Panasonic industrial robot

Robot operation training

Basic Operation for GⅢ Controller

Model：ＴＡ／ＴＢ series

Panasonic Welding Systems Co.,Ltd

FA Technicalcenter
2012/10
 － Introduction －

Robot operation is not as difficult as you think.

Practice robot operation and check this manual again and again to better
understand robot operate process. After practices you can operate robot
smoothly without this manual.

After attending this basic operation training , you will be able to start robot
teaching, and you can make programs for your products .

In advance operation and safety training, you can understand the content of the
program. And you will learn the knowledge related to safety for the robotic
operation.

1
 － Table of contents －
Chapter 1 Structure ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ４
Chapter 2 How to use the teach pendant ・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ５
2-1 Functions
2-2 Screen
Chapter 3 Power-on procedure of robot ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ６
3-1 User ID settings ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ６
3-2 User management settings ・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ７
Chapter 4 Manual Operation ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ８
4-1 Procedure of operation
4-2 Operation method ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ９
①Method of movement with jog dial
②Method of movement with [＋][ー] key.
③Method to move by pitch operation
4-3 Jog settings ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ１０

Chapter 5 Teaching operation ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ１１

5-1 Before the operation
5-1-1 Information taught at teaching-point
5-1-2 Setting of Air-cut・Weld point
5-2 How to access to the Teach mode ・・・・・・・・・・・・・・・・・・・・ Ｐ１２
5-3 Confirmation screen during teaching ・・・・・・・・・・・・・・・・・・・・ Ｐ１３
5-4 Icon used while teaching ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ１４
5-5 Exiting from teaching mode (File save) ・・・・・・・・・・・・・・・ Ｐ１５
＜NOTE＞
5-5-1 Teaching and robot motion ・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ１６
5-5-2 Teaching detailed data setting ・・・・・・・・・・・・・・・・・・・・ Ｐ１７
1) Setting of basic data for teaching mode
2) Teach Advanced setting

Chapter 6 Trace operation ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ１８

6-1 Before the operation
6-1-1 Things you can do with Trace operation
6-1-2 Icon used by operation
6-1-3 Motion pattern of trace movement
6-2 Operation method ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ１９
6-2-1 When continuing teaching
6-2-2 When starting from selecting file ・・・・・・・・・・・・・・・・・ Ｐ２０
6-3 Operation method ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ２１
6-3-1 Adding teaching points
6-3-2 Changing position of a teaching point ・・・・・・・・・・・・ Ｐ２２
6-3-3 Change of speed and interpolation mode at teaching-p
6-3-4 Delete point
6-4 How to end operation ・・・・・・・・・・・・・・・・ ・・・・・・・・・・・・・・ Ｐ２３
2
Chapter 7 Teaching of circular movement ・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ２４
7-1 Circular interpolation
7-2 Incorrect teaching
7-3 Circular arc split-off point ・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ２５
Chapter 8 Teaching of weaving ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ２６
8-1 Procedure
8-2 Method of weaving condition ・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ２７
8-2-1 Rule of weaving condition input

8-3 Weaving trace motion pattern ・・・・・・・・・・・・・・・・・・・・・ Ｐ２８

8-4 Timer function at the weaving teach points

Chapter 9 Editing ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ２９

9-1 Operation method
9-2 Setting of weld condition ・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ３０
9-3 Weld navigation
9-4 Addition of command ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ３１
9-4-1 Using timer
9-4-2 Example（Repeating process）
9-5 Edit position data using MDI ・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ３２
9-6 Renumbering of teaching points ・・・・・・・・・・・・・・・・・・・・ Ｐ３３
9-7 Replace
9-8 File sort ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ３４
Chapter 10 Standard settings ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・
Ｐ３５
Program start method settings
①Manual start method
②Auto start method

＜ NOTE ＞ １． Wire inching / Gas check ・・・・・・・・・・・・・・・・・・・・・・・ Ｐ３６

２． Limit conditions of operation
３． Hold and Restart
４． Emergency stop and restart

Chapter 11 Robot Operation method ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ Ｐ３７

3
Chapter 1 Structure

Parts identification

(Note)
Operation box is standard specification
for specified models only, otherwise
optional.

4
Chapter 2 How to use the teach pendant

ＮＯ． Name

① Start switch
2-1 Functions
① ② ③ ④ ② Hold switch
③ Servo-ON switch

⑤ ④ Emergency stop switch

⑤ Jog dial
⑥ ⑥ + / - key

⑫ ⑦ ⑦ Enter key
⑧ Window change key
⑪ ⑧
⑨ Cancel key
⑨ ⑩ User function keys
⑪ Mode select switch
⑩
⑫ Function keys

⑬
ＮＯ． Name

⑮ ⑭ ⑬ R-Shift key
⑭ L-Shift key
⑮
Deadman switch
⑮
（3 positions）

2-2 Screen

Menu Icons

Main Window

Sub Window

5
Chapter 3 Power-on procedure of robot

１．Turn main input power on.

２．Turn peripheral equipment power on.
３．Turn robot controller power on.
４．Input user ID and the password.
５．Start-up completion（initial screen is displayed. ）

reference

3-1 User ID settings

You must login as “robot” to perform teaching operation or editing (changing) robot settings.
Factory default setting will automatically log in as “robot”.
Refer to the following procedure and log in with User ID “robot”.
1) Procedure
(1) Click Login.
(2) Type “robot” in the “User ID” entry field.
Or you can click Browse button to select “robot” from the list of user IDs.
(3) Type “0000” (four zeros) in “Password” entry field.
(4) Click OK to change the user level, the level you can perform teaching operation
or setting/editing robot settings.
Attention
Password “0000” is the factory default. Change password if needed. (You cannot delete “robot”.)
For details of user ID including registry and editing, please refer to section ”13.3 User management settings” on page “126”.

Click>> > User ID > LOGIN

Set Advanced
settings
6
3-2 User management settings

Click>> > > User management

Set Management
settings

■User management function is designed to administer robot users individually.

■By establishing user levels, you can stratify the robot settings and protection
of the existing programs, and administer them.

User level Description Operation range

Operator Robot operators Robot operation
Persons in charge Robot operation
Programmer
of teaching Teaching
Robot operation
Robot system
System Teaching
administrators
Robot settings

Ｍｅｍｏ

7
Chapter 4 Manual Operation
4-1 Procedure of operation
① Grab deadman switch
Servo OFF Servo ON
Not being held
<Power is not
[OFF] supplied>
Servo ON
Being held slightly
<Power is
[First-step ON] supplied>
Servo ON switch blinks
Servo OFF when deadman switch
Being held firmly
<Power is not is gripped.
[Second-step ON] supplied>

② Turn servo power supply on Robot motion icon

③ Turn robot operation icon on
④ Select coordinate system
ＯＦＦ ＯＮ

R-shift ＋
The switch is possible.
Joint Cartesian Tool

Switch Switch Switch

⑤ Operation coordinate system selection

Pivot
movement at Tool standard Tool standard
Cartesian Tool pivot
the fixed torch movement movement
front-end

L-shift The robotic movement and the external axis operation can be switched.
＊When external axis is used
8
 4-2 Operation method
【There are three kinds of operation methods.】
①Using jog dial
push jog dial in and turn

Robot moves (+) side

when turning forward.
Select ＋ Robot moves (-) side
coordinate system when turning backward

＊Operation speed changes in seven steps by the amount of the rotation of the jog dial. （MAX 15m/min)

②Using [＋][ー] key.

push [＋][ー] keys while pushing the operation function key.

Select ＋
coordinate system
Operation standard speed (initial setting)
[High] 30m/min *
＊Movement speed corresponds to the [High][Mid][Low] selection. [Mid] 10m/min
[Low] 3m/min
＊The value at the speed can be changed. *MAX15m/min according to the limitation.

③Using pitch operation

rotate jog dial by every pitch

Select
coordinate system
＋
Standard pitch distance (initial setting)
[High] 1.00mm
[Mid] 0.50mm
＊Pitch distance can be set between 0.01～9.99mm.
[Low] 0.20mm
＊It is possible to change within
＊When the operating coordinate system is rotation,
the range of regulations.
angle is used for unit of movement.

①②
The robot moves continuously.

③
The robot moves quantitatively.

9
4-3 Jog settings

Click>> > > Jog

set Standard
settings

“Jog” is a type of operation to move the robot a little at a time.

The “Jog settings” is to set the robot travel distance corresponding to the jog
dial increment.

[Cartesian] Specifies the robot travel distance in cartesian movement per one
click of a Jog dial.

[Rotational] Specifies the rotational angle of the robot per one click
of a Jog dial.

10
Chapter 5 Teaching operation

5-1 Before the operation

About the Teaching-points

5-1-1 Information taught at teaching-points

①Positional coordinates
②Movement speed（Speed coming to the taught point）
③interpolation mode（Operation coming to the taught point）
④Sequence
・Welded condition
・Crater condition
・Weld start/end sequence
・I/O signal

5-1-2 Setting of Air-cut・Weld point

① Air-cut point ○（Blue）

・Non-welding point
・End point of welding
② Weld point ●（Red）
・Beginning point of welding
・Midway point of welding Air-cut Weld

When the welding point is registered, the arc-start-sequence is

automatically added.

Ｐ１ Ｐ５

Air-cut Air-cut
Ｐ３

Ｐ２
Weld Ｐ４

Weld Air-cut

11
5-2 How to access Teach mode (New program creation)
①Switch the mode select switch to the Teach side.
②Open File menu.
③Open New menu.

Click>> ＞
File New

mode select switch

④Enter new file name (Max 28 characters)

□When the name given automatically is acceptable, press [OK]
□When changing file number
• Position the pointer to the file name and select
• Select number input (1,2,3)
• Move the cursor to Browse.
• Clear the numbers.
• Enter a desired number (program No.)
• Store new file name.
⑤Move the robot to a desired position.
⑥Save the taught point
If you want to change the travel method of the teaching point:
Press R-Shift key. Then function icons are changed to those for travel
method. With the function icons, change the travel method as you like.
As you change the travel method of the teaching point, the display at the
icon changes. Then press ENTER key to register.

R-Shift key
ＯＮ

12
5-3 Confirmation screen during teaching

① Move robot to target position

② Push [R-Shift]＋[Enter] key
③ Confirmation screen is displayed.

Specifies an interpolation from a previous teaching point to the

interpolation
current teaching point (teaching point to be registered).

Select “Weld” if the current teaching point to the next teaching point
Air-cut／Weld
is welding section. Otherwise, select “Air-cut”.

Position name Specifies a position variable of the current teaching point.

Specifies a robot travel speed from the previous teaching point to the
Manual speed
current teaching point.

Normally set “0”. In case of a special calculation, set 1, 2, 3 or 4.

CL(Wrist calculation)
(This field is not available if the teaching point is “MOVEP”)

Normally set “Default”. If you want to change smooth level for each
move command, selectable from 0 to 10.
Smooth level The default settings is “6” (standard smooth level).
For details of smooth level, refer to section”10.9 Smooth level” on
page 103.

13
5-4 Icon used while teaching

Coordinate system

Joint Cartesian Tool

interpolation

PTP Linear Circular Linear Circular

weaving weaving

Air-cut / Weld

Air-cut Weld

Manual Speed

Low Mid High

Add・Change・Delete

Add Change Delete

14
5-5 Exiting from teaching mode (File save)

① Press window change key

② Open [File] menu
③ Select [save] icon
④ Returns to initial screen after file save completed

[Close]
・Saves and closes current file

[Save]
・Overwrites current file.

[Save as]
・Save active file with new name

ー Note ー
Matching the cursor to [ NO ] and pushing enter-key, is considered as [ YES ].
So when you want to make a choice [ NO ] , you should click [ NO ].

Enter Key ＝ [OK]

15
 reference

5-5-1 Teaching and robot motion

①During Air-cut （Robot moves at taught speed）

Ｐ８ Ｐ９

Step Sequence Description

Linear movement toward P8-point at a
Ｐ８ ●MOVEL P8 30m/min
speed of 30 m/min
Linear movement toward P9-point at a
Ｐ９ ● MOVEL P9 10m/min
speed of 10 m/min

②When saving welding data（Robot moves at welding speed）

Ｐ８ Ｐ９

Step Sequence Description

●MOVEL P8 30m/min
Linear movement from P8-point to P9-point
Ｐ８ ●ARC-SET AMP=170
Welding conditions: 170A, 22V, at a speed of
Weld Start VOLT=22.0 S=0.60
60cm/min
●ARC-ON ArcStart1.prg Weld ON

Step Sequence Description

When tracing toward P9-point, movement
at a speed of 10 m/min.
● MOVEL P9 10m/min
When carrying out welding operation,
movement at a speed of ARC-SET.
Ｐ９
Weld End At P9-point, a crater welding is executed
●CRATER AMP=100
for 0.2 sec. under welding conditions of
VOLT=19.0 T=0.20
100A, 19V.
●ARC-OFF ArcEnd1.prg Weld OFF

16
5-5-2 Teaching detailed data setting
１）Setting of basic data for teaching mode
①Open [More] menu.
②Open [Teach setting]. Click>> ＞
③Data check/correction More Teach
settings

＊The initial data in teaching mode is automatically entered.

２）Teach Advanced setting Click>> ＞

①Open [More] menu.
②Open [Teach Advanced setting] More Teach
Advanced
settings

17
Chapter 6 Trace operation
Trace is used to check the actual position or conditions of taught points which have
been saved.
With this operation, it is also possible to change teaching point data.

6-1 Before the operation

6-1-1 Things you can do with Trace operation
①Adding teaching points
②Changing position of a teaching point
③Deleting teaching points
④Changing air-cut/weld
⑤Changing speed
⑥Changing interpolation
⑦Changing welded condition
⑧Changing sequence

6-1-2 Icon used by operation

Add Addition of teaching point and sequence

Change of teaching point (position/speed/

Change
weld) and sequence

Delete Deletion of teaching point and sequence

6-1-3 Motion pattern of trace movement

Fn Key Each step

＜Forward＞
Hold down the + or +
Jog dial and rotate

＜Backward＞
Hold down the + or -
Jog dial and rotate

＜Trace on/off＞
Green lamp Lit：trace ON
Goes out： trace OFF

18
6-2 Operation method
6-2-1 When continuing teaching
① Turn [Robot motion] icon OFF
② Move cursor to a desired position.
③ Turn [Robot motion] icon ON ＜Robot motion icon＞
④ Turn [Trace] icon ON
⑤ Trace operation
・Trace forward （moving to the next point.）
・Trace backward （moving to cursor position） ＜Trace icon＞

Position of cursor

Attention!
Move the robot to a safe position manually beforehand when jumping to a point out of
sequence.
（Robot may collide if there is an obstacle in between.）

■Robot position and icons

You can identify the robot tool center point (tip of the welding wire), whether it is
on a teaching point, or path in between by the icon image

Icon for
robot tool position

19
6-2-2 When starting from selecting file
① Change mode select switch to Teach side
② Select [Open] on [File] menu
③ Select from [Program] or [Recently used program]
④ Select file name, then push [OK] or [Enter] key
⑤ Repeat ③～⑤ of the previous page

[File]

[Open] [Program]

[Recently used program]

X mark displayed when file is protected.

■Changing displayed file

Opening multiple program will block the view of pre-opened programs.

Selecting Window icon will enable display change.
Click>> ＞
View Window
20
6-3 Operation method
6-3-1 Adding teaching points
(1) Bring the edit window to an active state using Window change key.
(2) Make sure the edit type icon on the menu bar is set to (Add).
Press Enter key. Then a new teaching point is added to the
line below where the cursor is positioned.

＜Point to be checked when adding＞

Specify interpolation,Air-cut/Weld,Speed.

6-3-2 Changing position of a teaching point

(1) Bring the edit window to an active state using Window change key.
(2) Move the robot to the position you want the teaching position to be.
(3) Make sure the edit type icon on the menu bar is set to (Change).
Press Enter key. Confirmation message is displayed.
Click Yes to change the position data of the teaching point.

＜Weld section shift＞

When the arc start point is shifted, all taught points in the weld section
are automatically shifted by the same amount.

[Valid/Invalid]
Specifies whether to use (Valid) this function or not (Invalidate).

21
6-3-3 Change of speed and interpolation mode at teaching point
①Trace robot to the desired teaching point
②Press the [Enter] key to save the teaching point.

6-3-4 Delete point

(1) Make sure the edit type icon on the menu bar is set to (Delete).
Then press the Enter key. Then the confirmation message is displayed.
(2) Click Yes to delete the teaching point.

22
6-4 How to end operation
① Change window.
② Open [File] menu.
③ Select [save] or [Save as] key
④ Select [Close]

・Overwrite the current file.

Save

・Save active file with new name.

Save as

・Close the file currently displayed on top.

Close

23
Chapter 7 Teaching of circular movement

7-1 Circular interpolation

①Circular
（three points or more required）

②Circle
（four points or more required）
MOVEL MOVEL
MOVEC

MOVEC MOVEC
7-2 Incorrect teaching
①When circular end point is taught incorrectly (incorrect tracing)

MOVEC

MOVEL MOVEC MOVEC MOVEC MOVEL

②When circular teaching points are too close to each other

Small change in
(small position change can make big difference in trajectory) position
MOVEC

Big change in robot

trajectory

24
7-3 Circular arc split-off point
To create a path of two separate circular arcs in series (as per the right figure),
register the circular end point of the first circular arc as the circular arc split-off
point.

<How to register the circular arc split-off point>

(a) To register the split-off point in edit mode after registering the circular arcs.
• Open the file you want to work on.
• Move the cursor to the circular end point of the first circular, and then click OK.
Then the MOVEC command setting dialog box is displayed.
• Mark the check-box of the “Circular arc split-off” and then click OK.
(b) To register circular arc split-off point at the same time as registering the circular
end points.
• Press the R-Shift key to register the circular end point. On the setting dialog box,
click the interpolation type.
• If the interpolation type is “MOVEC”, the “Circular arc split-off point” check-box is
editable. Mark the check-box and register the teach point.

25
Chapter 8 Teaching of weaving
To execute weaving operation, teach a weaving start point (MOVELW), two amplitude
points (WEAVEP) and weaving end point (MOVELW).
8-1 Procedure 「Liner weaving」

①Teach “Weaving start point”

②Confirming registration of amplitude points

(a) The message “To save the next teaching point, click [Yes].
To quit setting an amplitude point, click [No].” is displayed.
(b) Click Yes, then the interpolation of the next two points (depending
on the applied weaving pattern, the next four points) are
automatically registered as “WEAVEP”.

③Teach “Amplitude point1”

④Confirming registration of amplitude points

(a) The message “To save the next teaching point, click [Yes].
To quit setting an amplitude point, click [No].” is displayed.
(b) Click Yes.
⑤Teach “Amplitude point2”

⑥Teach “Weaving end point”

<Supplementary explanation>
If the weaving pattern 4 or 5 is applied, register two more amplitude points
(amplitude points 3 and 4) in the same manner.

26
8-2 Method of weaving condition
It is necessary to set the condition based on the following rule to do weaving.

8-2-1 Rule of weaving condition input

①At start point weaving pattern is determined.（Refer to the following）
②At oscillating points weaving width/timer is determined.
③At endpoint frequency is determined.

■Weaving patterns

27
8-3 Weaving trace motion pattern
①Forward
Forward trace while performing weaving
WEAVEP
1
MOVELW MOVELW
S E + or +
WEAVEP
2

②Backward
Moves E → ② →① →S in order without weaving

1 WEAVEP
MOVELW MOVELW
S E + or -
WEAVEP
2

＊It is also possible to change the width of amplitude points by typing in

numerical values in the editing screen.

8-4 Timer function at the weaving amplitude points

T1 T1 T1 Oscillating point timer T1 setting

1

S E

2
T2 T2 Oscillating point timer T2 setting

＊During stop timer period, robot still moves toward the main trace direction
with command speed

28
Chapter 9 Editing
9-1 Operation method
①Turn mode select switch to Teach side.
②Select [Open] on the [File] menu
③Select [Program] or [Recently used program]
④Press [OK] or [Enter] key.

⑤Turn off the (Robot motion) icon lamp, to enable editing.

Robot motion icon [OFF]

（Edit mode）

29
9-2 Setting of weld condition
①Move cursor to（ARC-SET）.
②Click or press [Enter] key
③Change weld conditions.

The “STD” button is available in both

“Unification/Individual” settings
(Arc welding machine settings)
Click to change back to unitary voltage

Navigation-Key
9-3 Weld navigation
While displaying the ARC-SET command setting dialog
box, press the user function key for “Weld Navigation”.

Specify the joint shape and thickness of the plate, then the recommended
leg length, torch angle and the aiming position are displayed.
If the leg length and weld speed is changed, the recommended welding
conditions (welding current, voltage and speed) are recalculated.

Click OK to display the confirmation message box.

Then select Yes to register the recommended welding conditions
in to the ARC-SET command.
30
9-4 Addition of command
9-4-1 Using timer
①Select [Command addition] from file menu
②Select [Flow control]
③Select [DELAY]
④Input value

Click>> ＞

Command Flow
addition contro

9-4-2 Example（Repeating process）

＜Example of using DELAY・LABEL・PAUSE・JUMP ＞

<-> Begin of Program

TOOL = 1:TOOL01
[ ] :LABL0001 LABEL
(+) MOVEP P1 10.00m/min
(+) MOVEP P2 10.00m/min
(*) MOVEL P3 10.00m/min
ARC-SET AMP=166 VOLT=16.0 S=1.00
ARC-ON ArcStart1.prg RETRY=0
DELAY 0.20 s DELAY
(+) MOVEL P4 10.00m/min
CRATER AMP=100 VOLT=16.2 T=0.00
ARC-OFF ArcEnd1.prg RELEASE=0
(+) MOVEP P5 10.00m/min
(+) MOVEP P1 10.00m/min
PAUSE PAUSE
JUMP LABL0001
<-> End of Program JUMP to
LABL0001

31
9-5 Edit position data using MDI
（Editing position information can also be done using numeral value）
①Move the cursor to the teaching point you want to edit, and click.
②Click “Position name”.
③Input new coordinate value and push [OK].

Match the cursor to the line to

be edited , and click.

EG）Changing point 0.5 mm forward.

Change X axis value +0.5mm

[Ｘ＝＋1103.79] ＋ [+0.5] = [Ｘ＝＋1104.29]

Change the X value to [Ｘ＝ 1104.29]

NOTE Coordinate value has both positive and negative value.

Be carful not to make a mistake between + and -.

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9-6 Renumbering of teaching points

Rearrangement of teaching points in numeral order

①Select [Edit]
②Select [Add.function] ＞
③Select [Re-number the teach point] Click>>
Edit Add
function

9-7 Replace

This function will replace all selected data at once.

①Open [ Edit ] menu.
②Select [Replace]. Click>> ＞
③Select section to replace data.
④Select a data type you want to replace. Edit Replace

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⑤Set parameters of movement speed ・welding condition . And Click [Execute].

[Replacing movement speed] [Replacing welding condition]

[Type] Data input method
Add: Increasing or decreasing value from current data.
Replace all: Entirely Replaced with specified data except blank.

⑥After completion of replacement, a dialog box appears indicating

the number of commands replaced.

9-8 File sort

List of files displayed on the screen during file open operation
can be sorted in the following orders.

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Chapter 10 Standard settings
Program start method settings

The terminal to start the robot with the external signal is allocated in the general-
purpose I/O terminal, and the start method is set.

• There are two types of start methods; ‘Manual’ and ‘Auto’. In Auto-start method,
there are two different selection methods; ‘Program select method’ and ‘Master
method’.

• Auto start method does not use the Start button on the teach pendant. It uses start
input signal from an external device.

Start Select Description

method method
Manual Use the Start button on the teach pendant to operate a program.

Auto Use an external signal input to operate a program.

Master Start the specified program when the start signal is received from an external
device.
Program Signal It is possible to start programs whose program numbers are 1, 2,
4, 8, 16, 32, 64,128,256 and 512.
select
Binary It is possible to start a program whose program number is equal
to the sum of the numbers you specified. It is possible to start
programs of program numbers from 1 to 1023.

BCD A set of four terminals is used to specify each digit of the

program number you want to start. It is possible to start
programs of program numbers from 1 to 399.

０ ０ １
▲ ▲ ▲
Strobe Start EMG stop
▼ ▼ ▼

＜Teaching pendant＞ ＜External start BOX＞

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 reference

１．Wire inching / Gas check

Function icons Functions

While holding down the corresponding function key, wire feeds forward.
Wire feed
The wire is fed at low speed for the initial three seconds, and then
forward switched to highspeed.

Wire feed While holding down the corresponding function key, wire feeds backward.
The wire is fed at low speed for the initial three seconds, and then
backward switched to high speed.
While the green lamp is on, the gas valve is open.
Each time you press the corresponding function key, the gas ON/OFF state
Gas check is switched. (If the “gas check” is kept in the ON state, it is automatically
turned off after one minute.)

２．Limit conditions of operation

You can run the specified program with limitation(s),
such as deactivating some function(s) or limiting robot
travel speed.
In operation mode selection, select "limitation".
■Settings
[Speed] Gives priority to the speed specified in this box
over the maximum speed set in teaching operation.
[I/O lock] Deactivates I/O related sequence commands.
[Arc lock] Deactivates welding related commands.

３．Hold and Restart

If the Hold switch is pushed while you are running in auto mode, robot will stop with
keeping the servo power ON.
Pushing the start switch will restart the program.

４．Emergency stop and restart

Press the Emergency stop switch to stop the robot and external axis operation
immediately by shutting off the servo power.
After removing the cause of the emergency stop , Turn the switch clockwise to
release. Push servo ON and the start switch to restart.
Start Hold
Emergency stop

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Chapter １１ Robot Operation method

１．Turn on the power SW of robot P６

２．Open [ file ] menu P１２

３．Open [ New ] from file menu

４．Enter new file name

５．Start teaching operation P１２～１３

６．Complete teaching operation

７．Trace program [ Trace ] P１８

①Add teaching point

②Change teaching point
③Delete teaching point

８．Complete program trace

９．Edit program P２９

１０．Complete program edit

１１．Start Program（Auto mode） P３５

①Manual start method

②Auto start method

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