Joint Robot - Basic Operation and Program Manual REV

JointManipulator- SoftwareOperationManual
Error!UsetheStarttabtoapplytitle1tothe words youwanttodisplayhere.
MechanicalArmSeries
JointRobot-BasicOperationandProgramManual
2018/12 Ver：V09.00
Leading NumericalController
Advantech LNCTechnologyCo.,Ltd. 1
1. Content
1. Content.....................................................................................................................................2
2. Instructions of handheldboxandscreen configuration ..............................................................6
2.1. Shape of handheld box .............................................................................................6
2.2. Instructions forscreenconfiguration .........................................................................7
2.3. TitleBar ....................................................................................................................8
2.4. Rightquick-operating area ........................................................................................9
2.5. Leftfunction menu..................................................................................................10
3. Common pages ...................................................................................................................... 11
3.1. Startup .................................................................................................................... 11
3.2. Permissions ............................................................................................................12
3.3. Coordinates ............................................................................................................13
3.3.1. Coordinatesystemandsettings .........................................................................13
3.3.2. Currentcoordinates display ............................................................................14
3.3.3. Operationfor motions .....................................................................................15
3.4. IO ......................................................................................................................................16
3.5. Alarmwarningpage.................................................................................................17
4. Introduction to basic concepts................................................................................................18
4.1. Introduction to spacecoordinates(positionandattitude)...........................................18
4.2. Various coordinates and their relevance ................................................................20
4.3. Fast moving ...........................................................................................................21
4.4. Path motions ..........................................................................................................21
5. Maintenanceand teachingmode..............................................................................................24
5.1. Buttonnames ..........................................................................................................24
5.2. Mode description ...................................................................................................24
5.3. Differencesbetweenhandwheel and non-handwheel modes...................................25
5.4. Coordinatesystem selection duringmotions ...........................................................26
5.5. Direction rotation in teachingmode .......................................................................27
6. Tools ..................................................................................................................................................28
7. Point record ............................................................................................................................30
8. Securitypoint ..........................................................................................................................31
9. Coordinatesystem...................................................................................................................32
10. Introduction to operationinterface of program page ..............................................................34
10.1. Teaching mode .......................................................................................................34
10.1.1. Blockoperation ...............................................................................................34
10.1.2. Recording .......................................................................................................35
10.1.3. Basicinstructions ............................................................................................36
10.1.4. Extendedinstruction .......................................................................................36

10.1.5. Editingcolumns ..............................................................................................36
10.2. Automatic mode ..................................................................................................38
10.3. Process of editingand runningthe program ............................................................38
10.3.1. Creatingor openingafile .................................................................................38
10.3.2. "Record" continuoustrackandIO motion ........................................................39
10.3.3. "Step","Forward","Back"function confirmationand correction track ............39
10.3.4. Handwheel run test ........................................................................................39
10.3.5. Operationobservation of"Repeat" ..................................................................40
11. Introduction to programpage instructions ..............................................................................41
11.1. Basicinstructions ....................................................................................................41
11.1.1. Process Control ..............................................................................................41
11.1.2. Waitingtype ....................................................................................................43
11.1.3. Status setting ..................................................................................................44
11.1.4. Motion command ...........................................................................................45
11.1.5. Function modulecalling .................................................................................48
11.2. Extendedinstructions ..............................................................................................50
12. Usecoordinate system to simplifyprogrammingand maintenance .........................................60
12.1. SettingXYZABC directly ......................................................................................60
12.2. WorldRecordXYZ ..................................................................................................60
12.3. WorldrecordXYZABC ...........................................................................................60
12.4. Coordinatesystem record .......................................................................................61
12.5. Current position andattitude...................................................................................61
12.6. Dynamic position andattitude ................................................................................61
12.7. Joint record ............................................................................................................62
12.8. Settingthe joint coordinates directly ......................................................................62
12.9. Re-offsetdirect setting ............................................................................................62
12.10. Re-offsetdynamic setting .......................................................................................62
13. List .........................................................................................................................................63
13.1. Put the program into thelist....................................................................................63
13.2. Select to execute ....................................................................................................64
13.3. Appoint to execute .................................................................................................64
14. Composition of ProgramModularization ...............................................................................66
14.1. Callingprogramfiles ...............................................................................................66
14.2. CallingO files .........................................................................................................67
14.3. CallingG files .........................................................................................................69
15. NC Editing .............................................................................................................................71
15.1. Types of files..........................................................................................................71
15.2. Viewingand editingmethods ..................................................................................72

16. NC execution .........................................................................................................................73
16.1. Runnablefiles .........................................................................................................74
16.2. Viewingmode .........................................................................................................74
17. Description of use ofsystem G code ......................................................................................76
17.1. Fast moving (G0,G1T2),direct moveing(G1T4) ....................................................76
17.2. Pathmovement(G1, G1T5).....................................................................................77
17.2.1. Linear (S0) .....................................................................................................78
17.2.2. ArcTransition (S1) .........................................................................................78
17.2.3. Arc midpoint (S2) ..........................................................................................79
17.2.4. Arc Center (S3) ..............................................................................................79
17.2.5. Arc End Point (S4).........................................................................................79
17.3. Clockwisearcandcounterclockwise arc (G2, G3) ...................................................79
17.4. Wait(G4) ................................................................................................................80
17.5. Switch tool parameters (G5) ..................................................................................80
17.6. Switch coordinate inversion mode (G6) ................................................................81
17.7. Set the pathprocess(G7) .........................................................................................81
17.8. Wait forarrival ofinterrupt counting(G8) ...............................................................82
17.9. Waitcorrectarrival (G9) ..........................................................................................82
17.10. Joint RecordMovement(G10) ................................................................................82
17.11. Worldrecordmovement(G11) .................................................................................... 83
17.12. Setwhetherthe command of theaxis output (G13)..................................................83
17.13. Get the world coordinates (G17,G1T17)of thefinal position .................................83
17.14. Get the workcoordinate(G18,G1T18) of the finalposition .....................................84
17.15. Get thejoint coordinates(G19,G1T19)of thefinal position .....................................84
17.16. Wait forPoint I(G20) ..............................................................................................84
17.17. Wait forR value(G21) ............................................................................................85
17.18. SetO(G22) ..............................................................................................................85
17.19. SetR(G23) ..............................................................................................................86
17.20. SensingpointIstop (Rbit comparison) (G31) ..........................................................86
17.21. Sensingtorquestop (R value comparison)(G32) .....................................................87
17.22. Coordinatesystemre-offset(G52) ............................................................................88
17.23. Set the workcoordinate system(G54) .....................................................................90
17.23.1. Theoffset of position and attitude specified directlybyO0 (preset)................90
17.23.2. O1 uses position XYZinthe worldrecord .......................................................90
17.23.3. O2 uses position and attitude XYZABC in worldrecords..............................90
17.23.4. O3 usescoordinate system records .................................................................90
17.23.5. O4 uses the current position and attitude .......................................................90
17.23.6. O5 usesdynamic position ...............................................................................90

17.23.7. O6 uses joint records......................................................................................90
17.23.8. O7 directlyset joint coordinates .....................................................................91
17.23.9. O8 directlysetre-offset ...................................................................................91
17.23.10. O9 re-offset dynamic setting ..................................................................91
17.24. Rotatingthe coordinatesystem (G55) .....................................................................91
17.25. Coordinatedcoordinatesystem (G56) .....................................................................91
17.26. Bulkseparating axis coordinate system (G57)........................................................91
17.27. Startdynamiccompensation(G61) ...........................................................................92
17.28. Turnoffdynamic compensation (G60) ....................................................................92
17.29. Interpolation tableconversion (G69) ......................................................................92
17.30. Set theflexibilitylevel (G89) ..................................................................................92
17.31. Set the syntheticacceleration/deceleration time (G90) ...........................................93
17.32. Set the shaftspeed smoothingtime (G91) ...............................................................93
17.33. Set the shaftspeed tolerance(G92) .........................................................................93
17.34. Servelageliminatesandupdatescoordinates (G95) ..................................................93
17.35. Updatecoordinates (G96) .......................................................................................93
18. Macrosyntax...........................................................................................................................94
18.1. Variables ................................................................................................................94
18.1.1. Regionalvariables:..........................................................................................94
18.1.2. GlobalVariables: ............................................................................................94
18.2. CoreresourceIOCSARaccess .................................................................................94
18.3. Mathematicalfnctions .............................................................................................95
18.4. Program flow control .............................................................................................96
2. Instructionsofhandheld box andscreen configuration

2.1. Shapeofhandheldbox
USBinterface Handwheel Emergency
Custom
button Rate
F1F2 percentage
Screen adjustment
lockOperat StartPaus
ingmode e
Screen
switch Stop
Manualoperating coordinatesystemselection,
handwheeloperation switchingrate
multiplier(x1,x10,x100),axial key(J1~J9)
Systemreset button
User-defined button functions
Screen lockfunction, refer to thedescription of followingsections
Thelightsignal shows the currentalarmand the button reset

system(equivalent to thereset button on the screen)
Other buttons Refer to thedescription of followingsections
2.2. Instructionsforscreenconfiguration
Title Bar
PageDisplayArea
LeftFunctionMenuArea RightQuick-operatingArea
2.3. TitleBar
Displaythe system version number, the

currentloginlevel,click on this area toenterthe
permissionspage.
This area will displaythecoordinatevalues in
thiscoordinatesystem accordingto the system
mode(maintenance,automatic,teaching),and the
selected
coordinatesystem (world,
Screen lockfunction: work, tools, joints).
Clickingthreetimes in this
areacontinuouslyallows the system to enter
thescreenlockstate.It needs to enter the correctpassword to
operate.IfyouclickCancel, it will displayasmall
squareof"Forbid"in the upperrightcorner.Click it and the
passwordwindow will pop up again.
Displays theratepercentageof thesystem operatingspeedin

the current system state andautomatic mode.
Not ready：It will stayin this state until the coordinates of
anyof themotors are notconfirmed.In this

Click on the
state,theautomatic mode cannotbe used,and the
upperhalftoswitchthe start
teachingmodeoperationcanonlybethejoint coordinates.
status of servo.
Ready：When thecoordinates of each motor havebeen
confirmed, it will becomereadytocomplete.After

thebeingready, thereis a wayto enter the
"automaticmode",
because the kinematicscalculationpath of the robot

ismeaningfulafter thecoordinates of theaxes of
thesystemarecorrect.
Operating：The automatic program is running.
Pause,section stop:The system is runningbut enters

thepause statefor anyreason.
Teaching: Performingteaching.
Enter thelink between the coordinatepageand theIO
page.
Prompt whetherthe system
currentlyhasanalarmwarning.Click on the
alarmwarningarea to displaythecurrentcontent
ofalarmwarning.Click"Reset"toclearthe currentalarm
warningif theestablishment condition
forthethis
Press alarmwarninghasdisappeared.
button to switch theA870 to put the system
intoanemergencystop state.
Thesystem'semergencystop can be
triggeredbymultiplesources: handheld box,
uppersoftware,electriccabinet,
externalsignal...
2.4. Rightquick-operatingarea
Handwheelmode:switchwhether to operatewiththe handwheel
Automatic mode: adjust the percentage ofspeed

duringautomatic operation
Maintenanceand teachingmode: adjust the
speedpercentageduringmanual operation
Make the program runningin automatic modeenterthe

pausestate.
These threebuttons switchsystemmodes:

Maintenance mode: Perform operationcontrol ofa
singlemotor.Usuallyusedforthe timeof debugging.
Auto: Used to launch a program or to operatea specific
actionon eachpage.
Teaching: Move with thecoordinatesystem direction suchas
"world","work","tool" and "joint"asa reference.
2.5. Leftfunctionmenu
Thebuttons displayed onthe leftare arrangedas standard version ofthe

functionitems,whichcanedit thepage andadd the linked function buttons
accordingtothe applicationrequirements.
Each button is linked to thecorrespondingfunction page,and the description

ofeach pageis described inthe followingsections.
3. Commonpages
3.1. Startup
When the systemstarts, the “Startup”page will bedisplayedfirst,throughwhichyoucan

seethecoordinatestatus ofeachaxis.Thenumberin the “Status” columnrepresents the result of
settingthe coordinates, 23 represents the completion of settingcoordinates,and
theremainingnumbersrepresent“Unsettings","Settings"or"Settingsfailure".
Automaticallysetcoordinates:
Press this button in the automatic mode to automaticallyexecute theprogram of
settingthecoordinates.
Note1:If thecontrol modeis bus absolute, this function is unnecessary.Normally,
thecoordinatereset will be completedautomaticallyaftereachemergencystopstateis
released.Note2:Theoperation ofsettingthe coordinates will be different depending on the
useof"absolutemotor".If"absolutemotor"is used, theset coordinates will directlyread the
motor'sencoderand convert it to the coordinates in thecontroller,there will
benoactualmechanismmovement;If a "non-absolute motor"is used, therewill be an actual
mechanismmovement tofind the reference point (origin sensoror Z-phasesignal).
Back to the calibration point:

In the"teaching"mode, the mechanismmaygraduallymove toward thecoordinates ofthecalibration
point when pressed, and stop when it arrives oris released.
Accumulatedmotiontime:
This timewill accumulateas long asanymotor has an motion.
Resetmotiontime:
When pressed, theaccumulated motion time can be reset to zero.
3.2. Permissions
This system is divided into five typesof permissions:

1. Operator:end-useroperator,responsiblefor operatingthe machine.This is the
permissionpresetwhen startup.
2. Manager:Themanagement of the end-user, responsibleforthe editingandwritingof
theprogram.Pleaseask thefactorypersonnel forthefactorydefaultpassword.
3. Developer: Used bythemotion processdeveloper to write the motion process.Please ask
themachine factoryfor thedefaultpassword.
4. Machineryfactory: used bythe machineryfactorythat manufactures robots,
responsibleforrobot debugging,origincalibration, limit and authorizationsettings.Pleaseask
the machinefactoryfor thedefault password.
5. Systemlevel:usedbythepersonresponsible for systemsettings, responsible for
therobot'smechanismand motor parametersettings.Pleaseask the machine factoryfor
thedefaultpassword.
Thedefaultpermission of the systemafterstartupis theoperator.

Themethod of login permission: Click on oneof the manager,developer, and machine
factorytopop up the password input screen.After inputting correctly,you can seethe
functionsthatcanbeperformed.
Logout: Simplypress the"Logout"button.
Change password: Enterthe currentpassword,newpassword, confirm password and

press"Change".
3.3. Coordinates
This pagecontains coordinate system displayandsetting,coordinatedisplay,coordinate

motionfunction.When login with administrator or aboveand in the "teaching"mode, allfunctions
ofthis pagecan just beused.
3.3.1. Coordinatesystemand settings
Preset bar:When startup, the system will set this setvalue

to the
currentworkcoordinatesystem.Youcanenteravalue on
thecontent of the field.
Coordinatesystembar:Thevalue ofthe
workcoordinatesystem currentlyin use,whichcanbe
entered in thecontent ofthe field.
Selectpreset:re-applythe settingof the
presetcoordinatesystem to the workcoordinate system.
Selectcurrent: Set thecurrentworldcoordinatesto
thecoordinatesystemvalue.Youcanalsoclick onafieldin
the worldcoordinatestoset the value ofthefield tothe
currentcoordinate system.
Set as preset: Set the current coordinate system
valuetothe defaultcoordinate system forthe next
startup.
Origin：Move straightto the origin of the
coordinatesystem (movewhen pressed and stop

whenreleased.)
Calibration point：Tothe calibration point position
marked on the startup page(movewhen pressedandstop

whenreleased).
3.3.2. Currentcoordinates display
Display currentworldcoordinates,work
coordinates, tool coordinates
Span: Zero the current tool coordinates
tounderstand thedistanceof
themotion.
Note1: From the tool
coordinateinformation, the
relativerelationshipbetween
thecurrent point and thepoint when
the span is pressed canbeknown.
Note2:When the "tool" of
thecoordinateselection is pressed, it
is equivalentto pressingthe Span
key.
Pathrollback:system automatically
records thepath that

hasbeentraveled.This function can
be usedto reversebackaccordingto
the paththat hastraveled.In the
automaticmode, it moveswhen this
button ispressedand stops when
released.
Reset：equivalent to theresetfunction
onthe title bar
Close：Close window of coordinate page
3.3.3. Operation formotions

Coordinateselection:
Youcanselect the coordinates of"World","Work"and"Joint".
Coordinateinput:
Youcanclick the coordinatevalue field to input the valuedirectly,or
press “Select Current”to bringthe currentcoordinate valuefirst,and
then modifyit for specific items.
Move to coordinates:
Press"To"to moveto thetargetcoordinatevalue,and stop when itis
released.
3.4. IO
This pagedisplays system built-in resources alongwith user-definedresources.DI:

Digital input signal
DO: Digital output
signalAI:Analoginput
AO:Analogoutput
TCI:Temperature sensinginputR :
Register
G : G-
codeM : M-
code
Ins :Insert macro
Update:Used in thedevelopment phaseof thedeveloperto re-read the contents of definitionfiles

of the resources.
Cancel: Close this window
Note1:Thesample filesof theuser-definedresource can beobtained

fromReconTool/File/language/UserString_0000.str
3.5. Alarmwarningpage
This pageshows current and historicalalarms and warnings.
Note1:Theuser-definedalarm warningexists
inReconTool/file/language/UserAlarm_0000.str,whichcanbedownloaded andedited,and then
uploaded to overwrite the originalfile. Thealarmrange is from R29000.00to R29049.31, and the
warning rangeis from R29050.00 to R29099.31.
4. Introduction tobasicconcepts
4.1. Introductiontospacecoordinates(positionandattitude)
Thecoordinates of themanipulator generallyreferto theposition andattitude of theend

point.Refer to the figure below,which is a six-joint manipulatorwith a schematicdiagram of
anadditional tool.Thefollowingis a description of the coordinates of the LNC joint robot:Pbase
(the origin of world coordinates) is definedin the centerof thebase.Ifyou think
ofthemanipulator armas aperson, the direction oftheXYZaxis is the sameas the direction
ofourwell-known axis.Theright sideis +X, the front is+Y, andtheaboveis +Z.
Inaddition to the position in space, thePtoolalsocontains theaxis representingits attitude.Pworkis
designed to facilitateoffline programmingand toallow multiple groups of robots tosharethe same
set of machiningprograms.It alsoincludes position andattitude axes in
space.Worldcoordinatesreferto the spatial position andattitude of Ptool relative to Pbase.
Workcoordinatesreferto the spatial position andattitude of Ptool relative to Pwork.
Ptool
work
Y
Pbase
ThePbase, Ptool, Pwork,worldcoordinates,andworkcoordinatesall includeposition

andattitude.Theposition in space is ascommonlyunderstood and commonlyused (X,Y,Z), but
thespace attitude is differentanddifficult to understand.
Thespace attitude is usuallyrepresentedby(A,B, C).It hasaspecificrule,
collectivelycalledEuler'srotationtheorem,which is used to indicatethe possibilityof
variousdirections.Amoredetaileddescriptioncanbe foundbysearchingtheInternet for Euler’s
rotation theorem.Therules of Euler’srotationtheorem arenot necessarilythe samein
eachrobotsystem.
LNC'sEuler'srotationtheorem is definedasZXZ,and the universal is the right-handrule, ieAis
the angle of rotationaround the +Zaxis.
Bis the angleat which theaxis rotates(+XafterArotation).C is
the angleat which theaxis rotates
(+ZafterABrotation).Thefigurebelow is anexample:
Beforerotation Rotate45 Rotate30 Rotate30

(0, 0,0) degreesaroundZ degreesaround X degreesaroundZ
(45, 0, 0) (45, 30, 0) (45, 30, 30)
4.2. Variouscoordinatesandtheirrelevance
Thesystemcan adapt to avarietyofrobot types at the same time andusesthe
samecoordinateconcept for development,please beclear,which ishelpful forsubsequent
operations,programminganddevelopment. Some special terms are as follows:
Motorcoordinates:Theactualcoordinatevalueof themotor is independent of the coactionbetween
the mechanisms.
Joint coordinates:The coordinatevalue of themotor coordinateafter
themechanismcouplingrelationship is converted.(visualmechanism statein appearance)
Worldcoordinates:Theposition andattitude of Ptool when the centerof the manipulatorbaseis
the origin.
Forwardkinematics:An algorithm that convertsmotor coordinates to world coordinates.
Inverse kinematics:Analgorithm that convertsworldcoordinates to motor coordinates.
Mechanismcoupling
Jointcoordinates
Forwardkinematics Inverse kinematics
Mechanismtypeandsize
Worldcoordinates(points)
Workcoordinates:Converte
Worldcoordinates(points)
dfrom
worldcoordinates(points)thr
oughthe
workcoordinatesystem Workcoordinatesystem Toolcoordinate
systemResetwhen (span)
pressed
Toolcoordinates:Converted
byworldcoordinates(points)t
hroughtool coordinates
Workcoordinates Toolcoordinates(t
hevalue ofspan)
4.3. Fastmoving
Themotor ofeach axis is directlyrotated to the target position accordingtothe joint coordinatesof
thetarget point, regardless ofthe motion curve.Therearetwo typesof quick instructionapplications:
1. Thereareno obstacles between the startingandendingpoints, as long as
theycanarrivequickly.
2. Theattitude of thestartingandendingpoints spans differentquadrants, usingwhen
pathmotions cannot be achieved.
Note:This instruction can be usedwhen the3rd or 5th joint of joint coordinate of

startingandendingpoints has aspanof 0 degrees.
Thechange process of each joint is proportionallyconvertedaccordingto the difference betweenthe
current and target jointcoordinates, so that the target point can be reached most quickly, butsincethe
attitude changein the actual conversionprocess is related to the currentcoordinate, thechange
process cannot beensured.Therefore, it's necessaryto be careful when usingit.
4.4. Pathmotions
Thepath motion is a reference point for thepathcalculation ofthe Ptool.Inaddition to thespatial

position, the attitude changeshould also beconsidered.Theguidelines forprocessingpath motions
in the systemare as follows
Pathtype Position track Attitude change
(commandcomposition)
Linear Spatiallinear Accordingto thedistance
traveled,the attitude is changed
inequalproportions.
(Startingpoint– linear point)

Arc transition Three points form Half ofthearcis classifiedas the
aspatialplane firsthalfand the other half
isclassifiedasthe secondhalf.
Theradius of Thefirst half changes tothe attitude
thetransitioncirclec of thetransition point bythe
(Startingpoint– transition anbe specified on distanceratio,and the
the secondhalfalsochanges
point – linear) arctransition to the end point accordingto

(Startingpoint– point.Setting0 thedistance ratio.
transitionpoint –transition meansusingthe
point –linear) defaultvalue.If it is
largerthan
themaximumpossi
ble radius, itmeans
usingthe
Three-point arc maximum
Three radius.
points form Themidpoint of thearc can
aspatialplane specifythe waythe attitude changes.
1. Three-pointlinearity:The
Ifthe end point startingpoint, the midpoint, and
usesthe the endpoint aredivided into two
(Startingpoint– midpoint arcendpointcomman straightlines to change the
ofthe arc– linear) d,youcanadditionall attitude.
(Startingpoint– midpoint yspecifythe 2. Two-
ofthe arc–arcend point) anglethat thearcwill pointlinearity:Ignorethemidpoint's
around in total. attitude and changetheattitude
bythearclengthratio.
3. Three-pointarc:Thestartingpoint,
the midpoint, and the endpoint
aredivided into two arcs,and the
attitude is changedalongwith the
arcplane.
4. Two-
pointarc:Ignorethemidpoint'sattitu
de and changetheattitude around
the arcplanebythe length ratio of
thearc.
5. Fixedstartingpoint:
fixedlyusethe startingpoint of
the attitude,and the attitude of
midpoint andthe
endpointareignored
6. StartingpointAB:The B value
ofthe startingpoint is
fixedlyused.TheAvaluechangeswi
th theroundingangle,andA+Cis
Advantech LNCTechnologyCo.,Ltd. thefixed value. 24
7. StartingpointABC:The BCvalue
of startingpoint is
fixedlyused,Avaluechanges with
angle
Centerand arc Three points form Thecenter
aspatialplane ofthearccanspecifythewaythe
attitude changes.
Ifthe end point
usesthe Theattitude change refers to the
(Startingpoint– arccenter– arcendpointcomman items2, 4, 5, 6, and 7 ofthe three-
linear) d,youcanadditionall pointarc.
(Startingpoint– arccenter– yspecifythe
arcend point) anglethat
thearcwillaround in
total.
Note:Theattitude change has its practicalityin some processingapplications.Pleaseselect
theappropriate method accordingto actualneeds.
5. Maintenanceandteaching mode
5.1. Buttonnames
Mode selection Handwheel mode Speedpercentage Continuity
Speedmultiplier Coordinatesystemselection
Motion buttons
When the button light is on, it meansthat thebutton will workwhenpressed.Ifit

is not lit, it will notwork.
5.2. Modedescription
Maintenance mode: Rotatethe motor, it can still move when

thepreparation is not ready,and it can still run
awayfromthe limit when the axis exceeds thelimit.
Teaching mode:It operates accordingto the typeof

coordinatesrequired,andcannotenter
theteachingmodewhen itis not ready.
5.3. Differencesbetweenhandwheelandnon-handwheelmodes
Non-handwheel Handwheel mode

mode
When the motion Themachinemovesi Itrepresents theaxial direction
button is pressed mmediately ofthemotion when the handwheel is
rotated.
Directioncontrol Pressdifferent arrowkeys Thehandwheelrotates inthe forward
andreversedirections.
Speedcontrol Speedmultiplier xhandwheelrotationrate
SelectContiguous
Speedmultiplier
xspeedpercentage
Incremental Rotate gridbygrid.
control
Selectnon-contiguous
Itmoves
somedistanceifpressed for
oneclick,and thedistance is
determinedbythespeedmultip
Position lier. Press"To"to enter themotion
control(e.g."To "To"button moves state,when the handwheel rotates
"onmultiple whenpressedand stops forward, itadvances,and when
pages) whenreleased thehandwheelreverses, it retreats.
Note:Theusual usagein non-handwheel modeis to usethe method whenit is

farenoughawayfrom the target point so that the target point can beapproachedquickly; When
the target
position is approaching,usethe mode so that it can beaccuratelyadjusted to thetarget

point.
5.4. Coordinatesystemselectionduringmotions
Dependingon the selectedcoordinatesystem, thedirection ofXYZmotions is

determinedbytheselectedcoordinate system.
Joint coordinate system：Defines the decisionbased on the direction in which the

joint rotates.
5.5. Directionrotationinteachingmode
Therearethree ways to rotatethe direction in teaching.Youcan choosetheoptions thatareeasier to

understand accordingto thetypeofmechanismandpersonal habits.Theoptions areasfollows.
Directlyoperate on thecurrentcoordinateABC value ofthe selected coordinate system, which

ismoresuitablefortheendaxis of the orthogonal robot.
Rotatethe XYZaxis of the selectedcoordinate system to maintain the sameanglewith

thecoordinate axis and rotatein differentdirections.
Regardless of thecurrentlyselectedcoordinate system, it is forced to change to the direction ofthe

tool.It can be imagined that people sit in the Ptool, theeyesare facingY+direction, thejoystick is
in the hand,A+,A-isequivalent to theleft and right of the joystick,which will causethe tool to
tiltin theX direction;B+, B-is equivalent to the frontandrear of thejoystick, whichwill cause the
tool to tilt in theYdirection;C+,C- meansrotate in place.
6. Tools
Thecoordinates of therobot represent thespatialposition andattitude of Ptool at end, but thetool is
installed after therobot is out of themachine, so theremustbeparameters to specifytheposition
anddirection ofPtool, which is called the tool parameters.
Thesystem provides four sets of tool parametersettings,each set of parameterscontains
sixitems,whereoffset X, offsetY,offsetZdescribesthe relative position between the Ptool and
theflange face,angleA, angle B,andangle C describe the direction ofthe point.
Toolcalibrationsteps
1. Click the tool number0~3 to be corrected , for example 。
2. Click theitem to be correctedand press

3. Therobotmoves to theattitudeof therightfigure,while apoint is installed externally,and
press afteraligned.
4. Theexternal point does not move, the worldcoordinatesrotate C about 90or
180degrees, then XYZmoves, so that the Ptool is aligned again with
theexternal points, press 。
5. Press ， and to show the value.
6. Click the value on and to add the errorto tool parameters.
7. Click theitem to be correctedand press

8. Afterthe robotaligns thepoints with thetwo attitudesas shown on the right figure,press
respectively and .
9. Press and to see the value.
10. Click the value on to add the error to tool parameters.
11. Ifthe direction ofthe Ptool is not parallel to the axis ofthe sixth axis, youneedto setthetool
angle. First set thetool angleA, angleB, and angle Cto 0.
12. Click the item to be corrected

13. Turn thedirection ofthePtool so that thetool direction
isconsistent with the direction of the worldcoordinates.
14. Press and the system will automaticallybringin

the value ofangleA,angleBandangle C.
7. Point record
Therearetwo typesof point records:world records and joint records.
Youcanusethe"jointrecord"or"worldrecord"commandtoprogramthepositionthatneedstobedifferent
duetoinstallation.Itisonlynecessarytore-calibratethepointrecordwhentheactual site is installed, and
it is not necessaryto modifythe programmingcontent on site.
Recordnumber Record description Recordnumber Record description
selection00~99 (point numberediting) selection00~99 (point numberediting)
：Update to the currentlyselected world recordwith current world coordinates
：Thelinear path is calculated accordingto the current position and thetarget

position.
：Update to the currentlyselected joint record with the current joint coordinates.
：Moveto the selected joint recordposition in afast movingmanner.
Note1:Thepoint recordcan be usedas acoordinatesystem in addition to the point of operation.
8. Securitypoint
Duringtherunningof the program, the initial position ofthe restartingprogrammaybe differentfrom
the ideal startingposition due to suddenpowerfailure or reset.If themanipulatorstops at apoint
whereinterferencemayoccur, start programrashlymaycauseacollision.
Thesettingof system planningfive sets(0~4) joint coordinate checkinterval, five
sets(0~4)worldcoordinatescheckinterval and theposition intervalcanbe set through the
followingpage.
Setselection Setthesafetyrangef Whether Whenitis
or toenablethissecuri withinthesecuritypoi
eachaxialposition typointcheck nt,the Opointwillbe
On
Securitypointcoordinates
: Get the currentcoordinatevalueandset it as the coordinate of thesecuritypoint.
：Moveto thesecuritypoint position (Moveswhenpressedand stop whenreleased)
Note1： canbe set on theoption page.If the robot'spoint

is wrongwhen starting, it will directlysend an alarm to avoid thedanger ofcollision.
Note 2：When the programstarts,youcancheckthe position ofthe robotbycheckingwhether
0950~0954, 0960~0964 areon, andgive the appropriatepath back to

thesafestartingposition.
9. Coordinatesystem
Thecoordinate system is mainlyused to adapt to the position relationshipbetween therobot andthe
workpiece, including the offset androtation and tilt of theworkarea.The system provides 10sets of
coordinatesystemrecords to meet theneeds of multiple sets of processingareas.
Thefollowing figurecanbe divided into two areas, the left side is used to viewthe
currentcoordinatesystem record, and the right sideis a three-pointcoordinate system method to
helpcalculate the positionaloffset,directionrotation and tiltingof thecoordinate system.
Afterthecoordinate system is determined usingthreepoints, it can bestored in the

coordinatesystemrecordforusein the program.
Viewofcoordinate Selectthree-point calibration

systemrecord coordinatesystem
: bringthe current worldcoordinates oftherobot into the coordinate system
record.
: Set the selectedcoordinatesystemrecordvalueto the currentworkcoordinate

system.
: bringthe XYZof theright P0 into the coordinate systemrecord.
: bringthe"coordinate system attitude"ABC calculated from the coordinatesystem

on the right into the coordinatesystemrecord.
Principleandoperation of three-pointcoordinatesystem
In mathematics, wecandetermine acoordinate system through three-pointpositions,
where:P0：origin of the coordinatesystem
P1：the point on themain axis
P2：point on the secondaryaxis (on the plane)
Accordingto the difference of the actual workpieceor thedirection ofthe actionpath, themainaxis
maybeapoint on +X,-X, +Y,-Y,+Z, -Z, and the secondaryaxis is also thesame, so 24 kinds of
three-point definition can be provided.
Afterselectingtherelativeposition ofthe object in the workingarea and themanipulator arm,the

three-point coordinate systemcan beset.The operation modeis as follows:
1. Firstselect the origin P0and P1, P2 to be usedas the basis forthecalculation of
thecoordinatesystem.
2. First adjust the robot to an appropriateattitude and align to P0, P1, P2.
3. Accordingto theaxial direction whereP1 and P2arelocated, click the upper axial selectionto
switch theaxis.
4. PressXYZABCbelow toalign the Ptool to P0, then press "P0"to bring
"CurrentWorldCoordinates"into P0 coordinates.
5. Ifyou onlyintend to usethe position ofthe offsetcoordinatesystemand donot intend
tochange therotation ofthecoordinatesystem, just correct P0.
6. PressXYZABCbelow toalign the tool Ptool to P1, then press"P1"to bring
7. PressXYZABCbelow toalign the tool Ptool to P2, thenpress"P2"to bring
8. Thesystemautomaticallycalculates theattitude of thecoordinate system.
10. Introduction tooperation interfaceofprogrampage

10.1. Teachingmode
10.1.1. Block operation

Startcolumn,endcolumn:After
selectingacolumn in thelist, press thetwo
buttons to setthe processingrange.
All columns:select all columns
Cut:Cut all the contents in the settingrange
andput them in the internal clippingarea.
Copy:Copyall the contents ofthe settingrangeand
put them in the internal clippingarea.
Paste：Paste the contents of theinternal clipping
area onto theposition ofthe selectedcolumn inthe

list.
Offset XYZ:Offsets all the items of
"worldcoordinates"and"workcoordinates"in
thesetrange from the setvalue.
Modifyspeed: Change all the
commandsincludingthe speedfieldin the
settingrangetothe input speedvalue.
Export: Export the current file to G file, O
fileor insertfile.
10.1.2. Recording
Therecordingfunction
ismainlyfortheconvenience of
quicklyteachingamotionpath, so onlyafew
path commands and outputcontrol commands
are placed on the screen.
On thelist of
programs,afterselectingtheposition wherethe
recordingcommand is tobe inserted,click
thebutton on this screen.
Aftermovingthe robotto the preset

position,press the action to be performed to
move tothis position.This process is
called"recording".Because each robot position
has avarietyof coordinate system
representations,the recordingis
directlyusingthe coordinatesystem used in the
Keys Recordcommand Commandparameters
currentteaching,
Select Selectcoordinates Thecoordinate systemselected is used as to record.
orspecifyingwhichcoordinatesystem
coordinate ystem therecordedcoordinate system.
system
Fast path Fast path Ifthe"SelectCoordinateSystem"function is noton,
Linearpath Linearpath the coordinatesystemof theteachingmotionsis
Arc midpoint Arc midpoint usedas the recordingcoordinatesystem togenerate
Arc transition Arc transition a command linethat moves to thecurrent position.
Arc center Arc center Ifthe"SelectCoordinateSystem"function is on,
Arc end Arc end the coordinatesystem selected at rear is
therecordedcoordinate system.
In place In place Range ofin-place

Delay Delay Delaytime
ON Set O Different settingstates
OFF
ON pulse
ON backgroundOFF1
ON backgroundOFF2
ON backgroundOFF3
10.1.3. Basic instructions

Thebasicinstructionsinclude
theflowcontrolclass,waitingclass,statesettingcl
ass,and themotion instruction.
Afterclickingoneof them, the itemdetails ofthe
item will appear for editing.Afterediting,press
"OK"to add theinstruction to the programlist.
Thefollowingsections are described in detail.
10.1.4. Extendedinstruction
Extendedinstructionscontain some
commonfeatures,either to makethe program list
easier toread, orto includeacomposite motion
flowin asingleinstruction.
Afterclickingoneof them, the itemdetails ofthe
item willappear for editing.Afterediting,press
"OK"to add theinstruction to the programlist.
Thefollowingsections are described in detail.
10.1.5. Editing columns
Detail:It can be used toswitch thedisplaymodeof theprogram.There arethree types: detailed,simple,

and G code.
1~N：Re-arrange theorder in thedescription based on the column number of theprogram.The
main purpose of this motion is to let the operatorunderstand the order ofthe
operations,so thatwhen the insertion position is mishandled,it is convenient to know
how to adjustthe order ofthe program lines.
Cut：Cutthe contents of the selectedcolumnandpaste it into the internal clippingarea.
Copy：Copythe contents of the selectedcolumnandpaste it into the internal clippingarea.
Paste：Paste the contents of the internal clipping area onto theposition ofthe selectedcolumn
inthe list.
Up：Moves the currentlyselectedcolumn up.
Down：Moves the currentlyselectedcolumn down.
Back：If the current position is matched with the selectedcommandline, pressingthis button tolet
the robotreturn alongthe path until the previouscommand point.
Forward：Ifthe currentposition is matched with theselectedcommand line, pressingthis button to
allow the robot to forward alongthe path until thenext command point.
Single-step：Move the robot to the position wherethe command lineis currentlyselected.
Description:Thesingle step, forward andbackfunctions are especially suitable

forconfirming the accuracy ofthe track and speeding up the debuggingprogram.
10.2. Automaticmode
Currentfiles Currentprogr Totaltimingt Totalnumber Timedaveragep
name amlines ime of timings rocessingtime
oftheprogra
m
Clickto zeroprocessing
Programdispl Numberof Numberof Operationmode Starting

aymode workpieces workpieces One Run program
round/repeat fromthe
current
10.3. Processofeditingandrunningtheprogram
10.3.1. Creating oropening a file

Clickingon the block offile name to pop up operationpage of program files, throughwhich
tocreate,save,andopen the program files.
10.3.2. "Record"continuoustrack and IO motion

1. Switch to teachingmode andclick Record
2. Movethe robot to the target position with a
buttonor handwheel
3. Set"Selectcoordinate system"
4. Click on the line orother actioncommand
5. Repeatsteps 2~4 to completethe actionflow.
10.3.3. "Step","Forward","Back"functionconfirmation and correction track

1. Therobotcanbereached on
thetrajectorybypressingtheStep
toexecute the selected
commandline.
2. Pressingforwardand back
allowsthe robot to move
alongthetrajectoryto thenext
commandpoint.
3. Ifthe trajectoryis
deviated,youcanadjust the
position, then press
andarchive, then continueto usethe Forward and Back to test to correct the
trajectory.
10.3.4. Handwheel runtest
1. Cut to automatic mode andselect thehandwheel.
2. PressStart to rotate the handwheel to let the program run at thespeed of the handwheel.
3. Ifyou think that the program does not workasexpected,you can reset theprogram and
thenswitch to manual modeto adjust the program.
4. Aftertheadjustment is completed,execute the singlestep to thecommandlinethat the testjust
interrupted.
5. Switch to automatic mode again.
6. Click to change it to .
7. PressStart to continue the unfinished runtest.
10.3.5. Operationobservation of"Repeat"
1. Click to change it to .
2. Close the handwheel.
3. Start the program, observethe effect of
repeatedrunning,andcontinuouslyadjustandoptimizeto the best.
11. Introduction toprogrampageinstructions

11.1. Basicinstructions
11.1.1. ProcessControl
Set the label of thecommand line for

thereferenceof skippingsetting.
Skip directlyto a line.

Line number type:
Absoluteline number: (iethe
actualprogramline number).
Relative line number:(relative to the current
lineof linenumber, for example,
currentlyline8, -4means skipping to the 8 -
4 LNCTechnologyCo.,Ltd.
Advantech =line 45
4).
Label: (iethe label column set
previously)Last skip: Return to thenext
line ofthe lastcallingskip command.
Line number / lines:referto skip mode
Times:Repeat thetimesof this skip action
Skip to the specified line when the conditions

ofIorAmeets the requirements.
No: numberof pointI
Value:When the state of pointIis in accordance
with this setting, the skip action is performed.
Skip mode:refer to skipcommand
When the condition of R matches, skip to

thespecifiedline.
No.: R
valuenumberCompar
isonmethod:
Value: Constant (fixed value), R value (refer to the
content ofanother R value).Right
box(constantvalue / R value number)
Skip mode:refer to skipcommand
11.1.2. Waiting type
Continue operating afterwaitingforIto match

thestatus
Number:number ofpointI
Value:When the status of pointIis in accordance
with this setting, the nextaction is performed.
Waiting:Thelongest waitingtime.
Failureprocessing: processingafterwaitingtime
Continue operating afterwaitingfor R value

tomatch the status
No.: R
valuenumberCompar
isonmethod:
Value: Constant (fixed value), R value (refer to the
content ofanother R value).Right
box(constantvalue / R value number)
Skip mode:refer to
skipcommandWaiting:Thelongest
waitingtime.
Failureprocessing: processingafterwaitingtime
MovesafterwaitingtimeDelay
：The time need towait
Move afterwaiting forarrivingthe

positionArriving: 1/1000 degree,or 1um
Note:Therange ofarrivingwill onlybe

checkedafter the commandshavebeensent. So,
setting averylarge valuemaynot havethe
desiredeffect.
11.1.3. Statussetting
Set thestatus of point O

Number: thenumberof thepoint O
Value: Off, On, commutation (changeto another
state based on thecurrentstate ofthe point
O)Wait: Set how longto waitbefore
executingthenext line.
Set the content ofR

valueNumber: thenumberofR
valueTypeof value:
Absolute: directlyset thecontent ofthe
Rvalue to the content in the"Value"field.
Relative:Accumulate thecontent ofthe
Valuefieldbased on thecontent of current R
value.No.: Set theRvalue ofthe specified R
numberin theValue field to this Rvalue.
Add 1 to the circulation:Add 1 to the
currentR valueandset it to 0 when the value
isgreater than the set valuein theValue field.
Value: Referencemode description
Waiting：Set how longtowaitbefore

executingthenext line.When this value is filled in-1,
the systemwill wait until the previouscommand is
executed,and then continue to interpret, which can
be usedtoavoidsynchronizationduringthe motions,
but itmaymakethe motions less continuous.When
set to
-2, it means to write immediately, not to write until
the motions arrivingto this line.
11.1.4. Motioncommand
Recordnumber: based on the recordnumber.

Worldrecord: Displaythe value oftheworld
recorddirectlybased on therecordnumber.
Currentworld coordinates: Displaycurrent
worldcoordinates.
Point type: fast, linear...
Flexibility: input blank or0~5
(correspondingtothe settingof
debuggingpage)
Speed:If thespeed is 0, it means the
defaultlinearspeedis used.
-1~-100represents thepercentageof theset speed
in the debuggingpage.
Recordnumber: based on the recordnumber.

Absolute/Relative:Theinput value in
the"Alternate/Offset"column is
absoluteorrelativeandcan beused
tochangeanelementin the coordinates.
Joint record: Displaythevalue ofthe Joint
recorddirectlybased on therecordnumber.
Current joint coordinates:Displays the current
jointcoordinates.
Point type: fast, linear...
Flexibility: input blank or0~5 (correspondingto
the settingof debuggingpage)

defaultmovingspeedis used.
-1~-100represents thepercentageof theset speed
in the debuggingpage.
Therearemanyways
tosetworkcoordinatesystem,as detailed in
thesections.
Setwhetherto usespecial movementwhen the

pathmoves.
Stopprocess:Ifthere is aprocessstarted,
thiscommand will generate alinearpathfrom
theprocessoffset position to the
originalposition.
Startprocess:If the process is not started,
thiscommand will generate
alinearpaththatmoves the current position to
the processoffset position.If theprocess is
alreadyenabled, this command will generate
alinearpaththatmoves the
currentprocessoffsetposition to the
newprocessoffset position.
Process coordinate system:Thecoordinate
systemon which the process path is based.
Sample type:There arethree types
ofwinding,movingbackandforth,movingleft
andright,andcan beexpanded accordingto actual
needs in thefuture.
Movingrange:Theswingrange, that is, the
maximum distance fromthe original path.
Paragraphdistance:Theposition ofthe
swingisrepeatedafter everycertain
paragraphdistance onthe path.
Initialmovement amount:Theamount ofmovement
at the beginningof the process when
themovementdistance is 0.
Dynamic process:SameasStart,exceptthat
theparameters ofthe
processaredeterminedbythe content ofthe R
value.
Note:When usingthis function, the
actualcalculatedprocessoffsetvalue must
besmallerthanthe “MaxRange of
Process”column in the
“OptionsPage/Run”,otherwise
the alarm will pop up.
Absolute/relative:The content representingthe

setvalue is eitherabsolute tothe
selectedcoordinatesystem or relative to
thecurrentcoordinate of thetargetcoordinatesystem.
Coordinatesystem: thecoordinatesystem used
torepresent the contents ofthe set value
Flexibility: input blank or0~5
(correspondingtothe settingof
debuggingpage)
Setvalue:XYZC
Speed:If thespeed is 0, it means
thedefaultmovingspeed.
-1~-100represents thepercentageof theset speedin
the debuggingpage.
Set to the current:Fill the currentcoordinates of the
coordinatesystem into the set
valueaccordingto the
selectedcoordinatesystem.
Absolute/relative:Thecontent representingthe
setvalue is eitherabsolute tothe
selectedcoordinatesystem or relative to
thecurrentcoordinate of thetargetcoordinatesystem.
Coordinatesystem: thecoordinatesystem used
torepresent the contents ofthe set value
NumberofXYZC set value: Source
bufferforobtainingXYZCcoordinateinformati
on.Ifthis field is blank, it meansthat the
previouscoordinates areused.
,lPoint type: fast, linear...
Flexibility: input blank or0~5 (correspondingtothe
settingof debuggingpage)
defaultmovingspeedis used.
-1~-100represents thepercentageof theset speedin
the debuggingpage.
11.1.5. Functionmodulecalling
Call G code built-in bythe systemor

manuallywritten bythe developerto provide
greaterflexibility
ParameterA(#1) :Thefirst parameter to
betransmitted to the G-code.
ParameterB(#2) :Thesecond parameterto
Parameter C(#3) :Thethird parameter to
ParameterD(#4) :Theforth parameter to
Parameter P(#16) :Thefifth parameter to be
transmitted to the G-code.

ParameterL(#12) :Thesixth parameter to
11.2. Extendedinstructions
Theextendedcommandcurrentlycontains 18 practicalprocesspackages.Thecontents of
manytaskpackagesneedtobecombinedwithadditionalpagesettings.Becausetherearemany
scopes,this documentcontainsdetailedinstructions forthe instructionsandpages.Please ask
themachine forinstructions.
Used to dynamicallyswitch thetool groups

setin thetool page,or dynamicallyset
thedesiredtool parameters.
Used to dynamicallyswitch the presetrange

ofpoints in the limitpage toavoidoperation
orprogrammingerrorsandexceed the
allowedactive space.
It is used to dynamicallyswitch the

coordinatesystemrecord set in the
coordinatesystempage.Theusecan easilysee
the current
coordinatesystem in theprogram list.
It is used in applications wheretherobotclamps

the workpiece forpathediting,suchaspolishing.
When the working
coordinatesarereversed,the three-point arcof
theworkpiece surfacecan be realized,which
can greatlyreduce the
numberof teachingpoints.
It is used to stop the actionwhen the

sensingsignalchanges duringthemotion,
forexamplethe rawmaterialsstackedbythe
punchingmachine,as the quantitydecreases, the
suctionposition changes.Itcanbejudged
whether thereclaimingposition is reachedbythe
sensormounted on the tool duringthe process
ofloweringthe reclaiming.
With the settings in thesecuritypoint

page,check whetherthecurrent position is
within therange of thesecuritypoint, and
provide thefunction ofmovingthe position of
thesecurity
point.
Providethree methods tocontrol the

programflow
Programpause: put theprogram into a
pausestate
Wait forthe torque to reach the
start:theaction is in a waitingstateuntil
thetorqueof acertain axis arrives,and then
continueto run the subsequent action.
Issue warning whenWait I timeout:it
isequivalent to WaitIcommand, but if
thewaitingtime is exceeded,a warningsignal
willbe issued.
Dynamicallyswitch theflexibilitysettings
inthe debuggingpage
Youcan call the programlogin the program

listpage, or theOfilesexportedfrom
theblockoperation.
Theimage fileslogin themap files list

pagecan beloaded, and the path directlyfrom
theimagefileto
thecorrespondingprocessingaction is
operatedbythesystem.
Match the settingsof the matrixpage

toperformrelatedactions.
Usethe settingsof thestack pageto

performrelated actions.
Used to generate thepath of

specialapplication.
Follow bendingof bendingmachine:When
thefoldingmachine bends the sheetmetal,
therobot must follow the path of the
sheetmetalbendingfor movement.
Used for a command

forpositioningtheadditional axis
separatelywhen the additionalaxis is notin
motion withthebody.
Follow theEUROMAP67 specification for

thesignal communicatingwith the machine.
Thesystem has foursets of peset machine
handshakingsignals.
Thefourinstructionsoperate in the same

wayandprovidedifferent names to facilitate
thepurpose of distinguishing their instructions
inthe program list.
Providesdetection offour sets of signals.When

the commandbetween the start and thestop is
running, if thesignal of theIpoint isdetected to
beinconsistent with the statethat itshould
be,analarm willbe issued.
It can beused in the process of
takingworkpieces to detect theuseof
falling
workpieces.
When used in welding, the workpiece

cannotbeaccuratelyplaced.It isnecessaryto
touchthe surface of theworkpiece through
theweldingwireto know thetrueposition
oftheworkpieceandset
theactualworkcoordinate
system.
12. Usecoordinate systemtosimplifyprogramming

andmaintenance
Inaddition to beingusedto calibrate thework area, the coordinatesystem can also be usedas
areference point forperipheral actions. Byusingthe coordinatesystem, the influencefactor of
theprogrammingcontent can be reduced to onlyafew keypoints to achievethe purpose of
programsharing and convenientmaintenance.
Thefollowingis a description ofthe applicable timingforvarious setting of thecoordinatesystem
options:
12.1. SettingXYZABCdirectly
Fill in the value ofthe coordinatesystemdirectly.

It is suitableforusewhen inputtingvalues arbitrarilyin the development environment or whenthe
coordinatesystem is fixed.
12.2. WorldRecordXYZ
Set position (X,Y, Z)in the setworldrecord number to "Workcoordinatesystem", but set(A,B,
C) to 0.
Applicable to the XYZtypeof thebase and thecoordinate system does nottilt androtate.In
theteachingmode, theposition pointedbyPtool canbe recordedas the originof thecoordinatesystem.
12.3. WorldrecordXYZABC
Set theposition (X,Y,Z)and(A,B, C) in the setworldrecordnumberto"Workcoordinate
system".
It is suitableforthepurposeof loadingandunloading.And it onlyneeds to calibrate thepoint
atwhich the materialof loadinganduploading, thencan beapplied to thecomplete action positionof
material ofloadingand uploading.Themethodisto first set the worldrecordpointas
thecoordinatesystem,and then move to the position underthe coordinate system, for
example:G54 O2 P15 //Set P15 asthe coordinatesystem
G1 X0Y0Z10A0 B0C0F3000 //Straight lineto theposition of Z10 ofcoordinatesystemG1
Z0F1000 //Moveslowlyto theposition ofcoordinate systemZ0
G22 O201 S1 P100 //O201 is set to On andwaits for100ms.
G1 Z10F3000 //Moveup to Z10 position
12.4. Coordinatesystemrecord
Set the coordinate system record to"Workcoordinate system".

It is suitablefor applications with fixed processingtabletops,whichcanbe used to calculate
thecoordinatesystembytakingthreepoints, such ascoating adhesive,cuttingandotheruses.
12.5. Currentpositionandattitude
Set the worldcoordinateposition (X,Y,Z)and(A, B, C) when the program is executed to thislineto

the "workcoordinatesystem".
It is suitableto performmultiple movesaccordingto theposition after movingto a
certainposition while teachingtherecordingprogram, and if thepoint is modifiedlater,all
thesubsequentmovescanbe automaticallyadjusted based on the modified point.
This useis especiallysuitableforpackaginginto Gcode.As long as it ismoves to the
processingreference point and thencall G-code, a series of actions of theposition can be
completed.Therequirement for multiple reamingclasses on one
workpiececaneffectivelysimplifyprogramming.
12.6. Dynamicpositionandattitude
Thecontent is readfromthe set R valueas the valueof the "workcoordinatesystem".

It is suitableto match thevisual system.The coordinate systemconvertedbythe visual result isfirst
filled in the R value,and the coordinate system valueis dynamicallycaptured bytheprogram.
12.7. Jointrecord
Thepoint position correspondingto thejoint record is usedas the "workcoordinatesystem".

Thesystemfirstconvertsthe joint record to worldcoordinatesand then brings it into the value of
the"coordinatesystem".
It is suitableforthecondition that thetool parametersneed to be dynamicallyswitched but theactual
position ofthe objectcannotbe changed. For example, the multi-fork jawof thepalletizerneeds to
be inserted intothe groove of the roller conveyor to clamp the feed bag, but it cannotaffect
theposition oftheclampingbecauseof settingdifferent tool parameters.
12.8. Settingthejointcoordinatesdirectly
Sameas the previous option, exceptthat thecoordinate values aredirect inputs andaretypicallyused
fordevelopment environment testing.
12.9. Re-offsetdirectsetting
Based on the current work coordinatesystem, theworkcoordinate valueat a certain point

isconverted to world coordinates to replace the original"workcoordinate
system".It'susuallyusedfordevelopmentenvironment testing, or to simplifytherepetitive
coordinateconversion work onthe workingpath.
12.10. Re-offsetdynamicsetting
Based on the current work coordinatesystem, theworkcoordinate valuerecorded in theR valueis

converted to worldcoordinates to replace original"workcoordinate system".
It is suitablefor resetting the coordinatesystem with theoffsetobtainedafterrecognitionwhenthe
vision system is mounted on the end oftherobot.
13.List
Thelist pageis used to put program files into the list foreasyrecalling.
13.1. Puttheprogramintothelist
1. Switch to teachingmode.
2. Click .
3. Select thefile intended
toputandpress Open
13.2. Selecttoexecute
1. Switch to automatic mode

2. Click the program to
beexecuted to makeitablue
background
3. Press to execute
theprogram.
Note:Youcanalso
usethebinaryvaluecomposed
ofI80~I84 torepresent the
selectedprogram, andthen use I55
to start the program.
13.3. Appointtoexecute
1. Switch to automatic mode
2. Press to
executethe
appointedprograms in
order.
3. Theappointed
numberrepresents theorder
number ofexecution, 0 means
notscheduled, -1 means
beingexecuted,and>0 means
thecurrentorder. Number of AppointedNo.
4. Press and hold the button executions
ofappointed numberfor
asufficientamount of
timetoperform
theappointment,cancel the
appointment, and ifit is in
progress,you
canpause,andyoucancontinue
whilepaused.
5. Number ofexecutions:
Represents
thenumberoftimesthe program
has been
executed，which can be
clearedafterpressedandre
leased.
Note 1：I730~I749correspond to the buttons of 20
appointednumbers,respectively,andtheyoperate in the same way.
Note2：O730~O749corresponds to the status ofappointment ofthe 20 sets of list program.It
is always onwhen it is being appointed,flash when it is appointed,andoffwhen it is

notappointed.
14. Composition ofProgram Modularization

Theprogram page has multipleways to call module files.
14.1. Callingprogramfiles
Call the program files that previouslyplaced in thelist page.
清單頁
14.2. CallingOfiles
Callingthe O files exported byanotherprogram.
Note:Theexported files arethemost basic format, which can save the programfiles
frombeing converted at runtime and the efficiency willbehigher.Thefigure belowis the
contentexported by the above program, which is the Gcode format of text.
14.3. CallingGfiles
Note:Theincomingparameters when theexported G code cannot be connected to the

callingofupperlayercanbeachieved to receiveparameters bywritingthe Gcode and runaccordingto
theparameters.
15. NC Editing
This pageis suitableforshort modifications to the program.Ifyou need lots of writing, it
isrecommended to write atPC and then pass it to the controller.
Filesoperation Viewmode Software

keyboard
Operationof programlines
15.1. Typesoffiles
Save NCFilesFolder MacroFolder MacroFolder

location
Rules of Arbitrarily maker_macro_g1000 maker_func_ins_macro1000
file names
NC Name of Startfiles Start No.
executing
page
Externale R17022~R17029=File R17004=1000
xecuting nameR23 C22=1
mode 030=1C0
=1
TheO file alsobelongstoncfiles,and its file name formatis O plus fourdigits, forexample
O1234, whichcanbe called with G65 P1234.
TheG codeformat can be writtenasdescribed inthe last two sections.
15.2. Viewingandeditingmethods
Fullscreen
It is convenient to see morelines
ofcode.
Whenyouclick toedit,
asoftkeyboardpops up.
Embedded
Reduce pagejumps, click on
thelineof code when editing, and
thentype directlyin the
keyboardbelow
Record
Similar to the recording of
theprogram page, put some
commonlyusedinstructions on the
right side,move to the point, click
the command button ofRecord, it
canautomaticallybringin the code.
16. NCexecution
This pagecanbe used torun themachiningpath files (GMcode)generated byCAM,
orthefilesexportedbythe programpage, or the files editedmanuallybythe user.These files must
conformto theG code formatrequirements of this robotsystem.FordetailedG code andprogram
syntax,please refer to thelast two sections.
Switchpath Jump toline Select the files to run Switchview

number mode
Clickthe
coordinate
button
toswitchth
edisplayed
coordinate
type
16.1. Runnablefiles
Start file name(NC file) Startnumber(insert file)

File folder ncfiles Macro
Format offile Arbitrarily maker_func_ins_macro1000
name
File selection Click the File Name button Enter thenumberof
andselectthe file. theinsertedfile
Start button
16.2. Viewingmode
Program code Drawing

Display
Option
of Set the
Change Switch thenumberof linesyoucan see. relevantparameters ofthe display
Note:Because it needs to takeCPU

timeforthe system to update the
displayedlines, onlyfivelines are
displayedbydefault.
17. Description of useofsystemGcode
17.1. Fastmoving(G0,G1T2),directmoveing(G1T4)
Code description
L: 0 world, 1 work, 2tools, 3 joints. (default:work)M:
0 absolute, 1 relative.(Default:Absolute)
X: coordinate Xor
J1.Y:coordinateYor
J2.Z:coordinateZor
J3.A: coordinateAor
J4.B: coordinateBor
J5.C: coordinate C or
J6.U: coordinate U
V:coordinateVF:Speed
K: flexibility0~5
Note:When usingT4, the setspeedrepresents thespace speed of thepoints.It is suitableto
useCAD/CAM to convert thepoint path into smalllinesand directlyspecifythe space
speedbetween the two small lines.
Examples
G00 X100Y100Z10A0B0 C39 Moveto theposition ofthe
F4000G1T2 X100Y100Z10A0 B0 C39 workcoordinates(100, 100, 10, 0,
F4000 0,39) at
G00L0X100Y100Z10A0 B0 C39 4000 deg/min
Moveto theposition ofthe
F4000G1T2L0X100Y100Z10A0 B0 worldcoordinates(100,100, 10, 0, 0,
C39F4000 39) at
G00M1 4000 deg/min
Moveto a position relative to the
X100Y100Z0F4000G1T2M1 currentworkcoordinate (100, 100, 0) at a
X100Y100Z0 F4000 speed
G00L0 M1 of 4000deg/min
Moveto a position relative to the
X100Y100Z0F4000G1T2L0 M1 currentworldcoordinate(100,100, 0) at a
X100Y100 Z0F4000 speed
G00L2 M1Z-20F4000 of 4000deg/min
At a speed of 4000 deg/min, move to the
G1T2L2 M1Z-20F4000 position relative to the current tool
coordinateZ-axis-20
G00L3X100Y100Z10A0 B0 C39 Moveto theposition ofthe joint
F4000G1T2L3X100Y100Z10A0 B0 coordinates(100,100, 10, 0, 0, 39) at
C39F4000 4000 deg/min
G00L4X100Y100Z10A0 B0 C39 Moveto theposition ofthe motor
F4000G1T2L4X100Y100Z10A0 B0 coordinates(100,100, 10, 0, 0, 39) at
C39F4000 4000 deg/min
17.2. Pathmovement(G1,G1T5)
Code description
Linear (S0) Arc transition Arc midpoint Arc center(S3) Arc end point
(S1) (S2) (S4)
D Attitude change Rotational
mode:0:Three-point direction
linear 0:
1:Two-pointlinear Setbypoint(pr
2:Three-point arc eset)
3:Two-pointarc 2:
4: Forcedalongthe
Fixedstartingpoint5: arc
R StartingpointAB6: 3: Forced
Bypassedangle
O Output point StartingpointABC reverse arc
number
P Start point
distance
Q End point
distance
L 0 world, 1 work, 2 tools, 3 joints. (default:work)
M Absolute, 1 relative.(Default:Absolute)
X Coordinate XorJ1
Y CoordinateYorJ2
Z Coordinate ZorJ3
A CoordinateAorJ4
B Coordinate BorJ5
C Coordinate C orJ6
U Coordinate U
V CoordinateV
W CoordinateW
F Speed
K Flexibility0~5
Note:T5 is the default value ofG1 commandTcode, so it's unnecessaryto

write.Inaddition,L1workcoordinate system and M0 absoluteare alsothe defaultvalue.When the
parameters arethesameas them, it's unnecessaryto write.
17.2.1. Linear(S0)
UseG1T5 S0 to set,as S0 is the defaultvalue,it'sunnecessaryto write.
G1 X100Y100Z10A0B0 C39 F4000 Move straight to the position ofthe work
coordinates(100, 100, 10, 0, 0, 39) at
aspeed of 4000 mm/min
G1L0X100Y100Z10A0 B0 C39 F4000 Move straight to the position ofthe world
coordinates(100,100, 10, 0, 0, 39) at
aspeed of 4000 mm/min
G1M1 X100Y100Z0F4000 Move straight at aspeedof 4000 mm /
min to thepositionrelative to the
currentworkcoordinates (100, 100, 0)
G1L0 M1 X100Y100Z0 F4000O201 P30 Q20 Move straight at aspeedof 4000 mm
/min to thepositionrelative to the
currentworldcoordinates(100,100, 0)
Set O201 on at 30mm from the
startingpoint
Set O201 offwhen it is 20mm from the
target point.
G1L2 M1Z-20F4000 Move straight at aspeedof 4000
mm/minto a position relative to the
current tool
coordinateZ-axis-20
17.2.2. ArcTransition(S1)
UseG1T5 S1 to set thearctransition point.TheR
code is theradius of thearc transition.
G1 S1 X100Y100Z10A0 B0 C39 R50 Thearc transfer to the position of the
workcoordinates(100, 100, 10, 0, 0, 39) at a
speed
of 4000 mm/min
17.2.3. Arcmidpoint(S2)
UseG1T5 S2 to set thepoints on the arcand G1T5 S4 to set the end point of thearc.
G1S2 X100Y90Z80 Startingfrom thecurrentposition,the
workcoordinates(100, 90, 80)areapoint on
the
arc,and the workcoordinates(100, 100, 10)is
the end point of thearc.
17.2.4. ArcCenter(S3)
UseG1 T5 S3 to set thecenterof thearc and G1T5 S4 to set the end point of thearc,and useD2,D3 to
specifytheclockwise arcor the counterclockwise arc.
G1S3 X100Y90Z80 Useworkcoordinate (100, 90, 80) as
G1 S4 D2X100Y100Z10A0 B0 C39F4000 thecenterof thearc, the work
coordinate(100,100, 10) as the end pointof
thearcto drawaclockwisearc,and theattitude
at the end of
the arcis (0, 0, 39).
17.2.5. ArcEnd Point(S4)
UseG1T5 S2 to set thepoint on the arc,and G1T5 S4 to set the end point of thearc.
G1S2 X100Y90Z80 Startingfrom thecurrentposition,the
G1 S4 X100Y100Z10A0 B0 C39 F4000 workcoordinates(100, 90, 80)areapoint on
the
arc,and the workcoordinates(100, 100, 10)
aretheend point of thearc.
17.3. Clockwisearcandcounterclockwisearc(G2,G3)
Code description
L: 0 world, 1 work, 2tools, 3 joints. (default:work)M:
I: center relative position
XJ:centerrelative
positionYK: centerrelative
position ZX: coordinate
XorJ1.
Y:coordinateYorJ2.Z:
coordinateZorJ3.A:co
ordinateAorJ4.B:coor
dinate BorJ5.C:
coordinate C orJ6.
R:
BypassedangleU:c
oordinate
UV:coordinateVF:
speedK:Flexibility
0~5 Examples
G2I100 J90 K80X100Y100 Z10A0B0 Userelativeworkcoordinates(100, 90,
C39F4000 80)arethecenter, the workcoordinates(100,
100,
10) arethe end point of the arcto
drawaclockwisearc,and theattitude at the
end of
the arcis (0, 0, 39).
17.4. Wait(G4)
Code description
X: waitingseconds
P:Waitingmilliseconds
Examples
G4 X1 P200 Waitingfor1200 milliseconds
17.5. Switchtoolparameters(G5)
Code description
L:Thetool parametergroup is 0~3.If not specified, the direct settingvalueof XYZABC is used.X:
Toolparameter X
Y:
ToolparameterYZ:
Tool parameterZA:
ToolparameterAB:
ToolparameterBC:
Toolparameter C
Examples
G5L1 Switch to tool parameters of group 1
17.6. Switchcoordinateinversionmode(G6)
Code description
A: 0 does not usethe work coordinate inversion mode, 1 uses the workcoordinate inversionmode
Examples
G6A1 Useworkcoordinate inversion mode
17.7. Setthepathprocess(G7)
Code description
E 0 Stop 1 Regularstyle 2Linearfollow
L Process coordinate
system0Worldcoordinates
1 Workcoordinate，
2 Toolcoordinate，3
Path X+ToolZ，
4 Path X+
Q Stylecategory
WorkZ，5 Path
0 Round
X+World
1 FrontandZrear
2 Leftandright
X Movingrange X speed R number
Y Paragraph distance Yspeed R number
Z Initialmovement Zspeed R number
Examples
G7 E0 Disablepathprocess
G7 E1L0Q0 X10Y8Z0 Useregularpattern process, worldcoordinate system, circling
mode, circlingradius of10mm, makea circle
every8mm'swalk with no initialmovement
G7 E2L1X100Y0Z0 Usethe linearfollowing process andworkcoordinatesystem,

read the speed valuein theX direction from R100
17.8. Waitforarrivalofinterruptcounting(G8)
Code description
A:Interrupt countingvalue
Examples
G8A1234567 Wait forthe interrupted countingvalue to reach
1234567 and then continueto run
17.9. Waitcorrectarrival(G9)
Code description
A: Rangevalue of correctarrival
Examples
G9A20 Continueto run when waitingforthe servo of each axis
behinds the total value for lessthan 20.
17.10. JointRecordMovement(G10)
Code description
P: Recordnumber0~99
M:IfXYZABChas avalue, its value should be0replace or 1 offset to theoriginalrecordedvalue.
XYZABC : Substitute or offset
valueF:speed
T:action mode, 2 fast, 5path.Thedefaultvalue is2.
S: ForT5, point type 0 line, 1 arctransition, 2 arcmidpoint, 3 arc center, 4arcend point
Examples
G10 P2 F1000 Movequicklyto the"joint record"position of
number2 at 10,000 deg/min.
G10 P2T5 F1000 Move linear to the"jointrecord"position of
number2 at 10,000 deg/min.
17.11. Worldrecordmovement(G11)
Code description
P: Recordnumber0~99
M:IfXYZABChas avalue, its value should be0replace or 1 offset to theoriginalrecordedvalue.
XYZABC : Substitute or offset
valueF:speed
T:action mode, 2 fast, 5path.Thedefaultvalue is2.
S: ForT5, point type 0 line, 1 arctransition, 2 arcmidpoint, 3 arc center, 4arcend point
Examples
G11 P67 F2000 Move linearata speedof 20,000 mm/min to
the "World record"position ofnumber67.
G11 P67T2 F2000 Movequicklyat a speedof 20,000 mm/min to
the "World record"position ofnumber67.
17.12. Setwhetherthecommandoftheaxisoutput(G13)
Code description
A:Axis number1~9
B: 0 output, 1 no output
Examples
G13A7B1 Set stop command outputto the7th axis (U axis)
Note:Specialattention will be required to usethisinstruction, do not useitunlessyou are clearabout
the purpose.Whenuseis resumed,youneedto call G95 to re-updatethe coordinates.
17.13. Gettheworldcoordinates(G17,G1T17)ofthefinalposition
Examples
G17 Get the world coordinates of the final position and the return
value is @71~@79
G1T17 Get the world coordinates of the final position and the return
value is #71~#79
17.14. Gettheworkcoordinate(G18,G1T18)ofthefinalposition
Examples
G18 Get the workcoordinatesof thefinal position and the return
value is @71~@79
G1T18 Get the workcoordinatesof thefinal position and the return
value is #81~#89
17.15. Getthejointcoordinates(G19,G1T19)ofthefinalposition
Examples
G19 Get thejoint coordinatesof thefinal position and the return
value is @81~@89
G1T19 Get thejoint coordinatesof thefinal position and the return
-value is #91~#99
17.16. WaitforPointI(G20)
Code description
I: Number ofpointI
S:
Comparisonvalue(waitingvalue)T:Wai
tingtime
F: Failure processingmode 0 continue to wait 1 skip this line 2
alarmA:Alarmnumber
B:Alarm bit
Examples
G20I100 S1 WaitforI100 to become1.
G20I110 S0T1000 F1 Wait for I110 to become0.If thewaitingtime exceeds
1000ms, skip this line.
G20I120 S1T2000 F2A29010 B3 Wait for I120 to become1, and if the waitingtime
exceeds 2000ms, analarm of alarm R29010.3 is issued.
17.17. WaitforRvalue(G21)
Code description
R : R valuenumber
C : Comparison mode0 equal, 1 unequalM
: Mode, 0 constant, 1R value
V:
Comparisonvalue(waitingvalue)T:Wai
tingtime
F: Failure processingmode 0 continue to wait 1 skip this line
2alarmA:Alarm number
B:Alarm bit
Examples
G21 R100V1 Wait forR100 to become 1.
G21 R110V0T1000F1 Wait forR110 to become0.If thewaitingtime
exceeds 1000ms, skip thisline.
G21 R110 M1V99T1000 F1 Wait forR110 to becomeequal to R99.If the
waitingtime exceeds 1000ms, skip this line.
G21 R110 M1V99 C1T1000 F1 Wait forR110 to becomeunequal to R99.If the
waitingtime exceeds 1000ms, skip this line.
G21 R120V1T2000 F2A29010 B3 Wait forR120 to become 1, and if the
waitingtime exceeds 2000ms, analarm of
alarm
R29010.3 is issued.
17.18. SetO(G22)
Code description
O: output point number
S: output pointstatus
P:Waitingtime, ms
Examples
G22 O201 S0 P200 AftersettingO201 to Off,pause for200ms.
G22 O203 S1 Set O203 to On
G22 O205 S2 Switch thestatus of O205
G22 O205 S3 P100 Set O205 to on 100ms, thenOff(theprogram will wait for
offbeforecontinuing).
G22 O205 S4 P100 Set O205 to on 100ms, then On (theprogram will wait for
on beforecontinuing).
G22 O205 S5 P100 Set O205 to on, the program continues to run (usingthe
firstset of autooff,after100ms, the background
programwill automaticallyturn itoff).
G22 O205 S6 P100 Set O205 to on, the program continues to run
(usingthesecondset ofautooff, after 100ms,
thebackground
G22 O205 S7P100 program
Set O205will automaticallyturn
to on, it off). to run
the program continues
(usingthethird set of autooff,after100ms, the
backgroundprogram
G22 O205 S8 P100 willO205
Set automaticallyturn itoff).
to on, the programcontinues to run (usingthe
fourth set of autooff,after100ms, thebackground
programwill automaticallyturn itoff).
17.19. SetR(G23)
Code description
R: the number ofR
T:Numerical type(0absolute, 1 relative, 2 number, 3 cycles plus 1)S:
Output pointstatus
P:Waitingtime , ms
Examples
G23 R2010T0V3 P200 Set R2010 to 3, thenpause for200ms.
G23 R2011T1V2 R2011 =R2011+2
G23 R2012T2V2060 R2012 =R2060
G23 R2013T3V10 R2013 = R2013+1, if R2013>10, thenset R2013=0
17.20. SensingpointIstop(Rbitcomparison)(G31)
Code description
R: the number ofR
S:Thevalue ofthe R numberto be used for theshieldingvalue of theAndoperation.
Forexample,when onlythebit 0 ofthe R value is monitored, S1 is used.When onlythe bit 1 of
theR value is used, S2 is used.When bit 0 and bit 1 aresimultaneouslymonitored, S3 is used.
T:Thevalueafter theAnd operation must be thesame as the valueof this codeto trigger theaction
to stop.
L: 0 world, 1 work, 2tool, 3 joint. (default:work)M:

X: Coordinate Xor
J1.Y:CoordinateYor
J2。Z:CoordinateZor
J3。
A: CoordinateAor
J4。B:CoordinateBor
J5。
C: Coordinate C or
J6。U: Coordinate U
V:CoordinateV
F:Speed
Examples
G31 M1 Z-100F3000 R4000 Decrease by100mm ataspeed of 3000.IfR4000.0=1
S1T1 duringthe decrease, theunfinished action
ofthiscommand is ignored.
G31 Z-100F3000 R4000S3T3 At the speed of 3000, theZaxis moves to theposition
ofthe workcoordinate-100mm.Duringthe
descent,ifR4000.0=1andR4000.1=1, the unfinished
action ofthis
Note: In the systembuilt-inPLCprogram,instruction is ignoredandis
I70~I73 no longerexecuted.
willbe corresponding to R23730, andtheI
point totriggerstop can be setto this numberto facilitate the useofthisfunction.
17.21. Sensingtorquestop(Rvaluecomparison)(G32)
Code description
R: the number ofR
S: Compare conditions. 0 greaterthan, 1greaterthan or equal to, 2 equal to, 3 less than, 4
lessthan orequal to, 5 not equal to 6, 6 absolutevaluegreaterthan,and
7absolutevaluelessthan.T:Thevalue being compared.
L: 0 world, 1 work, 2tool, 3 joint. (default:work)M:
X: Coordinate Xor
J1.Y:CoordinateYor
J3。
A: CoordinateAor
J4。B:CoordinateBor
J5。
C: Coordinate C or
J6。U: Coordinate U
V:CoordinateV
F:Speed
Examples
G32 M1 Z-100F3000 R4000 Decrease by100mm ataspeed of 3000.IfR4000
S1T1 isgreaterthan or equal to 1, duringthe descent,
theunfinished action ofthis command is ignoredandis
no
G32 Z-100F3000 R4000S3T3 longerexecuted.
At a speed of 3000, theZ axis is moved to the positionof
thework coordinate-100 mm. Duringthe descentprocess,
if theR4000 is less than 3, theunfinishedaction
of this instruction is ignoredand is no longerexecuted.
Note:This function canbe used to determine tostop the actionafterthetorqueofan
axisafterreaching the value.Thetorquevalue can beread by R250096~.
17.22. Coordinatesystemre-offset(G52)
Code description
X: Coordinate Xor
J1.Y:CoordinateYor
J3。
A: CoordinateAor J4。
B:CoordinateBor J5。
C: Coordinate C or J6。
Examples
G52 X20Y10 C5 Re-offset the currentcoordinatesystem to theposition of
the workcoordinateX20Y10 androtate it 5 degrees
Note:When matching with thevisual system, it is necessaryto performre-offset on

thecoordinatesystem accordingto the feedbackvalueof thevisual system.This
commandcanachieverequirement ofthis function.
17.23. Settheworkcoordinatesystem(G54)
17.23.1. The offset of positionandattitude specifieddirectly by O0 (preset)
G54 X0Y100Z300A0B0 C0 Set (0,100,300)to the origin of
theworkcoordinatesystem
No rotation and tilting
Rotate30 degrees horizontally
The attitude of coordinatesystemis (0, 10,
30)
17.23.2. O1 uses positionXYZinthe worldrecord

G54 O1 P8 TheXYZofworld record No. 8 (P8) is
usedas the workcoordinate system. No
rotation
andtilting.
17.23.3. O2 uses positionandattitude XYZABC in worldrecords
G54 O2 P6 XYZABC ofworld record No. 6 (P6) is used
as the workcoordinate system.
17.23.4. O3 uses coordinatesystemrecords

G54 O3 P8 Usethe coordinate system recordNo. 8.
17.23.5. O4 uses the current position and attitude

G54 O4 Usethe coordinateXYZABC of theprogram
at thetime aswork coordinate system.
17.23.6. O5 uses dynamic position

G54 O5 X100Y101Z102A103 B104 C105 Thevalue ofR100~R105is read to set the
workcoordinate system.
17.23.7. O6 uses joint records

G54 O6 P3 Theworkcoordinate system is set

usingthevalue ofthe world
coordinatescorresponding
to thethird set of joint records.
17.23.8. O7 directlysetjoint coordinates
G54 O7 X0Y0Z-90A0B-90 C30 Set the worldcoordinatesof J1~J6=
(0,0,-90,0,-90,30)as work coordinatesystem
17.23.9. O8 directlysetre-offset
G54 O8 X0Y10 Set the world position ofthe workcoordinate
C20G52 X0Y10 C20 XYZABC (0,10,0,0,0,20) to
workcoordinatesystem
17.23.10. O9 re-offsetdynamicsetting
G54 O9 X100Y101 C102 Theworld position correspondingto the
workcoordinate ofthe valuesof R100, R101,
and
R102 is the workcoordinatesystem.
17.24. Rotatingthecoordinatesystem(G55)
Code description
P: the group ofrotating coordinatesystem.
Examples
G55 P0 Use0 set of rotatingcoordinate system
17.25. Coordinatedcoordinatesystem(G56)
Code description
P: the group ofrotating coordinatesystem.
Examples
G56 P0 Use0 set of coordinatedcoordinatesystem
17.26. Bulkseparatingaxiscoordinatesystem(G57)
Code description
P: Set of bulk separating axis coordinate system.
Examples
G57 P0 Use0 set ofbulk separatingaxis coordinate system.
17.27. Startdynamiccompensation(G61)
Examples
G61 Close dynamiccompensation
17.28. Turnoffdynamiccompensation(G60)
Examples
G60 Startdynamiccompensation
17.29. Interpolationtableconversion(G69)
Code description
T:Interpolation table
set0~9.X:Thefirst comparison
value.
A:Thesecondcomparisonvalue.
Examples
G69 X100A203 Call the interpolationtable to convertwith the
inputvalues of100 and 203,and the convertedreturn
value
will be placedat @25, @2
17.30. Settheflexibilitylevel(G89)
Code description
A:Theflexibilitylevel set is 0~5.
Examples
G89A0 Usethe defaultflexibilitylevel
G89A2 Usethe Group 2 ofset flexibilitylevel.
17.31. Setthesyntheticacceleration/decelerationtime(G90)
Code description
A: Syntheticlinearaccelerationand deceleration time. (blankmeans using
defaultvalues)B:Synthetic bell accelerationanddeceleration time. (blankmeans using
defaultvalues)Examples
G90A300B100 Set the synthetic linear acceleration/deceleration timeto
300 and the bell time to 100.
17.32. Settheshaftspeedsmoothingtime(G91)
Code description
A:Theshaft speed smoothinglineartime.(blankmeans usingdefault
values)B:Theshaft speed smoothingbell time. (blank means usingdefaultvalues)
Examples
G91A100B50 Set the shaftspeed smoothinglinear timeto 100 and the
bell time to 50.
17.33. Settheshaftspeedtolerance(G92)
Code description
A:Axis number1~9.
B:Allowable difference.(blankmeans usingdefault values)
Examples
G92A3B100 Set the tolerance of the3rd axis to 100.
17.34. Servelageliminatesandupdatescoordinates(G95)
Examples
G95 Eliminate servo lagand update coordinates
17.35. Updatecoordinates(G96)
Examples
G96 Updatecoordinates
18. Macrosyntax
18.1. Variables
18.1.1. Regional variables:
Each filehas 200 localvariables, floatingpoint numbers:
#0 : representsanull value,whichcan be read todetermine whetherothervariables arenull andcannot
be written.
#1~#26 :If thefileis not thetop layer directlycalled bysystem, the26 variables correspond tothe 26
letters ofA~Z.When called, the various codes in the calling command ofthe previouslayer
arebrought into thecorrespondingvariablesof this file,andcanalso be used in subsequentprogram
lines.
#27~#199 :Theintendeduse can be definedbytheuser.
18.1.2. GlobalVariables:
When the program is running, thereare1000globalvariablesavailable with floatingpointnumber:
@0 : represents a null value,whichcan be used toread whetherother variables arenull andcannot
be written.
@1~@999 :Theintended use can be definedbytheuser.
Globalvariablescan beaccessedacrossfiles, so theycanbe usedasaconduit

forinterworkingbetweendifferent files.
18.2. CoreresourceIOCSARaccess
Thefollowingtable is alist of allresourcesand access functions in the joint manipulatorsystem.
Rsources Quantity R R Handed Description
read,Wwrite(int read,Wwrite(In overto the
erpretationexec terpretationwait coreforsimult
uteimmediately s aneousexecuti
) forthecoretoco on
mpletebeforeex
ecuting)
I (Input) 1000 R_MLC_I_F R_MLC_I Software number,
O (Output) 1000 R_MLC_O_F R_MLC_O set the

W_MLC_O_F W_MLC_O hardwarepoint of
theactualoutput
through
theIOcomparisont
able
C (Control) 4096 R_MLC_C_F R_MLC_C
W_MLC_C_F W_MLC_C
S (Status) 4096 R_MLC_S_F R_MLC_S
A(Aid) 4096 R_MLC_A_F R_MLC_A

W_MLC_A_F W_MLC_A
R (Register) 6,000,000 R_REG_F R_REG W_REG_AT

W_REG_F W_REG
#32 = R_MLC_I(206) Read the contents ofI206 into the localvariable 32

W_MLC_O(123, 1) Set O123 to On
W_MLC_C(9, 1) Set C9 to On 
Starthandwheel mode
#33 = R_MLC_S(9) Read the contents of S9 into the localvariable 33
Check if
it is currentlyin handwheel mode
#34 = R_MLC_A(2000) Read the contents ofA2000 to localvariable 34
W_MLC_A(2000, 1) SetA2000 to On
#35 = R_REG(1200) Read the contents of R1200 into localvariable 35
W_REG(1200, 3434) Afterwaitingfor themotion instruction,set the content of
R1200 to 3434.
W_REG_F(1200, 3434) Thecontent ofthe R1200will be set to 3434 immediately.
W_REG_AT(1200, 3434) Assign this instruction that setsthe content ofR1200 to
3434to a motion core,and thisinstruction is
executedsynchronouslywhen themotion core is
executed.(Avoid
causingmotion pauses)
18.3. Mathematicalfnctions
Thefollowingtable is the mathematical functions supported in thejoint manipulator system.
Mathematical function Description
SIN(DEG) SINfunction
COS(DEG) COS function
TAN(DEG) TAN function

ASIN(VALUE) ASINfunction
ACOS(VALUE) ACOS function
ATAN function
ATAN(VALUE1，VALUE2)
SQRT(VALUE) Obtain root mean squarevalue

ABS(VALUE) Obtain absolute value
ROUND(VALUE) Obtainroundedvalue
FIX(VALUE) Drop unconditionally
MOD(VALUE,VALUE2) Obtain theremainingvalue
18.4. Programflowcontrol
Thefollowingtable is the supportedprogram flow controlsyntaxin the joint manipulatorsystem.
Processcontrol command IF~GOTO

Selectnarrative IF…ELSE
Selectnarrative SELECT
Cycle FOR … END_FOR, EXIT_FOR
Cycle DO …UNTIL, EXIT_DO
Callingfunction CALL_SUB, EXIT_SUB

Joint Robot - Basic Operation and Program Manual REV

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Joint Robot - Basic Operation and Program Manual REV

Uploaded by

Copyright:

Available Formats

JointManipulator- SoftwareOperationManual

Error!UsetheStarttabtoapplytitle1tothe words youwanttodisplayhere.

10.1.4. Extendedinstruction .......................................................................................36

15.2. Viewingand editingmethods ..................................................................................72

17.23.6. O5 usesdynamic position ...............................................................................90

2. Instructionsofhandheld box andscreen configuration

USBinterface Handwheel Emergency

User-defined button functions

Screen lockfunction, refer to thedescription of followingsections

Thelightsignal shows the currentalarmand the button reset

Displaythe system version number, the

Displays theratepercentageof thesystem operatingspeedin

Not ready：It will stayin this state until the coordinates of

anyof themotors are notconfirmed.In this

confirmed, it will becomereadytocomplete.After

because the kinematicscalculationpath of the robot

Operating：The automatic program is running.

Pause,section stop:The system is runningbut enters

Handwheelmode:switchwhether to operatewiththe handwheel

Automatic mode: adjust the percentage ofspeed

Make the program runningin automatic modeenterthe

These threebuttons switchsystemmodes:

Thebuttons displayed onthe leftare arrangedas standard version ofthe

Each button is linked to thecorrespondingfunction page,and the description

When the systemstarts, the “Startup”page will bedisplayedfirst,throughwhichyoucan

Back to the calibration point:

This timewill accumulateas long asanymotor has an motion.

This system is divided into five typesof permissions:

Thedefaultpermission of the systemafterstartupis theoperator.

Logout: Simplypress the"Logout"button.

Change password: Enterthe currentpassword,newpassword, confirm password and

This pagecontains coordinate system displayandsetting,coordinatedisplay,coordinate

3.3.1. Coordinatesystemand settings

Preset bar:When startup, the system will set this setvalue

Origin：Move straightto the origin of the

coordinatesystem (movewhen pressed and stop

Calibration point：Tothe calibration point position

marked on the startup page(movewhen pressedandstop

3.3.2. Currentcoordinates display

records thepath that

onthe title bar

Close：Close window of coordinate page

3.3.3. Operation formotions

This pagedisplays system built-in resources alongwith user-definedresources.DI:

Update:Used in thedevelopment phaseof thedeveloperto re-read the contents of definitionfiles

Note1:Thesample filesof theuser-definedresource can beobtained

This pageshows current and historicalalarms and warnings.

Thecoordinates of themanipulator generallyreferto theposition andattitude of theend

ThePbase, Ptool, Pwork,worldcoordinates,andworkcoordinatesall includeposition

Beforerotation Rotate45 Rotate30 Rotate30

Note:This instruction can be usedwhen the3rd or 5th joint of joint coordinate of

Thepath motion is a reference point for thepathcalculation ofthe Ptool.Inaddition to thespatial

(Startingpoint– linear point)

point – linear) arctransition to the end point accordingto

Mode selection Handwheel mode Speedpercentage Continuity

When the button light is on, it meansthat thebutton will workwhenpressed.Ifit

Maintenance mode: Rotatethe motor, it can still move when

Teaching mode:It operates accordingto the typeof

Non-handwheel Handwheel mode

Note:Theusual usagein non-handwheel modeis to usethe method whenit is

position is approaching,usethe mode so that it can beaccuratelyadjusted to thetarget

Dependingon the selectedcoordinatesystem, thedirection ofXYZmotions is