Page 1 Mitsubishi Industrial Robot CR750/CR751/CR760 Series Controller INSTRUCTION MANUAL Detailed explanations of functions and operations This instruction manual apply to both the CR-750-Q/CR751-Q/CR760-Q controller corresponding to iQ Platform, and the CR-750-D/CR751-D/CR760-D controller of standalone type. BFP-A8869-W...
Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
Page 5 WARNING When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture. CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF.
Page 6 CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary.
Page 7 *CR751-D or CR751-Q controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side supply power supply of the controller of CR751-D or CR751-Q because of leakage protection. Controller Controller Three phase Single phase AC200V AC200V...
Page 8 Revision history Date Specifications No. Details of revisions 2012-03-13 BFP-A8869 • First print 2012-04-06 BFP-A8869-A • Error in writing correction (4.3.2 Executing a multitask) • The example program for collision detection level setting was added (J_ColMxl). 2012-07-26 BFP-A8869-B • Notes were added to the hand and the workpiece condition parameter. 2012-10-03 BFP-A8869-C •...
Page 9 Date Specifications No. Details of revisions 2014-08-21 BFP-A8869-N • Correction of errors. • The explanation of R56/57TB in “3.10 Operation to Temporarily Reset an Error that Cannot Be Canceled”. • Dedicated input/output were added. (DOORSTS1, DOORSTS2, DOORSTS) • The robot status variable is added. (M_ErCode, M_DIn32, M_DOut32) •...
Page 10 Date Specifications No. Details of revisions 2016-09-09 BFP-A8869-V • "7.3 Spline interpolation" was complemented. • Upgrade of the servo software was added. • PVSCal command and parameter VSCALBn were added. • A caution against performing relative calculation for 5-axis robots was added. •...
Page 11 (R32TB/R33TB (option)), and the functions and specifications of the MELFA- BASIC V programming language. Apply to both the CR750-Q/CR751-Q/CR760-Q series controller corresponding to iQ Platform, and the CR750-D/CR751-D/CR760-D series controller. Especially the function added individually is indi- cated to be "CR750-Q" and "CR750-D."...
Page 12 For users operating robots that have not been mounted with an operation panel: Operation of robot programs such as start-up and shutdown are carried out using external signals (exclusive input/output signals). This instruction manual is based on robots that are mounted with an operation panel at the front of the controller, and these operations are explained using key opera- tions on that panel.
Page 13: Table Of Contents
Contents Page 1 Before starting use .......................... 1-1 1.1 Using the instruction manuals ....................1-1 1.1.1 The details of each instruction manuals ................1-1 1.1.2 Symbols used in instruction manual ................... 1-2 1.2 Safety Precautions ........................1-3 1.2.1 Precautions given in the separate Safety Manual .............. 1-4 2 Explanation of functions ........................
Page 14 Contents Page 3.8.3 Starting automatic operation ..................... 3-53 (1) Starting by O/P ....................... 3-53 (2) Starting from the T/B ...................... 3-54 3.8.4 Stopping ..........................3-57 (1) Operating with the controller ..................3-57 (2) Operating with the T/B ....................3-57 3.8.5 Resuming automatic operation from stopped state ............3-58 (1) Resuming by O/P ......................
Page 15 Contents Page 4 MELFA-BASIC V ........................... 4-97 4.1 MELFA-BASIC V functions ..................... 4-97 4.1.1 Robot operation control ....................4-98 (1) Joint interpolation movement ..................4-98 (2) Linear interpolation movement ..................4-99 (3) Circular interpolation movement ................... 4-100 (4) Continuous movement ....................4-102 (5) Acceleration/deceleration time and speed control ............
Page 16 Contents Page 4.4.1 Statement ........................4-135 4.4.2 Appended statement ....................... 4-135 4.4.3 Step ..........................4-135 4.4.4 Step No........................... 4-135 4.4.5 Label ..........................4-135 4.4.6 Types of characters that can be used in program ............4-136 4.4.7 Characters having special meanings ................4-137 (1) Uppercase and lowercase identification ...............
Page 17 Contents Page (5) Others ........................... 4-165 4.9 Operators ..........................4-166 4.10 Priority level of operations ....................4-167 4.11 Depth of program's control structure ................... 4-167 4.12 Reserved words ........................4-167 4.13 Detailed explanation of command words ................4-168 4.13.1 How to read the described items .................. 4-168 4.13.2 Explanation of each command word ................
Page 18 Contents Page (7) NETHSTIP (The IP address of the server of the data communication point)....5-490 (8) MXTTOUT (Timeout setting for executing real-time external control command) ..5-490 5.15.2 Example of setting of parameter 1 (When the Support Software is used) ....5-491 5.15.3 Example of setting of parameter 2-1 ................
Page 19 Contents Page 6.5.1 Individual timing chart of each signal ................6-572 6.5.2 Timing chart example ..................... 6-580 (1) External signal operation timing chart (Part 1) ............. 6-580 (2) External signal operation timing chart (Part 2) ............. 6-581 (3) Example of external operation timing chart (Part 3) ............. 6-582 (4) Example of external operation timing chart (Part 4) .............
Page 20 Contents Page 7.3.9 Adjustment work ....................Appendix-671 (1) Position adjustment function ................Appendix-671 (2) Frame transformation function ................ Appendix-673 (3) Position jump ....................Appendix-675 (4) Parameter SPLOPTGC ................... Appendix-676 7.4 Ex-T control ......................Appendix-677 7.4.1 Outline ....................... Appendix-677 (1) Features ......................Appendix-677 (2) Specifications ....................
Page 21: Before Starting Use
Explains the control function and specifications of conveyor tracking Tracking Func- tion Manual Extended Explains the detailed description of data configuration of shared memory, monitoring, and Function operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750- Instruction D/CR751-D controller). Manual Using the instruction manuals 1-1...
Page 22: Symbols Used In Instruction Manual
1Before starting use 1.1.2 Symbols used in instruction manual The symbols and expressions shown in Table 1-1 are used throughout this instruction manual. Learn the meaning of these symbols before reading this instruction manual. Table 1-1:Symbols in instruction manual Terminology Item/Symbol Meaning iQ Platform...
Page 23: Safety Precautions
1Before starting use 1.2 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
Page 24: Precautions Given In The Separate Safety Manual
1Before starting use 1.2.1 Precautions given in the separate Safety Manual The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
Page 25 DANGER Do not connect the Handy GOT to a programmable controller when using an iQ Platform compatible product with the CR750-Q/CR751-Q/CR760-Q controller. Fail- ure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the opera- tion rights are enabled or not.
Page 26: Explanation Of Functions
2Explanation of functions 2 Explanation of functions 2.1 Operation panel (O/P) functions (CR750 controller) (1) Description of the operation panel button <9> <4> <8> <6> <7> <1> <2> <3> <5> Fig.2-1:Operation panel <1> START button....This executes the program and operates the robot. The program is run contin- uously.
Page 27 2Explanation of functions (3) Robot type resetting If the type information is lost by the ablation of the battery etc., the errors (H1600: Mechanism un-set- ting. etc.) occur, and the operation becomes impossible. In this case, it can return to the status at factory shipping by the following type resetting operations. No error Error occurrence Turn on the power supply with...
Page 28: Operation Panel (O/P) Functions (Cr760 Controller)
2Explanation of functions 2.2 Operation panel (O/P) functions (CR760 controller) (1) Description of the operation panel button <3> <11> <1> <5> <7> <4> <9> <10> <13> <12> <8> <14> <2> <6> Fig.2-2:Operation panel <1> START button .......This executes the program and operates the robot. The program is run continuously. <2>...
Page 29 2Explanation of functions (2) Robot type resetting If the type information is lost by the ablation of the battery etc., the errors (H1600: Mechanism un-set- ting. etc.) occur, and the operation becomes impossible. In this case, it can return to the status at factory shipping by the following type resetting operations. No error Error occurrence エラー未発生時...
Page 30: Teaching Pendant (T/B) Functions
2Explanation of functions 2.3 Teaching pendant (T/B) functions This chapter explains the functions of R32TB/R33TB (optional). (1) Function of each key ② ④ ① ③ ⑤ ⑤ ⑥ ⑥ ⑧ ⑦ ⑨ ⑩ ⑪ ⑰ ⑫ ⑱ ⑬ ⑭ ⑲ ⑮...
Page 31: Operation Rights
2Explanation of functions 2.3.1 Operation rights Only one device is allowed to operate the controller (i.e., send commands for operation and servo on, etc.) at the same time, even if several devices, such as T/Bs or PCs, are connected to the controller.This limited device "has the operation rights".
Page 32: Functions Related To Movement And Control
2Explanation of functions Operation Class Operation rights Maintenance Parameter read, clock setting/read, operation hour meter read, alarm history read operation Origin setting, parameter change ○ Note1) When operating with the T/B "operation panel", operating right depends on the mode of the controller, as below.
Page 33 2Explanation of functions Function Explanation Explanation page Multitask program With this function, it is possible to execute programs concurrently by Refer to X*** instructions such as operation grouping between programs for the robot movement, programs for com- Page 125, "4.3.1 What is multitask- munication with external devices, etc.
Page 34: Explanation Of Operation Methods
Menu screen 　　　 MELFA CR75x-D Ver. S3 RH-3FH5515-D [EXE] Note 1) Refer to "separate instruction 1.FILE/EDIT 2.RUN manual: CR750-Q/CR751-Q 3.PARAM. 4.ORIGIN/BRK COPYRIGHT (C) 2011 MITSUBISHI ELEC 5.SET/INIT. 6.ENHANCED TRIC CORPORATION ALL RIGHTS RESE series, CRnQ-700 series, iQ RVED [CLOSE] Platform Supporting Extended 　...
Page 35 3Explanation of operation methods [Select the program] Ａ SELECT THE PROGRAM INTO TASK SLOT 1. OK? ⇒ 2.Run menu screen Check screen 　　　 SLOT 1 100% 　 1 Mov P1 1.CHECK 2.TEST RUN [CHECK] 2 Mov P2 3.OPERATION 3 Mov P3 4 Mov P4...
Page 36 3Explanation of operation methods ＢＤＣＣ 4.ABS screen ABS [ABS] J1:( )J2:( )J3:( J4:( )J5:( )J6:( J7:( )J8:( CLOSE 3.User screen USER J1:( )J2:( )J3:( [USER] J4:( )J5:( )J6:( J7:( )J8:( CLOSE 2.Brake screen J1:( )J2:( )J3:( [BRAKE]...
Page 37 Prev ⇒ CLOSE MOVE TEACH Next This function enable direct control of the robot by PLC. Refer to separate manual: "CR750-Q/CR751-Q series, CRnQ-700 series iQ Platform Supporting Extended Function Instruction Manual" (BFP-A8787). 3軸直交 Jog screen [JOG]key 2.WORK COORD JOINT 100% P1 ...
Page 38: Input Of The Number/Character
3Explanation of operation methods (2) Input of the number/character Each time the [CHARACTER] key is pressed, the number input mode and the character input mode change. The current input mode is displayed in the center under the screen, and the display of "123" shows that the number input mode and "ABC"...
Page 39: Selecting A Menu
3Explanation of operation methods Move the cursor to character"B", and input "M" and "Y" after pressing and deleting the [CLEAR] key. 　　　　　　 PROGRAM NAME PROGRAM NAME 　 ABC CLOSE 　 ABC CLOSE Correction of the input character [←] [CLEAR] [MNO] [WXYZ] [WXYZ] [WXYZ] If the long pushing [CLEAR] key, all the data in the parenthesis can be deleted.
Page 40 3Explanation of operation methods Using the T/B Unless the controller mode sets "MANUAL", operations other than specific operations (current position display on JOG screen, changing of override, monitoring of input/output, error history) cannot be carried out from the T/B. Function key There is the menu displayed on the lowest stage of the screen in the white character.
Page 41: Jog Feed (Overview)
3Explanation of operation methods 3.2 Jog Feed (Overview) Jog feed refers to a mode of operation in which the position of the robot is adjusted manually. Here, an over- view of this operation is given, using the vertical multi-joint type robot as an example. The axes are config- ured differently depending on the type of robot.
Page 42: Speed Of Jog Feed
3Explanation of operation methods Type Operation Explanation WORK jog Perform steps 1) to 3) above. It is necessary to set "0 (Work jog mode)" in the parameter WKnJOGMD (n = 1 to 8) in advance to perform this jog opera- 4) Press the function key to change to the (WORK jog mode) tion.
Page 43: Joint Jog
3Explanation of operation methods 3.2.3 JOINT jog Adjusts the coordinates of each axis independently in angle units. - J4 - J3 - J6 - J2 ｰ J1 3.2.4 XYZ jog Adjusts the axis coordinates along the direction of the robot coordinate system. The X, Y, and Z axis coordinates are adjusted in mm units.
Page 44: Tool Jog
3Explanation of operation methods 3.2.5 TOOL jog Adjusts the coordinates of each axes along the direction of the hand tip. The X, Y, and Z axis coordinates are adjusted in mm units. The A, B, and C axis coordinates are adjusted in angle units.
Page 45: Cylnder Jog
3Explanation of operation methods 3.2.7 CYLNDER jog Adjusting the X-axis coordinate moves the hand in the radial direction away from the robot's origin. Adjust- ing the Y-axis coordinate rotates the arm around the J1 axis. Adjusting the Z-axis coordinate moves the hand in the Z direction of the robot coordinate system.
Page 46: Switching Tool Data
3Explanation of operation methods 3.2.9 Switching Tool Data Set the tool data you want to use in the MEXTL1 to 16 parameters, and select the number of the tool you want to use according to the following operation. 1) Set the controller mode to "MANUAL". Push the [ENABLE] switch of T/B and enable T/B. MODE MANUAL AUTOMATIC...
Page 47: Changing The World Coordinate (Specifies The Base Coordinate Number)
3Explanation of operation methods 3.2.10 Changing the world coordinate (specifies the base coordinate number) The world coordinate which is the standard of position control of the robot can be changed easily by T/B operation In use of the base conversion function (Base instruction), this function is convenient for teaching operations. Set the base coordinate system to specify as parameter WK1 CORD-WK8CORD previously.
Page 48: Impact Detection During Jog Operation
3Explanation of operation methods 3.2.11 Impact Detection during Jog Operation This function can be enabled and disabled with a parameter. If the controller detects an impact, an error numbered 101n will be generated (the least significant digit, n, is the axis number). This function can also be enabled during jog operation;...
Page 49: Impact Detection Level Adjustment During Jog Operation
3Explanation of operation methods (1) Impact Detection Level Adjustment during Jog Operation The sensitivity of impact detection during jog operation is set to a lower value. If higher impact sensitivity is required, adjust the COLLVLJG parameter before use. Also, be sure to set the HNDDAT0 and WRKDAT0 parameters correctly before use.
Page 50: Opening/Closing The Hands
3Explanation of operation methods 3.3 Opening/Closing the Hands The open/close operation of the hands attached to on the robot is explained below. The a maximum of six hands are controllable. The hand 6, 5, 4, 3, 2, and 1 are assigned to each key of X, Y, Z, A, B, and C axis.
Page 51: Returning To The Safe Point
3Explanation of operation methods 3.4 Returning to the Safe Point The robot can be moved to the safe point specified by the JSAFE parameter. The safe point return procedure is as follows: 1) Set the controller mode to "MANUAL". Push the [ENABLE] switch of T/B and enable T/B. MODE MANUAL AUTOMATIC...
Page 52: Aligning The Hand
3Explanation of operation methods 3.5 Aligning the Hand The posture of the hand attached to the robot can be aligned in units of 90 degrees. This feature moves the robot to the position where the A, B and C components of the current position are set at the closest values in units of 90 degrees.
Page 53 3Explanation of operation methods CAUTION If any posture components (A, B and C) become 180 degrees as a result of align- ing the hand, the component values can be either +180 degrees or -180 degrees even if the posture is the same. This is due to internal operation errors, and there is no consistency in which sign is employed.
Page 54: Programming
3Explanation of operation methods 3.6 Programming MELFA-BASIC V used with this controller allows advanced work to be described with ample operation func- tions. The programming methods using the T/B are explained in this section. Refer to Page 168, "4.13 Detailed explanation of command words" in this manual for details on the MELFA-BASIC V commands and description methods.
Page 55: Creating A Program
3Explanation of operation methods (2) Creating a program The key operation in the case of inputting the program of the following and the three steps is shown. 1 Mov P1 2 Mov P2 3 End 1) Press the function key ([F3]) corresponding to "INSERT" in the command edit screen. ...
Page 56 3Explanation of operation methods 5) Registration of Step 1 Press the [EXE] key and register the step 1. 1 1 100% 1Mov P1 1MOV P1 ＿ ⇒ EDIT DELETE CLOSE INSERT TEACH Registration of Step 1 [EXE] 6) Hereafter, input Steps 2 and 3 in the same way. ...
Page 57: Completion Of Program Creation And Saving Programs
3Explanation of operation methods (3) Completion of program creation and saving programs If the function key which corresponds for "CLOSE" is pressed, the program will be saved and creation will be finished. If the "CLOSE" is not indicated, press the [FUNCTION] key, and display it. ...
Page 58: Correcting A Program
3Explanation of operation methods (4) Correcting a program Before correcting a program, refer to Page 34, "3.6.1 Creating a program" "(1)Opening the program edit screen", and open the program edit screen. An example, change"5 Mov P5" to "5 Mvs P5". ...
Page 59 3Explanation of operation methods Select and correct the line. [ ↑ ] by the [ ↓ ] key, the cursor can be moved to step 5, and the function key corresponding to "EDIT" can also be pressed and corrected to it. Cancel correction.
Page 60: Registering The Current Position Data
3Explanation of operation methods (5) Registering the current position data Teach the position variable which moves the robot to the movement position by jog operation etc., and is using the position by the program (registration). It is overwritten if already taught (correction). There are the teaching in the command edit screen and the teaching in the position edit screen.
Page 61 3Explanation of operation methods (b) Teaching in the position edit screen The operating procedure in the case of teaching the current position to the below to the position variable P5 is shown. Move the robot to the movement position by jog operation etc. beforehand. 1) Teaching in the position edit screen Press the function key ([F2]) corresponding to "CHANGE", and display the position edit screen.
Page 62 3Explanation of operation methods Change of the command edit screen and the position edit screen. If the function key corresponding to "CHANGE" is pressed, the command edit screen and the position edit screen can be changed each other. If the "CHANGE" is not displayed on the screen, it is displayed that the [FUNCTION] key is pressed. If "→" is displayed at the right end of the menu, the state of changing the menu by pressing the [FUNCTION] key is shown.
Page 63: Deletion Of The Position Variable
3Explanation of operation methods (6) Deletion of the position variable The operating procedure which deletes the position variable is shown. Restrict to the variable which is not used by the program and it can delete. 1) Display the position edit screen. Press the function key corresponding to "CHANGE", and display the position edit screen.
Page 64: Confirming The Position Data (Position Jump)
3Explanation of operation methods (7) Confirming the position data (Position jump) Move the robot to the registered position data place. The robot can be moved with the "joint mode" or "XYZ mode" method. Perform a servo ON operation while lightly holding the deadman switch before moving positions. Table 3-4:Moving to designated position data Name Movement method...
Page 65: Correcting The Mdi (Manual Data Input)
3Explanation of operation methods (8) Correcting the MDI (Manual Data Input) MDI is the method of inputting the numerical value into each axial element data of position data directly, and registering into it. This is a good registration method for registration of the position variable which adds position data and is used as an amount of relative displacement from a reference position (difference), if it tunes registered posi- tion data finely.
Page 66: Executing A Command Directly
3Explanation of operation methods (9) Executing a Command Directly Direct execution is the method of executing the input statements instantaneously. The robot operation can be checked during the progress of editing programs. The operational procedure for direct execution of the Mov command is shown below. 1) Display the directly execution screen.
Page 67: Debugging
3Explanation of operation methods 3.7 Debugging Debugging refers to testing that the created program operates correctly, and to correcting an errors if an abnormality is found. These can be carried out by using the T/B's debugging function. The debugging func- tions that can be used are shown below.
Page 68: Step Return
3Explanation of operation methods Change of the execution step The execution step can be changed by cursor movement by the arrow key, and jump operation ("JUMP"). Refer to Page 51, "(4) Step jump". Immediately stopping the robot during operation ・Press the [EMG.STOP] (emergency stop) switch. The servo will turn OFF, and the moving robot will immediately stop.
Page 69: Step Feed In Another Slot
3Explanation of operation methods CAUTION Take special care to the robot movements during automatic operation. If any abnormality occurs, press the [EMG. STOP] switch and immediately stop the robot. Immediately stopping the robot during operation ・Press the [EMG. STOP] (emergency stop) switch. The servo will turn OFF, and the moving robot will immediately stop.
Page 70 3Explanation of operation methods 3) Change of the slot Press the function key ([F3]) corresponding to the "SLOT" will display the slot number specified screen. SLOT 1 　　　　 SLOT ( 1 Mov P1 2 Mov P2 3 Mov P3 4 Mov P4 Jump SLOT...
Page 71: Step Jump
3Explanation of operation methods (4) Step jump It is possible to change the currently displayed step or line. The operation in the case of doing step operation from Step 5 as an example is shown. 1) Call Step 5. Press the function key corresponding to "JUMP", and press the [5], [EXE] key. The cursor moves to Step 5.
Page 72: Automatic Operation
3Explanation of operation methods 3.8 Automatic operation 3.8.1 Setting the operation speed The operation speed is set with the controller or T/B. The actual speed during automatic operation will be the operation speed = (controller (T/B) setting value) x (program setting value). (1) Operating with the controller 1) Press the controller [CHNG DISP] switch twice, and display the "OVERRIDE"...
Page 73: Starting Automatic Operation
3Explanation of operation methods 3.8.3 Starting automatic operation (1) Starting by O/P CAUTION Before starting automatic operation, always confirm the following item. Starting automatic operation without confirming these items could lead to property dam- age or physical injury. ・ Make sure that there are no operators near the robot. ・...
Page 74: Starting From The T/B
3Explanation of operation methods (2) Starting from the T/B With T/B software version 1.7 or later, the program’s automatic operation can be started from the T/B. (With R57TB, version 3.0 or later) Operations are carried out from the screen opened by selecting → . This function can be disabled by setting parameter: TBOP.
Page 75 3Explanation of operation methods 2) Press [3] key while the screen is displayed. The screen appears. 　　　 100% Auto 1.CHECK 2.TEST RUN PROGRAM NAME: STEP: 3.OPERATION PRG1 00001 STATUS: STOP MODE: CONT. ⇒ CLOSE START CYCLE RESET CHOOSE 　...
Page 76 3Explanation of operation methods 4) Enter the name of the program into the Program Name brackets, and press the [EXE] key. The program will be newly selected, and the display will return to the screen. 　　　 100% Auto PROGRAM NAME...
Page 77: Stopping
3Explanation of operation methods 8) The operation mode follows the mode displayed on the screen. Change the mode if necessary. 100% Auto 100% Auto PROGRAM NAME: STEP: PROGRAM NAME: STEP: PRG2 00001 PRG2 00001 STATUS: RUN MODE: CONT. STATUS: RUN MODE: CYCLE ⇒...
Page 78: Resuming Automatic Operation From Stopped State
3Explanation of operation methods 3.8.5 Resuming automatic operation from stopped state (1) Resuming by O/P CAUTION Before starting automatic operation, always confirm the following item. Starting automatic operation without confirming these items could lead to property dam- age or physical injury. ・...
Page 79: Resetting The Program
3Explanation of operation methods 3.8.6 Resetting the program The program's stopped state is canceled, and the execution line is returned to the head. (1) Operating with the controller Prepare the control 1) Set the T/B [ENABLE] switch to "DISABLE". Up ：DISABLE Down：ENABLE *Lighting Rear of T/B...
Page 80: Turning The Servo On/Off
3Explanation of operation methods 3.9 Turning the servo ON/OFF For safety purposes, the servo power can be turned ON during the teaching mode only while the enable switch on the back of the T/B is lightly pressed. Carry out this operation with the T/B while lightly pressing the deadman switch.
Page 81: Error Reset Operation
3Explanation of operation methods 3.10 Error reset operation *Error reset operation from the operation panel Cancel errors 1) Press the [RESET] key. If the error by the side of T/B is not reset, do reset operation from T/B. Error reset RESET *Error reset operation from the T/B Cancel errors...
Page 82: Operating The Program Control Screen
3Explanation of operation methods 3.12 Operating the program control screen Here, explain the operation method of the following related with program management. "(1)Program list display" "(2)Copying programs" "(3)Name change of the program (Rename)" "(4)Deleting a program (Delete)" "(5)Protection of the program (Protect)" (1) Program list display This functions allows the status of the programs registered in the controller to be confirmed.
Page 83: Copying Programs
3Explanation of operation methods (2) Copying programs 1) Select the copy menu Press the function key corresponding to the "COPY" by program list display. Display the copy screen. 　 1/20 136320 　　 08-04-24 17:20:32 22490 SRC.NAME ( 1 08-04-24 14:56:08 08-04-24 13:05:54 2208...
Page 84: Name Change Of The Program (Rename)
3Explanation of operation methods (3) Name change of the program (Rename) 1) Select the rename menu Press the function key corresponding to the "RENAME" by program list display. Display the rename screen. If the "renaming" menu is not displayed, press and display the [FUNCTION] key. 　...
Page 85: Deleting A Program (Delete)
3Explanation of operation methods (4) Deleting a program (Delete) 1) Select the delete menu Press the function key corresponding to the "DELETE" by program list display. Display the delete screen. If the "DELETE" menu is not displayed, press and display the [FUNCTION] key 　...
Page 86: Protection Of The Program (Protect)
3Explanation of operation methods (5) Protection of the program (Protect) 1) Select the protect menu Press the function key corresponding to the "PRTCT" by program list display. Display the protect screen. If the "PRTCT" menu is not displayed, press and display the [FUNCTION] key 　...
Page 87: Select The Program
3Explanation of operation methods About command protection It is the function which protects deletion of the program, name change, and change of the command from the operation mistake. ・ Protection information is not copied in copy operation. ・ In initialization operation, protection information is disregarded and execute initialization. About data protection It is the function which protects the variable from the substitution to each variable by registration of the posi- tion data based on the operation mistake, change, and the mistaken execution of the program.
Page 88: Operation Of Operating Screen
3Explanation of operation methods 3.13 Operation of operating screen (1)Display of the execution line ... 1.Confirmation: Display the executing program line, or execute step feed. (2)Display of the test execution line ..2. Test execution: Display the name of the program selected, and the executing step number.
Page 89 3Explanation of operation methods CAUTION Take special care to the robot movements during automatic operation. If any abnormality occurs, press the [EMG. STOP] switch and immediately stop the robot. About step operation "Step operation" executes the program line by line. The operation speed is slow, and the robot stops after each line, so the program and operation position can be confirmed.
Page 90: Step Jump
3Explanation of operation methods Immediately stopping the robot during operation ・ Press the [EMG.STOP] (emergency stop) switch. The servo will turn OFF, and the moving robot will immediately stop. To resume operation, reset the alarm, turn the servo ON, and start step operation. ・...
Page 91: Finishing Of The Confirmation Screen
3Explanation of operation methods (5) Finishing of the confirmation screen. 1) Press the function key corresponding to "CLOSE", and return to the screen. 1 　　　 1 Mov P1 1.CHECK 2.TEST RUN 2 Mov P2 3.OPERATION 3 Mov P3 4 Mov P4 ⇒...
Page 92: Operating The Operation Screen
3Explanation of operation methods 4) Press the function key corresponding to "CLOSE", and return to the operation menu screen. 　　　 1 Mov P1 PROG.NAME: STEP: 1 1.CHECK 2.TEST RUN 3.OPERATION MODE: CONT. ⇒ CSTOP CLOSE 　 123 CLOSE If execution of the program is stopped, it will become the continuation mode of operation.
Page 93: Operating The Monitor Screen
3Explanation of operation methods 3.14 Operating the monitor screen Here, explain the operation method of the following functions. (1)Input signal monitor ..1.Input: Parallel input signal monitor (2)Output signal monitor ..2.Output: Parallel output signal monitor. Setup of ON/OFF (3)Input register monitor..3.Input register: Input register of CC-Link (4)Output register monitor ..
Page 94 3Explanation of operation methods 3) Display the ON/OFF state of the 32 points at the head for the input signal No. 8. Black painting indi- cates ON and white indicates OFF. Next [F3] 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 23 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 55 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0...
Page 95: Output Signal Monitor
3Explanation of operation methods (2) Output signal monitor There are the function which always makes the ON/OFF state of the output signal the monitor, and the func- tion outputted compulsorily. 1) Press the [2] key in the monitor menu screen, and display the output signal screen. The output signal of the 32 points can be monitored on the one screen.
Page 96 3Explanation of operation methods 3) The compulsive output of the output signal. In the following, the operation method in the case of turning off the output signal No. 8 compulsorily is shown. Press the function key corresponding to "NUMBER". Set "8" as the start number. (Press [8], and [EXE] key) ...
Page 97: Input Register Monitor
3Explanation of operation methods 7) Press the function key corresponding to "CLOSE" in monitor menu screen is pressed, finish the moni- tor, and return to the original screen. 　　　 1/20 136320 08-04-24 17:20:32 22490 1.INPUT 2.OUTPUT 08-04-24 14:56:08 3.INPUT REG.
Page 98: Output Register Monitor
3Explanation of operation methods 4) Press the function key corresponding to "CLOSE", and return to the monitor menu screen. 　　　 8000 0 0×0000 1.INPUT 2.OUTPUT 8001 0 0×0000 3.INPUT REG. 4.OUTPUT REG. 8002 0 0×0000 5.VARIABLE 6.ERROR LOG 8003 0 0×0000 Prev...
Page 99 3Explanation of operation methods 3) The current output value of No. 8000 is displayed by the decimal number in the parenthesis following the output value. The value in the parenthesis following lower 0x is the hexadecimal number. START No. （ 8000 ）...
Page 100: Variable Monitor
3Explanation of operation methods 7) Press the function key corresponding to "CLOSE", and return to the monitor menu screen. 　　　 1/20 136320 08-04-24 17:20:32 22490 1.INPUT 2.OUTPUT 08-04-24 14:56:08 3.INPUT REG. 4.OUTPUT REG. 08-04-24 13:05:54 2208 5.VARIABLE 6.ERROR LOG 08-04-24 13:05:54 1851 　...
Page 101 3Explanation of operation methods 4) Display the value of the numeric variable M1 on the screen. The variable which will be monitored if the cursor is moved to the line which is vacant in the arrow key and operation of the above "3)"...
Page 102: Error History
3Explanation of operation methods (6) Error history Display the error history. Please use reference at the time of trouble occurrence. 1) Press the [6] key in the monitor menu screen, and display the error history. 　　　　　　 o-0001 H0120 1.INPUT 2.OUTPUT...
Page 103: Operation Of Parameter Screen
3Explanation of operation methods 3.15 Operation of parameter screen The parallel I/O designated input/output settings and settings for the tool length, etc., are registered as parameters. The robot moves based on the values set in each parameter. This function allows each param- eter setting value to be displayed and registered.
Page 104 3Explanation of operation methods NAME(MEXTL ELE(3 ) DATA (100.00　　　　　　　　　　　　) [F3] NAME(MEXTL1 Prev Next CLOSE DATA ELE( ) DATA (0.00,0.00,0.00,0.00,0.00,0.00　) NAME(MEXTL Prev Next CLOSE DATA ELE( ) [F2] DATA (0.00,0.00,100.00,0.00,0.00,0.00　) Prev Next DATA CLOSE The value can be changed also in this state. Press the function key corresponding to the "DATA", make it move to the position of the element number which changes the cursor by the arrow key, and input the new preset value.
Page 105: Operation Of The Origin And The Brake Screen
3Explanation of operation methods 3.16 Operation of the origin and the brake screen (1) Origin If the origin position has been lost or deviated when the parameters are lost or due to robot interference, etc., the robot origin must be set again using this function. Refer to the separate manual: "Robot arm setup &...
Page 106 3Explanation of operation methods 4) Press function key continuously corresponding to "REL." to release the brake of the specified axis only while the keys are pressed. Only while the function key ([F1]) is pushing, the brake of the specified axis is released. ・...
Page 107: Operation Of Setup / Initialization Screen
3Explanation of operation methods 3.17 Operation of setup / initialization screen Here, explain the operation method of the following functions. (1)Initialization ..... 1. Programs: Delete all the programs 2. Parameter: Return the parameter to the setup at the time of shipment. 3.
Page 108: Initialize The Parameter
3Explanation of operation methods 4) Press the function key corresponding to "CLOSE", and return to the screen. 1.INITIALIZE 2.POWER 1.DATA 2.PARAMETER 3.CLOCK　　　　　4.VERSION 3.BATTERY CLOSE CLOSE Executed even when protected The program will be initialized even if the program protection or variable protection is set to ON. (2) Initialize the parameter Return the parameter to the setup at the time of shipment.
Page 109: Initialize The Battery
3Explanation of operation methods 4) Press the function key corresponding to "CLOSE", and return to the screen. 1.INITIALIZE 2.POWER 3.CLOCK　　　　　4.VERSION 1.DATA 2.PARAMETER 3.BATTERY CLOSE CLOSE (3) Initialize the battery Reset the expended hours of the battery 1) Press the [1] key in the ...
Page 110: Operation
3Explanation of operation methods Always initialize after battery replacement The battery usage time is calculated in the controller, and a caution message is displayed when the battery is spent. Always initialize the battery consumption time after replacing the battery to ensure that the caution message is displayed correctly.
Page 111: Version
3Explanation of operation methods 3) Press the function key corresponding to "CLOSE", and return to the screen. 1.INITIALIZE 2.POWER DATE 08-05-07 3.CLOCK　　　　　4.VERSION TIME 16:35:20 CLOSE CLOSE (6) Version Display the software version of the controller and the teaching pendant 1) Press the [4] key in the ...
Page 112: Enhanced
CLOSE (1) SQ DIRECT This function controls the robot by the program of the PLC directly. (CR7xx-Q series) Please refer to separate manual: "CR750-Q/CR751-Q series, CRnQ-700 series, iQ Platform Supporting Extended Function Instruction Manual (BFP-A8787)". (2) WORK COORD This screen defines the work coordinates system necessary for work jog operation. If you use the work jog, define the target work coordinates system.
Page 113: Operation Of The Initial-Setting Screen
3Explanation of operation methods 3.19 Operation of the initial-setting screen There is the function of initial setting shown in the following. (1)Setup of the display language ... The character displayed on the T/B can be set to either Japanese or English.
Page 114 3Explanation of operation methods 4) Press the [EXE] key, and fix it. Japanese 1.Default Language 2.Contrast Back English <1> <2> Next Back 5) Press the [EXE] key, and display finish screen. 1.Default Language 1.Save and Exit 2.Contrast 2.Exit without Save...
Page 115: Adjustment Of Contrast
3Explanation of operation methods (2) Adjustment of contrast The brightness of the screen of T/B can be adjusted in the 16 steps. 1) Press the [F1] key in the initial-setting screen, and select "1. Configuration". 1.Configuration 1.Default Language 2.Com.Information 2.Contrast <1>...
Page 116 3Explanation of operation methods 6) Press the [F1] key, and save the setup. If not saved, press the [F2] key. All return to the initial-setting screen. And, the setup can be done over again if the [EXE] key is pressed. 1.Save and Exit 1.Configuration 2.Exit without Save...
Page 117: Melfa-Basic V
4MELFA-BASIC V 4 MELFA-BASIC V In this chapter, the functions and the detailed language specification of the programming language "MELFA- BASIC V" are explained. 4.1 MELFA-BASIC V functions The outline of the programming language "MELFA-BASIC V" is explained in this section. The basic move- ment of the robot, signal input/output, and conditional branching methods are described.
Page 118: Robot Operation Control
4MELFA-BASIC V 4.1.1 Robot operation control (1) Joint interpolation movement The robot moves with joint axis unit interpolation to the designated position. (The robot interpolates with a joint axis unit, so the end path is irrelevant.) *Command word Command word Explanation The robot moves to the designated position with joint interpolation.
Page 119: Linear Interpolation Movement
4MELFA-BASIC V *Related functions Function Explanation page Designate the movement speed............Page 103, "(5) Acceleration/deceleration time and speed con- trol" Designate the acceleration/deceleration time........Page 103, "(5) Acceleration/deceleration time and speed con- trol" Confirm that the target position is reached........Page 105, "(6) Confirming that the target position is reached"...
Page 120: Circular Interpolation Movement
4MELFA-BASIC V Program example Program Explanation Mvs P1, -50 Moves with linear interpolation from P1 to a position retracted 50mm in the hand direction. Mvs P1 Moves to P1 with linear interpolation. Mvs ,-50 Moves with linear interpolation from the current position (P1) to a position retracted 50mm in the hand direction.
Page 121 4MELFA-BASIC V *Statement example Statement example Explanation ' Moves with circular interpolation between P1 - P2 - P3. Mvr P1, P2, P3 ..............' Circular interpolation between P1 - P2 - P3 starts, and the output signal bit 17 turns ON. Mvr P1, P2, P3 Wth M_Out (17) = 1........
Page 122: Continuous Movement
4MELFA-BASIC V (4) Continuous movement The robot continuously moves to multiple movement positions without stopping at each movement position. The start and end of the continuous movement are designated with the command statement. The speed can be changed even during continuous movement. *Command word Command word Explanation...
Page 123: Acceleration/Deceleration Time And Speed Control
4MELFA-BASIC V (5) Acceleration/deceleration time and speed control The percentage of the acceleration/deceleration in respect to the maximum acceleration/deceleration, and the movement speed can be designated. *Command word Command word Explanation Designates the acceleration during movement and the deceleration as a percentage (%) in Accel respect to the maximum acceleration/deceleration speed.
Page 124 4MELFA-BASIC V Program example Program Explanation Ovrd 100 ' Sets the movement speed applied on the entire program to the maximum speed. Mvs P1 Moves at maximum speed to P1. Mvs P2, -50 *1) Moves at maximum speed from P2 to position retracted 50mm in hand direction. Ovrd 50 ' Sets the movement speed applied on the entire program to half of the maximum speed.
Page 125: Confirming That The Target Position Is Reached
4MELFA-BASIC V (6) Confirming that the target position is reached The positioning finish conditions can be designated with as No. of pulses. (Fine instruction) This designation is invalid when using continuous movement. *Command word Command word Explanation Fine Designates the positioning finish conditions with a No. of pulses. Specify a small number of pulses to allow more accurate positioning.
Page 126: High Path Accuracy Control
4MELFA-BASIC V (7) High path accuracy control It is possible to improve the motion path tracking when moving the robot. This function is limited to certain types of robot. Currently, the Prec instruction is available for vertical multi-joint type 5-axis and 6-axis robots. *Command word Command word Explanation...
Page 127: Hand And Tool Control
4MELFA-BASIC V (8) Hand and tool control The hand open/close state and tool shape can be designated. *Command word Command word Explanation HOpen Opens the designated hand. HClose Closes the designated hand. Tool Sets the shape of the tool being used, and sets the control point. *Statement example Statement example Explanation...
Page 128: Pallet Operation
4MELFA-BASIC V 4.1.2 Pallet operation When carrying out operations with the workpieces neatly arranged (palletizing), or when removing work- pieces that are neatly arranged (depalletizing), the pallet function can be used to teach only the position of the reference workpiece, and obtain the other positions with operations. *Command word Command word Explanation...
Page 129 4MELFA-BASIC V CAUTION Please read "*Explanation" below if you use position data whose posture compo- nents (A, B and C) are approximately +/-180 degrees as the start point, end points A and B, or the diagonal point.
Page 130 4MELFA-BASIC V CAUTION The value of the start point of the pallet definition is employed for the structure flag of grid points (FL1 of position data) calculated by pallet operation (Plt instruction). For this reason, if position data with different structure flags are used for each point of the pallet definition, the desired pallet operation cannot be obtained.
Page 131 4MELFA-BASIC V •Program example 1 The hand direction is the same in all grid points of a pallet (values of the A, B and C axes are identical) Program Explanation 1 P3.A=P2.A ’Assigns the posture component (A) of P2 to the posture component (A) of P3. 2 P3.B=P2.B ’Assigns the posture component (B) of P2 to the posture component (B) of P3.
Page 132 4MELFA-BASIC V •Program example 2 Correction when posture components are close to +/-180 degrees Program Explanation 1 If Deg(P2.C)<0 Then GoTo *MINUS ’Checks the sign of the posture component (C) of P2 and, if it is - (negative), jump to the label MINUS line. 2 If Deg(P3.C)<-178 Then P3.C=P3.C+Rad(+360) ’If the posture component (C) of P3 is close to -180 degrees, adds 360 degrees to correct it to a positive value.
Page 133: Program Control
4MELFA-BASIC V 4.1.3 Program control The program flow can be controlled with branching, interrupting, subroutine call, and stopping, etc. (1) Unconditional branching, conditional branching, waiting The flow of the program to a specified step can be set as unconditional or conditional branching. *Command word Command word Explanation...
Page 134: Repetition
4MELFA-BASIC V *Related functions Function Explanation page Repetition ................... Page 114, "(2) Repetition" Interrupt....................Page 115, "(3) Interrupt" Subroutine..................Page 116, "(4) Subroutine" External signal input................Page 118, "(1) Input signals" (2) Repetition Multiple command statements can be repeatedly executed according to the designated conditions. *Command word Command word Explanation...
Page 135: Interrupt
4MELFA-BASIC V (3) Interrupt Once the designated conditions are established, the command statement being executed can be interrupted and a designated step branched to. *Command word Command word Explanation Def Act Defines the interrupt conditions and process for generating interrupt. Designates the validity of the interrupt.
Page 136: Subroutine
4MELFA-BASIC V (4) Subroutine Subroutine and subprograms can be used. By using this function, the program can be shared to reduce the No. of steps, and the program can be cre- ated in a hierarchical structure to make it easy to understand. *Command word Command word Explanation...
Page 137: Timer
4MELFA-BASIC V (5) Timer The program can be delayed by the designated time, and the output signal can be output with pulses at a designated time width. *Command word Command word Explanation Functions as a designated-time timer. *Statement example Statement example Explanation Dly 0.05 ................
Page 138: Inputting And Outputting External Signals
4MELFA-BASIC V 4.1.4 Inputting and outputting external signals This section explains the general methods for signal control when controlling the robot via an external device (e.g., PLC). (1) Input signals Signals can be retrieved from an external device, such as a programmable logic controller. The input signal is confirmed with a robot status variable (M_In(), etc.) Refer to Page 155, "4.6 Robot status variables"...
Page 139: Communication
4MELFA-BASIC V 4.1.5 Communication Data can be exchanged with an external device, such as a personal computer. *Command word Command word Explanation Open Opens the communication line. Close Closes the communication line. Print# Outputs the data in the AscII format. CR is output as the end code. Input# Inputs the data in the AscII format.
Page 140: Expressions And Operations
4MELFA-BASIC V 4.1.6 Expressions and operations The following table shows the operators that can be used, their meanings, and statement examples. (1) List of operator Class Operator Meaning Statement example Substituti The right side is P1=P2 ’Substitute P2 in position variable P1. substituted in the left P5=P_Curr ’Substitute the current coordinate value in current position variable P5.
Page 141: Relative Calculation Of Position Data (Multiplication)
4MELFA-BASIC V Class Operator Meaning Statement example Logical Logical AND operation M1=M_Inb(1) And &H0F ’Convert the input signal bit 1 to 4 status and substitute in numeric operation variable M1. (Input signal bits 5 to 8 remain OFF.) Logical OR operation M_Outb(20)=M1 Or &H80 ’Output the numeric variable M1 value to output signal bit 20 to 27.
Page 142 4MELFA-BASIC V (2) Relative calculation of position data (multiplication) Numerical variables are calculated by the usual four arithmetic operations. The calculation of position vari- ables involves coordinate conversions, however, not just the four basic arithmetic operations. This is explained using simple examples. An example of relative calculation (multiplication) 1 P2=(10,5,0,0,0,0)(0,0) M ultip lication b etween P variab les...
Page 143: Appended Statement
4MELFA-BASIC V 4.1.7 Appended statement A process can be added to a movement command. *Appended statement Appended statement Explanation Unconditionally adds a process to the movement command. WthIf Conditionally adds a process to the movement command. *Statement example Statement example Explanation Mov P1 Wth M_Out(20)=1..........
Page 144: The Difference Between Melfa-Basic V And Melfa-Basic Iv
4MELFA-BASIC V 4.2 The difference between MELFA-BASIC V and MELFA-BASIC IV 4.2.1 About MELFA-BASIC V By the CR7xx series controller, MELFA-BASIC V is mounted in the robot programming language. It is easier to use MELFA-BASIC V than conventional MELFA-BASIC IV. Explains the difference in the following 4.2.2 The feature of MELFA-BASIC V MELFA-BASIC V has the following features as compared with MELFA-BASIC IV.
Page 145: Multitask Function
4MELFA-BASIC V 4.3 Multitask function 4.3.1 What is multitasking? The multitask function is explained in this section. Multitasking is a function that runs several programs as parallel, to shorten the tact time and enable control of peripheral devices with the robot program. Multitasking is executed by placing the programs, to be run in parallel, in the items called "slots"...
Page 146: Executing A Multitask
4MELFA-BASIC V 4.3.2 Executing a multitask Table 4-3:The multitask can be executed with the following three methods. Types of execution Explanation Execution from a program This method starts parallel operation of the programs from a random position in the program using a MELFA-BASIC IV command. The pro- grams to be run in parallel can be designated, and a program running in parallel can be stopped.
Page 147 4MELFA-BASIC V The parameters SLT1 to SLT32 contain information about the name of the program to be executed, opera- tion mode, start condition, and priority for each of the 32 task slots (set to 8 slots at the factory default set- ting).
Page 148: Precautions For Creating Multitask Program
4MELFA-BASIC V 4.3.4 Precautions for creating multitask program (1) Relationship between number of tasks and processing time During multitask operation, it appears as if several robot programs are being processed concurrently. How- ever, in reality, only one line is executed at any one time, and the processing switches from program to pro- gram (it is possible to change the number of lines being executed at a time.
Page 149: How To Perform The Initialization Processing Via Constantly Executed Programs
4MELFA-BASIC V (6) How to perform the initialization processing via constantly executed programs Programs specified in task slots whose start condition is set to ALWAYS are executed continuously (repeat- edly) if the operation mode is set to REP. Therefore, in order to perform the initialization processing via such programs, they should be programmed in such a way that the initialization processing is not executed more than once, for example by setting an initialization complete flag and perform a conditional branch based on the flag's status.
Page 150: Example Of Using Multitask
4MELFA-BASIC V 4.3.6 Example of using multitask An example of the multitask execution is given in this section. (1) Robot work details. The robot programs are the "movement program" and "position data lead-in program". The "movement program" is executed with slot 1, and the "position data lead-in program" is executed with slot 2.
Page 151: Procedures To Multitask Execution
4MELFA-BASIC V (2) Procedures to multitask execution *Procedure 1: Program creation <1> Movement program (Program name: 1) 1 Cnt 1 'Validate path connected movement 2 Mov P2,10 'Move to +10mm above P2 3 Mov P1,10 'Move to +10mm above P1 4 Mov P1 'Move to P1 workpiece pickup position 5 M_Out(10)=0...
Page 152: Program Capacity
4MELFA-BASIC V 4.3.7 Program capacity There are 3 types of areas that handle robot programs; save, edit and execution. Refer to "Table 4- 4Capacity of each program area" for the capacity of each area. (1) Program save area This area is used to save programs. Under normal circumstances, it is possible to save 920 Kbytes of pro- gram code in total.
Page 153: Detailed Specifications Of Melfa-Basic V
4MELFA-BASIC V 4.4 Detailed specifications of MELFA-BASIC V In this section, detailed explanations of the MELFA-BASIC V format and syntax such as configuration are given, as well as details on the functions of each command word. The following explains the components that constitute a statement.
Page 154: Variable
4MELFA-BASIC V (3) Variable The following types of variables can be used in a program. ････Required data can be saved. Variable ････This is predetermined by the variable name and saved data. System variable Note 1) ････This can only be referred to with the program. System control variable 　　Example) P_CURR: The robot's current position is always saved.
Page 155: Statement
4MELFA-BASIC V 4.4.1 Statement A statement is the minimum unit that configures a program, and is configured of a command word and data issued to the word. Example) Command word Data Command statement 4.4.2 Appended statement Command words can be connected with an appended statement, but this is limited to movement com- mands.
Page 156: Types Of Characters That Can Be Used In Program
4MELFA-BASIC V 4.4.6 Types of characters that can be used in program The character which can be used within the program is shown in Table 4-5. However, there are restrictions on the characters that can be used in the program name, variable name and label name. The characters that can be used are indicated by O, those that cannot be used are indicated by X, and those that can be used with restrictions are indicated by @.
Page 157: Characters Having Special Meanings
4MELFA-BASIC V 4.4.7 Characters having special meanings (1) Uppercase and lowercase identification Lowercase characters will be resigned as lowercase characters when they are used in comments or in char- acter string data. In all other cases, they will be converted to uppercase letters when the program is read. (2) Underscore ( _ ) The underscore is used for the second character of an identifier (variable name) to identify the variable as an external variable between programs.
Page 158: Data Type
4MELFA-BASIC V 4.4.8 Data type In MELFA BASIC V it is possible to use four data types: numerical values, positions, joints, and character strings. Each of these is called a "data type." The numerical value data type is further classified into real numbers and integers.
Page 159: Position Constants
4MELFA-BASIC V 4.4.12 Position constants The syntax for position constants is as shown below. Variables cannot be described within position con- stants. ( 100, 100, 300, 180, 180, 0, 0 ) ( 7, 0 ) structure flag 2 (multi-rotation data) structure flag 1 (posture data) L2 axis (additional axis 2) L1 axis (additional axis 1)
Page 160: Joint Constants
4MELFA-BASIC V Value of multiple rotation data -900 -540 -180 Angle of each axis Value of multiple .... rotation data The wrist tip axis value in the XYZ coordinates (J6 axis in a vertical multi-joint type robot) is the same after one rotation (360 degrees).
Page 161: Angle Value
4MELFA-BASIC V Use of variables in joint element data The axis data is called the joint element data. A variable cannot be contained in the joint constant data that configures the joint constant. 4.4.14 Angle value The angle value is used to express the angle in "degrees" and not in "radian". If written as 100Deg, this value becomes an angle and can be used as an argument of trigonometric func- tions.
Page 162: Numeric Value Variables
4MELFA-BASIC V 4.4.16 Numeric value variables Variables whose names begin with a character other than P, J, or C are considered numeric value variables. In MELFA-BASIC V, it is often specified that a variable is an numeric value variable by placing an M at the head.
Page 163: Joint Variables
4MELFA-BASIC V 4.4.19 Joint variables A character string variable should start with J. If it is defined by the Def Jnt instruction, it is possible to spec- ify a name beginning with a character other than J. It is possible to reference individual coordinate data of joint variables. In this case, add "."...
Page 164: External Variables
4MELFA-BASIC V 4.4.22 External variables External variables have a "_" (underscore' for the second character of the identifier (variable name). (It is necessary to register user-defined external variables in the user base program.) The value is valid over mul- tiple programs. Thus, these can be used effectively to transfer data between programs. There are four types of external variables, numeric value, position, joint and character, in the same manner as the Page 138, "4.4.8 Data...
Page 165: User-Defined External Variables
4MELFA-BASIC V 4.4.24 User-defined external variables If the number of program external variables listed above is insufficient or it is desired to define variables with unique names, the user can define program external variables using a user base program. Procedure before using user-defined external variables 1) First, write a user base program.
Page 166: Creating User Base Programs
4MELFA-BASIC V 4.4.25 Creating User Base Programs Note) What is a user base program? A user base program is used when user-defined external variables are used to define such variables, but it is not necessary to actually execute the program. Simply create a program containing the necessary declaration lines and register it in the "PRGUSR"...
Page 167: Coordinate System Description Of The Robot
4MELFA-BASIC V 4.5 Coordinate system description of the robot 4.5.1 About the robot's coordinate system The robot's coordinate system has following four. ① World coordinate system: Origin is *1 The coordinate system as the standard for displaying the current position of robot. note 1) ②...
Page 168: About Base Conversion
4MELFA-BASIC V 4.5.2 About base conversion The base conversion permits the world coordinate system to be moved, when required, to the reference position of the work table or the work. Under the control of this function, the robot's current position is treated as the one relative to the work table or the work.
Page 169: About Position Data
4MELFA-BASIC V 4.5.3 About position data Positional data for the robot is comprised of six elements which indicate the position of the hand's leading end (mechanical interface center where no tool setting is made) (X, Y, and Z) and the robot's posture (A, B, and C), plus a structure flag.
Page 170: About Tool Coordinate System (Mechanical Interface Coordinate System)
4MELFA-BASIC V 4.5.4 About tool coordinate system (mechanical interface coordinate system) To set the robot's control point at the leading end of the hand attached thereto, it is necessary to make tool data settings. Tool data defines the position of the tool's leading end with reference to a mechanical interface coordinate system that is established for the flange.
Page 171: Tool Coordinate System
4MELFA-BASIC V (2) Tool coordinate system A tool coordinate system is one that is defined for the leading end of the robot hand (control point for the robot hand). It is obtained by shifting the origin point of a mechanical interface coordinate system to the leading end of the robot hand (control point hand) and adding given rotational elements.
Page 172: Effects Of Use Of Tool Coordinate System
4MELFA-BASIC V (3) Effects of use of tool coordinate system 1) Jogging and teaching operations When placing the robot into tool-jog mode, you can let it operate in the direction of the face of the robot hand. This makes it easier to adjust the posture of the robot hand toward the work concerned or the posture of the work being held by the robot hand.
Page 173 4MELFA-BASIC V 2) Automatic operation Travel command permits you to set robot motion during the removal or transfer of processed work by specifying approach/pullout distance settings. Approach or pullout takes place in the direction of the Z axis of the robot's tool coordinate system. To move the robot hand to a point 50mm over the work transfer position as shown in Fig.
Page 174 4MELFA-BASIC V +45° (a) Position of P1 (b) Position of Mov P1* (0, 0, 0, 0, 0, 45) Fig.4-11:Rotational motion in tool coordinate system 4-154 Coordinate system description of the robot...
Page 175: Robot Status Variables
4MELFA-BASIC V 4.6 Robot status variables The available robot status variables are shown in Table 4-9. As shown in the table, the variable name and application are predetermined. The robot status can be checked and changed by using these variables. Table 4-9:Robot status variables Array designation Attribute...
Page 176 4MELFA-BASIC V Array designation Attribute Variable Details Data type, Unit Page name Note1) Note2) 28 M_Wuprt Mechanism No.(1 to 3) Time until the warm-up operation status is Single-precision canceled (sec.) real number type, 29 M_Wupst Mechanism No.(1 to 3) Time until the warm-up operation status is set Single-precision again (sec.) real number type,...
Page 177 4MELFA-BASIC V Array designation Attribute Variable Details Data type, Unit Page name Note1) Note2) 52 M_ErrLvl None Reads an error level. Integer type ・ S/W version R1c or before (SQ series) / S1c or before (SD series) No error / Caution / Low / High = 0/1/2/3 ・...
Page 178 4MELFA-BASIC V Array designation Attribute Variable Details Data type, Unit Page name Note1) Note2) 69 J_Origin Mechanism No.(1 to 3) Returns the joint coordinate data when setting the Joint type origin. 70 M_Open File No.(1 to 8) Returns the open status of the specified file Integer type or the communication line.
Page 179: Logic Numbers
4MELFA-BASIC V Array designation Attribute Variable Details Data type, Unit Page name Note1) Note2) 91 P_Gps1 to Position number (1 to Returns XYZ coordinate data for the current Integer type P_Gps8 400) position data when the condition defined in the Def Gps command is met, using the get-position-quick function (GPS function).
Page 180: Functions
4MELFA-BASIC V 4.7 Functions A function carries out a specific operation for an assigned argument, and returns the result as a numeric value type or character string type. There are built-in functions, that are preassembled, and user-defined functions, defined by the user. (1) User-defined functions The function is defined with the Def FN statement.
Page 181 4MELFA-BASIC V Class Function name (format) Functions Result Page Trigonometric Cos() Calculates the cosine Unit: radian Numeric functions Definition range: Numeric value range, Value range: -1 to +1 value Sin() Calculates the sine Unit: radian Definition range: Numeric value range, Value range: -1 to +1 Tan() Calculates the tangent.
Page 182 4MELFA-BASIC V Class Function name (format) Functions Page Result Position vari- Zone2 Checks whether position 1 is within the space (cylinder) created by Numeric ables ( ,, the position 2 and position 3 points. value < Numeric value 1>, < Numeric value 2>, Outside the range=0, Within the range=1 <...
Page 183: List Of Command
4MELFA-BASIC V 4.8 List of Command A list of pages with description of each command is shown below. They are listed in the order of presumed usage frequency. (1) Command related to movement control Command Explanation Page Mov (Move) Joint interpolation Mvs (Move S) Linear interpolation Mvr (Move R)
Page 184: Command Related To Program Control
4MELFA-BASIC V (2) Command related to program control Command Explanation Page Rem (Remarks) Comment(') If...Then...Else...EndIf (If Then Else) Conditional branching Select Case (Select Case) Enables multiple branching GoTo (Go To) Jump GoSub (Return)(Go Subroutine) Subroutine jump Reset Err (Reset Error) Resets an error (use of default is not allowed) CallP (Call P) Program call...
Page 185: Multi-Task Related
4MELFA-BASIC V Command Explanation Page Def FN (Define function) User function definition Title (Title) Program title setting Base (Base) Robot base position setting Tool(Tool) Tool length setting SetCalFrm (Set Calibration Frame) Coordinate system setting used for frame transformation Def Gps (Define get position) Definition of the monitored condition for the position data acquisi- tion using the get-position-quick function (GPS function) Def Map (Define mapping)
Page 186: Operators
4MELFA-BASIC V 4.9 Operators The value's real number or integer type do not need to be declared. Instead, the type may be forcibly con- verted according to the operation type. (Refer to Table 4-12.) The operation result data type is as follows according to the combination of the left argument and right argument data types.
Page 187: Priority Level Of Operations
4MELFA-BASIC V [Caution] •The operation of the section described with a "-" is not defined. •The results of the integer and the integer multiplication/division is an integer type for multiplication, and a real number type for division. •If the right argument is a 0 divisor (divide by 0), an operation will not be possible. •During exponential operation, remainder operation or logical operation (including negate), all real numbers will be forcibly converted into integers (rounded off), and operated.
Page 188: Detailed Explanation Of Command Words
4MELFA-BASIC V 4.13 Detailed explanation of command words 4.13.1 How to read the described items [Function] : Indicates the command word functions. [Format] : Indicates how to input the command word argument. The argument is shown in <>. [ ] indicates that the argument can be omitted. [] indicates that a space is required.
Page 189 4MELFA-BASIC V Accel (Accelerate) [Function] Designate the robot's acceleration and deceleration speeds as a percentage (%). It is valid during optimum acceleration/deceleration. * The acceleration/deceleration time during optimum acceleration/deceleration refers to the optimum time calculated when using an Oadl instruction, which takes account of the value of the M_SetAdl variable. [Format] Accel[] [] [, ] ,[], []...
Page 190 4MELFA-BASIC V [Related instructions] Oadl (Optimal Acceleration), Loadset (Load Set) [Related system variables] M_Acl/M_DAcl/M_NAcl/M_NDAcl/M_AclSts [Related parameter] JADL 4-170 Detailed explanation of command words...
Page 191 4MELFA-BASIC V Act (Act) [Function] This instruction specifies whether to allow or prohibit interrupt processing caused by signals, etc. during operation. [Format] Act[] = <1/0/-1> [Terminology] 0: Either enables or disables the entire interrupt. 1 - 8: Designate the priority No. for the interrupt defined in the Def Act statement. When entering the priority No., always leave a space (character) after the Act command.
Page 192 4MELFA-BASIC V 24 If M_In(1) <> 0 Then Goto *Loop 25 Act 1=-1 ' The interrupt in progress is canceled. And interrupt moni- toring function is stopped. 26 Goto *Start [Explanation] (1) When the program starts, the status of 0 is "enabled." When 0 is "disabled," even if ...
Page 193 4MELFA-BASIC V Base (Base) [Function] Changes (relocation and rotation) can be made to the world coordinate system which is the basis for the control of the robot's current position. There are two alternative methods to achieve this. One is to directly specify base conversion data and the other, to specify a predefined work coordinate system number.
Page 194 4MELFA-BASIC V [Explanation] (1) Values subject to base conversion (coordinate values) represent position data for the origin point of the base coordinate system as viewed from a world coordinate system which is newly defined. Therefore, when you use the robot's current position to specify base conversion data with coordinate values defined by a Fram function or the like, do so by inversely converting the coordinate values [for example, Base Inv(P1)].
Page 195 4MELFA-BASIC V New world coordinate 1 (Work coordinate 1) New world coordinate 2 (Work coordinate 2) Current world coordinate (=Base coordinate) Fig.4-13:Base conversion with a work coordinate system number being specified CAUTION Performing a base conversion changes the robot's current position to values that refer to the newly established world coordinate system or work coordinate system.
Page 196 4MELFA-BASIC V CallP (Call P) [Function] This instruction executes the specified program (by calling the program in a manner similar to using GoSub to call a subroutine). The execution returns to the main program when the End instruction or the final step in the sub program is reached.
Page 197 4MELFA-BASIC V [Explanation] (1) A program (sub program) called by the CallP instruction will return to the parent program (main pro- gram) when the End instruction (equivalent to the Return instruction of GoSub) is reached. If there is no End instruction, the execution is returned to the main program when the final step of the sub program is reached.
Page 198 4MELFA-BASIC V ChrSrch (Character search) [Function] Searches the character string out of the character array. [Format] ChrSrch[],, [Terminology] Specify the character string array to be searched. Specify the character string to be searched. ...
Page 199 4MELFA-BASIC V CavChk On (CavChk On) [Function] Activates the stop function of the interference avoidance function. This function is only available for certain models. For details, refer to Page 523, "5.24 Interference avoid- ance function". [Format] CavChk[][,[,NOErr]] [Terminology] ...
Page 200 4MELFA-BASIC V Close (Close) [Function] Closes the designated file.(including communication lines) [Format] Close[] [[#][, [[#] ...]]] [Terminology] Specify the number of the file to be closed (1 to 8). Only a numerical constant is allowed. If this argument is omitted, all open files are closed. [Reference Program] 1 Open "COM1:"...
Page 201 4MELFA-BASIC V Clr (Clear) [Function] This instruction clears general-purpose output signals, local numerical variables in a program, and numeri- cal external variables. [Format] Clr[] [Terminology] It is possible to specify either a constant or a variable. 0 : All steps 1 to 3 below are executed. 1 : The general-purpose output signal is cleared based on the output reset pattern.
Page 202 4MELFA-BASIC V Cmp Jnt (Compliance Joint) [Function] Start the soft control mode (compliance mode) of the specified axis in the JOINT coordinates system. Note) The available robot type is limited. Refer to "[Available robot type]". [Format] Cmp[]JNT, [Terminology] ...
Page 203 4MELFA-BASIC V pulse of the target position, and will wait indefinitely for the completion of the operation instruction. As a result, the program execution comes to a halt. Do not use the compliance mode and the Fine instruction at the same time. (12) While operation is performed in the compliance mode of the joint coordinate system, if the Excessive error 1 (H096n) occurs, increase the set value of parameter CMPJCLL to suppress the error.
Page 204 4MELFA-BASIC V Cmp Pos (Compliance Posture) [Function] Start the soft control mode (compliance mode) of the specified axis in the XYZ coordinates system. [Format] Cmp[]Pos, [Terminology] Designate axis to move softly with a bit pattern. 1 : Enable, 0 : Disable &B00000000 This corresponds to axis L2L1CBAZYX [Reference Program]...
Page 205 4MELFA-BASIC V pulse of the target position, and will wait indefinitely for the completion of the operation instruction. As a result, the program execution comes to a halt. Do not use the compliance mode and the Fine instruction at the same time. Robot hand CMP POS, &B000011 000011...
Page 206 4MELFA-BASIC V Cmp Tool (Compliance Tool) [Function] Start the soft control mode (compliance mode) of the specified axis in the Tool coordinates system. [Format] Cmp[]Tool, [Terminology] Designate axis to move softly with a bit pattern. 1 : Enable, 0 : Disable &B00000000 This corresponds to axis L2L1CBAZYX [Reference Program]...
Page 207 4MELFA-BASIC V (14) The compliance mode is valid only for the robot arm axes. It is not valid for additional axes, even if specified. (15) If a positioning completion condition is specified using the Fine instruction while the compliance mode is activated, depending on the operation the robot may be unable to reach the positioning completion pulse of the target position, and will wait indefinitely for the completion of the operation instruction.
Page 208 4MELFA-BASIC V Cmp Off (Compliance OFF) [Function] Release the soft control mode (compliance mode). [Format] Cmp[]Off [Reference Program] 1 Mov P1 ' Moves to in front of the part insertion position. 2 CmpG 0.5, 0.5, 1.0, 0.5, 0.5, , , ' Set softness.
Page 209 4MELFA-BASIC V CmpG (Compliance Gain) [Function] Specify the softness of robot control. [Format] Cmp Pos, Cmp Tool CmpG[] [], [], [], [], [], [], , Cmp Jnt CmpG[] [], [], [], [], [], [], , [Terminology] ...

Page 210 4MELFA-BASIC V Cnt (Continuous) [Function] Designates continuous movement control for interpolation. Shortening of the operating time can be per- formed by carrying out continuous movement. [Format] Cnt[] ] [, ] [, ] [Terminology] <1/0>...

Page 211 4MELFA-BASIC V CAUTION The robot's locus of movement may change with specified speed. Especially as for the corner section, short cut distance may change. Therefore, when beginning automatic operation, moves at low speed at first, and you should gather speed slowly with being careful of interference with peripheral equipment. [Explanation] (1) The interpolation (4 step to 8 step of the example) surrounded by Cnt 1 - Cnt 0 is set as the target of continuous action.

Page 212 4MELFA-BASIC V (5) The neighborhood distance denotes the changing distance to the interpolation operation at the next tar- get position. If this neighborhood distance (numerical value 1, numerical value 2) is omitted, the accel- erate and deceleration starting position will be the changing position to the next interpolation. In this case, it passes through a location away from the target position, but the operating time will be the short- est.

Page 213 4MELFA-BASIC V ColChk (Col Check) [Function] Set to enable/disable the collision detection function in automatic operation. The collision detection function quickly stops the robot when the robot's hand and/or arm interferes with peripheral devices so as to minimize damage to and deformation of the robot's tool part or peripheral devices.

Page 214 4MELFA-BASIC V [Explanation] (1) The collision detection function estimates the amount of torque that will be applied to the axes during movement executed by a Move instruction. It determines that there has been an collision if the difference between the estimated torque and the actual torque exceeds the tolerance, and immediately stops the robot.

Page 215 4MELFA-BASIC V (13) If the collision detection function is enabled by this instruction, the execution time (tact time) may become long for some programs. Use the collision detection function only for operations that may interfere with peripheral devices, rather than enabling it for the entire program. (14) This function cannot be used together with the multi-mechanism control function.

Page 216 4MELFA-BASIC V ColLvl (Col Level) [Function] Set the detection level of the collision detection function in automatic operation. [Format] ColLvl[] [],[],[],[],[],[],, [Terminology] Specify the detection level in a range between 1 and 500%. If omitted, the previously set value is retained.

Page 217 4MELFA-BASIC V [Related parameter] COL,COLLVL, HNDDATn, WRKDATn * Refer to Page 514, "5.21 About the collision detection function" for details. And, the sample program which automatically sets up the collision detection level is shown in J_ColMxl. Com On/Com Off/Com Stop (Communication ON/OFF/Stop) [Function] Com On :Allows interrupts from a communication line.

Page 218 4MELFA-BASIC V Def Act (Define act) [Function] This instruction defines the interrupt conditions for monitoring signals concurrently and performing interrupt processing during program execution, as well as the processing that will take place when an interrupt occurs. [Format] Def[]Act[], [] [, ] [Terminology] ...

Page 219 4MELFA-BASIC V [Explanation] (1) Writes the Return command at the end of the jump destination processing called up in the interrupt. (2) When returning from interruption processing to the next step by Return1, execute the statement to dis- able the interrupt. When that is not so, if interruption conditions have been satisfied, because interrup- tion processing will be executed again and it will return to the next step, the step may be skipped.

Page 220 4MELFA-BASIC V Table 4-16 shows conceptual diagrams that illustrate the effects of the 3 types of program execution stop commands when the interrupt conditions are met while the robot is moving according to a movement instruction. Table 4-16:Conceptual diagram showing the effects of different stop commands External override 100% (maximum speed) External override 50% Stop type 1...

Page 221 4MELFA-BASIC V Def Arch (Define arch) [Function] This instruction defines an arch shape for the arch motion movement corresponding to the Mva instruction. [Format]. Def[]Arch[], [][], [], [], [], [, ] [Terminology] ...

Page 222 4MELFA-BASIC V CAUTION The robot's locus of movement may change with specified speed. Especially as for the corner section, short cut distance may change. Therefore, when beginning automatic operation, moves at low speed at first, and you should gather speed slowly with being careful of interference with peripheral equipment. [Related instructions] Mva (Move Arch),...

Page 223 4MELFA-BASIC V Def FN (Define function) [Function] Defines a function and gives it name. [Format] Def[]FN [( [, ]...)] = [Terminology] The identification character has the following four type. Numeric value type: M Character string type: C Position type: P Joint type: J...

Page 224 4MELFA-BASIC V Def Gps (Define get position) [Function] This command defines the monitored condition for the position data acquisition using the fast-response position data import function (GPS function) for the monitoring. [Format] Def[]Gps[] , , , [] [Terminology] ...

Page 225 4MELFA-BASIC V (9) The condition defined in this command is retained in a sub program called up by the CallP command. When a new setting for this condition is defined in a sub program, it overwrites the previous setting. (10) When the same number is set in of this command as in of the Def Map command, the monitored condition set in the command which is executed last is valid (the one set in the command which was executed previously is deleted).

Page 226 4MELFA-BASIC V Def Inte/Def Long/Def Float/Def Double (Define Integer/Long/Float/Double) [Function] Use this instruction to declare numerical values. Inte stands for integer, Float stands for single-precision real number, and Double stands for double-precision real number. [Format] Def[]Inte[] [, ]... Def[] Long[] ...

Page 227 4MELFA-BASIC V Def IO (Define IO) [Function] Declares an input/output variable. Use this instruction to specify bit widths. M_In and M_Out variables are used for normal single-bit signals, M_Inb and M_Outb are used in the case of 8-bit bytes, M_Inw and M_Outw are used in the case of 16-bit words, and M_In32, M_Out32 are used in the case of 32-bit words.

Page 228 4MELFA-BASIC V [Explanation] (1) An input signal is read when referencing this variable. (2) An output signal is written when assigning a value to this variable. (3) It is not allowed to reference an output signal by this variable. Use the M_Out variable in order to refer- ence an output signal.

Page 229 4MELFA-BASIC V Def Map (Define mapping) [Function] This command defines the monitored condition for the mapping (the workpiece presence recognition) in a cassette, using the get-position-quick function (GPS function). [Format] Def[]Map[] , , , [], , , , [Terminology] ...

Page 230 4MELFA-BASIC V Workpiece Sensor Hand lifter Pitch: 18mm (XYZ coordinate values) Board (workpiece) thickness: 1.5mm Sensitive area (within the range set in Work- ) piece Insensitive area (out of the range set in ) (Data of a position detected in the insensitive Sensor area is canceled.) Hand lifter...

Page 231 4MELFA-BASIC V (2) The current position data of the robot set in is recorded in the P_GpsX(), and the number of the position data obtained is recorded in the in the M_Gps(n), when the signal set in ...

Page 232 4MELFA-BASIC V Def Plt (Define pallet) [Function] Defines the pallet. (3-point pallet, 4-point pallet) [Format] Def[]Plt[] , , , , [], , , [Terminology] This is the selection No. of the set pallet. (Constants from 1 to 8 only). ...

Page 233 4MELFA-BASIC V (6) If the hand is facing downward, the sign of the A, B and C axis coordinates at the start point, end point A, end point B and diagonal point must match. If the hand is facing downward, A = 180 (or -180), B = 0, and C = 180 (or -180).

Page 234 4MELFA-BASIC V Def Pos (Define Position) [Function] This instruction declares XYZ type position variables. It is used when using a variable with a name that begins with a character other than "P." It is not necessary to declare variables whose names begin with the character "P"...

Page 235 4MELFA-BASIC V Dim (Dim) [Function] Declares the quantity of elements in the array variable. (Arrays up to the third dimension are possible.) [Format] Dim[] ( [, [, ]]) [, ( [, [, ]])]... [Terminology] ...

Page 236 4MELFA-BASIC V Dly (Delay) [Function] 1) When used as a single command: At a designated time, it causes a wait. It is used for positioning the robot and timing input/output signals. 2) When used as an additional pulse output: Designates an output time for a pulse. [Format] 1) When used as a single command Dly[]...

Page 237 4MELFA-BASIC V EMvc (E Move C) [Function] Carries out 3-dimensional circular interpolation movement along the work coordinates system (Ex-T coordi- nates system) in the order of start point, transit point 1, transit point 2, and start point. (For the outline of the function, refer to Page 677, "7.4 Ex-T control".) [Format]...

Page 238 4MELFA-BASIC V [Related instructions] EMvr (E Move R), EMvr2 (E Move R 2), EMvr3 (E Move R 3), EMvs (E Move S) [Related system variables] P_WkCord (Work coordinates data) [Related parameter] WK1CORD to WK8CORD 4-218 Detailed explanation of command words...

Page 239 4MELFA-BASIC V EMvr (E Move R) [Function] Carries out 3-dimensional circular arc interpolation movement along the work coordinates system (Ex-T coordinates system) from the start point to the end point via transit points. (For the outline of the function, refer to Page 677, "7.4 Ex-T control".) [Format]...

Page 240 4MELFA-BASIC V (10) If any additional axis is provided, the additional axis also moves. However, the additional axis is not included in the Ex-T control. Therefore, the robot position may be deviated from its original working posi- tion when the robot arm is moved with the additional axis such as the travel axis and the work coordi- nates is also moved along with the robot.

Page 241 4MELFA-BASIC V EMvr2 (E Move R 2) [Function] Carries out 3-dimensional circular arc interpolation movement along the work coordinates system (Ex-T coordinates system) from the start point to the end point on the arc composed of the start point, end point, and reference points.

Page 242 4MELFA-BASIC V nates is also moved along with the robot. Accordingly, operating an additional axis using this command is not recommended. Also, do not perform synchronous control of additional axis while using this com- mand. (12) If 1 (3-axis XYZ) is specified to of this command, movement of the robot is the same as 1 (3-axis XYZ) is specified to ...

Page 243 4MELFA-BASIC V EMvr3 (E Move R 3) [Function] Carries out 3-dimensional circular arc interpolation movement along the work coordinates system from the start point to the end point on the arc composed of the start point, end point, and center point. (For the outline of the function, refer to Page 677, "7.4 Ex-T control".)

Page 244 4MELFA-BASIC V (13) If any additional axis is provided, the additional axis also moves. However, the additional axis is not included in the Ex-T control. Therefore, the robot position may be deviated from its original working posi- tion when the robot arm is moved with the additional axis such as the travel axis and the work coordi- nates is also moved along with the robot.

Page 245 4MELFA-BASIC V EMvs (E Move S) [Function] Carries out linear interpolation movement along the work coordinates system (Ex-T coordinates system) from the current position to the movement target position. (For the outline of the function, refer to Page 677, "7.4 Ex-T control".) [Format] EMvs[], ...

Page 246 4MELFA-BASIC V (3) The work coordinate numbers 1 to 8 correspond to WK1CORD to WK8CORD. (4) Only MELFA-BASIC V can be used. (5) The movement speed during Ex-T control linear interpolation can be also specified by the Spd com- mand. The Ovrd command or the O/P override setting also changes the speed. (6) The acceleration/deceleration of the Ex-T control linear interpolation is optimum when Oadl ON is set (initial value).

Page 247 4MELFA-BASIC V EMvSpl (E Move Spline) [Function] Spline interpolation in alignment with the Ex-T coordinate system origin is executed based on the informa- tion registered in the designated spline file. (Refer to Page 611, "7.3 Spline interpolation" for details on spline interpolation.) Note) This command is supported with software version R6b or later (F-Q series) or S6b or later (F-D series).

Page 248 4MELFA-BASIC V [Reference Program] 1 EMvSpl 0,2,20,10 ' Executes Ex-T spline interpolation to shift the spline curve generated with the path point data set in spline file 2 along the Ex-T coordinate system origin regis- tered in the spline file. 2 EMvSpl 7,2,30,10 ' Executes Ex-T spline interpolation to shift the spline curve generated with the path point data set in spline file 2 along work coordinate 7.

Page 249 4MELFA-BASIC V (15) Transfer of the configuration flag (peculiar point transit) is not supported. If the configuration flag differs between path points, error L2611 (Path point configuration flag is different) will occur. (16) The filter characteristics applied on the acceleration/deceleration movement can be changed with .

Page 250 4MELFA-BASIC V End (End) [Function] This instruction defines the final step of a program. It is also used to indicate the end of a program explicitly, by entering the End instruction at the end of the main processing, in case a sub program is attached after the main program. In the case of a sub program called up by the CallP instruction, the control is returned to the main program when the End instruction is executed.

Page 251 4MELFA-BASIC V Error (error) [Function] This instruction makes a program generate an error (9000s number). [Format] Normal programs Error[] Constantly-executed programs (ALWAYS attribute) Error[], [Terminology] Either a constant or numeric operation expression can be set. Designate the No. within the range of 9000 to 9299.

Page 252 4MELFA-BASIC V Fine (Fine) [Function] This instruction specifies completion conditions of the robot's positioning with number of encoder pulses. It is invalid during the smooth movement control (Cnt 1). Depending on the type of robot (RP series), positioning using the Dly instruction may be more effective than using the Fine command.

Page 253 4MELFA-BASIC V Fine J (Fine Joint) [Function] Specifies the robot positioning complete conditions with a joint axis value. The Fine J command will be disabled during continuous operation control (Cnt 1). The Fine command or Fine P command will be disabled for all axes when the Fine J command is executed. [Format] Fine[], J [, ] [Terminology]...

Page 254 4MELFA-BASIC V Fine P (Fine Pause) [Function] Specifies the robot positioning complete conditions with a linear distance. The Fine P command will be disabled during continuous operation control (Cnt 1). The Fine command or Fine J command will be disabled for all axes when the Fine P command is executed. [Format] Fine[], P [Terminology]...

Page 255 4MELFA-BASIC V For - Next (For-next) [Function] Repeatedly executes the program between the For statement and Next statement until the end conditions are satisfied. [Format] For[] = To [Step ] Next[] [] [Terminology] Describe the numerical variable that represents the counter for the number of repetitions. Same for ...

Page 256 4MELFA-BASIC V (3) A run-time error occurs under the following conditions. *The counter's is greater than and is a positive number. *The counter's is smaller than , and is a negative number. (4) A run-time error occurs if a For statement and a Next statement are not paired.

Page 257 4MELFA-BASIC V GetM (Get Mechanism) [Function] This instruction is used to control the robot by a program other than the slot 1 program when a multi-task is used, or to control a multi-mechanism by setting an additional axis as a user-defined mechanism. Control right is acquired by specifying the mechanism number of the robot to be controlled.

Page 258 4MELFA-BASIC V (4) If the argument is omitted from the system status variable requiring the mechanism designation, the cur- rently acquired mechanism will be designated. (5) If the program is stopped, RelM will be executed automatically by the system. When the program is restarted, GetM will be executed automatically.

Page 259 4MELFA-BASIC V GoTo (Go To) [Function] This instruction makes a program branch to the specified label step unconditionally. [Format] GoTo[] [Terminology] Describe the label name. [Reference Program] 10 GoTo *LBL ' Branches to the label *LBL. 100 *LBL 101 Mov P1 [Explanation] (1) If a branch destination or label does not exist, an error will occur during execution.

Page 260 4MELFA-BASIC V GpsChk (Get position check) [Function] This command starts/stops monitoring the condition defined in the Def Gps command or Def Map command using the get-position-quick function (GPS function). Before executing this command, define the monitored condition in the Def Gps command or Def Map com- mand.

Page 261 4MELFA-BASIC V Hlt (Halt) [Function] Interrupts the execution of the program which executed this Hlt command. In use of the multitasking function, the executing status of other programs is not affected. [Format] [Reference Program] (1) Stop the robot on some conditions. 10 If M_In(18)=1 Then Hlt ' Stop the program execution when the input signal 18 turns on.

Page 262 4MELFA-BASIC V HOpen / HClose (Hand Open/Hand Close) [Function] Commands the hand to open or close. [Format] HOpen[] [, , , ] HClose[] [Terminology] Select a numeric value between 1 and 8. Specify this argument using a constant or a variable.

Page 263 4MELFA-BASIC V [Related system variables] M_In/M_Inb/M_In8/M_Inw/M_In16 (900s number), M_Out/M_Outb/M_Out8/M_Outw/M_Out16 (900s num- ber), M_HndCq [Related instructions] Loadset (Load Set), Oadl (Optimal Acceleration) [Related parameter] HANDTYPE, HANDINIT Refer to Page 482, "5.10 Automatic return setting after jog feed at pause"and, Page 485, "5.13 About default hand status".

Page 264 4MELFA-BASIC V If...Then...Else...EndIf (If Then Else) [Function] A process is selected and executed according to the results of an expression. [Format] If[][]Then[][][Else ] If[][]Then Break [Else Break EndIf [Terminology] Describe the expression targeted for comparison as a comparison operation expression or logic operation expression.

Page 265 4MELFA-BASIC V (9) Logic numbers can be described in the condition expression. If the logic number is not 0, then it is true (the condition is met), and if 0, it is false. Therefore, a description such as one below can be used. Example) If M_IN(900) Then M_Out(30)=1 When the input signal 900 is on, it is processed as true (M_In(900) = 1).

Page 266 4MELFA-BASIC V JOvrd (J Override) [Function] Designates the override that is valid only during the robot's joint movements. [Format] JOvrd[] [Terminology] Describe the override as a real number. A numeric operation expression can also be described. Unit: [%] (Recommended range: 1 to 100.0) [Reference Program] 1 JOvrd 50 2 Mov P1...

Page 267 4MELFA-BASIC V JRC (Joint Roll Change) [Function] • This instruction rewrites the current coordinate values by adding +/-360 degrees to the current joint coordi- nate values of the applicable axis (refer to in [Terminology]) of the robot arm. •...

Page 268 4MELFA-BASIC V (3) If the designated axis is omitted, the priority axis will be the target. The priority axis is the rotating axis (J6 axis) at the end of the robot. (4) If the designated axis is omitted when a priority axis does not exist (robot incapable of JRC), or if the designated axis is not a target for JRC, an error will occur when the command is executed.

Page 269 4MELFA-BASIC V Loadset (Load Set) [Function] This instruction specifies the condition of the hand/workpiece at execution of the Oadl instruction. And, when using the interference avoidance function, specify the hand number and the work number. (Spec- ify the model which is the target of the interference check) [Format] LoadSet[], ...

Page 270 4MELFA-BASIC V Mov (Move) [Function] Using joint interpolation operation, moves from the current position to the destination position. [Format] Mov[] [, ] [[]Type[], ][] [] [Terminology] This is the final position for interpolation operation. This position may be specified using a position type variable and constant, or a joint variable.

Page 271 4MELFA-BASIC V Mva (Move Arch) [Function] This instruction moves the robot from the current position to the target position with an arch movement (arch interpolation). [Format]. Mva[] [, ] [Terminology] Final position of interpolation movement. This position may be specified using a position type variable and constant, or a joint variable.

Page 272 4MELFA-BASIC V [Explanation] (1) The robot moves upward along the Z-axis direction from the current position, then moves to a position above the target position, and finally moves downward, reaching the target position. This so-called arch motion movement is performed with one instruction. (2) If the Mva instruction is executed without the Def Arch instruction, the robot moves with the arch shape configuration set in the parameters.

Page 273 4MELFA-BASIC V Mvc (Move C) [Function] Carries out 3D circular interpolation in the order of start point, transit point 1, transit point 2 and start point. [Format] Mvc[],,[][] [Terminology] The start point and end point for a circle. Describe a position using a position type variable or constant, or a joint variable.

Page 274 4MELFA-BASIC V Mvr (Move R) [Function] Carries out 3-dimensional circular interpolation movement from the start point to the end point via transit points. [Format] Mvr[], , [[]TYPE[], ][] [] [Terminology] Start point for the arc. Describe a position using a position type variable or constant, or a joint variable.

Page 275 4MELFA-BASIC V [Explanation] (1) In circular interpolation motion, a circle is formed with three given points, and robot moves along the cir- cumference. (2) The posture is interpolation from the start point to the end point; the transit point posture has no effect. (3) If the current position and start point do not match, the robot will automatically move with linear interpola- tion (3-axis XYZ interpolation) to the start point.

Page 276 4MELFA-BASIC V Mvr2 (Move R 2) [Function] Carries out 3-dimensional circular interpolation motion from the start point to the end point on the arc com- posed of the start point, end point, and reference points. The direction of movement is in a direction that does not pass through the reference points. [Format] Mvr2[], , ...

Page 277 4MELFA-BASIC V [Explanation] (1) In circular interpolation motion, a circle is formed with three given points, and robot moves along the cir- cumference. (2) The posture is interpolation from the start point to the end point; the reference point posture has no effect.

Page 278 4MELFA-BASIC V Mvr3 (Move R 3) [Function] Carries out 3-dimensional circular interpolation movement from the start point to the end point on the arc composed of the center point, start point and end point. [Format] Mvr3[], , [[]Type[], ][] [] [Terminology] ...

Page 279 4MELFA-BASIC V (13) This instruction cannot be used in a constantly executed program. MVR3 P1, P2, P3 Moves by XYZ interpolation (3-axis XYZ interpolation) P_CURR Fig.4-26:Example of circular interpolation motion path 3 Precautions for registration of position data after execution of linear (circular arc) interpolation for vertical 5-axis robots In the linear (circular arc) interpolation, the posture data at the operation start position and the posture data at the movement target position are different by +180 degrees or -180 degrees or more, the robot...

Page 280 4MELFA-BASIC V Mvs (Move S) [Function] Carries out linear interpolation movement from the current position to the movement target position. [Format 1] Mvs[] [, ] [[]Type[],][][] [Format 2] Mvs[], [[]Type[],][][] [Terminology] ...

Page 281 4MELFA-BASIC V [Explanation] (1) Linear interpolation motion is a type of movement where the robot moves from its current position to the movement target position so that the locus of the control points is in a straight line. (2) The posture is interpolation from the start point to the end point. (3) In the case of the tool coordinate system specified by using ...

Page 282 4MELFA-BASIC V (12) Description of singular points. Movement from posture A, through posture B, to posture C can- About singular points of vertical 6-axis robots not be performed using the normal linear interpolation (Mvs). 1) Posture A This limitation applies only when J4 axis is at zero degrees at all the postures A, B, and C.

Page 283 4MELFA-BASIC V MvSpl (Move Spline) [Function] Spline interpolation is executed based on the information registered in the designated spline file. (Refer to Page 611, "7.3 Spline interpolation" for details on spline interpolation.) Note) This command is supported with software version R5 or later (F-Q series) or S5 or later (F-D series). [Format] MvSpl [], , ...

Page 284 4MELFA-BASIC V [Explanation] (1) Spline interpolation is carried out based on the path point data, etc., registered in the spline file corre- sponding to . A smooth curve (spline curve) is generated to pass through the robot posi- tion and posture that are registered as path points. The robot movement follows that curve. (2) If the robot's current position at the start of MvSpl command execution and the spline interpolation start position are deviated, the robot will move to the start position with linear interpolation and then start spline interpolation.

Page 285 4MELFA-BASIC V (14) The filter characteristics applied on the acceleration/deceleration movement can be changed with . Increase the filter length to make the movement during acceleration and deceleration smoother. Note that if the filter length is too high, the movement will slow down and it will take a long time for the spline interpolation to end.

Page 286 4MELFA-BASIC V Mv Tune (Move Tune) [Function] Select the robot operating characteristics from one of the following four modes. The robot operating perfor- mance will improve by selecting the optimum operating characteristics based on the application. Operating characteristics are optimized based on the hands and workpieces specified with the LoadSet command.

Page 287 4MELFA-BASIC V (4) The differences between the standard mode and the other operating characteristics modes are as fol- lows. Table 4-19:By-operating mode Performance Comparison Items of comparison Operating mode Time required to Trajectory Vibration Load factor (*3) reach target accuracy (*1) suppression (*2) ○...

Page 288 4MELFA-BASIC V Mxt (Move External) [Function] The real-time external control function by ethernet I/F The absolute position data is retrieved from an external source at each controller control time (currently approx 7.1msec), and the robot is directly moved. [Format] Mxt , [, ] [Terminology] ...

Page 289 4MELFA-BASIC V Oadl (Optimal Acceleration) [Function] Automatically sets the optimum acceleration/deceleration according to the robot hand's load state (Optimum acceleration/deceleration control). By employing this function, it becomes possible to shorten the robot's motion time (tact). The acceleration/deceleration speed during optimum acceleration/deceleration can be calculated using the following equation: Acceleration/deceleration speed (sec) = Optimum acceleration/deceleration speed (sec) x Accel instruction (%) x M_SetAdl (%)

Page 290 4MELFA-BASIC V (7) The value of the acceleration/deceleration speed distribution rate in units of axes are predetermined by the JADL parameter. This value varies with models in the S series. Refer to the Page 448, "JADL" parameter. OADL ON Time Time Fig.4-30:Acceleration/deceleration pattern at light load [Related instructions]...

Page 291 4MELFA-BASIC V On Com GoSub (ON Communication Go Subroutine) [Function] Defines the starting line of a branching subroutine when an interrupt is generated from a designated com- munication line. [Format] On[]Com[][()][]GoSub[] [Terminology] Describe a number between 1 and 3 assigned to the communication line. ...

Page 292 4MELFA-BASIC V On ... GoSub (ON Go Subroutine) [Function] Calls up the subroutine at the step label corresponding to the value. [Format] On[][]GoSub[][] [, []] ... [Terminology] Designate the step label on the step to branch to with a numeric operation expression. ...

Page 293 4MELFA-BASIC V On ... GoTo (On Go To) [Function] Branches to the step with the step label that corresponds to the designated value. [Format] On[][]GoTo[][] [, []] ... [Terminology] Designate the step label on the line to branch to with a numeric operation expression. ...

Page 294 4MELFA-BASIC V Open (Open) [Function] Open the file or communication lines. [Format] Open[] "" [][For ][]AS[] [#] [Terminology] Describe a file name (including communication lines). *To use a communication line, set ":" *When not using a communications line, set ""...

Page 295 4MELFA-BASIC V [Related parameter] COMDEV Ovrd (Override) [Function] This instruction specifies the speed of the robot movement as a value in the range from 0.01 to 100%. This is the override applied to the entire program. [Format] Ovrd[] Ovrd[] [, [, ] ] [Terminology] ...

Page 296 4MELFA-BASIC V Plt (Pallet) [Function] Calculates the position of grid in the pallet. [Format] Plt[] , [Terminology] Select a pallet No. between 1 and 8 that has already been defined with a Def Plt command. Specify this argument using a constant or a variable.

Page 297 4MELFA-BASIC V Prec (Precision) [Function] This instruction is used to improve the motion path tracking. It switches between enabling and disabling the high accuracy mode. [Format]. Prec[] [Terminology] On: When enabling the high accuracy mode. Off: When disabling the high accuracy mode.

Page 298 4MELFA-BASIC V Print (Print) [Function] Outputs data into a file . All data uses the AscII format. (including communication lines) [Format] Print[]#[] [, [ [;]] ...[[ ; ]]] [Terminology] Described with numbers 1 to 8. Corresponds to the control No. assigned by the Open command. ...

Page 299 4MELFA-BASIC V Priority (Priority) [Function] In multitask program operation, multiple program lines are executed in sequence (one by one line according to the default setting). This instruction specifies the priority (number of lines executed in priority) when pro- grams are executed in multitask operation. [Format].

Page 300 4MELFA-BASIC V PVSCal (PVS calibration) [Function] Changes the vision sensor image coordinate to the robot world coordinate using the vision sensor calibra- tion data (parameters from VSCALB 1 to VSCALB 8) set by 2D vision calibration function of RT ToolBox2. [Format].

Page 301 4MELFA-BASIC V RelM (Release Mechanism) [Function] This instruction is used in connection with control of a mechanism via task slots during multitask operation. It is used to release the mechanism obtained by the GetM instruction. [Format] RelM [Reference Program] (1) Start the task slot 2 from the task slot 1, and control the mechanism 1 in the task slot 2. Task slot 1 1 RelM ' Releases the mechanism in order to control mechanism 1 using slot 2.

Page 302 4MELFA-BASIC V Rem (Remarks) [Function] Uses the following character strings as comments. [Format] Rem[][] [Terminology] Describe a user-selected character string. Descriptions can be made in the range of position steps. [Reference Program] 1 Rem ***MAIN PROGRAM*** 2 ' ***MAIN PROGRAM*** 3 Mov P1 ' Move to P1.

Page 303 4MELFA-BASIC V Reset Err (Reset Error) [Function] This command resets an error generated in the robot controller. It is not allowed to use this instruction in the initial status. If an error other than warnings occurs, normal programs other than constantly executed pro- grams cannot be operated.

Page 304 4MELFA-BASIC V Return (Return) [Function] (1) When returning from a normal subroutine returns to the next step after the GoSub. (2) When returning from an interrupt processing subroutine, returns either to the step where the interrupt was generated, or to the next step. [Format] (1) When returning from a normal subroutine: Return...

Page 305 4MELFA-BASIC V [Explanation] (1) Writes the Return command at the end of the jump destination processing called up by the GoSub com- mand. (2) An error occurs if the Return command is executed without being called by the GoSub command. (3) Always use the Return command to return from a subroutine when called by the GoSub command.

Page 306 4MELFA-BASIC V Select Case (Select Case) [Function] Executes one of multiple statement blocks according to the condition expression value. [Format] Select[] Case[] [] Break Case[] [] Break Default [] Break End[]Select [Terminology] Describe a numeric operation expression. Describe an expression using the following format.

Page 307 4MELFA-BASIC V [Explanation] (1) If the condition matches one of the Case items, the process will be executed until the next Case, Default or End Select. If the case does not match with any of the Case items but Default is described, that block will be executed.

Page 308 4MELFA-BASIC V Servo (Servo) [Function] Controls the ON and OFF of the servo motor power. [Format] (1) The usual program Servo[] (2) The program of always (ALWAYS) execution. Servo[] , [Terminology] On: When turning the servo motor power on.

Page 309 4MELFA-BASIC V SetCalFrm (Set Calibration Frame) [Function] Sets the reference coordinate system used for frame transformation. Two types of reference coordinate systems (pre-frame transformation and post-frame transformation) are set with this command. Note) This command is supported with software version R5 or later (F-Q series) or S5 or later (F-D series). [Format] SetCalFrm [], , , , , ...

Page 310 4MELFA-BASIC V of the following figure, the pre-frame transformation reference coordinate system "Xfr-Zfr-Yfr" is defined with position data PR1, PR2 and PR3, and the post-frame transformation reference coordinate system "Xfc-Zfc-Yfc" is defined with position data PC1, PC2 and PC3. Frame transformation フレーム変換...

Page 311 4MELFA-BASIC V Skip (Skip) [Function] Transfers control of the program to the next step. [Format] Skip [Reference Program] 1 Mov P1 WthIf M_In(17)=1,Skip ' If the input signal (M_In(1 7)) turns ON while moving with joint interpolation to the position indicated with position variable P1, stop the robot interpolation motion, and stop execution of this command, and execute the next step.

Page 312 4MELFA-BASIC V Spd (Speed) [Function] Designates the speed for the robot's linear and circular movements. This instruction also specifies the opti- mum speed control mode. [Format] Spd[] Spd[]M_NSpd (Optimum speed control mode) [Terminology] Designate the speed as a real number. Setting range: 0.01 to 10000 [mm/s] [Reference Program] 1 Spd 100 2 Mvs P1...

Page 313 4MELFA-BASIC V SpdOpt (Speed Optimize) [Function] Adjusts the speed so that the speed does not exceed during the linear interpolation operation in the horizon- tal direction which passes through near the singular point (X=Y=0: one of the robot's singular points). Note) This command is limited to the corresponding robot models.

Page 314 4MELFA-BASIC V Linear interpolation 直線補間 Speed 速度ＡＢ Origin 原点 ↓ ↓ 時間 Time Speed regulation area 速度調整領域 Fig.4-33:The situation of speed at speed-optimization. Fig.4-32:Passing through near the origin point (3) This command is valid only in linear interpolation movement. It functions in neither joint interpolation nor circle interpolation.

Page 315 4MELFA-BASIC V [The available robot type] RH-3FHR series [Related parameter] SPDOPT SplFWrt (Spline Frame Write) [Function] Register the frame transformation information to specified spline file. Note) This command is supported with software version R6b or later (F-Q series) or S6b or later (F-D series).

Page 316 4MELFA-BASIC V SplWrt (Spline Write) [Function] Creates a spline file that includes information of the specified file. Note) This command is supported with software version R6b or later (F-Q series) or S6b or later (F-D series). [Format] SplWrt [], [, [, [, ...

Page 317 4MELFA-BASIC V (6) Registers the coordinate system data registered in WKnCord (n=1 to8) to the spline file when 1 to 8 is specified by . Ex-T spline function is invalid when 0 is set. When omitted, 0 (Ex-T spline function is invalid) is registered. (7) Creates the spline file the version is specified by .

Page 318 4MELFA-BASIC V Tool(Tool) [Function] Designates the tool conversion data. This instruction specifies the length, position of the control point from the mechanical interface, and posture of the tools (hands). [Format] Tool[] [Terminology] Specifies the tool conversion data using the position operation expression. (Position constants, position variables, etc.) [Reference Program] (1) Set up the direct numerical value.

Page 319 4MELFA-BASIC V Torq (Torque) [Function] Designates the torque limit for each axis. By specifying the torque limit, an excessive load (overload) on works and so froth can be avoided. An excessive error is generated if the torque limit value ratio is exceeded.

Page 320 4MELFA-BASIC V Wait (Wait) [Function] Waits for the variable to reach the designated value. [Format] Wait[]= [Terminology] Designate a numeric variable. Use the input/output signal variable (in such cases as M_In, M_Out) well. Designate a numeric constant. [Reference Program] (1) Signal state 1 Wait M_In(1)=1...

Page 321 4MELFA-BASIC V While-WEnd (While End) [Function] The program between the While statement and WEnd statement is repeated until the loop conditions are satisfied. [Format] While[] WEnd [Terminology] Describe a numeric operation expression. (Refer to Page 166, "4.9 Operators") [Reference Program] (1) Repeat the process while the numeric variable M1 value is between -5 and +5, and transfer control to...

Page 322 4MELFA-BASIC V Wth (With) [Function] A process is added to the interpolation motion. [Format] Example) Mov P1 Wth[] [Terminology] Describe the process to be added. The commands that can be described are as follow. 1. [Substitute, signal modifier command (Refer to Page 166, "4.9 Operators".)]...

Page 323 4MELFA-BASIC V WthIf (With If) [Function] A process is conditionally added to the interpolation motion command. [Format] WthIf[], [Terminology] Describe the condition for adding the process. (Same as Act condition expres- sion) Describe the process to be added when the additional conditions are estab- lished.

Page 324 4MELFA-BASIC V XClr (X Clear) [Function] This instruction cancels the program selection status of the specified task slot from within a program. Enabling the execution of a new program in the specified task slot. It is used during multitask operation. [Format] XClr[]...

Page 325 4MELFA-BASIC V XLoad (X Load) [Function] This instruction commands the specified program to be loaded into the specified task slot from within a pro- gram. It is used during multitask operation. [Format] XLoad[] [Terminology] Specify a slot number in the range from 1 to 32 as a constant or variable. ...

Page 326 4MELFA-BASIC V XRst (X Reset) [Function] This instruction returns the program control to the first step if the program of the specified task slot is paused by a command within the program (program reset). It is used during multitask operation. [Format] XRst[]...

Page 327 4MELFA-BASIC V XRun (X Run) [Function] This instruction executes concurrently the specified programs from within a program.It is used during multitask operation. [Format] XRun[] [, [""] [, ] ] [Terminology] Specify a slot number in the range from 1 to 32 as a constant or variable. ...

Page 328 4MELFA-BASIC V XStp (X Stop) [Function] This instruction pauses the execution of the program in the specified task slot from within a program. If the robot is being operated by the program in the specified task slot, the robot stops. It is used in multitask oper- ation.

Page 329 4MELFA-BASIC V Substitute [Function] The results of an operation are substituted in a variable or array variable. [Format] = For pulse substitution = Dly [Terminology] Designate the variable name of the value is to be substituted. (Refer to Page 166, "4.9 Operators"...

Page 330 4MELFA-BASIC V (Label) [Function] This indicates the jump site. [Format] * * [:] [Terminology] Describe a character string that starts with an alphabetic character. Up to 16 characters can be used. (Up to 17 characters including *.) ...

Page 331: Detailed Explanation Of Robot Status Variable
4MELFA-BASIC V 4.14 Detailed explanation of Robot Status Variable 4.14.1 How to Read Described items [Function] : This indicates a function of a variable. [Format] : This indicates how to enter arguments of an instruction. [ ] means that arguments may be omitted. System status variables can be used in conditional expressions, as well as in reference and assignment statements.

Page 332 4MELFA-BASIC V C_Com [Function] Sets the parameters for the line to be opened by the Open (Open) command. This is used when the com- munication destination is changed frequently. * Character string type * Only for a client with the Ethernet. [Format] C_Com () = "ETH: ...

Page 333 4MELFA-BASIC V (5) If this command is executed after the OPEN command, the current open status will not change. In such a case, it is necessary to close the line with the Close (Close) command once, and then execute the OPEN command again.

Page 334 4MELFA-BASIC V C_Mecha [Function] This function returns the mechanism name (robot type name) for which control right has been acquired. [Format] Example) =C_Mecha[()] [Terminology] Specify a character string variable to be assigned. 1 to 32, Enter the task slot number.

Page 335 4MELFA-BASIC V C_Time [Function] This variable returns the current time in the format of time: minute: econd (24 hours notation). [Format] Example) =C_Time [Reference Program] 1 C1$=C_Time ' "01/05/20" is assigned to C1$. [Explanation] (1) The current clock is assigned. (2) This variable only reads the data.

Page 336 4MELFA-BASIC V J_Curr [Function] Returns the joint type data at the current position. [Format] Example) =J_Curr [()] [Terminology] Specify a joint type variable to be assigned. Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the default value.

Page 337 4MELFA-BASIC V J_ColMxl [Function] Return the maximum value of the differences between the estimated torque and actual torque while the col- lision detection function is being enabled. [Format] Example) =J_ColMxl [()] [Terminology] Specify a joint type variable to be assigned.(Joint type variable will be used even if this is a pulse value.) ...

Page 338 4MELFA-BASIC V [Explanation] (1) Keep the maximum value of the error of the estimated torque and actual torque of each axis while colli- sion detection function is valid. Torque COLLVL Actual torque Estimated torque COLMXL Time (2) When this value is 100%, it indicates that the maximum error value is the same as the manufacturer's ini- tial value of the allowable collision level.

Page 339 4MELFA-BASIC V Sample program Explanations '********** Collision detection level automatic setup ********** 'GoSub *LEVEL ' Collision detection level automatic setting Is the command which executes the collision detection level program automatic setting subroutine. Remove the comment out of the head 'HLT when set up automatically.

Page 340 4MELFA-BASIC V J_ECurr [Function] Returns the current encoder pulse value. [Format] Example) =J_ECurr [()] [Terminology] Specify a joint type variable to be assigned. Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the default value.

Page 341 4MELFA-BASIC V J_Fbc/J_AmpFbc [Function] J_Fbc: Returns the current position of the joint type that has been generated by encoder feedback. J_AmpFbc: Returns the current feedback value of each axis [Format] Example) =J_Fbc [()] Example) =J_AmpFbc [()] [Terminology] ...

Page 342 4MELFA-BASIC V M_Acl/M_DAcl/M_NAcl/M_NDAcl/M_AclSts [Function] Returns information related to acceleration/deceleration time. M_Acl: Returns the ratio of current acceleration time. (%) M_DAcl: Returns the ratio of current deceleration time. (%) M_NAcl: Returns the initial acceleration time value. (100%) M_NDAcl: Returns the initial deceleration time value. (100%) M_AclSts: Returns the current acceleration/deceleration status.

Page 343 4MELFA-BASIC V M_BsNo [Function] Returns a current base coordinate system number. [Format] Example) =M_BsNo[()] [Terminology] A numerical variable to which a value is to be assigned is designated. A mechanism number which is chosen from 1 through 3. (1 is chosen to indicate omission.) Constants, variables, logic/arithmetic expressions, and functions are usable.

Page 344 4MELFA-BASIC V M_BrkCq [Function] Returns the result of executing a line containing a Break command that was executed last. 1: Break was executed 0: Break was not executed [Format] Example) =M_BrkCq [()] [Terminology] Specifies the numerical variable to assign. ...

Page 345 4MELFA-BASIC V M_CavSts [Function] Returns the robot CPU number where an interference is predicted. 1 to 3: Interference predicted. 0: Interference not predicted. This function is only available for certain models. For details, refer to Page 523, "5.24 Interference avoid- ance function".

Page 346 4MELFA-BASIC V M_CmpDst [Function] Returns the amount of difference (in mm) between the command value and the actual value from the robot when executing the compliance function. [Format] Example)=M_CmpDst [()] [Terminology] Specifies the numerical variable to assign. ...

Page 347 4MELFA-BASIC V M_CmpLmt [Function] Returns whether or not the command value when the compliance function is being executed is about to exceed various limits. 1: The command value is about to exceed a limit. 0: The command value is not about to exceed a limit. [Format] Example) Def Act 1, M_CmpLmt [()]=1 GoTo *Lmt [Terminology]...

Page 348 4MELFA-BASIC V M_ColSts [Function] Return the collision detection status.. 1: Detecting an collision 0: No collision has been detected [Format] Example) Def Act 1, M_ColSts [()]=1 GoTo *LCOL,S [Terminology] Specify the mechanism number 1 to 3. The default value is 1. [Reference Program] 1 Def Act 1,M_ColSts(1)=1 GoTo *HOME,S 'Define the processing to be executed when an collision...

Page 349 4MELFA-BASIC V M_Cstp [Function] Returns the status of whether or not a program is on cycle stop 1: Cycle stop is entered, and cycle stop operation is in effect. (The input of the End key on the operation panel, or the input of a cycle stop signal) 0: Other than above [Format] Example)=M_Cstp...

Page 350 4MELFA-BASIC V M_DIn/M_DOut [Function] This is used to write or reference the remote register of CC-Link (optional). Cannot use in CR7xx-Q series. M_DIn: References the input register. M_DOut: Writes or reference the output register. [Format] Example)=M_DIn () Example)=M_DOut () [Terminology] ...

Page 351 4MELFA-BASIC V M_DIn32 [Function] Obtains 32-bit data via the CC-Link register from an external device. [Format] Example)=M_DIn32 () [Terminology] Specifies a long-precision integer number variable to be substituted. The range of CC-Link register numbers that can be specified is from 6000 to 6254.

Page 352 4MELFA-BASIC V M_DOut32 [Function] Outputs 32-bit data to an external device via the CC-Link register. Alternatively, checks the current output information. [Format] Reference Example)=M_DOut32 () Write Example)M_DOut32 ()= [Terminology] Specifies a long-precision integer number variable to be substi- tuted.

Page 353 4MELFA-BASIC V M_ErCode [Function] Returns the detailed error number of the error currently generated. [Format] Example) =M_ErCode [Terminology] Specifies a 32-bit long-precision integer number. (Specifying a 16-bit long-precision integer number will cause an out-of-range error when substituted.) Refer to (2) in [Explanation] for the meaning of the read value.

Page 354 4MELFA-BASIC V M_Err/M_ErrLvl/M_Errno [Function] Returns information regarding the error generated from the robot. M_Err : Error occurrence condition M_ErrLvl : The level of the occurrence error M_Errno : Error number [Format] Example) =M_Err Example) =M_ErrLvl Example) =M_Errno [Terminology] ...

Page 355 4MELFA-BASIC V M_ESpd [Function] Returns the transit speed [mm/s] of Ex-T coordinate system currently used during the Ex-T control/Ex-T spline interpolation [Format] Example)=M_ESpd [()] [Terminology] Designates the numerical variable substituted for the reference results. Sets the mechanism No.

Page 356 4MELFA-BASIC V M_Exp [Function] Returns the base of natural logarithm (2.718281828459045). [Format] Example) =M_Exp [Terminology] Specifies the numerical variable to assign. [Reference Program] 1 M1=M_Exp ' Base of natural logarithm (2.718281828459045) is assigned to M1. [Explanation] (1) This is used when processing exponential and logarithmic functions. (2) This variable only reads the data.

Page 357 4MELFA-BASIC V [Function] Returns gravitational constant (9.80665). [Format] Example) =M_G [Terminology] Specifies the numerical variable to assign. [Reference Program] 1 M1=M_G ' Gravitational constant (9.80665) is assigned to M1. [Explanation] (1) This is used to perform calculation related to gravity. (2) This variable only reads the data.

Page 358 4MELFA-BASIC V M_Gps [Function] This command returns the number of the position data stored in the P_GpsX() for the monitoring number defined in the Def Gps command, using the get-position-quick function (GPS function). ("X" indicates the same number as the target monitoring number from 1 to 8.) [Format] Example) =M_Gps[()] [Terminology]...

Page 359 4MELFA-BASIC V M_HndCq [Function] Returns the hand check input signal value. [Format] Example) =M_HndCq () [Terminology] Specifies the numerical variable to assign. Enter the hand input signal number. 1 to 8, (Corresponds to input signals 900 to 907.) [Reference Program] 1 M1=M_HndCq(1) ' M1 will contain the status of hand 1.

Page 360 4MELFA-BASIC V M_In/M_Inb/M_In8/M_Inw/M_In16 [Function] Returns the value of the input signal. M_In: Returns a bit. M_Inb or M_In8: Returns a byte (8 bits). M_Inw or M_In16: Returns a word (16 bits). [Format] Example) =M_In() Example) =M_Inb() or M_In8() Example) =M_Inw() or M_In16() [Terminology] ...

Page 361 4MELFA-BASIC V [Supplement] Table 4-22: O: The available, X: unavailable Numeric variables types Other variables Posi- Integer Long- Single- Double- Joint Charac- Note1) precision precision precision ter string Note1) tion Bit width integer real real number number number Ex.)M1% Ex.)M1&...

Page 362 4MELFA-BASIC V M_In32 [Function] Returns the value of the input signal of 32-bit width as a value. [Format] Example) =M_In32() [Terminology] Specifies the numerical variable to assign. Supplementary explanation is shown in Table 4-24. Enter the input signal number. Supplementary explanation is shown in Table 4-25.

Page 363 4MELFA-BASIC V [Supplement] Table 4-24: O: The available, X: unavailable Numeric variables types Other variables Position Integer Long-preci- Single-pre- Double-pre- Charac- Joint Note1) sion inte- cision real cision real ter string Note1) Bit width ger number number number Ex.)M1% Ex.)M1&...

Page 364 4MELFA-BASIC V M_JOvrd/M_NJOvrd/M_OPOvrd/M_Ovrd/M_NOvrd [Function] Returns override value. M_JOvrd: Value specified by the override JOvrd command for joint interpolation. M_NJOvrd: Initial override value (100%) for joint interpolation. M_OPOvrd: Override value of the operation panel. M_Ovrd: Current override value, value specified by the Ovrd command. M_NOvrd: Initial override value (100%).

Page 365 4MELFA-BASIC V M_LdFact [Function] The load ratio for each joint axis can be referenced. [Format] Example)=M_LdFact() [Terminology] The load ratio of each axis is substituted. The range is 0 to 100%. 1 to 8, Specifies the axis number. [Reference Program] 1 Accel 100,100 ' Lower the overall deceleration time to 100%.

Page 366 4MELFA-BASIC V M_LdFMax [Function] The maximum load ratio for each joint axis can be referenced. [Format] Example)=M_LdFMax() [Terminology] 1 to 8, Specifies the axis number. The load ratio of each axis is substituted. The range is 0 to 100%. [Reference Program] 1 Accel 100,100 ' Lower the overall deceleration time to 100%.

Page 367 4MELFA-BASIC V M_Line [Function] Returns the line number that is being executed. [Format] Example)=M_Line [()] [Terminology] Specifies the numerical variable to assign. 1 to 32, Specifies the task slot number. If this parameter is omitted, the current slot will be used as the default.

Page 368 4MELFA-BASIC V 3 GpsChk On,3 ‘ Monitoring a condition for the monitoring No. 3 is started. The position data is recorded when the signal No. 851 is turned on, and the seg- ment number in which the workpiece is present is calculated from that position data, which is shown as "M_Map3(130)".

Page 369 4MELFA-BASIC V M_Mxt [Function] Use this command for synchronization of the robot applications between the master and slave robots for cooperative operation. [Format] Example)=M_Mxt() [Terminology] Specifies the numerical variable to assign. Enter the CPU module No. of the master robot. 2 to 4. [Reference Program] M_Mxt(2)=1 ' The robot CPU No.

Page 370 4MELFA-BASIC V M_Open [Function] Returns the status indicating whether or not a file or communication line is opened. [Format] Example)=M_Open [] [Terminology] Specify the numerical variable to substitute. Specify the file number 1-8 by constant value of communication line opened by Open command.

Page 371 4MELFA-BASIC V [Explanation] (1) This is a read only variable. (2) The return value differ corresponding to the file type specified by Open command as follows. Kind of files Meaning Value File Returns the status indicating whether or not a file is 1: Already opened opened.

Page 372 4MELFA-BASIC V M_Out/M_Outb/M_Out8/M_Outw/M_Out16 [Function] Writes or references external output signal. M_Out:Output signal bit. M_Outb or M_Out8:Output signal byte (8 bits). M_Outw or M_Out16:Output signal word (16 bits). [Format] Example)M_Out()= Example)M_Outb() or M_Out8()= Example)M_Outw() or M_Out16()=...

Page 373 4MELFA-BASIC V CAUTION Always make interlock of signal to take synchronization. Failure to observe this could lead to cause of malfunction by the signal transmitted incorrectly. [Supplement] Table 4-26: O: The available, X: unavailable constant types Numeric variables types Other variables Numeric Positio...

Page 374 4MELFA-BASIC V M_Out32 [Function] Writes or references external output signal of 32-bit width as numerical value. [Format] Example)M_Out32()= Example)=M_Out32() [Terminology] Specify the output signal number. Supplementary explanation is shown in Table 4-29.

Page 375 4MELFA-BASIC V [Supplement] Table 4-29: O: The available, X: unavailable constant types Numeric variables types Other variables Numeric Position Binary Hexadeci- Integer Long-pre- Charac- Single-pre- Double- Joint value Note1) number mal number cision inte- cision real precision ter string Note1) Bit width Note1)

Page 376 4MELFA-BASIC V M_PI [Function] Returns pi (3.14159265358979). [Format] Example)=M_PI [Terminology] Specifies the numerical variable to assign. [Reference Program] 1 M1=M_PI ' 3.14159265358979 is assigned to M1. [Explanation] (1) A variable to be assigned will be a real value. (2) This variable only reads the data.

Page 377 4MELFA-BASIC V M_Ratio [Function] Returns how much the robot has approached the target position (0 to 100%) while the robot is moving. [Format] Example)=M_Ratio [()] [Terminology] Specifies the numerical variable to assign. 1 to 32, Specifies the task slot number. If this parameter is omitted, the current slot will be used as the default.

Page 378 4MELFA-BASIC V M_RCInfo [Function] This variable returns a variety of information of the robot controller. [Format] Example)=M_RCInfo (, ) [Terminology] Specifies the numerical variable to assign. Specifies the information ID number of the information to read. Refer to the table below for details.

Page 379 4MELFA-BASIC V M_RDst [Function] Returns the remaining distance to the target position (in mm) while the robot is moving. [Format] Example)=M_RDst [()] [Terminology] Specifies the numerical variable to assign. 1 to 32, Specifies the task slot number. If this parameter is omitted, the current slot will be used as the default.

Page 380 4MELFA-BASIC V M_SetAdl [Function] Set the acceleration/deceleration time distribution rate of the specified axis when optimum acceleration/ deceleration control is enabled (Oadl ON). Since it can be set for each axis, it is possible to reduce the motor load of an axis with a high load. Also, unlike a method that sets all axes uniformity, such as Ovrd, Spd and Accel instructions, the effect on the tact time can be minimized as much as possible.

Page 381 4MELFA-BASIC V M_SkipCq [Function] Returns the result of executing the line containing the last executed Skip command. 1: Skip has been executed. 0: Skip has not been executed. [Format] Example)=M_SkipCq [()] [Terminology] Specifies the numerical variable to assign. ...

Page 382 4MELFA-BASIC V M_Spd/M_NSpd/M_RSpd [Function] Returns the speed information during XYZ and JOINT interpolation. M_Spd: Currently set speed. M_NSpd: Initial value (optimum speed control). M_RSpd: Directive speed. [Format] Example)=M_Spd [()] Example)=M_NSpd [()] Example)=M_RSpd [()] [Terminology] Specifies the numerical variable to assign. ...

Page 383 4MELFA-BASIC V M_SplPno [Function] During spline interpolation, the number of the path point passed through most recently is returned. The spline interpolation start position is 1. Note) This command is supported with software version R5 or later (F-Q series) or S5 or later (F-D series). [Format] Example) =M_SplPno [()] [Terminology]...

Page 384 4MELFA-BASIC V M_SplVar [Function] During spline interpolation, the numerical setting value set for the path point passed through most recently is returned. This value can be changed to a random value by using writing. Note) This command is supported with software version R5 or later (F-Q series) or S5 or later (F-D series). [Format] Example) =M_SplVar [()] Example) M_SplVar [()]=...

Page 385 4MELFA-BASIC V (4) M_SplVar returns the value according to the states shown in Table 4-33. Table 4-33: Value returned by M_SplVar Status Value returned by M_SplVar Immediately after power ON During spline interpolation execution Value corresponding to progress of spline inter- polation (Value set in spline file) When passing through path point set to "–1"...

Page 386 4MELFA-BASIC V M_Timer [Function] Time is measured in milliseconds. This can be used to measure the operation time of the robot or to mea- sure time accurately. [Format] Example)=M_Timer () [Terminology] Specifies the numerical variable to assign. ...

Page 387 4MELFA-BASIC V M_Tool [Function] In addition to using the tool data (MEXTL1 to 16) of the specified number as the current tool data, it is also set in the MEXTL parameter. The current tool number can also be read. [Format] Example)=M_Tool [()]'Referencing the Current Tool Number Example)M_Tool [()] = [()] 'Set a tool number.

Page 388 4MELFA-BASIC V M_Uar [Function] Returns whether the robot is in the user-defined area. Bits 0 through 7 correspond to areas 1 to 8 and each bit displays the following information. 1: Within user-defined area 0: Outside user-defined area [Format] Example)=M_Uar [()] [Terminology] ...

Page 389 4MELFA-BASIC V M_Uar32 [Function] Returns whether contained in the user-defined area. Bits 0 to 31 correspond to areas 1 to 32, with the respective bits displaying the information below. 1: Within user-defined area 2: Outside user-defined area [Format] Example) = M_Uar32 [()] [Terminology] ...

Page 390 4MELFA-BASIC V M_UDevW/ M_UDevD [Function] This function is to exchange the signals directly with two or more robot CPUs in the robot controller of CR7xx-Q series (Only CR7xx-Q series) (Since the rudder program of the sequencer is not needed, the exchange of the signal can be executed more speedily.

Page 391 4MELFA-BASIC V [Reference Program] 1 M_UDevW(&H3E1, 10010)=&HFFFF ' The &HFFFF (hexadecimal number) is written to the shared memory address 10010 of No. 2 CPU (host CPU). 2 M_UDevD(&H3E1, 10011)=P1.X * 1000 ' Calculate the X coordinate value of position variable P1 by 1000.

Page 392 4MELFA-BASIC V Table 4-36: O: The available, X: unavailable constant types Numeric variables types Other variables Numeric Hexadeci- Integer Long-pre- Charac- Binary Single-pre- Double-pre- Position Joint value number mal number cision inte- cision real cision real ter string Bit width Note1) number number...

Page 393 4MELFA-BASIC V M_Wai [Function] Returns the standby status of the program for the specified task slot. 1 : Paused (The program has been paused.) 0 : Not paused (Either the program is running or is being stopped.) [Format] Example)=M_Wai [()] [Terminology] ...

Page 394 4MELFA-BASIC V M_Wupov [Function] Returns the value of an override (warm-up operation override, unit: %) to be applied to the command speed in order to reduce the operation speed when in the warm-up operation status. Note) For more information about the warm-up operation mode, see Page 502, "5.19 Warm-Up Operation Mode"...

Page 395 4MELFA-BASIC V M_Wuprt [Function] Returns the time (sec) during which a target axis must operate to cancel the warm-up operation status. Note: For more information about the warm-up operation mode, see Page 502, "5.19 Warm-Up Operation Mode" for detail. [Format] Example)...

Page 396 4MELFA-BASIC V M_Wupst [Function] Returns the time (sec) until the warm-up operation status is set again after it has been canceled. Note: For more information about the warm-up operation mode, see Page 502, "5.19 Warm-Up Operation Mode" for detail. [Format] Example)...

Page 397 4MELFA-BASIC V M_XDev/ M_XDevB/ M_XDevW/ M_XDevD [Function] Reads the value of sequencer input signal (X) in the robot controller of CR7xx-Q series. (Only CR7xx-Q series) The direct reference of the input signal of the input output unit / input output mixing unit managed by other CPU is possible.

Page 398 4MELFA-BASIC V (3) The sequencer input signal number should be in "&H0"to "&HFFF" in hexadecimal expression. Error L3110 (value of the argument outside of the range) will occur, if it is the abbreviation and outside the range. (4) It is necessary to set up so that the input signal can be referred to with Parameter QXYREAD previously. (5) Return 0, when the sequencer unit which can correspond is not connected.

Page 399 4MELFA-BASIC V M_YDev/ M_YDevB/ M_YDevW/ M_YDevD [Function] Reads/ Writes the value of sequencer output signal (Y) in the robot controller of CR7xx-Q series. (Only CR7xx-Q series) (Set up the input output unit / input output mixing unit which robot CPU manages, and execute direct refer- ence or direct write of the output signal.

Page 400 4MELFA-BASIC V [Reference Program] 1 M_YDev(1)=1 ' Turns on the sequencer output signal 1 2 M_YDevB(&H10)=&HFF ' Turns on the 8-bit width from 10 (hexadecimal number) of sequencer output signal. 3 M_YDevW(&H20)=&HFFFF ' Turns on the 16-bit width from 20 (hexadecimal number) of sequencer output signal.

Page 401 4MELFA-BASIC V Table 4-40: O: The available, X: unavailable constant types Numeric variables types Other variables Numeric Positio Binary num- Hexadeci- Integer Long-pre- Charac- Joint Double- Single-pre- Note1) Note1) mal number cision inte- ter string Note1) value precision cision real Bit width Note2)

Page 402 4MELFA-BASIC V P_Base/P_NBase [Function] Returns information related to the base conversion data. P_Base: Returns the base conversion data that is currently being set. P_NBase: Returns the initial value (0, 0, 0, 0, 0, 0) (0, 0). [Format] Example)=P_Base [()] Example)=P_NBase [Terminology] ...

Page 403 4MELFA-BASIC V P_CavDir [Function] Returns which direction the robot was moving when an interference was predicted during interference check. This function is only available for certain models. For details, refer to Page 523, "5.24 Interference avoid- ance function". [Format] Example) =P_CavDir[()] [Terminology] ...

Page 404 4MELFA-BASIC V P_ColDir [Function] Return the operation direction of the robot when an collision is detected. [Format] Example)=P_ColDir [()] [Terminology] Specifies the position variable to assign. Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the default value.

Page 405 4MELFA-BASIC V P_CordR [Function] Returns the base coordinates of the own robot looking from the common coordinates. This function is only available for certain models. For details, refer to Page 523, "5.24 Interference avoid- ance function". [Format] Example) = P_CordR [()] [Terminology] ...

Page 406 4MELFA-BASIC V P_Curr [Function] Returns the current position (X, Y, Z, A, B, C,L1,L2) (FL1, FL2). [Format] Example)=P_Curr [()] [Terminology] Specifies the position variable to assign. Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the default value.

Page 407 4MELFA-BASIC V P_CurrR [Function] Returns the current position of the own robot looking from the common coordinates. This function is only available for certain models. For details, refer to Page 523, "5.24 Interference avoid- ance function". [Format] Example) = P_CurrR [()] [Terminology] ...

Page 408 4MELFA-BASIC V P_ECord [Function] Returns the Ex-T coordinate system origin data currently used during the Ex-T control/Ex-T spline interpola- tion movement. [Format] Example)=P_ECord [()] [Terminology] Designates the numerical variable substituted for the reference results. Sets the mechanism No.

Page 409 4MELFA-BASIC V P_Fbc [Function] Returns the current position (X,Y,Z,A,B,C,L1,L2)(FL1,FL2) based on the feedback values from the servo. [Format] Example)=P_Fbc [()] [Terminology] Specifies the position variable to assign. Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the default value.

Page 410 4MELFA-BASIC V P_GCurr [Function] This command contains a status variable to read the current position of the master robot on starting the cooperative operation between the master and slave robots. Use this command to align the start positions of movement by reading the current position of the master robot before starting the cooperative operation. As a preparation, it is required to enable the iQ extended function so that the current position of the target CPU can be monitored.

Page 411 4MELFA-BASIC V P_Gps1 to P_Gps8 [Function] This command returns XYZ coordinate data for the current position data when the condition defined in the Def Gps command is met, using the get-position-quick function (GPS function). (Up to 400 position data can be saved.) The current position data of the robot at the time when the condition defined in the Def Gps command is met can be checked.

Page 412 4MELFA-BASIC V P_Safe [Function] Returns the safe point (XYZ position of the JSAFE parameter). [Format] Example)=P_Safe [()] [Terminology] Specifies the position variable to assign. Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the default value.

Page 413 4MELFA-BASIC V P_UDev [Function] Writes/reads the position data to/from the CPU shared memory. (This function is available with the CR7xx-Q series robot controllers only.) Writing and reading are performed in the position data width of (32 bits x 10). [Format] Reading =P_UDev(, ) Writing...

Page 414 4MELFA-BASIC V [Supplement] Table 4-43:Constants and Variables for Constant types Numeric variable types Other variables Single- Double- Position precision precision Joint Binary Long- Numeric Hexadecim Character Variable types Note1) number Integer precision real real...

Page 415 4MELFA-BASIC V P_WkCord [Function] This function permits you to make reference to the work coordinate data being currently specified or to make a setting for a new work coordinate. Parameters to be worked with are WK1CORD through WK8CORD. (For the outline of the function, refer to Page 677, "7.4 Ex-T control".) [Format]...

Page 416 4MELFA-BASIC V (4) Specifying work coordinates by this command clears WO, WX and WY data for the corresponding work coordinate number [coordinate values of 3 points to be taught as work coordinates - parameters: WKnWO, WKnWX, WKnWY (n: 1~8)]. Example) Executing Step 4 (P_WKcORD(2)=PW) of Reference Program <1> which is previously listed causes WK2WO, WK2WX and WK2WY to be set to "0".

Page 417: Detailed Explanation Of Functions
4MELFA-BASIC V 4.15 Detailed Explanation of Functions 4.15.1 How to Read Described items [Function] : This indicates a function of a function. [Format] : This indicates how to input the function argument. [Reference Program] : An example program using function is shown. [Terminology] : This indicates the meaning and range of an argument.

Page 418 4MELFA-BASIC V [Function] Returns the absolute value of a given value. [Format] =Abs() [Reference Program] 1 P2.C=Abs(P1.C) ' P2.C will contain the value of P1.C without the sign. 2 Mov P2 3 M2=-100 4 M1=Abs(M2) ' 100 is assigned to M1. [Explanation] (1) Returns the absolute value (Value with the positive sign) of a given value.

Page 419 4MELFA-BASIC V ACos [Function] Returns the arc cosine from the specified cosine. [Format] =ACos() [Terminology] Calculates the arc cosine with specified expression, and returns the result. The unit is radian. Setting range: 0 to PI Specifies the cosine. Setting range: -1.0 to +1.0 [Reference Program] 1 MRad=ACos(0.6)

Page 420 4MELFA-BASIC V Align [Function] Positional posture axes (A, B, and C axes) are converted to the closest XYZ postures (0, +/-90, and +/-180). Align outputs numerical values only. The actual operation will involve movement instructions such as the Mov instruction. [Format] =Align() [Reference Program]...

Page 421 4MELFA-BASIC V [Function] Returns the character code of the first character in the string. [Format] =Asc() [Reference Program] 1 M1=Asc("A") ' &H41is assigned to M1. [Explanation] (1) Returns the character code of the first character in the string. (2) An error will be generated if the string is a null string.

Page 422 4MELFA-BASIC V ASin [Function] Returns the arc sine from the specified sine. [Format] =ASin() [Terminology] Calculates the arc sine with specified expression, and returns the result. The unit is radian. Setting range: -PI/2 to +PI/2 Specifies the sine. Setting range: -1.0 to +1.0 [Reference Program] 1 MRad=ASine(-0.4)

Page 423 4MELFA-BASIC V Bin$ [Function] Value is converted to a binary string. [Format] =Bin$() [Reference Program] 1 M1=&B11111111 2 C1$=Bin$(M1) ' C1$ will contain the character string of "11111111". [Explanation] (1) Value is converted to a binary string. (2) If the equation does not evaluate to an integer, the integral value obtained by rounding the fraction will be converted to a binary string.

Page 424 4MELFA-BASIC V CalArc [Function] Provides information regarding the arc that contains the three specified points. [Format] = CalArc(, , , , , , ) [Terminology] Specifies the starting point of the arc.

Page 425 4MELFA-BASIC V Chr$ [Function] Returns the character that has the character code obtained from the specified equation. [Format] =Chr$() [Reference Program] 1 M1=&H40 2 C1$=Chr$(M1+1) ' "A" is assigned to C1$. [Explanation] (1) Returns the character that has the character code obtained from the specified equation. (2) If the equation does not evaluate to an integer, the character will be returned whose character code cor- responds to the integral value obtained by rounding the fraction.

Page 426 4MELFA-BASIC V CkSum [Function] Calculates the checksum of the string. [Format] =CkSum(, , ) [Terminology] Specifies the string from which the checksum should be calculated. Specifies the first character position from where the checksum calculation starts. ...

Page 427 4MELFA-BASIC V [Function] Converts the character codes of the first two characters of a string into an integer. [Format] =Cvi() [Reference Program] 1 M1=Cvi("10ABC") ' &H3031 is assigned to M1. [Explanation] (1) Converts the character codes of the first two characters of a string into an integer. (2) An error will be generated if the string consists of one character or less.

Page 428 4MELFA-BASIC V [Function] Converts the character codes of the first eight characters of a string into a double precision real number. [Format] =Cvd() [Reference Program] 1 M1=Cvd("FFFFFFFF") ' +3.52954E+30 is assigned to M1. [Explanation] (1) Converts the character codes of the first eight characters of a string into a double precision real number. (2) An error will be generated if the string consists of seven character or less.

Page 429 4MELFA-BASIC V Dist [Function] Calculates the distance between two points (position variables). [Format] =Dist(, ) [Reference Program] 1 M1=Dist(P1,P2) ' M1 will contain the distance between positions 1 and 2. [Explanation] (1) Returns the distance between positions 1 and 2 (in mm). (2) Posture angles of the position data will be ignored;...

Page 430 4MELFA-BASIC V [Function] Returns the integral portion of the equation. [Format] =Fix() [Reference Program] 1 M1=Fix(5.5) ' 5 is assigned to M1. [Explanation] (1) Returns the integral portion of the equation value. (2) If the equation evaluates to a positive value, the same number as Int will be returned. (3) If the equation evaluates to a negative value, then for instance Fix(-2.3) = -2.0 will be observed.

Page 431 4MELFA-BASIC V Fram [Function] Calculates the position data that indicates a coordinate system (plane) specified by three position data. Normally, use Def Plt and Plt instructions for pallet calculation. [Format] =Fram(, , ) [Terminology] ...

Page 432 4MELFA-BASIC V Hex$ [Function] Converts the value of an equation (Between -32768 to 32767) into hexadecimal string. [Format] =Hex$( [, ]) [Reference Program] 1 C1$=Hex$(&H41FF) ' "41FF" is assigned to C1$. 2 C2$=Hex$(&H41FF,2) ' "FF" is assigned to C2$. [Explanation] (1) Converts the value of an equation into hexadecimal string.

Page 433 4MELFA-BASIC V [Function] Obtains the position data of the inverse matrix of the position variable. This is used to perform relative calcu- lation of the positions. [Format] =Inv() [Reference Program] 1 P1=Inv(P2) ' P1 will contain the inverse matrix of P2. [Explanation] (1) Obtains the position data of the inverse matrix of the position variable.

Page 434 4MELFA-BASIC V Left$ [Function] Obtains a string of the specified length starting from the left end. [Format] =Left$(, ) [Reference Program] 1 C1$=Left$("ABC",2) ' "AB" is assigned to C1$. [Explanation] (1) Obtains a string of the specified length starting from the left end. (2) An error will be generated if the value is a negative value or is longer than the string.

Page 435 4MELFA-BASIC V [Function] Returns the natural logarithm. (Base e.) [Format] =Ln() [Reference Program] 1 M1=Ln(2) ' 0.693147 is assigned to M1. [Explanation] (1) Returns the natural logarithm of the value of the equation. (2) An error will be generated if the equation evaluates to a zero or a negative value. [Reference] Exp, [Function]...

Page 436 4MELFA-BASIC V [Function] Obtains the maximum value. [Format] =Max(, , ...) [Reference Program] 1 M1=Max(2,1,3,4,10,100) ' 100 is assigned to M1. [Explanation] (1) Returns the maximum value among the arbitrary number of arguments. (2) The length of this instruction can be up to the number of characters allowed in a single line (123 charac- ters).

Page 437 4MELFA-BASIC V [Function] Obtains the minimum value. [Format] =Min(, , ..) [Reference Program] 1 M1=Min(2,1,3,4,10,100) ' 1 is assigned to M1. [Explanation] (1) Returns the minimum value among the arbitrary number of arguments. (2) The length of this instruction can be up to the number of characters allowed in a single line (123 charac- ters).

Page 438 4MELFA-BASIC V Mki$ [Function] Converts the value of an equation (integer) into a two-byte string. [Format] =Mki$() [Reference Program] 1 C1$=Mki$(20299) ' "OK" is assigned to C1$. 2 M1=Cvi(C1$) ' 20299 is assigned to M1. [Explanation] (1) Converts the lowest two bytes of the value of an equation (integer) into a strings. (2) Use Cvi to convert the string to a value.

Page 439 4MELFA-BASIC V Mkd$ [Function] Converts the value of an equation (double-precision real number) into a eight-byte string. [Format] =Mkd$() [Reference Program] 1 C1$=Mkd$(10000.1) ' "10000.1" is assigned to C1$. 2 M1=Cvd(C1$) ' 10000.1 is assigned to M1. [Explanation] (1) Converts the lowest eight bytes of the value of an equation (single-precision real number) into the strings.

Page 440 4MELFA-BASIC V PosMid [Function] Obtain the middle position data when a linear interpolation is performed between two given points. [Format] =PosMid(, ,, ) [Reference Program] 1 P1=PosMid(P2,P3,0,0) ' The position data (including posture) of the middle point between P2 and P3 will be assigned to P1.

Page 441 4MELFA-BASIC V [Function] Converts the unit of angle measurement from degrees (deg) into radians (rad). [Format] =Rad() [Reference Program] 1 P1=P_Curr 2 P1.C=Rad(90) 3 Mov P1 ' Moves to P1, which is obtained by changing the C axis of the current position to 90 degrees.

Page 442 4MELFA-BASIC V Rdfl 2 [Function] Returns the multiple rotation information of the specified joint axis. [Format] =Rdfl2(, ) [Terminology] Specifies the position variable from which the multiple rotation information is to be extracted. Specifies the value for the joint axis from which the multiple rotation information is to be extracted.

Page 443 4MELFA-BASIC V [Function] Generates a random number. [Format] =Rnd() [Terminology] Specifies the initial value of random numbers. If this value is set to 0, subsequent random numbers will be generated without setting the initial value of random num- bers.

Page 444 4MELFA-BASIC V Setfl 1 [Function] Changes the structure flag of the specified position using a string (such as "RAN"). [Format] =Setfl1(, ) [Terminology] Specifies the position variable whose structure flag is to be changed. Specifies the structure flag to be changed. Multiple flags can be specified. "R"...

Page 445 4MELFA-BASIC V Setfl 2 [Function] Changes the multiple rotation data of the specified position. [Format] =Setfl2(, , ) [Terminology] Specifies the position variable whose multiple rotation data are to be changed. Specifies the axis number for which the multiple rotation data are to be changed.

Page 446 4MELFA-BASIC V SetJnt [Function] Sets the value to the joint variable. [Format] <>=SetJnt([,[,[, [,[,[,[,]]]]]]]) [Terminology] Sets the value to the joint variable. - The unit is Rad (the unit is mm for direct-driven axes). [Reference Program] 1 J1=J_Curr 2 For M1=0 to 60 SETP 10...

Page 447 4MELFA-BASIC V SetPos [Function] Sets the value to the Position variable. [Format] <>=SetPos([,[, [,[,[,[,[,]]]]]]]) [Terminology] Sets the value to the Position variable. - The unit is mm. -...

Page 448 4MELFA-BASIC V [Function] Checks the sign of the equation. [Format] =Sgn() [Reference Program] 1 M1=-12 2 M2=Sgn(M1) ' -1 is assigned to M2. [Explanation] (1) Checks the sign of the equation and returns the following value. Positive value 1 Negative value -1 [Function] Calculates the sine.

Page 449 4MELFA-BASIC V SplECord [Function] Saves the Ex-T coordinate system origin data registered in the spline file in the position variable. [Format] =SplECprd( [, ]) [Terminology] The variables for a result to be substituted. The number of the spline file holding information on the path to obtain is designated with a constant or numerical variable.

Page 450 4MELFA-BASIC V SplPos [Function] Saves a random path point data registered in the spline file in the position variable. [Format] =SplPos(, [, ]) [Terminology] The variables for a result to be substituted. The value of the path point data registered in the specified spline file is substituted to the configuration flag.

Page 451 4MELFA-BASIC V SplSpd [Function] Calculates the maximum speed which can be specified without an error in the spline interpolation com- mands (MvSpl, EMvSpl). [Format] =SplSpd() [Terminology] The variables for a result to be substituted. The number of the spline file holding information on the path to obtain is designated with a constant or numerical variable.

Page 452 4MELFA-BASIC V [Function] Calculates the square root of an equation value. [Format] =Sqr() [Reference Program] 1 M1=Sqr(2) ' 1.414214 is assigned to M1. [Explanation] (1) Calculates the square root of the value to which the given equation evaluates. (2) An error will be generated if the equation given by the argument evaluates to a negative value. Strpos [Function] Searches for a specified string in a string.

Page 453 4MELFA-BASIC V Str$ [Function] Converts the value of the equation into a decimal string. [Format] =Str$() [Reference Program] 1 C1$=Str$(123) ' "123" is assigned to C1$. [Explanation] (1) Converts the value of the equation into a decimal string. (2) Val is a command that performs this procedure in reverse.

Page 454 4MELFA-BASIC V [Function] Converts the value in the string into a numerical value. [Format] =Val() [Reference Program] 1 M1=Val("15") 2 M2=Val("&B1111") 3 M3=Val("&HF") [Explanation] (1) Converts the given character string expression string into a numerical value. (2) Binary (&B), decimal, and hexadecimal (&H) notations can be used for the string. (3) In the example above, M1, M2 and M3 evaluate to the same value (15).

Page 455 4MELFA-BASIC V Zone [Function] Checks if the specified position is within the specified area (a rectangular solid defined by two points). [Format] =Zone(, , ) [Terminology] The position to be checked. The position of the first point that specifies the area. ...

Page 456 4MELFA-BASIC V Zone 2 [Function] Checks if the specified position is within the specified area (Cylindrical area defined by two points). [Format] =Zone2(, , , ) [Terminology] The position to be checked. The position of the first point that specifies the area.

Page 457 4MELFA-BASIC V Zone3 [Function] Checks if the specified position is within the specified area (The cube which consists of the three points). [Format] =Zone3(, , , , , , ) [Terminology] The position to be checked ...

Page 458: Functions Set With Parameters
5Functions set with parameters 5 Functions set with parameters This controller has various parameters listed below. It is possible to change various functions and default settings by changing the parameter settings. Classification Content Reference Movement parameter These parameters set the movement range, coordinate system and the items Page 438 pertaining to the hand of the robot.

Page 459 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters J1 axis offset angle J1OFFSET Real value 2 Specify the J1 axis offset angle for vertical 5-axis type robot. 0.0,0.0 This setting is invalid for other types of robot. Note) Since the J1 axis direction is changed from J1=0 degree (front direction) by specifying parameter J1OFFSET, the joint movement range (MEJAR) is automatically corrected.

Page 460 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Standard base MEXBSNO Real value 1 Sets world coordinate system by specifying a base coordinate coordinates number (base conversion). Displays current settings, as well. Refer to Description of set values: "4.5Coordinate...

Page 461 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters User area AREA*P2 Real value 8 Designates position coordinates of the diagonal point 2 of the (X,Y,Z,A,B,C,L1,L2) * is 1 to 32 user-defined area * and coordinates of posture data/additional = 0.0, 0.0, 0.0, axes.

Page 462 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Free plane limit This is the overrun limit set on a free plane. Create a plane with three coordinate points, and set the area that does not include the origin as Refer to the outside-movement area.

Page 463 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Align type selection ALIGNTYP Integer 1 Specifies how to find the hand posture used for the hand align- ment movement and the Align function. The robot performs the hand alignment movement toward its hand posture.

Page 464 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Work coordinates WKnCORD Real value 6 The work coordinates for work jog operation (0.00, 0.00, 0.00, "n" is 1 to 8 (X,Y,Z,A,B,C) Unit: mm or degree 0.00, 0.00, 0.00) It is used as standard coordinates and work coordinate data in the work jog.

Page 465 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters WORK jog opera- WKnJOGMD Integer 1 The operation mode in WORK jog operations is specified for each work coordinate. tion mode "n" is 1 to 8 0: WORK jog (The operation of A, B, and C elements is rotation *Available soft- around the axis parallel to the X, Y, and Z axes of the work...

Page 466 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters The gravity direc- MEGDIR Real value 4 This parameter specifies the direction and magnitude of gravita- 0.0, 0.0, 0.0, 0.0 tion tional acceleration that acts on the robot according to the instal- lation posture for the X, Y, and Z axes of the robot coordinate * Only RV-F series.

Page 467 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Hand type HANDTYPE Character Set the single/double solenoid hand type and output signal No. CR750/CR751: string 8 (D: double solenoid, S: single solenoid). D900,D902,D904,D Refer to Set the signal No.

Page 468 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Optimum JADL Real value 8 Set the initial value (value at power ON) of the acceleration/deceleration Setting value for acceleration/ adjustment rate (%) during optimum acceleration/deceleration. It is the each mechanism deceleration rate applied to the acceleration/deceleration speed calculated by...

Page 469 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Impact Detection Integer 3 RH-3FH/6FH/12FH/ Define whether the impact detection function can/cannot be 20FH series: used, and whether it is enabled/disabled immediately after 1,0,1 power ON.

Page 470 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Warm-up operation WUPTIME Real value 2 Specify the time to be used in the processing of warm-up 1, 60 mode control time operation mode. (Valid time, resume time) Unit: min. Valid time: Specify the time during which the robot is operated in the warm-up operation status and at a reduced speed.

Page 471 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Functional setting CMPERR Integer 1 1 (Enable error Setting this parameter prevents errors 2710 through 2740 (errors of compliance error generation) that occur if the position command generated in compliance control is abnormal) from occurring.

Page 472 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Specification of the MVTERM Integer 1 0: F series Specifies the end conditions of an operation command when Cnt end conditions of (RV-2F/2FL and RH- command is invalid.

Page 473: Signal Parameter
5Functions set with parameters 5.2 Signal parameter These parameters set the items pertaining to signals Table 5-2:List Signal parameter Parameter No. of arrays Parameter Details explanation Factory setting No. of characters name Dedicated I/O sig- For the parameters of the dedicated I/O signal, refer to Page 559, "6.3 Dedicated input/output".

Page 474 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Output signal reset Set the operation to be taken when the general-purpose output signal for the Clr command or pattern dedicated input (OUTRESET) is reset. Signals are output in the pattern set here even when the power is turned ON.

Page 475 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Multi CPU input QMLTCPUS Integer 1 At the CR7xx-Q series controller, set the robot input signal offset offset for the multi CPU. (CR7xx-Q series only) Specify an offset from G10000 in 1K word units, and read as an R/C input from the specified shared memory.

Page 476 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Setup of the QXYUNITn Integer 7 Specify the input output unit/input output mixing unit which robot CPU's manage.(Invalid/Valid=0/1) sequencer input n: 1 to 4 [Element 1] Unit type output unit 0: With no target unit...

Page 477: About Multi Cpu Input Offsets (Cr7Xx-Q Series Controller Only)
5Functions set with parameters 5.2.1 About multi CPU input offsets (CR7xx-Q series controller only) (1) Case (A) When using no offset for input (Parameter: when QMLTCPUS = -1) Table 5-3:CPU shared memory and robot I/O signal compatibility Sequencer (word device) Robot (bit device) U3E0\G10000 to U3E0\G10511 Robot CPU No.1 / 10000 to 18191...

Page 478: Case (B)
5Functions set with parameters (2) Case (B) When using an offset for input (Parameter: when QMLTCPUS = 0 to 14) (*1) = (Robot CPU No.1 QMLTCPUS) * 1024 (*2) = (Robot CPU No.2 QMLTCPUS) * 1024 (*3) = (Robot CPU No.3 QMLTCPUS) * 1024 Table 5-4:CPU shared memory and robot I/O signal compatibility Sequencer (word device) Robot (bit device)

Page 479: Operation Parameter
5Functions set with parameters 5.3 Operation parameter These parameters set the items pertaining to the operations of the controller, T/B and so forth. Table 5-5:List Operation parameter Parameter No. of arrays Parameter Details explanation Factory setting No. of characters name Buzzer ON/OFF Integer 1 Specifies the on/off of the buzzer sound that can be heard when...

Page 480 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Override change OVRDENA Integer 1 Specifies whether the operation rights are required when chang- 0(Required) operation rights ing override from the operation panel and external device. (Required/Not required = 0/1) Note) Even when OVRDENA = 1 (Not required), override can- not be changed if the controller mode is "MANUAL"...

Page 481 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Resetting MFGRST Integer 1 0: Reset all axes. Reset the accumulated data relating to grease in the Maintenance 1 to 8: Reset the maintenance forecast function.

Page 482 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Behavior selection CATEGORY Integer 1 Set the behavior of the [RESET] key input at the error of the [RESET] occurrence on dual system. key input at the 3: Enable the error reset error occurrence...

Page 483: Command Parameter
5Functions set with parameters 5.4 Command parameter This parameter sets the items pertaining to the program execution and robot language. Table 5-6: List Program Execution Related Parameter Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters No.

Page 484 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Program selection SLOTON Integer 1 This parameter specifies whether or not to store the program 1(Enable storage, save name in the SLT1 parameter at program selection, as well as do not maintain) whether or not to maintain the program selection status at the end of cycle operation.

Page 485 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Continue function Integer 1 For only the program execution slot 1, the state when the power 0(Invalid) is turned OFF is held, and the operation can be continued from the saved state when the power is turned ON next.

Page 486 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters User error setting UER1 Integer 1, Sets the message, cause, and method of recovery for errors 9900,"mes- Character from the Error instruction. Maximum of 20 user errors can be sage","cause","tre to UER20 string 3...

Page 487 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Program auto- AUTOSAVE Integer 1 Specifies whether or not to save the local variables automati- save at the time of cally after the program operation. The autosave is performed at automatic opera- the following timings.

Page 488: Communication Parameter
5Functions set with parameters 5.5 Communication parameter These parameters set the items pertaining to communications Table 5-7:List Communication parameter Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters RT Tool Box 2 COMSPEC Integer 1 Specify the communication method of the robot controller and Communication RT Tool Box 2.

Page 489 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters End code Integer 9 Specifies the end code of the communication message. 0: CR, 1: CR+LF CTERME11 Correspond to OPT11 to 19 of COMDEV (OPT11), CTERME12 (OPT12), CTERME13...

Page 490 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Initial tag name of EBWRTAG Character string Set an initial symbolic tag name (128 characters or less) for the ““(None) EBWrite command vision sensor designated in the EBWrite command. This parameter setting value is specified when the tag name is *Available soft- omitted in description of the EBWrite command.

Page 491: Standard Tool Coordinates
5Functions set with parameters 5.6 Standard Tool Coordinates Tools data must be set if the robot's control point is to be set at the hand tip when the hand is installed on the robot. The setting can be done in the following three manners. 1) Set in the MEXTL parameter.

Page 492 5Functions set with parameters A case for a horizontal 4-axis robot 1) Sample parameter setting Parameter name: MEXTL Value: 0, 0, -10, 0, 0, 0 2) Sample Tool instruction setting 1 Tool (0,0,-10,0,0,0) Horizontal 4-axis robots can basically offset using parallel shifting.

Page 493: About Standard Base Coordinates
5Functions set with parameters 5.7 About Standard Base Coordinates The position of the world coordinate system is set to zero (0) before leaving the factory, and therefore, the base coordinate system (robot's installation position) is in agreement with the world coordinate system (coordinate system which is the basis for robot's current position).

Page 494: About User-Defined Area
5Functions set with parameters 5.8 About user-defined area The user-defined area has the function of continuously monitoring whether or not the robot control point falls within any position area which is specified by parameter settings. The user can choose between the option to output the state of the robot control point being within or outside that area and the option to effect an error-stop when the robot control point is within that area, by using dedicated input/output or state variables.

Page 495: Selecting A Coordinate System
5Functions set with parameters 5.8.1 Selecting a coordinate system This function, when the user proceeds with operation after changing the base coordinate system by a Base command or the like, permits the user to choose between the option to move user-defined area concurrently or the option to keep it fixed.

Page 496: Setting Areas
5Functions set with parameters 5.8.2 Setting Areas Areas to be set include a position area, posture area, and additional axis area. The following is a description of the steps that are followed to set these areas. (1) Position Area A position area for user-defined area is defined by the coordinates of a diagonal point which is determined by the elements X, Y and Z in the parameters AREA*P1 and AREA*P2(* is 1 to 32).

Page 497: Posture Area
5Functions set with parameters (2) Posture Area A posture area for the user-defined area is defined by specifying elements A, B and C in the parameters AREAnP1 and AREAnP2. Set up the value based on the coordinate system selected by AREAnCS. CAUTION In the 6-axis type robot, if the current coordinate value of B axis is near the +/-90 degrees, the coordinate value of A and C axes are changed a lot by even the pos-...

Page 498: Selecting Mechanism To Be Checked
5Functions set with parameters 2) If elements L1 and L2 in the parameter AREAnP1 are interchanged with those in the parameter AREAnP2, user-defined area remains the same. 3) When the additional axis area is defined, it is judged contained in the user-defined area when all of position area, posture area and additional axis area are within the area.

Page 499: Example Of Settings
5Functions set with parameters 5.8.5 Example of settings For instance, in the following diagram, the following parameter setting will output the signal 10 when operat- ing in area (1) and output the signal 11 when operating in area (2). Coordinate system: World coordinate system Posture check is unnecessary...

Page 500: Free Plane Limit
5Functions set with parameters 5.9 Free plane limit Defines any plane in the world coordinate system, determines the front or back of the plane, and generates a free plane limit error. 5.9.1 The definition of a free plane limit As can be seen in the diagram to the left, any plane can be defined by three points (P1, P2, and P3), after which an evaluation of which side of the plane it is in (the side that includes the robot ori-...

Page 501: Selection Of A Coordinates System For A Free Plane Limit
5Functions set with parameters 5.9.2 Selection of a coordinates system for a free plane limit This function, when the user proceeds with operation after changing the base coordinates system by a Base command or the like, permits the user to choose between the option to move a free plane limit concurrently or the option to keep it fixed.

Page 502: Automatic Return Setting After Jog Feed At Pause
5Functions set with parameters 5.10 Automatic return setting after jog feed at pause This specifies the path behavior that takes place when the robot is paused during automatic operation or during step feed operation, moved to a different position using a jog feed with T/B, and the automatic opera- tion is resumed or the step feed operation is executed again.

Page 503: Automatic Execution Of Program At Power Up
5Functions set with parameters 5.11 Automatic execution of program at power up The following illustrates how to automatically run a robot program when the controller's power is turned on. However, since the robot starts operating simply by turning the power on, exercise caution upon using this function.

Page 504: About The Hand Type
5Functions set with parameters 5.12 About the hand type (1) Solenoid valve types and signal numbers Set the parameters according to the type of solenoid valve being used, and the output signal being con- nected. The following details can be set. a) Solenoid valve sink type/source type setting........

Page 505: About Default Hand Status
5Functions set with parameters 5.13 About default hand status (1) CR750/CR751 controller The factory default setting is shown below. Hand type Status Status of output signal number Double-solenoid is assumed Hand 1 = Open 900=1 901=0 Hand 2 =Open 902=1 903=0 Hand 3 =Open 904=1...

Page 506: Cr760 Controller
5Functions set with parameters (2) CR760 controller The factory default setting is shown below. Hand type Status Status of output signal number Double-solenoid is assumed Hand 1 = Open 764=0 765=0 Hand 2 =Open 766=0 767=0 Hand 3 =Open 768=0 769=0 Hand 4 =Open 770=0...

Page 507: About The Output Signal Reset Pattern
5Functions set with parameters 5.14 About the output signal reset pattern The factory default setting sets all general-purpose output signals to OFF (0) at power up. The status of gen- eral-purpose output signals after power up can be changed by changing the following parameter. Note that this parameter also affects the general-purpose output signal reset operation (called by dedicated I/O sig- nals) and the reset pattern after executing the Clr instruction.

Page 508 5Functions set with parameters Parameter name Value (Values are all set to 0 at the factory default setting.) ORST10000 Signal number 10000---10007 10008---10015 10016---10023 10024---10031 00000000、 00000000、 00000000、 00000000 ORST10032 10032---10039 10040---10047 10048---10055 10056---10063 00000000、 00000000、 00000000、 00000000 ORST10064 00000000、 00000000、 00000000、 00000000 ORST10096 00000000、...

Page 509: About The Communication Setting (Ethernet)
5Functions set with parameters 5.15 About the communication setting (Ethernet) The port number used for communication is shown in Table 5-13. Table 5-13: Port number to use Note1) Port number Application Parameter Reserved Reserved COGNEX vision sensor Cannot be changed Reserved Reserved 1024...

Page 510: Crrce11 To 19 (Protocol)
5Functions set with parameters (4) CRRCE11 to 19 (protocol) When using the data link function, the setup is necessary. Sets the protocol (procedure) for communication. The protocol has three kinds of no-procedure, procedure and data link. 0... No-procedure: The protocol is applied to use the personal computer Support Software . 1...

Page 511: Example Of Setting Of Parameter 1 (When The Support Software Is Used)
5Functions set with parameters 5.15.2 Example of setting of parameter 1 (When the Support Software is used) The setting example to use the Support Software is shown below. Set the parameters for the robot controller, and the network for the personal computer OS being used. Item Setting value IP address of robot controller...

Page 512: Example Of Setting Of Parameter 2-1
5Functions set with parameters 5.15.3 Example of setting of parameter 2-1 (When the data link function is used: When the controller is the server) Shows the example of the setting, when the controller is server by the data link function. Item Setting value Robot controller IP address...

Page 513: Example Of Setting Parameters 2-2
5Functions set with parameters 5.15.4 Example of setting parameters 2-2 (When the data link function is used: When the controller is the client) Shows the example of the setting, when the controller is client by the data link function. Item Setting value Robot controller IP address 192.168.0.20...

Page 514: Example Of Setting Parameters 3
5Functions set with parameters 5.15.5 Example of setting parameters 3 (for using the real-time external control function) An example of the settings for using the real-time external control function is shown below. Item Setting value Robot controller IP address 192.168.0.20 Personal computer IP address 192.168.0.2 Robot controller port No.

Page 515: Connection Confirmation
5Functions set with parameters 5.15.6 Connection confirmation Before use, confirm the following items again. Confirmation item Check Is the teaching pendant securely fixed? Is the Ethernet cable properly connected between the controller and personal computer? Is any proper Ethernet cable used? (This cross cable is used to connect the personal computer and controller one-on-one.

Page 516: Hand And Workpiece Conditions (Optimum Acceleration/Deceleration Settings)
5Functions set with parameters 5.16 Hand and Workpiece Conditions (optimum acceleration/deceleration settings) Optimum acceleration/deceleration control allows the optimum acceleration/deceleration to be performed by LoadSet and Oadl instructions automatically in response to the load at the robot tip. The following parame- ters must be set correctly in order to obtain the optimum acceleration/deceleration.

Page 517 5Functions set with parameters The coordinate axes used as references when setting the hand and workpiece conditions are shown below for each robot model. The references of the coordinate axes are the same for both the hand and workpiece conditions. Note that all the sizes are set in positive values. *Vertical type 6-axis type Definitions of Coordinate Axes...

Page 518: About The Singular Point Adjacent Alarm
5Functions set with parameters 5.17 About the singular point adjacent alarm When a robot having a singular point is being operated using a T/B, a singular point adjacent alarm is gen- erated to warn the operators of the robot if the control point of the robot approaches a singular point. Even if an alarm is generated, the robot continues to operate as long as it can perform operation unless operation is suspended.

Page 519: High-Speed Ram Operation Function
5Functions set with parameters 5.18 High-speed RAM operation function When using the high-speed RAM operation function, some restrictions apply to the program operation and data saving. Thoroughly understand the specifications before using this function. (1) Overview The robot programs are saved in the RAM (SRAM), which is backed up by the battery. These programs can be executed with SRAM operation or DRAM operation.

Page 520 5Functions set with parameters File System ・ Target of executable programs Power ON ・ Programs to be backed up ・ Changing parameters SRAM ・ Saving error logs ・ Reading programs Area ・ Editing (writing) programs ・ Copying, moving and renaming High-speed programs, etc.

Page 521 5Functions set with parameters (2) Precautions on saving variables at power off In DRAM operation, the variables can be changed during program execution; however, the changed values will be discarded when the controller power is turned off. Use the following method to retain the variables at power off.

Page 522: Warm-Up Operation Mode
5Functions set with parameters 5.19 Warm-Up Operation Mode (1) Functional Overview The acceleration/deceleration speed and servo system of Mitsubishi robots are adjusted so that they can be used with the optimum performance in a normal temperature environment. Therefore, if robots are operated in a low temperature environment or after a prolonged stop, they may not exhibit the intrinsic performance due to change in the viscosity of grease used to lubricate the parts, leading to deterioration of position accu- racy and a servo error such as an excessive difference error.

Page 523 5Functions set with parameters CAUTION If the operating duty of the target axis is low, a servo error such as an excessive differ- ence error may occur even when the warm-up operation mode is enabled. In such a case, change the program, and lower the speed as well as the acceleration/ deceleration speed.

Page 524 5Functions set with parameters (2) Function Details 1)Parameters, Dedicated I/O Signals and Status Variables of the Warm-Up Operation Mode The following parameters, dedicated I/O signals and status variables have been added in the warm-up oper- ation mode. Refer to Page 438, "5.1 Movement parameter", Page 559, "6.3 Dedicated input/output"...

Page 525 5Functions set with parameters 2) To Use the Warm-Up Operation Mode To use the warm-up operation mode, enable its function with parameters. The function can also be enabled or disabled with a dedicated input signal. *Specifying with a Parameter To enable the warm-up operation mode with a parameter, set 1 in the WUPENA parameter. After changing the parameter, the warm-up operation mode is enabled by powering on the controller again.

Page 526 5Functions set with parameters *Methods to Check the Warm-Up Operation Status Whether the current status is the warm-up operation status or normal status can be checked in the following three methods: • Checking with STATUS NUMBER on the controller's front panel The current status can be checked by setting STATUS NUMBER to override display.

Page 527 5Functions set with parameters The following Fig. 5-8 shows an example of a timing chart for switching from the normal status to the warm- up operation status. Time Operating Target axis operation Stopping Accumulated value of target axis operation time Valid time Because the accumulated operation time reaches the valid...

Page 528 5Functions set with parameters Note that the actual override in the warm-up operation status is as follows: • During joint interpolation operation = (operation panel (T/B) override setting value) x (program override (Ovrd instruction)) x (joint override (JOvrd instruction)) x warm-up operation override •...

Page 529: About Singular Point Passage Function
5Functions set with parameters 5.20 About singular point passage function (1) Overview of the function Mitsubishi's robots calculate linear interpolation movement and store teaching positions as position data in the XYZ coordinates system. In the case of a vertical 6-axis robot, for example, the position data is expressed using coordinate values of the robot's X, Y, Z, A, B and C axes, but the robot can be in several different postures even if the position data is the same.

Page 530 5Functions set with parameters *Operation when the singular point passage function is valid When the singular point passage function is made valid, the robot can move from position A to position C via position B (the position of a singular point) and vice versa through XYZ jog and linear interpolation opera- tion.

Page 531 5Functions set with parameters *How to use the singular point passage function In order to use the singular point passage function in jog operation, specify 1 (valid) for parameter FSP- JOGMD and turn the power supply to the controller off and on again. To use the function in automatic oper- ation, specify 2 for constant 2 in the TYPE specification of the interpolation instruction.

Page 532 5Functions set with parameters (3) Singular point passage function in position data confirmation (position jump) The specification of parameter FSPJOGMD is also reflected in position data confirmation (position jump). FSPJOGMD MO position movement MS position movement Normal position movement (The posture is maintained and the structure The setting value does not affect.

Page 533 5Functions set with parameters (7) If an interpolation for which the singular point passage function is specified is paused and the operation is resumed after jog movement, the robot moves to the position at which the operation was paused according to parameter RETPATH.

Page 534: About The Collision Detection Function
5Functions set with parameters 5.21 About the collision detection function (1) Overview of the function When the robot is operated to perform various tasks, it may interfere with workpieces and peripheral devices due to operation mistakes of operators, errors in operation programs and so on. Conventionally, in such cases, the robot would be stopped by protection functions (such as excessive error detection) of ser- vos that control the motor drive of the robot to prevent damage to the robot hands and arms, workpieces and peripheral devices.

Page 535: Related Parameters
5Functions set with parameters (2) Related parameters The following parameters are related to the collision detection function. Refer to Page 438, "5.1 Movement parameter" Page 496, "5.16 Hand and Workpiece Conditions (optimum acceleration/deceleration set- tings)" for the detailed explanation of these parameters. Table 5-20:Parameters related to the collision detection function Parameter Setting value at...

Page 536: How To Use The Collision Detection Function
5Functions set with parameters (3) How to use the collision detection function To use the collision detection function, first specify "Enable (1)" for element 1 of the COL parameter and turn on the power supply to the control again. Next, make settings for the collision detection function (specify to enable/disable the function and the detection level) for jog operation and program operation, respectively.

Page 537 5Functions set with parameters ring to Page 61, "3.11 Operation to Temporarily Reset an Error that Cannot Be Canceled" to ensure that there is no interference. *Method for disabling collision detection temporarily during jog operation Perform servo-on and jog operation while holding down the [RESET] key on the TB. Collision detection is disabled as long as the key is pressed.

Page 538 5Functions set with parameters Point If the collision detection function is enabled for the entire program, the probability of erroneous detection becomes higher accordingly. Hence, the detection level must be lowered in order to eliminate erroneous detection. As a result, the interference detection sensitivity may be lowered for operations for which colli- sion detection is required.

Page 539 5Functions set with parameters *Program example This program moves the robot to a retreat position by interrupt processing if an interference is detected. 1 Def Act 1,M_ColSts(1)=1 GoTo *HOME,S ' Define processing to be executed if an interference is detected by interruption.

Page 540 5Functions set with parameters Thus, if the collision detection function at jog operation is enabled, for example, then even if the collision detection is set to be disabled in program operation, the setting is switched to that at jog operation if the stop button is pressed to pause the operation and the collision detection is enabled.

Page 541: Optimizing The Overload Level
5Functions set with parameters Step Description Add some margin (e.g. 20%) to the maximum value for each joint axis obtained in step 3. Then set this value as the argument of the ColLvl command. Set the value obtained in step 4 to the ColLvl command and run the program to check that no erroneous detection occurs at the operation for which the collision detection function is used.

Page 542: Multi-Rotational Restrictions For The Pallet Definition Instruction
5Functions set with parameters 5.23 Multi-rotational restrictions for the pallet definition instruction When the pallet definition instruction: DEFPLT is used for the robot types in which the J1 axis or the J4 axis can exceed +/-180 degrees (RV-2F, etc.), the palette that the joint angle of the J1 axis or the J4 axis strad- dles +/-180 degrees cannot be specified.

Page 543: Interference Avoidance Function
5Functions set with parameters 5.24 Interference avoidance function The robot can be moved while checking for interference by this function. The target of an interference check is shown below. 1. Between robots. (Only CR7xx-Q controller) 2. Between robot and free plane limits. The damage of robot or peripheral device can be reduced by predicting interference between robots or free plane limits and stopping the movement during jog operation or automatic operation.

Page 544: Operation Procedures
5Functions set with parameters 5.24.1 Operation procedures The outline of procedures for using the interference avoidance function is given below. (1) Checking for interference between robots (Only for CR7xx-Q controller) (1)Preparing and connecting the Prepare two or three target robots and a personal computer equipped with RT ToolBox2.

Page 545: Preparing And Connecting The Devices
5-28, and an example of the connection is given in Fig. 5-14. Refer to the figure and connect the required devices. (1) Checking for interference between robots (Only for CR750-Q/CR751-Q controller) Table 5-28:Required devices Device Remarks Up to two or three robots This function uses direct communication between robot CPUs via the iQPlatform’s...

Page 546: Registering The Simulated Components For Interference Check
Connected to robot CPU with USB, etc. Note) This figure shows an example of connecting one robot. Fig.5-16:Connecting the devices (CR750-Q/CR751-Q controller) 5.24.3 Registering the simulated components for interference check Register simulated components to be checked for interference (hereinafter, "simulated components") using the robot arm as a reference point.

Page 547 5Functions set with parameters Simulated component type Setting items for simulated component Note1) Simulated hand Simulated workpiece Simulated robot arm Center position Using the robot arm installation Designate the simulated component’s center as a distance from the face or the rotation center of Mechanical interface coordinate system‘s origin point (tip of J3 axis).

Page 548 5Functions set with parameters J2 axis reference (2) (Base) Base section (0) (J1 axis) (J2 axis) (J2 axis) (J1 axis) J1 axis reference (1) J3 axis J2 axis reference (2) reference (3) J1 axis reference (1) Base section (0) (J3, J4 axis) J3 axis...

Page 549 5Functions set with parameters CAVKDA5=2, 0 CAVKDA6=2, 0 CAVKDA3=2, 1 CAVKDA4=4, 1 CAVKDA4=2, 0 CAVKDA3=1, 0 CAVKDA2=0, 0 CAVKDA7=2, 0 CAVKDA5=5, 0 CAVKDA8=4, 1 CAVKDA1=0, 0 CAVKDA1=0, 1 CAVKDA2=0, 1 Note) These are simulated hand and workpiece. Fig.5-20:Example of registration sections and simulated component type settings Interference avoidance function 6-529...

Page 550 5Functions set with parameters <2>Center position of simulated components: CAVPSA1 to 8 Table 5-32:Simulated component setting parameter (Robot arm: CAVPSA1 to 8) Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Center position of CAVPSA1 to 8 Real number 6 Set up the position of each simulated component as the the simulated...

Page 551 5Functions set with parameters When the posture is all axis = 0 degrees a simulated component’s XYZ direction matches the base coordi- nate system. <3>Simulated component size: CAVSZA1 to 8 Table 5-33:Simulated component setting parameter (Robot arm: CAVSZA1 to 8) Parameter No.

Page 552 5Functions set with parameters <4>Simulated component enable/disable: CAVSCA1 to 8 Table 5-34:Simulated component setting parameter (Robot arm: CAVSCA1 to 8) Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Simulated CAVSCA1 to 8 Integer 3 Set whether to check (enable or disable) RH-3/6/12/20FH RV-F series: component...

Page 553 5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Simulated compo- CAVSZH1 to 8 Real number 4 Set the size of each simulated component. Set all parameters nent size (Each simulated component corresponds to the last digit (CAVSZH1 to 8) to (hand) (1 to 8) of the parameter name.)

Page 554: Registering A Free Plane Limit
5Functions set with parameters Parameter No. of arrays Parameter Details explanation Factory setting name No. of characters Center position of CAVPSW1 to 8 Real number 6 For each simulated component, designate the center Set all parameters simulated compo- position and pose of the simulated component from the (CAVPSW1 to 8) to origin point of the Mechanical interface coordinate...

Page 555 5Functions set with parameters As can be seen in the diagram to the left, any Ｐ２ plane can be defined by three points (P1, P2, and P3). Ｐ１ P３ Note) The figure is an example of a vertical 6-axis robot. In horizontal 4-axis robot is the same.

Page 556: Support Of Additional Axes
5Functions set with parameters 5.24.5 Support of additional axes If the robot uses additional axes, the interference avoidance function can be set to consider the movement of the additional axis by setting the additional axis synchronous control parameter. (Only linear axis such as locomotion axis.) Refer to Table 5-38...

Page 557 5Functions set with parameters 5.24.6 Setting the shared memory expanded function (Checking for interference between robots) Set the shared memory expanded function with the parameters. When the shared memory expanded function is selected, the shared memory is occupied. (Refer to Fig.

Page 558 5Functions set with parameters (2) Shared memory map This section shows the memory map of the robot’s CPU output area in the shared memory, which is allo- cated based on the parameter: IQMEM setting. Robot CPU system U3En\G10000 U3En\G10000...

Page 559: Calibration Between Robots (Checking For Interference Between Robots)
5Functions set with parameters 5.24.7 Calibration between robots (Checking for interference between robots) Set the positional relation for multiple robots which are using the interference avoidance function. Set a common coordinate system origin point between the robots based on the system layout drawing, etc. Then, set the Base coordinate system origin point of each robot in parameter: RBCORD looking from that...

Page 560 5Functions set with parameters (1) Setting the calibration Set the Base coordinate system origin point for each robot, looking from the common coordinates between robots, in parameter: RBCORD with the X, Y, Z, A, B and C coordinate values. Note) When using a locomotion axis, set the positional relation for when the locomotion axis coordinate value is “0”.

Page 561: Enabling And Disabling The Interference Avoidance Function
5Functions set with parameters 5.24.8 Enabling and disabling the interference avoidance function Whether to enable/disable the interference avoidance function in general, and whether to enable/disable it during program execution and jog operation can be set by setting the parameter: CAV. Details of the parameter are given in Table 5-41.

Page 562 5Functions set with parameters (2) Interference avoidance during program execution The interference avoidance function can be used during program execution (during automatic operation) by setting the 2nd element of parameter: to Enable (“1”), and using the instructions shown in Table 5-42 and the external variables shown in Table 5-43.

Page 563: Sample Programs
5Functions set with parameters 5.24.10 Sample programs (1) Starting and ending the interference avoidance function (all robots) Note) The step numbers are omitted. '--- Default state (Interference avoidance function enabled) ---;When interference check is enabled with parameter: CAV. MVS P1 'Movement when the interference avoidance function is enabled '--- Interference avoidance disabled for all robots ---...

Page 564 5Functions set with parameters (4) Executing avoidance operation after detecting interference (interrupt process) Note) The step numbers are omitted. Def Act 1,M_CavSts<>0 GoTo *Home,S ' Define a process to be executed as an interrupt when interference is detected Act 1=1 CavChk On,0,NOErr ' Enable the interference avoidance function in error disabled mode...

Page 565: Sequencer Input/Output Unit Direct Control
5Functions set with parameters 5.25 Sequencer input/output unit direct control In the robot controller of CR7xx-Q series, the following functions are possible. * The reference of the input output signal of the input output unit / input output mixing unit which installed to the base unit managed by other CPU is possible.

Page 566: The Outline Of The Operating Procedure
5Functions set with parameters (2) The outline of the operating procedure 1) Refer to the input output signal. a) Setup of the parameter Set t he robot's parameter QXYREAD. (Set up valid/invalid of the function which refers to the signal of the input output unit which managed by other CPU) b) Set up "Multiple CPU settings"...

Page 567: Set Up "Multiple Cpu Settings" Of The Sequencer
5Functions set with parameters (4) Set up "Multiple CPU settings" of the sequencer Put the check into the "ALL CPUs can read all inputs" and the "ALL CPUs can read all outputs" of "I/O shar- ing when using Multiple CPUs", and enable the reference of input and output state besides the group. Check.

Page 568: Description Of The Robot Status Variable
5Functions set with parameters (5) Description of the Robot Status Variable Explains the outline of the Robot Status Variable to Table 5-46. Refer to each description page of Page 311, "4.14.2 Explanation of Each Robot Status Variable" for details. Table 5-46:Related Robot Status Variable Variable Reference Details...

Page 569: Direct Communication With Robot Cpus
5Functions set with parameters 5.26 Direct communication with robot CPUs This function is to exchange the signals directly with two or more robot CPUs in the robot controller of CR7xx-Q series. Since the rudder program of the sequencer is not needed, the exchange of the signal can be executed more speedily.

Page 570: Parameter For Behavior Selection At The Error Occurrence On Dual System
5Functions set with parameters 5.27 Parameter for behavior selection at the error occurrence on dual system When the parameter CATEGORY is set for the error on dual system shown in Table 5-49, the behavior of the [RESET] key input at the error occurrence on dual system can be selected. Table 5-49:Target error list Error number Content...

Page 571: External Input/Output Functions
6External input/output functions 6 External input/output functions 6.1 Types (1) Dedicated input/output....These are I/O signals that indicate the status of remote commands such as robot program execution and stoppage, information during execution and the servo power status and so on. Assign functions to each I/O signal.

Page 572: Sequencer Link I/O Function
6External input/output functions 6.2 Sequencer link I/O function This function is only valid on the CR7xx-Q Series drive unit. The QnUD(H)CPU (hereafter referred to as sequencer CPU) and Q172DRCPU (hereafter referred to as robot CPU) use shared memory between CPUs, and communication via a system ladder program. The shared memory “high-speed communication area between multi CPUs ”...

Page 573: Robot Cpu Parameter Setting
6External input/output functions (2) Robot CPU parameter setting Use RT ToolBox to perform multi CPU parameter settings. Table 6-2:Robot CPU parameter settings Parameter name Details Factory setting QMLTCPUN Multi CPU quantity setting At the multi CPU system, set the number of CPU units with which the standard base unit is equipped.

Page 574 6External input/output functions Fig.6-2:Robot CPU: Setting screen on RT ToolBox (example) Applicable Multi CPUs Multi CPUs are the following iQ Platform compatible CPUs and bases. (Current as of August, 2010) CPU type Model Remarks Sequencer CPU Universal model QCPU ・ The base which is corresponding to the Q03UD(E)CPU, Q04UD(E)HCPU, high-speed communication between multi-CPUs.

Page 575: Cpu Shared Memory And Robot I/O Signal Compatibility
6External input/output functions 6.2.2 CPU shared memory and robot I/O signal compatibility At the sequencer CPU, the CPU shared memory is accessed like U3E0\G10000. The robot CPU No.n CPU shared memory accesses like U3En\G10000. (n = 1 to 3, Up to a maximum of three robot CPUs can be used.) The robot CPU I/O signal numbers are all from 10000 to 18191.

Page 576 6External input/output functions Stop input Robot numerical value input Under the waiting Robot numerical value output Opera- Complete Operation rights tion rights of control- input button ler power (robot) Operation Complete Operation of control- rights is robot rights ler power Fig.6-3:Sequence ladder example 6-556 Sequencer link I/O function...

Page 577: Assignment Of The Dedicated I/O Signal. (At Factory Shipping)
6External input/output functions 6.2.4 Assignment of the dedicated I/O signal. (at factory shipping) Assignment of the dedicated I/O signal at factory shipments is shown in Table 6-5. Table 6-5:Assignment of the dedicated I/O signal. (at factory shipping) G device Parameter Input signal name Output signal name Input...

Page 578 6External input/output functions G device Parameter Input signal name Output signal name Input Output Note1) name (*: Operation rights is necessity) IODATA Numeric value input 4 Numeric value output 4 10036 10036 Numeric value input 5 Numeric value output 5 10037 10037 Numeric value input 6...

Page 579: Dedicated Input/Output
6External input/output functions Dedicated input/output The functions shown in Table 6-6 are available for the dedicated input/output signals. These are used by the parallel input/output unit by assigning the signal No. in the parameter. The signal No. is assigned by the signal No. used in the order of "input signal" and "output signal" in each parameter.

Page 580 6External input/output functions Factory shipment signal number. Signal Parameter Input, output Class Name Function level name Note1) CR7xx-Q CR7xx-D STOP Input Stop input This input stops the program being executed. Level 10000 0(Cannot (This does not apply to slots whose starting (Cannot change), condition is set to ALWAYS or ERROR.)

Page 581 6External input/output functions Factory shipment signal number. Signal Parameter Input, output Class Name Function level name Note1) CR7xx-Q CR7xx-D SRVON Input Servo ON input signal This input turns ON the servo power supply for Edge 10010, (Operation the robot. right With a multi-mechanism configuration, the required) servo power supplies for all mechanisms will...

Page 582 6External input/output functions Factory shipment signal number. Signal Parameter Input, output Class Name Function level name Note1) CR7xx-Q CR7xx-D OUTRESET Input General-purpose output Resets the general-purpose output signal. Edge 10015, (Operation signal reset The operation at the input is set with parame- right ters ORST0 to ORS18160.

Page 583 6External input/output functions Factory shipment signal number. Signal Parameter Input, output Class Name Function level name Note1) CR7xx-Q CR7xx-D PRGSEL Input Program selection input Designates the setting value for the program Edge 10020 (Operation signal No. with numeric value input signals. right The program for slot 1 is selected.

Page 584 6External input/output functions Factory shipment signal number. Signal Parameter Input, output Class Name Function level name Note1) CR7xx-Q CR7xx-D ERROUT Input Error No. output The error number is output to the numerical Edge 10025, request output (IODATA). After the start of inputting this signal to the robot, wait at least 15 ms before reading the numerical output (IODATA) signal.

Page 585 6External input/output functions Factory shipment signal number. Signal Parameter Input, output Class Name Function level name Note1) CR7xx-Q CR7xx-D JOGWKNO Input Work coordinates num- Specify the work coordinates number (Ex-T Level Note3) Note3) -1(Start bit), -1(Start bit), coordinates number) for the standard of work -1(End bit), -1(End bit), jog operation with numerical value 1 to 8.

Page 586 6External input/output functions Factory shipment signal number. Signal Parameter Input, output Class Name Function level name Note1) CR7xx-Q CR7xx-D HANDENA Input Hand control permis- Permit or prohibit control of the robot hand by Level -1, sion input the external signal. 1/0 = permission / prohibition Notes) The control of the robot's hand is avail- able during automatic execution.

Page 587 6External input/output functions Factory shipment signal number. Signal Parameter Input, output Class Name Function level name Note1) CR7xx-Q CR7xx-D MnWUPENA Input Mechanism n warm-up Enables the warm-up operation mode of each Level -1, (n=1 to 3) operation mode enable mechanism. (n=1 to 3) (Operation input signal Note: To switch the warm-up operation...

Page 588 6External input/output functions Factory shipment signal number. Signal Parameter Input, output Class Name Function level name Note1) CR7xx-Q CR7xx-D PSOUT Input Position data output Specifications are made so that specified posi- Level -1,-1 specification tion number data for specified slot number is outputted.

Page 589 6External input/output functions Factory shipment signal number. Signal Parameter Input, output Class Name Function level name Note1) CR7xx-Q CR7xx-D RSTGRS Input Maintenance forecast Reset the grease information of the mainte- reset (grease) nance forecast. * The axis bit pattern is specified by the parameters IODATA or DIODATA.

Page 590 6External input/output functions Note2) Set in the order of input start No., input end No., output start No. and output end No. When using as the input or output of an actual value, use from the start No. to the end No., and express as a binary.

Page 591: Enable/Disable Status Of Signals
6External input/output functions 6.4 Enable/disable status of signals Note that depending on the input signal type, the function may not occur even if the target signal is input depending on the robot state at that time, such as during operation or when stop is input. The relation of the robot status to the input signal validity is shown below.

Page 592: External Signal Timing Chart
6External input/output functions 6.5 External signal timing chart 6.5.1 Individual timing chart of each signal (1) RCREADY (Controller's power ON completion output) Power ON (RCREADY) (Indicates the status in which the controller can receive signals.) (2) ATEXTMD (Remote mode output) ...

Page 593 6External input/output functions (9) SLOTINIT (Program reset input/program selectable output) 15ms or more 30 ms or more Program reset (SLOTINIT) Program selectable output (SLOTINIT) When the START or SnSTART signal was input (10) ERRRESET (Error reset input/output during error occurrence) ...

Page 594 6External input/output functions (15) MELOCK (Machine lock input/output during machine lock) Machine lock input (MELOCK) Output during machine lock (MELOCK) (16) SAFEPOS (Return to retreat point input/output during return to retreat point) 15ms or more 30 ms or more ...

Page 595 6External input/output functions (24) SnSTOP (Slot n stop input/output during slot n aborting) 15ms or more 30 ms or more Slot n stop input (SnSTOP) Output during slot n aborting (SnSTOP) When the START, SnSTART or SLOTINIT signal was input (25) MnSRVOFF (Mechanical n servo OFF input/mechanical n servo ON disable output) 15ms or more 30 ms or more...

Page 596 6External input/output functions (29) OVRDSEL (Override selection input) * This is used together with the numeric value input (IODATA). 15ms or more 30 ms or more Override value output request (OVRDOUT) Override value output request (OVRDOUT) When the output request of a program number, line number or error number was input Override value Numeric value output (IODATA)

Page 597 6External input/output functions (34) ERROUT (Error number output request/outputting error number) * This is used together with the numeric value input (IODATA). 15ms or more 30 ms or more Error number output request (ERROUT) Outputting error number (ERROUT) When the output request of a program number, override value or line number was input Error number...

Page 598 6External input/output functions (40) HNDSTSn (Mechanical n hand input signal status) Mechanical n hand input signal status Hand input signal status (HNDSTSn) (Indicates the input signal status of the hand.) (41) HNDERRn (Mechanical n hand error input signal/output during mechanical n hand error occurrence) ...

Page 599 6External input/output functions (46) RSTBAT (Battery cumulative time reset) 1 sec or more 1sec以上 1 sec 1sec <入力> Battery cumulative time reset input バッテリ積算時間のリセット入力 (RSTBAT) (RSTBAT) <出力> Battery cumulative time reset completed out- バッテリ積算時間のリセット完了出力 (RSTBAT) put (RSTBAT) (47) RSTGRS (Maintenance forecast reset (grease)) ...

Page 600: Timing Chart Example
6External input/output functions 6.5.2 Timing chart example (1) External signal operation timing chart (Part 1) Numeric value input IODATA Program selection input signal PRGSEL START Start input STOP Stop input Operation rights input signal IOENA Program reset SLOTINIT CYCLE Cycle stop input signal Error reset input signal ERRRESET...

Page 601: External Signal Operation Timing Chart (Part 2)
6External input/output functions (2) External signal operation timing chart (Part 2) An example of timing chart the servo ON/OFF, selecting the program, selecting the override, starting and outputting the line No., etc., with external signals is shown in Fig. 6-5. ...

Page 602: Example Of External Operation Timing Chart (Part 3)
6External input/output functions (3) Example of external operation timing chart (Part 3) An example of the timing chart for error reset, general-purpose output reset and program reset, etc., with external signals is shown output in Fig. 6-6. START Start input SRVON Servo ON input signal SRVOFF...

Page 603: Example Of External Operation Timing Chart (Part 4)
6External input/output functions (4) Example of external operation timing chart (Part 4) An example of the timing chart for jog operation, safe point return and program reset, etc., with external sig- nals is shown in Fig. 6-7. Start input START SLOTINIT Program reset...

Page 604: Example Of External Operation Timing Chart (Part 5)
6External input/output functions (5) Example of external operation timing chart (Part 5) Given below is a timing chart for the dedicated input/output signals. Slot number specificat ion (PSSL OT) Slot number Specified slot number out put (PSSLOT) Slot number ...

Page 605: Emergency Stop Input
6External input/output functions 6.6 Emergency stop input For wiring and other aspects of the emergency stop input, refer to the separate document entitled "Control- ler setup, basic operation, and maintenance." 6.6.1 Robot Behavior upon Emergency Stop Input When an emergency stop signal is input while the robot is operating, the servo power supply is cut off by means of hardware control.

Page 606: Appendix
7Appendix 7 Appendix 7.1 Real-time external control function The robot motion movement control can retrieve the position command at real-time in cycle units, and move to the commanded position. It is also possible to monitor the input/output signals or output the signals simul- taneously.

Page 607 7Appendix * Flow of real-time external control Robot controller side Personal Robot program start Application program start Ethernet initialization, socket creation, etc. Creation of transmission Robot program start packet data Transmission of packet data Robot program start Automatically Execute process only Communication repeated until end when command is issued...

Page 608: Explanation Of Communication Data Packet
7Appendix 7.1.1 Explanation of communication data packet The structure of the communication data packet used with the real-time external control function is explained in this section. The same communication data packet for real-time external control is used for commanding the position and for monitoring.

Page 609 7Appendix Reply data type designation unsigned short 1) When transmitting (commanding) from the personal computer to the RecvType (2-byte) controller, designate the type of data replied from the controller. 0 // No data 1 // XYZ data 2 // Joint data 3 // pulse data 4 //...

Page 610 7Appendix Reply input/output signal unsigned short 1) When transmitting (commanding) from the personal computer to the data designation (2-byte) controller, designate the data type of the input/output signal RecvIOType replied from the controller. Designate "No data" when not using this function. 0 // No data 1 //...

Page 611: Sample Program
7Appendix Reply data-type specification unsigned short It is the same as reply data-type specification (RecvType). addition 3 (2-byte) Don't use it for instructions. RecvType3 Reservation 3 unsigned short Not used. Reserve3 (2-byte) Data addition 3 Any of POSE/ It is the same as data of pos/jnt/pls. pos / jnt / pls JOINT/PULSE.

Page 612 7Appendix 2) Production of form screen On the form, 4 test boxes, 1 command button, 1 check box and 1 Winsock control are arranged. The major change points of the properties are shown below. Major changed points of properties Object name Property Setting value Form1...

Page 613 7Appendix Width = 735 Begin VB.TextBox Text4 Height = 1815 Left = 120 MultiLine = -1 'True ScrollBars 'Vertical TabIndex = 1800 Width = 4575 Begin VB.TextBox Text3 Height = 375 Left = 120 TabIndex = 1080 Width = 3735 Begin VB.TextBox Text2 Height = 375...

Page 614 7Appendix Width = 975 Begin VB.Label Label1 Caption = "IP address" Height = 255 Left = 120 TabIndex = 120 Width = 1095 'Screen setting To here Attribute VB_Name = "Form1" Attribute VB_GlobalNameSpace = False Attribute VB_Creatable = False Attribute VB_PredeclaredId = True Attribute VB_Exposed = False a) Program for the clients (when using the personal computer as the client and using the controller as the...

Page 615 7Appendix Private Sub Winsock1_Error(ByVal Number As Integer, _ Description As String, ByVal Scode As Long, _ ByVal Source As String, ByVal HelpFile As String, _ ByVal HelpContext As Long, CancelDisplay As Boolean) ' Process when an error occurs in Window Socket Check1.Value = False Command1.Enabled = False...

Page 616 7Appendix ReDim RecvData(bytesTotal - 1) Call Winsock1.GetData(RecvData, , bytesTotal) Text4.SelStart = Len(Text4.Text) Text4.SelText = StrConv(RecvData, vbUnicode) Text4.Text = Text4.Text & vbCrLf End If End Sub Private Sub Winsock1_Error(ByVal Number As Integer, _ Description As String, ByVal Scode As Long, _ ByVal Source As String, ByVal HelpFile As String, _ ByVal HelpContext As Long, CancelDisplay As Boolean)' Process when an error occurs in Window Socket...

Page 617: Sample Program For Real-Time External Control Function
7Appendix (2) Sample program for real-time external control function A sample program that establishes a data link using Microsoft Visual C++5.0/6.0 (hereinafter VC) is shown below. The procedures for creating the program are briefly explained below. Refer to the software manuals for details on operating VC and creating the application. 1) Create new project 2) Create program sample.cpp/strdef.h 1) Create new project...

Page 618 7Appendix typedef struct{ float j1;//J1 axis angle (radian) float j2;//J2 axis angle (radian) float j3;//J3 axis angle (radian) float j4;//J4 axis angle (radian) float j5;//J5 axis angle (radian) float j6;//J6 axis angle (radian) float j7;//Additional axis 1 (J7 axis angle) (radian) float j8;//Additional axis 2 (J8 axis angle) (radian) } JOINT;...

Page 619 7Appendix #define MXT_CMD_NULL0//Real-time external command invalid #define MXT_CMD_MOVE1// Real-time external command valid #define MXT_CMD_END255//Real-time external command end unsigned short SendType;//Command data type designation unsigned short RecvType;//Monitor data type designation //////////// Command or monitor data type /// #define MXT_TYP_NULL0//No data //For the command and monitor //////////////////// #define MXT_TYP_POSE1//XYZ data #define MXT_TYP_JOINT2//Joint data #define MXT_TYP_PULSE3 //pulse data...

Page 620 7Appendix JOINT jnt2; // JOINT type [mm/rad] . PULSE pls2; // PULSE type [mm/rad] or Integer type [% / non-unit]. long lng2[8];// Integer type [% / non-unit] . } dat2; unsigned short RecvType3;// Reply data-type specification 3 . unsigned short reserve3; // Reserved 3 union rtdata3 {// Monitor data 3 .

Page 621 7Appendix cin.getline(msg, MAXBUFLEN); if(msg[0]!=0) port=atoi(msg); else port=10000; cout << " Use input/output signal?([Y] / [N])-> "; cin.getline(msg, MAXBUFLEN); if(msg[0]!=0 && (msg[0]=='Y' || msg[0]=='y')) { cout << "What is target? Input signal/output signal([I]nput / [O]utput)-> "; cin.getline(msg, MAXBUFLEN); switch(msg[0]) { case 'O':// Set target to output signal case 'o': IOSendType = MXT_IO_OUT;...

Page 622 7Appendix sprintf(msg, "IP=%s / PORT=%d / Send Type=%d / Monitor Type0/1/2/3=%d/%d/%d/%d" , dst_ip_address, port , type , type_mon[0], type_mon[1], type_mon[2], type_mon[3]); cout << msg << endl; cout << "[Enter]= End / [d]= Monitor data display"; cout << "[z/x]= Increment/decrement first command data transmitted by the delta amount. "; cout <<...

Page 623 7Appendix while(loop) { memset(&MXTsend, 0, sizeof(MXTsend)); memset(&MXTrecv, 0, sizeof(MXTrecv)); // Transmission data creation if(loop==1) {// Only first time MXTsend.Command = MXT_CMD_NULL; MXTsend.SendType = MXT_TYP_NULL; MXTsend.RecvType = type; MXTsend.SendIOType = MXT_IO_NULL; MXTsend.RecvIOType = IOSendType; MXTsend.CCount = counter = 0; else {// Second and following times MXTsend.Command = MXT_CMD_MOVE;...

Page 624 7Appendix case 'Z': case 'z': delta += (float)0.1; break; case 'X': case 'x': delta -= (float)0.1; break; case 'C': case 'c': delta = (float)0.0; break; case 'd': disp = ~disp; break; case '0': case '1': case '2': case '3': disp_data = ch - '0'; break;...

Page 625 7Appendix cerr << "ERROR: recvfrom unsuccessful" << endl; status=closesocket(destSocket); if (status == SOCKET_ERROR) cerr << "ERROR: closesocket unsuccessful" << endl; status=WSACleanup(); if (status == SOCKET_ERROR) cerr << "ERROR: WSACleanup unsuccessful" << endl; return(1); memcpy(&MXTrecv, recvText, sizeof(MXTrecv)); char str[10]; if(MXTrecv.SendIOType==MXT_IO_IN) sprintf(str,"IN%04x", MXTrecv.IoData); else if(MXTrecv.SendIOType==MXT_IO_OUT) sprintf(str,"OT%04x", MXTrecv.IoData);...

Page 626 7Appendix break; case MXT_TYP_POSE: case MXT_TYP_FPOSE: case MXT_TYP_FB_POSE: if(loop==1) { memcpy(&pos_now, &MXTrecv.dat.pos, sizeof(POSE)); loop = 2; if(disp) { POSE *p=(POSE*)DispData; sprintf(buf, "Receive (%ld): TCount=%d Type(POSE)=%d\n %7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f, %04x,%04x (%s)" ,MXTrecv.CCount,MXTrecv.TCount,DispType ,p->w.x, p->w.y, p->w.z, p->w.a, p->w.b, p->w.c , p->sflg1, p->sflg2, str); cout << buf << endl; break;...

Page 627 7Appendix retry--;// No. of retries subtraction if(retry==0) loop=0; // End program if No. of retries is 0 } /* while(retry) */ } /* while(loop) */ // End cout << "/// End /// "; sprintf(buf, "counter = %ld", counter); cout << buf << endl; //Close socket status=closesocket(destSocket);...

Page 628: Configuration Flag
7Appendix 7.2 Configuration flag The configuration flag indicates the robot posture. For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and C. However, even with the same position data, there are several postures that the robot can change to. The posture is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X, Y, Z, A, B, C) (FL1, FL2).

Page 629 7Appendix (3) NONFLIP/FLIP (6-axis type robot only.) This means in which side the J6 axis is in comparison with the plane through both the J4 and the J5 axis. J4 axis FL1(Flag1) FLIP &B 0 0 0 0 0 0 0 0 ↑...

Page 630 7Appendix *For horizontal multi-joint type robot (1) Right/Left Indicates the location of the end axis relative to the line that passes through both the rotational center of the J1 axis and the rotational center of the J2 axis. FL1(Flag1) &B 0 0 0 0 0 0 0 0 ↑...

Page 631: Spline Interpolation
7Appendix 7.3 Spline interpolation Spline interpolation, one of the robot movement commands, is explained in this section. 7.3.1 Outline (1) Outline Spline interpolation is a function that moves the robot at the designated speed along a spline curve that smoothly connects designated path points. Ex-T spline interpolation is a function used to move the spline curve that smoothly links path points specified on the workpiece grasped by the robot along an arbitrary coordinate system origin (Ex-T coordinate system origin) at a specified speed (Ex-T coordinate system origin viewed from workpiece moves relatively at spec-...

Page 632: Required Devices And Software Version
7Appendix • A file dedicated for spline interpolation (spline file) in which the path point data is registered is used sepa- rately from the robot program. This file is created and edited in the RT ToolBox2 dedicated edit screen (Spline File Edit screen), and written to the controller. Spline file スプラインファイル...

Page 633: Specifications
7Appendix Terminology Explanation Start position Refers to the path point where spline interpolation movement starts. End position Refers to the path point where spline interpolation movement ends. Spline file File containing the path points and setting values required for execution, etc. One file corresponds to one spline interpolation.

Page 634: Restrictions
7Appendix Item Specifications Path Tolerance desig- The degree of curve swelling can be designated in block units. Random blocks can be changed from spline curves to linear paths. adjustment nation Arc designation Three consecutive points are designated as the path point to create an arc path instead of a spline curve.

Page 635: Robot Behavior During Spline Interpolation
7Appendix (3) Robot behavior during spline interpolation • If the robot’s current position and spline interpolation start position differ and spline interpolation is exe- cuted, the robot will move with linear interpolation to the start position and then will start spline interpolation. During linear interpolation, the robot moves with the speed designated with Ovrd command, Spd command and override.

Page 636: Check Related To Path Points
7Appendix operation. The robot will return to the halted position with joint interpolation. The parameter RETPATH (set- ting for automatic return after jog feed during halt) setting is not applied. Resume 運転を再開 operation Joint interpolation 関節補間 Jog operation ジョグ操作 Restart spline Halt 中断位置からスプ...

Page 637 7Appendix Type Explanation Posture variation amount The program is checked to confirm that the posture change between two adjacent path points is not too large. If the posture change angle is larger than 150 degrees, error L2611 (posture change too large) will occur. * In Ex-T spline interpolation, the program is checked to confirm that the posture change of path points on the workpiece is not too large.

Page 638: Explanation Of Functions
7Appendix 7.3.3 Explanation of functions (1) Path adjustment The spline curve’s shape can be compensated by using the path adjustment function. "Tolerance designa- tion", "arc designation", "spline cancel" and "block length ratio" are available for compensating the path. ■Tolerance designation Designate the tolerance to adjust the degree of spline curve swelling in block units.

Page 639 7Appendix With arc designation, two consecutive blocks must always be designated. If only one block is designated, the error L2613 (not enough points designated for arc) will occur. Furthermore, if the three points used to form an arc by specifying two blocks are aligned in a straight line and arc generation is not possible, error L2613 (block data calculation error (Cir.Arc)) will occur.

Page 640 7Appendix Relation of arc designation and other path point adjustment functions Tolerance and block length ratio do not function on a block that draws an arc. Spline cancel does not function on the arc's transit points (path point n+1). For the start point (path point n) and end point (path point n+2), if the angle created by the previous and next block is larger than the cancel angle, the move- ment will decelerate to a stop once.

Page 641: Operation Mode
7Appendix CAUTION If spline cancel is disabled or if the cancel angle is set to a large value, the spline curve will not be split where the movement direction changes greatly, and the robot will not decelerate. This can cause the robot to vibrate or a servo error to occur.

Page 642: Signal Output
7Appendix The operation mode can be set individually for each spline interpolation. The default state is constant linear speed. If the speed will be exceeded during spline interpolation movement, try using "variable linear speed" if the movement does not need to be performed at a constant speed. Step feed If the specified speed may be exceeded when executing spline interpolation with step feed, the move- ment speed will drop even if the operation mode is "constant linear speed".

Page 643: Numerical Setting
7Appendix Setting item Explanation Output data Designates the data to be signal output. The setting range differs according to the bit width. Bit width Bit mask setting range [hex] 0, 1 0 to FF 0 to FFFF 0 to FFFFFFFF The default value is 0.

Page 644: Frame Transformation
7Appendix M_SplVar = 100 ・・・・・・ 200 ・・・・ 200 ・・・・・・・・ 400 ・・・・・・ 400 ・・・・・ (Not set) (Not set) （未設定）（未設定） Numerical setting 数値設定 Path point 経路点 Spline interpolation スプライン補間 Fig.7-21:Numerical setting (5) Frame transformation Frame transformation is a function applied on a random path, and moves the path to another position while maintaining the shape.

Page 645: Work Procedures
7Appendix Frame trans- formation Fig.7-23:Frame transformation (Ex-T spline interpolation) ■Set data Define the coordinate system by setting the following three position data items in the same manner as the Fram function. Origin position......Equivalent to PR1, PC1 in Fig. 7-22 Fig.

Page 646 7Appendix Step Work details Creating the robot program Create a robot program that contains the spline interpolation movement. (Chapter "7.3.6") Confirming the movement Note1) Confirm the spline interpolation movement with the simulation function , and correct (Chapter "7.3.7") the path point position and robot program as needed. Saving to robot controller Write the robot program and spline file to the robot controller.

Page 647: Creating The Spline File
7Appendix 7.3.5 Creating the spline file The spline file is created with the RT ToolBox2 Spline File Edit screen, DXF File Import function, or SplWrt command. The methods for creating the spline file are explained below. (1) New file ■Creating a new file in the personal computer Select [Offline] →...

Page 648: Creating A File By Dxf File Import Function
7Appendix (2) Creating a file by DXF File Import function This function can be used in RT ToolBox2 Ver.3.40S or later. And the DXF file supports AutoCAD 2014 and previous versions. 1) Selecting a DXF file Select [Tool] → [DXF File Import] from the project tree and click the right mouse button. A context menu will appear, and a dialog to open a DXF file will appear when [Open] is clicked.

Page 649 7Appendix 2) Selecting layers Select layers to import from [Layer list] in [Layers] page. Fig.7-29:Layers selection screen 3) Selecting entities Select entities to import from [Entities] page. Fig.7-30:Entities selection screen Hold down the Ctrl key and click entities to be imported by DXF file, they will be added to [Entity list].. Fig.7-31:Selecting entities Spline interpolation Appendix-629...

Page 650 7Appendix Entities with consecutive start points and end points for the previous and next entities are displayed in blue from the first entity. Non-consecutive entities are displayed in purple. Fig.7-32:Selecting entities By selecting an entity from the [Entity list] and clicking the [UP] and [DOWN] buttons, the position of the selected entity can be changed.

Page 651 7Appendix 4) Ex-T control setting Grasp positions for imported entities, and Ex-T coordinates registered in spline files are set at the [Ex-T Control] page. Select the [Use Ex-T control] check box here if using Ex-T spline interpolation. Clear the check box if using normal spline interpolation.

Page 652 7Appendix 5) Calibration Perform calibration at the [Calibration] page to change the coordinate system from the CAD coordi- nate system to the robot world coordinate system. If using Ex-T spline interpolation, there is no need to perform calibration. Fig.7-39:Calibration screen By clicking a point (red) on the viewer while holding down the Ctrl key, the selected point is registered as the CAD coordinate system CO/CX/CY.

Page 653 7Appendix 6) Selecting postures Set the path point posture at the [Postures] page. By selecting [Constant with respect to TCP] for the posture type, the posture is registered with the tangent direction for each path point as the tool direction. Fig.7-40:Posture registration screen (Constant with respect to TCP) By selecting [Fixation] for the posture type, the same posture as that for the ...

Page 654 7Appendix 7) Output to spline file By selecting [Spline file] as the output format at the [Generated Points] page and clicking the [Finish] button, point sequence data generated to the spline file is output. By clicking [Yes] at the import com- pletion dialog box, the Save spline file screen appears.

Page 655: Creating New Spline Files With Robot Language
7Appendix (3) Creating new spline files with robot language ■Creating new spline files with SplWrt command Spline files can be created using the SplWrt (spline write) command at robot controllers with software ver- sion R6b, S6b, or later. Refer to SplWrt (Spline Write) for command details.

Page 656: Explanation Of Spline File Edit Screen
7Appendix ■Selecting and opening a spline file from the list Select [Spline] from the project tree and click the right mouse button. The Context menu will open, so click [Open]. A list of saved spline files will appear. (The list can also be displayed by clicking menu [File] → [Open].) Fig.7-45:Selecting and opening a spline file from the list The number of path point data items and comments registered in the spline file will appear in the list.

Page 657 7Appendix ■Path point data list area A list of path point data registered in the spline file is displayed. The following operations are performed in this area. • Add/delete point path data • Select path point data to edit • Confirm number of registered points, file size If the Store mark near the center of the Spline File Edit screen is clicked, the path point data reference/edit area will be stored and the path point data list area display will expand.

Page 658: Menu Bar For Spline File Editing
7Appendix Edit enabled [Apply] [Cancel] Reference state Edit state Fig.7-49:Switching between path point data reference/edit area reference state and edit state If the Store ([–]) or Expand ([+]) mark at the Property filed is clicked, the path point data will be stored or expanded.

Page 659 7Appendix Table 7-11:Details of added menus Reference Menu item Explanation page File An edit screen for creating a new spline file opens. Open A dedicated screen for opening the spline file opens. Close The active Spline File Edit screen closes. Save The spline file being edited is overwritten and saved.

Page 660: Details Of Path Point Data
7Appendix Reference Menu item Explanation page Tools Position A dedicated screen for position jump function opens. jump Interpolation The spline file Interpolation Setting screen opens. settings Ex-T control The spline file Ex-T control setting screen opens. settings Position The dedicated screen for the position adjustment function adjustment opens.

Page 661: Editing The Spline File
7Appendix Default value when Data item Details newly added Output signal Head No. Designate the head address of the output signal. Setting range: –1 to 32767 (–1 means signal output invalid.) Bit width Designate the bit width of the output signal. Setting range: 1, 8, 16, 32 [bit] Bit mask Designate the mask pattern of the bit with valid signal output.

Page 662 7Appendix [Insert] Fig.7-53:Inserting path point data At this time, the default values of the path point data inserted before the selected path point data line will be the values shown in Table 7-13. Table 7-13:Default values of inserted path point data Selected line Default value of path point data Head line...

Page 663 7Appendix ■Editing and registering the path point data To edit the path point data, select the path point data to be edited in the path point data list area, and double- click it. When double-clicked, editing of the target path point data is enabled, and path point data reference/ edit area is set to the editing state.

Page 664 7Appendix ■Deleting the path point data Select a path point data in the path point data list area, and click the right mouse button. The context menu will open, so click on [Delete]. The selected path point data will be deleted. (The data can also be deleted by clicking menu [Edit] →...

Page 665 7Appendix ■Edit FLG2 Edits the FLG2 value of selected path point at one time. To use this function, the RT ToolBox2 version 3.40S or later is required. To batch edit FLG2 values, select the path point data to be edited in the path point data list area, and right- click.

Page 666 7Appendix Fig.7-59:Circular interpolation ■Interpolation settings Set the "Operation mode", "Cancel angle" and "Straight ratio" for the spline interpolation. When the menu [Tool] → [Interpolation settings] is clicked, the interpolation settings set in the spline file on the active Spline File Edit screen appear in the setting screen. Fig.7-60:Interpolation settings screen If the [OK] button is clicked after changing the settings, the changes will be saved and the setting screen will close.

Page 667 7Appendix ■Ex-T control settings Specify "Ex-T control settings" for spline interpolation. By clicking [Tool] → [Ex-T control settings] on the menu, the content of Ex-T control settings set to the spline file at the active spline file editing screen is displayed in the settings screen. Ex-T control setting is valid.

Page 668: Saving The Spline File
7Appendix ■File version The spline file version can be changed. By clicking [File] → [Properties] on menu, the file version of the spline file at the active spline file editing screen is displayed in the Property screen. Fig.7-63:Property screen By changing the file version and clicking the [OK] button, the content is recorded, and the Property screen closes.

Page 669 7Appendix Spline file save destination folder The spline files in the personal computer are managed in workspace project units. The save destination folder is Workspace work folder\project name\Spline. Spline file name The spline file name is determined by the following format. SPLFILE**.SPL (Uppercase fixed) The spline No.

Page 670: Deleting A Spline File
7Appendix CAUTION Changes cannot be saved in a spline file being used for spline interpolation. If saving is attempted, error L2610 (can’t change spline file) will occur. Do not per- form save to a spline file being used. (10) Deleting a spline file Select the spline file to be deleted from the project tree, and right-click the mouse.

Page 671: Copying The Spline File
7Appendix (12) Copying the spline file In RT ToolBox2 Ver. 3.20W or later, spline files can be copied on the project tree. By selecting the spline file to be copied on the project tree, and then dragging and dropping it to [Spline]/ [Online]/[Offline] in the copy destination project tree, a dialog box appears to confirm the selection.

Page 672 7Appendix The Spline file manager screen is made up of two areas used for copying and deleting spline files, and for changing spline numbers. ■Copy the spline file By selecting the check box for spline file displayed at the source and then clicking the [Copy] button, the selected spline file is copied to the destination.

Page 673: Import/Export Function
7Appendix ■Change the spline No. By selecting the file to be changed from the source or destination spline file list and then clicking the [Renumber] button, the selected spline file No. can be changed. Fig.7-74:Change the spline No. (14) Import/export function If the path point data is descried with the specified format of CSV file, that file can be imported into the Spline File Edit screen.

Page 674 7Appendix Data identification tag Details Designates the posture tolerance amount with an integer. Setting range: 0 to 100 [%] Not used. Describe as 100. Designates the value referred to by status variable M_SplVar as an integer. Setting range: –1 to 32767 (–1 means not set.) ...

Page 675 7Appendix Attach the hand for grasping to the robot. Click [Robot setting] → [Change] to display the Robot details setting screen. Click the [Signal setting] button on the Robot details setting screen to display the Hand I/O screen, and then grasp the workpiece. Fig.7-76:Grasping workpieces Spline interpolation Appendix-655...

Page 676 7Appendix 3) Teaching the grasp position * This is only required for Ex-T spline. For spline, perform the procedure in "4)Creating paths". Click [Work-flow] to display the Work-flow screen. Click the [Get location] button on the Work-flow screen to teach the position at which the workpiece is to be grasped. * The data taught here is the grasp position.

Page 677 7Appendix 4) Creating paths Switch to the CAD link hand to create path data. Click [Work-flow] to display the Work-flow screen. By selecting Work-flow screen "Path" tab and then clicking the [Add] button, a processing path is added. By selecting the added processing path and then clicking the [Edit] button, a Processing setting screen appears.

Page 678 7Appendix With Ex-T spline, it is necessary to register the grasp position taught at "3)Teaching the grasp posi- tion" in the work-flow. Select the "Teaching" tab at the Work-flow screen. By selecting the taught grasp position and then clicking the [Add to Flow] button, the selected position data is added to the flow.

Page 679 7Appendix ■Import With RT ToolBox2 Ver. 3.20W or later, importing is possible not only for CSV files, but also for MXT files. Import Fig.7-82:Import CAUTION When the import function is used, all path point data registered in the Spline File Edit screen will be overwritten by the newly imported path point data.

Page 680 7Appendix Fig.7-84:Import setting screen (in Ex-T spline) With Ex-T spline, by selecting the [Use Ex-T control] check box and clicking the [OK] button, the Ex-T con- trol settings screen for setting the grasping position and Ex-T coordinates appears. In RT ToolBox2 Ver. 3.51D or earlier, select the check box on the Ex-T control settings screen.

Page 681 7Appendix Fig.7-86:Select robot program screen By selecting the program and clicking the [OK] button, the Select XYZ Position Variables screen appears. Fig.7-87:Select XYZ Position Variables screen By selecting the position data (grasp position data taught when creating MXT file) to be read and clicking the [OK] button, the grasp position is set.

Page 682: Auxiliary Editing Functions
7Appendix CAUTION The corresponding point sequence data type is XYZ data only. The movement speed (acceleration/deceleration time, maximum speed) in the MXT file header information is not imported, and therefore it must be updated to the robot program MvSpl command argument. CAUTION By reducing the tolerance values, the accuracy of the calculated path points will improve, however, the distance between path points will become shorter, thus cur-...

Page 683 7Appendix [Edit] → [Copy] [Edit] → [Paste] Designate copy source Designate copy destination Execute copy Fig.7-90:Copy & Paste When there are not enough path point data items at copy destination If the number of subsequent path point data items is low at the copy destination is low compared to the number of path point data items designated as the cut source, the path point data with no copy destina- tion will not be copied.

Page 684: Displays The Spline Curve
7Appendix ■Undo When the menu [Edit] → [Undo] is clicked, the edit details applied last to the path point data are canceled, and the data is returned to the original state. The following operations can be undone. • Path point data add, insert, delete •...

Page 685 7Appendix By setting the speed and posture interpolation type specified with the MvSpl and EMvSpl commands and then clicking the [Check] button, a check of each path point is performed. A completion dialog box appears if successful. An error dialog box appears if an error occurs. Refer to the separate "Troubleshooting" manual for error details.

Page 686: Robot Program
7Appendix (18) Robot program ■Convert to program Create a robot program using the path point data registered in the spline file. To use this function, the RT ToolBox2 version 3.40S or later is required. By clicking [Tool] → [Robot program] → [Convert to program] on the menu, the New Robot program dialog box appears for the active Spline editing screen.

Page 687 7Appendix Spline interpolation Ex-T spline interpolation Fig.7-100:Program created by each interpolations ■Import position variables Robot program position data can be imported as spline file path point data. To use this function, the RT ToolBox2 version 3.40S or later is required. By clicking [Tool] →...

Page 688: Creating The Robot Program
7Appendix Import position variable Fig.7-102:Import position variable 7.3.6 Creating the robot program The robot program is created in the program edit screen of RT ToolBox2 or the teaching pendant. To execute spline interpolation, use the commands and robot status variables listed in Table 7-16 Table 7-18.

Page 689 7Appendix ■Sample program The path 1 path point data is registered in spline file 05. Spline interpolation is executed on path 1 and path 2 by using frame transformation. At this time, the path point data numerical settings are used by the slot 2 program to turn the output signal No.

Page 690: Confirming The Movement
7Appendix Slot 2 Def IO PORT1=Byte, 100, &H03 ‘ Assign output signal 100 and 101 to variable PORT1 M_SplVar=0 ‘ Reset M_SplVar value to 0 Wait M_00=1 ‘ Wait for spline interpolation to start *L1:If M_SplPno<3 Then GoTo *L1 ‘ Wait for path point 3 to be passed Select M_SplVar Case 1 ‘...

Page 691: Saving In The Robot Controller
7Appendix 7.3.8 Saving in the robot controller Save the robot program and spline file into the robot controller. Refer to Page 648, "(9) Saving the spline file" for details on saving the spline file. 7.3.9 Adjustment work Using the actual system, confirm the spline interpolation movement with debugging (step feed). If the movement differs from the required movement, review and revise the path point data and robot pro- gram.

Page 692 7Appendix Adjustment method Explanation Vector product operation The adjustment data values are multiplied in respect to the path point data's robot position data. (P×P) (Position after adjustment = Path point position × adjustment data) The adjustment follows the tool coordinate system. The configuration flag, multi-rotation flag and additional axis data are not changed from the original value.

Page 693: Frame Transformation Function
7Appendix (B) Set the adjustment data. If a controller is connected, the [Get current position] button will appear. When this button is clicked, the robot's current position is imported as the adjustment data. (C) Select the adjustment method and click the button. (D) The adjusted path point data is displayed in the "Adjustment result list".

Page 694 7Appendix Fig.7-107:Selecting from Path points list If a controller is connected, the [Get current position] button will appear. When this button is clicked, the robot's current position will be set to the selected transformed reference coordinate system. ■Executing frame transformation with RT ToolBox2 When the [Transform] button in Fig.

Page 695: Position Jump
7Appendix If the coordinate system settings are not correct (on same point or 3 points on the same line), a dialog indi- cating that the coordinate system settings are incorrect will appear. Fig.7-110:Dialog when coordinate system settings are not correct (when saving coordinate system) When the [Yes] button is clicked, the settings will be saved in the Spline File Edit screen and the Frame transformation screen will close.

Page 696: Parameter Sploptgc
7Appendix By clicking the [Next] ([Previous]) button, the target path point changes to the next (previous) point. By clicking the [Move] button, the robot moves to the selected path point position (including offset amount) with the specified interpolation movement. * With RT ToolBox2 Ver. 3.40S or later, the offset amount can be selected from the offset amount in the world coordinate system, and offset amount in the tool direction.

Page 697: Ex-T Control
7Appendix 7.4 Ex-T control Spline interpolation, one of the robot movement commands, is explained in this section. 7.4.1 Outline (1) Features The Ex-T control is the function to operate the robot using the origin of the externally fixed coordinates sys- tem as the robot control point.

Page 698: Specifications
7Appendix (2) Specifications Item Specifications Compatible robot Vertical multiple-joint 6-axis robots, horizontal multiple-joint 4-axis robots * The function is not available for the vertical multiple-joint 5-axis robots and the user mech- anisms. Compatible robot language MELFA-BASIC V • The following commands have been added to MELFA-BASIC V. Commands Explanation Page...

Page 699 7Appendix The parameters related to the Ex-T coordinates (work coordinates) are listed in the table below. Parameter name Details explanation WKnCORD The work coordinates for work jog operation (X,Y,Z,A,B,C) Unit: mm or degree "n" is 1 to 8 It is used as standard coordinates and work coordinate data in the work jog. It is also used as the control point in the Ex-T control (Ex-T coordinates).

Page 700: Ex-T Jog
7Appendix 7.4.3 Ex-T jog The Ex-T jog is the function to perform jog operation along the work coordinates system (Ex-T coordinates system) by specifying the work coordinates (Ex-T coordinates) as the control point. The operation is similar to the conventional WORK jog operation because the operation is performed along the work coordinates system, but operations related to the posture elements are different between the Ex-T jog and the conven- tional WORK jog.

Page 701: Movement Of The Posture Element In The Work Jog
7Appendix (1) Movement of the posture element in the WORK jog The jog operation of the posture element in the WORK jog is rotation around the axes parallel to the X, Y, and Z axes of the work coordinates at the control point. The position remains fixed. Fig.

Page 702: Ex-T Jog Operation
7Appendix (3) Ex-T jog operation The Ex-T jog operation is the same as the WORK jog operation. Advance setting of the Ex-T coordinates (work coordinates) and the operation mode (parameters WK1JOGMD to WK8JOGMD) is required. Select WORK jog mode [JOG] Press the key and display the jog screen.

Page 703: Work Jog Operation Of The Rv 6-Axis Type
7Appendix (4) WORK jog operation of the RV 6-axis type When the X, Y, or Z keys are used, the operation is the same in the WORK jog and the Ex-T jog modes. The jog movement based on work coordinates system ＋Z Controll point * The direction of the flange will not...

Page 704 7Appendix When the A, B, and C keys are used, the operation is different in the WORK jog and the Ex-T jog modes. Changing the flange surface posture <1> Work jog mode ＋Z +Zw' －＋＋ -Yw' +Xw' － -Xw' Control point －...

Page 705 7Appendix <2> Ex-T jog mode ＋Z ＋Z Control point Control point －－＋＋＋＋－－－Ｘ－－Ｘ－－Ｙ－Ｙ＋＋ Work coordinates system Work coordinates system ＋Y ＋Y (Ex-T coordinates system) ＋X ＋X (Ex-T coordinates system) －Z －Z...

Page 706: Work Jog Operation Of The Rh 4-Axis Type
7Appendix (5) WORK jog operation of the RH 4-axis type When the XYZ keys are used, the operation is the same in the WORK jog and the Ex-T jog modes. The jog movement based on work coordinates system ＋Z Tool length －X －Y ＋Y...

Page 707 7Appendix When the C key is used, the operation is different in the WORK jog and the Ex-T jog modes. The robot does not move when the A or B key is used. Changing the end axis posture <1> Work jog mode ＋Z Tool length －X...

Page 708: Work Jog Operation Of The Rh 4-Axis Hanging Type
7Appendix (6) WORK jog operation of the RH 4-axis hanging type When the XYZ keys are used, the operation is the same in the WORK jog and the Ex-T jog modes. The jog movement based on work coordinates system ＋Z ＋Y ＋X －Y...

Page 709 7Appendix When the C key is used, the operation is different in the WORK jog and the Ex-T jog modes. The robot does not move when the A or B key is used. Changing the end axis posture ＋Z <1> Work jog mode ＋Y ＋X －Y...

Page 710: Creation Of Robot Program
7Appendix 7.4.4 Creation of robot program (1) List of commands/variables related to the Ex-T control The commands and variables of MELFA-BASIC V related to the Ex-T control are listed below. For the command details, refer to the reference page shown in the table. Table 7-22:List of commands related to the Ex-T control Type of Reference...

Page 711 7Appendix <1> <4> <5> <3> <2> Fig.7-118:Operation example 2 ■Step 1: Setting of the work coordinates (Ex-T coordinates) Specify the work coordinates (Ex-T coordinates) so that the contact point between the processing tool and the workpiece shown in the figure is used as the origin of the work coordinates (Ex-T coordinates). (On the work coordinate 1 in this example) Ｗｘ...

Page 712: Cooperative Operation Function
7Appendix 7.5 Cooperative operation function 7.5.1 Outline The cooperative operation function by two robots enables the transportation that two robots grasp the target workpiece at one end, respectively, together in synchronization. A position-tracking control of robots enables this operation. After the common coordinates are set in a mas- ter robot (robot No.1) and a slave robot (robot No.2), robot No.2 obtains the current position data of robot No.1 every controller control time (approximately 7.1 msec) via a PLC, and tracks robot No.1 operation.

Page 713: System Configuration
7Appendix 7.5.2 System configuration This is a multi-CPU system configured with three CPU modules; a PLC CPU module and two robot CPU modules. A position data is transmitted between robots through the shared memory by the PLC. Note) This function can be used in CR7xx-Q controller software version R3m or later. Robot No.1’s CPU PLC CPU Robot No.2’s CPU...

Page 714: Automatic Operation Program (1.Prg)
7Appendix (1) Automatic operation program (1.prg) Robot No.1 (Master) Robot No.2 (Slave) Robot CPU No.2 Robot CPU No.3 '#### Teaching point #### '#### Teaching point #### 'Start of the cooperative movement 'Safe point, before starting the cooperative operation 'P1,P2 'Operation point for the cooperative movement M_Mxt(2)=0 Wait M_Mxt(2)=0 Wait M_Mxt(3)=0...

Page 715: Robot Adjustment Program (Bfrm.prg)
7Appendix (2) Robot adjustment program (BFRM.prg) Robot No.1 (Master) Robot No.2 (Slave) Robot CPU No.2 Robot CPU No.3 '#### Teaching point #### '#### Teaching point #### 'PPL1,PPL2,PPL3 ' Common coordinate 'PPL1,PPL2,PPL3 ' Common coordinate 'PPK1 ' Picking point '#### Calcurated point ### '#### Calcurated point ### 'PFR1 ' Origin point of the common...

Page 716: Sequence Program
Use the PLC program to output the data of the robot No.1 current position to the shared memory. (It is required to enable the extended function parameter IQMEM for robot No.1 and robot No.2.) (Refer to "separate instruction manual: CR750-Q/CR751-Q series, CRnQ-700 series, iQ Platform Support- ing Extended Function Instruction Manual for details.)

Page 717: Adjustment
7Appendix 7.5.5 Adjustment (1) Adjustment 1: Adjustment of the common base coordinates Use the robot program BFRM.prg to set the common coordinates in robot No.1 and robot No.2. (Use the setting of the robot No.1 base coordinates for robot No.2 base coordinates.) ■Outline of setting procedure 1) Set the position data (PPL1, PPL2, and PPL3) to define the common frame coordinates in robot No.1 and robot No.2.

Page 718: Adjustment 2: Setting Of The Common Tool
7Appendix (2) Adjustment 2: Setting of the common tool Use the robot program BFRM.prg to set the common tool in robot No.1 and robot No.2. (Establish the tool position at midpoint between the workpiece grasp positions for robot No.1 and robot No.2.) ■Outline of setting procedure 1) Teach the workpiece grasp positions for robot No.1 and robot No.2.

Page 719 7Appendix (3) Adjustment 3: Teaching and parameter setting of the workpiece transport destination Use the robot program 1.prg for robot No.1 to teach the workpiece transport destination (to robot No.1 only). Set the parameter to enable each extended function for robot No.1 and robot No.2. ■Outline of setting procedure 1) Teach the workpiece transport destination to robot No.1.

Page 720: Cooperated Operation By Robots
7Appendix 7.5.6 Cooperated operation by robots (1) Parallel straight motion by robot No.1 Common tool position Parallel straight motion P_D5100 PBASE Robot No.1 Robot No.2 (Slave) (Master) Fig.7-124:Parallel straight motion (2) Rotating motion by robot No.1 Robot No.1 and robot No.2 rotate the workpiece about the common tool position as a center of rotation. Common tool position PBASE Robot No.1...

Page 721: Get-Position-Quick Function
7Appendix 7.6 Get-position-quick function 7.6.1 Outline The get-position-quick function (GPS function) allows monitoring and responding quickly to the input signal from an external sensor, which enables the accurate robot position data acquisition according to the signal input timing. This function is used for the alignment correction (correcting a position deviation of a workpiece by the accu- rate robot position data acquisition according to the timing when an external sensor passes) and the map- ping (the workpiece presence recognition).

Page 722: Specifications Of Digital Input Signal
7Appendix 7.6.3 Specifications of Digital Input Signal The specifications of the digital input signal are as shown in the table below. [Note] The servo digital input can only be used in CR750 and CR751 controller. Table 7-26:Specifications of digital input signal Specifications Remarks Item...

Page 723 7Appendix CNUSR2 connector Non-CE marking CE marking speci- View A: Inside of CR760 controller specification fication Safety unit (R760 SFT) CR760 POWER EMG2 connector Fig.7-126: Location of connector Get-position-quick function Appendix-703...

Page 724: Electric Specification Of Digital Input
7Appendix 7.6.4 Electric Specification of Digital Input The electric specification of servo digital input is shown in Table 7-27, and SKIP input is shown in Table 7- [Note] The servo digital input can only be used in CR750 and CR751 controller. Table 7-27:Electric specification of the servo digital input Item Specifications...

Page 725: How To Use The Gps Function
7Appendix 7.6.5 How to use the GPS function (1) Position data acquisition at the sensor input timing This section shows the basic method to create programs using the MELFA BASIC V programming language for position data acquisition according to the signal input timing. Table 7-29: Command list of MELFA BASIC V Command Explanation...

Page 726: Workpiece Presence Recognition In A Cassette
7Appendix 1 Def Gps 1,850,On,1 ‘ The position data of the mechanism No. 1 is recorded for the monitoring No. 1 when the signal No. 850 is turned on. 2 GpsChk On,1 ‘ Monitoring a condition for the monitoring No. 1 is started. 3 Mvs P1 ‘...

Page 727 7Appendix 1 Def Map 3,851,On,1,PC1,PC2,20,10 ‘ The position data of the mechanism No. 1 is recorded for the monitoring No. 3 when the signal No. 851 is turned on, and the mapping is executed according to the defined condition. PC1: Lowest point (first segment) in a cassette, PC2: Highest point (last segment) in a cassette, 20: the number of segments in a cassette (20 segments), 10: a sensitive area of a sensor (10 2 Mov PM1...

Page 728: Upgrade Of The Servo Software
7Appendix 7.7 Upgrade of the servo software When error H0099 occurs, the upgrade of the servo software is required. You can upgrade the servo software using the teaching pendant or RT ToolBox2. The procedure for upgrading the servo software using the teaching pendant is shown below. 1) Display the parameter screen to input "ROMCOPY"...

Page 730 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU NAGOYA 461-8670, JAPAN Authorised representative: Mitsubishi Electric Europe B.V. FA - European Business Group Mitsubishi-Electric-Platz 1, D-40882 Ratingen, Germany Tel: +49(0)2102-4860 May., 2017 MEE Printed in Japan on recycled paper.

This manual is also suitable for:
Cr750 Cr751-q Cr751-d Cr760-d Cr760-q Cr750-d

Mitsubishi Electric CR750-Q Instruction Manual

1 Before Starting Use

2 Explanation of Functions

3 Explanation of Operation Methods

4 Melfa-Basic V

5 Functions Set with Parameters

Quick Links

Related Manuals for Mitsubishi Electric CR750-Q

Summary of Contents for Mitsubishi Electric CR750-Q