A:\gN_CUD.BAS 4/L3/95
Contents
1. Na Nomenclature tnput Function Program Note Page Format i 82 Step Read STR a Reads out the contents of no 0S a amp 9999 3 101 step number a 83 Version Read VR Reads out the version yes 3 106 name of system ROM 84 Where WH Reads out coordinates of yes 3 107 current position 85 What Tool WT Reads out current tool yes 3 108 length Other commands Na Nomenclature Input Function Program Note Page Format 86 input INP a b Reads the value of counter yes 0OSXasSX 2 3 39 ci b or position b or 1Sb lt 99 character strings b from 1Sb lt 999 channel a 15 b 99 C O Counter 1 Position 2 Character 87 Number Na Selects program a no a isa program 3 60 name 88 Open OPN a b Opens 1 0 b for channel yes osas 2 3 70 a b 1 Standard RS 232C 2 Standard RS 422 89 Parameter PMW Substitutes b for the yes a is a parameter 3 79 Write a b contents of parameter a name b is a setting data 90 Print PRN a bor Sends out the contents of no a is counter value 8 82 c counter a or position b or 32768 Ra St character string c from a 32767 personal computer in amp 8000 Sa S amp conjunction with commnand TFFF b is coordinates value RV E2 RV E2M X Y Z A B C R L A B N F O C RV E3J RV E3JM X Y Z A 8 R L A B O C t c is character strings 1 5 c 5122 character number 91 Reset RS a Resets an alarm and yes a 0 Alarm reset 3 90 program line number2. Operation 1 LED 1 on Execute operation 1 coo LED 1 off Fig 6 16 Flowchart 4 Example program Main routine 15 20 25 30 31 32 33 34 35 36 37 38 OD SP ID TB TB TB TB TB TB TB TB GT 0 10 0 100 1 200 2 300 3 400 4 500 5 600 6 700 7 800 25 All LED turns off Initializes speed Inputs signals Jumps to the line 100 when the switch 1 is turned on Job 1 Jumps to the line 200 when the switch 2 is turned on Job 2 Jumps to the line 300 when the switch 3 is turned on Job 3 Jumps to the line 400 when the switch 4 is turned on Job 4 Jumps to the line 500 when the switch 5 is turned on Job 5 Jumps to the line 600 when the switch 6 is turned on Job 6 Jumps to the line 700 when the switch 7 is turned on Job 7 Jumps to the line 800 when the switch 8 is turned on Job 8 The robot jumps to the line 25 when all switches are off Each operation routine 100 OB 0 105 MO 10 198 OB 199 GT 800 OB 805 MO 898 OB 899 GT 0 25 7 80 7 25 Turns on the 1st LED Job started Carries out the 1st operation The 1st operation Turns off the 1st LED Job completed Jumps to the line 25 Turns on the 8th LED Job started Carries out the 8th operation The 8th operation Turns off the 8th LED Job completed Jumps to the line 25 6 33 6 5 Ala
3. General purpose output 102 General purpose output 103 General purpose output 106 General purpose output 107 Pink black B OV 35 38 pin use 12V 24V 35 38 pin use General purpose General purpose Brown black A output 108 output 112 General ose p 5 Generatpurpose Rug Rua General purpose par Qu output 114 General purpose ERROZ ERR output 115 i General purpose 11 White black C output 109 General purpose output 110 General purpose 13 Blue black C output 111 12 Yellow black C COMI 40 47 pin use Green black C General purpose General purpose 15 Orange black C output 100 s E output 108 i a General purpose misprint General purpose 16 Pink black output 101 tables output 109 General purpose 4 7 4 y General purpose 17 Gray black Cf output 102 Pi 7 4 if 9 Be n output 110 18 Red black bape alaa Pins 15 as a General purpose thru 25 General purpose 19 Purpie black C output 104 and pins output 112 General purpose 40 thru General purpose 20 Brown black cutout 105 50 are Brown black D output 113 2t wnite red A Gerea purpase marked White red B r General output General 22 lYellow red A Maia fs should Yetlow red B parr alas output 107 output 115 be INPUTS 23 Blue red A A ICOM2 24 25 49 50 G
4. Are there any problems with the tension of the timing belt 6 month inspection r When gear teeth get badly Confirm the abrasion of the timing gear teeth damaged replace them 1 year inspection items Supply grease for the harmonic reduction gears Refer to page 5 3 4 for for each axis information about greasing Replace the backup batteries in the main robot Refer to page 5 3 5 when unit and inside the controller you do the replacing 5 3 5 3 Maintenance and inspection procedures In the following we ll explain the actual procedures for conducting the periodic maintenance and inspection Study the descriptions carefully and follow the instructions when you carry out the tasks You can arrange to have these tasks done for you by contacting the Mitsubishi service desk but you will be charged for these services Never disassemble the parts except for the parts described below If you decide to implement the maintenance and inspection program yourself you can find information about the maintenance parts in section 5 4 Maintenance parts in this manual If you need some parts you can contact the dealer where you purchased this product or you can contact your local Mitsubishi service center A Caution If you undertake these duties there may be some items that result in origin slips of the machine system You may need to do revising the body position or re teaching 5 3 1 Structure
5. ALARM NO ERROR GENERATING CAUSE AND ITS REMEDY 4550 Cause Can t calculate joint angle of the arm Remedy Move the joint into the movable range with joint jog mode 4560 Cause The position where the robot can t reach is taught Remedy Teach the position after moving the robot to the movable range 4600 Cause The position is out of range or the starting position and the destination position has a different structure flag in linear and Remedy circular interpolation Correct the position data or the structure flag 4700 Cause Can t calculate the posture of intermediate position between the Remedy start position and the destination position Add the position with posture between the start position and the destination position 4800 4810 Cause Speed is excessive Remedy Reduce the assigned speed 4900 Cause Number of program registration exceeds the limit Remedy Check the program and delete unnecessary one 4910 Cause Memory area is full Commands cannot be entered Remedy Check the program and delete unnecessary one 5600 Cause Non existing program is specified Remedy Check the file name 5610 Cause Double definition of file name Remedy Check the file name and delete the excessive one 5620 Cause Write protected Remedy Specify another file 5630 Cause Read protected Remedy Specify another file 5640 Cause The file name is not proper Remedy Check if the characters and
6. R L gt Specify the structure flag of the robot Right or Left R Right Default L Left lt A B gt Specify the structure flag of the robot Above or Below A Above Default B Below lt N F gt Specify the structure flag of the robot Nonflip or Flip RV E2 RV E2M only N Nonflip Default F Flip lt O C gt Specify open or close state of hand 1 O Hand 1 open Default C Hand 1 close Explanation 1 The feast increment of the coordinate value is 0 01 mm or 0 01 degree e g specify 20 01 for 20 01 mm 2 Alarm occurs if the specified coordinates exceed the robot s operational space 3 The default structure flags are R Right A Above N NonFlip 4 The default coordinate value is zero 5 If you set any condition of speed timer or input output in the teaching playback method the MPB command is generated at each step 6 The input and output setting must be hexadecimal code headed with 8 7 If the input output signal is not set the bit corresponding on the teaching box s screen display will be 8 The order that the condition data specified with this command is executed is as follows 1 Interpolation method 2 Speed 3 Movement to target position 4 Timer 5 Signal output including hand control 6 Signal input wait 3 52 MPC Move Playback Continuous Function Moves to the specified position with specified interpolation Input Format 1 RV E2 RV E2
7. Dally inspection 1500 Hr 2000 Hr Fig 5 1 Inspection schedule 5 2 Inspection items 5 2 1 Daily inspection items Conduct the daily inspections in the order shown in Table 5 1 Table 5 1 Daily inspection items Description Inspection item Description Remedial action Before the power source is turned ON Inspect the following items before the power source is turned ON Are the installation bolts on the robot loose Tighten the bolt securely visually inspect Are the set screws on the cover loose visually Securely tighten the inspect screws Are the installation bolts on the hand loose Tighten the bolt securely visually inspect Is the power cable securely connected visually Securely connect it inspect ts the machine cable between the robot and Securely connect it controlier securely connected visually inspect Are there any cracks or residue on the robot or Exchange for new parts and controller cover visually inspect take emergency measures is the main robot unit leaking grease visually Clean the robot and re inspect supply it with grease Are there any problems with the pneumatic Take measures to repair system Check for air leaks drain residue torn drains or leaks Replace hoses and whether the air source is normal parts visually inspect After the power source is turned ON Watch the robot when you turn it ON q Does the robot ma
8. a to fasten the belt Move the motor in the direction of the arrow b to loosen the belt 5 Don t loosen the belt too much so that it comes off the timing pulleys 4 5 6 Fasten the 4 motor installation screws tightly after making the adjustments If they are not securely fixed they can come loose from vibration FEA C Replacement method 1 Fig 5 4 shows how to replace a timing belt 2 Turn down the wrist pitch joint with the teaching box Turn it to the direction of gravity 3 Hold the pulleys when replacing the belt It can cause a location gap where the location relationship of pulley 4 and pulley 5 slips off 4 Mark the timing belt 2 andthe timing pulleys 4 and 5 tokeep their location 5 Put off the motor installation screws to remove the timing belt 6 Copy the mark to a new timing belt by stretching the belt 7 Assemble a new timing belt into the timing pulleys to set the marks 8 Adjust the tension of the belt The former items 3 to 6 explain how to adjust it 9 There is the possibility of a location gap being created after replacing the belt Confirm that a location gap has not occurred 10 Adjust the robot when it gets a location gap Refer to section 3 9 Setting the origin in the User s Manual or Setting the origin in this manual to reset the zero point position A Caution When you replace the belt a machine caused location gap of the origin can be generated In this case yo
9. 1 Shoulder cover B 2 Truss screw 3 Socket head bolt at e 5 Socket head bolt Na M Lem A Battery cover Lead connector a eh e iZ dl Detail drawing of part A Fig 5 7 How to replace batteries of the main robot unit 2 Replacing the batteries for the controller 1 Turn the controller power ON once For about 1 minute 2 Turn OFF the controller power as well as the power source After at least 3 minutes have elapsed you can begin to remove the fixing screws and remove the top cover 3 Remove the oid batteries inside the controller 4 Place new batteries where the old ones used to be so that they fit securely 5 Pick the cable soket of the new battery and connect it to the connector CON1BT on the card so that the red color lead comes to the plus side This entire process should be completed within 15 minutes from the time you remove the batteries 6 When you are finished replace the top cover and tighten the cover A Caution If you continue to work despite the fact that a battery reserve time alarm has been generated you will get a backup failure alarm If you generate a backup failure alarm the contents of the memory can t be guaranteed so you should back up important programs and position data beforehand using personal computer software or other software to save the data onto floppy disks for storage 3 Alarm reset 1 Once you have fin
10. 3 The NW command can not be executed in the program with line number Only direct execution is possible Sample program BASIC 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 30 PRINT 1 NW Transmit command NW 60 END Ends program RARA NX Next Function Specifies the range of a loop in a program executed by the RC command Input Format Explanation 1 Used in combination with the RC command to specify the range of a loop in a program executed by the RC command 2 Alarm occurs if there is no corresponding RC command specified Sample program See the RC command 3 65 OB Output Bit Function Sets the output state of the specified bit through an external output port Input Format OB c bit number Term lt t gt Set ON or OFF state of the specified bit BitON BitOFF lt Bit number Specify the bit number of external output 0 S bit number S 32767 Explanation 1 Set to switch on the specified bit and to switch off the specified bit 2 All bits other than the specified one are not affected by this command The output state of the specified bit is retained until a new setting is made by the OB or OD command 3 If you specify the special bit in the parameter OT1 OT3 of the external output alarm occurs because of the conflict of signals 4 For the
11. A ON _CMD BAS 4 13 95 Me k k de AER e de de de e Te de de de de de de Fe e de He de Fe Fe Fe e Je Fe Je e Je de Fe Fe He Fe Fe e de de Je He e de Fe Fe de e Fe Fe de He Fe He He He de He de de de ke He ke de e ke ke k k QN Command Example for x Mitsubishi E Robot Controllers ke The N command will allow you to select the program name that you ee have in your controller The QN command with the progam name e after it will inquire the controller for the Total Number of Used Steps Used Number of Positions and Used Number of Counters r N9 selects program number 9 QN9 inquires for information N PUT_PAM selects program PUT_PAM w QN PUT_PAM inquires for information ke ial Date 4 13 95 0 de te te oe RR te Ke te te e KKK KK KKK HK KK IK TKR RARA TKK He de de e Je TKR e de He He e e e II KAKA KKK CLOSE OPEN COM2 9600 N 8 1 CS60000 DS60000 CD0 FOR RANDOM AS 2 OR eK KKK e e de de e de KKK KK KK KH He He de de e KKK e He he He He He He e e He e he de RARA Ae He He de e He de de e He He Fe de e he He He KKK CLS PRINT 2 N9 PRINT 2 QN9 Must have a space before the QN Command to work LINE INPUT 2 AS LOCATE 15 10 PRINT 1ST Selection using 0 9 Numbers was A RINT 2 N CHR 34 PUT_PAM CHR 34 CHR 34 the PRINT 2 ON CHRS 34 PUT_PAM CHR 34 LINE INPUT 2 AS LOCATE 17 10 PRINT 2ND Selection using Al
12. Moves to position 5 600PN 1 1 Opens the RS 232C port 70 INP 1 10 2 Reads the data of character string 10 from the RS 232C port 2 40 IP Increment Position Function Moves the robot to a predefined position with a position number greater than the current one Joint interpolation Input Format Explanation 1 Moves the robot to a predefined position with a position number greater than and closest to the current one See the DP command 2 Alarm occurs if there is no predefined position which is greater in position number than the current position 3 Even if an alarm occurs the current position number still remains unchanged Sample program Movemaster command 10 MO 5 Moves to position 5 20MO 4 Moves to position 4 30 MO 3 Moves to position 3 40 IP Moves to position 4 50 IP Moves to position 5 3 41 JRC Joint roll change Function Overwrites the current position by adding 360 degrees to the joint position of the R axis This is done when you want to use shortcut control of the R axis or when you want to use endless control Input format JRC lt 1 1 Terms gt Adds 360 degrees to the current joint position on the R axis 1 gt Subtracts 360 degrees to the current joint position on the R axis Explanation 1 When you use this command you need to change the operation range of the R axis by 720 degrees beforehand Set the J6
13. STA STP RST Standard Output OTi tees 0232 0233 RUN WAIERR ml Expansion Input IN2 ADE CLR LAN aN a AE E 1st board Output OT2 in ty tena yt 6 Expansion Input IN3 sens ro so 9 2 2 9 ar 2st board Output OT3 ER A GP I EAL aod 2 Assignment of the I O value The I O value commands input PIO to PI3 output POO to PO3 communicates the program s numerical data in binary format and each command uses 4 continuous bits Example 1 command can input output 0 to 15 numerical values 2 commands O to 255 Accordingly put 4 commas after the numerical I O command If you omit the commas the object bits pile up and the robot cannot properly handie input output 4 bits 4 bits 9 11 13 15 17 19 a rs NB walt Te ARE A Assignment example IN1 PIO PI CYC 11111 tttt 1111 tft tt 0123 4567 10 12 14 16 18 Assignment of Assignment of standard input CYC to bit 8 for I O parallel interface A Caution A signal that has been assigned as a specialized input can be used as a general purpose input when the program is in progress but for safety sons don t mix non numerical inputs with general purpose inputs If you try to do so an alarm will result 4 1 4 Commands and functions that can be written to parameters in the table shown below you ll find an explanation of commands along with their functions that can be written to the I O setting parameters IN1 to IN3 and OT1 to OT3 of the paralle O To find the r
14. 110 MA 2 20 0 Moves 30 mm above the position 2 with hand opened 120GT 40 Repeats this program Jumps to the line 40 6 4 2 Application of interrupt motion 1 Work description The robot grasps the workpieces that have different height using a limit switch fixed inside the hand The robot gets a signal of the limit switch through hand check I O 2 Defined position Position No Position description Teaching way Position 1 Position above work By actual teaching 3 Signal 1 0 1 0 Description Bit Input Work presence signal Bit 900 4 Example program l 90 SP 20 Sets speed 20 100 EA 900 140 Enables interrupt of bit 900 110 MO 1 0 Moves above a workpiece 120 DS 0 0 50 Moves 50 mm in the Z direction Linear interpolation 130 GT 110 Jumps to the line 110 to return to the position 1 as no workpiece has been detected 140 DA 900 Disables interrupt of bit 900 150 GC Closes hand and it grasps the workpiece 160 MO 1 C Moves to position 1 with hand closed 2 6 94 5 Explanation In this example the robot moves 50 mm in the Z direction in line 120 If there is a workpiece the limit switch signal is input and the robot stopped Then the robot jumps to line 140 grasps the workpiece after disabling interrupt and moves to position 1 If there is no workpiece the robot jumps from line 130 to line 110 returning to position 1 Thus the robot repeats the same operation again 6 Schematic
15. Alarm also takes place during movement if the movement path goes beyond the robot s operational space Sampie program Movemaster command 10SP 10 Sets speed to 10 20MO 1 Moves to position 1 in joint interpolation 30 MC 5 9 Moves continuously from position 5 to 9 in linear interpolation 3 Position6 4 Position7 Current position 2 Position5 1 Position 6 Position9 R A MJ Move Joint Function Turns each joint the specified angle from the current position Joint interpolation Input Format 1 RV E2 RV E2M MJ waist joint angle shoulder joint angle lt elbow joint angle twist joint angle gt lt pitch joint angle roll joint angle 2 RV E3J RV E3JM MJ waist joint angle gt shoulder joint angle lt elbow joint angle pitch joint angle kroll joint angle Term lt Each joint angle Specify relative amount of each joint turning from the current position Explanation 1 The least increment of the turning angle is 0 01 degree e g specify 15 02 for 15 02 degree 2 The open close state of the hand does not change before and after the movement Alarm occurs before the joint motion if any turning angle entry exceeds the robot s operational space 3 The default turning angle is 0 4 The positive and negative directions of each joint of motion are as follows lt RV E2 RV E2M RV E3J RV E3JM l
16. Any hexadecimal value must be headed by amp 2 The operation result is stored into the internal register and can be changed compared or read by relevant commands See the EQ NE LG SM CL DR AN XO commands 3 Execution of the OR command after the input commands ID allows to be set to the required bits of the parallel input data fetched from the external device Sample program Movemaster command 10 ID Fetches data from external input port 20 OR amp FFFO Sets 1 to all bits except lower order 4 bits 30 EQ 8FFFF 100 Ifthe above data are all bit 1 jumps to line 100 40 ED Ends program 100 MO 10 Moves to position 10 3 71 OVR Override Function Specify program override Input Format OVR specified override Term Specified override Specify override value 1 specified override 200 Explanation 1 Specifies the ratio of working speed of the robot 2 The OVR command is effective for every interpolation mode i e joint interpolation linear interpolation and circular interpolation 3 The actual speed in the program eventually becomes the following Joint interpolation speed playback override X OVR command setting value X SP command setting value Linear interpolation speed playback override X OVR command setting value X SP or SD command setting value Here the playback override can be specified by means of the starting display of teaching box
17. Moves to position 7 70ED Ends program RRA PW Pulse Wait Function Waits for in position of servomotor about all joints till it becomes within the specified value Input Format PW lt positioning pulse Term Positioning pulse gt Specify the judgment pulse number of in position 1 amp positioning pulse 10000 Explanation 1 Waits for in position of servomotor about all joints till it becomes within the specified value 2 If you need the positioning of high accuracy when chucking a workpiece ata position set small value for positioning pulse If you need the positioning of low accuracy set large value If you set small value to the positioning pulse the robot waits for positioning having the same effect as the Ti command is executed 3 Ifyou set small value to the positioning pulse when the handling workpiece is relatively heavy or the robot is moving at high speed it may take a longer time to position than usual 4 Initial value of positioning pulse is 10000 pulse 5 When the setting value exceeds the above limit alarm occurs Sample program Movemaster command 10 MO 1 Moves to position 1 20 PW 10 Waits for the positioning pulse becoming within 10 pulses 30 GC Closes hand 40 ED Ends program RARA PX Position Exchange Function Exchanges the coordinates of the specified position for those of another specified position Input Format J PX
18. Sample program Movemaster command 10 MRA 1 0 Defines the arc with positions 1 2 3 Moves to position 1 by linear interpolation 20 MRA 2 0 Moves to position 2 by circular interpolation 30 MRA 3 C Moves to position 3 by circular interpolation 40 TI 3 Timer 0 3 second 50 MRA 4 Moves to position 4 by circular interpolation 60 MRA 5 Moves to position 5 by circular interpolation 70ED Ends program Position 2 MRA 2 0 Position 4 MRA 5 MRA 4 Current position Position 1 Position 5 Position 3 3 58 MS Move Straight Function Moves the tip of hand to the specified position Linear interpolation Input Format MS position number O C Term Position number Specify the destination position number in integer value 1 amp position number 999 lt O C gt Specify open or close state of hand If omitted the hand state of the position is valid O Hand open C Hand close Explanation 1 Moves the tip of hand to the specified position by linear interpolation The tip of the hand is decided by the tool length currently established See the TL command 2 Alarm occurs before or during movement if the destination or movement path goes beyond the robot s operational space 3 If the open or close state of the hand has been specified the robot moves after executing the hand control 4 The moving speed is decided by the SP or SD commands The tip of hand at co
19. Wrist housing reduction gear Fig 5 2 1 Main robot unit s outline structural diagram RV E2 RV E2M 5 5 et NA 6 E joint reduction gear Elbow block Upper arm a a 9 P joint motor 10 P A 11 P Fig 5 2 2 Main robot unit s outline structural diagram RV E3J RV E3JM re AA 5 3 2 Installation removal of cover 1 If the robot is the RV E2 RV E2M refer to Fig 5 3 1 and if the robot is RV E3J RV E3JM refer to Fig 5 3 2 and remove the cover 2 The names of the covers are shown in Table 5 3 and the list of cover installation screws is shown in Table 5 4 3 Some covers may be difficult to remove depending on the posture of the robot In this case change the robot posture with jogging operation and then remove the cover 4 Use the removal procedure inreverse to install the cover after maintenance and inspection Table 5 3 Cover name Product Cover name Quantity Notes 1 Shoulder cover L 1 2 Shoulder cover BR 773 Shoulder cover F nn aaa aa 4 Shoulder cover B A 5 NO 1 Arm cover BR 6 NO 1 Arm cover L A 7 Elbow cover U 1 8 For the RV E2 RV E2M 1 Elbow cover B For the RV E3J RV E3JM 1 Elbow cover L 9 Elbow cover F 1 Applies only to RV E2 RV E2M 10 NO 2 Arm cover U 1 1 11 NO 2 Arm cover L 1 12 Wrist cover U 1 13 Wrist cover L 1 14 Wrist cover S 2 Table 5 4 List of cover installation screws Sym
20. lt Acceleration time Set acceleration time to the maximum speed 0 S acceleration time S 2000 millisecond Deceleration time Set deceleration time from the maximum speed 0 S deceleration time S 2000 millisecond CNT setting Specify the enable or disable state of continuous path mode 0 Disable 1 Enable Explanation 1 The least input increment of the moving speed is 0 01 mm second or 0 01 degree second e g specify 20 05 for 20 05 mm second The least input increment of the first order time constant is 1 millisecond 2 Allows the moving speed or angular speed of the tip of hand for linear or circular interpolation to be defined in smaller increments than the SP command 3 Setting a large value to the first order time constant makes the robot operation slower and smoother 4 The speed set by the SD command is effective until a new value is set by the SD or SP command If you omit the first order time constant and the acceleration deceleration time the predefined values continue to be effective 5 During linear or circular interpolation a certain moving speed of the SD command may cause alarm in excess of the maximum speed of the corresponding joint In this case set the speed to a lower value 6 At power on the moving speed is initialized to SP 12 H 63 3 mm second 7 By enabling the CNT setting the robot moves continuously without acceleration and deceleration until the SD or SP command disables t
21. one Also there are four batteries for the RV E3J RV E3JM 1 Confirm that the cable between the cable and robot is securely attached 2 Turn ON the controller power When we replace the batteries we ll be relying on the power supply from the controller to protect the position data Consequently if the cable is not securely attached or if the controller power is OFF the position data can lost 3 Press the Emergency stop button to bring the robot into an emergency stop condition This is a safety measure so don t forget to do it 4 Remove the fixing screws 2 and 3 as shown in Fig 5 7 and remove the shoulder cover B 1 from the robot 5 Remove the installation bolt 5 in section A of the main robot unit and remove the battery cover 4 6 There is a battery cover 4 in the battery holder Take the old batteries out of the holder and remove the lead connectors 7 Place the new batteries into the holder and reconnect the lead connector You should replace all batteries at the same time 8 Go back to step 4 and 5 and replace the battery cover 4 and shoulder cover B by following the instructions in reverse order A Caution If the connector comes loose the battery can t work properly and the encoder s position data could be lost You will lose the encoder s position data if you don t supply power from the controller to the robot when you are replacing batteries or if you keep the controller s power OFF 5 15
22. 1 Resets ail counter data 2 Resets battery timer 3 tnitializes all files 4 Resets the origin setting 94 Comment 7 Allows programmer to write yes a comment following less than 120 characters 3 110 D D 6 2 Parameter list Parameter list Parameter Parameter name Array number Contents Default value Remarks Too XTL 6 real number Sets initial value of tool coordinate 0 0 0 0 123 0 coordinates system X Y Z A B C Only Z 0 0 0 0 0 0 coordinate is changeable for RV E3J RV R3JM Unit mm mm mm deg deg deg Base XBS 6 real number Sets initial value of base 0 0 0 0 0 0 coordinates coordinate system X Y Z A B 0 0 0 0 0 0 Only X Y Z coordinates are changeable for RV E3J RV R3JM Unit mm mm mm deg deg deg Perpendi PAR 6 real number Sets overrun limits of XYZ 10000 0 10000 0 Note 1 cular area coordinate system for minus and 10000 0 10000 0 timit plus dirction X X Y Y Z 10000 0 10000 0 2 Unit mm Joint area JAR 12 real number Sets overrun limits of each joint 160 0 160 0 RV E2 limit coordinate system for minus and 45 0 135 0 RV E2M plus dirction J1 31 J2 42 0 0 135 0 J3 33 J4 34 JS 35 J6 160 0 160 0 J6 Unit Deg 120 0 120 0 200 0 200 0 160 0 160 0 RV E3J 45 0 135 0 RV E3JM 0 0 135 0 160 0 160 0 120 0 120 0 200 0 200 0 User UAR 6realnumber Defines the are
23. 1 1 1 Installing the 4E HMO01 motor operated hand For details on how to install the motor operated hand refer to section 3 8 Installing the motor operated hand in the User s Manual 1 1 2 Installing the 4E HP01 4E HP01E pneumatic hand set The configuration for the pneumatic hand set is shown in Fig 1 1 and in Table 1 1 RV E3J RV E3JM RV E2 RV E2M Fig 1 1 Schematic diagram for the pneumatic hand set Table 1 1 Configuration for the hand set Number Part name Model Quantity Description 1 Pneumatic hand 1E HP01 1 Hand input cable with pneumatic 1E HPO1E coupling 2 Pneumatic hand 2E 31HND 1 Interface board interface 2E 31HNE 3 Solenoid valve set 1E VDO1 1 Comes with 2 M3x25 socket 1E VDO1E head bolts 4 Hand curl tube 1 ST0402C 1 2 tubes per set 5 Socket head bolts M5x16 4 6 Socket head bolts M3x12 4 Comes with spring washers 7 Adapter BU144D697 1 This item is needed for installing H01 1 above 1 1 1 1 2 1 Installing the 1E HP01 1E HPO1E pneumatic hand Fig 1 2 shows the method for installing the pneumatic hand The installation steps are as follows 1 Use four M5x16 hexagon socket head bolts to install the hand adapter 7 to the main robot units mechanical interface 2 Use four M3x12 hexagon socket head bolts 6 to install the pneumatic hand to the hand adapter Use Fig 1 3 to find the where the ends of the cables should be connected to the adapter 3 As shown in Fig 1 2
24. 2 7 17 22 2 144 5 0 6 3 8 18 25 9 168 1 0 8 5 3 19 29 8 193 8 1 1 7 3 20 34 2 222 0 1 5 9 8 21 40 7 264 8 2 0 13 3 22 47 3 307 6 2 7 17 8 23 53 9 350 4 3 7 23 8 24 60 5 393 2 4 9 31 7 25 67 1 436 0 6 5 42 2 26 73 7 478 8 8 2 53 1 27 80 2 521 6 fe 28 86 8 564 4 11 6 75 3 29 93 4 607 2 13 7 89 2 30 100 0 650 0 16 2 105 2 400 Joint speed Speed level STR X Step Read Function Reads the contents of the specified step number or the stopping step number Using RS 232C Input Format STR step number Term Step number Specify the step number reading 0 S line number 9999 Explanation 1 Outputs the contents of the specified step number or the stopping step number through the RS 232C port 2 The output format is ASCII coded as follows in the case of teaching playback method colon program command In the case of Movemaster command method Line number program command 3 Because the terminator of the output data is carriage return Hex 0D itis necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer LINE INPUT statement is equivalent to this in BASIC 4 If you specify the undefined step number the hexadecimal OD is returned over 5 If the step number is not specified or zero is specified the current stopping line number is read 6 In the above case the command STR allows you to confirm the step number b
25. 60 ED Ends program 200 MO 99 Moves to position 99 3 109 Comment Function Allows the programmer to write a comment Input Format string consisting of up to 120 alphanumeric characters including tine number and apostrophe gt Explanation E 1 You can describe up to 120 alphanumeric characters including line number and apostrophe 2 Use it to describe the name and date on the generated program or to mark a subroutine Comments are helpful to check back the program as the LR Line Read command is used 3 The system ignores comments as it processes its commands 4 tf the number of characters exceeds the limit the whole excess is ignored Sample program Movemaster command 10 k k k k o k k k k k k k k k 20 Sample Program 30 Date 93 10 01 Specify the contents of program 40 Programmed by Mitsubishi the date of implementation and 50 kkk KR k k k k k k k k k k thename of programmer etc 60 NT 2 11n Chapter 4 Design and Engineering This chapter is a collection of useful technical information on the system design that will help you when you set up the robot Also tor related information that is described separately refer to the index below 4 1 External connections to controller 4 1 1 Specifications for external connections to controller In this section we ll provide explanations and guidance related to the various equipment connections to th
26. CF af R L Left H A BM A means Above B means Below 2 Draw joint RV E2 Moves the joint a by the yes 153 a86 3 13 RV E2M specifed amount b Joint interpolation DJ a b RV E3J Moves the joint a by the yes 1 aZ 5 3 13 RV E3JM specifed amount b Joint interpolation DJ a b 3 Decrement DP Moves to the previous yes Joint interpolation 3 15 position position in number from current position 4 Drawstraight DS x fy 2 Moves by the specified yes Linear interpolation 3 17 distance from current position 5 Draw DW xJly 2 Moves by the specified yes Joint interpolation 3 18 distance trom current position 6 Here HE a Memorizes current position yes OS a 999 3 34 as the position number a In the case of 0 the robot memorizes the data as the user defined origin 7 Home HO a Memorizes current position yes a 0 Mechanical stopper 3 36 as the origin method a 1 Calibration jig method a 2 User defined A origine method 8 increment IP Moves to the next position in yes Joint interpolation 3 41 position number trom curent position 9 Joint roll JRC Overwrites the current yes 1 adds 360 3 42 change lt 1 1 gt position by adding 360 1 subtracts 360 to the current joint position of the R axis 10 Move approach MA a1 a2 Moves to a position away yes 1 ai a2 999 3 46 O C j from position a1 by the Joint interpolation distance of position a2 O means opening a hand C means closing a hand 11 Move MC a1 a2 Mov
27. O Opening a hand C Closing a hand 20 Move tool MT a b Moves to a position away yes 15 a 3999 3 58 O C __ from position a by the Joint interpolation distance b in the tool O Opening a hand direction Unit mm C Closing a hand 21 Move tool MTS a b Moves to a position away yes 15 a 3999 3 59 straight O C from position a by the Linear interpolation distance b in the tool O Opening a hand direction Unit mm C Ctosing a hand 22 Nest NT Moves to the user specified yes 3 63 origin position 23 Origin OG Moves to the user specified yes Joint interpolation 3 69 origin position 24 Override OVR a Establishes program over yes 12 a 3200 3 72 ride D J Position motion control commands Na Nomenclature input Format Function Program Note Page 25 Pliet Assign PA i j k Defines the number of grid yes 132159 3 73 points j k in the column and 13j k32767 row direction for pallet i 26 Position clear PCatj a2 Clears all position data from no aisa2 3 74 position a1 to a2 1 a1 a2S999 27 Position define RV E2 Substitutes x y z a b c to yes 13 a S 999 3 75 RV E2M position a R Right L Left PD axl Ly A Above B Below zL al N Nontlip F Flip b c O open a hand LIR L C closing a hand L A 8 IN FID love RV E3J Substitutes x y z a b to yes 13 a S 999 3 75 RV E3JM position a R Right L Lett E PD alx fy A Above B Below 2 a O hand open bj C hand clo
28. Position 20 Position 22 Position 10 Position 30 ERE 2 Position 12 Position 13 Palette 2 Test device Palette 1 Position 21 Position 23 Fig 6 13 Palletizing 6 28 8 Operation flow Figure 6 14 shows the flow of operation Main routine Initial setting p Defines the number of grid pointe tor pallet 1 and 2 Defines the row and column counter of pallet 1 and 2 Operation 1 Picking up untested orkpiece Operation 2 Setting to test device Operation 3 Placing tested work piece 10X 6 times finished YES Setting of spee parameter Subroutine operation 1 Picking up untested orkpiece Speed setting Settin pallet Increments row counter by 1 Finishes row direction YES Initializes row counter increments column counter by 1 gthe grid point of Fig 6 14 Flowchart Continue 6 29 No Test completed YES Subroutine operation 2 Placing workpiece to test device Moves above position 30 Subroutine tested workpiece Speed setting Setting the grid point of pallet iio row counter Finishes row direction YES Initializees row counter Increments row counter operation 3 Placin Fig 6 14 Flowchart 6 4 4 Example of connection with external O equipment 1 Work description The following program causes the robot to
29. Replacing the timing belt It s had to judge the product life of the timing belt because it depends on the running environment 1 Replace the timing belts under these cases 1 It gets cracked on the base of a tooth or the back of the belt tooth 2 It swells out as a result of stuck oil 3 It looses its width approx half a tooth width 4 It jumps the gear tooth by abrasion 5 lt breaks A Caution Initial abrasion of the timing belt is unavoidable It is not an abnormality if you find abrasion powder in the cover after about 300 hours of operation Change the belt even if you can wipe off the abrasion powder 2 Inspecting adjusting and replacing the timer belt for the wrist pitch joint drive A Inspection method 1 Figure 5 4 shows how to inspect and adjust a timing belt for wrist pitch joint drive 2 Remove the no 2 arm covers U and L as shown in the Figures 5 3 How to disassemble the covers 3 Visually confirm that situation shown in the former section actually happened 4 Push the middle o f the belt with the finger lightly About 0 7Kgf as shown in Fig 5 5 and confirm that it sags 2mm B Adjustment method 1 Fig 5 4 shows how to inspect and adjust a timing belt for wrist pitch joint drive 2 Loosen the 4 motor installation screws 3 Move the motor to the direction of the arrow in Fig 5 4 to adjust the tension by confirming the belt The motor casing has long hole to adjust it 4 Move the motor to arrow
30. The same position Condition step ar 0 5sec Close Robot waits for the hand closed Hi 4 The position above conveyor Linear 0 Close og Robot picks up the resistor 5 The position above inspection Joint 0 Close we apparatus 6 Testing position Robot turns on Linear 05sec Close biti ON biti the trigger signal and waits till Wait ON finishing 7 The position above inspection Linear 0 Close bit 1 apparatus Robot tums off the OFF signal Work name Test of resistor Program name Feeding out of OK resistor Program number 2 Step Work position Work description Interp Speed Timer Hand Signal Signal number olation Open output input Close 1 The position above feeding out Joint 100 0 Ciose conveyor 2 Feeding out position Robot moves Linear 50mm s 0 3sec Open down and releases the resistor 3 The same position Condition step 0 5sec Open Robot waits for the hand opened 4 The position above feeding out Linear 0 Open bit0 ON conveyor Robot turns on the feed out signal 5 The same position Condition step ak 0 5sec Ciose bit 0 Robot turns off the feeding out OFF signal Work name Test of resistor Program name Throwing of NG resistor Program number 2 Step Work position Work description interpola Speed Timer Hand Signal Signal number tion Open output input Close 1 Throwing position Robot moves Joint 100 0 3sec Open kaa
31. Turn table in position Bit 3 Drives the conveyor to supply the next Bit 1 Output workpiece E Drives the turn table Bit 3 3 Schematic diagram Figure 6 1 shows description of operation Start point Note 3 10 Step 9 100 EEC A Ste p1 step4 50 Steps Step 8 100mm 60mm 30mm 100mm second second second second Work Step 3 Conveyor Turn table Note 1 Note 2 Note 3 Step 3 is the condition step which follows step 2 Step 7 is the condition step which follows step 6 The robot moves from the start point at first cycle Fig 6 1 Pick amp place operation 4 Procedure 1 The robot waits for a workpiece to finish positioning on a conveyer 2 The robot grabs the workpiece and waits for the turn table to finish positioning 3 The robot releases the workpiece 5 Operation flow Figure 6 2 shows the flow of operation Opens hand Joint interpolation 10 Moves to step 1 Sos YES Moves to step 2 Grasp workpiece Moves to step 4 Moves to step 5 No urn table in position Waits for condition in step 1 Waits for ON of input bit 1 Linear interpolation 100mm s 0 5 second timer after moving Opens hand in step 2 0 3 second timer after moving to step 3 Linear interpolation 60mm s After moving turns on the bit 1 for conveyor starting eo Joint interpolation 50 After moving turns of
32. b amp 8000 S b S amp 7FFF A 5 71 Test Bit TB Ja b Causes a jump to line yes 0SaS 15 3 102 number b in accordance Bit on Bit off with the state of bit a of 1S b S 9999 internal register value 72 Test Bit Direct TBD Causes a jump to line yes 0 Sa 32767 3 103 a b number b in accordance Bit on Bit off with the state of bit a of 13 b S 9999 external input terminal ee 73 EXclusive OR XO a or 4b EXCLUSIVE ORs internal yes 32768 Sasi 3 109 register value and 32767 specified value aXor amp b amp 8000 S b S amp 7FFF RS 232C communication commands No Nomenciature Input Function Program Note Page Format 74 CounterRead CRa Reads out contents of yes 1 Ha 399 3 9 counter a 1 a sS 99 en Ce A 75 Data Read DR aj Reads out data in external yes 0 S a 832767 3 16 output terminal eee 76 Error Read ER a Reads out the error status no 1 Sa SS 128 3 24 77 LineRead LR a Reads out program on line no 0X ax 9999 3 45 number a a _ __ _e A Q4 o e a 79 Parameter PMR a Reads out the contents of yes 3 78 Read parameter a ee 80 Position Read PR a Reads out coordinates of yes 08a 999 3 60 position a 81 Question QN a Reads out the selected yes a program name 3 87 Number program number or the information used step information of program a number used position number used counter number 6 5 RS 232C communication commands
33. chapter we ll show you some maintenance and inspection duties that will help let you use the robot for a long time without any trouble We ll also explain the types of expendable parts 5 1 Maintenance period Maintenance and inspection fall into two categories daily and periodic You should conduct maintenance and inspections diligently to promote safety and to prevent breakdowns before they happen so that you can enjoy a long product life 1 Inspection schedule In addition to the monthly inspections there is another additional inspection that must be made every 3 months assuming operating hours total about 500 hours as shown below 1 month inspection 1 month inspection 1 month inspection 1 month inspection 1 month inspection 1 month 3 month 6 month inspection inspection inspection inspection inspection 1 month 3 month inspection inspection inspection 1 A inspection 1 month 3 month 6 month i year inspection inspection inspection inspection Note Calculations for inspection schedule According to the In case of a single shift schedule on the left 8hr day x 20 days month x 3 months approx 500hr when using the 10hr day x 20 days month x 3 months approx 600hr double shift you In case of a double shift should make the 15 hr day x 20 days month x 3 months approx 1000 hr inspections at half the regular intervals 0 Hr 3 month inspection 500 Hr 1000 Hr
34. connect the hand curl tubes to coupling 1 and coupling 2 which protrudes from the cover of the forearm The opposite end of the tube connected to coupling 1 should be attached to the hand s OPEN coupling and the opposite end of the tube connected to coupling 2 should be attached to the hand s CLOSED coupling 4 As shown in Fig 1 2 connect the hand check cable which is attached to the main unit of the hand to the connector CON1 which protrudes from the cover of the forearm This completes the installation of the hand 1 1 2 2 Installing the 1E VD01 1E VDO1E solenoid valve set To install the solenoid valve set refer to section 1 1 3 Installing the solenoid valve set in this manual 1 1 2 3 Installing the 2E 31HND 2E 31HNE pneumatic hand interface To install the pneumatic hand interface refer to section 1 1 4 Installing the pneumatic hand interface in this manual 1 1 2 4 Setting the parameters For the pneumatic hand 1E HP01 1E HPO1E the tool data is 107mm Refer to section 2 6 Other functions 11 Parameter settings in this manual and set the value of the XTL parameter to 107mm 1 1 2 5 Open close setting of the hand and settings for input signals The connections for the optional pneumatic hand sensor and the bit settings for input signals and for the hands open close setting are shown in Table 1 2 The hand connector numbers have been assigned numbers from the connector pins located at the end of the forearm To
35. i Wrist roll Rol lt 5 Rall t Wrist pitch Tai i Pitch Elbow z Waist i Shoulder z l Waist From the top view From the side view Sample program Movemaster command 1 RV E2 RV E2M 10 MJ 90 0 0 0 0 0 Turns the waist joint 90 degrees 20 MJ 0 30 0 0 0 0 Turns the shoulder joint 30 degrees 2 RV E3J RV E3JM 10 MJ 90 0 0 0 0 Turns the waist joint 90 degrees 20 MJ 0 30 0 0 0 Turns the shoulder joint 30 degrees MO Move Function Moves the hand tip to the specified position Joint interpolation Input Format MO position number O C Term Position number Specify the destination position number in integer value 1 position number S 999 lt O C gt Specify open or close state of the hand If omitted the hand state of the position is valid O Hand open C Hand close Explanation 1 Moves the tip of hand to the coordinates of the specified position by joint interpolation The hand tip is decided by the tool length currently established 2 If open close state of the hand has been specified the robot moves after executing the hand control command 3 If it has not been specified the definition of the specified position is executed 4 Alarm takes place if the specified position has not been predefined or the movement exceeds the robot s operational space Sample program Movemaster command 10SP 10 Sets speed to 10 20 MO 20 C
36. joint FLIP NON FILIP Mechanical interface Fig 6 19 NONFLIP FLIP Index A Alarm Battery Display of maintenance related time data Replacing the backup battery c Command description Command list Connector pin array for the RS 232C D Debugging POTS doi 2 51 E Execution from the controller Execution from the teaching box F Functions of the connectors on the back panel H How to operate the controller cs cccesesceesceescesseusesesestsssnsensessecsessessesceeseseseatsesecsarseeecneeesoeanens 2 3 Inspecting adjusting and replacing the timing be installation removal of cover Interfacing with external 1 0 equipment Jog operation A A TRA Joint jog Tool jog operation XYZ jog operation Maintenance and inspection Daily inspection items Maintenance and inspection procedures Maintenance period Periodic inspection Maintenance parts Monitor Alarm history Monitoring the I O signals Monitoring variables O Opening and closing the hand 2 s cesssessessesesesceestesssensseecssseseessesereseseseseesecacacserescneeesenesces 2 19 Inday 1 par a io 1 8 Parameter Parameter list Setting the parameters personal computer cable pneumatic hand interface pneumatic hand set Programming Programming with the Movemaster com
37. lt Counter number Specify the number of counter setting 1 lt counter number 99 Character string number Specify character string number in numerica value which is added to the head 1 S character string number lt 99 Counter set value Specify the value of counter setting 0 for default 32768 set value decimal lt 32767 amp 8000 set value hexadecimal lt 8 7FFF Character string set value Specify the character string to be set Usable characters numerals 0 to 9 alphabetic characters A to Z symbols OF etc Unusable characters Number of characters Within 120 characters including line number and SC command Explanation When counter number is specified 1 All counters are factory set to zero 2 Used to count the number of workpieces and job sequences and to set the number of grid points in the pallet 3 The contents of the counter can be changed compared or read by the relevant command Refertothe C INP DC CP CR CL AN OR XO commands 4 The counter set value remains unchanged when the RS NW or ED command is executed 5 The contents of the counter are battery backed after the power is switched off When a character string number is specified 1 Enclose the set character string with double quotations Example When setting the character string ABC set ABC 2 If the set character string is omitted the details of the character string number will b
38. make the bit settings for the open close setting of the hand and for the input signals for hand you are preparing for use refer to chapter 4 Fig 4 3 Hand circuit specifications in the Specifications Manual Table 1 2 The hand s open close setting and input signal settings Hand check Setting pins for the open close connector Signal EAN Comments numbers Open Halfopen Closed 1 General purpose ON 1 input 900 NON Corresponds to 2 General purpose hand 1 input 901 E d GON Open edge Closed edge sensor o o sensor a 1 1 2 6 Confirming operability 1 Operate the teaching box to confirm that the hand opens and closes 2 To operate the teaching box refer to section 2 2 2 How to operate the teaching box in this manual 3 If the open close settings are reversed confirm the connection settings with Table 1 3 and reset the settings A Caution While operating the hand depending on the pitch axis and the roll axis the hand curl tube and the hand check cable can get entangled with the hand adapter and forearm In this case temporarily remove the hand and reposition it to its correctly installed position as shown in Fig 1 3 Forearm Mechanical interface 7 Hand adapter 5 M5x16 bolts 4 4 Hand curl tube View from A Fig 1 3 Position of correctly installed hand 1 3 Tip There is no mechanical stopper for the roll axis When installing the pneumatic hand if the servo is OF
39. number is omitted the data will be read into the internal register If the character string number is omitted the data will be read into the character string register If the position number is omitted an alarm will occur during execution 4 The data is sent from an external device such as a personal computer using the PRM command The robot program will stop while the data is being red 5 The PRM command can be executed before the INP command while the program is running In that case the sent PRM command data will be registered once and then will be led into the specified counter position or character string when the INP command is executed A max of 256 characters can be registered in the robot If the PRM command is executed in succession and the number of registered characters exceeds 256 characters the robot will be set to the L level based on the RS 232 C ER DRT and RS RTS signal lines DR DSR and CS CTS signal lines on the personal computer side Temporarily stop the data transmission from the personal computer during this time 6 If there is an error in the data sent by the PRN command an alarm will occur when the INP command is executed 3 39 Sample program Movemaster command 100PN 2 1 Opens the RS 232C port 20 INP 2 1 0 Reads the data of counter 1 from the RS 232C port 30 INP 2 5 1 Reads the data of position 5 from the RS 232C port 40 1C 1 Adds 1 to the contents of counter 1 50MO 5
40. or the external input signal The override specified by the OVR command is called program override 4 The initial value of program override is 100 5 The override value once specified in the program is effective till new value is set or the program ends 6 Alarm occurs at the execution of the OVR command if the value 0 is set to the specified override 7 As the acceleration and deceleration distance required for movement are preset when the specified speed and acceleration deceleration are set if the movement distance is small the set speed may not be reached Sample program Movemaster command 10SP 30 Sets working speed 30 100 20 OVR 80 Sets override 80 30 MO 2 Moves to position 2 40 ED Ends program X If the playback override is specified to 50 in the above example the actual override is as follows Joint interpolation speed 50 X 80 X 100 40 The robot moves to position 2 with the speed of 40 of maximum value R79 PA Pallet Assign Function Defines the number of grid points in the column and row directions for the specified pallet Input Format PA pallet number number of column grid points number of row grid points Term lt Pallet number Specify number of pallet using 1 pallet number S 9 lt Number of column grid points gt Set grid points of column of pallet 1S number of column grid points 32767 lt Number of row grid points S
41. position number when an alarm occurs in executing moving command Sample program BASIC 1 RV E2 RV E2M 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 20 INPUT Position number is P Inputs the position number that you want to read 30 PRINT 1 PR STR P Transmits the PR command followed by the position number 40 LINE INPUT 1 A Saves the received data to A 50 PRINT A Displays the contents to the screen 60 END Ends program RUN Run the program Position number is 15 Enter the position number 10 00 380 00 300 00 70 00 Outputs the contents of the position 90 00 40 00 R A N C 2 80 Sampie program BASIC 2 RV E3J RV E3JM 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC Inputs the position number that you want to read Transmits the PR command followed by the position number Saves the received data to A 20 INPUT Position number is P 30 PRINT 1 PR STR P 40 LINE INPUT 1 A 50 PRINT AS Displays the contents to the screen 60 END Ends program RUN Run the program Position number is 15 Enter the position number 10 00 380 00 300 00 50 00 Outputs the contents of the position 40 00 R A C 3 81 PRN 3 Print Function The counter number setting value position number coordinate value or the chara
42. setting to 720 on the joint operation range parameter JAR and J6 to 720 For information on how to change parameters refer to section 2 6 Other functions under 11 Parameter settings If you set a value that is mor than 720 degrees it could result in position slips 2 Even though the current coordinate value changes the robot won t move 3 If the joint coordinate value on the R axis exceeds 720 degrees the current coordinate value won t change and the out of bounds alarm will be generated 4 If you are using the RV E2 E2M and you want to move the R axis by more than 180 degrees with this command the move up to 180 degrees should be by joint interpolation commands If you use linear interpolation commands or circular interpolation commands when you execute the program alarms will be generated If you are using RV E3J RV E3JM you don t have such a restriction 5 If you use this command while doing continuous movements without acceleration deceleration passing it will not be able to do continuous movements with acceleration deceleration Refer to CNT of the SP command 6 When the controller power is a disconnected state if you move the R axis by more than 7 turns the next time the power source is supplied the position of R s axis will slip In this case it is necessary to reset the origin for only the R axis Refer to 3 9 Setting the origin in the User s Manual and 1 2 Setting the orig
43. step 7 Linear interpolation 30mm s Turns on bit 1 o 0 5 second timer in step 9 Turns off bit 1 Fig 6 6 Flowchart f 17 6 Programming seat Work name Assembly of relay Program name Assembly of retay Program number 1 Step Work position Work description interpola Speed Timer Hand Signal Signal number tion Open output input Close 1 Relay chucking position Robot Joint 100 0 Open bit 0 moves down and grasps the relay Wait ON 2 Relay chucking position Robot Linear 30mm s 03sec Close moves down and grasps the relay 3 The same position Condition step 05sec Close Robot waits for the hand closed 4 The position above relay supply Linear 0 Close i device Robot picks up the relay 5 The position above printed board Joint E 0 Close bit 1 Robot waits for the printed board Wait ON in position 6 Relay assembling position Robot Linear Cag 0 3 sec Open moves down and releases the relay 7 The same position Robot waits for 0 5 sec Open the hand opened 8 The position above printed board Linear lt 0 Open biti ON Robot turns on the relay assembly completion signal 9 The same position Condition step 05sec Open bit 1 Robot turns off the relay assembly OFF completion signal 6 3 4 Sealing operation 1 Work description The robot dispenses seal on a workpiece fed from conveyor 2 Signal I O 1 0 Description Bi
44. the expression in the program name are proper 5650 Cause Program is faulty Remedy Select the proper program 5700 Cause Program not seleted Remedy Specify the correct program 5800 Cause The step number specified for renumbering is faulty Remedy Check the step number 5810 Cause Date assigned for edition does not exist Remedy Check the program and operate again 6700 Cause Uses special purpose output signal for general purpose output Remedy Change the signal assignment of special purpose output Or change the program 6 27 ALARM NO ERROR GENERATING CAUSE AND REMEDY 6800 Cause Signal parameter assignment of PIO PI2 is incorrect Remedy Table 4 5 in the reference manual 4 1 4 gives correct commands and parameters 6900 Cause Signal parameter assignment of PO0 PO2 is incorrect Remedy Table 4 6 in the reference manual 4 1 4 gives correct commands and parameters 7900 Cause Power voltage in the main circuit drops Remedy Check that power voltage is as specified 8900 8999 Cause Fault occurs in the self diagnosis of the system software Remedy After resetting the alarm retry the operation These tables explain how to shoot troubles 6 6 Trouble shooting Trouble shooting A trouble Power source is not ready work A computer can not input a program work Motor hand Hand dose not work Pneumatic hand A confirmation matter 1 Check power plug 2 Check
45. turned OFF the designated function will remain in its original enabled state A pulse rate of 0 1 seconds or longer is required a A Note 2 At time of factory shipment when the externa signal is ON it has an A connection function that maintains the stopped status but by changing the value of the parameter INB from 0 to 1 it is possible to change it toa B connection function Note 3 Depending on the particular status of the robot such as whether the robot is operating or whether a stop signal has been entered these signals may not function even if the signal in question is input Below you ll find robot conditions for when signals will not function and their names i Enable disable for the signal mentioned on the left that Signal name Command depends on the robot s condition Program reset RST Brake ON OFF BRK General purpose output reset ORS Wiil not function when in operation run condition Program number designation PGN Line number designation LLN Start STA Program reset RST Alarm reset ERS Servo ON OFF SVO Functions only when the external 1 0 device is enabled in Brake ON OFF BRK aty condition Continuous cycle CYC However it will always be enabled when the servo is OFF General purpose output reset ORS based on the servo ON OFF SVO Program number designation PGN Line number designation LLN Override designation OVR A ie es Start STA Will not function when a stop STP input sig
46. value strings to the 1S a S 99 specified counter 39 Compare CPa Loads value strings in yes Za 99 3 7 counter counter a to the internal SiS a 99 register _ __ _ _ _ __ A a a 40 Disable Act DAa Disables interrupt by the yes 0S a S 32767 3 11 bit a of external input terminal 41 Decrement DCa Decrements counter a by yes isas 99 3 12 ount 1 6 3 Program control commands Na Nomenclature input Format Function Program Note Page 42 Delete Line DL Teapot Deletes program lines no al a2 b1 3 14 fb1L b2M from a1 to 22 or steps b2 from b1 to b2 1 Sat a2 b1 b2 9939 43 Enable Act EA ab Enables interrupt by the yes 0 a S 32767 3 19 Lic bit a of external input Bit on Bit off terminal specifies line 1 lt b 9999 number b to which the c 0 or program jumps when 0 Jump 1 Call sub interrupt occurs and routine specifies jumping mode 44 End ED Ends the program yes 3 21 45 If Equal EQ a or amp b Causes a jump to line yes 32768 lt a 332767 3 22 c number c if internal 38000 b lt 37ftt register value strings 1 a 99 equals a or amp b 1Sc S 9999 46 Go Sub GS af b Call subroutine which yes 1S a 9999 3 31 starts from line number a of program b 47 GoTo GTa Causes a jump to line yes 15S a lt 9999 3 33 number a 48 Halt HLT Halts the program yes 3 35 49 increment ICa It increments the co
47. with the robot with the RS 232C interface you should adapt the cable you use for the RS 232C so that it can fit the connector on the front side of the controller For information on wiring specifications of the connector cables refer to section 4 2 Options under 25 Personal computer cables in the Specifications Manual It will be necessary to satisfy the above mentioned conditions related to timing for all of the signals 4 3 6 Example of a connection to a personal computer with the RS 232C We ll show below an example of how to make a connection to the PC 9801N NEC 1 Connecting the RS232C cable Using the option cable built for the RS232C Model type RS PC CBL connect the connector on the personal computer with the controller Do this with the power source OFF for both the controller and personal computer 2 Setting for the personal computer 1 Setting the main unit s switches Set the dip switehes on the personal computer according to Table 4 15 Table 4 15 Setting the dip switches Switch Condition Notes Switch 2 OFF Up Changes the transmission mode of the RS 232C to Switch 3 OFF up SYMchronous Switch 5 ON Down Prevents the memory switches from being initialized changed when the power source is ON After setting the dip switches turn ON the power source for the personal computer Depending on the personal computer it may be possible to enter these settings by key entry on the persona c
48. 0 170 ED Else ends program 180 MO 2 Moves to position 2 190 ED Ends program 200 MO 3 Moves to position 3 210 ED Ends program RRR INP Input Function The specified counter value the coordinate value of the position number or the data of the specified character string is received according to the PRN command Using RS 232 C Input Format INP channel number counter number position number character string number scontents selection Term Channel number Specify the channel number opened by the OPN command 0 lt channel number 2 Counter number Specify counter number 1 amp counter number S 99 Position number Specify position number 1 lt position number 999 Character string number Specify character string number in numerical value which is added to the head 1 S character string number lt 99 Contents selection Select either counter or position or character string number corresponding to Counter number position number character string number 0 Counter number Default 1 Position number 2 character string number Explanation 1 This command receives the specified counter value the coordinate value of the position number or the data of the specified character string is received according to the PRN command through the RS 232 C port 2 The OPN command must be executed first to open the RS 232 C channel 3 If the counter
49. 1 N C 4 RS RTS 13 N C 22 N C 5 CS CTS 14 N C 23 N C 6 DR DSR 15 N C 24 N C 7 SG 16 N C 25 N C 8 N C 17 N C 9 N C 18 N C Adapter connector JAEDB 25P prong side N C stands for no connection possible 4 3 2 Function of each signal cable Table 4 13 Signa name and function Signal name Input Output Function FG E This is a frame gland Connects to the controller s G terminal ES AT Transmission data from the controller to the personal SD TxD Output computer 55 ATi Receiving data from the personal computer to the AD ABAD Input controller RS RTS Output Transmission request signa for the personal computer CS CTS Input Transmission permission signal for the controller DR DSR Input Personal computer s transmission ready signal SG Ground for the signal line ER DTR Output Controller s transmission ready signal a DA 4 3 3 Setting the RS 232C When you use the RS 232C interface it is necessary to set the below mentioned communications with the personal computer These settings are for making the same settings on the controller as for the personal computer Unless they both have the same settings communications can t work properly Below are the communications specifications Table 4 14 Communications specifications X The settings on the left can also Item Description be made by changing the CMO parameter Refer to 6 2 Baud ate ES A gt A bps Parameter dire
50. 1E VD01 1E VDO1E solenoid valve set ooo 1 2 1 1 2 3 Installing the 2E 31HND 2E 31HNE pneumatic hand interface 1 2 1 1 2 4 Setting the parameters oo sec ecesesessseseeseeeesenesesesesesesssasesstseseesessaeers 1 2 1 1 2 5 Open close setting of the hand and settings for input signals ai 1 1 2 6 Confirming operability cece cesescsceecsccessscsesesecsesesavsceesacsenteevscaesceresees 1 3 1 1 3 Installing the 1E VDO solenoid valve Set ccccccscccssssecescesesseceesesscecsens 1 4 1 1 3 1 Installing the 1E VD01 1E VD02 solenoid valve set for the RV E2 RV E3J 1 4 1 1 3 2 Installing the 1E VD01 1E VD02 solenoid valve for the RV E2M RV E34M 1 6 1 1 4 1 1 4 Installing the 2E 31HND 2E 31HNE pneumatic hand interface 1 8 1 5 Installing the P6TB TE teaching box 1 6 Installing the 2E 3110 2E 3110E parallel I O interface 1 7 Installing the rack adapter Model type 2E RACK 1 1 8 Installing the RS CBL personal computer cable 1 2 Setting the Origin ssccscnscssecessssersesssecesessssessssssssees 1 2 1 Deleting the Z phase offset 1 2 2 Mechanical stopper method 00 cecessscecesecesesececossceceececacsacsesecccesssesceesees 1 2 3 Calibration jig method Optional 1 2 4 User defined origin setting Chapter 2 Operations 2 1 Preliminary preparations before operating oo cecccccccsssesssesssestecsesescseseacseateree 2 1 1 Outline of a program from the written stage to the exec
51. 2 Refer to section 5 3 2 Disassembling covers in the Reference Manual to find how to take off the covers of the waist and wrist roll axes 3 Inject grease into the grease nipple with the grease gun and enter the amount of grease listed in Table 5 6 4 Reassemble the covers by following the steps in reverse for when you disassembled the covers 5 3 5 Replacing the backup battery Since in the E series there is a position detector equipped a position memory with a battery backup is needed in case of power failures The controller also uses a battery backup for such things as program memory The batteries are supplied at the factory at the time they are shipped but since they are expendable parts you need to replace them at periodic intervals A general yardstick for battery backup is one year but depending on how you use the robot the actual time can vary When remaining battery life is low a message reading As soon as battery alarm occur is displayed as an alarm alarm number 2300 When this alarm has occurred change the batteries for both the robot and controller as soon as possible Both the controller and the robot use lithium batteries Type A6BAT Below you ll find an explanation of how to change the batteries 1 Replacing the batteries on the main robot unit Fig 5 7 shows how to replace the batteries for the main robot unit Since the RV E2 RV E3J don t have a battery cover 4 it is not necessary to remove
52. 204 General purpose output 205 General purpose output 206 General purpose output 207 Pink black C Pink black D Gray black Gray black D Red black C Red black D Purple biack Brown black C White red A Yellow red A Blue red A Genera purpose output 216 General purpose output 217 Green red A Orange red A Specialized General purpose power source common 29 32 pin use 112V 24V 29 32 pin use General purpose output 204 General purpose output 205 General purpose output 206 General purpose output 207 ov 135 38 pin use 12V 24V 35 38 pin use General purpose output 212 General purpose output 213 General purpose output 214 General purpose output 215 General purpose output 208 General purpose output 209 General purpose output 210 General purpose output 211 General purpose output 212 General purpose output 213 General purpose output 214 General purpose output 215 COM2 24 25 49 50 use General purpose output 218 General purpose output 219 The I O number for the second addition is 200 added to the standard I O number 1 201 4 1 6 Precautions for connections with external devices A Caution Do not exceed the designated limit for the power source of the external device Be careful not to make a mistake about the polarity of the power source A Caution Use a transistor s open collector signal or a non voltage connectio
53. Explanation 1 After executed the PL command causes the coordinates of position a to be equivalent to those of position b and the old coordinates of position a to be cleared 2 After executed the PL command also assigns the hand state at position b to that at position a 3 Alarm occurs if position b is not defined 4 Anew position is created if the position a is not defined Sample program Movemaster command 10 HE 2 Sets the current coordinates and hand state to position 2 20PL 3 2 Replaces the coordinates of position 3 by position 2 30 ED Ends program 3 77 PMR Parameter Read Function Reads contents of parameter specified Input Format PMR parameter name Term lt Parameter name gt Specify parameter name Only parameter name defined is valid Defined order tor default Explanation 1 Outputs the specified parameter from RS 232C port The output format Parameter name contents 2 When you omitted parameter name a parameter defined next is output Parameters are defined in alphabetical order If the last parameter is read out only carriage return Hex 0D is output 3 When you specified the parameter that does not exist contents of next parameter specifying in alphabetical order is output Sample program BASIC 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 20 INPUT Parameter n
54. F do not rotate the roll axis more by more than its operation range 200 degrees If you rotate it more than its operation range and turn ON the servo there may be an encoder alarm 1 1 3 Installing the 1E VDO solenoid valve set 1 1 3 1 Installing the 1E VD01 1E VD02 solenoid valve set for the RV E2 RV E3J Fig 1 4 shows how to install the solenoid valve The installation method is as follows 1 Remove the two M3x6 screws in 2 andthe two M3x8 boltsin 3 and remove the shoulder cover B in 1 2 Install the solenoid valve by fastening it with the two attached M3x25 screws in 5 to the screw holes in 4 on the top of the plate of the main robot unit 3 Connect one of the two 6 pneumatic hoses in section A the one marked AIR IN to the quick coupling port P in 9 of the solenoid valve in 6 The primary air flow can now be supplied from the pneumatic port at the base 4 Connect the hose marked 1 to port A 7 on the primary solenoid valve 6 Connect the hose marked 2 to port B 8 on the primary solenoid valve 6 If you are using the double type valves 1E VDO2 you need to do the following Connect the hose marked 3 to port A 11 on the secondary solenoid valv 10 Connect the hose marked 4 to port B 12 on the secondary solenoid valv 10 5 Remove the plugs extending from the forearm which are connected to connectors GR1 to GR4 Connect the GR1 plug protrud
55. M MPC interpolation lt X coordinate lt Y coordinate lt Z coordinate gt lt A turning angle gt B turning angle C turning angle KR L A B gt L KN M O C 2 RV E3J RV E3JM MPC interpolation lt X coordinate Y coordinate gt lt Z coordinate lt A turning angle lt B turning angle L KR L KABI 0 0 Term lt Interpolation Specify the interpolation mode to the destination position 0 Jointinterpolation Default 1 Linear interpolation 2 Circular interpolation X Y Z coordinate Specify the location mm in XYZ coordinates of the robot 0 for default lt A B C turning angle gt Specify the turning angle around X A Y B Z C axesin XYZ coordinates degree of the robot 0 for default RV E2 RV E2M only lt A B turning angle gt Specify the turning angle around roll A pitch B axes in XYZ coordinates degree of the robot 0 for default RV E3J RV E3JM only lt R L gt Specify the structure flag of the robot Right or Left R Right Default L Left lt A B gt Specify the structure flag of the robot Above or Below A Above Default B Below lt N P gt Specify the structure flag of the robot Nonflip or Flip RV E2 RV E2M only N Non flip Defauit F Flip lt O C gt Specify open or close state of the hand 1 O Hand open Default C Hand close Explanation 1 The least incremen
56. M3x8 boltsin 3 andremove the shoulder cover B in 1 2 Unfastenthetwo M3x6 boltsin 11 holdingthe battery coverin 10 andremove the cover 3 Disconnect the hand s output connector which is stored in the battery cover 4 Install the solenoid valve by fastening it with the two attached M3x25 screws in 5 to the screw holes in 4 onthe top of the plate of the main robot unit 5 Connect one of the two 4 6 pneumatic hoses in section A the one marked AIR IN to the quick coupling port P in 9 of the solenoid valve in 6 The primary air flow can now be supplied from the pneumatic port at the base 6 Connect the hose marked 1 to port A 7 on the primary solenoid valve 6 Connect the hose marked 2 to port B 8 on the primary solenoid valve 6 If you are using the double type valves 1E VD02 you need to do the following Connect the hose marked 3 to portA 11 on the secondary solenoid valve 10 Connect the hose marked 4 to port B 12 on the secondary solenoid valve 10 7 Remove the plugs extending from the forearm which are connected to connectors GR1 to GR4 Connect the GR1 plug protruding from the primary solenoid valve 6 to the connector GR1 Connect the GR2 plug protruding from the primary solenoid valve 6 to the connector GR2 If you are using double type valves 1E VD02 Connect the GR3 plug protruding from the secondary solenoid valve 10 to the connector GR3 C
57. Moves to position 2 30 OG Moves to origin 40 ED Ends program 3 69 OPN Open Function Opens communication channel and specify input output device input Format OPN channel number device number Term Channel number Specify input output channel number 0S channel number lt 2 Device number Specify input output device number 1 Standard RS 232C 2 Standard RS 422 Explanation 1 The corresponding relation of the channel number and input output devices is specified and the channel is opened 2 Up to three channels can be opened simultaneousty However multiple channel numbers cannot be set in the same input output device number 3 The counter position and character string data can be read in with the INP command Sample program Movemaster command 100PN 1 1 The standard RS 232 C is opened Channel number 1 is assigned 20 INP 1 1 1 The position data is read from RS 232 C 30 INP 1 1 0 The counter data is read from RS 232 C 40 INP 1 1 2 The character string data is read from RS 232 C 3 70 OR Or Function ORs the specified data and the internal register data input Format OR operation data Term lt Operation data gt Specify the data to be operated 32768 operation data decimal 32767 8 8000 operation data hexadecimal amp 7FFF Explanation 1 Specify the data to be operated in decimal or hexadecimal
58. Moves to position 20 with hand closed 30 MO 30 0 Moves to position 30 with hand opened 3 49 MP Move Position Function Moves the tip of hand to a position whose coordinates position and angle have been specified Joint interpolation Input Format 1 RV E2 RV E2M MP lt X coordinate value lt Y coordinate value lt Z coordinate value lt A turn angle lt B turn angle Cturnangle KR L L A B N N 2 RV E3J RV E3JM MP X coordinate value e Y coordinate value lt Z coordinate value lt A turn angle B turn angle L KR L KAB Term lt X Y Z coordinate Specify the position in XYZ coordinates mm of the robot Zero for default lt A B C turning angle Specify the turning angle of roll and pitch joints in XYZ coordinates degree of the robot Zero for default RV E2 RV E2M only lt A B turning angle Specify the turning angle of roll and pitch joints in XYZ coordinates degree of the robot Zero for default RV E3J RV E3JM only lt R L gt Specify the structure flag of the robot Right or Left R Right Default L Left lt A B gt Specify the structure flag of the robot Above or Below A Above Default B Below lt N F gt Specify the structure flag of the robot Nonflip or Flip RV E2 RV E2M only N Nonflip Defauit F Flip 1 Explanation 1 The least increment of the coordinate value is 0 01 mm
59. THE EMERGENCY STOP STATE 1 Release up the EMG CANCEL switch Convex state 2 Set the ENBL DISABLE switch of the T B to the ENBL side 3 Push the ALARM RESET key of the T B CAUTION THE EMERGENCY SWITCH OF THE T B REMAINS DISABLED WHEN THE EMG CANCEL SWITCH IS PUSHED DOWN THE INITIATION OF THE PROGRAM FROM OTHER EQUIPMENT THAN T B IS EFFECTIVE WHEN THE ENBL DISABLE SWITCH IS SET TO THE DISABLE SIDE DN ENBL DISABLE switch EMG CANCEL switch ne Seas EXI ste eset ER E NOTE TO THE USER TO ASSURE SAFETY IN DESIGN AND CONSTRUCTION OF ROBOT SYSTEM READ SAFETY MANUAL FIRST NO PART OF THIS PRINT MAY BE REPRODUCED IN ANY FORM WITHOUT PERMISSION THIS PRINT IS SUBJECT TO CHANGE WITHOUT NOTICE ALTHOUGH WE HAVE DONE OUR UTMOST TO ENSURE THE ACCURACY OF THIS MANUAL IF YOU NOTICE ANY ERRORS PLEASE CONTACT US COPYRIGHT C 1994 MITSUBISHI ELECTRIC CORPORATION Introduction Thank you very much for purchasing a Mitsubishi Super E Series industrial robot This instruction manual explains items that are not covered in the User s manual such as how to install and handle optional equipment how to use the MOVEMASTER commands and what the commands are about Before you begin operating the robot make sure you read this manual thoroughly and do not attempt to operate it until you have completely understood all of the contents in this manual The written material
60. The same program call executes the program from line 10 to 30 then calls the subroutine of line 200 When the RT command is executed in the subroutine the program returns to the main program and continues from line 40 The program ends when the ED command is executed X Program can call other program from inside the program using GS command In the above example of Program to program call executes the program from line 20 to 50 then calls the program 30 Executes the program from line 40 to 100 and returns to the main program i e line 60 of program 20 The program ends when the ED command is executed Sample program Movemaster command 10 GS100 Carry out subroutine beginning with line number 100 90 ED Ends program 100 MO 11 Moves to position 11 110 MO 12 Moves to position 12 Subroutine 120 MO 13 Moves to position 13 130 RT Ends subroutine GT Go To Function Jumps to the specified line number unconditionally Input Format GT line number Term Line number gt Specify the line number to which the program jumps 1 line number 9999 Explanation 1 Causes the program to jump to the specified line number 2 If the specified line number does not exist alarm occurs at the time of GT execution Sample program Movemaster command 10 MO1 Moves to position 1 20 GT 100 Jumps to line 100 unconditionally 100 MO 12 Moves to position 12 110MO15 Mov
61. V E2 RV motor E2M the twist pitch 3 and roll For the RV E3J RV E3JM the pitch and 2 roll 3 Joint reduction Mitsubishi Etectric Waist shoulder 2 gear 4 Joint reduction Mitsubishi Electric Elbow 14 gear 5 Joint reduction Mitsubishi Electric For the RV E2 RV 2 gear E2M the twist and pitch For the RV E3J RV 1 E3JM the pitch 6 Joint reduction Mitsubishi Electric Wrist roll 1 gear Note Confirm the robot manutacturing No and contact the Mitsubishi Service Center 3 Controller consumable parts Table5 9 Controller consumable part list Num Supplier A ber Part name Mode type Note Manufacturer Location of use Quantity 1 Lithium AGBAT Mitsubishi Electric Controlter top of CPU 1 batteries card 4 Controller spare parts Table5 10 Controller spare parts list Num Supplier p ber Part name Model type Note Manufacturer Location of use Quantity 1 Fuse MF60NR 8A 05 Toyo Fuse Controller back side 1 inside fuse holder Y i a Q Chapter6 Appendix 6 1 Command list Position motion contro commands No Nomenclature Input Format Function Program Note Page 1 Change figure RV E2 Changes the pose of the yes 15 a 999 3 5 RV E2M robot at position a R means Right L means CF aL R L Left A B A means Above B LINA means Below N means Non flip F means Flip RV E3J Changes the pose of the yes 15 aS 999 3 5 RV E3JM robot at position a R means Right L means
62. V E3J RV E3JM 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the persona computer in BASIC 20 PRINT 1 WH Transmits the command WH 40 LINE INPUT 1 A Saves the received data to A 50 PRINT Current coordinates are A Displays the contents of A on the screen 60 END Ends RUN Run the program Current coordinates are 10 00 Displays the value of the current position 380 00 300 00 50 00 40 00 R A C 3 107 E E LS ll lO WT What Tool Function Reads the too length currently being established Using RS 232C Input Format Explanation 1 Causes the too length currently being established by the TL command to be output through the RS 232C port 2 The data is output in ASCI coded decimal The least output increment is 0 01 mm e g 105 07 is displayed for 105 07 mm 3 Because the terminator of the output data is carriage return Hex 0D itis necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer LINE INPUT statement is equivalent to this in BASIC 4 All robotic motions are based on the established too length If a wrong tool length has been defined the robot may interfere with a surrounding object When the tool length is unknown therefore check the tool length using the WT command before starting the robot Sample program BASIC 10 OPEN COM1 E83 AS 1 Ope
63. V E3J RV E3JM only lt R L gt Specify the structure flag of the robot Right or Left R Right default L Left lt A B gt Specify the structure flag of the robot Above or Below A Above Default B Below lt N F gt Specify the structure flag of the robot Nonflip or Flip RV E2 RV E2M only N Nonflip Default F Flip lt O C gt Specify open or close state of hand 1 O Hand 1 open C Hand 1 close Explanation 1 The least increment of the coordinate value is 0 01 mm or 0 01 degree e g specify 20 01 for 20 01 mm 2 Alarm does not occur even if the specified coordinates exceed the robot s operational space The PD command combined with the SF and the MA command can define the amount for moving 3 75 Sample program Movemaster command 1 RV E2 RV E2M 10PD 10 50 320 70 50 40 30 R A N O ES the location and angle of position 40MO 10 Moves to position 10 50 ED Ends program 1 RV E3J RV E3JM 10 PD 10 50 320 70 40 30 R A O apes the location and angle of position 40 MO 10 Moves to position 10 50 ED Ends program 3 76 PL Position Load Function Replaces position a by position b input Format PL position number a gt position number b gt Term Position number a gt Specify the position number Destination 1 lt position number a lt 999 Position number b gt Specify the position number Source 1 lt position number b S 999
64. a where the robot 1 0 0 0 1 0 Note 2 defined area outputs a signal 0 0 1 0 0 0 EX X Y Y 2 Z Unit mm ee ee A As Automatic ATP 1 string Sets program name to be No setting prograrn executed automatically when execution powered on Continue CTN 1 integer Sets whether the robot continues 0 Function to run from the last execution environment when powered on Execution step Program inner variable 1 0 status etc 0 Disable 1 Enable ON OFF of BZR 1 integer Sets ON OFF of buzzer sound 1 buzzer 0 OFF_1 ON Automatic SPI 1 integer Sets initial level ot automatic 12 operation operation speed speed External EOV 2realnumber Sets initial override of automatic 100 0 100 0 override operation External override Program override Unit Jog speed JGJ 3realnumber Sets jog and step operation speed 0 1 1 0 13 0 contro for joint interpolation mode Inching low speed high speed Unit deg JGP 3real number Sets jog and step operation speed 0 1 1 5 100 0 tor linear and circular interpolation mode Inching low speed high speed Unit mm mm s mm s Continuous CNT 1 integer Sets whether robot accelerates o motion and decelerates at taught position control when moving 0 Disable 1 Enable Accel and ADL 2realnumber Sets acceleration and 0 2 0 2 decel deceleration periods for reaching period to maximum speed Unit second Delay time TSR 1 real mumber Sets first order delay time 20 0 constant cons
65. added to the standard I O number 1 101 4 11 3 The second additional parallel 1 O interface Shown below is the pin assignment for the connector pin numbers of the second additional card and their functions Here is shown the distinction of the signal lines when you connect the optional external 1 O cables For details on the connector pin array and the external 1 0 cable refer to section 4 2 Option 22 23 in the Specifications Manual Table 4 9 Directory of assignments for pin numbers and signals for the second additional parallel I O interface Color of external Color of external VO cable Specialized VO cable General purpose power soutce common White black A 14 7 pin use 4 7 pin use Yellow black A Blue black A General purpose Green black A output 200 General purpose output 201 General purpose output 202 General purpose output 203 Orange black A Pink biack A Gray black A Red btack A Purple black A General purpose joutput 208 Al General purpose White black C output 209 General purpose output 210 General purpose output 211 Brown black A Brown black B White black D Yellow black C Yellow black D Blue black C Blue black D Green black C Green black D General purpose Orange black C output 200 Orange black D General purpose output 201 General purpose output 202 General purpose output 203 General purpose output
66. al 1 0 external I O ple BE Connection of ee a Connection of 3 Grounding extemal ple BE Op power ee a Note1 Two concentric circles 8 mean it s optional equipment an asterisk means that separate purchase is necessary Fig 4 1 External connections to controller 4 1 2 Interfacing with external I O equipment 1 Connection method The connections between the controller and external equipment are done by connecting the connector for I O interface card on the back of the controller to the external 1 O device with the optional external I O cable One parallel O interface card is standard equipment for the controller but by adding more you can have up to 3 You need to supply the input output cables and power source DC12 to 24V 2 The number of inputs outputs for the parallel 1 O interface Each interface card has a total of 20 inputs and 16 outputs as fixed points and it is possible to allot general purpose points as well as specific purpose points by setting the parameters for the various bits It is also possible to select functions for specialized I O from the following tables 4 5 and 4 6 so that you can have the best I O allotment for the given use Here shown below are the factory settings for the standard card the first one and the optional expansion cards 2nd and 3rd cards Table 4 1 Specifications for the standard parallel 1 O interface Type General purpose Specialized Notes 17 points it co
67. al computer 900 Tip OHO 1 When the personal computer transmits data to the robot depending on the personal computer the personal computer may ignore the ON OFF signal line for the CS or DR and transmit data continuously resulting in an error on the robot side In this case make an adjustment on the personal computer such as by using a timer to send data On the other hand when the robot transmits data to the personal computer the robot will ignore the ON OFF signal line of CS and ER on the personal computer and transmit data 2 When the RS 232C read command is used repeatedly at the program on the robot side if the processing speed of the personal computer is slow a communications error can result on the side of the personal computer Line buffer overflow error In this case use a timer or some other technique so that you can expand the execution interval of the RS 232C read commands 3 Th robot cannot receive new commands when it is executing direct commands such as when it moves by the MO command Transmit a new command only after it finishes a command completely By sending an ER command you can confirm the existence of an alarm and the fact that a transmission has been completed 4 If the wrong command is transmitted by the RS 232C while the program is in progress an alarm will be generated In this case reset the robot 4 3 5 The RS 232C connector cable l you are connecting the persona computer together
68. ame for the RV E2M and for the RV E3J RV E3JM Fig 4 7 Connections for wiring and piping 4 2 2 Example of tooling plan In regards to a tooling plan we ll explain a connection scheme involving the method of installing an external solenoid valve Here we ll explain using a single hand but even if you have a double hand the basic procedure is the same However if you have 3 hands everything will come under 2 Parallel I O controls and external piping for the robot 1 Method of installing a solenoid valve externally Using hand I O for control We ll show you an example of installing a solenoid valve for pneumatic hand control such as one that may be different from the optional solenoid valve and one that you may purchase separately yourself Here we ll show you the way to connect a hand I O to the hand output signal line In this case we ll use teaching to make it possible to open and close the hand Vacuum based solenoid valves ejectors and other similar units will have the same wiring Pneumatic hand Hand curl tube Cut spare wire and connect with the hand output cable Connect spare wires 0 2SQ x 4 to the solenoid valve Note This was written for the RV E2 robot The specifications are the same for th RV E2M and for the RV E3J RV E3JM Fig 4 8 Method of installing a solenoid valve externally Using hand I O for control A Caution If you want to use 2 or more solenoid valves put the air tu
69. ame is J Inputs the parameter name 30 PRINT 1 PMR CHR amp H22 JS5 CHR amp H22 Transmits the PMR command followed by the parameter name 40 LINE INPUT 1 A Saves the received data to A 50 PRINT AS Displays the contents of A 60 END Ends program RUN Run the program Parameter name is ADL Enter the parameter name ADL 0 20 0 20 Outputs the contents of ADL R 7R PMW Parameter Writing Function Renews the contenis of the specified parameter Input Format PMW lt parameter name gt lt parameter contents gt Term Parameter name Specify the parameter name changing contents Parameter contents Specify the contents that you want to change to Explanation 1 Outputs the contents of the specified parameter through the RS 232C port 2 When you specified the parameter that does not exist no operation is executed 3 For information on parameters see 6 2 Parameter List 4 The specified parameter becomes effective after having turned off and on the power supply Give attention that even if you have changed the contents of the parameter the old contents is still effective until the power supply is turned on again Sample program Movemaster command PMW ADL 0 40 0 40 Sets the contents of parameter ADL 0 40 0 40 3 79 PR Position Read Function Reads the coordinates of the specified position and the open clo
70. and designating an override Each are 4 bits All HL signal 1 bits have not been assigned at time of factory shipment Numerical output PO2 HL signal 2 Numerical output PO3 HL signal 3 Note 1 The definition of level is as follows HL High active level When a designated external condition exists the output signals will be ON Once the signals have been output until the designated condition changes their status will remain unchanged 4 g N 4 1 5 Connection table for parallel 1 O interface 1 Standard parallel 1 0 interface The table shown below contains assignment of the connector pin numbers of the standard card and their various functions Here is shown the distinction of the signal lines when you connect the optional external I O cables For details on the connector pin array and the external I O cable refer to section 4 2 Option 22 23 in the Specifications Manual Table 4 7 Directory of assignments for pin numbers and signals for the standard parallel I O interface Color of external Spe VO cable Specialized General purpose power source General purpose power source common common 26 White black B Color of external VO cable 27 y Yellow black B pin use 12V 24V 29 32 pin use General purpose General purpose output 100 output 104 General purpose General purpose output 101 Orange black A output 105
71. be outside the robot cover 2 Method of installing a solenoid valve externally using parallel I O interface for control Here we ll show you another method of installing a solenoid valve externally a method of installing the had output contro signal wire to the parallel I O interface in this case you will not be able to open and close the hand with the teaching box You should use the same wiring for a vacuum type solenoid valve ejector or similar unit Pneumatic hand Hand curl tube _ Solenoid valve r ACI E A Vises a External I O cable ni Controller Note This was written for the RV E2 robot The specifications are the same tor th RV E2M and for the RV E3J RV E3JM Parallel I O interface Fig 4 9 Method of installing a solenoid valve externafly Using parallel O to control A Caution If you want to use 2 or more solenoid valves put the air tube outside the robot cover 4 23 4 3 Connections to a personal computer RS 232C 4 3 1 Connector pin array for the RS 232C The relationship between signal names and pin numbers for the RS232C connector pins is shown below 13 RS 232C O Q 25 14 Fig 4 10 Pin array RS 232C Table 4 12 Pin numbers and signal names for the RS 232C Pin number Signal name Pin number Signal name Pin number Signal name 1 FG 10 N C 19 N C 2 SD TXD 11 N C 20 ER DTR 3 RD RXD 12 N C 2
72. bol installation screw name Qty Remarks a Socket bolt M3X8 nickel plated 27 b Truss screw M3X6 nickel plated 10 c Truss scrrew M3X8 nickel plated 8 Applies only to RV E2 d Socket bolt M3X6 nickel plated 2 RV E2M The product numbers and symbols used in Table 5 3 and Table 5 4 correspond to those used in Fig 5 3 1and Fig 5 3 2 D N To remove 14 Wrist cover S the wrist cover push it up using a screw driver 12 Wrist cover U A 13 Wrist cover L x 5 No 1 arm cover R Fig 5 3 1 How to disassembie the covers RV E2 RV E2M To remove the 14 Wrist cover S wrist cover push it up using a aa int re 4 3 8 E bow cover L si Ty ES 6 No 1 arm_cover L Fig 5 3 2 How to disassemble the covers RV E3J RV E3JM 5 9 5 3 3 Inspecting adjusting and replacing the timing belts The robot uses a timing belt to drive the pitch joint The timing belt is superior to gears or chains in that it requires no lubrication and makes little noise When tensile control or tension adjusting is unsuitable that could cause a shorter product life and generate noise We carry out an aging operation to remove initial elongation and we also adjust the belt tensile before shipment But tensile confirmation is necessary in the routine inspections because elongation occurs over a long period of time in some cases Replacing the timing belt is necessary in the following cases
73. by the NX command to be executed the specified number of times and causes the line number following NX to be subsequently executed 2 To incorporate another loop between RC and NX into the existing loop is called nesting Up to 9 nesting levels are possible Sample program Movemaster command 10MO 1 Moves to position 1 20RC 3 Repeats loop delimited by NX three times 30 MO 2 Moves to position 2 40MO 3 Moves to position 3 Loop 50MO 4 Moves to position 4 60 NX Delimits the loop 70MO 5 Moves to position 5 80 ED Ends program R RR RN X Run Function Executes the specified part of commands in a program Input Format RN start line number lt end line number program name Term lt Start line number Specify the line number beginning 1 lt start line number 9999 The top line for default End line number Specify the line number ending 1 Z end line number lt 9999 The last line or ED command line for default Program name gt Specify the program name Max 8 characters Possible letter used Digit 0 9 Character A Z Symbol etc Impossible letter used Special specification When you specified only numeric value the program name is handled for number Need to enclose program name with in the case of character used Explanation 1 Runs the program starting with the specified starting line and endin
74. coordinate lt Z coordinate gt lt A turning angle B turning angle gt L KR L E i A B E O C Term Speed Specify the interpolation speed to the destination position 0 speed 32767 Joint interpolation Linear interpolation mm s lt Timer gt Set timer at the destination position after the movement 0S timer S 255 lt Output ON gt Set the output signal that turns ON 0S output ON Hexadecimal S amp FFFF 1 Setting 0 Not setting Output OFF gt Set the output signal that turns OFF 0X output OFF Hexadecimal 8 FFFF 1 Setting 0 Not setting Input ON gt Set the input waiting signal that turns ON 0S inputON Hexadecimal lt amp FFFF 1 Setting O Not setting lt input OFF gt Set the input waiting signal that turns OFF 0 input OFF Hexadecimal lt amp FFFF 1 Setting 0 Not setting interpolation Specify the interpolation mode to the destination position Joint interpolation 0 Default Linear interpolation 1 Circular interpolation 2 lt X Y Z coordinate Specify the location mm in XYZ coordinates of the robot Zero for default lt A B C turning angle gt Specify the turning angle around X A Y B Z C axes in XYZ coordinates degree of the robot 0 for default RV E2 RV E2M only lt A B turning angle gt Specify the turning angle around roll A pitch B axes in XYZ coordinates degree of the robot 0 for default RV E3J RV E3JM only 3 51
75. cter string number data is transmitted from the personal computer in regard to the INP command Using RS 232 C Input Format PRN counter value position coordinates lt character string data Term Counter value Specify the counter value setting to a counter 32768 Counter value decimal S 32767 8 8000 Countervalue hexadecimal 8 7FFF Position coordinates Specify the coordinates value setting to a position Specify the following coordinates similar to the PD command See the PD command 1 RV E2 RV E2M X Y Z coordinates lt A B C turning angle R L gt lt A Bo lt N P lt D C gt 2 RV E3J RV E3JM X Y Z coordinates lt A B turning angle R L A B lt 0 C gt Character string data Specify the character string to be set 1 S Character string data 120 number of characters Usable characters numerals 0to9 alphabetic characters A to Z symbols etc Unusable characters Explanation 1 Transmits the setting value of counter the coordinates value of position or the character strings from the personal computer through the RS 232C port responding to the INP command in the program i 2 The robot becomes wait condition in the INP command till the date is transmitted from personal computer by executing the PRN command 3 You can execute the PRN command prior to the INP command during the execution of the program 4 When trans
76. ction i according to input signal Therefore an external PLC should start the program 1 then select the program 2 or 3 according to OK NG signal of the inspection sopera MAR l Program 1 defective A Defective ns Carries a resistor from feeding ea location to inspection apparatus Program 2 Picks up the resistor from inspection apparatus and puts it on the feeding out conveyor Program 3 Picks up the resistor from inspection apparatus and throws it into to a box 6 13 Closes hand Moves to step 1 Joint interpolation 100 Moves to step 2 Discharge of non defective resistor Moves to step 4 Linear interpolation 50mm s _ Binary digit 0 ON Completed 0 5 second timer Discharge of defective resistor Completed Fig 6 4 Flowchart Opens hand Moves to step 1 Moves to step 2 M Joint interpolation 100 Linear interpolation see EF i j 50mm Linear interpolation 0 5 second timer after 33 second timer moving Closes hand in step 2 Pee fas instep A 0 5 second timer in step 3 oves to step 4 Linear interpolation 50mm s Moves to step 5 Moves to step 61 Linear interpolation 50mm s Bit 1 ON after moving it 1 Moves to step 7 e Joint interpolation 100 Opens hand Wait for ON of input e Linear interpolation 50mm m s point int
77. ctory in this Data bit length 8 bits manual For the parameter Parity check Even parity changing methods refer to Stop bit lenoth 2bis section 2 6 Other functions Stop bit length lt i2 7 AAA under 11 Setting parameters New line code CR in this manual Set the above mentioned settings in your personal computer 4 3 4 Time charts for the various signa lines The standards for the RS 232C interface are essentially based on such items as electrical specifications connector types and pin numbers The way of using various signal lines and communications protocols are so varied depending on the type of equipment Accordingly even though you have made the correct signal lines connected to the personal computer you still may not be able to operate with it Accordingly in regards to making this connection you should develop a full understanding of the functions of the signal lines that you will use between the controller and the personal computer before you make the connections Please note that all data transmission between the controller and personal computer will be done in ASCII code 1 The timing of sending data transmissions from the personal computer to the robot Robot side ER DTR and RS RTS should both be at the H level and be waiting for data input When the end code is input ER DTR and RS RTS both change to level L and execute the command received Once the command has been ex
78. d by position 10 20 30 by circular interpolation 40MS 3 Moves to position 3 by linear interpolation 50 ED Ends program MR 10 20 30 Position 1 Position 20 MO 1 de Position 10 da 3 Current position P tens 3 Position 30 3 55 MRA Move R A Function Moves to the specified position in circular interpolation Input Format MRA position number lt O C gt Term Position number Specify the destination position 1 position number 999 lt 0 C gt Specify open or close state of the hand If omitted the hand state of the position is valid O Hand open C Hand close Explanation 1 Moves the tip of hand on the arc which is defined by the former and the latter positions of the MRA commands The tip of hand is decided by the tool length currently established 2 If the open or close state of the hand has been specified the robot moves after executing the hand control 3 Alarm takes place if the specified position has not been predefined 4 If the MRA command does not continue more than three it becomes similar to the MC command The following command however can be executed between the MRA command SD SP TI OVR OB OC OD GC GO 5 If the execution of the MRA command is interrupted and the tip of hand is kept away from the stopping position by JOG operation the robot moves when restarted to the stopping position by linear interpolation then moves the remaining arc
79. da 3 80 PRN APTO bDis occitano 3 82 PAP O a dit 3 83 PW Pulse Wa A ta ii Lidia 3 85 PX Position Exchange seccion te eae ides 3 86 QN Question Number RC Repeat Cycle RN X Run RS X Reset RT Return isc A ia SC Set Counter SD Speed Define SAS a ee SM tf Smaller SP Spee tii A AA ia 3 99 STRAK Step Head ii A tad 3 101 TB Test Bit PT tae EE on ern cee E er 3 102 TBD Test Bit Direct is Shia tack penance hand cea eee 3 103 Tl Timer TE ROOM ii iio VR Version Read WH Where enen eatin iia aaeei e A i E E E ENET WT What TOON RA EEE EE EE EEE EEEE RETEA E XO Exclusive Or Comment Chapter 4 Design and EngineerinQ ooconconcoccnccoccononconecrnccaconenconanos 4 1 4 1 External connections to controller ooconoonioninononm om we 4 1 4 1 1 Specifications for external connections to controller ocnconconnnnocnnonono 4 1 4 1 2 Interfacing with external l O equipMent cooocccincconaconionocnononconannracna nono ncanoos 4 3 4 1 3 Assignment of specialized I O signals for parallel 1 O interfaces 4 3 4 1 4 Commands and functions that can be written to parameters ee 4 4 4 1 5 Connection table for parallel 1 0 interface oo eeseeceeeeeeeeeeteeeeteteeeaees 4 8 4 1 6 Precautions for connections with external devices eeeeeeeeeeeeeeeeee 4 13 4 1 7 Timing chart for external operations eee eee eeeeeeeeeeeeteereeteet
80. diagram Figure 6 11 shows brief description of motion Limit switch Position 1 Less than 50 mm Workpiece Fig 6 11 interrupt motion 7 Operation flow Figure 6 12 shows the fiow of operation I I i Initial speed setting Interrupt enable Moves to position 1 Moves to Z direction by 50 mm YES Disables interrupt Grasps the workpiece One cycle completed Fig 6 12 Flowchart 6 4 3 Application of palletizing 1 Work description The robot picks up a workpiece from a feeding pallet and places it on an inspection equipment After inspection the robot picks up and places it in another pallet This program assumes that the shapes of the two paliets are different 2 Defined position Position No Position description Teaching way Position 1 Palette 1 setting position Defined by PT command Position 2 Palette 2 setting position Position 10 Palette 1 reference position Position 11 Palette 1 column terminating position Position 12 Palette 1 row terminating position Palette 1 corner position opposite to Position 13 vatelence Position 20 Palette 2 reference position By actual teaching Position 21 Palette 2 column terminating position Position 22 Palette 2 row terminating position Palette 2 corner position opposite to Position 23 reference Position 30 Test equipment set position Position 50 Distance of travel from pallets 3 Defined counter Coun
81. ds the same code as the receiving code from the external equipment The default setting is CR 6 3 Sample program 1 Teaching playback system This section explains the teaching method by illustrating an example of what kind of jobs the robot could do with the teaching playback system We recommend you to draw up programming sheets as described later in order to make your program clear and understandable Table 6 1 Programming step Na Item 1 Work plan 2 Cord ng 3 Teaching Check Modify Operation description 1 Define the total work and describe the WORK NAME 2 If there is conditional branching divide the above work into several programs Then make entry of program number and program name 3 Furthermore divide the above program into series of independent operation Then make entry of each operation and its work positions 4 Check the above sequence again 1 Describe condition data corresponding to each step Interpolation mode speed timer signa output signal input 2 Make entry of temporary number of step See 2 Operation of this manual and User s Manual and complete the program gradually Then check and modify the program if necessary 6 3 1 Pick amp place operation 1 Work description The robot picks up a workpiece on a conveyor with a hand Then the robot places it on a turn table 2 Signal 1 O VO Description Bit Conveyer in position Bit 1 Input
82. during teaching must be set at the beginning of the program Sample program Movemaster command 10 TL 120 Sets the tool length to 120 mm 20HE 1 Define the current position to position 1 30 TL 100 Changes the tool length to 100 mm 40 MO 1 Moves to position 1 advancing 20 mm in the tool direction 50 ED Ends program 3 105 VR Version Read Function Reads the software version of the system ROM Using RS 232C Input Format Explanation 1 Outputs the software version of the system ROM mounted in the controller through the RS 232C port 2 The output format is ASCII coded Example RV E2 Ver A1 The denotation of the software version is the following a onl Version of software Type of robot arm 3 Because the terminator of the output data is carriage return Hex 0D itis necessary to handle serial data strings up to hexadecimal OD in receiving a message by a personal computer LINE INPUT statement is equivalent to this in BASIC Sample program BASIC 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 20 PRINT 1 VR Transmits the VR command 30 LINE INPUT 1 A Saves the received data to A 50 PRINT Software versionis AS Displays the data on the screen 60 END Ends program RUN Run the program Software versionis RV E2 Ver A1 Outputs the version name WH Where Func
83. e blank Thus the details of the character string number can be deleted 3 Operation comparison and reading of the character string are possible with the related commands Refer to the CP CR CL EQ NE LG SM INP commands 4 The value of the set character string will not change even if the RS NW or ED command is executed The value will be held by the battery even when the power is turned OFF Sample program Movemaster command Ra 10SC 20 IC 30 CP 40 DR 50 SC 60 CP 70 EQ 100 ED 21 10 Set value 10 to counter 21 21 Add 1 to counter 21 21 Set value of counter 21 to the internal register Outputs the value of the internal register through RS 232C port 5 OK Set character string OK in character string number 5 5 Set details of character string number 5 in the character string register 10 200 Jumps to line 200 if the data equals character string number 10 Ends program 3 93 SD Speed Define Function Defines the moving velocity first order time constant acceleration deceleration time and continuous path setting input Format SD moving speed first order time constant acceleration time deceleration time gt CNT setting gt Term Moving speed Set moving speed at linear or circular interpolation 0 01 amp moving speed 650 00 mm sec First order time constant 1 first order time constant 300 millisecond
84. e controller For details about connections refer to the Specifications manual or the instruction manuals User s Manual and Reference Manual The topics can be found as follows 1 Machine cable connections sw Instruction manual User s Manual Chapter 3 section 3 4 2 Power cable connections waa Instruction manual User s Manual Chapter 3 section 3 5 3 Ground is Instruction manual User s Manual Chapter 3 section 3 6 4 installing the teaching box mesa Instruction manual User s Manual Chapter 3 section 3 7 5 External emergency stop connections Specifications Manual Chapter 6 section 6 1 6 Personal computer connections Instruction manual Reference Manual Chapter 4 section 4 3 7 External I O connections saan Instruction manual Reference Manual Chapter 4 section 4 1 The numbers 1 to 8 inthe graph correspond to the numbers in the previous pages 4 installation of teaching box Solenoid valve set 0D Personal computer 1 Connection of machine cable ersonal computer cable 5m for standard Special specifications 15m 3m Flexible cable is available ontroller purchase Less than 15m required 7 More than 0 3m Separate More than Separate purchase required purchase 2mm More than 2m 8 External 1 0 cable required Single phase Sm E 200V A t External I O iSatety tence vA 7 Connection of external 1 0 7 Connection of extern
85. e is negative the tip of hand retracts in the tool direction 3 If the open or close state of the hand has been specified the robot moves after executing the hand control 4 Alarm occurs when the MT command is executed if the specified position has not been predefined or if the destination exceeds the robot s operational space Sample program Movemaster command 10 MTS 1 100 0 Moves to the point away from the position 1 by 100 mm with hand opened Moves straight 20 MS 1 Moves to position 1 30 MTS 1 100 C Moves to the point away from the position 1 by 100 mm with hand closed Moves straight a ooo e Current position MTS 1 100 0 100mm MTS 1 100 C MS 1 Position 1 3 59 N lt Number Function Select the specified program Input Format N program name gt Term lt Program name gt Specify the robot program name Less than 8 characters Possible letter used Digit 0 9 Character A Z Symbol etc Impossible letter used 4 5 XI Special specification When you specified only numeric value is handled for number Need to enclose program name with in the case of character used Explanation 1 Select the specified program The program selected here becomes an object of the implementation modification and operation The program selected once remains till other program number is selected afresh Even if the power turns OFF the program number rema
86. ead and change operation refer to section 2 6 Other Functions 11 Setting the parameters in this Manual gt gt Table 4 5 Input command names and functions Name Command Function Level Start Note 3 STA Executes a program and starts the robot PE Stop Note 2 STP Interrupts a program and stops the robot HL Program reset Note 3 RST Resets the interrupted status The alarm status is also PE reset at the same time If the servo power is OFF itis turned ON Alarm reset Note 3 ERS Resets alarms but does not reset the program PE 1f the servo power is OFF it does not turn it ON Servo ON OFF Note 3 SVO Tums servo ON OFF When the signa is ON the servo PE can be switched ON OFF The brake works synchronously Brake ON OFF Note 3 BRK Controls brakes when servo is OFF HL The brakes are disengaged when the signal is ON Be careful of the falling arm Continuous cycle Note 3 CYC Changes the continuous cycle operation mode PE It toggles when the signal is ON Manual control TMD Controls the maximum speed during program execution PE mode to set speed of the parameters JGJ JGP for the designated jog Enable Note 3 ORQ Toggles between enable disable for the control ot PE requirement external signa control it toggles when the signal is ON When enabled start up and resetting operations will not be possible General output Note 3 ORS Tums OFF all general purpose output si
87. eared 2 In order for the PT command to be executed the pallet positions grid points at four corners of the pallet must be properly defined which identify a particular pallet and the pallet counters column and row be properly set that specify a particular grid point on the pallet If the pallet positions and pallet counters are properly defined therefore execution of the PT command allows the coordinates of a grid point to be defined as the position number equivaient to the pallet number The following is a listing of a combination of pallet positions and counters corresponding to each pallet number Pallet number 1 2 3 4 5 6 7 8 9 Pallet reference position 10 20 30 40 50 60 70 80 90 Pallet column terminating position 11 21 31 41 51 61 71 81 91 Pallet row terminating position 12 22 32 42 52 62 72 82 92 Pallet corner position opposite to reference 43 23 33 43 53 63 73 83 93 Pallet column counter 41 21 31 41 51 61 71 81 91 Pallet row counter 12 22 32 42 52 62 72 82 92 Pallet grid position 1 2 3 4 5 6 7 8 9 3 Alarm occurs if the pallet position have not been defined and the pallet counters have not been set or have been set to have values exceeding those defined by the PA command Alarm does not occur however even when the coordinates obtained for the grid point exceed the robot s operational space 4 The open or ciose state of the hand at the target grid point is the same as that in the pallet reference p
88. ecuted both ER DTR and RS RTS return to level H The end code is hexadecimal OD CR carriage return and or hexadecimal OD OA LF line feed Personal computer side When DR DSR is at level H you can transmit characters When DR DSR is at level L if you transmit characters an error will result on the robot side Robot side Personal computer side ER DTR DR DSR 2 RS RTS CS CTS Length of co co input of CR or CR LF Fig 4 11 Timing of data transmissions from personal computer and robot 4 25 2 Time of data transmissions from the robot to the personal computer lt Robot side After changing ER DTR to level H you can begin to send data transmissions and when the end code is transmitted ER DTR s level is changed back to level L You can set the end code at parameter CMO Refer to section 6 2 Parameter directory in this manual Personal computer side The request signal is sent after the ER DTR and RS RTS are both at level H and the personal computer waits for a transmission from the robot side Robot side Personal computer side ER DTR DR DSR RS RTS CS CTS 1 Output of first f Output of second character character DR DSR ER DTR te s s eenseseeecsercesetsenescnectsnesesee Benes CS CTS RS RTS i Fig 4 12 Timing of data transmission from robot to person
89. ed Remedy Define the pallet before execution 3900 Cause Device is not valid yet Remedy Make the device valid 3910 Cause Upper ranked device of priority is already valid Remedy Make the upper ranked device invalid 4501 4506 Cause Joint angle exceeds the limit Remedy Move the joint into the movable range with joint jog mode If the Note error occurs during program operation modify the position data The lowest digit means joint number 4511 4516 Cause Orthogonal position exceeds the limit Remedy Move the joint into the movable range with joint jog mode If the Note error occurs during program operation modify the position data The lowest digit means joint number 4521 4526 Cause User defined area exceeds the limit Remedy Move the joint into the movable range with joint jog mode If the Note error occurs during program operation modify the position data The lowest digit means joint number 4531 4536 Cause Robot arm comes into contact with the floor Remedy Move the joint into the movable range with joint jog mode If the Note error occurs during program operation modify the position data The lowest digit means joint number 4541 4546 Cause Robot arm comes into contact with the robot itself Remedy Move the joint into the movable range with joint jog mode If the Note error occurs during program operation modify the position data The lowest digit means joint number D A
90. eeteceeeteaes 4 17 42 TOOLING ON 4 20 4 2 1 Specifications for tooling CONNECTIONS oonioniconnonnccinocarconanonannnnancanconcncnncnnos 4 20 4 2 2 Example of tooling plan 4 3 Connections to a personal computer RS 232C 4 3 1 Connector pin array for the RS 232C ooo cece ceeeeree tanec caseerseseeeneesees 4 24 4 3 2 Function of each signal cable 4 3 3 Setting the RS 232C 4 3 4 Time charts for the various signal liNesS oooonnocincicinnnccinnnornnnnccnacannananianan 4 25 4 3 5 The RS 232C connector Cable ooococcoccocnicicononnconncnonacaconananrornnanarocnon rana nancnon 4 26 4 3 6 Example of a connection to a personal computer with the RS 232C 4 27 Chapter 5 Maintenance and inspection 00 0 eee eee e ee ee ee nen ee 5 1 5 1 MaintenanCe periodi odie a iii 5 1 5 2 Inspection items 5 2 5 2 1 Daily inspection items issnin ardina a 5 2 5 2 2 Periodic inspection san a E e EEEN aaa lia ci ia 5 3 5 3 Maintenance and inspection procedures cccocococonococononcoconaccononcaranoncnonorarccananna 5 4 5 3 1 Structure of the main robot UNit1O oococonconcononocacocinncanenononnnnnononaoarnnaon non canos 5 4 5 3 2 Installation removal Of COVER cooccoccocococonococonocoonoonononononcnrnonnnnnnennna one nnnnnn rra nino 5 7 5 3 3 Inspecting adjusting and replacing the timing belts eee 5 10 3 4 Grease charge ivi ii D213 5 3 5 Replacing the backup battery ooocociciococicccooocononcoonocncnonononcncononon
91. eleration time remain valid until new values are set The default values are SP 12 H The most recent acceleration deceleration time remains valid when it is not specified 7 By enabling the CNT setting the robot moves continuously without acceleration and deceleration until the SD or SP command disables the CNT setting Path motion However the robot accelerates and decelerates at a starting and ata stopping point as well as when a timer or a input command is executed during the path motion Sample program Movemaster command 10SP 8 Sets the moving speed to 8 20MO 5 Moves to position 5 by joint interpolation 30SP 10 Sets the moving speed to 10 40MS 7 Moves to position 7 by linear interpolation 50 ED Ends program 3 99 The relation between the speed level and the moving speed Notice The robot moves in reference to the position angular speed in the case of n v ojo Njoj aja vf Nj fo ala j o 13 14 15 2 1nn Linear speed mm g the amount RV E2 RV E2M A B C turning angle RV E3J RV E3JM A B turning angle 2 the amount X Y Z distance in linear and circular interpolation The angular speed in degree second is equivalent to the distance speed in mm second divided by the value 2 12 is the initial value when the power is turned on Joint interpolation Linear interpolation sp Joint interpolation Linear interpolation 2 mm second mm second 0 1 0 2 16 19 0 123 7 0 4
92. eneral purpose output 116 General purpose 24 Green redA output 118 General purpose General purpose output 117 output 119 Orange red A A R ti af O V ErcuudDY tiji Soma The assignment of the connections to the parallel 1 O interface board is shown in Fig 4 2 2E 3110 DC12V 24V DC12V 24V General purpose output General purpose output 1 General purpose output 2 Purpose output 6 General purpose output 3 eneral purpose output 7 DC12V 24V z zig DC12V 24V purpose input 8 purpose input 9 purpose input 10 ral purpose input 11 purpose input 12 neral purpose input 13 General purpose input 14 General purpose input 15 DC12V 24Y General purpose input 18 9 i i Note 1 You need to supply your own power source DC12V 24V Standard Expansion The I O number for the first addition is 100 added to the 1 101 standard 1 O number e The I O number for the second addition is 200 added to 1 gt 201 the standard I O number Fig 4 2 Connection scheme for parallel 1 O interface board U S A Japan 4 9 The assignment of the connections to the parallel I O interface board is shown in Fig 4 2E 2E 3110E DC12V 24V FG DC12V 24V General purpose output 0 General purpose output 1 General purpose output 2 General purpose output 3 DC12V 24V General purpose output 4 General purpo
93. eration deceleration Max 0 4 second lt CNT setting Specify the enable disable state of the continuous path mode 0 Disable 1 Enable Explanation 1 Sets the operating speed in 31 steps and acceleration deceleration time upon start and stop in 2 levels 2 The speed level is predetermined as a ratio to the maximum rpm of each joint for joint interpolation and as a ratio to the maximum speed of the tip of hand 650 mm second for linear interpolation 3 The acceleration deceleration time may be selected from among H or L The acceleration time is the maximum time for the robot to reach to the maximum speed Therefore when the moving speed does not reach to the maximum speed the actual acceleration time becomes smaller than the specified value 4 The acceleration deceleration distance required for movement is predetermined according to the specified speed and the set speed may not be reached if the distance of travel is small 5 For linear interpolation the tip of hand determined by the tool command is moved at constant speed In this case alarm may result from any of the joints exceeding its maximum speed if the motion of the position angle RV E2 RV E2M A B C angle RV E3J RV E3JM A B angle is greater than the motion of the distance X Y Z the robot moves in reference to the position angular speed The SD command allows the speed to be defined in smaller increments 6 Once set the speed and acceleration dec
94. erpolation 100 Bit 1 OFF 3 second timer 2 Combination of command m hing pla eth The combination of command method and teaching playback method enables conditional selection of programs without PLC In this case the robot requires OK NG signal from inspection apparatus to sort out registors lt Program 10 gt An example of command program 10 MAIN PROGRAM Means the main program that controls the total flow 20 GS 1 Calls the teaching playback program 1 Setting of resistor 30 ID Inputs signal from the inspection apparatus 40 TB 2 100 If it is OK jumps to the line 100 50 TB 3 200 If it is NG jumps to the line 200 60 GT 30 Otherwise jumps to the line 30 100GS 2 Calls the teaching playback program 2 Feeding out non defective resistors 110ED ne END of program 200GS 83 mo Calls the teaching playback program 3 Throwing the defective registor 210ED eee END of program Note The first parameter of GS command should be vacant in this example 6 Program seat Work name Test of resistor j Program name Setting of resistor Program number 1 Step Work position Work description tnterpolat Speed Timer Hand Signa Signal number ion Open output input Close 1 The position above conveyor Joint 100 0 Open bit 0 Robot waits for the resistor to Wait ON come 2 Resistor chucking position Robot Linear 50mm s 0 3sec Close moves down and grasps the resistor 3
95. es from the position a1 yes 1 alal 999 3 47 continuous O C tothe position a2 with jAi a2 99 linear interpolation O means opening a hand C means closing a hand 12 Move joint RV E2 Turns the joint by the yes Joint interpolation 3 48 RV E2M specified angle from the MJ w s e current position tipli RV E3J Turns the joint by the yes Joint interpolation 3 48 RV E3JM_ specified angle from the MJ w fs e current position plir 14 Move MO a a2 Moves to the position a yes Joint interpolation 3 49 A eeeeeaaaaaaaaa 6 1 Position motion control commands Na Nomenclature Input Format Function Program Note Page 14 Move position RV E2 Moves to the position yes Joint interpoiation 3 50 RV E2M x y z a b c R means Right L means MP x y z Left fal b fc A means A bove B R C means Below E A B N means Non Flip F LIN FID means Flip RV E3J Moves to the position yes Joint interpolation 3 50 RV E3JM x y 2 a b R means Right L means MP x fy 2 Left a b A means Above B LIR L means Below Aen 15 Move play back RV E2 Moves to the specified yes b 332767 3 51 RV E2M position with the speed d 0 0S e 3255 oS J MPB dl e timer e output state fXg f g h i S amp 7FFF fig input state hXi interpolation O joint 1 linear 2 arc h i mode j R Right L Left LO A Above B Below Ax Ly 2 N Non Fl
96. es to position 15 3 33 HE Here Function Defines the current coordinates as the specified position input Format HE position number Term Position number Specify the position number to be registered 0 amp position number 999 Registers the current position to the user defined origin in case of zero Explanation 1 The coordinates of the current position are calculated on the basis of the currently set tool length see the TL command in the initial condition the tool length is 123 mm a point away from the hand mounting surface toward the end of the hand 2 If a single number is assigned to two different positions the one defined last takes precedence with the former cleared 3 The open close position of the hand and the structure flag data are also stored as the position data 4 Alarm occurs if the HE command is executed before the origin setting 5 When you specified zero position number current position data in joint coordinates are defined to user defined origin parameter UOG In this case you must change the permission parameter HOE to permit the origin setting at first After that return the permission parameter to the former value Does not permit the setting The above operation is effective only by direct command execution Sample program Movemaster command 10MO 10 Moves to position 10 20 DW 10 0 0 Moves to X direction by 10 mm 30 HE 11 Defines above locatio
97. esenessesecesesssssssssesssssescscstaseseseterseseneeseeses ID input Direct ici iia INP Input i iP Increment Position JRG Joint roll CHANGE na n a a LG If Larger LR X Line Read MA Move Approach cuicos MC Move Continuous MJ Move Joint acct teehee tet n be ad iain a inate ate MO Move MP Move POSITION n cesses cee dida MPB Move Playback MPC Move Playback Continuous 00 0 cece eeeceecssesecssesccesecsesenseereeneescncneeeneecnseasees 3 53 MR Move Rhein A iii 3 54 MRA MOVER A siii a teal a 3 56 MS Move Straight comi lic 3 57 MT Move Tool coi ii 3 58 MTS Move Tool Straight nA ia raian ae S AANE 3 59 NS NUMBER EN E E A 3 60 NE Not EQUAI vi iocioociniconsasinrnetarasncsnio con eae Se naes Erea cas 3 61 NT Nesine eneon teeta ld NW X New INK oc NOXE oscila itinerario ind ES OB Output Bilson r E apei a EEA iaiia Did OC Output Counter OD OutpUt Direct ess iii A ia OG Origin nee TR A A OR ART de ONG REA OPN OPO siii a E E Eae eaa aces a OR On A NN OVR Override iz 2 A a a estan hss PA Pallet ASSIM ii orotic ein Gets tibetan da ety PC Position Clear oco iii 3 74 PD Position Define PL Position Load PMR Parameter Read Noia 3 78 PMW Parameter Writing 0 0 ee cece csseceersseseecssecaeeeeeseeeeesecneneneesaeescseseessuensenaes 3 79 PR Position REA seann aoia aaa aa eA aerae EE EEEa E E
98. et grid points of row of pallet 1 lt number of row grid points 32767 Explanation 1 The PA command must be executed before the pallet calculation command see the PT command is executed 2 The number of grid points is equivalent to that of the actual workpieces arranged on the pailet For example with a pallet holding 15 workpieces 3 X 5 the numbers of column and row grid points are 3 and 5 respectively 3 The column and row directions are decided by the directions of the terminating Positions respectively See the PT command Sample program Movemaster command 10PA 5 20 30 Defines the pallet 5 as the pallet holding 20 X 30 grid points 20SC 51 15 Sets value 15 to counter 51 column points 30 SC 52 25 Sets value 25 to counter 52 row points i 40 PT 5 Sets the calculated coordinates value of grid point to position 5 50MO 5 Moves to position 5 The grid position 60 ED Ends program PC X Position Clear Function Clears the data of the specified position s Input Format PC position number a gt position number b gt Term Position number Specify position number deleting 1 lt position number a b 999 Position number a position number b Explanation 1 Deletes all position data between positions a and b Position b included 2 If the position number a is greater than the position number b alarm occur Sample p
99. et the moving speed lower if you need high accuracy 3 The open or close state of the hand does not change before and after the movement 4 If the starting position a is different from the current position the robot moves to the starting position by linear interpolation 5 If the circular interpolation is interrupted by the stop signal and restarted by the start signal the robot moves the remaining arc If the tip of hand is kept away from the stopping position by JOG operation in the above case the robot moves to the stopping position by joint interpolation then moves the remaining arc 6 Alarm takes place if the specified position has not been predefined or exceeds the robot s operational space The robot moves by linear interpolation if three positions la b and c are located on a straight line or if two of three positions are the same 7 If the moving direction of each joint changes greatly at the beginning of circular interpolation alarm may occur Set speed lower or set timer at the beginning in this case 8 The drawing direction and the locus of the arc depend on the order of the specified Positions In the case of MR 1 3 5 gt Position 3 Position 1 Position 5 Position 1 Position 5 Position 3 Example 1 Example 2 3 54 Sample program Movemaster command 10SP 8 Set speed to 8 20 MO 1 Moves to position 1 30 MR 10 20 30 Moves to position 10 by linear interpolation Moves the arc determine
100. etracts in the tool direction 3 If the open or close state of the hand has been specified the robot moves after executing the hand control 4 Alarm occurs when the MT command is executed if the specified position has not been predefined or if the destination exceeds the robot s operational space Sample program Movemaster command 10 MT 1 100 Moves to the point away from the position 1 by 100 mm 20MS 1 Moves to position 1 30 MT 1 100 Moves to the point away from the position 1 by 100 mm x Current position MT 1 100 MS 1 MT 1 100 100mm Position 1 RAR MTS Move Tool Straight Function Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction Linear interpolation Input Format MTS position number dravel distances O Co Term Position number Specify the destination position number in integer value 1 lt position number 999 lt Travel distance Specify the distance in tool direction from the specified position to the destination point Zero for default 3276 80 travel distance 3276 70 lt 0 C gt Specify open or close state of the hand If omitted the hand state of the position is valid O Hand open C Hand close Explanation 1 The least increment of the distance is 0 01 mm 2 When the distance is positive the tip of hand advances in the tool direction When the distanc
101. f the bit 1 Waits for condition in step 5 Waits for ON of input bit 3 y YES Linear interpolation 30mm s 0 5 second timer after moving Moves to step 6 Opens hand in step 6 0 4 second timer in step 7 Linear interpolation 100mm s After moving turns on the bit 3 for turn table starting Joint interpolation 100 After moving turns off the bit 3 Repeat Fig 6 2 Flowchart 6 11 6 Programming sheet Work name Pick and place Program name Pick and place Program number 2 Step Operation position Interpo Speed Timer Hand Signal Signal number Operation description lation Open output input Close 4 Waiting point above conveyer Joint 10 0 Open bit 1 Robot waits for a workpiece Wait ON coming 2 Waiting point above conveyer Linear 100mm s 05sec Ciose ba Robot waits for a workpiece coming 3 The same position Condition step pi 0 3sec Close es Robot waits for the hand closed 4 The position above conveyer Linear 60mm s 0 Close bit 1 Robot picks up the workpiece ON 5 The position above turn table Joint 50 0 Close bit 1 bit3 Robot waits for the turn table in OFF Wait ON position 6 The position on the turn table Linear 30mm s 05sec Open Robot moves down and releases the workpiece 7 The same position Condition step 0 4sec Open Robot waits for the hand opened 8 The position abo
102. fuse 3 Check voltage of power source Robot does not 1 Check command 2 Check cable 3 Check emergency stop switch 4 Check movable range 5 Check collision between the robot arm and mechanical stopper or external machines 6 Check motor power cable Trouble shooting 1 Connect it surely 2 Change fuse Reference manual 5 3 6 explains how to replace it 3 Supply power source with correct voltage 1 Check command name and format 2 Connect cable surely 3 Reset emergency stop switch 4 Move the robot into the movable range 5 Move the robot to avoid collision 6 Connect cable surely 7 Check an external stop 7 Reset stop emergency switch emergency stop 1 Check if the Enable Disable switch into Enable 2 Check command 3 Check computer connection cable 4 ls program stopping command 2 Check grease of hand 1 Check air supply 2 Is solenoid valve compatible 1 Set Enable Disable switch to Disable 2 Check command name and format 3 Connect cable surely 4 Push the reset button to reset program Hand dose not 1 Check parameter of GP 1 Set parameter to a suitable value 2 Charge grease to gears Contact our service division 1 Supply air 2 Use a compatible solenoid valve gt a D A trouble It stopped during operation Positioning of accuracy slips off repeatedly Abnormal sound develops V
103. g with the line one ahead the specified ending line 2 Ifthe program is to continue restart with the ending line 3 If the teaching box is connected the line number being executed is shown on its display 4 You can select the program by appointing the lt program name In this case the specified program becomes the target program and the program starts from the specified line 5 If you describe the RN command with line number in a program no operation is executed 6 When the RN command is executed the contents of the counter remain intact not initialized 7 The following name is identified as the same An example Handled as the same 1 01 001 00000001 Only numeric value Handled as not the same 1 1A A0_ 001 includes characters 8 The letters that controller can indicate to the LED are 0 9 A Z simplified Sampie program BASIC 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 20 PRINT 1 RN 100 2 Executes the program 2 from line 100 30 END Ends program 3 89 RS X Reset Function Resets the program and error condition Input Format RS reset number Term Reset number Specify the contents of reset Reset contents 0 Cancels alarm and resets program Default 1 Makes all counters undefined condition 2 Resets the battery timer 3 Deletes all programs and all positions The same as the NW com
104. ged compared or read by the relevant command See SC DC CP CR CL AN OR XO commands Sample program Movemaster command 10SC 21 15 Sets value 15 to counter 21 201C 21 Add 1 to the contents of counter 21 3 37 ID Input Direct Function Fetches data unconditionally from the external input and hand check input Input Format ID lt input bit number Term lt input bit number Specify the bit number of input port in integer value Fetches data of 16 bits width including the specified bit O lt input bit number lt 32767 0 for default Explanation 1 Fetches signals from the external equipment e g programmable controller unconditionally The data from the hand check input can be fetched by specifying the 900th number to the input bit number 2 The fetched data is loaded into the internal register and is subsequently used for comparison bit test etc See EQ NE LG SM TB commands Sample program Movemaster command 100 ID Fetches the input data into the internal resister for omparison 110 EQ 100 130 If the input data equals 100 then jumps to line number 130 120 ED Else ends program 130 MO 1 Moves to position 1 140 ID 100 Fetches the input data into the internal resister for comparison Input signals 100 to 115 150 TB 0 180 If the input bit 100 is ON then jumps to line 180 gt 160 TB 5 200 If the input bit 105 is ON then jumps to line 20
105. git 0 9 Character A Z Symbol etc Impossible letter used 47 Special specification When you specified only numeric value the program name is handled as number Need to enclose program name with in the case of character used Explanation 1 Allows the program to jump to the specified line of the specified program and execute subroutine The program returns to the main program after executing the subroutine When you specified program number returns to the main program by ED command and when you specified only line number returns by RT command 2 Use the RT command to terminate the subroutine existing in the same program Use the ED command to terminate the subroutine existing in other program 3 If the specified line or the specified program does not exist alarm occurs at the time of GS execution 4 When you omitted line number executes the specified program from the top line 5 When you omitted line number and program name nothing occurs 6 To call subroutines in other subroutines is called nesting Up to 9 nesting levels are possible lt The same program calb lt Program to program call Prpgram 10 Prpgram 20 Prpgram 30 10SP 15 10M 5 10SP 15 30GS 200 40 MO 10 40TIl 1 50 GS 40 30 60 MO 6 a 100 ED END 100 ED 1000 ED END 200 250 shows the program execution order 3 31 X In the above example of
106. gnals PE reset Program number Note 3 PGN Reads data set at the numerical input signal as the PE designation program number Program number PGR Outputs a program number of a program in progress from PE output the numerica output signal requirement Line number Note 3 LLN Reads data set at the numerical input signal as the line PE designation number for starting the program Starting in the middle of a program is possible Line number LLR Outputs the line number currently being executed from PE output the numerical value output signal requirement Override OVR Reads data set at the numerical value input signal as the PE designation override speed for operating the program Override output ORR Outputs override speed of program in progress from the PE requirement numerical value output signal Numerical value Used for inputting numerical data for various purposes AL input signal 0 PIO including designating a program number designating line HL 1 Plt number and designating an override Each are 4 bits RL 2 P12 HL 3 PI3 Note 1 The definition of level is as shown below If a signal has not been connected its status will be OFF HL High active level When an external signal is ON the designated function will be enabled When the external signal is OFF it will be disabled PE Positive edge When an external signal changes from OFF to ON the designated function becomes enabled After that even if the external signal is
107. h dog time out 0530 0536 Amplifier encorder not connected 0540 0546 Gate array error 0550 0556 A D converter unusual 0560 0566 Over current Note The lowest digit means joint number 0600 Cause Use of communication protocol is improper Remedy Check the protocol and data of the connected equipment 0610 Cause The communication line is not confirmed Remedy Check the connection of cables and the power on of the connected equipment 0620 Cause Data receive error Remedy Check the connection of cables 0630 Cause Date send error Remedy Check the connection of cabies 0640 Cause The connection of teaching box is not confirmed Remedy After turning off power turn on the power again 0650 Cause The communication channel is not opened yet Remedy Open communication line with OPN command 0700 Cause Motor operated hand interface fuse is broken Remedy Check the hand cables and replace the fuse 0710 Cause Pneumatic hand interface fuse is broken Remedy Check the hand cables and replace the fuse 0720 Cause Parallel 1 O interface fuse is broken Remedy Check the 1 O cables and replace the fuse ALARM NO ERROR GENERATING CAUSE AND ITS REMEDY 1200 Cause Emergency stop signal is input external switch Remedy Inactivate the emergency stop and reset the error 1210 Cause Emergency stop signal is input operating pane Remedy inactivate the emergency stop and reset the error 1220 Cause Emerge
108. he CNT setting Path motion However the robot accelerates and decelerates at a starting and ata stopping point as well as when a timer or an input command is executed during the path motion 8 The acceleration time is the maximum time for the robot to reach to the maximum speed Accordingly when the moving speed does not reach to the maximum speed the actual acceleration time becomes smaller than the specified value The situation is the same for the deceleration time 9 As the acceleration and deceleration distance required for movement are preset when the specified speed and acceleration deceleration are set if the movement distance is small the set speed may not be reached 10 Ifthe acceleration deceleration time is less than 200msec an overspeed or overload alarm may occur Depending on the load conditions the life of the mechanical parts may be shortened so keep the time at 200msec or more when possible 2 04 Sample progran Movemaster command 10 SP 15 Set the moving speed to 15 20MS 1 Moves to position 1 by linear interpolation SP 15 30SD 100 Set the moving speed to 100mm sec 40 MS 2 Moves to position 2 by linear interpolation 100 mm sec 50 MO 3 Moves to position 3 by joint interpolation SP 15 60MS 4 Moves to position 4 by linear interpolation 100 mm sec 70ED Ends program 3 95 SF Shift Function Adds each coordinate value of position b to each coordinate value of
109. he following program shows subroutines used in the main program Subroutine Picking up the workpieces to be tested 200 SP 25 Sets speed 202 PT 1 Sets the grid point of the pallet 1 to the position 1 204 MA 1 50 O Moves to a location above position 1 206 SP 8 Sets speed 208 MO 1 0 Moves to the position 1 210 GC Closes hand and grasps the workpiece 212 MA 1 50 C Moves to a location 20 mm above the position 1 with the workpiece grasped 214 IC 11 Increments the column counter 11 of the pallet 1 by 1 216 CP 11 Sets the value of counter 11 to the internal register 218 EQ 11 230 Jumps to line 230 on completing the column line compares with value 11 220 RT Ends the subroutine otherwise 230 SC 11 1 Initializes counter 11 Sets 1 to the counter 232 IC 12 Increments the row counter 12 of the pallet 2 234 RT Ends the subroutine Subroutine Setting up the workpieces on the test equipment 300 SP 25 Sets speed 302 MT 30 50 C Moves to a location 50mm ahead of the test equipment 304 SP 8 Sets speed 306 MO 30 C Sets the workpiece to the inspection equipment 308 ID Inputs external data 310 TB 7 308 Waits for the test to complete 312 MT 30 50 C Moves to a position 50 mm ahead the inspection equipment 314 RT Ends the subroutine Subroutine Placing the tested workpiece in pailet 2 400 SP 25 Sets speed 6 27 402 PT 2 Sets the grid point of
110. ibration is large Output of 1 O does not work Robot worked abnormally A confirmation matter 1 Check cables 2 Check excessive load 3 Check voltage of power source 4 Check power failure or instantaneous power drop 5 Check emergency stop switch 6 Check smell from Motors 7 Check abnormal sound and excessive vibration 1 Check electric noise 2 Check installation of the robot 3 Check tension of timing belt 4 Check installation screws of hand 5 Check combination of the controller and the robot 6 Check collision between robot and peripheral during operation 1 Check installation bolts of robot arm 2 Check sound from reduction gears Harmoic Drives Check vibration from reduction gears 1 Check voltage and polarity of external power source 2 Check OD and OB command 3 Check transistor damage from load short circuit 1 Check alarm 2 Check if the robot arm hangs down just after power is ON 3 Check which joint works abnormally Trouble shooting Replace cables 2 Reduce load Specification 5 1 2 Rated load exp ains it 3 Use it in voltage limit 4 Operate it once again 5 Reset the emergency stop switch and operate it again 6 There is possibility of motor burned out Change motor 7 Abnormal sound occurs Vibration is large explains it 1 Reduce noise source 2 Fasten installing bolts of the robot arm 3 Adjust tension
111. in in this manual and reset the origin Sample program with Movemaster commands 10 MO 1 Move to position 1 R axis is 150 degrees 20 MO 2 Move to position 2 R axis is 170 degrees 30 JRC 1 Subtract 360 degrees from the current position on the R axis R axis is 190 degrees 40 MO 1 Move to position 1 i R 4 LG If Larger Function This compares the value of the internal register with a specified value If larger the program will jump The character string register and the numbers of characters ina specified character string are compared If the character string register is larger the program will jump Input Format LG compared value character string number lt branching line number Term lt Compared value Specify the value compared with the internal register 32768 Compared value decimal S 32767 amp 8000 Compared value hexadecimal amp 7FFF Character string number Specify character string number in numerical value which is added to the head 1 lt character string number S 99 lt Branching line number Specify the line number to which the program jumps when the value of the internal register is larger than compared value 1 branching line number 9999 Explanation lt When compared value is specified gt 1 Causes a jump to occur conditionally in accordance with the external input data or the internal counter value 2 If the internal reg
112. in this manual is compatible with the software versions shown below Controller Ver B3 Teaching Box Ver B2 AOS TI ON lt How to use the various manuals and what each of them contains gt This product comes with 4 different manuals You can find below the contents and purpose of each of these manuals Use them according to their applications Since the manuals were designed to apply to all models any differences in the specifications from model to model will be noted The Satety Manual explains common safety precautions and caution items related to the usage of the robots the system designs and the fabrication of the robots so Safety that the safety of all the workers connected to the robot can be protected Manual The Specifications Manual is valid for the entire E series It explains standard spec e ifications special factory shipment specifications option configurations and main Specifications tenance components It also explains safety and technical precautions when set Manual ting up the robot The User s Manual explains everything from unpacking installation and safety precautions for using the robot to cabling origin setting and basic operations It User s also explains the basic ways to use the teaching playback method one of the Manual operating methods The Reference manual explains options installations and handling methods not covered in the User s Manual specifications of structural equip
113. ing from the primary solenoid valve 6 to the conne ctor GR1 Connect the GR2 plug protruding from the primary solenoid valve 6 to the con nector GR2 If you are using double type valves 1E VD02 Connect the GR3 plug protruding from the secondary solenoid valve 10 to the connector GR3 Connect the GR4 plug protruding from the secondary solenoid valve 10 to the connector GR4 6 When you have completed the installation reinstall the shoulder cover B in 1 to its original position and be careful not to entangle the cables when you do so The connections after the installation appear as in Table 1 3 For single type valves hand 2 is not applicable Table 1 3A Solenoid valve ports and hoses Connection table for couplings and hand ports for the RV E2 RV E3J Hand Hand port coupling Hose number Rene pon OPEN 1 1 Hand 1 CLOSE 2 z B First set OPEN 3 3 A Hand 2 CLOSE ri 4 5 Second set as 4 1 Shoulder cover B 2 Trussscrew 3 _Socket head bolt o e ce 5 Flathead screws M3x25 12 PortB 10 Secondary solenoid valve Lead connector 6 Primary solenoid valve Detailed drawing of section A Fig 1 4A How to install the solenoid valve for the RV E2 RV E3J 1 1 3 2 Installing the 1E VD01 1E VD02 solenoid valve for the RV E2M RV E3JM Fig 1 48 shows how to install the solenoid valve The installation method is as follows 1 Remove the two M3x6 screwsin 2 andthetwo
114. ins unchanged 2 You can contirm the current program number using the QN command from the personal computer See the QN command 3 Program 1 is selected at product line shipping 4 The following name is identified as the same An example Handled as the same 1 01 001 00000001 Only numeric value Handled as not the same 1 1 A AO_ 001 Includes characters 5 The letters that controller can indicate to the LED are 0 9 A Z simplified Sample program BASIC 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file in BASIC 20 PRINT 1 N10 Selects the program 10 30 PRINT 1 10 MO 1 Implementation of program Line 10 40 PRINT 1 20MS 2 Implementation of program Line 20 50 PRINT 1 30 ED Implementation of program Line 30 60 END Ends R80 NE If Not Equal Function J This compares the value of the internal register with a specified value If not equal the program wili jump The character string register and details of a specified character string are compared If not equal the program will jump Input Format NE compared value character string number lt branching line number Term Compared value Specify the value that the internal register compares contents with 32768 compared value decimal lt 32767 8 8000 S compared value hexadecimal S amp 7FFF Character string number Specify character string number in numerical val
115. ip 1al b c F Flip E R L O Opening a hand LAB C Closing a hand T N F Hoci RV E3J Moves to the specified yes OS b X32767 3 51 RV E3JM position with the speed d 0S e 255 MPB d e timer e output state 1X9 0S f 9 h i S amp 7FFF 09 input state hXi interpolation J O joint 1 linear 2 arc 401 6 mode j R Right L Left A Above B Below x 1y3 12 O Opening a hand a b C Closing a hand R U ABJ Hoci 16 Move play back RV 2 Moves to the specified yes D 0 joint 1 linear 2 arc 3 53 continuous RV E2M position with the specified R Right L Left MPC d interpolation method A Above B Below AXx y 2 N Non Flip al b c F Flip R L O Opening a hand A B C Closing a hand LINENN Hoel RV E3J Moves to the specified yes D Qjoint linear 2 arc 3 53 RV E3JM position with the specified R Right L Left MPC d interpolation method A Above B Below Ax y 2 O Opening a hand a b C Closing a hand LIR L pasem ioci 17 Move R MR a1 a2 a3 Moves on the arc that yes 1 al a2 a3S999 3 54 O C position a1Xa2Xa3 O Opening a hand determine with circular C Closing a hand interpolation 18 Move RA MRA a The robot moves on the arc yes 15 a 3999 3 56 L O C thatthe previous and the O Opening a hand next MRA determine with C Closing a hand circular interpolation 19 Move straight MSa Moves to the position a yes 153 a 999 3 57 O C with linear interpolation
116. ished replacing the batteries for both the robot and the controller don t forget to reset the backup failure alarm 2 The reset operation should be done using the RS command RS2 in direct execution from the teaching box or from the personal computer When using direct execution the follow the written instructions for creating a program under section 2 3 2 Programming with the Movemaster command method in this manual and input R S 2 to execute Refer also to Table 2 14 on the same page 2 3 2 ACAUTION Wait at least 3 minutes after turning the power off before removing the top panel Don t turn the power on until the top panel has been istalled Other methods of handling may lead to electric shocks BU147D432H02 Fig 5 8 How to remove the batteries from the controller 5 3 6 Replacing the fuse When the controller has blown its fuse follow the steps below to replace it 1 Turn the power button on the bottom right corner of the controller OFF 2 Turn OFF the power source that supplies the controller 3 Turn the fuse holder 1 on the back of the controller to the left and pull out the fuse holder with the fuse At this time confirm that the fuse has been blown 4 Remove the cause of the blown fuse Example You supplied 200V to the controller which is specified for only 100V 5 Take out the fuse from the holder 6 Insert a new fuse into the holder 7 Replace the new fuse by following the s
117. ister value is larger than the compared value i e when the condition is met the program jumps to the specified line Otherwise i e when the condition is not met the program continues in sequence 3 A value can be loaded into the internal register by executing the input command See ID for the external input data or by executing the compare counter command See CP for the counter data Accordingly when you carry out conditional branching need to execute either of the above commands beforehand 4 The compared value may be defined either in decimal or hexadecimal A hexadecimal value must be headed by amp When character string number is specified 1 The conditions will jump depending on the data input from an external source or the number of characters in a specified character string 2 If the number of characters in the character string register is larger than the number of characters in a specified character string when the conditions are established the program will jump to the specified line number If the number is smaller when conditions are not established the next line will be executed If the specified line number is not registered an alarm will occur when jumping 3 By executing an INP command the data input from an external device will be setin the character string register The details of the character string number will be set by executing a CP command Thus when executing condition jumping o
118. ke strange movements or Refer to troubleshooting strange sounds when you turn it ON measures During operation Use one of your programs to move the robot Confirm that there are not gaps at the movement Refer to troubleshooting points measures If there is a gap confirm the following items 1 Are the fixing bolts loose 4 2 Are the bolts holding the hand loose 3 Are there any gaps in the jig type positions other than the robot s 4 if the gap does not heal refer to 6 6 Troubleshooting in this manual and then take the appropriate measures 2 Does the robot move strangely or make strange Refer to troubleshooting sounds visually inspect measures 5 2 2 Periodic inspection Conduct the periodic inspections following the procedures in Table 5 2 Table 5 2 Periodic inspection items Step Inspection item Description Remedial action Monthly inspection Are there any loose screws or bolts on the main Securely fasten the screws robot unit and bolts Are the connector s fixed screws or the terminal Securely fasten the screws block s screws loose Determine the cause and remove it If there is any big damage to the cables contact the service desk at Mitsubishi Remove the various covers and confirm that there is no stain damage or friction on the various cables 3 month inspection Adjust it so that the tension is not too loose nor too tight See page 5 3 3
119. l down and releases the resistor 6 1 o 6 3 3 Assembly operation 1 Work description The robot picks up a relay from the relay feeder and fixes it onto the printed wiring board on a conveyer 2 Signal I O 1 0 Description Bit inb t Relay supply completion Bit 0 n p Printed wiring board in position Bit 1 Output Relay assembly completion Bit 1 3 Schematic diagram Figure 6 5 shows general description ot operation Fig 6 5 Fixing a relay onto a printed wiring board 4 Procedure 1 The robot waits for a relay to come from a relay feeder 2 The robot grasps the relay and waits for a printed wiring board to come above a conveyor 3 The robot fixes the relay onto the printed wiring board 4 The robot turns on the completion signal for 0 5 second 5 Operation fiow Figure 6 6 shows the flow of operation Moves to step 1 ES Relay fed YES ca PWB in position YES Repeat Opens hand Joint interpolation 100 e Waits tor condition in step 1 Waits for ON of input bit 0 ao Linear interpolation 30mm s 0 3 second timer after moving Closes hand in step 2 0 5 second timer in step 3 Linear interpolation 30mm s e Joint interpolation 100 Waits for condition in step 5 Waits for ON of input bit 0 scene Linear interpolation 30mm s 0 3 second timer after moving o Open hands in step 6 0 5 second timer in
120. ller you must carry out origin setting again using this command There is another approach using teaching box to execute origin setting See 1 2 origin setting for detail 3 Change the parameter HOE to permit origin setting at first then execute the HO command directly When the origin setting is completed return the parameter to the former value otherwise the program can not be started To find the change operation refer to section 2 6 Other Functions 11 Setting the parameters in this Manual Relating Parameters Permits the origin setting from the command HO Parameter name HOE Origin setting permission parameter 0 Does not permit the use of HO command Default 1 Permits the use of HO command Sample program BASIC 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 20 PRINT 1 HO Executes the HO command from the personal computer 30 END Ends RUN Run the BASIC program RRA IC Increment Counter Function Adds 1 to the value of the specified counter Input Format IC counter number Term Counter number Specify counter number in numeric value 1 lt counter number lt 99 Explanation 1 Alarm occurs if the counter value exceeds 32767 2 Used to count the number of workpieces and job sequence and to set the number of grid point in the pallet 3 The contents of the counter can be chan
121. mand 4 Resets the origin setting condition Explanation 1 Resets alarm condition in alarm mode switching servo from OFF to ON and causing the program to return to its beginning 2 If any of the axes has exceeded its software limit the alarm cannot be reset 3 The outputs remain unchanged by resetting any alarms Sample program BASIC 10 OPEN COM1 E83AS 1 Opens the RS 232C communication file from personal computer in BASIC 20 PRINT 1 MO 1000 Alarm occurs because of the wrong value 30 PRINT 1 RS Cancels the alarm 40 END Ends program 2 00 RT Return Function Completes a subroutine and returns to the main program Input Format RT dine number Term Line number Specify the line number to jump 1 lt line number 9999 If omitted returns to the next line of the GS command Explanation 1 Completes the subroutine called by the GS command and returns to the main program 2 Alarm occurs if the corresponding GS command is not specified 3 If you specify the line number the program jumps to the specifiedline number after returning to the main routine Sample program See the GS command 3 91 SC Set Counter Function A specified value is set in the specified counter or character string Input Format SC counter number character string number counter set value character string set value Term
122. mand method Programming with the teaching playback method cece ceccssececcoeeesseeceeesecsenseneeneereee R rack AAR A A A A gear OE ESES 1 9 Resetting a program 2 7 Resetting the program Revising the data Revising the program Sample program Selecting a program Selecting the program SERVO cnoocccrcccninonananoss Setting and displaying the 1 0 signals Setting the clock Setting the interpolation me 2 33 Setting the origin 1 11 Setting the timer 2 36 EA A A A Aae danais iENa 1 4 Speed Jog speed Setting the speed Start Restart Startup and restarting cccssssessesesseeceessessesnessneneeseesesaesessessssecsnesssessececesenssaenesees 2 7 2 23 Step Adding steps Calling up steps 22 55 Deleting steps 2 32 Incremental step feeding Jumping to a step Replacing step data 2 30 Decremental step feeding Stepping up down Stop tencia laica Structure fiag T Teaching box Categories of teaching box keys How to select a menu Screen tree 0 eevee Timing chart for external operations Tooling Trouble shooting Index 2 ae MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLOG MARUNOUCHT TOKYO 100 TELEX J24532 CABLE MELCO TOKYO NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASMI KU NAGOYA JAPAN MITSUBISHI Mitsubishi Indust
123. ment the teaching playback and the Movemaster command operating methods commands connec Manual tions to I O equipment tooling specifications and maintenance and inspection In the appendix you can find lists of commands parameters and alarms and some sample programs Reference Outline of the contents of each of the manuals Specification User s Reference Contents Manual Manual Manual Standard specifications special factory shipment specifica tions and maintenance parts Specifications and types of options O Safety and technical precautions for setting up the robot O Safety precautions during usage Unpacking the product installation setting the origin and other setup operations Basic operations using the teaching playback method Installation and handling of optional equipment Detailed specifications for configuration machinery Applications of the teaching playback method and the Move master command method Explanation of commands Connections to I O devices tooling specifications and main tenance and inspection Sample programs and lists of commands parameters and alarms OOO O 000 00 Contents Chapter 1 Handling the robot 1 1 Handling the robot 1 1 1 Installing the 4E HM01 motor operated hand 1 1 2 Installing the 4E HP01 4E HPO1E pneumatic hand set coccion 1 1 1 1 2 1 Installing the 1E HP01 1E HPO1E pneumatic hand eee 1 2 1 1 2 2 Installing the
124. mitting character string data enclose the character string in double quotations Sample program BASIC Personal computer program 10 OPEN COM1 E83 AS H1 Opens the RS 232C communication file from the personal computer in BASIC 20 INPUT Counter data is J Enter the setting value of counter from the personal computer 30 PRINT 1 PRN STR J Transmits the setting value of counter 40 PRINT 1 PRN 100 0 0 0 0 0 Transmits the coordinates value of position 50 END Ends program Robot program 10 OPN 2 1 Opens the RS 232C port 20 IN 2 1 0 Reads the data from RS 232C port to counter 1 30 INP 2 5 1 Reads the data from RS 232C port to position 5 401C 1 Add 1 to counter 1 50 MO5 Moves to position 5 3 82 PT Pallet Function Calculates the coordinates of a grid point on the specified pallet and sets the coordinates value to the specified position Input Format PT pallet number Term Pallet number Specify the number of pallet using 1 pallet number S 9 Explanation 1 Calculates the coordinates of a grid point on the specified pallet and sets the coordinates to the position which number is corresponding to the specified pallet number Before the PT command is executed the pallet definition command PA must be executed for the pallet to be used After the PT command has been executed the position data previously defined for the target position is cl
125. motion for the specified counter value X 0 1 second Max 3276 7 seconds 2 Used to introduce a time delay before and after the hand is opened or closed for gripping a workpiece 3 The default value is zero Sampie program Movemaster command 10MO 1 0 Moves to position 1 20T1 5 Wait for 0 5 second 30 GC Closes hand 40TI 10 Wait for 1 0 second 50 MO 2 Moves to position 2 60 ED Ends program RINA TL Tool Function Establishes the distance between the hand mounting surface and the tip of hand input Format TL tool length Term Tool length Set the distance from the hand mounting surface to the tip of hand O lt tool length S 300 00 mm 0 for default Explanation 1 The least input increment of the tool length is 0 01 mm e g specify 200 05 for 200 05 mm 2 Once established the too length remains valid until a new value is set battery backed when the power is switched off When the tool length has been changed the current position is also changed accordingly which however does not involve any robotic motion Initial tool length is 123 mm 3 Since the point defined by the TL command is the basis for calculation of the current position XYZ jogging and commands involving the XYZ coordinates system the accurate tool length must be established according to the tool being used 4 Whenever a program is to be run the same tool length as that established
126. n signal for the input signal A Caution When using a coil load such as a relay or solenoid connect a surge absorbing diode parallel to the load Be careful of the diode s polarity A Caution When the LED is lit connect a protective resistor that is equivalent to the rated current in serial Connect the parallel register to get the drain current to be 20 as much as the rated current because an incandescent lamp gives rush current 10 times as much as the rated current A Caution When connecting the cables to peripheral equipment with the external I O connector cables do the installation as far away as possible from noise sources Otherwise it can cause a malfunction A Caution Set the load connected to the output signal so that it does not exceed the maximum current of the output A Caution Be careful so that you don t short circuit the I O cables with the power source It can destroy the output transistors that are inside 1 O connector 2E 3110 type External peripheral device Input port power source DC12V 24V Push button switch Transistor Input port block Limit switch Output port power source DC12V 24V LED lamp Solenoid or relay Output port block Photocoupler incandescence lamp Fig 4 3 Example of connection scheme for I O circuitry U S A Japan 4 13 2E3110E type Input port block Output port block 1 0 connect
127. n as position 11 2 34 HLT Halt Function Interrupts the motion of the robot and the operation of the program Input Format HLT Explanation 1 Interrupts the operation of the program and decelerates the robot to a stop It becomes the same condition that the external stop signal is input or the STOP switch of the controller front panel is pushed 2 Torestartthe program push the START switch input the starting signaling or execute the RN command Program restarts from the next line of HLT command 3 Ifthe HLT command is directly executed from the personal computer during program running the program is interrupted and the robot stops with deceleration 4 The robot does not stop by the HLT command however during the execution of the direct motion command Sample program Movemaster command 10MO 1 Moves to position 1 20 HLT Stops 30 MO 2 Moves to position 2 40 ED Ends program The program restarts with START switch from line 30 HO Home Function Defines the current location and the attitude as origin point Input Format HO origin setting approach Term lt Origin setting approach Specify the method to set origin in integer value 0 Mechanical stopper origin 1 Jig origin 2 User defined origin Explanation 1 Establishes the reference position tor origin setting 2 If you have replaced the robot or changed the combination of robot and contro
128. n the specified line has not been defined 5 If an alarm takes place you can confirm the line number in which the alarm occurs by executing the LR command without line number Sample program BASIC 10 OPEN COM1 E83 ASF1 Opens the RS 232C communication file from the personal computer in BASIC 20 INPUT Start line Enter the top line number that you want to read 30 INPUT End line Enter the last line number that you want to read 40 FOR I S TOE Repeatedly 50 PRINT 1 LR STR I Transmit LR line number to the controller side 60 LINE INPUT 1 A Saves the received data to A 70 IFAS THEN 90 If there is no data jumps to line 90 80 PRINTI PRINT AS Displays the data on the personal computer screen 90 NEXT Repeats and jumps to line 40 100 END RUN Run the BASIC program 3 45 MA Move Approach Function Moves the hand tip to the added position Linear interpolation Input Format MA position number a gt position number b gt O C gt Term lt Position number a gt Specify the position number to be added The reference position Position number b gt Specify the position number to add The increments position 1 lt position number a b S 999 lt O C gt Specify open or close state of the hand O Hand open C Hand close Explanation 1 Moves to the added position i e the coordinates of
129. nal has been Servo ON OFF SVO received However it wili always be enabled when the servo is OFF based on the servo ON OFF SVO a D Table 4 6 Output command names and functions Name Command a Function Level Executing RUN Outputs the fact that the program is executing HL Waiting WA Outputs the fact that the program has temporarily HL stopped Sounding alarm ERR Outputs the tact that an alarm has not been generated HL Device enable ATV Outputs the fact that an external I O wields operating HL control Corresponds to the input command ORQ Servo ON SVA Outputs the fact that the Servo is ON HL Corresponds to the input command SVO y Continuous cycle CYS Outputs the fact that the program is in the continuous HL status mode _ Corresponds to the input command CYC Manual mode TMS Outputs fact that the maximum speed during operation HL status will be restricted in the manual mode Corresponds to the input command TMD Within user UAR Outputs the fact that the current position of the robot is HL defined area within the user defined area based on the parameter UAR A A A Lee a ee Ready RDY Outputs the fact that external input signals can be HL received when the controller power is ON It is output until the power is turned OFF Numerical output POO Used for outputting numerical data for various purposes HL signal 0 including designating a program number designating line Numerical output PO1 number
130. ncy stop signal is input teaching box Remedy Inactivate the emergency stop and reset the error 1230 Cause The teaching box is connected with the EMG cancel switch of the Remedy controller pushed Remove the teaching box when not used Release the EMG cancel switch of the controller when using the teaching box 1400 1456 Cause Overload Remedy Check whether the load capacity exceeds the rating or the robot motion is disturbed by obstacle 1400 1406 Over current 1410 1416 Mechanically locked 1420 1426 Over speed command level 1430 1436 Over load 1440 1446 Excessive positioning error 1450 1456 Over speed feedback ievel Note The lowest digit means joint number 1501 1506 Cause Can t turn on servo power for no Z phase position is memorized Remedy Memorize the Z phase position in accordance with the detecting procedure with the teaching box The lowest digit means joint number 1600 Cause Can t move in XYZ mode for no origin point is set Remedy Set the origin point with the teaching box 1700 1799 Cause Servo paramenter error Remedy Correct the parameter 1800 Cause Stop signal or stop switch is active Remedy Reset stop state 2300 Cause Warnimg of battery overtime Remedy Replace the old battery with new one quickly 2400 Cause Impossible operation while the program is running Remedy After stopping the program try it again 2410 Cause impossible operation while the servo is on Remedy After t
131. ne of these commands must be executed first 2 42 Sample program Movemaster command 1D 100 110 120 130 140 150 160 200 Fetches the data from the external input port LG 100 130 If the input data is larger than 100 jumps to line 130 ED Else program ends MO 1 Moves to position 1 OPN 1 1 Opens the RS 232C port INP 1 2 Reads the data of character string register from the RS 232C port LG 5 200 Jumps to line 200 if the data length large than character string number 5 ED Ends program LR X Line Read Function Reads the program of the specified line number Using RS 232C Input Format LR dine number Term Line number Specify the line number to be read 0 S line number lt 9999 If omitted reads the current line number stopping Explanation 1 Outputs the program of the specified line number or the current stopping line number from the RS 232C port 2 The output format is ASCII coded as follows If you specify the line number Program content is read If you omit the line number or specify zero Current stopping line number is read 3 Because the terminator of the output data is carriage return Hex 0D itis necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer LINE INPUT statement is equivalent to this in BASIC 4 The hexadecimal 0D is read out whe
132. nector 0 14 point 100 0 1mA or less DC0 9V TYP 2E3110E type FUSE 24 12V OUTPUT 4 points 1 common External DC12 24V DC10 2 30 supply power 60 mA per TYP DC24V1 common X The power supply DC24V tor the input output circuit must be prepared by the User 4 15 3 Selecting programs from external devices Below you will find an explanation tor a program selection method based on specialized input attached to an external input There are two methods so you can choose either one For the parameter changing methods refer to section 2 6 Other functions under 11 Setting parameters in this manual A Method using STA signal and PGN signal 1 Set the value of the program selection and start parameter PST to 0 2 In one of the parallel 1 O input setting parameters IN1 to IN3 assign the numerical value input signal such as PIO and the specialized input command STA and PGN 3 Set the program number to be selected by the external device at the various bits for the numerical value input signal 4 Input the signal into PGN s bit The program number that was set by the startup signal will be read into the robot 5 Input the STA signal The program you selected will start 90 Tip OHO In the above method when the program ends and you want to use the same program again input only the STA signal The numerical value input signal is
133. not when conditions are not established the next line will be executed 3 By executing an INP command the data input from an external device will be set in the character string register The details of the character string number will be set by executing a CP command Thus when executing condition jumping one of these commands must be executed first 4 If the specified line number is not registered an alarm will occur when jumping 3 61 Sample program Movemaster command 10 ID Fetches data from external input port 20 NE 80 100 Jumps to line 100 if the data does not equal 80 30 ED Ends the program if above condition is not met 100MO 7 Moves to position 7 110 OPN 1 1 Opens the RS 232C port 120 INP 4 2 Reads the data of character string register from the RS 232C port 130 NE 2 200 Jumps to line 200 if the data not equals character string number 2 200 ED Ends program RROD NT Nest Function Carry out origin setting The robot moves to the user defined origin Input Format Explanation 1 The moving sequence of each joint is fixed beforehand Origin setting of the shoulder the elbow and the twist joint is first executed which is followed by that of the waist the pitch and the roll joint Note RV E3J RV E3JM don t have the twist joint 2 Ifthe arm can interfere with the object surrounding the robot use the teaching box to move it to a safe location befo
134. nput board input setting N41 20 strings Sers function tor first 1 O interface PI0 Pl1 board bee trr 20 STA STP RST IN2 strings Sets function tor secon iO 20 interface board IN3 strings Sets function for third 1 O intertace board Parallel 1 O Sets function for output board output ori 16 trings Sets function tor tirst I O interface ps sere setting board RUN WAI ERR OT2 16 strings Sets function tor second I O interface board oT3 16 strings Sets function for third 1 0 intertace board Program PST t integer Sets whether the external program 0 start mode number is read into the robot at startup 0 No Prezent program 1 Yes Appomted program Z phase ADJZ 1 integer Sets enable disable of Z phase 0 ofiset rewrite oftset rewrite 0 Disable 1 permission Enable Z phase OFFZ 6 integers Mernorizes the offset pulses of the 0 0 0 0 0 0 offset origin position from the encoder Z phase Setting 0 initializes the value Communi CMO 7 integers Sets communication mode of 2 8 E 2 0 M Note 4 cation mode RS232C intertace Baud rate 1 19200 2 9600 3 4800 4 2400 5 1200 6 600 Data bit 7 8 Parity bit E even O odd N none Stop bit 1 2 End code O auto 1 CR LF 2 CR Com way M no protocol Note 1 Default setting does not exceed the limit Note 2 Default setting is out of the setting area Note 3 It becomes effective just after setting Note 4 When set to 0 auto the robot sen
135. ns the RS 232C communication file from the personal computer in BASIC 20 PRINT 1 WT Transmits the command WT 40 LINE INPUT 1 A Saves the received data to A 50 PRINT TOOL 3 A Displays the contents of A on the screen 60 END Ends RUN Run the program TOOL 105 7 Outputs the tool length A1ANR XO Exclusive Or Function EXCLUSIVE ORs the specified data and the internal register data input Format XO operation data Term lt Operation data Specify the data to be operated 32768 operation data decimal lt 32767 amp 8000 S operation data hexadecimal 8 7FFF Explanation 1 Specity the data to be operated in decima or hexadecimal Any hexadecimal value must be headed by amp 2 The operation result is stored into the internal register and can be changed compared or read by relevant commands See the EQ NE LG SM CL DR AN OR commands 3 Execution of the XO command after the input command D allows the required bits of the parallel input data fetched from the external device to be flipped to their opposite settings Sample program Movemaster command 10 ID Fetches data from the external input port 20 AN amp 000F Fetches only lower 4 bits 30 XO amp 000F Flips data of 4 lower bits to their opposite settings 40 CL 21 Sets above data to counter 21 50 EQ 10 200 If the above data equals 10 then jumps to line 200
136. nstant speed 5 Use the MC command to move continuously through several positions by linear interpolation Sample program Movemaster command 10SP 15 Sets speed to 15 20MO 1 Moves to position 1 by joint interpolation 30MS 5 Moves to position 5 by linear interpolation 40MS 6 Moves to position 6 by linear interpolation 50MS 7 Moves to position 7 by linear interpolation 60MS 8 Moves to position 8 by linear interpolation 7OMS 5 Moves to position 5 by linear interpolation pose Position 7 Current position Position 5 Position 1 3 57 MT Move Tool Function Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction Joint interpolation Input Format MT position number ravel distance O C Term Position number Specify the destination position number in integer value 1 lt position number 999 lt Travel distance Specify the distance in tool direction from the specified position to the destination point Zero for default 3276 80 travel distance 3276 70 lt O C gt Specify open or close state of the hand If omitted the hand state of the position is valid O Hand open C Hand close Explanation 1 The least increment of the distance is 0 01 mm 2 When the distance is positive the tip of hand advances in the tool direction When the distance is negative the tip of hand r
137. ntains A Total 20 points Input setting value of input 4 4 3 polnts STA STP AST Start Stop Reset Output 13 points 3 points RUN WALERR Eno Wands Aeri Table 4 2 Expansion card NO 1 parallel 1 O interface specifications Type General purpose Specialized Notes Total 20 points All are for general purpose input Total 16 points All are for general purpose output Input 20 points 0 points Output 16 points O points Table 4 3 Expansion card NO 2 parallel 1 O interface specifications Type General purpose Specialized Notes Input 20 points 0 points Total 20 points All are for general purpose input Output 16 points 0 points Total 16 points All are for general purpose output 4 1 3 Assignment of specialized 1 0 signals for parallel I O interfaces 1 Factory set commands The specialized inputs and the specialized outputs can be used by writing the commands in tables 4 5 and 4 6 in bit format to the parameters Input IN1 to IN3 and output OT1 to OT3 For information on how to read and write parameters refer to 2 6 Other functions under 11 Parameter settings in this manual and then do so P w Shown below are the setting commands at the time of factory shipment for the various cards E Table 4 4 Setting commands for the parallel 1 0 interface 1 0 card O Parameter Command at time ot factory shipment 0 4 8 12 16 19 bits Input 1N1 PIO PI4 155 5
138. numerical value which is added to the head 1 lt character string number S 99 lt Branching line number Specify the line number to which the program jumps 1 lt branching line number S 9999 Explanation When counter number is specified 1 2 3 4 Causes a jump to occur conditionally in accordance with the external input data or the internal counter value If the internal register value is smaller than the compared value i e when the condition is met the program jumps to the specified line Otherwise i e when the condition is not met the program continues in sequence Alarm occurs at a jump if the specified line number does not exist A value can be loaded into the internal register by executing the input command See ID tor the external input data or by executing the compare counter command See CP for the counter data Accordingly when you carry out conditional branching need to execute either of the above commands beforehand The compared value may be defined either in decimal or hexadecimal A hexadecimal value must be headed by amp When character string number is specified 1 The conditions will jump depending on the data input from an external source or the number of characters in a specified character string 2 Ifthe number of characters in the character string register is smaller than the number of characters in a specified character string when the condition
139. of the main robot unit In Figure 5 2 1 shows a structural outline drawing for the RV E2 RV E2M and Figure 5 2 2 shows one for the RV E3J RV E3JM The various sections are as follows 1 Waist joint The rotation of the waist moves according to 1 the W joint motor and 2 the harmonic reduction gear The W joint motor is equipped with a brake 2 Shoutder joint The rotation of the shoulder moves according to 3 the S joint motor located in the upper arm and 4 S joint reduction gear The S joint motor 3 is equipped with a brake in order to prevent the robot from falling when the power source is OFF 3 Elbow joint The elbow joint moves according to 5 the E joint motor located in the upper arm and 6 the E joint reduction gear The E joint motor 5 is equipped with a brake 4 Wrist twist joint For the RV E2 RV E2M only The wrist twist joint rotates according to 7 the T joint motor located in the elbow block and 8 the T joint reduction gear 5 Wrist pitch joint area The rotation of 9 the P joint motor located in the forearm is transfered to 11 the P joint reduction gear through 10 the P joint timing belt resulting the wrist housing 6 Wrist roll joint The rotation of the wrist roll moves according to 12 the R joint motor in the wrist housing and to 13 the joint reduction gear 6 E joint reduction gear Elbow block Upper arm 7 T joint motor Shoulder H joint e oint motor W axis reduction gear Forearm
140. of timing belt Reference manual 5 3 3 Timing belt 4 Fasten screws securely 5 Set origin 6 Avoid collision 1 Fasten screws securely 2 Breakage of reduction gears is expected Contact our service division 1 Connect the robot with correct voltage source and polarity 2 Use commands correctly 3 Contact our service division 1 Contact our service division 6 7 Structure flag 6 7 1 What is a structure flag ltis a flag that represents pose of robot The robot decides the pose of the tip with position data of X Y Z A B C coordinates But there are complementary poses that robot can take with the same position data The robot identifies these poses with this flag information 6 7 2 Definition of each structure flag 1 RIGHT LEFT RV E2 RV E2M This flag shows the position of the wrist pitch joint center O from the vertical axis through the shoulder joint RIGHT A LEFT Shoulder joint This flag shows the position of the tool center O from the vertical axis through the shoulder joint Fig 6 17 RIGHT LEFT 6 41 2 ABOVE BELOW This flag shows the position of the wrist roll joint center O from the axis through the shoulder joint and elbow joint RV E2 RV E2M Fig 6 18 ABOVE BELOW 3 NONFLIP FLIP RV E2 RV E2M only This flag shows the direction of the mechanical interface from the axis through the wrist twist joint and wrist pitch joint Twist
141. omputer 2 Setting the software Depending on the BASIC version you use you can find the setting method in Table 4 16 Table 4 16 How to set the software Type of BASIC Setting method DISK BASIC 1 Start up N88DISK BASIC 2 Set the baud rate for the memory switches according to the procedures shown below 1 Start up SWITCH N88 which is attached to DISK BASIC Input RUN SWITCH N88 and press RETURN Key 2 In the Menu screen select RS 232C default settings and press RETURN Key 3 In the screen for RS 232C default settings set the baud rate to 9600 4 Press ESC to return to the original menu 5 Select END and press RETURN Key DOS BASIC 1 Start up MS DOS 2 Using the switch commands set the baud rate to 9600 for the memory switches For operating instructions refer to the MS DOS manual 3 Confirming the connections Using N88 BASIC try inputting and executing the following program 10 OPEN COM 1 E83 AS 1 Set the communication settings 20 PRINT 1 ER Execute the ER command 30 LINE INPUT 1 A Read the alarm status 40 PRINT ALARM AS Display any alarm on the screen 50 END End the BASIC program RUN Execute the program ALARMO OK If you find that 0 follows after ALARM on the persona computer screen then communications will be possible 1 or 2 will appear if an alarm is generated 4 27 Chapter 5 Maintenance and inspection in this
142. on Num Grease charge Feed lubricating oil Hours of SUPPIY Removal ber port Grease type Voiume at time of shipment Grease TOS cover Waist joint Grease nipple Grease Gear grease SK 1A X 2000Hr Shoulder 1 Reduction gear WA 610 40g 179 cover B Shoulder joint Grease nipple Grease Gear grease SK 1A X 2000Hr 2 Reduction gear WA 610 409 179 Etbow joint Grease nipple Grease Gear grease SK 1A X 2000Hr 3 Reduction gear WA 610 409 179 Wrist twist joint Grease nipple Grease Gear grease SK 1A X 2000Hr 4 Reduction gear WA 610 6 5Kg 6 2g Wrist pitch joint Grease nipple Grease Gear grease SK 1A X 2000Hr Reduction gear WA 610 6 5Kg 1 69 Wrist roll joint Grease nipple Grease Gear grease SK 1A X 2000Hr Wrist cover Reduction gear WA 610 6 5Kg 3 59 S Note The RV E3J RV E3JM in number 4 have no wrist twist joint 900 Tip 900 1 The brand names in Table 5 6 are the ones used for the robot at the time of factory shipment 2 The Grease charge interval is the total time running full speed You can extend the grease charge interval by operating it under continuous operation or at a slow fixed speed The mark 2 refers to one year inspections 8 hours x 20 days x 12 months 2000 hours 3 The Hours of supply can vary depending on operating conditions so please make sure you don t run out 4 The number in the upper list corresponds to the numbers given in Fig 5 6 2 Grease charge approach 1 Pose the robot as shown in Fig 5 6
143. on ation Open output input Close 1 Waiting position above Joint 20 0 gt conveyor 2 Sealing start position on Joint 50 0 3 sec bit 4 workpiece ON 3 Sealing position on Linear 30mm s 0 workpiece 4 Sealing position on Linear 30mm s 0 S _ workpiece 5 Sealing position on Linear 30mm s 0 workpiece 6 Sealing position on Linear 35mm s 0 sl workpiece 7 Sealing position on Linear 35mm s 0 workpiece 8 Sealing position on Linear 35mm s 0 workpiece 9 Sealing position on Linear 35mm s 0 workpiece 10 Sealing position on Linear 25mm s 0 gt a workpiece 11 Sealing position on Linear 25mm s 0 workpiece 12 Sealing end position on Linear 25mm s 0 bit 4 owes workpiece OFF 13 Waiting position above Joint 30 0 bit 3 conveyor ON 14 The same position T 0 5sec bit 3 Condition step OFF P N 6 4 Sample program 2 Movemaster command method This section explains how to make a program with Movemaster command method Table 6 2 shows effective programming procedure Table 6 2 programming procedure No Item Operation description 1 Work plan Assume main flow of work Define the work of the robot 2 Drawing of flow Divide the whole work into separate jobs chart Dif there are conditional branchings in the work divide the work into different programs or divide one program into different blocks aAppoint position number at each work position Assign inpu
144. onanonncnanncna 5 14 5 3 6 Replacing the fuse ccc ecccsssssesseseasesessesesnsscseenesesserecucesevsvesseensaveess 5 18 5 4 Maintenance parts Chapter 6 Appendix 200 ecccccesccecccaeccecccucccaccersrecasseseeeeess 6 1 6 1 Command Sbe colita 6 1 6 2 Parameter lists ii ale eae a eA 6 7 6 3 Sample program 1 Teaching playback system 6 3 1 Pick amp place operation 0 ccccesessesessscsesssesessscseseseasseesesesesesveracasacuceraces 6 3 2 Handling operation The robot sorts out defective resistors from non defective ones 6 12 6 3 3 Assembly operation 0 0 ecceeeeeeneeeees 6 16 6 3 4 Sealing operation sain a i E aai 6 18 6 4 Sample program 2 Movemaster command method coccion 6 22 6 4 1 Pick and place operation 6 4 2 Application of interrupt motion 6 4 3 Application of palletiZiMg cooocoooodicicicicnicononnocononccononccononronnnnonconononrirnos 6 4 4 Example of connection with external 1 O equipment coccion 6 31 CIA MM NA NRR as 6 6 Trouble shooting 6 7 Structure tags ninina d 6 41 6 7 1 What is a structure flag ooo amp 6 7 2 Definition of each structure flag ceccccccececscessssscesesecesevevesesesterseststeeseeeeaes 6 41 O Index 1 Chapter 1 Handling the robot This chapter explains handling procedures and usage points for optional equipment not covered in the User s Manual 1 1 Handling the robot This chapter explains how to install the optional equipment
145. onnect the GR4 plug protruding from the secondary solenoid valve 10 to the connector GR4 8 Store the newly attached connectors in the battery cover in 13 and reinstall the battery cover 9 When you have completed the installation reinstall the shoulder cover B in 1 to its original position and be careful not to entangle the cables when you do so The connections after the installation appear as in Table 1 3B For single type valves hand 2 is not applicable Table 1 3B Solenoid valve ports and hoses Connection table for couplings and hand ports for the RV E2M RV E3JM Forearm Hand Hand port coupling Hose number eee number Yatve DO OPEN 1 1 A C Fi t Hand 1 CLOSE 7 2 5 irst se OPEN 3 3 A Hand 2 Second set CLOSE 4 4 B 5 5 Spare Z 5 4 R 1 Shoulder cover B 2 Truss screw 11 Socket head Lead connector 10 Secondary solenoid valve 4 Plate 6 Primary solenoid valve 13 Battery cover Detailed drawing of section A Fig 1 4B How to install the solenoid valve for the RV E2M RV E3JM To the hand s output connec tors Note Make sure to disconnect all 4 gt connectors leading to For when the hand s output the connectors when double using the pneumatic hand solenoid valve is used Connections for section A Connections for section A when using the motor when using the pneumatic operated hand hand Fig 1 5 How to install the solenoid valve connector
146. or 0 01 degree 2 If the structure flag has not been specified Right and Above flag is selected 3 f the specified value exceeds the robot s operational space alarm occurs at the execution of the MO command 4 The open or close state of the hand remains the same before and after the movement 5 The position of hand tip is decided by the tool length currently established Sample program Movemaster command 1 RV E2 RV E2M 10 MP 400 0 300 0 0 0 Moves to the specified coordinates 20 MP 200 200 500 0 0 0 R A N Moves to the specified coordinates Structure flags are also specified 2 RV E3J RV E3JM 10 MP 400 0 300 0 0 Moves to the specified coordinates 20 MP 200 200 500 0 0 R Moves to the specified coordinates Structure flags are also specified RAN MPB Move Playback I Function Moves to the specified position with specified interpolation specified speed specified timer and specified input and output signal Input Format 1 RV E2 RV E2M MPB speed dimer coutput ON gt lt output OFF gt lt input ON input OFF gt interpolation X coordinate gt Y coordinate lt Z coordinate gt lt A turning angle B turning angle C turning angle KR L e A B gt eo N FOT i KOC 2 RV E3J RV E3JM MPB speed timer outputON coutputOFF lt input ON input OFF nterpolation X coordinate Y
147. or External peripheral device Input port power source DC12V 24V Push button switch Transistor Limit switch Output port power source DC12V 24V LED lamp Solenoid or relay Photocoupler Incandescence lamp Fig 4 3E Connection example to I O circuitry Europe 1 Electrica specifications for the input circuit The electrical specifications for the input circuit is shown in Table 4 10 Table 4 10 Electrical specifications tor the input circuit e ARMA F Insuiation method Photocoupler insulation Rated input voltage DC12V DC24V JOFF ON 10ms or less DC24V Response time ON OFF 10ms or less DC24V 8 points 1 common 4 points 1 Common method Ponts Panty 4 pol common Extemal line connection method 2 Electrical specifications for the output circuit The electrical specifications for the output circuit are shown in Table 4 11 Table 4 11 Electrical specifications tor the output circuit en Seen AAA Cer CON Insulation method Photocoupler insulation Rated load voltage DC12V DC24V Usage load voltage range DC10 2 30V Peak voltage DC30V 2E3110 type 1 24 12V Max load current Leakage current during OFF Max voltage drop during ON 2ms or less Hardware response time OFF ON Response time ON OFF 2ms or tess Resistor load e Fuse 3 2A one per common cannot be fepleced i i External line connection method Con
148. osition 5 When executing the PT command the tool length of the hand to be used must be properly defined by the TL command The robot must be taught through the pallet positions four corners using the predefined correct tool length 6 Pay attention when you use pallet nine because the counters 91 92 of pallet nine are common counters among programs and other program may use these counters 3 83 Sample program Movemaster command Suppose there is a pallet on which a total of 24 workpieces are arranged 4 in the column direction and 6 in the row direction Then have the system compute the coordinates of the workpiece placed in the grid position 2 4 i e the second grid in the column direction and the fourth grid in the row direction and get the robot hand to reach that position Assume that pallet 7 is used Workpieces placed in the grid position 2 4 Position 73 Position 71 Columun directon Length 4 Position 70 _ gt Position 72 Reference position Row direction 6 pcs X You must teach the positions at four corners 70 71 72 73 in advance 10 TL 200 Sets the tool length equivalent to the hand using 20PA 7 4 6 Sets the pallet number and the grid points of column and row 30SC 71 2 Sets the number of grid point in column direction 40SC 72 4 Sets the number of grid point in row direction 50PT 7 Allows the coordinates of the target grid point to be set to position 7 60MO 7
149. p yes a 0 The 1st hand 3 26 1 The 2nd hand 60 Grip Flag GFa Defines the open ciose yes a 0 Open 3 27 state of hand grip used in t Close conjunction with command PD 61 Grip Open Gofa Opens hand grip yes a 0 The 1st hand 3 28 1 The 2nd hand 62 Grip Pressure GP Defines motor operated yes 0 a1 a2 63 3 29 a1 a2 a3 hand gripping force and 013399 gripping torce retention Unit 0 1 second time 1 0 control commands Na Nomenctature Input Function Program Note Page Format 63 AND AN a or amp b ANDs internal register yes 32768 Sas 3 4 value and specified value 32767 a or b 8000 S b S amp 7FFF 64 input Direct 1D a Gets signal from external yes 0 Sa S 32767 3 38 input without condition 66 Output Bit OB a Sets the output state of bit yes 0 Sa S 32767 3 66 a of external output Bit on Bit off terminal 67 Output Counter OC a at Outputs the counter value yes 1Sas 99 3 67 a21 a to external output o Sais 32767 terminal unconditionally 1S a2 5 16 a1 starting bit a2 bit length _xI mq__ ____ _ 68 Output Direct ODa a1 Outputs data a to external yes 32768 Sas 3 68 Laz output termina 32767 unconditionally amp 8000 Sa S amp 7FFF at starting bit a2 bit 0 XalX 32767 length 131125 16 A A A AA gt gt gt gt A gt gt gt 4141 4 41 69 OR OR a or amp ORs interna register value yes 32768 Sa S 3 71 b and specified value a or amp 32767
150. pha Characters was AS END CERRAR A RARA RRA He de de e e Fe de He e Je e Je Fe He Fe e de He KKK He e de he de He e He Fe Fe Fe He de e He Fe e Fe Je e KR KK Page 1 CAUTION TEACHING BOX CONNECTION DISCONNECTION rhe following shows the corrigenda about the procedure of how to connect and disconnect the teaching box T B during power on We kindly ask the user to refer to this information when reading the corresponding parts of the user s manual and the reference manual WHEN DISCONNECTING Incorrect operation will cause an emergency stop state 1 Set the ENBL DISABLE switch of the T B to the DISABLE side 2 Loosen the fixing screws of the T B connector with holding it firmly by hand 3 Push and lock down the EMG CANCEL switch on the front panel Concave state Confirm that the LED of the switch starts blinking 4 Disconnect the connector quickly within five seconds from the start of blinking The LED turns off when completed correctly WHEN CONNECTING Incorrect operation will cause an emergency stop state 1 Set the ENBL DISABLE switch of the T B to the DISABLE side 2 Connect the T B connector Confirm that the LED of the switch starts blinking 3 Push and release up the EMG CANCEL switch Convex state This must be done within five seconds from the connection of the T B The LED turns on when connected correctly 4 Fix the connector of the T B with a set of screws firmly TO RESET
151. pneumatic hand you can specify open or close state of hand 1 and 2 by the OB command Refer to the table below Ordinary use the GC or GO command For the motor operated hand these settings are not possible Notice GR1 GR4 shows connector number of hand output cable in the robot arm GR1 GR2 GR3 GR4 Hand Open Close Output bit 900 Output bit901 Output bit 902 Output bit 903 Open GO 0 ON OFF Hand 1 Close GC 0 OFF ON Open GO 1 ON OFF Hand 2 Close GC 1 OFF ON Sample program Movemaster command 100D amp FFFF Turns the bits 0 15 of external output into ON entirely 200B 10 Turns only bit 10 to OFF 30 ED Ends program OC Output Counter Function Outputs the specified counter value unconditionally through the output port Input Format OC counter number coutput bit kbit width Term lt Counter number Specify the counter number to be output 1 lt counter number 99 lt Output bit number Specify the reference bit number of output data 0 S bit number 32767 0 for default Bit width Specify bit width of output data 1S bit width 16 16 for default Explanation 1 Outputs the specified counter value unconditionally through the output port The output data retains after that 2 Even if the OC command is executed the value of the specified counter and the internal register remain intact e 3 You can specify the range of outp
152. position a and defines it again as a new position input Format SF position number a gt lt position number b gt Term Position number Specify the position number 1 lt position number a b 999 Explanation 1 The hand open or close state of position a as well as the structural flag R L A B N F is not affected by the SF command 2 Alarm occurs if the position a and or b have not been predefined 3 Does not effect any robot motion Sample program Movemaster command 10PD 20 0 0 20 0 0 0 Set the location and the attitude of position 20 20HE 10 Set the current position to position 10 30 SF 10 20 The position 10 is shifted only Z coordinate 20 mm of position 20 40 MO 10 Moves to position 10 50 ED Ends program 2 08 SM If Smaller Function This compares the value of the internal register with a specified value If smaller the program will jump The character string register and the numbers of characters ina specified character string are compared If the character string register is smaller the program will jump Input Format SM compared value character string number branching line number Term Compared value Specify the value compared with the internal register 32768 Compared value decimal 32767 amp 8000 Compared value hexadecimal lt amp 7FFF Character string number Specify character string number in
153. position number a position number a gt Term Position number Specify the position number exchanging 1 lt position number a b 999 Explanation 1 After the PX command is executed the coordinates of position a are exchanged for those of position b 2 The open or close state of the hand at position a is also exchanged for that at position b 3 Alarm occurs if positions a and b have not been predefined Semele program Movemaster command 10 2 Define the current position to position 2 20 MJ 20 30 10 0 0 0 Drives each joint by the specified amount 30 GO Opens the hand 40 HE 3 Define the current position to position 3 50 PX 2 3 Exchanges the coordinates value of position 2 for those of position 3 60 ED Ends program RRE QN Question Number Function Reads the program name or the program information Input Format QN program name gt Term Program name gt Specify the robot program name to be read Max 8 characters Possible letter used Digit 0 9 Character A Z Symbol etc Impossible letter used 2 5 Special specification When you specified only numeric value the program name is handied for number Need to enclose program name with in the case of character used Explanation 1 Outputs the selected program name or the selected program information through the RS 232C port If you omitted the
154. positions a and b are added to make the destination although positions a and b remain unchanged after executing the MA command See the SF command 2 If the open close state of the hand has been specified the robot moves after executing the hand control command If it has not been specified the hand state in position a remains valid 3 If the calculating results exceed the robot s operational space alarm occurs before the robot moves 4 Alarm also takes place if positions a and b have not been defined 5 The position of the hand tip is decided by the tool length currently established Sample program Movemaster command 1 RV E2 RV E2M 10 HE 1 Sets the current coordinates to position 1 20 PD 5 0 0 30 0 0 0 Defines the Z coordinate of position 5 as 30 mm 30 MA 1 5 0 Moves to the position that only Z direction added to coordinate value of position 1 by 30 mm with the hand opened X Coordinates values of position 1 and position 5 do not change 2 RV E3J RV E3JM 10 HE 1 Sets the current coordinates to position 1 20 PD 5 0 0 30 0 0 Defines the Z coordinate of position 5 as 30 mm 30 MA 1 5 0 Moves to the position that only Z direction added to coordinate value of position 1 by 30 mm with the hand opened X Coordinates values of position 1 and position 5 do not change R46 MC Move Continuous Function Moves the robot continuously through the predefined intermediate points be
155. power Also turn OFF the power source 2 After turning OFF the controller power wait about 3 minutes for the charged parts to discharge 3 Remove the top cover of the controller 4 Remove the two fixing screws 1 on the slot for the parallel 1 O interface board and remove the blind caps 2 for the expansion slot Store it away Remove the dust cover on the expansion slot s connector Store it away 5 Insert the parallel I O interface board into the connector of the above mentioned slot Option boards other than hand interface boards should be installed in the order of OPT2 and OPTS 6 Securely tighten the two fixing screws shown in 1 7 Install the top cover of the controller Caution When you insert the 1 O interface board open up the hardware in the direction of the arrows as shown in Fig 1 7 so that you don t catch onto the hardware of the connector part 1 Fixing screws A Caution 2 Blind cap Wait at least 3 minutes after turning the power off before removing the top panel Don t turn the power on until the top panel has been installed Other methods of handling may lead to electric shocks Fig 1 7 Installation of parallel I O interface board 1 1 7 Installing the rack adapter Model type 2E RACK Fig 1 8 shows the procedure for installing the rack adapter 1 Remove the three fixing screws M4 8 on the left side of the front panel of the controller 2 With the screws tha
156. program name the selected program name is turned over and if you specified it the information about the program is turned over 2 The output format is ASCII coded as follows The program number format N followed by Program name The program information format Used number of steps used number of positions used number of counters 3 Because the terminator of the output data is carriage return Hex 0D it is necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer LINE INPUT statement is equivalent to this in BASIC Sample program BASIC 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 30 PRINT 1 QN Transmits the QN command 30 LINE INPUT 1 A Saves the received data to A 40 PRINT Selected programis A Displays the contents of A to the screen 60 END Ends RUN Run the program Selected program is N10 Outputs the program name 3 87 RC Repeat Cycle Function Repeats the loop specified by the NX command the specified number of times Input Format RC number of repeated cycles Term Number of repeated cycles Specify the number of times repeating 1 lt number of repeated cycles decimal lt 32767 amp 0001 number of repeated cycles hexadecimal S amp 7FFF Exptanation 1 Used with the NX command to cause the loop specified
157. r 2 Program number 2 Program number 3 After the setting of the numeric value input signal you should input a PG signal after 0 1 seconds The pulse width of the PE signal positive edge of the PGN signal and others should be 0 1seconds or more Fig 4 4 Timing chart for external operations example 1 4 17 2 Timing chart for externa operations example 2 INPUT San Servo ON OFF Numeric value input Program number designation Program number output requirement Line number designation Line number output requirement Override designation Override output requirement Manual mode OUTPUT During servo ON Executing Manua mode Numeric value 00 output data Pi PO3 Line number t t Becomes a Program 2 jue of Program 1 Pr Line 50 san end Lineo nas eae Override 100 Ovarriae 0 Program No 1 Program No 2 Fig 4 5 Time chart for external operations example 2 3 Time chart for external operations example 3 NPUT Servo ON OFF Stan Alarm reset Reset of all general purpose oiltput Program reset OUTPUT Genera purpose output tt t t t 4 Sanot Servo Servo Start Emergency Servo Stan Hievel Program OFF ON stop on alarm pt ss Start of the default prpgram Reset all general p Program reset purpose output Fig 4 6 Time chart for external operations example 3 4 19 4 2 Tooling 4 2 1 Specification
158. re origin setting 3 You can change the moving sequence of the origin setting by the parameter UNG and also can change the attitude by the parameter UOG The parameter UOG can be set with the teaching box operation too See section 1 2 Origin setting and the HE command 4 The NT command is not required in the usual operation Relating Parameters The sequential order of user origin setting can be changed by the following parameter Parameter name UNG Sequential order 2 1 1 1 2 2 Default The attitude of user origin setting can be changed by the following parameter Parameter name UOG User origin attitude degree 160 00 45 00 50 00 160 00 120 00 200 00 Default RV E2 RV E2M 160 00 45 00 0 00 0 00 120 00 200 00 Default RV E3J RV E3JM To find the change operation refer to section 2 6 Other Functions 11 Setting the parameters in this Manual Sample program Movemaster command 10NT Executes origin setting 20 MO 1 Moves to position 1 30 ED Ends program 3 63 NW gt New Function Deletes the specified program and position data Input Format Explanation 1 Deletes all positions and counters of the specified program Common positions 901 999 and common counters 91 99 however are not deleted 2 Origin setting internal register tool length speed setting pallet setting and hand setting remain unchanged even if the NW command is executed
159. rial Robot RV E2 RV E2M RV E3J RV E3JM MOVEMASTER SUPER Reference Manual 1 Handling the robot 1 Handling the robot 2 Setting the origin 2 Operations 1 Preliminary preparations before operating 2 Basic operations of the system components 3 Programming 4 Debugging programs 5 Execution 6 Other Functions 3 Command description 1 Overview of commands 2 Explanation of command 4 Design and Engineering 1 External connections to controller 2 Tooling 3 Connections to a personal computer RS 232C 5 Maintenance and inspection 1 Maintenance period 2 Inspection items 3 Maintenance and inspection procedures 4 Maintenance parts 6 Appendix INDEX MELFA
160. rm list ALARM NO ERROR GENRATING CAUSE AND ITS REMEDY 0100 0120 Cause Error occurs in the power supply Remedy After turning off power turn on the power again 0200 0266 Cause Encoder detection is faulty Remedy After tuming off power turn on the power again If the error still persists reset the encoder and set origin point 0200 0206 Encorder data range over 0210 0216 Encorder data error 0220 0226 Encorder data initialization error 0230 0236 Encorder data comunication error 0240 0246 Encorder data misscount error 0250 0256 Encorder data thermal error 0260 0266 Encorder data circuit error Note The lowest digit means joint number 0300 Cause Battery backup error occurs in the controller Remedy Check the connection of battery cable to the controller if the error still persists change the battery in accordance with the changing procedure 0311 0316 Cause Battery backup error occurs in the encoder The connection of battery cable is faulty Remedy Check the connection of battery cable to the printed board 1f the error still persisits change the battery in accordance with the changing procedure Note The lowest digit means joint number 04000450 Cause Saved data is invalid Clear the Remedy data 0500 0566 Cause Fault is detected in the servo system Remedy After turning off power turn on the power again 0500 0506 2 port memory tails 0510 0516 Servo memory fails 0520 0526 Watc
161. rogram BASIC 10 OPEN 1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 20 PRINT 1 MO 10 Moves to position 10 30 PRINT 1 MO 11 Moves to position 11 40 PRINT 1 MO 12 Moves to position 12 50 PRINT 1 PC 11 Delete the position 11 60 PRINT 31 DP Moves to position 10 70 END Ends program 2 74 PD Position Define Function Defines the coordinates location and angle of the specified position Input Format 1 RV E2 RV E2M PD position number lt X coordinate lt Y coordinate lt Z coordinate lt A turning angle gt B turning angle C turning angles KR L A BB E KNE O C 2 RV E3J RV E3JM PD position number X coordinate lt Y coordinate lt Z coordinate lt A turning angle lt B turning angle L KR L iL A B i 0 C gt Term lt Position number Specity position number defining 1 position number S 999 lt X Y Z coordinate Specify the location mm in XYZ coordinates of the robot 0 for default lt A B C turning angle Specify the turning angle degree ofroll A andpitch B and twist C joints in XYZ coordinates of the robot 0 for default RV E2 RV E2M only lt A B turning angle Specify the turning angle around roll A pitch B axes in XYZ coordinates degree of the robot 0 for default R
162. s 1 7 1 1 4 Installing the 2E 31HND 2E 31HNE pneumatic hand interface Fig 1 6 shows how to install the pneumatic hand interface 1 Turn OFF the controller power Also turn OFF the power source 2 After turning the power OFF wait about 3 minutes for the charged parts to discharge 3 Remove the top cover of the controller 4 Remove the two fixing screws 1 on the right most slot on the back of the controller Remove the dust cover for the expansion slot Store it away 5 Insert the pneumatic hand interface into the connector of the above mentioned slot 6 Fasten and secure the two fixing screws 1 7 Reinstall the top cover 8 Turn ON the controller power 9 If the hand is attached with the teaching box use jog operations to confirm whether the pneumatic hand can open and close 1 Fixing screw A Caution Wait at least 3 minutes after turning the power off before removing the top panel Don t turn the power on until the top pane has been installed Other methods of handling may lead to electric shocks pneumatic hand interface board Fig 1 6 Installing the motor operated hand interface board 1 1 5 Installing the P6TB TE teaching box For the installation method refer to chapter 3 Preliminary preparations in the User s Manual 1 1 6 Installing the 2E 3110 2E 3110E parallel 1 O interface Fig 1 7 shows how to install the parallel I O interface board 1 Turn OFF the controller
163. s are established the program will jump to the specified line number If the number is larger when conditions are not established the next line will be executed If the specified line number is not registered an alarm will occur when jumping 3 By executing an INP command the data input from an external device will be set in the character string register The details of the character string number will be set by executing a CP command Thus when executing condition jumping one of these commands must be executed first 3 97 Sample program Movemaster command 10 ID Fetches the data from the external input port 20 SM 10 100 f the input data is smaller than 10 jumps to line 100 30 MS 1 Moves to position 1 by linear interpolation 40 ED Ends program 100MO 10 Moves to position 10 140 OPN 1 1 Opens the RS 232C port 150 INP 1 2 Reads the data of character string register from the RS 232C port 160 SM 5 200 Jumps to line 200 if the data smaller than character string number 10 200 MO2 Moves to position 2 aR ES SPS SP Speed Function Sets the operating speed acceleration or deceleration time and the continuous path setting input Format SP speed level lt H L gt CNT setting Term lt Speed level Set moving speed 0S speed level 30 lt H L gt Set acceleration deceleration level H High acceleration deceleration Max 0 2 second L Low accel
164. s for tooling connections Details for making connections can be found in the Specifications Manual and in the instruction manuals User s Manual and Reference Manual so please make the connections according to the written instructions The topics can be found as follows 1 Standard air wiring and piping Specifications Chapter 3 Section 3 1 4 2 Solenoid valve set specifications Specifications Chapter 4 Section 4 2 3 3 Solenoid valve set installation Instruction Manual Reference manual This manual Chapter 1 Section 1 1 3 4 Motor operated hand interface installation Instruction Manual User s manual Chapter 3 Section 3 8 1 5 Pneumatic hand interface installation Instruction Manual Reference manual This manual Chapter 1 Section 1 1 4 6 Motor operated hand installation instruction Manual User s manual Chapter 3 Section 3 8 7 Pneumatic hand set installation Instruction Manual Reference manual This manual Chapter 1 Section 1 1 2 The numbers 1 to 7 found in the diagram correspond to the number headings in the previous pages 2 Specifications of the solenoid valve set 3 Installation of the solenoid valve set 1 1 Standard wiring and l neumatic pipin NE 4 Installation of motor operated hand interface 5 Installation of pneumatic hand interface Note This was written for the RV E2 robot The specifications are the s
165. se DIR L LIA BI biose 28 Position loading PL a1 a2 Substitutes coordinates yes 1 al a2 S 999 3 77 value of position a2 to position a1 29 Pallet PTa Calculates the coordi nates yes 1S aS 999 3 83 of a grid point on pallet a and identifies the coordinates as position a 30 Puise wait PWa Waits for all axes being yes 1 a S 10000 3 85 positioned within the specified pulses a 31 Position PX at a2 Exchanges the coordinates yes 1 at a2 S 999 3 86 exchange of position a1 for those of position a2 32 Speed define SDaf b Defines speed a the first yes 01s aS 650 0 3 94 L dLe order deley time const b 1 b S 300 acceleration time c 0S cb S 2000 deceleration time d and e 0 disable CNT setting e in linear over 1 enable interpotation and circular interpolation A e a 33 Shift SF a1 a2 Shifts the coordinates of yes 1 al a2 S 999 3 96 position a1 by the coordinates of position a2 35 Speed SP a H L Defines speed a yes 0S a S 30 3 99 Lb acceleration and deceie H Quick motion ration CNT setting b L Smooth motion B 0 disable over 1 enable 36 Timer Tla Halts motion tor time a yes 0S a S amp S 32767 3 104 Unit 0 1 second 37 Tool TL a Establishes distance a yes Unit mm 3 105 between hand flange surface and hand tip Program control commands Na Nomenclature Input Format Function Program Note Page 38 CounterLoad CLa Loads internal register yes iZas 99 3 6
166. se output 5 General purpose output 6 General purpose output 7 DC12V 24V General purpose output 12 General purpose output 13 General purpose output 14 General purpose output 15 DC12V 24V DC12V 24V General purpose input 0 General purpose input 8 General purpose input 1 General purpose input 9 General purpose input 2 General purpose input 10 General purpose input 3 General purpose input 11 General purpose input 4 General purpose input 12 General purpose input 5 General purpose input 13 General purpose input 6 General purpose input 14 General purpose input 7 General purpose input 15 A 148 DC12V 24V General purpose input 16 22 49 General purpose input 18 General purpose input 17 LO O General purpose input 19 Note 1 You need to supply your own power source DC12V 24V Standard Expansion The I O number for the first addition is 100 added to the 1 101 standard I O number The 1 O number for the second addition is 200 added to 1 gt 201 the standard I O number Fig 4 2E Connection scheme for parallel I O interface board EUROPE 2 The first additional parallel 1 O interface Shown below is the pin assignment for the connector pin numbers of the first additional card and their functions Here is shown the distinction of the signa lines when you connect the optional external O cables For details on the connector pin array and the external I O cable refer to sec
167. se state of the hand Using RS 232C Input Format PR position number TERM lt Position number Specify the position number that you want to read 0 position number 999 If omitted the current position number is valid Explanation 1 Outputs the coordinates of the specified position and the open close state of the hand throgh the RS 232C port If the position number is omitted or equals 0 only the current position number is output 2 The data is ASCII coded as follows The least increment is 0 01 mm or 0 01 degree Output format RV E2 RV E2M _ X Y Z coordinate value A B C turning angle degree R L A B N F O C RV E3J RV E3JM X Y Z coordinate value A B turning angle degree R L A B O C 3 Because the terminator of the output data is carriage return Hex 0D itis necessary to handie serial data strings up to hexadecimal OD in receiving a message by a personal computer LINE INPUT statement is equivalent to this in BASIC 4 If you read the position that is not used in the program and not defined yet zero is output with each coordinate RV E2 RV E2M 0 0 0 0 0 0 RV E3J RV E3JM 0 0 0 0 0 If you read the position that is already used in the program but not definec yet 0 00 is output with each coordinate RV E2 RV E2M 0 00 0 00 0 00 0 00 0 00 0 00 RV E3J RV E3JM 0 00 0 00 0 00 0 00 0 00 5 If you specify zero to the position number or omit it you can identify the current
168. select any of 8 jobs through 8 switches connected to the input for use as external I O equipment and display the job currently being executed by any of the 8 LEDs connected to the outputs 2 Connection Figure 6 15 shows connection example 1 0 port power source DC12 24V General purpose input 0 General purpose input 1 General purpose input 2 General purpose input 3 General purpose input 4 General purpose input 5 General purpose input 6 General purpose input 7 Switch 1 Switch 2 Switch 3 Switch 4 Switch 5 Switch 6 Switch 7 Switch 8 Input port block O General purpose output 09 General purpose output 1 9 General purpose output 2 9 General purpose output 30 EE x o 2 a E o 5 3 2 E O 7 General purpose output 49 General purpose output 50 General purpose output 6 gt General purpose output 7 f Output port block Fig 6 15 Connection example with external l O equipment 6 31 3 Operation flow Figure 6 16 shows the flow of operation Main routine All LED off Initials speed setting Signal input ON End mito 1 gt a Operation 1 A Operation 2 a OFF ON End ion 3 gt y Operation 3 OFF ON End lt lt Switch gt Operation 4 OFF ON lt lt Switch 5 gt Operation 5 OFF ON End lt lt Switch 6 gt Operation 6 End lt lt Switch 7 gt operation OF ON End gt A Each operation routine
169. t gt Set the condition that compares bit The bitis ON The bitis OFF Bit number Specify the bit number of the internal register 0 S bit number 15 Branching line number Specify the line number to which the program jump 1 branching line number S 9999 Explanation 1 Causes a jump to occur conditionally in accordance with the external input data or the internal counter value 2 The program jumps to the specified line number if the specified bit in the interna register is on or off i e when the condition is met Otherwise i e when the condition is not met the program continues in sequence 3 A value can be loaded into the internal register by executing the input command see ID for the external input data or by executing the compare counter command see CP tor the counter data It is therefore necessary to execute either of the above commands beforehand so that a conditional jump can occur 4 Alarm occurs at a jump if the specified line number is not predefined Sample program Movemaster command 10 ID Fetches data from the external input port 20 TB 1 100 If the bit number 1 of input data is ON then jumps to line number 100 30 MS 1 Moves to position 1 by linear interpolation 40 ED Ends program 100 MO 10 Moves to position 10 2 1n9 TBD Test Bit Direct Function Causes a jump to occur in accordance with the specified bit value in the external input Inpu
170. t Input Conveyor in position Bit 3 Output Starts conveyor Request for next workpiece Bit 3 Seal ON OFF Bit 4 D A ps 3 Schematic diagram Figure 6 7 shows general description of operation Step 1 Notice 2 Step 13 14 Origin setting position NS 30 E Step 12 Conveyor Fig 6 7 Sealing operation 4 Parameter control set As sealing operation needs continuous motion without acceleration nor decelera tion set the parameter of continuous control CNT to 1 to make the robot move continuously Refer 1 3 Parameter setting of this manual to set the parameter 6 19 5 Operation flow Figure 6 8 shows the flow of operation ERT Joint interpolation 20 Moves to step 1 gt YES Continuous sealing work Waits for condition in step 1 lis Waits for ON of input bit 3 RRE Joint interpolation 50 ee 0 3 second timer after moving Soe Starts sealing Bit 4 ON All linear interpolation eset From step 2to5 Ree From step 5 to9 From step 9 to 12 dated Finishes sealing Bit 4 OFF ocios Joint interpolation 30 cios After moving bit 3 on to start conveyor Peete 0 5 second timer in step 14 Paces Bit 3 off to start conveyor Fig 6 8 Flowchart R N 6 Programming seat Work name Sealing A Program name Sealing Program number 1 Step Work position Work Interpol Speed Timer Hand Signal Signal number descripti
171. t Format TBD c 3 input bit number lt branching line number Term ct Set the condition that compares bit The bitis ON The bit is OFF lt Input bit number Specify the bit number of general input 0 S input bit number 32767 lt Branching line number Specify the line number to which the program jumps 1 branching line number 9999 Explanation 1 Causes a jump to occur conditionally in accordance with the external input data directly 2 The program jumps to the specified line number if the specified bit in the external input is on or off i e when the condition is met Otherwise i e when the condition is not met the program continues in sequence 3 It is not necessary to execute the input command ID beforehand and the interna register remains intact after the execution of TBD command 4 Alarm occurs if the specified line number is not predefined Sample program Movemaster command 10 TBD 19 100 lfthe bit 19 of the external input is ON then jumps to lin number 100 20 MS 1 Moves to position 1 by linear interpolation 30 ED Ends program 100 MO 10 Moves to position 10 3 103 16 AA e a A TI Timer Function Halts the motion for the specified length of time Input Format Ti dimer counter Term Timer counter Set the period of timer 0 lt timer counter lt 32767 0 1 sec Explanation 1 Causes the robot to halt its
172. t are removed attach the rack adapter to the side of the controller 3 Do the right side in the same fashion The rack adapters sre identical and can be used for either the left or right sides Fig 1 8 Procedure for installing the rack adapter A Caution Do not use the rack adapter as the sole means to support the controller approx 28kgf Use a side rail or use other such means to provide overall support for the controller 1 1 8 Installing the RS CBL personal computer cable Fig 1 9 shows how to instal the personal computer 1 Confirm that the personal computer cable is made for your personal computer 2 Attach the personal computer connector to the controller s RS 232C connector 3 Securely fasten the screws above and below the connector so that they will not come off 4 Be careful about exposing the cables Pulling strongly on the cables or bending them excessively can damage the connectors or rupture the cables Persona computer Fig 1 9 How to install the personal computer GS Go Sub Function Carries out subroutine beginning with the specified line number input Format GS sine number program name Term lt Line number Specify line number of subroutine in integer value 1 lt line number lt 9999 Program name Specify program name of subroutine in integer value or characters Less than 8 characters 1 program name lt 8 characters Possible letter used Di
173. t of the coordinate value is 0 01 mm or 0 01 degree e g specify 20 01 for 20 01 mm 2 Alarm occurs if the specified coordinates exceed the robot s operational space 3 The default coordinate value is zero 4 Use the MPB command ff the setting of speed timer or input output are needed 5 If you do not set any condition of speed timer or input output in the teaching playback method the MPC command is generated at each step 8 The order that the condition data specified with this command is executed is as follows 1 Interpolation method 2 Speed 3 Movement to target position 4 Timer 5 Signal output including hand control 6 Signal input wait 3 53 MR Move R Function Moves the tip of hand through the predefined intermediate positions in circular interpolation Input Format MR position number a gt lt position number b gt position number c gt ks O C gt Term Position number Specify the positions on the circle 1 lt position number 999 lt O C gt Specify open or close state of the hand If omitted the hand state of the position is valid O Hand open C Hand close Explanation 1 Moves the tip of hand through specified positions from a via b to c drawing an arc 2 The moving speed of circular interpolation is decided by the SP or SD command The tip of hand at constant speed Since the locus accuracy depends on the speed of circulari nterpolation s
174. t output signals Based on the above procedure draw flowchart 3 Programming Based on the above flowchart make the program 6 4 1 Pick and place operation 1 Work description The robot transfers a workpiece from one place to another place 2 Defined position Position No Position description Teaching way Position 1 Picking position By actual teaching Position 2 Placing position Position 10 Movement distance above position 1 By numerical value setting Position 20 Movement distance above position 2 3 Operation flow Figure 6 9 shows the flow of operation Fig 6 9 Flowchart Repeatedly 4 Schematic diagram Figure 6 10 shows general description of operation Setting to Somm position 20 Setting to position 10 ANUN position 2 position 1 SS Fig 6 10 Pick and place operation 5 Example program 10 PD 10 0 0 20 0 0 0 Defines the aerial distance of travel from position 1 2 20 mm 20 PD 20 0 0 30 0 0 0 Defines the aerial distance of travel from position 2 2 30 mm 30 SP 17 Sets the initial speed 40 MA 1 10 0 Opens hand and moves 20 mm above the position 1 50 MO 1 0 Moves to the position 1 60 GC Closes hand and grasps the workpiece 70 MA 1 10 C Moves 10 mm above the position 1 with hand closed 80 MA 2 20 C Moves 30 mm above the position 2 with hand closed 90 MO 2 C Puts the workpiece 100 GO Opens hand and releases the workpiece
175. tant Unit millisecond 6 7 Parameter Parameter name Array number Contents Default value Remarks Pulse width PWI 1 real number Sets accuracy of positioning Unit 10000 pulse Grip control GCD 1 integer Sets the initial state of hand 0 1 0 1 See GC operation at power on The 1st GO hand normal reverse the 1st commands hand initial condition the 2nd hand normal reverse the 2nd hand initial condition Norma reverses 0 means normal 1 means reverse Initial state 0 3 The origin HOE 1 integer Sets enabie disat e of origin point O Note 3 point setting setting permission 0 Diseble 1 Enable Robot can not execute program when set to 1 The user UOG amp real number Sets user defined origin point 160 0 45 0 50 0 RV E2 defined W S E T P R Unit 160 0 120 0 200 0 RV E2M origin point degree 160 0 45 0 0 0 RV E3J 0 0 120 0 200 0 RV E3JM Joint order of UNG 6 real number Sets joint motion order to returnto 2 1 1 1 2 2 Note 3 retuming to the origin point origin point Wristangle RCD 1 integer Selects wrist angle coordinate o AV E3J coordinate system for control and display RV E3JM selection 0 Genera angle Maintains posture 1 Joint angle Varies posture Stop input INB 1 integer Sets stop input for A type contact 0 pe or B type contact selection 0 A type Normally open 1 B type Normally closed Parallel O Sets function for i
176. teps in reverse order in step 3 for the fuse holder and screw it in securely A Caution If it seems that the fuse will blow again contact your nearest service center 1 Fuse holder Fig 5 9 How to replace the fuse 5 4 Maintenance parts The expendable parts that need to be replaced periodically for this product are listed in Table 5 7 and Table 5 9 Also we ll show you spare parts that you will probably eventually need for making repairs in Table 5 8 and Table 5 10 When you purchase parts buy from recommended manufacturers or from Mitsubishi s service department Note that the parts designated by Mitsubishi differ from the maker s standard parts Always confirm the part name and the robot and controller manufacturing Nos and purchase the parts from the Mitsubishi Service Center 1 Robot consumable parts Table5 7 Robot consumable part list ia Part name Model type M re Location of use Quantity 1 Timing belt S2M 320 U Mitsuboshi beit Wrist pitch 1 2 Grease Gear grease SK 1A Japan Harmonic Gear reduction units slightly Systems at various axes 3 Lithium A6BAT Mitsubishi Electric For the RV E2 RV 5 batteries E2M the shoulder For the RV E3J RV 4 E3JM the shoulder 2 Robot spare parts Table5 8 Robot spare parts list Num Part name Model type Note an Location of use Quantity 1 AC servo Mitsubishi Electric Waist shoulder 3 motor elbow 2 AC servo Mitsubishi Electric For the R
177. ter No Description Counter 11 Palette 1 column counter Counter 12 Palette 1 row counter Counter 21 Palette 2 column counter Counter 22 Palette 2 row counter 4 Defined input signal 1 0 Description Bit Input Test completion signal Bit 7 D 7R 5 Example program Initial setup 10 PD 50 0 0 20 0 0 0 Detines the aerial distance of trave Z 20mm as position 50 Note 1 15 TL 145 Sets tool length at 145mm 20 GP 10 8 10 Sets hand open close parameters 25 PA 1 10 6 Defines the number of grid points in the column and row directions for pallet 1 ver 10 X hor 6 30 PA 2 15 4 Defines the number of grid points in the column and row directions for pallet 2 ver 15 X hor 4 35 SC 11 1 Initializes the column counter 11 of the pallet 1 Sets 1 to the counter 40 SC 12 1 Initializes the row counter 12 of the pallet 1 Sets 1 to the counter 45 SC 21 1 Initializes the column counter 11 of the pallet 2 Sets 1 to the counter 50 SC 22 1 Initializes the row counter 12 of the pallet 2 Sets 1 to the counter Main routine 100 RC 60 Sets the number of repeat cycles of a loop up to line 140 110 GS 200 Calls the subroutine of picking workpieces from the 1st pallet 120 GS 300 Calls the subroutine of setting workpieces on the inspection equipment 130 GS 400 Calls the subroutine of placing workpieces on the 2nd pallet 140 NX Returns to line 100 150 ED End T
178. the pallet 2 to the position 2 404 MA 2 50 C The robot moves to the sky after position 2 406 SP 8 The robot sets speed 408 MO 2 C The robot moves to the 2nd position 410 GO The robot opens the hand and it puts the work 412 MA 2 50 0 Moves to a location 20 mm above the position 2 414 IC 21 increments the column counter 21 of the pallet 2 416 CP 21 Sets the value of the counter 21 to the internal register 418 EQ 16 430 Jumps to line 430 on completing the column line compares with value 16 420 RT Ends the subroutine otherwise 430 SC 21 1 Initializes counter 21 Sets 1 into the counter 432 iC 22 Increments the row counter 22 of the pallet 2 434 RT Ends the subroutine Note1 For RV E3J RV E3JM the line 10 should be 10 PD 50 0 0 20 0 0 6 Explanation 1 In this example the robot increments the column counter of each pallet The robot initializes them to return to the top of column when it reaches the end of the column And it increments the row counter of each pallet to move to the next column From the 214 line to the 232nd lines and from the 414th line to the 432nd line 2 The robot waits for the test completion signal The 310th line 3 The completion of the entire sequence is determined by the number of main program cycles See line 100 7 Schematic diagram Figure 6 13 shows general description of operation hata to position 50 20mm Position 11
179. tion Reads the coordinates of the current position and the open or close state of the hand Using RS 232C Input Format Explanation 1 Causes the coordinates of the current position of the tip of hand as determined by the tool length see the TL command and the hand open or close state to be output through the RS 232C port 2 The output format is ASCI coded as indicated below The least output increment is 0 01 mm or 0 01 degree e g 20 01 for 20 01 mm Output format RV E2 RV E2M X Y Z coordinate value A B C turning angle R L A B N F O C structural flag RV E3J RV E3JM X Y Z coordinate value A B turning angle R L A B O C structural fiag 3 Because the terminator of the output data is carriage return Hex 0D itis necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer LINE INPUT statement is equivalent to this in BASIC Sample program BASIC 1 RV E2 RV E2M 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 20 PRINT 1 WH Transmits the command WH 40 LINE INPUT 1 A Saves the received data to A 50 PRINT Current coordinates are A Displays the contents of A on the screen 60 END Ends RUN Run the program Current coordinates are 10 00 Displays the value of the current position 380 00 300 00 70 00 50 00 40 00 R A N C 2 R
180. tion 4 2 Option 22 23 in the Specifications Manual Table 4 8 Directory of assignments for pin numbers and signals for the first additional parallel 1 O interface a Color of external Color of external VO cable Specialized 1 0 cable Specialized General purpose power source General purpose power source common common White black B Yeliow biack B General purpose General purpose output 100 output 104 General purpose 30 Genera purpose output 101 output 105 General purpose Pi General purpose output 102 output 106 Generai purpose General purpose output 103 output 107 General purpose General purpose output 108 output 112 General purpose General purpose output 109 output 113 General purpose General purpose output 110 output 114 General purpose General purpose output 111 output 115 COMI 40 47 pin use General purpose General purpose output 100 output 108 General purpose i General purpose output 101 output 109 General purpose General purpose output 102 output 110 General purpose General purpose output 103 output 111 General purpose General purpose output 104 output 112 General purpose General purpose output 105 output 113 General purpose General purpose output 106 output 114 General purpose General purpose output 107 output 115 COM2 24 25 49 50 use Generai purpose General purpose output 116 output 118 General purpose General purpose output 117 output 119 The I O number for the first addition is 100
181. tween two specified position numbers Linear interpolation Input Format MC position number a gt position number b gt lt O C gt Term Position number a gt Specify the top position number moving continuous Position number b gt Specify the last position number moving continuous 1 lt position number a b 999 Position number a position number b 99 O C Specify open or close state of the hand If omitted the hand data of each position is valid O Hand open C Hand close Explanation 1 Moves the robot along the series of positions via a to b without acceleration and deceleration Linear interpolation 2 Depending on whether position number of a is greater than that of b or vice versa the robot moves through the intermediate points in descending or ascending order The robot decelerates to a stop as it reaches the end position 3 When the hand open ciose setting has been done hand control is executed before the movement 4 Since the robot does not accelerate or decelerate during motion alarm may occur when the path involves a great change in direction of any of the joints at high speed 5 The speed of travel during linear interpolation is determined by the SP or SD command Hand tip at constant speed 6 Alarm occurs if specified positions a and b have not been defined or if the difference between the position numbers a and b exceeds 99 7
182. u will need to reenter the Position data Fig 5 4 Inspecting adjusting and replacing the timing belt for the wrist pitch joint drive 3 Tension of the timing belt A timing belt needs suitable tension to keep good power transmission and its durability When the tension of the belt is weak the sides of the belt vibrate When the tension of the belt is strong the tension side of the belt vibrates with a sharp sound Fig 5 5 and Table 5 5 illustrate the how to adjust the tension of the belt Adjust the tension of the belt by the force f and the deflection of the span s f Tension of belt kgf s Length of span mm d Deflection of belt mm Fig 5 5 Force and defiection Table 5 5 Tension of the belt Joint Belt type Span s mm io d Force f kgf P Joint S2M 320 U 120 2 0 7 Ean a E ES 5 3 4 Grease charge 1 Grease charge place and grease charge specification Fig 5 6 shows the location for the grease nipple And Table 5 6 shows grease charge specifications for each place When you want to charge grease follow section 5 3 2 Disassembling covers to remove the necessary covers RV E2 RV E2M RV E3J RV E3JM 4 T joint grease 3 F joint grease hi rt 5 oa grease charge port a grease charge port 1 W joint grease charge port 2 S joint grease charge pol Common for RV E2 RV E2M RV E3J RV E3JM Fig 5 6 Grease charge ports Table 5 6 Grease charge specificati
183. ue which is added to the head 1 lt character string number 99 lt Branching line number Specify the line number to which the program jumps when the comparison result is not equal 1 branching line pair 9999 Explanation When compared value is specified 1 Causes a jump to occur conditionally in accordance with the external input data or the internal counter value 2 If the internal register value does not equal to the compared value i e when the condition is met the program jumps to the specified line Otherwise i e when the condition is not met the program continues in sequence 3 A value can be loaded into the internal register by executing the input command See ID for the external input data or by executing the compare counter ommand See CP for the counter data Accordingly when you carry out conditional branching need to execute either of the above commands beforehand 4 The compared value may be defined either in decimal or hexadecimal A hexadecimal value must be headed by amp When character string number is specified 1 The conditions will jump depending on the data input from an external source or the number of characters in a specified character string 2 Ifthe number of characters in the character string register is not equal to the details of a specified character string when the conditions are established the program will jump to the specified line number lf
184. unnecessary For information on the timing chart refer to section 4 1 7 B Method using the STA signal 1 Set the value of the program selection and start parameter PST to 1 2 In one of the parallel 1 O input setting parameters IN1 to IN3 assign the numerical value input signal such as PIO and the specialized input command STA 3 Set the program number to be selected by the external device at the various bits for the numerical value input signal 4 Input the STA signal The program number that was set by the startup signal wili be read into the robot and the program selected will start simultaneously A Caution In the above methods it is necessary to set the program number at the numerical value input signal each time you start If you input only the STA signal depending on the numerical value input signal the wrong program can be selected 4 1 7 Timing chart for externa operations Examples of timing charts for external operations are shown in Fig 4 4 to Fig 4 6 1 Timing chart for external operations Example 1 INPUT Numeric value PIO PI3 input signal Program number N atuiga o PS Stan STA Stop STP Program reset RST Continue eycle ere Alarm reset OUTPUT Servo ON Executing Waiting Alarm Continuous cycie Alarm reset gt Program reset gt Atem reset gt Program reset gt Alarm occured gt Alarm occured gt Program number 1 Program numbe
185. unter yes Sas 99 3 37 count a 50 IfLarger LG a or amp b Causes a jump to line yes 32768 S a S 32767 3 43 c number c if internal amp 8000 Sb b Sart register value strings is Saa S greater than a or amp b c amp 9 5509 51 If Not Equal NE a or amp b Causes a jump to line yes 32768 S a 32767 3 61 K number c if internal amp 8000 S b 587 fff register value strings 1 lt a S 99 does not equal a or amp b 13 c 9999 52 New NW Deletes all tines and no 3 64 positions of the selected program 53 Next NX Specifies the range ofa yes 3 65 loop in a program executed by command RC 54 RepeatCycle RCa Repeats the loop yes 1Sa 832767 3 88 specified by command NX a times 55 Run RN f atJ a2 Executes program b from yes 15 a1 a2 39999 3 89 gt 1 fine a1 to a2 a2 not included 56 Return RT a Completes subroutine yes 1 a 39999 3 91 activated by command GS a is the destination and returns to main program 57 Set Counter SC alb Loads value b into O isa lt 9 3 97 counter a 32768 Sb 32767 88000 Sb amp 7FFF 1Sa lt 99 1 lt b lt 122 character number 58 If Smailer SM a or amp b Causes a jump to line o 32768 SaSt 3 102 c number c if the internal 32767 register value is smaller 38000 Sb amp than a or 4b TEFF 1s Sa 99 c lt 9999 R 4 Hand control commands Na Nomenclature input Function Program Note Page Format 59 Grip Close GCfa Closes hand gri
186. urning off the servo try it again 2420 Cause Impossible operation while the servo is off Remedy After turning on the servo try it again 2600 Cause The line number assigned for execution does not exist Remedy Check the line number in the program and assign again 2700 Cause The position data assigned for execution dose not exist Remedy Check the position date in the program and assign it again 2800 Cause Syntax error occurs in the command statement Remedy Correct the command statement and input it again 2810 Cause Parameter value of the command is out of range Remedy Correct the value c P gt S ALARM NO ERROR GENERATING CAUSE AND ITS REMEDY 2820 Cause Parameter value of the INP command is incorrect Remedy Correct the command statement and input it again 2900 Cause Incorrect number used in the command Remedy Correct the command statement and input it again 3400 Cause The depth of looping in RC and NX command exceeds 9 levels Remedy Set the looping depth within 9 levels 3500 Cause The number of interrrupt commnands exceeds the limit Remedy Check the program and delete the interrupt command 3600 Cause Can t calculate correctly Remedy Check the program and correct it 3700 Cause Incorrect matching between GS and RT command Remedy Correct the program 3710 Cause The depth of GS command exceeds 9 levels Remedy Set the depth within 9 levels 3800 Cause Assigned paltet is not defin
187. ut signal by setting the bit width of the OC command Sample program BASIC 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 20 PRINT 1 SC 5 0008 Set value 8 to counter 5 30 PRINT 1 OC 5 Outputs the value of the counter 5 unconditionally to output port 40 END Ends program RAT OD Output Direct Function Outputs the specified data unconditionally through the output port Input Format OD output data lt output bit number f kbit width Term lt Output data Specified output data 32768 lt output data decimal 32767 8 8000 lt output data hexadecimal amp 7FFF lt Output bit number Specify the reference bit number of output data 0S bit number S 32767 0 for default Bit width Specify the bit width of output data 1 bit width lt 16 16 for default Explanation 1 Outputs a signal parallel data unconditionally through the output port to external equipment such as a programmable controller The output data retains after that 2 output data is defined either in decimal or hexadecimal The data defined in hexadecimal must be headed by amp 3 For information on connections see 4 1 2 Interfacing with external 1 O equipment 4 You can specify the range of output signal by setting the bit width of the OD command 5 If you specify the special bit in the parameter OT1 OT3 of the e
188. ution stage 2 1 2 1 2 Characteristics and functions of system components 2 2 Basic operations of the system components 2 2 1 How to operate the Controller ccoo cociciccnanacnocnnccanonoconcono nono coran nononcnnnononnnn 2 2 2 How to operate the teaching box 2 3 Programming 2 3 1 Programming with the teaching playback method 2 3 2 Programming with the Movemaster command method 2 4 Debugging programs eee ec seecseseceesesesseseecsscssacscstessusscecsusestensnearstansacaeenees 2 5 Execution ccc ceeseeeneeeceseeeees 2 5 1 Execution from the Controller o oo ccececcsccseecsesesscssscscsesesscevecseaeseesennees 2 5 2 Execution from the teaching box 2 5 3 Execution from the personal computer 2 6 Other Functions Chapter 3 Command description 3 1 Overview of commands CF Change figure CL Counter Lovin ai CP Compare Counter GR COUNTS REA inicia idad DA DISAB SAD ui A e tds DC Decrement counter DJ Draw Joint iio dia DLX Delete LIO ic ici a ad DP Decrement Position a DR Data Re iii it ae OS Draw Straight sas A dant dela DAAE DI T EEEE EE EE dara EA Enable Act ED ENG OAE E EE E EAE EINER E EME A ANA EN EE A E TEESE ER gt Error Read GC Grip Close GF Grip Flag A T OA GO GHpPOPEN ic init ir dad GP Grip Pressure GS Go Sub GT Go To HE Here HLT Halt HO HOME it Ga IS Increment Counter oe esesessssseseseee
189. ve turn table Linear 100mm s 0 Open bit 3 Robot moves up ON 9 The position above conveyer Joint 100 0 Open bit 3 OFF 6 3 2 Handling operation The robot sorts out detective resistors from non defective ones 1 Work description The robot inspects resistors supplied from a conveyer with inspection apparatus After inspection the robot puts non defective registors on another conveyer and throws defective ones into a box 2 Signal 1 O 1 0 Description Bit Completion signal of resistor feeding Bit 0 Completion signal of inspection Bit 1 Input OK signal from inspection apparatus Bit 2 NG signal from inspection apparatus Bit 3 Non defective resistor feeding out signal Bit O Output Trigger signal for inspection Bit 1 B 19 3 Schematic diagram Figure 6 3 shows the schematic diagram of this work Inspection apparatus Conveyor for non defective resistor Fig 6 3 Sorting out registors 4 Procedure 1 The robot waits for a registor to be fed above a conveyer 2 The robot carries the fed registor to an inspection apparatus and activates inspection 3 The robot waits for inspection to finish 4 If the registor is non defective the robot puts it on a conveyer and outputs feeding out signal for 0 5 second If it is defective the robot throws it into a box 5 Operation flow 1 Simple teaching playback method In the case of teaching playback method there is no conditional branching fun
190. xternal output alarm occurs because of the conflict of signals If you want to reset output signal with factory default setting execute OD 0 0 13 causing the output bit from 0 to 12 to OFF Sample program Movemaster command 10 OD amp FFFF Sets the output port of 16 bits width from bit 0 to ON 200D amp FFFF 10 Sets the output port of 16 bits width from bit 10 to ON 300D amp FFFF 10 15 Sets the output port of 15 bits width from bit 10 to ON 40 ED Ends program RRR OG Origin Function Moves to the user defined origin Joint interpolation Input Format Explanation 1 Moves to the user defined origin specified by the parameter UOG by joint interpolation 2 The attitude of the robot after executing the OG command is the same as the attitude after executing the NT command The parameter UOG which defines the moving sequence of origin setting does not effect the OG command 3 The parameter UOG can be set with the teaching box operation too See section 1 2 Origin setting and the HE command Relating Parameters The attitude of user origin setting can be changed by the following parameter Parameter name UOG User origin attitude 160 00 45 00 50 00 160 00 120 00 200 00 Default RV E2 RV E2M 160 00 45 00 0 00 0 00 120 00 200 00 Default RV E3J RV E3JM Sample program Movemaster command 1 ONT Executes the origin setting 20 MO 2
191. y a personal computer when alarm occurs Sample program BASIC 1 RV E2 RV E2M 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 20 INPUT Reading stepis J Enters the step number that you want to read 30 PRINT 1 STR 35 Transmits STR step number to the controller 40 LINE INPUT 1 A Saves the received data to A 50 PRINT A Displays the data on the screen 60 END Ends program RUN Run the BASIC program Reading step is 2 Enters the step number MPC 0 227 85 371 92 581 68 60 71 102 83 30 85 R A N C Outputs the contents of the step 2 RV E3J RV E3JM 10 OPEN COM1 E83 AS 1 Opens the RS 232C communication file from the personal computer in BASIC 20 INPUT Reading stepis J Enters the step number that you want to read 30 PRINT 1 STR J Transmits STR step number to the controller 40 LINE INPUT H1 A Saves the received data to AS 50 PRINT AS Displays the data on the screen 60 END Ends program RUN Run the BASIC program Reading stepis 2 Enters the step number MPC 0 227 85 371 92 581 68 102 83 30 85 R A C Outputs the contents of the step 3 101 TB Test Bit Function Causes a jump to occur in accordance with the specified bit value in the internal register input Format TB t lt bit number branching line number Term lt
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