AMrsuBtsHl

INDUSTRIAL
MICRO-
ROBOTSYSTEM
Model

RV-M1

MOVEMASTERtrX
 THIS MANUAL IS DIVIDEDUP AS FOLLOWS

f sercrrrcnrrorus
Givesoverallof construction, main specifications,
using instruc-
tions. etc. Pleaseread this oart first.

p oernarroru
and connectionprocedures,
Givesinstallation basicfunctionsof
systemcomponents, powering-up to positionsettingprocedures,
and programgenerationand executionprocedures.

13I DESCRIPTIO
ONF T H E C O M M A N D S

Givesformatsand usagesof intelligentcommandswhich have

been classifiedin accordancewith functions.The commands
appearin alphabeticalorder.

I 4 M A I N T E N A N CAEN D I N S P E C T I O N

Givesmaintenance, partsreplacement
inspection, procedures
and
servrcepans.

@ neeeNorcrs
Gives interfacingwith a personalcomputer and external l/O
equipment,cartesiancoordinatesystem referencepositionset-
ting, command list, applicationprograms,etc.
 CONTENTS

I 1 I SPECIFICATIONS

1, UNPACKING
AND ACCEPTANCE
INSPECTION

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

2. SYSTEMOFCONSTRUCTTON '' t-5

2.1 Overallof Construction 1-3

2.2 Standardand Optional

1-5

J. I

3.1.3 Externaldimensions ......1-7

3 . 1. 4 O p e r a t i osnp a c e. . .. . .. .. . . . ' '' ' '' t-lt

3 . 1 . 5 B a s i co p e r a t i o n s .. . . . . . . . . - ' " ' . ' .. . . .... . . . . .. .. . . .1. - 9

J.Z DriveU nit . . . . . . . -1. _ ' t ' l

3.2.1 Nomenclature. . . . . . .. . . . .. . . . . .1 - 11

3.2.3 ExternaI dimensions t-tJ

3.3 TeachingBox (Option) 1-14
3.3.1 Nomenclature.. 1-'t4
3.3.2 Externaldimensions . . . . . . . . . .1.- 1 5
3.4 Motor-operatH e da n d( O p t i o n ) . . . . . . . . . . . . . . . . . . . . . . . .1. -. .1. 6.

4. USINGINSTRUCTIONS

4.1 1-17
A '
1-17
4.3 1-17
4.4 1-18
A F .. .....
L i n eV o l t a g e 1-18
4.6 1-19
4.7 1-19

5. WARRANTYPERIOD
AND PAINTCOLORS
iz ] onennrom
1.

1.'l T r a n s p o r t a t i o no f t h e R o b o t " " 2-1

1.2 l n s t a l l a t i o on f t h e R o b o t 2-3
'l.3
T r a n s p o r t a t i oann d I n s t a l l a t i oonf t h e D r i v eU n i t . . . . . . . . . .. . . . . . . . 2-5
1.4 l n s t a l l a t i o nt h oef l / OC a r d . . . . . . . . . . . . . . . . . . .. .' . . . . 2 - 5
1.5 Grounding 2-6
1 . 6 C a b l eC o n n e c t i o n s 2-7
1 . 7 l n s t a l l a t i oonf t h e H a n d( O p t i o n ).. . . . . .. .. . .. .. ....2-8
'1.8 " " " '2-10
I n s t a l l a t i oonf t h e T e a c h i n g8 o x ( O p t i o n )
1 . 9 l n s t a l l a t i o on f t h e B a c k u pB a t t e r y{ O p t i o n ) .. .. .. . . 2-10
1 . 1 0 i n s t a i l a t r oonf t h e E m e r g e n c yS t o p S w i t c h " '2-11

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

J. l S y s t e mC o n t i g ur a t i o n "" 2-23
3 . 1 . 1 S y s t e mc o n f i g u r a t i o cn e n t e r i n ga r o u n da p e r s o n acl o m p u t e r " " " " " " " " ' 2-23
3 . 1 . 2 S y s t e mc o n f i g u r a t i o cn e n t e r i n ga r o u n dt h e d r i v eu n i t " " " " " " " " " " " " ' 2 - 2 4
3.2 Robot-ComputeL r i nk 2-25
3 . 2 . 1 C e r rrto ni c s i n t e r f a c e 2-25
3 . 2 . 2 R S 2 3 2 Ci n t e r f a c e " "'2-25
3.3 C o n t r o lM o d e s " """ "" " " "" 2-26
3 . 3 . 1 P e r s o n a l c o m p u trehro d e" ''' 2-26
3 . 3 . 2 D r i v eu n i t m o d e ' ' '2-24

4 . 1 S e t t i ntgh eS i d eS e t t i n S
gwitches " '' '''2-29
4 . 2 T u r n i n gP o w e O r N 2-29
4 . 3 O r i g i nS e t t i n g """'2-29
5. POSITION
SETTINGPROCEDURE

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

6.

o. l

6 . 2 Executing
the Program " " 2-34
6.2.1 Stepexecution ' " " " "... ... 2-31
6.2.2 Startingthe program . .2-34
6 . 2 . 3 S t o p p i n g / r e sr t ian gt h e p r o g r a m . . . . . .. . . . . . . . .2 - 3 5
6.2.4 Stopping/resetting the program

7. WRITINGTHE PROGRAM/POSITION DATA IN EPROM

(PERSONALCOMPUTERMO . D. .E ). . . . . . . . . .. . . . . 2 - 3 6

7.1 I n s e r t i nEg r a s e d
EPROM .'. .....'.....2-36
7.2 W r i t i n gD a t ai n t oE P R O M . . . . .. . . . . . . 2 - 3 6
7.3 Preca utionsfor Storage of EPROM "" "" " "" " " 2-36

8.

8.1 lnsertingthe EPROM ' 2-37

8.2 Settingthe SideSettingSwitches.......... . . . . .. . 2-37
8.3 TurningPowerON ' ' 2-37
8.4 Executing the Program ' ' 2-37
8.4.1 Stepexecution ' 2-37
8.4.2 Startingthe program """ " 2-37
8.4.3 Stopping/restartingthe program " " "" " " 2-38
8.4.4 Stopping/resettingthe program 2-38

9. OPERATION
USINGTHEEXTERNAL
SIGNALS

10.

1 0 . 1 E r r o r M o dIe " " """""" 2-4O

10.2 ErrorMode II " 2-41
El DESCBTPTTON
OF THE COMMANDS

1.

2.1 P o s i t i o n / M o tC i oonn t r oI ln s t r u c t i o n s . . .... . . . . . . . . . . . . ' . '.. . . . . . . . . . . .3. -. 3

D P{ D e c r e m e P n to s i t i o n ) " M o v i n gt o a p o s i t i o n u m b e o r n es m a 1 | e r . . . . . . . . . . ......... 3. - 3
DW (Draw) 'Moving a distancespecifiedin the cartesiancoordinate
system ...........3-4
HE ( H e r e ) T e a c h i ntgh ec u r r e npt o s i t i o n . . . . . . . . . . . . .3 - 5
HO {Home) " Settingthe cartesiancoordinatesystemreferenceposi-
tion....'..... .........3-6
l P( l n c r e m e Pno t s i t i o n.). . . M o v i n g t o a p o s i t i o n n u m b e r o n e g r e a t e r . . . . . . . . . . . . . . . . . . . 3 - 7
MA ( M o v eApproach) M o v i n gt o a s p e c i f i eidn c r e m e n tdailm e n s i o n. . . . . . . . . . . . .3. -. 8
" "
M C { M o v eC o n t i n u o u s ) M o v i n gt h r o u g hi n t e r m e d i a pt eo i n t sc o n t i n u o u s l y ........ .3 - 9
MJ(MoveJoint) " " . ' . . T u r n i nega c hj o i n t a s p e c i f i e d a n g l e . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 1 1
MO (Move) Movingto a specifiedpositionby articulated interpola-
tion " .......3-12
MP (MovePosition) Movingto a positionwhosecoordinates arespecified...3-13
MS ( M o v eStraight) M o v i n g t oa s p e c i f i epdo s i t i o n b y l i n e a irn t e r p o l a t i o n .3. .-.' 1 4
MT (MoveTool) Moving an incrementaldistancespecifiedin the tool
direction """" ""'3-16
N T( N e s t ) . R e t u r n i n g t h e r o b o t t o o r i g i n . . . . . . . . ' . . ' . . .....'...'.'...'...3-17
OG (Origin) Moving to the cartesiancoordinatesystem reference
positlon " " "" 3-18
PA (Pallet Assign) ' .. Definingthe numberof columnand row grid points for a
s p e c i f i eoda l l e t ' . . . . . . . . . . . . . . .3' -. .1 9
PC(Position Clear) " " Clearinga specified position " "' 3-20
P D( P o s i t i oDn e f i n e ) " D e f i n i ntgh ec o o r d i n a t eosf a s p e c i f i e d p o s i t i o n . . . . . . . . . . 3 - 2 1
PL(Position Load) " Asslgningthe positiondata of a specifiedpositionto
anotherspecified position """ " " "' 3-22
PT(Pallet) Calculating the coordinates of a grid pointon a specified
na||et. . . . . . . . . .........3-23
PX (Position Exchange)" Exchanging the coordinatesof a positionfor those of
another" "" " " "" 3-2'l
SF(Shift) " Shiftingthe coordinates of a specified position" " " 3-28
SP{Speed) Settingthe operatingvelocityand acceleration/decel-
erationtime" " "" 3-29
Tl {Timer) " Haltingthe motionfor a specified periodof time " 3-30
TL(Tool) " S e t t i ntgh e t o o ll e n g t h ....'...."" "'3-31
z.z Program C o n t r olln s t r u c t i o n "s " ' """""'3-32
CP(CompareCounter) "" Loadingcounterdataintothe comparison register"" " 3-32
DA (Disable Act) Disabling the interruptby an externalsignal"" "" " " 3-33
DC(Decrement "
Counter) Subtracting 1 from a valuein a specified counter"" " 3-34
DL(DeleteLine) " " " " p a r
D e l e t i nags p e c i f i e d o f a t p r o g r a m " " " " " " ' 3 -35
 EA {Enable Act) Enablingthe interruptby an externalsignal "" " "' 3-36
ED ( E n d ) " E n d i n gt h e p r o g r a m 3-38
EO(lf Equal) Causinga jump to occurif the contentsof the compari-
son registerequala specified value " " "" " "" ' 3-39
GS(GoSub) Executing a specified subroutine ' 3-40
GT(GoTo) C a u s i n ag l u m p t oo c c u r t oa s p e c i f i eldi n en u m b e r " " ' 3-41
lC (lncrement Counter) " 'Adding 1 to the valuein a specified counter"" "" " ' 3-42
L G( l fL a r g e r.)" . . . . . . . . . . . . . . .C. .a u s i n g a j u m pt o o c c u ri f t h e c o n t e n t os f t h e c o m p a r i -
son registeraregreaterthana specified value"" " " " 3-43
NEllf Not Equal) " " " Causinga jump to occurif the contentsof the compari-
son registerdo not equalaspecified value " "" " " 3-44
N W( N e w ) . . D e l e t i nagl l p r o g r a m as n dp o s i t i o d n a t a" " " " ' 3-45
NX(Next)" " " " " " " ' S p e c i f y i n g
t h er a n g e o a f l o o pi n a p r o g r a m " " " " " " ' 3 -46
R C( R e p e aCt y c l e ) ' ' ' ' S p e c i f y i n g t h e n u m b e rroefp e a t ecdy c l e so f a l o o p " " ' 3 - 4 7
R N{ R u n ) " " ' E x e c u t i nags p e c i f i epdar t o f p r o gr a m " " """""" 3-48
RT (Return)" Returningto the main program after completinga
subroutine "" """3-49
S C ( S e t C o u n t e "r )" ' ' ' L o a d i n g a v a l u e i n a s p e c i f i e d c o u n t"e" r "" " " " " ' 3 - 5 0
SM (lf Smaller)" Causinga jump to occurif the contentsof the compari-
son registeraresmallerthana specified value " " " " ' 3-5i
2 . 3 H a n dC o n t r oIln s t r u c t i o n s " ' . " "'3-52
G C( G r i p C l o s e " )" " " " ' C l o s i n g t h eh a n dg r i p " " " " " " " "" 3-52
G F( G r i pF l a g )' . . . . . . .. . . . . ' . D e f i n i ntgh eo p e n / c l o sset a t eo f t h eh a n d " " " " " 3-53
G O( G r i pO p e n )" " " " " O p e n i n g t hhea n dg r i p " """" " 3-54
GP(GripPressure)" " "" " Definingthe gripping force/timewhen the hand is
3-55
2.4 3-56
l D( l n p u D
t irect)" " " " F e t c h i nagn e x t e r n a l s i g n a " l" " ' 3-56
lN(lnput) " "
F e t c h i nagn e x t e r n a l s i g nsayl n c h r o n o u s l y " " " " ' 3-57
O B ( O u t p u t B i "t )" " " " " " S e t t i n g t h eo u t p u st t a t eo f a s p e c i fe db i t " " " " " " ' 3-58
OD (OutputDirect)..""" " 'Outputtingspecified data " "" " " 3-59
O T ( O u t p u t" ) " " " " " ' O u t p u t t i nsgp e c i f i edda t as y n c h r o n o u s l y" " " " " ' 3-60
TB (TestBit) " " " " " "'Causinga jump to occurdependingon the conditionof
a specified externalsignalbit" " "" " " "" "" " " 3-6'
2.5 RS232C Readlnstructions " 3-62
CR(CounterRead)" " ' Reading the datain a specified counter "" " " " 3-62
DR (Data Read) "" " " " Reading the datain the externalinput port " "" ' 3-63
E R ( E r r o r R e a. d ") " " " Readingthestatusoe f trhr eo r" " " " " "'3-64
LR(LineRead) Reading the programon a specifiedlinenumber" " " 3-65
PR(PositionRead)"- " " Reading the coordinatesof a specified position " "'3-67
WH (Where) Reading the coordinates of the currentposition " ' 3-68
2.6 Miscellaneous " "'3-69
RS(Reset)
T R ( T r a n s f e r )" " " T r a n s f e r r i nEgP R O M d a t at o R A M "" ""'3-70
wR (write) writing RAMdataintoEPROM """""" 3-7
' ( C o m m e n t")" " " ' W r i t i n ga c o m m e n t" ""'3-72
l!l MATNTENANCE
AND TNSPECTTON

2.1
2.2
2.3

3.

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

4. .. 4-36

A 1

4.2
4.3
@ neeeruorces
APP-1

1.1
1.2

1.4
1.5

2. APP.5
1 1

2 . 2 F u n c t i oonf E a c hS i g n aLl i n e . . .. . . . . . . . . . . . .
2.5 RS232C
Settings

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

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

4. CARTESIAN
COORDINATE
SYSTEMREFERENCE

4.1 M o v i n g t h eR o b o t t oB e f e r e n cPeo s i t i o n . . .. .. . . . ..App-29

4.2 Setting t h e R e f e r e n cPeo s i t i o .n. . . . . . . . . . . . . . . . . . . .A
. .p p - 2 9
4.3 StoringReference PositionDatain EPROM .........App-30
4.4 L o a d i n g t hR
e e f e r e n cPeo s i t i o Dn a t a . . . ' . . . ..... . ..APp-31
5. PROGRAMMING
SYSTEMUSINGPERSONALCOMPUTER ..."".......APP-32

5. SAMPLE
PROGRAMS.... ...............App-36

7 . C O M M A N D 1 | S T . . . .. ...... . . ...........App-44

8 . T I M | N GB E L T T E N S T O N . . . . . . . . . . . ' . .A p p - 4 8

9. DEFINITIONOFWEIGHTCAPAC|TY............. ........App-49

. .N
10.ROBOTARMSTORAGEPOS|T|O . . .. .. .. . . . . .....App-50

. .A
11.OPERAT|ONALSPACED|AGR . .M
. . .. . . . . . . . . . . .. . . A p p - 5 1

1 2 .W | R | N G D I A G R A M . . . . . . . . . . . . . .....A. .p p - 5 2

1 3 .D R | V E U N | T W t R t N G D | A G R A M . . . . . . . ............'......App-54
1.SPEC|F|CATI0N
2. OPERATIOl{
OTTIIICOt|MANDS
3. DESCRIPTION
4. MAIl{TEI{ANCT
A1{D
INSPECTION
5. APPENDICTS
 CONTENTS(SPECIFICATIONS}

INSPECTION
AND ACCEPTANCE
1. UNPACKING
' ' '' 1-1
1 . 1 U n p a c k i nIgn s t r u c t i o n s
e s p e c t i o n" """ "'1-2
1 . 2 A c c e p t a n cI n

2. SYSTEMOFCONSTRUCTION t-J

2 . 1 OverallofConstruction" " ""'

" " " . . . .' t- 4
S t a n d a r da n d O p t i o n a lE q u i p m e n t

1-5

R o b o "t " " " " """""'1-5

3.1
" " "" 1-5
3 . 1 . 1 N o m e n c l a t u r' e
"" """ "" 1-7
3 . 1 . 2 S t a n d a r sdp e c i f i c a t i o n' s
"""' " "1-7
3.1.3 Externaldimensions
" " "" ""'1-8
3 . 1 . 4 O p e r a t i o n s p a c "e" '
"" " """"1-9
3 . 1 . 5 B a s ioc p e r a t i o n "s "" " "
" "" 1-10
3 . 1 . 6 O r i g i ns e t( R e t u r tno o r i g i n ) " " " " '
"" "" " 1-11
3 . 2 D r i v eU n i t
"" "" " "' 1-11
3.2.1 Nomenclature"
" """""" ''l-12
3 . 2 . 2 S t a n d a rsdp e c i f i c a t i o 'n s
3.2.3 Externaldimensions 1-13
TeachingBox(Option) 1-14
3.3.1 Nomenclature' 1-14
3.3.2 Externaldimensions 1 - 15
3.4 1 - 16

4.1 1-17
1-17
.+.J Robot ""' 1-'t7
4.4 1 -1 8
1+.3 1-18
4.6 N o i s e" ' 1-19
4.7 Position 1-19

.....
5. WARRANTYPERIODAND PAINTCOLORS

3. 1 1-21
5.2 1-21
1. SPECIFICATIONS

1. UNPACKINGAND
ACCEPTANCE
INSPECTION

1.1 UnpackingInstructions11)Carefullyread "Section 1.1 Robot Transportation,

Vol. 2,,
beforeremovingthe robot from the package.

( 2 ) D o n o t h o l dt h ec o v e r( a r e aA i n F i g .1 . 1 . 1 w
. ) h e nr e m o v i n g
the
robot.

(3) The origin limit switchesand dogs (areasB, C) have been

factory-adjusted.Do not touch them to ensurehigh repeata-
bility.

(4) Brakeis being appliedto the arms (areasD. E) Do not force

these arms to extend.

(5) Do not removethe arrn fixing plate (areaF) until the robot
installationis complete,This plate protectsthe arm during
transportation.

Do nol force the arm.

Do not force the arm,

'Do not ho d tlie

cover,

Do
t h e I mil swltch.

Do not louch the imlt swilch.

Robot weight: approx. 1gkg

Fig. 1.1.1 Robot Attitude in the Package

The arm fixing platemust be reinstalled

beforetransporting
the robot.
 1. SPECTF|CAT|ONS

Inspection Checkthatthe receivedproductconformsto your purchase

1.2 Acceptance order.
Ihe basiccomponents whichvou have purchased are as follows:

No. Description Tvpe Ouantity

Robot RV,Ml 1

2 Dflve unit D/U t\,'11 1

3 lMolorsignai cable {5m) IVISM 1 l

,I
4 Motor power cable {5m) t\,1P-
t\,11

5 Power cord (2.5m) POW-M1 1

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

1 I n s t r u c t r o nm a n u a 1

8 Warranty card 1

I I n s t a l l a t i o nb o l t M8x30 4

Spring washer for installation

10 For Mg 4
bolt

11 F l a t w a s h e r { o r i n s t a l l a t i o nb o l t ForM8 4

12 l/O card A 8 o r 4 1 6 ( 8 8o r 8 1 6 ) 1

Table 1.1.1 Standard Components

The following options are available.

No. Description Type

1 T e a c h i n gb o x T/8,M1

2 lMotor operated hand Htvl-01

3 EP-ROI\,4 256K,ROM

4 External l/O cable l/O-CBL {5m)

5 P e r s o n a lc o m p u t e r c a b l e NilULTl16,PC9801 (Note)

6 Backupbattery BAT-M1

Table 1.1.2 Options

1. SPECIFICATIONS

2. SYSTEMOF
CONSTRUCTION

2.1 Overallof Construction

Motor power cable

(MPM]) 5m c o m p u t e rc a b l e *
M o t o r s i g n a lc a b l e
( M SM l ) 5 m

Drive unit
I D / UM 1 )

Robot
(RV,M1)

( P O WM 1
OPersonalcomputer
(MUtTtl6lll)
T e a c h i n gb o x '
( T / BM l )
C a b l el e n g t h3 m

+ indicales an option.

OThe equipment indicated by should be prepared by the customer.

Fig. 1.2.1Ovelall of Construction

 1. SPECIFICATIONS

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

Division Description Type Remarks

Vertical articulated robot with 5 degrees of

Robot RV-t\,11
freedom.

Drive unit D/U M1 Pobot controller.

e
; G i v e sc o n t r o ls l g n a l sf r o m t h e d r i v e u n i t t o
Molor siEnalcable (5m) MS.t\,4
1
the robot.

E S u p p l i e sp o w e r f r o m t h e d r i v e , J n i tt o t h e
l M o t o rp o w e r c a b l e ( 5 m ) t\,1P-
M1
robot.

P o w e r c o r d ( 2 . 5 m) P O WM 1 S u p p l i e sp o w e r t o t h e d r i v e u n i t .

l/O card A8 (or BB) to-A8 (r/o-88) 8 i n p u t s / Bo u t p u t s .

l/O card416 (or B16i v o - A 1 6( t / o8 1 6 ) 1 6 l n p u t s / 1 6o u t p u r s .

T e a c h i n gb o x Handy cont.ol switch box with a cable for

T/B Ml
{ C a b l el e n g t h 3 m ) t e a c hi n g , c h e c k i n g ,c o r r e c t i n gp o s i t r o n s -

Hand which is only used with the RV-M1

Motor operatedhand HM O1
a n d a l l o w s 1 6 s t e p h o l d i n gp o w e r c o n t r o l .

EP,ROM 2 5 6 KR O M Storeswrittenprogramsandset positions.

Backupbattery BAT II1 B a c k su p l " e m e m o r y d u l n g p o w e r o f f .

C o n n e c t sw i t h a n e x t e r n a lp e r i p h e r a l e, . g .
E External l/O cable r/o-cBL p r o g r a m m a b l ec o n t r o l l e r .

RS 232C cable used to connect the

R S ' M U L T I - C B{ 3Lm )
MULTI'I6.
c
MULTIl6
Centronicscable used to connect the
Centronics C - M UL T I - C B (L2 m )
MULr16.
f
RS 232C cable used to connect the
RS-232C R S ' P C - C B( L3 m )
E PC9801.
PC9801
Centronicscable used to connect the
C e n t r o n i c s C - P C - C B L( 1 . 5 m ) PC9801.

RS-232C R S F R E EC B L ( 3 m ) RS-232C cable wiih one free end.

Free cable
Centronics ( 1L. 5 m )
C-FREE-CB C e n t r o n i c sc a b l e w i t h o n e { . e e e n d .

Table 1.2.1 Standard and Optional Equipment

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

B8 or 816 is for sourceload.
1. SPEC|F|CAT|ONS

3. MAIN
SPECIFICATIONS

3.1 Robot

3.1.1 Nomenclature

F o r ea r m
upper arm

Elbow (J3 axis)

u"j"i:i
/A--
-+f S ho u l d e r
S h o u l d e rc o v e r
(upperl

\-t (J2 axis)

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

Shoulder cover
{lower)
Curl cable

W a i s t{ J 1 a x i s ) --S=:? Molor siqnal cable

(to the upper
conneclorl

Motor power cable

(to the lower
connector)

Base side cover (R)

* {L) Left side

Fig. 1.3.1 Nomenclature (External Viewl

 1. SPECIFICATIONS

J5 axismotor

J4 axis motor

J4 axis timing belt

J2 axis timing belt

J3 axis limit switch

J2 axismotor

J4 axis limit switch

J5 axis limit switch

J2 axis brake J3 axis brake

J2 axis limit switch

J'l axis limit switch

J1 axis motor

Relay card

Fig. 1.3.2Nomenclature(lnternalView)
1. SPECTFTCAT|ONS

3.1.2 Standard
specifications

Itern Specifications Remarks

5 degrees of freedom, venical articulated
Mechanical Structure
robot

Waist rotation 300' (max. 120"/sec) J1 axis

Shoulder otation 130"lmax. 727sec) J2 ax;s

Operation
range
Elbow rotation 1'10'(max. 109'/sec) J3 axis
Wrist pitch 190" (max. 1001sec) J4 axis
ro tl 1 1 8 0 ' ( m a x .1 6 3 7 s e c ) J5 axis
upper arm 250mm
Arm length
F o r ea r m 160mm

75mm from the mechanical

Weight capacity M a x . 1 . 2 k g f ( i n c l u d i n gt h e h a n d w e i g h t )
interface (center of gravity)

Maximum path velocity 1000mm/sec (wrist tool surface) Speedat point P in Fig. 1.3.4

Accuracy at point P in Fig.

Positionrepeatability 0.3mm (roll centerof the wrist tool surface)
1. 3 . 4

Drive system Electricalservodrive usinqDC servomotors

Robot weight Approx. 1gkgf
Motor capacity J l t o J 3 a x e s :3 0 W ; J 4 , J 5 a x e s r1 l W

Table 3.1.1 Standard Soecifications

3.1.3 External
dimensions

?
-
-L
Mechanical
interface I
I r+s 60
t68 a2
254

180"

Frange deraiLs lP c 968)

Fig. 1.3.3 Fxternal Dimensions

 1. SPECTFTCATIONS

3.1.4 Operationspace

Fig. 1.3.4OperationSpace

Note1: Theoperationspaceindicatedin Fig.1.3.4assumethatthe

hand is not installedto the robot. (Traceof point P)

Note2: The wrist pitchoperationmay be restricted in some area

dependingthe upper arm and fore arm positions.For
d e t a i l ss, e e F i g . 5 . 1 1 . 1i n t h e a p p e n d i x .

Note3: Jog operationmustbe performedwith specialcareas the

wrist mav interferewith the robotbaseand floor surface.

REMARKS
Jog operation indicates a manual operation using the
teachingbox.
1. SPECIFICATIONS

3.1.5 Basicoperations Fig. 1.3.5shows axis operationsin the articulatedsystem.

# lJ:lr 'E

S r r o ! d e . r o r a ro .
.rzr9

Fig. 1.3.5 Operations in Articulated System

Note I: The positivedirectionof the J1 and J5 axisoperationsis

clockwiseas viewedfrom arrowsA and B, respectively.

Note2: The positivedirectionof the J2, J3 and J4 axisoperations

is the uoward directionof the arm and wrist.

Fig. 1.3.6shows operationsin the cartesiancoordinatesystem.

_ \
, r *, l*. /f<<-=
*4)>J+;
-\,
M/ 1 , ' y
';
z 7:-
/ - roo
' a
//' I
/ rength
/ t--

Fig. 1.3.6Operationsin Cartesian Coordinate System

Note3: The TCP moves straight in the Cartesiancoordinate

system.

Note4: The tool length is set by a parameter.(See the TL

command.)

Note5: f, indicates
the robotattitudechangingoperationwithout
moving the TCP.

REMARKS
Symbolsin "n" indicatethe control keys of the teaching
box.
 1. SPECIFICATIONS

3.1.6 Originset
(Returnto origin) - 10"

< top vrew 2

Fig. 1.3.7Robot Zeroing Operation

( 1 ) The robot of the Movemaster

EX RV-M1must be returnedto
origin after power on. (For details,see Section4.3 Origin
Setting,Vol. 2.)

t2l The arm should be moved as appropriateby jog operation

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

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

e Q.,

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

same me.

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

3.2 DriveUnit

3.2.1 Nomenclature

Externalvi

a
o
0 @; Side door

E
Front control
now
Rearview (View A)

V e n t i l a t i o no p e n i n g
E x t e r n a ll / O e q u i p m e n t c o n n e c t o r
Power switch
H e a ts i n k

Centronics
connector
Rating plate

Fuse (10A)

Hand select
RS-232C sw[cn
connector

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

AC inlet

Motor signal
cable connector Motor power cable connector

Fig. 1.3.8 Nomenclature (Drive unit)

 1. SPECIFICATIONS

3.2.2 Standard
specifications

Item Specilications

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

Teachingmethod
compLlter)

Control method PTP position control system usinq DC sei\/o motors

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

Position detection Pulseencodei system

R e t u r nt o O r i g i n
L i m i t s w i t c h e ea n d p u l s e e n . c d e f s ( Z p h a s e d e t e c t i o n m e t h o d )
O r i g i ns e t t i n g
Interpolation functioo A r t i c u l a t i c ni n t e r p o l a t i o n l, i n e a r i n t e r p o l a t i o n

Speed setting 'lC

steps lmax. 1000n-rmlsec)
Number of positions 629 (8KB)
Number of program sleps 2048 (16K8)

Write to EP ROM iisrng the built-in EP-RO|\4writer or storage in the battery-

Data storage backed static RAM lthe battery is optional and backs up the RAfvl for about 2
years).

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

P r o g r a m mi n g e q ui p m e n t P e r s o n a lc o m p ! t e r * ' z

General'purpose I'O, 6 points each (16:plnt type algllab]gL

Externall/O G e n e r a l - p u r p ossyen c h r o n o ussi g n a l sl S T B ,B U S Y ,A C K ,R D Y )
No dedicatedl/O (dedicatedl/O of 3 points each available)
Power for externall/O should be preparedby the user (12Vto 24V DC)
1 parallel interface (conforming to Centronics)
Interface
1 s e r i a l i n t e r f a c e( c o n f o r m r n gt o R S 2 3 2 C )

Using any of the front control switch, teaching box switch, and rear terminal
E m e r g e n c ys t o p
block (N/C contact terminali

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

Brakecontrol J 2 a x i s ( s h o u l d e r J) ,3 a x i s ( e l b o w )
Power source 120Vt220V AC, 0.5KVA.-
t230Vt240V
Ambient temperature 5"C to 40"C

Weight Approx.23kgt
Size 3 8 0 ( W ) x 3 3 1 ( D )x 2 4 6 { H ) m m

Table 1.3,2Drive Unit StandardSpecitications

Note 1: MDI standsfor ManualData Input

Note2: To be preparedby the user.

Note3: Dependingon the sourcepowervoltagein your country.

1. SPECIFICATIONS

3.2.3 Externaldimensions

o POWER MOVEMASTER
EX

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

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

l ) ) o

Fig. 1.3.9 External Dimensions (Drive unit)

 1. SPECIF|CATIONS

3.3 TeachingBox (Option)

3.3.1 Nomenclature

Cable (3m)

E m e r g e n c ys t o p s w i t c h

ON/OFF switch

Control key

Teaching box

Hand strap

Fig. 1.3.10 Nomenclature (Teaching box)

1. SPECIFICATIONS

3.3.2 Externaldimensions

L:3000mm I
_r------------1

RV-M1

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

rruc
lloec Y-l[-;-
;;ll P.C
Atr
NST O R G
;ll
4E+ll I E-

T R N WRT
n1 P_

'-lt STEP
."*ll R_

ar
7

xYz Flt 0PTt0

;;ll T00t
o
< o> >c<

MITSUBISHI

Fig. 1.3.11 External Dimensions (Teaching box,

 1. SPECIFICATIONS

3.4 Motor-operatedHand The motor-operatedhandfor the RV-M1can be easilyinstalledto

(Option) the robot and allows the holding power to be set by current
control.

Item Specifications Remarks

Type HM-01
Drive system DC servo motor drive
O p e n i n g / c l o s i ns g
troke 0 to 60mm
Grip power Max.3.skgf The holding power can be set
in 16 steps.
A m b i e n tt e m p e r a t u r e 5 to 40"C
Service life More than 300,000times
Weight 6009f

Table 1.3.3 Motor-Opeiated Hand Specifications

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

2-3.4mm dia. hole

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

o l
n1'l

;r--,t -

mr-'.
-l
- t I
I
Stroke
0to60 2 x 4-M3

(20 to 80)
1 SPECTFTCATTONS

4. US|NGTNSTRUCTTONS

4.1 Safety (1) Do not touch any moving part of the robot duringoperation.
Any work within the operationrangesmust be done after
switching off the power.

(2) Severalemergencystop switchesshould be installedas

required.

(3) Do not allowthe robotto makecontactwith any person(e.g.

set up a fence aroundthe robot).

{4) Signalscorresponding to the robotoperatingstatesfrom the

driveunit l/Oconnectormay be usedas appropriate
to indicate
the operationstatusof a line, etc. (Dedicated
output signal
availablefor the option l/O-A16or B16)

{5) Groundthe Movemasterto preventnoiseand electricshock.

4.2 Operating (1) Usethe robot and drive unit within the allowedtemperature
Environments range (between5'C and 40'C).

(2) Installthe Movemaster

awayfrom the directsunlightand any
heat source.

(3) Do not allow water, liquid and metal shavingsto enter the
robot and drive u nit.

(4) Use the Movemasteranywherethat there are no explosive

gases,dust, dirt, oil mist, etc.
Do not use this robot in atmospheres
contsiningexplosive
gas, dust or mrst.

(5) Protectthe robot againstimpact and vibration.

(6) Keep the robot and drive unit connectorsclean.Wipe the

conductiveareaswith alcoholto protectfrom dirt, dust, etc.

4.3 Robot (1) Protectthe plasticcoversfrom damage.

(2) Inspectionmust be donedailyand periodically.

lf any noiseis
generated or unusualoperationperformed,immediatelystop
the robot and make the required check and adjustment
accordingto vol. 4 "IVIAINTENANCE
AND TNSPECTION PROC-
EDURE."
 1. SPECTF|CATIONS

(3) Thedrivemotormay be overloaded and burneddependingon

the robot usingcondition.The robot must not be usedunder
t h e f o l l o w i n gc o n d i t i o n s .

(D The workpieceis extremelylarge.(Thecenterof gravityof

the workpieceis away from the hand mountingflange
surface.)

@ Load over the drive motor rating le.g. forcing,pressure

application
) is generatedcontinuously.

€) The robot arm is extendedfor a long time.

f4l Acceleratio
n/deceleration
is repeatedwithoutstoppingthe
given axis.

@ The jog operationkey is kept pushed with the robot

pressedagainsta mechanicalstopper.

(4) Do not operatethe robot with the brakeapplied(shoulder,

elbow axes only). (Checkthat the brake "clicks" in the
shouldercover at power on.)

(5) Fix the robot to a surfaceplate, etc. using the accessory

bolts.(Minimumsizeof the iron Dlate:270x 350x
installation
12 mm)

(6) Beforetransportingthe robot,the suppliedarm fixing plate

must be installedin accordancewith "TRANSPORTATION.
I N S T A L L A T I OANN D S E T T I N G - U P
i n" V o l . 2 .

(7) Avoidanycollisionbetweenthe robotarm andworkpiece,

etc.
to protectthe mechanicalarea from damage.

4.4 Hand ('l) The motor-operated

hand losesthe grip powerduringpower
off.

(2) A lessholdingpower is providedby extremelylong fingers.

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

(2) The robot is reset or placed in an error state and is then

broughtto a stopwhen instantaneous powerfailurecontinues
morethan 20ms.In this case.restartthe operationbeginning
with the steo after oower on.

(3) lt is recommendedto usethe memorybackupbattery(option)

to retaindata during any power failure.
1. SPECIFICATIONS

4.6 Noise may occurif surgevoltageof more

( 1 ) A robotfaultor dislocation
than 1000V,1 us is appliedto the power line.

\21 Usethe Movemasterawayfrom anyequipmentthatgenerates

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

(3) Use a radio or televisionaway from the Movemaster.(Con-

cerningelectromagnetic the Movemastercon-
interference,
forms to classA in FCC, U.S.A.)

(4) In hostileenvironments, disconnectthe teachingbox when

not in useso that externalnoisemav not causea robotfault.

4.7 Position of the Movemaster

The Positionreoeatabilitv robotis basedon the
Repeatability following industrialrobot definitionin the JapaneseIndustrial
Standards.{JlS)

Positionrepeatability: with whichthe

Themeasureof the accuracy
robot is positioneci
underthe same conditionsand by the same
method.

Thisdefinitiondoesnot applyto the positiondifference

when the
teachingspeedsare differentfrom executionspeeds,and to the
numerically and to the positioningprecision,
set coordinates etc.
 1. SPECIFICATIONS

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

tilisjamesl The robot articulation

namescorrespondto the humanbody as illustrated
Detow.

/----',,'
-
--<
1. SPECIFICATIONS

5, WARRANTYPERIODAND
PAINTCOLORS

5.1 WarrantyPeriod ( 1 ) The robot indicatedin the warrantycard is repairedfree of

chargewithin one year (i.e.8 hours/dayx 250 days)afterthe
deliverydate if a fault has occurredunder the appropriate
operatingconditionsand the fault is attributableto the
manufacturing process.(Thiswarrantydoesnot applyto any
consumable parts specifiedby Mitsubishi.)

\ 2 ) The robotwill be repairedon a commercialbasisevenduring

the warrantyperiodif the fault and/ordamageis attributable
IO:

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

water).fire.
2) Using mistake.
3) Movementor transportation after installation.
4) Repairor modificationmade by other than Mitsubishi.
5) Equivalents for the above

WARNING
Consumableparts (e.g. motor, brush, timing belt, curl
cable| are changedon a commercialbasis.(For consum-
able parts, see Section 4 MAINTENANCEPARTS,Vol. 4.)

(3) Any warranty card without the delivery data and sales
representative
name enteredis invalid.

(4) lmmediatelycontactthe salesrepresentative

if anv fault has
occurred.

{5) The warrantycard must be shownto the serviceengineer.lf

the warranty card is not shown, a servicingfee may be
chargedeven during the warrantyperiod.

5.2 PaintColors O R o b o t a r m. . . . . . . . ...... . . . . . .M . .u n s e l10Y8/1

l 70% gloss
€ ) R o b obt a s e. . . . .. . . . . . . . . . . . . M. .u n s e l l10Y3/170% gloss
.
€)Driveunit . Munsell 10Y8/170% g loss
@ T e a c h i nbgo x . . . . . . . . . .. .
. .. . .M. u n s e l5.2G2.510.2
l
OMotor-operate hd and . . . . . . . . un s e l lN2.5 metallic70% gloss
M

The standardpaintcolorsare subjectto changewithout notice.

l. sPrcrflcATr0r{s

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

1. TRANSPORTATION,
INSTALLATION,
AND SETTING-UP............ ,..........2-1

1.1 T r a n s p o r t a t i o fnt h e R o b o t. . . . ........2-1

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

2. BASfCFUNCT|ONSOFSYSTEMCOMPONENTS................... ..............2_12

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

3. BEFORE
STARTfNG
THEOPERATION .........................2-23

3,1 S y s t e mC o n f i g u r a t i o n . . . . . . . . . ' . . . . .....2-23

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

4. FROMPOWER-UPTOORtctNSETT|NG. .....................2_29

4.1 Settingt h eS i d eS e t t i n gS w i t c h e s . . . . . . .. ' . . . . ' . . . . . . 2 - 2 9

4.2 TurninP g o w eO r N . . . . . . . . .. . . . . . . . . . . . . . . . . . ... . . . . . . .. 2 - 2 9
4.3 OriginSetting ......2-29
 P R o C E D U R. .E. . . . . . . . . . . . . . . .
s . P o s f T f o NS E T T | N G ............2-30

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

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

6. PROGRAM
GENERATION
AND EXECUTION.. ,..,.,,..,..,,2-33

6.1 G e n e r a t i nagn dT r a n s f e r r i nagP r o g r a m . . . . . . . . . . ' . . .2. .-.3 3

6.2 E x e c u t i ntgh e P r o g r a m ..'.'...........2-34
6 . 2 . 1 S t e pe x e c u t i o n ..-..-.......'..'..2-34
6 . 2 . 2 S t a r t i n tgh e p r o g r a m .... .2-34
6 . 2 . 3 S t o p p i n g / r e sr t ian gt h e p r o g r a m . . . . . . . . . .. . . 2 - 3 5
6 . 2 . 4 S t o p p i n g / r e s e t ttihnegp r o g r a m . . . . . . ' . . . . . . . .2. .-.3 5

7. WRITINGTHE PROGRAM/POSITION DATA IN EPROM

( P E R S O N A L C O M P U T E R M O D E.).. . . . . . . ...................2-36

7.1 I n s e r t i nEg r a s e dEPROM . . ' . . ' . . . . . . .2. - 3 6

7.2 W r i t i n gD a t ai n t oE P R O M . . . . . . . . . . . .2. -. 3 6
7.3 Precaution f osr S t o r a g o
efEPROM . . . . . . . . . . . ' . . . . ' . . .2. - 3 6

8 . O P E R A T f OUNS I N GT H EE P R O M
DATA ......................2-37

8 . 1 l n s e r t i ntgh e E P R O M. . . . . . . . . . ......-..2-37
8 . 2 S e t t i n tgh e S i d eS e t t i n gS w i t c h e.s. . . . . . . . . .....'.'....'.'.2-37
8 . 3 T u r n i n g P o w e r O"N' . . . ' . . . . . . . . .......--.-...........'.'.2-37
8 . 4 E x e c u t i nt gh e P r o g r a m ....-....-....-..2-37
8 . 41. S t e pe x e c u t i o n . . . . . . . . . . . . . . . .2. -. .3 7
8 . 4 . 2 S t a r t i n tgh e p r o g r a m --.-..--..2-37
8 . 4 . 3 S t o p p i n g / r e sr ttian gt h e p r o g r a m . . . . . . . ' . . . . . ' .2' -. 3 8
8 . 4 . 4 S t o p p i n g / r e s e t ttihnegp r o g r a m ...............'..2-38

9. OPERATIONUSINGTHEEXTERNALSIGNALS ..........,,2-39

9.1 Setting t h eS w i t c h e s . . . . . . . . . . . . . . . . . ' . .2. - 3 9

9.2 E x e c u t i ntgh e P r o g r a m . . . . . . . . . . . . . .2. .-.3 9
9 . 2 . 1 S t a r t i n tgh e p r o g r a m . . . . . . . . .2. - 3 9
9.2.2 Stopping/resta rtingthe program ..'.".'..'.'....2-39
9 . 2 . 3 S t o p p i n g / r e s e t ttihnegp r o g r a m . . . . . . ' . . . . . . . .2. .-.3 9

10.ERRORCOND|T|ONS.......... .............2-40
 2. OPERATION

1. TRANSPORTATION.
INSTALLATION,
AND
SETTING-UP

1.1 Transportationof the

Robot

Fig. 2.1.1 Transportation of the Robot

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

12) Beforetransportingthe robot, releasethe brakesin accord-

ancewith Section2.2.4,Vol.2, move the first arm (4) in the
positivedirectionand the secondarm (6) in the negative
directionuntilthey are pressedagainstthe stoppersas shown
i n F i g .2 . 1 . 1a, n d i n s t a ltlh e a r m f i x i n gp l a t e( 5 )t o t h ef i r s ta r m
( 4 ) a n d b o d y ( 1) .

(3) When raisingthe robot,takehold of the undersideof body 11)

or base {2) with your both hands.

(4) Never take hold the sides or back of shoulder cover (3), or
damage to the cover or personal accidentcould result.
2. OPERATION

(5) Thefixingplate(5)mustbereinstalled beforetransportation

to
protectthe arm (4) (6) duringtransportation.
The robot must
be transportedin the attitudeshown in Fig. 2.1.1.

WARNING
The robot must be transported with the fixing plate
installed.
 2. OPERATION

1.2 Installationof the Robot

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

82 168

les
60
.---+i

Front ot rooot

Fig. 2.1.2 Installation ot the Robot Fig. 2.1.3 Robot lnsta ed Dimensions

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

(21The robot mountingsurfacehas been machinedfor accurate

installation.
Usingthe 0 9 mountingholes providedat four
cornersof the base and the installationbolts lMg X 30
hexagonsockethead bolts)furnished,securethe robot onto
the floor.

{3) It is recommended that common surfaceplatesbe used ro

ensurethat the robot is properlyalignedwith the equipmenr,
jigs, and fixtureson which the robot works.

( 4 ) Surfaceroughness
of the surfaceplatesonto whichthe robot
is to be securedmust be Vv or more.A roughsurfaceis the
causeof poor contactbetweenthe robot and surfaceplate,
r e s u l t i n gi n m i s a l i g n m e n t .

( 5 ) The fixing plate(4) is installedbeforeshipmentas shown in

Fi7.2.1.1to protectthe arm (5)duringtransportation.
Remove
this plate beforeoperatingthe robot.

(6) The customershouldkeepthe fixing plateas it must be used

when transportingthe robot.

17) Fig. 2.1.3 shows the installeddimensions of the robot.

( 8 ) R e m o v et h e a r m f i x i n g p l a t e a f t e r t h e i n s t a l l a t i o ni s c o m p l e t e .
W h e n t h e r o b o t i s t r a n s p o r t e do n a s u r f a c e p l a t e , t h i s p l a t e
must be keptfit on the robot until the robot is finallv installed.
2. OPERATION

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

1 . 3 T r a n s p o r t a t i o na n d ( 1 ) U s e c a r e n o t t o s u b j e c tt h e d r i v e u n i t t o e x c e s s i v es h o c k sa n d
I n s t a l l a t i o no f t h e D r i v e v i b r a t i o n sa n d n o t t o l e t i t t o p p l e o v e r o r t i l t d u r i n g t r a n s p o r t a -
Unit tion.

( 2 ) W h e r e v e r f e a s i b l e ,k e e p l e v e l t h e d r i v e u n i t w h e n i n s t a l l e d .
The tiltingangle should be kept within 20".

( 3 ) K e e p t h e v e n t i l a t i o no p e n i n g i n t h e d r i v e u n i t o p e n t o
a t m o s ph e r e .

( 4 ) A l l o w a d i s t a n c eo f 1 0 0 m m o r m o r e b e t w e e nt h e b a c k p a n e l o f
t h e d r i v e u n i t a n d t h e a d j a c e n tw a l l . W h e n t h e d r i v e u n i t i s
i n s t a l l e d i n a c a b i n e t , m a k e s u r e t h a t i t i s w e l l v e n t i l a t e df o r
a m p l e h e a t d i s si D a t i o n.

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

1 . 4 I n s t a l l a t i o no f t h e l / O I n s e r ty o u r l / O c a r d i n t o t h e e m p t y s l o t { t h e s e c o n d o n e f r o m t h e
Card l e f t ) i n t h e r e a r o f t h e d r i v e u n i t . A t t h i s t i m e , e n s u r et h a t t h e c a r d
f i t s i n t h e u p p e r a n d l o w e r g u i d e r a i l sp r o v i d e d i n t h e s l o t , s l i d et h e
c a r d a l l t h e w a y i n t o t h e s l o t , a n d s e c u r ei t b y t i g h t e n i n gt h e u p p e r
a n d l o w e r s c r e w s . F i g . 2 . 1 . 5 s h o w s t h e i n s t a l l a t i o np r o c e o u r e .
The type of your l/O card is identified by a unique symbol as
follows: A8, i2A; 88, *28; A16, #2C: and, 816. fi2D. The
symbol is silk-screen-printed o n t h e s h e e t m e t a lo f e a c h c a r d .
( S e t b i t 3 o f t h e s i d e p a n e l s w i t c h S W ' l i n a c c o r d a r r c ew i t h t h e l / O
card used. See Section 2.1.2.)

Q
-'.

Itttttilililililtilliltl !== *nff

Fig. 2.1.5 lnstallation ot the l/O Caro

2. OPERATION

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

(21Use the Class3 grounding(groundresistance100 ohms or

below).The best method to be employedis the dedicated
g r o un dI n g .

( 3 ) Use a 2-mm2-or-more
groundingwire.

t4l L o c a t e t h e g r o u n d i n g p o i n t a s n e a r t h e r o b o t a n d d r i v e u n i t
and keep the grounding wire as short as possible.

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

FI
TT -=-

a) DedicatedlBest) b ) S h a r e d( c o o d ) c) Common (Fair)

Fig. 2.1.6GroundingMethods
 2. OPERATION

1.6 CableConnections

Drve lnit

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

Motor power cab e

( T y p e : M P N ,I4j

Fig. 2.1.7

( 1 ) F i g . 2 . 1. 7 s h o w s t h e c a b l e c o n n e c t i o n s .

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

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

t4) C o n n e c tt h e m o t o r s i g n a l c a b l e a n d m o t o r p o w e r c a b l e t o t h e
c o r r e s p o n d i n gc o n n e c t o r s i n t h e r o b o t a n d d r i v e u n i t .

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

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

l a t c h e s o n b o t h s i d e s o f t h e c o n n e c t o r a s i l l u s t r a t e di n F i g .
2.1.8.

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

Spring latch

t
Raise

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

1.7 Installation
of the Hand
(Option)

Connector on fore arm Curledcable (Hl\.4-CBL)

n ,t-\
lol r
Position of the connecror
n \JJJ

Ar
\\lr J5 axis dog

€/
Fit nylon clrp

Fig. 2.1.9 Installation of the Hand (Option) Fig. 2.1.10 Hand position When Installed

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

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

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

t4l l f t h e h a n d i s c u s t o m i z e db y t h e c u s t o m e r ,m a k e s u r e t h a t t h e
hand weighs 1.2 kg{ or less including the workpiece to be
handled. (At this time, ensure that the center of gravity is
located 75mm or lower than the hand mounting surface.)

( 5 ) T a b l e 2 . ' 1 . 'l1i s t st h e s p e c i f i c a t i o n so f t h e m o t o r , s o l e n o i dv a l v e ,
a n d c o n n e c t o r sf o r t h e c u s t o m - b u i l t h a n d .
WARNING
The curled cable may get caught between wrist housing
and fore arm during operationof the robot equippedwith
a hand, dependingon the position of wrist pitch (J4 axis)
and wrist roll (J5 axis).Avoid using with the robot in such
a position.
 2. OPERATION

Connector Connectorpin
Key Description Manufac{urer
No. Name Type Tvpe
ill Connector on fore arm
SM SMP,O2V.BC SHF,OOl
T O.8SS
SOLDERLESS
.r., C a b l ec o n n e c t o r( o n a r m s i d e )
connector
SMR O2V-BC sYM 001T,0.6
TERMINAL
MFG,CO,, LTD.

a3-' C a b l ec o n n e c t o r( o n h a n d s i d e )
S R 1 3 s B1 3 , 1 0 2RP
( 0 1 ) Furnished
with connector HI R O S E
connector ELECTRIC
i4l Connector on hand s B r 3r o P . 2(s0 1 ) Furnishedwith connector CO.,LTD,

C!rled cable
(HM,CBL)

W r J s tf l a n
Forearm

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

Pneumatically-operated hand llotor operated hand

WARNING
The hand select switch
located on the rear
panel of the drive unit
must be set properly
according to the type of
hand to be used (AC or
DC). Wrong setting can
be a cause of a burnt
dflve source.
D r i v es o u r c e :A C s o l e n o i dv a l v e
Power requirements. 120,220, 230, 240VAC Drivesource:DCmotor
(Dependingon source voltage in the country) Powerrequirement
| 24VDC
A l l o w a b l ec u r r e n t : M a x . 0 . 5 A ( 1 2 0 VA C ) , Capacityr6.5W
0.254l22O to 24Ov AC)
NOTE:
NOTEr
. I n s t a l lv a l v e o n t o p o f f o r e a r m a n d c o n n e c t
. M o d e l 1 0 6 - 3 0 0 1( S M 2 6 )
l i n e w i r e t o c o n n e c t o ro n f o r e a r m ( 1 ) . m o t or m a n u f a c t ur e d b y
. The load capacity will be reduced by the S a n y o El e c t r i c i s r e c o m
weight of the valve. mended.
Motor-operated hand

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

2. OPERATION
1 . 8 l n s t a l l a t i o no f t h e
Teaching Box (Option)
1 . 9 l n s t a l l a t i o no f t h e T o i n s t a l l t h e m e m o r y b a c k u pb a t t e r y{ o p t i o n ) ,p r o c e e da s f o l l o w s .
Backup Battery (Option)
( 1 )A f t e r e n s u r i n g t h a t t h e p o w e r i s O F F , l o o s e n t h e u p p e r a n d
W h e n u s i ng t h e t e a c h i n gb o x ( o p t i o n ) ,b e s u r e t o p l u g t h e t e a c h i n g
b o x c a b l ec o n n e c t o ri n t o t h e m a t i n g c o n n e c t o ro n t h e r e a r p a n e l o f
t h e d r i v e u n i t ( t h e l o w e r c o n n e c t o ro n t h e l / O c a r d ) b e f o r et u r n i n g
p o w e r O N . A t t h i s t i m e , d o n o t f o r g e t t o r a i s et h e s p r i n g l a t c h e st o
secure the connector rnto posrtron.
W h e n e v e rt h e c o n n e c t o ri s p l u g g e d a n d u n p l u g g e d ,m a k e s u r e
that the drive unit is OFF.
l/O card or f,2C or #2Dl
.aa Q
&
tnt
ltil
IlJI
?to
Fig. 2.'1.11Connecting the Teaching Box
lower screws on the card in the first slot from the left in the
rear of the drive unit. Then. slide the card all the wav out.
( 2 1Passthe Lt"_V!"o*(-liS,llgu_oJf intothe mount-
!_el€lJurnished
i n g h o l e i n t h e e m p t y a r e a l o c a t e do n t h e r i g h t b o t t o m o f t h e
c a r d a n d s e c u r et h e b a t t e r yi n p o s i t i o n a s s h o w n i n F i g .2 . 1 . 1 2 .
( 3 ) P i c ku p t h e b o t h e n d s o f t h e b a t t e r ys o c k e ta n d p l u g t h e s o c k e t
i n t o t h e c o n n e c t o r( P S ' 1o
) n the card. At this time. make sure
t hat $9SgegJ_tj,q,s_o_cJtelylgLg_t!9_gle,gg_oge_
j9,v_'jJ9!E
Je999.
9SWg^ltlg,gelg,SyIgggl to ensure correct poIarity.
(4) Afterthe aboveprocedures havebeencomplete,reinsertthe
cardintothe firstslotfrom the left and secureit by tightening
the upper and lower screws.
 2, OPERATION

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

Fig. 2.'1.12.

1.10 Installation
of the From a safetyviewpoint,be sure to installthe emergencystop
EmergencyStop switch at a locationwhich is readilyaccessible.
Switch
(1) Usethe "EXT.EMG.STOP"terminalson the rearpanelof the
drive unit for connection

(2) Removethe strap furnishedand connectthe COM terminal

and NC terminal {normally-closed) of the emergencystop
switch to the terminals.Use care not to lose the strap.

ratingsfor the emergencystop are 'l2V DC,25mA.

(3) Electrical
Selectwire that offerssufficientstrengthand good resistance
to environmentalchanges.
2. OPERATION

2. BASICFUNCTIONS
OF
SYSTEMCOMPONENTS

2.1 DriveUnit

2.1.1 Functionsof front

controlswtichesand
LEDs

t!1ovEt\,lASTEREX
rrl POWER

l2') E M G .S T O P
i3) ERROR
i.4) EXECUTE
START
(61 STOP
!,1)
RESET

MITSUBISHI

Fig.2.2.1 Dtive Unit Front Panel

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

t2) EMG. STOP(Emergencystop switch,red)

The emergencystop pushbuttonswitch.When this switch is
pressed, the servosystemis cut off andthe brakesareapplied,
thus bringingthe robot to an immediatestop.At the same
time,the errorindicatorLED(3)flashesOFFand ON with LED3
l o c a t e di n s i d et h e d r i v eu n i t s i d e d o o r l i g h t i n gu p .

( 3 ) ERROR(ErrorindicatorLED, red)
B l i n k so r l i g h t su p t o w a r nt h a t a n e r r o rh a so c c u r r e di n t h e
system.In error mode I, it blinksat 0.s-secondintervals.
while in error mode II. it lightsup and stayslit. The buzzer
s o u n d si n p h a s ew i t h t h e O N t i m i n go f t h i s L E Di f i t h a sb e e n
set to ON {bit 8 of SWl insidethe side door in the upper
position).

(CommaridexecutionindicatorLED,green)
( 4 ) EXECUTE
Lightsup and stayslit while a commandis beingexecutedby
operaingthe driveunit or teachingbox. lt goesout when the
executionhas beencompleted.lt stay lit while a programrs
running.

( 5 ) START(Startswitch,green)
Startsthe programor restartsit from an suspendedstate.
 2. OPERATION

(6) STOP (Stop switch, red)

Stopsthe program being executed.At this time, the robor
completesexecutingthe currentcommandbefore it stops.
This meansthat, if the robot is executinga move command
when the switch is pressed,it will completereachingthe
destinationpoint.

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

2.1.2 Functionsof side

setting switchesand
LEDs

(1r)

l)?)

(el [o)

Fig.2,2.2 Dtive Unit Side Panel

( 8 ) SOC2(EPROMsocketfor program and positiondata)

A user socketfor installationof an EPROMinto which the
programand positiondatahavebeenwritten.The EPROMcan
be insertedinto,or removedfrom,the socketby just operating
the lever provided under the socket.When insertingthe
EPROM,makesure that the indentationis positionedon the
left.

(s)ST1 (Controlmode settingswitch)

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

(10) ST2 {Selectswitchwhetherto transferdatafrom EPROMto

RAM upon power-up)
Selectswhetherto transferdatafrom EPROMto ciriveunit
memoryRAMwhen the poweris turnedON (upperposition:
EPROMdata is transferred to RAM; lower position:EPROM
datais not transferred
to RAM).The RAM datais usedto run
a programfrom the drive unit. lt is thereforenecessary
to
previously setthisswitchto the upperpositionwhen running
a program by means of data written in EPROMafter the
powerhas beenturnedON.Whena programis to be run by
the battery-backed-up RAM, set this switch to the lower
position.

( 1 1 ) S W 1 ( F u n c t i o ns e l e c t D I P s w i t c h ; B i t s a r e n u m b e r e d 1
through 8 from left to right)

Bit 1: Selectsthe terminatorfor datatransmission from the

drive unit throughthe RS232Cinterface(upperposi-
t i o n : C R* L F ;l o w e rp o s i t i o nC
: R ) .F l i pt h i s b i t d o w n
to the lower positionunless you use MULT|16.

Bit 2: Selectswhetherto checkif the contentsof the RAM

data are retainedupon power-up{upper position:
Check is performed;lower position: Check is not
performed).Set this bit to the lower positionif the
battery(option)is not used.
lf the batteryis to be used,set the bit to the lower
positionwhen the systemis first turnedON afterthe
batteryhas been installed;thereafter,placethe bit in
the upper position.Then, error mode I is caused
when power is turnedON if the contentsof memory
are not properlyretainedduringpowerdowndue to a
batteryfailure or other cause.(At this time, LEDS
i n s i d et h e d r i v e u n i t s i d e d o o r l i g h t su p . )

Bit 3: Selectsthe type of l/O cardused{upperposition:type

A16 or 816; lower position:type A8 or B8).

Bit 4: Selectswhetheror not to set, change,or deletethe

referencepositiondata in the cartesiancoordinate
system (upper position: enabled; lower position:
disabled).Set this bit to the upper positionwhen
setting the cartesiancoordinatesystem reference
positionsand when loadingthe referenceposition
datawritten in the EPROMinto the RAM; otherwise,
set it to the lowerpositionto avoiderroneoussetting.
 2. OPERATION

Bit 5: Selectsto enableeitherthe drive unit front control

switchesor externalsignalsfor runningthe program
while type A16 or 816 l/O card is being used (upper
position:externalsignals;lower position:front con-
trol switches).When this bit is set to the uDoer
position.operationbecomespossibleby meansof the
dedicatedsignallineson the externalliO equipment
connectoron the driveunit rearpanel,whilethe front
controlswitches(exceptthe emergencystop switch)
aredisabled. Withthe bit setto the lowerposition,the
front controlswitchesare enabled,while the external
d e d i c a t esdi g n a l i n e i s d i s a b l e dP. l a c et h e b i t i n t h e
lower positionwhen tyfle A8 or 88 l/O card is to be
useo.

Bit 6: Selectswhether to enable tf'e Sl] key on the

teachingbox to releaserobot brakes.Normally,set
this bit to the lower position.
lsee 2.2.4Releasingthe brakes.)

Bit 7: Not used.

Bit 8: Selectswhetherto turn ON or OFFthe buzzer(upper

position:buzzersoundswhen an error occurs;lower
position: buzzer does not sound when an error
occurs).

(12) SW2 (RS232Ccommunicationformat settingswitch)

S e eC H A P T E2RI N T E R F A CWEI T HT H EP E R S O N ACLO M P U -
TER (RS232C), APPENDIX.

(13) SW3 (RS232Cbaud rate settingswitch)

SeeCHAPTER2INTERFACE WITHTHEPERSONAL
COMPU-
TER (RS232C),
APPENDIX.

( 1 4 )L E D s1 - 5 ( H a r d w a r e r r o r d i s p l a y s )
Indicatethe causeof the corresponding hardwareerror(error
mode I ) when it occurs.

LEDl servosystemerrors(1st LEDfrom the

Excessive
teft)

LED2 Open or disconnectedmotor signal cable (2nd

LEDfrom the left)

stopinput (3rdLEDfrom the

Driveunitemergency
left)

stopinput(4thLEDfrom
Teachingbox emergency
rhe left)

Backupbatteryfailure (sth LED from the left)

2. OPERATION

2.1.3 Functionsof
connectors,switches,
andterminalblockon
rearpanel

?41

i?3)
L2lr

i?7

L18r 129, i l 9 i

Fig.2.2.3 Drive Unit Rear panel

{15) CENTRONICS (Centron

ics connector)
Servesas the connectorfor the Centronicsinterfacethat
connectsa personalcomputerand drive unit.

(16) RS-232C{RS232Cconnector)
Serves as the connectorfor the RS232Cinterfacethat
connectsa personalcomputerand drive unit.

( 1 7 ) E X T E R N A Ll / O ( E x t e r n a l l / O e q u i p m e n t c o n n e c t o r )
S e r v e s a s t h e c o n n e c t o rf o r c o n n e c t i n g e x t e r n a l l / O e q u i p -
m e n t ( l i m i t s w i t c h e s ,L E D s ,p r o g r a m m a b l e c o n t r o l l e r s ,e t c . )
and drive unit.

{ 1 8 ) T E A C H I N GB O X ( T e a c h i n gb o x c o n n e c t o r )
Serves as the connector for connectingthe teaching box
{ o p t i o n )a n d d r i v e u n i t .

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

Servesas the connectorfor the powerl i n e b e t w e e nt h e d r i v e
unit and robot.

( 2 0 ) M O T O RS I c N A L ( M o t o rs i g n a lc a b l eco n nector)
Servesas the connectorfor the signall i n e b e t w e e nt h e d r i v e
unit and robot.

(21) EXT ElvlG.STP (Emergencystop input terminal)

lnput terminalfor connectingan externalemergencystop
switch (12V DC, 25mA, N/C contactterminal).

( 2 2) G ( F r a m eg r o u n d )
G r o u n d i n gt e r m i n a lo f t h e d r i v e u n i t .
 2, OPERATION

(23) HAND AC/DC(Handselectswitch)

SelectseitherDCor AC dependingon the type of driveof the
handattachedto the robot.SelectDCwhen a motor-operated
hand (option)is used;selectAC when using pneumatically-
operatedhand employingAC solenoidvalves.Mgbg_€gy}_ly_
s,yJ9-9J-t-te-c-g
Lr-e,*
-s,{!iJL%
99-
in:ruiL^9J$l^ittY,^
(24) FUSE(Fuse)
Fuseholdercontaininga fuse {250VAC, 10A)for the drive
untr.

(25) POWER{Powerswitch)
Power ON/OFFswitch for the drive unit.

(26) AC (AC inlet)

l n l e ti n t o w h i c ht h e d r i v eu n i t p o w e rc o r d i s p l u g g e d(.1 2 0 ,
220,230,or 240VAC dependingon the sourcepowervoltage
rn your countrv)
2. OPERATION

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

(3r
1141

301 r46l
,31 i47l
\32 ilEl
L3l 191
311 is0

361 \52i
37 i53
L38l 1541
L39r
40 L56l
:4Zl
41
Fig. 2.2.4 Teaching Box

2.2.1 Functionsof the \ 2 7) O N / O F F ( P o w e r s w i t c h)

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

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

ofeachkey (29) INC (+ IENT )

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

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

(31)
iP.t (+ !N!.@ + lEttfr
D e f i n e st h e c o o r d i n a t e so f t h e c u r r e n t p o s i t i o n o f t h e r o b o t
i n t o a p o s i t i o nw i t h t h e n u m b e r s p e c i f i e dl.f a s i n g l en u m b e r
i s a s s i g n e d t o t w o d i f f e r e n t p o s i t i o n s ,t h e o n e d e f i n e d l a s t
"HE.")
t a k e s p r e c e d e n c e(.S e e c o m m a n d

132), cl r+ tN,;crl + Egf)

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

(33)lNSil {+ [FNT]
Returnsthe robot to origin. (See command "NT.")

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

( 3 5m) N l ( +E E )
Transfersthe contentsof the user EpROM(programano
positiondata)installedin SOC2of the driveunitsidepanelto
t h e d r i v eu n i t R A M .( S e ec o m m a n d" T R . " )

(36)@ (+ fENil)
Writesthe programand positiondatawrittenin the driveuntt
RAM intothe userEPRoMinstalledin soc2 0f the driveuntr
s i d e p a n e l .( S e ec o m m a n d" C R . " )

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

Moves the end of the hand to a specifiedposition.(See
command"MO.") The moving speedis equivalentto SP4.

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

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

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

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

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

(42)[ENil
Completeseach key entry from (29)through (38)to effect
corresponding
operation.

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

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

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

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

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

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

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

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

(50) [F--e
Turns the end of the hand, while maintainingits current
positiondeterminedby the "TL" command,in the negative
direction(downward)in the cartesianjog and bendsthe wrist
(wrist pitch) in the negativedirectionldownward)in the
articulatedjog. lt also servesas the numerickey "8.".

( 5 1) tR+2
Twiststhe wrist(wristroll)in the positivedirection{clockwise
lookingtowardthe hand mountingsurface). lt alsoservesas
the numerickey "2."
---=
,-^, t^
\czl lI t l
Twiststhe wrist (wrist roll) in the negativedirection(coun-
terclockwise
lookingtowardthe hand moundingsurface).lt
also servesas the numerickey "7."

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

Moves the optionalaxis in the negativedirection.lt also

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

(55) t<otal
Opensthe hand gripper.lt also servesas the numerickey
"0."

(s6)tlc< 5l
C l o s e s t h e h a n d g r i p p e r . l t a l s o s e r v e s a s t h e numerickey
c.

Functionsof the The 4 - d i g i t L E D s h o w s t h e f o l l o w i n g i n f o r m a t i o n .

indicatorLED
(57) P o s i t i on n u m b e r
Shows the position number in 3 digits when [Ni], JoEfl
lP.='1,Eql, o' lrvtbvlkeyis beinsused.
(58) P r o g r a ml i n e n um b e r
Showsthe programline numberin 4 digitswhen [SiiPlkey
i s b e i n gu s e d o r w h e n p r o g r a mi s r u n n i n g .

(59) Teachingbox statusindicator(the first digit from the left)

"- meansprocessing
1" invokedby depression
of ENTkey is
e i t h e ri n p r o g r e s so r a t a n e n d .
"!" meansprocessing
invokedby depressionof ENT key
cannot be carriedout.
2, OPERATION

2.2.4 Releasing
the brakes when the systempower is oFF or when error mode I occurs,
brakesare appliedto J2 and J3 axesof the robot.Thismeansthat
theseaxesof motioncannotbe achievedexternally. Thefollowing
stepsmay,however,be performedto release the brakesand allow
for the axismotionexternally.The procedures can be useownen
servicingthe robotor positioningit for packing.(Remember, you
must have the teachingbox to performthe procedure.)

(1) After power has beenturned ON, pressthe emergencystop

pushbuttonswitchon the front panelof the driveunitto cause
e r r o rm o d e I .

(2) Flip up {to ON position)bit 6 of SW'l locatedinsidethe side

door of the drive unit.

(3) Setthe teachingbox ON/OFF switchto ON and pressthe ENTI

keyto releasebrakesin J2 and J3 axes.At thistime,be sureto
hold the robot arm with vour handsso that it will not droo
d o w n b v i t s o w n w e i q h t . N o t e t h a t t h e b r a k e sa r e r e l e a s e d
J2 and J3 axesat the sametime; brakesare reappliedas soon
as the fENil key is released.

(4) Afterthe requiredjob hasbeencompleted,

be sureto flip bit 6
of SW'l down (to OFF position).

2.2.5 IntelligentcommandsThe functionsof the keyson the teachingbox correspondto the

corresponding to eachfunctionsinvokedby intelligent
commandssentfrom the personal
key computeras follows.

tNc " tP" p-a- * "DP"

P.S 11E fFr. 1 * "PC"
t\J I
"NT"
tbRGI * "oG"
TRN "TR"
twBil * ,,WR,,
MOV "MO"
<o> "GO"
Dc{l* "cc"
 2. OPERATION

3. BEFORESTARTINGTHE
This chapter gives the overview of the operation and program-
OPERATION ming as initiationto the robotic system.

3.1 SystemConfiguration The Movemaster systenrmay be configuredin two differentways.

Thefollowingparagraphs describethe uniquefeaturesof, and the
basic idea behind,each systemconfiguration.

3.1.1 SystemconfigurationThis systemconfiguresthe Movemasterwith a personalcompu-

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

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

Expansion
unit tuB: Keyboard;
D/U: Drive u nit

------l

Measuring X Y plotter Printer Sensor lMovemaster

e qu i p m e n t

F i s .2.3.1 Typical System Configuration Cenlering Around a Personal Computer

2. OPERATION

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

h Personalcomputer
F

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

Fig.2.3.2 Typical System Contiguration Centering Around the Drive unit


3.2 Robot-ComputerLink
3.2.1 Centronicsinterface T h i s i s o r i g i n a l l yt h e p a r a l l e sl t a n d a r df o r p r i n t e r se s t a b l i s h e db y
3.2.2 RS232Cinterface
2, OPERATION
T h e d r i v e u n i t m a k e s a v a i l a b l et w o t v o e s o f i n t e r f a c e sf o r t h e l i n k
b e t w e e nt h e l v l o v e m a s t e ar n d a p e r s o n a lc o m p u t e r .T h e f o l l o w i n g
paragraphs outline the features of each interface.Study the
d e s c r i p t i o n sa n d u s e t h e a p p r o p r i a t ei n t e r f a c ea c c o r d i n gt o y o u r
p e r s o n a lc o m p u t e r a n d a p p l i c a t i o n .F o r m o r e d e t a i l s ,s e e C H A P -
'l
T E R S a n d 2 I N T E R F A C EW I T H T H E P E R S O N A LC O M P U T E R ,
APPENDIX.
C e n t r o n i c sC o r p o r a t i o n .M o s t p r i n t e r s a n d X - Y p l o t t e r s c u r r e n t l y
i n u s e s u p p o r t t h i s s t a n d a r d .T h e p e r s o n a lc o m p u t e r s e n d s 8 b i t s
s i m u l t a n e o u s l yo, r i n p a r a l l e l ,a n d t h e d e d i c a t e ds i g n a l l i n e s
control the flow of data.
T h o u g h r e s t r i c t e dt o s m a l l d i s t a n c e so f 1 t o 2 m e t e r s ,t h e p a r a l l e l
t r a n s m i s s i o ne n s u r e s a t r a n s m i s s i o ns o e e d f a s t e r b v f a r a n d
r e q u i r e sn o s p e c i a ls e t t i n g s ,t h u s a l l o w i n g f o r e a s eo f a p p l i c a t i o n s .
T h e M o v e m a s t e r h a s t h e i n t e r f a c ee q u i v a l e n tt o t h a t u s e d i n t h e
printer,meaning that the data transferls only one-wayfrom the
personal computer to the robot. Also, part of the intelligent
c o m m a n d s ( t h o s e r e q u e s t i n gf o r r e a d o f d a t a o n t h e r o b o t s i d e ,
i n c l u d i n gW H , P R , a n d L R ) c a n n o t b e u s e d .
D a t a c o m m u n i c a t i o n i s d o n e b v t h e L P R I N Ts t a t e m e n t i n B A S I C .
The RS232C interface was originally the standard for data
c o m m u n i c a t i o ne q u i p m e n tu s i n gt e l e p h o n el i n e sa n d h a s e v o l v e d
i n t o t h e s e r i a ld a t a t r a n s m i s s i o ns t a n d a r df o r t h e c o m p u t e r a n d i t s
p e r i p h e r a le q u i p m e n t .
S i n c ed a t a a r e s e n t a l o n g a s i n g l ew i r e , o r c h a n n e l ,o n e b i t a t a
t i m e , i t t a k e sl o n g e rt h a n i n t h e p a r a l l e tl r a n s m i s s i o ni f t h e b a u d
rate is low. Settingson the robot must also match those on the
personal computer and not all personal computers can be
emoroveo,
I t s b i d i r e c t i o n a ld a t a t r a n s f e r c a p a b i l i t y , h o w e v e r , e n a b l e s t h e
personalcomputer to read the robot's internaldata. Serial also
p e r m i t sa t r a n s m i s s i o n d i s t a n c el o n g e rt h a n p a r a l l e la, s l o n g a s 3
t o 1 5 m e t e r s ,a n d a l l o w s c o n f l g u r a t i o ne v e n w h e n t h e C e n t r o n i c s
p o r t o f t h e p e r s o n a lc o m p u t e r h a s b e e n o c c u p i e d b y a p r i n t e r o r
o t h e r D e r i o h e r a ld e v i c e .
I n B A S I C d, a t ac o m m u n i c a t i o ni s d o n e b y t h e O P E N ,P R I N T# , a n d
L I NE I N P U T f s t a t e m e n t s .
2. OPERATION

3.3 ControlModes Theseparagraphsdescribethe two controlmodesavailablewith

the Movemaster,
i.e.,the personalcomputermode and driveunit
mode.

3.3.1 Personal
computer Lsettingprocedurel
mode Setthe toggleswitch(ST1) locatedinsidethe driveunit sioeooor
to the lower position,

lExplanationJ
fhis modeallowsthe personalcomputerto executethe intelligent
commandsdirectly,write and transfera program,and start the
programtransferred to the driveunit RAM (themodecorrespond-
ing to 3.1.1Systemconfigurationcenteringaround a personal
computer).The operation in this mode is divided into the
f o l l o w i n gt h r e e p h a s e sj u s t a s i n t h e g e n e r a B
l ASIC.
In the followingoperations, be sureto keepthe ON/OFFswitchof
t h e t e a c h i n gb o x i n t h e O F Fp o s i t i o n .

(1) Directexecution
This phasedirectlyexecutesthe intelligentcommandsof the
Movemaster, For example,to movethe robotto a previously
t a u g h tp o i n t( p o s i t i o n1 ) u s i n gt h e c o m m a n d" M O " ( m o v e ) ,
the characterstring:
" M O 1 " ( M o v et o p o s i t i o n
1)
is sent in ASCIIcode. This correspondsto:
LPRINT "MO 1"
for the Centronicsinterface,and
P R I N Tr 1 , " M O 1 "
for the RS232Cinterface(spacemay be omitted).
The commandssequentially sent in this phaseare executed
one by one and they do not form into a programstoredin the
drive unit.

(2) Programgeneration
The personalcomputerin this phasegeneratesa program
usingthe Movemastercommands.The programis storedin
the drive unit RAM.
For example,to write a program for the robotic motion
effectedabove,the characterstring:
"10MO 1"
is sent in ASCIIcode; where the number at the beginning,
"10," represents programlinenumber,which
the Movemaster
identifies the orderof storagein memorylikethoseusedin the
generalBASIC.The programis executedin the order of the
line number.Be sure,therefore,to assignthe line numberat
the beginningwhen writing a program.Line numbersare
possiblefrom 1 up to 2048.
The Centronicsequivalentto the above ;s:
LPRINT "10 MO 1".
w h i l et h e R S 2 3 2 C
e q u i v a t e ni ts :
P R | N T# 1 , " 1 0 M O 1 " ,
where the spacemay be omitted.
 2. OPERATION

13) Programexecutio n
In this phase,the programstoredin the drive unit RAM is
executed.The programis startedby sendingthe command
"RN" which corresponds to "RUN," the programstart com-
mand in BASIC,The Centronics equivalentto this command
IS:
L P R I N T" R N" ,
w h i l et h e R S 2 3 2 Ce q u i v a l e ni ts :
P R I N T# 1 , " R N".
Now, let us study some of the typical programs.

( E x a m p l e 1 ) D i r e c t e x e c u t i o n( C e n t r o n i c s )

l O OL P RI N T " N T " O r i gr n s e t t i n g ( n e s t i n g ) .
1 1 0L P R I N T "sP 7"
Set speed at 7.
1 2 0 L P BI N T " M O 1 0 ,o " f M o v et o p o s i t i o n 1 0 w i t h h a n d o p e n e d .
1 3 0 L P BI N T Close hand {grip close).
1 4 0 L P RI N T " M O 1 1 ,C " Move to position 11 with hand ciosed.
1 5 0E N D E n d B A S I C p r o gr a m .
RUN Run BASICprogram.
OK

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

l E x a m p l e 2 ) P r o g r a m g e n e r a t i o nt o e x e c u t i o n ( C e n t r o n i c s )

l O OL R P I N T "10 NT"
1 1 0L P R I N T "12SP1"
1 2 0 L P B T N "T1 4 t \ 4 0 1 0 , o "
1 3 0L P R I N T "16GC"
1 4 0 L P R T N "T1 8 t \ , 4 01 r , c "
1 5 0 L R P I N T" 2 0 E D " E n d M o v e m a s t e rp r o g r a m .
1 6 0E N D End BASICprogram.
RUN R u n E A S I C p r o gr a m .
OK
LPRINT "BN" R u n M o v e m a s t e rp r o g r a m .

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

3.3.2Driveunit mode Iq6+r ih^ n/^^a; |, 16l

Set the toggleswitch{ST1)locatedinsidethe driveunit sidedoor

to the upper position.

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

4. FROMPOWER-UP TO This chapterdescribesthe proceduresthat must be performed

ORIGINSETTING afterdeliveryand installation
of the systembeforeinitiatingthe
actualroboticoperations.

4.1 Settingthe SideSetting Beforeturningthe systempowerON,setthe sidesettingswitches

Switches as followsby referringto 2.1.2Functionsof side settingswitches
and LEDs.

ST1: Lower positlon(Personalcomputermode)

ST2: Lower position{EPROMdata is not transferredto RAM)

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

4.3 OriginSetting The robot must be returnedto origin as follows after power is
t u r n e d O N . T h i s i s d o n e t o m a t c h t h e r o b o t ' s m e c h a n i c a lo r i g i n
w i t h t h e c o n t r o l s y s t e m ' so r i g i n a n d i s r e q u i r e do n l y o n c e a f t e rt h e
power is turned ON. Here is the motion of each axis:

1l J2, J3, and J4 axes move to their respectivemechanical

ongrns.

2 ) T h e n , J 1 a n d J 5 a x e s m o v e t o t h e i r r e s p e c t i v em e c h a n i c a l
ongins.

B e a l e r t ,a t t h i s t i m e , t h a t t h e a r m c o u l d i n t e r f e r ew i t h t h e o b j e c t s
s u r r o u n d i n gt h e r o b o t . l t m u s t t h e r e f o r eb e m o v e d a s a p p r o p r i a t e
to a safe position using the teaching box before attempting to
r e t u r n t h e r o b o t t o o r i g i n . T h e c o m m a n d e x e c u t i o ni n d i c a t o r L E D
( E X E C U T E )o n t h e d r i v e u n i t f r o n t p a n e l s t a y s l i t d u r i n g o r i g i n
setting and goes out as soon as it completes.

Using the teaching box

1 ) T u r n O N t h e t e a c h i n q b o x O N / O F Fs w i t c h .

2 ) P r e s sI N S T l a n d E N T , s u c c e s s i v eilny t h a t o r d e r .

Using intelligentcommands through personal computer

1 ) T u r n O F F t h e t e a c h i n g b o x O N / O F Fs w i t c h .

2 ) E x e c u t et h e c o m m a n d " N T " i n d i r e c t e x e c u t i o n m o d e .
L P R I N T" N T " ( C e n t r o n i c s )
"NT" (RS232C)
P R I N T4 1 ,
2. OPERATION

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

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

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

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

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

NOTE
. When positions are taught with a tool length other
than the standard (107mm)set, be sure to ggu€lhg
gg$glggJJ-elStj,'at the beginning of the program in
which those taught positionsare used.

Example:(Teaching)Position1 is set with a 200-mm

tool length.
{Programming} 1 TL 200 2 NT 3 MO 1
 2. OPERATION

5.3 Defining,Verifying, Here, let us actuallyoperatethe teaching box to define,verify,

Changing, and Deleting c h a n g e ,a n d d e l e t e p o s i t i o n s .
the Positions N o w , t u r n O N t h e t e a c h i n gb o x O N / O F F s w i t c h .

('1) Defining positions

Let us definethree differentpositionsas follows.

jog keyor keysto movethe end of the

1) Pressthe appropriate
arm to an appropriateposition.

2) Supposethis is position"10." Now, hit the followingkeys

successively:
Fg trl td lENfl
T h i s s e t s p o s i t i o n 1 0 . A t t h i s t i m e , t h e o p e n / c l o s ep o s i t i o n
of the hand has also been defined.

3) ln the same way, define positions11 and 12 by repeating

steps 1) and 2) above.

( 2 ) V e r i f y i n g p o s i t i o ns
Let us verify if positions have been correctly defined.

1) To verify position 10, hit the following keys successively:

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

2 ) I n t h e s a m e m a n n e r , v e r i f y p o s i t i o n s1 1 a n d 1 2 .

( 3 ) C h a n g i n gp o s i t i n
os
Let us change,or redefine,previouslydefinedpositions

1) Movethe arm end to a positionotherthan position10 and

hit the following keys successively:

EtrEtENf
T h i s c l e a r st h e o l d p o s i t i o n d a t a a n d r e d e f i n e sp o s i t i o n 1 0 .

2) ln the same way, redefine positions 11 and 12.

2. OPERATION

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

EtrtrN]
T h i sc l e a r sp o s i t i o n1 0 m a k i n gi t a v a i l a b lfeo r n e w d e | n r _
tion.

2) To verifythat positionl0 hasbeenproperlydeleted,hit rhe

following keys successivery:
trbvl n tr ENf
lf the positiondatahasbeenproperlydeleted,the teachina
box statusindicatorLEDshows ,,f ', which indicatestha-t
the functioninvokedcannot be performed.
 2. OPERATION

6. PROGRAM This chapterdescribesthe proceduresrequiredto generatea

GENERATION
AND EXECUTION programin the personalcomputermode by usingthe positions
previouslydefinedand to executeit.
The descriptionthat follows assumesthe teachingbox ON/OFF
switch is in the OFF position.

6.1 Generatingand We will heregeneratea modelprogramin the personalcomputer

Transferring
a Program mode describedearlier.Now, why don't we write a simple
p r o g r a mu s i n gt h r e ep o s i t i o n s{ n u m b e r e d1 0 , 1 1 ,a n d 1 2 ) ?T h e
followingliststhe programsequence, wherethe numbersat the
beginningrepresentthe Movemaster program line numbers.For
detailsof the commands,seeDESCRIPTION OFTHECOMMANDS.

Movemasterprogram
1 ON T O r i gi n s e t t i n g ( n e s t i n g ) .
125P7 Set speed at 7.
14 tll0 10, O lMove to position 10 with hand opened.
1 6 t \ , 1 01 1 , C Move to position 11 with hand closed.
1 8 t v t O1 2 , C Move to position 12 with hand closed.
20 Tt 30 Stop for 3 seconds.
22 Gr 14 Jump to line number 14.

With the Centronicsinterface,execute the following BASIC

programto transferthe aboveprogramto the driveunit.Notethat
t h e n u m b e r sa t t h e b e g i n n i n gs h o w t h e B A S I Cl i n e n u m b e r s .

BASICprogram
1 O OL P R I N T" 1 0 N T "
1 ' , 1 L0 P R I N T" 1 2 S P 7 "
1 2 0L P R T N"T1 4 M O 1 0 ,O "
1 3 0L P R T N"T1 6 M O 1 1 ,C "
1 4 0 L P R I N T" 1 8 M O 1 2 , C "
1 5 0 L P R T N"T2 0 r 3 0 "
1 6 0 L P R I N T" 2 2 C T 1 4 "
1 7 0E N D ; E n d B A S I Cp r o g r a m .
RUN ; R u n B A S I C p r o gr a m .
OK

For the RS232Cinterface, executethe followingBASICprogram.

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

1 O OO P E N" C O M I : 9 6 0 0 E , , 7 , 2 " A S 4 1 ; F o r l v l i t s u b i s hMi U L T l 1 6 .

1 1 0P R I N T* 1 , " 1 0 N T "
1 2 0 P R I N T* 1 , " 1 2 S P 1 "
1 3 0 P R I N T4 1 , " 1 4 M O 1 0 "
1 4 0 P R I N T+ 1 , " 1 6M O 1 1 "
1 5 0 P R I N Tn I , " 1 8 M O 1 2 '
1 6 0 P R I N TF \ , " 2 0 r l 3 0 "
1 7 0 P R I N T* 1 , " 2 2 G T 1 4 "
1 8 0E N D ; End BASICprogram.
R U NJ ; R u n B A S I Cp r o gr a m .
OK
T h e s e s e q u e n c e so f o p e r a t i o n sc a u s e t h e p r o g r a m t o b e t r a n s f e r -
red to the drive unit internal memory RAM,

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

procedure.

6.2.1 Step execution The generated program may be executed, line by line. by
operating the teaching box keys for verification. Here is the
p r o c e du r e .

1 ) T u r n O N t h e t e a c h i n g b o x O N / O F Fs w i t c h .

2 ) T o e x e c u t et h e p r o g r a m s t a r t i n g w i t h l i n e n u m b e r 1 0 , h i t
t h e f o l l o w i n g k e y s s u c c e s s i v e l yi n t h a t o r d e r .

tslEFltr tr t-Nil
"NT"
The command on line number 10 is executed.

"NT" has beenexecuted,the teaching

3) Afterthe command
box LEDshowsthe subsequentprogramline number (in
this case,"0012"1.To executeline number 12, key in:
tSrEPltEt.lrl
This causesthe command" S P 7 "o n l i n en u m b e r1 2 t o b e
executed,

4) Repeatstep3) to verifythe program,line by line.Notethat

no entry of line number is necessary.

6.2.2 Startingthe program In the personalcomputermode,the generatedprogramcan be

initiatedby the personalcomputer.Here is the procedure.

1) Turn OFFthe teachingbox ON/OFFswitch.

 2. OPERATION

2) Executethe command"RN" to directlyrun the program.

L P R I N T" R N " ( C e n t r oi cn s)
P R I N Tl t 1 , " R N " { R S 2 3 2 C )
W h i l et h e p r o g r a mi s r u n n i n gt,h e c u r r e n lt i n e n u m b e rr s
shown on the teachingbox LED.

6.2.3 Stopping/restarting The programcurrentlyrunningcan be stoppedand restartedby

the program operatingcertainswitcheson the front controlpanelof the drive
unit.
, E=-;]
Stopping : Pressthe ISTOP; switch, and the robot stops after
c o m p l e t i n g e x e c u t i n gt h e c u r r e n t l i n e n u m b e r . T h i s
means that, if the robot is executing a move com-
mand when the switch is pressed,it will complete
reaching the destination point. At this time, the
t e a c h i n gb o x L E Ds h o w s t h e l i n e n u m b e r i n w h i c h t h e
robot was stoDoed.

R e s t a r t i n g : P r e s st h e switch.This causesthe program

to restart f r o m t h e l i n e n u m b e rf o l l o w i n gt h e o n e
sroppeo.

TurningON the teachingbox ON/OFF switchwhilethe programis

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

6.2.4 Stopping/resetting The program currentlyrunning can be stoppedand reset by

the program operatingcertainswitcheson the front controlpanelof the drive
unit. When reset,the program returnsto its beginning.lf the
p r o g r a mi s t e r m i n a t e bd y t h e c o m m a n d" E D , "i t e n d sn o r m a l l y .
. f ^=::-t
S t o p p i n g : P r e s st h e I S T O P s w i t c h .T h e o p e r a t i o ni s t h e s a m e a s
described before

Resetting : Pressthe _B_LS_ll

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

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

7. wRlrlNG THE The programand positiondatawrittenin the drive unit memory

PROGRAM/POSITION RAM can be storedin the EPROIVI.The followinqdescribesthe
DATAlN EPROM procedu re.
(PERSONAL COMPUTER
MODE)

7.1 InsertingErasedEPRoMInserta new EPROMor one erasedby the EpRoM eraser(the

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

7.2 Writing Datainto We shall now write the contentsof the drive unit RAM into the
EPROM EPROI\4.

Using the teaching box

1 ) T u r n O N t h e t e a c h i n g b o x O N / O F Fw i t c h .

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

in that order.

qsllg t!191!fS9!1_!9
nr ! through the persona|computer

1 ) T u r n O F Ft h e t e a c h i n gb o x O N / O F Fs w i t c h .

2) Executethe command "WR" in direct executionmode.

L P R I N T" W R " ( C e n t r o n i c s )
P R I N Tf 1 , " W R " ( R S 2 3 2 C )

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

7 . 3 P r e c a u t i o n sf o r S t o r a g e B e s u r e t o a f f i x a n u l t r a v i o l e t r a y s s h i e l d i n g s e a l o n t o t h e g l a s s
of EPROM w i n d o w o f t h e E P R O Mi n t o w h i c h d a t a h a s b e e n w r i t t e n t o e n s u r e
d a t a i n t e g r i t y .W h e n t h e E P R O Mi s t o b e s t o r e d o f f t h e s o c k e t ,t a k e
n e c e s s a r yp r e v e n t i v e m e a s u r e s a g a i n s t e l e c t r o s t a t i cc h a r g e .
 8. OPERATION
USINGTHE This chapterdescribesthe procedureto operatethe robot in the
EPROMDATA driveunit modeusingthe programand positiondatawrittenin the
EPROM.
The proceduregiven in the following startswith the condition
beforeturning power ON.

8.1 Insertingthe EPRoM Insertthe EPROM,intowhichthe programand positiondatahave

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

8.2 Settingthe SideSetting Beforeturningpower ON, makethe followingswitch

settingsby
Switches referringto 2.1.2Functionsof side settingswitchesand LEDs.

S T 1 . . . . . . U p p e rp o s i t i o n( D r i v eu n i t m o d e )
ST2 " .. Upper position(EPROMdata to be transferreoro
RAM)

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

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

8.4.1 Step execution The transferred program may be executed, line by line, by
o p e r a t i n g t h e t e a c h i n g b o x k e y s f o r v e r i f i c a t i o n .D e t a i l e d p r o c e _
d u r e i s t h e s a m e a s t h a t f o r t h e p e r s o n a lc o m p u t e r m o d e . ( S e e
6 . 2 . 1 S t e p e x e c u t i o n).

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

b y o p e r a t i n ga c e r t a i ns w i t c h o n t h e d r i v e u n i t f r o n t c o n t r o l p a n e t .
H e r e i s t h e p r o c e du r e ,

1 ) T u r n O F F t h e t e a c h i n g b o x O N / O F Fs w i t c h .

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

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

8.4.3 Stopping/restarting The programcurrentlyrunningcan be stoppedand restarted

by
the program operatingcertainswitcheson the front controlpanelof the drive
unit.The procedureis the sameas that for the personalcomputer
mode. {See 6.2.3Stopping/restarting the program.)

8.4.4 Stopping/resetting The program currentlyrunning can be stopped and reset bV

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

Stopping : Pressthe I STOPI switch.The operationis the sameas

describedbefore.

Resetting : Pressthe lT€SE-il switch afterthe switch has

been pressed,and the proqram rs reset.

Pressingt h e s w i t c h f o l l o w i n g r e s e t t r n g c a L r s e st h e
programt o b e e x e c u t e ds t a r t i n g w i t h t h e f i r s t l i n e n u m b e r . N o t e
that the g e n e r a l - p u r p o s el / O o u t p u t s a r e n o t r e s e t .
 2. OPERATION

USINGTHE In the driveunit mode,the programis run by operatingthe front

9. OPERATION
EXTERNALSIGNALS controlswitchesof the drive unit as we haveseen.This chaoter
outlines the procedureto effect these operationsusing the
externalsignallineswith an l/O card(typeA16 or 816)insertedin
position.For more details,see CHAPTER3 INTERFACE WITH
EXTERNAL I/O EOUIPMENT, APPENDIX.

9.1 Settingthe Switches Makethe followingswitchsettingsby referringto 2.1.2Functions

of side settingswitchesand LEDs.

ST1 " " Upper position(Driveunit mode)

SW1 Bits3 and 5 in upperposition(Type416 or 816 l/O
card selected;externalsignalsenabled)

When power is turnedON with the aboveswitchsettingsmade,

the externalsignalsare enabledfor the executionof the program
in the drive unit mode.In thesesettings,the personalcomputer,
and drive unit front controlswitchesare all disabled,exceptthe
emergencystop switch.

9.2 Executingthe Program

9.2.1 Startingthe program The program is initiatedby a STARTsignal input.

9.2.2 Stopping/restarting Stopping : The program is stoppedby a STOPsignal input.

the program
Restarting: The programis restartedby a STARTsignal input
followingthe STOPsignal.

9.2.3 Stopping/resetting Stopping : The program is stoppedby a STOPsignaI input.

the program
Resetting: The program is reset by RESETsignaI input
followingthe STOPsignal.
2. OPERATION

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

10.1 ErrorMode I Error mode I is concerned mainly with hardware errors. The
c a u s eo f t h e e r r o r m a y b e k n o w n b y t h e l i t L E D i n s i d et h e s i o e o o o r
o f t h e d r i v e u n i t . ( S e e 2 . 1 . 2F u n c t i o n so f s i d e s e t t i n q s w i t c h e s a n d
LEDs.)

(Warning indicators)
T h e e r r o r i n d i c a t o rL E D ( r e d ) o n t h e d r i v e u n i t f r o n t p a n e l f l a s h e s
O F F a n d O N a t 0 . 5 - s e c o n di n t e r v a l s .T h e b u z z e r ,i f s e t t o O N , a l s o
s o u n d si n p h a s ew i t h t h e O N t i m ; n g o f t h e L E D .l F t y p e A ' 1 6o r 8 1 6
l / O c a r d i s b e i n g u s e d ,a n e r r o r s i g n a l i s o u t p u t f r o m t h e d e d i c a t e d
signal line of external l/O equipment connector.

(Condition)
C u r r e n tt o m o t o r s f o r a l l a x e s ( i n c l u d i n gt h e h a n d ) i s i m m e d i a t e l y
c u t o f f { s e r v o O F F )a n d b r a k e sa r e a p p l ; e dt o J 2 a n d J 3 a x e s .A s a
result,the robot is brought to an immediate stop.

(Possiblecauses)
( 1) L E D l O N ' E x c e s s i v es e r v o s y s t e m e r r o r s .M o r e p r e c i s e l y ,
c a u s e sa n c l u d ee x c e s s i v el o a d , e n c o d e r s i g n a l
failure, and robot crashing into an obstacle.
12) LED2ON O p e n o r d i s c o n n e c t e ds i g n a l c a b l e b e t w e e n
the robot and drive unit.
( 3 ) L E D 3O N Drive unit emergency stop input, More pre-
c i s e l y ,w h e n t h e e m e r g e n c ys t o p s w i t c h o n t h e
d r i v e u n i t f r o n t p a n e l i s p r e s s e do r w h e n t h e r e
is an input to the external emergency stop
i n p u t t e r m i n a l ( N / C c o n t a c t )o n t h e d r i v e u n i t
r e a r p an el .
( 4 ) L E D 4 O N " . . T e a c h i n g b o x e m e r g e n c ys t o p i n p u t . M o r e
s p e c i f i c a l l y ,w h e n t h e e m e r g e n c y s t o p p u s h -
b u t t o n s w i t c h o n t h e t e a c h i n gb o x i s p r e s s e d ,
when the teaching box connectorcomes off
w h i l e t h e t e a c h i n gb o x i s i n u s e , o r w h e n t h e
t e a c h i n gb o x c o n n e c t o r i s p l u g g e d w h e n p o w -
er is turned ON.
( 5 ) L E D 5O N B a c k u p b a t t e r yf a i l u r e .T h i s e r r o r o c c u r s o n l y
w h e n t h e b a t t e r yc h e c kf a c i l i t yi s e n a b l e d ( b i t 2
o f S W 1 i n s i d et h e d r i v e u n i t s i d e d o o r i n O N
p o si t i on ) .

( R e m e d i a la c t i o n)
Turn power OFF, and then eliminate the cause of the error
o c c u r r e d .W h e n r e s t a r t i n gt h e r o b o t , m a k e s u r e t h a t t h e r o b o t h a s
been returnedto origin with the arm moved to a safe position.
 2. OPERATION

10.2 ErrorMode II Error mode ]I is concernedmostly with softwareerrors. No

indicatoris providedfor errormode ll to letthe operatorknowthe
c a u s eo f t h e e r r o r .

( W a r n i n gi n di c a t or s)
TheerrorindicatorLED(red)on the driveunitfrontpanellightsup
steadily.The buzzer, if setto ON,alsosoundscontinuously.
lf type
A16 or 816 l/O card is beingused,an errorsignalis outputfrom
the dedicatedsignalline of the externall/O equipmentconnector
j u s t a s i n e r r o rm o d e I .

(Condition)
The systementersthe mode waitingfor error reset.lf the error
occurswhile a programis running,the programstopsat the line
numberon whichthe erroroccurs,the line numberbeinoshown
on the teachinobox LED.

(Possiblecauses)
(1) Commandtransfererror by the personalcomputer.More
specifically, an undefinedcommand,input format error, or
t r a n s m t s s r oenr r o r .

( 2 ) Commandis beingunexecutable. More precisely,

an entry of
parameterexceedingthe specifiedrangeor move command
to an undefinedposition.

( 3 ) EPROMwrite error.Morespecifically,
the EPROMunerasedor
E P R O Mf ai l ur e ,

( R e m e d i a l a c t i o n)
Perform either of the following resettingoperations.
Using drive unit switch
Pressthe switch.
U s i n gi n t e l l i g e ncto m m a n d st h r o u g ht h e p e r s o n acl o m p u t e (r i n
personalcomputermode)
Turn OFFthe teachingbox ON/OFFswitch and executethe
command "RS" in direct executionmode.
L P R I N T" R S " { C e n t r o n i c s )
P R I N Tf 1 , " R S " ( R S 2 3 2 C )
Using dedicatedsignal line of l/O connector
T u r n O N t h e R E S E Ti n p u t s i g n a l .

The error indicatorLEDgoesout as soon as the aboveresetting

procedurehas beencompleted. The program,if it hasbeenbeing
executed,is resetand it will be startedfrom the firstlinenumberif
restarted.Notethat general-purpose l/O outputsare not resetby
this resettingoperation.
l. sPEctFlcATt0l{s
2.0PtRAT|01{

3. DESCRIPTIIIN
tlFTHECIIMMANDS
4. iIAINTENANCE
AN0ll{SPECTl0l{
5. APPTNDICTS
 CONTENTS(DESCRIPTION
OF THE COMMANDS}

1. COMMANDOVERV|EW........ ............'.3-1

2. DESCRfPTIONOFEACHCOMMAND................ . . . . .. . . . . 3 - 2

ControlInstructions"""" "" "'

2 . 1 Position/Motion " "" " " "" " ".'' 3-3
DP(Decrement Position) Movingto a positionnumberone smaller" " "" " "" "' 3-3
""
DW (Draw) .Moving a distancespecifiedin the cartesiancoordinate
s y s t e m . ." " " " "..".'3-4
H E( H e r e ) . . . T e a c h i n g t h e c u r r e n t p o s i t"i"o n" " " " " " " " " " . " . ' 3 - 5
HO(Home) ...... Settingthe cartesiancoordinatesystemreferenceposi-
t i o n. . . . . . . . . . . . . . . . . . . . . . . . .3
. .- 6
l P( l n c r e m e nPto s i t i o n ) " "" M o v i n g t o a p o s i t i o n n u m b e r o n e g r e a t e r" "" " " " " " 3 - 7
MA (MoveApproach)" "" Movingto a specifiedincremental dimension"" "" " "' 3-8
MC (Move Continuous) ....'.. Movingthroughintermediate pointscontinuously.'........ 3-9
M J ( M o v e J o i n t ) "" " " " " T u r n i n ge a c hi o i n ta s p e c i f i eadn g l e" " " " " " " " " " ' 3 - 1 1
MO (Move)....... Movingto a specifiedpositionby articulated interpola-
tion""""""" """ 3-12
MP (Move Position) Movingto a positionwhosecoordinates arespecified 3-13 "
MS (MoveStraight) Movingto a specified positionby linearinterpolation...' 3-14
MT (Move Tool) Moving an incrementaldistancespecifiedin the tool
direction "" " """"'3-16
NT(Nest) " R e t u r n i n g t h e r o b o t t o o r"i g i n """'3-17
OG (Origin) Moving to the cartesiancoordinatesystem reference
oosition "" """"" "'3-18
PA (PalletAssign) "" " "" Definingthe numberof columnand row grid pointsfor a
specified pallet "" " "" 3-19
PC(Position Clear)"" " "" 'Clearing a specified position" " "' 3-20
PD (Position Define) ......... the
Defining coordinates of a specified position "" " " 3-21
PL(Position Load) """" "" Assigningthe positiondata of a specifiedpositionto
anotherspecified position 3-22
PT(Pallet) " Calculating the coordinates of a grid pointon a specified
Dallet" " " "" " 3-23
PX (Position Exchange) """ Exchanging the coordinatesof a positionfor those of
anotner"""" "' 3-27
SF(Shift)........ "
S h i f t i n tgh ec o o r d i n a t eosf a s p e c i fe dp o s i t i o n" " " " " 3-28
SP(Speed) 'Setting the operatingvelocityand acceleration/decel-
erationtimd " "" "" 3-29
Tl (Timer) ..... . . Haltingthe motionfor a specified periodof time """ " 3-30
TL (Tool) "" Settingthe tool length " "" " "" " " 3-31
2.2 ProgramControlInstructions " """"""" 3-32
CP (Compare Counter) " "" Loadingcounterdataintothe comparison register """' 3-32
DA (Disable Act) Disabling the interruptby an externalsignal" " "" "" 3-33
DC(Decrement Counte.)"" Subtracting 1 from a valuein a specified counter"" "" 3-34
DL(DeleteLine) " " " " " " D e l e t i nags p e c i f i epdar t o f a p r o gr a m " " " "
" "" "3-35
 Act)'
EA (Enable Enablingthe interruptby an externalsignal. . .. .. .. .. 3-36
ED(End) " E n d i n gt h e p r o gr a m "" "" " 3-38
EO(lf Equ6l) Causinga jump to occurif the contentsof the compari-
s o nr e g i s t eer q u a al s p e c i f i evda l u e " " ' . . . . . . . . . . . . . . .3. - 3 9
G S( G oS u b ) E x e c u t i nags p e c i f i esdu b r o u t i n e" " " - . . . . . .. . 3 - 4 0
GT(GoTo) ' C a u s i n g
a j u m p t o o c c u r t a s p e c i f i eldi n en u m b e r . . . "' 3 - 4 1
o
l C ( l n c r e m e nCto un t e r .) . . . . . A d d i n gl t o t h e v a l u ei n a s p e c i f i ecdo u n t e r ' . " . . . . . . ...... 3 - 4 2
LG (lf Larger) Causinga jump to occurif the contentsof the compari-
s o nr e g i s t ear r eg r e a t etrh a na s p e c i f i evda 1 u e . . . . . . . . . .3. .-.4. 3
(lf
NE Not Equal) Causinga jump to occurif the contentsof the compari-
son registerdo not equala specified value
NW ( N e w ) . . D e l e t i n g
a l l p r o g r a m as n dp o s i t i o n d a t a " " " " " " " " ' J-4C
NX (Next) "" Specifying the rangeof a loopin a program 3-46
RC(RepeatCycle) . ".' Specifying the numberof repeated cyclesof a loop" "' 3-47
RN (Run) .. .Executing a specified partof program 3-48
RT (Return) " Returningto the main program after completinga
subroutine 3-49
SC{SetCounter) " " " " Loading a v a l u ei n a s p e c i f i ecdo un t e r " " " " " " " " " ' J-3U

SM (lf Smaller)"" " " " " Causinga jump to occurif the contentsof the compari-
son registeraresmallerthana specified value " "" " 3-51
2.5 H a n dC o n t r oIln s t r u c t i o n s . . . . . " "'3-52
G C ( G r i p C l o s"e )" " " " " C l o s i n tgh e h a n dg r i p " " " " "" "'3-52
GF(GripFlag)"" " " " " " Definingtheopen/closestateofthehand " " " " " " " 3-53
G O( G r i p Open) " " " O p e n i n g t h ea n dg r i p " """""""3-54
G P( G r i pP r e s s u r e ) . " . . . ' . . . . ' . . D e f i nt hi negg r i p p i n gf o r c e / t i m ew h e n t h e h a n d i s
closedand opened " " " 3-55
2 . 4 l/OControlInstructions 3-56
lD ( l n p u t
Direct)" " " " " " F e t c h i nagn e x t e r n a l s i g n a l " " " " " ' 3-56
lN (lnput) " Fetching an externalsignal synchronously " "" " " 5-3 |

OB (Output Bit) " " " "" Setting the output state of a specified bit " "" " """ " 3-58
OD (OutputDirect) "" " " 'Outputtingspecified data ' 3-59
OT (Output)" ' Outputtingspecified datasynchronously " " """ " " ' 5 - O U
TB (TestBit)" " " " " " "" Causinga jump to occurdependingon the conditionof
a specified externalsignal bit " ' J-O I

2.5 RS232C Readlnstructions 3-62

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

1. COMMANDOVERVIEWThis chaptergives an overviewof a multitudeof commands

providedfor the Movemasteras classifiedaccordingto their
functions.Fordetailsof eachcommand,seeCHAPTER 2 DESCRIP-
T I O N O F E A C HC O M M A N D .

control instructions(24 instructions)

( 1 ) Position/motion
These commands are concernedwith the positionsand
motionsof the robot.They includethosedefining,replacing,
assigning,and calculatingthe positiondata as well as those
effectingthe articulatedand linear interpolationsand con-
tinuous-pathmotions.Also includedare the speed-setting,
origin setting,and palletizingcommands.

12) Programcontrol instructions(19 instructions)

These commandscontrol the flow of the program.They
includethose concerningthe subroutines,repetitiveloops,
a n d c o n d i t i o n aj ul m p s .A l s o i n c l u d e da r e t h e c o u n t e ro p e r a -
tion and the declarations of interruptoperationby meansof
externalsignals.

( 3 ) Hand control instructions14 instructions)

T h e s e c o m m a n d sc o n t r o lt h e h a n d . C o m m a n d sa r e a l s o
availablefor the motor-operated hand (option)that set the
grippingforce and open/closetime of the grip.

\ 4 1l/O control instructions(6 instructions)

Thesecommandsare concernedwith the inputand outDutof
datathroughthe general-purpose l/O port.Eothfor the inputs
and outputs,the data can be exchangedsynchronously or
asynchronously and processing is possiblein bits or parallel.

( 5 ) RS232Cread instructions(6 instructions)

Thesecommandsallow the personalcomputerto read data
from the robot'smemory.The data that can be read include
the positiondata,programdata,counterdata,externalinput
data. error mode, and currentposition.

(4 instructions)
( 6 ) Miscellaneous
Grouped into this categoryare the error reset commano,
read/writecommandsof the userprogramand positiondata,
and the commandgoverningwriting of comments.
3. DESCRIPTION
OFTHECOMMANDS

OFEACH The followingpagesexplaineachcommandin the formatshown

2. DESCRIPTION
COMMAND below.Note that those commandsmarkedwith X can only be
executeddirectly by the personalcomputer and cannot be
programmed.

IFunction
I Givesa briefdescription
of the function
invokedbv the command.

IlnputFormatl Shows the arrangementof the com-

mand entry, ( ) indicatingthe com-
mand parameterand [ ] indicatingthe
parameterthat can be omitted.

ISampleInputl Shows a typicalcommandentry.

(Explanation
I Explainsthe detailedfunctionor func-
tionsto be invokedby the commandand
gives some precautionsfor use.

IsampleProgram
) ' Gives a typical program with exact
meanings of each line and/or some
footnotes.
 3. DESCRIPTION
OFTHECOMMANDS

2.1 Position/Motion
Control
Instructions

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

I InputFormatl

DP

Isample Input)
DP

IExplanation
I
(1) This commandcausesthe robotto moveto a predefinedpositionwith a position
number smallerthan, and closestto, the currentone. (Seecommand lp.)

(2) lf there is no predefinedpositionwith a positionnumbersmallerthan the current

one, error mode II is caused.

Isample ProgramI
1 0 L P R I N T" M O 3 " Move to position 3.
20 LPRINT''MO 4" lvloveto position4.
30 LPRINT"IV]O5" Move to position5.
40 LPRINT"DP" Move to position4.
3. DESCRIPTION
OF THECOMMANDS

DW (Draw)
(FunctionI
Moves the end of the hano ro a positionaway from the currenr one coveringthe
distancespecifiedin the X-, y-, and Z-axisdirections.

(lnput Formatl

DW [ (Traveldistancein X) ], [ (Traveldistancein y) ], I (Traveldistancein Z) I

(sample tnput)
D W 1 0 . 5 , 2 0 . 5-,3 0 . 5

IExplanationI
(1) The leastinput incrementfor the distanceof travelis o.1mm.(e.g.specify20.1for
20.1mm.)

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

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

( 3 ) The defaultdistanceof travel is 0.

(4) sincethe motionis basedon articulated

interpolation,
the combinedmotionof the
end of the hand generatesan arc when a longer distanceof travel is involved.

{s) The position ofthe end of hand is determinedby the tool length currently
(see commandTL.)
established.

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

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

squareto reachthe start point finally.
 3. DESCRIPTION
OFTHECOMMANDS

HE (Here)
IFunction
I
Definesthe coordinates
of the currentpositionby assigninga positionnumberto it.

I Input Format]

HE ( Positio
n number)

Where, 1 5 Positionnumber 5 629

ISample Inputl
HE5

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

tzJ lf a singlenumberis assignedto two differentpositions.the one definedlasttakes

precedence
with the former creareo.

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

(4) Execution of this commandwhen any of the axesof the robotis positionednearthe
boundaryof its operationalspacemay causeerror mode II. In suchcases,avoid
such attitudeof the robot.

( 5 ) Errormode II is causedif thiscommandis executedbeforethe robotreturnsto the

o n gI n .

IsamptePrograml
1 OL P R I N"TM O 1 0 " Move to position10.
20 LPRINT "DW 1O,O,O"
Move 1Ommin *X direction.
3 0 L P R I N "TH E 1 1 ' ldentifyabove positionas position11.
3. DESCRIPTION
OFTHECOMMANDS

H O (Ho m e)
IFunction)
the referencepositionin the cartesiancoordinatesystem.
Establishes

I Input FormatI

HO

ISample InputI
HO

(Explanation
I
{1) Thiscommandestablishes the reference position(in X-,Y-.and Z-axisand pitch/roll
angles)in the cartesiancoordinatesystem.All subsequentmotionsare basedon
this reference
coordinates. {Fordetails.seeCHAPTER 4 CARTESIAN COORDINATE
SYSTEMREFERENCE POSITIONSETTING,APPENDIX.)

(2) This commandmust be executedto repeatthe roboticmotion through a series

pointspreviouslytaughtafterthe robot has beendisassembled
and reassembled
for mechanicaladjustments.

(3) Thiscommandcannotbe executedwhen bit 4 of SW'l locatedinsidethe sidedoor

of the drive unit is in the lower position(OFF).

Isample Programl
1 OL P R I N T" H O "
 3. DESCRIPTION
OF THECOMMANDS

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

Ilnput Format)

IP

ISample InputI
IP

IExplanation
I
(1) This commandcausesthe robotto move to a predefinedpositionwith a position
n u m b e rg r e a t e i ' t h a na, n d c l o s e s t o , t h e c u r r e n to n e . ( S e ec o m m a n dD P . )

(2) lf there is no predefinedpositionwith a positionnumbergreaterthan the current

one, error mode 1I is caused.

I Sample ProgramI
1 0 L P R I N T" I V I O5 " ; Move to position5.
2 0 L P R I N T" M O 4 " ; Move to position4.
3 0 L P R I N T" M O 3 " ; Move to position3.
4 0 L P R I N T" I P " ; Move to position4.
3. DESCRIPTION
OF THECOMMANDS

MA (Move Approach)
( F u n c t i o nI

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

Ilnput Formatl

M A ( P o s i t i o nn u m b e r( a ) ) , ( P o s i t i o nn u m b e r( b ) ) [ , ( O o r C ) ]

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

Isample Input)
MA2.3.C

(Explanation
l
(1) This commandcausesthe end of the handto movefrom the currentpositionto a
positionaway from position(a) in increments
as specifiedfor position(b).lt does
not changethe coordinatesof positions(a) and (b). (See commandSF.)
(Each coordinateof position (b) is temporary added to the corresponding
coordinateof position(a).)

(2) lf the open/close

stateofthe handhasbeenspecified(O:open;C: closed), the robot
movesafterexecutingthe handcontrolinstruction.lf it has not beenspecified,
the
hand state in position(a) remainsvalid.

(3) lf the calculatedincrementaldimensionsexceedthe robot's operationalspace,

error mode II is causedbeforethe robot moves.

(4) Error mode II is also causedif positions(a) and (b) have not been definedyet.

(5) The positionof the end of the hand is determinedby the tool lengthcurrently
established.
{see commandTL.)

ISample Program)
10 LPRINT "HE1"
20 LPRTNT "PD 5, 0, 0, 30, 0, 0"
3 0 L P R I N T" M A 1 , 5 , O '

N In the aboveexample,the end of the hand is movedwith the hand openedfrom

position1 to a positionin 30-mmincrements
only in the Z-axisdirection.
Thevalues
of coordinatesof positions1 and 5 do not change.
 3. DESCRIPTION
OF THECOMMANDS

MC (Move Continuous)
(Function
)
Movesthe robotcontinuously
throughthe predefined pointsbetweenthe
intermediate
two specifiedpositionnumbers.

(lnput Format)

M C ( P o s i t i o nn u m b e r{ a ) ) , ( P o s i t i o nn u m b e r( b ) )

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

P o s i t i o n u m b e r( a ) - P o s i t i on u m b e r( b ) < 9 9

IsampleInput)
M C 1 0 1 ,2 0 0

(Explanation
)
{1) Thiscommandcausesthe robotto moveat a givenspeedfrom the currentposition
via position{a)to position{b),movingcontinuously
pastthe predefined
intermedi-
ate points between positions {a) and (b).

(2) Dependingon whetherpositionnumber(a)is greaterthan positionnumber(b),or

vice versa,the robot moves through the intermediatepoints in descendingor
ascending orderof the positionnumber.The robotdecelerates
as it reaches
the end
posrrion.

( 3 ) T h e o p e n / c l o s es t a t e o f t h e h a n d b e f o r e t h e r o b o t s t a r t s m o v i n g r e m a i n s v a l i d
t h r o u g h o u t t h e e n t i r e m o v e m e n t a n d t h e o p e n / c l o s ed e f i n i t i o n s a t i n t e r m e d i a t e
points have no bearing on it.

t4l S i n c e t h e r o b o t d o e s n o t d e c e l e r a t ed u r i n g i t s m o v i n g t h r o u g h t h e i n t e r m e d i a t e
p o i n t s , a v o i d m o v e m e n t p a t h t h a t i n v o l v e sa g r e a t c h a n g e i n o r i e n t a t i o no f a n y o f
t h e a x e s o f m o t i o n ; o t h e r w i s e ,t h e r e s u l t a n to s c i l l a t i o n sa d v e r s e l ya f f e c tt h e r o b o t
m e c h a n i c a l .( T h e m a x i m u m s p e e d o f t r a v e l u s i n g c o m m a n d M C i s e q u i v a l e n tt o
SP4.)

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

ISample Programl
10 LPRINT "MA 1" Posirion5
Posrtion
2 P o s i t i o n6
20 LPRINTMO 2" "
3 0 L P R I N T" S P 3 " t\l01
4 0 L P R I N T" M C 5 , 1 5 " MC5,
Positio n 1
3. DESCRIPTION
OF THECOMMANDS

X In the aboveexamDle,linenumbers10 and 20 causethe robotto moveto Dositions

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

MJ X (Move Joint)
IFunctionI
Turns each joint the specifiedangle from the currentposition.

I Input Formatl

M J [ ( W a i s tt u r n i n ga n g l e )] , I ( S h o u l d et ru r n i n ga n g l e )l , [ ( E l b o wt u r n i n ga n g l e )
l , { ( P i t c ha n g l e )l , [ ( R o l l a n g l e )]

ISample Input)
MJ 10,20,-30, 40, -50

(Explanation
I
( 1 ) T h e l e a s ti n p u t i n c r e m e not f t h e t u r n i n ga n g l ei s 0 . ' 1 ' .

(2) The open/closestateof the handdoesnot changebeforeand afterthe movement.

Errormove II is causedbeforethe axismotionif the turningangleentryexceeds
the robot's operationalspace.

( 3 ) The defaultturning angle is 0.

( 4 ) The positiveand negativedirectionsof each axis of motion are as follows.

S ho u l d e r Elbow rist

Wrist roll

Isample Program)
1 0 L P R I N T" M J + 9 0 , O , O , O , 0 "
20 LPRINT " M J O ,- 3 0 , 0 , 0 , 0 "
30 LPRTNT "MJ 0, 0, 0, +20, 0 "

'10
X I n t h e a b o v e e x a m p l e ,l i n e n u m b e r c a u s e st h e w a i s t t o s w e e p g 0 ' i n t h e *
d i r e c t i o n ,l i n e n u m b e r 2 0 c a u s e st h e s h o u l d e rt o s w i v e l 3 0 ' i n t h e - d i r e c t i o n ,a n d
line number 30 causesthe wrist to bend 20" in the * direction.
3, DESCRIPTION
OF THECOMMANDS

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

I Input Formatl

M O ( P o s i t i o nn u m b e r ) [ , ( O o r C ) ]

Where, '1 5 Positionnumber 5 629

Isample Input)
MO2,C

IExplanationI
(1) This commandcausesthe end of the hand to move to the coordinatesof the
specifiedpositionby articulated Thepositionof the end of the handls
interpolation.
determinedby the tool lengthcurrentlyestablished. (See commandTL.)

(2) lf the open/close

stateof the handhasbeenspecified(O: open;C: closed),the end
of the hand movesafterexecutingthe hand controlinstruction.lf it has not been
specified,the definitionof the specifiedpositionis executed.

(3) Error mode II is causedif the specifiedpositionhas not been predefinedor the
movementexceedsthe robot's operationalsoace.

(sample Program)
10 LPRINT"SP 5" ; Set speedat 5.
20 LPRINT"MO 20, C" ; Move to oosition20 with hand closed.
30 LPRINT"MO 30, O" ; Move to position30 with hand open.
 3. DESCRIPTION
OF THECOMMANDS

MPX (Move Position)

IFunctionI
Movesthe end of the handto a position (position
whosecoordinates andangle)are
specified.

Ilnput Format)

MP [ (X-axiscoordinate)l, [ (Y-axiscoordinate)], [ (Z-axiscoordinate)], [ (pitch

a n g l e )l , [ ( R o l l a n g l e )]

(sample Inputl
MP 0, 380. 300, -70. -40

I Explanation)
(1) The leastinput incrementof the coordinatevaluesis 0.1mmor 0.'1".
(e.g.specify
2 0 . 1f o r 2 0 . 1 m m . )

(21 Errormode II is causedif the specified

coordinates
exceedthe robot'soperational
sDace.

{3) The defaultcoordinatevalue is 0.

(4) The open/closestateof the hand does not changebeforeand afterthe movement.

(5) The positionof the end of the hand is determinedby the tool lengthcurrently
(see commandTL.)
established.

ISample Program)
10 LPRTNT "PD 1, 0, 380, 300, -70, -40"
2 0 L P R I N T" M O 1 "
30 LPRINT"MP 0, 380, 280, -70, -40"

X In the aboveexample,the end of the hand is first movedto position1 and then
moved20mmdown in Z-axisdirectionby linenumber30,the open/close stateof the
h a n d r e m a i n i n gu n c h a n g e d .
3. DESCRIPTION
OF THECOMMANDS

MS (Move Straight)
(Function
I
Moves the robot to a specifiedpositionnumber through the specifiednumber of
intermediatepoints o n a s t r a i g h tl i n e .

Ilnput Format)

M S ( P o s i t i o nn u m b e r ) , ( N o . o f i n t e r m e d i a tpeo i n t s ) [ , ( O o r C ) ]

Where, 1 5 Positionnumber 5 629

1 < No. of rntermediate
points < 99

ISample Input]
MS2,5,C

(Explanation
)
{1) The numberof intermediatepointsbetweenthe currentposltionand the specified
positionnumberis calculated
by equallydividingthe distanceof traveland position
angle(pitch/roll
angle)betweenthetwo positions(thenumberof divisionsequaling
pointsplus '1).Acceleration
the numberof intermediate and decelerationduringthe
movementare omitted.

{2) The more the numberof specifiedintermediate points,the smootherthe straight

line for the movementpath,but the more time requiredfor calculation
beforethe
robot starts moving (99 intermediatepoints requiresabout 2.4 seconds).lt rs
thereforerecommendedthat the number of intermediatepoints be specified
accordingto the distanceof travel and the requiredpath accuracy.

( 3 ) l f a n y o f t h e i n t e r m e d i a t ep o i n t s s p e c i f i e de x c e e d st h e r o b o t ' s o p e r a t i o n a ls p a c e ,
the robot stops in mid-motion and error mode ]I is caused.

( 4 ) l f t h e o p e n / c l o s es t a t eo f t h e h an d h a s b e e n s p e c i f i e d( O : o p e n ; C : c l o s e d) , t h e r o b o t
m o v e s a f t e r e x e c u t i n gt h e h a n d c o n t r o l i n s t r u c t i o n .l f i t h a s n o t b e e n s p e c i f i e d ,t h e
definition of the soecified oosition is executed.

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

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

(7) Certainpositionsof the robotmay causeoscillations.

In suchcases,keepthe speed
low.
 3. DESCRIPTION
OFTHECOMMANDS

Isample Programl
1 0 L P R I N T" H E 2 "
2 0 L P R I N T" M O 3 "
30 LPRINT"MS 2, 3, C"
40 LPRINT"MO 3"
5 0 L P R I N T" M S 2 , 6 , C "

x In the aboveexample,line number20 causesthe robotto move to position3 by

and linenumber30 causesit to moveto position2 through
interpolation
articulated
3 intermediatepointswith the hand closed.Line number50 causesthe robot to
move to oosition2 throuoh 6 intermediateooints.

Intermediate point

Position
Position2
( L i n e n u m b e r 3 0 , 3 i n t e r m e d i a t ep o i n t s ) ( L i n en u m b e r5 0 , 6 i n t e r m e d i a tpeo i n t s )
 OF THECOMMANDS
3. DESCRIPTION

MT (Move Tool)
(Function
I
Movestheendof thehandfromthecurrentposition to a position
awayfroma specified
positionin increments in the tool direction.
as specified

Ilnput Formatl

MT ( Positionnumber), [ (Traveldistance)] [, (O or C) ]

Where, 1 5 Positionnumber 5 629

Isample Input)
MT 5. +70. O

IExplanation
I
11)The leastinput incrementof the distanceof travelis 0.1mm.(e.9.specify150.5for
15 0 . 5 m
m .)

(2) When the distanceof travelenteredis positive(*), the end of the hand advances
along the specifieddistancein the tool direction.When the distanceof travel is
distancein the tool direction.(The
negative(-), the end retractsalongthe specified
defaultdistanceis 0.)

stateof the handhas beenspecified(O: open;C: closed),the end

(3) lf the open/close
of the hand movesafterexecutingthe hand controlinstruction.lf it has not been
specified,the definitionof the specifiedpositionis executed.

(4) Error mode II is causedbeforethe end of the hand starts moving when the
exceedsthe robot'soperational
destination space.lt is alsocausedif the specified
positionhas not been predefinedor is out of the operationalspace.

(5) The positionof the end of the hand is determinedby the tool lengthcurrently
(See commandTL.)
established.

(sample Program)
10 LPRINT "HE1"
20 LPRINT"IVIT1, +30, C"

X In the aboveexample,line number20 definesthe referencepositionas the current

position;as a result,the end of the hand is advanced30mm, from the current
positionin the tool direction,with the hand closed.
 3. DESCRIPTION
OFTHECOMMANDS

NT (Nest)
(FunctionI
Returnsthe robot to mechanicalorigin.

Ilnput Formatl

NT

ISample InputI
NT

I Explanation
I
(1) This commandcausesthe robot to returnto origin,which must be performed
immediatelyafterthe poweris turnedON.Execution of this commandis necessary
before any move command can be executed.Origin setting is performed
automatically
by the limit switchesand phase-Zof encodersprovidedin eachaxis.

(2) Originsettingof J2, J3, and J4 axesis first executed, which is followedby origrn
settingof J1 and J5 axes.lf the arm can interferewith the objectssurroundingthe
robot,usethe teachingbox to move it to a safelocationbeforeattemptingto return
the robot to origin.

(3) Caremust be takento preventpersonalinjuryif the handholdsa workpiece,

as the
hand opens as soon as the origin settingoperationis initiated.

(4) Do not touch the limit switchesand robot body until origin settingcompletes.

Isample Program)
10 LPRINT"NT" ; Executeorigin setting.
2 0 L P R I N T" M O 1 0 " ; M o v e t o o o s i t i o n1 0 .
3. DESCRIPTION
OF THECOMMANDS

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

Ilnput Formatl

(sampleInputI
ULr

I
IExplanation
(1) This command causesthe robot to move to the cartesiancoordinatesyqem
referencepositionestablished
by the HOcommandor by keyingin I P.S and 0 on
the teachingbox. (SeeCHAPTER 4 CARTESIAN
COORDINATE SYSTEMREFER-
ENCEPOSITIONSETTING,APPENDIX.)

{2) lf the referencepositionis yet to be defined.this commandcausesthe robotto a

positionas determinedby tentativedata stored in the system ROM.

(3) Executionof this commandprior to origin setting resultsin error mode II.

ISample Program)
1 O L P R I N T" N T " ; Returnthe robot to origin
2 0 L P R I N T" O G " ;Move to referenceposition in the cartesian
coordinatesystem.
 3. DESCRIPTION
OFTHECOMMANDS

PA (PalletAssign)
IFunction
I
Definesthe numberof grid pointsin the columnand row directions
for a specified
Dallet number.

Ilnput Format)

PA (Palletnumber) , (No. of columngrid points) , (No. of row grid points)

W h e r e ,1 3 P a l l e nt u m b e r5 9
1 < No. of column grid points < 255
1 < No. of row orid ooints S 255

ISample InputI
PA 3. 20. 30

IExplanation
I
(1) This command must be executedbeforethe pallet calculationcommand {see
commandPT) is executed.

t oefa c t u awl o r k p i e c easr r a n g eodn

( 2 ) T h en u m b e ro f g r i d p o i n t s i s e q u i v a l e n t t o t h at h
the pallet.Forexample,with a palletholding15workpieces (3 X 5),the numbersof
column and row grid points are 3 and 5, respectively.

(3) Thecolumnand row directionsaredeterminedby the directionsof the terminating

(Seecommand PT.)
positions,respectively.

Isample Programl
1 0 L P R I N T" P A 5 , 2 0 , 3 0 "
2 0 L P R I N T" S C 5 1 , 1 5 "
30 LPRINT"SC 52, 25"
40 LPRINT"PT 5"
5 0 L P R I N T" M O 5 "

X In the aboveexample,line number10 definespallet5 as the pallethaving20 X 30

grid points.Linenumbers20,30,and 40 then identifythe coordinatesof one of the
grid points (15. 25) as position5 and line number 50 moves the robot to that
oosition.
3. DESCRIPTION
OF THECOMMANDS

PCX (PositionClear)
(FunctionI
Clearsthe positiondata of specifiedpositionnumber or numbers.

I Input FormatI

P C ( P o s i t i o nn u m b e r1 a ) ) [ , ( P o s i t i o nn u m b e r( b ) ) ]

Where, 'l < Positionnumber (a), (b) < 629

(SampleInput)
PC5,8

I ExplanationI
( 1 ) T h i sc o m m a n dc l e a r sa l l p o s i t i o dn a t af r o mp o s i t i o n
( a )u p t o a n di n c l u d i n p
go s i t i o n
(b).

(2) lf position(b) is omitted,the positiondata of only position(a) is cleared.

(3) Be careful,the cartesian coordinatesystemreference

positiondatais clearedif the
positionnumberis omittedor 0 (zero)is defined,exceptwhen bit 4 of sw1 located
insidethe side door of the drive unit is in the lower position(OFF).
(See CHAPTER4 CARTESIANCOORDINATE SYSTEMREFERENCE POS|T|ON
S E T T I N GA, P P E N D I X . )

ISample ProgramI
1 0 L P R I N T" M O 1 0 " ; M o v e t o p o s i t i o n1 0 .
2 0 L P R I N T" M O 1 2 " ; M o v e t o p o s i t i o n1 2 .
3 0 L P R I N T" M O 1 5 " ; M o v e t o p o s i t i o n1 5 .
4 0 L P R I N T" P C 1 2 " ; C l e a rp o s i t i o n1 2 .
50 LPRINT"DP" ; Ivloveto position10.
 3. DESCRIPTION
OFTHECOMMANDS

PDX (PositionDefine)
IFunction
I
(positionand angle)of a specified
Definesthe coordinates positionnumber.

Ilnput Format)

PD (Positionnumber) , [ (X-axiscoordinate)], [ (Y-axiscoordinate)], [ (Z-axis

c o o r d i n a t el), { ( P i t c ha n g l e )l , [ < R o l l a n g l e )]

Where, 1 S Positionnumber S 629

(sample Inputl
PD 10, 0, 380, 300 -70, -40

I ExplanationI
(1) The leastinputincrementof the coordinates
is 0.1mmor 0.1'.(e.g.specify20.1for
20.1mm.)

(2) No erroroccursevenwhen the definedcoordinates exceedthe robot'soperational

space.Thisallowsyou to definea positionrepresenting
an incremental
movement
when the command is used in combinationwith the other command. (See
commandSF. MA)

(3) The defaultcoordinateis 0.

(4) The open/closestate of the hand is definedby the grip flag command.(See
c o m m a n dG F . )

(5) Thiscommandcan definea robotpositiononly when the coordinates

of the end of
the hand as deterrninedby the tool commandare locatedaheadZ-axis(i.e.,the
directionthe robot faces).

(sample Programl
1 O OL P R I N T" G F 1 "
110 LPRTNT "PD 10, 0, 380, 300, -70, -40"
120 LPRTNT "PD 20, O, 0, 20, A, O"
1 3 0 L P R I N T" S F 1 0 , 2 0 "
1 4 0 L P R I N T" M O 1 0 "

X In the aboveexample,line number110definesposition10,at whichhandis closed,

while line number120definesposition20.Linenumber130then redefines position
10 as position10 beingshifted20mm in Z-axisas determinedby position20. Line
number 140 moves the robot to the new position10.
3. DESCRIPTION
OF THECOMMANDS

PL (PositionLoad)
IFunctionl
Assignsthe coordinates
of a specifiedpositionnumberto anotherspecifiedposition
number,

(lnput Formatl

P L ( P o s i t i o nn u m b e r{ a ) ) , ( P o s i t i o nn u m b e r{ b ) )

W h e r e ,1 5 P o s i t i o nn u m b e r( a ) ,( b ) 5 6 2 9

ISample Inputl
PL5,7

I Explanation
)
(1) After this commandhas been executed, the coordinatesof position(a) becomes
equivalentto thoseof position(b),the old position(a)coordinatesbeingcleared.

(2) After the commandhas beenexecuted,

the positionof the hand at position(b) is
assignedto that at position(a).

(3) Error mode II is causedif position(b) is yet to be defined.

Isampte ProgramI
1 0 L P R I N T" H E 2 "
2 0 L P R I N T" P L 3 , 2 "

X In the aboveexample,afterthe currentcoordinatesand hand positionhavebeen

definedas position2, the positiondata of position2 is copiedto position3.
 3. DESCRIPTION
OF THECOMMANDS

PT (Pallet)
IFunction
I
calculates
the coordinatesof a grid pointon a specified
palletnumberand identifies
the
coordinatesas the positionnumber corresponding to the specifiedpallet number.

I Input FormatI

P T ( P a l l e t n um b e r )

Where, 'l < Palletnumber 5 9

ISample Inputl
PT3

IExplanation
I
(1) This commandcalculatesthe coordinatesof a grid point on a specifiedpallet
numberand identifies the coordinates
asthe positionnumbercorresponding to the
specifiedpalletnumber.The palletdefinitioncommand(pA)must be executedfor
the palletto be usedbeforeexecutingthis command,Afterthe pT commandhas
beenexecuted, the positiondatapreviouslydefinedfor the targetpositionnumber
is cleared.

(2) ln orderfor this commandto be executed, the palletpositions(gridpointsat four

cornersof the pallet)mustbe properlydefinedwhichidentifya particular palletand
the palletcounters(columnand row) be properlyset that specifya particulargrid
point on the pallet.Followingis a listingof a combinationof palletpositionsano
counterscorresponding to each pallet number.

( P a l l e t1) Palletreferenceposition Position'10

Palletcolumn terminatingposition position'l1
Palletrow terminatingposition Position12
Palletcorner positionoppositeto reference Position13
P a l l e tc o l u m nc o u n t e r C o u n t e r1 1
Palletrow counter Counter12
PT1 position position'l

( P a l l e2t ) Palletreferenceposition Position20

P a l l e tc o l u m nt e r m i n a t i n g
position P o s i t i o n2 1
Palletrow terminatingposition Position22
Palletcorner positionoppositeto reference Positjon23
P a l l e tc o l u m nc o u n t e r C o u n t e r2 l
Palletrow counter Counler22
PT2 position Position2
 OF THECOMMANDS
3. DESCRIPTION

( P a l l e t3 ) Palletreferenceposition Position30
position
P a l l e tc o l u m nt e r m i n a t i n g P o s i t i o n3 1
Pallet row terminatingposition Position32
Palletcorner positionoppositeto reference Position33
Palletcolumn counter Counter31
Palletrow counter Counter32
PT3 position Position3

{ P a l l e t4 ) Palletreferenceposition Position40
position
P a l l e tc o l u m nt e r m i n a t i n g Position41
Palletrow terminatingposition Position42
Palletcorner positionoppositeto reference Position43
Palletcolumn counter Counter4'1
Palletrow counter Counter42
PT4 position Position4

{Pallet5) Palletreferenceposition Position50

position
P a l l e tc o l u m nt e r m i n a t i n g Position51
Palletrow terminating position Position52
Palletcorner positionoppositeto reference Position53
Palletcolumn counter Counter51
Palletrow counter LOUnTer 52
PTs position Position5

( P a l l e t6 ) Palletreferenceposition Position60
Palletcolumn terminatingposition Position6'l
Palletrow terminatingposition Position62
Palletcorner positionoppositeto reference Position63
Palletcolumn counter LOUnrer b I
Palletrow cou nter Counter62
PT6 position Position6
 OFTHECOMMANDS
3. DESCRIPTION

( P a l l e t7 ) Palletreferenceposition Position70
Palletcolumn terminatingposition Position71
Palletrow terminatingposition Position72
Palletcorner positionoppositeto reference Position73
Palletcolumn counter Counter71
Palletrow counter Counter72
PT7 position Position7

( P a l l e t8 ) Palletreferenceposition Position80
position
P a l l e tc o l u m nt e r m i n a t i n g P o s i t i o n8 1
Palletrow terminating position Position82
Palletcorner positionoppositeto reference Position83
Palletcolumn counter Counter81
Palletrow counter Counter82
PT8 position Position8

( P a l l e t9 ) Palletreferenceposition Position90
Palletcolumn terminatingposition Position91
Palletrow terminatingposition Position92
Palletcorner positionoppositeto reference Position93
Palletcolumn counter Counter91
Palletrow counter Counter92
PTg position Position9

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

properlydefined,therefore,executionof commandPT allowsthe coordinates of a
grid pointto be definedas the positionnumberequivalentto the palletnumber.

(3) Errormode II is causedif the palletpositionshavenot beendefinedand the pallet

countershave not been set or have been set to have valuesexceedingthose
defined by command PA. An error does not occur, however,even when the
coordinatesobtainedfor the grid point exceedthe robot'soperationalspace.

{ 4 ) T h e o p e n / c l o s es t a t e o f t h e h a n d a t t h e t a r g e t g r i d p o i n t i s t h e s a m e a s t h a t i n t h e
pallet referenceposition.

( 5 ) W h e n e x e c u t i n gt h e P T c o m m a n d , t h e t o o l l e n g t h o f t h e h a n d t o b e u s e d m u s t b e
p r o p e r l yd e f i n e db y c o m m a n d T L . T h e r o b o t m u s t a l s c b e t a u g h t t h r o u g h t h e p a l l e t
positions (four corners) using the predefinedcorrect tool length.
3, DESCRIPTION
OFTHECOMMANDS

ISample ProgramI
Supposeyou have a palleton which a total of 24 workpiecesare arranged,4 in the
columndirectionand 6 in the row direction.Now, let us havethe svstemcomputethe
coordinatesofthe workpieceplacedin the grid position(2,4),i.e,,the secondgrid in the
column directionand the fourth grid in the row direction,and get the robot hand to
reachthat position.
P o s i t i o n7 l W o r k p i e c e p l a c e d i n t h e g r i d p o s i t i o n ( 2 , 4 ) P o s i t i o n7 3

P a l l e t7
g
h\
\7 .)c c .l
\-r,
C o o ol (, C
=
o
A
C a a) o
/n
E
?
y.:) C U C .) \-:{
o
O
Row direction 6 pcs.)
Position 70 P o s i t i o n7 2
( R e f e r e n c ep o s i t i o n )

LPRINT"rL 200"
1 O L P R I N T"PA 7, 4, 6"
20 LPRINT" s c 7 1 ,2 "
30 LPRINT" s c 1 2 ,4 "
40 LPRINT" P r 7 "
50 LPRINT" M O 7 "

Procedure
( l ) W e n o w h a v e p a l l e t7 .
Definethe tool length{inthiscase,200mm)corresponding to the handin use.Then,
guidethe arm through positions
70, 71, 72, and 73 at four cornersof the pallet.

(2) Execute t h e p a l l e td e f i n i t i o cn o m m a n dI P A7 , 4 , 6 ) t o d e f i n et h e n u m b e ro f g r i d
p o i n t si n t h e c o l u m na n d r o w d i r e c t i o n s( .L i n en u m b e r1 0 )

(3) Defineparameter2 for counter7'l (column)and parameter4 for counter72 lrow\.

Theseparameters correspondto the targetgrid point.(Linenumbers20 and 30)

(4) Now, executethe pallet calculationcommand (PT7).

This allowsthe coordinates of the targetgrid pointto be calculated
and they are
identifiedas position7. The handcan now be movedto that positionby MO7.(Line
numbers40 and 50)
 3, DESCRIPTION
OFTHECOMMANDS

PX (PositionExchange)
IFunction
I
Exchangesthe coordinatesof a specifiedposition number for those of another
specifiedpositionnumber.

(lnput FormatI

P X ( P o s i t i o nn u m b e r( a ) ) , ( P o s i t i o nn u m b e r( b ) )

W h e r e ,1 5 P o s i t i o nn u m b e r( a ) ,( b ) < 6 2 9

ISample Inputl
P X2 , 3

(Explanation)
(1) After this command has been executed,the coordinatesof position (a) are
exchangedfor the coordinatesof position(b).

{2) The open/closestate of the hand at position(a) is also exchangedfor that at

p o s i t i o n( b ) .

(3) Error mode II is causedif positions(a) and (b) have not been predefined.

(SampteProgram)
1 0 L P R I N T" H E 2 "
2 0 L P R T N"TM J 2 0 , 3 0 , 0 , 0 , 0 "
3 0 L P R I N T" G O "
4 0 L P R I N T" H E 3 "
50 LPRINT''PX 2, 3"

X In the aboveexample,the coordinates

and hand open/close
stateof position2 are
exchangedfor those of position3.
3. DESCRIPTION
OF THECOMMANDS

sF (shift)
IFunction)
of a specifiedpositionnumberin incrementsrepresenting
ShiftSthe coordinates the
coordinatesof anotherspecifiedpositionnumberand redefinesthe new coordinates.

Ilnput Format)

S F ( P o s i t i o nn u m b e r( a ) ) , ( P o s i t i o nn u m b e r( b ) )

W h e r e ,1 5 P o s i t i o nn u m b e r( a ) ,( b ) < 6 2 9

ISample lnput)
sF 10,'100

I Explanation
)
(1) Eachcoordinate
of position(b)is addedto the correspond of position
ing coordinate
(4 , .

(2) Error mode 11 is causedif positions(a) and/or (b) have not been predefined.

(3) This commanddoes not effectany roboticmotion.

ISample ProgramI
1 0 L P R T N"TP D 5 , 0 , 0 , 3 0 , 0 , 0 "
2 0 L P R I N T" H E 1 "
.I,5"
3 0 L P R I N T" S F
4 0 L P R I N T" M O 1 "

x In the aboveexample,Z-coordinate30mm is addedto the corresponding coordinate

of position1 and the new coordinates
are definedas position1. Then,line number
10 causesthe robot to move to that point.
 3. DESCRIPTION
OFTHECOMMANDS

SP (Speed)
(Functionl
Sets the operatingvelocityand acceleratio
n/deceleration
time for the robot.

(lnput Format)

S P ( S p e e dl e v e l ), [ ( H o r L ) ]

Where,0 < Speed level 5 9

ISample Inputl
SP7,H

IExplanation
)
(1) This commandsetsthe operatingvelocityand the acceleration/deceleration time
upon startingand stopping.The velocityis variablein 10 steps,9 being the
maximum speed and 0 the minimum. Acceleration/deceleration time may be
selectedfrom among H or L. The acceleration time is 0.35secondsfor H and 0.5
secondsfor L, while deceleration
time is 0.4 secondsfor H and 0.6 secondsfor L.
WhenH is selected,the acceleration
and deceleration areconstantfrom SP0to SPg.
When L is selected.
the acceleration
and deceleration timesareconstantfrom SP0
to SPg.

(21W h e n t w o o r m o r e a x e s o f m o t i o n a r e i n v o l v e d ,t h i s c o m m a n d s e t s t h e o p e r a t i n g
velocity of the joint having the greatest number of motor pulses.

( 3 ) W h e n t h e v e l o c i t y a n d a c c e l e r a t i o n / d e c e l e r a t i ot inm e a r e s e t , t h e a c c e l e r a t i o na n d
d e c e l e r a t i o nd i s t a n c er e q u i r e df o r m o v e m e n t i s p r e d e t e r m i n e dT
. h i s m e a n st h a t t h e
set speed may not be reached if the distanceof travel is small.

( 4 ) E r r o r m o d e I m a y b e c a u s e di f a h i g h s p e e d a n d H t i m e a r e s e t t o e f f e c ta b a c k w a r d
m o t i o n o r w h e n t h e r o b o t ' s l o a d c a p a c i t yi s l a r g e . l n s u c h c a s e s ,s e t a l o w s p e e d
and L time.

( 5 ) A s p e e d a n d a c c e l e r a t i o n / d e c e l e r a t i ot inm e , o n c e s e t , r e m a i n v a l i d u n t i l n e w o n e s
"SP
are set. In the initial condition, setting is 4, L". (The last acceleratior't/
d e c e l e r a t i o nt i m e r e m a i n s v a l i d w h e n i t i s o m i t t e d . )

(6) lf the speed parameter is omitted, it defaultsto 0.

Isample ProgramI
1 OL P R I N T" S P 3 " Set speed at 3.
2 0 L P R I N T" M O 1 0 " Move to position
'10.
30 LPRINT"SP 6, L" Set speed at 6 and time
4 0 L P R I N T" M O 1 2 " Move to position 12.
5 0 L P R I N T" M O 1 5 " Move to position 15.
3. DESCRIPTION
OF THECOMMANDS

Tl (Timer)
I Function)
Haltsthe motion for a specifiedperiod of time.

I Input FormatI

T l ( T i m e rc o u n t e r )

Where,0 S Timer counter 5 32767

ISample Inputl
rt 20

I Explanation
]
(1) Thiscommandcausesthe robotto halt its motionfor the followingperiodof time:
specifiedtimer countervalue X 0.1 seconds(max. 3,276.7seconds).

(2) The commandcan be usedto introducea time delaybeforeand afterthe hand rs

openedand closedfor grippinga workpiece.

{3) The default value is 0.

Isample ProgramI
1 0 L P R I N T" M O 1 , O "
20 LPRINT"TI 5"
3 0 L P R I N T" G C "
40 LPRINT"TI 5"
5 0 L P R I N T" M O 2 , C "
Move to position1 (with hand open).
Set timer at 0.5 sec.
Closehand (to grip workpiece).
Set timer at 0.5 sec.
Move to position2 (with hand closed).
 3. DESCRIPTION
OFTHECOMMANDS

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

Ilnput Formatl

TL [ (Tool length) ]

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

Isamplelnputl
TL 145

IExplanation
)
{'1) The least input incrementof the tool length is 0.1mm. (e.g.specify200.5for
200.5mm.)

{2) Thetool length,onceestablished,remainsvaliduntila new one is defined.When a

tool lengthis changed,the currentpositionis also changedaccordingly, which,
however,does not involveany roboticmotion.(lnitialsettingof the tool lengthis
'l07mm.)

(3) The defaultvalue is 0.

{4) Sincethe pointdefinedby this commandis the basisfor calculation

of the current
position,cartesianjogging, and commandsinvolvingthe cartesiancoordinate
accordingto the tool (hand)
system,the accuratetool lengthmust be established
being used.

(5) Whenevera program is to run, be sure to set the same tool length as that
establishedduring teachingat the beginningof the program.

Isample Program)
1O LPRINT"TL 120"
2 0 L P R I N T" H E 1 "
3 0 L P R I N T" T L 1 O O "
4 0 L P R I N T" M O 1 "

X In the aboveexample,linenumber30 changesthe tool lengthandthen linenumber

40 causesthe end of the hand to advance20mm in the tool direction.
3. DESCRIPTION
OFTHECOMMANDS

2.2 Programcontrol
lnstructions

CP (CompareCounter)
I Function
I
L o a d st h e v a l u e i n a specifiedcounterinto the internalccmparisonregister.

Ilnput Formatl

C P ( C o u n t e rn u m b e r )

W h e r e .1 < C o u n t e nr u m b e r5 9 9

(sampleInputl
CP 20

I Explanation
I
(1) Thiscommandmustbe executedbeforea conditional jump instruction
(seeEO,NE,
LG,and SM) is to be executedif the valuein the counterwhosenumberis specified
is usedas the conditionfor the jump.Theseconditional jump instructions
causea
jump to occur when certainconditionsare met involvingcomparisonwith the
contentsof the internalregisterloadedby the CP command.

(2) Evenwhen the value of the specifiedcounterchangesafterthe executionof the

command,the contentsof the internalregisterare not affected.lf the conditional
jump is specifiedunder the conditionspecifyingcomparisonwith the counter
value.therefore.this command must be executedafter the countervalue has
chanqed.

(commandslD and lN) usethe sameinternalregister,

(3) The inputcontrolinstructions
meaningthat the old contentsof the internalregisterarelostwhen an inputcontrol
instructionis executed.

(4) Thecontentsofthe countercanbe changedor readby meansofthe counter-related

(See commandsSC, lC, DC, and CR.)
instructions.

ISample ProgramI
1 0 L P R I N T" 1 0 0 t c 2 1 "
2 0 L P R I N T" 1 1 OC P 2 1 "
30 LPRTNT"120 EA 255,500"
40 LPRTNT "130 GT 100"
5 0 L P R I N T" 5 0 0 S C 2 1 , 0 "
6 0 L P R T N"T5 1 0 G T 1 0 0 "

X In the aboveexample,line number100causescounter2'1to be incremented by 1.

Linenumbers110and 120compare the contentsof the with
counter the value255
and,if they equal255,the program jumps to linenumber500,wherebythe counter
'l30 causesthe
is initialized(resetto 0). lf thev do not equal 255, line number
programto return to line number 100.
 3. DESCRIPTION
OF THECOMMANDS

DA {DisableAct}
IFunction
I
Disables
the interruptby a signalthroughthe specified
bit of the externalinput
terminal.

Ilnput Formatl

DA (Bit number)

W h e r e ,0 S B i t n u m b e r< 7 ( 1 5 )
F i g u r ei n ( ) i s f o r t y p e 4 1 6 o r 8 1 6 l / O c a r d .

Isample Input)
DA3

I ExplanationI
(1) Thiscommandclearsthe interruptenabledstateof the bit definedby the interrupt
enableinstruction(see commandEA).

(2) Oncethis commandhas beenexecuted,no interruptoccursevenwhen a signalis

input to the specifiedbit while the robot is in motion.Note, however,that the
executionof this commanddoesnot affectthe interruptenabledconditionof other
otts.

(3) To inhibitrepeatedinterruptsby a singlesignal,eitherlow or high,this command

must be executedat the beginningof a line numberto whichthe programjumps
after the interruDthas occurred.

Isample Program)
See command EA.
3, DESCRIPTION
OFTHECOMMANDS

DC (DecrementCounter)
lFunctionl
Subtractsl from the value in a specifiedcounter.

nput Formatl

D C ( C o u n t e rn u m b e r )

W h e r e ,1 5 C o u n t e nr u m b e r5 9 9

[SampleInput]
DC 35

IExplanation]
(1) Error mode II is causedif the countervalue becomesless than -32767.

(2) The commandcan be usedto countthe numberof workpieces

and job sequences
and to set the number of grid points in the pallet.

(3) The contents of the counter can be changed,compared,or read by the

counter-related (See commandsSC, lC, CP, and CR.)
instructions.

[SampleProgram]
1 0 L P R I N T" S C 2 1 , 1 5 "
2 0 L P R I N T" D C 2 1 "

X I n t h ea b o v ee x a m p l el ,i n en u m b e r1 0s e t sv a l u e1 5i n c o u n t e2r 1a n dl i n en u m b e r2 0
causesthe counterto be decrementedby 1.
 3. DESCRIPTION
OF THECOMMANDS

DLX (DeleteLine)
I Function)
Deletesthe contentsof a specifiedline number or numbers.

(lnput Formatl

D L ' L i n e n u m b e r( a ) ) l , ( L i n en u m b e r( b ) ) l

Where, 1 5 Line number (a), (b) < 2048

(sample Input)
DL 200, 300

(Explanation
)
( 1 ) T h i sc o m m a n dd e l e t e sa l l c o n t e n t fsr o m l i n en u m b e r{ a )u p t o a n d i n c l u d i n gl i n e
n u m b e r( b ) .

(2) lf line number (b) is omitted,the contentsof line number (a) only are deleted.

(sample Program)
1 0 L P R T N"T1 0 0 M O 1 0 "
2 0 L P R I N T" 1 1 0 M O 1 2 "
3 0 L P R T N"T1 2 0 M O 1 5 "
4 0 L P R T N"T1 3 0 M O 1 7 "
50 LPRINT"140 MO 20"
6 0 L P R I N T" D L 1 3 0 " ; D e l e t el i n e n u m b e r1 3 0 .
3. DESCRIPTION
OF THECOMMANDS

EA (EnableAct)
IFunction
I
Enables
theinterruptby a signalthrough
thespecified
bitof theexternal
inputterminal,
line numberto whichthe programjumpswhen interruptoccurs.
and specifies

Ilnput Formatl

EA (+ or -) ( B i t n u m b e r ), ( L i n e n u m b e r )

W h e r e ,0 S B i t n u m b e r< 7 ( 1 5 )
1 S Line nulnber < 2048
F i g u r ei n ( ) i s f o r t y p e 4 1 6 o r 8 1 6 l / O c a r d .

ISample Inputl
EA +7, 1024

(Explanation
)
(1) Thiscommandcausesan interruptby an externalinputsignalto be servicedwhile
the robot is in motion,When the specifiedsignal is input while the robot is in
motion after this command has been executed,the robot is brought to an
immediatestop and the programjumpsto the specifiedline number.Avoid using
the commandwhilethe robotis movingat highspeed,as mechanical failurecould
result.iSet speed below SP5)

(2) The programjumpswhen the specifiedinputbit is ON if the parameter* hasbeen

specified,and when the input bit is OFFif the parameter- has been specifieo.

(3) Two or more bits may be specifiedat one time. lf thereare more than one inputs
received,the bit with a greaterbit number takes precedence.

14) Oncethis commandis executed, the interruptenabledconditionis retaineduntil

the interruptdisable instruction(DA), program end instruction(ED).or reset
instruction(RS) is executed.

(5) This commandis not honoredduringjoggingby meansof the teachingbox and

while the robot is in motion as a resultof the move .iointinstruction(MJ) or nest
instruction{NT).

ISample Program)
1 0 L P R T N"T1 0 0 E A + 5 , 6 0 0 "
2 0 L P R T N"T1 1 0 V t O 1 "
30 LPRINT" 120 ED"
40 LPRINT"600 DA 5"
5 0 L P R T N"T6 ' 1 0M O 2 "
6 0 L P R T N"T6 2 0 G T 1 1 0 "
 3. DESCRIPTION
OF THECOMMANDS

X In the aboveexample,linenumber100declares an interruptcausingthe programto

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

point

W h e n n o s i g n a li s i n p u t
---
/42n,, ,/
-\-,/
Signal input
Position1
3. DESCRIPTION
OF THECOMMANDS

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

Ilnput Format]

ED

ISample Inputl
ED

IExplanation
I
( 1 ) T h i s c o m m a n dm a r k st h e e n d o f a p r o g r a m .

(2) lt is requiredat the end of a programunlessthe programcommandsare directly

executedfrom the personalcomputer.{Thecommandis not required,however,
w h e n t h e p r o g r a mf o r m s a c l o s e dl o o p . )

Isample Program)
1 0 L P R I N T" 1 O OS P 3 " ' qar cnaa.l .t ?

2 0 L P R T N"T1 1 0 M O 3 " ; Move to position3.

3 0 L P R I N T" 1 2 0 M O 5 " ; Move to position5.
4 0 L P R I N T" 1 3 0 E D " ; End the program.
EO (l f Equal)
IFunctionl
C a u s e sa j u m p t o o c c u r i f t h e c o n t e n t s o f t h e i n t e r n a l r e g i s t e re q u a l a s p e c i f i e dv a l u e
wnen compareo.

(lnput Format)

E O ( C o m p a r e dv a l u e ) , ( J u m p i n gl i n e n u m b e r )

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

or &8001 5 Comparedvalue {hexadecimal) < &7FFF
'1<
J u m p i n gl i n e n u m b e r5 2 0 4 8

ISample Input)
EA 128, 1024;or EO &80, 1024

(Explanation
I
(1) Thiscommandcausesa jump to occurconditionally
by meansof an externalinput
data or the contentsof the internalcounter.

(2) lf the contentsof the internalcomparisonregisterequalthe comparedvalue(i.e.,

when the conditionis met), the programjumps to the specifiedline number;
otherwise{i.e.,when the conditionis not met),the programcontinuesin sequence.

13)A valuecan be loadedintothe internalcomparisonregisterby executingthe input

instruction(seelD and lN) for an externalinput dataor by executingthe compare
counterinstruction(seeCP)for the counterdata.lt is thereforenecessary
to execute
previouslyeither of these commandsso that a conditionaliump can occur.

14)The comparedvalue may be definedeitherin decimalor hexadecimal.When a

hexadecimalnumber is used, be sure to append "&" at the beginningof the
number.

Isample Program)
1 OL P R I N T" 1 O OI D " Fetchdata from externalinput port-
2 0 L P R T N"T1 1 0E O 1 0 0 ,1 3 0 " J u m pt o l i ne n um b e r1 3 0i f t h e i np u td a t ae q u a l s
100.
30 LPRINT"120 ED" Endthe programif aboveconditionis not met.
4 0 L P R T N"T1 3 0 M O 7 " Move to position7.
3. DESCRIPTION
OF THECOMMANDS

GS (Go Sub)
(FunctionI
Permitsthe instruction to jump to the subroutine
sequence whichstartswith a specified
l i n e n u mb e r .

Ilnput Formatl

G S ( L i n e n um b e r )

W h e r e ,1 S L i n e n u m b e r5 2 0 4 8

ISample Inputl
GS 1024

IExplanation
I
(1) Thiscommandpermitsthe instruction to jump to a specifiedlinenumber.
sequence
The commandRT is usedto returnsubsequently to the main programafter the
subroutinehas been completed.

(2) Subroutines from the mainprogramand must oe

arewrittenand storedseparately
terminatedby the command RT.

in othersubroutinesis called"nesting."U p t o 9
(3) To call subroutinesincorporated
nestinglevelsare possible.

ISample Program)
1 0 L P R I N T" 2 0 G S 1 O O "
I
2OOLPRINT"90 ED" End the program.
2 1 0 L P R T N"T1 0 0 M O 1 1 " M o v e t o p o s i t i o n1 1 .
2 2 0 L P R I N T" 1 1 0 M O 1 2 " Move to position12.
Subroutine
230 LPRINT" 120 MO 13" Move to position13.
240 LPRINT" 130 RT" End the subroutine.
 3. DESCRIPTION
OF THECOMMANDS

GT (Go To)
IFunctionl
Permitsthe programsequence
to jump to a specified
line numberunconditiona
lry.

Ilnput Format]

G T ( L i n e n um b e r )

W h e r e ,1 5 L i n e n u m b e r= 2 0 4 8

Isample Inputl
Gr 1024

I ExplanationI
(1) This commandcausesthe programsequence
to jump to a specifiedline number.

(2) lf the specifiedline number is not available,the first line numberfollowingthe

specifiedone is executed.

Isample ProgramI
1 0 L P R I N T" 2 0 M O 1 " l\4oveto position1.
2 0 L P R I N T" 3 0 G T 1 O O " Jump to line number 100 u nconditionally,

2 0 0 L P R T N"T1 0 0 M O 1 2 " Move to position12.

2 r 0 L P R T N"T1 1 0 M O 1 5 Move to position 15.
3. DESCRIPTION
OF THECOMMANDS

lC (lncrementCounter)
(FunctionI
Adds 1 to the value in a specifiedcounter.

Ilnput Formatl

l C ( C o u n t e rn u m b e r )

W h e r e ,1 : ! C o u n t e rn u m b e rS 9 9

(SampleInputI
t\- zc

I Explanation
I
(1) Error mode II is causedif the countervalue becomesgreaterthan 32767.

(2) The commandcan be usedto countthe numberof workpiecesand job sequences

and to set the number of grid points in the pallet.

(3) The contents of the counter can be changed,compared,or read by the

counter-related (SeecommandsSC, DC, CP, and CR.)
instructions.

Isample Program)
1 0 L P R T N"TS C 2 1 , 1 5 "
2 0 L P R I N T" I C 2 1"

X I nt h ea b o v ee x a m p l el ,i n en u m b e r1 0s e t sv a l u e1 5i n c o u n t e2r 1 a n dl i n en u m b e r2 0
causesthe counterto be incrementedby 1.
 3. DESCRIPTION
OF THECOMMANDS

LG (lf Larger)
IFunction)
Causesa jump to occur if the contentsof the internalregisterare greaterthan a
specifiedvalue when compared.

Ilnput Formatl

L G ( C o m p a r e dv a l u e ) , ( J u m p i n gl i n e n u m b e r )

Where, -32767 5 Comparedvalue (decimal)< +3T167

or &8001 S Comparedvalue {hexadecimal) < &7FFF
1 < J u m p i n gl i n e n u m b e r5 2 0 4 8

(SampleInputI
LG 12a, 1024;or LG &80, 1024

IExplanation
I
{1) Thiscommandcausesa jump to occurconditionally
by meansof an externalinput
data or the contentsof the internalcounter.

12) lf the contentsof the internalcomparisonregisteris greaterthan the compared

value 1i.e.,when the condltionis met),the programjumps to the specifiedline
number;otherwise(i.e.,when the conditionis not met),the programcontinuesin
seouence.

{3) A valuecan be loadedintothe internalcomparisonregisterby executingthe input

instruction{seelD and lN)for an externalinputdataor by executingthe compare
counterinstruction(seeCP)for the counterdata.lt is thereforenecessary
to execute
previouslyeither of these commandsso that a conditional.jumpcan occur.

(4) The comparedvalue may be definedeitherin decimalor hexadecimal.When a

hexadecimalnumber is used, be sure to append "&" at the beginningof the
number.

(sample Programl
1 O L P R I N T" 1 O OI D "
2 0 L P R T N"T1 1 0 L G 1 0 0 ,1 3 0 "
30 LPRINT"120 ED"
4 0 L P R T N"T1 3 0 M O 7 "
Fetchdata from externalinput port.
J u m p t o l i n e n u m b e r1 3 0 i f t h e i n p u t d a t a i s
greaterthan 100.
Endthe programif aboveconditionis not met.
Move to position7.
 OFTHECOMMANDS
3. DESCRIPTION

NE (lf Not Equal)

(FunctionI
Causesa jump to occurif the contentsof the internalregisterdo not equala specified
v a l u ew h e n c o m p a r e d .

Ilnput Format)

N E ( C o m p a r e dv a l u e ), ( J u m p i n gl i n e n u m b e r )

\Nhere.-32767 S Comparedvalue (decimal)< +32767

or &8001 5 Comparedvalue (hexadecimal) < &7FFF
1 5 J u m p i n gl i n e n u m b e r5 2 0 4 8

Isample Inputl
NE 128, 1024:or NE &80, 1024

I
IExplanation
(1) Thiscommandcausesa jump to occurconditionally
by meansof an externalinput
data or the contentsof the internalcounter.

t2l lf the contentsof the internalcomparisonregisterdo not equalthe comparedvalue

(i.e.,when the conditionis met),the programjumpsto the specifiedline number;
otherwise(i.e.,when the conditionis not met),the programcontinuesin sequence.
sequence.

( 3 ) A valuecan be loadedintothe internalcomparisonregisterby executingthe input

instruction(seelD and lN) for an externalinputdataor by executingthe compare
counter instruction(seeCP)for the counter data.lt is thereforenecessa
ry to execute
previouslyeither of these commandsso that a conditional.iumpcan occur.

When a
( 4 ) The comparedvalue may be definedeitherin decimalor hexadecimal.
"&" at the beginningof the
hexadecimalnumber is used, be sure to append
numDer.

Isample Program)
1 O L P R I N T" 1 O OI D " Fetchdata f rom externalinput port.
2 0 L P R I N T" 1 1 0 N E 1 0 0 ,1 3 0 " J u m p t o l i n en u m b e r1 3 0if the input data does
not equal 100.
30 LPRINT"120 ED" End the programif aboveconditionis not met.
40 LPRINT"130 MO 7" Move to position7.
 3. DESCRIPTION
OF THECOMMANDS

NWx (New)
IFunction)
Deletesall program and positiondata.

Ilnput Format)

NW

Isample InputI

(Explanation
)
(1) Thiscommanddeletesall programsand positiondatastoredin the driveunit RAM.

(2) The command does not. however,delete the referencepositiondata in the

cartesiancoordinatesystem.

ISample Program)
10 LPRINT"NW" ; Deleteall programsand positiondata.
3. DESCRIPTION
OF THECOMMANDS

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

Ilnput Format)

NX

ISample Inputl
NX

I Explanation
I
(1) Thiscommand,usedin combination with the RCcommand,specifies
the rangeof a
loop in a program executedby the RC command.

(2) Error mode II is causedif there is no mating RC commandspecified.

(SampleProgram)
See command RC.
 3, DESCRIPTION
OFTHECOMMANDS

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

Ilnput Fo]matl

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

'l
Where, 5 No, of repeatedcycles < 32767

Isample Input)
RC 32

I Explanation)
(1) Thiscommand,used in combination
with the NX command,causesa loopspecified
by the NX commandto be executeda specified numberof timesandcausesthe line
number following NX to be subsequently executed.

(2) To incorporate
anotherloop (betweenRCand NX) into the existingloop (between
RC and NX) is called "nesting."Up to 9 nestinglevelsare possible.

ISample Program)
10LPRINT "20 MO 1" Move to position 1.
2 0 L P R I N T" 3 0 R C 3 " Repeat loop delimited by
NX three times.
30 LPRINT"40 MO 2" Move to position 2. )
4 0 L P R I N T" 5 0 MO 3" ^
rvrovero posrron J.
l
i Loop
50 LPRINT"60 MO 4" Move to position4. l
6 0 L P R I N T" 7 0 NX" Delimithe loop.
70 LPRINT"80 MO 5" Move to position5.
3, DESCRIPTION
OF THECOMMANDS

RNX (Run)
(Function
I
Executes part of instructions
a specified in a program.
(lnput Format)

R N | ( S t a r t i n gl i n e n u m b e r )1 [ , < E n d i n gl i n e n u m b e r )]

Where, 1 5 Starting/ending
line number 5 2048

Isample Inputl
RN 20, 300

I Explanation)
(1) This commandcausesthe programto run startingwith a specifiedstartingline
n u m b e ra n d e n d i n gw i t h t h e l i n e n u m b e ro n e a h e a da s p e c i f i e de n d i n g l i n e
number.

(2) lf the program is to continue,restartwith the ending line number.

(3) lf the teachingbox is connected, the line numberbeingexecutedis shown on its

LEDdisplay.lf an endingline numberis specified, the programstopswith that line
n u m b e rs h o w n o n t h e L E D .

(4) lf the startinglinenumberis omitted,the programstartswith the firstline number.

ISample Program)
1 0 L P R T N"T1 0 0 M O 1 0 "
2 0 L P R I N T" 1 1 0 M O 1 2 "
30 LPRINT"120 GC"
4 0 L P R I N T" 1 3 0 M O 1 7 "
50 LPRINT" 140 ED"
60 LPRINT"RN 100" ; Runthe programstartingwith line number100.
 3, DESCRIPTION
OFTHECOMMANDS

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

I InputFormatl

RT

(sample Inputl
RT

IExplanation)
(1) Thiscommandcompletesthe subroutinecalledby the GS commandand returnsto
the main program.

(2) Error mode II is causedif the mating GS command is not specified.

Isample Program)
S e e c o m m a n dG S .
 OFTHECOMMANDS
3. DESCRIPTION

SC (Set Counter)
IFunction)
Loadsa specifiedvalue in a specifiedcounter.

Ilnput Formatl

SC (Counternumber) , [ (Value) ]

W h e r e ,1 5 C o u n t e rn u m b e r< 9 9
-32767 < Value {decimal)< +32767
or &8001 5 Value (hexadecimal) < &7FFF

Isample Inputl
sc 15,123

(ExplanationI
11)All countersare initiallyset to 0.

and job sequences

(2) The commandcan be usedto countthe numberof workpieces
and to set the number of grid points in the pallet.

(3) The defaultvalue is 0.

(4) The contents of the counter can be changed,compared,or read by the

(See commandslC, DC, CP, and CR.)
instructions.
counter-related

(5) The value loadedin the counteris not changedby the commandRS,NW, or ED.

Isample ProgramI
1 O L P R I N T" S C 2 1 , 1 5 "
2 0 L P R I N T" I C 2 1 "

X l n t h ea b o v ee x a m p l el ,i n en u m b e r1 0s e t sv a l u e1 5i n c o u n t e2r 1 a n dl i n en u m b e r2 0
causesthe counterto be incrementedby 1.
 3. DESCRIPTION
OFTHECOMMANDS

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

Ilnput Format]

SM ( C o m p a r e dv al ue ) ( J u m p i n gl i n e n u m b e r )

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

or &8001 5 Comparedvalue (hexadecimal) < &7FFF
1 < J u m p i n gl i n e n u m b e r5 2 0 4 8

Isample Input)
SM 128, 1024;or SM &80, 1024

(Explanation
I
(1) Thiscommandcausesa jump to occurconditionallyby meansof an externalinpur
data or the contentsof the internalreqister.

{2) lf the contentsof the internalcomparisonregisteris smallerthan the compared

value (i.e.,when the conditionis met),the programjumps to the specifiedline
number;otherwise(i.e.,when the conditionis not met),the programcontinuesin
sequence.

(3) A valuecan be loadedinto the internalcomparisonregisterby executingthe input

instruction(seelD and lN) for an externalinputdataor by executingthe compare
counterinstruction(seeCP)for the counterdata.lt is thereforenecessa
ry to execute
previouslyeither of these commandsso that a conditionaliumo can occur.

(4) The comparedvalue may be definedeitherin decimalor hexadecimal.When a

hexadecimalnumber is used, be sure to append "&" at the beginningof the
number.

Isample Program)
1 O L P R I N T" 1 O OI D " Fetchdata from externalinput port.
2 0 L P R T N"T1 1 0 S M 1 0 0 ,1 3 0 " J u m p t o l i n e n u m b e r1 3 0 i f t h e i n p u t d a t a i s
s m a l l e rt h a n 1 0 0 .
30 LPRINT"120 ED" Endthe programif aboveconditionis not met.
40 LPRINT" 130 MO 7" Move to position7.
3. DESCRIPTION
OF THECOMMANDS

2.3 HandControl
Instructions

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

Ilnput Formatl

Isample Input)

I ExplanationI
( 1 ) M o t o r - o p e r a t ehda n d .
The commandcausesthe grip of the hand to be closedby the grippingforce
waveformdefinedby the commandGP. "Retainedgrippingforce" is only valid
among the command GP parametersif the commandGC is used repeatedly.

(2) Pneumatically-operated
hand:
to closethe hand (or to
The commandcausesthe solenoidvalveto be energized
attractthe workpiece).

(3) A certainperiod of time is requiredbeforethe motion of the robot becomes

This may makeit necessary
as its handclosesto hold the workpiece.
stabilized to
introducea time delayusingthe commandTl beforeand afterthis command. The
"startinggripping
executiontime of this commandis determinedby the parameter
force retentiontime" for the GP command.(SeecommandGP.)

Isample Program)
1 0 L P R T N"T1 0 0 M O 1 0 , O "
2 0 L P R T N"T1 1 0 T l 5 "
30 LPRINT"12O GC"
4 0 L P R I N T" 1 3 0 T l 5 "
5 0 L P R T N"T1 4 0 M O 1 5 , C "
Move to position10 (with hand open).
Set 0.5-sec.timer.
Closehand (to hold workpiece).
Set 0.5-sec.timer.
Move to position15 (with hand closed).
 3. DESCRIPTION
OF THECOMMANDS

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

(lnput Format)

GF (Switch)

Where,switch: 0 or 1

ISample Inputl
L]T I

I ExplanationI
(1) Thiscommanddefinesthe openor closestateofthe handgrip usedin conjunction
with the command PD which definesthe coordinatesof a specifiedposition

(2) The grip stateis openwhen the switchis setto 0 and closedwhen the switchis 1.
The switch is set to 0 (grip opened)when power is turned ON.

(3) The switch setting,once made, remainsvalid until it is newly set.

(sample Program)
See command PD.
3. DESCRIPTION
OFTHECOMMANDS

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

Ilnput Format)

IsampleInput)
GO

I E x p l a n a t i o n]
( 1 ) M o t o r - o p e r a t e dh a n d :
The command causesthe grip of the hand to be opened by the gripping force
w a v e f o r m d e f i n e d b y t h e c o m m a n d G p . , , R e t a i n e dg r i p p i n g f o r c e , . i s o n l y v a l l d
among the command Gp parametersif the command Go is used re'eatedrv.

( 2 ) P n e um a t i c al l y - o p e r a t e d h a n d :
T h e c o m m a n d c a u s e st h e s o r e n o i dv a r v e t o b e e n e r g i z e dt o o p e n t h e h a n d ( o r t o
r e l e a s et h e w o r k p i e c e . )

(3) A certain period of time is required before the motion of the robot
becomes
s t a b i l i z e da s i t s h a n d o p e n s t o r e l e a s et h e w o r k p i e c e .T h i s m a y m a k e i t n e c e s s a r yt o
i n t r o d u c ea t i m e d e l a y u s i n g t h e c o m m a n d l b e f o r e a n d a f t e r t h i s c o m m a n d . T h e
e x e c u t i o nt i m e o f t h i s c o m m a n d i s d e t e r m i n e db y t h e p a r a m e t e r, , s t a r t i n gg r i p p i n g
force retention time" for the Gp command. (See command Gp.)

(sample Programl
1 0 L P R I N T" 1 0 0 M O 1 0 , C " Move to position10 (with hand closed).
2 0 L P R T N"T1 1 0 T t 5 " Set 0.5-sec.timer.
30 LPRINT",120GO" Open hand (to releaseworkpiece).
4 0 L P R T N"T1 3 0 T t 5 " Set 0.s-sec.timer.
5 0 L P R T N"T1 4 0 M O 1 5 , O " Move to position15 (with hand open).
 3. DESCRIPTION
OF

GP (Grip Pressure)
(FunctionI
Definesthe grippingforceto be appliedwhen the motor-operated
hand is closeoand
opened.

(lnput Formatl

G P ( S t a r t i n gg r i p p i n gf o r c e ) ( R e t a i n e dg r i p p i n g f o r c e ) (Startinggripping
force retentiontime)

W h e r e , 0 < Starting/retained
g r i p p i n gf o r c e 5 1 5
0 < Startingg rippingforce retentiontime < 99

Startinggripping
Stading gripping retentron time
force
Close
R e t a i n e dg f l p p i n g
force

Grippingforce Time

Open

ISample Input]
G P 1 5 .7 . 5

IExplanation
]
(1) This commandsetsthe grippingforce of the motor-operated hand (option)as it
c h a n g e sw i t h t i m e . ( S e ec o m m a n d sG O a n d G C . )

(2) The startingand retainedgrippingforcesare 15 at their maximumand 0 at their

minimum.The startinggrippingforceretentiontime is the parameterX0.1 seconos
(max.9.9 seconds).Definethe parameters optimumfor the workpieceto be heto.
The parametersetting,once made, remainsvalid until a new settingis made.

( 3 ) T h e i n i t i a ls e t t i n g sw h e n t h e p o w e r i s t u r n e dO N a r e , , G p 1 0 , 1 0 , 3 . "

(4) Parameters,
startingand retainedgrippingforces,areinvalidfor the pneumatically-
operatedhand.

(5) The robot motion stops during the startinggrippingforce retentiontime.

I s a m p l e P r o g r a m)
"GP
10 LPRINT 10,6,10" ; Set grip pressure.
"GC"
20 LPRINT ; Closehand in above settings.
3. DESCRIPTION
OFTHECOMMANDS

2.4 l/O ControlInstructions

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

Ilnput Formatl

ID

(sample Inputl
ID

IExplanation
I
(1) This commandcausesa signal{paralleldata)from externalequipmentsuch as a
programmablecontrollerto be fetchedunconditionallyfrom the input port.

(2) The datafetchedis loadedintothe internalcomparisonregisterand is subsequent-

ly used for comparisonand bit test. (SeecommandsEO, NE, LG, SM, and TB.)

(3) For detailed descriptionof connections,see CHAPTER3 INTERFACE

WITH
EXTERNALI/O EOUIPMENT, APPENDIX.

Isample Program)
1 O L P R I N T" 1 O OI D "
2 0 L P R T N"T' 11 0 E O 1 0 0 ,1 3 0 "
30 LPRINT" 120 ED"
4 0 L P R T N"T1 3 0 M O 7 "
Fetchdata from externalinput port.
J u m pt o l i n en u m b e r1 3 0i f t h e i n p u td a t ae q u a l s
100.
End the programif aboveconditionis not met.
Move to position7.
 3. DESCRIPTION
OF THECOMMANDS

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

Ilnput Formatl

IN

DATA (IN)
BLISY(OUT)
L
s T B -( r N )
U Type A8, 416 l/O

F
DATA (IN)
-
Type 88, 816 l/O
BUSY (OUT)

STB(IN) _n_

Isample Inputl
IN

(Explanationl
(1) This commandcausesa signal(paralleldata)from externalequipmentsuch as a
programmable from the input port.At this
controllerto be fetchedsynchronously
time, the controlsignallines (STBand BUSYsignalsor STB and BUSYsignals)
must be previouslyconnectedto the externalequipment-

(2) The datafetchedis loadedintothe internalcomparisonregisterand is subsequent-

ly used for comparisonand bit test. (SeecommandsEO, NE, LG, SM, and TB.)

(3) For detailed descriptionof connections,see CHAPTER3 INTERFACE

WITH
EXTERNAL YO EOUIPMENT, APPENDIX,

Isample Programl
1 O L P R I N T" 1 O OI N "
2 0 L P R T N"T1 1 0 E O 1 0 0 ,1 3 0 "
30 LPRINT"120 ED"
4 0 L P R T N"T1 3 0 M O 7 "
Fetchdata from externalinput port.
Jump to linenumber130if the inputdataequals
100.
Endthe programif aboveconditionis not met.
Move to position7.
3. DESCRIPTION
OF THECOMMANDS

OB (Output Bit)
(FunctionI
Sets the output state of a specifiedbit through an externaloutput port.

(lnput Formatl

OB (+ or -) (Bit number)

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

(sampleInputl
o B+ 1
IExplanation
I
(1) Set* to turn ON the specifiedbit and - to turn OFFthe specified
bit.Appendthe +
or * sign in front of the bit number.

(2) All bits otherthan the specifiedone are not affectedby this command.The output
stateof the specifiedbit is retaineduntila new settingis madeby the commandOB,
OD, or OT.

(3) lf no bit number is specified,it defaultsto bit 0.

Isample Programl
10 LPRINT"OD & FF" ; Output data in hexadecimal(&FF).
20 LPRINT"OB -0"

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

number 20 sets bit 0 to oFF.
 3. DESCRIPTION
OF THECOMMANDS

OD (Output Direct)
IFunction
I
Outputsspecified throughthe outputport.
data unconditionally

Ilnput Fo]matl

OD (Output data)

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

&0 {&8001)S Output data (hexadecimal) < &FF (&7FFF)
Figurein ( ) is for type A16 or 816 l/O card.

lsample Inputl
oD7

I Explanation)
(1) Thiscommandcausesa signal(paralleldata)to be outputunconditionally
through
the outputportto externalequipmentsuchas a programmable The data
controller.
output to externalequipmentis retained.

(2) The output data is definedeitherin decimalor hexadecimal.

For data definedrn
hexadecimal, be sure to append "&" at the beginning.

(3) For detailed descriptionof connections,see CHAPTER3 INTERFACE

WITH
EXTERNAL YO EOUIPMENT, APPENDIX,

(SamplePrograml
10 LPRINT"OD &FF" ; Set all externaloutput port bits (8 bits)to ON.
3. DESCRIPTION
OF THECOMMANDS

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

Ilnput Formatl

OT (Output data)

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

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

DATA (OUT}

nov(our)
Type 48, 416 l/O

A C K( r N )

DATA (OUT)

Type88,816 l/O
R D Y( O U T )
nCr lrr.r
t

ISamptetnput)
or7
IExplanation
I
(1) This commandcausesa signal(paralleldata)to be outputsynchronously through
the output port to externalequipmentsuchas a programmablecontroller.At this
time,the controlsignallines(RDYand ACKsignalsor RDYand ACKsignals)must
be previouslyconnectedto the externalequipment.The data output to external
equipment is retained.

(2) The output data is definedeitherin decimalor hexadecimal.

For data definedin
hexadecimal, be sure to append "&" at the beginning.

(3) For detailed descriptionof connections,see CHAPTER3 INTERFACE

WITH
EXTERNALYO EOUIPMENT. APPENDIX.

ISamptePrograml
10 LPRINT"OT &FF" ; Set all externaloutput port bits (8 bits)to ON.
 3. DESCRIPTION
OF THECOMMANDS

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

Ilnput Formatl

TB (+ or -) ( B i t n u m b e r ), ( J u m p i n gl i n e n u m b e r )

W h e r e0, 5 B i t n u m b e r< 7 ( 1 5 )
1 < J u m p i n gl i n en u m b e r5 2 0 4 8
F i g u r ei n ( ) i s f o r t y p e4 1 6 o r 8 1 6 l / O c a r d .

IsampleInput)
TB +7, 1024

I ExplanationI
(1) Thiscommand a jumpto occurconditionally
causes by meansof an external
input
data or the contentsof the internalcounter.

(2) The programjumps to the specifiedline numberif the specifiedbit in the internal
comparisonregisteris ON when the parameter* hasbeendefinedor is OFFwhen
parameter- has been defined.Otherwise(i.e.,if the conditionis not met),the
programcontinuesin sequence.

(3) A valuecan be loadedintothe internalcomparisonregisterby executingthe input

instruction(seelD and lN)for an externalinput dataor by executingthe compare
counterinstruction(seeCP)for the counterdata.lt is thereforenecessary
to execute
previouslyeither of these commandsso that a conditionaljump can occur.

Isample ProgramI
1 O L P R I N T" 1 O OI D " Fetchdata from externalinput port.
20 LPRINT " 1 1 0T B
+1, 130" Jump to line number 130 if the first bit of the
i n p u td a t a i s O N .
30 LPRINT"120 ED" Endthe programif aboveconditionis not met.
40 LPRINT"130 MO 7" Move to oosition7.
3. DESCRIPTION
OFTHECOMMANDS

2.5 RS232CRead
lnstructions

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

llnput Formatl

CR (Counternumber)

Where, 1 = Counternumber 5 99

ISample Inputl
CR 75

(Explanation
I
(1) This commandcausesthe contentsof a specifiedcounterto be outputfrom the
RS232Cport.

(2) The output format is ASCIIcode decimalnumbers.

(3) The terminatorof output data is carriagereturn(CR,Hex.0D).lf the data is to be

receivedby a personalcomputer,therefore, it is necessary to handlethe entiredata
streamup to hex.0D.The BASICequivalent to this is the LINEINPUT# statement.

(4) lf an undefinedcounteris read,the initial value 0 is returned.

(sample Programl
1 0 O P E N" C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S f r 1
2 0 I N P U T" C O U N T E R
NO. : " ; N
30 INPUT " C O U N T E R
DATA: " ; D
4 0p R r N r # 1" s, c " + s r R $( N )+ " , " + s r R $( D )
50 P R | N T # 1 ", C R " + S T R $( N )
60 L I N EI N P U T + 1 A, $
70 PR|NTA$
80 END
R U NI
COUNTER N O . : ? 1 0J
C O U N T E R . D A T A :? 2 s 5I
255

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

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

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

(lnput Format)

DR

Isampte Inputl
DR

I Explanation
I
(1) This commandcausesthe contentsof the internalregisterto be outputfrom the
RS232Cport. lf executedfollowingan input instruction,
the commandallowsthe
data of the externalinput port to be read from the RS232Cport.

numbersappendedwith "&H" at the

(2) The outputformatis ASCIIcodehexadecimal
beginning.

(3) The terminatorof outputdata is carriagereturn(CR,Hex.0D).lf the data is to be

receivedby a personalcomputer,therefore,it is necessary to handlethe entiredata
streamup to hex.0D.The BASICequivalent to this is the LINEINPUT+ statement.

Isample Program)
1 0 O P E N" C O M ' ]: 9 6 0 0 E
, ,7,2" AS#1
2 0 P R T Nf T1 , " t D "
3 0 P R I N T f1 , " D R "
4 0 L I N EI N P U T #1 , A $
50 PRINT"INPUTDATA : " ; A$
60 END
R U NI
INPUTDATA : &HFF

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

opensthe RS232Ccommunication file and line number20 loadsthe data of the
inputport intothe internalregisterusingthe directinputcommandlD.Linenumber
30 then transmitsthe commandDR. Line number40 next usesthe LINEINPUT
statementto storethe receiveddatain A$ and line number50 outputsthe contents
of the data to the displayscreen.
3. DESCRIPTION
OF THECOMMANDS

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

(lnput Formatl

ER

ISample Inputl
ER

(Explanationl
(1) Thiscommandcausesthe statusof the error,as it may or may not be occurringin
the robot, to be output from the RS232Cport.

(2) The correspondingdata is output using ASCIIcode: 0 when there is no error

occurring;1 in error mode I ; and, 2 in error mode II.

(3) The datacan be readnot only in the normalconditionbut alsoin error mode I or

(4) The terminatorof output data is carriagereturn(CR,Hex.0D).lf the data is to be

receivedby a personalcomputer,therefore, it is necessary to handlethe entiredata
streamup to hex.0D.The BASICequivalent to this is the LINEINpUT+ statement.

(5) This commandis effectivewhen usedto checkfor the occurrence

of error before
transferringa data streamfrom a personalcomputerto the robot.

Isample Program)
1 0 O P E N" C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S + 1
20 PRINT1 #, "MO 1"
3 0 G O S U B1 O O
4 0 P R I N T #1 , " M O 2 "
5 0 G O S U B1 O O
i
1 O OP R I N T # 1",E R "
1 1 0 L I N EI N P U T #1 , A $
1 2 0 l F A $ : " 0 " T H E NR E T U R N
1 3 0 P R I N T" E R R O RO C C U R S! "
1 4 0E N D

X I n t h e a b o v ee x a m p l ei,n w h i c hM i t s u b i s hMi U L T l l 6i s e m p l o y e dl ,i n en u m b e r1 0
opens the RS232Ccommunicationfile and line numbersfrom 20 and onwaro
transfercommandsto the robot. Note that subroutine100 is calledeachtime a
command is transferred, to checkfor the occurrenceof error.
 3. DESCRIPTION
OF THECOMMANDS

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

Ilnput Formatl

LR (Linenumber)

W h e r e ,1 5 L i n en u m b e r5 2 0 4 8

Isample Input)
LR512

IExplanation
I
(1) Thiscommandcausesthe contentsof the programon a specifiedlinenumberto be
output from the RS232Cport.

(2) The data is output using ASCIIcode.

(3) The terminatorof output data is carriagereturn{CR,Hex.0D).lf the data is to be

receivedby a personalcomputer,therefore, it is necessary to handlethe entiredata
streamup to hex.0D.The BASICequivalent to this is the LINEINPUT# statement.

(4) When an undefinedline number is read, only ODHis returned.

{5) The parameters

enteredin hex.are convertedinto decimalequivalents
which are
output, (Example:"OD & FF" is convertedinto "OD 255.")

Isample ProgramI
1 0 O P E N" C O M 1: 9 6 0 0 ,E , 7 , 2 " A S # 1
2 0 I N P U T" S T A R LT I N E : " ; S
3 0 I N P U T" E N D L I N E: " t E
40 FOR I:S TO E
5 0 P R | N T # 1 ," L R " + S T R ${ r )
6 0 L I N EI N P U T + 1A, $
70 rF A$ :" " rHEN 90
80PR|NTl;:PRINTA$
90 NEXT
l O OE N D
R U NI
STARTLINE:?lj
E N DL I N E: ? 8 l
1 N T
2MO'1
4 D W + 1 0 . 0 ,+ 2 0 . 0 , - 3 0 . 0
6 rvro2
8ED
3, DESCRIPTION
OF THECOMMANDS

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

PR (PositionRead)
IFunction
I
Readsthe coordinates position(usingRS232C).
of a specified
(lnput Formatl

P R ( P o s i t i o nn u m b e r )

Where, 1 5 Positionnumber S 629

ISample Input)
PR5

I Explanation)
(1) Thiscommandcausesthe coordinates
of a specifiedpositionto be outputfrom tne
RS232Cport.

12)The data is output using the ASCII code as shown below. The least outpur
i n c r e m e nits 0 . 1 m mo r 0 . 1 " .
Outputformat:X-axiscoordinate, Y-axiscoordinate, pitchangle,
Z-axiscoordinate,
r o l l a n g l e0 D ( H e x . )

(3) The delimiterof the data is a comma (,: Hex.2C) and the terminatoris carriage
return(CR,Hex.0D).lf the datais to be receivedby a personalcomputer,therefore,
it is necessaryto handlethe entiredatastreamup to hex.0D.The BASICequivalent
to this is the LINE INPUT + statement.

( 4 ) W h e n a n u n d e f i n e dp o s i t i o ni s r e a d ,0 ' s a r e r e t u r n e d( 0 , 0 , 0 , 0 , 0 ) .

ISample Programl
1 0 O P E N" C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S # 1
2 0 I N P U T" P O S I T I ONNO . : " ; P
3 0 P R I N T f I , " P R " + S T R $( P )
4 0 L I N EI N P U T # 1A, $
5 0 P R I N TA $
60 END
R U NJ
P O S I T I O N O . : ? 1 sl
+10.0, +380.0, +300.0. -70.0. -40.0

X I n t h e a b o v ee x a m p l ei,n w h i c hM i t s u b i s hMi U L T l l 6i s e m p l o y e dl ,i n en u m b e r' 1 0

opens the RS232Ccommunicationfile and line number 20 entersthe position
numberwhosecoordinates areto be read.Linenumber30 transmitsthe commano
PRandthe positionnumber.Linenumber40 then usesthe LINE INPUT# statement
to storethe receiveddatain A$ and linenumber50 outputsthe contentsof the dara
to the d isplavscreen.
3. DESCRIPTION
OF THECOMMANDS

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

I InputFo]matl

WH

(SampleInput)
WH

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

12) The data is output using the ASCII code as shown below. The least output
i n c r e m e nits 0 . 1 m mo r 0 . 1 ' .
Outputformat:X-axiscoordinate, Y-axiscoordinate,
Z-axiscoordinate,
pitchangle,
r o l l a n g l e0 D ( H e x . )

( 3 ) The delimiterof the data is a comma (,: Hex.2C) and the terminatoris carriage
return(CR,Hex.0D).lf the datais to be receivedby a personalcomputer,therefore,
it is necessaryto handlethe entiredatastreamup to hex.0D.The BASICequivalent
to this is the LINE INPUT # statement.

ISample ProgramI
1 0 O P E N" C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S # 1
2 0 P R I N T # 1", W H "
3 0 L I N EI N P U T # 1A, S
4 0 P R I N T" C U R R E N P
TOSITION
:" ; A$
50 END
R U NI
cURRENTPOS|T|ON: +10.0, +380.0, +300.0, -70.0, -40.0

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

opensthe RS232C communicationfile and line number20 transmitsthe command
WH. Line number30 then usesthe LINEINPUT# statementto storethe received
datain A$ and linenumber40 outputsthe contentsofthe datato the displavscreen.
 3. DESCRIPTION
OF THECOMMANDS

2.6 Miscellaneous

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

(lnput Format)

RS

lSample Input)
RS

(ExplanationI
(1) This command resetsthe programcausingit to returnto its beginning.

(2) The commandalso resetsan error conditionin error mode II causingthe error
indicatorLED{ERBOR)
to go off. Note,however,that errormode I cannotbe reset
by this command.To reset error mode I, turn power OFF.

Isample Programl
1 OL P R I N T" R S "
3. DESCRIPTION
OF THECOMMANDS

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

Ilnput Formatl

TR

ISample Inputl
TR

IExplanation
I
(1) Thiscommandcausesthe contentsofthe EPROMinstalledin the usersocketinside
the driveunit sidedoorto be transferred
to the RAM.Oncethe commandhasbeen
executed,the old programand positiondata stored in RAM are all cleared.

(2) The commandexecutionindicatorLEDlEXECUTE)

lightsup instantaneously
when
the data is being transferred.

(3) When bit 4 of SW1 locatedinsidethe driveunit side door is in the upperposition
(ON),the commandalsocausesthe cartesian coordinatesystemreference position
datain EPROMto be readinto RAM.Thistransferof datadoesnot takeplacewhen
bit 4 is in the lower position(OFF)and the positiondata in RAM remainsvalid.

ISample Program]
1 O L P R I N T" T R "
 3. DESCRIPTION
OF THECOMMANDS

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

(lnput Formatl

WR

(sample Input)
WR

(ExplanationI
(1) This commandcausesthe programand positiondata generatedin the drive unit
RAMto be writtenintothe EPROMinstalledin the usersocketinsidethe driveunrr
side door. The destinationEPROMmust have previouslybeen erasedbefore
executingthe command.

(2) Whilethe datais beingwritteninto the EPROM, the commandexecutionindicator

LED{EXECUTE) on the driveunitfront panelstayslit. lt goesout as soonas all data
has been written (whichtakes about 100 seconds).

(3) Errormode II is causedif the EPROMhasnot beenerasedor a writeerroroccurs.

(sample Programl
1 O L P R I N T" W R "
 OFTHECOMMANDS
3. DESCRIPTION

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

Ilnput Format)

'
lstring of informationconsistingof up to 7 alphanumericcharacters]

Isample Input)
, MELCO

I
IExplanation
(1) This commandallowsthe programmerto write a commentconsistingof up to 7
'
alphanumericcharactersfollowingthe (apostrophe).

programor to mark
(2) Usethis commandto writethe nameand dateon the generated
a subroutine.Commentsare helpfulin later understanding programas the
the
command LR is used.

(3) The system ignorescommentsas it processesits instructions.

{4) lf the number of charactersexceeds7, the whole excessis ignored.

(sample Programl
"1 'DATE"
1 OL P R I N T
'a70821"
20 LPRINT"2
"3 NT"
30 LPRINT
"4
40 LPRINT MO 1"

X In the aboveexample,line numbers1 and 2 write the datewhen the programwas

written (21 August 1987).
L SPECTFtCAT|0l{S
2.0PtRAT|0t{
3. oESCRtPTt0il
0r T|lt c0lt|MAilDS

4. MAINTENANCE
ANDINSPECTIIIN
5. APPEIIDICES
 CONTENTS(MAINTENANCE
AND INSPECTION)

1.

3.

3.1 C o n s t r u c t i oonf t h e R o b o t . ... ........4-8

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

4.1
4.2
4.3
4. MAINTENANCE
AND INSPECTION

1. MAINTENANCEAND The maintenance procedures

and inspection recommended in the
INSPECTION
SCHEDULEfollowingpagesare mandatoryto ensurebest possibleperform-
ance of the robot for an extendedperiod of time. Be sure to
performthe daily as well as periodicinspectionprocedures.
The periodicinspectionproceduremust be performedindepen-
dent of the daily inspectionprocedure.

I n s p e c t i o nS c h e d u l e

Differentinspectionitems are covered in differentinspection

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

'l-month
inspection New inspection
items are added ev-
I monthinspeclion ery 500 hours of
operation.
1 - m o n t ihn s p e c t i o n 3 monthinspection

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

1 rnonthinspection
'l-month
o- lnspection 3-monthinspection 6 monthinspection

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

1-rnonthinspection 3-monthinspection

1-monthinspection

1 monthinspectior'l

1-monthinspection 3-monthinspection 6-monthinspection 1'yearinspection

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

2. INSPECTION
ITEMS

2.1 DailyInspection The daily inspectionproceduremust be performedbeforeeach

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

Step Inspectionltem (Procedurel Remedial Action

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

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

2. Check that the cable is connected properly between the robot and drive C o n n e c tp r o p e r l y .
unit. (Visual)

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

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

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

4. E n s u r et h e r o b o t d o e s n o t m a l t u n c t i o o
n r d e v e l o pu n u s u a n
l o i s ew h e n Take necessary action
p o w e r i s t u r n e dO N . ( V i s u a l ) according to 2.3 Troub-
N O T E rN o t e t h e s o u n d o f J 2 a n d J 3 a x i s b r a k e sb e i n o r e l e a s e d . leshooting.

Operation Returnthe .obot to origin and run your program.

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

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

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

according to 2.3 Troub-
leshooting.

fable 4.2.'l Daily Inspection ltems

lf no trouble
Verify correct operationof peripheralsand start automatic
ooeration.

lftrouble
Performtroubleshootingprocedureaccordingto 2.3 Troub-
leshooting.
4. MAINTENANCE
AND INSPECTION

2.2 Periodiclnspection Table 4.2.2 lists the inspectionitems and proceduresaI each
nspectionfrequency.Part of the inspectionand adjustment
procedures as well as partsreplacementproceduresis detailedin
]. MAINTENANCE AND INSPECTION PROCEDURES.

Inspection Proceduie and cross-Reference

Step Inspectionltem Remedial Action Paragraph

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

1 C h e c kl o s e e i f h a n d r n o u n t i n gb o l t s Use a wrench to check for looseness

are left loose. and retighten as necessary.

2. Check bolts and screws, both visible Use a wrench and screwdriver to
a n d i n v i s i b l e ,f o r l o o s e n e s s . check for looseness and retighten as
necessary.

3. J Checkcablesfo r scratches, damages, I lsolateand eliminatethe cause. 3.5

a n d c o n t a m i n a n t lsE. x t e r n aal n d i n - R e p l a cteh e c a b l ei f e x c e s s i v edl Y
am
Contact our service
t e r n a le x p o s e dc a b l e s ) . aged. Division for replace-
ment of cables other
t h a n t h e c u r l e dc a b l e .

3-month inspectaon

'11 C h e c kt i m i n g b e l t f o r e a c h a x i s ( J 2 , C h e c ka n d a d j u s ta c c o r d i n gt o t h e
J3, and J4). Check teeth for wear. p r o c e d u r e sg i v e n i n 3 . M A I N T E - 3.4.3
N A N C EA N D I N S P E C T I OPNR O C E ' 3.4.4
D UR E S .
lf teethare excessively worn, replace
with a new belt.

12 C h e c kJ 2 - a n d J 3 a x i s b r a k e l i n i n g s Check and adjust according to th€

for correct gap. Check also for wear procedures given in 3. IMAINTE- 3.6.2
and foreign matter trapped. N A N C E A N D I NS P E C T I O NP R O C E -
D URE S .
R e p l a c et h e b r a k el i n i n g i f e x c e s s i v e -
ly damaged.

13 C h e c l J 1 , J 2 - , a n d J 3 . a x i sD C s e r v o - R e p l a c et h e b r u s h i f l h e w e d r e x - 3.3.1
m o t o r b r u s h e s{ o r w e a r . ceedsthe limit. 3.3.2

6 month inspection

C h e c kt h e o r i g i n l i m i l s w i t c h r o l l e r s M a k e a v i s u a l c h e c k a n d r e p l a c ea s Contact our Service

and dogs for wear. neceSsary. Division for replace-
ment and adjust-
ment.

Table 4.2.2 Periodic Inspection ltems (Continue)

 4. MAINTENANCE
AND INSPECTION

Step Inspectionltem InspectionProcedureand Closs-Reference

RemedialAction Paragraph

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

Replace J1 , J2-, aod J3-ars DC R e p l a c teh e b r u s h ; f i t h a s n o t b e e n

servomotorDrusnes. r e p l a c e dw i t h i n t h e p a s l o n e y e a r . 3.3.2
For procedure, see 3. MAINTE.
N A N C EA N D I N S P E C T I OPNR O C E
DURES,

R e p l a L eJ 4 a n d J s - a x i sD C s e ' v o m o - S e e3 . M A I N T E N A N CAEN D I N S P E C
tors. T I O NP R O C E D U R E S . 3.3.4

53 R e p l a c eJ 2 - , J 3 , a n d J 4 - a x i st i m i n g Replace t h e t i m i n gb e l t i f i t h a s n o .
belts. b e e n r e p l a c e dw i t h i n t h e p a s t o n e 3.4.3
year.For procedure,see 3. MAINTE 3.4.4
N A \ C E A N D I N S P E C T I OPNR O C E
D UR E S .

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

55 D i s a s s e m b l ea n d c h a n g e g r e a s e i n D i s a s s e m b l et h e h a r m o n i c d r i v e r e '
the harmon;( drive reductioogear duction gear and check teeth for C o n t a c to u r S e r v i c e
for eachaxis. wear and damages.Then, change Division.
or apply grease.

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

5-7 Replacecurled cables(for the robot Replacethe cablesif they have nol
and hand). been replacedwithin the past one
year.For procedure,see 3. lvlAlNTE-
N A N C EA N D I N S P E C T I OPNR O C E ,
DURES,

58 Replacecables used in bent sections Replace the cable if it has not been
inside the robot. replaced within the past one year.

59 Checkorigin limit switchesfor cor- Adjust as necessary. Contact our Service

rect operation (positionalreference Division.
wath respectto Z phase of the en-
cooer,.

Table 4.2.2 Periodic Inspection ltems

4. MAINTENANCE
AND INSPECTION

2.3 Troubleshooting proceduresthat may be used

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

Symptom Possible Cause Remedy

'l)
Power does not Power cord lett unplugged from the Connect properly.
turn ON. outlet
2) Blown fuse R e p l a c et h e b l o w n f u s e .
3) Wrong sourcevoltage Use correct line voltage.

Robot is not acti' 1 ) E R R O RL E D i s e i t h e rO N o r t l a s h i n g . Verity correct command.

vated. Connect cables properly.
Verify that the emergency stop switch is
not being activated.
2 ) R o b o t a r m i n c o n t a c tw i t h m e c h a n i c a l Keep the robot clear ot obstacles.
s t o p p e r so r p e r i p h e r a l s
3) Brakesnot released lf the brakes are leit applied, adjust brake
gaps. (See 3.6.)
4 ) M o t o r p o w e r c a b l el e f t u n p l u g g e d

Robot cannot re- 1 ) R e t L r n i n gt o o r i g i n n o t i n v o \ e d . Verify correct command and teaching

turn Io oflgtn. box key operation.
2 ) R e t u r n i n gt o o r i g i n i s n o t t e r m i n a t e d . Verify correct ON/OFF operation of the
limit switches.
Encoder Z phase is possibly out of
adjustment; contact our Service Divisron.

P r o g r a mc a n n o t b e 1 ) Teaching box selectswitch in ON position Turn OFF switch.

written from the
personal com puter.
2) E R R O RL E D O N Verify correct input format of the com
mand. (See 10.2 Efiot Mode Il, OPERA-
TroN.)
3) Drive unit mode Select personal computer mode. (Place
drive unit STl in the lower position.)
4) Reset switch not pressed after stop Press reset switch.
switch has been pressed during execu-
tion ot a program.
5 ) P e r s o n a ic o m p u t e r c o n n e c t i o nc a b l e l e f t C o n n e c tc a b l e p r o p e r l y .
disconnected.

Robotstopsduring 1 ) E R R O RL E D f l a s h i n g C o n n e c t c o n n e c t i o nc a b l e s p r o p e r l y , o r
rts operation. ra^lr^e hr^LAn.rhlo

Check for excessive robot load.

Check for possible contact of arm wrth
m e c h a n i c asl t o p p e r sa n d p e r i p h e r a l sl.f i t
''Poor
c h e c k so k a y , g o t o repeatability."
2) Line voltage drop Use the specified voltage range.
3) Power failure includinginstantaneous R e s t a r tt h e r o b o t b e g i n n i n gw i t h o r i g i n
setting.
4) Emergency stop switch pressed inadver- T u r n p o w e r O F F ,t h e n O N . N o w s t a r t t h e
tently r o b o t b e g i n n i n gw i t h o r i g i n s e t t i n g .
5 ) l M o t o r d e v e l o p i n g u n u s L r a sl m e l l R e p l a c eb u r n t m o t o r .
6 ) D r i v i n g p a r t s d e v e l o p i n gu n u s u a l n o i s e Go to 'Unusual norseor vibratron
or vibration

Poor repeatability 1) Unusual noise developing Remove noise source.

2) Robot not securedin position Securerobot in position.
3) Screws in drive transmitting system left Tighten screws securely.
loose
4) Timing belt slack off Adjust timing belt tension.(See 3.4.)
5 ) U n u s u a l r e t ur n - t o - or i gi n o p e r a t i o n "Robot cannot return
Go back to to
"
o r i gi n .
6) Hand attaching screws left loose Tighten screws securely.

Table 4.2.3 TroubleshootingChart {Continue)

 4. MAINTENANCE
AND INSPECTION

Symptom PossibleCause Remedy

U n u s u a ln o i s e o r 1) Robot mounting screws left loose Tighten screws securely.

vibration 2 ) B r a k e sb e i n g a p p l i e d lf brakes are left applied, adjust brake
gaps. (See 3.6.)
3 ) H a r m o n idc r i v ed e v e l o p i nugn u s u anl o r s e H a r m o n i cd r i v e m a y b e d a m a g e d .C o n
t a c t o u r S e r v i c eD i v i s i o n .

Hand cannot be 1) Hand selectswitch in wrong position Select hand select switch to either AC or
opened or closed. DC depending on the type o{ drive o{ the
hand being used.
2) Wrong parameterdefined for GP com- Correct parameter.
m an d
3) Hand reachingits servicelife R e m o v e c o v e r a n d m a n u a l l yt u r n t i m i n g
pulley insideto checkto see il it turns
smoothly. l{ it binds, the hand has
reached its service life.

Table 4.2,3TroubleshootingChart
 AND INSPECTION
4, MAINTENANCE

3. MAINTENANCEAND The following parts must be replacedevery 2,000 hours of

INSPECTION fMovemaster EX RV-M1operation-(lt is manufacturer's recom-
PROCEDURES mendationand more ent replacementrs necessa nd-
ing on the operatingcondition.)
The followingpagescontainthe replacement procedures of these
parts to aid the service personnelin replacing parts at the
customer'ssite.Readthe procedures carefullyto makeyourselves
eith them.
f a m i l i a l i zw
The replacementwork may be done by our ServiceCenterat
customer'sexDense.
Neverattemptto disassemble partsnot coveredin the following
pages.

Partsrequiringreplacementevery 2,000hours of operation:

1. DC servomotorbrush (for waist, shoulder,and elbow)

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

. The model and quantityof these parts are containedin 4.

SERVICEPARTS,MAINTENANCE AND INSPECTION,

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

3.1 Constructionof the Fig.4.3.1showsthe construction

schematic
of the Movemaster
EX
Robot RV-M1.

( 1 ) W a i s t( J 1 a x i s )s w e e p

. The waist (J1 axis) is driven by J 1 axis motor (J-rand

harmonicdrive reductiongear(2,'locatedinsidethe base.
. J'1 axis limit switch r:31
is installedon top of the base.

{2) Shoulder{J2 axis) swivel

. The shoulder(J2 axis) is driven by the J2- and J3-axis

compositeharmonic drive reductiongear i6.)which is
locatedat the shoulderjoint and rotatedby the J2-axis
timing belt 15 from J2-axismotor i4r installedinsidethe
shoulder cover.
. lnstalledon the inputshaftof the harmonicdrivereductaon
gear iO is the electromagnetic brakei7)that preventsthe
shoulder{rom swivelingdown by its own weight when
power is turned OFF.
. The J2-axislimit switchi8-lis instaliedon the side of the
upper arm insidethe shouldercover.

(3) Elbow {J3 axis) extension

. JustaswithJ2 axis,rotationof the J3-axismotor(91located

insidethe shouldercover is transmittedvia the J3-axis
timing belt f,o)to the J2- and J3-axiscompositeharmonic
drive reductiongear .6.r.
. Botationof the J3-axisoutputshaftof the harmonicdrive
reductiongear(0 is transmitted via the J3-axisdrivelinkto
the elbow shaft,which resultsin the forearmextending.
. As in J2 axis,the electromagnetic brakeis installedon the
input shaft of the harmonicdrive reductiongear (6).
. TheJ3-axislimitswitchis installedon the sideof the upper
a r m i n s i d et h e s h o u l d e cr o v e r .

(4) Wrist pitch (J4 axis)

. Rotationof the J4-axismotor locatedin the forearm is

transmittedvia the J4-axis timing belt t5) to J4-axis
harmonicdrive reductiongear (10;as a result,the wrist
housingand end effectorare rotated.
. The J4-axislimit switchi.ll is installedunderthe forearm.

(5) Wrist roll (J5 axis)

. The hand mountingflangeis rotatedby the J5-axismotor

(i0and JS-axisharmonicdrivereductiongear(-9, which are
both mountedon a same shaft insidethe wrist housing.
. The J5-axislimit switch?0ris installedunderthe forearm.
4. MAINTENANCE
AND INSPECTION

a2-,J1-axisharmonic
d r i v e r e d u c t i o nq e a r il' J2-axisbrake J2-axistim i4.,J2-axismotor

arE)
Js-axis motor
h J2- and J3-axis
compositeharmonic

J3-axis
J4-axis timinq belt output shaft ;

J3-axis brake

Hand mounting uPPerarm Shou lder cover

flange

J 3 - a x i sd r i v e l i n k J3 axis limit swrtch \ J J1 axis limit switch

W r i s th o u s i n g

L i
l1JJ4-axis
limit switch
(lu J5-axls
limit switch
(E)
J2-axis limit switch

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

J1-axismotor

Fig. 4.3.1 Robot Construction Schematic

 4. MAINTENANCE
AND INSPECTION

3.2 RemovaloftheCovers (1) Wheneverthe robot is to be serviced,removethe coversas

shown in Fig. 4.3.2.

(2) Table4.3.1Iiststhe namesof the covers.Table4.3.2givesa

completelistingof attachingscrews.

(3) Some covers may be hard to remove dependingon the

position of the robot. In such cases,move the robot as
appropriateso that the coverscan be removedeasily.

{4) To replacethe covers,reversethe order of removal

Key Cover Name oty

tr Base side cover 2

T;-l U p p e rs h o u l d e cr over 1
1 z l
fJ
L:] L o w e r s h o u l d e r cover 1

tr upper arm cover 1

fJ
t!l Forearm cover 1

E Pulleycover

tr Cable cover

Table 4.3.1 Cover Names

Key Screw Name otv

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

(b) Hexaqon socket head bolt M3 X 12 2

(c) Hexagon socket head bolt lvl3 X 14

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

(e) P h i l l i p so v a l h e a d m a c h i n e s c r e w M 3 X 6 5

1f) P h i l l i o so v a l h e a d m a c h i n e s c r e w M 3 X 2 5 4

Table 4.3.2 Aftaching Screws

 AND INSPECTION
4. MAINTENANCE

@ .Q (e)

(u)@@
.- @@ @@@ @
{u)@@ -....-. R e n F
I d4d, d, G}
t f ,0
lcl
q ^J 1 ,i c.l
{b}

L 0 ^
@.,
l{aJ
J

Fig. 4.3.2 Removal of the Covers

 4. MAINTENANCE
AND INSPECTION

3.3 Replacementof the The RV-M1 robot uses the DC servomotorwith brush, which
Motor Brush makesthe replacement of the brushat given intervalsnecessarV.
The DCservomotorwith brushis usedin all axes;however,for a
reasonof mechanicalconstruction,replacethe wholeservomotor
assemblyfor those used as the wrist pitch and roll drives.
As a guideline,replacethe motor brush every 2,000hours of
o peration.

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

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

( 3 ) U s i n g a f l a t - b l a d e s c r e w d r i v e r ,t u r n t h e h e a d o f t h e b r u s h
h o l d e r c a p i l , c o un t e r c l o c k w i s et o r e m o v e t h e b r u s h h o l d e r
cap f,r. There are two brush holder caps at right and left.

\ 4 ) F i g . 4 . 3 . 4s h o w s t h e s h a p e o f t h e b r u s h a n d t h e b r u s h w e a r
l i m i t l e n g t h .C h e c kt h e b r u s h f o r w e a r a n d r e p l a c ei t b e f o r et h e
wear limit is reached.

( 5 ) l f t h e b r u s h i s d a m a g e d . r e p l a c ei t w i t h a n e w o n e r e g a r d l e s s
of the length of the brush,

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

ti. Replacement

(1) Followingthe proceduregiven above,remove all brushes.

(2) Usinga vacuumcleaner,removeall carbonparticlesfrom the

brush holder Docket.

(3) Carbonparticleresidualcan be a causeof loss of insulation

and rectification
failurebetweengroundingpoints.Be sureto
remove all particles.

(4) Installthe new brushes.

(5) Afterthe new brusheshavebeeninstalled,move eachaxisof

motionits maximumstrokeat the maximumspeedor run the
robot for 30 minutesusing user program.

NOTES:

1) Beforeinstallinga new brush,makesurethe brushis freefrom

g r e a s eo, i l , a n d m o i s t u r e .
Neverhandlebrusheswith grease-stained handsor placethem
in locationssubjectto contaminationwith greaseand oil.
4. MAINTENANCE
AND INSPECTION

2) When removingthe carbonparticles,neversubjectthe motor

to grease,oil, and moisture.

3) The brush holder cap Q is providedwith a O-ring.Do not

attemptto removethe O-ringfrom the cap.

4) Tighten brush holder cap (f to 4 kgf.cm.

 4. MAINTENANCE
AND INSPECTION

O Brush holder cap

Fig. 4.3.3 Checkingand Replacingthe Waist Drive Motor Brushes

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

Wear limit line

Fig. 4.3.4 Brush Shspe

4. MAINTENANCE
AND INSPECTION

3.3.2 Checkingand
replacingthe
shoulder/elbowdrive
motor brushes

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

Inspection

( 1 )Fig.4.3.5outlinesthe inspection procedures

and replacement
of the shoulderand elbow drive motor brushes.

(2) Removethe uppershouldercoverby referringto 3.2Removal

of the Covers.

(3) Followingsteps {3) to (6), A. lnspection,given under 3.3.1

Checkingand replacingthe waistdrive motor brushes,check
the brushes.

B. Replacement

(1) Followings t e p s( 1 )t o ( 5 ) ,B . R e p l a c e m e ngti,v e nu n d e r3 . 3 . 1

Checkingand replacing the waistdrivemotorbrushes,replace
the brushes.
 AND INSPECTION
4. MAINTENANCE

3 . 3 . 3 R e p l a c i n gt h e w r i s t A. Beplacement
pitch drive motor
( 1 ) F i g .4 . 3 . 6o u t l i n e st h e r e p l a c e m e npt r o c e d u r eo f t h e w r i s t p i t c h
drive motor.

{ 2 i R e m o v et h e f o r e a r m c o v e r a n d p u l l e y c o v e r b y r e f e r r i n gt o 3 . 2
Removal of the Covers.

( 3 ) T h e w r i s t p i t c h d r i v e m o t o r . . l - i s i n s t a l l e di n t h e F o r e a r m . ? ,

( 4 ) T h e J 4 - a x i se n c o d e rc o n n e c t o r 3 ( c o n n e c t o rn a m e : E N C 4 )
a n d J 4 - a x i s m o t o r p o w e r c o n n e c t o r 1 4 .( c o n n e c t o rn a m e : M 4 )
a r e c o n n e c t e dt o t h e m o t o r i n s i d e t h e f o r e a r m . R e m o v et h e s e
wires from the motor.

( 5 ) R e m o v et h e w r i s t p i t c h d r i v e t i m i n g b e l t . . ! , .( F o r p r o c e d u r e ,
s e e 3 . 4 . 4 C h e c k i n g ,a d j u s t i n g , a n d r e p l a c i n g t h e w r i s t p i t c h
d r i v e t i m i n g b e l t ).

( 6 ) R e m o v et h e h e x a g o ns o c k e th e a d s e t s c r e w 7 . t h a t s e c u r e st h e
t i m i n g p u l l e y 1 6 .t o t h e m o t o r s h a f t a n d r e m o v e t h e t i m i n g
p u l l e y . 6 ,f r o m t h e m o t o r s h a f t .

( 7 ) R e m o v e t h e t v r o m o t o r m o u n t i n g s c r e w s i 8 . rt h a t s e c u r e t h e
motor ,1. to forearm ?-,and remove the motor t; f rom the
forearm.!.r.

(8) To install a new motor, reversethe order of removal.

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

Motor power connectori Wrist drlve motor

{M4)

a3.jEncoderconnector
(ENC4)

i8) lvlotormounting screw

) ||mtngbett

Fig.4.3,6 Replacingthe Wrist pitch Drive Motor

 4. MAINTENANCE
AND INSPECTION

3.3.4 Replacingthe wrist A. Replacement

roll drive motor
( 1 ) F i g . 4 . 3 . 7 o u t l i n e s t h e r e p l a c e m e n tp r o c e d u r eo f t h e w r i s t r o l l
oflve moror.

( 2 ) R e m o v et h e f o r e a r m c o v e r b y r e f e r r i n gt o 3 . 2 B e m o v a l o f t h e
Covers,

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

and JS-axismotor powerconnectorl2l (connector name: M5)
areconnected to the motorinsidethe fore arm.Removethese
wires from the motor.

14) Removethe motor bracket(r from the wrist housingO by

removingthe four motor bracketmountingscrewsQ.

( 5 ) Removethe six flange mountingscrews(6. to remove the

flange (7) from the motor bracket44,1. At this time, the
flex-splineshaft(ti)and wave generator(9-lof the harmonrc
drivereductiongeararealsoremovedfrom the motorbracket.
They remain installedon the motor shaft.

( 6 ) Removethe setscrews (0 that securethe wave generator@)to

the motor shaftand removethe wave generator(9 from the
moror.

shaft 8 and steel

\ 7 ) Makesurethat the splinesin the flex-spline
balls of the wave generator9 are free from contaminants.

(8) Removethe two motor mountingscrewsii from the motor

bracket(4).

(e)To installa new motor, reversethe order of removal.

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

5 Wristhousing

4,r lvlotorbracket

tt Encoderconnector

.-'t.-.---

.2) Motor power connector N4otorbracketmounting screw

:Q-Flange mounting screw ii Motor

/ Ftanqe il0, Setscrew

O Flex-splineshaft

Fig.4.3.7 Replacing the Wrist Roll D.ive Motor

 4. MAINTENANCE
AND INSPECTION

3.4 Adiustmentand Timing belts are used as a drive-transmittingelement in the

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

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

frequency hours of operationunder normal condition.More frequentre-
placementis, however,necessarydependingon the operating
condition.Usethe followingguidelinesfor the replacement
of the
belt. The timing belt must be replacedwith a new one when:

(1) The root or back of a tooth cracks.

( 2 ) T h e b e l t s w e l l sd u e t o o i l and greaseon it.

(3) The teeth wear (up to half of the face width).

(4) A belt tooth misengages

with the matingpulleytooth due to
excessrve wear.

(5) The belt is cut off.

NOTE:The timing belt wears in the initial run-in period as its

roughedgesare reduced.Worn rubberparticlesmay be
present inside the covers after the robot has been
operatedfor about300 hours,which does not, however,
indicatea faulty condition. In this case, wipe these
particlesoff the inner surfacesof the covers.lf rubber
particlesare soon producedagain,replacethe belt.
 AND INSPECTION
4. MAINTENANCE

3.4.2 Checking,adiusting, A. Inspection

and replacingthe
shoulderdrivetiming (1) Fig. 4.3.8outlinesthe inspectionprocedureof the shoulder
belt drive timing belt.

(2) Removethe uppershouldercoverby referringto 3.2Removal

of the Covers.

(3) Visuallycheckthe belt to makesurethat it does not develop

any of the symptomsgiven in (1) to (5), 3.4.1

(4) Depressthe belt at its centerwith a force of about 20 to 30gf

and ensurethat it deflects2mm. See Fig. 4.3.9.

B. Adlustment

(1) Fig. 4.3.8 also outlines the adjustmentprocedureof the

shoulderdrive timing belt.

(2) Loosenthe four motor mountingscrews[D.

(3) Whilefeelingthe tensionin the timingbelt@, movethe motor

t€)in the directionsshown by arrows"a" and "b". Notethat
the motor @ is securedusingthe four screwsin the slotsso
they can be moved in the slots.
"
(4) Moving the motor in the directionshown by arrow a"
tightensthe belt; moving it in the directionshown by arrow
"b" slacksthe belt.

(5) Do not movethe motortoo far in direction"b", or the belt@

comes off the timing pulleys@ and €).

(6) After the belt tension has been adjusted,tighten motor

mountingscrews0l securely.A loosemotor mountingscrew
resultsin the belt slackingoff.

C. Replacement

(1) Fig. 4.3.8 also outlinesthe replacementprocedureof the

timing belt.

(2) Removethe brakeby referringto 3.6.1Checking,adjusting,

and replacingthe shoulderbrake.

13) Removethe three mountingscrews.l0)to removethe brake

mountingplate (z-1.

(4) Usinga marker,markalignmentpointerson the timing belt€l

and timingpulleys(0 and (0, whileensuringthatthe beltteeth
are in correctmesh with the pulley teeth. See Fig. 4.3.10.
 4. MAINTENANCE
AND INSPECTION

(5) Loosenthe four motor mountingscrews(!-,11

and removethe
timingbelt.

(6) Mark the alignmentpointerson the new timing belt. During

the procedure,keep the belt tightened.

(7) Mountthe new belt,gettingit aroundthe timingpulleys€r and

(0. Make sure that the alignmentpointersare lined up.

(8) Adjust the belt tensionby referringto steps (3) to (6) in B.

REMARKS
For more detailedtechnicaldata of the timing belt tension,
see CHAPTER8 TIMING BELT TENSION.APPENDIX.
4. MAINTENANCE
AND INSPECTION

: 4 rT i m i n g p u l l e y( o n m o t o r e n d )

(3, Motor
a?.Timing belt

.1, Motor
mountino screw

:€-llMounting screw
.f& . 5 r T i m i n g p u l l e y ( o n r e d u c t l o ng e a r e n d )

.2. Brakemou

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

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

nment pointer

'2, Timing
belt

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

Fig,4.3,9 Checking the Timing Belt tor P.oper Tension Fig. 4.3.10 Marking the Timing Belt and Pulleys

3 . 4 . 3 C h e c k i n g ,a d j u s t i n g ,
and replacing the
e l b o w d r i v et i m i n g
belt
4. MAINTENANCE
AND INSPECTION
A. lnspection
p r o c e d u r eo f t h e e l b o w d r i v e
{ 1 ) F i g . 4 . 3 . l l o u t l i n e st h e i n s p e c t i o n
timinq belt.
(2) Removethe uppershouldercoverby referringto 3.2Removal
of the Covers.
(3) Visuallycheckthe belt to makesurethat it does not develop
any of the symptomsgiven in (1) to (5), 3.4.1
(4) Depressthe belt at its centerwith a forceof about20 to 30gf
and ensurethat it deflects2mm. See Fig. 4.3.9.
B. Adjustment
(1) Fig4 a l s oo u t l i n e s t haed j u s t m e nptr o c e d u roef t h e e l b o w
. .3.11
drive timing belt.
(2) Loosenthe four motor mountingscrews(1,'.
(3) Whilefeelingthe tensionIn the timingbelt[2),movethe motor
(3,'in the directionsshown by arrows"a" and "b". Note that
the motor (3)is securedusingthe four screwsin the slotsso
they can be moved in the slots.
(4) Moving the motor in the directionshown by arrow "a"
tightensthe belt; moving it in the directionshown by arrow
"b" slacksthe belt.
"b", or the belt
{5) Do not movethe motortoo far in direction @
comes off the timing pulleysG-land 15r.
{6) After the belt tension has been adjusted,tighten motor
mountingscrewsll) securely.A loosemotor mountingscrew
resultsin the belt slackingoff.
C. Replacement
( 1 ) F i g . 4 . 3 . 1 1a l s o o u t l i n e st h e r e p l a c e m e nptr o c e d u r e
of the
timingbelt.
{2) Removethe brakeby referringto 3.6.2Checking,adjusting,
a n d r e p l a c i n tgh e e l b o w b r a k e .
(3) Removethe three mountingscrewsi6l to removethe brake
m o u n t i n gp l a t e . 7 i ,
{4) Be careful,cablesare securedto the brakemountingplate -7.
Do not apply excessive force when removingthe mounting
prare.
 AND INSPECTION
4. MAINTENANCE

(5) Usinga marker,markalignmentpointerson the timing beltl2l

andtiming pulleys(4)and (51,
whileensuringthatthe beltteeth
are in correctmesh with the pulley teeth.See Fig. 4.3.10.

(6) Duringadjustmentof the belttension,do not allowthe beltto

slackoff so excessivelythat the belt comes off the timing
({
pulleys and (C.

(7) Mark the alignmentpointerson the new timing belt. During

the procedure,keep the belt tightened.(See Fig. 4.3.10.)

(8) Mountthe new belt,gettingit aroundthe timingpulleys4 and

6). wate sure that the alignmentpointersare lined up.

(9) Adjust the belt tensionby referringto steps (3) to (6) in B.

REMARKS
For more detailedtechnicaldata of the timing belt tension,
see CHAPTER8 TIMING BELTTENSION,APPENDIX.
 4. MAINTENANCE
AND INSPECTION

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

:2 Timing belt

i4.iTiming pulley
'@% { o n m o t o re n d )

'@%
t9

5 | | m r n qp u e y
( o n r e d u c t i o ng e a r e n d )
i0) Mounting screw

(, Brake mou nting plate

Fig. 4.3.11 Checking, Adiusting, and Replacing the Elbow Drive Timing Belt
4. MAINTENANCE
AND INSPECTION

3.4.4 Checking,adiusting. A. lnspection

and replacingthe wrist
pitchdrivetiming belt (1) Fig.4.3.12outlinesthe inspectionprocedureof the wrist pitch
drive timinq belt.

(2) Removethe upperpulleycoverby referringto 3.2 Removalof

the Covers.

(3) Visuallycheckthe belt to makesurethat it does not develop

any of the symptomsgiven in 11)to (5), 3.4.1

(4) Depressthe belt at its centerwith a forceof about20 to 30gf

and ensurethat it deflects2mm. See Fig. 4.3.9.

B. Adjustment

11)Fig.4.3.12alsooutlinesthe adjustmentprocedureof the wrist

pitch drive timing belt.

(2) Loosenthe two motor mountingscrews(D.

(3) Whilefeelingthe tensionin the timing belt(2),movethe motor

"a" and "b". Notethat
@ in the directionsshown by arrows
the motor @ is securedusingthe two screwsin the slotsso
they can be moved in the slots.

(4) Moving the motor in the directionshown by artow " a"

tightensthe belt; moving it in the directionshown by arrow
"b" slacksthe belt.

(5) Do not movethe motortoo far in direction"b", or the belt@

comes off the timing pulleys€l and €,r.

(6) After the belt tension has been adjusted,tighten motor

mountingscrewsij-lsecurely.A loosemotor mountingscrew
resultsin the belt slackingoff.

C. Replacement

(11 Fig. 4.3.12also outlinesthe replacementprocedureof the

timingbelt.

(2) Usinga marker,markalignmentpointerson the timing belta2l

andtiming pulleysG.rand(5, whileensuringthatthe beltteeth
are in correctmesh with the pulley teeth. See Fig. 4.3.10.

(3) Loosenthe two motor mountingscrews(D and removethe

timing belt.

( 4 ) M a r kt h e a l i g n m e npt o i n t e r so n t h e n e w t i m i n gb e l t .D u r i n g
the procedure,keep the belt tightened.
 AND INSPECTION
4, MAINTENANCE

( 5 ) Mountthe new belt,gettingit aroundthe timingpulleysG)and

i5). Make sure that the alignmentpointersare lined up.

( 6 ) Adjust the belt tensionby referringto steps (3) to (6) in B.

REMARKS
For more detailedtechnicaldata ot the timing belt tension,
see CHAPTER8 TIMING BELTTENSION.APPENDIX.
 AND INSPECTION
4. MAINTENANCE

il. lMotormounti

-2-tTiming belt

'v'
b a
+=+

{ Trming pulley

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

 4. MAINTENANCE
AND INSPECTION

3.5 Replacementof the The curledcablesusedas the cablesconnectingthe RV-M1base

CurledCables unit and arm unit must normallybe replacedevery2,000hoursof
gPeration
fwo curledcablesare used,powerand signal.Thesetwo cables
must be replacedat the same time.

A. Replacement

(1) Fig. 4.3.13outlinesthe replacementprocedureof the two

curled cables.

(2) Makesurethatthe powerswitchon the driveunit rearpanelis

in the oFF position.

13) Removethe baseside coversand upperand lower shoulder

coversby referringto 3.2 Removalof the Covers.

(4) Unplug the three connectors(connectornames: "PW,"

"HND," and "CON3")which are pluggedinto positioninside
the base 1..D.

(5) Unplug the eight connectors{connectornames: "PW,"

" H N D , "" M 2 , " " M 3 , " " E N C 2 , " E N C 3 , " E N C 4 , 5 , A
" N d" L S " )
which are pluggedinto positioninsidethe shouldercovers.

(6) Eachconnectoris identifiedby the connectornameprintedon

t h e m a r k l n gs e a l .

(7) Removethe two mountingscrews(? and pull off the terminal

plateQ) togetherwith the power curledcable[4] and signal
curledcable (0 from the base (11.

(8) Removethe plasticnuts Q),eachof which securesthe power

curledcable@ and signalcurledcableO, respectively,
to the
motor plate @.

(9) Pull off the two cablesa4)and (5)from the motor plate (0.

(10) To installnew cables,reversethe order of removal.

WARNING
When reconnectingthe connectors, be sure they are
connectedin matchedpairsidentifiedby the sameconnec-
tor name. A wrong connection can result in a serious
trouble.
4. MAINTENANCE
AND INSPECTION

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

7 P l a s t i cn u t

nal curled cable i-4.Power curled cable

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

"CON3"
Connectofl

lr Ease

Fig. 4.3,13Replacingthe Curled Cables

 AND INSPECTION
4. MAINTENANCE

3.6 Inspection,
Adtustment,The RV-M'lrobot has built-inelectromagneticbrakesinstalledin
of the the shoulderswivel and elbow extensionaxes that preventthe
and Replacement
Brakes arm from droppingby its own weightwhen poweris OFF.Inspect
the brakesat regularintervalsby followingthe inspectionand
adjustmentproceduresgiven below.

3.6.1Checking,adiusting, A. Inspection
and replacingthe
shoulderbrake ('l) Duringthe normaloperationof the robot,checkto seeif any of
the following symptomsdevelops.

a. The brake is not releasedwhen power is turned ON.

. This is probablydue to an open brakecoil leadwrre or
incorrectarmature-to-coilgap. lf the problempersrsts
evenafterthe gap hasbeenadlusted,replacethe brake.
b. The brakesqueakswhile the arm is being rotated.
. This is probablydue to incorrectgap.Adjustthe gap as
necessa ry.
c. The arm drops when power is turned OFF.
. T h i s i s p r o b a b l yd u e t o a w o r n b r a k el i n i n go r o i l a n d
greasetrappedinside.Cleanor replacethe brakelining.

B. Adjustment

( 1 ) F i g .4 . 3 . 1 4i d e n t i f i etsh e s h o u l d e rb r a k ep a r t s .

(2) Makesurethat the powerswitchon the driveunit rearpanelis

in the OFF position.

(3) Removethe upperand lower shouldercoversby referringto

3.2 Removalof the Covers.

(4) Loosenthe two setscrews i3).At thistime, usecarenot to lose

the copperplates(1. Then,usinga feelergauge,adjustthe gap
betweenthe armature(5)and coil :7,rto 0.1 mm.

(5) After the gap has been properlyadjusted,tighten the two

setscrews i3.lsecurely.
At this time,makesurethat the copper
plate i11)is installed between the setscrewi3l and shaft (8).

C. Replacement

( 1 ) F i g .4 . 3 . 1 5
o u t l i n e tsh e r e p l a c e m e p
n rt o c e d u roef t h e s h o u l d e r
brake.

(2) Makesurethat the powerswitchon the driveunit rearpanelis

in the OFF position.

(3) Removethe upperand lower shouldercoversby referringto

3.2 Removalof the Covers.

(4) The brakeconnectoril) {connectorname: "PW") is plugged

into positioninsidethe shouldercovers.
4. MAINTENANCE
AND INSPECTION

( 5 ) Unplugthe shoulderbrakepin contacts12)(contactNos.1 and

housingin the connectori. See Fig.
2) from the receptacle
4.3.16.

( 6 ) Removethe two setscrews(3t.At this time, use carenot to lose

the copperplatesO. Then,removethe brakedisk[4],armature
€,1,and spring [6, from the shaft a0.

(7) Removethe four mountingscrews(91to removethe coil -47)

from the brake mounting plate (0).

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

(9) Adjust the gap by referringto the proceduregiven in B.

(a may be pluggedintoeitherposition,No. 1
(10) The pin contacts
and No. 2.

i3. Setscrew

(O copper plate

Fig. 4.3.14 Shoulder Brake Parts ldentification Fig.4.3.16 Removing the Pin Contacts

L3.rSetscrew
-\

I
.b

o.- \
q

Brake disk

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

3 . 6 . 2 C h e c k i n g ,a d i u s t i n g , A. Inspection
a n d r e p l a c i n gt h e
elbowbrake { 1 ) D u r i n gt h e n o n n a lo p e r a t i o no f t h e r o b o t ,c h e c k t os e e i f a n y o f
the following symptoms develops.

a . T h e b r a k e i s n o t r e l e a s e dw h e n p o w e r i s t u r n e d O N .
. T h i s i s p r o b a b l yd u e t o a n o p e n b r a k ec o i l o r l e a d w i r e
o r i n c o r r e c ta r m a t ur e ' t o - c o i lg a p . l f t h e p r o b l e m p e r s i s t s
e v e n a f t e r t h e g a p h a s b e e n a d j u s t e d ,r e p l a c et h e b r a k e .
b . T h e b r a k e s q r - r e a kw s hile the arm is being rotated.
. T h i s i s p r o b a b l yd u e t o i n c o r r e c gt a p . A d j u s tt h e g a p a s
n e c e s s ar v .
c. The arm drops when power is turned OFF.
. T h i s i s p r o b a b l yd u e t o a w o r n b r a k e l i n i n g o r o i l a n d
g r e a s et r a p p e di n s i d e .C l e a no r r e p l a c et h e b r a k el i n i n g .

B . A dj u s t m e n t

( 1 ) F i g . 4 . 3 , 1 7i d e n t i f i e st h e e l b o w b r a k e p a r t s .

( 2 ) M a k e s u r e t h a t t h e p o w e r s \ ^ / i t c ho n t h e d r i v e u n i t r e a r p a n e l i s
i n t h e C F F p o si i i on .

( 3 ) R e m o v e t h e r p p e r a n d i o w e r s h o u l d e r c o v e r s b y r e f e r r i n gt o
3 . 2 R e m o v a lc f t h e C o v e r s .

( 4 ) L o o s e nt h e t w o s e t s c r e w s ' 3 : A
. t this time, use care not to lose
the copper p l a t e s T
.11,.h e n , u s i n g a f e e l e rg a u g e ,a d j u s tt h e g a p
b e t w e e nt h e a r m a t u r e 5 a n d c o i l . 7 t o 0 . 1 m m .

( 5 ) A f t e r t h e g a p h a s b e e n p r o p e r l y a d j u s t e d ,t i g h t e n t h e t w o
s e t s c r e w s1 3 s e c u r e l y .A t t h i s t i m e , m a k e s u r e t h a t t h e c o p p e r
p l a t e ' . 1 1i s i n s t a l l e d b e t w e e n t h e s e t s c r e w i . 3 'a n d s h a f t ( 8 ; .

C. Replacement

( 1 ) F i g . 4 . 3 . i 7 a l s o o u t l i n e st h e r e p l a c e m e n tp r o c e d u r eo f t h e
e l b o w b r ak e .

{2) Makesurethat the power switch on the drive unit rearpanelis

in the oFF position.

{ 3 ) R e m o v e t h e u p p e r a n d l o w e r s h o u l d e r c o v e r s b y r e f e r r i n gt o
3.2 Removal of the Covers.

( 4 ) T h e b r a k ec o n n e c t o r I ( c o n n e c t o rn a m e : " P W " ) i s p l u g g e d
i n t o p o s i t i o n i n s i d e t h e s i t o u l d e rc o v e r s .

( 5 ) U n p l u g t h e e l b r : w b r a k e p i n c o n t a c t s: 2 . ( c o n t a c tN o s . 3 a n d 4 )
f r o m t h e r e c e p t a c i eh o u s i n g i n t h e c o n n e c t o r i 1 , . S e e F i g .
4 . 3 . 18 .

( 6 ) R e m o v et h e 1 w o s e t s c r e w s. 3. A t t h i s t i n t e , u s e c a r e n o t t o l o s e
t h e c o p p e r p l a t e s 1 1 .T. h e n , r e m o v e t h e b r a k ed i s k ( 4 r ,a r m a t u r e
.5, and spring 6l from the shaft .8..
 AND INSPECTION
4. MAINTENANCE

(7) Removethe four mountingscrews€-,1 to removethe coil 0)

from the brake mounting plate [0.

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

(9) Adjust the gap by referringto the proceduregiven in B.

(10) The pin contactsi2,may be pluggedintoeitherposition,No.3

and No, 4.

WARNING
The arm falls down when the brakesare removed.Be sure
to securethe arm in position beforeattempting to adiust
or replacethe brakes.

ll Coil

il-, Connector

--7
i3- Setscrew

7p ,/ ll copper plate

%@
M o un t i n g
screw / -@'
d
i-0 Brakemounting plate i4) Brakedisk

Fig.4.3.17 Elbow Blake Parts ldentification

I Connector

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

3 . 6 . 2 C h e c k i n g ,a d j u s t i n g , A. lnspection
a n d r e p l a c i n gt h e
elbowbrake ( 1 ) D u r i n gt h e n o r m a l o p e r a t i o no f t h e r o b o t ,c h e c k t os e e i f a n y o f
the following syrnptoms develops.

a . T h e b r a k e i s n o t r e l e a s e dw h e n p o w e r i s t u r n e d O N '
. T h i s i s p r o b a b l yd u e t o a n o p e n b r a k ec o i l o r l e a d w i r e
l ap, lf the problempersists
o r i n c o r r e c ta r m a t ur e - t o - c o i g
e v e n a f t e r t h e g a p h a s b e e n a d j u s t e d .r e p l a c et h e b r a k e '
b. The brake squeakswhile the arm is being rotated
. T h i s i s p r o b a b l y d u e t o i n c o r r e c tg a p . A d j u s t t h e g a p a s
n e c e s s ar y .
c. The arm drops when power is turned OFF.
. T h i s l s p r o b a b l yd u e t o a w o r n b r a k e i i n i n g o r o i l a n d
g r e a s el r a p p e di n s i d e .C l e a no r r e p l a c et h e b r a k el i n i n g'

B. Adjustment

( 1 ) F i g . 4 . 3 . 1 1r d e n t i f i 6 st h e e l b o w b r a k e p a r 1 s .

( 2 ) M a k es u r et h a t t h e n o w e r s w i t c ho n t h e d r i v eu n i t r e a rp a n e ll s
is the OFF irosition.

{ 3 ) R e r n o ' r et h e ' , r p p e ra n d l o w e r s i l o u l d e r c o v e r s b y r e f e r r i n gt o
3 . 2 R e m o v a io { t h o C c v e r s .

( 4 ) L o o s e nt h e t \ r ' o s e t s c r e w s 3 . A t t h i s t i m e , u s e c a r e n o t t o l o s e
t h e c o p p e r p l a t e s l l . . T h e n , u s i ng a f e e l e rg a u g e ,a d j u s tt h e g a p
'5
b e t w e e nt h e a r m a t u r e and coil .7 to 0.1mm.

1 5 ) A f t e r t h e g a p h a s b e e n p r o p e r l y a d j u s t e d ,t i g h t e n t h e t w o
s e t s c r e w s ' 3 ' s e c u r " eAl yt .t h i s t i m e , m a k e s u r e t h a t t h e c o p p e r
plate l1 is installed between the setscrew .3. and shaft €,'

C. Replacement

( 1 ) F i g . 4 . 3 . 1 7a l s o o u t l i n e st h e r e p l a c e m e n tp r o c e d u r eo f t h e
elbow brake.

p a n e li s
1 2 ) M a k e s u r et h a t t h e p o w e r s w i t c h o n t h e d r i v e u n i t r e a r
in the OFF position.

( 3 ) R e m o v e t h e u p p e r a n d i o w e r s h o u l d e r c o v e r s b y r e f e r r i n gt o
3 . 2 R e n r o v a lc f t h e C o v e r s .
"PW") is plugged
( 4 ) T h e b r a k e c o n n e c t o r 1 ( c o n n e c t o rn a m e :
i n t o p o s i t i o n i n s i d e t h e s l . r o u i d e rc o v e r s

( 5 ) U n p l u g t h e e l f r o w ' b r a k ep i n c o n t a c t s. . 2(. c o n t a c tN o s 3 a n d 4 )
f r o m t h e r e c e p t a c l eh o u s i n g i n t h e c o n n e c t o r i ' l r ' S e e F i g '
4.3.18.

( 6 ) R e m o v et h e t w o s e t s c r e w sl 3 . A t t h i s t i m e , u s e c a r e n o t t o l o s e
t h e c o p p e r p l a t e s l l . T h e n , r e m o v e t h e b r a k ed i s k ( 4 . ,a r m a t u r e
.a:
 AND INSPECTION
4. MAINTENANCE

(7) Rernovethe four mountingscrewsI to removethe coil (D

from the brake mountingplate @.

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

(9) Adjust the gap by referringto the proceduregiven in B.

(10) The pin contacts

!2,may be pluggedintoeitherposition,No.3
and No, 4.

WARNING
The arm falls down when the brakesare removed.Be sure
to securethe arm in position beforeattempting to adiust
or replacethe brakes.

il, Connector

'3.
Setscrew

@
re^:@
lMo u nting
screw /9'
b, Jpfl nq d

Brakemounting plate
-f0,, .41Brakedisk

Fig. 4.3.17 Elbow Brake Parts ldentification

l Connector

Fig.4.3.'18 Removing the Pin Contacts

 4. MAINTENANCE
AND INSPECTION

4. SERVICE
PARTS Table 4.4.1 lists those RV-M1 parts which require periodic
replacement. Tables4.4.2and 4.4.3arethe listingsof spareparts
that may be requiredduring serviceprocedures.
All partsmay be orderedfrom the authorizedmanufacturer or our
ServiceDivision.Note that the oarts recommendedbv us differ
from manufacturer'sstandardparts: bv sure to consult our
ServiceDivisionbeforeordering.

4.1 RobotConsumables

No. Description Model Manulacturel lnstalled Location otv

Waist, elbow,
Motorbrush 3OW-BRSH 6
shoulderj2 each
lMitsubishiElectric
2 DC servomotor Wrist pitch/roll 2
11W.J5M

3 Timing belt M M 1 9 09 . 5 S h o ul d e r 1

4 Timing belt Mtvt-132,9.5 lMitsuboshiBelt Elbow 1

5 Timing belt MM-97-4.8 Wrist pitch 1

6 Curledcable BU142B040G51 M i t s u b i s hEi l e c t r i c Power/signalrelay 1 set

Table 4.4.1 Robot ConsumablesList

4. MAINTENANCE
AND INSPECTION

4.2 RobotSpale Parts

No, Oescription Model Manufactulel lnstalled Location otv

30w-J1M Waist, elbow,
1 DC servomotor 30w-J2M MitsubishiElectric 3
shoulder;1each
3OW-J3M

H ar m o n i c d r i v e B U1 4 3 C 1 7 2 H 0 2 Base
2
reoucton gear lCS-14,100,24,G R)

Harmonicdrive
3 B U1 4 3 Cl 7 3 H 0 1 Shoulder, elbow
reouclton gear M i t s u b i s hEi l e c t r i c
( H a r m o n i cD r i v e
Harmonicdrive B U1 4 4 D 4 1 3 H 0 1 Systems)
4 ( F B - 1 4 - 1 1 0B, L
23 - S P ) Wrist pitch
r e d u c t i o ng e a r

Harmonic drive BU144D366H01 Wrist roll

5 ( F B - 1 4 - 1 1 0B- L2 3 )
reouclron gear

LS-ASSY-.
]i ]
Limit switch O r i g i n - s e t t i n gs i g n a l
6 MitsubishiElectric 5 sets
assemory Note2: ShaJ for all axes
designation

Electromagnetic 2
7 B U1 4 4 D 4 7 3 G 5 1 M i t s u b i s hEi l e c t r i c Shoulder, elbow
brake assembly

8 Roller follower NART-6EUUV THK CO,, LTD E I b o wd r i v e l i n k 2

9 R e l a yc a r d B U1 4 8 8 1 3 6 G 5 1 MitsubishiElectric Relay in base 1

10 M i n i a t u r eb e a r a n g F69622 NSK CO., LTD S h o u l d e r ,e l b o w 4

Table 4,4.2 Robot Spare Parts List

Note lr Oty per unit

Note2r J1 to J5

4.3 DriveUnit SpareParts

No. Descliption Model Manufacturel lnstalled Location otv

MF6ONRlOA-05 F u s eh o l d e ri n r e a r 1
1 Fuse (250VAC, 10A) TOYO of driveunit

Noter 10A for 120V line voltage; 5A for 220, 230 or 240V line voltage.
1. SPECtFICAT|0l{S
2.0PtRATI01{
3. DtSCRtPil0l{
0FT]|tC0itMAN0s
4. 1||AINTEI{A1{CE
ANDINSPTCTIOI{

5. APPENDICES
 CONTENTS(APPENDICES}

1. INTERFACE
WITHTHEPERSONAL (CENTRONICS)
COMPUTER APP-1
1 . 1 C e n t r o n i cCso n n e c t opri nA s s i g n m e n t s ................App_1
1 . 2 F u n c t i oonf E a c hS i g n aLl i n e . . . . . . . . . . . . . . . . . ..............App_2
'1.3
S i g n aLl i n e T i m i nCgh a r t . . . . . . . . . . . .........................App_z
1 . 4 C e n t r o n iC c sa b 1 e . . . . . . . . . . . . . . . .........App_3
1 . 5 C e n t r o n i cI n
s t e r f a c i nEgx a m p l e s .........................App_3

2 . T N T E R F A C E W T T H T H E P E R S O N A L C O M P U T E R ( R S 2 3 2 C ) . . . . . . . . . .. . . . . . . . A p p _ s

2 . 1 R S 2 3 2 C C o n n e cpt ionrA s s i g n m e n t s . . . . . . . . . . . . . . . . ....App_s

2 . 2 F u n c t i oonf E a c hS i g n aLl i n e. . . . . . . . . . . . . . . . . ..............App_s
2 . 3 R S 2 3 2SCe t t i n g s ........................App_6
2 . 4 S i g n aLl i n e T i m i n Cg hart.......... ...App_8
2 . 5 R S 2 3 2C Ca b | e . . .......................App_10
2 . 6 R S 2 3 2 ICn t e r f a c i nEgx a m p l e s ....App_11

3. INTERFACE
WITHEXTERNAL
I/O EOUIPMENT ....... .APP.14

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

4. CARTESIAN
COORDINATE
SYSTEMREFERENCE
POSITION . . ........... .........APP.29
SETTING

4.1 MovingtheRobottoReferenceposition........... ..App_29

4.2 Settingthe Reference position ...App-29
4.3 S t o r i n gR e f e r e n cpeo s i t i o n
D a t ai n E p R O M .........App_30
4.4 Loading t h e R e f e r e n cpeo s i t i o n
Data................ ..App_31
5. PROGRAMMING
SYSTEMUSINGPERSONALCOMPUTER ..............APP.32

PROGRAMS...........
6. SAMPLE .-.......App-36

7 . C O M M A N D L | S T . . . . . .. .. .... . . . .........APP-44

8. TtMtNGBELTTENSTON ................ .APP-48

9 . D E F | N | T I O N O F W E | G H T C A P A.C. .|.r.Y
........ . .. ...App-49

10. ROBOTARMSTORAGEPOS|T|ON.............. .'.-.....APP-50

11.OPERATTONALSPACEDTAGRAM........ '. ".'..'......'APP-51

1 2 .W | R I N G D T A G R A M ........'............APP-52

EN | T W t R t N D
1 3 . D R T VU G| A G R A M . . . . . . . . ..'............'....APP-53
 APPENDICES

1. INTERFACEWITHTHE
PERSONAL
COMPUTER
(CENTRONICS}

1.1 Centronics
Connector T a b l e 5 . 1 . 1s h o w s the pin assignments
for the Centronicscon-
PinAssignments nector.

CENTRONICS

Fig. 5.'l.1 Centronics Connectol

Pin No. Signal Pin No. Signal

1 STB 19 GND
2 DBO 20 GND
3 DBl 21 GND
DB2 22 GND
5 DB3 GND
6 DB4 24 GND
7 DB5 25 GND
I DB6 26 GND
9 D87 27 GND
10 ACK- 2a GND
11 BUSY 29 GND
12 GND 30 GND
13 N,C 31 N . C
N,C 32 N . C
N .C 33 GND
GND 34 N. C
1/ N.C 35 N . C
'18
N.C 36 N , C

Table 5.1.1 CentronicsConnectorPin Assignments

N. C: Not connected

Receptaclemodel: 57LE-40500-77OO (D3).. . (DDK)

Applicableplug model: 57E-30500.
. . (DDK)
APPENDICES

1.2 Functionof EachSignal

Line Signal Direction Function

T h e s es i g n a l sr e p r e s e n lt n f o r m a t i o no f t h e I b i t s
D B ot o 7 ln parallel data, respectively,output frorn the per-
( D a t ab i t )
sonal computer.

T h i s i s t h e p u l s es i g n a li n d i c a t i n gt h a t i n p u t d a t a
ST8 f r o m t h e p e r s o n a l c o m p u t e r i s p r e s e n tt o b e
ln
(Strobe) read. Data is read in on the LOW-going negative
edge.

This signal goes LOW when the drive unit is

BUSY
(Busy) Out r e a d yt o r r e c e i v i n gd a t a .l t g o e s H I G H i n d i c a t i n g
t h a t t h e d r i v e u n i t i s u n a b l e t o r e c e i v ed a t a .

A L O W 2 t o 3 p s p u l s e i n d i c a t e st h a t d a t a h a s
ACK
(Acknowedge) Out b e e n r e c e i v e da n d t h e d r i v e u n i t i s r e a d y t o
accept other data.

GND
( G r o un d) G r o u n d c o n n e c t i o nf o r t h e a b o v e s i q n a l l i n e s .

Table 5.1.2 Functions of Signal Lines on Centronics Connector

1.3 SignalLineTimingChart

D B Ot o 7 ( l n )

STB {ln)

B U S Y( o u t )

A C K ( Ou t )

Fig, 5.1.2 Timing Chart

to DBOto DB7.
( 1 ) Datafrom the personalcomputeris transferred

t2l The drive unit outputsa HIGHBUSYsignalon the negative

edge of a STB signalfrom the personalcomputer.

{ 3 ) Whenthe driveunit hascolqpletedreceivingdataand is ready

to acceptother data, an ACK signal is sent to the personal
computer;at the same time, the BUSY signal goes LOW.

( 4 ) This operatingsequencerepeatsuntil the terminator,hex.

"0D,"is input.
 APPENDICES

1 . 4 C e n t r o n i c sC a b l e When connectingyour personalcomputer to the robot through

the Centronics interface, the printer cable of your personal
computer may be used if it can be properly plugged into the
C e n t r o n i c sc o n n e c t o r o f t h e d r i v e u n i t a n d s i g n a l l i n e s m a t c h
c or r e c t l y .
A l s o a v a i l a b l ea r e t h e o p t i o n a lc a b l e sf o r t h e M i t s u b i s h M
i ULTI'16
and NEC PC9801.

1 . 5 C e n t r o n i c sI n t e r f a c i n g E x a m p l e 1 : U s i n g M i t s u b i s h i l \ , 1 U L T l 1 6 [ n
Examples
1 ) C o n n e c t i n gt h e C e n t r o n i c sc a b l e

U s i n gt h e o p t i o n a lc a b l ef o r C e n t r o n i c {sm o d e l :C - M U L T I - C B L ) ,
c o n n e c tt h e d r i v e u n i t t o t h e p e r s o n a lc o m p u t e r ( w i t h t h e d r i v e
u n i t a n d p e r s o n a lc o m p u t e r t u r n e d O F F ) .F o r t h e c o n n e c t o ro n
t h e N 4 U L T l 1 6 mu, s e i t s b u i l t - i n p r i n t e r c o n n e c t o r .

2) Setting the personal computer

(Setting switches)

Set the l/O mode suritch (l-SW) on the back panel of the
personal computer as follows.

'1
Bit : In lower position (OFF)
B i t 2 : l n u p p e r p o s i t i o n( O N )
Bit 3: In lower position (OFF)

A f t e r t h e a b o v e s w i t c h s e t t i n g sh a v e b e e n m a d e , t u r n O N t h e
p e r s o n a l c o mp u t e r .

(lnvoking software)

( 1) A c t i v a t e C P / M - 8 6 .
(2) Activate the GENSYS command to make the following
s e t t i ng s .

A > G E N S Y SJ A c t i v a t eG E N S Y S .
\
P r i n t e r ?Y J Set Printer configura-
tlon.
fype? 24 pin 16 / Set 16-pintype.
\
E N D O F G E N S Y S( Y / N ) ?Y I End GENSYS.

(3) Acrivate MBASIC.

A>MBASIC Activate MBASIC

(or MBASIC2).
APPENDICES

3) Setting the drive unit

After the drive unit has been turned ON, place ST1 located
i n s i d et h e s i d e d o o r i n t h e l o w e r p o s i t i o n( O F F )T. hi s s e l e c t st h e
p e r s o n a lc o m p u t e rm o d e . M a k e s u r e t h a t t h e t e a c h i n gb o x i s
turned OFF.

4 ) V e r i f y i n g p r o p e r c on n e c t i on

I n p u t t h e f o l l o w i n gc o m m a n d i n M B A S I C .

"
LPRINT NT" I

l f t h e r o b o t p e r f o r m s c o r r e c t r e t u r n - t o - o r i g i no p e r a t i o n , t h e
connection has been made properly.

E x a m p l e _2 : U s _ 4 9 N E C P C 9 8 0 1 F

1 ) C o n n e c t i n gt h e C e n t r o n i c sc a b l e

U s i n g t h e o p t i o n a l c a b l e f o r C e n t r o n i c s( m o d e l : C - P C - C B L ) ,
c o n n e c tt h e d r i v e u n i t t o t h e p e r s o n a lc o m p u t e r { w l t h t h e d r i v e
unit and personal computer turned OFF).

2) Setting the personal computer

No special settings are required on the personal computer.

After N8SDISK-BASIC h a s b e e n a c t i v a t e d ,t u r n O N t h e d r i v e
unrt.

3) Setting the drive unit

Perform the same procedure as in MULT|l6lll.

4) Verifying proper connection

Perform the same procedure as in MULTI'16III.

 APPENDICES
2. INTERFACEWITHTHE
PERSONAL COMPUTER
(RS232C)

2 1 RS232cconnectorpin Tabre5.2.'1
showsthe pin assignments
for the RS232cconnector.
Assignments

25 14

Fi9.5.2.1
RS232C Connector

Pin No. Signal Pin No. Signal

l i F G
N . C
z bb trxot 15 N . C
3 I no tnxot 16 N, C
:5 I Rs(Rrs) 11 N . C
CS (CTS) 18 N . C
b ] DR (DSR) '19
N. C
7 sc 20 ER (DTR)
8 I N.c 21 N . C
9 N. C 22 N . C
10 N c 23
I N. C
t1 N.C N . C
1 2 I * . 25 N, C
13 N. C

Table. 5.2.1 RS232C Connector pin Assignmenrs

A p p l i c a b l ec o n n e c t o r :J A E D B - 2 5 P( m a t e ) o r e q u i v a l e n t ( J A E )
N. C: Not connected
2.2 Functionof EachSignal
Line
F r a m e g r o u n d c o n n e c t e dt o t h e F G t e r m i n a l o n
the drive unit.

Provides the lines on which the onve untt

presents data to the personal computer.

P r o v i d e st h e l i n e so n w h i c h t h e p e r s o n a cl o m p u
rer presents data to the drive unit

T h i s s i g n a l m u s t b e s e t w h e n e v e rt h e p e r s o n a l
compurerwrshesto transmit data.

CS (CTS) T h i s s i g n a l i s u s e d t o a u t h o r i z et h e d r i v e u n i t t o
In
transmit data

T h i s s j g n a l i s u s e d t o i n d i c a t et h a t t h e p e r s o n a l
computer ls ready to transmit and receive data.

Signal ground for data and control ttnes.

ERlDTR) T h i s s i g n a l i s u s e d t o i n d i c a t et h a t t h e d r i v e u n i t
i s r e a d y t o t r a n s m i t a n d r e c e i v ed a t a .

Table 5.2.2 Functions of Signal Lines on RS232C Connector

APPENDICES

2.3 RS232CSettings W h e n t h e R S 2 3 2 Ci n t e r f a c e i s t o b e u s e d , t h e f o l l o w i n g c o m -
m u n i c a t i o nc o n d i t i o ns e t t i n g sm u s t b e m a d e o n t h e d r i v e u n i t a s
w e l l a s t h e p e r s o n a lc o m p u t e r .T h e s e t t i n g so n t h e d r i v e u n i t m u s t
b e t h e s a m e a s t h o s e o n t h e p e r s o n a ci o m p u t e r .C o m m u n i c a t i o n
c a n n o t b e a c c o m p l i s h e dp r o p e r l y i f t h e r e i s a n y d i s c r e p a n c y .
T h e f o l l o w i n gp a r a g r a p h se x p l a i nt h e s e t t i n g sm a d e o n t h e d r i v e
u n i t .F o r p e r s o n acl o m p u t e rs e t t i n g ss, e e l n s t r u c t i o nM a nu a l o f t h e
o e r s o n a l c om o u t e r .

/11 Rrrrri r.to caftind

T h e b a u d r a t e c a n b e s e t w i t h S W 3 l o c a t e di n s i d et h e d r i v e u n i t
s i d e d o o r . P l a c et h e c o r r e s p o n d i n gb i t i n t h e u p p e r p o s i t i o n
( O N )a c c o r d i n gt o t h e d e s i r e db a u d r a t e .( T h eu n d e r l i n e db a u d
rate in Table 5,2,3 is the standard settinq.)

WARNING
N E V E Rs e t t o O N t w o o r m o r e b i t s a t o n e t i m e w h i l e t h e
drive unit is ON.

Baud rate lactor

DIPSW3 Bit No.
x1 x16 x64
1200

2 24AA 150

3 4800 300 75

4 9600 600 150

5 1200 300

6 2404 600

/ 4800 1200

I 9600 2400

Table 5.2.3 Baud Rate Setiing

{ 2 ) F o r m a t s e t t i n g i n a s y n c h r o n o u st r a n s m i s s i o n

T r a n s f e rf o r m a t c a n b e s e t w i t h S W 2 l o c a t e d i n s i d e t h e d r i v e
u n i t s i d e d o o r . S e t t h e b i t s a s r e q u i r e da c c o r d i n gt o t h e d e s i r e d
format. {The underlined settings are standard.)
 APPENDICES

D I PS W 2 No. of stop bits

2 3 4 5 6 7 I Null l bit 1 ' 1 1 b2 i t s 2 bits

1 - O N
'I ( u p p e rp o s i t i o n )
0 0 1
0*OFF
0 1 0 1 ( l o w e rp o s i t i o n )

1: Even parity; 0: Odd parity

'l:
P a r i t ye n a b l e i 0 r P a r i t y d i s a b l e

Character length

5 bits 6 bits 7 bits 8 bits

0 0 l

'l
0 0

Baud rate factor

Null X1 x16 x64

,I
0 0

0 l 0 l
APPENDICES

2.4 SignalLineTiming T h e R S 2 3 2 Ci n t e r f a c ew a s o r i g i n a l l y t h e s t a n d a r d
pre_scribing
Chart e l e c t r i c a ls p e c i f i c a t i o n ss, h a p e s o f c o n n e c t o r s ,
unOpin nrrnO"rr.
A s - a r e s u l t , d i f f e r e n t p i e c e s o f c o m m u nj c a t i o n
equipment use
different signal line functions and communication
proceCures.
W h e n c o n n e c t i n gy o u r p e r s o n a lc o m p u t e r t o t h e
robol,tfreretore,
thorough understanding is mandatory of the functions
of the
s i g n a ll i n e sp r o v i d e df o r b o t h t h e p e r s o n a cl o m p u t e r
a n dt h e d r r v e
unit.

1) Data rransfer timhg.lrp11persona|

!9]]lp!1g|1o ]g!Sl
(Robot)

'l
st character:
S i g n a l sE R ( D T R )a n d R S ( R T S )a r e t u r n e dt o H I G H
for up to
1 7 7 m s .l f a n y d a t a i s i n p u rd u r i n gt h i s p e n o d ,
1l: ld both
E R ( D T R )a n d R S ( R T S )a r e r u r n e d t o L O W a l t o w i n g
rhe data
to be read in.

2 n d c h a r a c t e ra n d o n w a r d
T h e d r i v e u n i t c a u s e s b o t h E R ( D T R )a n d R S ( R T S )
ro go
H I G H t o b e r e a d y f o r a c c e p t i n gd a t a e n t r y . l f
any data is
i n p u t , E R ( D T R )a n d R S ( R T S )a r e t u r n e d t o L O W
allowrng
the data to be read in. This operation repeats
"0D", u n t il a hex.
c o d e ( C R : c a r r i a g e r e t u r n ) o r a h e x , , , 0 A , ,c o d e ( L F :
l i n e f e e d ) i s i np u t .

( P e r s o n a i c om p u t e r )

T r a n s f e rt h e 1 s t c h a r a c t e rw h i l e D R ( D S R ) r e m a i n s
HIGH.
T r a n s f e r t h e 2 n d a n d s u b s e q u e n t c h a r a c t e r sw h e n
DR (DSR)
latergoes LOW and again goes HIGH.

RS (RrS) - CS (CTS)

I 1 s t c h a r a c t eirn p u t
I 2 n d c h ar a c l e r i n p L t t

Fig. 5.2.2 Data Transfer Timing trom personal

Computerto Robot
 APPENDICES

2) Datatransfertiming from robot to personalcomputer

( Robot)

Datatransferis initiatedaftercausingER(DTR)to go HIGH.ER

(DTR)is turnedto LOWafterthe lasthex. "0D" codehas been
transferred.

(Personalcomputer)

The personalcomputercausesRSlRTS)togo HIGHwaitingfor

datato be transferred
from the robot.lf the personalcomputer
requiresa hex."0A" code(LF:linefeed)followinghex."0D" as
a terminatorof receiveddata.bit 1 of SW1 locatedinsidethe
driveunit sidedoor must be placedin the upperposition{ON).

(Robot) (Personalcomputer)

E R ( D T R )- DR (DSR)

R S ( R r S )- CS (cTS)
T T s t c h a r a c t eor u t p u t I 2 n d c h a r a c t eor u t p u t

D R ( D S R )* E R ( D T R )

cs (crs) * RS( R T S )

Fig. 5.2.3 Data TransferTiming from Robot to PersonalComputer

APPENDICES

2.5 RS232CCable When connectingyour personalcomputerto the robot through

the RS232C interface, the RS232C cableof your personalcomputer
may be usedif it can be properlypluggedinto the corresponding
connectorof the drive unit and signal lines are connectedas
shown in Fig. 5.2.5.Each signal line must, however,meet the
timing describedearlier.
A l s oa v a i l a b laer et h e o p t i o n acl a b l e sf o r t h e M i t s u b i s hMi U L T l l 6
a n d N E CP C 9 8 0 1 .

Drive unit P e r s o n a lc o m p u t e r
(signalname, pin number) ( s a g n a ln a m e , p i n n u m b e r )

( F G )1 1(FG)
( S D )2 2 {SD)

( R D )3 3 (RD)

1 R S 4) 4 (RS)

(cs)5 5 (CS)

( D R )6 6 (DR)

( E R )2 0 20 (ER)

( S G )7 7 (SG)

Fig. 5.2.4 RS232C Cable Connection

 APPENDICES

2.6 RS232Clnterfacing @
Examples
1) Connectingthe RS232Ccable
(model:RS-MULTI-CBL)'
Usingthe optionalcablefor RS232C (withthe drlve
conn-ectthe driveunitto the personalcomputer
the connectoron
unit and personalcomputerturnedOFF) For
the MULT|l6lll,use its built-inRS232Cconnector'

2) Settingthe PersonalcomPuter

(Settingswitches)
(l-SW)on the
Set53 insidethe maincoverand l/O modeswitch
back panel as follows

53: FliP down to C2 and C4 Positions'

l-SW: Placebit 4 in the lower position(OFF)'

Afterthe aboveswitchsettingshavebeen made'turn ON the

personalcomputer.{For locationof 53, see MULTll6lll Own-
er's Manual.)

(lnvokingsoftware)

(1) Activate cPilvl-86.

(2) Activatethe GENSYScommand to make the following

settings.

A > GENSYSI ActivateGENSYS.

RS232C?
5
YI configura-
Set RS232C
Async/Sync?ASYNCI t i on .
)
END OF GENSYS(Y/N)?Y J End GENSYS.

(3) Activate lvlBASIC.

A > I\,IBASIC
I ACtiVAtEM BASIC
(or MBASIC2).

3) Setting the drive unrt

located
After the drive unit has been turned ON place ST1
i n s i d et h e s i d e d o o r i n t h e l o w e r p o s i t i o n
( O F F ) T h i s s e l e c t st h e
box is
p e r s o n a lc o m p u t e r m o d e . M a k e s u r e t h a t t h e t e a c h i n g
the side
t u r n e d O F F .T h e n , s e t S W 1 , S W 2 , a n d S W 3 l o c a t e d i n
door as follows.

SW1: P l a c eb i t 1 i n t h e u p p e r P o s l t l o n .
SW2l Make the standard settingsaccordingto 2.3 RS232C
j Settings.
SW3
APPENDICES

4) Verifyingproper connection

I n p u ta n d r u n t h e f o l l o w i n gp r o g r a mi n M B A S I C .

1 0 O P E N" C O M 1: 9 6 0 0E, , 7 , 2 " A s l r l

2 0 P R I N T# 1 , " N T "
30 END Aboveprogramis executed.
R U NJ
OK

lf the robot performscorrectreturn-to-origin operation,the

connectionhas been made properly.

E x a m p l e2 : U s i n gN E CP C 9 8 0 1 F

1 ) C o n n e c t i ntgh e R S 2 3 2 C
cable

Using the optional cable for RS232C{model: RS-PC-CBL),

connectthe driveunitto the personalcomputer{withthe drive
unit and personalcomputerturned OFF).

2) Settingthe personalcomputer

(Settingswitches)

Set DIPswitchesSW1 and SW2on the backpanelas follows.

SW1: Placebits 7 and 9 in the lower position(OI\,.

Placebits 8 and 10 in the upper position(OFF).
SW2: Placebit 5 in the lower position(ON).

After the aboveswitchsettingshavebeen made,turn ON the

personalcomputer.

{lnvokingsoftware)

(1) ActivateNS8DISK-BASlC.

{2) Set memory switch as follows.

OK
mon I Activatemachinelan-
guage monrror.
hlssw2I
08-08I Set baud rate(at9,600
baud).

(3) Pressthe reset switch for reactivation.

3) Settingthe drive unit

Performthe same procedureas in MULTll6lll

(exceptfor placingbit 1 of SW1 in the lower position)
 APPENDICES

4) Verifyingproper connection

Input and run the following program in N-BASIC.

1 0 O P E N" C O M : E 7 3 " A S f 1
2 0 P R I N T# 1 , " N T "
30 END

R U NI Aboveprogramis executed.
OK

lf the robot performscorrectreturn-to-orig

in operation,the
connectionhas been made properly.

Example3: A6GPP(Mitsubishi
MELSEC-A seriesgeneral-purpose
programmablecontroller)

1) Connectingthe RS232Ccable

Usingthe optionalcablefor RS232C(RS-PC-CBL),connectthe

A6GPPconnector(with the
drive unit to the corresponding
drive unit and personalcomputerturned off.)

2) Settingthe A6GPP

(1) Insertthe optional3.5-inchBASICdisk(SW0GHP-BAS)

into
drive A of the AGGPPand power up the A6GPP.

(2) ActivateBASIC.

A > B A S I CJ

3) Settingthe drive unit

Performthe same procedureas in MULTll6lll.

(exceptfor placingbit 1 of SW'l in the lower position)

4) Verifyingproper connection

Input and run the following program in 8AS|C.

1 0 l N t T% 1 , " 6 E 7 2 " 1
2 0 P R I N T% 1 , " N r "
30 END
RUNI Aboveprogramis executed.
OK

lf the robot performscorrectreturn-to-origin operation,the

connectionhas been made properly.
APPENDICES

WITH
3. INTERFACE To connectthe robotto externall/O equipment,plug the external
l/O
EXTERNAL l/O cable(to be describedlater)into the EXTERNAL l/O connector
EOUIPMENT on the l/O card.
Thereare four tvpesof l/O cardsavailable, A8, 88, A16,and B'16,
each having the following specifics.

Item l/O
General-purpose Dedicated l/O lD marking
Remalks {silk-screen-
Tvpe Input Output Input Output printed)

8 polnts 8 pohts
Not Not O p e r a t i o nb y m e a n s o t e x t e r n a l
A8 STB RDY
available a v ai l ab l e signalsls not possible.
BTJSY ACK

8 points 8 points
Not Not O p e r a t i o nb y m e a n s o f e x t e r n a l
STB RDY #28
available a v ai l ab l e s i g n al s i s n o t p o s s i b l e .
BUSY Acr-
1 6 p o i n t s 1 6 l c oh t s 3 points
Operation by means of external
STB RDY (start,stop, ( r un , w a r t ,
slgnalsis possible.
BTJSY ACK reset) error)

' 1 6p o i n t s '16points 3 points

Operation by means of external
STB RDY stop, r u n w
(start, ( , ait,
signalsis possible.
BUSY ACK reset) error)

Table 5.3.1 l/O Cards

NOTICE
"signal" a n d " s i g n a l "
Differencesbetween

(lnput signal)

"Signal": Indicatesthat the correspondingterminal is in a

significant condition, i.e. the signal is being
"high
input to the terminal when a relatively
voltage" is applied to the terminal.
"Signal": Indicatesthat the correspondingterminalis in a
significant condition, i.e. the signal is being
"low
input to the terminal when a relativelY
voltage" is applied to the terminal.

(Output signal)

" S i g n a l " :Indicates that the correspondingterminal is

switched to a "high voltage" state when a
significantconditionis output from the internal
circuitto the terminal.
" S i g n a l " : Indicates that the correspondingterminal is
switched to a "low voltage" state when a
significantconditionis output from the internal
circuitto the terminal.
 APPENDICES

3.1.A Externall/O Table 5.3.2.Ashows the pin assignmentsfor the external l/O
ConnectorPin "Wire
c o n n e c t o ro n t v p e A l / O c a r d . colors" shown in the Tableare
Assignments keyed to those shown in 3.6 External l/O Cable.Those signals
(TypeA l/O Card) marked with " are not available in tvpe A8 l/O card.

F i g . 5 . 3 1 . A E x t e r n a ll / O C o n n e c t o r

Pin No. Signai Wire Color Pin No. Signal Wire Color

O u t p u tp o r t p o w e r l n p u t W h i t e ib l i r . k A 26 O u t p u tp o r t G N D o u t p u t White/black I
Oltput poat power rnpirt Yel oy//black A 2r' Cutp.rt port GND outpLrt Yellow/black B
99tt!til!q B l u e l b l a c kA 28 9!!P-{ ql l B l u e / b l a c kI
OuF,,l ]t ? G r e F r n / b 1 aA ck 29 o!tp{ !! J Green/b ack B
o!ll,i,l9J 1 O r a n g e / b l a c iA, 30 orr!91!,! ! O r a n g e / b l a c kB
O u t p u tb t 6 P i n U f r l a c kA 3t O u t p u tb i t 7 P i n k / b l a c kB
Rll 9.!!,t G r a y r b l a c kA 32 G r a y / b i a c kB
- , 4 9!iT!!
-9Y!P! bil 8 R e d / i r l a r kA 33 q!tS{ b,t,s Red/black I
' O1lrpur bit I0 V o l e t l b l a c kA 34 ' o Ltlp-Ll_r. V i o l e t / b l a c kB
" o{s!!!r 1? ,911.
-1,1
* Oirtpul-blt.'l3
t0 Erown,'blackA 35 Brown/black B
t1 * Output bit 14 W h i t e / b l a c kC 36 " ol4put bit 15 White/black D
12 - vVtAlToutlg! Yellow,/back C 37 ' Yellow/black D
r E R B O Ro u t p u l
1!1 99!Pu'
. sr4!I
1J B l u e / b l a c kC 38 ,r'!r,t B l u e / b l a c k2
14 - {rpl,"E G f e e n / b l a c kC 39 - G r e e n / b l a c kD
- ' !!!!lI
! " t qlset
!11
15 !,!!t q,t 15 O r a . g e l b l 3 c kC 40 Orange/black D
- PiNi(iblack C 41 t i n p L r tb i t 1 2 P i n U b l a c kD
1/ r l!p9!.br 1!
rry"rg!- lj G r a y / b l a c kC 42 t Inputbit 10 Gray/black D
1B * I n p L r tb i t I R e d ib l a c k C 43 *,lip,ut bit 8 Bed/black D
Bury9,ul?9t Vloletibldck C 44 STB input V i o l e v b l a c kD
20 tryq.q! l B r o w n / b l a c kC lnq!! b,t 9 B r o w n / b l a c kD
21 lllollt-.bll I lls{ !r 1 White/red B
22 rl!"l.bll ! Yellow/red A 41 I'q!. q[ 2 Yel ow/red B
23 input blt l Bi!e/red A Arj I np u t b i t 0 B l u e / r e dB
24 Input port power Input G r e e n ,e o A 49 Input port GND outp!t G r e e n / r e dB
25 lnp{rtport power input O r a n g e l r e dA 50 Inpui pon GND output O r a n g e / r e dB

Table 5.3.2.A External l/O Connector Pin Assignments {Type A8/16)

R e c e p t a c l em o d e l : 5 7 L E - 4 0 3 6 0 ' 7 7 O O(D3). . . (DDK)

A p p l i c a b l ep l u g m o d e l : 5 7 E - 3 0 3 6 0. . . ( D D K )
APPENDICES

3.1.8 Externall/O Table 5.3.2.8 shows the pin assignments for the external l/O
"Wire
ConnectorPin c o n n e c t o ro n t v o e B l / O c a r d . colors" shown in the Tableare
Assignments keyed to those shown in 3.6 External l/O Cable.Those signals
(TypeB l/O Card) marked with * are not available in tvpe 88 liO card,

Fig. 5.3.1.8 External l/O Connector

Pin N o . Srgnal Wre Coor Prn N o . S gnal Wire Color

1 Output port power input W h i t e / b l a c kA 26 O u t p u tp o r t G N D o u t p u t W h i t e / b l a c kB

2 Output port power input Y e l l o w / b l a c kA 27 O u t p u tp o r t G N D o u t p u t Y e l l o w / b l a c kB
3 Output bit 0 B l u e / ba c k A 28 O u t p u tb i t l B l u e / b l a c kB
4 Output bit 2 G r e e n / b l a c kA 29 O u t p u tb l t 3 G r e e n / b l a c kB
5 OLrtput bit 4 O r a n g e / b l a c kA 30 O u l p u tb l t 5 O r a n g e / b l a c kB
6 Output bit 6 P i n U b l a c kA 31 O u t p u tb i t 7 P i n k / b l a c kB
/ BDY output G r a y / b l a c kA 32 ACKinput Gray/black B
I * Output bit 8 R e d / b l a c kA 33 * O u t p u tb i t 9 R e d / b l a c kB
9 + Output bit 10 V i o l e t b l a c kA 34 * O u t p u tb i t 1 ' l Violet/black B
10 * Output bit 12 Brown/black A. 35 * O u t p u tb i t 1 3 Brown/black B
11 * Output bit 14 W h i t e / b l a c kC 36 * O u t p u tb i t 1 5 W h i t e / b l a c kD
12 * WAIT output Y e l l o w / b l a c kC 31 * RUNoutput Yellowblack D
13 * E R R O Ro u t p u t BlLre/blackC 3B + S T A R Ti n p u t B l u e / b l a c k2
14 * STOP input G r e e n / b l a c kC 39 * R E S E Ti n p u t G r e e n / b l a c kD
* Inputbit 15 O r a n g e / b l a c kC 40 * I n p u tb i t 1 4 O r a n g e / b l a c kD
* lnput bit '13 P i n V b l a c kC 41 * inputbit 'l2 P l n U b l a c kD
17 * Input bit 1'l G r a y / b l a c kC * lnputbit 10 Gray/black D
18 * Input bit 9 B e d / b l a c kC 43 " I n p u tb i t 8 R e d / b l a c kD
19 BUSY output V i o l e v b l a c kC 44 SIB inpLrt V i o l e t / b l a c kD
20 Input bit 7 B r o w n / b l a c kC I n p u tb i t 6 B r o w n / b l a c kD
21 Input bit 5 White/red A 46 I n p u tb i t 4 White/red B
22 Input bit 3 Yellow/red A 41 I n p u tb i t 2 Yellow/red B
23 Input bit 1 Blle/red A 48 I n p u tb i t 0 Blue/red B
24 Input port power Input G r e e n / r e dA 49 I n p u tp o r t C N D o u t p u t G r e e n / r e dB
25 Input port power Input Orange/red A 50 I n p u tp o r t G N D o u t p ! t Orange/red B

Table 5.3.2.8 External l/O Connector Pin Assignments {Type 88/16)

Receptacle
model: 57LE-40500-77OO (D3).. . (DDK)
p l u g m o d e l :5 7 E - 3 0 5 0 .0 . { D D K )
Applicable
 APPENDICES

3.2.A l/O Circuit The l/o circuitsare all isolatedby photocouplers.The input port
Specifications blockshownbelowareseparated from the outputport block.Each
(TypeA l/O Card) blockmay be provided with an powersupply,or a single
external
sourcebe used for the two circults.
Notethat thosesignalsmarkedwith * are not availablein type A8
L/Ocard.

Signal Specifications lntelnal Circuit

Input port power lnput R e g u l a t ep

do w e rs u P P l Y
Input port GND output 12 to 24V DC

I n p u tb l t s
0to 7
*8 to 15 I n p u lv o l t a g e
!
co O N v o l t a g e i9 V D C ( m i n . )
= O F Fv o l t a g e : 2 VD C ( m a x).
i np u t
I n p u tc u r r e n t
' l 2 V D C : 2 . 5 m A( t y p )
* S T A R Ti n p u t
* S T O Pi n p u t 2 4 V D C : 1 2 . 5 m A( t y p )
* R E S E Ti n p u t

BUSY output S a m e a s o u t p u tb r t s Same as output bits

Table 5.3.3.Alnput Port Block Specitications

Signal Specificalions Internal Circuit

O u t p u tp o r t p o w e f i n p u t
Output port GND output
Regulatedpower supply
12 to 24V DC
*l
Output bits
0to 7
,-J
External

*8 to 15 12 to 24V D(
-9
Max. appliedvoltage: 26.4V
lMax. load cLrrrent: 0.1A'lPin
R D Yo u t p u t
N 4 a x .O N v o l t a g e : 1 . 3 V
L e a k a g ec ur r e n t : 1 0 0 p A ( m a x . )
o
*RUNoutput
*WAIT output
* E R R O Ro u t p u t

ACKinput Same as input brts S a m e a s i n p L l tb i t s

Table 5.3.4.A Output Port Block Specifications

APPENDICES

3.2.B l/O Circuit The l/O circuitsare all insulatedby photocouplers.The input port
Specifications blockshownbelowareseparated from the outputport block.Each
(TypeB l/O Cardl blockmay be providedwith an externalpowersupply,or a single
sourcebe used for the two circuits.
Notethat thosesignalsmarkedwith * are not availablein type 88
l/O card.

Signal Specifications InternalCi.cuit

InpLrt port power nput Regulatedpower supply

I n p L r tp o r t G N D o u t p u t 12 to 24VDC

I n p u tb i t s External

0to 7 2 \a 24V D(
"8 to 15 lnput voltage
I np u t
ON voltage: 9V DC (min.)
E
OFF voltage: 2V DC (max.)
STBinput
o Input current

* S T A R Ti n p u t 12V DCi 2.5mA (typ)

* S T O Pi n p u t 24V DC: 12.5mA (typ)
TRESET input

B U S Yo u t p u t S a m e a s o u t p u tb i t s S a m ea s o u t p u t b i t s

Table 5.3.3.8 Input Port Block Specifications

Signal Specitications lnternal Circuit

Output port power input R e g u l a t e dp o w e r s u p p l y

O u t p u tp o r t G N D o u t p u t 12 b 24V DC r-rT---Tr
l+ 122!Fl I I
l r u| l r
l - l 5 o v l | |
Output bits t{-___sl__4_J
0to7 t l (,pply
| | | lpo6e
*8 to 15
--F\f] | | ltt rc ruv or
_9 | | | :

RDY output
lMax. applied voltage: 26.4V
Max. load current: 0.'lA,/pin
'1.3V
ryl lrJ, i
# i l
Max. ON voltagei | | I, Houtput
t t t f t
L e a k a g ec ur r e n t i 1 0 0 l ] A ( m a x . )
A l l r t t I
33hol
o *RUNoutput ll I lDdrrineron
*WAIT output
T._J-,-r- I I ltrans'stor

* E R R O Ro u t p u t
i i
il
ACKinput Same as input bits Same as input bits

Table 5.3.4.8Output Port Block Specifications

 APPENDICES

3.3.A Functionsof l/O The following Tablesshow the function of each signal line. Note
SignalLines t h a t t h o s e s i g n a l s m a r k e d w i t h * a r e n o t a v a i l a b l ei n t y p e A 8 l / O
(TypeA l/O Card) card.

Signal Function

R e p r e s e n t i n tgh e p a r a l l e g
l eneral'purpose i n p u t b i t s ,t h e s e
I n p u tb i t s
slgnals allow the input state to be read in parallelor
Cto T
*B to 15 b i t ' b y - b i tw i t h a c o m m a n d ; U s e d f o r c o n d i t i o n a jl u m p o r
interiupt by means of externa signals.

Used 10 clock parallel data for input; Data sent flg!0

STBlnput p e r i p h e r a li s r e a c j i n o n t h e n e g a t i v e e d g e o f t h e S T B
_9 s g n aL

U s e d t o c i o c k p a r a l l e ld a t a f o r i n p u t ; D o n o t c h a n g e i n p u t
o_ BU S Y
d a t a f r o m p e r i p h e r a lw h i l e t h e B U S Y s i g n a l i s b e i n g
oLrrpur
auIpuI.

*STARI l_lasthe same fLrnctionas the start switch on the drive unit
input f i o n l c o n t r o l p a n e i w h l l e t h e e x t e r n a ll / O .

"STOP H a s t h e s a m e f u n c t i o na s t h e s t o p s w i t c h o n t h e d r i v e u n i t
input f r o n t c o n t r o l p a n e l w , h i l et h e e x t e r n a l l / O .

*RESET H a s t h e s a m e f u n c t i o na s t h e r e s e ts w i t c h o n t h e d r i v e u n i t
fronl control panei while the externall/O.

Table 5.3.5.4 Function ol Each Input Signal

R e p r e s e n t i n gt h e p a r a l l e l g e n e r a lp u r p o s e o u t p u t b i t s ,
O u t p u tb i t s t h e s e s i g n a l s a l l o w t h e o u t p u t s t a t e t o b e s p e c i f i e di n
0 to 7 p a r a J l e lo r b i t - b y b i t w i t h a c o r n m a n d j U s e d t o s e n d
*8 to 15 s i g n a l st o p e r i p h e r a l .
lOutput is retained.)

^ - .,-.., U s e d t o c l o c k p a r a l l e ld a t a f o r o u t p u t ; P e r i p h e r arl e a d s i n
!
p a r a l l e ld a t a w h e n t h i s s i g n a l i s o u t p u t .

o_ U s e d t o c l o c k p a r a l l e ld a t a f o r o u t p u t j T h e s t a t eo f o u t p u t
d a t a i s r e t a i n e du n t i l t h i s s i g n a l i s i n p u t .

O u t p u t w h i l e t h e p r o g r a r n s b e i n g e x e c u t e db y t h e d r i v e
o
unit.

O u t p u t w h i l e t h e p r o g r a m e x e c u t l o nb y t h e d r i v e u n i t i s
being suspended.

O r t p u t w h e n a n e f r o r o c c u r si n t h e d r i v e u n i t ( e r r o rm o d e
I or II)

Table 5.3.6.A Funct;on of Each Output Signal

APPENDICES

3.3.8 Functionsof l/O T h e f o l l o w i n gT a b l e ss h o w t h e f u n c t i o no f e a c h s i g n a ll i n e . N o t e

SignalLines t h a t t h o s e s i g n a l s m a r k e d w i t h * a r e n o t a v a i l a b l ei n t y p e 8 8 l / O
(TypeB l/O Card) c ar d .

B e p r e s e n t i n tgh e p a r a l e l g e n e r a lp u r p o s eI n p u t b i t s ,t h e s e
Input bits
L s i g n as a l l o w t h e i n p u i s t a t e l o b e r e a d i n p a r a l l e l o r
0 t o 7
*8 to 15 b i t - b y - bt w i t h a c o m m a n d ; U s e d f o r c o n d i t o n a l j u m p o r
i n t e r r ! p t b y r r r e a n so i e x t e r n a l s i g n a l s .

. J\ed to . ock par.l el ddld 'ot np. t. Da'a senl f'om

516 Inpur
-9 p e ' p . p r a l s r p a o n o n h e p u s t i v p e o g p o ll h c s l B s r g n a , .
co
= U s e d t o c l o c kp a r a l l e d a t a f o r i n p u t ; D o n o t c h a n g e i n p u t
d a t a f r o m p e r i p h e r a lw h i i e t h e B U S Y s i g n a l i s b e i n g

o
-SIART H a s t h e s a m e f u n c t i o na s t h e s t a r t s w i t c h o n t h e d r i v e u n i t
input f r o n t c o n t r o l p a i ' r e lw h i l e t h e e x t e r n a l l / O .

H a s t h e s a m e f u n c t i o na s t h e s t o p s w i t c h o n t h e d r l v e u n i t
f r o n t c o n t r o l p a n e l w h i e t h e e x t e r n a ll / O .

H a s t h e s a m e f u n c t l o na s t h e r e s e ts w i t c h o n t h e d r r v eu n i t
input front control pane lvhrlethe externall/O.

Table 5.3.5.8 Function ol Each Input Signal

Signal Function

R e p r e s e n t i n gt h e p a r a l l e l g e n e r a l - p u r p o s eo u t p u t b t t s ,
OLrtput bits t h e s e s i g n a l s a l l o w t h e o u t p ! t s t a t e t o b e s o e c i f i e di n
0 t o 7 p a r a le l o r b i t b y - b i t w r t h a c o m m a n d : U s e d t o s e n d
*8 io 15 s i g n as t o p e r i p h e r a l .
(Outputis retained.)

U s e d t o c l o c k p a r a l l e ld a t a f o r o u t p u t ; P e r i p h e r arl e a d s i n
_9 R D Yo u t p u t p a r a l l e
data when this signal rs oLrtput.

o
U s e d t o c l o c k p a r a l l e ld a t a f o r o u t p u t ; T h e s t a t e o f o u t p u t
ACKinput
d a t a i s r e t a i n e du n t i l t h i s s i g f a l i s i n p u t .

* R UN O u t p u t w h i l e t h e p r o g r a m i s b e n g e x e c u t e db y t h e d r i v e
o
ourpur unrt.

by the drlve unit is

Output while the program execLrtion
output being suspended.

-ERROR O u t p u t w h e n a n e r r o r o c c u r sl n t h e d r i v e u n i t ( e r r o r m o d e
ourpur I or II).

Table 5.3.6.8 Function oI Each Output Signal

3.4.A Exampleof T h e f o l l o w i n g d i a g r a m s h o w s a n e x a m p l e o t c o n n e c t i o n sb e t w e e n
Connectionto l/O the l/O connector and an external peripheraldevice.
Circuits(TypeA l/O
Card)

(l/O connector)
( E x t e r n a pl e r i p h e r a ld e v i c e )

- - - Inputpon power supply

\12t24VDC)

Input bit O -J-

- -Pushbu on switch
48

n l1p,rt bft 1
- -Transistor
o

- -Photocoupler

- - Output port power supply

112/24VDC)

L E Dl a m p

t
o

28

nOV o

ACK input
------Transistor

Fig.5.3.2.ATypical l/O Circuit Connection

APPENDICES

3.4.8 Exampleof T h e f o l l o w i n g d i a gr a m s h o w s a n e x a m p l e o f c o n n e c t i o n sb e t w e e n
Connectionto l/O the l/O connector and an external peripheraldevice.
Circuits(TypeB l/O
Card)

( l / Oc o n n e c t o r ) ( E x t e r n ap
l e r i p h e r ad
l evice)

- - - i n P U tP o r t p o w e r s u p p l y
\12t24V DC)

Input bit O :-I - - P u s h b u t t o ns w r t c h

_e
- - -Transistor

- -Limit switch

------Photocoupler

' O u t p u tp o r t power supply

l12l24v DC)

- -LED lamp

--Solenoid or relay

- -Photocouper

- - -Transistor

Fig.5.3.2.8 Typical l/O CiJcuit Connection

 APPENDICES

3.5 l/O SignalLineTiming

Chart (Synchronousl/O)

3.5.1.ASynchronous input F i g . 5 . 3 . 3 . 4s h o w s t h e t i m i n g i n v o l v e d i n inputtirrgdatausingthe

"lN."
timing command
(TypeA l/O card)

DATA (inpLrt)

B U S Y( o u t p u t )

STB(input)

Fig. 5.3.3.A Synchronous Input Timing

( 1 ) T h e d r i v e u n i t i s r e a d yt o r e c e i v ed a t a f r o m t h e e x t e r n a ld e v i c e
w h i l e t h e B U S Y s i g n a l r e m a i n sH I G H .

(21W h e n t h e e x t e r n a l d e v i c e i n p u t s d a t a a n d a n S T B s i g n a l ,t h e
d r i v e u n i t c a u s e st h e B U S Y s i g n a l t o g o L O W a n d o u t p u t s t h e
L O W s i g n a l t o t h e e x t e r n a ld e v i c e .T h e e x t e r n a ld e v i c e s h o u l d
not change the data while the BUSY signal remains LOW.

( 3 ) When the drive unit readsthe data in, the BUSY signal goes
HIGH allowinq other data to be entered.

3.5.1.BSynchronous input Fig.5.3.3.8showsthe timing involvedin inputtingdatausingthe

timing c o m m a n d" 1 N . "
(TypeB l/O card)

D A T A( i n p u t )

B U S Y( o u t p u t )

STB(input)

InputTiming
Fig.5.3.3.8Synchronous

( 1 ) T h e d r i v e u n i t i s r e a d yt o r e c e i v ed a t a f r o m t h e e x t e r n a ld e v t c e
w h ; l e t h e B U S Y s i g n a l r e m a i n sL O W .

t2) W h e n t h e e x t e r n a l d e v i c e i n p u t s d a t a a n d a S T B s i g n a l , t h e
d r i v eu n i t c a u s e st h e B U S Ys i g n a lt o g o H I G Ha n d o u t p u t st h e
H I G Hs i g n a l t o t h e e x t e r n a ld e v i c e .T h e e x t e r n a ld e v i c es h o u l d
n o t c h a n g et h e d a t a w h i l e t h e B U S Y s i g n a l r e m a i n s H I G H .

(3) When the drive unit readsthe data in, the BUSY signal goes
LOW allowing other data to be entered.
APPENDICES

3 . 5 . 2 . A S y n c h r o n o u so u t p u t F i g . 5 . 3 . 4 . As h o w s t h e t i m i n g i n v o l v e d i n o u t p u t t i n g d a t a u s i n g t h e
timing c o m m a n d" O T . "
(TypeA l/O card)

D A T A( o u t p u t )

R D Y( o u t p u t )

ACK(input)

Fig. 5.3.4.A Synchronous Outpul Timing

( 1 ) T h e d r i v e u n i t o u t p u t s d a t a a s s p e c r f i e db y p a r a m e t e r sd e f i n e d
"OT"
in the command w h i l e t h e R D Ys i g n a lr e m a i n sH I G Ha n d
t h e A C K s i g n a l r e m a i n sL O W .

\21 A s s o o n a s t h e d a t a i s o u t p u t , t h e d r i v e u n i t c a u s e s t h e R D Y
signalto go LOW and outputsthe LOW signal to the external
oevtce.

{ 3 ) O n r e c e i v i n ga n A C K s i g n a l i n p u t f r o m t h e e x t e r n a ld e v i c e ,t h e
d r i v e u n i t c a u s e st h e R D Y s i g n a lt o g o H I G H a l l o w i n g o t h e r
data to be output.

3.5.2.8Synchronous output Fig.5.3.4.8showsthe timinginvolvedin outputtingdatausingthe

timing c o m m a n d" O T . "
(TypeB l/O card)

D A T A( o u t p u t )

R D Y( o u t p u t )

ACK (input)

Fig. 5.3.4.8 Synchronous Output Timing

( 1 ) T h e d r i v e u n i t o u t p u t s d a t a a s s p e c i f i e db y p a r a m e t e r sd e f i n e d
"OT"
in the command w h i l e t h e R D Ys i g n a la s w e l l a s t h e A C K
s i g n a l r e m a i n sH I G H .

\ 2 J A s s o o n a s t h e d a t a i s o u t p u t , t h e d r i v e u n i t c a u s e st h e R D Y
s i g n a lt o g o H I G Ha n d o u t p u t st h e H I G Hs i g n a lt o t h e e x t e r n a i
devrce.

{ 3 ) O n r e c e i v i n ga n A C K s i g n a l i n p u t f r o m t h e e x t e r n a ld e v i c e ,t h e
d r i v e u n i t c a u s e st h e R D Y s i g n a lt o g o L O W a l l o w i n g o t h e r
data to be output.
 APPENDICES

3.5.3.ADedicated l/O timingln a roboticoperationenvironment on the actualproductionfloor,

(TypeA l/O card) operationis possible(if type A16 l/O card is beingused)through
the dedicatedsignaI linesofthe l/Oconnector, insteadof usingthe
front control switcheson the drive unit.
Followingdescribes the necessary settingsto be madeand signal
timino involvedin this oDeration.

(1) Make the following switch settings by referringIo 2.1.2

Functionsof side settingswitchesand LEDs,OPERATION.

Bits 3 and 5 of SW1: Upper position{ON)

(2) When the above settingshave been made, drive unit front
controlswitchesare disabledexceptfor the emergencystop
switch.

(3) In these settings,the program can be started,stopped,

and reset(includingresettingof error mode ]I) by
restarted,
means of dedicatedinput signals.The function of each
dedicatedinput signalcorresponds to that of the drive unit
front controlswitch as follows.

(Front ControlSwitches) (DedicatedInput Signals)

STARTswitch STARTinput signaI

STOPswitch S T O Pi n p u t s i gn a l
RESETswitch RESETinput signal

t4l Outputfrom the dedicatedoutputsarethe signalscorrespond-

ing to the robotoperatingconditions(RUN,WAIT,and ERROR
outputs).Thesesignalsareoutputin eithersetting,whetherIn
externaloperationor frontcontrolgwitchoperationmode.Fig.
5.3.5.Ashows the dedicatedl/O timing.

E v e n t- - - - - - - - . - - - - Start Stop Restart Stop Reset( p r o g r a m ) R e s e t( e r r o rm o d e i l )

STARTinput
I I l l I r______l__
STOPinput

R E S E Ti n p u t

RUNoutput

WAfT output

ERRORoutput

Fig. 5.3.5.A Dedicated l/O Timing

APPENDICES

3.5.3'8Dedicated l/O timing In a roboticoperationenvironmenton the actualproductionfloor,

(TypeB l/O card) operationis possible(if type B16l/O card is beingused)through
the dedicated signallinesof the l/Oconnector, insteadof usinqthe
front control switcheson the drive unit.
:ollowingdescribes the necessary settingsto be madeand srqnal
taminginvolvedin this operation.

(1) Make the following switch settings by referringIo 2.1.2

Functionsof side settingswitchesand LEDs.OPERATION.

Bits 3 and 5 of SW1: Upper position(ON)

(2) When the above settingshave been made, drive unit front
controlswitchesare disabledexceptfor the emergencystop
swtlcn.

( 3 ) In these settings, the program can be started, stoppeo,

r e s t a r t e d ,a n d r e s e t { i n c l u d i n g r e s e t t i n go f e r r o r m o d e I I ) b y
means of dedicated input signals. The function of each
d e d i c a t e d i n p u t s i g n a l c o r r e s p o n d st o t h a t o f t h e d r i v e u n t t
front control switch as follows.

(Front ControlSwitches) (DedicatedInput Signals)

STARTswitch STARTinput signaI

STOPswitch S T O Pi n p u t s i gn aI
RESETswitch R E S E Ti n p u t s i gn aI

(4) Outputfrom the dedicated outputsarethe signalscorrespond-

ing to the robotoperatingconditions(RUN,WAIT,and ERROR
outputs).Thesesignalsareoutputin eithersetting,whetherin
externaloperationor frontcontrolswitchoperationmode.Fig.
5.3.5.Ashows the dedicatedl/O timinq.

Event Start Srop Restart Stop Reset(program) Reset(error mode II )

r t I r i I
STARTinput

S T O Pi n p u t

R E S E Ti n p u t

RUNoutput

WAIT output

E R R O Ro u t p u t

Fig. 5.3.5.8 Dedicated l/O Timing

 APPENDICES

3.6 Externall/O Cable A dedicatedcableis availableas an optionto connectthe drive

unitto externalperipheral equipment.Oneend of this externall/O
cablecan be pluggedinto the externall/O connectoron the drive
unit.Theotherfreeend is usedto hookit up to the externaldevice.
The jacket of each signal line (50 in total) is markedwith an
identificationcolorand dot marking.Connectthe rightwire to the
right pin by referringto colorcodingdescribedin 3.1 Externall/O
ConnectorPin Assignments.

Examplei

Pin No. Signal Wire Color

21 I n p u tb i t 5 -f
White/redA

markins(see
type berow.)
-::-:"::l::
TL".t
- "'
|
Dot MarkingType Dot Pattern

--t-r-
2 | | t 2
Type A

--*T--'Fr-
3 | | l z
Type B

--l_----rr-
o| | l z
Type C

Type D

Fig.5.3.6 External l/O Cable Malking

APPENDICES

3.7 Precautionsfor (1) Make sure that the externalpower voltage is within the
Connectionto External specifiedrange.
Equipment
{2) For the input signal, use the no voltage contactsignal or
transistoropen-collectorsignal.

( 3 ) When energizingthe coil in relaysand solenoids,connecta

l i t h t h e l o a d .( N o t et h e
s u r g es u p p r e s s odri o d ei n p a r a l l ew
correctpolarityof the diode.See Fig. 5.3.2,)

( 4 ) When lightingan LED,connecta protectiveresistorin series

to the rated current.
corresponding

( 5 ) When lightingan incandescent lamp, a rush currentflows

about 10 times largerthan the ratingwhen the lamp is first
energized. To ensurethat a currentabout 20% of the rating
flows at all times,a resistormust be connectedin series.See
Fig. below.

I n c a n d e s c e n lt a m p

Drive unit

Fig.5.3.7.A Typical Circuit Including an lncandescent Lamp {Type A l/O Card)

uZ R
s up p l y
I
-7-F I Jrt
lncandescent
lamp

F.-t

Lamp (TypeB l/O Cardl

Fig.5.3.7.8TypicalCircuit Includingan Incandescent
 APPENDICES

4. CARTESIAN This chaptercontainsthe procedurefor setting the cartesian

COORDINATESYSTEM coordinatesystem referenceposition to effect as accurateaxis
REFERENCE
POSITION motionsas possible. the procedure
lt alsodescribes for storingthe
SETTING referencepositiondata in the EPROM.

4.1 Moving the Robotto (1) Securethe robot onto a referenceplane such as a surface
ReferencePosition Dlate.

(2) Turn powerOFFand removethe EPROMfrom the usersocket

SOC2locatedinsidethe driveunit sidedoor.At the sametime,
placeST2 and bit 4 of SWl locatedin the side door in the
upper posrtron.

(3) Turn power ON and performthe return-to-orig

in operation.

(4) After the robot has returnedto the origin, perform the
following operationto move the robot to a temporary
referencepositionwhich will be definedby the systemROM
data.(Thiswill causethe robotarmto be almostfullyextended
in the forward direction.)

Using the teachingbox

TurnON the teachingbox and pressl ORGlandI ENilkeys

in that order.

Usingintelligentcommandsthroughpersonalcomputer{per-
sonal computermode)

Turn OFFthe teachingbox and executethe command

"OG" in direct executionmode.

LPRINT"OG" {Centronics)
P R I N T # 1 ", O G " { R S 2 3 2 C )

4.2 Settingthe Reference (1) Usingthe teachingbox, fully extendthe robot arm so that it
Position planeas shownin Fig.5.4.1.
runsin parallelwith the reference
At thistime,the linejoiningcentersof rotationin alljoints,i.e.,
the shoulder,elbow,and wrist (pitchand roll),should be a
straightline and run in parallelwith the referenceplane.
Performthis operationas accurately as possibleby usingjigs:
remember,positioningaccuracyin the cartesiancoordinate
system is determinedby this setting.

R e f e r e n c ep l a n e

Fig. 5.4.1 Setting the Relerence Position in the Cartesian Cooidinate System
APPENDICES

(2) Performthe followingoperationto definethe currentposition

as the referenceposition.

Using the teachingbol

boxandpress[F.S-],
TurnONtheteaching @, anaIENil
keys in that order.

Using intelligentcommandsthrough personalcomputer

Turn OFFthe teachingbox and executethe command

"HO" in direct executionmode.

LPRINT"HO" (Centronics)
P R t N T f i 1", H O " ( R S 2 3 2 C )

(3) Placebit 4 of SW1locatedinsidethe driveunit sidedoor in the

lower position(OFF).This inhibitsthe settingof the reference
position.

(4) This completesthe referencepositionsetting procedure.

4.3 StoringReference The referencepositiondatajust definedis storedin the driveunit

PositionDatain EPROMRAMas positionnumber"0." Now,writethe dataintothe EpROM
by followingthe steps given below.Theseproceduresmay be
performedafter other positiondata have been definedand the
)rogram steps have been wntten.

( 1 ) R e a d ya n e r a s e dE P R O Ma n d i n s e r t i t i n t o S O C 2l o c a t e di n s i d e
the drive unit side door.

{ 2 ) P e r f o r mt h e f o l l o w i n g o p e r a t i o nt o w r i t e t h e r e f e r e n c ep o s i t i o n
data into ROM.

Using the teaching bgl

TurnON the teachingbox and pressI WRil and[ENi] keys

in that order.

Using intelligentcommandsthrough personalcomputer

Turn OFFthe teachingbox and executethe command

"WR" in direct executionmode.

L P R I N T" W R " ( C e n t r o n i c s )
P R I N T # 1 ", W R " ( R S 2 3 2 C )
 APPENDICES

4.4 Loadingthe Reference The referenceposition data written in the EPROM can be
PositionData transferredto the drive unit RAM by performingthe following
operation.Theseprocedures must be performedbeforeteaching
the robot through a seriesof points.

( 1 ) Insertthe EPROM,in which the referencepositiondata has

beenwritten.intoSOC2locatedinsidethe driveunitsidedoor.

t2) Placebit 4 of SW1locatedinsidethe driveunitsidedoor in the

upperposition(ON).Then,transferthe data in EPROIVIto the
RAM by performingthe followingprocedure. Notethat,at this
time, the program steps and other positiondata are also
transferred.

Transferringdatq_upon power-up

PlaceST2 locatedinsidethe drive unit side door in the

upper position(ON) and then turn power ON.

Using the teachingbox

g o xa n dp r e s sI T R N a n d l E N T l k e y s
T u r nO N t h et e a c h i n b
in that order,

Using intelligentcommandthrough personalcomputer

Turn OFF the teachingbox and executethe command

"TR" in direct executionmode.

LPRINT"TR" (Centronics)
P R I N T # 1 ", T R " ( R S 2 3 2 C )

(3) Placebit 4 of SW1locatedinsidethe driveunitsidedoor in the

lower positionlOFF).This inhibitsthe settingof the reference
Dosition.

WARNING
All positiondata obtainedthrough teachingare calculated
based on the angle with reference to the reference
position in the cartesiancoordinatesystem. lf the refer-
ence position is changed, therefore, the robot moves
through a different series of points than those taught.
APPENDICES

5. PROGRAMMING lt is wise to create a programmingsystem when a personal

SYSTEMUSING computer is used to operatethe robot and generateprograms.
COMPUTER
PERSONAL This chapterintroduces a simpleBASICprogramas an exampleof
the personalcomputerapplication. Thisprogramassumesthe use
of the RS232Cinterfaceand allows the use of all Movemaster
commands.In addition,by makinguseof the screeneditorfacility
of the personalcomputer,data shown on the displaycan be
)orrectedby means of the cursor and keyboard.
Note that some modificationsof the program are necessary
dependingon the model of your personalcomputer.

l O O O1 * * * * * * * * R V _ M 1P R O G R A M M I NSGY S T E M* * + * * * * *
U S I N GM U L T I1 6 B Y I \ l I T S U B I S HE IL E C T R I*C* * : + * * I
1020'
1 0 3 0 O P E "NC O M 11 9 6 0 0 , E , 7 , 2 " AfS1 V a r i e sw i t h d i f f e r e npt e r s o n acl o m p u t e rm o d e l s .
1 0 4 0L I N EI N P U T; A $
1 0 5 0c $ : L E F r $ ( A $ , 2 )
1 0 6 0l F C $ : " D R " T H E NP R I N T : G O T1O1 7 0
1 0 7 0l F C $ : " 1 R " T H E NP R I N T : G O T1O2 4 0
1 0 8 0l F C $ : " P R " T H E N P R I N T : G O T1O3 6 0
1 0 9 0l F C $ : " W H " T H E NP R I N T T G O T1O 600
1 1 0 0i F C $ : " C R " T H E N P R I N T : G O T 1O7 80
1 1 1 0l F C $ : " E R " T H E NP R I N T T G O 1
T 9
O 1 0
1 1 2 0P R I N T* 1 , A $ : P R I N T
1 1 3 0G O T O1 0 4 0
1 1 4 0' ,
1150
1160,+*******RS232c|NPUTDATAREAD(,DR,)-"**-***
1 1 7 0P R T N 4 T 1,A$
1 1 8 0L I N EI NP U T + 1 , 8 $
1 1 9 0P R I N T" I N P U TD A T A : " ; B $
't200 GoTo 1040
1210'
1220'
1 2 3 0' + * * * * + + * R S 2 3 2 CP R O G R A M L I N ER E A D1 ' , 1 R*' ,*)* * * * * *
" S T A R TL I N E : " ; S
1 2 4 0I N P U T
" E N DL I N E : " ; E
1 2 5 0I N P U T
1 2 6 0F O Rl : S T O E
"LR" +STR$(l)
1 2 7 0 P R r N T# 1 ,
'1280 LINE INPUT f, 1,A$
" T H E N1 3 1 0
1290 lF A$:"
1 3 0 0 P R I N Tl ; : P R I N A T$ (Note)
lf the LPRINTstatementis used insteadof the
PRINTstatement, the contentsof the programcan
be output to the printer.
1 3 'O] N E X TI
1 3 2 0G O T O1 0 4 0
1330',
1340',
R S 2 3 2 CP O S I T I O N R E A D1 ' , P R"' ., *) * * * . *
' ] 3 6 0I N P U T" S T A R TP O S I T I O N : " ; S
1 3 / OI N P U T " E N DP O S I T I O N - ;"E
1 3 8 0P R I N T" P O S . N O . "S; P C( 3 ) ; " X ( m m ) Y ( m m )Z ( m m i P ( d e s )R ( d e g ) " : P R I N T
1 3 9 0F O Rl : S T O E
 APPENDICES

1 4 0 0 P R r N T# 1 , " P R " + S T R $ )
'1410
L I N EI N P U Tf 1 , A 9
1 4 2 0 l F A $ : " 0 , 0 , 0 , 0 , 0 " T H E N1 5 5 0
' 1 4 3 0 P R I N T" P D " ; : P R I N T ",";
U S I N G" # f # " ; l ; : P R I N T
1440 K$: ", "
1450 K:1
1 4 6 0 F O RJ : l T O 5
14tO lF J:5 THEN'1490
1480 A I J ) : I N S T R( K , A $ , " , " i : G O T O1 5 0 0
'1490 A(J):LEN (A$)+1 :K$:" "
'1500 v ( J ) : v A L ( M r D $( A $ , K , A { J )- 1 ) )
1510 K:A(J) +1
1520 P R I N TU S I N G" # + # f i . * " ; V ( J ) ;: P R I N T K$;
1 5 3 0 N E X TJ
,I540 PRINT
1 5 5 0N E X TI
1560 GOTO 1040
1570',
1580',
R S 2 3 2 CC U R R E N P TOSITION R E A D( ' W H ' )* * } * * * * *
1600 PRINI f, 1,A$
1 6 1 0L I N EI N P U Tf 1 , 8 $
1 6 2 0P R I N TS P C ( 1 4 ) ; " X ( m m Y )( m m )Z ( m m ) P ( d e g )R ( d e s ) " : P R I N T
1 6 3 0K : 1
1 6 4 0P R I N T" C U R .P O S , " ;
1 6 s 0F O Rl : 1 T O 5
1 6 6 0 l F l : s T H E N1 6 8 0
1 6 7 0 A ( l ) : I N S T R ( K , B $ , " , " ) : G O T O1 6 9 0
1680 A(r):LEN (B$)+1
1 6 9 0 V ( r ) : V A L 1 r \ i l r D $ ( B $A, K0,) 1 ) )
'1700 K:A(l)
+1
1710 PRINT U S I N G" # * # 4 # . + " ; V ( l ) ;: P R I N T" ";
1 7 2 0N E X TI
1 7 3 0P R I N T
1 7 4 0G O T O 1 0 4 0
1750
1160'
1770|***x***+RS232ccouNTERREAD(,cR,)******+*
1 7 8 0I N P U T" S T A R TC O U N T E R : "; S
1 7 9 0I N P U T" E N D C O U N T E R - "; E
1 8 0 0P R I N T : P R I N" C T NT.NO.":PRINT
1 8 1 0F O B l : S T O E
1 8 2 0 P R | N T+ 1 , " C R " + S r R $ ( r )
1 8 3 0 L I N EI NP U T # 1 , A $
1 8 4 0 l F A $ : " 0 " T H E N1 8 6 0
"#
1 8 5 0 P R I N T" S C " ; : P R I N U T SING"#
* " ; l ; : P R I N TU S I N G # # # # # " ; V A L ( A $ )
1860 NEXT I
1870 GOTO 1040
1880 ',
1890 ',
R S 2 3 2 CE R R O RR E A D( ' E R ' )* * * * * * * *
1 9 1 0P R T N # T 1,A$
1 9 2 0L I N EI N P U T# 1 , 8 $
1 9 3 0P R I N T" E R R O R
MODE:";B$
1940 GOTO 1040
APPENDICES

(Explanation)

Start:

After the program has been written, run the program.The

cursorlightsup, indicatingthat the systemis readyto accept
key entry.

E x .R U NI
li

Direct execution:

D i r e c t l yk e y i n t h e i n t e l l i g e n tc o m m a n d s . T h e r o b o t e x e c u t e s
t h e c o m m a n d s e n t er e d .

E x . N T I . . . . .E x e c u t e rse t u r n - t o - o r i goi np e r a t i o n .

Forthe RS232C readinstructionscontainingparameter,enter

the first two lettersonly and definethe parameterusingthe
BASICinput statements{commandsLR, PR, and CR).

Programgeneration:

Directlykey in the intelligentc o m m a n d fso l l o w i n gl i n e n u m -

bers (1 to 2048).This will generatethe program for the
specifiedline number.

E x . 1 0 M O 1. C . . . . . M o v e s t o o o s i t i o n 1 w i t h h a n d c l o s e d .

Note that part of the commandscannot be programmed

(thosemarkedwith X in DESCRIPTION
OFTHECOMMANDS).

Programexecution:

The generatedprogram can be executedstartingwith the

specifiedline numberby keyingin the startcommand"RN."

E x . R N sL . . . . E x e c u t etsh e p r o g r a ms t a r t i n gw i t h l i n e n u m b e r5 .

Errormode II is causedif a wrong commandhasbeenentered,a

wrong parameterhasbeendefined,or an unexecutable command
has beenentered.In this case,key in the resetcommand"RS" or
pressthe reset switch on the drive unit front control panel.
 APPENDICES

(Applications)

R U NJ
NTJ
MOl l
GOI
M O2 l
D W 1 0 ,2 0 , 3 0I
)
10 MO l,CI .. . . . P r o g r a mg e n e r a t i o n
example
20 MO 2,OJ
30GCI
40 DW 10, -20, 30 J
50 EDJ
5
L RJ ' P r o g r a mr e a d e x a m p l eX l
S T A R TL I N E : ? ] 0 J ( R e a d i n gt h e p r o g r a mo n s p e c i f i e d
E N D L I N E : ? 5 0I l i n e n u m b e r st h r o u g hR S 2 3 2 C )
10MO l,C
20 tvto 2,o
30 GC
40 DW +10.0,-20.0, +30.0
50 ED

R N l OI ' ' ' ' ' ' ' , ' P r o g r a m e x e c u t i o n e x a mp l e

5 . ... .Current position read example

X {mm) Y (mm) Z (mm) P (deg) R (deg)

cuR. Pos. 10.0 380.0 50.0 -70.0 -40.0

PRJ ' ' ' ' ' ' ' ' ' P o s i t i o nr e a d e x a m p l e X 2
START POSITION:1J (Reading the position on specitied
E N DP O S I T I O N : 2 J l i n e n um b e r s t h r o u g h R S 2 3 2 C )

P O S .N o . X (mm) Y (mm) Z (mm) P {deg) R (deg)

PD 1, 0.0, 380.0, 300.0, -70.0, -40.0
PD 2, - 10.0, 350.0, 280.0, -70.0, -30.0

X 1,2: To correctany programand positionread by using the

cursorand requiredkeys,the returnkey (J ) must be hit
at the end (onthe right)of the lineand positioncorrected.

x 3 : Hexadecimaldata in the programread is displayedas

decimaldata (e.g.OD&FF- OD255).
APPENDICES

6. SAMPLEPROGRAMS T h i s c h a p t e r g i v e s s e v e r a ls a m p l e p r o g r a m s i n w h i c h i n t e l l i g e n t
c o m m a n d s a r e u s e d . N o t e t h a t t h e s t a r t i n gl i n e n u m b e r o f t h e
s a m p l e p r o g r a m s i s t h a t o f t h e M o v e m a s t e rp r o g r a m , a n d n o t t h a t
of the BASIC.

E x am p l e 1 : P i c k - a n d - p l a cweo r k

T h i s p r o g r a m c a u s e st h e r o b o t t o s h i f t t h e w o r k p i e c e f r o m o n e
p l a c et o a n o t h e r .T h e r o b o t i s t a u g h t t h r o u g h o n l y p o s i t i o n s1 a n d
2 a n d t h e a e r i a l d i s t a n c e so f t r a v e l f r o m t h e r e s p e c t i v ep o s i t i o n s
"PD."
are to be predefinedby the command

( P o s i t i o n s u s e d)

P o s i t i o n 1 ; A t w h i c h t h e w o r k p i e c ei s g r a s p e d . t _
I Ieacnrno
P o s i t i o n2 i O n t o w h i c h t h e w o r k p i e c e i s p l a c e d .
'10:
Position Aerial distance of travel lrom position 1 . I N u m e r i c v a l u e s
Position 20: Aerial distance of travel from position 2 . J a r e p r e d e f i n e d .

( S a m p l ep r o g r a m )

P D 1 0 , O , o, 20,o, o Defines aerial distance of travel trom

(X, Y, Z, P, R) p o s i t i o n1 ( Z : 2 0 m r n ) i n d i r e c tm o d e
a n d i d e ^ t r l i e st h e a e ' ' a l p o s r l r o na s p o s i -
tion 10.
PO 20, 0. 0 , 3 0 , 0 , 0 Definesaerial distanceof travel from
- (x'Y . Z , P , R )
(
p o s i t i o n2 ( Z : 3 0 m m ) i n d i r e c tm o d e
a n d i d e n l i f i e sl h e a e f l a lp o s ' t i o na s p o s i -
)
tion 20.
30SP7 Sets initialspeed.
40 tllA 1, 1 0 ,o fMoves robot to a location above work
piece (20mm above position I ) wrth
hand opened.
50 r!10 1 , O Moves robot to workpiece (to position
1).
60 GC C l o s e sh a n d t o g r a s p w o r k p i e c e .
70 MA 1, 10, C lMoves robot above position 1 (distance
b e i n g 2 0 r n m ) w i t h w o r k p i e c eg r a s p e d .
80 MA 2, 20, C lMoves robot to a location 30mm above
position2.
90MO2,C lMoves robot to position 2.
'100Go Opens hand to release workpiece.
1 1 0M A 2 , 2 0 , O lMoves robot above position 2 (distance
being 30mm) with hand opened.
1 2 0G T 4 0 Returns robot to position 10 allowing it
t o r e p e a t t h e s e q u e n c e ( j L r m pt o l i n e
number 40).

3 0 m m ( P a r a m e t e rf o r
l P a r a m e t e rf o r defining position20)
delining position 1 0 )
position I Position

Fi9. 5.6.1 Pick-and-PlaceWork

 APPENDICES

E x a m p l e2 : l n t e r r u p t

This programcausesthe robot to grasp workpiecesof varying

heightsby meansof the hand equippedwith a limit switch.lt
assumesthat the limit switchsignalis coupledto the drive unit
input terminal.

( Positio
n used)

P o s i t i o n1 : A positionabove the workpiece(teaching)

( l n p u t s i g n a lu s e d )

B i t 1 : W o r k p i e c ed e t e c t i n gs i g n a l .

( S a m p l ep r o g r a m )

90sP5 Selects speed 5.

1 0 0 E A +1 , 1 4 0 Enables the interrupt bY bit 1
1 1 0M o 1 , o Moves robot to a position above the workpiece
1 2 0D W 0 , 0 , - 5 0 Moves robot 50mm in -Z direction.
1 3 0G T 1 1 0 J u m p s t o l i n e n u m b e r 1 1 0 c a u s i n gr o b o t t o r e t u r n
to position 1 as no workpiece has been detected
1 4 0D A 1 Disables interruPt bY bit 1
1 5 0G C Closes hand to grasp workplece
1 6 0M O 1 , Moves robot to position 1 with wo.kpiece
grasped.

In the abovesampleprogram,linenumber120causesthe robot

to move50mm in -Z tool directionand,if thereis a workpiece,
the limit switchsignalis inputand the robot is stopped.Then,
t h e p r o g r a mj u m p st o l i n en u m b e r1 4 0t o d i s a b l ei n t e r r u pat n d
to allow the robotto graspworkpieceand returnto position1.
lf there is no workpiecein the robot'smoving range,no limit
switchsignalis inputand line number130causesthe program
t o j u m p t o l i n en u m b e r1 1 0w h i c h ,i n t u r n ,c a u s e st h e r o b o tt o
return to position I repeatingthe same sequence.

Within 50mm

Workpiece

Fig. 5.5.2 Inierrupt

APPENDICES

E x a m p l e3 : P al l e t i z i n g

Thisprogramcausesthe robotto pickup a workpiece from a pallet

containingworkpiecessubject to test, set it up on the test
equ;pment,and place it in positionin anotherpalletto contain
workpiecesthat haveundergonethe test.The programassumes
that the shapesof the two palletsare different.

( Positionused)

P o s i t i o n1 l P a l l e t I s e t 'p o s i t o n I ^ . .
I Delinedbv command PT
P o s i t i o n2 : P a l l e t 2 s e t p o s i t i o n J
P o s i t i o n1 0 : Pallet 1 reference position
Position'l'li P a l l e t 1 c o l u m n t e r m i n a t i n g p o s i t i o n
P o s i t i o n1 2 : P a l l e t 1 r o w t e r m i n a t i n g p o s i t i o n
P o s i t i o n1 3 1Pallet I corner position opposite to reference
P o s i t i o n2 0 : Pallet 2 reference position Teaching
P o s i t i o n2 1 : P a l l e t 2 c o l u m n t e r m i n a t i n g p o s i t i o n
Position22; P a l l e t 2 r o w t e r m i n a t i n g p o s i t i o n
P o s i t i o n2 3 : Pallet 2 corner position opposite to reference
P o s i t i o n3 0 : Test equipment set position
Position50: A e r i a l d i s t a n c eo t t r a v e l f r o m p a l l e t s N u m e r i cv a l u e sa r e
predefined.

(Counterused)

Counter 11: PalletI column counter

Counter 12: Pallet1 row counter
Counter21: P a l l e t2 column counter
Counter22r P a l l e t2 row counter

( Input signaI used)

Bit 7: Test complete signal

(Parameterfor
defining position 50) 20mm
Position 22

Position10
Position

Posilion 13
( P a l l e t2 )
Test equ ipment
( P a l l e 1t >
Position21 Position

Fig. 5.5.3 Palletizing

 APPENDlCES

( S a m p l ep r o g r a m )

PD 50, 0, 0. 20, 0, 0 ; D e f i n e sa e r i a l d i s t a n c eo f t r a v e l ( Z :
(X, Y, Z, P, R) 2 0 m m ) i n d i f e c t m o d e a n d i d e n t i f i e st h e
aerialpositionas position50.

. 2 17 . 5 ( l n i t i asle t t i n g )

10 NT ; Nesting
15TL 145 ; Sets tool length at 145mm.
2 0 G P 1 0 ,B , 1 0 ; Sets hand open/close parameters
2 5 P A 1 , 1 0 ,6 D e { i e n st h e n u m b e r o f g r i d p o i n t s i n t h e c o l u m n
'l
and row directions{or pallet (vert- l0 X horiz. 6).
3 0 P A 2 , 1 5 ,4 D e f i e n st h e n u m b e r o f g r i d p o i n t s i n t h e c o l u m n
a n d r o w d i r e c t i o n sf o r p a l l e t2 ( v e r t .1 5 X h o r i z .4 ) .
3 5 S C 1r , 1 Loads initialvalue in pallet l column counter.
40 sc 12,1 Loads initiaivalue in pallet 1 row counter.
45 SC21,1 Loads initialvalue in pallet2 column counter.
50 sc 22,1 Loads initialvalue in pallet2 row counter.

( M a i np r o g r a m
)

1 0 0R c 6 0 S e t s t h e n u m b e r o f r e p e a tc y c l e so f a l o o p u p t o
line number140.
1 1 0G S 2 0 0 Causes robot to pick up a workpiece from pallet 1.
1 2 0G S 3 0 0 Causes robot to set up the wo.kpiece on test
e q ui p m e n t .
1 3 0G S 4 0 0 C a u s e s' o b o r l o p l a c e w o r k p i e ( e i n p a l l e t 2 .
1 4 0N X R e t u r n st o l i n e n u m b e r ' 1 0 0 .
,I50
ED En d .

* The followingsare subroutinesused in the main program.

( S u b r o u t i n e rP i c k i n g u p w o r k p i e c ef o r t e s t )

200 sP 7 Sets speed.

202 PT 1 l d e n t i f i e st h e c o o r d i n a t e so J c a l c u l a t e dg r i d p o i n t
on pallet 1 as position L
204MA 1,50,O fMoves robot to a location above position 1
( d i s t a n c eb e i n g 2 0 m m i n Z d i r e c t i o n ) .
206 SP 2 Sets speed.
208MO 1,O Moves robot to position 1.
2 1 0G c Closes hand to grasp workpiece.
212MA 1,50,C Moves robot to a location above position 1 with
w o r k p i e c e g r a s p e d ( d i s t a n c eb e i n g 2 0 m m i n Z
d i r e c t i o n) .
2 1 4l C 1 1 I n c r e m e n t sp a l l e t 1 c o l L i m nc o u n t e r b y 1 .
'11
2 1 6C P 1 1 L o a d sv a l u e i n c o u n t e r i n t o i n t e r n a lc o m p a r i
son register.
21a EA 11,230 J u m p s t o l i n e n u m b e r 2 3 0 o n c o m p l e t i n gc o l u m n
lrne.
220 BT E n d s s u b r o u t i n eo t h e r w i s e .
2 3 0S C 1 1 , 1 I ni t i a l i z e sc o u n t e r 11 .
APPENDlCES

232 lC 12 ; I n c r e m e n t sp a l l e t 1 r o w c o u n t e r b y 1
234 RT ; Ends subroutine.

( S u b r o u t i n e iS e t t i n g u p w o r k p i e c e o n t e s t e q u i p m e n t )

300 sP 7 Sets speed.

302 MT 30, 50,C M o v e s r o b o t t o a l o c a t i o n5 0 m m a h e a d o f t e s t
e q! i p m e n t .
304 SP 2 Sets speed-
306 MO 30, C Causes robot to set up workpiece on test equip-
ment.
308 rD Fetches input data.
3',10TB -7,308 Causes robot to wait for test to complete.
312 tVtT30, 50,C Moves robot to a location 50mm ahead test
e q ui p m e n t .
314 RT Ends subroutine.

( S u b r o u t i n e rP l a c i n gt e s t e d w o r k p i e c e i n p a l l e t 2 )

400 sP 7 Sets speed.

402 Pr 2 l d e n t i l i e st h e c o o r d i n a t e so f c a l c u l a t e dg r i d p o i n t
^n n:llat, re n^.iti^n ?

404 l\,,1A2,50,C Moves robot to a location above position 2

( d i s t a n c eb e i n g 2 0 m m i n Z d i r e c t i o n ) .
406 SP 2 Sets speed.
408 tv102,c Moves robot to position 2.
4 1 0G O O p e n s h a n d t o r e l e a s ew o r k p i e c e .
412 MA 2,50,0 Moves robot to a location above position 2
( d i s t a n c eb e i n g 2 0 m m i n Z d i r e c t i o n ) .
4 1 4l C 2 1 I n c r e m e n t sp a l l e t 2 c o l u m n c o u n t e r b y 1 .
4 1 6C P 2 1 L o a d s v a l u e i n c o u n t e r 2 1 i n t o i n t e r n a lc o m p a r i -
son regrster.
418 EO 16,430 Jumps to line number 430 on completing row
lrne.
420 RT E n d s s u b r o u t i n eo t h e r w i s e .
430SC 21,1 l n i t i a l i z e sc o u n t e r 2 ' 1 .
432 lC 22 I n c r e m e n t sp a l l e t 2 r o w c o u n t e r b y 1 .
434 RT Ends subroutine.

* In the abovesampleprogram,the columncounterof eachpallet

is incremented whenthe robotreaches
by 1 and is initialized the
terminatingend of the column. The row counter is then
incremented to allowthe robotto moveto the followingcolumn
lrne.
(See line numbers214 to 232, 414 to 432.l

* Robot waits until a test completesignal is input. (See line

n u m b e r3 ' 1 0 . )

* The completionof the entiresequenceis determinedby the

n u m b e ro f m a i n p r o g r a mc y c l e s (. S e el i n e n u m b e r1 0 0 . )
 APPENDICES

Example4: Connectionwith externall/O equipment

This programcausesthe robotto selectany of 8 worksthrough8

switchesconnectedto the inputsfor useas externall/Oequipment
and displaythe work currentlybeing executedby any of the 8
LEDs connectedto the outputs.

(Connection)

Type A UO Card

l/O port power supply

112Io 24V DC)
Input bit 0
l^put blt 1
Input bit 2
n
E
I n p u tb i t 3
[,prt bit 4
o lnputbit 5
Input bit 6
lnputbit 7

. . . . .L E D l
Output bit 0
'''...1ED2
Ortprt bfr 1
' . . . .L E D 3
n Output bit 2
. ..LED4
O u t p u tb i t 3
' ' . . .L E D 5
O u t p u tb i t 4
. . . . .L E D 6
Output bit 5
'. LED7
Output bit 6
...'..LEDB
O u t p u tb i t 7

X SeeFig.5.3.2.8for Type B l/O card Fig.5.6.4Connection

with
externall/O equipment.
APPENDICES

( F l o w c h ar t )

rn tia speed settlng

Example

F i 9 . 5 . 6 . 5 F l o w c h ar t
 APPENDICES

( S a m p l ep r o g r a m )

( M a i nr o u t i n e )

10 NT Nesting
150D0 Switchesoff all LEDS.
20SP5 Sets speed.
25 lD Input
'100whenswitch'l is turned
30 TB +0, 100 Jumpsto linenumber
' 1 1
on. (Work
31 TB +1, 200 Jumpsto line number200when switch2 is turned
on. (Work 2)
32 TB +2, 300 Jumpsto line number300when switch3 is turned
on. (Work 3)
33 TB +3, 400 Jumpsto linenumber400when switch4 is turned
on. (Work 4)
34 TB +4. 500 Jumpsto line number500when switch5 is turned
on. (Work 5)
35 TB +5, 600 Jumpsto line number600when switch6 is turned
on. (Work 6)
36 TB +6, 700 Jumpsto linenumber700when switch7 is turned
o n . ( W o r k7 )
37 TB +7, 800 Jumpsto line number800when switchI is turned
o n . ( W o r k8 )
38 GT 25 Returnsto line number25 {whenall switchesare
oif.)

(Subroutines)

1 0 00 B + 0 Switcheson LEDl (work started).

105 lvto 10 Executeswork 1.
) Work I
1 9 80 B - 0 Switchesoff LEDl (work complete).
1 9 9G T 2 5 Returnsto line number 25.

800 0B +7 Switcheson LEDS(work startedl.

805 MO 80 Executeswork 8.
) WorkI
898 0B -7 Switchesofl LEDg(work complele).
899 GT 25 R e t u r n st o l i n e n u m b e r2 5 .
APPENDICES

7. COMMANDLIST ControlInstructions
]A Position/Motion
Program yes - Possible
no Nol possib e

Input Format Function Program Remarks

Mov€s robol to a predefined

,] Decrement Posllion DP
position wlth a posrt on n|lm_
ber smallerthan the current

Moves hand end to a position

awav trom the current one
2 Draw covef ng the dlstance sPeci-
f r e d l n X - , Y , a n d Z - a x r sd i r e c

D e f i n e st h e c o o r d i n a t e s o i t h e
3 HE a current position by assigning 1 5 a < 6 2 9
p o s i t l o nn u r n b e r l a ) t o l t .

E s l a b l i s h e st h e r e l e r e n c ep o s r -
4 HO tlon ln the carlesian coordln

Moves fobot to a Predelinecj

position with a posrlron num
5 lncremenr Position IP
ber greater lhan the current

Moves hand end from lhe cur

rent pos tron lo a posll on 1 = a j , a , = 6 2 9
6 Move Approach MA aj, a, [, OiC] a w a y f r o r n p o s i t i o n l a L )i n n O: Hand opened;C: Hand
crem€ntsas speofled for posl'
tion (ar).

7 fvlove Cortinuous
M o v e s r o b o t c o r i t l nu o u s Y
through predefinedinlermedi 11a1,a2<629
MC ar, a,
ate po nts Detween postlon
n u m b e r s ( a r) a n d ( a , ) .

Turns each ioint the specified

8 Move Joint angle from the current Posi_

1 5 a = 6 2 9
Moves hand end to postion ; : Hand
O : H a n do p e n e d C
I MO a L OiCI (a)

Moves hand end to a Posrtlon

whose coordLnates (pos ilon
10 Move Position and angie) are specifiedas x,
p, and

1 = a 5 6 2 9
Moves robot to posllion (a) 1 5 n 5 9 9
1l Move Straight MSa,nLOiCI t h r o u g h n i n t e r m e d r a t ep o r n t s ; : Hand
O : H a n do p e n e d C
on a straight line,

Moves hand end frorn the cur

rent posrl on 10 a pos llon 1 5 a 5 6 2 9
12 MT a, b [, O/C] a w a y f r o m a s p e c i f i e dp o s l l i o n ; i Hand
O : H a n do p e n e d C
{ a ) l n i n c r e m e n t a l d l s t a n cbei n
the too direction.

R e t u r n s r o b o t l o r n e c h an l c aI
13 Nest NT o r L gI n .

Moves robol to the reterence

't4 OG p o s i t l o n i n t h e c a r t e s r a nc o o r
Origin

Defines the n!mber of grld 1 = i 5 9

Pallet Assign PA r, j, k points (j, k) in ihe column and 1 < j , k 5 2 5 5
row directions for pallet (i).

C l e a r sa l l p o s i t o n d a t a l r o m a 1S a 2
Posrlion Clear PC a,, [, az] posrlron ar ro 42. 1 < a 1 ,a , < 6 2 9 ( o r a 1 : 0 )

D e f i n e s t h e c o o r d i r l a t e s( x , Y , l 5 a = 6 2 9
11 Positron Define PDa,x,y,z, p, l z, p, r) of position {a).
 APPENDICES

Name Input Format Function Program Remarks

Assigns the coordinates of

18 Position Load p o s i t l o n( a r ) t o p o s t i o n ( a 1 )
15ar,a,5629

C a l c u l a t e st h e c o o r d i n a t e so f a
grid polnt on pallet {a) and
19 Pallet 1 5 a 5 9
idenlifies the coordinates as
posilion(a).

E x c h a n g e st h e c o o r d l n a t e s o f
20 P o s t i o n E x c ha n g e PX aj. a, position lar) for those of posi- 15 a 1 , a 21 6 2 9
lion (ar).

S h i f t s t h e c o o r d i n a t e so f p o s i -
tion (ar) in increments repre-
21 Sh ift SF al, a, senting the coordlnates of 1<ar,a,5629
p o s i | o n ( a r ) a n d r e d e f i n e st h e
new coorornales.

Sets lhe operating velocity

0 5 a 5 9
and acceleration/deceeration
H: High acceleration/decel-
22 Speed SP a L H/Ll lime for robol.
eration time; L: Low accel
0 : l M i n i m u ms p e e d ; 9 : M a x -
e r a t i o n / d e c e l e r a t i o nt i m e
imum speed

Halts motion for time (a)

23 Timer Tl a (Unlt:0.1 second) 05_a332161

Establishes the distance be-

0SaS+300.0
24 Tool T L a tween hand rrounting surface
U n i t :m m
and hand elld.

IBl Progr"rnControlInstructions

Name Input Format Function Program Remarks

Loads va ue n counter (a) into I 5 a 5 9 9

25 Compare Counter CPa
the lnternal register.

Dlsablesinterruptby a signal
26 Disable Act DAa throughbit {a) of externalin- 0 5 a 5 7 { 1 5 )
pu1lerrnrnal.

27 DecrementCounter DCa Decrementscounter (a) by 1 I < a 5 9 9

Deletescontents of iine num- a15a2

2A Delete Line DL ar [, a?]
bers from a1 to a2. 1 5 a1, a2 S 2O4A

Enables interrupl bv a signal

through bil (a1) of external (-15) 1+15)
inpul terminal and specifies
29 Enable Act EA a1, a2
l i n e n u m b e r ( a 2 )t o w h i c h t h e +i ON; -: OFF
program lumps wnen Inrer- 13a252044

30 End ED Endsthe program.

Calses a jump to occur to llne

| 32167) \321611
0 < a1 5 255 (decimal)
number (ar) if external inpul
l{ Equal E Oa r ( o r & b ) ,a , data or counter data equals al
0<b<&FF(hex.)
(&8001)(&7FFF)
(or &b).
13 a, 12048

Permlts the lnstruction sequ-

ence to iump to sub routine 1 = a 5 2 0 4 8
32 Go Sub GS a
which slarts with line number
(a)

P e r m i t st h e p r o g r a m s e q u e n c e
33 GTa to jump to line number (a) 15a32048

34 Increment Countcr l C a lncrernents counter (a) by 1 1 5 a 5 9 9

APPENDICES

Name Input Format Function Program Remarks

l-32761) 132161l
causes a iump to occur to Ine 0 5 a 1 < 2 5 5( d e c m a l )
number {ar) if external inpul 0<b5&FF(hex.)
35 lf Larger LG a1 (or &b), a?
data or counter data ts greater (&8001)(&7FFF)
than a1 (or &b). 1<a252048

l-32161) \327671
C a u s e sa j u m p t o o c c u r t o l l n e 0 < aj 5 255 (decimal)
number {ar) if externai inPut
36 lf Not Equal N E a r ( o r & b ) ,a , data or counter data does not
05b5&FF(hex.)
(&8001)l&7FFFl
equal al (or &b). 1Sar52048

Deletesall program and posi

tion data in RAM.

S p e c i f i e st h e r a n g e o f a l o o p l n
38 NX a program execlrted by corn-
mand BC.

B e p e a t st h e l o o p s p e c i f i e d b y 15a332167
39 Repeat Cycle RCa command NX {a) limes.

Executes line numbers from 1 3 aj, a2 S 2048

40 Bun RN a1 L a,l ( a r ) 1 o ( a r ) , ( a ? )n o t i n c l u d e d

Completes subroutine actr-

52 Return RT vated by command GS and
returns to main program,

1 < ar 5 99
42 Set Counter SC ar, [ar] Loads (a2)into counter {a1). 327613 az 5 32761

\-32161) 1327671
C a u s e sa j u m p t o o c c u r t o l i n e 0 < ar 5 255 (decimal)
number (ar) if external lnput 0<b5&FF(hex.)
43 lf Smaller s M a 1 ( o r & b ) ,a , data or co!nter data is smaller (&8001)(&7FFF)
than a1 (or &b). 13a2<2044

@ XanCControlInstructions

Input Format Function Program Remarks

44 Grip Close Closes hand grip.

D e f i n e st h e o p e n / c l o s es t a t e o t
45 Grip Flag GFa hand grip, used in conjunction a - 0 ( o p e n ) ,1 ( c l o s e d l
with command PD.

46 Grip Open GO Opensh a n d g r i p

Defines gripping force and 0 5 a r , a r < 1 5
47 Grip Pressure GP aj, ar, a3 gripping force retention time. 0 5 a 3 < 9 3 ( U n i t :0 . 1

lDl l/O ControlInstructions

Name Input Format Function Program Remarks

F e t c h e se x t e r n a l s i g n a l u n c o n
48 Input Direct ID ditionally from input pon.

Fetches external signal syn

49 Input IN
chronously from input port.
 APPENDICES

Input Format Function Program Remarks

-73a5+1
Sets the output state of bit (a) { 15) (+15)
50 Output Bit OBa of external outPut termlnal +: oN;-: oFF
\-327611 \32761)
Oulputs data a (or &b) uncon' o=a5255(decimal)
51 OLrtputDirect OD a (or &b) ditionallythrough outPut Pon 0 0 5 b < & F F( h e x )
(&8001)(&7FFF)

l-32167) 1327671
Outputsdata a (or &b) sYn 05a<255(decimal)
52 Output OT a (or &b) chronously through output 005b<&FF{hex.)
pon. (&2701)(&7FFF)
-1 3 a15 +7
C a u s e sa j u r n P t o o c c u r t o l l n e ( 15) (+15)
53 Test Bil TB ar, a, number a, by means of bit (ar) +: ON; : OFF
i n e x t e r n a l I n p L l tt e r m l n a l 15a252048

lr I nszszcReadInstructions

Input Format Function Program Remarks

Name

C B a R e a d sc o n t e n t s o f c o u n t e r ( a ) 1 < a 5 9 9
54 Counter Read

Reads data in external InPUt

55 Data Read DR lermlnal, used in conjunctlon
with cornmands lO and lN

Reads status ol efror lno

56 Error Read ER error:0; errof mode I : 1;
error mode Il: 2).

R e a d sc o n t e n t s o f l i n e n u m b e r 15a52044
51 Line Read LRa ( a) .

Feads coordinatesof Position 1 = a < 6 2 9

58 Position Read ( a) .

Reads coordinates of current

59

fl Miscellaneous

Input Format Function Program Remerks

60 RS Resets error mode II.

Transfers contents of EPROM

TR

Writes contents of RAM lnto

62 EPHOM.

Allows programmer to write a

63 Comment corFment following .
APPENDICES

8 . T I M I N G B E L TT E N S I O N G i v i n g a n a d e q u a t et e n s i o n t o t h e t i m i n g b e l t i s t h e p r e r e q u i s i t e
f o r p r o p e r d r i v e t r a n s m i s s i o na n d s u f f i c i e n td u r a b i l i t y .D o n o t k e e p
t h e b e l t t o o t i g h t o r s l a c k : g i v e i t a p p r o p r i a t et e n s i o n s o t h a t y o u
f e e l r e a c t i o nw h e n p r e s s i n gi t w i t h y o u r t h u m b , A b e l t l e f t t o o s l a c k
c a u s e st h e s l a c k e n d o f t h e b e l t t o v i b r a t e ; a t i g h t b e l t d e v e l o p s
k e e n n o i s e a n d v i b r a t e so n t h e t i g h t e n e de n d .
F i g . 5 . 8 . 1 a n d T a b l e 5 . 8 . 1 s h o w s p e c i f i c a t i o n sf o r b e l t d e f l e c t i o n
and load.Alust the belt tension to obtain the deflection Z when
load Pk is aoolied.

Timing belt

D e f l e c t i o nC
(at center of span length)
Span length

Fig. 5.8.1 Belt Deflection and Load

Deflection 0 Load Pk

Shoulder 2.7mm 22 to 37 gI

Elbow 1.6mm 22 to 37 gI

Wrist pitch 1 . 2m m 11 to 19 gf

Table 5.8.1 Belt Deflection and Load

 APPENDICES

9. DEFINITION
OF The weight capacityof the robot is generallyexpressedonly in
WEIGHT weight.Weight,however,differswith differentpositionsof center
CAPACITY of g ravity.
Fig. 5.9.1shows the definitionof the weight capacitygiven on
Observeth is definitionwhen selecting
catalogsand specifications.
workpiecesand custom-madehands.
Fig. 5.9.2shows the definitionof the weight capacitywhen the
motor-ooerated hand (option)is attached.

M e c h a n i c a linterface
surface

Fig. 5.9.1 Definition Weight Capacity

Centerot gravity
o f o p t i o n a lh a n d
Center of gravity
hand plus

Center of gravity
of

6009f 6009f

1.2kgJ

Fig. 5.9.2 Definition ot Weight Capacity When Motor-Operated Hand (Optionl is Attached
APPENDICES

10. ROBOTARM STORAGEThe positionin whichthe robot is storedwith brakesnot applied

POSITION (servolocked)must be withinthe operational spaceshownin Fig.
5 . 1 01..
lf the robot is storedin a positionoutsidethe spaceshown for
lonoerthan 10 minutes,a reducedmotor life could result.

Avoid storage in this space for a long time.

Fig. 5.10.1 Robot Storage Position Space

 APPENDICES

SPACE Use the following diagramfor examininglayout of peripheral

11. oPERATIONAL
DIAGRAM equipmentand pallet sizes'

142

750

Mechanical interface

-_'- 550

- 500

_ 450
J2 axis centerof rolation

- 350

300

- 25O

200

150

,r 100

50

1.ffi
-57

21.9

Fig. 5.11.1 Operational Space Diagram

 -a
1 ' - ' , 1i - 1 t - i ' i ' - 1 l'-i l'-1 1'- !-- .---rt .-{ }--a }-a l.-
12, WIRINGDIAGRAM

q l
i l

t - _ l i : 5 6 i , E ; 5 ? 3 ? { ? 3 r 3 8 6 i 5

* The RV-Ml'sJ1 to J3 axis motor buildersdependon lots as

follows:

* Sanyo ElectricCo., Ltd. motor (frame in black)wire color are

indicatedoutside parentheses.
DaitoSeisakushoCo.,Ltd. motor (framein gold) wire colorsare
indicatedin oarentheses.
13, DRIVE UNTTWIRING DIAGRAM

{Moth6r card)
'|
2
3

5
6
7
8
I
10
11
12

I
Option for trsvetl
L l
Rear 2
Molor sional 3

5
6

Hand s€lect switch

{AODC)

G r e € n / y e l l o ws p i r a l

E X E C U T EE R R O R SIAST STOP BESET E M G ,

LED LED (Green) (FBd) {Whire) STOP EXT. _
{Green) lRed) EMG. :
STOP (

Fronl
 l

RM27'21 cabl€

Tr 2SC3012

5600 Diode srack

1t2v'l KBPC2s_MX2

l n l e t w i t h N o i s eF i l t e r
lAC rN)

POWER
r L E D I

G- terminalcaulking
SoHe.tess

O- sold€rins

$|- rasteneat€rminalcsulkins
d urrsuBrsHr
ELEcrRrc
coRpoRATroN
NEADOFFICEMITSUBSHOENKIBLDGMAFUNOUCHIIOKYOIOOIELEXJ24s32CABLEMELCOTOKYO
NACOYA WOFKS T t4 . YADA M NAMI 5 HIGASHI KI] . NAGOYA JAPAN