 WEV#() + +
5 AMP= + +
6 FREQ= + +
7 ANGL= + +
8 DIR= + +
+: Available
×: Not available
Explanation
1. RB1/RB2/RB3
2-245
2.7 Arc Welding Instruction
3. FREQ=Weaving frequency
When AMP=Weaving single amplitude is selected from the table in part 2 of this Explanation,
add the following tag.
4. ANGL=Weaving angle
When AMP=Weaving single amplitude is selected from the table in part 2 of this Explanation,
the following tag can be added or omitted after the tag FREQ=Weaving frequency is selected
from the table in part 3 of this Explanation.
2-246
2.7 Arc Welding Instruction
5. DIR=Direction of oscillation
2-247
2.7 Arc Welding Instruction
Wearing conditions
SUPPLE-
MENT
• Weaving single amplitude
Set the amplitude of oscillation.
Single amplitude
• Weaving angle
Set the angle of oscillation.
Wall direction
Wall direction Angle: 0.1 deg. to 180.0 deg.
Angle: 0.1 deg. to 180.0 deg.
Angle
Vertical
distance
Horizontal direction
Angle
Horizontal direction
Horizontal distance
Weaving mode: Single oscillation We a vi n g m o d e : T ri a n g u l a r o r L -sh a p e o sci l l a ti o n
• Direction of oscillation
The directions, “forward” and “reversed”, are defined as follows. Set “0 (forward)” or “1
(reversed)” for the direction of oscillation.
Wall direction Wall direction
Forward Reversed
Single
$ %
oscillation
# &
% $
& #
Horizontal Horizontal
direction direction
Forward Reversed
Triangular $ $
% #
oscillation
# %
Horizontal Horizontal
direction direction
Forward Reversed
L-shape & % $
#
oscillation %
$
# &
Horizontal Horizontal
direction direction
2-248
2.7 Arc Welding Instruction
SUPPLE-
For details of the weaving condition file number, refer to the “Operator’s Manual for the Arc
MENT Welding”.
Example
(1) WVON WEV#(1) DIR=1
Weaving starts with the conditions specified in the weaving condition file.
(2) NOP
MOVJ VJ=50.00 *(*(* Step 1
MOVL V=220 *(*(* Step 2
MOVL V=200 *(*(* Step 3
WVON AMP=5.0 FREQ=3.0 ANGL=40.0 *(*(* Weaving starts
ARCON AC=220 AVP=100 T=0.5 *(*(* Welding starts
MOVL V=138 *(*(* Step 4
ARCOF AC=160 AVP=90 T=0.50 *(*(* Welding ends
WVOF *(*(* Weaving ends
MOVL V=200 *(*(* Step 5
MOVJ VJ=50.00 *(*(* Step 6
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-249
2.7 Arc Welding Instruction
WVOF
For arc, general-purpose, and laser welding applications
Instruction set:
Function
2 RB2
3 RB3
Controlled group
No Tag Note
1 2
1 RB1 × +
2 RB2 × +
3 RB3 × +
+: Available
×: Not available
2-250
2.7 Arc Welding Instruction
Explanation
1. RB1/RB2/RB3
Example
NOP
MOVJ VJ=50.00 *(*(* Step 1
MOVL V=220 *(*(* Step 2
MOVL V=200 *(*(* Step 3
WVON WEV#(2) *(*(* Weaving starts
ARCON AC=220 AVP=100 T=0.50 *(*(* Welding starts
MOVL V=138 *(*(* Step 4
ARCOF AC=160 AVP=90 T=0.50 *(*(* Welding ends
WVOF *(*(* Weaving ends
MOVL V=200 *(*(* Step 5
MOVJ VJ=50.00 *(*(* Step 6
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-251
2.7 Arc Welding Instruction
ARCCTS
For arc welding applications
Instruction set:
Function
Controls the welding current and the voltage in the specified starting section.
This function is used with the move instruction. The current and the voltage are changed while
the robot is moving. The aimed value and section have to be set. The section is specified as a
distance from the moving start point. If it is not specified, it is regarded as the entire section of
the move instruction.
Construction
ARCCTS A
Current output
1 WELD1 4 AC=
(A)
2 WELD2
3 WELD3
A B
Command
Voltage output
5 AV=
(V)
7 AN3= voltage aimed
value (V)
Ratio to proper
6 AVP= voltage output
value (%)
B END
Command
Excution
8 AN4= voltage aimed 9 DIS=
section (mm)
value (V)
2-252
2.7 Arc Welding Instruction
Explanation
1. WELD1/WELD2/WELD3
Choose one of the tags from the following table. These tags are valid for a system with multi-
ple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
4 AC=Current out- Specifies the aimed value of the welding current. Current value : 1 to
put value 999A
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
5 AV=Voltage out- Specifies the aimed value of the welding voltage. Voltage value : 0.1 V
put value to 50.0 V
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1 V)
6 AVP=Ratio to Specifies the aimed value for the welding voltage Ratio : 50% to 150%
proper voltage in the ratio to the proper voltage output value. Variable B/I/D/B[]/I[]/
output value D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
2-253
2.7 Arc Welding Instruction
7 AN3=Aimed value Specifies the aimed value of the instruction volt- Aimed value :
of instruction volt- age to analog output 3. -14.00 V to +14.00 V
age Variable I/I[]/LI/LI[]
can be used.
(Units: 0.01 V)
8 AN4=Aimed value Specifies the aimed value of the instruction volt- Aimed value :
of instruction volt- age to analog output 4. -14.00 V to +14.00 V
age Variable I/I[]/LI/LI[]
can be used.
(Units: 0.01 V)
6. DIS=Execution section
9 DIS=Execution Specifies the execution section where the cur- Section : 0.1 mm to
section rent and the voltage are changed. 6553.5 mm
The execution section is set by the distance from Variable B/I/D/B[]/I[]/
the moving start point. D[]/LB/LI/LD/LB[]/
If the section is not specified, all the section of LI[]/LD[] can be used.
the move instruction is regarded as the execu- (Units: 0.1 mm)
tion section.
For details of the slope up/down function, refer to the “Operator’s Manual for the Arc Weld-
ing”.
2-254
2.7 Arc Welding Instruction
Example
(1) ARCCTS AC=150 AV=16.0 DIS=100.0
MOVL V=80
To make the welding current =150A and arc voltage =16V, the current and the volt-
age are changed in the section of 100mm from the move start point.
ARCCTS executed
DIS =100
Move di stance specified
by move i nstructi on
Welding c ontinues
Gradually Decreasing Current or Voltage
ARCCTS executed
DIS=100
Move distance specified
by move instructi on
Welding c ontinues
Gradually Increasing Current or Voltage
2-255
2.7 Arc Welding Instruction
ARCCTE
For arc welding applications
Instruction set:
Function
Controls the welding current and the voltage in the specified end section.
This function is used with the move instruction and modifies the current and the voltage while
the manipulator is moving. The aimed value and the section are set. The section is specified
as a distance from the moving end point. If it is not specified, it is regarded as the entire sec-
tion of the move instruction.
Construction
ARCCTE A
Current output
1 WELD1 4 AC=
(A)
2 WELD2
3 WELD3
A B
Command
Voltage output
5 AV=
(V)
7 AN3= voltage aimed
value (V)
Ratio to proper
6 AVP= voltage output
value (%)
B END
Command
Excution
8 AN4= voltage aimed 9 DIS=
section (mm)
value (V)
2-256
2.7 Arc Welding Instruction
Explanation
1. WELD1 /WELD2/WELD3
Choose one of the tags from the following table. These tags are valid for a system with multi-
ple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
4 AC=Current out- Specifies the aimed value of the welding current. Current value : 1 to
put value 999A
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
5 AV=Voltage out- Specifies the aimed value of the welding voltage. Voltage value : 0.1 V
put value to 50.0 V
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1 V)
6 AVP=Ratio to Specifies the aimed value for the welding voltage Ratio : 50% to 150%
proper voltage in the ratio to the proper voltage output value. Variable B/I/D/B[]/I[]/
output value D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
2-257
2.7 Arc Welding Instruction
7 AN3=Aimed value Specifies the aimed value of the instruction volt- Aimed value :
of instruction volt- age to analog output 3. -14.00 V to +14.00 V
age Variable I/I[]/LI/LI[]
can be used.
(Units: 0.01 V)
8 AN4=Aimed value Specifies the aimed value of the instruction volt- Aimed value :
of instruction volt- age to analog output 4. -14.00 V to +14.00 V
age Variable I/I[]/LI/LI[]
can be used.
(Units: 0.01 V)
6. DIS=Execution section
9 DIS=Execution Specifies the execution section where the cur- Section : 0.1 mm to
section rent and the voltage are modified. 6553.5 mm
The execution section is set by the distance from Variable B/I/D/B[]/I[]/
the moving start point. D[]/LB/LI/LD/LB[]/
If the section is not specified, the entire section LI[]/LD[] can be used.
of the move instruction is regarded as the execu- (Units: 0.1 mm)
tion section.
SUPPLE-
For details of the slope up/down function, refer to the “Operator’s Manual for the Arc Weld-
MENT ing”.
2-258
2.7 Arc Welding Instruction
Example
(1) ARCCTE AC=150 AV=16.0 DIS=100.0
MOVL V=80
To make the welding current =150A and arc voltage =16V, the current and the volt-
age are changed in the section of 100mm from the move end point.
ARCCTE executed
DIS=100
M ove di stance specified
by move instructi on
Welding c ontinues
Gradually Decreasing Current or Voltage
ARCCTE executed
DIS=100
Move di stance specified
by move i nstructi on
Welding c ontinues
Gradually Increasing Current or Voltage
2-259
2.7 Arc Welding Instruction
2-260
2.8 Handling Instruction
HAND
For handling applications
Instruction set:
Function
Turns the signal to the tool valve ON or OFF to control the tool.
Construction
B/LB/B[]/
HAND 4 Hand No. 5 LB[]
Variable No. A
1 UNIT1
6 ON/OFF
2 UNIT2
3 UNIT3 A END
7 ALL
Explanation
1. UNIT1/UNIT2/UNIT3
Choose one of the tags from the following table. These tags are valid for a system with multi-
ple applications in which two or more handling applications are included. These tags are not
displayed when there is only one application.
2-261
2.8 Handling Instruction
2. Hand number
5 B Variable num- Refers the least significant bit of the specified Least signigicant bit:
ber/LB Variable byte type variable to specify the ON/OFF status 0: OFF
number/ of the signal to be sent to the tool valve. 1: ON
B [Array number]/
LB [Array num-
ber]
4. ALL
Example
HAND 1 OFF
2-262
2.8 Handling Instruction
HSEN
For handling applications
Instruction set:
Function
Monitors the input status of the tool sensor. Stores the result in the system variable $B006.
SUPPLE-
MENT For details of system variables, refer to GETS of " 2.3 Operating Instruction ".
Construction
B/LB/B[]/
HSEN 4 Sensor No. 5 LB[]
Variable No. A
1 UNIT1
6 ON/OFF
2 UNIT2
A END
3 UNIT3
7 T= Time (s)
8 FOREVER
Explanation
1. UNIT1/UNIT2/UNIT3
Choose one of the tags from the following table. These tags are valid for a system with multi-
ple applications in which two or more handling applications are included. These tags are not
displayed when there is only one application.
2-263
2.8 Handling Instruction
2. Sensor number
5 B Variable num- Refers the least signigicant bit of the specified Least significant bit:
ber/LB Variable byte type variable to specify the ON/OFF status 0: OFF
number/ of the monitoring input status of the tool sensor. 1: ON
B [Array number]/
LB [Array num-
ber]
4. T=Time/FOREVER
7 T=Time Specifies the time for monitoring the input status. Units: seconds
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
Example
HSEN 1 ON
Checks if sensor 1 is ON at the execution of an HSEN instruction and stores the result in the
system variable $B006.
1 is stored in $B006 when sensor 1 is ON, 0 is stored when sensor 1 is OFF.
2-264
2.9 Spot Welding Instruction
GUNCL
For spot welding applications
Instruction set:
Function
Gun pressure
GUNCL 1 GUN# ( Gun No. ) 2 T=
time (s)
A
A END
Anticipation
3 ATT=
time (s)
Explanation
1. GUN# (Gun number)
1 GUN# (Gun num- Specifies the number of the air gun to which No.: 1 to 8
ber) pressure is applied. Variable B/I/D/LB/LI/
LD can be used.
2. T=Time
2 T=Gun pressure Specifies the time during which the air gun is Units: seconds
time closed. Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
2-265
2.9 Spot Welding Instruction
3 ATT=Anticipaton Specifies the anticipation time for which the exe- Units: seconds
time cution of the GUNCL instruction is advanced. Variable I/LI/I[]/LI[]
The GUNCL instruction is carried out in advance can be used.
for the specified time before reaching the step (Units: 0.01 seconds)
immediately before the GUNCL instruction.
An NWAIT tag must be added to the move
instruction of the step immediately before the
GUNCL instruction.
Example
MOVL V=1000 NWAIT *(*(* Step 5
GUNCL GUN#(1) T=2.00 ATT=0.50
Turns ON the Gun 1 pressure signal 0.5 seconds before the manipulator reaches Step 5, and
turns it OFF 2 seconds later (1.5 seconds after the manipulator reaches Step 5).
2-266
2.9 Spot Welding Instruction
SPOT
For spot welding applications
Instruction set:
Function
Starts the welding sequence after pressure has been applied to the air gun.
Construction
Gun 1 operation
SPOT 1 GUN# ( Gun 1 number ) 2 MODE= A
mode
Gun 1 welding
A 3 WTM= D
conditions
D END
Anticipation time
7 ATT=
(s)
Explanation
1. GUN# (Gun 1 number)
1 GUN# (Gun 1 Specifies the number of the air gun to be used No.: 1 to 8
number) for welding. Variable B/I/D/LB/LI/
For a 2-gun system, specify the number of the LD can be used.
first air gun.
2-267
2.9 Spot Welding Instruction
0 Single gun
3 WTM=Gun 1 Specifies the welding condition number set for Condition No.:
welding condition the welder. 1 to 255
For a 2-gun welding system, set the welding con- Variable B/B[]/LB/
dition number of the first air gun. LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
2-268
2.9 Spot Welding Instruction
4 Gun 2 number Specifies the number of the air gun used for No.: 1 to 8
welding. Variable B/I/D/LB/LI/
For a 2-gun welding system, specify the number LD can be used.
of the second air gun.
When a Gun 2 number (GUN#) is selected from the table in part 4 of this Explanation, add the
following tag.
When a Gun 2 number (GUN#) is selected from the table in part 4 of this Explanation, add the
following tag after MODE=Gun 2 operation mode is selected from the table in part 5 of this
Explanation.
6 WTM=Gun 2 Specifies the welding condition number set for Condition No.: 1 to
welding condition the welder. 255
For a 2-gun welding system, specify the welding Variable B/B[]/LB/
condition number for the second air gun. LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
2-269
2.9 Spot Welding Instruction
7. ATT=Anticipation time
7 ATT=Anticipation Specifies the anticipation time for which the exe- Units: seconds
time cution of the SPOT instruction is advanced. Variable I/LI/I[]/LI[]
The SPOT instruction is carried out in advance can be used.
for the specified time before reaching the step (Units: 0.01 seconds)
immediately before the SPOT instruction.
An NWAIT tag must be added to the move
instruction of the step immediately before the
SPOT instruction.
Example
MOVL V=1000 NWAIT *(*(* Step 5
SPOT GUN#(1) MODE=2 WTM=5 ATT=0.50
0.5 seconds before the manipulator reaches Step 5, the spot welding sequence starts from
the moment the air gun is short open, and the air gun is full open after the sequence is com-
pleted. Then the maipulator carries out the next step.
2-270
2.9 Spot Welding Instruction
STROKE
For spot welding applications
Instruction set:
Function
Switches the open status of the 2-step stroke gun to/from Full open to/from Short open when
not welding.
Construction
3 SHORT
Explanation
1. GUN# (Gun number)
1 Gun# (Gun num- Specifies the number of the air gun whose open No.: 1 to 8
ber) status is to be changed. Variable B/I/D/LB/LI/
LD can be used.
2. LONG/SHORT
Example
MOVL V=1000 NWAIT ----(Step 5
STROKE GUN#(1) LONG
When the manipulator reaches Step 5, the stroke is changed to Full open to avoid interfer-
ence, and then the manipulator moves to the next step.
2-271
2.9 Spot Welding Instruction
STRWAIT
For spot welding applications
Instruction set:
Function
Confirms the specified open status of a 2-step stroke gun as short open or full open when not
welding.
Wait until the signal of the specified open status, short open or full open, is turned ON.
Construction
3 SHORT
Explanation
1. GUN# (Gun number)
1 GUN# (Gun num- Specify the number of the air gun whose open No.: 1 to 8
ber) status is to be confirmed. Variable B/I/D/LB/LI/
LD can be used.
2. LONG/SHORT
2-272
2.9 Spot Welding Instruction
Example
MOVL V=1000 NWAIT ----(Step 5
STROKE GUN#(1) LONG
STRWAIT GUN#(1) LONG
When the manipulator reaches Step 5, the open status changes to Full open, and the manipu-
lator confirms the Full open status before moving to the next step.
2-273
2.9 Spot Welding Instruction
2-274
2.10 General-purpose Instruction
TOOLON
For general-purpose applications
Instruction set:
Function
TOOLON END
1 TOOL1
2 TOOL2
3 TOOL3
Explanation
1. TOOL1/TOOL2/TOOL3
Choose one of the tags from the following table. These tags are valid for a system with multi-
ple applications in which two or more general-purpose applications are included. These tags
are not displayed when there is only one application.
2-275
2.10 General-purpose Instruction
Example
TOOLON
2-276
2.10 General-purpose Instruction
TOOLOF
For general-purpose applications
Instruction set:
Function
TOOLOF END
1 TOOL1
2 TOOL2
3 TOOL3
Explanation
1. TOOL1/TOOL2/TOOL3
Choose one of the tags from the following table. These tags are valid for a system with multi-
ple applications in which two or more general-purpose applications are included. These tags
are not displayed when there is only one application.
Example
TOOLOF
2-277
2.10 General-purpose Instruction
2-278
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