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1. 4 axis 6 axis device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Classified by functions Commands Functions Aas eas Ka ban Palletizing pltDecCnt Decreases the count of the total pal 4 1 letizing counter pltGetCnt Obtains the total palletizing counter 4 1 pltGetK Obtains palletizing set value K 4 2 pltGetK1 Obtains palletizing counter K1 4 2 pltGetM Obtains palletizing set value M 4 3 pltGetM1 Obtains palletizing counter M1 4 3 pltGetN Obtains palletizing set value N 4 4 pltGetN1 Obtains palletizing counter N1 4 4 pltGetNextPos Obtains the next position 4 5 pltGetPLT1END Obtains a palletizing 1 row comple 4 5 tion flag pltGetPLTEND Obtains a palletizing all row comple 4 6 tion flag pltIncCnt Increases the total palletizing 4 6 counter pltinit1 Palletizing initialization template 1 4 7 pltlnitialize Palletizing initialization 4 8 pltKernel Palletizing motion kernel 4 9 pltLetCnt Sets the total palletizing counter 4 10 pltLetK1 Sets the palletizing counter K1 4 10 pltLetM1 Sets the palletizing counter M1 4 11 pltLetN1 Sets the palletizing counter N1 4 11 pltMain1 Pallet
2. Macro Definition lt pacman h gt is required Related Terms SetCompControl 7 29 Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported Execute while your robot is stopping Executing this library in a path motion will cause an execution after stop When your robot stops suddenly and you receive an error 612 Over current after you execute this library while your robot is in motion Set 1 to lt Set value gt or wait until your robot stops after issuing a com mand such as Delay You will receive an error 60f9 Abnormal operation in disabling compliance control if you execute a step back or a program reset after a momentary stop during executing this library When you use SetEralw to change the allowable deviation values while the compliance control is enabled the allowable deviation values will return to their initial values The allowable deviation values may not be reset to the initial values when an error occurs while executing ResetCompControl If this is the case use ResetEralw to initialize the allowable deviation values after disabling the compliance control You may receive an error 608 J Directed speed limit was exceeded If this is the case use asoChange to change the optimal load capacity mode to 2 or 3 before you execute ResetCompControl and resume the optimal load capacity mode
3. Related Terms Resetcycloid CALL Setcycloid Causes transition to the cycloid operation mode 7 20 Chapter 7 Arm Movement SetCycloidJnt Library Version 1 7 or later CID Enters a specified extended joint into the cycloid mode where the controller suppresses the peak of overshoot and residual oscillation that would occur in an end motion SetCycloidJnt lt JntNumber gt e Inthe cycloid mode the controller will automatically reduce the deceleration ratio currently set for an ex tended joint specified by lt JntNumber gt so as to suppress the peak of overshoot and residual oscillation The extended joint will smoothly arrive at the target position e In the cycloid mode the controller will take longer operation time than the normal mode Use this library only when the robot operation can allow timing margins for all related operations Once specified the cycloid mode will remain in effect for the specified extended joint even driven by any other programs To reset the cycloid mode use the ResetCycloidJnt library e When the specified extended joint is synchronized with the robot operation this library will not be called so the extended joint will operate according to the robot settings e If more than one extended joint runs synchronously all of those joints will enter the cycloid mode once any one of them has entered the cycloid mode by SetCycloidJnt This case cannot select joints to be involved Macro Defin
4. SetForce_HM lt thrust unit gt Limits the thrust by limiting the motor current on the Z axis The unit is N Newton The maximum thrust ex tremely varies depending on the impact force generated at contact with peripherals The allowable thrust is a value assumed when the impact force at collision is almost 0 collision at too low speed The thrust also varies depending on the Z axis position by the mechanical friction therefore this value should be assumed to be a typical value not a guaranteed value Like the current limitation library SetCurlmt a value that exceeds the allowable value is limited to the allowable value Macro Definition The lt pacman h gt file is necessary Related Terms SetForce_HC SetCurLmt ResetCurLmt Since the motor current is limited during current limitation operation is impossible at the highest speed and highest acceleration For current limitation use only the required steps To use the current limitation low er the acceleration When the thrust is limited by the current limitation if work collides at high speed an impact force occurs due to the inertia between the work and hand Set the current limitation before setting work and lower the speed Set the current limitation as the robot stops If it is set during path operation an error may occur Execute this function on a task that obtains the robot control right TAKEARM If the robot control right is not obtained error message 21F7
5. The system assigns the data transferred from an external device to a storage variable number in a designated storage variable type format P J T Macro Definition Requires file lt pacman h gt Related Terms ndVcom ndVset include lt Pacman h gt PROGRAM PRO1 DEFINT JF_VAL 0 FLUSH CALL ndvType 1 Sets the protocol Conventional 0 New 1 CALL ndvVvrst Initializes the external device CALL ndVset 0 Clears the received data VDT to 0 CALL ndVis 3 Starts up the external device Sends 03 CALL ndJf 3 JF_VAL Obtains a response result from the external device 7 Sends 03 IF JF_VAL TRUE THEN Receives data if the response is OK TRUE CALL ndVset 3 Receives 10 data from the external device Sends 03 CALL ndVdt pacPOS 1 Assigns the data received from the external device to variable P1 CALL ndVdt pacJNT 1 Assigns the data received from the external device to variable J1 CALL ndVdt pacTRN 1 Assigns the data received from the external device to variable T1 END IF END 3 8 Chapter 3 Conventional Language nd Vis Library Transfers a designated 2 digit integer to an external device RS232C input output ndVis lt 2 digit integer gt This statement provides a similar function to a VIS instruction in the conventional language The robot transfers a designated 2 digit integer to an external device after checking the preparation status of
6. 0 FLUSH CALL ndVType 1 Sets the protocol Conventional 0 New 1 CALL ndVrst Initializes the external device CALL ndVset 0 Clears the received data VDT to 0 CALL ndVis 3 Starts up the external device Sends 03 CALL ndJf 3 JF_VAL Obtains a response result from the external device 7 Sends 03 IF JF_VAL TRUE THEN Receives data if the response is OK TRUE CALL ndVset 3 Receives 10 data from the external device Sends 03 CALL ndVdt pacPOS 1 Assigns the data received from the external device to variable P1 CALL ndVdt pacJNT 1 Assigns the data received from the external device to variable J1 CALL ndVdt pacTRN 1 Assigns the data received from the external device to variable T1 END IF END Chapter 3 Conventional Language ndOnb Library Converts a decimal number to a binary number and outputs it from a designated port ndOnb lt Integer value gt lt Least significant digit output port number gt lt Most significant digit output port num ber gt This statement provides a similar function to an ONB instruction in the conventional language The system converts an integer to a binary number and outputs it from a designated port Use the ndOnbl Library for the ONB instruction to format type variable value output Related Terms ndinb ndOnbl For output ports use 16 ports or less in series When you designate more than 16 ports if low order por
7. OffP WM Releases PWM switching on the specified axis exclusively 7 19 for a four axis robot OffSrvLock Releases servo lock for the specified axis Exclusively for 7 17 four axis robots OnPWM Performs PWM switching on a specified axis exclusively for 7 18 a four axis robot OnSrvLock Servo locks a specified axis exclusively for a four axis ro 7 16 bot P pltDecCnt Decreases the count of the total palletizing counter 4 1 pltGetCnt Obtains the total palletizing counter 4 1 pltGetK Obtains palletizing set value K 4 2 pltGetK1 Obtains palletizing counter K1 4 2 pltGetM Obtains palletizing set value M 4 3 pltGetM1 Obtains palletizing counter M1 4 3 pltGetN Obtains palletizing set value N 4 4 Commands pltGetN1 pltGetNextPos pltGetPLT1END pltGetPLTEND pltIncCnt pltinit1 pltinitialize pltKernel pltLetCnt pltLetK1 pltLetM1 pitLetN1 pltMain1 pltMain2 pltMove pltMove0 pltResetAll pltResetPLT1END pltResetPLTEND R ResetCollisionJnt ResetCompControl ResetCompEralw ResetCompJLimit ResetCompRate ResetCompVMode ResetCurLmt Resetcycloid ResetCycloidJnt ResetDampRate ResetEralw ResetFrcAssist Vision 4 axis 6 axis device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Availabl
8. Payload center of gravity component X 50 mm component Y 100 mm component Z 80 mm 3 2 Chapter 3 Conventional Language aspChange Library Selects the internal mode for proper control setting of motion optimization aspChange lt Mode gt This statement switches the mode for control setting of motion optimization lt Setting value gt 0 Invalid 1 Valid only for PTP 2 gt Valid only for CP 3 Valid for both PTP and CP It takes about 0 1 sec to switch the load condition values Frequently switching the load condition may cause operational delays Do not change the mode during pass motion near an obstacle because the path locus may shift This may delay switching if you change the load condition values Macro Definition Requires file lt pacman h gt Related Terms Refer to the PROGRAMMER S MANUAL I 4 7 Control Set of Motion Optimization in User Preferences For lt Mode gt designate it with a numerical value between 0 and 3 If it is out of this range the error message 6003 Beyond the valid value range will be displayed CALL aspChange 1 Sets the internal mode in the control sets of motion optimization to 1 3 3 Chapter 3 Conventional Language OO ndInb Library Converts the input of a designated port to a decimal number and treats it as a binary number ndinb lt Integer variable number gt lt Least significant digit output port number gt lt Most signific
9. Related Terms SetForce_HM SetCurLmt ResetCurLmt Since the motor current is limited during current limitation operation is impossible at the highest speed and highest acceleration For current limitation use only the required steps To use the current limitation low er the acceleration When the thrust is limited by the current limitation if work collides at high speed an impact force occurs due to the inertia between the work and hand Set the current limitation before setting work and lower the speed Set the current limitation as the robot stops If it is set during path operation an error may occur Execute this function on a task that obtains the robot control right TAKEARM If the robot control right is not obtained error message 21F7 Arm semaphore cannot be fetched is reported When bit 1 of the 25 current limitation reset set value is set to O initial value as a use condition the servo lock release is reset Servo lock at motor power on To validate servo lock release just after the motor power is turned on set 1 to the current limitation reset set value For details on setting see Notes in OffSrviock When releasing this command execute ResetCurlmt 3 Even if setting is performed in detail the specified thrust may not be output for a reason such as friction CALL SetForce_HC 10 0 Specify thrust 1 N 7 26 Chapter 7 Arm Movement SetCompControl Library Version 1 4 or later Enables the
10. 0 New 1 Initializes the external device Clears the received data VDT to 0 Starts up the external device Sends 03 Obtains a response result from the external device Sends 03 Receives data if the response is OK TRUE Receives 10 data from the external device Sends 03 Assigns the data received from the external device to variable P1 Assigns the data received from the external device to variable J1 Assigns the data received from the external device to variable T1 Chapter 3 Conventional Language nd Vset Library Receives data from an external device RS232C input output ndVset lt 2 digit integer gt This statement provides a similar function to a VSET instruction in the conventional language The system receives data from an external device and adds assigns it to an internal variable after the robot sends a designated 2 digit integer to the external device If you designate lt 2 digit integer gt to 0 the system initializes an internal variable with 0 Related Terms ndVcom ndVType include lt Pacman h gt PROGRAM PRO1 DEFINT JF_VAL 0 FLUSH CALL ndVType 1 Sets the protocol Conventional 0 New 1 CALL ndvrst Initializes the external device CALL ndVset 0 Clears the received data VDT to 0 CALL ndVis 3 Starts up the external device Sends 03 CALL ndJf 3 JF_VAL Obtains a response result from the external device Sen
11. 2 20 Sets the allowable deviation of the 2nd axis to 20 degree CALL SetCurLmt 2 30 Sets the current limit of the 2nd axis to 30 4 axis CALL SetEralw 2 20 Sets the allowable deviation of the 2nd axis to 20 degree CALL SetCurLmt 2 30 Sets the current limit of the 2nd axis to 30 7 12 Chapter 7 Arm Movement ResetCurLmt Library Version1 2 or later Resets the motor current limit of the specified axis ResetCurLmt lt AxisNumber gt ResetCurLmt releases the drive current limit set for the motor of a joint specified by lt JntNumber gt The motor drive current limit and positioning error allowances will revert to the defaults For Ver 1 4 or earlier If you set 0 to lt JntNumber gt the drive current limit set for all joints will revert to the default For Ver 1 5 or later If you set 0 to lt JntNumber gt the drive current limit set for all joints involved in an arm group semaphore held by the current task running ResetCurLmt will revert to the default Macro Definition Requires lt pacman h gt file Related Terms SetCurLmt ResetEralw e When resetting the current limit this command carries out deviation elimination process If there is angle deviation due to external force the time required for deviation elimination process will vary depending upon the set speed and acceleration To shorten the time set higher speed and acceleration e The command can be executed even whe
12. lt Palletizing number gt lt N1 save integer variable number gt Obtains palletizing counter N1 of a designated palletizing number Related Terms pltGetN pitLetN1 pltKernel CALL pltGetN1 1 10 Assigns palletizing counter N1 of palletizing No 1 to integer variable 10 Chapter 4 Palletizing pltGetNextPos Library Obtains the next position pltGetNextPos lt Palletizing number gt lt Next position obtaining position type variable gt This statement obtains the next position When this library is executed the palletizing counter increases Therefore when you obtain the next position but do not execute it you must decrease the pltDecCnt and so on Related Terms pltMove plitKernel CALL pltGetNextPos 1 10 Assigns a position immediately following palletizing No 1 to integer variable 10 pltGetPLT1END Library Obtains a palletizing 1 row completion flag pltGetPLT1END lt Palletizing number gt lt 1 row completion flag save integer number gt Stores a palletizing 1 row completion flag into I lt 1 row completion flag save integer number gt Related Terms pltGetPLTEND pltResetPLT1END pltKernel CALL pltGetPLT1END 1 10 Assigns a 1 row completion flag of palletizing No 1 to integer variable 10 4 5 Chapter 4 Palletizing pltGetPLTEND Library Obtains a palletizing all row completion flag pltGetPLTEND lt Palletizing number gt lt All row completion flag save integ
13. the external device Related Terms ndVcom ndVType include lt Pacman h gt PROGRAM PRO1 DEFINT JF_VAL 0 FLUSH CALL CALL CALL CALL CALL ndvType 1 ndVrst ndVset 0 ndVis 3 ndJf 3 JF_VAL IF JF_VAL TRUE THEN CALL CALL CALL CALL ndVset 3 ndVdt pacPOS 1 ndVdt pacJUNT 1 ndVdt pacTRN 1 END IF END Sets the protocol Conventional 0 New 1 Initializes the external device Clears the received data VDT to 0 Starts up the external device Sends 03 Obtains a response result from the external device Sends 03 Receives data if the response is OK TRUE Receives 10 data from the external device Sends 03 Assigns the data received from the external device to variable P1 Assigns the data received from the external device to variable J1 Assigns the data received from the external device to variable T1 Chapter 3 Conventional Language ndVput Library Transfers the position posture to an external device RS232C input output ndV put lt Storage variable type gt lt Storage variable number gt This statement provides a similar function to a VPUT instruction in the conventional language If lt Position variable number gt is negative The system transfers the robot s current position coordinates the home position coordinates in the tool coor dinate system when the tool is defined and a posture or contents of the positio
14. tollnitialize tolKernel The tool coordinate system change instruction in PAC ChangeTool is not to practically change the tool posi tion and not to load the tool but only to change the tool coordinate system CALL tolChange 1 2 Assigns tool No 2 to tool load number 1 5 1 Chapter 5 Tool Operation Se tolInit1 Library Tool change initialization template 1 tollnit1 This is an example of tollnitialize For the meanings of arguments refer to the arguments used with the tollnitialize commands Related Terms tollnitialize tolKernel tolInitialize Library Tool change initialization tollnitialize lt Tool loading number gt lt Tool number gt lt Chuck point type P variable number gt lt Approach length gt lt Chuck DIO number gt lt Unchuck DIO number gt This statement defines the standard tool change motion Related Terms tollnit1 tolKernel CALL tolInitialize 0 1 50 50 40 41 Tool loading number 0 Tool number 1 Chuck point type P50 Approach length 50mm Chuck DIO number 40 Unchuck DIO number 41 5 2 Chapter 5 Tool Operation tolKernel Library Tool change motion kernel tolKernel lt Tool loading number gt lt Tool number gt lt Action number gt lt Action argument gt This statement is a kernel program for tool change This program is required to use all other tool change librar ies Macro Definition mcToolMax maximum number of tools McTools maximu
15. 5 V1 5 7 54 vo data monitor function Inverse the output signal on the specified I O port each time V3 0 V3 0 6 2 the associated axis is driven by the specified angle distance for Z axis or direct acting axis Synchronizes with an external device such as a sequencer 6 1 connected to DIO Get the maximum external force V2 7 7 63 Creates a title label V1 7 V1 7 8 10 Creates an LED button V1 7 V1 7 8 9 Creates a variable button entry amp display box V1 7 V1 7 8 10 Creates a PB button V1 7 V1 7 8 9 Judges whether execution of running motion commands is V1 5 V1 5 7 48 complete Aborts running motion commands V1 5 V1 5 7 47 Restores default encoder pulse counts for positioning allow 7 1 ance Resets the encoder pulse count for an allowable positioning V1 5 V1 5 7 2 error for a specified extended joint to the default Restores the default motion finish timeout value 7 3 4 axis figure reverse 7 3 Sets the permissible stop pulse width 7 4 Sets the encoder pulse count for an allowable positioning er V1 5 V1 5 7 5 ror for a specified extended joint Sets the timeout value for movement finish 7 6 Vision 4 axis 6 axis device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axi
16. 61 or later Clear the maximum external force ClearCollisionForce This library initializes the maximum external force stored in a joint variable to 0 default Related Terms GetCollisionForce e This library initializes the maximum external forces calculated both in Manual and Auto modes The collision detection function works with the corresponding controller software versions VS G series Version 2 61 or later VM G VP G series Version 2 70 or later HM G HS G series Version 2 80 or later e The collision detection function does not work on an old engine board Ga TAKEARM Get robot control priority CALL SetCollisionJnt 2 Enable collision detection for joint 2 MOVE P P1 P2 Move from point P1 to P2 in PTP motion CALL ClearCollisionForce Initialize maximum external force stored MOVE P P2 P3 Move from point P2 to P3 in PTP motion CALL GetCollisionForce J2 Assign maximum external force calculated during move from P2 to P3 to variable J2 7 64 Chapter 7 Arm Movement SetCollisionLevel Ver 2 61 or later Specify the collision detection sensitivity level for the specified joint SetCollisionLevel lt joint level gt This library defines the collision detection sensitivity level specified by lt level gt for the joint specified by lt joint gt The typical detection sensitivity level is 100 Decreasing the level increases the collision detection sensitivity increasing it dec
17. 7 or later Sets the encoder pulse count for an allowable positioning error for a specified extended joint mvSetPulseWidthJnt lt JntNumber gt lt AllowablePulseCount gt This library sets a value specified by lt AllowablePulseCount gt for an extended joint specified by lt JntNumber gt If the actual count of positioning error pulses issued by a joint motor encoder is within lt AllowablePulseCount gt at execution of a motion command with E option the controller will recognize that the joint is on halt Macro Definition File lt pacman h gt is required Related Terms mvResetPulseWidthJnt mvSetPulseWidth This mvSetPulseWidthJnt library is applicable to 7th and 8th extended joints only For robot joints use the mvsSetPulseWidth library CALL mvSetPulseWidthJnt 7 10 Set allowable error pulse count for 7th extended joint at 10 7 5 Chapter 7 Arm Movement mvSetTimeOut Library Sets the timeout value for movement finish mvSetTimeOut lt Movement finish timeout gt This statement sets the timeout value for movement finish unit ms The movement finish timeout is the limit value of the time which is taken for an axis to enter the permissible pulse width to stop when the axis moves during encoder value checking motion E designation Even if the axis does not enter the permissible pulse width within the limit value the alarm 6651 check instruc tion time over will be displayed Macro Definitio
18. Macro Definition lt button h gt is necessary Related Terms make_PB Man_pb_btns Sample program Version 1 7 or later Creates a PB button on a specified screen A screen number is required as an argument This program creates a PB button by entering each parameter required to create a button This program is a sample so change it according to the actual processing Macro Definition lt button h gt is necessary Related Terms make_PB 8 6 Chapter 8 Creating TP Easy Operation Panel Screen SE Plan_variable_btns Sample program Version 1 7 or later Creates a variable entry button arrangement parameter entry box on a specified screen A screen number is required as an argument This program creates a variable button by entering each parameter required to create a button This program is a sample so change it according to the actual processing Macro Definition lt button h gt is necessary Related Terms make_PARAM_BOX make_LABEL Plan_pb_btns Sample program Version 1 7 or later Creates a PB button data registration processing button on a specified screen A screen number is required as an argument This program creates a PB button by entering each parameter required to create a PB button This program is a sample so change it according to the actual processing Macro Definition lt button h gt is necessary Related Terms make_PB 8 7 Chapter 8 Creating TP Easy Operation P
19. absolute coordinates X Y Z can be obtained Figure data must be set separately in order to execute the MOVE instruction 9 2 PROGRAMMER S MANUAL II PAC Library First Edition April 2009 Second Edition March 2010 DENSO WAVE INCORPORATED 3M C The purpose of this manual is to provide accurate information in the handling and operating of the robot Please feel free to send your comments regarding any errors or omissions you may have found or any suggestions you may have for generally improving the manual In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages resulting from the application of the information in this manual
20. arch motion does not support the position control so that the path of the arm endpoint may vary de pending upon the actual robot speed Be careful with interference with the surrounding facilities when the robot is in arch motion e The Z axis value of the source position and that of the destination position are not identical with each other Otherwise this library will not function normally e This library is not available to the work coordinates system Use it in the base coordinates system CALL ArchMove P10 100 Moves the arm endpoint to destination P10 with 100 mm Z axis move The current arch start and end positions will apply 7 49 Chapter 7 Arm Movement SetArchParam Library Version 1 9 or later GCD Defines the start position of a horizontal movement Arch start position in upward movement of the arm end point and the end position in downward movement Arch end position SetArchParam lt Arch start position gt lt Arch end position gt This library configures an arch form lt Arch start position gt is the distance mm from the source position in the direction of the Z axis lt Arch end position gt is that from the destination position The entry range is from 0 to Maximum reach position mm in the Z axis direction in increment of 1 mm The defaults of lt Arch start position gt and lt Arch end position gt are 0 mm when the robot controller is turned on Values defined in this library will
21. be effective until the robot controller is turned off Macro Definition Requires file lt pacman h gt Related Terms ArchMove Specifying any invalid value will cause no syntax error but it will result in a run time error at the execution of the ArchMove CALL SetArchParam 10 20 Set the arch form so that the arm endpoint moves upward 10 mm starts horizontal move and ends it 20 mm above the destination lt Program lines hidden gt Call ArchMove P10 100 Execute arch motion towards destination P10 with 100 mm Z axis vertical move 7 50 Chapter 7 Arm Movement SetMonitorCond Library Version 1 5 or later Sets the monitoring conditions for single joint servo data monitor SetMonitorCond lt JntNumber gt lt MonitorData1 gt lt MonitorData2 gt lt Samplinterval gt SetMonitorCond sets the joint number to be monitored monitor data up to 2 types allowed per command and sampling interval in ms as monitoring conditions The following five types of data may be monitored two types at a time by specifying lt MonitorData1 gt and lt MonitorData2 gt lt MonitorData1 gt and lt MonitorData2 gt Data to be monitored Motor speed control value in rpm Current motor speed Actual speed in rpm Motor torque control value excluding torque offset in ratio to the rated value Motor rotation angle error Motor angle control value Actual motor an gle value in pulses Motor current a
22. center of gravity Z describe all of the 4 values again It takes about 0 1 sec to switch the load condition values Frequently switching the load condition may cause operational delays Do not change the mode during pass motion while near an obstacle because the path locus may shift This may delay switching if you change the load condition values Macro Definition Requires file lt pacman h gt Related Terms Refer to the PROGRAMMER S MANUAL I 4 7 Control Set of Motion Optimization in User Preferences 3 1 Chapter 3 Conventional Language ees e For the mass of payload designate it with a numerical value of the specified range for each robot type If you designate a value out of this range the error message 60d2 The payload setting value exceeds the permissible value will be displayed For the payload center of gravity enter it so that it satisfies the specified range for each robot type If itis out of this range the error message 60d2 The payload setting value exceeds the permissible value will be displayed e When setting the internal payload condition observe the following rule relative to the external payload con dition If not the error message 60d2 The payload setting value exceeds the permissible value will be displayed 0 5 x External payload condition lt Internal payload condition lt External payload condition CALL aspACLD 8500 50 100 80 Sets the internal payload conditions Mass of payload 8500 g
23. compliance function dedicated command for 6 axis SetCompControl Enables the compliance function Enables the compliance conditions set by SetFrcLimit SetCompRate and SetFrcCoord Macro Definition lt pacman h gt is required Related Terms SetFrcLimit SetCompRate SetFrcCoord ResetCompControl SetCompFControl e You will receive an error 60f5 Cannot execute compliance control when this library is executed while the gravity offset is disabled and the current limiting is enabled Execute again after you enable the gravity offset and disable the current limiting See ResetCurLmt and SetGravity for disabling the current limiting and enabling the gravity offset respectively e The compliance control will not be enabled while motors are off The compliance control will be disabled when you turned off motors under the compliance control e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported e Execute while your robot is stopping Executing this library in a path motion will cause an execution after stop When you receive an error 600b Robot is in motion after you execute this library while your robot is in motion wait until your robot stops after issuing a command such as Delay When your robot moves due to an external force you may receive an error 611 Excessive deviation If this is the c
24. during monitoring then a maximum of 850 samples before the OFF and 400 samples after that may be monitored No data may be monitored when the target motor is off Execute this command with the motor power on CALL SetMonitorCond 7 0 3 4 For getting speed control value and motor angle error of J7 every 4 ms CALL StartSrvMonitor Start monitoring data 7 52 Chapter 7 Arm Movement StopSrvMonitor Library Version 1 5 or later Stops monitoring single joint servo data StopSrvMonitor In duration from execution of StartSrvMonitor to that of StopSrvMonitor a maximum of 1250 samples of data may be obtained Related Terms ClearSrvMonitor SetMonitorCond StartSrvMonitor e Ifthe total number of data samples monitored in a monitoring cycle is 1250 or less all data may be mon itored If it exceeds 1250 the last 1250 data samples before the end of the cycle may be monitored and other data will be discarded e If any error occurs and the motor being monitored is turned OFF during monitoring then a maximum of 850 samples before the OFF and 400 samples after that may be monitored CALL StopSrvMonitor End monitoring data 7 53 Chapter 7 Arm Movement ClearSrvMonitor Library Version 1 5 or later Initializes the pointer of data obtained by the single joint servo data monitor function ClearSrvMonitor ClearSrvMonitor initializes the pointer of data already obtained and starts monitoring new data up to 1
25. ebsensa ooops EnS RS 1 1 Grouping of Program Libraries csssscssccssecssssessssscsssssssssssesesensssssssesesssecseesscsssesesssesseesesssessessseseoeeees 2 1 Conventional Language ccscssssssssscssecssecssersccsessesssssscsssssssssssesessessessssnsesssseseesssssssessessessseesessnessossenseseees 3 1 PAM GZ in sesser ieo io ies tieses iesi E a SS REEE EE EEE a EEND E EEr R 4 1 Tool Operation ccccccsccssesssccscssscsssesssssesssessessessesssecseseseesscessessessessscesessssesessnesesssensesesecsssessssesessessesssesseeses 5 1 Input Output ccsscsecssersccrsesssssscssssssssssssesessesssesesssessesnsessssesesessesssesseesessneesnsssesesssensesesensesesscsssessessocssesseeses 6 1 APTI MOVEMCIE ssassn assosieer i aro oo N Sov Eep Sev oeoo oaeo oa SED earn iS evaso p iSS Eor Eni ONORE exnssn 7 1 Creating TP Easy Operation Panel Screen scssscsssscscsssscsscccescecsseessssesccesesessessescesssessccesscsssosssccesesessocses 8 1 How to Use Sample Programs for Creating Operation Panel Screen cceceescceccesceeeceseeseeeeceseeeeeeseeseecaeeeenaees 8 1 Creating TP Easy Operation Panel Screen 3 o c2 scieelecicctce ies eee o oes ee beoek eee AE ee EI ad S a 8 1 Libraries for Creating Operation Panel Screen 0 ccecceeseescessessecseeesecseesecsecsaeceecesensecesceseceseseeeeecaeesaecaecnaeeaeenaees 8 9 VASIOM EAEE A EE EE A EE A TTT TTE A ETN EE AA EEEE EA A EE EE 9 1 Commands Listed in Alphabetic
26. free curve during TakeArm Chapter 7 Arm Movement SetHighPathAccuracy Library Ver 2 61 or later Enable or disable the high accuracy path control that improves the accuracy of the robot motion path in CP motions linear arc and free curve SetHighPathAccuracy e This function improves the accuracy of the robot motion path e This function becomes enabled for a motion command immediately following SetHighPathAccuracy and canceled with ResetHighPathAccuracy Macro Definition Requires a lt pacman h gt file Related Terms ResetHighPathAccuracy e This control should be enabled only for motions requiring high accuracy path e Depending on motions or load conditions some robot motions involve vibration If it happens lower the speed or acceleration or disable this control e Turning the controller or motor power OFF disables this control e This control does not apply to the extended joints 7th and 8th axis This control cannot be enabled when the compliance control is enabled Trying to do so causes an error e This control cannot be enabled when a motion such as a pass motion is in progress The master control parameters e g mass of payload and payload center of gravity should be accurately specified Failure to do so may hinder this control Gar PROGRAM PRO1 TAKEARM Obtain the control priority of the arm group MOVE P E P1 Move to P1 in the PTP motion CALL SetHighPathAccuracy Enable the
27. high accuracy path control MOVE S 5 Move the robot arm along path 5 in free curve motion under high accuracy path control CALL ResetHighPathAccuracy Disable the high accuracy path control MOVE P 0 P5 Move from P4 to P5 in the PTP motion END End the program 7 58 Chapter 7 Arm Movement ResetHighPathAccuracy Library Ver 2 61 or later Disable the high accuracy path control that improves the accuracy of the robot motion path in CP motion lin ear arc and free curve ResetHighPathAccuracy e This function improves the accuracy of the robot motion path e This function becomes enabled for a motion command immediately following SetHighPathAccuracy and canceled with ResetHighPathAccuracy Macro Definition Requires a lt pacman h gt file Related Terms SetHighPathAccuracy e This control should be enabled only for motions requiring high accuracy path e Depending on motions or load conditions some robot motions involve vibration If it happens lower the speed or acceleration or disable this control e Turning the controller or motor power OFF disables this control e This control does not apply to the extended joints 7th and 8th axis This control cannot be enabled when the compliance control is enabled Trying to do so causes an error e This control cannot be enabled when a motion such as a pass motion is in progress e The master control parameters e g mass of payload and payload
28. motion constant or re stores it to the default A current limitation library that speci fies the thrust unit N of the Z coor dinate with the HM HS robot A current limitation library that speci fies the thrust unit N of the Z coor dinate with the HC robot Enables the compliance function dedicated command for 6 axis Enables the compliance control func tion dedicated command for 6 axis Disables the compliance control func tion dedicated command for 6 axis Selects a force limiting coordinate system dedicated command for 6 axis Sets the force limiting rates dedicat ed command for 6 axis Initializes the force limiting rates dedicated command for 6 axis Sets the compliance rates under the compliance control dedicated com mand for 6 axis Initializes the compliance rates dedi cated command for 6 axis Sets the force assistance under the compliance control special compli ance control function library dedi cated command for 6 axis Vision Refer 4 axis 6 axis device to V1 5 V1 5 V1 8 V1 4 V1 5 V1 4 V1 5 V1 8 V1 4 V1 4 V1 4 V1 4 V1 4 V1 4 V1 4 V1 4 V1 4 7 19 7 20 7 21 7 22 7 23 7 24 7 25 7 26 7 27 7 28 7 29 7 30 7 31 7 32 7 33 7 34 7 35 Classified by functions Vision 4 axis 6 axis device Available with all series of robots and vision device O O
29. number gt lt Pallet 4 corner type 3P variable number gt lt Pallet 4 corner type 4P vari able number gt This statement is an initialization program for defining palletizing motion It is more effective to use this program rather than the pltResetAll Library if you initialize only the palletizing counter Cium Without execution of plitlnitialize no palletizing motion will be executed Macro Definition mcApprVal F type variable number to assign the approach length McDepVal F type variable number to assign the depart length McPItH A type F variable number to assign the pallet height Cim If these definitions compete with the user s variable number define the macro again Related Terms pltKernel CALL pltInitialize 0 4 3 1 50 50 50 52 53 54 55 Initializes palletizing parameters Palletizing number 0 Lateral partition number 4 Longitudinal partition number 3 Pile number 1 Approach length 50 mm Depart length 50 mm Pallet height 50 mm Pallet 4 corner type 1P 52 2P 53 3P 54 4P 55 4 8 Chapter 4 Palletizing pltKernel Library Palletizing motion kernel pltKernel lt Palletizing number gt lt Action number gt lt Action argument gt lt Error number gt This statement is a kernel program for palletizing motion This library is required to use all other palletizing libraries Cony D This program is not automatically executed by multitasking operation If you execute thi
30. robot stops If it is set during path operation an error may occur e Execute this command on a task that obtains robot control conditions TAKEARM If robot control condi tions are not obtained error message 21F7 Arm semaphore cannot be fetched is reported e When bit 3 of the 25 current limitation reset set value is set to 0 initial value as a use condition PWM switching release is reset PWM switching at motor power on To validate PWM switching release just after the motor power is turned on set 4 to the current limitation reset set value Cium Use condition 25 current limitation reset setting example PWM SVLock Curlmt PWM only valid 0 1 0 2 All valid 1 1 1 7 Ga CALL OffPWM 1 PWM switching release on axis 1 7 19 Chapter 7 Arm Movement ry Setcycloid Library Causes transition to the cycloid operation mode to suppress overshoot and residual vibration at the end of PTP operation Setcycloid In the cycloid operation mode speed change during deceleration can be smoothed Therefore the overshoot and residual vibration upon stopping can be reduced The operation time increases slightly in the cycloid operation mode Be sure to check the cycle time This mode is valid when another program is executed after Setcycloid execution For resetting either execute Resetcycloid or set to the automatic mode after setting the manual mode once Macro Definition The lt pacman h gt file is necessary
31. robots ndApra lt reference position gt lt Z coordinate gt lt stopping accuracy gt Provides a function similar to that of the APRA instruction in the conventional language Performs PTP movement by specifying the Z coordinate of the reference position only The operation varies with the specified stopping accuracy as follows 0 End operation 1 Path operation 2 Checking arrival at the target position by means of the encoder value To use a function similar to that of the APRT instruction in the conventional language calculate the position type value by translating deviation calculation see 7 9 7 Position Calculation by referring to this library and use the MOVE instruction Related Terms ndDepa PROGRAM PRO1 TAKEARM CALL ndApra P0 400 0 1 Moves to 400 in Z coordinate at XPO MOVE P 0 PO Moves to PO CALL ndDepa 400 0 0 Moves to 400 in Z coordinate at PO GIVEARM END 3 15 Chapter 3 Conventional Language ndDepa Library Performs absolute operation with the tool coordinate system specified exclusively for four axis robots ndDepa lt coordinate gt lt stopping accuracy gt Provides a function similar to that of the DEPA function in the conventional language Performs PTP movement from the current position by specifying only the Z coordinate The operation varies with the stopping accuracy as follows 0 End operation 1 Path operation 2 Checking arrival at the target position by means o
32. 250 sam ples Related Terms ClearSrvMonitor SetMonitorCond StartSrvMonitor In duration from execution of ClearSrvMonitor to that of StopSrvMonitor if the total number of data samples monitored is 1250 or less all data may be monitored If it exceeds 1250 the last 1250 samples before the end of the monitoring cycle may be monitored and other data will be discarded CALL StartSrvMonitor Start monitoring data CALL ClearSrvMonitor Clear monitored data after execution of StartSrvMonitor CALL StopSrvMonitor Stop monitoring data Data between ClearSrvMonitor and StopSrvMonitor processes are monitored 7 54 Chapter 7 Arm Movement xdWAITSPLINE Library Version 2 3 or later Waits for the free curve to pass the designated viapoint xdWAITSPLINE lt Viapoint number gt lt Waiting condition gt Free curve motion in progress waits until passage on the point designated by the lt Viapoint number gt If O is designated as the lt Waiting condition gt the robot waits until the command value passes the designated viapoint If a different value is specified the robot waits until the encoder value passes the designated viapoint Related Terms MOVE SETSPLINEPOINT When xdWAITSPLINE is called with the free curve not executed the robot does not wait Also if xdWAITSPLINE is called after passing the viapoint designated by the lt Viapoint number gt the robot does not wait Gans PRO
33. 6 sively for a four axis robot Releases servo lock for the specified 7 17 axis Exclusively for four axis robots Performs PWM switching on a speci 7 18 fied axis exclusively for a four axis robot Classified by functions 4 axis 6 axis Vision device Available with all series of robots and vision device O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 1 2 or later Available with the 4 axis robots and the 6 axis robots of Version Commands OffPWM Setcycloid SetCycloidJnt Resetcycloid ResetCycloidJnt SetCPSpdMode SetForce_HM SetForce_HC SetCompControl SetCompF Control ResetCompControl SetFrcCoord SetFrcLimit ResetFrcLimit SetCompRate ResetCompRate SetFrcAssist Functions Releases PWM switching on the specified axis exclusively for a four axis robot Causes transition to the cycloid oper ation mode to suppress overshoot and residual vibration at the end of PTP operation Enters a specified extended joint into the cycloid mode where the controller suppresses the peak of overshoot and residual oscillation that would oc cur in an end motion Causes transition from the cycloid mode to the ordinary operation mode Cancels the cycloid mode set for a specified extended joint and restores the normal mode Keeps the TCP speed Tool end speed in CP
34. ARMed task that has obtained arm semaphore If this command is execut ed without arm semaphore obtained Error 21F7 will result f this command is executed when the current limit function is enabled Error 665b will result Disable the current limit function and then try it again e If you set the gravity offset setting to 0 on the teach pendant the gravity offset function becomes dis abled If you do it when the current limit function is enabled Error 665b will result as in step 2 CALL ResetGravity 7 8 Chapter 7 Arm Movement SetGrvOffset Library Version1 2 or later Compensates the torque of each joint programmed with SetGravity for gravity torque SetGrvOffset Each joint of the robot undergoes downward static load gravity torque due to earth gravity Although gravity compensation command SetGravity allows you to adjust the balance between the limited torque and gravity torque the balance may be off balance due to the difference between the mass of payload you set and the actual one This offset function presumes the gravity torque when the robot is on halt and calculates the gravity offset val ue Macro Definition Requires lt pacman h gt file Related Terms SetCurLmt SetGravity ResetGrvOffset Write this command ina TAKEARMed task that has obtained arm semaphore If this command is execut ed without arm semaphore obtained Error 21F7 will result e This command should be executed when the m
35. Arm semaphore cannot be fetched is reported When bit 1 of the 25 current limitation reset set value is set to O initial value as a use condition the servo lock release is reset Servo lock at motor power on To validate servo lock release just after the motor power is turned on set 1 to the current limitation reset set value For details on setting see Notes in OffSrviock When releasing this command execute ResetCurlmt 3 Even if setting is performed in detail the specified thrust may not be output for a reason such as friction CALL SetForce_HM 10 0 Specify thrust 10 0 N 7 25 Chapter 7 Arm Movement SetForce HC Library A current limitation library that specifies the thrust unit N of the Z coordinate with the HC robot SetForce_HC lt thrust unit N gt Limits the thrust by limiting the motor current on the Z axis The unit is N Newton The maximum thrust ex tremely varies depending on the impact force generated at contact with peripherals The allowable thrust is a value assumed when the impact force at collision is almost 0 collision at too low speed The thrust also varies depending on the Z axis position by the mechanical friction therefore this value should be assumed to be a typical value not a guaranteed value Like the current limitation library SetCurlmt a value that exceeds the allowable value is limited to the allowable value Macro Definition The pacman h file is necessary
36. DENSO ROBOT PROGRAMMER S MANUAL II PAC Library Copyright DENSO WAVE INCORPORATED 2009 2010 All rights reserved No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher Specifications are subject to change without prior notice All products and company names mentioned are trademarks or registered trademarks of their respective holders Preface Thank you for purchasing this high speed high accuracy assembly robot Before operating your robot read this manual carefully to safely get the maximum benefit from your robot in your assembling operations This manual covers the following products Robot system configured with the RC7 controller Vertical articulated robot V G series Horizontal articulated robot H G series Cartesian coordinate robot XYC 4G series Integrated compact robot XR G series Options Vision device Vision series Notel The robot controller version is indicated in the main software ver column of the controller setting table affixed on the controller It can also be checked on the Version screen called up by pressing F6 Set F6 Maint F2 Version from the top screen of the teach pendant Important To ensure operator safety be sure to read the precautions and instructions in SAFETY PRECAU TIONS pages 1 through 9 How the documentation set is organized The documentation set consists of the following books If
37. GRAM PRO1 TAKEARM CLRSPLINEPOINT 5 Clears all viapoints for the free curve with path No 5 SETSPLINEPOINT 5 P4 Sets P4 as the first viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 P1 Sets Pl as the second viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 J5 Sets J5 as the third viapoint for the free curve with trajectory 5 MOVE S 5 NEXT Executes free curve motion to J5 through P4 and Pl CALL xdWAITSPLINE 1 1 Waits until the robot passes the first viapoint P4 SET IO 240 Sets port 240 to ON CALL xdWAITSPLINE 2 1 Waits until the robot passes the second viapoint P1 RESET IO 240 Sets port 240 to OFF 7 55 Chapter 7 Arm Movement xdSPLPASSNUM Library Version 2 3 or later Obtains the viapoint through which the free line has passed xdSPLPASSNUM lt Viapoint number gt For free curve motion in progress the robot sets the viapoint number through which the command value has passed to the lt Viapoint number gt Related Terms MOVE SETSPLINEPOINT PROGRAM PRO1 TAKEARM CLRSPLINEPOINT 5 SETSPLINEPOINT 5 P4 SETSPLINEPOINT 5 P1 SETSPLINEPOINT 5 J5 MOVE S 5 NEXT DELAY 500 CALL xdSPLPASSNUM I1 Clears all viapoints for the free curve with trajectory 5 Sets P4 as the first viapoint for the free curve with trajectory 5 Sets Pl as the second viapoint for the free curve with trajectory 5 Se
38. O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Vision Refer Commands Functions ResetFrcAssist SetCompJLimit ResetCompuJLimit SetCompVMode ResetCompVMode SetCompEralw ResetCompEralw SetDampRate ResetDampRate SetVibControl ResetVibControl MotionSkip MotionComp ArchMove SetArchParam SetMonitorCond 4 axis 6 axis device to Initializes the force assistance spe V1 4 7 36 cial compliance control function li brary dedicated command for 6 axis Sets the current limit under the com V1 4 7 37 pliance control special compliance control function library dedicated command for 6 axis Initializes the current limit under the V1 4 7 38 compliance control special compli ance control function library dedi cated command for 6 axis Sets the velocity control mode under V1 4 7 39 the compliance control special com pliance control function library dedi cated command for 6 axis Disables the velocity control mode V1 4 7 40 under the compliance control special compliance control function library dedicated command for 6 axis Sets the allowable deviation values of V1 4 7 41 the position and the posture of the tool tip under the compliance control dedicated command for 6 axis Initializes the allowable devi
39. al Order Commands A ArchMove arrange_button_pos arrange_button_size aspACLD aspChange C ClearCollisionForce ClearSrvMonitor D dioConstantDistan celoOut dioSync G GetCollisionForce make_LABEL make_LED make_PARAM_BOX make_PB MotionComp MotionSkip mvResetPulseWidth mvResetPulseWidthJnt mvResetTimeOut mvReverseF lip mvSetPulseWidth mvSetPulseWidthJnt mvSetTimeOut Vision 4 axis 6 axis device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Vision Refer Functions 4 axis 6 axis device to Executes an arch motion V1 9 7 49 Specify the button arrangement position size and soon on V1 7 V1 7 8 12 the screen Specifies the button arrangement position size and so on V1 7 V1 7 8 12 on the screen Changes the internal load condition values There are the 3 1 mass of payload noted in grams g and the payload center of gravity noted in millimeters mm for the load condition values Designate both of them See Note1 Selects the internal mode for proper control setting of motion 3 3 optimization Clear the maximum external force V2 7 7 64 Initializes the pointer of data obtained by the single joint ser V1
40. amp screen below A screen number is required as an argument This program calls various button creation programs and creates the lamp screen below This program is a sample so change it according to the actual processing CPU RUN lo Indi lo Seta Cancel Closes this window OI SESS lt button h gt is necessary Related Terms Lamp_pl_btns Lamp_variable_btns Lamp_pb_btns 8 2 Chapter 8 Creating TP Easy Operation Panel Screen Build_Man_Screen Sample program Version 1 7 or later Creates the individual screen below A screen number is required as an argument This program calls the PB button creation program and creates the individual screen below This program is a sample so change it according to the actual processing Macro Definition lt button h gt is necessary Related Terms Man_pb_btns 8 3 Chapter 8 Creating TP Easy Operation Panel Screen Build_Plan_Screen Sample program Version 1 7 or later Creates the arrangement screen below A screen number is required as an argument This program calls the buttons creation program and creates the arrangement screen below This program is a sample so change it according to the actual processing QO vod wen O w n Setup Screen Part No Trans Proc No Oun Proc No Next Proc No eee R BProNo oo Me oc E E Enter Search Delete Confira Running New Entered Complete f r Cancel Closes th
41. an h gt file Related Terms ResetCurLmt SetEralw e Run this command in a TAKEARMed task that has obtained arm semaphore If this command is executed without arm semaphore obtained Error 21F7 will result e Like this command execution of ResetCurLmt will also reset the allowable deviation values to the initial values For Ver 1 4 or earlier Write this library in a TAKEARMed task that has got robot arm semaphore If you specify any joints not in the arm semaphore to lt JntNumber gt then error 21F7 Cannot take arm semaphore will result For Ver 1 5 or later Write this library ina TAKEARMed task that has got an arm group If you specify any joints not included in the arm group to lt JntNumber gt then error 27D Cannot take J semaphore will result CALL ResetEralw 0 Returns the allowable deviation values of all axes to initial values 7 15 Chapter 7 Arm Movement OnSrvLock Library Servo locks a specified axis exclusively for a four axis robot OnSrvLock lt specified axis gt Provides a function similar to that of the ON SVLOCK instruction in the conventional language Servo lock means that robot arms are controlled and their positions are held Macro Definition The pacman h file is necessary Related Terms OffSrvLock Set servo lock as the robot stops If it is set during path operation an error may occur Execute this command on a task that obtains robot control conditions TAKEARM I
42. and with the teach pendant or in WINCAPS III as shown below Executing this library detects the angle distance of each axis in lt detection_cycle gt and inverses the output signal on the specified I O port each time the asso ciated axis is driven by the specified angle distance e Access Teach pendant F4 I O F6 Aux F1 Set H W e Access WINCAPS III From the Project menu choose Parameters and click the I O tab Parameter name Description OutPut Pos IO number J1 I O output port num OutPut Pos IO number J2 Enter the desired output port bers for the 1st to 8th f number for each of the axes to be axes OutPut Pos IO number J7 detected OutPut Pos IO number J8 OutPut Pos detection angle J1 deg 10 5 Enter the specified angle multi OutPut Pos detection angle J2 deg 10 5 plied by 100000 Angles distances for the 1st to 8th axes Specification of 0 does not in OutPut Pos detection angle J7 deg 10 5 verse the output signal on the as OutPut Pos detection angle J8 deg 10 5 S0ciated port In WINCAPS III these numbers plus 1 are displayed lt detection_cycle gt is any of 0 through 32 Specification of 0 does not inverse the output signal even if this library executes The expression given below converts lt detection_cycle gt into the actual cycle in which the angle distance of each axis is detected Cycle 250 usec X lt detect
43. anel Screen OOOO ee Plan_pl_btns Sample program Version 1 7 or later Creates a lamp button on a specified screen A screen number is required as an argument This program creates a lamp button by entering each parameter required to create a lamp button This program is a sample so change it according to the actual processing Macro Definition lt button h gt is necessary Related Terms make_LED make_LABEL Plan_pb_singlebtn Sample program Version 1 7 or later Creates only one button on a specified screen A screen number is required as an argument This program creates a PB button by entering each parameter required to create a PB button This program is a sample so change it according to the actual processing Macro Definition lt button h gt is necessary Related Terms single_button_set 8 8 Chapter 8 Creating TP Easy Operation Panel Screen 8 3 Libraries for Creating Operation Panel Screen Describes the libraries for creating operation panel screen make_PB Library Version 1 7 or later Creates a PB button make_PB This program sets a PB button on the screen on the basis of the specified parameters display characters and number of buttons Macro Definition lt button h gt is necessary call make _PB sysprm pb title PB NUM make_LED Library Version 1 7 or later Creates an LED button make_LED This program sets an LED button on the screen on the basis of
44. ant digit output port number gt This statement provides a similar function to an INB instruction in the conventional language The system reads the status of a designated input port signal and converts it to a decimal number by treating it as a binary number The system assigns a converted value to the integer variable Related Terms ndOnb ndOnbl COHB You can define the same function with DEFIO and IN instruction in the PAC language Use DEFIO and IN instructions because this method is more effective For input ports use 16 ports or less in series If you designate more than 16 ports no processing will be done CALL ndInb 1 552 567 Reads the status of input ports 552 to 567 as a 16 bit binary converts it to decimal and assigns it to the integer variable 1 Chapter 3 Conventional Language ndJf Library A conditional branch upon receipt of OK NG from an external device RS232C input output ndJf lt 2 digit integer gt lt Determination argument gt This statement provides a similar function to a JF instruction in the conventional language The system transfers a 2 digit integer to an external device and calculates a response result to execute a con ditional branch in the program If the response from the external device is OK the system proceeds to the next step If it is not good it branch es to a labeled step Related Terms ndVcom ndVType include lt Pacman h gt PROGRAM PRO1 DEFINT JF_VAL
45. apter 7 Arm Movement SetCompEralw Library Version 1 4 or later Sets the allowable deviation values of the position and the posture of the tool tip under the compliance control dedicated command for 6 axis SetCompEralw lt Allowable deviation along X gt lt Allowable deviation Y gt lt Allowable deviation Z gt lt Allowable deviation X gt lt Allowable deviation Y gt lt Allowable deviation Z gt Sets the allowable deviation values of the position and the posture of the tool tip under the compliance control The unit for the allowable deviation along X Y and Z is mm and the unit for the allowable deviation about X Y and Z is degree Up to one decimal place is valid Macro Definition lt pacman h gt is required Related Terms ResetCompEralw SetFrcCoord e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported The initial values of allowable deviation are 100 mm along X Y and Z and 30 degree about X Y and Z The maximum value about X Y and Z axes is 175 degree If you set larger values than the maximum value you will receive an error 6003 Valid range was exceeded e Ifthe position or the posture deviation of the tool tip exceeds the allowable value you will receive an error 60f8 Position deviation under compliance control error The coordinate system
46. ase change the allowable deviation Use SetEralw to change the allowable deviation e Do not execute this library when a force such as a contact force is applied to your robot Use SetComp Control to enable the compliance control function while a force is applied to your robot e When a robot posture changes largely after you execute SetCompControl an error may be generated in the compensation value for the gravity offset and your robot may move toward the direction of gravity If the posture changes largely in the course of the compliance control use ResetCompControl to disable the compliance control and execute SetCompControl again to enable the compliance control 7 27 CALL SetFrcCoord 1 Sets the force limiting coordinate system CALL SetFrcLimit 100 0 100 100 100 100 Sets the force limiting rate CALL SetCompControl Enables the compliance control function CALL SetEralw 1 90 Sets the allowable deviation Chapter 7 Arm Movement SetCompF Control Library Version 1 4 or later Enables the compliance control function dedicated command for 6 axis SetCompF Control Enables the compliance control function as SetCompControl However the gravity offset compensation is not executed as SetCompControl Macro Definition lt pacman h gt is required Related Terms SetCompControl e You will receive an error 60f5 Cannot execute compliance control when this library is executed while the gravity offset i
47. ater Sets the damping rates under the compliance control dedicated command for 6 axis SetDampRate lt Damping rate along X gt lt Damping rate along Y gt lt Damping rate along Z gt lt Damping rate about X gt lt Damping rate about Y gt lt Damping rate about Z gt Sets the damping rates along and about X Y and Z axes of a coordinate system specified by SetFrcCoord Setting ranges from 0 to 100 and 0 gives the maximum damping Up to two decimal places are valid Macro Definition lt pacman h gt is required Related Terms ResetDampRate SetFrcCoord SetCompRate e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported e This library is not available while the compliance control is enabled When you execute this library under the compliance control you will receive an error 60fa Compliance control is enabled All the set values for along and around the X Y and Z axes will be initialized to 100 after the controller is turned on e Execute this function on a task that obtains the robot control right TAKEARM If the robot control right is not obtained error message 21F7 Arm semaphore cannot be fetched is reported e If you execute SetCompRate after SetDampRate the compliance rates are altered to the setting by Set CompRate 7 43 CALL CALL CALL CALL SetFr
48. ation data with the controller Designate a number which executes vision calibration as a calibration number With this coordinate transformation only the absolute coordinates X Y Z can be obtained Figure data must be set separately in order to execute the MOVE instruction Garr Stores the vision coordinate X to F1 Stores the vision coordinate Y to F2 TAKEARM CHANGETOOL 1 Sets the fool to which vision calibration was performed MOVE P P10 Moves to the stand by position P11 P10 Copies the figure at the stand by position CALL viTran6 0 F1 F2 P11 Transforms the vision coordinates to the robot coordinates 0 of vision calibration is used APPROACH P P11 100 MOVE L P11 Moves to the position measured with vision DEPART L 100 CHANGETOOL 0 Chapter 9 Vision vilran6S Library for Vision 21 Transforms the vision coordinates to robot coordinates for 6 axes viTran6S lt Calibration number gt lt Vision coordinate X gt lt Vision coordinate Y gt lt Robot coordinate X gt lt Robot coordinate Y gt lt Robot coordinate Z gt This statement transforms the vision coordinates X Y to the robot absolute coordinates X Y Z For execution of this library it is required to execute vision calibration and transmit the vision calibration data with the controller Designate a number which executes vision calibration as a calibration number With this coordinate transformation only the
49. ation val V1 4 7 42 ues of the position and the posture of the tool tip under the compliance con trol dedicated command for 6 axis Sets the damping rates under the V1 4 7 43 compliance control dedicated com mand for 6 axis Initializes the damping rates under V1 4 7 44 the compliance control dedicated command for 6 axis Sets to the residual vibration reduc V1 4 V1 4 7 45 tion control mode dedicated com mand for 6 axis Returns from the residual vibration V1 4 V1 4 7 46 reduction control mode to the normal control mode Aborts running motion commands V1 5 V1 5 7 47 Judges whether execution of running V1 5 V1 5 7 48 motion commands is complete Executes an arch motion V1 9 7 49 Defines the start position of a hori V1 9 7 50 zontal movement Arch start position in upward movement of the arm end point and the end position in down ward movement Arch end position Sets the monitoring conditions forsin V1 5 V1 5 7 51 gle joint servo data monitor Vision 4 axis 6 axis device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Classified by functions Commands Functions vision merer 4 axis 6 axis device to StartSrvMonitor Starts monitoring single joint serv
50. bsolute value Maximum value out of three absolute values detected from all 3 phases of the motor in ratio to the rated value lt Samplnterval gt must be set in ms as an integer between 1 and 8 Related Terms ClearSrvMonitor StartSrvMonitor StopSrvMonitor e If this library executes following the monitor start library StartSrvMonitor the error 6001 Not executable will result Be sure to set the monitoring conditions before starting monitor e If any of the joint number data types and sampling interval entered is wrong the error message The en tered value is out of the range will result Correct those monitoring conditions you entered CALL SetMonitorCond 7 0 3 4 For getting speed control value and motor angle error of J7 every 4 ms CALL StartSrvMonitor Start monitoring data 7 51 Chapter 7 Arm Movement StartSrvMonitor Library Version 1 5 or later Starts monitoring single joint servo data StartSrvMonitor StartSrvMonitor fetches a maximum of 1250 samples of single joint servo data until StopSrvMonitor executes Related Terms ClearSrvMonitor SetMonitorCond StopSrvMonitor e Ifthe total number of data samples monitored in a monitoring cycle is 1250 or less all data may be mon itored If it exceeds 1250 samples the last 1250 data samples before the end of the cycle may be moni tored and other data will be discarded e If any error occurs and the motor being monitored is turned OFF
51. cCoord 1 SetCompRate 100 SetDampRate 100 SetCompControl Se Neo 0 10 Se 20 1 Se Se tof en ts the force limiting coordinate system to the tool ordinate system O 100 100 100 ts the compliance rate 00 100 100 100 ts the damping rate ts the compliance rate and the damping rate in Y direction the tool coordinate system to 0 and 20 respectively and ables the compliance control Chapter 7 Arm Movement ResetDampRate Library Version 1 4 or later Initializes the damping rates under the compliance control dedicated command for 6 axis ResetDampRate Initializes the damping rates along and about X Y and Z axes to 100 Macro Definition lt pacman h gt is required Related Terms SetDampRate e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported e This library is not available while the compliance control is enabled When you execute this library under the compliance control you will receive an error 60fa Compliance control is enabled CALL ResetDampRate Initializes the damping rates 7 44 Chapter 7 Arm Movement SetVibControl Library Version 1 4 or later Sets to the residual vibration reduction control mode dedicated command for 6 axis SetVibControl Switches to the residual vibration reduction control mode and reduce
52. center of gravity should be accurately specified Failure to do so may hinder this control e The high accuracy path control does not work on older engine boards Gan PROGRAM PRO1 TAKEARM Obtain the control priority of the arm group MOVE P E P1 Move to P1 in the PTP motion CALL SetHighPathAccuracy Enable the high accuracy path control MOVE S 5 Move the robot arm along path 5 in free curve motion under high accuracy path control CALL ResetHighPathAccuracy Disable the high accuracy path control MOVE P 0 P5 Move from P4 to P5 in the PTP motion END End the program 7 59 Chapter 7 Arm Movement SetSingularAvoid Library Ver 2 61 or later Enable or disable the singular point avoiding function for 6 axis robots SetSingularAvoid lt ON OFF gt If lt ON OFF gt is 1 the singular point avoiding function becomes enabled if it is 0 the function becomes dis abled Enabling the function suppresses a large 4 axis rotation that is caused when the 5 axis passes through the vicinity of 0 degree in linear arc or free curve motion under CP interpolation control Macro Definition Requires a lt pacman h gt file e This function does not take effect in 4 and 5 axis robots e This function does not take effect under PTP interpolation control e When this function is enabled the robot arm may greatly go out of the original path depending on the mo tion conditions e The singular point avoid
53. dif 1 47 Chapter 7 Arm Movement MotionComp Library Version 1 5 or later Judges whether execution of running motion commands is complete MotionComp lt MotionCommandComplete gt If MotionComp judges that execution of running motion commands is complete then it returns 1 in lt Motion CommandComplete gt This command checks motion commands running in the task in which the MotionComp executes It is not ap plicable to motion commands in any other tasks If a motion command has an encoder value check option then MotionComp will interpret the moment when the encoder count is converged within the positioning error allowance as completion of the motion command For other operations if motion control to the servo loop disappears then MotionComp will judge that the command is complete Related Terms GetJntData GetSrvData MotionSkip Notes Execute this command in a TAKEARMed task that holds an arm semaphore If not ina TAKEARMed task the error Not executable will result e Executing MotionComp in a robot motion task will judge whether robot motion commands are complete Executing it in an extended joint motion task will judge whether extended joint motion commands are com plete If MotionComp executes in a motion task holding an arm group involving both robot joints and extended joints then completion of both the robot and extended joint motions will be judged e When the motion is on Halt MotionComp will i
54. ds 03 IF JF_VAL TRUE THEN Receives data if the response is OK TRUE CALL ndVset 3 Receives 10 data from the external device Sends 03 CALL ndVdt pacPOS 1 Assigns the data received from the external device to variable P1 CALL ndVdt pacJNT 1 Assigns the data received from the external device to variable J1 CALL ndVdt pacTRN 1 Assigns the data received from the external device to variable T1 END IF END Chapter 3 Conventional Language ndV Type Library Designates the protocol for communication with an external device RS232C output ndVType lt 2 digit integer gt This statement designates the communication protocol for ndVis ndJf ndVset ndVrst ndVput and ndVcom The initial value of each library is set in the new protocol Old protocol 0 new protocol 1 Related Terms ndVis ndJf ndVset ndVput ndVcom include lt Pacman h gt PROGRAM PRO1 DEFINT JF_VAL 0 FLUSH CALL CALL CALL CALL CALL ndvType 1 ndVrst ndVset 0 ndVis 3 ndJf 3 JF_VAL IF JF_VAL TRUE THEN CALL CALL CALL CALL ndVset 3 ndVdt pacPOS 1 ndVdt pacJUNT 1 ndVdt pacTRN 1 END IF END Sets the protocol Conventional 0 New 1 Initializes the external device Clears the received data VDT to 0 Starts up the external device Sends 03 Obtains a response result from the external device Sends 03 Receives data if the response i
55. e Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Functions Vision Refer 4 axis 6 axis device to A current limitation library that specifies the thrust unit N of 7 25 the Z coordinate with the HM HS robot Sets the force assistance under the compliance control spe V1 4 7 35 cial compliance control function library dedicated command for 6 axis Selects a force limiting coordinate system dedicated com V1 4 7 30 mand for 6 axis Sets the force limiting rates dedicated command for 6 axis V1 4 7 31 Compensates for the static load gravity torque applied to V1 2 7 7 each joint and attains balance with gravity torque Compensates the torque of each joint programmed with Set V1 2 7 9 Gravity for gravity torque Enable or disable the high accuracy path control thatim V2 61 V2 61 7 58 proves the accuracy of the robot motion path in CP motions linear arc and free curve Sets the monitoring conditions for single joint servo data V1 5 V1 5 7 51 monitor Enable or disable the singular point avoiding function for 6 V2 61 7 60 axis robots Sets to the residual vibration reduction control mode dedi V1 4 V1 4 7 45 cated command for 6 axis Creates only one button V1 7 V1 7 8 11 Starts monitoring singl
56. e joint servo data V1 5 V1 5 7 52 Stops monitoring single joint servo data V1 5 V1 5 7 53 Tool change 5 1 Tool change initialization template 1 5 2 Tool change initialization 5 2 Tool change motion kernel 5 3 Tool change template 1 5 3 Transforms the vision coordinates to robot coordinates for 6 9 1 axes Transforms the vision coordinates to robot coordinates for 6 9 2 axes Changes the validity of free curve viapoint clear process ex V2 3 V2 3 7 57 ecution during TakeArm Obtains the viapoint through which the free line has passed V2 3 V2 3 7 56 Waits for the free curve to pass the designated viapoint V2 3 V2 3 7 55 Commands Listed According to Functions 4 axis 6 axis Vision device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later ri Vision Refer Classified by functions Commands Functions E 4 axis 6 axis device to Conventional Language aspACLD Changes the internal load condition 3 1 values There are the mass of pay load noted in grams g and the pay load center of gravity noted in millimeters mm for the load condi tion values Designate both of them aspChange Selects the internal mode for proper 3 3 control s
57. e with the 4 axis robots and the 6 axis robots of Version 1 2 or later Functions Vision Refer 4 axis 6 axis device to Obtains palletizing counter N1 4 4 Obtains the next position 4 5 Obtains a palletizing 1 row completion flag 4 5 Obtains a palletizing all row completion flag 4 6 Increases the total palletizing counter 4 6 Palletizing initialization template 1 4 7 Palletizing initialization 4 8 Palletizing motion kernel 4 9 Sets the total palletizing counter 4 10 Sets the palletizing counter K1 4 10 Sets the palletizing counter M1 4 11 Sets the palletizing counter N1 4 11 Palletizing template 1 4 12 Palletizing template 2 4 12 Standard palletizing template 1 4 13 Standard palletizing motion 1 4 14 Resets all palletizing counters 4 15 Resets a palletizing 1 row completion flag 4 15 Resets a palletizing all row completion flag 4 16 Disable the collision detection for the specified joint V2 7 7 62 Disables the compliance control function dedicated com V1 4 7 29 mand for 6 axis Initializes the allowable deviation values of the position and V1 4 7 42 the posture of the tool tip under the compliance control ded icated command for 6 axis Initializes the current limit under the compliance control spe V1 4 7 38 cial compliance control function library dedicated command for 6 axis Initializes the compliance rat
58. er number gt This statement stores a palletizing all row completion flag into I lt All row completion flag save integer number gt Related Terms pltGetPLT1END pltResetPLTEND pltKernel CALL pltGetPLTEND 1 10 Assigns an all row completion flag of palletizing No 1 to integer variable 10 pltIncCnt Library Increases the total palletizing counter pltIncCnt lt Palletizing number gt This statement increases the total palletizing counter of a designated palletizing number by 1 from the current value By editing the palletizing counter you can palletize a hounds tooth pattern or arbitrary step pattern Related Terms pltDecCnt pltGetCnt pltKernel pltLetCnt Gan CALL pltIncCnt 1 Increases the total palletizing counter of palletizing No 1 by one 1 4 6 Chapter 4 Palletizing a pltInit1 Library Palletizing initialization template 1 pltInit1 This is an example of pltlnitialize For the meanings of arguments refer to the arguments used with the pltlnitialize commands Related Terms pltInitialize 4 7 Chapter 4 Palletizing pltInitialize Library Palletizing initialization pltInitialize lt Palletizing number gt lt Lateral partition number gt lt Longitudinal partition number gt lt Pile num ber gt lt Approach length gt lt Depart length gt lt Pallet height gt lt Pallet 4 corner type 1P variable number gt lt Pallet 4 corner type 2P variable
59. erating condition 25 Current limit reset PWM SVLock Curlmt If only SVLock is effec 0 1 0 2 tive If all is effective 1 1 1 7 Gay CALL OffSrvLock 1 Releases servo lock for axis 1 Chapter 7 Arm Movement OnPWM Library Performs PWM switching on a specified axis exclusively for a four axis robot OnPWM lt specified axis gt PWM switching means that robot arms are controlled and their positions are held Macro Definition The pacman h file is necessary Related Terms OffP WM e Set PWM switching as the robot stops If it is set during path operation an error may occur e Execute this command on a task that obtains robot control conditions TAKEARM If robot control condi tions are not obtained error message 21F7 Arm semaphore cannot be fetched is reported CALL OnPWM 1 PWM switching on 1 axis CALL OnPWM 1 PWM switching on all axes 7 18 Chapter 7 Arm Movement OffPWM Library Releases PWM switching on the specified axis exclusively for a four axis robot OffPWM lt specified axis gt PWM switching means that robot arms are controlled and their positions are held When PWM switching is released robot arm positions are not held and they are displaced if external force is applied Macro Definition The pacman h file is necessary Related Terms OnSrvLock Operation command cannot be executed on an axis with PWM switching released e Set PWM switching release as the
60. es dedicated command for 6 V1 4 7 34 axis Disables the velocity control mode under the compliance V1 4 7 40 control special compliance control function library dedicat ed command for 6 axis Resets the motor current limit of the specified axis V1 2 7 13 Causes transition from the cycloid mode to the ordinary op V1 4 7 22 eration mode Cancels the cycloid mode set for a specified extended joint V1 5 V1 5 7 23 and restores the normal mode Initializes the damping rates under the compliance control V1 4 7 44 dedicated command for 6 axis Resets the allowable deviation value of the specified axis to V1 2 7 15 the initial value Initializes the force assistance special compliance control V1 4 7 36 function library dedicated command for 6 axis Commands ResetFrcLimit ResetGravity ResetGrvOffset ResetHighPathAccuracy ResetVibControl S set_button_param SetArchParam SetCollisionJnt SetCollisionLevel SetCompControl SetCompEralw SetCompFControl SetCompJLimit SetCompRate SetCompVMode SetCPSpdMode SetCurLmt Setcycloid SetCycloidJnt SetDampRate SetEralw SetExtForceDetect SetForce_HC Vision 4 axis 6 axis device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Vers
61. es the current limits 7 38 Chapter 7 Arm Movement SetCompV Mode Library Version 1 4 or later Sets the velocity control mode under the compliance control special compliance control function library ded icated command for 6 axis SetCompVMode Enables the compliance velocity control mode when SetCompControl is executed Macro Definition lt pacman h gt is required Related Terms ResetCompVMode Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported CALL SetCompVMode Enables the compliance velocity control mode CALL SetCompControl Enables the compliance control 7 39 Chapter 7 Arm Movement ResetCompV Mode Library Version 1 4 or later Disables the velocity control mode under the compliance control special compliance control function library dedicated command for 6 axis ResetCompVMode Disables the compliance velocity control mode when SetCompControl is executed Macro Definition lt pacman h gt is required Related Terms SetCompVMode Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported CALL ResetCompVMode DIsables the compliance velocity control mode CALL SetCompControl Enables the compliance control 7 40 Ch
62. esetTimeOut mvReverseFlip mvSetPulseWidth mvSetPulseWidthJnt mvSetTimeOut SetGravity ResetGravity SetGrvOffset ResetGrvOffset SetCurLmt ResetCurLmt SetEralw ResetEralw OnSrvLock OffSrvLock OnPWM counts for positioning allowance Resets the encoder pulse count for V1 5 V1 5 7 2 an allowable positioning error for a specified extended joint to the de fault Restores the default motion finish 7 3 timeout value 4 axis figure reverse 7 3 Sets the permissible stop pulse width 7 4 Sets the encoder pulse count foran V1 5 V1 5 7 5 allowable positioning error for a spec ified extended joint Sets the timeout value for movement 7 6 finish Compensates for the static load V1 2 7 7 gravity torque applied to each joint and attains balance with gravity torque Disables the balance setting between V1 2 7 8 the limited motor torque and gravity torque which is made with SetGravi ty Compensates the torque of each joint V1 2 7 9 programmed with SetGravity for gravity torque Disables the gravity offset function V1 2 7 10 Sets the limit of motor current to be O V1 2 7 11 applied to the specified axis Resets the motor current limit of the V1 2 7 13 specified axis Modifies the allowable deviation of V1 2 7 14 the specified axis Resets the allowable deviation value V1 2 7 15 of the specified axis to the initial val ue Servo locks a specified axis exclu 7 1
63. etizing Describes the libraries for palletizing functions pltDecCnt Library Decreases the count of the total palletizing counter pltDecCnt lt Palletizing number gt The total palletizing counter designated with a palletizing number decreases by one 1 By editing the palletizing counter you can palletize a hounds tooth pattern or an arbitrary step pattern Related Terms pltGetCnt pltIncCnt pltKernel pltLetCnt Gar CALL pltDecCnt 1 Decreases total palletizing counter No 1 by one 1 pltGetCnt Library Obtains the total palletizing counter pltGetCnt lt Palletizing number gt lt Cnt save integer variable number gt Obtains the total palletizing counter of a designated palletizing number Related Terms pltDecCnt pltIncCnt pltKernel pltLetCnt CALL pltGetCnt 1 0 Assigns the current counter to I 0 CALL pltLetCnt 1 I 0 1 Decreases the counter by 1 4 1 Chapter 4 Palletizing pltGetK Library Obtains palletizing set value K pltGetK lt Palletizing number gt lt K save integer variable number gt This statement obtains palletizing set value K of a designated palletizing number Related Terms pltGetK1 pltLetK1 pltKernel CALL pltGetK 1 10 Assigns palletizing value K of palletizing No 1 to integer variable 10 pltGetK1 Library Obtains palletizing counter K1 pltGetK1 lt Palletizing number gt lt K1 save integer variable number gt T
64. etting of motion optimization ndinb Converts the input of a designated 3 4 port to a decimal number and treats it as a binary number ndJf A conditional branch upon receipt of 3 5 OK NG from an external device RS232C input output ndOnb Converts a decimal number to a bina 3 6 ry number and outputs it from a des ignated port ndOnbl Converts a decimal number to a bina 3 7 ry and outputs it from a designated port ndVdt Memorizes a variable transferred 3 8 from an external device RS232C in put output ndVis Transfers a designated 2 digit integer 3 9 to an external device RS232C input output ndVput Transfers the position posture to an 3 10 external device RS232C input out put ndVrst Initializes an external device 3 11 RS232C input output ndVset Receives data from an external de 3 12 vice RS232C input output ndVT ype Designates the protocol for communi 3 13 cation with an external device RS232C output ndVcom Communication with an external de 3 14 vice kernel RS232C input output ndApra Performs absolute operation with the 3 15 tool coordinate system specified ex clusively for four axis robots ndDepa Performs absolute operation with the 3 16 tool coordinate system specified ex clusively for four axis robots ndTc Set hte TC time V1 2 3 17 ndTs Set the TS time and slow speed V1 2 3 17 Vision
65. f robot control conditions are not obtained error message 21F7 Arm semaphore cannot be fetched is reported CALL OnSrvLock 1 Servo lock for axis 1 CALL OnSrvLock 0 Servo lock for all axes 7 16 Chapter 7 Arm Movement OffSrvLock Library Releases servo lock for the specified axis Exclusively for four axis robots OffSrvLock lt specified axis gt Provides a function similar to the OFF SVLOCK instruction in the conventional language Servo lock refers to the state where the robot arm is controlled to keep its position When it is released the robot arm is not kept in its position but moved by an external force applied to it Macro Definition The lt pacman h gt file is necessary Related Terms OnSrvLock e No operation command can be executed for an axis for which servo lock is released e Set release of servo lock while the robot is in stopped state If set during path operation an error may result e Execute this command in the task obtaining the robot control right TAKEARM If the robot control right has not been obtained an error 21F7 Arm semaphore cannot be obtained will occur If bit 2 of the value set for 25 Current limit reset in the operating conditions is 0 initial value servo lock release is reset to cause servo lock upon motor power on To validate servo lock release immediately after motor power on set 2 as the current limit reset value CiN Setting example of op
66. f the encoder value To use a function similar to that of the DRET instruction in the conventional language calculate the position type value by translating deviation calculation see 7 9 7 Position Calculation by referring to this library and use the MOVE instruction Related Terms ndApra PROGRAM PRO1 TAKEARM CALL ndApra P0 400 0 1 Moves to 400 in Z coordinate at XPO MOVE P 0 PO Moves to PO CALL ndDepa 400 0 0 Moves to 400 in Z coordinate at PO GIVEARM END 3 16 Chapter 3 Conventional Language See ndTc Library Version 1 2 or later Set hte TC time ndTc lt TC time gt This statement provides the equivalent function as of the TC command The setting value can range from 0 sec to 600 sec The factory setting is 60 sec Setting TC time to 0 sec disables safty start function which is equivalent to TC OFF command Macro Definition A file lt pacman h gt is required Related Terms ndTs ndTs Library Version 1 2 or later Set the TS time and slow speed ndTS lt TS time gt lt slow speed gt This statement provides the equivalent function as of the TS command The setting value for the TS time can range from 3 sec to 30 sec The factory setting is 5 sec The setting value for the slow speed can range from 1 to 10 The factory setting is 10 Macro Definition A file lt pacman h gt is required Related Terms ndTc 3 17 Chapter 4 Palletizing Chapter 4 _Pall
67. gram libraries that come with WINCAPSIII as standard RC7M CONTROLLER MANUAL Provides the specifications installation and maintenance of the RC7M controller It also describes interfacing with external devices system and user input output signals and I O circuits ERROR CODE TABLES List error codes that will appear on the teach pendant or mini pendant if an error occurs in the robot system These tables also provide detailed description and recovery ways OPTIONS MANUAL Describes the specifications installation and use of optional devices For the extension board conveyer tracking board refer to the OPTIONS MANUAL SUPPLEMENT How this book is organized This book is just one part of the documentation set It consists of command lists and chapters one to nine SAFETY PRECAUTIONS Defines safety terms safety related symbols and provides precautions that should be observed Be sure to read this section before operating your robot Commands Listed in Alphabetical Order Commands Listed According to Functions PAC Library Describes program libraries that come with WINCAPSIII as standard Contents Commands Listed in Alphabetical Order Commands Listed According to Functions Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Chapter 6 Chapter 7 Chapter 8 8 1 8 2 8 3 Chapter 9 Using the Program Libr ary vise ssicccccnsscesssvcssennesenosseavestsonnnsoenssoondsteasenso ona svonsenvstenesedeussnes opao pE E pos
68. his statement obtains palletizing counter K1 of a designated palletizing number Related Terms pltGetK pltLetK1 pltKernel CALL pltGetK1 1 10 Assigns palletizing counter K1 of palletizing No 1 to integer variable 10 4 2 Chapter 4 Palletizing pltGetM Library Obtains palletizing set value M pltGetM lt Palletizing number gt lt M save integer variable number gt This statement obtains palletizing set value M of a designated palletizing number Related Terms pltGetM1 pltLetM1 pltKernel CALL pltGetM 1 10 Assigns palletizing value M of palletizing No 1 to integer variable 10 pltGetM1 Library Obtains palletizing counter M1 pltGetM1 lt Palletizing number gt lt M1 save integer variable number gt This statement obtains palletizing counter M1 of a designated palletizing number Related Terms pltGetM pltLetM1 pltKernel CALL pltGetM1 1 10 Assigns palletizing counter M1 of palletizing No 1 to integer variable 10 4 3 Chapter 4 Palletizing pltGetN Library Obtains palletizing set value N pltGetN lt Palletizing number gt lt N save integer variable number gt This statement obtains palletizing set value N of a designated palletizing number Related Terms pltGetN1 pltLetN1 pltKernel CALL pltGetN 1 10 Assigns palletizing value N of palletizing No 1 to integer variable 10 pltGetN1 Library Obtains palletizing counter N1 pltGetN1
69. huckNG pick up NG signal DIO number Related Terms pltMain1 You may modify the template to meet your needs Chapter 4 Palletizing pltMove Library Standard palletizing template 1 pltMove lt Palletizing number gt This statement executes standard palletizing as defined with pltlnitialize You can insert a bypass point according to comments For Controller System Version 1 2 or earlier use ndVcom contained in the version 1 2 compatible class If in Version 1 2 or earlier ndVcom not in the version 1 2 compatible class but in classes 1 to 6 is used a compila tion error will result To check the controller software version refer to the SETTING UP MANUAL Chapter 5 Section 5 7 F6 Set F6 Maint F2 Version Macro Definition mcNextPos A type P variable number to store the next position mcApprLen A type F variable number to store the approach length mcDepLen A type F variable number to store the depart length L ATTENTION 2 If these definitions compete with the user s variable number define the macro again Related Terms pltInitialize pltMoveO pltKernel The palletizing counter counts when the system obtains the next position Therefore when the system obtains but does not operate you need to use pltDecCnt to decrease the counter CALL pltMove 1 Carries out palletizing motion of palletizing No 1 4 13 Chapter 4 Palletizing pltMove0 Library Standard palletizing m
70. ibrary under the compliance control you will receive an error 60fa Compliance control is enabled CALL ResetCompControl Disables compliance control CALL ResetFrcLimit Initializes the force limiting rates 7 32 Chapter 7 Arm Movement SetCompRate Library Version 1 4 or later Sets the compliance rates under the compliance control dedicated command for 6 axis SetCompRate lt Compliance along X gt lt Compliance along Y gt lt Compliance along Z gt lt Compliance about X gt lt Compliance about Y gt lt Compliance about Z gt Sets the compliance rates along and about X Y and Z axes of a coordinate system specified by SetFrcCoord Setting ranges from 0 to 100 and 0 gives the maximum compliance Up to two decimal places are valid Macro Definition lt pacman h gt is required Related Terms ResetCompRate SetFrcCoord SetCompControl e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported e This library is not available while the compliance control is enabled When you execute this library under the compliance control you will receive an error 60fa Compliance control is enabled e All the set values for along and around the X Y and Z axes will be initialized to 100 after the controller is turned on CALL SetFrcCoord 1 Sets the force limiting coordinate system to the t
71. ile lt pacman h gt is required Related Terms Resetcycloid SetCycloidJnt Setcycloid Before calling this library you need to hold an arm group semaphore The TAKEARM should execute before hand This ResetCycloidJnt library is applicable to extended joints only For robot joints use the ResetCycloid library CALL ResetCycloiddnt 8 Release cycloid mode set for 8th extended joint 7 23 Chapter 7 Arm Movement SetCPSpdMode Library Version 1 8 or later Keeps the TCP speed Tool end speed in CP motion constant or restores it to the default SetCPSpdMode lt SetValue gt If you specify a CP motion involving the rotation of the robot hand then the system will automatically decrease the TCP speed according to the rotation angle by default Setting 1 to lt SetValue gt may keep the TCP speed constant as long as the rotation angle is less than the specified value If lt SetValue gt is set to 1 the rotation speed will vary depending upon the robot motion in order to keep the TCP speed constant If you specify such a motion that will exceed the rotation speed limit then the system will issue a warning message and run the robot while decreasing the TCP speed CALL SetCPSpdMode 0 Restore to the default CALL SetCPSpdMode 1 Set the TCP speed to 1 7 24 Chapter 7 Arm Movement SetForce HM Library A current limitation library that specifies the thrust unit N of the Z coordinate with the HM HS robot
72. illimeters mm for the load condition values Designate both of them See Note1 aspACLD lt Mass of payload gt lt Payload center of gravity coordinate X gt lt Payload center of gravity coordi nate Y gt lt Payload center of gravity coordinate Z gt Note1 For 4 axes robot in Ver 1 9 or later lt Payload center of gravity coordinate Z gt is replaced with lt Inertia of payload kgcm gt The mass of payload is the mass of load end effector and workpiece mounted on the 6th axis of the robot This unit is designated as g For the load center of gravity position designate the payload center of gravity using the TOOLO coordinates The unit is millimeters mm See Note1 The reference position of the TOOLO coordinates is in the center of the 6th axis flange For component Y the direction is from the flange center to the pinhole of U6H7 orientation vector direction For component Z the direction is vertical to the flange surface through the flange center approach vector direction For component X the direction of the X axis normal vector direction is the right hand coordinate system when the orientation vector is set to the Y axis and the approach vector is set to the Z axis Refer to the PROGRAMMER S MANUAL l 4 7 Control Set of Motion Optimization in User Preferences Even if you change only one of the four values of the mass of payload the payload center of gravity X the payload center of gravity Y and payload
73. ing function does not work on older engine boards Gar PROGRAM PRO1 TakeArm Obtain the control priority MOVE P P1 Move to P1 in PTP motion CALL SetSingularAvoid 1 Enable singular point avoiding function MOVE L P2 Move to P2 under linear interpolation control CALL SetSingularAvoid 0 Disable singular point avoiding function END 7 60 Chapter 7 Arm Movement SetCollisionJnt Ver 2 61 or later Enable the collision detection for the specified joint SetCollisionJnt lt joint gt This library enables the collision detection for the joint specified by lt joint gt Macro Definition Requires file lt pacman h gt Related Terms ResetCollisionJnt e lt joint gt should be a robot joint number If it is a joint other than robot ones the error message Excess in effective joint value range Specified joint out of range appears e This library cannot be executed when the compliance control is enabled The collision detection function works with the corresponding controller software versions VS G series Version 2 61 or later VM G VP G series Version 2 70 or later HM G HS G series Version 2 80 or later e The collision detection function does not work on an old engine board TAKEARM Get robot control priority CALL SetCollisionJnt 2 Enable collision detection for joint 2 MOVE P P1 P2 With collision detection enabled move from point P1 to P2 in PTP motion CALL ResetCo
74. ion 1 2 or later Functions Vision Refer 4 axis 6 axis device to Initializes the force limiting rates dedicated command for 6 V1 4 7 32 axis Disables the balance setting between the limited motor V1 2 7 8 torque and gravity torque which is made with SetGravity Disables the gravity offset function V1 2 7 10 Disable the high accuracy path control that improves the ac V2 61 V2 61 7 59 curacy of the robot motion path in CP motion linear arc and free curve Returns from the residual vibration reduction control mode to V1 4 V1 4 7 46 the normal control mode Specifies button attributes type color shape and so on V1 7 V1 7 8 11 Defines the start position of a horizontal movement Arch V1 9 7 50 start position in upward movement of the arm endpoint and the end position in downward movement Arch end position Enable the collision detection for the specified joint V2 7 7 61 Specify the collision detection sensitivity level for the speci V2 7 7 65 fied joint Enables the compliance function dedicated command for 6 V1 4 7 27 axis Sets the allowable deviation values of the position and the V1 4 7 41 posture of the tool tip under the compliance control dedicat ed command for 6 axis Enables the compliance control function dedicated com V1 4 7 28 mand for 6 axis Sets the current limit under the compliance control special V1 4 7 37 compliance control function library dedicated command for 6 axis Sets the compliance rates
75. ion detection for joint 3 Move from point P1 to P2 in PTP motion Enable detection of external forces Move from point P2 to P3 in PTP motion Assign maximum external force calculated during move from P2 to P3 to variable J2 7 66 Chapter 8 Creating TP Easy Operation Panel Screen Chapter 8 Creating TP Easy Operation Panel Screen 8 1 How to Use Sample Programs for Creating Operation Panel Screen Sample programs that help you create TP panels are stored in the Samples folder in the WINCAPSIII install disk To import them choose Project Add Existing File and select a desired sample program 8 2 Creating TP Easy Operation Panel Screen Describes the sample programs which are provided in WINCAPSIII Select_ Screen Sample program Version 1 7 or later A use example of general purpose operation screen switching processing This program controls screen switching in the general purpose operation function This program monitors the I O numbers of the screen switching buttons defined on each operation panel screen When I O is turned on the corresponding operation panel screen is displayed This program is a sample so change it according to the actual processing Macro Definition lt button h gt is necessary Related Terms Build_Lamp_ Screen Build_Man_Screen Build_Plan_Screen 8 1 Chapter 8 Creating TP Easy Operation Panel Screen Build Lamp_ Screen Sample program Version 1 7 or later Creates the l
76. ion_cycle gt Macro Definition Requires a lt pacman h gt file Executing this library with lt detection_cycle gt being set to 1 or more first turns the associated I O output port off and then starts detection This function is optional To use it purchase the license 6 2 Chapter 6 Input Output ayj TAKEARM DRIVEA E 4 180 Move the 4th axis back to the initial position CALL dioConstantDistance IoOut 1 Start detection in 250 usec cycles DRIVEA E 4 180 Rotate the 4th axis 360 degrees CALL dioConstantDistancelIoOut 0 Stop detection 6 3 Chapter 7 Arm Movement Chapter 7 Arm Movement Describes the libraries for arm motion mvResetPulse Width Library Restores default encoder pulse counts for positioning allowance mvResetPulseWidth Restores default encoder pulse counts 20 for positioning allowance for all axes An encoder pulse count for positioning allowance refers to convergence accuracy for a joint which is applied at execution of a motion command with E option Macro Definition Requires file lt pacman h gt CALL mvResetPulseWidth Restores default encoder pulse counts for all axes 7 1 Chapter 7 Arm Movement mvResetPulseWidthJnt Library Version 1 7 or later Resets the encoder pulse count for an allowable positioning error for a specified extended joint to the default mvResetPulseWidthJnt lt JntNumber gt This library resets the current encoder pulse coun
77. is value of lt Reference position gt with that of lt Non inspection position gt This statement reverses FLIP NONFLIP if the 4 axis value exceeds lt Determination reference value gt CALL mvReverseFlip P0 P1 90 Compares base position PO with non inspection position P1 If the absolute difference exceeds 90 the system reverses 4 axis figure 7 3 Chapter 7 Arm Movement mvSetPulse Width Library Sets the permissible stop pulse width mvSetPulseWidth lt Stop permissible pulse width J1 gt lt Stop permissible pulse width J2 gt lt Stop permissible pulse width J3 gt lt Stop permissible pulse width J4 gt lt Stop permissible pulse width J5 gt lt Stop permissible pulse width J6 gt This statement sets the permissible stop pulse width The permissible stop pulse width is an error pulse used to judge that the motor has stopped when the controller confirms the encoder value by designation of E Macro Definition Requires file lt pacman h gt Set the pulse width to 1 or more If 0 is designated the default value 20 is designated If a negative value is designated the error 6003 a value exceeds a effective value zone will be displayed If a smaller value is des ignated the error 6651 check instruction time over will be displayed call mvSetPulseWidth 10 10 10 10 10 10 sets 10 pulses to stop accuracy range for all axes Chapter 7 Arm Movement mvSetPulseWidthJnt Library Version 1
78. is window ora e 4 Macro Definition lt button h gt is necessary Related Terms Plan_variable_btns Plan_pb_btns Plan_pl_btns Plan_pb_singlebtn Chapter 8 Creating TP Easy Operation Panel Screen Lamp _pl_ btns Sample program Version 1 7 or later Creates a lamp LED on a specified screen A screen number is required as an argument This program creates a lamp button by entering each parameter required to create the lamp button This program is a sample so change it according to the actual processing Macro Definition lt button h gt is necessary Related Terms make_LED Lamp _variable_btns Sample program Version 1 7 or later Creates variable buttons data display box on a specified screen A screen number is required as an argu ment This program creates variable buttons by entering each parameter required to create them This program is a sample so change it according to the actual processing Macro Definition lt button h gt is necessary Related Terms make_PARAM_BOX make_LABEL 8 5 Chapter 8 Creating TP Easy Operation Panel Screen Lamp _pb_btns Sample program Version 1 7 or later Creates a PB button screen switching button on a specified screen A screen number is required as an ar gument This program creates a PB button by entering each parameter required to create a PB button This program is a sample so change it according to the actual processing
79. ition File lt pacman h gt is required Related Terms ResetCycloidJnt Resetcycloid Setcycloid Before calling this library you need to hold an arm group semaphore The TAKEARM should execute before hand This SetCycloidJnt library is applicable to extended joints only For robot joints use the SetCycloid library Call SetCycloidJnt 8 Make 8th extended joint enter cycloid mode 7 21 Chapter 7 Arm Movement Resetcycloid Library Causes transition from the cycloid mode to the ordinary operation mode Resetcycloid Causes transition from the cycloid operation mode to the ordinary operation mode If it is desired to set the cycloid operation mode again execute Setcycloid Macro Definition The lt pacman h gt file is necessary Related Terms Setcycloid Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported CALL Resetcycloid Resets the cycloid operation mode 7 22 Chapter 7 Arm Movement ResetCycloidJnt Library Version 1 7 or later Cancels the cycloid mode set for a specified extended joint and restores the normal mode ResetCycloidJnt lt JntNumber gt ResetCycloidJnt cancels the cycloid mode set for a joint specified by lt JntNumber gt and restores the normal mode To set the cycloid mode again the SetCycloidJnt should execute again Macro Definition F
80. itions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported The set values will be initialized and all the current limits will be O after the controller is turned on e When you use SetCompJLimit to set relatively large values your robot may present an oscillation resulting in an error If this is the case use SetCompRate and SetDumpRate to adjust the compliance CALL SetFrcCoord 1 Sets the force limiting coordinate system to the tool coordinate CALL SetCompJLimit 30 0 0O O O0 0 Sets the current limit for J1 to 30 CALL SetFrcLimit 0 100 100 100 100 100 Sets the force limiting rates CALL SetCompControl Enables the compliance control function 1 37 Chapter 7 Arm Movement ResetCompJ Limit Library Version 1 4 or later Initializes the current limit under the compliance control special compliance control function library dedicated command for 6 axis ResetCompJLimit Initializes the current limit under the compliance control and set 0 to all axes Macro Definition lt pacman h gt is required Related Terms SetCompuJLimit SetCompControl Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported CALL ResetCompControl Disables the compliance control CALL ResetCompJLimit Initializ
81. izing template 1 4 12 pltMain2 Palletizing template 2 4 12 pltMove Standard palletizing template 1 4 13 pltMove0 Standard palletizing motion 1 4 14 pltResetAll Resets all palletizing counters 4 15 pltResetPLT1END Resets a palletizing 1 row completion 4 15 flag pltResetPLTEND Resets a palletizing all row comple 4 16 tion flag Tool Operation tolChange Tool change 5 1 tollnit1 Tool change initialization template 1 5 2 tollnitialize Tool change initialization 5 2 tolKernel Tool change motion kernel 5 3 tolMain1 Tool change template 1 5 3 Input Output dioSync Synchronizes with an external device 6 1 such as a sequencer connected to DIO Classified by functions Arm Movement Vision 4 axis 6 axis device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Commands Functions r vision Refer 4 axis 6 axis device to dioConstantDistan Inverse the output signal on the spec V3 0 V3 0 6 2 celoOut mvResetPulseWidth ified I O port each time the associated axis is driven by the specified angle distance for Z axis or direct acting axis Restores default encoder pulse 7 1 mvResetPulse WidthJnt mvR
82. joint variable gt This library assigns the maximum external force detected to a joint variable specified by lt joint variable gt Related Terms ClearCollisionForce e The maximum external force can be calculated only for joints whose collision detection is enabled when the corresponding motors are ON in each of Manual and Auto modes e In Auto mode this library assigns the maximum external force calculated in Auto mode in Manual or Teach check mode it assigns the one calculated in Manual mode The collision detection function works with the corresponding controller software versions VS G series Version 2 61 or later VM G VP G series Version 2 70 or later HM G HS G series Version 2 80 or later The collision detection function does not work on an old engine board Gans TAKEARM Get robot control priority CALL ClearCollisionForce Initialize maximum external force stored CALL SetCollisiondJnt 2 Enable collision detection for joint 2 MOVE P P1 P2 Move from point P1 to P2 in PTP motion CALL GetCollisionForce J1 Assign maximum external force calculated during move from P1 to P2 to variable J1 CALL ClearCollisionForce Initialize maximum external force stored MOVE P P2 P3 Move from point P2 to P3 in PTP motion CALL GetCollisionForce J2 Assign maximum external force calculated 7 63 during move from P2 to P3 to variable J2 Chapter 7 Arm Movement ClearCollisionForce Ver 2
83. letizing pltLetM1 Library Sets the palletizing counter M1 pltLetM1 lt Palletizing number gt lt M1 setting value gt This statement can set the counter M1 of a designated palletizing number By editing the palletizing counter you can palletize a hounds tooth pattern or arbitrary step pattern Related Terms pltGetM1 plitKernel CALL pltLetM1 1 4 Sets palletizing counter M1 of palletizing No 1 to 4 pltLetN1 Library Sets the palletizing counter N1 pltLetN1 lt Palletizing number gt lt N1 setting value gt This statement can set the counter N1 of a designated palletizing number By editing the palletizing counter you can palletize a hounds tooth pattern or arbitrary step pattern Related Terms pltGetN1 pltKernel CALL pltLetN1 1 3 Sets palletizing counter N1 of palletizing No 1 to 3 Chapter 4 Palletizing pltMain1 Library Palletizing template 1 pltMain1 This statement is the basic work statement to pick up a part and move it to the assembling position Macro Definition pltIndex palletizing number Related Terms pltMain2 You may modify the template to meet your needs pltMain2 Library Palletizing template 2 pltMain2 This statement is the basic work statement to pick up a part and move it to the assembling position Before picking up a part the robot checks that the previous pick up was correctly done Macro Definition pltindex palletizing number C
84. llisionJnt 2 Disable collision detection for joint 2 MOVE P P2 P3 With collision detection disabled move from point P2 to P3 in PTP motion 7 61 Chapter 7 Arm Movement ResetCollisionJnt Ver 2 61 or later Disable the collision detection for the specified joint SetCollisionJnt lt joint gt This library disables the collision detection for the joint specified by lt joint gt Macro Definition Requires file lt pacman h gt Related Terms SetCollisionJnt e lt joint gt should be a robot joint number If it is a joint other than robot ones the error message Excess in effective joint value range Specified joint out of range appears e The collision detection function works with the corresponding controller software versions VS G series Version 2 61 or later VM G VP G series Version 2 70 or later HM G HS G series Version 2 80 or later The collision detection function does not work on an old engine board TAKEARM Get robot control priority CALL SetCollisionJnt 2 Enable collision detection for joint 2 MOVE P P1 P2 With collision detection enabled move from point P1 to P2 in PTP motion CALL ResetCollisionJnt 2 Disable collision detection for joint 2 MOVE P P2 P3 With collision detection disabled move from point P2 to P3 in PTP motion 7 62 Chapter 7 Arm Movement GetCollisionForce Ver 2 61 or later Get the maximum external force GetCollisionForce lt
85. m available number of tools for multiple hands Related Terms tollnitialize tolMain1 Library Tool change template 1 tolMain1 This statement is an example of tool change When a tool number is designated in 8 bit number from iolNB the tool is changed to the designated one Macro Definition iolINB The first number of a tool number designation 1O Related Terms tolChange tollnitialize tolKernel 5 3 Chapter 6 Input Output Chapter 6 Input Output Describes the libraries for DIO and RS232C input output dioSync Library Synchronizes with an external device such as a sequencer connected to DIO dioSync lt Data receive permission signal number gt lt Data receive finish signal number gt This statement is the standard procedure used to synchronize with an external device Such as a sequencer connected to DIO CALL dioSync 220 221 Synchronizes with the connected external device by assigning a data receive permission signal and data receive finish signal to 10220 and 10221 respectively 6 1 Chapter 6 Input Output dioConstantDistanceloOut Library Version 3 0 or later Inverse the output signal on the specified I O port each time the associated axis is driven by the specified angle distance for Z axis or direct acting axis dioConstantDistanceloOut lt detection_cycle gt The angle distance of each axis and the associated I O output port number should be defined beforeh
86. mber gt to the value spec ified by lt Value gt This command is useful when you want to limit torque that a workpiece will undergo during insertion or butting jobs The maximum value of lt Value gt is 100 which refers to the motor rating current If any value exceeding the allowable limit for each axis is specified the value will be automatically limited to that allowable limit Set a value of 1 or above If 0 or a negative number is set Error 6003 will result Macro Definition Requires lt pacman h gt file Related Terms ResetCurLmt SetGravity SetGrvOffset SetEralw When the motor current is limited with SetCurLmt the robot cannot move at the maximum speed or accel eration Use SetCurLmt only at steps that need the current limit When using SetCurLmt decrease the acceleration If a workpiece bumps against something at high speed even if the driving force is controlled by limiting the motor current the impact is considerable due to the inertia of the workpiece end effector and axis Set the current limit just before the workpiece comes into contact with the object and reduce the speed Set the current limit when the robot is on halt If it is set during a pass motion an error is likely to occur Write this command in a TAKEARMed task that has obtained arm semaphore If this command is execut ed without arm semaphore obtained Error 21F7 will result When setting the current limit be sure to enable the gravity compensati
87. n Requires file lt Pacman h gt Set the timeout value to 1 or more If 0 is designated the default value 5600 is designated If a negative value is designated the error 6003 A value exceeds an effective value zone will be displayed If a smaller value is designated the error 6651 check instruction time over will be displayed call mvSetTimeOut 3000 Sets the timeout time to 3 s 7 6 Chapter 7 Arm Movement SetGravity Library Version1 2 or later Compensates for the static load gravity torque applied to each joint and attains balance with gravity torque SetGravity Each joint of the robot undergoes downward static load gravity torque due to earth gravity The effects of the gravity torque will vary depending upon the mass of payload end effector and workpiece the payload center of gravity and robot figures If you limit the motor output torque by setting its drive current limit so that the limited torque becomes lower than the gravity torque then the robot will move down towards the earth To prevent it this statement com pensates the limited torque for the gravity torque keeping the balance of torque Macro Definition Requires lt pacman h gt file Related Terms SetCurLmt ResetGravity SetGrvOffset Write this command ina TAKEARMed task that has obtained arm semaphore If this command is execut ed without arm semaphore obtained Error 21F7 will result e Set the mass of payload and the payl
88. n the motor power is off For resetting the current limit when mo tor power is off run the following program after finishing the task that is obtaining arm semaphore PRO999 TAKEARM CALL ResetCurLmt 0 END For Ver 1 4 or earlier Write this library in a TAKEARMed task that has got robot arm semaphore If you specify any joints not in the arm semaphore to lt JntNumber gt then error 21F7 Cannot take arm semaphore will result For Ver 1 5 or later Write this library ina TAKEARMed task that has got an arm group If you specify any joints not included in the arm group to lt JntNumber gt then error 27D Cannot take J semaphore will result 7 13 CALL ResetCurLmt 0 Resets the current limit of all the axes Chapter 7 Arm Movement n SetEralw Library Version1 2 or later Modifies the allowable deviation of the specified axis SetEralw lt AxisNumber gt lt Value gt Sets the allowable deviation of the axis specified by lt AxisNumber gt Use this command if angle deviation oc curs due to external force when the current limit function is enabled The lt Value gt is the arm joint angle and specified in degrees Allowable deviation value refers to the allowable range of the Error 611 J Excessive deviation which will occur for safety if the servo deviation exceeds the specified value During assembling operation with the current limit enabled if servo deviation occurs due to external force the abo
89. n variable to an external device If lt Position variable number gt is positive The system transfers a storage variable type and contents of the position variable designated with a storage variable number to the external device Macro Definition Requires file lt pacman h gt Related Terms ndVcom ndVType 3 10 include lt pacman h gt PROGRAM PRO65 FLUSH CALL ndVType 1 Sets the protocol Conventional 0 New 1 CALL nsVrst Initializes the external device CALL ndVis 4 Starts up the external device Sends 03 P1 1 2 3 4 5 6 7 J1 11 12 13 14 15 16 T1 21 22 23 24 25 26 27 28 29 30 CALL ndVput pacPOS 1 Sends the data of variable P1 CALL ndVput pacJUNT 1 Sends the data of variable J1 CALL ndVput pacTRN 1 Sends the data of variable T1 END Chapter 3 Conventional Language ndVrst Library Initializes an external device RS232C input output ndVrst This statement provides a similar function to a VRST instruction in the conventional language It also directs the external device to initialize Related Terms ndVcom ndVType include lt Pacman h gt PROGRAM PRO1 DEFINT JF_VAL 0 FLUSH CALL CALL CALL CALL CALL ndvType 1 ndVrst ndVset 0 ndVis 3 ndJf 3 JF_VAL IF JF_VAL TRUE THEN CALL CALL CALL CALL ndVset 3 ndvVdt pacPOS 1 ndVdt pacJUNT 1 ndVdt pacTRN 1 END IF END Sets the protocol Conventional
90. nce special compliance control function library dedicated command for 6 axis ResetFrcAssisit Initializes the force assistance along and the moment assistance about X Y and Z axes of a coordinate system specified by SetFrcCoord are set to 100 Macro Definition lt pacman h gt is required Related Terms SetFrcAssist Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported CALL ResetCompControl Disable the compliance control CALL ResetFrcAssist Initializes the force assistance and the moment assistance 7 36 Chapter 7 Arm Movement SetCompJLimit Library Version 1 4 or later Sets the current limit under the compliance control special compliance control function library dedicated com mand for 6 axis SetCompuLimit lt J1 current limit gt lt J2 current limit gt lt J3 current limit gt lt J4 current limit gt lt J5 current limit gt lt J6 current limit gt Sets the current limit under the compliance control The rated current of a motor corresponds to 100 When you use SetFrcLimit to set 0 to all the directions the motor currents are limited to values less than the setting Setting ranges from 0 to 100 Macro Definition lt pacman h gt is required Related Terms ResetCompJLimit SetCompControl e Execute this command in a task holding robot control cond
91. nge button_pos Library Version 1 7 or later Specify the button arrangement position size and so on on the screen arrange_button_pos lt number of displayed buttons gt lt button display starting X coordinate gt lt button display starting Y coordinate gt lt number of buttons on screen width gt lt number of buttons on screen height gt lt head but ton number gt lt horizontal button gap gt lt vertical button gap gt lt button display panel number gt This program uses parameters required to arrange buttons as arguments to determine the button positions on the screen This program specifies the number of buttons on the height of the screen as an argument parameter for button creation like the set_button_size function Macro Definition lt button h gt is necessary call arrange button_size BUTTON _NUM ORIGIN PX ORIGIN PY PANEL M PANEL N B START NUM H GAP V_GAP PANEL NO 8 12 Chapter 9 Vision Chapter 9 Vision Describes the libraries for vision functions vilran6 Library for the Vision board Transforms the vision coordinates to robot coordinates for 6 axes viTran6 lt Calibration number gt lt Vision coordinate X gt lt Vision coordinate Y gt lt Robot coordinate P type gt This statement transforms the vision coordinates X Y to the robot absolute coordinates X Y Z For execution of this library it is required to execute vision calibration and transmit the vision calibr
92. not be changed e When you specify 2 for lt Set value gt to select the work coordinate system the work coordinate will be the work coordinate for enabling the compliance control executing SetCompControl When you use the changetool command to change the work coordinate while the compliance control is enabled the force limiting coordinate will not be changed e The set value will be initialized to O the base coordinate system after the controller is turned on CALL SetFrcCoord 1 Sets the force limiting coordinate system to the tool coordinate Changetool 2 Sets the tool coordinate to tool2 CALL SetFrcLimit 100 0 100 100 100 100 Sets the force limiting rate CALL SetCompControl Sets the force limiting rate in Y direction of the tool 2 coordinate system to 0 and enables the compliance control 7 30 Chapter 7 Arm Movement SetFrcLimit Library Version 1 4 or later Sets the force limiting rates dedicated command for 6 axis SetFrcLimit lt Limiting rate along X gt lt Limiting rate along Y gt lt Limiting rate along Z gt lt Limiting rate about X gt lt Limiting rate about Y gt lt Limiting rate about Z gt Setting ranges from 0 to 100 Up to two decimal places are valid Sets the force limiting rates along and about X Y and Z axes of a coordinate system specified by SetFrcCoord Macro Definition lt pacman h gt is required Related Terms ResetFrcLimit SetFrcCoord SetCompC
93. nt assistance about Z gt Sets the force assistance along and the moment assistance about X Y and Z axes of a coordinate system specified by SetFrcCoord The maximum set value is 10 of the maximum force limiting value The unit for the force setting is N The unit for the moment setting is Nm Up to one decimal place is valid Macro Definition lt pacman h gt is required Related Terms ResetFrcAssist SetFrcCoord SetCompControl e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported e Your robot may move toward the direction to which the force assistance and the moment assistance are applied If this is the case reduce the set values e All the set values for along and around the X Y and Z axes will be initialized to O after the controller is turned on CALL SetFrcCoord 1 Sets the force limiting coordinate system to the tool coordinate CALL SetFrcAssist 30 0 0 0 O 0 Sets the force assistance to 30 N toward X direction CALL SetFrcLimit 0 100 100 100 100 100 Sets the force limiting rates CALL SetCompControl Enables the compliance control function Force limiting in X direction is 0 and a force of 30 N is applied toward X direction 7 35 Chapter 7 Arm Movement ResetFrcAssist Library Version 1 4 or later Initializes the force assista
94. nterpret it as operation being in progress e If you use a local variable for lt MotionCommandComplete gt the local variable must be reset to 0 before hand Gan defint comp 0 Initialize motion command completion status defjnt 131 defsng 1f1 move p P1 next DO 1j1 GetSrvState 2 Get error of each joint rotation 1 1 ABS JOINT 2 131 Select the rotation error of J2 if 1f 1 gt 10000 then CALL MotionSkip If the rotation error of J2 exceeds 10000 in pulses then abort motion commands and end the loop EXIT DO endif CALL MotionComp comp LOOP UNTIL comp 1 Loop until the end of motion commands 7 48 Chapter 7 Arm Movement ArchMove Library Version 1 9 or later Executes an arch motion ArchMove lt destination Position variable gt lt Z axis move gt This library makes a pick and place motion from current position P1 pick to destination position P4 place via the vicinity of route positions P2 and P3 The route position P3 is located above destination position P4 by the vertical move distance L1 specified by lt Z axis move gt The route position P2 is on the Z axis of source position P1 and has the same Z axis value as P3 Arch start position L2 and end position L3 should be defined in the SetArchParam library Macro Definition Requires file lt pacman h gt Related Terms SetArchParam e Execute this library in a TAKEARMed task that holds an arm semaphore An
95. o V1 5 V1 5 7 52 data StopSrvMonitor Stops monitoring single joint servo V1 5 V1 5 7 53 data ClearSrvMonitor Initializes the pointer of data obtained V1 5 V1 5 7 54 by the single joint servo data monitor function xdWAITSPLINE Waits for the free curve to pass the V2 3 V2 3 7 55 designated viapoint xdSPLPASSNUM Obtains the viapoint through which V2 3 V2 3 7 56 the free line has passed xdSPLClrTakeArm Changes the validity of free curve vi V2 3 V2 3 7 57 apoint clear process execution during TakeArm SetHighPathAccuracy Enable or disable the high accuracy V2 61 V2 61 7 58 path control that improves the accu racy of the robot motion path in CP motions linear arc and free curve ResetHighPathAccu Disable the high accuracy path con V2 61 V2 61 7 59 racy trol that improves the accuracy of the robot motion path in CP motion lin ear arc and free curve SetSingularAvoid Enable or disable the singular point V2 61 7 60 avoiding function for 6 axis robots SetCollisionJnt Enable the collision detection for the V2 7 7 61 specified joint ResetCollisionJnt Disable the collision detection for the V2 7 7 62 specified joint GetCollisionForce Get the maximum external force V2 7 7 63 ClearCollisionForce Clear the maximum external force V2 7 7 64 SetCollisionLevel Specify the collision detection sensi V2 7 7 65 tivity level for the specified joint SetExtForceDetect Enable disable detection of external V2 7 7 66 force Lib
96. oad center of gravity accurately Otherwise the robot may move down due to gravity if you set a low current limit value e g less than 30 For the entry procedure of the mass of payload and the payload center of gravity refer to p 4 15 4 7 Setting the Master Control Pa rameters in User Preferences If you do not know the accurate mass of payload or its center of gravity or if the robot moves down in spite of accurate settings then use the gravity offset function SetGrvOffset that compensates for the gravity compensation value e Ifyou set the gravity offset setting to 1 on the teach pendant the gravity offset function becomes enabled The setting made on the teach pendant will take effect immediately following the completion of calibration after the robot controller is powered on CALL SetGravity Enables gravity compensation function Delay 100 Waits for gravity compensation to take effect CALL SetCurLmt 2 30 Sets the current limit value of the 2nd axis to 30 7 7 Chapter 7 Arm Movement ResetGravity Library Version1 2 or later Disables the balance setting between the limited motor torque and gravity torque which is made with SetGrav ity ResetGravity This command disables the balance setting between the motor torque limited by the current limit function and gravity torque Macro Definition Requires lt pacman h gt file Related Terms ResetCurLmt SetEralw e Write this command ina TAKE
97. on function If the current limit is set when the gravity compensation function is disabled Error 665a will result For the gravity compensa tion function refer to SetGravity 6 axis e Ifthe current limit reset value in User Preferences is set to any value other than 1 the current limit will be reset when you turn on the motor power To make the current limit function effective immediately after switching on the motor power set the current limit reset value to 1 e Set the mass of payload and the payload center of gravity accurately Otherwise the robot may move down due to gravity if you set a low current limit value e g less than 30 For the entry procedure of the mass of payload and the payload center of gravity refer to PART 1 Section 5 7 Setting the Master Control Parameters in User Preferences e If the current limit reset value is set to 1 the robot might move down due to gravity the moment you turn on the motor power Reset the current limit by executing ResetCurLmt when the motor power is off and then switch on the motor power If you do not know the accurate mass of payload or its center of gravity or if the robot moves down in spite of accurate settings then use the gravity offset function SetGrvOffset that compensates for the gravity compensation value Chapter 7 Arm Movement 6 axis CALL SetGravity Enables the gravity offset CALL SetGrvOffset Compensates the gravity offset value CALL SetEralw
98. ontrol e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported e This library is not available while the compliance control is enabled When you execute this library under the compliance control you will receive an error 60fa Compliance control is enabled e All the set values for along and around the X Y and Z axes will be initialized to 100 after the controller is turned on CALL SetFrcCoord 1 Sets the force limiting coordinate system to the tool coordinate CALL SetFrcLimit 100 0 100 100 100 100 Sets the force limiting rates CALL SetCompControl Sets the force limiting rate in Y direction of the tool coordinate system to 0 and enables the compliance control 7 31 Chapter 7 Arm Movement ResetFrcLimit Library Version 1 4 or later Initializes the force limiting rates dedicated command for 6 axis ResetFrcLimit Initializes the force limiting rates All rates along and about X Y and Z axes are set to 100 Macro Definition lt pacman h gt is required Related Terms SetFrcLimit e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported e This library is not available while the compliance control is enabled When you execute this l
99. ool coordinate CALL SetCompRate 100 0 100 100 100 100 Sets the compliance rate CALL SetCompControl Sets the compliance rate in Y direction of the tool coordinate system to 0 and enables the compliance control 7 33 Chapter 7 Arm Movement ResetCompRate Library Version 1 4 or later Initializes the compliance rates dedicated command for 6 axis ResetCompRate Initializes the compliance rates along and about X Y and Z axes to 100 Macro Definition lt pacman h gt is required Related Terms SetCompRate e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported e This library is not available while the compliance control is enabled When you execute this library under the compliance control you will receive an error 60fa Compliance control is enabled CALL ResetCompControl Disables the compliance control CALL ResetCompRate Initializes the compliance rates 7 34 Chapter 7 Arm Movement SetFrcAssist Library Version 1 4 or later Sets the force assistance under the compliance control special compliance control function library dedicated command for 6 axis SetFrcAssist lt Force assistance along X gt lt Force assistance along Y gt lt Force assistance along Z gt lt Mo ment assistance about X gt lt Moment assistance about Y gt lt Mome
100. otion 1 pltMoved This statement is a specialized program to Index 0 of pltMove Index If you change the motion of each pallet add this program to change the line of DEFINE pltIndex 0 to the pallet number and then change the program name For Controller System Version 1 2 or earlier use ndVcom contained in the version 1 2 compatible class If in Version 1 2 or earlier ndVcom not in the version 1 2 compatible class but in classes 1 to 6 is used a compila tion error will result To check the controller software version refer to the SETTING UP MANUAL Chapter 5 Section 5 7 F6 Set F6 Maint F2 Version Macro Definition mcNextPos_ A type P variable number to store the next position mcApprLen A type F variable number to store the approach length mcDepLen A type F variable number to store the depart length L ATTENTION D If these definitions compete with the user s variable number define the macro again PltIndex pallet number Related Terms pltInitialize pltMove pltKernel The palletizing counter counts when the system obtains the next position Therefore when the system obtains but does not operate you need to use pltDecCnt to decrease the counter CALL pltMoveod Carries out palletizing motion of palletizing No 0 4 14 Chapter 4 Palletizing pltResetAll Library Resets all palletizing counters pltResetAll lt Palletizing number gt This statement resets all palletizing coun
101. otor power is on and the robot is on halt If it is executed when the motor power is off Error 6006 will result If it is executed when the robot is in motion Error 600B will result e If the robot attitude is greatly changed after execution of this command execute this command again e If the current limit reset value in User Preferences is set to any value other than 1 3 5 or 7 the compensation value will be reset to 0 when you turn on the motor power CALL SetGrvOffset 7 9 Chapter 7 Arm Movement ResetGrvOffset Library Version1 2 or later Disables the gravity offset function ResetGrvOffset Disables the gravity offset function which has been enabled with SetGrvOffset Macro Definition Requires lt pacman h gt file Related Terms SetGrvOffset e Write this command ina TAKEARMed task that has obtained arm semaphore If this command is execut ed without arm semaphore obtained Error 21F7 will result e This command should be executed when the robot is on halt If it is executed when the robot is in motion Error 600B will result This command is executable even when the motor power is off CALL ResetGrvOffset 7 10 Chapter 7 Arm Movement SetCurLmt Library Version1 2 or later Sets the limit of motor current to be applied to the specified axis SetCurLmt lt AxisNumber gt lt Value gt Limits the value of motor current torque to be applied to the axis specified by lt AxisNu
102. raries for Creating Operation Panel Screen make_PB Creates a PB button V1 7 V1 7 8 9 make_LED Creates an LED button V1 7 V1 7 8 9 make_LABEL Creates a title label V1 7 V1 7 8 10 make_PARAM_BOX Creates a variable button entry amp V1 7 V1 7 8 10 display box single_button_set Creates only one button V1 7 V1 7 8 11 set_button_param Specifies button attributes type col V1 7 V1 7 8 11 or shape and so on arrange_button_size Specifies the button arrangement V1 7 V1 7 8 12 position size and so on on the screen arrange_button_pos Specify the button arrangement po V1 7 V1 7 8 12 sition size and so on on the screen Vision 4 axis 6 axis device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Classified by functions Commands Functions en Beler 4 axis 6 axis device to Vision viTran6 Transforms the vision coordinates to 9 1 robot coordinates for 6 axes viTran6S Transforms the vision coordinates to 9 2 robot coordinates for 6 axes Chapter 1 Using the Program Library Chapter 1 Using the Program Library To use program libraries you must run a program bank in WINCAPSIII and add necessary libraries to the pro gram bank For the procedure
103. reases the sensitivity Macro Definition Requires file lt pacman h gt Related Terms SetCollisionJnt ResetCollisionJnt lt joint gt should be a robot joint number If it is a joint other than robot ones the error message Excess in effective joint value range Specified joint out of range appears e This library cannot be executed when the compliance control is enabled Ifthe robot detects a false collision increase the detection sensitivity level to decrease the detection sen sitivity e The collision detection function works with the corresponding controller software versions VS G series Version 2 61 or later VM G VP G series Version 2 70 or later HM G HS G series Version 2 80 or later The collision detection function does not work on an old engine board Gays TAKEARM Get robot control priority CALL SetCollisiondJnt 3 Enable collision detection for joint 3 CALL SetCollisionLevel 3 80 Set collision detection sensitivity level for joint 3 to 80 MOVE P P1 P2 With higher detection sensitivity for joint 3 move from point P1 to P2 in PTP motion CALL SetCollisionLevel 3 120 Set collision detection sensitivity level for joint 3 to 120 MOVE P P2 P3 With lower detection sensitivity for joint 3 move from point P2 to P3 in PTP motion 7 65 Chapter 7 Arm Movement SetExtForceDetect Ver 2 61 or later Enable disable detection of external force SetExtForceDetec
104. reported e If you execute ResetVibControl while using SetEralw to change the allowable angle deviation the allow able angle deviation will be initialized Use SetEralw to set the allowable angle deviation again e When you execute ResetVibControl during a path motion the library is executed after the motion stops Thus this will be an execution after stop CALL ResetVibControl Sets to the normal control mode 7 46 Chapter 7 Arm Movement MotionSkip Library Version 1 5 or later Aborts running motion commands MotionSkip MotionSkip aborts motion commands running in the task in which the MotionSkip executes Related Terms GetJntData GetSrvData e Execute this command in a TAKEARMed task that holds an arm semaphore If not ina TAKEARMed task the error Not executable will result e Executing MotionSkip in a robot motion task will abort robot joint motion commands Executing it in an ex tended joint motion task will abort extended joint motion commands If MotionSkip executes in a motion task holding an arm group involving both robot joints and extended joints then both the robot and extended joint motions will be aborted defjnt 131 defsng 1f1 move p P1 next 1j1 GetSrvState 2 Get errors of each joint rotation angle 1 1 ABS JOINT 2 151 Select rotation error of J2 if 1f1 gt 10000 then CALL MotionSkip T the rotation error of J2 exceeds 10000 in pulses then abort motion commands en
105. s OK TRUE Receives 10 data from the external device Sends 03 Assigns the data received from the external device to variable P1 Assigns the data received from the external device to variable J1 Assigns the data received from the external device to variable T1 Chapter 3 Conventional Language ndVcom Library Communication with an external device kernel RS232C input output ndVcom lt Function code gt lt Array variable gt This is a kernel program for communication with an external equipment and is required for using the commu nication libraries ndVis ndJf ndVset ndVrst ndVput and ndVType For Controller System Version 1 2 or earlier use ndVcom contained in the version 1 2 compatible class If in Version 1 2 or earlier ndVcom not in the version 1 2 compatible class but in classes 1 to 6 is used a compila tion error will result To check the controller software version refer to the SETTING UP MANUAL Chapter 5 Section 5 7 F6 Set F6 Maint F2 Version ATTENTION J This program is not automatically executed by multitasking operation If you execute this by multitasking operation you need to change this for synchronization using a semaphore etc Related Terms 3 14 ndVis ndJf ndVset ndVrst ndVput ndVdt ndVType Chapter 3 Conventional Language ndApra Library Performs absolute operation with the tool coordinate system specified exclusively for four axis
106. s by multi tasking you need to change this for synchronization using a semaphore Macro Definition mcPaltMax Maximum pallet number You can easily increase pallets in number by defining this macro again ATTENTION D If you increase the number of pallets the system consumes the local variable area Related Terms pltInitialize e Only other libraries call this library The user does not directly call this e For directly using this you should fully understand the contents of the program 4 9 Chapter 4 Palletizing pltLetCnt Library Sets the total palletizing counter pltLetCnt lt Palletizing number gt lt All counter setting values gt This statement can set the total palletizing counter of a designated palletizing number By editing the palletizing counter you can palletize a hounds tooth pattern or arbitrary step pattern Related Terms pltDecCnt pltGetCnt pltIncCnt pltKernel CALL pltLetCnt 1 12 Sets the total palletizing counter of palletizing No 1 to 12 pltLetK1 Library Sets the palletizing counter K1 pltLetK1 lt Palletizing number gt lt K1 setting value gt This statement can set the counter K1 of a designated palletizing number By editing the palletizing counter you can palletize a hounds tooth pattern or arbitrary step pattern Related Terms pltGetK1 pltKernel CALL pltLetK1 1 1 Sets palletizing counter K1 of palletizing No 1 to 1 4 10 Chapter 4 Pal
107. s disabled and the current limiting is enabled Execute again after you enable the gravity offset and disable the current limiting e The compliance control will not be enabled while motors are off The compliance control will be disabled when you turned off motors under the compliance control e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported e Execute while your robot is stopping Executing this library in a path motion will cause an execution after stop When you receive an error 600b Robot is in motion after you execute this library while your robot is in motion wait until your robot stops after issuing a command such as Delay Set the tip load exactly Your robot may fall in the direction of gravity when the tip load setting and the actual tip load differ You can execute SetGrvOffset to prevent a fall due to gravity CALL SetGrvOffset Calculates the gravity offset compensation value CALL SetFrcCoord 1 Sets the force limiting coordinate CALL SetFrcLimit 100 0 100 100 100 100 Sets the force limiting rate CALL SetCompFControl Enables the compliance control function 7 28 Chapter 7 Arm Movement ResetCompControl Library Version 1 4 or later Disables the compliance control function dedicated command for 6 axis ResetCompContrl Disables the compliance control function
108. s of the program bank refer to the WINCAPSIII Guide 1 1 Chapter 2 Grouping of Program Libraries Chapter 2 Grouping of Program Libraries Program libraries provided as standard are grouped as listed below in the WINCAPSIII program bank Library name Contents IDWOO0 Conventional language Functions equivalent to commands provided in the conventional language IDW01 Palletizing Palletizing functions IDW02 Tool operation Tool operation related functions IDWO3 Input Output DIO and RS 232C I O related functions IDW04 Arm Compliance Arm motion related compliance functions IDWO 5 Arm Conveyer Arm motion related conveyor tracking functions IDWO6 Arm Collision Arm motion related collision detection functions IDWO7 Arm Spline Arm motion related free curve functions IDWO08 Arm Set Reset Enable disable programs of other arm motion related functions IDWO9 Arm Misc Other arm motion related functions IDW10 Vision Vision operation related functions IDW11 Miscellaneous Compatibility with earlier versions of the controller software 2 1 Chapter 3 Conventional Language Chapter 3 Conventional Language Provides similar functions to those of the conventional language which were used in the RC3 controller model aspACLD Library Changes the internal load condition values There are the mass of payload noted in grams g and the pay load center of gravity noted in m
109. s robots of Version 1 2 or later Commands Functions f MISio RAe 4 axis 6 axis device to ndApra Performs absolute operation with the tool coordinate system 3 15 specified exclusively for four axis robots ndDepa Performs absolute operation with the tool coordinate system 3 16 specified exclusively for four axis robots ndinb Converts the input of a designated port to a decimal number 3 4 and treats it as a binary number ndJf A conditional branch upon receipt of OK NG from an external 3 5 device RS232C input output ndOnb Converts a decimal number to a binary number and outputs 3 6 it from a designated port ndOnbl Converts a decimal number to a binary and outputs it from a 3 7 designated port ndTc Set hte TC time V1 2 3 17 ndTs Set the TS time and slow speed V1 2 3 17 ndVcom Communication with an external device kernel RS232C in 3 14 put output ndVdt Memorizes a variable transferred from an external device 3 8 RS232C input output ndVis Transfers a designated 2 digit integer to an external device 3 9 RS232C input output ndVput Transfers the position posture to an external device 3 10 RS232C input output ndVrst Initializes an external device RS232C input output 3 11 ndVset Receives data from an external device RS232C input out 3 12 put ndVType Designates the protocol for communication with an external 3 13 device RS232C output O
110. s the residual vibration when robot stops its motion Macro Definition lt pacman h gt is required Related Terms ResetVibControl e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported e If you execute SetVibControl while using SetEralw to change the allowable angle deviation the allowable angle deviation will be initialized Use SetEralw to set the allowable angle deviation again The path precision will decrease due to motion follow up delay in the residual vibration reduction control mode Avoid this mode when the path precision is required e When you execute SetVibControl during a path motion the library is executed after the motion stops Thus this will be an execution after stop CALL SetVibControl Sets to the residual vibration reduction control mode 7 45 Chapter 7 Arm Movement ResetVibControl Library Version 1 4 or later Returns from the residual vibration reduction control mode to the normal control mode ResetVibConrol Returns from the residual vibration reduction control mode to the normal control mode Macro Definition lt pacman h gt is required Related Terms ResetVibControl e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is
111. t gt high order port or if you designate a port not available for output no processing will be done CALL ndOnb 15 769 784 Converts a decimal 15 to a 16 bit binary and outputs it to output ports 769 to 784 3 6 Chapter 3 Conventional Language ndOnbI Library Converts a decimal number to a binary and outputs it from a designated port ndOnbl lt Integer variable number gt lt Least significant digit output port number gt lt Most significant digit output port number gt This statement provides a similar function to an ONB instruction in the conventional language The system converts an integer to a binary number and outputs it from a designated port Use the ndOnb Library for the ONB instruction to format type variable value output Related Terms ndinb ndOnb For output ports use 16 ports or less in series When you designate more than 16 ports if low order port gt high order port or if you designate a port not available for output no processing will be done CALL ndOnbI 1 769 784 Converts the value of integer variable I number 1 to a 16 bit binary and outputs it to output ports 769 to 784 3 7 Chapter 3 Conventional Language ndVdt Library Memorizes a variable transferred from an external device RS232C input output ndVdt lt Storage variable type gt lt Storage variable number gt This statement provides a similar function of a VDT instruction in the conventional language
112. t lt value gt This library enables or disables detection of external force if lt value gt is 1 default or 0 respectively Macro Definition Requires file lt pacman h gt Related Terms SetCollisionJnt GetCollisionForce e lt value gt should be 0 or 1 Any other value results in an error e The default of lt value gt is 1 Enable Even if lt value gt is set to 0 Disable it will revert to 1 by switching between Manual and Auto modes or by restarting the robot controller e Unlike SetCollisionJoint or ResetCollisionJoint this library does not enable or disable collision detection Disabling detection of external force with this library does not update maximum external forces stored even if the robot detects greater external force than the one stored Use this library when checking the maximum external force in a particular zone e The collision detection function works with the corresponding controller software versions VS G series Version 2 61 or later VM G VP G series Version 2 70 or later HM G HS G series Version 2 80 or later The collision detection function does not work on an old engine board TAKEARM CALL CALL SetExtForceDetect 0 ClearCollisionForce SetCollisiondJnt 3 P Pl P2 SetExtForceDetect 1 P P2 P3 GetCollisionForce J2 Get robot control priority Disable detection of external forces Initialize the maximum external force Enable collis
113. t specified for an allowable positioning error for an extended joint specified by lt JntNumber gt to the default value of 20 For details about the encoder pulse count for an allowable positioning error Macro Definition File lt pacman h gt is required Related Terms mvResetPulseWidth mvSetPulseWidthJnt This mvResetPulseWidthJnt library is applicable to 7th and 8th extended joints only For robot joints use the mvResetPulseWidth library CALL mvResetPulseWidthdnt 7 Reset allowable error pulse count for 7th extended joint to the default 7 2 Chapter 7 Arm Movement mvResetTimeOut Library Restores the default motion finish timeout value mvResetTimeOut This statement sets the value of the movement finish timeout to a default value of 5600 millisec 5 6 sec The movement finish timeout is the limit value of the time which is taken for the axis to enter the stop permis sible pulse width when the axis moves during encoder value checking motion E designation Even if the axis does not enter the permissible pulse width within the limit value the alarm 6651 check instruc tion time over will be displayed Macro Definition Requires file lt pacman h gt CALL mvReset TimeOut Restores the default motion finish timeout value mvReverseFlip Library 4 axis figure reverse mvReverseFlip lt Base position gt lt No check position gt lt Decision base value gt The system compares the 4 ax
114. ters This has almost the same meaning as pltLetCnt lt Palletizing number gt 0 However this library also resets the row completion flag When redefinition of palletizing motion is not required and only a counter is reset use this library Do not use pltInitialize Related Terms pltInitialize pltResetPLTEND pltKernel CALL pltResetAl1 1 Resets all palletizing counters of palletizing No 1 pltResetPLT1IEND Library Resets a palletizing 1 row completion flag pltResetPLT1END lt Palletizing number gt This statement resets a palletizing 1 row completion flag Related Terms pltGetPLT1END pltResetPLTEND pltKernel CALL pltResetPLT1END 1 Resets a palletizing 1 row completion flag of p pP g p g palletizing No 1 4 15 Chapter 4 Palletizing pltResetPLTEND Library Resets a palletizing all row completion flag pltResetPLTEND lt Palletizing number gt This statement resets a palletizing all row completion flag Macro Definition Related Terms pltGetPLTEND pltResetPLT1END pltKernel CALL pltResetPLTEND 1 Resets a palletizing all row completion flag of palletizing No 1 4 16 Chapter 5 Tool Operation Chapter 5 Tool Operation Describes the libraries for tool operation tolChange Library Tool change tolChange lt Tool loading number gt lt Tool number gt This library executes the standard tool change motion as defined in tollnitialize Related Terms
115. the specified parameters display characters and number of buttons Macro Definition lt button h gt is necessary call make _LED sysprm pl_title MAX PL 8 9 Chapter 8 Creating TP Easy Operation Panel Screen make LABEL Library Version 1 7 or later Creates a title label make_LABEL This program sets a title on the screen on the basis of the specified parameters display characters and num ber of buttons Macro Definition lt button h gt is necessary call make_LABEL sysprm pl_title PL_NUM make PARAM _ BOX Library Version 1 7 or later Creates a variable button entry amp display box make_PARAM_BOX This program sets a variable button on the screen on the basis of the specified parameters and number of but tons Macro Definition lt button h gt is necessary call make_PARAM BOX sysprm VBTN_NUM 8 10 Chapter 8 Creating TP Easy Operation Panel Screen ees single button_set Library Version 1 7 or later Creates only one button single_button_set This program sets only one button by specifying a parameter for a specifeid button number Macro Definition lt button h gt is necessary call single button_set btn_no prm set_button_param Library Version 1 7 or later Specifies button attributes type color shape and so on set_button_param lt number of displayed buttons gt lt number of head buttons gt lt displayed button type gt lt b
116. to the previous value after the execution CALL ResetCompControl Disables the compliance control function CALL ResetEralw Initializes the allowable deviation values Chapter 7 Arm Movement SetFrcCoord Library Version 1 4 or later Selects a force limiting coordinate system dedicated command for 6 axis SetFrcCoord lt Set value gt Selects a coordinate system for force limiting values specified by SetFrcLimit and SetCompRate You can use a set value 0 for the base coordinate system a set value 1 for the tool coordinate system and a set value 2 for the work coordinate system of your robot Macro Definition lt pacman h gt is required Related Terms SetFrcLimit SetCompRate SetFrcCoord ResetCompControl e Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported This library is not available while the compliance control is enabled When you execute this library under the compliance control you will receive an error 60fa Compliance control is enabled e When you specify 1 for lt Set value gt to select the tool coordinate system the tool coordinate will be the tool coordinate for enabling the compliance control executing SetCompControl When you use the change tool command to change the tool coordinate while the compliance control is enabled the force limiting co ordinate will
117. ts J5 as the third viapoint for the free curve with trajectory 5 Executes free curve motion to move to J5 through P4 and P1 Sets the passed viapoint number to I1 7 56 Chapter 7 Arm Movement xdSPLClIrTakeArm Library Version 2 3 or later Changes the validity of free curve viapoint clear process execution during TakeArm xdSPLClIrTakeArm lt Set value gt If the lt Set value gt is 0 the viapoint of the free curve during TakeArm is not cleared If the lt Set value gt is a different value the viapoints of the free curve during TakeArm are cleared Related Terms CLRSPLINEPOINT SETSPLINEPOINT 7 57 In the initial state after controller power on free curve viapoints are cleared during TakeArm To register the free curve notion viapoints other than by the free curve motion program for registration by the intialization pro gram set by CALL xdSPLClrTakeArm 0 so as not to clear the viapoints for the free curve during Take Arm PROGRAM INITIAL CLRSPLINEPOINT 5 SETSPLINEPOINT 5 P4 SETSPLINEPOINT 5 P1 SETSPLINEPOINT 5 J5 CALL xdSPLC1rTakeArm 0 Clears all viapoints for the free curve with trajectory 5 Sets P4 as curve with Sets P1 as curve with Sets J5 as curve with the first viapoint for the free trajectory 5 the second viapoint for the free trajectory 5 the third viapoint for the free trajectory 5 Does not clear the viapoints of the
118. under the compliance control V1 4 7 33 dedicated command for 6 axis Sets the velocity control mode under the compliance control V1 4 7 39 special compliance control function library dedicated com mand for 6 axis Keeps the TCP speed Tool end speed in CP motion con V1 8 V1 8 7 24 stant or restores it to the default Sets the limit of motor current to be applied to the specified O V1 2 7 11 axis Causes transition to the cycloid operation mode to suppress V1 4 7 20 overshoot and residual vibration at the end of PTP operation Enters a specified extended joint into the cycloid mode V1 5 V1 5 7 21 where the controller suppresses the peak of overshoot and residual oscillation that would occur in an end motion Sets the damping rates under the compliance control dedi V1 4 7 43 cated command for 6 axis Modifies the allowable deviation of the specified axis V1 2 7 14 Enable disable detection of external force V2 7 7 66 A current limitation library that specifies the thrust unit N of 7 26 the Z coordinate with the HC robot Commands SetForce_HM SetFrcAssist SetFrcCoord SetFrcLimit SetGravity SetGrvOffset SetHighPathAccuracy SetMonitorCond SetSingularAvoid SetVibControl single_button_set StartSrvMonitor StopSrvMonitor T tolChange tollnit1 tollnitialize tolKernel tolMain1 V viTran6 viTran6S X xdSPLClrTakeArm xdSPLPASSNUM xdWAITSPLINE Vision 4 axis 6 axis devic
119. used for setting the deviation is the one set by SetFrcCoord When you specify as SetFrcCoord 1 the setting coordinate system for SetCompEralw is the tool coordinate system CALL SetFrcCoord 2 Sets the force limiting coordinate system to the work coordinate system CALL SetFrcLimit 100 0 100 100 100 100 Sets the force limiting rate for the Y direction of the work coordinate system to 0 CALL SetCompEralw 10 150 10 5 5 5 Sets the allowable deviation values along X and Z of the work coordinate to 10 mm along Y to 150 mm and about X Y and Z to 5 degree 7 41 Chapter 7 Arm Movement ResetCompEralw Library Version 1 4 or later Initializes the allowable deviation values of the position and the posture of the tool tip under the compliance control dedicated command for 6 axis ResetCompEralw Initializes the allowable deviation values of the position and the posture of the tool tip under the compliance control The initial values of allowable deviation are 100 mm along X Y and Z and 30 degree about X Y and Z Macro Definition lt pacman h gt is required Related Terms SetCompEralw Execute this command in a task holding robot control conditions TAKEARM If robot control conditions are not held an error message 21F7 Arm semaphore cannot be fetched is reported CALL ResetCompEralw 7 42 Chapter 7 Arm Movement SetDampRate Library Version 1 4 or l
120. ut ton character color gt lt button background color gt lt button use flag gt lt button visible flag gt lt button correspon dence variable number gt lt button support I O number gt lt button display panel number gt This program specifies parameters required to display buttons In this program specify 10 parameters in all Macro Definition lt button h gt is necessary call set_button_param BUTTON_NUM B START NUM BUTTON TYPE CHAR COLOR BKGRND_ COLOR BUTTON_USE BUTTON_VIS B VARIABLE NUM B ASSIGN IO PANEL NO Chapter 8 Creating TP Easy Operation Panel Screen pr ee arrange button_size Library Version 1 7 or later Specifies the button arrangement position size and so on on the screen arrange_button_size lt number of displayed buttons gt lt button display starting X coordinate gt lt button display starting Y coordinate gt lt button width gt lt button height gt lt head button number gt lt button horizontal gap gt lt button vertical gap gt lt button display panel number gt This program uses parameters required to arrange buttons as arguments to determine the button positions on the screen This program specifies the button size as an argument parameter for button creation like the arrange_button_pos function Macro Definition lt button h gt is necessary Call arrange _button_size BUTTON _NUM ORIGIN PX ORIGIN PY BUTTON W BUTTON _H B START NUM H GAP V_GAP PANEL NO arra
121. ve error may occur To avoid this you may use this command temporarily to increase the allowable devi ation value This command can also be used to reduce the allowable deviation value for helping quick detection of the downward movement of the robot due to gravity when the current limit function is enabled Macro Definition Requires lt pacman h gt file Related Terms SetCurLmt ResetEralw Notes J Run this command in a TAKEARMed task which has obtained arm semaphore If the command is executed without arm semaphore obtained Error 21F7 will result CALL SetEralw 2 20 Sets the permissible deviation of the 2nd axis to 20 degrees 7 14 Chapter 7 Arm Movement ResetEralw Library Version1 2 or later Resets the allowable deviation value of the specified axis to the initial value ResetEralw lt AxisNumber gt Resets the allowable deviation value of the axis specified by lt AxisNumber gt to the initial value If lt AxisNumber gt is specified to 0 the allowable deviation values of all the axes will be reset For Ver 1 4 or earlier If you set 0 to lt JntNumber gt the positioning error allowance set for all joints will revert to the default For Ver 1 5 or later If you set 0 to lt JntNumber gt the positioning error allowance set for all joints involved in an arm group sema phore held by the current task running ResetEralw will revert to the default Macro Definition Requires lt pacm
122. you are unfamiliar with this robot and option s please read all books and understand them fully before operating your robot and option s GENERAL INFORMATION ABOUT ROBOT Provides the packing list of the robot and outlines of the robot system robot unit and robot controller INSTALLATION amp MAINTENANCE GUIDE Provides instructions for installing the robot components and customizing your robot and maintenance amp in spection procedures STARTUP HANDBOOK Introduces you to the DENSO robot system and guides you through connecting the robot unit and controller with each other running the robot with the teach pendant and making and verifying a program This manual is a comprehensive guide to starting up your robot system SETTING UP MANUAL Describes how to set up or teach your robot with the teach pendant or mini pendant For the panel designer functions refer to the Panel Designer User s Manual SUPPLEMENT WINCAPSIII GUIDE Provides instructions on how to use the programming support tool WINCAPSIII which runs on the PC connect ed to the robot controller for developing and managing programs PROGRAMMER S MANUAL I Program Design and Commands Describes the PAC programming language program development and command specifications in PAC This manual consists of two parts Part 1 provides the basic programming knowledge and Part 2 details of individ ual commands PROGRAMMER S MANUAL II PAC Library this book Describes the pro

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