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Sankyo Robotics Buzz 2 user manual

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1. 4 12 im Et 4 12 SI ATL uenit eund DIM I CINE D LINE Lt tasa es 4 12 SCIVIT LEER 4 13 SN E 4 13 gn 4 13 Cycle e unii ee A AAA uut ald ee ee aede ae 4 13 Add Watch T 4 14 Watch Bi lee 4 15 Watch String VarlaDles aiii ra t DOR REED n Sg pa Pn ed 4 15 Watch Array vaal S en irent dr ia 4 16 Watch Position Variables cocinaba Dna ovd divus owe ed reda dion 4 16 Watch Current Position sssssesssseseseeneneenenen nennen nnne ener rre 4 17 eue au iccm 4 18 Quick Watch Simple variables ooooonococccncnnccicococoncnonnnncnnnnnnoncnnnnnnnnnnn nn nnnnn cnn naar nn nn cnn nnn nnns 4 18 Quick Watch String variables A 4 19 Quick Watch Array variables coincida Edda t d d d Rd ds 4 20 Delete Mett T di dE ined deet ees AER eebe 4 21 Ee Re E 4 21 Toggle Breakpoint essea a ui ce pd tn a RET BEE dadd A 4 21 e Tiisirz dole 4 21 Error Reset E 4 21 Displaying a Teach File oo eee eee eceeeeeeene cece entree erent ee ee eae eee nano nn rra rn rre rn 4 22 Deploy the JOD EE 4 23 Deploy the Tash qp Tm 4 23 Copyright Sankyo Robotics 1997 2001 Chapter 4 Debugging Applications 4 1 fe SC3000 Robot Systems This page left blank intentionally 4 2 fe Buzz User s Guide V
2. 6 26 te Buzz User s Guide Version 2 0 Compiler Error Messages Compiler errors occur as a result of performing any Compile option in Buzz The compiler errors are listed in this chapter by message in alphabetical order Each error listing contains a brief description where necessary with an example that points to a possible solution When the actual error s occur they are associated with a line number in the source file Sometimes there is enough information in the error message content and line number to resolve the problem When this is not the case the cause of the problem can be above prior to the reported line number and error message Always try to solve the first reported error before trying to resolve any remaining errors because the first error may be the cause of some or all of the remaining errors Refer to the following alphabetical error listing for assistance in resolving your problem Chapter 6 Errors 6 27 ma SC3000 Robot Systems Cannot assign to teaching position data A TPOSITION variable cannot be assigned a value anywhere in the program they must be taught from the Pendant POSITION variables must be assigned a value There may not be enough disk space on your PC to perform this function Cannot declare teaching position data as a local variable TPOSITION must always be declared globally Cannot initialize local variables Local variables must be declared first then initial
3. EOA is the abbreviation for End Of Arm EPROM is the abbreviation for Electrically Programmable Read Only Memory This is a non volatile semiconductor memory chip which can be removed erased and re programmed Itis typically where a software program is permanently stored and cannot be changed by an end user ESD is the abbreviation for Electrostatic Discharge EPO is the abbreviation for Emergency Power Off Feeder is a device that provides parts or tools to complete a Robot application Fixture is any device other than a feeder that is required to complete a Robot application For example a fixture will house a tool required to complete a Robot application Flash Memory is a non destructive memory in a computer This means that when power is turned off or removed from the computer any programs or data residing in flash memory will not be lost FRU is the abbreviation for Field Replaceable Unit a mechanical or electronic component which is a replaceable part Gantry is a Robot suspended from a bridge like frame Sometimes called a box frame Robot Typically the work envelope is rectangular Gripper See End Effector Hand See End Effector Buzz User s Guide Version 2 0 Host Computer is a computer that can control monitor or upload and download files to a Robot System They are also called Roll up computers Industrial Robot is a multi functional multiple axis robot that is re programmable and capable of as
4. e Updated the Buzz Help file e Enhanced the tool bar icons e Improved the Retrieve Job and Retrieve Task functions now more user friendly System Requirements PC Requirements e Buzz is supported on the following PC Windows system software platforms e Windows 95 OSR2 e Windows 98 e Windows NT Version 4 0 or later with Service pack 6 0 or later e Windows 2000 Windows 95 is not supported for 80486 processor types and prior and their equivalent processor types or prior to the OSR2 release e 200 MHz Processor or faster e SVGA Display resolution of 800 X 600 and higher e 32MBRam e Available 16 MB hard disk space SC3000 Controller Requirements e SC3000 series Controllers model 030 and 300 e SC3000 system software version 103 15 or later Chapter 1 Installation and Configuration 1 3 ma SC3000 Robot Systems Installing Buzz WARNING If you have BuzzX Version 1 x or BuzzX Version 2 0 BETA installed on this PC please contact Sankyo Technical Support before Installing this product 1 561 998 9775 or support sankyo com NOTE If you have a Windows NT or a Windows 2000 system a person with Administrative privileges must install the Buzz software product 1 If you have a previous version of Buzz already installed uninstall that version before proceeding Refer to the topic Uninstalling Buzz found later in this chapter Ensure that a supported PC system software version is ins
5. fe SC3000 Robot Systems This page left blank intentionally viii SS Preface Audience Buzz User s Guide Version 2 0 This manual is intended for use by Robot application programmers For safety reasons users of this manual are expected to be familiar with the general operation of automation equipment The Safety chapter which immediately follows should be read and understood in its entirety before any operation begins About this Manual This manual provides information on the Buzz software product Version 2 0 This software product is an Application Development System ADS that supports the writing compiling or building editing monitoring and debugging of the user application programs for the Sankyo SC3000 series Robot Controllers The subject matter in this manual is divided into the following chapters Preface This chapter Safety Safety guidelines are presented Chapter 1 Installation and Configuration describes the installation configuration and architecture of the Buzz software package Chapter 2 Overview describes the basic operations of the Buzz software package Chapter 3 Creating Applications describes the work with application files from creating source files through the compile or build phase Chapter 4 Debugging Applications describes the debugging features of the Buzz software package Chapter 5 The File Manager describes using the Buzz File Manager This feature of
6. 8 6 18 1 2 2 35 Command number Download 8 sss 6 19 1 2 2 39 Command number ADS internal FF oooooccccccccccnccnnonononcnnnnnnnnnnonnnncnnnnnnnnnnnncnnnnnnnnannnns 6 20 1 2 2 45 Command number ADS internal EE 6 21 1 2 2 53 Command number ADS internal Any other Commande 6 22 1 2 2 0 Command number ADS internal Any other Commande 6 23 1 2 2 72 Command number ADS internal Any other Commande 6 24 2 1 Miscellaneous Error Messages 6 25 2 1 1 Miscellaneous Error Text Message eee nene 6 25 2 1 12 Miscellaneous Error Text Message 6 26 Compiler Error Messages uc ommo 6 27 Cannot assign to teaching position data 6 28 Cannot create object file 7777 TSK eceeccececsecceeeeeeeeeneceenenedeaneeseeeeeeesedeeneneeeeeesenedeeneeneeeeeteees 6 28 Cannot create error list file TER 6 28 Cannot declare teaching position data as a local variable 6 28 Cannot initialize local variables ene eene rr 6 28 Cannot initialize teaching position data emm een menn 6 28 Cannot link more than 8 files aiii tte arana ete ei ta eo a eed n ed Rd eae en 6 28 Cannot operi source lle edi reed lidia add aed Tee gedd addon EH ANE a 6 28 Duplicate CASE Value ii data 6 29 IMegal array definition eei meet ceni dada 6 29 Illegal assignment statement iaiseeeiciseiseeeeieeeseieie tenentis 6 29 Whegal character i222 D case 6 29 Copyright O Sankyo R
7. B Bsa glslel ma aa 6 1 aS ole ee e s eo emere OUT 2146 0 DETAW 13 buzzM ob 01AXAPP 01A TXT Z FRH EJE EJE JE JEJE 3 EC E 3 3 3 EE 3 JE CC C JE JE EC C E be This Robot Task works with the System and peripheral tasks Z FERH HEEE EE CC 3 3 EE CC 3 3 EE E 9 9 3 JE C C JE EE C C EE E CE JE 9 E EE E E EE E E EE E EE EE 3 3 3 Tposition tp 5 Teach position variables 5 points int cycles 0 INT variable used for counting cycles int gripper 18 4 4 Gripper is DO point 18 int b Declare local variable b ssign a value to local variable b speed 100 Set Speed to maximun while cycles lt 100 Run move loop 100 tines nove tp 1 Move to first point if in 1026 1 If Periphil task turned this Memory I O on For Help press F1 Die D 345 mMm z You will see that the System Task and the Peripheral tasks do not have the speed slider because MOVE commands are only valid for Robot tasks 4 8 SS Buzz User s Guide Version 2 0 The Debug Menu C Sankyo Buzz2 motorlab A imotorlabiMOTOR SSL File Edit Debug Robot Window Help B Ci Edit Task List System 0 Enabled Several options are available from the Debug menu to assist you with the debugging of your tasks To use the following menu options click Debug then one of the following choices Some of the Debug
8. BA BA 1 Causes this error BA does not exist Value of constant out of range This error can occur in two different ways const count 1 2E84 Fails E39 and higher fails E38 and lower OK const count1 12345678901 Fails 11 contiguous numbers and higher fails const count2 1234567890 OK 10 contiguous numbers or less Jor VT should follow gt This error can occur when a or is required after the gt character MOVE lt TP 14 25 25 25 25 gt OK MOVE lt TP 14 i 25 25 25 25 gt Fails y is missing SS Displaying Errors Buzz User s Guide Version 2 0 When errors occur on the SC3000 Controller help is just a few clicks away Click on the Robot Menu bar then select the Display Errors option from the drop down menu A sub menu displays SERA Buzz2 motor C Buzz2 S amplesXPalletizing ssl E File Edit Debug Robot Window Help 18 x B aa P G Robot File Manager MOVE ABOVE PT MOVE PICK PT OUT GRIPPER 1 DELAY 5 MOVE ABOVE_PT MOVE SENSOR PT IF IN SENSOR 1 H SILVER CT SILVER CT 1 MOVE PLT 1 SILVER CT OUT GRIPPER 0 DELAY 5 ELSE 1 BLACK CT BLACK CT 1 MOVE PIT 2 BLACK CT 50 MOVE PIT 2 BLACK CT OUT GRIPPER 0 DELAY 5 a elal alala ole selel Ol 2 INT SILVER_CT Tonine kanan SE Display Teach File PROG PALLET Display Errors Display Program Errors SETPLT A pallet 2 collumns
9. One mandatory up to eight for each task object file e Robot Task One mandatory task numbers 1 through 4 A Stepper motor task task numbers 2 through 4 is considered a Robot task e Peripheral Task Optional up to 8 total task numbers 11 through 18 e System Task Optional one only task number 255 e Teach data file Only required for teach point TPOSITION variables in your Robot task s Teach data files are associated with their Robot or Stepper motor tasks and do not have task numbers Once the Create Job dialog box is completed a JOBDEF CFG file is created This critical user file contains the names of all the files that make up the Job you just created If the Job is later modified the JOBDEF CFG file is updated for you Refer to the sample JOBDEF CFG file on the following page Chapter 1 Installation and Configuration 1 9 ma SC3000 Robot Systems JOBDEF CFG File options NOTES The JOBDEF CFG file created with Buzz is built for you when you issue a request to create a JOB Lines 005 through 008 define the task options and appear as a 0 task option not set or a 1 task option is set when viewing the file with the Buzz editor A typical JOBDEF CFG robot task file has the following line definitions JOB Job definition 11 is a comment this line is created in all files 001 C Buzz WorkcellA folder where JOB was created and or stored task II this line is created for all tasks
10. 001 1 II task in this case task 1 is a robot task 002 Eboard12 dat H teach data file name only for robot tasks 003 UTY ssl pallet source file must be first when used 003 Eboardb ssl II source file name can have up to 8 per task 004 Eboard12 tsk H output task file name 005 0 n1 H option Do not reload task if b u memory failed 006 0 n2 0 n3 0 n4 H n2 option Execute if servo power off H n3 option Execute while in Teach mode H n4 option Execute if Robot task error 007 0 n5 H n5 option Disable resume after Program error 008 0 n6 H n6 option Do not stop if System task error Line 006 options are not available for Robot tasks Line 008 option is not available for the System task All options 005 though 008 are available for the Peripheral task A task definition with lines 001 008 is created for each task Tasks and Files Source files Source files in Buzz are required for e Robot Tasks and Stepper Motor Tasks e Peripheral Tasks e System Tasks Source files in Buzz can have any file extension except TSK and DAT TSK is reserved for the compiled or built object file output task and DAT is reserved for the teaching data files Up to eight source files may be defined for any single task The default file extension for source files is SSL but you may choose another extension such as TXT Task numbers are not assigned to source files If your application requires p
11. 1 2 2 2 The command cannot The Controller is notina Wait until the previous command be accepted now state to accept the has completed In the case of command waiting for DI points WIN etc issue a Hold stop or press an Emergency stop button to stop operation checking timer timed out before the command completed 1 2 2 4 The task is now The specified task is Click on OK and continue operating already operating and cannot accept another start command 1 2 2 3 Time out for command This error references the Exit Buzz then power off on the completion happened Start and Error Reset Controller and try the operation commands The internal again This chart continues on the following page Chapter 6 Errors 6 15 fe SC3000 Robot Systems 1 2 2 5 Command numbers Start 1 Stop 2 Error Reset 3 Message2___ Descripton Action 1 2 2 12 The task is now in the initialized condition or The task is stopping by a Stop command or The task is stopped at a Break Point or The task is stopping by a Cycle Stop command or The task is stopping by a Step Stop command or The task is stopping by a Hold Stop command or The task is in an Emergency Stop condition The task is stopping due to a programming error The task is stopping due to a real time error Resetting errors cannot be done The specified task is already stopping or stopped and no other
12. 213 213 yw m gw y m m m y y TT m m m m m For Help press F1 Offline e Our example shows a Teach file for a three axis robot that contains pallets Tip The Teach File can now be printed 4 22 Buzz User s Guide Version 2 0 Deploy the Job After debugging your Job you will want to deploy the Job to the Controller If you were only working with part of the Job then you have the option of just deploying the task s see the following topic Deploy the Task e You can also click on the Deploy Job icon on the main Buzz toolbar e This action compiles and builds then downloads all files associated with the Job to the Controller MAIN and Flash Memory e The Job is now ready to run on the Controller Deploy the Task After debugging your Task you will want to deploy the task to the Controller This action compiles and builds then downloads the selected task s to the Controller MAIN and Flash Memory e You can also click on the Deploy Task icon on the main Buzz toolbar e Regardless the task s you have open for debugging the Select Task dialog box lets you choose the task s you want to build and download to the Controller Select Task Job O01A EX Tasks 1 APPIATSE Select All 255 CONTROL TSK Sraa 11 PERIPH11 TSK Cancel e Click OK when finished e The Job is now ready to run on the Controller Chapter 4 Debugging Applications 4 23 fe SC3000 Robot Systems Th
13. 3 rows SETPLT 2 PLL2 PLR2 PUL2 P Display System Errors allet 2 columns 3 rows SILVER_CT 0 8 l pallet position counter st BLACK CT 0 EEUU position counter sta MOVE SAFE_PT RESTART MOVE PLT 1 SILVER CT 50 MOVE PLT 1 SILVER CT 50 if sensor comes on must be silv 4 Z UP above current pallet positic Z down into pallet if sensor was off must be black Z UP above current pallet positic Z down into pallet b Online 4 47 50 iS E From the sub menu select e Display Program Errors e Display System Errors e Display System Error History The SC3000 series Controller Error information screens are displayed on the following pages describing Program Errors System Errors and System Error History Chapter 6 Errors 6 37 te SC3000 Robot Systems Display Program Errors NOTE A program error on the SC3000 series Controller is also called a runtime error When you click on Display Program Errors from the Robot menu bar the following screen displays on your Buzz PC Program Errors X Tate 1 Error Message Results Error Num EnorEoda 20 Robot Task 1 DO porting to DI incorrectly Error Data D Axis Num 0 e For the error displayed above the SSLE program had an OUT statement with a DI point number assigned OUT commands must be associated with an output DO point The line of code that failed is OUT 675 1 11675 is a DI point for this Controller
14. A starting or stopping command was sent while the Pendant was in Local or Teach mode Click on OK and continue From the main Buzz display click Robot then click Display Errors From the sub menu click Display Program Errors Refer to Chapter 4 of your Hardware manual Symptom Fix for decoding From the main Buzz display click Robot then click Display Errors From the sub menu click Display System Errors Refer to Chapter 4 of your Hardware manual Symptom Fix for decoding Refer to 1 2 1 32 above Place the Pendant key switch to Remote mode and select the Buzz operational mode again SS Buzz User s Guide Version 2 0 1 2 2 Specific Command Errors These errors occur when a certain Command number and its operation return an error condition The error message in the following format is indicated when the Controller was in the condition where it could not accept the communication command from BUZZ The second line shows the number of the command from BUZZ as well as the error code The third line indicates the error contents Mentioned below in the table are the descriptions of the errors in the order of the command numbers 1 2 2 1 Command numbers Start 1 Stop 2 Error Reset 3 1 1 2 2 1 There is no task to be The commanded task is Exit Buzz and power off on the commanded not registered in the Controller Try the operation JOBDEF CFG file again
15. History of Errors the following topic to know whether or not errors are occurring during the same realtime loop cycle or different realtime loop cycles Initial is a Sankyo factory only data field and is not pertinent to troubleshooting SS Buzz User s Guide Version 2 0 Display System Error History When you invoke the System Error History you upload a file of the 50 most recent system errors that have occurred on the SC3000 series Controller The file name is SYSERR ANL The following screen displays on your Buzz PC e An AC input power lag caused the error displayed below Sankyo Error Diagnostic Software EDS EN Error Message Result Realtime error exists Servo AC power failure ACPF errors Low AC power Next p x Cancel Config Error purs LS ABS Ena Deae 0 o o o o o o o o aan TT mao uo v far Joe nae Tt ES LS CS Eo ES ES Is meo TE 9 8 9 ES fe ES Te ms TS O ER A E E ES E Field 154 o fo System Error 0 0 D 0 0 Hardware servo off 0 OtherInfo f o 262 18 225373 haen e r5 cu x As you can see from the information displayed above the error is stated in text in the Error Message Result text box Note that the Next and Previous buttons are available for navigating through the file The most recent error is displayed first The History of Errors file name is SYSERR ANL and is uploaded to the same folder where Buzz was started This
16. Peripheral tasks are ideal for repetitive functions that do not require Robot arm movement such as data communications and common UO input output work When a Peripheral task is compiled or built Buzz applies the file extension TSK System Task A System task is an optional task and can contain any SSL E command except MOVE commands and the TPOSITION variable Up to eight source files may be defined for the System task The System Task is assigned the number 255 and only one System task per Controller is allowed The System task is unique in that it has the privilege of automatically starting if no errors occur after a Controller power on The system task can then start a Robot Stepper motor or Peripheral task provided the task conditions as defined in the System task are met When a System task is compiled or built Buzz applies the file extension TSK Teaching Data Files One teaching data file can be defined for each Robot or Stepper Motor task This file is required if you use TPOSITION variables in your Robot task which is normally the case After providing the name of the Teaching data file in the Create or Modify Job dialog box the DAT file extension is applied by Buzz NOTES All Job files should be backed up after any changes If you want to make a backup copy of your job you can Retrieve the Job from the Controller All files associated with the Job including the JOBDEF CFG file and the Teac
17. stop type command cannot be accepted The specified task has a programming error and a Start command can not be accepted The specified task has a real time error and a Start command can not be accepted Only Program and overrun errors can be reset This error cannot be reset Click on OK and continue From the main Buzz display click Robot then click Display Errors From the sub menu click Display Program Errors Refer to Chapter 4 of your Hardware manual Symptom Fix for decoding From the main Buzz display click Robot then click Display Errors From the sub menu click Display System Errors Refer to Chapter 4 of your Hardware manual Symptom Fix for decoding From the main Buzz display click Robot then click Display Errors From the sub menu click Display System Errors Refer to Chapter 4 of your Hardware manual Symptom Fix for decoding SS 1 2 2 15 Command numbers Upload 7 Upload data 9 Message2___ Description Action 1 2 2 15 1 2 2 23 A burst transfer block no error happened A transfer error happened during the burst transfer A burst error of the transferring side PC happened A file open error happened A file read error happened Or A data read error happened The file cannot be up loaded from the memory or A data open error happened A multiple open error happened This error occ
18. 20 Axis thermal errors Suspect Servo Amp then CPU board NOTES There are 3 different styles of Servo Amp boards Refer to the Servo Amp NOTE on the last page of this chapter As viewed from the front of the Controller Servo Amp 1 is on the bottom right Servo Amp 2 is on the bottom left and Servo Amp 3 is on the upper right if present Chapter 6 Errors 6 49 fe SC3000 Robot Systems Field 15 Realtime Error Field 15 has 4 or 8 bits one for each axis from 1 through 8 left to right Your Controller may not support 8 axes The following errors are detected by the Servo Loop hardware 4 MHz change frequency error Suspect Servo Motor In the case of any error marked with an character that does not reset with a Controller power off and on do the following e Turn off power to the Controller e Disconnect then re attach the Encoder cable at either end e Power on the Controller Refer to Chapter 3 3 and perform the Absolute Home Position adjustment 3301 NOTES Sometimes multiple errors are reported and displayed for Field 15 For example if an encoder connector became loose at the motor end you might see the following error Pendant 00010002h and BUZZ 10002 When this occurs decode this error as 00000002h and 00010000h on the Pendant 02 and 10000 on BUZZ Refer to these errors in the table above and you will find 00000002h 2 Battery backed power low or missing Check NiCad battery fus
19. 4 b Offline 38 e Place the cursor at a line in your source file and select Bookmark The Bookmark sub menu displays e Toggle sets a Bookmark for the selected line After a Bookmark is set click Toggle to reset the Bookmark turn it off When a Bookmark is set the line is always highlighted until the Bookmark is cleared e First takes you to the first Bookmark set in the selected source file e Previous takes you to the previous Bookmark in your source file when you have more than one Bookmark e Next takes you to the next sequential Bookmark set in your source file e Last takes you to the last Bookmark set in your source file e Clear All clears all of the Bookmarks in your selected source file e Bookmark is also available in Debug mode Refer to Chapter 4 which discusses Debugging in detail Buzz User s Guide Version 2 0 Select All e Select All highlights all the text in the current active source file From here you can Cut Copy Delete change to Upper case or Lower case for the all the text in the source file Match Brace e Match Brace identifies matching braces or parenthesis characters in your source file e This is very helpful when troubleshooting compile errors when a mismatch in braces occurs in your source file e Match Brace is also available in a Debug session Refer to Chapter 4 which discusses Debugging in detail e Match Brace has an icon on the main Buzz toolbar Display Mo
20. 6 35 Undefined function name edite entiende een he edd cun ud sadenanaddessand sade end a Red Ida eh d in 6 35 Undefined Jabel 0000000 am aa 6 35 Unknown function name XXXXXXXX iiissssssssssssesesenesere nennen aiaia nn nn nn tentes iada ninh nnne aaa 6 36 Unknown variable name XXXXXXXX eee eeeeeeeecee cece ee eeeeceaecaeeeeeeeceseceaeaeeeeeeeeeeseceueaeeeeeeeeeesecsecneeeeees 6 36 Value of constant out of range occiso datada 6 36 OR AQUI te le mE 6 36 Displaying Errors scsi axi aM x Ex xx DV 6 37 Display Program Errors noia dd 6 38 sie 6 39 Error Data Error Code 1 Zor chart n emen ennnnn rsen nn nnne nen nn nnne n nnne 6 40 Error Data Error Code 26 Chart 6 41 AXIS NUMBER dtr n Tut eR Ra RN GR ERR HR ARR Cu ENEE EENS dua ua chon Mee 6 41 Display System Errors Tee H 6 42 Config Error First Byte cuca iaa A EA ltd dara A 6 43 Config Error Second Byte iii EA ede ee eee 6 44 ABS Error Detail First Byte Ent e Real eet ped t pue epe ect Rc n ee ebd pedet es 6 45 ABS Error Detail Bytes 2 9 rer redde ih eti rado deed e d n pua do rd Dg 6 45 Field 9 Realtime ENO cional seen eo Er es eee adieu ed cia ane ra de a eed ee ae Do 6 46 Field 10 Realtime Error 6 47 Field 11 Realtime Emor nne enne enne en enn nennen nnns 6 48 Field 12 Nuus T PI 6 48 Field 13 Realtime Error i te Ed redet te et
21. 9 SS EE 2 9 pium 2 9 FROUMG VG TASK ssi ey E dered 2 9 Copyright Sankyo Robotics 1997 2001 Chapter 2 Overview 2 1 fe SC3000 Robot Systems This page left blank intentionally 2 2 SS The Main Buzz Display The Main Buzz display Edit Source file example is shown below Buzz User s Guide Version 2 0 1 SERA Buzz2 motor C Buzz2 S amplesPalletizing ssl 2 FU File Edit Debug Robot Window Help J lsl DI a aeja ajaja maam zl Sle alas lA eea os PROG PALLET EENEG PL PLEI PULL PELL 2 3 1 silver pallet 2 collumns 3 rows 4 GETPLI 2 PLL2 PIR2 PUL2 PLL2 2 3 1 black pallet 2 columns 3 rows SILVER CT 20 silver pallet position counter st BLACK CT 20 black pallet position counter sta MOVE SAFE PT RESTART MOVE ABOVE PT d MOVE PICK PT OUT GRIPPER 1 DELAY 5 MOVE ABOVE PT MOVE SENSOR PT IF IN SENSOR 1 if sensor comes on must be silv 1 SILVER CT SILVER CT 1 MOVE PLT 1 SILVER CT 50 Z UP above current pallet positic MOVE PLT 1 SILVER_CT Z down into pallet OUT GRIPPER 0 DELAY 5 MOVE PLT 1 SILVER CT 50 ELSE Lait sensor was off must be black 1 BLACK CT BLA CK CT 1 MOVE PLT 2 BLACK CT 50 Z UP above current pallet positic MOVE PLT 2 BLACK CT Z down into pallet OUT GRIPPER 0 DELAY 5 MOVE lt PLT 2 BLACK_CT 50 gt hg 6 Be For Hel
22. C Current cursor character position D Current cursor line number total number of lines in this file E Keyboard typing mode e INS designates typing insert mode e OVR designates typing over existing data mode All other functions of any Buzz display work the same as any other Windows application te Buzz User s Guide Version 2 0 Basic Operations A typical Buzz sequence of operations follows 1 Open Create a Job Creating a Job provides names of the Job and all the files associated with the Job After creating a Job you can always Open or Modify the Job 2 Open Modify a Job This optional step allows you to re define and add delete files to any Job 3 Createa Task This optional step allows you to add a task to the Job that was created earlier without modifying the Job as in the previous step 4 Edit Source Files This step creates and modifies the source file s for any task s More than one source file may be opened at one time Compile or Build This step compiles your source file s into executable task s Debug your task s This step runs the Job on the Controller Several Debug functions are available to assist the application engineer when debugging 7 Deploy a Job This step builds and downloads the files associated with the Job to the Controller from the Buzz PC Optionally the source file s can be configured to download the default or to not download to the Controller After deploying you can test
23. Fix SYSERR Error Decode charts 6 42 SS Buzz User s Guide Version 2 0 Config Error First byte Config Error First byte is a one position byte that displays errors pertaining to the HWDEF CFG file 2 Communication time with programistoolong 3 Section cannot be obtained is expected 4 Section name not pertinent Incorrect file name Incorrect file name Cannot recognize as HWDEF CFG file 72 DI DO values of Expansion UO card not defined expcardn_cfg record MIN incorrect 81 Incorrect ID setting of Network system_cfg record incorrect 82 Incorrect numbers of peripheral tasks system_cfg record incorrect 351 Incorrect Port number for UO definition expcardn_cfg record incorrect 5 6 B 9 Incorrect parameters of Auto Accel Decel 52 53 72 73 81 351 If downloading the HWDEF CFG file does not correct the problem obtain the backup copy from the master diskette and download that copy Chapter 6 Errors 6 43 ma SC3000 Robot Systems Config Error Second Byte Config Error Second Byte is a one position byte that displays errors for the JOBDEF CFG file Cannot load JOBDEF CFG file from flash memory Download JOBDEF CFG file JOBDEF CFG file is corrupted or incorrect The Robot programmer should build a new JOBDEF CFG file or obtain the correct JOBDEF CFG file and download to th
24. GOTO CYCLE statement AAA 6 31 Missing Bue e e RE 6 32 CONTENTS v fe SC3000 Robot Systems vi RUE KEE 6 32 MISSIAG ii 6 32 Missing liv a a abia 6 32 Missing Miri a acta 6 32 MISSINO Pt lida tud c ccu o I MIS DK LIES Cu 6 32 RUE dS 6 32 Only position data or position qualifier can be declared cececeecceceeeeeeeeecaeceeeeeteseestaeeeeees 6 32 Position qualifier lt gt wasn t closed sene eaaa nnn a nennen nsns 6 33 Recursive function call hasn t been supported eem 6 33 FREGETINITION 2 XXXXMKXK qu id 6 33 Sting too OMG T 6 33 SUBSCMAPLOUTO TANG E 6 33 Re MME e WEE 6 33 Symbol of variable except position type expected as argument 6 33 The number of position qualifier lt gt wasn t balanced 6 34 The number of was unbalanced sssssssssssssse eene eee nemen nennen nnns 6 34 The number of was unbalanced sss enne nnne 6 34 The number of has been unbalanced nennen enne 6 34 TOO Dig CASO valg iii 6 34 T00 COMPlEX E een EE 6 34 LOCO MOS EE 6 34 Too few or too many actual aroumentef nana nono eee 6 35 Too many arguments for function declaration enne 6 35 Too many elements in position Ooualflert cnn ro rncnnnnnnnnnnn rn 6 35 Too many if while statement nesied TA
25. HWDEF CFG or the JOBDEF CFG file From the main Buzz display click Robot then click Display Errors From the sub menu click Display System Errors Refer to Chapter 4 of your Hardware manual Symptom Fix for decoding the error From the main Buzz display click Robot then click Display Errors From the sub menu click Display System Errors Refer to Chapter 4 of your Hardware manual Symptom Fix for decoding the error Power off on the Controller disconnect connect the Encoder cable and perform the ABS home procedure For a HWDEF CFG file error download the backup copy of the HWDEF CFG file Deploy the JOB This downloads the JOBDEF CFG file and all associated files to the Controller Try the operation again Remember when the Deploy the Job option is performed all global variables are re initialized to their original values This chart continues on the following page Chapter 6 Errors 6 11 fe SC3000 Robot Systems 1 2 1 5 The Controller cannot accept commands continued Message2__ Description Action The Robot is not The HWDEF CFG file Download the correct defined contents are incorrect HWDEF CFG file for this Controller configuration and perform the Return to Initial Home position procedure The JOBDEF CFG is The JOBDEF CFG file Deploy the JOB This downloads not defined does not exist or its the JOBDEF CFG file and all contents are incorrect associated files t
26. P e b e e bad et b t P e e EH P t e baie 6 49 Buzz User s Guide Version 2 0 Field 14 Realtime ErtQr eet ced eee tue ha aeta e une nave naue c LEER LAE RUE GARS ERR 6 49 Field 15 Realtitmie Error cc n rette dees bev ge D a aia EE S 6 50 Field 154 RISC Error ss siiis iine ee reg caste ga e e D Ra t ug d Gr e add duda 6 51 Sui TERE 6 51 Hardware Servo oft 6 51 Other Information 6 52 Backup mp tenes 6 52 zielt Ee 6 52 POWER OM COUNt D M 6 52 s hc oMuIM X HQ 6 52 hii epe 6 52 Display System Error History rere nentur iaa 6 53 GIOSS e fT M 1 Appendix A Technical Support oooooonnnnccccncccconnnccannnncnnnncnnnonanannnnnnnnnnnnnnnnannnnnnrnnrrrnnnnnannnas 1 Technical Support USA and the Americas sess eene nennen 1 Technical Support EUFOpe rre a ende d et ne dC Rh ea e Ca Redes hat d PCR Reign ha pd een EN dd 2 Technical Support Japarn ASsl a TTT 2 Appendix B Buzz Communications Cable Wiring eeeeeeeeeeeeee 1 ADS Port Cable Wirlng icio eee eta dent noi eel o rete ER eda Mena ee el o BEES 1 CONTENTS vii
27. an error Message2__ Descripion Action 1 1 2 12 Statement received at The response from the Communication data corrupted by the Controller is in Controller was invalid loose connection noise etc or error Controller System software error Or 1 1 2 13 Undefined command Command received from was received from the the Controller is not Controller recognized 1 1 2 14 Driver buffer over A buffer overrun error Buzz may not have installed happened with the communication correctly If the error persists driver occurred reinstall Buzz or 1 1 2 15 A device driver error An error occurred with happened the device driver 1 1 2 16 The device driver did The communication Buzz may not have installed not open device driver did not correctly If the error persists open reinstall Buzz 1 1 3 An error with the PC was detected If a PC error occurs while using Buzz the message An error with the PC was detected displays Message2__ Description____ Action _______ Memory could not be Memory could not be Remove any unnecessary device secured obtained by the Buzz drivers and stop programs that are communication software not essential in order to allow Buzz to acquire more PC memory A reading file error A file open error occurred The specified file may be happened for the specified file corrupted or contain a byte count of 0 Ensure the specified file or exists in the PC A reading fi
28. and at power disconnects to alert others to potential hazards Buzz User s Guide Version 2 0 Safety Inspection Before you service the application on the Robot System you should perform the following inspection Verify that e Pressing the Emergency Stop push button on the Controller front panel or on the remote cable causes Robot power to drop immediately e The Power switch located on the Controller front panel will drop all power to the SC3000 Robot Controller and Robot e The Power indicator located on the Controller front panel is on when power is applied to the SC3000 Robot Controller e Another person familiar with power off controls should be in the immediate vicinity to turn the power off should it become necessary Safety Notices This document may contain the following safety notices CAUTION This notice advises of a condition that could present a potential hazard where serious personal injury except as defined for a DANGER notice is possible unless care is exercised NOTE This notice advises of information that is important to consider during this particular step or action Safety xv fe SC3000 Robot Systems This page left blank intentionally xvi te Buzz User s Guide Version 2 0 Chapter 1 Installation and Configuration CONTENTS Introducing Buzz Version E 1 3 New features in Buzz Version 20 1 3 Changes in Buzz Version 2 0 enne en nenne enne nennen en entren nennen nnns 1 3 System REQUIN
29. dialog or prompts occur the active file is saved Save All e File Menu Save all option or click on the Save all files icon Save As e File Menu Save As option e This option allows you to save the file as a different file name or to a different folder or media Save in I motor E Si e a MOTOR SSL lei MOTOR Im SSL Filename MOTOR SSL Cancel Z Save as type ET e Complete the File name dialog box click Save 3 20 Buzz User s Guide Version 2 0 Close File e File Menu Close option This option prompts you to save any changes made to your source file before closing the source file Note the following dialog box ADS for Windows EN Ku Save changes to app 01a TXT No Cancel Click on the appropriate button the action completes Printing Your Files The option of printing your source and teach data files can be very convenient Two options are available to assist in printing your files e Print active file e Print preview Before discussing these options it is a good idea to configure your Printer and Page Setup if you have not already done so If necessary refer to the topic Configuring Buzz discussed in Chapter 1 Return here when finished Print active file e Click on the Print active file icon e You can also click File then Print At the Print dialog box choose your options then click OK Refer to the drawing on the following page Chapt
30. e Find your alphabetical message e Read the associated Description Action to resolve the cause of the error Types of Error Messages The error messages in Buzz for Windows can be classified into the two types described below and are discussed in this Chapter 1 Communication Error Messages These error messages are displayed if communications between the Buzz PC and the Controller could not complete successfully e The return message ADS Communication Information Error means that the communication itself failed at this time e The return message ADS Communication Information Rejection Response means that the communication itself successfully completed but the Controller was not in a state to accept or act on the command 2 Miscellaneous Error Messages These error messages are displayed when an invalid operation was attempted 6 6 te Buzz User s Guide Version 2 0 1 1 ADS Communication Information Error The errors indicated with the text ADS Communication Information Error appear in the format shown below Five types of messages can occur as the Message 1 1 1 1 The Controller notified of an error 1 1 2 The Communication driver detected an error 1 1 3 An error with the PC was detected 1 1 4 An error was caused by mis operation 1 1 5 An error description was caused in the SSL program Error contents are indicated as Message 2 in the following tables Additional information is sometimes
31. error A framing error was Communication trouble due to poor happened detected connection noise etc or If the error persists there may be An overrun error An overrun error was some problem with the happened detected while receiving communication cable and or the environment Refer to Chapter 4 or Symptom Fix of your Hardware A NAK response The Controller detected Manual Review the topic ADS came up a communication error ADSMT or Buzz errors and returned a NAK response A time out relating to Time out occurred while Power to the Controller may be off a 1 byte receive receiving or missing If the power to the Controller is OK power off on the or Controller and try the operation A time out waiting for Time out occurred while again a response happened waiting for a Controller response or No data comes up Data not available A check sum error A check sum error Communication data corrupted by during receiving occurred while receiving loose connection noise etc or happened a return status Controller System software error or 1 1 2 10 An ETX error during An ETX code was not receiving happened recognized during a receive operation or Statement number Incorrect statement receiving error number returned for a happened receive operation This chart continues on the following page 6 8 Buzz User s Guide Version 2 0 1 1 2 The communication driver detected
32. except position type expected as argument 6 33 The number of position qualifier lt gt wasn t balanced 6 34 The number of was unbalanced ssssssssssssseseeeeneeenen mener enne nennen nennen 6 34 The number of was unbalanced sss ener enn nennen 6 34 The number of has been unbalanced nennen nennen 6 34 Too big case value sssssssssssssseeeeenenen rr 6 34 Too complex expression sssssssssssssseeseseeeneen ee eret nnne nene nnl n ene n nen errer nnne EE EEES EEEE 6 34 TOO deep Nest nido E ems 6 34 Too few or too many actual arguments eene rra 6 35 Too many arguments for function declaration emen 6 35 Too many elements in position qualifier 6 35 Too many if while statement nesied TA 6 35 Undefined function nare cederent hee xE nen ee ean eeu ea cR uk Adina Rea ina cx EE Eee eg 6 35 Undefined label 230000000 dite ente E ta er eo ee Pe edd nace dee i paene lage eR n 6 35 Unknown function name XXXXXXXX isses ener enne en nn nn nene nen rr ESENE EEEE Ennan EEEE 6 36 Unknown variable name XXXXXXXX cocccocccocnncccccnccnnnnn nn nnnnnnnnnnnn nan SENEE cnn nr nn anne rn nn nn nr n nenne EnEn EEEE 6 36 Value of constant out of range ssssssssssssssseseeeeneen nennen nennen neret nnn nennen 6 36 5 0 should follow TT 6 36 Displaying Errors nissan 6 37 6 2 te Buzz User s Guide Version 2
33. have more than one source file defined for the task Buzz honors the sequence of the source file list when compiling For example UTY SSL file must be specified before any source file that uses PALLET commands e Task options 9 can be assigned on a per task basis Not all options are available for each task You should only select any recommended options mentioned below until you become more familiar with SSL E and Buzz e Do Not Reload Task if Back up Memory failed When the Ni cad battery is low or fails this option does not allow a reload of the task e Execute if Servo Power is off Not allowed for Robot Tasks but is available for any System task This should be checked on for System tasks e Execute while in Teach mode Not allowed for Robot Tasks but allowed for System and Peripheral tasks e Execute if Robot Task Error Not allowed for Robot Tasks but allowed for System and Peripheral tasks e Disable Resume After Program Error After any Program error when a resume operation is invoked becomes a start operation e Do Not Stop if System Task Error Not allowed for System Tasks but allowed for Robot and Peripheral Tasks 3 6 Open a Job Tip Click on the Modify Job icon use the Add task or Delete task 11 buttons make changes to Task Options 9 or any other modification Buzz User s Guide Version 2 0 After completing the choices for your Job click OK 10 or you can Cancel Once you create task
34. is not attached to the Controller Check the Buzz PC cable at both ends 2 Wrong port configured the Buzz PC cable is not attached to the configured PC COM port or the wrong cable is installed e Check your PC COMM port configuration Refer to Configuring Buzz PC communications found later in this chapter e Ensure that the Buzz PC cable is attached to the configured PC COMM port e Refer to Appendix A topic ADS port cable wiring and ensure you have the correct cable 3 Another device owns the configured COM port Make sure the configured COMM port is not in use Communications Error Communication between PC and Controller has been lost Verify all connections and cables controller is powered on and that SAServer exe is running Exit Application If you want to work at your Desktop or without a Controller click on the Work Offline button Buzz Architecture Buzz is an Application Development System that is used with the Sankyo SC3000 series Robot Systems The following terms are discussed on the following pages with regard to their role in the Buzz architecture e Memory e Jobs discussed in detail in Chapter 3 e JOBDEF CFG file discussed in detail in Chapter 3 e Tasks and Files e Debugging Tasks discussed in detail in Chapter 4 e Deploying Jobs and Tasks e Retrieving Jobs and Tasks 1 8 Memory Jobs Buzz User s Guide Version 2 0 e File Manager discussed in detail in Chapt
35. is opened underneath the Debug session window the first time you attempt to watch a supported variable As you add variables to watch they are placed into the watch window in the order they are created top to bottom The Watch Variable window is not updated dynamically when the task is running In order to observe the current values of the selected watch variables perform one of the following operations e Click Step Stop Hold or Cycle Stop After the Task stops the Watch window is updated e Stop the task with one off the methods described in the prior step then use the Step start option The Watch window updates each time you click Step if any changes occurred to any watched variables e Select the Add Watch option and add another variable to watch Once your selections are complete click Close The following pages provide examples for each of the variable types that can be watched Buzz User s Guide Version 2 0 Watch Simple variables e Simple variables include INT REAL and LONG Enter the variable name and click Add to Watch Window The task number that contains the variable must be the current task to Debug Tay Stat ate Ena late Watch String variables e String variable requires you to enter the variable name and the size in this case 7 of the string e Optionally you do not have to enter the total length of the string variable only the number of string p
36. menu options have icon support on the main Buzz toolbar and some have icon support on the Debug window toolbar Also some of the menu choices have hot key assignments within their menus The following display shows a Debug Go session where the task has not been started Therefore Go Step Stop Hold and Cycle Stop are all grayed out 1 Bl Go vd A Stop Debugging F4 real x 3 Step F10 strinc y Su F7 B long 1M Resume F8 long O ERE prog mw if Hold EIES bri Mm oce Stop EH br2 Wa Chew past th Delete Watch Ctrl D VT 6S Quick Watch Cat restar lose Watch Window Alte out LTL dh Toggle Breakpoint F3 D delay Clear Break Points Ctrl F9 mover out 1 Error Reset Ctrl A delay U 2 move brl delay 0 2 EE d Edit Task List Online COM1 1 24 73 Ms All the Debug Menu options are described in the sequence as they appear in the Debug menu and are available in a Debug session depending on the debug operation All other menus have some options available for the Debug session as well such as the Robot menu where the teach data file and all errors can be displayed All Sankyo training courses include a full Debug mode training session Chapter 4 Debugging Applications 4 9 SC3000 Robot Systems Edit Task List The Edit Task List is available to re select the task s you want to Debug after a Job is opened but before you start the
37. or run the Job 8 Retrieve a Job Once a Job is downloaded to the Controller it can be uploaded in its entirety This is a quick method of acquiring Jobs for backup purposes This function uploads all files associated with a Job from the Controller to the Buzz PC Open Create A Job Before any work can begin on a Job it must be opened If the Job does not exist it must be created Refer to the following page for creating a Job K 1 Click on the Open Job Icon or click File select Job then click Open 2 Navigate to the Job folder and select the Job file s you want to open You can edit any file you select to open Tip The four most recently opened Jobs are listed under the File menu just under the Preferences option Chapter 2 Overview 2 5 fe SC3000 Robot Systems Create a Job 1 Click on the New Job Icon or click File select Job then click New 2 Navigate to the folder where you want to create a New Job and type the New Job name A folder is created with the name of the Job you just entered Type the names of your source file s any teach data file s and your output task file s When finished click OK and a JOBDEF CFG file is created for you Modify a Job Once a Job has been created it can optionally be modified 1 Click on the Modify Job icon 2 Atthe Modify Job dialog box you can add or delete files associated with this Job 3 Click OK when finished and the JOBDEF CFG file is update
38. the line should have read OUT 75 1 1175 is a DO point for this Controller e As you can see from the information displayed above the error is stated in text in the Error Message Results text box e The error e Occurred in Task 1 e The Error Code is 20 e The Error data is 0 e the Axis number field is O is not pertinent to the error To decode the Error Code and Error Data fields from the display as shown above refer to the following Program Error charts The error shown above Error Code 20 is highlighted in the following Error Code chart in bold and italic print You can also refer to Chapter 4 Symptom Fix PROGERR Error Decode charts SS Buzz User s Guide Version 2 0 Error Code The Error code field always contains data when a Program error occurs Refer to the following chart to decode the error Explanation follows Main function error Refer to the Error Data Error Code 1 2 or 3 chart which follows System function error Refer to the Error Data Error Code 1 2 or 3 chart which follows 4 Axis overrun outside area S O 5 Startpointequals interim point 1 in circular move 6 Startpointequals interim point 2 in circularmove 8 Startpoint equals end point in full circle of circular move 9 Start point interim point 1 and end point on a straight line in circular move Incorrect number of parameters specified in MOVE statement Time out error Specified time has ela
39. was not Verify the program statements command was used recognized or The command name A command statement is could not be not recognized recognized or The parameter could A command parameter is not be recognized not recognized or There are too many The of parameters parameters associated with this statement are invalid Buzz User s Guide Version 2 0 1 2 1 ADS Communication Information Rejection Response The errors indicated with the message ADS Communication Information Rejection Response are displayed in the following formats This type of error occurs when the communication itself has successfully completed but the Controller was not in a state to accept or act on the command 1 2 1 The Controller cannot accept commands These errors can occur when the following operations are performed 1 Changing from any mode to Debugging mode 2 When tracing programs in Monitor mode 3 When starting stopping commands in Debugging mode Message2 Description Action A system error happened A real time error happened An ABS Home Data error happened A CFG error happened A problem exists in the Controller operating system software CPU overrun can also be due to an electro magnetic or electro static discharge noise condition An error was detected by the Controller servo system An error was detected with the ABS home position A problem exists with the
40. was off must be black Z UP above current pallet positic Z down into pallet Online 47 50 e Inthe Sankyo Buzz title bar you can see the name of the Job that was opened Job motor The source file name is Palletizing SSL and is one of the SSL E samples shipped with Buzz e The second line from the top is the Menu bar This Menu bar adds and deletes Menu choices depending on the current Buzz operation e The third line down is the Icon Toolbar Simply point the mouse to any icon and a small information pop up box displays with the name function of the icon These icons are shortcuts to the various Menu bar functions e Atthe bottom of the text window is an Information line This line contains pertinent information on the data presented in the text window The data displayed in the information line is dependent on the Buzz function If you are not successful in starting Buzz you are placed in Offline Mode Refer to the Offline Mode topic on the following page Chapter 1 Installation and Configuration 1 7 te SC3000 Robot Systems Offline Mode When you are not successful in starting a Buzz session with the SC3000 series Controller or you are running Buzz at your desktop without a Controller you are given the option of working offline or exiting the Buzz application There are three scenarios for Buzz Version 2 0 communications not working 1 The Controller is powered off or the Buzz PC cable
41. 0 Display Program EE 6 38 sene 6 39 Error Data Error Code 1 2 or 3 Chart eeenennn nnne entes nnns r nennen nnne 6 40 Error Data Error Code 26 Chart nnne nnne ener nennen nennen nnns 6 41 Damnum 6 41 Display System Errors sisisi 6 42 Config Error EIESEDYytO sisi 6 43 Config Error Second Byte noscere E a 6 44 ABS Error Detail First Bvte nennen nen en nenne en nennen erret 6 45 ABS Error Detail Bytes 2 9 enne nennen eenrnr enter nennen rennen nnns 6 45 Field 9 Realtime Error 6 46 Field TO Realtime Erro cuartas niebla iaa Rt Pa edu Y Eat n e adag 6 47 Field 11 Realtime Error tertio teg tea ner eed oes aped nee Ld Cea EL EIE ds 6 48 Field 12 Realtime Error i E En dra 6 48 Field 13 Realtime Ertor 5 ee rani e ii tes 6 49 Field 14 Realtime ENO ice ad hug rere e dne naa Dr pd re d Pp e rea ge 6 49 Field 15 Realtime Error coi ae EA EEEE EA aua nda eae YE guae go 6 50 Field 15A Wikies 6 51 System EMO MEE 6 51 Hardware servo oft 6 51 Other Information acto ect bac eec o Ek aaa tia 6 52 red 6 52 Error Record A der Mcr rm ad ead bd ab nc m d edd d nb e dg d Mc d 6 52 Power on Count eue e dee t ace exe std eet kcu estu dg evt ag ee
42. 0 Tasks and Files sis n 1 10 RE M 1 10 Kee Lee EE e adi s 1 11 Bleu RK E 1 11 System TaSK ooooconnncncnnnnncnnonincccnnnnncccr EREN AENEAN AAEE EENE EENKEER EAE AKEE EEEE 1 11 Teaching Data Files narrar rra 1 11 Stepper Motor Task 2 etre ds tdt dd 1 12 Debugging RRC 1 12 Deploying Jobs and Tasks ete tete deese renda ea a dL e Re deed 1 12 Deploy JO op 1 12 Deploy TasK 1 12 Copyright O Sankyo Robotics 1997 2001 CONTENTS fe SC3000 Robot Systems Retrieving Jobs and Tasks eet aaa 1 13 Retrieve JOD EE 1 13 Retrieve KEE 1 13 ile Manag er ui A A a Ain 1 13 Errors and Troublesbootng cano nc nc nano nn rra rra 1 13 Wordfile txt File nono nn nr n cnn n anna ran n rn anar rn nan nn anene En 1 14 SoL E Programming Samples iii dad dia 1 14 Buzz Communications Cable Drawings nn nn nnnn cnn enne enne nennen 1 14 As met nn GC 2 1 The Main Buzz DIS play anassx a exi a nb ad cendo ER nc cb Rn ER end a nd Rn Ra ac Kd 2 3 Hur e M 2 3 Men CIC 2 3 hni r qe c 2 4 Text WINKOW EMEEEEEEEE 2 4 Window Miserere 2 4 Basic Operations carita ATAN RUNE 2 5 Open Create A JODA AAA AAA SEE RR
43. 1 ADS Communication Information Rejection Hesponse canon cnn 6 11 1 2 1 The Controller cannot accept commande 6 11 1 2 1 5 The Controller cannot accept commands continue 6 12 1 2 1 13 The Controller cannot accept commands continue 6 13 1 2 1 25 The Controller cannot accept commands continue 6 14 1 2 2 Specific Command Errors ooooconoccccccncnccononononnnnnnnnnnnnnnnnnnnnnn nn anno nn nn nn nn nne n nene err n enne nnne tr sre nnne 6 15 1 2 2 1 Command numbers Start 1 Stop 2 Error Reset 3 6 15 1 2 2 5 Command numbers Start 1 Stop 2 Error Reset 3 6 16 1 2 2 15 Command numbers Upload 7 Upload data 9 sss 6 17 1 2 2 24 Command number Download 8 sss eem eene 6 18 1 2 2 35 Command number Download 8 sse enne 6 19 1 2 2 39 Command number ADS internal FF ener 6 20 1 2 2 45 Command number ADS internal EE nennen 6 21 1 2 2 53 Command number ADS internal Any other Commande 6 22 1 2 2 60 Command number ADS internal Any other Commande 6 23 1 2 2 72 Command number ADS internal Any other Commande 6 24 2 1 Miscellaneous Error Messages 2 easeise essei senec eset tenent nnne a snnt a dns asso nn 6 25 2 1 1 Miscellaneous Error Text Message enne nnne nnns 6 25 2 1 12 Miscellaneous Error Text Message 6 26 Compiler Error Messages sueco Ra Ba kd aki n nai RR 6 27 Cannot assign to teaching position data 6 28 Cannot create object fi
44. 4 12 KT 4 13 Step OP TEE 4 13 elei EE 4 13 CONTENTS iii ma SC3000 Robot Systems A 4 13 Bc m 4 14 Watch Simple variables coi a a aaa aaaea dirias 4 15 Watch String variables iier A A Adi 4 15 Watch Array Variables sese nee nennen enne nennen nennen enne 4 16 Watch Position variables nennen nene ern n nnne nnne tn nnn nnns 4 16 Watch Current POSITION TT 4 17 Quick Te EE 4 18 Quick Watch Simple variables essere enemies 4 18 Quick Watch String variables esses nennen nennen nnns 4 19 Quick Watch Array variables ccceesecceceeseeceeeeeeeeeeeeaeaeeeeaaeeeseeaaeseseeeaneeseeaneessedenseseenenee 4 20 Delete e EE 4 21 Close M EC Beo ER 4 21 Toggle Breakpoint sse enne en herren nennen nennen nennen nennen nnns 4 21 Clear Breakpoints ecccceccececeeeeecencaece erences caaeaeeeeeeeseceaaaeceeeeeenscsacaeceeeeeseseccucaeeeeeeeeeeseuecaeeeeeess 4 21 Error Reset oeren T UL IL ON 4 21 Displayinig a Teach Fleur dede eod bru bd ened cade ear rg eb e RE e Te a dead aa s 4 22 Deploy the JOD EMIT 4 23 Deploy thie Task e 4 23 Chapter 5 The File Manager eese eue aa ahaa 5 1 ET LE 5 3 Starting the File Manager 5 3 File Manager Functions sir ENEE NESEEREEEENE 5 5 Upload File from Controller uenire rte t rh tne enne tena ear tn tt dan s 5 5 Download File to Controllgr i iiie eti aerei ENE
45. A copy is NOT placed on the PC clipboard e Delete has no icon on the main Buzz toolbar Insert File e Place the cursor in your source file where you want to insert a file e Atthe Insert File dialog box locate the file to insert Highlight the file and click Open Insert File Look in 3 Job 014 a tmpbuzp dat a Control ssl 4 DebugDO3BMP js error lst app 01a LOG ss Control tsk 2 Debug l bmp Pie Ek 24 Dbicon001 BMP e DebugD2 bmp x File002 Dk 2 Dbicon002BMP Debug03 bmp FileOO3 Bh j Debug001 BMP ton PMP BF FileQ04 Bh j Debug 02 BMP Edit002 bmp 27 FilMgr001 2 File name app 01 a TXT Files of type v Cancel e The highlighted file is inserted in your source file at the current cursor location Chapter 3 Creating Applications 3 11 fe SC3000 Robot Systems Find e Find allows you to type a word or character string to find in your source file e At the Find dialog box type the name of the word or character string you want to find set your Options and Direction then click Start Text to find ES Options Direction v Match Case Forward Regular Expressions C Backwards Cancel Hep e The search begins at the current cursor location and stops at the first matching occurrence If no match is found a pop up dialog box informs you that Can t find your text string e If a match is found a Find selectio
46. Buzz manages all Controller files Chapter 6 Errors describes the various errors that can occur while using the Buzz software package Glossary provides definitions of the special terms used in this manual Appendix A Technical Support describes how to contact Sankyo Robotics Technical Support Appendix B Buzz Communication Cable Wiring describes the wiring of the ADS Port cable Copyright O Sankyo Robotics 1997 2001 Preface ix TE SC3000 Robot Systems Conventions used in this Manual The Buzz Application Development System is known throughout this manual as Buzz The SC3000 Robot Controller is known throughout this manual as Controller The Manipulator or the Industrial Robot is known throughout this manual as Robot Manip power Servo power and Robot power are the same power applied to the Robot drive motors Related Publications Related publications and sales assistance can be obtained directly from Sankyo Robotics Sankyo Robotics AES Motomation GmbH Sankyo Seiki Mfg Co Ltd 1001 D Broken Sound Parkway NW Nikolaus Otto Str 8 Machine Tools Division Boca Raton FL 33487 D 40670 Meerbusch 17 2 1 Chome Shinbashi USA Germany Minato Ku Tokyo 105 Japan 561 998 9775 49 2159 4088 561 998 9778 FAX 49 2159 3872 FAX 81 3 3508 1156 81 3 3502 1353 FAX support sankyo com See Note Note The Sankyo office in Tokyo Japan may not provide all related publications Rela
47. CMONES aie ri des etl to FR cian bec er Elec eie tea pde eh ba ce eh alt ce leo 1 3 Installing BUZZ iaa os idad 1 4 Wminstalling BUZZ oi ie 1 4 Starting rra 1 4 erra c 1 5 Configuring Buzz PC COMMUNICATIONS eene enne nennen nnne 1 5 Configuring the Buzz ee 1 5 Configuring the Page Setup tede eee ta dd koe La dou ka eua de ue d ha deed ha ERR dedu iux 1 6 Configuring the dE 1 6 The Buzz Display 1 7 Online Mode iii mE 1 7 euim aladdin 1 8 Buzz Ar a a a Neu 1 8 MEMO EE 1 9 ee 1 9 JOBDEF CFG File options sssssssssssssssseeee enne nnne nnn ennt nennen 1 10 IE cs hnpEd e 1 10 ee M 1 10 Robot TASK E ara T H Q H 1 11 Peripheral cm edad 1 11 System TaSKosane concr 1 11 Teaching Data UE 1 11 Stepper Motor aSK uu iron deene dee Eed 1 12 Debugging RECETTE 1 12 Deploying Jobs and Tasks eene enne enne rare rr rn rr rre 1 12 Deploy JOD E 1 12 Deploy Task tiii erede i a a ette ii 1 12 Retrieving Jobs and RECETTE 1 13 Ee Ee EE 1 13 Retrieve EL er in peda ea doo lite 1 13 File Manga ide 1 13 Errors and Troubleshooting eere iaa 1 13 Wordle Oct EE 1 14 SSL E Programming Samples eect ects crete ee erence seein ee canon nc cnn nn nn cnn nn rr nan nenne
48. Create a Job e Tocreate a Job start Buzz and click on the New Job icon Job Dialog box opens You can also use the File menu The New H MSSETUP T gt 1 el e From this box navigate to a desired folder then type a Job name Our example is Job 01A Click OK e A folder is created on your Buzz PC with the same name as you gave to the Job 3 4 SS Buzz User s Guide Version 2 0 Create Task Names After creating the Job the Modify Job dialog box opens 1 2 3 APP O1A reno Task Number 255 Source Files CONTROL SSL Up Task Name CONTROL TSK Teach File Name Down Do Not Reload Task if Back up Memory Failed Source File Execute if Servo Power is Off Execute while in Teach Mode s Add Execute if Robot Task Error Aw Disable Resume After Program Error Browse DaNot Step if Systen task Eror Delete Add Task Delete Task OK Cancel ok e The Modify Job dialog box example above shows that we have created 3 tasks for our Job APP 01A Task number 1 a Robot task 1 CONTROL Task number 255 a System task 2 the highlighted task PERIPH11 Task number 11 a Peripheral task 3 Refer to the following page for descriptions of the dialog box functions Tip The System Task is unique in that if all its pre conditions are met it has the privilege of automatically starting In order to start however the Pendant ke
49. Debug session This lets you choose another task to debug within the same Job The Edit Task List option is not available once the Debug Session starts If you need to change the task you want to debug stop the current task Click the Stop Debugging icon on the main Buzz toolbar You can also click on the Debug menu then Stop Debugging To select another task click Debug then Edit Task List Select one or more tasks from the Select Task Job x dialog box shown below Select Task Job 01A EN Tasks 1 APPIATSE Select All 255 CONTROL TSK 11 PERIPH11 TSK Cancel System I O Enabled 4 10 This option must be set before starting the Debug session Debug Go When your Job is made up of more than one task and you are going to debug a System task you need to set the System UO Enabled option If this option is not set the System l O is not enabled for the debugging session If you only have one task for this Job this option can be ignored With any Job open or active this option starts the Debug Session Once the Debug session starts this option is not available until you click on Stop debugging You can also click on the Debug Go icon available from the main Buzz toolbar If you have a multiple task Job the first dialog box allows you to select the task s that will be open for the Debug session Refer to the display on the following page Buzz User s Guide Version 2 0 Select
50. List icon 3 The Name Date Time and Size is listed for each file displayed 4 Each File type in the File Manager text window has its own symbol SYS represents a System file J represents the JOBDEF CFG file T represents any compiled and linked output task D represents a Teach data file SSL and turned corner page symbols represent source files symbols represent any other file type 5 4 Buzz User s Guide Version 2 0 5 The information line displays Total Flash memory 487424 bytes Free Flash Memory 122880 bytes Used Flash Memory 364544 bytes Selected Flash Memory Size If any file s are selected and highlighted the total number of bytes for the files selected would be shown here Since this example does not show a file selected this number is 0 File Manager Functions Upload File from Controller 1 Start the File manager 2 Select highlight the file you want to upload on the File Manager open window 3 Click on the Upload File from Controller icon This action uploads the file s from the Controller to the Buzz PC You can also click File then click the Upload File from Controller option 4 Atthe Save As dialog box navigate to the Buzz PC directory where you want to store the file s Save As Save in 3 Job 014 File name app 01a TT Save as type SSL E Source Files Cancel 5 Click Save TIP If you want to upload multiple files from the Controller
51. MAR 2 5 Create a JOD iii ias 2 6 Modify a Job 2 6 Create MOodify a A ee erent ee erence ee eaeeeeeeeaeeeeeeaeeeeeeaeeesesaeeeeeeaeeeseeaeessenaeeeeseaes 2 6 Editing Source FICS iia tii de dais 2 6 line Reine CET 2 7 Overwriting Bern Elle CEET 2 7 Deleting ere 2 7 Moving the CUSO EE 2 7 Selectingtextand ISS coo E 2 7 I reaeRciu E 2 7 Compile or Build 2 8 Debugging Tasks sssssssssssseeseseee nennen nnnm nennen EEEE EEEE AAEE EEEE nnns 2 8 Deploying m 2 9 Deploy Job eene lili a d de Eds 2 9 BUE e 2 9 IU mM 2 9 Ee AA eke 2 9 RO HE qe dida dla delicia 2 9 Chapter 3 Creating Applications uueeeeeeeeeeeeceeeeeeeeeeeee eene nennen 3 1 How this Chapter is organized eerte ter tnn nien te ncn inna n SES E inu E rra nnmnnn 3 3 Creating Applications Job ipit Exiit EM Eegeregie 3 3 Create a JOD dead 3 4 Create Task Names iii iaa edd Eeer 3 5 Open a le BE 3 7 Open Source File 15 cito en aa a aii Ea RR REA Edge 3 8 The Window Menu 3 9 Editing Source I iii caia M 3 10 ma Buzz User s Guide Version 2 0 The Edit MENU iii id A 3 10 Bra e WEE 3 11 Cu
52. R AANEREN EEN 5 6 Delete Files c S 5 6 a igdahcd c 5 7 Display System Files nennen mne en nennen ne rrn enne r enter nennen entere nnns 5 7 sedi 5 8 Ibegam 5 8 Invert Selectloh tied rie eld ridendo uad eene deit Ee ENEE 5 8 Arrange File Display erect ecrit c ptt rbd ct po Ded td xa KAREN dt aeta dl zd eid 5 8 Close the File Mariager eerie taco nacen sta dot ka de e ha deve ha de ha de vd a du v La dede anaes 5 8 Chapter iyi o e v 6 1 Error e ECLIPSE 6 5 Buzz Error Messages T 6 6 Types of Error Messages rite sd cric sad fe redes eh add cepe dee peed fe ides Qe waned ay pete aae bad e gd 6 6 1 1 ADS Communication Information Error essen nemen 6 7 1 1 1 The Controller notified of an eo 6 7 1 1 2 The communication driver detected an eo 6 8 1 1 2 The communication driver detected an eo 6 9 1 1 3 An error with the PC was detected ooocooccccococococococccccoconononncnnccnnnnnnnononncnnnnnnnnnnn nn nn cn nn nnnnnnmnnnos 6 9 1 1 4 An error was caused by mis operation ssssssssssee enne 6 10 1 1 5 An error description was caused in the SSL program ececceceeeeeeeeeeneeeeeeeeeeteesnaees 6 10 ma Buzz User s Guide Version 2 0 1 2
53. RAM must be refreshed several times each second Drift is the gradual movement of any Axis away from its commanded position Copyright Sankyo Robotics 1997 2001 Glossary 1 ma SC3000 Robot Systems Droop is the mechanical compliance of a Robot arm as measured at the end of the arm with respect to the base This is the loss of its ability to maintain a parallel respective position to the earth between the base and the end of the arm and is an important consideration with high payloads Elbow is also known as the Theta 2 joint It connects Theta 1 and Theta 2 Axes on a SCARA Robot Electrical Optical Isolator is a device which couples input to output using a light source and a detector in the same package It provides electrical isolation between input circuitry and output circuitry Emergency Stop Switch is a push button switch that controls power to the Robot and as its name implies when activated will remove power immediately to the Robot Encoder is a device which transmits pulses that relate to Axis position Each pulse equates to a precise length of movement and is the basis for determining the position and repeatability of any Axis End Effector or End of Arm Effector is any device attached to the Robot end of arm typically the Z axis which acts as a hand or gripper that can grasp or act upon parts and tools in the work envelope This is also known as end of arm tooling Envelope or Work Envelope See Work Envelope
54. S is displayed in the Information line bottom of the Text Window letters can be inserted at the cursor location INS is the default when a source file has just been opened If you press the INS key the INS changes to OVR and the letters typed will overwrite any current text Overwriting characters When OVR is displayed in the Information line letters can be over written at the cursor location INS is the default when a source file has just been opened If you press the INS key the INS changes to OVR and the letters typed will overwrite any current text Deleting characters When the BS backspace key is pressed the letter to the left of the text cursor is deleted When the DEL key is pressed the letter to the right of text cursor is deleted The tab code is deleted as if it were a letter Moving the cursor When positioned on the text the cursor can be moved left and right or up and down by using the arrows keys Pressing the HOME key moves the cursor to the start of the line and the END key moves the cursor to the end of the line If you position the mouse pointer at a location and click the text cursor moves to that location Selecting text and lines Click and hold the left mouse button and drag it over any text or line s This action selects that text for edit functions Moving the cursor to the left or right while holding down the Shift key will do the same thing A string of text that is selected appears re
55. STASK QUT 2146 1 START ROBOT TASK 1 DELAY 0 1 OUT 2146 0 RESTART e Tile Horizontal e Tile Vertical e Cascade Our example shows a Cascade style of multiple file display e The title bar is highlighted for the active file Chapter 3 Creating Applications 3 9 fe SC3000 Robot Systems Editing Source Files The Buzz Editor is a comprehensive full function easy to use Editor that works with SSL E source files Before using the Buzz Editor you should configure it Refer to the topic Configuring Buzz found in Chapter 1 if necessary By now you should have e Created opened a Job e Completed the Modify Job dialog box e Opened a source file for creating or editing If not refer to the topic Creating Applications found earlier in this Chapter The Edit Menu Several options are available from the Edit menu to assist you with the construction of your SSL E source files To use the following menu options click Edit then one of the following choices They are listed from top to bottom as they appear in the Edit menu Some of the Edit menu choices have icon support on the main Buzz toolbar and some have hot key assignments within the Edit menu itself These choices provide a high degree of versatility 23 Sankyo Buzz2 motor C Buzz2 S amples Palletizing ssI SU File Edit Debug Robot Window Help laj x B g Undo Ctrl Z cu Redo Ci
56. Sankyo RO BOT Ii S TM CONTENTS Preface Safety Installation and Configuration Overview Creating Applications Debugging Applications File Manager Errors Glossary Technical Support Communications Cable Wiring Buzz User s Guide Version 2 0 SC3000 Robot Systems Federal Communications FCC Statement Warning This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions manual may cause interference to radio communications lt has been tested and found to comply with the limits for a Class A computing device pursuant to Subpart J of Part 15 of FCC Rules which are designed to provide reasonable protection against such interference when operated in a commercial environment Operation of this equipment in a residential area is likely to cause interference in which case the user at his own expense will be required to take whatever measures may be required to correct the interference January 2001 Buzz User s Guide Version 2 0 Use this publication only for the purpose stated in the preface This is the initial document for Buzz User s Guide Version 2 0 software product which supports all SSL E Version 3 x and prior commands Buzz is an Application Development System ADS for the Sankyo SC3000 Series Robot Controller and is Windows based Changes are periodically made to the information herein Refer to the last page of the Pre
57. Task motorlab EN Tasks 11 MOTORP TSK Select All Cancel e After selecting the task s you want to Debug click OK e f you have just started Buzz and powered on the Controller the Job is compiled and built then downloaded to the Controller e Ifthis is not the first Debug session the next dialog box notifies you that the Controller task file has not changed and you must make a choice e f you just made changes to any source file s you want to click Yes in order to compile and build before downloading e f you have made no changes to any source file s since the previous Debug Go session click No and the Debug session starts Information i No changes have been made to MOTOR TSK Do you wish to compile and load anyway e You are now in the Debug session and are free to navigate through the various menus in order to help you in debugging your tasks e f you want to make changes to any of your source files you must first stop the Debug session Chapter 4 Debugging Applications 4 11 fe SC3000 Robot Systems Stop Debugging e This option stops the Debug session and is not available until the Debug session starts e f you stop a Debugging session with any task s running the following dialog box displays Stop Tasks K One or more tasks are running Do you want to stop all tasks before exiting debug mode e Click Yes to end the Debug session Click No if you change your mind e
58. Technical Support Japan Asia Telephone Support To contact Sankyo Technical Support Japan call 81 3 3508 1156 FAX inquiries to 81 3 3502 1353 Correspondence Address correspondence to Sankyo Seiki Mfg Co Ltd Machine Tools Division 17 2 1 Chome Shinbashi Minato Ku Tokyo 105 Japan SS Buzz User s Guide Version 2 0 Appendix B Buzz Communications Cable Wiring ADS Port Cable Wiring The following figure describes the connections for the cable that attaches from the IBM compatible Buzz host computer to the SC3000 ADS Port serial ports are supported This cable P N SCF309 is provided with the Robot System Controller male Pin DCD RX TX DTR DSR RTS CTS RI 1 PC female Pin NOTES Connect shield ground to shield ground ADS is configured for COM1 through COMO on an IBM compatible PC ADS port default specifications Copyright O Sankyo Robotics 1997 2001 Data bits 8 Stop bits 2 Parity Even Speed 9600 baud Buzz Communications Cable Wiring COM1 through COM9 1 fe SC3000 Robot Systems This page left blank intentionally B 2
59. You can also click the Stop Debugging icon from the main Buzz toolbar Step CAUTION Before starting a Robot task ensure the Robot is in a safe position to begin moving e The first time this option is selected for a task it starts the highlighted task and executes one line of code e Subsequent operations execute one line of code SE e A Step Task icon option e This option is only available if the task is not running is available from the Debug Window toolbar for this Start CAUTION Before starting a Robot task ensure the Robot is in a safe position to begin moving e This option starts the highlighted task at the beginning and the task is free running e A Start Task icon is available from the Debug Window toolbar for this option e This option is only available if the task is not running 4 12 SS Resume Buzz User s Guide Version 2 0 CAUTION Before starting a Robot task ensure the Robot is in a safe position to begin moving Step Stop Hold Cycle Stop This option starts resumes the highlighted task from where it was stopped and the task is free running If the task had not been started previously it starts the task at the beginning IK A Resume Task icon is available from the Debug Window toolbar This option is only available if the task is not running This option stops the task at the end of the current line of execution and is actually a Step stop action A Stop Task i
60. You can now move through your source file in order to Replace other matches e Replace has no icon on the main Buzz toolbar Goto Line e Goto Line allows you to go immediately to a certain line number in your source file e Type the line number in the Goto dialog box then click OK The cursor is placed at the first character at this line number C Line Number Cancel e This is especially useful in working with large source files and during the compile phase when resolving errors Chapter 3 Creating Applications 3 13 te SC3000 Robot Systems e Goto Line is also available in a Debug session Refer to Chapter 4 which discusses Debugging in detail Bookmark e A Bookmark allows you to mark a line of code for the purpose of returning to that line of code quickly This is especially useful for large source files J Sankyo Buzz2 C Buzz2 motor MOTOR SSL sU File Eat Debug Robot Window Help 8 x M E o Undo Ctrl Z ola ESE o Cx Heda EUX di mu A Cut Ctrl move part accross tester 2 m Be Copy Ctrl C place the part in bin area o B Paste Chile turn off vacuum Delete Del Insert File f Find Ctrl F N Fina ext ES Replace E Goto Line Cat Bookmark Togale Dit Select All Fist Previous Shft F2 Match Brace or Ctrl B Next F2 Display Modify Templates Last Insert Template Alt 0 9 Clear All To Upper Case Alt F5 To Lower Case CERS Read Only vv
61. a cm cacao anemia NIMM AKA KU KU ria 3 21 Print active TIS T 3 21 Print PSU Wicca nai da dat 3 23 CGR A AP P A 3 23 Copyright O Sankyo Robotics 1997 2001 Chapter 3 Creating Applications 3 1 fe SC3000 Robot Systems This page left blank intentionally 3 2 SS Buzz User s Guide Version 2 0 How this Chapter is organized Before you can work with an application a sequence of tasks must be performed The contents of this Chapter are constructed in the sequence required in order to complete all the steps in completing your work with source files If you are not familiar with Buzz you should read and follow the steps in this Chapter in sequence If you are familiar with Buzz refer to the Contents of this Chapter and work where necessary Creating applications Job Editing source files Compile and build your job or task Displaying a teach file Saving your work Printing your files The next step Creating Applications Job Before you can work with applications and source files you must create a Job Creating a Job requires that you create names for the tasks that will make up your Job From this step you can begin to work with your applications The sequence for working with source files is as follows Create a Job Create Task Names Open a Job or Open a Source File Chapter 3 Creating Applications 3 3 fe SC3000 Robot Systems
62. al Support or send an email to support sankyo com for instructions on changing the download source files option Deploy Task When a modification to any Job is minor you have the option to Deploy Task and not the entire Job This saves considerable time as the Deploy Task compiles or builds the selected task s and downloads it to the Controller Flash memory and MAIN memory Buzz User s Guide Version 2 0 Retrieving Jobs and Tasks Retrieve Job After debugging your Job or when any changes are tested and complete it is a good idea to Retrieve the Job for backup purposes Retrieving a job is the opposite of deploying a job Retrieve uploads the Job and all its associated files from the Controller to the Buzz PC This includes e JOBDEF CFG file e All source file s if the source files were optionally deployed with the Job e The teach data files DAT e All compiled and built object files TSK Retrieve Task Retrieving a task is the opposite of deploying a task Retrieve uploads the task and its e All source file s if the source file s were optionally deployed with the Task e Teach data file DAT e The compiled and built object file TSK File Manager The Buzz software includes a full function File Manager for manipulating files between the Buzz PC and the Controller and on the Controller itself Functions include e File upload download e Controller File delete e System
63. alletizing the UTY SSL source file shipped with the Buzz software product must be placed before the source file which contains the actual palletizing commands The UTY SSL file contains the software support for the palletizing commands te Buzz User s Guide Version 2 0 Robot Task Only one Robot task is permitted for each Robot or Stepper motor attached to the Controller Up to eight source files may be defined for a single Robot task A number is assigned to each Robot task 1 4 which coincides to the Robot s or Stepper motor s attached to the Controller For example if a Robot and a stepper motor were attached to a single Controller Task 1 Robot and Task 2 Stepper motor are valid Tasks 3 and 4 are invalid since those Robots stepper motors are not attached to the Controller A Robot task is the only task that can contain MOVE commands and the tposition variable When a Robot task is compiled or built Buzz applies the file extension TSK Peripheral Task A Peripheral Task is an optional task and can contain any SSL E command except MOVE commands and the TPOSITION variable Up to eight source files may be defined for each Peripheral task Peripheral tasks are assigned the task numbers 11 through 18 Therefore up to eight Peripheral tasks are supported for any one Controller If you create only one Peripheral task it becomes task number 11 you are not allowed to pick one of the peripheral task numbers
64. ame of the simple variable to quick watch INT REAL or LONG In the following examples we are going to quick watch each type of variable and change its value counter is a Simple INT variable Quick Watch X Variable Type Array NOTE Simple Gtart at 1 Any variable specified for watching must contain 8 C String Ska characters or less This is C Array Size pi a current limitation with A E 4 the SSL E software Variable Name counter Task 1 1 lt lt Evaluate 23 Change gt gt Add to Match Window Close e To observe the current value just click Evaluate The current value is 1 e H you want to change the value of the variable on the fly enter the new value for the variable 23 then click Change gt gt Stop the task first e You also have an option to Add to Watch Window e A Quick Watch icon is also available from the Debug Window toolbar e Once your selections are complete click Close 4 18 Buzz User s Guide Version 2 0 Quick Watch String variables e Type the name of the String variable that you want to quick watch You must also enter the number of string positions you want to watch in this case 7 of the string Stop the task first Quick Watch E r Variable Type String C Simple Start at 1 String Endiat EN C Aua Size Ea Variable Name storage Task 1 868 scsssscsscesesssssscs
65. and download the backup copy of the HWDEF CFG file Power the or Controller off then on and perform the Absolute Home The error of Absolute position adjustment again Home Position Canceled cannot be If the problem persists contact Sankyo Technical support reset 1 2 2 52 Another device has the Place the Pendant key switch in Remote mode and try the controlling right operation again Chapter 6 Errors 6 21 fe SC3000 Robot Systems 1 2 2 53 Command number ADS internal Any other command 6 22 These errors are associated with an error code and a command number Command numbers for this chart is ADS internal any other command Message2 Description Action 1 2 2 58 The object program is not in a condition where it can be executed or There is no interpreter control block of the specified task The specified Robot is not set up The specified variable or array does not exist or The name of the variable or array is too long The specified file does not exist An error of the Flash driver happened The specified task cannot execute in its current state The specified task has not been created An attempt was made to read the current position of a Robot that is not specified in the HWDEF CFG file The variable specified for the Watch function does not exist The name of the variable specified for the Watch function is too long The file speci
66. and the files are listed in sequence you can hold down the keyboard shift key and click the first and last files in the sequence Ifthe files are separated use the Ctrl key After the files are selected highlighted Perform step 2 above and the selected files are uploaded Chapter 5 The File Manager 5 5 te SC3000 Robot Systems Download File to Controller NOTE When downloading files you must power the Controller OFF then ON in order to transfer the files from Flash memory to MAIN memory 1 Click on the Download File to Controller icon You can also click File then click the Download File to Controller option 2 Atthe Select Files to Load to Controller dialog box navigate to and select the file s you want to download 3 Click OK Selct Files to Load to Controller File name Folders APP D1A LST E buzz Njob 01a N Cancel TMPBUZP DAT go f AS Cencel_ app 01a LOG gt buzz N APP O1A LST Network APP D A ssl B Job 01A app 014 TSK app 014 TXT BUZZ LOG z CONTROLLST zi List files of type Drives fan Files y f FRED3 D TIP You can also click and drag a file from the Windows explorer to the File Manager window Delete Files CAUTION Do not delete any file on the Controller with a file extension of bin or cfg These are system files and must be in place for the Controller to function correctly 1 Start the File Manager and select highlight the Controller file s you want to
67. ard NOTES As viewed from the front of the Controller Servo Amp 1 is on the bottom right Servo Amp 2 is on the bottom left and Servo Amp 3 is on the upper right if present 6 48 SS Buzz User s Guide Version 2 0 Field 13 Realtime Error Field 13 has 4 or 8 position bytes one for each axis from 1 through 8 left to right Refer to the Axis chart that follows for the axis or axes that failed Field 13 errors are detected by the Motion Control System MCS Pendant Buzz Explanation 00000001h 1 Check error 1 when Servo ON Position time out 00000002h 2 Check error 2 when Servo ON Abnormal ABS pulse When errors 1 2 or 3 occur a mis match between the robot type and the HWDEF file may exist Check the HWDEF then try to re home the robot If all is OK suspect the Servo Amp the motor and the internal cabling in sequence Field 14 Realtime Error Field 14 has 4 or 8 position bits one for each axis from 1 through 4 or 1 through 8 left to right Refer to the preceding Axis chart for the axis or axes that failed Field 14 errors are detected by the Servo Loop software Pendant Buzz Explanation 00000001h 01 Axis over speed Suspect Servo Amp then Mother board 00000002h 02 Not used Notused o O 00000004h 04 Axis overshoot incorrect Suspect Servo Amp then Mother board 00000008h 08 Status overflow Suspect Mother board 00000010h 10 Axis clamp errors Suspect Servo Amp then Mother board 00000020h
68. ation extreme caution should be observed If you must penetrate the work area without disconnecting electrical power and air pressure press the Emergency Stop push button on the Controller front panel or the remote cable to remove power to the Robot Then place a DO NOT OPERATE sign near the front of the SC3000 Robot Controller and if possible carry the remote cable into the work area with you to ensure that you remain in control of Robot power Pressing the Emergency Stop push button on the Controller or the remote cable does not remove potential dangers created by other devices in the work area You should ensure that all potentially hazardous devices are powered off or otherwise secured before penetrating the work area The Robot arm moves with great force and speed Therefore serious injury could result from failure to observe caution when the work area is penetrated As stated above power and air pressure to the Robot should be turned off and disconnected first whenever possible Before reconnecting power and air pressure always check the Robot work area for adequate clearance Be absolutely certain no one is in the Robot work area All personnel working with the system must have at minimum instruction and practice in the use of the safety devices on the system Safety procedures should be thoroughly reviewed to ensure complete understanding Observe safe access routes to and from the Robot Utilize signs around the Robot
69. available as a Message 3 to further identify the error 1 1 1 The Controller notified of an error When an incorrect format is detected in the communication statement received during the communication between the Buzz PC and the Controller the message The Controller notified of an error displays LL Message2 Descripion Action The Controller The Controller received The Buzz software may be notified of an error statements that were in a corrupted or contain a defect response bad format and returned an Reboot the PC and restart Buzz error response Try the operation again The response The response from the The Controller system software may statement is Controller was invalid be corrupted or contain a defect inaccurate Exit Buzz switch off on Controller power restart Buzz and try the operation again Chapter 6 Errors 6 7 fe SC3000 Robot Systems 1 1 2 The communication driver detected an error The Buzz communication software consists of the communication driver and the communication library The message The communication driver detected an error displays when an error is detected by the communication software driver Message2 Description Action The cable is not The Buzz Ensure the Buzz communication connected communication cable is cable is secure check wiring if not connected or may necessary be defective happened detected connection noise etc A framing
70. bugging Applications 4 3 fe SC3000 Robot Systems Select a directory to store Job C Buzz2 2 x aw A fe 2 D Pallets L Motor 3 D Palletizing C multask This dialog Buzz2 Help files 4 Samples box is the DISK1 010501 Six Axis two robot same for a DISK2 010501 4 Test Retrieve task Images CJ Test Pallets operation 3 At the Make Robot Job Active dialog box click Yes If you click No you will not enter Debug mode with the current running Job Make Robot Job Active 4 After the Job Task is retrieved from the Controller click OK The dialog boxes are similar Retrieve Job C Buzz2 5 Click the Debug Go icon The Select Task jobname dialog box displays if you have more than one task Make your choices and click OK If you have only one task skip to step 6 4 4 Buzz User s Guide Version 2 0 Select Task motorlab 11 MOTORP TSK 1 MOTOR TSK 6 On the following Information dialog box click No If you click Yes the currently running task will be stopped the Job builds and download and you must start the task from the beginning The following dialog box displays for each task retrieved Information 7 The selected task displays in Debug mode and the currently executing line is highlighted You are now in a Debug session Chapter 4 Debugging Applications 4 5 te SC3000 Robot Systems Start Debugging 4 6 1 To start the Debug Session click t
71. c System is comprised of the Robot any computer or controller containing the necessary software any end effector feeders fixtures and tools that are required to complete the Robot task ROM is the abbreviation for Read Only Memory a type of electronic circuit chip used in computers SSL E is the abbreviation for Sankyo Structured Language Enhanced software language This language supports the SC3000 family of Sankyo robot systems Settling time is the time required to settle any axis to its final destination within the repeatability range Shoulder is another name for the Theta 1 Axis It is the Axis directly mounted to the pedestal on SCARA Robots SPM is the abbreviation for Servo Power Module a power unit required for driving the axes on certain types of Robots SRAM is the abbreviation for Static Random Access Memory a type of electronic memory circuit chip used in computers Typically battery backed Strain gages are analog voltage force sensors that are typically installed on end effectors hand They are also known as Tactile sensors Teach Pendant See Pendant Undershoot is the undesirable movement of an Axis where a commanded position was not reached Velocity is the measure of speed or rate of motion Vision System allows for the interfacing of a high resolution camera to determine the actual commanded position that a Robot must attain This permits flexibility in the Robot application Work Envelope is a re
72. codes If the problem clears out with a power on off of the Controller use the Display System Error History option which uploads the History of Errors file from the Controller Pendant Buzz Explanation 00000001h 1 A Realtime error exists 6 46 ma Buzz User s Guide Version 2 0 Field 10 Realtime Error Field 10 contains one position byte and it displays general errors detected by the Motion Control System MCS Incorrect checksum of back up data of thermal values 00000079h High Speed card is not present 0000007Ah A Error in return to home 0000007Bh 7 Mechanical brake control error E 7 7 7 000000DEh OD Servo Amp 3 Check sum data sent to Controller is incorrect 7 C E F 0 1 2 3 4 5 6 7 9 B 9 A B 3 4 5 D F NOTE As viewed from the front of the Controller Servo Amp 1 is on the bottom right Servo Amp 2 is on the bottom left and Servo Amp 3 is on the upper right if present Chapter 6 Errors 6 47 fe SC3000 Robot Systems Field 11 Realtime Error Field 11 contains two position bits and displays errors detected by the Servo Loop Field 12 Realtime Error Field 12 has 2 or 4 position bits one for each Servo Amp board They are numbered left to right Servo Amp 1 and 2 or 1 through 4 Pendant Buzz Explanation 00000001h 01 Amp 1 Heat sink over temperature Check the air filter s and fan 00000002h 02 Amp 1 Pre driver power incorrect Suspect Amp then Mother bo
73. con is available from the Debug Window toolbar This option is only available if the task is running This option stops the task immediately and for a Robot task it could be in the middle of a move command A Hold Task icon is available from the Debug Window toolbar This option is only available if the task is running This option stops the task when a CYCLE statement is encountered in the task If you do not have a Cycle statement in your program this function is ignored and the task continues to run gt a A Cycle Stop icon is available from the Debug Window toolbar This option is only available if the task is running Chapter 4 Debugging Applications 4 13 te SC3000 Robot Systems Add Watch 4 14 Add Watch allows you to watch global variables while in Debug mode Local variables and the teach position variable cannot be watched An Add Watch icon is also available from the Debug Window toolbar See the Add Watch dialog box below Add Watch X Task 1 Variable Type Apa Simple NOTE Any variable specified for watching must contain 8 characters or b D w less This is a current C Array limitation with the i m Current Position SSL E software Cartesian C Current Position e e y Add to Watch Window Close This option lets you watch a global variable or watch the current position of the Robot arm A Watch Variable window
74. cosensseseee o Change gt gt Add to Watch Window Close e Optionally you do not have to enter the total length of the string variable only the number of string positions you want to quick watch begins at the first position of the string e If you fail to enter the string length only the first position of the string variable is watched e To observe the current value just click lt lt Evaluate The current value in the example above is 868 e f you want to change the value of the string on the fly enter the new value for the variable 0 is the default then click Change gt gt Is the task stopped Refer to the example below Quick Watch ES Variable Type r String Simple se 34 String Edda T C Aray Size 7 Variable Name storage Taskt 1 lt lt Evaluate 17324 Change gt gt Add to Watch Window Close e You also have an option to Add to Watch Window Chapter 4 Debugging Applications 4 19 te SC3000 Robot Systems Quick Watch Array variables e Type the name of the Array variable that you want to quick watch You must also enter the number of array elements you want to watch in this case 1 16 the maximum is 50 of the array Stop the task first Quick Watch EN Variable Type Bray Simple Start at 1 C String End at 16 Array Size 1 Variable Name fiapallet Task H 1 lt lt Eval
75. d or click File select Job then click Modify Create Modify a Task Once a Job and its tasks are created it can optionally be modified Click on the Modify Task icon 2 Atthe Modify Task dialog box add or delete the source files associated with the selected Task 3 Click OK when finished and the JOBDEF CFG file is updated or click File select Task then click Modify Editing Source Files Before a source file can be edited it must be opened 1 A source file can be opened at the same time you open a job Refer to the topic Open Create a Job found on the previous page or 2 Click on the Open Source file icon or click File select Task then click Edit Source file In either case you can open up to eight source files simultaneously 2 6 SS Buzz User s Guide Version 2 0 3 The Text window displays the source file s as well as the Edit and Window Menus and the Edit toolbar Tip The four most recently opened source files are listed under the File menu just under the four most recently opened Jobs The source file s are displayed in the Text Window If more than one source file is opened the windows may be tiled vertically horizontally or cascaded Basic Editing operations that are performed in the Text Window are briefly explained in the following text NOTE All Buzz Editor Edit menu functions are explained in detail in Chapter 3 of this manual Inserting characters When IN
76. d wait a few happened Buzz attempted to seconds Try downloading again download a file while another device such as the Pendant was downloading the same file Chapter 6 Errors 6 19 fe SC3000 Robot Systems 1 2 2 39 Command number ADS internal FF Robot Language Command is displayed when the commands are not accepted Message2 Description Action 1 2 2 39 The motion task is not yet selected 1 2 2 42 A real time error happened 1 2 2 43 The system is stopped by Emergency Stop 1 2 2 41 The interpreter ended with an error 6 20 1 2 2 40 The parameter stack result includes an error The Robot Language Command has not selected the motion task Execution results of the Robot Language Command are incorrect Execution of the Robot Language Command failed A real time error occurred by executing a Robot Language Command The Emergency stop push button was operated while a Robot Language Command was in progress The Buzz system software may be corrupted or defective If the problem persists contact Sankyo Technical support Exit Buzz then power off on the Controller and try the operation again If the problem persists contact Sankyo Technical support Exit Buzz then power off on the Controller and try the operation again If the problem persists contact Sankyo Technical support From the main Buzz display click Robot then click Display Errors F
77. defined for a function definition such as INT this error occurs PROG do_it INT A PROG do_it INT A UJ UJ C D E F G H OK 8 or less INT arguments C D E F G H 1 Fails more than 8 INT arguments Too many elements in position qualifier This error occurs when a motion command contains too many elements MOVE lt TP 14 25 25 25 25 25 gt Fails 5 axes specified only have 4 Too many if while statement nested When nesting more than 64 conditions of any IF ELSE or WHILE statements this error occurs Undefined function name This error can occur when the PROG statement is incorrect PROG doit int AZ OK PROG doit int AZ Causes this error incomplete no closing You will also get the error The number of has been unbalanced when reaching the final END statement Undefined label xxxxxxxx When trying to go to a LABEL that was never defined this error occurs PROG main GOTO NEW ONE Fails Undefined label NEW ONE never defined END Chapter 6 Errors 6 35 TE SC3000 Robot Systems Unknown function name xxxxxxxx This error occurs when a subroutine is called but does not exist PROG test In a subroutine called test test1 Causes this error test1 subroutine does not exist Unknown variable name xxxxxxxx This error occurs when you try to use a variable that was never declared If you declared INT AB 7 and you later stated
78. delete 2 Click on the Delete Files icon You can also click File then click the Delete Files option 3 Atthe Confirm Delete dialog box click Yes to delete the selected file s Click No to cancel the operation Confirm Delete Are you sure you want to delete the selected files 5 6 Buzz User s Guide Version 2 0 Refresh File List 1 Click on the Refresh File List icon You can also click View then click the Refresh File List option 2 The File Data Transfer information box displays File Data Transfer EN Retrieving File Directory Information 3 The Controller File Directory text window is refreshed This verifies any upload download or delete operations performed Display System Files CAUTION Do not delete any file on the Controller with a file extension of bin or cfg These are system files and must be in place for the Controller to function correctly By default System files do not display when the File manager is opened You must select the Display System Files option in order to view the Controller System Files 1 Click View then click the Display System Files option 2 The System Files are displayed at the top of the Controller File directory Click View then the Display System Files again and the Systems Files are no longer displayed This option is a toggle function System files are e Any file with a BIN file extension e The HWDEF CFG file The JOBDEF CFG file is not consid
79. dify Templates e Display Modify Templates allows repetitive text of any kind to be stored This includes commands comments and variable declarations e Atthe Define Template dialog box type the repetitive text you want to store for this template assign a number to identify this template then click OK Define Template x Template Text Variables int 2 1 int B 255 int CYCLES 0 Hu Template Mulder E m Cancel e BUZZ stores this text for you To use this text in your source file use the Insert Template function described next Insert Template e Insert Template inserts previously defined templates at the current cursor location e Refer to the Insert Template dialog box on the following page Chapter 3 Creating Applications 3 15 te SC3000 Robot Systems Insert Template EN Template M e Scroll through the Template numbers for the desired template When you locate the template number you want click OK The repetitive text is inserted in your source file at the current cursor location To Upper Case To Lower Case e To Upper Case and To Lower Case changes the highlighted characters in your source file to all upper or all lower case Read Only e Read Only sets a read only attribute to your source file When on and the source file is open the file will not accept any editing e This is a toggle function and when you click on Read Only again the file can now accept editing The d
80. e 00010000h 10000 Encoder AB phase not connected Suspect Servo Motor cabling Buzz User s Guide Version 2 0 Field 15A RISC Error Field 15A errors contain 2 position bits and provide additional information only for the SC3000HS Controllers Pendant Buzz Explanation 00000001h 01 Internal software timer error Power off on the Controller try again 00000002h 02 I F cable disconnected or encoder pulse errors Check Encoder cabling then motor 00000004h 04 Software counter error Power off on the Controller try again 00000008h 08 Software protocol error Power off on the Controller try again 00000080h 80 Software watch dog error Power off on the Controller and try again 00000400h 400 Spare error input Power off on the Controller and try again If no fix suspect the CPU board System Error System Error contains 5 bytes of error The first position is the task number The other 4 positions contain error bit codes that relate to operating system errors Pendant Buzz Explanation 00000001h 01 through Errors in operating system function calls Suspect CPU board 00000076h 76 All other errors Function errors in the internal system Suspect CPU board Hardware servo off This error provides detailed information on an overrun condition causing servo power off condition Robot motor power Pendant Buzz Int 7X 0 16h Reserved 00010000h 20000 Safety switch input option 00020000h 40000 Axis over
81. e Controller If necessary refer to your Buzz documentation for assistance with Creating a New Job or Modifying the existing Job 6 44 Buzz User s Guide Version 2 0 ABS Error Detail First Byte ABS Error Type has a one position byte that displays error codes pertaining to the loss of ABS home Refer to the next topic ABS Error Failing Axes below to identify any failing axis Pendant Buzz Explanation 00000001h 1 Encoder lost ABS home position 00000002h 2 Encoder information is unreliable 00000003h 3 Controller powered off during encoder communication 00000004h 4 Power removed from encoder memory NiCad battery check in line fuse ABS Error Detail Bytes 2 9 ABS Error Failing Axes has a two position bit field for each axis It has 4 or 8 positions one for each axis from 1 through 4 or 1 through 8 left to right Pendant Buzz Explanation 00000001h 01 Incorrect motor revolutions during axis movement 00000002h 02 Battery backed power low or missing Check NiCad battery circuits wiring fuse Chapter 6 Errors 6 45 fe SC3000 Robot Systems Field 9 Realtime Error If Field 9 contains a 1 the following Fields 10 through 15A must be analyzed All other values for Field 9 are invalid except for 0 which means that no valid Realtime error is recorded When a Realtime error occurs the Display System Errors option contains the current error in text with the associated Error
82. e currently running job on the Controller without having to restart the Job from the beginning The Debug session is opened with the task s you have selected for debugging This can be just one task or all tasks or as many tasks as you want for the currently opened Job Just select the task s and click OK When you have completed Debugging click on the Debug Stop icon You can also click the Debug menu and click Stop Debugging The Debug session ends Debugging is explained in detail in Chapter 4 of this manual Deploying Jobs and Tasks Deploy Job Once your debugging is complete click on the Deploy Job icon and Deploy download the Job to the Controller All source files associated with the Job are compiled and built then downloaded to the Controller Flash memory and MAIN memory The Job and all its associated files are ready to run A word of caution The first time you build or Deploy a Job to a Controller or the first time you build the Job on your Buzz PC offline the Teach data file is reset to all zero s 0 After the first deploy or build the Teach Data file is not reset However it is a good idea to keep a current backup copy of the Teach data file especially after teaching or re teaching your points NOTE By default Buzz also downloads the source files to the Controller when any Deploy procedure is invoked If you do not want to download the source files to the Controller call Sankyo Technic
83. efault setting for Read Only is off Buzz User s Guide Version 2 0 Compile and Build Buzz provides several methods to let the programmer perform a Compile or Build on any source file s If errors occur during the compile or build they are posted in a window just under the open source file window The following functions invoke the task compiler e Compile Task e Build all Tasks e Deploy Task e Deploy Job Compile Task Build all Tasks Click on the Compile Task icon Regardless the number of tasks you have open for editing the Select Task dialog box lets you choose the file s you want to compile Select Task Job 01A EN Tasks RS APP OIATSK 3 Select All 255 CONTROL TSK _Selectal_ Cancel Click on OK when finished The selected task is compiled If errors occur the compile phase is stopped A compile error window opens under the source file window x Click on the Build all Tasks icon All Tasks for the current Job are built There is no dialog box for this option If errors occur the build phase is stopped A compile error window opens under the source file window Tip If compile errors persist use the Compile Task option This saves time Chapter 3 Creating Applications 3 17 te SC3000 Robot Systems Deploy Task e Click on the Deploy Task icon e Regardless the number of tasks you have open for editing the Select Task dialog box lets you choose the task you want t
84. er 3 Creating Applications 3 21 fe SC3000 Robot Systems 1 E gu gp S mies 3 22 Print Preview C3 Sankyo Buzz Buzz User s Guide Version 2 0 A Print Preview option is available to let you see what the printed output will look like before printing the source file Click on File then Print Preview Job 01A F buzz Wob 01A app 01 a TXT Print Nest Page Prey 2A Two Page L Zoom In _ Zm Close R IT Es This Robot Task works with the orks with the System and p par IDE ees III d e Tposition tp 5 int cycles D int gripper 18 prog do it int b bet speed 100 while cycles lt 100 EE mie SEB our oar er del ay E move move out ad A 4 out f H ine eycles opecir 3 locate l M opeout Ku e count locate 1 H opeout beala cycles 0 end et et ee dl d wi stem and peripheral tasks Teach position variables 5 points INT variable used for count ing cycles Gripper is DO point 18 Nate of top and only subroutine Declare local variable b fesign a value to local variable b Set Speed to maximum Run move loop 100 times hbve to first point If Periph11 task turned this Merory 1 0 on hbve over pick up part Pick up part Close the gripper Close gripper time hbve over pick up part hbve over place part hbve to place part Let go of the part en gripper time we over place part Turn off so Periphi1 task can turn on INC
85. er 5 e Troubleshooting Errors discussed in detail in Chapter 6 e Wordfile txt file e SSL E Programming Samples e Buzz Version 2 Cable Drawing refer to Appendix B Two kinds of Memory exist in the SC3000 Series Controllers 1 MAIN also called executable memory up to 1024 KB 1 MB 2 Flash 1024 KB 1 MB file and data storage RAM memory on the SC3000 Controller uses DRAM technology and is the MAIN or executable memory It contains the contents of the current Job and all its associated tasks This is determined from the contents of the JOBDEF CFG file RAM is battery backed and also contains the executable system software files Flash memory on the Controller mimics a hard file or disk drive but is much faster When the Controller is powered on the JOBDEF CFG file in Flash Memory is analyzed and if the JOBDEF in Flash Memory is different from the one stored in RAM the JOBDEF CFG file and all its associated files are transferred from Flash Memory to RAM Flash Memory also stores the necessary Controller system software files A Job as defined in Buzz is a collection of files source object teaching data etc that make up a Robot application When a Job is created in Buzz a folder is created on your Buzz PC with the same name you gave to the Job Each of the file names you provide in the Create Job dialog box becomes a file in the newly created PC folder Several file types are available within a Job e Source file
86. er s Guide History cccceceeeeeeeececceeeeeeeeeetaeeeeeeeeeteees Xi A xiii Installation Site Safety Precautions ccccccceecccceeeecceeeeeecaeeeeeeaaeeeeeeaaeeeseaaeeesaeaaeeeseeaaeeesseaaenseaaeeneeeas xiii Operation Safety ProCedUr6s eie tirer ia dro dei xiv Safety INSPECION L XV IEN ele XV Chapter 1 Installation and Configuration ssssssnssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 1 1 Introducing Buzz Version 2 0 a nnmnnn 1 3 K UWCM IGHEETECAIC Ce IKEA 1 3 Changes in Buzz Versi n 2 0 viii mic a edad 1 3 System Reguire MEMES adria dead ida dict 1 3 Installing BUZZ vico 1 4 Uninstalling BUZZ e 1 4 Starting ET 1 4 eie uic idos 1 5 Configuring Buzz PC COMMUNICATIONS nennen enne nennen nnne enn 1 5 Configuring the Buzz Editor eene nennen nennen ener enne 1 5 Configuring the Page Setup nne en enne emen inen nr en nenne enn nnne nnns 1 6 Configuring the Printer ce eeccceeeseeeeeeeenne eect etne ee eee ae ee ee ea nets eeeeaeeeeeseaeeeeesaeeeeeeaeeeseeaeeesssaeeeesenaeeeeseaaes 1 6 The Buzz EE 1 7 Online Dm 1 7 enixe E 1 8 Buzz eiii 1 8 jpeg EDT 1 9 JODS 1 9 JOBDEF GCFG File options aid e a dee e E SE 1 1
87. eration again If the error persists contact Sankyo Technical support Click on OK Wait a few seconds then try uploading again Chapter 6 Errors 6 17 fe SC3000 Robot Systems 1 2 2 24 Command number Download 8 Messagge2__ Description Action 1 2 2 24 The object file is not This error occurs when Exit Buzz then power off on the registered in the trying to download a task Controller and try the operation JOBDEF CFG not registered in the again If the problem persists JOBDEF CFG file contact Sankyo Technical support or 1 2 2 25 The task name does not match with the registered file name 1 2 2 26 The specified object is The task is currently Stop the task ensure this is what now operating operating and cannot be you want to do then try the transferred operation again 1 2 2 27 The directory area is The directory area of Delete any unnecessary user files Flash memory is full DO NOT DELETE any files with an extension of BIN or CFG 1 2 2 28 The Flash memory is 1 2 2 29 The MAIN memory is The specified task is too Edit the task and make it smaller full large to be downloaded or delete unnecessary files from to the Controller the Controller DO NOT DELETE or any files with an extension of BIN 1 2 2 30 After a memory or CFG compress downloading becomes possible 1 2 2 31 A burst transfer block Possible corrupted data The Buzz system software may be number erro
88. ered a system file Chapter 5 The File Manager 5 7 ma SC3000 Robot Systems Edit Functions Two options are available from the File Manager Edit menu 1 Select All Selects highlights all files 2 Invert Selection Inverts File selection Select All 1 Click Edit then click Select All All files displayed in the File Manager text window are selected highlighted for operation CAUTION If you are deleting files ensure that the System Files are not displayed Exercise caution when using the Select All option Invert Selection 1 Click Edit then click Invert Selection This option is a toggle operation If any files are selected they are now not selected If any files are not selected they are now selected Arrange File Display Four options are available to Arrange the File Manager File list 1 Arrange by Name 2 Arrange by Type 3 Arrange by Date 4 Arrange by Size All of the Arrange options are a toggle operation For example if you click Arrange by Date the newest file is placed at the top of the File list descending by date Click on the Arrange by Date option again and the oldest file is placed at the top of the File list ascending by date To find which option is currently active click on the View menu A check mark is displayed next to the option that is currently active These options are self explanatory Close the File Manager 1 To close the File Manager click File then C
89. erpret the Error Data as follows 2 E Roma NENNEN HMNENEEEREMMEEE EI Reserved Valid arguments for SPEED are real numbers from 0 01 to 100 00 Valid arguments for ACCT are real numbers of 0 0 and higher Valid arguments for CPSPEED are real numbers from 0 01 to the value specified in the HWDEF CFG file This is Robot dependent 3 A BD 6 9 Valid arguments for CPACCT are real numbers of 0 0 and higher 10 Valid arguments for CPDACCT are real numbers of 0 0 and higher Valid arguments for ZONE are real numbers of 1 0 and higher 99 Valid arguments for WEIGHT are real numbers from 0 to the value specified in the HWDEF CFG file This is Robot dependent Valid arguments for WINTIME are real numbers of 0 01 and higher Valid arguments for OVERRIDE are real numbers from 0 0 to 100 0 Valid arguments for DELAY are real numbers of 0 and higher Axis Number The Axis number field provides the failing axis number if it is pertinent to the error Chapter 6 Errors 6 41 te SC3000 Robot Systems Display System Errors A system error on the SC3000 series Controller can be caused by e A Controller fault e A Robot fault e An interconnecting cable fault and is captured by the SC3000 series Controller error logic When you click on Display System Errors from the Robot menu bar the following screen displays on your Buzz PC e The Axis 1 E
90. ersion 2 0 Debugging The Debug Session compiles or builds and downloads all the files associated with the Job to the Controller MAIN executable memory The Debug menu and Window menu options are activated The Purpose of the Debug session is to ensure that the Job and all its tasks work as expected Before debugging ensure that all the files associated with your Job have been compiled or built without errors Refer to Chapter 3 Creating Applications if necessary The sequence of topics in this Chapter are as follows e Debug a currently running Job Task New feature e Start Debugging a job not currently running e Enable System UO e Set the Robot Arm Speed e The Debug Menu e Displaying a Teach File e Stop Debugging e Deploy the Job Debug a Currently Running Job Task Before using this new feature of Buzz Version 2 0 it is recommended that you have some prior knowledge of Buzz and debugging To debug a currently running Job 1 Click on the Retrieve Job icon or the Retrieve Task icon icon The Jobdef cfg file is retrieved The Retrieve Job or Retrieve Task dialog box displays Ls In this example we use the Retrieve Job Retrieving File JOBDEF CFG dialog box The Retrieve 10096 task dialog box is identical Cancel 2 At the Select a directory to store Job d folder dialog box navigate to a folder to store the Job or create a new folder then click the Retrieve button Chapter 4 De
91. f 1 2 1 23 The task itself is now The start command Click on OK and continue starting cannot be accepted because the Robot is or already working 1 2 1 24 The task is now operating Remember when the Deploy the Job option is performed all global variables are re initialized to their original values This chart continues on the following page Chapter 6 Errors 6 13 fe SC3000 Robot Systems 1 2 1 25 The Controller cannot accept commands continued Messge2_ Description Action The task is now stopping or The task is now stopping by executing Stop or The task is now stopping at Break Point or The task is now in the condition of Cycle Stop or The task is now in the condition of Step Stop or The task is now in the condition of Hold Stop or The task is now in the condition of Emergency Hold Stop The task is now stopping due to a programming error The task is now stopping due to a real time error The task is now stopping due to a Robot task program error The command cannot be worked out in the current mode The task is already stopping or stopped and another stop type command cannot be accepted The specified task has a programming error and no start command can be accepted The specified task has a real time error and no start command can be accepted The Robot task has a program error and no starting command can be accepted
92. f was unbalanced After reaching the final END statement the number of Y Y characters did not balance The number of was unbalanced After reaching the final END statement the number of TT characters did not balance The number of has been unbalanced After reaching the final END statement the number of characters did not balance Also refer to the error Undefined function name Too big case value When the number of CASE values exceeds 1000 this error occurs SELECT val CASE 10 A A 1 OK CASE 20 B B 1 OK CASE 30 C C 1 OK other statements go here CASE 1020 ZZZ ZZZ 1 Fails CASE value exceeds 1000 Too complex expression When the depth of function calls exceeds 64 between one PROG and END statement this error occurs The 65th function call is too deep to process Also see the following error Too deep nest Too deep nest When the nesting of position qualifier data exceeds 64 this error occurs MOVE POS MOVE lt POS 20 gt gt Causes this error Also if the above form of nesting is continued you may receive the Too complex expression error first Buzz User s Guide Version 2 0 Too few or too many actual arguments When too few or too many parameters are passed in the command OUT 17 1 OK OUT 17 1 2 Fails the 2 is extraneous Too many arguments for function declaration When more than eight 8 arguments are
93. face Chapter to see a history of changes to this manual Sankyo will make its best effort to report any changes in subsequent revisions or in Technical Newsletters The Sankyo Buzz Application Development System ADS for Windows and the Sankyo Structured Language Enhanced SSL E are software products developed by Sankyo Seiki Manufacturing Company Ltd This publication describing the use of the Sankyo software products referenced above could contain technical inaccuracies or typographical errors Also illustrations contained herein may show prototype product Your system configuration may differ slightly Any questions concerning the use of a Sankyo robotic product or on the contents of this document should be directed to any of the Sankyo Robotics Divisions Refer to the Preface for information on the nearest Sankyo Robotics Division contact Windows Windows 95 Windows 98M Windows NT Windows 2000 and Windows ME are registered trademarks of the Microsoft Corporation O Copyright Sankyo Seiki Mfg Co Ltd 1997 2001 Sankyo is a trademark of Sankyo Seiki Mfg Co Ltd Buzz User s Guide Version 2 0 CONTENTS o fe ee eee ere er errr ere ix AUGICNCE EA ix Abou his ET UE ix Conventions used in this Manual sssrinin siinid ab P ee ap tbc ie aga hab e ae te cds x Related Publicatloris 2 ii Seen EE ttr t tos cine eee x Buzz Application Development System Us
94. ference to the maximum area of extent which any Axis or axes can access This is also known as the Workspace Work space is the same as work envelope SS Buzz User s Guide Version 2 0 Appendix A Technical Support Getting Assistance For quick information for any technical question just click Help Buzz Help is a full function Help system and normally answers most technical questions Otherwise select one of the following contact methods Technical Support USA and the Americas Telephone Support If you are having a problem or you cannot find an answer to your technical question contact Sankyo Technical Support at 561 998 9775 FAX inquiries to 561 998 9778 The hours of operation are 8 30 AM to 5 30 PM EST EDT Monday through Friday with the exception of National Holidays Email Email is welcome on the Sankyo web Send any Email to support sankyo com Browse the Sankyo website at www sankyo com Correspondence Address correspondence to Sankyo Robotics 1001 D Broken Sound Parkway NW Boca Raton FL 33487 USA Copyright Sankyo Robotics 1997 2001 Technical Support A 1 fe SC3000 Robot Systems Technical Support Europe Telephone Support To contact Sankyo Technical Support Europe call 49 2159 4088 Germany FAX inquiries to 49 2159 3872 Germany Correspondence Address correspondence to AES Motomation GmbH Nikolaus Otto Str 8 D 40670 Meerbusch Germany
95. fied by the file operation command does not exist The Controller Flash memory driver returned an error when a file handling command was issued This chart continues on the following page Review the Section 1 2 1 The Controller cannot accept commands If you cannot resolve the error from this review contact Sankyo Technical support The task number specified is not valid Robot tasks 1 4 are valid for Robots 1 4 attached to the same Controller Verify the specified Watch variable name and its associated task Try to execute the command again Verify the Controller directory contents by using the File Manager Ensure the file name is spelled correctly Exit Buzz then power off on the Controller and try the operation again If the problem persists contact Sankyo Technical support SS Buzz User s Guide Version 2 0 1 2 2 60 Command number ADS internal Any other command Message2 Description Action 0 The tag the type of numbers which does not exist was executed or The type of number of the parameter is unexpected or The specified data type has no pertinent data or It is not a Robot task or The specified line number is not correct or The specified file name does not exist in the object program or An error happened regarding the Breakpoint action or The specified file name has an error or The operation command in file handling
96. fied coordinate An undefined exit Buzz Restart Buzz and try system does not exist coordinate was the operation again specified for a position read If the problem persists contact Sankyo Technical support 6 24 ma Buzz User s Guide Version 2 0 2 1 Miscellaneous Error Messages 2 1 1 Miscellaneous Error Text Message Message Description amp Action 2 1 1 The memory needed for The PC memory is lacking for this operation Shut down handling cannot be secured any non essential applications and or delete any unnecessary device drivers May have to add PC memory File Reading Error The specified task does not exist in the PC Check the filename ext spelling and directory or The temporary file could not be read File Writing Error These errors usually occur when file writing could not be filename ext completed Check if there is sufficient disk or diskette space available Ensure any diskette is not write protected or File Creating Error filename ext or The temporary file could not be created or ADS DTA file could not be created or The link file could not be created or A writing error happened for the ADS setup information file Processing stopped A JOBDEF CFG file reading These errors occur when uploading files from the Controller error happened Processing Any communication error may have caused stopped writing to the PC disk to fail or A source file readi
97. file can be copied printed or viewed with any text editor Refer to the Display System Errors topic for the Error code charts NOTES Field numbers 13 through 15 describe errors for up to 8 axes Your SC3000 series Controller may not support 8 axes You can also refer to Chapter 4 Symptom Fix SYSERR Error Decode charts Chapter 6 Errors 6 53 fe SC3000 Robot Systems This page left blank intentionally SS Glossary Buzz User s Guide Version 2 0 ADS is the abbreviation for Application Development System a software package to assist in developing robot applications for the SC3000 family of robot systems lt also contains built in maintenance functions Accuracy is a measure of a Robot s ability to move to a commanded position that has been theoretically computed Accuracy is the difference between the commanded position and the actual achieved position Errors from commanded positions that were obtained by teaching points is measured by the term Repeatability Actuator is a motor or transducer which converts electrical hydraulic or pneumatic energy to effect motion of the Robot Analog is an expression of a value that changes continuously such as analog voltage Anthropomorphic Robot is a Robot that has all the rotary joints and motions that imitate movements similar to a human arm Axis Linear type is a reference to a linear direction of movement for an Axis Typically Linear Robots have a rectangular work e
98. files display hide e Information line which provides a dynamic display of total Flash Memory installed in use and free available NOTE The File Manager is explained in detail in Chapter 5 of this manual Errors and Troubleshooting Several types of errors can occur in Buzz e Buzz errors e Compiler errors e Program errors runtime e System errors software hardware NOTE All errors are discussed in detail in Chapter 6 of this manual Chapter 1 Installation and Configuration 1 13 ma SC3000 Robot Systems Wordfile txt File The Wordfile txt file is the file that matches all SSL E commands all SSL E operators and functions and any User custom functions with a specific Buzz Editor color You are free to add user functions to the C3 line of this file When you set your Buzz Editor colors this file is used to create the correct color mapping and has the following headings Buzz use only e L This is a comment line in the Wordfile txt file e C1 This area defines the SSLE commands e C2 This area defines SSLE operators and functions Customer use e C3 This area is reserved for any user functions such as a declaration for a safe teach point for example SAFE_POINT When SAFE_POINT is used in any source file it can be specified as a certain color for easy identification SSL E Programming Samples The Buzz product includes several SSL E programming samples and are installed in a folder named Sam
99. h data file are uploaded Simply navigate to a folder medium where you want to store the Job If you want to place a current Job on another Controller of the same type and number of axes you can Retrieve the Job from the Controller where it exists then Deploy the Job on any other Controller However if you Deploy the Job to a Controller that supports a different number of axes i e from a 4 axis Controller to a 6 axis Controller the task build process resets the teach data to all zeroes in the Teach Data file Chapter 1 Installation and Configuration 1 11 ma SC3000 Robot Systems Stepper Motor Task Up to 3 Stepper Motors may be attached to an SC3000 Controller and each is considered a Robot task A Stepper motor task must have a Task number of 2 through 4 the same task numbering scheme as a Robot task Up to eight source files may be defined for a single Stepper Motor task For example if one Robot and two Stepper Motors were attached to a single Controller Robot tasks 1 2 and 3 are valid Robot task 4 is invalid since no Robot or Stepper motor is attached to the Controller Debugging Tasks NOTE To Debug tasks in Buzz click the Debug Go icon You can also click the Debug Menu then Go In either case Buzz gives you the option to build and download the current Job or not If the Job is already installed on the Controller there is no need to build and download the Job simply enter Debug mode You can debug th
100. he Open Job icon You can also click File Job then Open If you want to debug the current Job refer to the prior topic 2 Atthe Open Job dialog box select the Job to open then click OK Refer to the following example for a job named multask Open Job X Directory C Buzz2 multask Task List CI Buzz2 n 2 D Pallets 3 3 D Palletizing B 3 Buzz Help files 3 DISK1 010501 DISK2 010501 Images CI Motor 3 SYSTASK 3 Select any or all of the source files you want to open then click OK Refer to the following Open Source multask dialog box Open Source multask EN Tasks Source Files PERIPH TSK TEST SSL Select All SYSTASK TSK Cancel 4 Before starting the Debug session and if you have a System task to debug you should set the System l O Enabled option from the Debug menu This lets the System task control other tasks with the use of System I O If this option is not set your System task may not perform a expected Buzz User s Guide Version 2 0 5 To enter the Debug Session click on the Debug Go icon You can also click the Debug menu then the Go option 6 ASelect Task dialog box displays which gives you a choice of the task s you want to debug You can select any or all of the tasks associated with the Job Refer to the example from the Select Task multask dialog box shown be
101. he Page Setup is reflected on any printed output Configuring the Printer 1 Start Buzz if it is not already started Click on File then Print Setup 2 Select your printer from the Print Setup dialog box 3 You can also configure your Printer properties from this dialog box 4 Click OK when finished 1 6 SS The Buzz Display Online Mode Buzz User s Guide Version 2 0 After starting Buzz and opening a source file a display similar to the following graphic appears on the Buzz PC SE Buzz2 motor NIZA E SE sy File Edit Debug Robot Window Help 18 x B a a alala Sisi A Sle alas e delelel 0 2 INT SILVER CT BLACK CT PROG PALLET SETPLI 1 ELLI BERT PULL PLU 2 SEIPLIC2 PLL2 PIB2 PUL2 ELL2 2 RESTART SILVER_CT 0 BLACK CT 0 MOVE SAFE PT MOVE ABOVE PT MOVE PICK PT OUT GRIPPER 1 DELAY 5 MOVE ABOVE PT MOVE SENSOR PT IF IN SENSOR 1 For Help press F1 i SILVER CT SILVER CT 1 MOVE PLT 1 SILVER CT MOVE PLT CL SILVER CT OUT GRIPPER 0 DELAY 5 MOVE PLT 1 SILVER CT 1 BLACK CT BLACK CT 1 MOVE PIT 2 BLACK CT 50 MOVE PLT 2 BLACK CT OUT GRIPPER 0 DELAY 5 silver pallet 2 collumns 3 rows black pallet 2 columns 3 rows silver pallet position counter st black pallet position counter sta Bi if sensor comes on must be silv Z UP above current pallet positic Z down into pallet if sensor
102. icon on the main Buzz toolbar 2 Click Robot on the menu bar then click Robot File manager e The following File Data Transfer information box displays File Data Transfer EN Retrieving File Directory Information 3 The File Directory displays next as shown on the following page Chapter 5 The File Manager 5 3 te SC3000 Robot Systems The File Manager always displays the Controller File Directory when it is opened E Robot Controller File Manager 1 File Edit View Help e pm ol 3 HSBOOT BIN 4 17 97 3 51PM 1144 Ex HSENGINE BIN 4 17 97 3 51PM 21336 STRATE BIN 4 17 97 3 51PM 15249 4 SC3000 BIN 4 17 97 3 51PM 257864 HWDEF CFG 7 25 80 5 004M 6054 MM JOBDEF CFG 5 5 97 5 17PM 334 T APP 014 T5K 6 6 97 2 12PM 700 E APP 014 TXT 6 6 97 1 55PM 1801 2 APP 014 BAK 5 5 97 4 23PM 84 D APP 014 DAT 84 T CONTROL TSK 6 6 97 2 12PM 470 CONTROL SSL 5 5 97 4 21PM 1659 T PERIPH11 TSK 6 6 97 2 12PM 270 PERIPH11 5SL 6 6 97 Lamy 705 E TEST TXT 5 6 97 6 03PM 137 D TEST DAT 36 T TEST TSK 5 6 97 6 04PM 298 5 For Help press F1 Total 487424 Free 122880 Used 354544 Selected 0 A From the top of the File Manager text window 1 The Menu bar features a File Menu Edit Menu View Menu Help Menu 2 The File Manager Toolbar features the from left to right Upload File from Controller icon Download File to Controller icon Delete File from Robot Controller icon Refresh File
103. ile Display Teach File E Robot Teach Files Selected File Cancel APP 01A DAT Ei Click the browse button and the browse dialog box opens From here you can navigate to a teach file that was previously stored on the PC You must use this option when offline 3 Click OK The selected Teach file i e previously stored is displayed G3 Sankyo Buzz2 Teach File Data B x sd File Edit Debug Robot Window Help 181x EC pai pul pal 2 j i S ajel 2 08 0 olz ne SC3666 Robot System Teach Points File C Buzz2 Test Pallets TEST PLT DAT Today s Date is Wednesday December SAFEP LL1 LR1 ULA LL2 LR2 UL2 LL3 LR3 UL3 LL4 LR4 UL4 LLS LRS ULS LL6 LR6 UL6 LL LR For Help press F1 26 2666 288 213 213 149 213 213 149 213 213 149 213 213 149 213 213 149 213 213 149 213 213 e Our example shows a Teach file for a palletizing program for a three axis robot Tip The Teach File can now be printed Chapter 3 Creating Applications 3 19 fe SC3000 Robot Systems Saving Your Work Sometime during the course of writing and editing source files it becomes necessary to save your work There are several ways to save your work in Buzz e Save or Save active file e Save All or Save all files e Save As e Close File option to Save Save e File Menu Save option or click on the Save active file icon e No other
104. inning and the task is free running e Step Task Starts the task but only one line of code is executed e Resume Task Starts the task from where it was interrupted If the task had not yet been started this function is the same as Start Task 4 Once the Task has started you can Stop the task by clicking on the Step Stop icon the Cycle Stop icon or the Hold Task icon These icons are part of the Debug toolbar e Step Stop Task Stops the task at the end of the current line of execution e Cycle Stop Task Stops the task when a CYCLE statement is encountered e Hold Task Stops the task immediately even in the middle of the move 5 Debug tools are available e Using Breakpoints e Toggle breakpoint on and off e Clear Breakpoints e Using Watch for all variables except tposition variables e Add Watch e Delete Watch e Quick Watch allows changing the variable data not for position variables 6 Errors Once you have completed the compile or build phase errors can occur e Program errors Refer to the Hardware Manual for your robot Chapter 4 Symptom Fix topic PROGERR Error Decode charts e System errors Refer to the Hardware Manual for your robot Chapter 4 Symptom Fix topic SYSERR Error Decode charts 2 8 te Buzz User s Guide Version 2 0 7 When you have completed Debugging click on the Debug Stop icon The Debug session ends NOTE Debugging applications is discussed in detail in Chapter 4
105. is inadequate or An unchangeable mode was specified or An error relating to mode setup happened or An error happened reading out DI DO condition A data type that does not exist was specified in a watching variable The parameter specified does not comply with the data type An undefined parameter was specified A command was sent to a task other than a Robot task A line number of 0 or less was specified for a Breakpoint The file name specified for the Breakpoint is incorrect A command for an undefined Breakpoint was sent The file name for the Breakpoint has an error The file handling command returned an error An unchangeable mode was specified in the setup command An undefined mode was specified in mode setup A specified DI DO point number is out of range This chart continues on the following page The Buzz system software may be corrupted or defective Power off on the Controller and exit Buzz Restart Buzz and try the operation again If the problem persists contact Sankyo Technical support Chapter 6 Errors 6 23 fe SC3000 Robot Systems 1 2 2 72 Command number ADS internal Any other command Message2_ Description Action Only a single task number Multiple tasks numbers The Buzz system software may can be accepted were specified this is be corrupted or defective not allowed or Power off on the Controller and The speci
106. is page left blank intentionally 4 24 te Buzz User s Guide Version 2 0 Chapter 5 The File Manager CONTENTS MNS UE EE ERR 5 3 Starting the File Manager 5 3 File Manager Functions si 5 5 Upload File trom Controller eit i tete t en eus tn sad e eas vb 5 5 Download Fileto Controller ii etri PE ene Ped a ie 5 6 Delete File S mE 5 6 Refresh File E 5 7 DIETENA ELCAN ml CSE 5 7 Edit FUNCTIONS ttrt Ran EASEEEEEEEEEE EESE EEEE 5 8 A 5 8 Invert Selection dic etie A A AAA A At dc 5 8 Arrange File Display rerit ia t tt itd ett ia tad ER dd d ER D d RR LR dad omega 5 8 Close the WEE ue EE 5 8 Copyright O Sankyo Robotics 1997 2001 Chapter 5 The File Manager 5 1 fe SC3000 Robot Systems This page left blank intentionally 5 2 Buzz User s Guide Version 2 0 The File Manager This Chapter discusses the File Manager used in Buzz The File Manager allows you to manipulate all files on the Controller The following File manager operations are discussed in the sequence shown e Starting the File Manager e File Manager Functions e Upload Files from the Controller e Download Files to the Controller e Delete Files e Display System Files e Edit Functions e Arrange File Display e Close the File Manager Starting the File Manager The file manager can be started in Buzz in one of two ways 1 Click the Robot File manger
107. itten in the program without the label reference or the label reference does not exist GOTO Label for GOTO is missing CYCLE restart The label defined as restart does not exist Chapter 6 Errors 6 31 ma SC3000 Robot Systems Missing semicolon A command statement was written in the program without a following semicolon This error can also occur with an error statement prior to this failing line number Two examples of this type error follow INT A 5 1 Causes this error saw the period before the semicolon INT A 5b Causes this error saw the b before the semicolon Missing The left brace character is missing Missing The right brace character is missing Missing A bracket character is missing Missing The left parenthesis character is missing Missing The right parenthesis character is missing Missing A comment was started but the ending was not found Only position data or position qualifier can be declared This error is caused by a motion command without recognizable position data MOVE lt TP 23 25 25 25 25 gt OK MOVE TP 23 25 25 25 25 Fails lt gt characters missing Buzz User s Guide Version 2 0 Position qualifier lt gt wasn t closed This error occurs when you issue a motion command without the closing gt character MOVE lt tp 14 25 25 25 25 gt oK MOVE lt tp 14 25 25 25 25 Fails n
108. ized to a value on a separate line of code All local variables must be declared before any can be assigned PROG show INT A B This sequence is correct for local variables A 6 B 3 Cannot initialize teaching position data Teaching position data cannot be initialized The following line of code is incorrect TPOSITION lt 300 200 100 45 gt Global declaration only but OK when POSITION is used instead of TPOSITION Cannot link more than 8 files When using the Build Tasks function of the Debug pull down menu more that 8 source files were specified for an output task TSK file Cannot exceed 8 source files Cannot open source file If you add a source file name in the JOBDEF but never create it with the Open Files function of the File pull down menu this error occurs 6 28 Buzz User s Guide Version 2 0 Duplicate CASE value CASE values must be unique Caused by a statement such as CASE 3 used more than once in one SELECT routine of your program Illegal array definition This error occurs when an array declaration is incorrect POSITION safez 4 6 Causes this error POSITION safez 4 OK Illegal assignment statement This error can be caused by using an incorrect command statement JMOVE lt TP 14 10 10 gt lt TP 15 15 15 gt OK for JMOVE statement JMPM TP 14 10 102 TP 15 15 152 Fails JMPM expects 4 distinct parameters The paramete
109. le TSK Lucio niccnnnancnnnonorcnn nooo eene rr 6 28 Cannot create error list file TSK occ ncccnnnanacanonancnano nan cnn nn rc 6 28 Cannot declare teaching position data as a local variable 6 28 Cannot initialize local variables mene nere en nennen nnns 6 28 Cannot initialize teaching position data emm ene ener 6 28 Cannot link more than 8 files iiid icis E 6 28 Cannot open source lle ceso is a ERERR RATE ia EE cud eden vesddsengne dex ne da n e da 6 28 Duplicate CASE value oe de i 6 29 Illegal array definition AA 6 29 legal assignment statement een eene nmrenen nennen nennen 6 29 Illegal character nem ene memnnennnrnnennnrin en nennen neri r enne rnit nnns 6 29 legal character El LEE 6 29 Illegal definition statement uccidere eiazcee dd 6 29 WII EIN eler cenci da 6 30 Wegal imitalzing WEE 6 30 legal statement ido 6 30 IMegal symbol Tor CONnStAME iia ia pie tr nie cro Re eto Hidde aaa 6 30 legal Symbol use icri itin deri iia 6 30 Integer expected for subscript Of array ssssssssssssssseeeeenen nennen nennen nnns 6 30 Integral type constant expected for case Valle eme 6 31 Label redefined wx 6 31 Missing CASE valle ic ritratto bad ridi re abd t patre ta rr ed dre abad aue dt ce aar un 6 31 Missing colon Tor CASE label 121 rot laicidad 6 31 Missing END Luise oct idee dere D ERE ee ae adde edd oie ee ie ee i sad ded 6 31 Missing label in
110. le The specified file could information error not be opened happened 1 1 3 4 A writing file error A file write error occurred Check if the PC disk has available happened for the specified file space for the operation Chapter 6 Errors 6 9 fe SC3000 Robot Systems 1 1 4 An error was caused by mis operation Message2 Description Action not be opened could not be opened correct and exists 1 1 4 2 There is an inaccuracy The statement to be Reboot the PC and start Buzz in the statement to be transferred is invalid again If the error persists transferred reinstall Buzz Or No command comes There is a conflict in the from the Controller internal condition of the communication software 1 1 5 An error description was caused in the SSL program This type of error can be the result of a file corruption or a defect in the Controller system software or the Buzz software product This error can also occur due to user program file corruption Message2 LI Description Action The number of The of parameters in The Controller System software or parameters is not the statement is not the Buzz software may be correct correct corrupted or contain a defect Power off on the Controller reboot or the PC and restart Buzz The parameter value A parameter value is out is not correct of range invalid If the problem persists reinstall Buzz or An undefined A command
111. led the Compile Watch window can be closed at any time with this option e Click Debug then Close Watch Window The compile watch window is closed Toggle Breakpoint e The Toggle Breakpoint option lets you stop at a specific line of code in your task Up to four breakpoints may be set in a single task e Place the cursor at the line of code where you want to stop then click Toggle Breakpoint This action sets the breakpoint and turns it on e The next time you click Toggle Breakpoint it turns the selected breakpoint off e You can use the Toggle Breakpoint option with the task started or stopped e A Toggle Breakpoint icon is available from the Debug Window toolbar Clear Breakpoints e The Clear Breakpoints option clears all breakpoints in your task The breakpoints need not be selected or have the cursor placed at any specific line of code Ry e A Clear Breakpoint icon is available from the Debug Window toolbar Error Reset e The Error Reset option resets any error If the error persists for example an overrun or over area error the error comes on again immediately This gives the appearance that the error did not reset but in fact the error resets e Refer to Chapter 6 Errors for all errors encountered in Buzz Tip When a task is stopped and no error exists the Reset Error option resets the program line counter to the top of the program This is a quick way to start a task at the very beginning regardles
112. letters to constants const bold abcd Causes this error letters not allowed const bolds 1234 OK Illegal symbol use MOVE lt TP 23 25 25 25 25 gt OK MOVE TP 25 25 25 25 gt Causes this error 23 array value missing Integer expected for subscript of array Array size must be declared by an integer data type POSITION POS 12 34 Causes this error INT A 12 34 Causes this error Buzz User s Guide Version 2 0 Integral type constant expected for case value This error occurs when no integer is placed immediately following the case statement CASE 5 x x 1 OK CASE x x 1 Fails the case integer is missing Label redefined xxxxxxxx This error occurs when the label is repeated duplicated in the program restart First label use OK restart Any subsequent use fails Missing CASE value A SELECT statement was written in the program but no CASE statement was found Missing colon for CASE label A CASE label was written in the program without a following colon CASE 5 x x 1 OK CASE5 x x 1 Fails the colon is missing Missing END An END statement must always match to a PROG statement This error can also occur when the PROG statement is invalid for example PROG nesting OK PROG nesting Fails invalid PROG statement no variable by this name exists Missing label in GOTO CYCLE statement A GOTO ora CYCLE statement was wr
113. lose 2 You can also select the X box at the upper right of the dialog box as with any open window You are returned to the previous Buzz operation 5 8 te Buzz User s Guide Version 2 0 Chapter 6 Errors CONTENTS Error Classification PRESS 6 5 Buzz Error Ee GE 6 6 Types of Error Messages iii O EA 6 6 1 1 1 ADS Communication Information Error 6 7 1 1 1 The Controller notified of an eo 6 7 1 1 2 The communication driver detected an eo 6 8 1 1 2 The communication driver detected an eo 6 9 1 1 3 An error with the PC was detected ssssssssssee eene een enne nennen enne 6 9 1 1 4 An error was caused by mis operation sssssssseeee enne 6 10 1 1 5 An error description was caused in the SSL program 6 10 1 2 1 ADS Communication Information Rejection Hesponse eeeeeceeeeeeeeeeeteeeeeeeeeeeseeneeeetenaees 6 11 1 2 1 The Controller cannot accept commande 6 11 1 2 1 5 The Controller cannot accept commands continued see 6 12 1 2 1 13 The Controller cannot accept commands continue 6 13 1 2 1 25 The Controller cannot accept commands continue 6 14 1 2 2 Specific Command Efo Ssss ierit tne a a ERES Rx a XAR A duds eege 6 15 1 2 2 1 Command numbers Start 1 Stop 2 Error Reset 3 6 15 1 2 2 5 Command numbers Start 1 Stop 2 Error Reset 3 sess 6 16 1 2 2 15 Command numbers Upload 7 Upload data 9 sss 6 17 1 2 2 24 Command number Download
114. low Select Task multask X Tasks 11 PERIPH TSK Select All 255 SYSTASK TSK Cancel 7 If any task selected in step 6 matches a file on the Controller you are given an option to compile and load If you have no changes since the last Debug session click No If changes have been made click Yes your tasks are compiled and downloaded The process stops if a compile error occurs If this happens exit this procedure and use the Compile task icon to resolve any error s Start this procedure again from step 3 Refer to Chapter 6 Errors topic Compiler errors which lists compiler errors alphabetically 8 Any task s you selected for Debug is displayed in the Buzz text window and you are now in a Debug session Make sure the robot is safe to move from its current position Chapter 4 Debugging Applications 4 7 SC3000 Robot Systems Set the Robot Arm Speed CAUTION Itis possible to start a Robot task from a System task Before starting any Robot task ensure the Robot arm is in a safe position to begin moving Before starting a Robot task in a Debug session set the Robot arm speed The Speed slider is placed in the upper left corner of the Robot text window and defaults to 20 speed When the Robot task is running this is a dynamic adjustment Refer to the following example which shows a speed setting of 15 E3 Sankyo Buzz Job 01A F buzzWob O1A APP 01A TXT File Edit Debug Robot Window Help
115. manded position Pause Interrupt is the stopping of all movement of a Robot without removing Robot power Payload is the maximum weight the Robot is designed to carry Ability to firmly grip such a payload is affected by choice of grippers or end of arm effectors Pendant is the Robot System device which allows for the monitoring and teaching of points for a Robot application It can also be used to verify machine operation such as starting and stopping of diagnostic or exerciser programs or to individually move any Axis It is also known as a Teach Pendant PLC is the abbreviation for Programmable Logic Controller Position is the location of the Robot in the work envelope POST is the abbreviation for Power On Self Test Glossary 3 ma SC3000 Robot Systems PTP is a reference to Point To Point which is a type of Robot arm movement This move is a straight line or with SCARA Robots it may be a natural arc motion RAM is the abbreviation for Random Access Memory a type of electronic memory circuit chip used in computers Repeatability is the variation in returning to a given point and is expressed as a distance from the mean within which at least 99 5 of all measurements fall This is based on fixed temperature speed payload and direction within the operating range Robot is a mechanical device that can be programmed to automatically perform a variety of tasks It may contain two or more axes Robot System or Roboti
116. n enne 1 14 Buzz Communications Cable Drawings cnn nnnro nara nennen nennen rne 1 14 Copyright O Sankyo Robotics 1997 2001 Chapter 1 Installation and Configuration 1 1 fe SC3000 Robot Systems This page left blank intentionally 1 2 te Buzz User s Guide Version 2 0 Introducing Buzz Version 2 0 New features in Buzz Version 2 0 e Able to Debug a currently running application without having to restart the application from the beginning e Color coding for user defined functions See Configuring the Buzz Editor found later in this chapter e Dynamic changing of the communications port See Configuring Buzz PC Communications found later in this chapter e Implement error decode screens for program and systems errors Refer to Chapter 6 Errors e Retrieval of the Error History data from the Controller Refer to Chapter 6 Errors e SSL E programming samples included in the Buzz2 Samples folder e Watch variables added support for arrays and strings Refer to Chapter 4 Debugging Applications e Stand alone utility program SC3INST EXE for automatically updating the Controller System software Changes in Buzz Version 2 0 e Download job task is now an option for Debug mode if the files on the Controller and PC match Refer to Starting Buzz found later in this chapter e Editor Settings has changed to Preferences on the File menu All the Buzz configuration tasks start by clicking on Preferences
117. n pop up box becomes available at the top of your source file text window LX Find Previous Cancel Help e You can now move through your source file in order to Find Next or Find Previous other matches e Find has an icon on the main Buzz toolbar e When no further occurrences of your Find argument is found the Find selection pop up exits and you are returned to your source file text window e Find is also available in a Debug session Refer to Chapter 4 which discusses Debugging in detail Buzz User s Guide Version 2 0 Replace e Replace is an extention of Find Replace allows you to find and replace text or character strings easily in your source file e Atthe Replace dialog box type the text string you want to find then the text you want to replace it with Set your Options and Direction click Start You can also click Replace All and the operation completes Replace EN Text to find loop m Text to replace loops Options Direction IV Match Case Forward Regular Expressions 2 A Cancel Replace All Help e The search begins at the current cursor location and stops at the first matching occurrence If no match is found a pop up dialog box informs you that Can t find your text string e Ifa match is found a Replace selection pop up box becomes available at the top of your source file text window Replace E 3 Replace Replace All Cancel Help e
118. names and options you can always Modify the Job again or use the File menu From here you can Continue with the Open a Job topic which follows To open a Job for editing click on the Open Job icon You can also use the File menu then click Job A Sub menu opens with an Open Job option If the Job you want to work with was one of the last four Jobs opened in Buzz click File on the menu bar then click on the Job you want from the Job list The Job list starts under the Preferences menu item and contains the last 4 Jobs opened e Navigate to the Job you want to open and click OK Refer to the following Open Job dialog box Open Job X Directory CABuzz24multask Task List CG Buzz2 P E multask C 2 D Pallets o PERIPH 3 3 D Palletizing y TEST G Buzz Help files H SYSTASK E3 DISK1 010501 E3 DISK2 010501 C Images CI Motor GC Drive E Y DK Cancel We have selected a Job called Multask Click OK Refer to the Open Source multask Dialog box on the following page This allows us to select one or more source files for editing Chapter 3 Creating Applications 3 7 fe SC3000 Robot Systems Open Source multask ES Tasks Source Files PERIPH TSK TEST SSL Select All SYSTASK TSK Cancel e In our example we have selected a Robot task called TEST TSK From here you can select TEST SSL or the Select All button e The resulting text
119. ncoder cable was disconnected at the Robot motor end to cause the following error Sankyo Error Diagnostic Software EDS X Error Message Result Record Index 1 Hert Encoder information is unreliable A Realtime error exists Encoder AB phase not connected Suspect Servo Motor Cabling Open file on exit H Config Error om Ka ABS Error Detail ES EN CR In Eg EST ee E 4 Realtime Error Fields 9 11 3 o0 90 pm 80 9 989 Jo sues Tv EET Ege pe but a DADA o po Juwipgs Te mas pere pns fe fof Te Te Field 154 o fo System Error 0 l 0 0 0 0 Ke Hardware servo off 0 r Other Infomation Backup Error Record H Power ON count Elapsed time Initial 0 Sc 54 cb ad 12b88f0 e As you can see from the information displayed above the error is stated in text in the Error Message Result text box e Todecode the System Error Code fields from the display as shown above refer to the following System Error charts The errors shown above ABS Error Detail Code 2 and Field 15 Code 10000 are highlighted in the following System Error Code charts in bold and italic print e Note that the Previous and Next buttons are grayed out These buttons are used with the Display System Error History NOTE Field numbers 13 through 15 describe errors for up to 8 axes Your SC3000 series Controller may not support 8 axes You can also refer to Chapter 4 Symptom
120. nfiguring Buzz PC communications found later in this chapter e Ensure that the Buzz PC cable is attached to the configured PC COMM port e Refer to Appendix A topic ADS port cable wiring and ensure you have the correct cable Buzz User s Guide Version 2 0 3 Another device owns the configured COM port Make sure the configured COMM port is not in use 4 f you are not connected to a Controller and want to work at your Desktop you will see the following pop up Communications Error Communication between PC and Controller has been lost Verify all connections and cables controller is powered on and that SRServer exe is running Exit Application 5 Click on Work Offline and continue with the next topic Configuring Buzz Configuring Buzz Configuring Buzz PC Communications After starting Buzz configure the Buzz communications port Click on File then Preferences Select your Communication Port number from the Editor Setup dialog box Com1 Com89 If you are changing your comm port a pop up reminds you that this change is dynamic Click Yes to dynamically change your communications port oO FF ob gt The Communications port is configured Continue with the next topic if necessary Configuring the Buzz Editor NOTE To configure your character font you must have a source file open If you have a source file to open skip steps 1 through 4 go to step 5 If you do not have a source file to open
121. ng error happened Processing stopped This chart continues on the following page Chapter6 Errors 6 25 fe SC3000 Robot Systems 2 1 12 Miscellaneous Error Text Message Message O Description amp Action The editor window is not A Quick Watch or an Add Watch variable function was open Processing stopped invoked but the source file was not opened or The pertinent source file could not be found Processing stopped The specified variable does The variable specified in the Watch function does not not exist Local variables exist in the task in Controller MAIN memory Only global cannot be observed variables and arrays not local variables and arrays may be watched 2 1 15 No more addition can be Only 4 Breakpoints may be set for any one task Delete done Processing stopped any excess Breakpoints opened installed correctly Try reinstalling Buzz exist in the PC spelling and the directory The task no is not correct The task number or name is not correct within the Edit Job task configuration of Buzz or The task name is not correct 2 1 20 No more source file can be Only 8 source files may be specified for any one task added TSK Consolidate the source file s so that no more than 8 source files may be specified for any one task 2 1 21 There is no pertinent task When trying to delete a task from the Edit Job function of Buzz the file was not found
122. nvelope Axis SCARA type is a reference to an Axis for a Selective Compliance Assembly Robot Arm or simply SCARA Robot Typically SCARA Robots are mounted to a pedestal base and have a circular arc type of work envelope Byte is a reference to a single character in a computer Cartesian is a reference to a rectangular workspace or profile Also Robots with two or more linear axes mounted perpendicular to each other are referred to as Cartesian Coordinate Robots Compensation refers to an operation used to counteract compensate for dynamic lags in any Robot Axis movement This allows for prompt stable responses Compliance is the quality or state of bending as it relates to mechanical stress Sometimes referred to as mechanical compliance Coordinated Axis Control refers to a multiple Axis movement which appears to end simultaneously Sometimes referred to as a coordinated move CMOS is the abbreviation for Complementary Metallic Oxide Semiconductor a type of electronic circuit chip used in computers CP is a reference to Continuous Path which is a type of Robot arm movement This move is in the shape of an arc circle or rectangular and the like Damping is the absorbing of mechanical energy from any Axis Its purpose is to control mechanical vibration DI DO is the abbreviation for Digital Input Digital Output DRAM is the abbreviation for Dynamic Random Access Memory a type of PC chip memory Different from SRAM D
123. o build then load to the Controller Select Task Job 01A ES Tasks i Select All Cancel e Click OK when finished e The selected task s are built and checked for errors If no errors occur the task is downloaded to the Controller Flash memory and MAIN memory elf errors occur the compile phase is stopped A compile error window opens under the source file window Tip If compile errors persist use the Compile Task option This saves time Deploy Job e Click on the Deploy Job icon e All task s for the Job are built and checked for errors If no errors occur the task is downloaded to the Controller Flash and MAIN memory elf errors occur the compile or build phase is stopped A compile error window opens under the text window e f no errors occur The Job is now ready to run Tip If compile errors persist use the Compile Task option This saves time SS Displaying a Teach File Once Buzz is open you have the option of displaying the Teach File If you are not connected to a Controller you must browse to select a Teach file to open Buzz User s Guide Version 2 0 1 Click on the Robot menu then click Display Teach File 2 From the Display Teach File dialog box select the teach file to display If you are online with the Controller the current Teach file is uploaded and displayed If you are offline you must click the browse button and navigate to a valid Teach f
124. o closing gt Recursive function call hasn t been supported This error occurs when a subroutine is called and you are already in that subroutine PROG test In a subroutine called test test Causes this error cannot call itself Redefinition xxxxxxxx This error is caused by declaring a variable name then using the same name again POSITION TPA 10 OK the first time POSITION TPA Causes this error already used TPA String too long The maximum data to reserve for a string is 255 bytes Inside the double quote marks Subscript out of range This error can occur when a command is used incorrectly POSITION TP ab The value ab causes this error use an integer instead Symbol expected This error can occur when a symbol is expected REAL 5 1 Causes this error no variable name const count 1 2 3 Causes this error comma before semicolon Symbol of variable except position type expected as argument A POSITION variable name cannot be used with other commands POSITION POS INC POS Causes this error position variable name used DEC POS Causes this error position variable name used OUT POS 1 Causes this error position variable name used Chapter 6 Errors 6 33 ma SC3000 Robot Systems The number of position qualifier lt gt wasn t balanced After reaching the final END statement the number of lt gt characters did not balance The number o
125. o the Controller Try the operation again The object program The specified task s object Deploy the JOB This downloads does not exist program does not exist in the JOBDEF CFG file and all the Controller MAIN associated files to the Controller memory Try the operation again or The task is not defined The specified task does in the JOBDEF not exist in the JOBDEF CFG that currently resides in MAIN memory or The specified task The specified task does does not exist in not exist in the MAIN memory memory or The specified task The specified task does does not exist in Flash not exist in the Flash memory memory of the Controller or The specified task in The specified task in the the Flash memory file Flash memory has a has a check sum error check sum error 1 2 1 12 The task in the The task in MAIN memory Deploy the JOB This downloads memory has a check has a check sum error the JOBDEF CFG file and all sum error associated files to the Controller Try the operation again Remember when the Deploy the Job option is performed all global variables are re initialized to their original values This chart continues on the following page ma Buzz User s Guide Version 2 0 1 2 1 13 The Controller cannot accept commands continued Message2_ JL Description Action 1 2 1 13 The data having the Discrepancies exist Deploy the JOB This downloads same name as
126. obotics 1997 2001 Chapter 6 Errors 6 1 ma SC3000 Robot Systems ilegal character constant iii dd 6 29 Illegal definition statemnem sorsien anii tira cda E dant aA R 6 29 le EI eiue E 6 30 Wegal MIZOJ WE 6 30 legal statement A 6 30 Illegal symbol for Constant 6 30 lege symbol Use tucan 6 30 Integer expected for subscript Of array essseeessresesrnessernserennaatinnaannnnaatannadttnnaatannaannnnaatanaaaeenne 6 30 Integral type constant expected for case value ennn 6 31 Label redetined IOMA EE 6 31 Missing CASE Value cennin a A EA 6 31 Missing colon Tor CASE label irn adapta cin ga a i Ea partida 6 31 Missing zspaE 6 31 Missing label in GOTO CYCLE statement AAA 6 31 Missing semicolon ssssssssseseseeenenem enne en nennen nnn in inner nennen rnit nre 6 32 BU JE E 6 32 MUSSING exe T R 6 32 RUE RTE 6 32 MISSING Mirar a iia 6 32 MUERTE 6 32 Missing Via T 6 32 Only position data or position qualifier can be declared sssssssssssssssseee 6 32 Position qualifier lt gt wasn t cosed sene nn nnn nnne nn sess nsns 6 33 Recursive function call hasn t been supported eem 6 33 Redefinition XXXXXXXX RR 6 33 SUING TOO Men WEE 6 33 Subserpt out of Farige silla a 6 33 RUE EE ee WEE 6 33 Symbol of variable
127. of this manual Deploying Deploy Job Once your debugging is complete click on the Deploy Job icon and Deploy downloads the Job to the Controller The entire Job is built and all tasks for the Job are downloaded to the Controller It is not necessary to power the Controller off and on the Job is ready to run Downloading the source files to the Controller is optional and the default is to download the source files Deploy Task When a modification to any job is minor you can click the Deploy Task icon to deploy a single task and not the entire Job This saves considerable time as the Deploy Task procedure builds the selected task and downloads it to the Controller ready to run Retrieving Retrieve Job Click on the Retrieve Job icon to upload the entire job from the Controller This is the opposite of deploying a job Retrieve Job uploads the jobdef cfg file all task files all their associated source files if the source files were downloaded or deployed to the Controller and any Teach data files from the Controller to the Buzz PC Retrieve Task You have the option to click on the Retrieve Task icon to retrieve a single task from an entire Job Retrieving a task is the opposite of deploying a task Retrieve uploads the task its teach data file if a robot task and all its source files if the source files were downloaded or deployed optional to the Controller Chapter 2 Overview 2 9 fe SC3000 Robot Sys
128. on variables Position variable requires you to enter the variable name sate_pl Task 1 Variable Type Array C Simple Start at 1 C String Bnd at 1 C Aray Sie II E Position Current Position zt e ertesian C Current Position FT Add to Watch Window Close e f you select a position variable that was declared as an array position POS 5 only position 1 is watched To watch more than one Position array variable refer to the previous topic Watching Array variables e Click Add to Watch Window when you have completed your choices 4 16 Buzz User s Guide Version 2 0 Watch Current Position e Current Position requires a further selection of the Robot Current Position in either Cartesian or Joint angle position Task 1 Variable Type End at 1 SIZE ED Current Position Cartesian C Joint Add to Watch window Chose e Click Add to Watch Window when you have completed your choices C String C Aray C Postion Array C Simple S 1 e Once all your Add Watch selections are complete click Close Refer to the following Watch window that shows the variables we just entered for watching 3 Sankyo Buzz2 motorlab A motorlab MOTOR SSL File Edit Debug Robot Window Help Bl xj ara ela Bis S les Se vise 0 2 dn 20 d slrel Ii 541623 position safe pt place pt move points
129. ositions you want to watch beginning at the first position of the string e f you fail to enter the string length only the first position of the string variable is watched e Click Add to Watch Window when you have completed your choices Add Watch stant ats paz Ena ate 7 Chapter 4 Debugging Applications 4 15 fe SC3000 Robot Systems Watch Array variables e Array variable requires you to enter the variable name and the array element to Start at and End at to watch This includes POSITION arrays For example if you declare LONG lapallet 4 4 e Inthis example you would enter Start at 1 and End at 16 if you want to watch the entire array for the array size given 4 X 4 16 Add Watch X IER Task 1 m Variable Type Array C Simple Statat 1 C String End at ug Array Se 3 C Position Current Position C Current Position M P gt Add to Watch Window Close e Optionally you can enter only the number of array elements you want to watch from the first element to the last element up to a maximum of 50 elements Start at 5 End at 8 This watches the second array and its 4 elements e f you fail to enter the Start at and End at numbers for your array elements only the first array and its first element is watched e Click Add to Watch Window when you have completed your choices Watch Positi
130. p press F1 Online 49 36 50 INS 7 A B D E Title Bar 1 The Title bar provides e Open Job name e Path and file name of the file s you are debugging or editing Menu Bar 2 This Menu bar indicates possible choices for menu functions e File menu Available for all functions e Edit menu Available when the file window is open e Debug menu Available for debug functions e Robot menu Available for all functions e Window menu Available when the file window is open e Help menu Available for all functions NOTE Even though a menu name is available for a function all choices for the menu may not be available for your current operation In this case those functions are grayed out Chapter 2 Overview 2 3 ma SC3000 Robot Systems 2 4 Icon Bar 3 The Icon bar The Icon bar provides a shortcut for many of the menu functions To see the function of any icon just point the mouse to the selected icon and a small information box displays briefly with the icon function Text Window 4 The Text window When you are debugging or are editing a source file the Text window contains the current file contents Multiple open files are supported in Buzz and the text window with a colored title bar is the active window Window Information line 5 The Window information line contains the following detail A The Help reminder message B Online Offline message our example shows that Buzz is online with the Controller
131. ples nested under the Buzz2 folder The files include e ContinuousPath ssl e GuardedMoves ssl e JumpMoves ssl e Palletizing ssl e RealtimelnputSensing ssl e Multitasking e Stepper Motor The SSLE programming samples are extracted from the Sankyo Training courses and provide a working insight to commonly used functions Buzz Communications Cable Drawings Appendix B has a Buzz Version 2 cable drawing for the SC3000 ADS communications port te Buzz User s Guide Version 2 0 Chapter 2 Overview CONTENTS The Main Buzz DISPLAY AM 2 3 BUE pc M 2 3 Menu Bab 2 3 POON Di Ai dd idad 2 4 uui E 2 4 Window Information line iicet ii dc La din at d 2 4 BASIC OPCratiOnS MM ys 2 5 Open Create A Job 2 5 Modify a Job 2 6 Create Modify a ask lada ead de ebd ae rbd cade 2 6 Editing Source Files p 2 6 INSEMING Character Siess i a E T E NE A a 2 7 Overwriting characters tant tene due ea RE SEENEN ECKER a ed ug 2 7 RE eege 2 7 Moving the GUISO ica ir 2 7 Selecting text ANG NINCS cio bt e ERR ERE RS 2 7 Searching EE 2 7 Compile or Bud 2 8 Debugging Tasks sssssssssssseeseeeeen nennen nnne en nennen tenen r innen rnnt nennen nenrn rennen nennen nene 2 8 Ben EET 2 9 Deploy Job m 2 9 Deploy cem 2
132. psed in the WIN statement Incorrect parameters specified in the JMPM statement 21 Robot operation parameters incorrect Go to the Error Code Error Data 26 27 31 RS 232C port designation is out of range for RSxxx commands Specified bit length for INB or OUTB is out of range 37 MDOSET recognition number does not match MDOENBL and MDOEND MARKSET recognition number does not match associated MARKxxx commands Chapter 6 Errors 6 39 ma SC3000 Robot Systems Error Data Error Code 1 2 or 3 Chart 6 40 Error Data contains the first incorrect parameter data whenever an SSL E command was used incorrectly in your program If you do not have an error with a specific SSL E command then use the following chart because you had a 1 2 or 3 as a decode number in the Error Code field Interpret Error Data as follows Explanation 1 Overflow of SSL E parameter stack May have many complex or nested statements 2 Underflow of SSL E parameter stack Overflow of SSL E return stack May have too many nested functions Incorrect index for system function 3 A 8 H 01 13 1 16 Matrix position data is incorrect or corrupted 18 20 22 23 24 25 26 O ma Buzz User s Guide Version 2 0 Error Data Error Code 26 Chart This chart should only be used when 26 displays in Error Code field of the Program Error display Int
133. r was downloaded to the corrupted or defective happened Controller If the problem persists contact Sankyo Technical support 1 2 2 32 A receiving error This error was detected Ensure the Buzz cable is properly happened during burst at the Controller connected Refer to the Hardware receiving Manual and check the wiring of the Buzz cable if necessary 1 2 2 33 An error happened at This error occurs when Exit Buzz and check the file the transferring PC the file s could not be contents The disk diskette could side read for downloading be defective or the file itself may be corrupted 1 2 2 34 The file cannot be Downloading the files to The Buzz system software may be down loaded to MAIN the Controller memory corrupted or defective memory was attempted If the problem persists contact Sankyo Technical support This chart continues on the following page Buzz User s Guide Version 2 0 1 2 2 35 Command number Download 8 A Message2 Descripion Action 1 2 2 35 Because of the same Deleting of file s in the Exit Buzz then power off on the file existing an error Flash memory failed Controller and try the operation happened again If the problem persists contact Sankyo Technical support or A writing error Writing of file s to the happened Flash memory failed or Closing operation failed Operation did not close correctly A multiple open error This error occurs when Click on OK an
134. rement the cycle variable Clear the Pendant user area of data Locate line 2 char position 2 on the Pendant Dutput text string to Pendant Locate line 2 char position 16 on the Pendant Qutput current value of cycle Set cycle back to 0 so we can repeat loop Required end statement Onine 45 2345 IN Several options at the top of the Print Preview window let you ensure that the printed output is what you expect The Next Step Now that you have completed work with your source files you are ready to proceed with one of two options 1 Use Buzz and Debug your Job Refer to Chapter 4 Debugging 2 Deploy the Job to the Controller and use the Pendant for debugging Refer to Chapter 4 Deploy the Job How to use the Pendant is described in Chapter 5 of the Sankyo SC3000 Series Installation and Specifications manual Chapter 3 Creating Applications 3 23 fe SC3000 Robot Systems This page left blank intentionally 3 24 te Buzz User s Guide Version 2 0 Chapter A Debugging Applications CONTENTS IR e lat eem 4 3 Debug a Currently Running Job T ask cnn anno nnnnnnnnrn nr nnn rr ranrrrrnrrn 4 3 Start Debugging D 4 6 Setthe Robot Arm Speed eiii dia idad a dida dnd tue dd en ada 4 8 The Debug MOM ssccisvicerecesstacccivuedcedexpencecavieccadeaptadecevetccedesuoed old id alada eS 4 9 Edit Task EE 4 10 System VO Enabled ecnin adi 4 10 GO WEE 4 10 SLOP DEDUGGING c
135. rle INT S See e Cut Did PROG Ba Copy Ctrl C 1 273 1 silver pallet 2 collumns 3 rows B Paste Ctrley J heii black pallet 2 columns 3 rows ET silver pallet position counter st Delete Del black pallet position counter sta Insert File B f Find Ctrl F Sek fand West ES Replace Goto Line ndis if sensor comes on must be silv Bookmark gt ET Select All CENT 50 Z UP above current pallet positic SEO Z down into pallet Match Brace or Ctrl B Display Modify Templates CT 50 Insert Template Alt 0 3 1f sensor was off must be black To Upper Case AER 1 d RE e Z UP above current pallet positic To Lower Case DER y 2 7 down into pallet Read Only gt b Online 4 47 50 INS A Buzz User s Guide Version 2 0 Undo Redo e Undo cancels the most recent edit operation except for Insert File e Redo cancels the most recent Undo operation we O e Undo and Redo icons exist on the main Buzz toolbar Cut Copy and Paste e Copy places a copy of the highlighted text on the PC clipboard The highlighted text remains in the source file e Cut removes highlighted text from the source file and places a copy of it on the PC clipboard e Paste places the contents of the PC clipboard at the current cursor location in the source file A e Cut Copy and Paste have icons z Buzz toolbar on the main Delete e Delete erases the highlighted text from the source file
136. rom the sub menu click Display System Errors Refer to Chapter 4 of your Hardware manual Symptom Fix for decoding Click on OK te Buzz User s Guide Version 2 0 1 2 2 45 Command number ADS internal FE These errors are associated with an error code and a command number Command number for this chart is ADS internal FE An FE occurs when a program error occurred as a result of Robot Language Command executed by the interpreter The robot language commands currently supported by the Buzz software include the commands relating to 1 I O Read 2 Speed Override 3 Return to Absolute Home Message Description amp Action 1 2 2 45 SSL Interpreter stack The Buzz system software may be corrupted or defective If the problem persists contact Sankyo Technical support Exit Buzz then power off on the Controller and try the Interpreter core operation again If the problem persists contact Sankyo command error Technical support or 1 2 2 47 Error in system command 1 2 2 48 HO number error The BUZZ system software may be corrupted or defective If the problem persists contact Sankyo Technical support It is not a task for Robot These errors normally occur when performing the Absolute Home position adjustment or 1 2 2 50 The specified Robot is It is possible that the HWDEF CFG is corrupt or is incorrect not set up If this is suspected use the Buzz File manager
137. rs are fine for a JMOVE but are entirely incorrect for a JMPM command In the above example the JMPM statement is also an Illegal expression too Illegal character An illegal character can occur when declaring constants const abcd 8 amp Causes this error should only contain integers const abcd 1234 OK Illegal character constant When specifying a constant such as const str1 123495 Causes this error also if you use or etc const str1 1 2 3 4 5 OK Illegal definition statement This error can occur when declaring variables but not specifying the data type any var 5 Causes this error INT REAL etc not declared INT any var 5 OK Chapter 6 Errors 6 29 ma SC3000 Robot Systems Illegal expression Refer to Illegal assignment statement When this error is noted refer to the SSL E documentation Chapter 2 or 3 and review the parameters required for the failing command Illegal initializing This error can occur when initializing a variable to a wrong data type INT any_var a Causes this error INT s must be integers INT any_var 5 OK Illegal statement This error can occur when assigning values to local variables followed by another local variable declaration PROG newpart INTA A 6 INT B Causes this error local var s must all be declared then assigned Illegal symbol for constant This error can occur when assigning
138. run 1 through 4 Check sensor and work space limit 00040000h 80000 Axis overrun 5 through 8 Check sensor and work space limit Chapter 6 Errors 6 51 TE SC3000 Robot Systems Other Information Backup Provides detailed information on other data e Backup e Error Record e Power on Count e Elapsed time e Initial Backup data relates to battery backup power and is not pertinent to troubleshooting because the Backup battery data is presented with the ABS Error Failing Axes field Error Record Z Error Record is an accumulating hexadecimal count of the total errors that have occurred on this Controller This number is reset when the Ni Cad battery loses its charge or is replaced Power on Count Power on Count represents an accumulating hexadecimal count of the number of power on cycles that have occurred on this Controller This number is reset when the Ni Cad battery loses its charge or is replaced This number is important for History of Errors the following topic to know whether or not errors are occurring during the same power on cycle or different power on cycles Elapsed Time Initial Elapsed time is an accumulating hexadecimal count of the number of 10 msec cycle counts the time of the realtime loop for an SC3000 030 Controller or 12 8 msec cycle counts for an SC3000 010 Controller This number is reset when the Ni Cad battery loses its charge or is replaced This number is important for
139. s where you are in the task Debug session Chapter 4 Debugging Applications 4 21 te SC3000 Robot Systems Displaying a Teach File In Debug mode you have the option of displaying a Teach File e Click on the Robot menu then click Display Teach File e From the Display Teach File dialog box select the teach file for displaying If you are online with the Controller the default displays the current Teach file If you are offline you must click the browse button and navigate to a valid Teach file Display Teach File EN Robot Teach Files When offline Click the browse button and the browse dialog box opens From here you can navigate to a teach file that was previously stored on the PC You must use this option when offline Selected File If you select a DAT file that is APP O1A DAT E not a valid Teach data file Buzz incurs a critical error and you Cancel A close Buzz then restart e Click OK The selected Teach file i e previously stored is displayed C3 Sankyo Buzz2 Teach File Data EU File Edit Debug Robot Window Help aa spe e eee gt gt ne SC3888 Robot System Teach Points File C Buzz2 Test PalletsiTEST PLT DAT Today s Date is Wednesday December 28 2666 SAFEP LL1 LR1 UL 1 LL2 LR2 UL2 LL3 LR3 UL3 LL4 LRA UL4 LL5 LR5 UL5 LL6 LR6 UL6 LL 288 213 213 149 213 213 149 213 213 149 213 213 149 213 213 149 213 213 149
140. sembly and disassembly for a variety of tasks Also known as an Intelligent Robot Inertial Load is the first mass moment of inertia of an object In this context it refers to the moment of inertia the payload reflects on a specific Axis such as the Z or vertical Axis Joint is another name for Axis Sometimes meant only to refer to a rotational Axis Manip or Manipulator is another name for Robot or Robot arm Matrix is a type of feeder or fixture where items are organized on a rectangular grid and any item can be referenced by their position on the grid Maximum Speed is the speed maintained by an Axis after acceleration and prior to deceleration at the end of the move Speed at the end of the arm may be greater than the specified maximum speed when multiple joints are used on a single move MB is the abbreviation for megabyte related to memory or storage in a computer A megabyte is equal to one million characters MCS is the abbreviation for Motion Control System Memory is another term for storage and refers to the area where computer programs and data are temporarily stored Unless otherwise stated this type of memory is lost when power is turned off or removed from the computer See Flash Memory Noise is extraneous signals or disturbances which can interfere with desired signals Overload defines exceeding the maximum payload that the Robot is designed to carry Overshoot is the undesirable movement of an Axis past its com
141. t Copy and Paste caminas 3 11 RTE 3 11 dl UE 3 11 gin e PCM NR 3 12 Replace M Eh 3 13 Eroi to TTT 3 13 Selen 3 14 Select All iii rada E 3 15 Match Brace EE 3 15 Re KO kleine EE 3 15 Insert A e 3 15 To Upper Case To Lower Cas ooooccncocococococcnonnnononcnnnnncnnnnnnnnnnnnnnnn nn anna nn nemreren EESE EEEE EnEn EEE nnns 3 16 Read Re il 3 16 Compile and Build coin iia 3 17 Semel Ni TT 3 17 B lldall TASKS EE 3 17 BAL EEEE 3 18 Boo 3 18 Displaying a Teach Pile ennnen 3 19 Saving Your arica ia 3 20 e VT 3 20 SIMA mH 3 20 e CM 3 20 Close TE 3 21 opbesseren EES EE EEN 3 21 Print active EE 3 21 ill mt22 tC 3 23 The Next Step m 3 23 Chapter 4 Debugging Applications eeeeeeeeeeeeeeeeeeeeeeee nennen nnns 4 1 Deb gging er 4 3 Debug a Currently Running JOD TaS K nennen nennen ener enne enne renes 4 3 Start Bree Osio bite i t 4 6 Set the Robot Arm Speed ccccccccceceeeeeenne cece eeeeeeceacaeceeeeeeesecaeaeeeeeeesesenaeaeeeeeeesecccceeeeeeeessesaaeeeeeees 4 8 The Debug Men 4 9 Edit Task dic 4 10 System I O Enabled irte aci idt aaa eaa uid ac Y da Pv Nao 4 10 E EE 4 10 Slop DEBUGGING EE 4 12 USD EE 4 12 MA A air
142. talled on your Buzz PC Refer to the prior topic Place the Buzz master CD into your PC drive From the Desktop click the Start button select Settings then click Control Panel From the Control Panel group click Add Remove Programs then Install and follow the prompts The Buzz files can be installed in the folder of your choice or you can choose the default folder A Samples folder in also installed which includes several SSL E programming examples Uninstalling Buzz 1 2 From the Desktop click the Start button select Settings then click Control Panel From the Control Panel group double click Add Remove Programs and follow the prompts Buzz software is removed from your PC You may now re install Buzz Starting Buzz 1 Attach the Sankyo supplied ADS communications cable from the Buzz PC to the Controller ADS port Buzz Version 2 0 defaults to the PC COM1 port From the Desktop click the Buzz Ver 2 0 icon If you are successful in communicating with the SC3000 series Controller skip to the next topic Configuring Buzz There are three scenarios for Buzz Version 2 0 communications not working 1 The Controller is powered off or the Buzz PC cable is not attached to the Controller Check the Buzz PC cable at both ends 2 Wrong port configured the Buzz PC cable is not attached to the configured PC COM port or the wrong cable is installed e Check your PC COMM port configuration Refer to Co
143. ted publications are NOTE Sankyo CCR M Series Hardware Manual Sankyo SCARA Series Hardware Manual e Formerly Sankyo SR8437 SR8438 Series Hardware Manual SC3000 Series Installation and Specifications Manual e Formerly Sankyo SR8437 SR8438 and CCR M Series Site Preparation Installation and Specifications manual Sankyo SSL E Language Reference Manual Sankyo Robot Systems User s Guide The Buzz Version 1 Manual is Buzz Application Development System User s Guide Buzz User s Guide Version 2 0 Buzz User s Guide Version 2 History Version 2 00 01 01 This is the first version for Buzz software version 2 0 The Buzz software product has been re written enhanced and contains new Maintenance functions Preface xi fe SC3000 Robot Systems This page left blank intentionally xii SS Safety Buzz User s Guide Version 2 0 Safety cannot be overemphasized when operating any Robot System including the Sankyo Robot Systems Before any operation begins on these systems be sure to read and understand the following safety notices Installation Site Safety Precautions Be familiar with the American National Standards Institute Robotic Industries Association ANSI RIA safety standard R15 06 1999 As of July 2000 this is the latest published safety standards for Robotic systems Ensure compliance with all local state and national safety and electrical codes for the installation and operation of
144. tems This page left blank intentionally 2 10 te Buzz User s Guide Version 2 0 Chapter 3 Creating Applications CONTENTS How this Chapter is organized si ia 3 3 Creating Applications JOD emm nenna 3 3 Create ia JOD iia bai 3 4 Create Task Naim EE 3 5 Open a Job iii aii 3 7 Open a Source Ele coc A aia 3 8 The Window Menciona di dc die deen 3 9 Editing Source Files iii A A A A A A 3 10 Be el TUTE 3 10 ele d REGO ii ada 3 11 Cut Copy and Paste dedu dt dida id habida eats 3 11 Delete iio s 3 11 Ne dE 3 11 FUNG BEE 3 12 KEE 3 13 Goto TEE 3 13 BOOktmnark its etate te ia adidas 3 14 Niel 3 15 Match Brace C eerie 3 15 Display Kette AR ul 3 15 Insert Template A Aa 3 15 To Upper Case To Lower Case ooocoococococccoconoconnnoncnncnnnnnnnnnnnnnncnnnnnnnnnnnn nmertn sten n nnne nrer ens n nnne n ene 3 16 Read Ol M 3 16 Compile and Build ec M 3 17 eed MEL qe ELM 3 17 SIUINEIMELII 3 17 Deploy TASK qu 3 18 Deploy JOD cia 3 18 Displaying a Teach Ple ae 3 19 Saving Your WOTK cercar CU e id ed de ec 3 20 er tibia 3 20 e VIE 3 20 DAVE TTT 3 20 A RN 3 21 Printing Your NS cian da
145. the Sankyo Robot System Observe the power and grounding instructions given in the Sankyo SR8437 SR8438 and CCR M Series Site Preparation Installation and Specifications Manual prior version or the Sankyo SC3000 Series Installation and Specifications Manual current version The Robot System should not be installed in an explosive atmosphere Fire extinguishers should be located within easy access of the Robot System The following recommendations apply to any Robot System Install intrusion devices or safety mats around the Robot to stop Robot motion if the work area is penetrated e Install additional Emergency Stop switches for feeders and other fixtures to stop the Robot System s motion whenever these fixtures are serviced e Install an Emergency Stop switch in any mounting enclosure to simultaneously turn off the Robot Controller and stop Robot motion Copyright O Sankyo Robotics 1997 2001 Safety xiii ma SC3000 Robot Systems Operation Safety Procedures CAUTION xiv NOTE Safety precautions should always be observed when operating Robot Systems As with any electromechanical machine or component unpredictable failures could occur while the system is in operation Whenever possible electrical power and air pressure to the Robot System should be turned off and disconnected before any penetration of the Robot work area begins If it is not possible to disconnect power and air pressure due to the nature of the oper
146. the between the Teach file the JOBDEF CFG file and all teaching file does not and the Task object file associated files to the Controller exist in the task in the Controller memory Try the operation again or 1 2 1 14 The teaching file and the task have different teaching data values or 1 2 1 15 The teaching data contains undefined tposition data 1 2 1 16 The teaching file does The teaching file does not Download a backup copy of the not exist exist in the Controller Teach data file 1 2 1 17 File end was The teaching data file Download a backup copy of the detected in the middle contents are corrupted or Teach data file of the teaching file missing Teaching data The Download a backup copy of the file driver detected an Teach data file error or Teaching data An undefined error happened 1 2 1 20 The area for the local No memory available for Reduce the number of local variables is not local variables variables in your program enough A program error of the The specified task has a From the main Buzz display click task itself happened program error A start Robot then click Display Errors command is not From the sub menu click Display accepted Program Errors Refer to Chapter 4 of your Hardware manual Symptom Fix for decoding 1 2 1 22 The servo power is off A start command is not Turn on the servo Manip power accepted because servo power is of
147. tposition pl p2 int counter 1 count all parts int radix10 conversion radix real laser 1 23456 initital laser setup string storage S init to 7 blanks long ls 0000001 resets storage long lapallet 4 4 array for pallet data safe pt 1 250 systematic points Place_pt 55 000 speed 100 speed Task Number Variable Name Value counter 111 1 1 storage 50 1 lapallet 29 28 26 29 21 19 215 215231 1922 22 25 27 29 31 1 safe_pt 1 250 0 000 0 000 0 000 1 Current Pos C 20 012 0 000 0 000 0 000 b For Help press F1 nine COM1 1 13 73 ins e Chapter 4 Debugging Applications 4 17 fe SC3000 Robot Systems Quick Watch CAUTION The Quick Watch option lets you change the value of any global variable on the fly Before attempting to change the value of any variable you should be very familiar with the application Unexpected noises or robot arm movement could occur The Quick Watch option lets you see a snapshot of a global variable as well as change the value of that variable The variables need not be currently displayed in the Watch Window nor do you have to add the Quick Watch variables to the Watch Window It is recommended to stop the task with one of the stop options Step stop Hold stop or Cycle stop before changing the value of any variable Quick Watch Simple variables e At the Quick Watch dialog box type the n
148. uate Add to Watch Window Close e Optionally you do not have to enter the total length of the array variable only the number of elements you want to quick watch e f you do not enter the End at element number only the first element of the first array is watched e Toobserve the current value just click Evaluate and you are taken to another dialog box as shown below E lapallet m 1 002 gt 2 003 gt 3 004 gt 4 005 gt 5 y Index New value fi q Update Next Apply Change Cancel e f you want to change the value of any array element on the fly e Click on the Update Next button to jump from the Index to the New Value text box Is the task stopped e Enter the new value for the highlighted Index element New Value then click Update Next again to complete the change e Navigate through the Array until you have made all your changes e When finished with your changes click Update Next again then click the Apply Change button You are returned to the previous dialog box top of this page e Atthe previous Quick Watch dialog box you have an option to Add to Watch Window 4 20 Buzz User s Guide Version 2 0 Delete Watch e Inthe Watch window highlight the watched variable you want to delete e Click Debug then Delete Watch The selected watch is deleted Close Watch Window e The Watch window also cal
149. uev kcu E eed dn c 6 52 Elapsed TIME iia A A A 6 52 lu EE 6 52 Display System Error History comicios oie 6 53 Chapter 6 Errors 6 3 fe SC3000 Robot Systems This page left blank intentionally 6 4 te Buzz User s Guide Version 2 0 Error Classification Four types of errors can occur while using Buzz 1 Buzz Error Messages 2 Compiler Error Messages 3 Program Errors 4 System Errors This chapter assists the Application Engineer whenever errors occur while using Buzz If you are unable to resolve your error with the information presented in this Chapter please call Sankyo Technical Support Technical Support e Technical Support is available from Sankyo Robotics at 561 998 9775 e The hours of operation are 8 30 AM to 5 30 PM EST Monday through Friday e For off hours leave a message at the Technical Support number and someone will return your call Chapter 6 Errors 6 5 te SC3000 Robot Systems Buzz Error Messages When an operation error occurs in Buzz an informational pop up displays and is usually sufficient to resolve the problem For example the following pop up occurred when trying to start a task in a Debug session Debug Error Taskit 1 N AN Task could not start check servo power In fact servo power was not on Most Buzz operational errors are reported in this manner The following tables describe the alphabetical messages displayed in Buzz To decode e Find your error type
150. urs when trying to upload a file with a size of 0 The specified file in the Controller may be corrupted A time out occurred while uploading the file from the Controller Communication data may have been corrupted by a loose communication cable noise or the like This error occurs when the PC side failed in saving the uploaded file and an error response was returned This error occurs when the specified file does not exist in the Controller The file to be uploaded is corrupted in the Flash memory The file to be uploaded is corrupted in MAIN memory Attempt to upload files from the Controller MAIN memory failed This error occurs when Buzz attempted to upload a file but it is already open by another device such as the Pendant Buzz User s Guide Version 2 0 The specified file cannot be uploaded Use the Buzz File Manager and download the backup copy to the Controller Exit Buzz then power off on the Controller and try the operation again Ensure the disk has enough space available to perform the upload When using diskettes ensure the diskette is not write protected Try the operation again Use the Buzz File Manager and ensure the file exists in the Controller Exit Buzz then power off on the Controller and try the operation again If the error persists contact Sankyo Technical support The Buzz system software may be corrupted or defective Power off on the Controller and try the op
151. verse displayed The selected text or string can be deleted cut or copied as a group using the Edit icons or Edit menu functions Searching text To search letters or strings in the Text Window use the Find function from the Edit menu Chapter 2 Overview 2 7 ma SC3000 Robot Systems Compile or Build An individual task or the entire Job can be compiled or built for the purpose of checking for compile errors in your source file s or for running the tasks Itis recommended that you use the individual Compile Task function until all compile errors are resolved NOTE Compiler Errors are discussed in Chapter 6 of this manual Debugging Tasks To Debug tasks in Buzz click the Debug Go icon You can also click Debug then Go In either case the current Job is compiled or built then downloaded to the Controller SRAM DRAM memory ready for debugging A typical sequence of debugging is 1 Setthe Speed of the Robot arm The Speed slider defaults to 20 of programmed speed and can be changed dynamically Click and hold the left mouse button on the Speed slider and drag the slider to the speed desired 2 If you are using System UO in your Task s click Debug then System I O Enabled Failure to do this may provide you with unexpected results 3 Start the Task by clicking on the Start Task icon the Step Task icon or the Resume Task icon These icons are part of the Debug toolbar e Start Task Starts the task at the beg
152. window displays your source file Open a Source File After opening a Job you can still open other source files associated with the Job if you did not choose to do so when you originally opened the Job e Toopen a Source file click on the Open Source file icon You can also use the File menu A Job must already be opened for this icon to be active Tip Ifthe source file you want to work with was one of the last four source files opened in Buzz click File on the menu bar then click on the source file you want from the Source file list The Source file list starts under the Job List and contains the last 4 source files opened e The following Open Source multask dialog box opens and you can now select other source files for editing Open Source multask E Tasks Source Files PERIPH SSL Select All TEST TSK SYSTASK TSK e After selecting PERIPH SSL the text window displays this source file 3 8 Buzz User s Guide Version 2 0 The Window Menu e The Window menu has options for controlling the placement of your source files in the text window Sankyo Buzz2 multask C B zz2 multask systask ssl el lala 11 els ole lal x ioj xi SIE TURNING SW 2 ON HOLDS ROBOT TASK 1 MOTION STOPS TURNING SW 3 ON HOLDS PERIPH TASK 11 LIGHT STOPS BLINKING NOTE TURN KEY TO REMOTE BEFORE POWERING UP THEN ACTIVATE SWITCH CONNECTED TO I O 2 PIN 12 TO AUTOMATICALLY START ALL TASKS PROG SY
153. you can open a Buzz sample source file by performing steps 1 through 4 1 Start Buzz Click File then Open File Navigate to where you installed Buzz Under the Buzz2 folder is a folder called Samples Open the Samples folder and click on any sample source file Proceed to configure your Buzz preferences skip to step 6 Click on File then Preferences D mF ro From the Editor Setup dialog box select your SSL E source file colors This step maps the commands and functions in the Wordfile txt file to the source file colors You can also color code your own user functions Refer to the topic Wordfile txt File found later in this chapter Chapter 1 Installation and Configuration 1 5 ma SC3000 Robot Systems 7 Configure your page tabs from the Set Tabs button 8 The default font is courier To change your font click the Select Editor Font button and choose another font You must have a source file open 9 Click OK when finished Configuring the Page Setup NOTE To configure your Page setup you must have a source file open If you do not have a source file to open refer to steps 1 through 4 of Configuring the Editor setup on the previous page to open a source file 1 Start Buzz if it is not already started Click on File then Page Setup 2 From the Page Setup dialog box you are prompted for the margin dimensions 3 Select Inch inches or mm millimeters for your margin dimensions 4 Click OK T
154. yswitch must be in Remote mode and you must have checked the Execute if Servo Power is Off box in the Job definition for the System Task see reference number 9 on the following graphic Chapter 3 Creating Applications 3 5 fe SC3000 Robot Systems Modify Job Job 01A E APP 014 PERIPH11 Task Number 255 Source Files CONTROL SSL Up Task Name CONTROL TSK 3 8 Teach File Name 2 Down DoNotReload Task if Back up Memory Failed Source File X Execute if Servo Power is Off 9 4 Execute while in Teach Mode s Add 5 Execute if Robot Task Error ad 5 Disable Resume After Program Error Browse 6 Do Not Stop if Spsten task Error Dass 7 Add Task Delete Task OK Cancel OK 11 10 e The CONTROL task TAB 1 is highlighted in the example and shows that the task number is 255 a System task and the Task name is CONTROL TSK e A Teach File Name 2 is only allowed for a Robot task so here it is grayed out It is a good idea to give the Teach File Name the same name as the Robot Task e Only one source file is defined CONTROL SSL 3 We could have defined up to 8 source files for any task e To add a source file type a name in the Source file box 4 and click Add 5 e You can also Browse 6 to get a source file name or Delete a source file 7 e The Up and Down buttons 8 lets you highlight and move any source file up and down in the list when you

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