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Part Number: 137551-1

Release Date: December 20, 1996
Document Version: 1
Document Status: Final

Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.

©2003 by MOTOMAN
All Rights Reserved

Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
 TABLE OF CONTENTS
Section Page
1.0 INTRODUCTION.......................................................................................... 1
1.1 MRC EDITOR DESCRIPTION.............................................................. 1
1.2 FEATURES........................................................................................... 1
1.3 SYSTEM REQUIREMENTS................................................................... 1
1.4 MRC EDITOR COMPONENTS............................................................. 1
1.5 CARE OF COMPONENTS....................................................................2
1.6 REFERENCE TO OTHER DOCUMENTATION......................................2
1.7 CUSTOMER SERVICE INFORMATION................................................2
2.0 SAFETY.........................................................................................................3
2.1 STANDARD CONVENTIONS................................................................4
2.2 GENERAL SAFEGUARDING TIPS........................................................5
2.3 MECHANICAL SAFETY DEVICES.........................................................5
2.4 INSTALLATION SAFETY....................................................................... 6
2.5 PROGRAMMING SAFETY...................................................................6
2.6 OPERATION SAFETY...........................................................................7
2.7 MAINTENANCE SAFETY......................................................................8
3.0 INSTALLATION.............................................................................................9
3.1 INSTALLING MRC EDITOR.................................................................9
3.1.1 Windows 95® ............................................................................9
3.1.2 Windows 3.1® ......................................................................... 10
3.2 HARDWARE KEY INSTALLATION...................................................... 10
4.0 CONTROL FEATURES................................................................................. 11
4.1 MENUS.............................................................................................. 11
4.1.1 File Menu................................................................................ 11
4.1.2 Edit Menu............................................................................... 11
4.1.3 Mode Menu............................................................................. 12
4.1.4 Options Menu......................................................................... 13
4.1.5 View Menu.............................................................................. 13
4.1.6 Window Menu......................................................................... 14
4.1.7 Help Menu.............................................................................. 14
4.2 TOOL BAR......................................................................................... 14
4.3 STATUS BAR..................................................................................... 16

MRC Editor User’s Manual Page i MOTOMAN

 Section Page
4.4 CONTROL DIALOGS.......................................................................... 16
4.4.1 Global Features.......................................................................16
4.4.2 Create New Job...................................................................... 17
4.4.3 Job Open................................................................................ 17
4.4.4 Modify Job Name.................................................................... 18
4.4.5 Job Save.................................................................................18
4.4.6 Job Delete.............................................................................. 19
4.4.7 Search.................................................................................... 19
4.4.8 Function Tree..........................................................................20
4.4.9 Modify Velocity........................................................................20
4.4.10 Modify Move Type................................................................... 21
4.4.11 JBI Memory Setting............................................................... 21
4.4.12 Header Information.................................................................22
4.4.13 Robot Position Variable............................................................23
4.4.14 Base Variable..........................................................................24
4.4.15 Station Position Variable..........................................................24
4.4.16 System Configuration..............................................................24
5.0 MRC EDITOR COMMANDS.......................................................................25
5.1 STANDARD COMMANDS.................................................................25
5.2 OPTIONAL (PARAMETER) COMMANDS..........................................27
5.3 APPLICATION-SPECIFIC (DEVICE) COMMANDS............................29
6.0 BASIC OPERATIONS.................................................................................. 31
6.1 MRC EDITOR SETUP......................................................................... 31
6.2 OPENING A JOB...............................................................................32
6.3 CREATING A JOB.............................................................................32
6.4 INSERTING A STEP...........................................................................32
6.5 MODIFYING A STEP.........................................................................33
6.6 MODIFYING MOVE TYPE OR VELOCITY ONLY.................................33
6.7 DELETING A STEP.............................................................................33
6.8 SAVING A JOB..................................................................................33
6.9 USING JOBS CREATED IN MRC EDITOR........................................34
INDEX

MRC Editor User’s Manual Page ii MOTOMAN

 1.0 INTRODUCTION
1.1 MRC EDITOR DESCRIPTION
MRC Editor is a text-based editor for modifying existing robot jobs or creating new
jobs using known robot position variables. MRC Editor can create or modify any
INFORM II command set.

MRC Editor can create jobs from scratch or modify and copy jobs downloaded
from the MRC controller. MRC Editor can also be used to edit jobs created in
ROTSY, Motoman’s offline programming environment.

1.2 FEATURES
• Adapts to the user’s MRC application
• Handles complex syntax
• Supports reverse pasting
• Supports dual controllers

1.3 SYSTEM REQUIREMENTS

MRC Editor requires the following hardware and software:
Computer IBM-compatible personal computer (PC)
Processor Intel 80486 SX, 33 MHz (minimum)
Memory 8 MB minimum (16 MB recommended)
Hard Disk 60 MB available
Floppy Disk 3.5 inch
Monitor VGA, 640x480 resolution, 256 colors
Input Device Mouse
Operating System Windows 3.1, Windows 95®

For best performance, install MRC Editor on a PC with at least a 80486 processor.

Communications software such as FDE is required to download jobs to the

controller.

This manual assumes that the user is familiar with robot programming and
PC usage.

1.4 MRC EDITOR COMPONENTS

• MRC Editor package (Motoman Part Number 137550-1)
• MRC Editor installation disks (Motoman Part Number 137553-1)
• MRC Editor User’s Manual (Motoman Part Number 137551-1)
• Hardware key (Motoman Part Number 137552-1)

MRC Editor User’s Manual Page 1 MOTOMAN

1.5 CARE OF COMPONENTS
Make copies of the MRC Editor program floppy disks, and keep the copies in a safe
place. Additional copies of the disks are available from Motoman.

Keep this User’s Manual in a safe place and refer to it whenever necessary.
Additional copies of this manual are available from Motoman.

Keep the hardware key in a safe place. If you lose the hardware key, MRC Editor
will not work and you will have to purchase a new copy of the software. If the key
is accidentally damaged, return it to Motoman for replacement.

CAUTION!
MRC Editor will not work without the hardware key. Take steps
to ensure it is not lost or stolen.

1.6 REFERENCE TO OTHER DOCUMENTATION

For additional information refer to the following:
• Manipulator Manual for your robot model
• Motoman MRC Operator’s Manual for Arc Welding (Part Number 132332-1)
• Motoman MRC User Functions Manual (Part Number 132331-1)
• Vendor manuals for system components not manufactured by Motoman

1.7 CUSTOMER SERVICE INFORMATION

If you need technical assistance, contact the Motoman service staff at
(937) 847-3200. Please have the following information ready before you call:
• MRC Editor version
• Operating system (Windows 95, Windows 3.1)
• System configuration (hard disk capacity, memory, software, etc.)
• Description of difficulty (make a note of any error messages)

MRC Editor User’s Manual Page 2 MOTOMAN

 2.0 SAFETY
It is the purchaser's responsibility to ensure that all local, county,
state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.

We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA R15.06.
The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: 313/994-6088
FAX: 313/994-3338

Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not
been trained!

We recommend that all personnel who intend to operate, program, repair, or use the
robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.

This safety section addresses the following:

• Standard Conventions (see Section 2.1)
• General Cautions and Warnings (see Section 2.2)
• Mechanical Safety Devices (see Section 2.3)
• Installation Safety (see Section 2.4)
• Programming Safety (see Section 2.5)
• Operation Safety (see Section 2.6)
• Maintenance Safety (see Section 2.7)

MRC Editor User’s Manual Page 3 MOTOMAN

2.1 STANDARD CONVENTIONS
This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
• DANGER
• WARNING
• CAUTION
• NOTE
Pay particular attention to the information provided under these headings which are
defined below (in descending order of severity).

DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent
hazards that, if not avoided, will result in immediate, serious
personal injury or loss of life in addition to equipment damage.

WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards
that can result in personal injury or loss of life in addition to
equipment damage.

CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.

NOTE: Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.

MRC Editor User’s Manual Page 4 MOTOMAN

2.2 GENERAL SAFEGUARDING TIPS
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General safeguarding
tips are as follows:
• Improper operation can result in personal injury and/or damage the equipment.
Only trained personnel familiar with the operation of this robot, the operator's
manuals, the system equipment, and options and accessories should be
permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers must
have the teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs
and Outputs).
• The robot must be placed in Emergency Stop (E-Stop) mode whenever it is not
in use.
• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also to Section
1910.147 (29CFR, Part 1910), Occupational Safety and Health Standards for
General Industry (OSHA).

2.3 MECHANICAL SAFETY DEVICES

The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user's responsibility. The conditions under which the equipment will
be operated safely should be reviewed by the user. The user must be aware of the
various national codes, ANSI/RIA R15.06 safety standards, and other local codes
that may pertain to the installation and use of industrial equipment. Additional
safety measures for personnel and equipment may be required depending on system
installation, operation, and/or location. The following safety measures
are available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

MRC Editor User’s Manual Page 5 MOTOMAN

2.4 INSTALLATION SAFETY
Safe installation is essential for protection of people and equipment. The following
suggestions are intended to supplement, but not replace, existing federal, local, and
state laws and regulations. Additional safety measures for personnel and equipment
may be required depending on system installation, operation, and/or location.
Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local codes,
and ANSI/RIA R15.06 safety standards are permitted to install the equipment.
• Identify the work envelope of each robot with floor markings, signs, and
barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
• Eliminate areas where personnel might get trapped between a moving robot and
other equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.

2.5 PROGRAMMING SAFETY

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Programming tips are
as follows:
• Any modifications to PART 1 of the MRC controller PLC can cause severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written permission
of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. YOUR
WARRANTY WILL BE VOID if you use these special passwords.
• Back up all programs and jobs onto a floppy disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before any service procedures are done and before any changes
are made to options, accessories, or equipment.
• The concurrent I/O (Input and Output) function allows the customer to modify
the internal ladder inputs and outputs for maximum robot performance. Great
care must be taken when making these modifications. Double-check all
modifications under every mode of robot operation to ensure that you have not
created hazards or dangerous situations that may damage the robot or other parts
of the system.
• Improper operation can cause personal injury and/or damage the equipment.
Only trained personnel familiar with the operation, manuals, electrical design,
and equipment interconnections of this robot should be permitted to operate
the system.

MRC Editor User’s Manual Page 6 MOTOMAN

 • Inspect the robot and work envelope to be sure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place.
• Check the E-STOP button on the teach pendant for proper operation before
programming.
• Carry the teach pendant with you when you enter the workcell.
• Be sure that only the person holding the teach pendant enters the workcell.
• Test any new or modified program at low speed for at least one full cycle.

2.6 OPERATION SAFETY

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Operation tips are
as follows:
• Be sure that only trained personnel familiar with the operation of this robot, the
operator's manuals, the system equipment, and options and accessories are
permitted to operate this robot system.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Ensure that all safeguards are in place.
• Improper operation can cause personal injury and/or damage the equipment.
Only trained personnel familiar with the operation, manuals, electrical design,
and equipment interconnections of this robot should be permitted to operate
the system.
• Do not enter the robot cell while it is in automatic operation. Programmers must
have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-Stop) mode whenever it is not
in use.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and other
equipment. Disconnect and lockout/tagout all electrical circuits before making
any modifications or connections.
• All modifications made to the controller will change the way the robot operates
and can cause severe personal injury or death, as well as damage the robot. This
includes controller parameters, ladder parts 1 and 2, and I/O (Input and Output)
modifications. Check and test all changes at slow speed.

MRC Editor User’s Manual Page 7 MOTOMAN

2.7 MAINTENANCE SAFETY
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Maintenance tips are
as follows:
• Do not perform any maintenance procedures before reading and understanding
the proper procedures in the appropriate manual.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Improper operation can cause personal injury and/or damage the equipment.
Only trained personnel familiar with the operation, manuals, electrical design,
and equipment interconnections of this robot should be permitted to operate
the system.
• Back up all your programs and jobs onto a floppy disk whenever program
changes are made. A backup must always be made before any servicing or
changes are made to options, accessories, or equipment to avoid loss of
information, programs, or jobs.
• Do not enter the robot cell while it is in automatic operation. Programmers must
have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-Stop) mode whenever it is not
in use.
• Be sure all safeguards are in place.
• Use proper replacement parts.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and other
equipment. Disconnect and lockout/tagout all electrical circuits before making
any modifications or connections.
• All modifications made to the controller will change the way the robot operates
and can cause severe personal injury or death, as well as damage the robot.
This includes controller parameters, ladder parts 1 and 2, and I/O (Input and
Output) modifications. Check and test all changes at slow speed.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs
and Outputs).

MRC Editor User’s Manual Page 8 MOTOMAN

 3.0 INSTALLATION
3.1 INSTALLING MRC EDITOR
3.1.1 Windows 95®
To install MRC Editor, perform the following steps:
1. Select “Settings, Control Panel” from the Windows 95 “Start” menu.
2. Double-click the “Add/Remove Programs” icon. The “Add/Remove Programs
Properties” setup window will appear.
3. Insert the first MRC Editor setup disk in the floppy disk drive.
4. Click the “Install...” button. The “Install Program from Floppy Disk or
CD-ROM” screen will appear.
5. Click the “Next” button to continue with the setup. Setup will look for setup
programs on the computer’s floppy disk drive first. If the computer cannot find
setup files on the floppy disk, it will prompt you to insert a different disk or
enter an alternate path for the setup files.
6. Once the setup files are located, Setup will open the “Run Installation Program”
screen. If the path and filename displayed are correct, click the “Finish” button.
Otherwise, type the desired path and click “Finish.”
7. Setup will prompt you for the location you want to install the program. Setup
recommends a default location of C:\MRC_EDIT\ . To accept this default
installation location, click “OK.”
NOTE: If you would like to specify a different location for the program, click “Browse” and enter the
desired location. You may create a new directory by entering a new name or you may select
an existing directory.
8. Setup may prompt you to replace certain files already on your disk if the files
included with MRC Editor are newer. Click “Yes” to replace the file with the
newer version.
NOTE: If you click “No,” leaving the older files on your hard disk, MRC Editor may not
function properly.
9. Setup will create a program group called “Motoman.” If a Motoman group
already exists from the installation of another Motoman software product, the
existing Motoman program group will be used.
10. Setup will begin copying files from your floppy disk to your hard disk. During
installation from floppy disk, the program will prompt you to insert each setup
disk until the installation is complete.
Once the setup is complete, the Setup program will quit and return you to the
Windows desktop.

MRC Editor User’s Manual Page 9 MOTOMAN

3.1.2 Windows 3.1®
To install MRC Editor, perform the following steps:
1. Insert the MRC Editor floppy disk in the floppy disk drive.
2. Select “Run...” from the File menu and Type “A:\SETUP” and press Enter.
You can also double-click the file “setup.exe” to start installation.
Setup will display the MRC Editor Setup screen.
3. Setup will prompt you for the location you want to install the program. Setup
recommends a default location of C:\MRC_EDIT\ . To accept this default
installation location, click “OK.”
NOTE: If you would like to specify a different location for the program, click “Browse” and enter the
desired location. You may create a new directory by entering a new name or you may select
an existing directory.
4. Setup may prompt you to replace certain files already on your disk if the files
included with MRC Editor are newer. Click “Yes” to replace the file with the
newer version.
NOTE: If you click “No,” leaving the older files on your hard disk, MRC Editor may not function.
5. Setup will create a program group called “Motoman.” If a Motoman group
already exists from the installation of another Motoman software product, the
existing Motoman program group will be used.
6. Setup will begin copying files from your floppy disk to your hard disk. During
installation from floppy disk, the program will prompt you to insert each setup
disk until the installation is complete.
Once the setup is complete, the Setup program will quit and return you to the
Windows desktop.

3.2 HARDWARE KEY INSTALLATION

The hardware key supplied with MRC Editor must be installed on your computer or
MRC Editor will not function properly. The hardware key attaches to the
computer’s parallel port connector. This port is commonly used to connect printers
and other peripheral devices to your computer. To attach the hardware key:
1. Turn your computer off.
2. Disconnect any device currently connected to your computer’s parallel port.
3. Carefully insert the hardware key into the parallel connector. If the key does
not fit, do not force it. The key should fit snugly but does not require
significant force to insert.
4. Connect your peripheral cable to the free end of the hardware key. The key will
not interfere with the operation of your printer or other peripheral devices.
If you are using two or more Motoman software products that require the use of a
hardware key, you can “stack” the keys (connecting them in series).

MRC Editor User’s Manual Page 10 MOTOMAN

 4.0 CONTROL FEATURES
4.1 MENUS
This section contains an overview of all MRC Editor menu commands.

NOTE: Not all menus or menu commands are visible at all times. When MRC Editor is first opened,
the Edit, Mode, and Window menus are unavailable until after a CMOS file or a robot JBI file
has been opened.

4.1.1 File Menu

Load CMOS/JBI...
Opens a new CMOS or JBI file. To open JBI files contained within a CMOS file,
you must first load the CMOS file. JBI files can be loaded directly but the
“all.prm” file must be present in the same directory before you attempt to open the
JBI file. All other commands are disabled until a file is loaded. See Section 6.2 for
a description of retrieving this file using FDE.
New...
Creates a new job file inside the opened CMOS file.
Open...
Opens an existing JBI file or a job contained within the CMOS file.
Rename...
Opens the Modify Job Name dialog which permits you to change the name of a
selected job.
Save...
Saves changes to the open job. If the job is new, you will be prompted to enter a
name for the job.
Delete...
Opens the Job Delete dialog which permits you to erase unwanted jobs.
Print
Prints the current job to a local or networked printer.
Exit
Closes the MRC Editor program. You will be will be prompted to save unsaved
work.

4.1.2 Edit Menu

Cut...
Copies the selected line(s) to the clipboard and then deletes the line(s). This
command is usually used to move a selection to another part of the job.
Copy...
Copies the selected line(s) to the clipboard for duplication or pasting into a different
document.

MRC Editor User’s Manual Page 11 MOTOMAN

 Paste...
Inserts the contents of the clipboard into the job at the cursor’s location.

Paste Backwards...
Inserts the contents of the clipboard into the job in reverse order at the cursor’s
location. This is useful for automatically creating a complex robot departure path
from an already-programmed approach path.
Find...
Allows you to search for a specified word, command, or combination of characters
within job labels or comments. If found, the search text will be highlighted in the
body of the job.

4.1.3 Mode Menu

These commands are the same as those used in the MRC controller. These
commands are used to add, modify, or replace lines.
Insert...
Opens the function tree. Any functions or commands set will be inserted below the
current line. If the last line of a job is selected when the insert command is initiated,
an error message will notify you that you must select a different line.
Modify...
Works much like “Insert...” but starts with a copy of the current line. This
command is useful when making multiple command inputs which differ only
slightly. Like “Insert...” the new line will be inserted below the current line.

NOTE: You can also modify on a line by double-clicking it.

Replace
Replace opens the same function tree as Insert and Modify, but after you have
selected the desired command(s), the contents of the original line are replaced with
the new command.
• Move Type...
Finds all matching commands and replaces them with the specified
move command.
• Velocity...
Finds all matching commands and replaces them with the specified
speed command.
Language Level
Permits you to change the instruction set of the MRC interface. These levels
correspond to the same language set levels on the controller.
• Subset
The MRC command is reduced to only the most-commonly used commands.
This mode speeds input for basic programming because fewer commands are
displayed. For programming beyond basic functions, use at least the Standard
instruction set.
• Standard
The MRC command set contains all commands except: use of variables as
additional items, use of local variables, and use of local/global variable arrays.
• Expanded
All MRC commands are available.

MRC Editor User’s Manual Page 12 MOTOMAN

4.1.4 Options Menu
JBI Mode Memory Size...
Allows you to configure MRC Editor to match the memory configuration
of the controller. The options are: Standard, 1M Expanded, 2M Expanded, and
4M Expanded. This setting dictates how existing memory is allocated within
the controller.

NOTE: Increasing JBI Mode Memory Size will allow you to store more jobs but will slow down job
search and retrieval.

4.1.5 View Menu

Tool Bar
Displays or hides the tool bar located at the top of the screen.

Status Bar
Displays or hides the status bar. The status bar contains information on the type of
source file in use, the presently selected instruction line, and other information.

Header Display...
Allows you to edit a job’s header. A header can be a simple description
of the job’s contents.

Sub Header Display...

Allows you to allocate the number of memory positions to be used for
local variables.

Position Variable Display

• Robot Variable...
Displays the Robot Position Variable dialog. From this dialog, you can enter
new robot position variables or modify existing variables.
• Base Variable...
Displays the Base Position Variable dialog. From this dialog, you can enter
new robot base variables or add variables based on the robot base position.
Base Variable will be disabled if your system does not make use of base
variables.
• Station Variable...
Displays the Station Position Variable dialog. From this dialog, you can enter
new robot station variables or add variables based on the station position.
Station Variable will be disabled if your system does not make use of station
variables.
System Configuration...
Displays the current axis configuration of the selected robot. If equipment which
requires additional axes is installed on the robot, the axis of that equipment will be
displayed here along with the robot axes.

MRC Editor User’s Manual Page 13 MOTOMAN

4.1.6 Window Menu
Cascade
Stacks all open jobs with the title bars visible.

Tile Horizontally
Tiles jobs across the screen with equal screen space provided to all open jobs.

Arrange Icons
Arranges icons of minimized jobs at the bottom of the screen.

Close All
Closes all open jobs. You will be prompted to save changes to new or modified
jobs.

[open files]
Displays a list of open job files. Open jobs can be selected by choosing them from
the Window menu.

4.1.7 Help Menu

Index...
Opens a list of Help topics from which you can browse.

About MRC Editor...

Opens the About dialog which provides version information for the MRC Editor.

4.2 TOOL BAR

The following buttons appear on MRC Editor’s tool bar. Many of the tool bar
commands are the same as certain menu commands. Tool bar commands are
described below.

New Job
Creates a new job file inside the opened CMOS file.

Open...
Opens an existing job contained within the CMOS file.

Rename
Opens the Modify Job Name dialog which permits you to change the
name of a selected job.

Save
Saves changes to the open job. If the job is new, you will be prompted
to enter a name for the job.

Delete
Opens the Job Delete dialog which permits you to erase unwanted jobs.

Cut
Copies the selected line(s) to the clipboard and then deletes the line(s).
This command is usually used to move a selection to another part of
the job.

MRC Editor User’s Manual Page 14 MOTOMAN

 Copy
Copies the selected line(s) to the clipboard for duplication or pasting into
a different document.

Paste
Inserts the contents of the clipboard into the job at the cursor’s location.

Paste Backwards
Inserts the contents of the clipboard into the job in reverse order at the
cursor’s location. This is useful for automatically creating a complex
robot departure path from an already-programmed approach.

Find
Allows you to search for a specified word, command, or combination of
characters within job labels or comments. If found, the search text will
be highlighted in the body of the job.

Header
Allows you to change information in the job’s header. The header
contains job information such as date, job type, attributes, etc.

Insert
Opens the function tree which is used to insert commands. Commands
will be inserted below the current line. If the last line of a job is selected
when the insert command is initiated, an error message will notify you
that you must select a different line.

Move Type
Changes the move type of the selected line(s).

Velocity
Allows you to change the speed of moves on a selected line or
subsequent lines.

Robot Variable
Displays the Robot Position Variable dialog. From this dialog, you can
enter new robot variables or modify existing variables.

Base Variable
Displays the Base Position Variable dialog. From this dialog, you can
enter new robot base variables or add variables based on the robot
base position.

Station Variable
Displays the Station Position Variable dialog. From this dialog, you
can enter new robot station variables or add variables based on the
station position.

Print
Prints the current job to a local or networked printer.

Help
Opens MRC Editor help.

MRC Editor User’s Manual Page 15 MOTOMAN

4.3 STATUS BAR
The status bar is located at the bottom of the MRC Editor window. The status bar
contains small windows which contain information about the loaded hex file, the
currently selected line in the job, and the number of open jobs; and indicates if the
job is read-only.

4.4 CONTROL DIALOGS

This section contains descriptions and basic instructions for MRC Editor’s most
commonly used or complicated dialog boxes.

4.4.1 Global Features

Edit Variable

Many dialogs contain a control button with three dots. This button opens
an Edit Variable dialog which allows you to map variables to subvariables.
This permits you to increment or decrement variables instead of mapping
multiple variable entries.

The Edit Variable dialog can be edited in two ways. At the top of the dialog is a
box containing a constant (shown below as “000”). You can mouse-select and edit
this number manually.

You can also set the active variable to reference another variable. Click the drop
down box and select the subvariable letter (“B” in this example).

The first box illustrates a direct mapping of B000 to D000. The second box
illustrates use of a subvariable. In the second box, D is mapped to subvariable
B006. For example: if B006=12, then the value of D12 would be used in the robot
program. Consult your MRC User Funtion manual for more information on
programming using variables.

Constants can be entered by selecting the variable in the first dropdown box and
typing the desired value.

Boolean Operators
Boolean operator options are available on several MRC Editor screens. Usually
abbreviated as “BOOL,” this command refers to binary numbers representing on
and off states. Boolean variables are used in digital I/O programming.

MRC Editor User’s Manual Page 16 MOTOMAN

4.4.2 Create New Job
The Create New Job dialog appears when the New Job button is clicked or
“New...” is selected from the file menu.

Job Name Enter the name of the new job here.

Job Type Select either Robot or Concurrent I/O depending on the

type of job you are using.

4.4.3 Job Open

The Job Open dialog appears when the Open button is clicked or “Open...” is
selected from the File menu.

Directory Displays the current directory. You can type in a new path
if your job files are stored in a different location than the
directory shown.
Job File Listing Displays all job files present in the selected directory.

Select All Selects all files listed.

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4.4.4 Modify Job Name
The Modify Job Name dialog appears when the Rename button is clicked or
“Rename...” is selected from the File menu.

Source Job Contains a list of the current jobs.

New Job Enter the name to be given to the selected job.

4.4.5 Job Save

The Job Save Name dialog appears when the Save button is clicked or “Save...” is
selected from the File menu.

Output Directory Allows you to specify where job files will be saved.

All Selects all jobs contained in the CMOS file.

Unselect Deselects all selected jobs.

Binary File Displays and allows you to change the name of the CMOS
output file.
CMOS Output Saves a copy of the CMOS file but changes the filename to
“_cmos_.hex” to prevent the original CMOS file from
being overwritten.
Option All of the options under this heading allow you to change
the output file format to one of the following: tool file,
user frame file, parameter file, I/O name file, or variable
name file.
Save Saves the currently selected jobs in the specified directory.
Jobs saved in this manner are extracted from the original
CMOS file for easy downloading to the controller.

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4.4.6 Job Delete
The Job Delete Name dialog appears when the Delete button is clicked or
“Delete...” is selected from the File menu.

Directory Displays the directory path of the file you wish to delete.

Job File Listing Displays all jobs contained in the CMOS file.

4.4.7 Search
The Search dialog appears when the Find button is clicked or “Find...” is selected
from the Edit menu.

Search key Provides a place to enter search strings.

Character String Search Sets the search engine to look for text characters within the
job’s labels and comments.
Line Number Search Sets the search engine to look for line numbers. All other
numbers will be ignored.
Step Number Search Sets the search engine to look for step numbers. All other
numbers will be ignored.
Search Up Searches up from the selected line.

Search Down Searches down from the selected line.

All Windows When checked MRC Editor searches all open job windows.

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4.4.8 Function Tree
The function tree appears when the Insert button is clicked or “Insert...” or
“Modify...” is selected from the Mode menu. Each button on the tree represents a
command category which expands to display the subfunctions available for your
controller configuration.

NOTE: Functions displayed under these categories will differ depending on your application. Section
5.0 of this manual contains a complete listing of standard, optional (parameter) application-
specific MRC commands. Consult your controller manual for detailed directions for use of
these commands. Special MRC functions are displayed on the function tree but
are not supported by MRC Editor.

4.4.9 Modify Velocity

The Modify Velocity dialog appears when the Velocity button is clicked or
“Replace...,” “Velocity...” is selected from the Mode menu.

Velocity Type Allows you to change the Move Type.

New Velocity Allows direct entry of velocity.

Slave Sets the slave side to receive the Modify Velocity (used
only for dual-robot systems).
Master Sets the master side to receive the Modify Velocity (used
only for dual-robot systems).
Confirm When checked, MRC Editor will confirm the change.

Modify Batch When checked, MRC Editor will make all changes without
confirmation.
Execute Executes desired change and returns you to the job
window.

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4.4.10 Modify Move Type
The Modify Move Type dialog appears when the Velocity button is clicked or
“Replace...,” “Move Type...” is selected from the Mode menu.

Motion Type Displays and allows you to select the desired move type.

Detailed Settings Same as double-clicking a line from the job window or

selecting “Modify...” from the Mode menu. Opens a
dialog which allows you to change move-specific settings.
The exact appearance and options present will differ
depending on the type of move selected.

4.4.11 JBI Memory Setting

The JBI Memory Setting dialog appears when “JBI Mode Memory Size...” is
selected from the Options menu.

Standard This setting represents the standard memory shipped with

most controllers. If you are not certain if you have
expanded memory in your controller, select this option.
Expanded memory If you have expanded memory installed in your controller,
select the appropriate amount of memory here.

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4.4.12 Header Information
The Header Information dialog appears when “Header Display...” is selected from
the View menu.

Group Displays the current control group.

Job Type Displays the job type, robot or concurrent I/O.

Comment Displays and allows you to change a comment to be

displayed at the top of the job in the header (limited to
32 characters).
Date Displays the date of creation or last modification.

Time Displays the time of creation or last modification.

All Lines Displays a count of all lines in the job except comments
and header information.
All Steps Displays a count of all steps in the job.

Read Only When checked, the job become read-only.

Subheader Opens the dialog shown below. The boxes allow you to
allocate the number of memory positions available for local
variables and whether the variables are assigned to the
robot, the base, or the station.

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4.4.13 Robot Position Variable
The Robot Position Variable dialog appears when “Robot Position Variable: Robot
Variable” is selected from the View menu. The different dialogs shown below
represent robot position in rectangular or pulse count position data.

Variable number Displays the local variable address.

Variable positions 7 and 8 are usually not used except in
specialty applications where additional axes are required.
Tool number Displays and allows you to change the tool number
associated with the variable number displayed.
Coordinate selector Rect—Uses rectangular coordinates to define position.
Pulse—Uses pulse counts to define position.
Empty—Erases all presently displayed values and sets all
values to zero.
Position display Displays the position in rectangular (X, Y, Z Rx, Ry, Rz) or
pulse counts (S, L, U, R, B, T).
Configuration options Controls how the arm reaches a given point.

Coordinate System Works just like the coordinate selector on the programming
pendant. Selects the coordinate system used to move the
robot. Options are: Base, Robot, Tool, and User.
Specify No. Allows you to enter a variable number for direct access to
settings of that variable.

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4.4.14 Base Variable
The Base Position Variable dialog appears when “Robot Position Variable: Base
Variable” is selected from the View menu. Like Robot variable, Base Variable
allows you to change the coordinate system used by the robot. Base Variable is not
available if your system does not make use of base variables.

4.4.15 Station Position Variable

The Station Position Variable dialog appears when “Robot Position Variable:
Station Variable” is selected from the View menu. Like Robot variable, Station
Variable allows you to change the coordinate system used by the robot to reach
work stations and conveyors. Station Variable is not available if your system does
not make use of station variables.

4.4.16 System Configuration

The System Configuration dialog appears when “System Configuration” is selected
from the View menu. The dialog displays all control groups and the active axes of
each group.

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 5.0 MRC EDITOR COMMANDS
This section briefly describes the MRC commands available in MRC Editor. This
manual assumes the user has a working knowledge of robotic programming.
Therefore, no instruction in MRC programming is provided in this manual.
If you are unfamiliar with an MRC command, consult the controller manual that
came with your system.

5.1 STANDARD COMMANDS

Standard command are commands used in nearly every robotic application.
They are limited to the most basic commands used in programming a job.
Some commands may be turned off in your controller if they are not used
with your application.

MOTION
IMOV Opens an incremental move dialog in which you can
specify move direction and velocity.
MOVC Opens a circular move dialog in which you can specify
robot position and move velocity.
MOVJ Opens a joint move dialog in which you can specify robot
position and move velocity.
MOVL Opens a linear move dialog in which you can specify robot
position and move velocity.
MOVS Opens a spline move dialog in which you can specify robot
position and move velocity.
REFP Opens the REFP dialog which allows you to map reference
points to position variables.
SPEED Opens a Speed dialog, enabling you to change the speed of
a selected move or subsequent moves.

ARITH
ADD Add function

AND AND logic function

ATAN Arc tangent function

CLR Clear function

CNVRT Converts values between real, integer, and double integer.

COS Cosine function

DEC Decrement function

DIV Divide function

GETE Get element function

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 ARITH - continued
GETS Get system variable and assign to user variable

INC Increment function

MFRAME Make Frame function

MUL Multiply function

NOT NOT logic function

OR OR logic function

SET Set function

SETE Set element function

When you use this function, be aware that you can select
formula entry positions by direct-clicking a portion of the
formula or you can use the scroll bar at the top of the
screen to view long expressions.
SIN Sine function

SQRT Square root function

SUB Subtract function

XOR XOR logic function

SHIFT
MSHIFT Make Shift command

SFTOF Shift off

SFTON Shift on

OTHER
The Other menu is used primarily for optional (parameter) commands which may or
may not be installed on your controller. Commands under this heading will change
depending on application. See Section 5.2 for more information.

IN/OUT
AOUT Analog Out command

DIN Digital In command

DOUT Digital Out command

PULSE Pulse command

WAIT Wait command

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 CONTROL
CALL Call command

COMMENT Comment command—adds a comment to a job for display

on the programming pendant.
CWAIT Cancel NWAIT command.

JUMP Jump command

LABEL Label command—inserts a label for a specific line.

NOP No operation

PAUSE Pause command

RET Return command

TIMER Timer command

DEVICE
Commands under the device heading are application specific. See Section 5.3 for
application-specific command descriptions.

PRIOR
Creates a function entry identical to the last edited function. The result can be
inserted or used to modify an existing line.

SAME
Creates a duplicate of the presently selected function. The result can be inserted or
used to modify an existing line.

5.2 OPTIONAL (PARAMETER) COMMANDS

Optional (or parameter) commands are optional or purchased features which are
installed by Motoman. If a command does not appear on your controller or in MRC
Editor, the feature has not been purchased.

Most optional commands appear under the “Other” header.

ARATIOF Turns off velocity dependent outputs.

ARATION Turns on velocity dependent outputs.

DELETEJ Delete Job command.

DI Interrupt Disable instruction.

EI Interrupt Enable instruction.

EIMOVC External circular motion

EIMOVL External linear motion

GETSFT... Get Shift command.

LOADJ Load Job command.

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 LOADV Load Variable command.

MRESET Endless Rotation T-axis

MRESET ST Resets T-axis position.

PRECV Parallel Receive

PSEND Parallel Send

PSTART Parallel Start

PWAIT Parallel Wait

SAVEJ Save Job command.

SAVEV Save Variable command.

SCALIB ... Sensor Calibrate command

SENSCH ... Sensor Search command

SENSOF ... Sensor Off

SENSON ... Sensor On

SMOVC Synchronous Circular Move command

SMOVL Synchronous Linear Move command

SREFP Synchronous Reference Point

SSFTOF Synchronous Shift Off

SSFTON Synchronous Shift On

SWAIT Wait for Serial Communication command.

SWVOF Synchronous Weave Off

SWVON Synchronous Weave On

TCPOF TCP Off

TCPON TCP On

TSYNC Twin Synchronous

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5.3 APPLICATION-SPECIFIC (DEVICE) COMMANDS
Application-specific (or device) commands pertain only to your application.
Welding controllers will have different commands than painting controllers, and so
forth. If a command listed below does not appear on your controller or in MRC
Editor, the feature does not relate to your application as defined by the CMOS file
downloaded from your controller.

Most (but not all) device commands appear under the “Device” header. The list of
device commands below is organized by application.

Arc Welding
ARCCTE Arc Condition Taper End

ARCCTS Arc Condition Taper Start

ARCCUR Sets welding current output.

ARCOF Arc Off command

ARCOF ANTSTK Arc Off Anti-stick function

ARCON Arc On command

ARCON RETRY Arc Retry

ARCVOL Sets welding voltage output.

AWELD Controls weld current

VWELD Controls weld voltage.

WVOF Weave Off

WVON Weave On

Spot Welding
GUNCL Gun

GUNOF Gun Off

GUNON Gun on

SPOT “GUNON” for versions earlier than 4.0.

STROKE Stroke command

STRWAIT Stroke Wait command

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 Material Handling
HAND Close Hand command.

HSEN Hand Sense

SYEND Turns off conveyor tracking sychronization.

SYMOVC Edits conveyor tracking motion (circular).

SYMOVJ Edits conveyor tracking motion (joint).

SYMOVL Edits conveyor tracking motion (linear).

SYSTART Starts conveyor tracking sychronization.

Laser Cutting
CUT Uses a condition file to begin cutting.

LASEROF Turns laser off

LASERON Turns laser on

Painting
PAINTAJ Controls air pressure.

PAINTOF Turns paint off.

PAINTON Turns paint on.

PAINTST Controls spray volume.

MRC Editor User’s Manual Page 30 MOTOMAN

 6.0 BASIC OPERATIONS
MRC Editor is designed to create I/O jobs or modify robot jobs. It is possible to
create new jobs with MRC Editor using known robot position variables. However,
if you desire to create jobs offline, we recommend you use ROTSY, an offline
programming environment available from Motoman.

Generally, you should program robot position points on the controller, save the
job, download the job to floppy disk using FDE, and then modify the file in MRC
Editor.

NOTE: Jobs created in ROTSY can also be opened for editing.

6.1 MRC EDITOR SETUP

Before you can create, edit, or save jobs; a copy of the CMOS file (preferred) or
“all.prm” file from your controller must be available to MRC Editor. The CMOS
file contains all information about your system’s configuration, options installed,
and jobs present in the controller’s memory.

NOTE: If you are using your controller’s “all.prm” file, the file must be placed in the same directory as
the job.
1. Make a copy of the CMOS file from your controller using Floppy Disk
Emulator (FDE). CMOS files have a “.hex” extension. There should be only
one such file on your controller. Consult the FDE manual if you are uncertain
how to transfer files using FDE.
2. Copy the CMOS file to the MRC Editor directory on your PC. The CMOS file
can be placed in any directory but it is recommended that you store it in the
MRC Editor directory for easy access.

WARNING!
Ensure that you have copied the proper CMOS file before editing
jobs. This is especially important if you are editing jobs from
multiple systems. If a job programmed for one system is run on a
different system, the robot may malfunction and cause injury or
damage.

MRC Editor User’s Manual Page 31 MOTOMAN

6.2 OPENING A JOB
1. Open the CMOS file for the controller you are using by selecting “Load
CMOS/JBI” from the File menu. An Open dialog will appear. Locate and
select the desired CMOS or JBI file.
2. Select “Open...” from the File menu. JBI files will open immediately.
3. If you opened a CMOS file, select the desired job and click “OK.”
NOTE: If you would like to simultaneously open all jobs contained in the CMOS, click the Select All
button and then click “OK.”

6.3 CREATING A JOB

1. If you haven’t already opened a CMOS file, do so now.
2. Select “New...” from the File menu. A Create New Job dialog will appear.
3. Type the name you wish to give the new job.
4. Select the appropriate job type, either robot or concurrent.
5. Click “OK.” A Select Control Group dialog will appear. This is used for
multi-robot applications. If your controller supports only one robot, you will
see only one group called R1 (robot 1).

For dual-robot applications, three or more Groups will be shown. The “R1,”
“S1,” and “R1+S1” entries are locked and cannot be changed or deleted.
Combinations of the robots can be created and added to the list. Click to
highlight the robots to be combined and click “Add.”
For coordinated motion, click “Coordinated” and click “Master” beneath the
robot you want to be the master unit.
6. Select “R1” and click “OK.” An empty job will appear with “NOP” and “END”
commands already in place.

6.4 INSERTING A STEP

The same rules of inserting a step on the MRC apply while using MRC Editor.
1. Highlight the line above where you want the new line created.
2. Select “Insert...” from the Mode menu. The function tree will appear.

MRC Editor User’s Manual Page 32 MOTOMAN

 3. Click the desired command category. The tree will expand to display functions
contained under the selected category.
4. Click the desired command. Some commands will open dialog boxes which
allow you to specify command parameters.
5. Set desired parameters and click “OK,” “Execute,” or “Finish” to insert the step
at the selected location in the job.

6.5 MODIFYING A STEP

1. Select the step you wish to modify by clicking it with the mouse.
2. Double-click the command or click “Modify...” from the Mode menu.
3. Click the command category which contains the command you want to insert in
place of the selected step. The tree will expand to display functions contained
under the selected category.
4. Click the desired command. Some commands will open dialog boxes which
allow you to specify command parameters.
5. Set desired parameters and click “OK,” “Execute,” or “Finish” to insert the step
at the selected location in the job. The selected command will overwrite the
selected line of the job.

6.6 MODIFYING MOVE TYPE OR VELOCITY ONLY

If you are modifying a job created on the controller and you just want to change the
speed or move type, use the Replace command. The Replace command changes the
settings of the selected step but does not replace the step or its position data.
1. Select the step you wish to modify. For the Replace command to work, the
selected step must be a robot move.
2. Select “Replace: Move Type” or “Replace: Velocity” from the Mode menu.
3. Make desired changes in the dialog box that appears.
4. Click “OK,” “Execute,” or “Finish” to modify the step. The selected step will
be changed but the position data of the programmed point will be retained.

6.7 DELETING A STEP

1. Select the step that you wish to delete.
2. Select “Cut” from the Edit menu or click the scissors icon on the toolbar. The
selected step will be deleted.

6.8 SAVING A JOB

To save changes to a new or modified job, select “Save...” from the File menu or
click the Save button (disk icon) on the toolbar.

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6.9 USING JOBS CREATED IN MRC EDITOR
Before you can use jobs you have created or modified in MRC Editor, you must
perform the following steps:
1. Save the job file.
2. Save the CMOS file.
3. Use FDE to copy the CMOS file containing the job back onto the controller.

WARNING!
Ensure that you are transferring your job to the intended system.
If a job programmed for one system is run on a different system,
the robot may malfunction and cause injury or damage.

CAUTION!
Do not upload a CMOS from a controller to a different controller.
Doing so may result in the loss of controller-specific data when
the original CMOS file is overwritten. Upload CMOS files only to
the system where you copied the original file.

MRC Editor User’s Manual Page 34 MOTOMAN

 INDEX
A CREATING A JOB, 32
ABOUT MRC EDITOR..., 14 CUSTOMER SERVICE INFORMATION, 2
ADD, 25 CUT, 11, 14, 30
ALL LINES, 22 CWAIT, 27
ALL STEPS, 22
ALL WINDOWS, 19 D
ALL, 18 DATE, 22
AND, 25 DEC, 25
AOUT, 26 DELETE, 11, 14
APPLICATION-SPECIFIC (DEVICE) COMMANDS, 29 DELETEJ, 27
ARATIOF, 27 DELETING A STEP, 34
ARATION, 27 DETAILED SETTINGS, 21
ARC WELDING, 29 DEVICE, 27
ARCCTE, 29 DI, 27
ARCCTS, 29 DIN, 26
ARCCUR, 29 DIRECTORY, 17, 19
ARCOF ANTSTK, 29 DIV, 25
ARCOF, 29 DOUT, 26
ARCON RETRY, 29
ARCON, 29 E
ARCVOL, 29 EDIT MENU, 11
ARITH, 25 EDIT VARIABLE, 16
ARRANGE ICONS, 14 EI, 27
ATAN, 25 EIMOVC, 27
AWELD, 29 EIMOVL, 27
EXECUTE, 20
B EXIT, 11
BASE VARIABLE, 13, 15, 24 EXPANDED MEMORY, 21
BASIC OPERATIONS, 31 EXPANDED, 12
BINARY FILE, 18
BOOL, 16 F
BOOLEAN OPERATORS, 16 FEATURES, 1
FILE MENU, 11
C FIND, 12, 15
CALL, 27 FUNCTION TREE, 20
CARE OF COMPONENTS, 2
CASCADE, 14 G
CHARACTER STRING SEARCH, 19 GENERAL SAFEGUARDING TIPS, 5
CLOSE ALL, 14 GETE, 25
CLR, 25 GETS, 26
CMOS OUTPUT, 18 GETSFT..., 27
CNVRT, 25 GLOBAL FEATURES, 16
COMMENT, 22, 27 GROUP, 22
CONFIGURATION OPTIONS, 23 GUNCL, 29
CONFIRM, 20 GUNOF, 29
CONTROL DIALOGS, 16 GUNON, 29
CONTROL FEATURES, 11
CONTROL, 27 H
COORDINATE SELECTOR, 23 HAND, 30
COORDINATE SYSTEM, 23 HARDWARE KEY INSTALLATION, 10
COPY, 11, 15 HEADER DISPLAY..., 13
COS, 25 HEADER INFORMATION, 22
CREATE NEW JOB, 17 HEADER, 15

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 INDEX
H - continued MODIFYING MOVE TYPE OR VELOCITY ONLY, 33
HELP MENU, 14 MOTION TYPE, 21
HELP, 15 MOTION, 25
HSEN, 30 MOVC, 25
MOVE TYPE, 12, 15
I MOVJ, 25
IMOV, 25 MOVL, 25
IN/OUT, 26 MOVS, 25
INC, 26 MRC EDITOR COMMANDS, 25
INDEX..., 14 MRC EDITOR COMPONENTS, 1
INSERT, 12, 15 MRC EDITOR DESCRIPTION, 1
INSERTING A STEP, 32 MRC EDITOR SETUP, 31
INSTALLATION SAFETY, 6 MRESET ST, 28
INSTALLATION, 9 MRESET, 28
INSTALLING MRC EDITOR, 9 MSHIFT, 26
INTRODUCTION, 1 MUL, 26

J N
JBI MEMORY SETTING, 21 NEW JOB, 14, 18
JBI MODE MEMORY SIZE..., 13 NEW VELOCITY, 20
JOB DELETE, 19 NEW..., 11
JOB FILE LISTING, 17, 19 NOP, 27
JOB NAME, 17 NOT, 26
JOB OPEN, 17
JOB SAVE, 18 O
JOB TYPE, 17, 22 OPEN..., 11, 14
JUMP, 27 [OPEN FILES], 14
OPENING A JOB, 32
L OPERATION SAFETY, 7
LABEL, 27 OPTION, 18
LANGUAGE LEVEL, 12 OPTIONAL (PARAMETER) COMMANDS, 27
LASER CUTTING, 30 OPTIONS MENU, 13
LASEROF, 30 OR, 26
LASERON, 30 OTHER, 26
LINE NUMBER SEARCH, 19 OUTPUT DIRECTORY, 18
LOAD CMOS/JBI..., 11
LOADJ, 27 P
LOADV, 28 PAINTAJ, 30
PAINTING, 30
M PAINTOF, 30
MAINTENANCE SAFETY, 8 PAINTON, 30
MASTER, 20 PAINTST, 30
MATERIAL HANDLING, 30 PASTE BACKWARDS, 12, 15
MECHANICAL SAFETY DEVICES, 5 PASTE, 12, 15
MENUS, 11 PAUSE, 27
MFRAME, 26 POSITION DISPLAY, 23
MODE MENU, 12 POSITION VARIABLE DISPLAY, 13
MODIFY BATCH, 20 PRECV, 28
MODIFY JOB NAME, 18 PRINT, 11, 15
MODIFY MOVE TYPE, 21 PRIOR, 27
MODIFY VELOCITY, 20 PROGRAMMING SAFETY, 6
MODIFY..., 12 PSEND, 28
MODIFYING A STEP, 33 PSTART, 28

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 INDEX
P - continued STATUS BAR, 13, 16
PULSE, 26 STEP NUMBER SEARCH, 19
PWAIT, 28 STROKE, 29
STRWAIT, 29
R SUB HEADER DISPLAY..., 13
READ ONLY, 22 SUB, 26
REFERENCE TO OTHER DOCUMENTATION, 2 SUBHEADER, 22
REFP, 25 SUBSET, 12
RENAME, 11, 14 SWAIT, 28
REPLACE, 12 SWVOF, 28
RET, 27 SWVON, 28
ROBOT POSITION VARIABLE, 23 SYEND, 30
ROBOT VARIABLE, 13, 15 SYMOVC, 30
SYMOVJ, 30
SYMOVL, 30
S
SYSTART, 30
SAFETY, 3
SYSTEM CONFIGURATION, 13, 24
SAME, 27
SYSTEM REQUIREMENTS, 1
SAVE, 11, 14, 18
SAVEJ, 28
SAVEV, 28 T
SAVING A JOB, 33 TCPOF, 28
SCALIB ..., 28 TCPON, 28
SEARCH DOWN, 19 TILE HORIZONTALLY, 14
SEARCH KEY, 19 TIME, 22
SEARCH UP, 19 TIMER, 27
SEARCH, 19 TOOL BAR, 13, 14
SELECT ALL, 17 TOOL NUMBER, 23
SENSCH ..., 28 TSYNC, 28
SENSOF ..., 28
SENSON ..., 28 U
SET, 26 UNSELECT, 18
SETE, 26 USING JOBS CREATED IN MRC EDITOR, 34
SFTOF, 26
SFTON, 26 V
SHIFT, 26 VARIABLE NUMBER, 23
SIN, 26 VELOCITY TYPE, 20
SLAVE, 20 VELOCITY, 12, 15
SMOVC, 28 VIEW MENU, 13
SMOVL, 28 VWELD, 29
SOURCE JOB, 18
SPECIFY NO., 23 W
SPEED, 25 WAIT, 26
SPOT WELDING, 29 WINDOW MENU, 14
SPOT, 29 WINDOWS 3.1®, 10
SQRT, 26 WINDOWS 95®, 9
SREFP, 28 WVOF, 29
SSFTOF, 28 WVON, 29
SSFTON, 28
STANDARD COMMANDS, 25 X
STANDARD CONVENTIONS, 4 XOR, 26
STANDARD, 12, 21
STATION POSITION VARIABLE, 24
STATION VARIABLE, 13, 15

MRC Editor User’s Manual MOTOMAN