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Contents
1. 4 5 Ds 4 12. b NNO 2 1 2 OFF ON ON OFF DS 7 2 2 2 2 AND 1 2 3 AND AND SEL 1 AND 2 AND 3
3. OP CODE 1 2 OPRND1 2 POST O N sTEP AO N op CODE OPRND1 OPRND2 PosT eae el LCD No STEP No POST Edit1 1 sd OP CODE HOME 1 AO OPRND1 N 19 DS Mode Select Prog Play Parm Test FF2 F3 F4 Prog Posi Aprg Edit Copy Fi F2 F3 F4 PR OE ABPG ACC ADD AND F 1 Prog F 2 Aprg F 1 Edit No 2
4. re No DST0006 IAI Quality and Innovation 424 0102 645 1 TEL 0543 64 5105 FAX 0543 64 5182 113 0034 1 3 4 KT 2F TEL 03 5803 7803 9 FAX 03 5802 8151 532 0011 7 7 2 2F TEL 06 6886 0301 FAX 06 6886 0311 460 0026 2 5 10 5F TEL 052 323 8777 FAX 052 323 8904 980 0802
5. sw 0 3G VEL 78 1100 100 C1 No No 1 D7 No 33 1 32
6. Moving now to Home OFF Teac 1No 1 1 1 50 000 Inc Dec Go Jvel Teac 1No 1 1 1 50 000 Jvel Jog Svof Etc F2 Jog F3 Svof Jog ON 4 Svof OFF Jod es J Jeac 1 No1 1 1 50 000 Jvel 30 JAcc 0 30 P59 Jog Jog 1No2 2 1 100 000 Irese J Wrt Jvel Svof Etc IF1 F2lFslF4l 4
7. OFF ON 1 EMERGENCY STOP EMERGENCY STOP T BOX LCD CODE EMG STOP ErG ALARM ReStart EMERGENCY STOP WE CODE T BOX LCD _ EEMG STOP 20 AE READY ReStart cal 5 F1 a _ T BOX LCD CODE _SEL Teaching A Teach Vi 00 07 1 8 94 ry 1 READY _start 2
8. EXPG No Ato sat PRG 0 col Emergency PRG 0 No 3 Pogam Sze 82 1 TeeSger In 9 5 Siep Sze 6 Timesiee 661 4 2 64 DS Parm System 1 Point Inc lt Inc Dec Clr Wrt No L 1 PointSize 500 500 Parm System 1 Axis Inc lt No_ am 1 1 assze 1 3 Nameeor 1 9 ameaeys Denominator 1
9. EG DS 7 F 0 CPU a CR a FEFI CPU CPU 3 4X10 RN 15
10. Inc 1 4 4 JOG 5 2 0 40 85 R H RH No4 5 E Ne 141Nc 3 elnc RT ENG 3 SR ss 70SG5 20 DTR s Nc No12 13 zilwc Not8 19 NC BL_22 LNc ENABLE SW 24 Nc 5 kT No 12 13 18 19 23 25 B O X
11. _ Play 1 ProgStatus ERR_STEP 1 STOP No RUN STOP A1 EXT INT_ERR RR TEA YER Posi Play Stat Etc PLAY No1 Show Go Posi Stat Play 1 No 1 Al _1 No Home ON Servo ON ON OFF Move OFF 9999 999 2 Axis Axis Pos B50 E3 PLAY Play 1 ProgStatus ERR_STEP 1 STOP No
12. 300 RS _ 9 No 8 No No No No GOTO S TAG B7 GBSR EDSR EDSR
13. DS 5 E0 E3 4 3 3 4 E G A B CD 15 15 IF B A E 2 BGSR EDSR EDS R
14. 1 _ 2 1 2
15. 3 4 5 DS 3 1 2 3
16. Jog 1No2 11 1 18 625 Wrt Jvel Svof Etc Jog 1No2 2 18 625 Vel 0 ACC 0 00 Wrt Axis Ctr F1 Wr F2 Axis IX 0 F3 Clr Svof 1No 1 1 1 59 729 J Wr Jvel Jog Etc Fil F2 F3 F4 F1 Wrt F1 No Svof 2No 1 1 1 48 593 Axis Axjs Vel Etc ra le F3 Vel Svof 2No 1 1 48 593 Vel 0 Acc 0 00 Wr Axis Clr WIE2IES TE4 F1 Wrt
17. DS 6 EG EG 6 1 2 OFF 301 OFF 300 ON 300 0 N SLL SLC 300 A 6 2 24 VDC OFF
18. CPU 1 WW 4 F0 DS A1 A4 e Axis Check No 1 A 1 No Home ON Servo OFF ON OFF 2 F1 ESC A1 EXT INT_ERR Axis Error Occurs PLAY
19. No 200608 No2 Inc F1 Inc No F2 Dec No 20 Play 2 No1 HH 1 F2 Cont Play 2 No 1 200 000 PlayC 2 No1 1 F1 Go F2 Stop 200 000 Go Stop DS 9 3 3 No No gt se mw me 50 000 3 No lt G G lt 44 DS 10 10 1 10 1 1 Mode Seiect Pa
20. Play 1 1 HOME 1 Show Go Stat HLT DS EXIT E S C Play 1 ProgStatus ERR_STEP NONE STOP Posi Play Stat Etc E SC Mode Select Prog Play Parm Test DS 9 2 9 2 1 Ins Del TAG GOTO 6 0TO T AG Mode Select Prog Play Parm Test F 1 F 4 Prog Posi Aprg Aprg Edit Copy F 1 Prog F 2 Aprg
21. E X 1T 9 2 2 EX 1T 2 F 4 Wrt No 1 P27 P 27 E SC 8 2 2 Edit 1 10 EDSR EOR EXIT EXPG Edit 1 10 Mode Select Parm Test Prog Play DS P 2 6 E SC No No F 1 Ing F 2 Dec No E SC No F 1 Inc
22. Ne 501 1 500 No 600 900 1399 DC 1 2 8 INN 32 8 32 0 0 DF 1 5
23. Edit 2 2 HOME 1 DS F1 And Edit 2 2 HOME 1 And A F4 Edit 2 2 Not 11 HOME 1 Mi HOME 1 F4 Wrt Edit 2 2 HOME 1 900 A N11_ Cir Wrt ie ESC HOME IN 39 DS 9 3 1 9 3 1 Mode Select F 2 Play Prog Play Parm Test ELLEzlrslF4 F 2 Posi Play Prog Posi Play F 1 Home Home Hoving now to Home EN FE2SIESTE4 DS Play 2 No1 1 1 200 000 Inc Dec Play 2
24. No 1 Ads1 1 0 9 A lt 2 DS Parm Axis 1 1 Name Axis Axis Name Name Parm Axis 1 2 Name Name Name 10 3 2 Parm System Parm System 1 Auto Start PRG Inc lt 6 NN SN NR
25. 1 2 3 DS 5 5 1
26. LCD 2 0 4 EMERGENCY STOP OF F OF F L CD Restart F 1 P74 F 1 F 2 F 3 F 4 LCD ESC DEC
27. F 4 Wrt Edit 1 3 1 Edit 1 4 1 E SC No 4 5 SVON TAG TAN TIMC 3 F 2 Dec No 3 TAG 9 1 0 LF1 1FzlF3lF4 l S E SC No Edit 1 3 EXIT GOTO No 1 0 F 1 Inc 7 1 0 NR F 4 Etc EXIT Inc 5 F 2 Del Edit 1 10 Edit 1 10 Del 1 F 2 EXIT Del Del DS Edit 1 10 Edit 1 10 SVON TAG TAN TIMC Edit 1 10 GOTO 1_ BS DEC INC GOTO
28. No F1 No Edit HOME DEC INC DS HOME IN INB JBWF Edit 1 1 HOME HOME IN INB JBWF DEC INC DEC INC HOME F 1 HOME HOME HOME F 1 F 4 DS Edit 1 1 HOME 1 Edit 1 2 HOME IN INB JBWF TIMW VEL WTOF WTON Edit 1 2 VEL
29. 1 6 StpAL Stp1 EEI23RS3ulll4 E SC PlayStop Run 0 091 PO01 Please press key any EMERGENCY STOP P73 DS 9 2 3 No2 Line AO N 1 OP CODE OPERAND1 OPERAND2 POST COMMENT 1 N10 2 AND N11 HOME 1 900 F1 Prog Mode Select R 5 Prog Play Parm Test F2 Aprg Posi Aprg F1 Edit Edit Copy 36 DS No No1 F1 Inc
30. Clear All Position F1 10 1 2 Edit 1 1 13 Home 1 350 N350 Inc Dec Clr Del 8 2 Prog Copy From 1 10 To 10 29 Clr No From No To Prog Copy From 1 To 10 Copy OWr F1 Copy F2 OWr DS 10 2 10 2 1 Play 1 HOME Show GO Stat HLT Play 1 et MOVL LPay J Posi Play Stat Etc 1 Play 1 No 1 99 256 1 1 Axis Axis Stat
31. XXXXX XXX Wrt Can Cr Ete F4 Etc 1 LE1LF2 E3 1F4 Mdi 4 No 1 1 1 i Wt No 5 100 000 Wrt Can Clir Etc 16 DS Mdi 5 No 1 1 1 5 0 XXXXX XXX wrt Can Cr Etc F4 Etc 1 Mdi 5 No 1 1 1 F 1 Wrt AU 6 0 000 Wrt Can Cir Etc Mdi 6 No 1 1 1 6 XXXXX XXX 10 MI3 wrt Can Cl Etc F4 Etc 1 F 1 Wrt No
32. 050 D1 1 100 C1 D ps No No 1 i No D8 No No D9 No No DB 32 DD 0 EO 15 EE E2 EXSR EDSR E3
33. 8 3 2 X XX 0 DS SEL 7 2 1 SEL 1 BASIC IF THEN ETHEN IFzTHEN So SEOROSSSRHR SR NO nm eS DO Rs ELSE ON ex WTON WTOF
34. 0 W CODE AA PS i 6 Start PRGJ EMERGENCY STOP DS E 3 1 2 a 2 3 5 A2 A3
35. 988 _ Axis Axis Vel Etc F 1 Wrt No 1 i 2 10 000 Mdi 2No 1 1 1 2 XXXXX XXX 50 Ss CE F4 Etc 1 F 1 Wn No 3 Mdi 2No 1 1 1 50 000 Wrt Can Clr Etc DS Mdi 3 No 1 HH 1 3 CS 80 wrt _ Can Cr Etc F4 Etc 1 F 1 Wrt No 4 Mdi 3 No 1 1 80 000 Wrt Can Clr Etc LF1 F2 F3 F4 4 Md 4No 1 100
36. 2 No 2 No 1 F4 Not SG DS Not N And A Or O 10 Edit 2 1 F4 Wrt No2 INC 1 HOME F1 HOME HOME Fi F4 1 1 1 Edit 2 2 HOME 900
37. 015 Test 0123456789 Flg 600 gt 1100000000 609 610 gt 0000000000 619 Inc Dec Clr 071 i Inc 10 F2 Dec 10 Clr 0 F4 071 0 1 1 0 Test 0123456789 In 000 gt 0010000000 009 010 gt 000000 019 Inc Dec 68 DS ON OFF 307 Test 0123456789 Out 300 gt 00000000 lt 309 cr Oo PIE2ES IE4I F3 0 Inc Dec F4 0 1 1 0
38. RS232C NS N E C 1BM 25P SPMC 8DG 25P 98 SPMC 8DG 25P FG FG FG TXD TXD RXD TXD RXD RXD TXD RXD RTS 1 RTS CTS RTS CTS CTS RTS TCTS DSR DSR DTR DSR DTR DTR DSR DTR _GND 7 GND GND eNp ENABLE ENABLE 6V eV EMG S1 EMG S1 8 EMGS2 EMG S2 EMG S1 EMG Si EMG S2 EMG S2 EMG SW EMG SW A DS 6 LCD gt jp Amd ce hn
39. BGSR 1 BGSR BGSR DO EDDO DO EDDO EDDO DO BB DO 15 15 IF EDIF EDIF IF BB IF a BC ELSE ELSE IF EDIF DO DS 3 C0 CF 2
40. F 1 Edit DS Edit 1 31 EDSR EOR EXIT EXPG Edit 1 No No 2 VEL No 3 MOVP TAG 3 F 1 Inc 2 3 F 4 Etc F 1 Ins No3 Insert DEC INC TAG F 2 TAG TAG F 1 F 4 DS 1 1 Edit 1 31 TAG BS T AG 1 6 4 G 0 T 0 1
41. B G SR ORG AA E 3 Soft Limit G o Soft Limit gt DriveVel Max Drive Vel G o DriveVel Max gt Drive Ve Acc Max Acceler G o Acc Max gt Accleler
42. F 2 GOTO GOTO F 1 F 4 1 TAG 1 1 2 F 4 Wrt E SC P 2 8 DS 9 2 2 E X 1T STOP E X 1 T Stop Play 1 0 0 F 4 Etc 2 Stop MOVP 6 Posi Play Stat Etc F 1 Stop StpAL Play Run 1 1 1 6 Slp1 No Stop F 3 F 4 PlayStop Run 1 11
43. Home Deviation _ 5 mr mome curet 6 5 6 1 0 0 oN DS Parm Axis 1 1 Motr 1 Motor RPM Max Inc lt 4 000 Axis Dec Cr Wr 1 F2 1 Motr Ne 1 otor RPM Max 4900 3 Seewtead 8 mm 6 Poston Gan 60 7 speegGan 80 8 FF Gan 0 9 Wiegral Gan 30 410 13 Eor Range 2666 15 Motor Over Load 16300
44. 9 en E set woz 4 WE ee 2 5 sr 22 7 Le le zA 53 Teac TD 2 NSR Test 2zAKEMR Fs ll eazzr mm jWgm ave or mm 57 WW 99 ot em2z a 1 DS 7 SEL 7 1 position 2 1 2 1 800 mmsec 0 3G 9999 999mm No 1 MC AE Mi 1
45. Mdi 1 No1 1 1 F1 LE XXXXX XXX 2 No DS 1 10 10 000 XXXXX XXX F4 Etc Mdi 1 No1 1 4 3 F3 Vel 10 000 Axis Axis Vei Etc Mdi 1No 1 1 1 100 10 000 0 2 Vel 09 Acc 0 00 Wrt Axis Clr Mdi 1 No tH 1 F 1 Wrt Vel 100 Acc 0 20 Wrt Axis Clr DS Mdi 1 No1 1 F4 Etc
46. RUN F1 F2 F3 F4 RamCL Al F1 Reset Ds RamCL Parm CLROK F1 A Reset RamCL Prog CLROK Fi FolF3 Fa4l F1 Reset RamCL Pos CLROK NE2UEESG3EN0 F1 Reset DS
47. 5 Acceler 61G 030 6 Acc Mex 001G 100 8 Dye VelMax 1000 mmsee 65 Parm System 1 Terminal ID Inc lt No_ 1 TemnallD 99 2 Time ul Gd 0 Z2 0 0 4 CherLengh 0 0 5 Pay 1 9 0 6 Sep 0 gt 1 9600 8 N 1 DS 10 4 F4 Etc DS ON OFF ON OFF
48. F 4 Wr No 7 F 3 MOVP 1 No 5 MOVP F 1 F 4 3 F 4 Wrt No 8 F 3 MOVP 1 No 6 MOVP F 1 F 4 Edit 1 8 MOVP 6_ BS Edit 1 9 EXIT EDSR EOR EXIT EXPG Edit 1 10 EXIT EDSR EOR EXT EXPG Mode Select Prog Play Parm Test DS 3 F 4 Wrt No 9 DEC EXIT F 3 EXIT EXIT F 1 F 4 E X T
49. Play 1 No 1 1 1 HOME ON Servo ONI 59 237 8 No oO MN No Play 1 Prog Status ERR STEP NONE RUN Stat F1 F2 F3 F4 Play 0123456789 In 000 gt 0010000000 009 010 gt 000000 019 Inc Dec In 002 ON 0 0 1 0 0 0 0 0 0 0 1 1 1 000 001 002 009 No Play 0123456789 Out 300 gt 01000000 309 Inc Dec Out301 ON Play 0123456789 Fig
50. RUN STOP 2 A1 EXT INT_ERR Posi Play Stat Etc DS 7 74 E 3 1 A1 AS 42
51. 1 No No 1 9 S 0 50 0 50 4 D0O DF 3 2 3
52. F2 Stop DS 10 3 N Axis Sys Parm Axis Home Motr Name DS Parm Axis 1 1 1 Numerator lt Axis Dec Cir Wrt 1
53. Clr CLROk Copy Cir No 1 LT HU i D E G me EE 2 ROM 12 13 14 15 16 17 18 19 20 21 9 TS 2 NN oO NM HH 25 JVel 5 Mam mam las oz DS 5 Ram e 37 Pos 9 Pom 22 2 4 2 Le 13 gt 2525zmsw mn 79 EE ao Re 9 ee 2
54. F2 1 Inc Srvo No 3 Or we 9 100 Acceler G 0 30 Tesgh 6 Pend Band 10 So Li Of 5 sof Limit 249 Soft Limit 0 Over ride DS Parm Axis 1 1 Home 1 Home Dir Inc lt j 1 Axis Dec Clr Wr LF1 F2 FslF4l 1 F2 1 Home Homepr 6 _ LNo 1 0 0 Home Z Edge Z 1 6 Home Creep Vel Home Back Va 10 A 8 5 5 Home omset 0
55. 14 15 R 4F TEL 022 723 2031 FAX 022 723 2032 940 0082 3 5 17 2F TEL 0258 31 8320 FAX 0258 31 8321 321 0953 5 1 16 3F TEL 028 614 3651 FAX 028 614 3653 360 0044 1 15 1 2F TEL 048 528 02706 FAX 048 528 0271 243 0014 1 10 6 6F TEL 046 226 7131 FAX 046 226 7133 390 0877 2 15 23 2F TEL 0263 37 5160 FAX 0263 37 5161 424 0102 645 1 TEL 0543 64 5105 FAX 0543 64 5182 446 0054 7 2 6F TEL 0566 71 1888 FAX 0566 71 1877 920 0024 3 1 32 A2F TEL 076 234 3116 FAX 076 234 3107 612 8401 22 11 3F TEL 075 646 0757 FAX 075 646 0758 730 0802 2 1 9 5F TEL 082 532 1750 FAX 082 532 1751 790 0905 4 9 22 21 TEL 089 986 8562 FAX 089 986 8563 812 0013 1 18 1 2F TEL 092 415 44664Q FAX 092 415 4467 http www i
56. 3 F 4 Wrt No 4 PS F 3 MOVP 1 No 2 MOVP F 1 F 4 3 F 4 Wrt No 5 F 3 MOVP 1 No 3 MOVP F 1 F 4 DS Edit 1 5 MOVP Edit 1 6 MOD MOVD MOVP MULT LEFTF2 FE3 E4 Edit 1 6 MOVP 4_ Edit 1 7 MOVP 5_ 3 F 4 Wrt No 6 F 3 MOVP 1 No 4 MOVP F 1 F 4 3
57. F2 Axis F3 Clr A 49 a Step 1 No 1 11 1 48 593 Inc Dec Go Jvel No F1 No 1 F2 No 1 F3 No F4 Posi Shift Copy Clr Etc F1 F2 F3 F4 From St To St No From No To No Posi Shift From St 1 Ed 3 To St 4Ed 6 Shift F1 Shift Posi Copy From St To St No
58. 1 1 12 05 94 07 14 95 Version V 2 00 V 2 50 1 1 12705 94 07 18 94 Version V 2 00 V 1 00 F3 Main ROM DS No Test 76543210 Sys 007 gt 01000000 000 Prog 00000000 00 Neo DS J F1 Flag gt 5 N 4
59. 15 A3 A4 A5 1 DS 2 B0 BC 1
60. 7 BE UE21LESUILN4 DS Mdi 7 No 1 1 1 E SC No XXXXX XXX Wrt Can Clr Etc ESIE2 IF3 F4 1 Mdi 7 No 1 11 No 1 E SC XXXXX XXX Wrt Can Cir Etc RIIR2E3 EMH E SC Mdi Teac Step Etc Ft FzlEslrsl ESC E SC Posi Aprg LE1 FzlFslE4l Mode Select Prog Piay Parm Test RIEE2IE9EAl DS 8 2 1 Line _ AO N 1 OP CODE OPERAND1 OPERAND2 POST COMMENT 1 HOME 1 V EL 100 MOVP MOVP MOVP MOVP MOVP MOVP EXIT 2 3 4 5 6 7 8 9
61. A4 A5 B 1 B 2 No a B4 No B5 No Be No No BGSR EDSR 1 BGSR Be DO EDDO DO EDDO BA DO 15 C3 No 19 CE 8 S
62. TIMW VEL WTOF WTON Edit 1 2 F 4 Wrt No 2 DEC INC VEL F 2 VEL VEL F 1 F 4 1 0 0 DS Edit 1 2 VEL 100 F 4 Wrt No 3 DEC MOVL TIMW VEL WTOF WTON F 3 MOVP MOVP F 1 F 4 MOD MOVD MOVP MUL ro a 1 No 1 MOVP MOD MOVD MOVP MUL IDS
63. DS F 2 TD 2 3 5 NE 0 ee 2 7 7 1 Position 7 2 CE 7 2 1 S E 7 2 2 8 8 1 8 2 NO NR NN CD NDE 8 2 1 8 2 2 ER NR SRE RE NR ED he 9 9 1 9 2 ET EE EE EE EET CE TR RE NE RE NE RA 9 2 1 In s Del 9 2 2 EX 1T STOP 9 2 3 DS on Pr ODO
64. F 1 Start Start R OM SV F 1 Star Teach V2 00 09701797 Main V2 50 07 14 95 Start DS Mode Select F 1 Prog Prog Play Parm Test _ E SC 1 E SC Prog F 1 Posi Posi Aprg F 1 Mdi Mdi Teac Step Etc No No XXXXX XXX XXXXX XXX Inc Dec Clr Del
65. No 2 ESC No P19 No No F 1 DS 9 9 1 Mode Select F 2 Play Play Parm Test Prog F1 Prog No 1 No 1 F1 No F 2 Go
66. No1 1 200 000 PlayS 2 No 1 200 000 Go Go Ee eh es F1 Inc F2 Dec No No2 F1 Inc No F2 Dec No F1 Step F1 Go F1 Go No2 No3 F2 Go F2 Go No2 No1 DS 9 3 2 Mode Select Prog Play Parm Test F1 F 4 Play Prog Posi Play Home Hoving how to Home F 2 Play F 2 Posi F 1 Home DS F1 Inc F2 Dec
67. a oe no as as mar lame a OR A el i SRI 1 2 AND OR PP eelws 1 2 lbes DS CO 6 8 1 6 No Acc Vel 0 20 100 X XX XXXX X XX XXXX X XX XXXX X XX XXXX X XX XXXX SEL Teaching LCD Teach V2 00 09 01 97 0
68. 600 gt 0000000000 609 610 gt 0000000000 619 Inc Dec F1 10 F2 10 Play Run 1 1 4 Stop 9 2 2 EXIT F4 Play 2 Prog Status ERR_ STEP NONE STOP Posi Play Stat Etc Stop Play 1 0 10 MOVP 3 Posi Play Stat Etc Play 1 Prog Status ERR_ STEP NONE STOP Posi Play Stat Etc DS 10 2 2 Play 2No 1 1 1 200 000 Inc Dec Play 2No1 J 1 200 000 PlayS 2No 1 1 1 200 000 F1 Go OR F2 Go No PlayC 2No 1 1 1 200 000 Go Stop F1 Go
69. OO Oo tk 9 2 40 9 3 1 40 9 322 ye OS GR de 42 9 3 3 ES Te 44 10 45 10 1 Oe 2 GES a i es i RR 45 10 1 1 45 10 1 2 NE TS 2 0 SS Pe 2 NE NG 52 10 2 ae a 53 10 2 1 i 53 10 2 2 i 58 10 3 AO 59 10 3 1 EE 59 10 3 2 RR 64 10 5 67
70. ai robot co jp AEAmerica Inc Head Office 2690W 237th Street Torrance CA90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 1261 Hamilton Parkway Itasca IL 60143 TEL 630 467 9900 FAX 630 467 9912 LA I Industrieroboter GmbH Ober der HOth 4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 Copyright 62000 May IAI Corporation All rights reserved 02 01 500 lt
71. rm Test _ ESC Prog Play Posi Apri F1 Posi Mdi Teac Step Etc F1 Mdi 45 DS Mdi 1 No1 1 1 XXXXX XXX Inc Dec Clr Del EEI2SIEESE4 Eee No1 500 8 1 Md 1 No1 1 1 1 Vel 100 Acc 0 20 8 1 HOME Teac Step Etc F1 HOME
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