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Loctite CARTESIAN 300 User's Manual

1. IA X Specified Number of Character Turns sysFlag 3 ON gt Turns sysFlag 2 ON lt Turns sysFlag 4 ON Turns sysFlag 5 ON Go to the next command lt 2 Features Il 78 CARTESIAN Benchtop Robot Setting Wait Time for receiving data from the COM setWTCOM You can set Wait Time for receiving data using inCOM or cmpCOM command If no data is received after a specified time goes by it will be recognized as Time out Turns a system flag ON 0 1 sec is set for the defalt wait time Clearing COM Receive Buffer clrCOM Receive buffer is a place where received data is stored Each port has a receive buffer 8 kbyte New received data will not replace the existing receive data but will be written after the existing data A receive buffer will be cleared by turning the power OFF or executing clrCOM command Shifting COM Receive Data shiftCOM A specified data byte of the receive buffer is deleted e g 2 byte Shift Receive Buffer AlB c D E F G H C cl D E F G H You can tell whether the data is stored in each receive buffer by its system flag If a receive buffer has received data a corresponding system flag comes ON COM4 COM1 COM2 COM3 TPU With received data sysFiag 1 sysFiag 6 sysFiag 11 sysFiag 16 Features II 79 CARTESIAN Benchtop Robot PC Communication stopPC startPC Stopping Starting COM1 communi
2. Using tag code output you can output different values using the same point job data if you set different values as tag codes to multiple points Output Values and Output Width can be set using variables or expressions You need to set the following 2 parameters in addition to Output Value for the commands dataOut and dataOutBCD Output Width The number of I Os to be used for output Output Destination The smallest number between I Os to be used for output e g If you use genOut8 to 10 the Output Destination is 8 The serial I Os are used for the commands dataOut and dataOutBCD You cannot use I Os that are not serial I Os Example lt Setting gt lt Command gt lt Output gt 6 110 binary Output Value 6 genOut8 0 OFF Output Width 3 dataOut 6 3 genOut8 genOut9 1 ON Output Destination genOut8 genOut10 1 ON ifan Output Value does not match a specific Output Width the upper digit will be truncated Example lt Setting gt lt Command gt lt Output gt 14 1110 binary Output Value 14 genOut8 0 OFF Output Width 3 dataOut 14 3 genOut8 genOut9 1 ON Output Destination genOut8 genOut10 1 ON 1 truncation Output Width can be set up to 31 However the two I O s cannot be combined Features II 35 CARTESIAN Benchtop Robot lf Branch Wait Condition if Branch if then else endlf This section explains point job data commands for
3. For Do loop For Do loop for next exitFor do loop exitDo Features II xvi 28 28 31 32 33 34 35 36 36 38 40 40 43 43 45 47 48 48 51 51 53 55 56 60 62 63 65 66 66 CARTESIAN Benchtop Robot Controlling Tool Movement Moving the Z axis upZ downZ movetoZ Moving straight in CP drive lineMoveSpeed lineMoveStoplf Executing mechanical initialization by a point job initWec Position error detection checkPos LCD 7SLED Displaying the specified strings on the teaching pendant clrLCD clrLineLCD outLCD eoutLCD Displaying arbitrary numbers on the 7SLED sys7SLED out7SLED COM Input Output COM Input Output outCOM eoutCOM setCOM cmpCOM ecmpCOM cirCOM shiftCOM PC Communication stopPC startPC Variables Comments System Control Declaration and assignment of variable declear let Comment insertion rem crem Changing a program number using point job setProgNo Changing a sequencer program using point job setSeqNo 68 68 70 72 73 74 74 75 76 76 76 80 81 81 83 84 85 Features II xvii CARTESIAN Benchtop Robot EXPRESSION STRUCTURE Expression An expression is fixed numbers variables functions both of String type and Numeric type and operators combined Fixed Number There are 2 types of fixed numbers Numeric type e g 125 2 0 2e15 and String type e g ABC String type fixed numbers characters can be specified in hexadecim
4. ecmpCOM COM Output outCOM eoutCOM A character string with up to 255 characters can be output from the COM Select a port COM No under outCOM eoutCOM to display the Character Entry screen Select the desired character string and press ESC For key operation on Character Entry screen see Character Entry For eoutCOM command characters can be specified in hexadecimal code by using If you want to display on the screen enter e g eoutCOM port2 0D 0A Outputs CR LF code eoutCOM port2 300 Outputs 300 eoutCOM port2 sv 24 amp sv 25 Outputs the value combined character string variables sv 24 and sv 25 If there is any character other than 0 to 9 Ato F or after is dealt with as a character Features II 76 CARTESIAN Benchtop Robot COM Input inCOM A specified number of characters out of data received from the COM is assigned to a variable If received data exceeds the specified number of characters characters counted from the top by the specified number are assigned If received data is less than the specified number of characters the robot stands by for a time specified in setWTCOM and data which has been received is assigned to a variable If setWTCOM is not used the tool unit stands by for 0 1 sec f point job data including the COM Input command is set at a CP Passing Point the robot stands by for 0 sec to rece
5. Expression Boolean Variable or _ Expression Boolean Variable or _ Expression Parameters Serial OFF input Parallel ON input Parallel OFF input _Blocks serial connection Blocks parallel connection Content UO IPUDD uonoeuuyD JOO Boolean Variable _Expression Boolean Variable Boolean Variable Expression Boolean Variable _ Expression Boolean Variable _ Expression Boolean Variable Expression Output Destination Output Destination _Output Destination _ _ Output Destination _ Output Destination Features II ON input _ OFF input Serial ON input Serial OFF input Parallel ON input Parallel OFF input Coil drive Movement Holding Set ___ Movement Holding Reset Output of the Leading Edge of Pulse _ Output of the Trailing Edge of Pulse Parallel Connection of Serial Circuit Blocks Serial Connection of Parallel Circuit Blocks _ Stores data in process of calculation _ Reads out data in process of calculation Reads out and resetting data in process of calculation No process 7 CARTESIAN Benchtop Robot VARIABLE LIST Built in variables which are built in as robot functions and user definition variables which can be freely defined can be used with this robot User definition variables except local variables variables effective only in defined point job data which are defined by the declear comman
6. Regards the top 4 characters as a 4 byte signed integer big _ endian and converts it 4 byte Signed Integer Big Endian _ Regards the top 4 characters as a 4 byte signed integer little _ endian and converts it 4 byte Signed Integer Little Endian Regards the top 4 characters as a floating decimal big endian _ and converts it 4 byte Float Big Endian Regards the top 4 characters as a floating decimal little endian _and converts it 4 byte Float Little Endian Regards the top 8 characters as a double floating decimal big endian and converts it 8 byte Double Big Endian _ Regards the top 8 characters as a double floating decimal little _ endian and converts it 8 byte Double Little Endian _ Returns the sum of a string code added from top to bottom Remainder of dividing a character string as a bit string by generation polynomial XX 24 xO4 4 Bit inversion Bit logical multiple _ Bit logical add Bit exclusive logical add 12 CARTESIAN Benchtop Robot Variables Free variables mv mkv nv nkv sv skv A variable is a container into which a value is placed This robot has the following variables which can be used freely When using the following variables variable declaration is unnecessary Identifier mv 1 to 99 _ _ Boolean variable Boolean variable keeping variable Free E Numeric variable variables Numeric variable keeping variable String variable skv 1 to 99
7. LOCTITE EQUIPMENT OPERATION MANUAL Cartesian 200 300 400 and 500 Series Features Il Variables Commands Functions Thank you for purchasing the Loctite Robot Read this manual thoroughly in order to properly use this robot Be sure to read For Your Safety before you use the robot It will protect you from possible dangers during operation After having read this manual keep it in a handy place so that you or the operator can refer to it whenever necessary FOR YOUR SAFETY The precautions stated in this manual are provided for the customer to make the best use of this product safely and to provide preventive measures against injury to the customer or damage to property Be sure to follow the instructions Various symbols are used in this manual Please read the following explanations to understand what each symbol stands for Symbols indicating the Degree of Damage or Danger The following symbols indicate the degree of damage or danger which may be incurred if you neglect the safety notes These Warnings indicate the possibility of death or serious N Warnings injury a These Cautions indicate the possibility of accidental injury or AN Cautions damage to property Symbols indicating the type of Danger and Preventive Measures The following symbols indicate the type of safety measure that should be taken S Indicates prohibition Do not touch contact prohibition gt I
8. system control let Assignment Assigns the result of calculation of the right expression side expression to the left side variable e g declear command declear numeric abc Numeric variable abc declaration declear string def String variable def declaration e g let command count 0 Assigns 0 to variable count count count 1 Loads 1 in variable count count in out Assigns the difference of the out value subtracted from the in value into variable total nin 365 count Assigns the product of 365 multiplied by tsuki total 12 the value of nin to variable total Assigns the quotient of the value of total fullname name1 amp name2 divided by 12 to variable tsuki Assigns the string connecting name1 and name2 to variable fullname Features II 81 CARTESIAN Benchtop Robot Both of the following point job data use the local variable count but since a local variable is a function which is valid only in point job data containing a declaration command they do not interfere For example 0 is assigned to count at point job data 24 but the value of count used by point job data 05 does not change The opposite also applies e g Joint job data 05 declear numeric count count local variable declaration numeric type count 0 Sets initial value 0 into count do Repeats up to the loop command count count 1 Loads 1 into coun
9. waitStartBZ are invalid at the CP Passing Point or a point whose Base Type is CP Passing Point waitStart Wait for start Example set genOut1 Outputs an ON signal to genOut1 waitStart Stands by in place until a start instruction comes reset genOut1 Outputs an OFF signal to genOut1 when a start instruction is received waitStartBZ Wait for start alarm buzzer For Example If genIn1 does not come ON within 2 seconds it is recognized as an error genOut2 connected to an external alarm error lamp comes ON and the robot stands by for start while sounding an alarm buzzer When an operator resolves the problem and sends a start instruction the OFF signal will be output to genOut2 and the operation will start from Point 05 waitCondTime 2000 Id genIn1 Wait for genIn1 to go ON for 2 seconds timeUp If genIn1 does not come ON within 20 seconds upZ 50 20 Raise the Z axis 50 mm at the speed of 20 mm sec set genOut2 Output ON signal to genOut2 waitStartBZ Sound an alarm buzzer and stand by in place until a start instruction is reset genOut2 received goPoint PTP3 5 Output OFF signal to genOut2 when a start instruction comes endWait Go to Point 05 End of the comannd which will be executed if genIn1 does not come ON within 20 seconds Features II 45 CARTESIAN Benchtop Robot 0 6 See below waitCondTime 200 Id genIn2 timeUp set genOut2 if Id genin1 _
10. Example Below is the Point Job Data for the operation shown in the chart to the right _ genIn2 ON waitCondTime 500 a Id genIn2 timeUp waitStartBZ goRPoint PTP3 8 endWait waitStartBZ The above commands carry out the following goRPoint PTP3 8 operation When genIn2 does not turn ON within 0 5 sec the alarm buzzer will sound and the robot will wait until a start signal is received After a start signal is received operation will restart at the current reference point plus 8 Features II 63 CARTESIAN Benchtop Robot goPoint PTP3 25 Jump to Point 25 Comply with PTP Condition 03 If you set O as the PTP Condition Number the movement will comply with the PTP Conditions setting in the program data If you set o as the point number the arm will go to the Work Home position Jump to a point specified by number goRPoint PTP3 4 Subtract four from the current reference point number and jump to the point with that number Comply with PTP Condition 03 If you set O as the PTP Condition Number the movement will comply with the PTP Conditions setting in the program data If you set 0 as the Relative point number the robot will restart at the current point Jump to a relative point specified by number goCRPoint PTP3 1 This command is used to jump to a specified point while running in CP drive The movement from a CP Start Point to a CP End Point is regarded as one action If you set
11. with a specified width to a specified output destination In this example a hand tool is connected to the robot as shown in the following figure Hand Tool OPEN Hand Tool CLOSE Air 1 OPEN Air 2 OPEN Air 1 CLOSE Air 2 CLOSE Solenoid Valve 1ON sysOut15 ON Solenoid Valve 2ON sysOut16 ON Solenoid Valve 1 OFF sysOut15 OFF Solenoid Valve 2 OFF sysOut16 OFF Air 1 CLOSE amp Air 2 OPEN lt Air 1 OPEN amp Air 2 CLOSE Solenoid Valve 1 ON Solenoid Valve 2 ON Solenoid Valve 1 OFF Solenoid Valve 2 OFF Hand Tool Features II 28 Solenoid Valve 1 Air 1 Solenoid Air 2 i Valve 2 O SYS CARTESIAN Benchtop Robot Therefore Hand Tool OPEN sysOut15 OFF amp sysOut16 ON Hand Tool CLOSE lt sysOut15 ON amp sysOut16 OFF Below are the output commands to open close the hand tool set sysOut15 reset sysOut16 set sysOut15 reset sysOut16 sysOut16 ON output sysOut15 OFF output Open hand tool sysOut16 ON output sysOut15 OFF output Close hand tool The command set continues to output an ON signal unless the command reset is received Below are the output commands to open close the hand tool using the pulse pulse sysOut15 100 invPulse sysOut16 100 pulse sysOut15 100 pulse sysOut16 100 Features II sysOut15 sysOut16 sysOut15 sysOut16 One Mosses L___
12. 0 as the destination the arm will return to the point where it started the operation in CP drive CP Start Point PTP Condition is 03 If you set 1 as the destination the arm will jump to the next point of a CP End Point PTP Condition is 03 If you set 0 as the PTP Condidtion Number the robot will comply with the PTP Condition setting in the program data Example If this command is executed between P1 and P5 the arm will shift as shown below Destination 0 Shift to P1 Destination 1 Shift to P6 P1 P2 P3 P4 P5 P6 O O O O O O U U U U v U Q Q Q o m Q D a D oa e e O 3 v V V po Aa v e Q O e 0 3 3 i Features II 64 CARTESIAN Benchtop Robot Jumping to a specified command line jump Label Command Category Command Parameter Job Execute Flow Control Example If genIn2 is ON the alarm buzzer sounds and stands by until a start signal comes If genIn2 is not ON go to the next job Label 1 Destination mark if If the following condition is true go to then If not go to the next of endif Id genIn2 genIn2 ON then If the condition is true execute the following commands waitStartBZ Sound a buzzer and stand by in place until a start signal is received jump L1 Jump to Label 1 when a start signal is received endlf End of if Branch The command Label cannot be set between if and endlf or waitCond and endWait Label can be set from Lab
13. Benchtop Robot Warranty Henkel Corporation warrants to the original Buyer for a period of one 1 year from date of delivery that the Loctite Equipment or System sold by it is free from defects in material and workmanship Henkel will at its option replace or repair said defective parts This warranty is subject to the following exceptions and limitations 1 Purchaser Responsibilities The Purchaser shall be responsible for Maintenance of the equipment as outlined in the Equipment Manual for the product Inventory of recommended maintenance parts established by Henkel Notification to Henkel within 6 8 hours of downtime Any cost of travel or transportation connected with warranty repair All cost associated with investigating or correcting any failure caused by the purchaser s misuse neglect or unauthorized alteration or repair All costs attributed to accident or other factors beyond Henkel s control 2 A thirty 30 day warranty will be extended on any items subject to normal wear such as Pump Seals Tubing Wear Surfaces of Wiping Rollers O Rings Hoses Purchased items used in Loctite dispensing equipment are covered under warranties of their respective manufacturers and are excluded from coverage under this warranty Typical purchased items are Solenoids Electrical Relays Refrigeration Units Timers Fluid Power Cylinders Electrical Motors 3 No warranty is extended to perishable items such as Fu
14. Green is executed the LED Green stays ON or keeps blinking until the reset command which turns the LED Green OFF is executed ONTime and OFF Time for onoffGLED command can be set using variables or expressions Features II 33 CARTESIAN Benchtop Robot Blinking the LED Red onoffRLED The following commands are valid for the CARTESIAN series only The following explains how to turn ON or blink the LED light on the front body using point job commands Command Category Command Parameter Output Destination RLED Output Destination RLED Turns the LED Red ON ON OFF Output Control Turns the LED Red OFF onoffRLED ON Time OFF Time Blinks the LED Red After the onoffRLED command which turns ON or blinks the LED Red is executed the LED Red stays ON or keeps blinking until the reset command which turns the LED Red OFF is executed ONTime and OFF Time for onoffRLED command can be set using variables or expressions Features II 34 CARTESIAN Benchtop Robot Outputting values from I O dataOut dataOutBCD The optional numeric values O to 999 999 999 or tag codes can be output to the I O or the Boolean free variables mv 1 99 mkv 1 99 Command Catego Command _ Parameter _ l dataOut Output Output Output Outputs values from the ON OFF Output _ Value Destination Width __ I O Control Output Output dataOutBCD Value Destination Width from the I O
15. OFF 0 1sec gt Open hand tool ON OFF 0 1sec gt Ore leoisc gt OFF 0 1sec gt Close hand tool OF I lt O 7sec gt L___ OFF 0 1sec gt 29 CARTESIAN Benchtop Robot The commands pulse and invPulse move on to the next command before the pulse stops In the following example 2 point job data have different results pulse genOut1 100 set genOut1 delay 100 reset genOut1 pulse genOut2 200 set genOut2 delay 200 reset genOut2 set genOut3 set genOut3 i genOut1 genOut1 l genOut2 l genOut2 genOut3 genOut3 J K JN E 0 1 sec 0 1 sec 0 2 sec delay 100 Stand by for 0 1 second in place You can set the pulse width for the commands pulse and invPulse using variables or expressions Features II 30 CARTESIAN Benchtop Robot Outputting after X second delaySet delayReset The commands delaySet and delayReset are used to output ON OFF signals to a specified output destination after a specified period of time The delay time can be set from 0 001 sec to 9999 999 sec Command Category Command Parameter Job Output Delay ON output after specified delay Destination Time time ON OFF Output delayset Control Output Delay OFF output after specified delayReset Destination Time delay time The commands delaySet and delayReset move on to the next command before the pulse stops T
16. Pallet Workpiece Adjustment Keeping variable is a variable which holds its value even when the robot power is turned off Features II 8 CARTESIAN Benchtop Robot Variables Category Type Identifier Description Set to 1 when seqTCount boo seqT 1 to 99 reaches the given value or _ greater l ie One counter can count from 0 001 seqT Count 1 to 50 Integrating Timer l to 2 147 483 647 seconds 0 001 Foca Count 91 40 29 huntegrating Timer _ see increment 1 when seqCCount reaches the given value or greater _ One counter can count from 1 to i _ 2 147 483 657 1 poit X X coordinate value of current point point A _ point_Z Z coordinate value of current point point_R R coordinate value of current point _ point_TagCode _ Tag code value of current point _ P_X 1 to last point count _X coordinate value of given point _ P_Y 1 to last point count _Y coordinate value of given point P_Z 1 to last point count Z coordinate value of given point _ P_R 1 to last point count _R coordinate value of given point _ _ P_TagCode 1 to last point count _ Tag code value of given point X coordinate value of given _ program and given point Y coordinate value of given program and given point Z coordinate value of given program and given point R coordinate value of given _ program and given point l prog_P_TagCode 1 to 255 1 to last point Tag code value of given program co
17. Rows 1 13 outLCD Columns 1 40 Displays character strings on the LCD display _Character String _ Strin pa Rows 1 13 eoutLCD Columns 1 40 Displays the result of a character string 5 Character String expression on the LCD display 1s Expression et a Returns the display of the 7 segment LED sys7SLED changed by out7 SLED to the previous program we number for CARTESIAN only out7SLED D ee 7 segment LED output for CARTESIAN only clrCOM Port Clears a buffer received fromthe COM Shifts data received from the COM SING ON EO SHC NUMBST _Deletes data from the top to the Shift Number _stopPC _ Stops PC communication of COM1 _ startPC i Starts PC communication of COM1 Features II 5 CARTESIAN Benchtop Robot Command Parameters Content iobag outCOM Port Character String Outputs a character string from the COM eoutCOM Port Character String Expression setWTCOM Port Wait Time Outputs the result of an expression from the COM lt Sets Wait Time Period for Time Out for receiving _ from the COM Variable Name Port Assigns data received from the COM to the _ Wait Time _ specified variable Compares received data with a character string cmpCOM Port Character String The result is entered into System Flag sysFlag 1 _to 20 as Compares received data with a character string Port Character String A i i Expression _ expression The result is entered into Syste
18. String variable keeping variable Keeping variable is a variable that retains its value even when the robot power is turned off mv 1 to 99 mkv 1 to 99 Boolean variable Boolean variable is a variable that can hold a 1 bit value of O or 1 It can be used as a condition operation expression Id Idi or assignment expression let parameter A sequencer program can also use Boolean type free variables mv 1 to 99 mkv 1 to 99 nv 1 to 99 nkv 1 to 99 Double type numeric variable that can be used as an assignment expression let parameter sv 1 to 99 skv 1 to 99 String variable that can hold up to 255 bytes When used as an assignment expression let os parameter assignment by and connection by amp are possible Features II 13 CARTESIAN Benchtop Robot Input variables sysin1 to 15 genIn1 to 18 handin1 to 4 An input variable is a Boolean variable that can be referenced only A value cannot be written The input variables correspond to the I O SYS I O 1 and I O H input pins When an ON signal is received the input variable becomes 1 true Identifier Identifier JS Series Cartesian sysin1 to 15 sysin1 to 16 0 SYS Reference only Boolean variable Category Connector Description Input variable genIn1 to 18 genIn1 to 8 O 1 Reference only Boolean variable handin1 to 4 O H Reference only Boolean variable sysin1 to 16 I O SYS
19. Wait Start Delay Time The command delay is invalid ata CP Passing Point and at a point whose Base Type is CP Passing Point delay Delay for the specified period of time Example set genOut1 Output ON signal to genOut1 delay 100 Delay for 0 1 sec reset genOut1 Output OFF signal to genOut1 set genOut2 Output ON signal to genOut2 delay 200 Delay for 0 2 sec reset genOut2 Output OFF signal to genOut2 genOut1 ee lt 0 1sec gt ON genOut2 OFF 0 2sec gt Features II 43 CARTESIAN Benchtop Robot Delay Time can be set using variable or expression instead of values Example declear num wtime if Id genin1 then wtime 100 else wtime 200 endlf set genOut1 delay wtime reset genOut1 Features II Declare the local variable wtime If geniIn1 ON then Assign 100 to wtime If not Assign 200 to wtime Output ON signal to genOut1 Delay for 0 1 sec 0 2 sec Output OFF signal to genOut1 44 CARTESIAN Benchtop Robot Waiting for a start instruction waitStart waitStartBZ This section explains the point job data commands to stop running until a start instruction is received Command Category Command Parameter Stands by in place until a start instruction is received Wat cea Stands by in place while sounding an waitStartBZ alarm buzzer until a start instruction is received waitStart The commands waitStart and
20. are assigned a function in advance e g sysin1 Start signal When ON signal received operation starts If you want to use sysIn1 to 16 I O SYS for a function other than the one to which it has been assigned switch the run mode parameter setting to free I O SYS function assignment Features II 14 CARTESIAN Benchtop Robot Output variables sysOut1 to 15 genOut1 to 18 handOut1 to 4 Output variables are Boolean variables Output variables corresponds to the I O SYS I O 1 and I O H output pins When an ON signal is output the output variables become 1 true Identifier Identifier JS Series Cartesian Category Connector Description sysOut1 to14 sysOut1 to 16 0 SYS Boolean variable Output variable genOut1 to 18 genOut1 to 8 1 0 1 handOut1 to 4 1 0 H Boolean variable sysOut1 to 16 I O SYS are assigned a function in advance Ex sysOut1 Ready for Start ON signal Operation can be started If you want to use sysIn1 to 16 I O SYS for a function other than the one to which it has been assigned switch the run mode parameter setting to free I O SYS function assignment Down timer downTimer 1 to 10 Numeric variable When assigned let a value counting down in msec units starts automatically A value can also be assigned during countdown The maximum value that can be assigned is 2 147 483 647 msec Category Identifier Description downTimer1 to 10 When a value i
21. expressions Also a string can be specified using string expressions for the command outLCD outLCD 7 4 PULSE Display the string PULSE on the teaching pendant LCD outLCD 7 4 sv 24 sv 25 Display the combined value of the string expressions sv 24 and sv 25 on the teaching pendant LCD 1 Row Run Mode Program Number 1 Test Program There are 13 rows and Stopping Start Enable 40 columns on the Cycle Top Point Number 1 teaching pendant LCD A maximum of 40 characters in single byte 20 characters in double byte can be displayed in 13 Row one line 0 40 Column Features II 74 CARTESIAN Benchtop Robot Displaying arbitrary numbers on the 7SLED sys7SLED out7SLED The following commands are valid for the CARTESIAN Series only The following explains how to display arbitrary numbers on the 7SLED on the front body using out7SLED command When executing sys7SLED command or switching programs the program number will be displayed again Command Category Command Parameter Display the previous program sys7SLED number before changed by LCD 7SLED _ out7SLED command Display Type pUSEED Display value Outputs number to 7SLED Parameter display type of out7SLED can be selected from the following 4 items Display value can also be specified using variables or expressions Display Type Description E Num __ Displays a specified number on the 7
22. in the current program point_Z Variable which has the Z coordinates of the current point as a value f you assign a value to the variable jobStartHight for a Job before Moving or a Job while Moving let the robot starts a point job from an assigned value above the set point Z coordinate Example P01 Type CP Start Point Point Job Data 3 jobStartHight 25 Job before Moving Point Job Data 3 Point Job Point Job Data 12 Start of Point Job P1 Features II 69 CARTESIAN Benchtop Robot Moving straight in CP drive lineMoveSpeed lineMoveStoplf The following explains how to move straight in CP drive using point job data commands The speed of CP drive and the moving amount of each axis coordinates can be set You also can end shifting by setting conditions Command Catego Command Parameter _ Speed CP speed _X Distance Moves by the entered distance in CP drive lineMoveSpeed Y Distance _Z Distance R Rotate Angle Move commands are invalid at the CP Passing Point or a point whose Base Type is CP Passing Point Enter not the coordinates but the distance from the current point to the destination point where you want to shift as Distance Enter 0 for the direction in which you do not want to shift The distance can be entered using a variable or an expression instead of a value lineMoveSpeed 20 X 25 Shown to the right are the parameters of these Y 20 comman
23. liens and encumbrances of any nature Features II 87 CARTESIAN Benchtop Robot The specifications of the robot or the contents of this manual may be modified without prior notice to improve its quality No part of this manual may be reproduced in any form including photocopying reprinting or translation to another language without the prior written consent of LOCTITE 2005 JSMC Ltd All rights reserved P N 989524 Features II Manual 07 2005
24. program specified by O Bee ee ee eee _humber 3 endProg E ___ Program end goCRPoint Features II 4 Drive Condition Number goPoint Pont Number Jumps to a specified point goRPoint EE e Supe E Jumps to a point specified relatively Drive Condition Number _ Destination Point _ Selection Jumps to a selected destination point during CP drive CARTESIAN Benchtop Robot Q fe amp Command Parameters Content 3 F Control Variable Repeats commands from for to next until the for Initial Value ne n specified variable changes from Initial Value to o _End Value Step Value E 5o End value a _next g ee 5 _ amp xitFor _Exits for sentence D T Repeats commands from do to loop exitDo Exits from do sentence _upZ Distance Speed Up Z Axis o _donwZ _Distance Speed DownZAxis Oooo _movetoZ _ Distance Speed Move Z Axis 3 Speed Shifts the specified distance relative distance at lineMoveSpeed Di the specified speed in CP line drive Relative Distance or Roatation eee _movecommand OO Q _ lineMoveX _X Distance lineMoveY Y Distance lineMoveZ Z Distance lineMoveR R Rotation initMec Axis _checkPos clrLCD Clears the LCD display lt lt lt clrLineLCD Rows 1 13 Clears a specified line on the LCD display _
25. regardless of where the tool unit is After position error detection it goes to the next point Command Catego Command Parameter _ checkPos l _ Detects position errors The Move command is invalid at the CP Passing Point or a point whose Base Type is a CP Passing Point For the results of position error detection refer to the system flag sysFlag 35 Normal 0 Position Error 1 Example checkPos if If position error detection is executed and a position Id sysFlag 35 error is found a buzzer sounds and the robot waits then for start waitStartBZ endlf If a position error is detected the sysOut8 position error signal also comes ON Features II 73 CARTESIAN Benchtop Robot LCD 7SLED Displaying the specified strings on the teaching pendant cilrLCD clrLineLCD outLCD eoutLCD The following explains how to display not display entered items on the teaching pendant LCD Command Category Command Parameter _clrLCD _ None _ Clears the LCD display clrLine_LCD Rows Clears only the specified line on the _LCD display l _ Displays strings or string variables enterd at a specified position on the _ LCD display l Row Column Displays the result of a character eoutLCD Character String _ string expression entered a specified l _ Expression position on the LCD display Row Column LCD Control outLCD Character String Rows or columns can be specified using variables or
26. reset genOut1 Hold pick up the workpiece incPallet 10 Increase the counter of Pallet 10 by one if if Id palletFlag 10 The counter of Pallet 10 does not reach the maximum else goPoint PTP3 1 Go to P1 comply with PTP Condition03 endif f you use the command loopPallet the arm shifts to a specified point complying with PTP Condition Program data If you use the command incPallet you can use the command goPoint or goRPoint and select PTP Condition Additional Function Data If you use the command incPallet a pulse can also be output everytime the arm shifts to P1 reset genOut1 Hold pick up the workpiece incPallet 10 Increase the counter of Pallet 10 by one if If Id paletteFlag 10 The counter of Pallet 10 does not reachthe maximum else Output a pulse pulse genOut5 200 Shift to P1 goPoint PTPO 1 endif Pallet Number also go Point Number in case of loopPallet can be set using expressions Example declear num pal if Id genIn3 then pal 5 else pal 6 endlf reset genOut1 loopPallet pal 1 Features II Declare the local variable pal If gen In3 ON then Assign 5 to pal If not Assign 6 to pal Hold pick up the workpiece Increase the counter of Pallet 5 6 by one go on to the next command if the counter reaches the maximum In this case the point job ends because there is no next
27. the called point It executes the point job at the start in the work home in the subprogram at the current point called point and then shifts to P1 SP1 Calling Point Calling Point P6 P6 P7 P8 When the callProg command is included in a program that is called by a callProg command an error is returned if the nest level exceeds 10 The coordinates position data included in the point data can be selected from Absolute Relative and Moving Amount The default value is set to Absolute Absolute Coordinates position data value is deemed as the fixed coordinates of the robot Relative Coordinates position data value is deemed as the distance from the coordinates where the program starts If the start coordinate is 0 0 it will be the same as Absolute Moving Amount position data value is deemed as the distance to the next point Depending on handling of the position data the moving point positions vary even if the values are the same Refer to the following examples Point Data Coordinates 0 0 15 20 10 20 5 10 P1 P2 P3 P4 P5 Absolute 10 10 0 0 15 20 10 20 5 10 Relative Moving _0 _ _IN_NM gt Amount 10 10 10 10 25 30 35 50 40 60 Program Start Coordinates Absolute coordinates Features II 58 CARTESIAN Benchtop Robot f you run the program as a subprogram the tool unit will not return to the work home If the program is set to
28. the power supply before removing the power cord from the control box When going inside the safety barrier place a Do Not Operate sign on the start switch During operation always have the emergency stop switch within the operator s reach For the operator s safety the emergency stop switch is necessary to make a quick and safe stop Install a safety barrier of adequate strength so as to protect operators from moving tools and flying objects Always use protective wear helmet gloves glasses and footwear when going inside the safety barrier Be sure to confirm that all the air tubes are connected correctly and Always watch out for robot s movement even in the teaching mode Special attention will protect the operator from injury Features II viii CARTESIAN Benchtop Robot FOR YOUR SAFETY DURING OPERATION When operations are taking place within the safety barrier ensure no one enters the robot s restricted area If you must go inside the safety barrier be certain to push the emergency stop switch and put a Do Not Operate sign on the start switch When starting the robot check that no one is within the safety barrier and no object will interfere with the robot operating Under no circumstances should you go inside the safety barrier or place your hands or head inside the safety barrier while the robot is operating If anything unusual e g a burning smell occurs stop operation
29. then downZ 20 20 waitCondTime 200 Id genIn4 2 level 4 level Features II 46 If using waitCondTime timeUp endWait or if endlf command lines are indented Be sure not to exceed the 9 level of the indent If point job data including a line with an indent exceeding the 9 level it will recognize a running error and the message Error on point job will be displayed If timeUp or endWait precedes waitCondTime or if then elese or endlf precedes if it will be also recognized as an error and the message Error on point job will be displayed CARTESIAN Benchtop Robot Inputting from I O dataln datalnBCD Read out a value from the I O or Boolean variable mv 1 to 99 mkv 1 to 99 and assign it to the specified variable Command Catego Command Parameter Variable to Input Input Read out numeric data from Delay Data In _assignto Destination Width I O l Wait Start Variable to Input Input Read numeric data in BCD datalnBCD assignto Destination Width from I O dataln BCD Binary Coded Decimal Read out width can be set using variables or expressions For the commands dataln and datalnBCD you need to set the following 2 parameters in addition to a variable to which an input value is assigned Input Width The number of I Os to be used to input Input Des
30. used at point job data 5 a subroutine of the command string for the job before moving added to the type at point job data 5 is called when P1 job before moving job is executed Features II 52 CARTESIAN Benchtop Robot Subroutine call of point job data callJob While a point job is running different point job data can be called and executed The point job data is reduced and easier to read if error Operation and other parts common to multiple point jobs are made into one point job data and used by calling it from another point job data Also by making a certain command group which was one part of the point job data one point job data only that part can be tested Calls a subroutine of the point job Execution flow control callJob data for the given number Point job data no The callJob command is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point waitCondTime 200 set genOut1 Id genin1 downZ 20 20 timeUp The command group Label 1 set genOut1 when ime up occurred waitStartBZ downZ 20 20 is made independent as if Label 1 separate point job data Id genIn1 waitStartBZ then if reset genOut1 Id genIn1 else then jump L1 reset genOut1 endlf else lt Point job data 91 gt jump L1 endlf endWait Command that calls the point job data ee When the called point job waitCondTime 200 data ends the command on Id genin1 the next line of the callJo
31. 4 byte Float Little Endian Regards a numeric value as a double floating decimal and converts it to 8 byte string big endian 8 byte Double Big Endian Regards a numeric value as a double floating decimal and converts it to 8 byte string little endian 8 byte Double Little Endian Regards a string as a decimal string and converts it to a _ numeric value Regards a string as a binary string list of 0 and 1 and _ converts it to a numeric value Regards a string as a hexadecimal string list of O to 1 A _ to F or a to f and converts it to a numeric value Regards the top character as a 1 byte signed integer and _ converts it 1 byte Signed Integer Regards the top 2 characters as a 2 byte signed integer big endian and converts it 2 byte Signed Integer Big Endian 11 CARTESIAN Benchtop Robot x y Numeric value or numeric variable n m Numeric value made a certain digit or greater by rounding or truncation a b String or string variable Identifier Description Category _ Type _ num Q 5 Q o lt a gep 0 3 val2SILE a val4SIBE a al4SILE a val4FBE a val4FLE a val8DBE a al8DLE a valSum a valCRC a _ bitNot a bitAnd a b _bitOr a b bitXor a b Features II l Regards the top 2 characters as a 2 byte signed integer little endian and converts it 2 byte Signed Integer Little Endian
32. 9 else eprg 10 endlf callProg eprg endWait Point Data Setting Declare the local variable eprg Wait for 0 2 sec until the following condition is met genIn1 ON Condition If the conditions are not met within 0 2 sec If genIn2 ON then Assign 9 to eprg If not Assign 10 to eprg Call a subroutine of Program number 9 10 Position Data of the program data defines how to handle coordinates position data in the point data It consists of the following three types Absolute Coordinates position data value is deemed as the fixed coordinates of the robot Relative Coordinates position data value is deemed as the distance from coordinates to where the program starts Moving Amount position data value is deemed as the distance to the next point If you set the subprogram to Relative or Moving Amount the tool unit always runs at an equal distance from the called point to where point job data including callProg command is assigned Example The subprogram is set to Relative or Moving Amount The current point called point is P1 SP1 excluding P1 coordinate data in the subprogram The work home position is ignored Calling Point P6 Features II Calling Point P6 P7 P8 SP1 N SP2 SP3 57 CARTESIAN Benchtop Robot Example The subprogram is set to Absolute The tool unit runs on the coordinates of the point data regardless of the position of
33. Adj_Rotation 19 Point coordinates point_X point_Y point_Z point_R point_TagCode 21 Given point coordinates P_X P_Y P_Z P_R P_TagCode 22 Given point coordinates in given programs prog_P_X prog P_Y prog P_Z prog P_R prog_ P_TagCode 23 Functions 24 Robot functions 24 Arithmetic functions 25 String functions 26 Features II XV CARTESIAN Benchtop Robot ON OFF Output Control Outputting to I O set reset pulse invPulse Outputting after X second delaySet delayReset Sounding an alarm buzzer onoffBZ Blinking the LED Green onoffGLED Blinking the LED Red onoffRLED Outputting values from I O dataOut dataOutBCD If Branch Wait Condition if Branch if then else endlf Wait Condition waitCond waitCondTime timeUp endWait Condition Condition Settings Id Idi and ani or ori anb orb Delay Data In Wait Start Time Delay delay Waiting for a start instruction waitStart waitStartBZ Inputting from I O dataln datalnBCD Pallet Control Pallet Command loopPallet resPallet incPallet Execution Flow Control Subroutine call of type setting job callBase Subroutine call of point job data callJob End of point job returnJob Subroutine call of Program callProg Calling points callPoints Ending a program endProg Assigning the returned value of a function returnFunc Jumping to a specified point goPoint goRPoint goCRPoint Jumping to a specified command line jump Label
34. Benchtop Robot Condition Condition Settings Id Idi and ani or ori anb orb The following describes the condition commands placed after the If Branch Wait Condition if waitCond waitCondTime commans The command category it belongs to is Condition Command Command Category Condition Parameter Boolean variable or expression Boolean variable or expression _ Boolean variable or expression _ Boolean variable or expression ON input OFF input Serial ON input _Boolean variable or expression Serial Off input Parallel ON input _ Parallel OFF input _ Boolean variable or expression Block serial connection Block parallel connection O SYS output sysOut I O 1 output genOut I O H output handOut system flag sysFlag internal relay mv keep relay mkv and pallet flag as well as I O SYS input syslIn I O 1 input genin and I O H input handIn can be given as command parameters Comparison operation expressions can also be used Variables and functions other than the above parameters can also be used in comparison operation expressions Comparison operation expression Comparison operation expression Meaning Meaning 11 greater than or equal C to O o o Equal O to O O less than or equal to O greater than O less than O Not equal A comparison operat
35. Pallet Pallet Number Increase the counter by one Pallet The following 2 variables are unique to pallet control paletteFlag n Boolean variable which has the following contents The counter of Pallet Number n is at the maximum ON true The counter of Pallet Number n is not at the maximum OFF false palletCount n Numeric type variable which has the counter value of Pallet Number n In the following example of point job data the robot picks the workpiece up from P1 set genout1 and places it at P2 reset genOut1 on the pallet of Increment by Point Job as shown in the figure Point Job Data for P1 setting set genOut1 Holds picks up the workpiece Point Job Data for P2 setting reset genOut1 Releases places the workpiece loopPallet 10 1 Increases the counter of Pallet 10 by one If the counter reaches the maximum it goes on to the next command In this case the point job ends because there is no next command If the counter is not at maximum it moves to P1 Shifting by loopPallet shift to P1 in case of point job data for the above P2 setting is complied with PTP Condition in the program data Features II 49 CARTESIAN Benchtop Robot Below are the pallet commands for using the command incPallet Increase the specified pallet counter by one instead of loopPallet lt Use incPallet instead of loopPallet gt
36. Relative or Moving Amount the tool unit will also not return to the work home The tool unit returns to the work home only when the program is set to Absolute and executed independently not callProg running Registering the program set to Relative If you register a point in JOG mode you have to select Absolute regardless of the position data setting If you create a Relative program shift all points offset so that the coordinates of the first point become 0 0 0 after registering the point Registering a program set to Moving Amount The registered coordinates cannot be converted into Moving Amount Register the point in MDImode Features II 59 CARTESIAN Benchtop Robot Calling points callPoints Call a point string defined in customizing mode with identifier to execute it Command Category Command Parameter Calls a subroutine of the specified point string Execute Flow Control callPoints Point String Identifier The command callPoints is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point Example The following point job data is set to P1 if Id genin1 then Command used to call a sens tao oe al point string cleaning out genOut1 Point string cleaning P1 P2 If genIn1 is ON go to the point string cleaning and execute point job data and additional function data set to cleanin
37. SLED Er Displays one after the other between Er and a specified number St Displays one after the other between St and a specified number Ur Displays one after the other between Ur and a specified number Example out7SLED Num 10 Display numeric value 10 out7SLED Er 20 Display one after the other between Er and 20 out7SLED St nMyNum Display St and a value of the variable nMyNum Features II 75 CARTESIAN Benchtop Robot COM Input Output COM Input Output outCOM eoutCOM setCOM cmpCOM ecmpCOM cirCOM shiftCOM Data can be output or input from the COM Command _outCOM _Port Character String _ Outputs a character string from the COM eoutCOM Port Character String Outputs the result of an expression from the Expression ____ COM Variable Name Port Assigns data received from the COM to the Wait Time specified variable setWTCOM Port Wait Time Sets Wait Time Period for Time Out for l receiving from the COM COM i l _ Compares received data with a character Input Output yempcem Port Character String string The result is entered into System Flag sysFlag 1 to 20 Compares received data with a character _ String expression se result is entered into inCOM Port Character String Expression clrCOM Port Clears a buffer Te from the COM Shifts data received from the COM SIMEON Pot Shit Number Deletes data from the top to the Shift Number
38. ace until the following condition is met genIn1 is ON condition 1 or genIn2 is ON condition 2 End of condition line Waits in place until the following condition is met genIn1 is OFF condition 1 or genIn2 is OFF condition 2 End of condition line 41 CARTESIAN Benchtop Robot anb Block series connection waitCond Id count gt 10 or flag Idi genIn1 ani genIn2 anb endWait orb Block parallel connection waitCond Id count gt 10 or flag Idi genIn1 ani genIn2 orb endWait Waits in place until the following conditions are met count is 10 or greater or flag is ON genIn1 is OFF and genIn2 is OFF Condition 1 Condition 2 Condition 1 is true and condition 2 is also true End of condition line Waits in place until the following conditions are met Count is 10 or greater or flag is ON genIn2 is OFF and genIn2 is also OFF Condition 1 Condition 2 Condition 1 or condition 2 is true _ End of condition line 66 When there is anb and orb but no corresponding Id or Idi Error on point job is displayed and an error is recognized Features II 42 CARTESIAN Benchtop Robot Delay Data In Wait Start Time Delay delay This section explains the point job data command for controlling time delay Command Catego Command __ Parameter Delay Data In Stand by in place for a specified period of delay time
39. al code by using If you want to display on the screen enter e g eoutCOM port2 0D 0A outputs CR LF code eoutCOM port2 300 outputs 300 f there is any character other than O to 9 Ato F or after is dealt with as a character Variable A variable is a container into which a value such as numeric values or strings are placed Built in variables which are built in as robot features and user definition variables which can be freely defined can be used with this robot User definition variables other than local variables variables effective only in defined point job data defined by the declear command are defined in the customizing mode Refer to the operation manual Features IV for a description of the customizing mode Boolean type 1 bit variable Keeps a value which is 1 true O false only Numeric type Double type variable String type 255 byte variable Features II 1 CARTESIAN Benchtop Robot Function Function returns a converted value if values or strings are given Both built in functions which are built in as robot features and user definition functions which can be freely defined can be used with this robot User definition functions are defined in the customizing mode Whether they are Numeric functions or String functions depends on the type of returned values Operator Operator Description Value Adds the left and right v
40. alue _degrad _ Conversion from degree to radian x 7 180 Conversion from radian to degree x 180 7 Square root Sine _ Cosine Tangent _ atan x _Arc tangent _atan2 x y Arc tangent int x Large integer that does not exceed x walshs 0q0H Data byte count of COM receiving port Ex int 1 3 1 int 1 3 2 _ Integer part of x sgn x int abs x _ When x is a negative number sgn x becomes 1 ip x and when x is a positive number sgn x becomes i 12 _ Ex ip 1 3 1 ip 1 3 1 f x Decimal part of x x ip x Ex fp 1 3 0 3 fp 1 3 0 3 _mod x y Value of x which makes y modulo_x y int x y _ remainder x y Remainder of dividing x by y_x y ip x y pow x y x to the power of y Wal sAs ONSWUY Features II 10 CARTESIAN Benchtop Robot x y Numeric value or numeric variable n m Numeric value made a certain digit or greater by rounding or truncation a b String or string variable Type Identifier Description Category _ _ str num num num Q J a o lt a mp 3 _chr x ord a len a strPos a b strMid a n m _Str x trBin n m strHex n m tr1S1 x str2SIBE x Str2SILE x str4SIBE x str4SILE x str4FBE x str4FLE x str8DBE x str8DLE x valHex a val1Sl a val2SIBE a Features II Returns a string 1 character
41. alues l num Deducts the right value from the left value _ num Multiplys the left and right values eee num Divides the left value by the right value num amp __ Combines the left and right values _ A amp B gt AB lt lt BE Assigns the right value to a left value _num str gt Returns 1 if the left value is larger than the right value 0 if the left value is num str smaller or the same gt o s Returns 1 if the left value is smaller than the right value 0 if the left value is num str larger or the same io ao Returns 1 if the left value is larger than the right value or the same 0 if the num str i left value is smaller _ EE Returns 1 if the left value is smaller than the right value or the same O if the num str i left value is larger eee lt gt gt lt __ Returns 1 if the left value is not equal to the right value 0 if they are equal num str Returns 1 if the left value is equal to the right value 0 if they are not equal num str lt Operator s Priority gt 1 Expression in brackets Function Variable 3O e Independent kI ep it oy 6 ON Pg eG amp Relational Operator gt gt IESi e tee L lt gt gt lt Assignment Operator DO Or G Features II 2 CARTESIAN Benchtop Robot COMMAND LIST If you assign point job data including one of the highlighted commands to A Point Job Commands a CP Passing Poi
42. and unplug the cable immediately Contact your dealer or the office listed on the last page of this manual Continuous use without repair can cause electric shock fire or breakdown of the unit During teaching tests and actual operation always have the Emergency stop switch within the operator s reach For the operator s safety the emergency stop switch is necessary to make a quick and safe stop Features II ix CARTESIAN Benchtop Robot FOR YOUR SAFETY CARTESIAN Series Be sure to check grounding Improper grounding can cause electric shock or fire Be sure to use within the voltage range indicated on the unit Failure to do so may cause electric shock or fire Plug the power cord into the wall outlet firmly Failure to do so can cause the input to heat up and may result in fire Make sure that the power plug is clean Be sure to unplug the power cord from the wall outlet when you examine or grease the machine Failure to do so may cause electric shock or fire Stop operation and unplug immediately whenever you sense any abnormalities such as a pungent odor Immediately contact the dealer from which you purchased the product Continued operation may result in electric shock fire or malfunction Install the product in a place which can endure it s weight and conditions while running Be sure to leave a space greater than 30cm between the back of the robot equipped with a cooling fan and the wall Ins
43. b timeUp command in the point job callJob 91 data of the main program is endWait executed Features II 53 CARTESIAN Benchtop Robot When the point job data called by callJob command contains a callJob command and the nest level exceeds 10 an error No 42 is generated Example of nest level 2 Command execution flow callJob callJob Nest level 1 Nest level 2 Point job data number can also be given by expression Example declear num ejob Local variable ejob declaration waitCondTime 200 Waits for 0 2 seconds until the following conditions are met Id genin1 genIn1 ON condition timeUp When the condition is not met in 0 2 seconds if if Id genIn2 genIn2 ON then then ejob 9 Assigns 9 to ejob else If not ejob 10 Assigns 10 to ejob endlf callJob ejob Calls a subroutine of the No 9 10 point job data endWait Features II 54 CARTESIAN Benchtop Robot End of point job returnJob When there are complex conditions and operations that correspond to them and there are no more operations in the point job the point job can be ended by returnJob command Command catego Command Parameters Job Execution flow control returnJob Ends a point job e g Below is the Point Job Data for the operation shown in the chart to the right if Condition 1 Condition 1 ar Operation 1 Operation 1 if Condition 2 then lt Condi
44. bot iobag Command Parameters Content E Idi Boolean Variable or Boolean Variable or OFF input Expression and Boolean Variable or Serial ON input O 4 Expression Sian ee ne Qo E Serial OFF input Zo Expression l Ss Satay ne aa i i E f Parallel ON input EXpression eee ori Boolean Variable or Parallel OFF input anb i Blocks serial connection i orb E Blocks parallel connection delay Wait Time Stops for the specified time Read Out Source oon Reed Wah ee a Read Out Source l 2 A es i Read Out Width a elias ga Gece era aise BZ Waits for a start signal while acknowledging an i error with an alarm buzzer Pallet Number a 7 loopPalette Destination Number Repetition loop of Pallet resPalette Nur _ Resets pallet counter incPalette Pallet Number Increases pallet counter number 1 Calls a point job defined by type at the user callBase definition type point to which a Point Job Number __is set calldeb Point Job Number Calls a subroutine of point job data specified by LOT E See e number callPoints Point String Identifier Beat a E rely oL eines m ustomising mode retumJob _ Point job end 2 Assigns a value of the specified expression as a z returnFunc Expression returned value and ends the function Valid in F CESO _ functions only P callProg Program Number Calls a subroutine of a
45. cation stopPC startPC COM1 is normally used to communicate with the PC If you use COM1 not to communicate with PC for sending receiving C amp T data but to connect to devices to control the robot by point job commands it is necessary to stop PC communication transaction operated by the system If stopPC command is executed PC communication does not work until the power is turned OFF or startPC command is executed After executing stopPC command C amp T data cannot be sent received Please preferably use a connector other than COM1 to connect devices Features II 80 CARTESIAN Benchtop Robot Variables Comments System Control Declaration and assignment of variable declear let A variable that is valid only in point job data containing a declaration command and a user function customizing mode is known as a local variable A local variable sets the type and identifier at declaration time The identifier is the name of the variable and type can be selected from either numeric type or string type Also a local variable can be declared as an array of up to 3 dimensions The let command assigns a right side numeric value the value of a variable or the result of calculation of an expression to the left side variable When this command is input only an expression is displayed Command category Command Set parameters Job declear _ Type identifier Local variable declaration Variable comment
46. check that the emergency stop switch works properly For models with I O S circuits also check that they work properly Failure to do so may lead to danger since the robot cannot be stopped immediately and safely Features II xi CARTESIAN Benchtop Robot FOR YOUR SAFETY AN Cautions Be sure to check grounding Improper grounding may cause malfunction or defect Use the Benchtop Robot in an environment between 0 to 40 degrees centigrade with a humidity of 20 to 95 percent without condensation Failure to do so may result in malfunction IP Protection Rating is IP30 IP40 for CE specification Use the machine in an environment where no electric noise is present Failure to do so may result in malfunction or defect Use the machine in an environment where it is not exposed to direct sunlight Failure to do so may result in malfunction or defect Be sure to confirm that tools such as the electric screwdriver unit etc are properly connected Failure to do so may result in injury or defect Check the mounting screws regularly so that they are always firmly tightened Loose screws may cause injury or defect Be sure to check the wiring to the main unit Improper wiring may cause malfunction or defect Be sure to secure the movable parts of the robot before transportation Failure to do so may result in defect or injury Do not bump or jar the machine while it is being transported or installed This can cause def
47. command Shift to P1 if the counter does not reach the maximum 50 CARTESIAN Benchtop Robot Execution Flow Control Subroutine call of type setting job callBase When a point job etc is set at a user definition type point created in the customizing mode the point job etc added to the type is not executed Also when an additional function is set at user definition type and a function of the same type but different number is set at the point the function data number of the function set at the point has priority e g Assume there is the user definition type showed to the right At this time the point job data which is executed at operation at P1 and P2 in the below figure becomes P1 Job before moving Point job data 5 Job while moving Point job data 6 Point job Point job data 7 Additional function PTP condition 9 Execute condition 1 Title Pick up point Base type PTP drive point Job before moving Yes Job while moving Yes Point job Yes Additional function PTP condition 1 P2 Job before moving Job before moving added to user definition type Job while moving Job while moving added to user definition type Point job Point job added to user definition type Additional function PTP condition 1 Execute condition 1 P1 P2 a Se cae Point 01 Type Pick up point Job before moving No 5 Job while moving No 6 Point job No 7 Additional fu
48. d are defined in the customizing mode Refer to the operation manual Features IV for a description of the customizing mode Boolean type 1 bit variable Holds only a value of 1 true or O false Numeric type 8 bytes real type double type variable String type 255 bytes variable Category Type Identifier Description boo mv 1to99 _ Boolean variable boo f _ Boolean variable keeping variable Free num nv 1to99 _ Numeric variable Variable num __ nkv 1 to 99 _ Numeric variable keeping variable String variable _Fskv 1 to 99 _ String variable keeping variable _ sysin1 to 15 _ gen _ handin1 to4 _ _ sysOut to 14 O Input Variable Output Variable System Flag sysFlag 1 to sysFlag 999 Refer to the system flag table set FBZ Sound buzzer Buzzer reset FBZ Stop buzzer __ onoffBZ Sound buzzer intermittently When a value is assigned it counts down _ automatically msec units Start a point job from an assigned value jobStartHight above the set point Z coordinate Disabled in Pete ae E CP drive _ palletFlag 1 to _ Pallet flag corresponds to pallet 1 to 100 _ palletCount 1 to 100 __ Pallet counter corresponds to pallet 1 to 100 _ workAdj_X 1 to 100 workAdj_Y 1 to 100 Workpiece adjustment amount of each axis workAdj_Z 1 to 100 Corresponds to workpiece adjustment 1 to workAdj_R 1 to 100 100 workAdj_Rotation 1 to 100 downTimer1 to 10 Special Jon Variable
49. d lines from lineMoveSpeed to 25 endLineMove R 0 endLineMove Current Position 25 mm Each command is displayed for each coordinate axis but the movements of the axes are executed at once D0 mm ee Features II 70 CARTESIAN Benchtop Robot Stopping the arm shift due to setting conditions while running lineMoveSpeed 3 X 20 Y 0 Z 0 R 0 lineMoveStoplf Id sysin1 4 Condition to stop shifting endLineMove callJob11 If sysin1 comes ON the tool unit stops shifting and goes the next command callJob11 even before the movement in the Z direction does not reach 20 In this case you can check with the system flag sysFlag34 to find out whether it stopped before or after shifting to the specified distance was complete 0 Shifting to the specified distance is complete 1 Shifting to the specified distance is not complete due to conditions Exceeding the Move Area Limit of lineMoveSpeed If the arm exceeds the move area limit it will stop shifting at the position where it reaches the move area limit and advance the next command In this case you can check with the system flag lineMoveSpeed 3 sysFlag33 to find out whether it stopped before or X 20 after shifting to the specified distance was complete Y 0 Complete 0 Not complete 1 Z 0 R 0 endLineMove if Id sysFlag33 If the arm achieves the move area limit then before the shifting is complet
50. e sound a gt waitStartBZ buzzer and stop Wait Start endif Features II 71 CARTESIAN Benchtop Robot Executing mechanical initialization by a point job initMec The following commands are valid for the CARTESIAN Series only The following explains how to execute mechanical initialization executed when the power of the robot is turned ON using point job commands Even if a position error occurs the tool unit returns to the absolute coordinates x 0 y 0 z 0 r 0 by executing mechanical initialization Command Catego Command Parameter Execute mechanical initialization for specified axis initMec Axis specification Move command is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point Axis specification Contents All Execute mechanical initialization for all the axes X Execute mechanical initialization for the x axis y Execute mechanical initialization for the y axis Z Execute mechanical initialization for the z axis r Execute mechanical initialization for the r axis Mechanical initialization is executed at low speed Features II 72 CARTESIAN Benchtop Robot Position error detection checkPos The following commands are valid for the CARTESIAN Series only The following explains how to detect a position error using a point job command If the checkPos command is executed the tool unit goes to the absolute coordinates x 0 y 0 z 0 r 0
51. ects Features II xii CARTESIAN Benchtop Robot PREFACE The Loctite Benchtop Robot CARTESIAN Series is a new low cost high performance robot We have succeeded in reducing price while maintaining functionality Energy and space saving is made possible through the combined use of stepping motors and special micro step driving circuits The Loctite Robot CARTESIAN Series features diverse applications high speed rigidity and precision and can accommodate a wide variety of requirements The operation manual consists of the following volumes This volume explains how to set up the robot Setup For people who receive safety and installation instructions regarding the i robot This volume explains how to maintain the robot Maintenance For people who receive safety and installation instructions regarding the robot This volume provides safety precautions part names and the basic knowledge _ necessary to operate the Benchtop robot Dispensing _ This volume explains dispensing applications for the Benchtop Series robot l This volume explains the actual operation of the Benchtop robot with simple Basic Instructions Quick Start i _ running samples pion i This volume explains how to operate the robot via the teaching pendant PC Operation _ Tris roune Sap icing Hew a lhe Toset fon compe ORC Panes Features _ This volume explains point teaching ee This volume provides comprehensive specifications includi
52. el 1 up to Label 99 Features II 65 CARTESIAN Benchtop Robot For Do loop For Do loop for next exitFor do loop exitDo Command Category Command Parameter Control Variable Initial Value Repeats commands from for to next until End Value the specified variable changes from Initial Step Value Value to End value for for do loop next _ exitFor _ Exits from for sentence do loop exitDo Exits from do sentence Repeats commands from do to loop for exitFor next for is a command to specify the number of repetitions declear num ival Declare the local variable ival for ival 1 to 8 step 1 The initial value of the variable ival is 1 Add to the contents of repetition variable by one for every looping and repeat the next commands from for to next until ival becomes 8 declear num ival Declare the local variable ival for ival 1 to 8 step 1 exitFor is a command to exit from the repetition of for contents of repetition next and go to the next command of next if Id genIn1 Condition If genIn1 1 exit from the repetiion of then next even if ival does not become 8 and go to the exitFor next command of next endlf next Features II 66 CARTESIAN Benchtop Robot Parameters the initial value end value and step value of the command for can be set
53. executing different jobs according to certain conditions These commands belong to the category if Branch Wait Condition Command Catego if _ if Branch if Branch Wait _ Executes the following commands if true Condition _ Executes the following commands if false l l End of if Branch Be sure to put the commands for the Condition after if Examples of if then else and endlf Example 1 If genIn2 is ON raise the Z axis by 10 mm and output a pulse to genOut1 lt gen In2 ON If genIn2 is not ON descend the Z axis 10 mm and output a pulse to genOut2 Raise by 10 mm Descend by 10 mm Output to genOut1 Output to genOutz2 The Commands for Example 1 are shown below If the following condition is true advance to then If false advance to if else Id genIn2 genIn2 ON Condition then If the Condition is true execute the following commands upZ 10 20 Raise the Z axis by 10 mm at the speed of 20 mm sec pulse genOut1 200 And output ON pulse to genOut1 The pulse width is 0 2 seconds else If the Condition is false execute the following commands downZ 10 20 Descend the Z axis by 10 mm at the speed of 20 mm sec pulse genOut2 200 and output ON pulse to genOut2 The pulse width is 0 2 seconds endlf End of if Branch Features II 36 CARTESIAN Benchtop Robot Example 2 If genin1 and genIn2 are both ON sound an alarm buzzer and stand by until a Start inst
54. g Then go to P1 lower the Z axis by 10 mm and output ON signal to genOut1 If genIn1 is OFF lower the Z axis by 10 mm and output ON signal to genOut1 Features II 60 CARTESIAN Benchtop Robot Ending a program endProg The following explains how to end a program running the operation at the current point The arm will not return to the Work Home position Command Catego Command Parameter Job Execute Flow Control endProg Ends program run at the current point The command endProg is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point Example Below is the The Point Job Data for the operation shown to the right chart S genIn2 ON at waitCondTime 500 Id genIn2 timeUp movetoZ 0 10 endProg endWait Raise the Z axis to the highest position and end the program endProg is a command to end the program at the current point without returning to the Work Home position It is different from stop in that the robot will not restart operation You have to start the job from the beginning f you want the robot to return to the Work Home position before ending the program use the goPoint command with a destination number 0 for the Work Home Position Features II 61 CARTESIAN Benchtop Robot Assigning the returned value of a function returnFunc Assign a value of the specified expression as a returned value and end the function Command Category Command Pa
55. g hot and can cause fire Check that the plug is not covered with dust Be sure to shut off the power supply before connecting the power cord to the control box Place the unit on a suitable flat surface that can support its weight Be sure to leave a space greater than 30cm between the back of the robot equipped with a cooling fan and the wall An insufficient or unstable area can cause the unit to fall overturn breakdown or overheat Do not attempt to disassemble or modify the machine Disassembly or modification may cause electric shocks fire or malfunction Be sure to use within the voltage range indicated on the unit Failure to do so may cause electric shock or fire Do not use the unit near inflammable or corrosive gas If leaked gas accumulates around the unit it can cause fire IP Protection Rating is IP40 Place the unit in a well ventilated area for the health and safety of the operator Turn off the unit before inserting and removing cables Failure to do so may result in electric shock fire or malfunction of the unit IP Protection Rating is IP40 Features II v CARTESIAN Benchtop Robot FOR YOUR SAFETY Be sure to confirm that all the air tubes are connected correctly and firmly Use the robot in an environment between 0 to 40 degrees centigrade with a humidity of 20 to 95 percent without condensation Failure to do so may result in malfunction IP Protection Rating is IP40 U
56. ges the program number when the robot starts running after Wait Start setProgNo Program Number The program number can be set using variables or expressions Features II 84 CARTESIAN Benchtop Robot Changing a sequencer program using point job setSeqNo The sequencer number being selected can be changed using the point job However a complicated command cannot be created because the number of commands for sequencer program is 100 steps maximum Therefore you need to create some sequencer programs executed when the power is turned ON during standby and during operation separately so that you can switch between the programs using setSeqNo For example if you set setSeqNo02 for Job on Start of Cycle Job on Run Mode and setSeqNo01 for Job on End of Cycle Job on Run Mode the 2nd sequencer program will be executed during the operation and the 1st sequencer program will be executed during standby If you change the number while running a program the running program or sequencer program will not be changed instantly After changing the number the running program will be changed when the robot restarts from standby state Command Variable Comment setSeqNo System Control Changes the sequencer program number when the robot starts running _ after Wait Start Sequencer Program Number The sequencer program number can be set using variables or expressions Features II 85 CARTESIAN
57. he top of character string a Converts a numeric value to a decimal string Converts a numeric value to a binary string m Number of binary string digits _ Converts a numeric value to a hexadecimal string m Number of _ hexadecimal string digits Rounds a numeric value to a 1 byte signed integer and converts it to a 1 byte string 1 byte Signed Integer Rounds a numeric value to a 2 byte signed integer and converts it to a 2 byte string big endian 2 byte Signed Integer Big Endian Rounds a numeric value to a 2 byte signed integer and converts it to a 2 byte string little endian 2 byte Signed Integer Little Endian Rounds a numeric value to a 4 byte signed integer and converts it to a 4 byte string big endian 4 byte Signed Integer Big Endian Rounds a numeric value to a 4 byte signed integer and converts itto a 4 byte string little endian 4 byte Signed Integer Little Endian _ Regards a numeric value as a floating decimal and converts it to _a4 byte string big endian 4 byte Float Big Endian Regards a numeric value as a floating decimal and converts it to _ a 4 byte string little endian 4 byte Float Little Endian Regards a numeric value as a double floating decimal and converts it to an 8 byte string big endian 8 byte Double Big _ Endian Regards a numeric value as a double floating decimal and converts it to 8 byte string little endian 8 byte Double Little Endian Regards a str
58. her is Increment by Point Job which will not increase the counter that is the tool unit will not move to the next position on the pallet unless the point job specifies it Auto Increment does not need a point job command to control the pallet operation The tool unit will automatically move to the next point and update the pallet counter However on the Auto Increment pallette the tool unit can only move in order of P2 1 P2 2 P2 3 and so on as shown below Example Pallet of Auto Increment To P3 P2 P2 1 l i T T P2 4 P1 P2 5 Po f P28 Plane Pallet P2 9 Auto Increment P2 13 as y 4 rows 4 columns P2 16 Example Pallet of Increment by Point Job To P3 Plane Pallet Increment by Point Job P2 P21 P22 J 4 rows 3 columns i P2 3 P24 i P2 5 P2 9 P2 12 Features II 48 CARTESIAN Benchtop Robot During the pallet operation Increment by Point Job the tool unit can move as shown in the figure on the previous page The tool unit returns to P1 before it moves to the next position each time P1 P2 P2 1 P1 P2 2 P1 P2 3 and so on Below are the pallet commands used for Increment by Point Job Command Command Parameter Catego Increase the counter one by one Unless _ Pallet Number _the counter has reached the maximum eepralet go Point Number _ number the arm will move to the specified _ point _resPallet _ Pallet Number _Reset the counter to 0 inc
59. ian Regards the top 4 characters as a floating decimal big _ endian and converts it 4 byte Float Big Endian Regards the top 4 characters as a floating decimal little _ endian and converts it 4 byte Float Little Endian Regards the top 8 characters as a double floating decimal big endian and converts it 8 byte Double Big Endian Regards the top 8 characters as a double floating decimal little endian and converts it 8 byte Double Little Endian Returns the sum of the string code added from top to bottom Remainder of division of string assumed to be a bit String divided by generation polynomial i x84 124 44 Bit NOT Bit logical AND _Bit logical OR Bit exclusive logical OR 27 CARTESIAN Benchtop Robot ON OFF Output Control Outputting to I O set reset pulse invPulse This section explains commands to be output to a tool output to the I O These commands belong to the category ON OFF Output Control Command Category Command Parameter Job ON OFF Output Control Example set Output Destination reset Output Destination Output Destination Pulse pulse Width Output Destination Pulse invPulse Width ON output to a specified output destination OFF output to a specified output destination ON pulse output with a specified width to a specified output destination OFF pulse inverting pulse output
60. iming of the next command execution differs from the case where signals are output by set reset after waitCondTime Example delaySet Example waitCondTime set 1 delaySet sysOut2 100 1 waitCondTime 100 2 set sysOut1 2 set sysOut1 reet 3 set sysOut2 4 eret gt 0 1sec H 0 1 sec Delay Time can be set using variables or expressions Features II 31 CARTESIAN Benchtop Robot Sounding an alarm buzzer onoffBZ A point job sounds an alarm buzzer Command Category Command Parameter Output a Sounds an alarm buzzer ON OFF Output Control Output anal Stops an alarm buzzer onoffBZ ON Time OFF Time Sains an alarm buzzer off If these commands set onoffBZ are executed an alarm buzzer continues to sound until the reset command is executed ONTime and OFF Time for the command onoffBZ can be set using variables or expressions Features II 32 CARTESIAN Benchtop Robot Blinking the LED Green onoffGLED The following commands are valid for the CARTESIAN series only The following explains how to turn ON or blink the LED light on the front body using point job commands Command Category Command __ Parameter Output Destination ON OFF Output GLED Turns the LED Green ON Output Destination Turns the LED Green GLED OFF onoffGLED ON Time OFF Time Blinks the LED Green Control After the onoffGLED command which turns ON or blinks the LED
61. ing as a decimal string and converts it to a numeric value 26 CARTESIAN Benchtop Robot x y Numeric value or Numeric variable n m Numeric value made a certain digit or greater by rounding or truncation a b String or string variable Category Type Identifier Description Q Q n I D 3 num valBin a _valHex a val1Sl a _ val2SIBE a val2SILE a _val4SIBE a val4SILE a _val4FBE a val4FLE a val8DBE a val8DLE a valSum a valCRC a _ bitAnd a b _bitOr a b bitXor a b Features II Regards a string as a binary string list of 0 and 1 and converts it to a numeric value Regards a string as a hexadecimal string list of 0 to 4 A to F or a to f and converts it to a numeric _ value Regards the top character as a 1 byte signed integer _and converts it 1 byte Signed Integer Regards the top 2 characters as a 2 byte signed integer big endian and converts it 2 byte Signed _ Integer Big Endian Regards the top 2 characters as a 2 byte signed _ integer little endian and converts it 2 byte Signed _ Integer Little Endian Regards the top 4 characters as a 4 byte signed integer big endian and converts it 4 byte Signed Integer Big Endian Regards the top 4 characters as a 4 byte signed integer little endian and converts it 4 byte Signed Integer Little End
62. inkle water or oil on the unit control box or its cable Contact with water can cause electric shock fire or malfunction of the unit IP Protection Rating is IP40 Features II iii CARTESIAN Benchtop Robot FOR YOUR SAFETY INSTALLATION Always use a safety barrier A person entering the robot s restricted area may be injured At the entry exit gate of the safety barrier install an interlock that triggers an emergency stop when the gate is opened Ensure there is no other way of entering the restricted area Furthermore put up a No Entry or No Operating warning sign in a clearly visible position Install a safety barrier of adequate strength so as to protect the operator from moving tools and flying objects Always use protective wear helmet protective gloves protective glasses and protective footwear when going inside the safety barrier Take adequate precautions against objects the robot is gripping flying or falling off taking into account the object s size weight temperature and chemical composition Features II iv CARTESIAN Benchtop Robot FOR YOUR SAFETY Confirm that the unit is properly grounded Power supply earth should be connected complying with Type D installation under 100 Q of resistance Insufficient grounding can cause electric shock fire or malfunction of the unit Plug the power cord into the wall outlet firmly Incomplete insertion into the wall outlet makes the plu
63. ion expression must always start from an Id or Idi command line If it is only an independent ON true or OFF false condition it is a 1 line command but when multiple conditions are connected with and or etc it becomes a multi line command string Expressions can also be used in conditional operations In this case the result of the expression is judged as 0 flag or nonzero true Features Il 40 CARTESIAN Benchtop Robot Id ON input waitCond Id genIn2 endWait Idi OFF input waitCond Idi genIn2 endWait and Series ON input waitCond Id genin1 and count gt 10 endWait count is a variable ani Series OFF input waitCond Idi genIn1 ani count lt 10 endWait or Parallel ON input waitCond Id genin1 or genIn2 endWait ori Parallel OFF input waitCond Idi genIn1 ori genIn2 endWait Features II Waits in place until the following condition is met genIn2 ON condition End of condition line Waits in place until the following condition is met genIn2 OFF condition End of condition line Waits in place until the following conditions are met genIn1 is ON condition 1 and count value is 10 or greater condition 2 End of condition line Waits in place until the following conditions are met genIn1 is OFF condition 1 and count value is 10 or less condition 2 End of condition line Waits in pl
64. ive data Comparison of Data received from the COM cmpCOM ecmpCOM Compares COM receive buffer which is a place where received data is stored and a specified character string one by one from the top character The comparison results will be reflected by a system flag A system flag indicates the condition e g not equal comparing a specified number of characters is finished or data has not been received after the robot stands by for the set wait time You can set a wait time for receiving data using setWTCOM If setWTCOM is not used the robot stands by for 0 1 sec as a wait time When using ecmpCOM command character strings compared to a receive buffer can be specified using a character string expression System Flag com1 come COM3 ae Specified Character gt Receive Buffer sysFiag 2 sysFiag 7 sysFiag 12 sysFiag 17 Specified Character Receive Buffer sysFiag 3 sysFiag 8 sysFiag 13 sysFiag 18 Specified Character lt Receive Buffer sysFiag 4 sysFiag 9 sysFiag 14 sysFiag 19 Time Out sysFiag 5 sysFiag 10 sysFiag 15 sysFiag 20 Features II 77 CARTESIAN Benchtop Robot Time Out If point job data including this receive comparison command is set at a CP Passing Point the robot stands by for 0 sec to receive data Wait Time for Reciving Received Specified Receive Character Buffer Xth Character Xth Character
65. m Flag _InCom indyjno ndu WOOD ecmpCOM _clrCOM _Port ae _ Shifts data received from the COM SMIRGOM Pol SN NumDer Deletes data from the top to the Shift Number _stopPC _ Stops PC communication of COM1 startPC Starts PC communication of COM1 declear Type Identifier _Declare a local variable __ Character String of a Assigns data calculated in the left hand expression let assignment ta a Mee in the right hand expression _ expression amp can be used _rem Character String One te comment crem Character String Comment at the end of a command line _ Changes the Program number _ Do not execute this command while running _ If you want to run another program while running _use the command callProg Changes the Sequencer program number of _ system data jOuJUOD Wa SAS JUBLULWOD qeren setProgNo en Number setSeqNo Sequencer Number Calculates the adjusting amount in the Z direction with data gained from the Distance sensor Touch sensor using the Workpiece Adjustment setting Work Adjustment takeZWadj Nuriber JOSUSS Z Features II 6 CARTESIAN Benchtop Robot Execute Condition Command Parameters Content UOIIPUOD Sequencer Command Boolean Variable or Expression Boolean Variable or _Expression Boolean Variable or ON input OFF input Serial ON input Boolean Variable or
66. m integer which does not exceed x _Ex int 1 3 1 int 1 3 2 _ Integer part of x sgn x int abs x When x is a negative number sgn x becomes 1 and ab I x when x is a positive number sgn x becomes 1 Ex ip 1 3 1 ip 1 3 1__ Decimal part of x x ip x a HL Ext 13 03 BCL 303 num mod xy Value of x which O x y int X Y num _remainder x y _ Remainder of dividing x by y x y ip x y num pow x y _x to the power of y Features II 25 CARTESIAN Benchtop Robot String functions The following can be used as string built in functions x y Numeric value or Numeric variable n m Numeric value made a certain digit or greater by rounding or truncation a b String or string variable Description Category Type Identifier str chr x num ord a num len a num __ strPos a b strMid a n m strBin n m strHex n m str1SI x str2SIBE x str2SILE x 02 5 Q n lt G os 3 str4SIBE x str4SILE x _ str4FBE x _ str4FLE x str8DBE x str8DLE x val a Features II _ Returns a string 1 character with the given character code Returns the value of the top character code Other characters _ are ignored Returns the string length byte length Does not handle multi byte codes Returns the first part string position that matches b in a Returns a character string from the n th to the m th characters _ counting from t
67. nction PTP condition 9 Features II 51 Point 02 Type Pick up point Job before moving No 0 none Job while moving No 0 none Point job No 0 none Additional function None CARTESIAN Benchtop Robot In these cases when the callBase command is used in the point job data set at a user definition type point a subroutine of the point job etc added to the type can be called When the callBase command is used in point job data 7 of the example a subroutine of the command string for the point job added to the user definition type of point job data 7 is called when a point job of P1 is executed Point job data 7 Point job added to user definition type callBase i Command category Execution flow control lt Command Parameters Calls and executes the job command string added to the type at the user definition type point callBase The callBase command is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point The callBase command calls a subroutine of the job command string added to the type Therefore when the callBase command is executed in a job before moving job while moving and job while CP moving a subroutine command string for the job before moving job while moving and job while CP moving added to each type is called In the case of the example when the callBase command is
68. ndicates necessity J Be sure to follow instructions e Be sure to unplug power supply from wall outlet Be sure to check grounding Features II i CARTESIAN Benchtop Robot FOR YOUR SAFETY CARTESIAN Series Operators who are involved in the programming inspection and or maintenance of this robot must take the special training course for industrial robots specified in Article 59 of the Occupational Health and Safety Law and relevant ministry ordinances Do not leave the unit plugged in power cord and connectors when it is not in use for long periods of time Dust can cause fire Be sure to shut off the power supply before removing the power cord Change the robot s battery periodically approximately every three years to prevent malfunction or breakdown Keep the emergency stop switch within reach of an operator while teaching and running the robot Failure to do so may cause danger since the robot cannot be stopped immediately and safely Regularly check that the I O S circuits and emergency stop switch work properly Failure to do so may cause danger since the robot cannot be stopped immediately and safely Features II ii CARTESIAN Benchtop Robot FOR YOUR SAFETY Check the mounting screws regularly so that they are always firmly tightened Loose screws may cause injury or defect Power the unit only with the rated voltage Excessive voltage can cause fire or malfunction of the unit Do not spr
69. ng mechanical or Specifications electrical requirements Note The contents of this volume may be modified without prior notice to improve its quality Therefore it may not consistent with the specifications of the delivered series Features II xiii CARTESIAN Benchtop Robot Please be sure to follow the instructions described in these volumes Proper use of the robot will ensure continued functionality and high performance The contents described in this volume are based on the standard application Menu items may vary depending on models Q Be sure to shut off the power supply before plugging in the power cord SURE TO MAKE A PROPER GROUNDING WHEN YOU INSTALL THE ROBOT Q Be sure to save data whenever it is added or modified Otherwise changes will not be saved if the power to the robot is cut off Features II xiv CARTESIAN Benchtop Robot CONTENTS Features Il FOR YOUR SAFETY i PREFACE xiii CONTENTS XV EXPRESSION STRUCTURE 1 COMMAND LIST 3 VARIABLE LIST 8 FUNCTION LIST 10 Variables 13 Free variables mv mkv nv nkv sv skv 13 Input variables sysIn1 to 15 genIn1 to 18 handin1 to 4 14 Output variables sysOut1 to 15 genOut1 to 18 handOut1 to 4 15 Down timer downTimer1 to 10 15 Point job starting height jobStartHight 16 Pallet palletflag 1 to 100 palletCount 1 to 100 17 Workpiece adjustment workAdj_X workAdj_Y workAdj_Z workAdj_R work
70. nt this command will be ignored Command Parameters Content O Z O T T O S O S Q e g set Output Destination reset Output Destination Output Destination pulse Pulse Length Output Destination pnveuse _ Pulse Length Output Destination Delay Time Output Destination Delay Time delaySet delayReset onoffBZ ON Time OFF Time onoffGLED ON Time OFF Time onoffRLED ON Time OFF Time Output Value Output Destination _ Pulse Length dataOut Output Value Output Destination dataOutBCD Pulse Length ON output ON pulse output of specified pulse length OFF pulse output of specified pulse length ON output after specified delay time OFF output after specified delay time Sounds an alarm buzzer off and on The LED Green on the front body blinks for CARTESIAN only The LED Red on the front body blinks for CARTESIAN only Outputs a tag code assigned to numeric data or a point to I O Outputs numeric data or a tag code assigned to a _ point to I O in BCD UOIIPUOD JEN youesg J if then else endlf _waitCondTime _timeUp waitCond Features II if Branch Execute if true Execute if false End of if Branch _ Wait for conditions for a certain period _ Execute when time is up End of WAIT command Wait conditions 3 CARTESIAN Benchtop Ro
71. o J o Comal a Ss Ne J TS E7 z 2 V 2 O 0 lt lt O Z a g 2 2 F 2 F EX U U it U No Nec N 7 0O O g Z a S 3 D o o D oo v 2 T 2 2 a lt lt O v Category Identifier Description Running point X coordinate value Current int Running point Y coordinate value point int Running point Z coordinate value coordinates i Running point R coordinate value Running point tag code value Features II 21 CARTESIAN Benchtop Robot Given point coordinates P_X P_Y P_Z P_R P_TagCode These variables hold the coordinates and tag code value of a given point in the current program This variable holds the original coordinates of the point This value does not change even when Workpiece Adjustment and jogStartHight are used Category Identifier Description X coordinate value of given point in current program Y coordinate value of given point in current program Z coordinate value of given point in current program R coordinate value of given point in current program P_X 1 to last point count P_Y 1 to last point count Given point P_Z 1 to last point count coordinate P_R 1 to last point count P_TagCode 1 to last point count Tag code value of given point in current program Features II 22 CARTESIAN Benchtop Robot Given point coordinates in given programs prog_P_X prog P_Y prog_P_Z prog P_R prog_P_TagCode These variable
72. o P1 18 CARTESIAN Benchtop Robot Workpiece adjustment workAdj_X workAdj_Y workAdj_Z workAdj_R workAdj_Rotation Numeric variables These variables hold the adjustment amount and rotation adjustment amount of each axis of the Workpiece Adjustment under Additional function data Category Identifier Description workAdj_X 1 to 100 Workpiece adjustment amount in the X direction Workpiece adjustment amount in the Y direction E E Corresponds to workpiece adjustment 1 to 100 Workpiece Workpiece adjustment amount in the Z direction adjustment PWORAULA o9 Corresponds to workpiece adjustment 1 to 100 workAdj_R 1 to 100 Workpiece adjustment amount in the R direction l Workpiece adjustment amount by rotating angle POI Olauory CL tOC108 Corresponds to workpiece adjustment 1 100 e g Line dispense between P2 P3 At P1 workpiece adjustment amount workpiece offset value is received from the sensor connected to COM The workpiece adjustment No is made 6 and the tool is connected by the following setting Dispensing start handOut1 ON Dispensing end handOut1 OFF CP Start Point CP Start Point P2 P2 Qu Qu l P3 j P3 i CP End Point CP End Point 7 Pi P1 Workpiece Adjustment Amount Features II 19 CARTESIAN Benchtop Robot Point job data set in P1 declear str hosei String type local variable hosei declaration inCom hosei port1 10 Receive wo
73. only by setting a point job These commands belong to the category Move Command Category _ Command Parameter Job Raises only the Z axis by the specified _ distance Lowers only the Z axis by the specified _ distance movetoz Distance Speed Raises or lower the Z axis to the specified 9P Z coordinates Absolute coordinates upZ Distance Speed downZ Distance Speed Move commands are invalid at the CP passing point and points whose Base Type is CP Passing Point the base type Example 1 The current movement condition is PTP movement 2 The arm stops descending before holding the workpiece 3 The sensor detects the workpiece 4 The hand tool descends slowly to hold the workpiece Hand Tool e e Workpiece i Conveyor Belt Sensor waitCond Wait in place until the following conditions are met Id genIn2 genIn2 ON Condition endWait End of conditions downZ 10 20 Descend only the Z axis at the speed of 20 mm sec Features II 68 CARTESIAN Benchtop Robot The distance or speed can be set using variable or expressions waitCond Wait in place until the following conditions are met Id genIn2 gen In2 ON Condition endWait End of conditions downZ P_Z 1 point_Z 20 Lower or raise only the Z axis at the speed of 20 mm sec by a distance calculated by deducting the Z coordinates of the current point from the Z coordinates of P1 P_Z 1 Variable which has the Z coordinates of P1 as a value
74. rameter _ Assigns a value of the specified expression Execute Flow Control returnFunc Expression asa returned walue and end the function The command returnFunc cannot be used for point job data Jopint Job Data Function Identifier radians outLCD 7 4 radians x lt Call a function returnFunc 0 017453 x A returned value of radians function for Argument x is displayed on the teaching pendant LCD Features II 62 CARTESIAN Benchtop Robot Jumping to a specified point goPoint goRPoint goCRPoint The following explains how to jump to a specified point after carring out a point job instead of going to the next point ee Command Parameter PTP Condition Number _ Point Number Execute Flow RPoint _ PTP Condition Number Control goon Relative Point Number PTP Condition Number Jumps to a specified destination while Destination selection running in CP drive goPoint Jumps to a specified point Jumps to a specified relative point goCRPoint o The commands goPoint goRPoint and goCRPoin are invalid at the CP Passing Point or a point whose Base Type is CP Passing Point Point Number or Relative Point Number of goPoint and goRPoint can be set using variables or expressions A destination for goCRPoint can also be set using variables or expressions In this case the value must be either O or 1
75. rkpiece adjustment from COM1 at workAdj_X 6 hosei hosei The hosei value is assigned to workAdj_X 6 workAdj_X 6 X direction adjustment amount of workpiece adjustment 6 Point job data set in P2 Setting point of Workpiece Adjustment set handOut1 Dispensing start Point job data set in P3 reset handOut1 Dispensing end When Workpiece Adjustment is set at the CP start point it is valid until the tool unit reaches the CP end point Features II 20 CARTESIAN Benchtop Robot Point coordinates point_X point_Y point_Z point_R point_TagCode These variables hold the coordinates and tag code value of the running point Running point is the point with point job data containing this variable set When point job data containing this variable is set to a job before moving job while moving or job while CP moving the current position of the tool center point and the value of this variable are different In the figure below a job before moving set in P2 runs at point P1 but when the point job data set at job before moving includes this variable the P2 coordinates are retained Also this variable holds the original coordinates of the point This value does not change even when Workpiece Adjustment and jogStartHight are used CP Passing Point P3 P2 CP Start Point m m o gt x x o 5 O O N O Q an oO D D D n Y Pi g g v o Ay gt
76. rmY Current arm coordinate Y mm units num currentArmZ Current arm coordinate Z mm units num currentArmR Current arm coordinate R degree units num numCOM port COM receive port data byte count currentMainProgNumber Holds the main program number currently running currentSubProgNumber Holds the subprogram number currently running When a subprogram is not run this variable holds the main program number currently running currentPointNumber Holds the point number currently running For work home this variable is 0 currentArmX currentArmyY currentArmZ Holds the current arm position coordinate Absolute coordinate nm units currentArmR Holds the number of rotations of the current R axis R axis coordinate Absolute coordinate degree units Features II 24 CARTESIAN Benchtop Robot Arithmetic functions The following can be used as arithmetic built in functions x y Numeric value n m Rounded integer value Category Identifier Description num abs x Absolute value lt lt lt lt num _max x y Maximumvalue num min x y Minimum value num degrad x Conversion from degree to radian x 7 180 num raddeg x Conversion from radian to degree x 180 7 num _ sqrt x Square root num _sin x Sine num __Cos x _ Cosine num fan x Tangent num _atan x _ Arc tangent num atan2 x y Arc tangent aii int x Maximu
77. ruction is received If either genIn1 or genIn2 are not ON advance to the next job The commands for Example 2 are shown Label 1 Sound Alarm And Wait Start below Label 1 A destination mark for jump command If the following condition is true advance to then If false advance to the next of if endif Id genIn1 genIn1 ON Condition 1 and genIn2 And genIn2 ON Condition 2 then If the Conditions are true execute the following commands waitStartBZ Sound an alarm buzzer and stand by in place until a start instruction is received jump L1 Jump to Label 1 when a start instruction is received endlf End of If Branch Itis not necessary that both then and else exist at the same time However an IF command without a corresponding endlf command is recognized as an error The command lines for waitCondTime timeUp endWait if endlf are indented See below waitCondTime 200 a Id genIn2 Be sure not to exceed the 9 level of the timeUp indent set genOut2 if If point job data including a line with the id genIn1 indent exceeding 9 level it will recognize then an error in running and the message Error downZ 20 20 on point job will be displayed _waitCondTime 200 l Id genin4 If timeUp or endWait precedes timeUp waitCondTime or if then else or endif
78. s assigned counting down in msec units Special variable starts automatically Features II 15 CARTESIAN Benchtop Robot Point job starting height jobStartHight When a value is assigned let to the variable jobStartHight before movement or during movement the point job starts from an assigned value above the set point Z coordinate Setting point job data that includes jobStartHight at point job is meaningless because the robot has already arrived at the point job start position Also since this variable acts only on the set point the point job start position of the next point does not change e g P01 Type CP start point Point Job Data 3 jobStartHight 25 Job before moving Point job data 3 Point job Point job data 12 Point Job execution start Category Identifier Description f Point job starts from a given value above the Z coordinate of HOP Stanelight the point Invalid in CP drive Special variable Features II 16 CARTESIAN Benchtop Robot Pallet palletflag 1 to 100 palletCount 1 to 100 palletCount 1 to 100 is a numeric variable and palletflag 1 to 100 is a Boolean variable These variables retain the value of the pallet counter and pallet flag of the Pallet Routine under Additional function data 1 true when the pallet counter is full By using this variable a pallet can be moved to the next point etc midway or a given pallet can be
79. s hold the coordinates and tag code value of a given point in a given program This variable retains the original coordinates of the point This value does not change even when Workpiece Adjustment and jogStartHight are used Category Identifier Description X coordinate value of given point in given program Y coordinate value of given point in given program Z coordinate value of given point in given program R coordinate value of given point in l given program prog_P_TagCode Tag code value of given point in given 1 to 255 1 to last point count program prog_P_X 1 to 255 1 to last point count Coordinates of given point of given program Features II 23 CARTESIAN Benchtop Robot Functions Robot functions Built in functions that are built in as robot functions and user definition functions which can be freely defined can be used with this robot User definition functions are defined in the customizing mode Refer to operation manual Features IV for a description of the customizing mode The following can be used as robot system built in functions Category Identifier Description num ___ currentMainProgNumber __ Currently running main program No num currentSubProgNumber Currently running subprogram No num currentPointNumber Currently running point No num currentArmX Current arm coordinate X mm units num currentA
80. se the robot in an environment where no electric noise is present Failure to do so may result in malfunction or defect Be sure to secure the movable parts of the robot before transportation Failure to do so may result in defect or injury Do not bump or jar the machine while it is being transported or installed This can cause defects Use the machine in an environment where it is not exposed to direct sunlight Failure to do so may result in malfunction or defect Be sure to confirm that tools such as the electric screwdriver unit etc are properly connected Failure to do so may result in injury or defect Be sure to check the wiring to the main unit Improper wiring may cause malfunction or defect Keep the emergency stop switch within reach of an operator while teaching and running the robot Failure to do so may cause danger since the robot cannot be stopped immediately and safely Be sure to shut off the power supply before plugging the power cord Features II vi CARTESIAN Benchtop Robot FOR YOUR SAFETY Be sure to remove the eye bolt after installing the robot so that it does not hit the arm Failure to do so may result in injury or breakdown of the unit Features II vii CARTESIAN Benchtop Robot FOR YOUR SAFETY WORKING ENVIRONMENT When you lubricate or inspect the unit unplug the power cord from the control box Failure to do so may result in electric shock or injury Be sure to shut off
81. ses Dispensing Needles Dispensing Nozzles Light Bulbs Lamps Product Barrels Henkel reserves the right to make changes in design and or improvements to its equipment without obligation to include these changes in any equipment previously manufactured Features II 86 CARTESIAN Benchtop Robot Henkel s warranty herein is in lieu of and excludes all other warranties of Henkel and its affiliated and related companies hereinafter the seller companies express implied statutory or otherwise created under applicable law including but not limited to any warranty or merchantability and or fitness for a particular purpose of use In no event shall the seller and or the seller companies be liable for any direct indirect special incidental or consequential damages including but not limited to loss of profits In addition this warranty shall not apply to any products which have been subjected to abuse misuse improper installation improper maintenance or operation electrical failure or abnormal conditions and to products which have been tampered with altered modified repaired or reworked by anyone not approved by seller Buyer s sole and exclusive remedy under this warranty shall be limited to at seller s discretion the replacement or repair of any defective product or part thereof or a refund of the purchase price paid by for the product in exchange for buyer s return of the product to seller free and clear of any and all
82. skipped Category Identifier Description palletflag 1 to 100 Pallet flag corresponds to pallet 1 to 100 palt palletCou nt 1 to 100 Pallet counter corresponds to pallet 1 to 100 palletFlag 1 to 100 does not become 1 true even if a value which fills the counter is assigned to palletcount 1 to 100 e g Perform a pallet job by skipping a given pallet Pick up a workpiece at P1 places it on the pallet set at P2 and advances to the next point P3 where the pallet becomes full However there are 2 points P2 5 P2 11 on the pallet where a workpiece is not placed The pallet becomes pallet number 3 and the tool is connected using the following settings Pick up workpiece pick up handOut1 ON Place workpiece place handOut1 OFF To P3 P2 1 PO P2 2 Omitted YY P25 e P1 Points where work is not performed Features II 17 CARTESIAN Benchtop Robot Point job data set on P1 set handOut1 Point job data set on P2 if Id palletCount 3 or palletCount 3 else reset handOut1 endlf loopPalette 3 1 5 11 Features II Pick up workpiece If palletCount 3 is other than 5 P2 5 11 P2 11 Place release workpiece Increase the pallet 3 counter by 1 If the counter becomes full advance to the next command In this case the point job ends because there is no next command If the counter is not full move t
83. t callJob 24 Executes point job data 24 if If Id count gt 10 the value of count was 10 or greater then exitDo Jumps to the command after the loop command endlf loop Returns to the do command e g Point job data 24 declear count count 0 Label 1 pulse genOut11 250 count count 1 count local variable declaration Sets initial value O into count Label 1 jump destination mark ON pulse output to genOut1 Loads 1 into count if If Id count lt 3 the value of count was 3 or less then jump L1 jumps to label 1 endif Features Il 82 CARTESIAN Benchtop Robot Comment insertion rem crem Comments can be added to point job data and sequencer program commands Command category Command parameters Variable comment rem String _1 line comment system control crem String Comment in the end of a command line e g if If Id genin1 genIn1 is true rem nin1 truction sensor genIn1 truction sensor Comment lin then waitStartBZ Sounds a buzzer and stands by until start is given e g if If Id geniIn1 crem genIn1 Obstruction sensor genin1 is true then genIn1 Obstruction sensor Comment line waitStartBZ Sounds a buzzer and stands by until start is given Fora teaching pendant when the comment is longer than 1 line even when crem end of line comment is used line feed is performed to display the comment Fea
84. tallation in an insufficient or unstable place can cause the unit to fall overturn breakdown or overheat Be sure to take protective measures such as installing an area sensor or enclosure to avoid injury Entering the robot s work range during operation could lead to injury Do not attempt to disassemble or modify the machine Disassembly or modification may cause electric shocks fire or malfunction Features II x CARTESIAN Benchtop Robot FOR YOUR SAFETY Use the machine indoors where no flammable or corrosive gas is present Emission and accumulation of such gasses could lead to fire IP Protection Rating is IP30 IP40 for CE specification Be sure to unplug the power cord from the wall outlet if the robot will remain unused for long periods of time Gathered dust could lead to fire Be sure to use power in the proper voltage range Failure to do so may result in fire or malfunction Keep the unit and the power cables away from water and oil Failure to do so may result in electric shock or fire Turn off the unit before inserting and removing cables Failure to do so may result in electric shock fire or malfunction of the unit IP Protection Rating is IP30 IP40 for CE specification Keep the emergency stop switch within reach of an operator while teaching and running the robot Failure to do so may lead to danger since the robot cannot be stopped immediately and safely Regularly
85. tart instruction comes To re start running the robot resolve the problem and press the start button waitCondTime 3000 Wait for 3 seconds until the following conditions are met Id genIn2 genIn2 ON Condition timeUp If the conditions are not met within 3 seconds set genOut2 Output ON signal to genOut2 waitStartBZ Stand by in place until a start instruction comes reset genOut2 Output OFF signal to genOut2 when a start instructionis received endWait End of the line for commands if conditions are not met after 3 seconds Features II 38 CARTESIAN Benchtop Robot endWait and timeUp cannot be used alone A period for Time Out of waitCondTime can be set using variable and expressions Example declear num wtime if Id genIn3 then wtime 3000 else wtime 1000 endif waitCondTime wtime Id genIn2 timeUp set genOut2 waitStartBZ reset genOut2 endWait Features II Declare the local variable wtime If gen In3 ON then Assign 3000 to wtime if Assign 1000 to wtime Wait for 3 seconds 1 second until the following conditions are met gen In2 ON Condition If the conditions are not met within 3 seconds 1 second Output ON signal to genOut2 Stand by in place until a start instruction comes When a start instruction comes output OFF signal to genOut2 End of the command line if the conditions are not met within 3 seconds 1 second 39 CARTESIAN
86. tination The smallest number between I Os to be used to input e g If you use genIn3 to 10 the Read Out Source is 3 The serial I Os from Input Destination to Input Width are used You cannot use I Os that are not serial I O s Example declear numeric code Declare the local variable code dataln code genIn3 8 Read out data from genIn3 I O 1 to genIn10 as a value and assign it to code declear numeric code Declare the local variable of code datalnBCD code genIn3 8 Read out data from genlIn3 I O 1 to genIn10 as BCD value and assign it to code Status of O 1 genIn3 genIn4 genIn5 genIn6 genln7 genIn8 genIn9_ genlIn10 OFF OFF OFF ON OFF OFF ON OFF Input Width 8 amp In the above case the values of code are as below For the command dataln the value of code is 18 For the command datalnBCD the value of code is 12 Input Width can be set up to 31 However it cannot be extended to different I O Input Width can be set up to 31 However the two I Os cannot be combined Features II 47 CARTESIAN Benchtop Robot Pallet Control Pallet Command loopPallet resPallet incPallet There are two methods for updating the pallet counter One is Auto Increment which increases the counter automatically the arm will proceed to the next position on the pallet and the ot
87. tion 2 returnJob returnJob else Operation 2 Operation 2 endlf endlf Operation 3 Operation 3 If returnJob is omitted Operation 3 will be executed even if Condition 2 is ON YES Features II 55 CARTESIAN Benchtop Robot Subroutine call of Program callProg The following explains how to call and execute other programs while running a point job Command Category Command Parameter Job Call a subroutine of a program specified by number Execute Flow Control callProg Program Number The command is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point waitCondTime 200 After executing the called Id genin1 program it starts to execute timeUp This is the command to call the command in the next callProg 17 lt line of the callProg out Program Number 17 endWait 3 command in the calling program endWait in this case The called program subprogram is run in one cycle regardless of the setting It does not return to the work home position Refer to the illustration below SP1 Subprogram Point 1 Calling point P2 P1 P3 P4 P1 P2 P3 P4 Last Point P3 SP2 SP3 Program 5 Program 12 Program 12 was called from P2 in Program 5 Features II 56 CARTESIAN Benchtop Robot Also Program Number can be set using expressions Example declear num eprg waitCondTime 200 Id genin1 timeUp if Id genIn2 then eprg
88. tures II 83 CARTESIAN Benchtop Robot Changing a program number using point job setProgNo The program number being selected can be changed by the point job It is available in the following cases lf you set a program number by the point job after the power is turned ON the same program number will always be activated when the power is turned ON f you set a program number by the point job at the end at the work home you can switch it to the next program number This fuction is useful for executing a series of programs in order For example a series of point jobs such as Program 1 Program 2 Program 3 is executed repeatedly If SET ProgNum2 is executed by the point job at the end at the work home in Program 1 the program changes to Program 2 after running Program 1 You can also set the programs to change from 2 to 3 and to 1 repeatedly You can set a program number according to input from COM using the point job at the work home You can connect a barcode reader to COM and change the program according to the value of the barcode If you change the number while running a program the running program or sequencer program will not be changed instantly After changing the number the running program will be changed when the robot restarts from the standby state If you want to execute another program while running the program use the callProg command Command Category Command Parameter Variable Comment System Control Chan
89. unt and given point seqC 1 to 99 seqCCount 1 to 99 weJboid wsouenbes O Be 3 25 Sa oo D O n 5 Cna s euIpIoo9 julod Uang prog_P_X 1 to 255 1 to last point count prog_P_Y 1 to 255 1 to last point count prog_P_Z 1 to 255 1 to last point count wesbosd Uang prog_P_R 1 to 255 1 to last point count s euIpJo09 Julod USAIS Features II 9 CARTESIAN Benchtop Robot FUNCTION LIST Built in functions which are built in as robot functions and user definition functions which can be freely defined can be used with this robot User definition functions are defined in the customizing mode Refer to the operation manual Features IV for a description of the customizing mode x y Numeric value or numeric variable n m Numeric value made a certain digit or greater by rounding or truncation a b String or string variable Category Type Identifier Description num currentMainProgNumber Main program No currently running num _ currentSubProgNumber Subprogram No currently running _num___currentPointNumber _ Point No currently running num __currentArmX _ Current arm coordinate X mm units _num__currentArmY _ Current arm coordinate Y mm units num currentArmz _ Current arm coordinate Z mm units num _ _ currentArmR _ Current arm coordinate R degree units NumCOM _ COM Port Number _abs x _ Absolute value _max x y __Maximum value min x y _ Minimum v
90. using variables or expressions declear num loop Declare the local variable loop declear num ival Declare the local variable ival if If Id genin1 genIn1 ON then then loop 5 Assign 5 to loop else If not loop 10 Assign 10 to loop endlf for ival 1 to loop step 1 The initial value of the variable ival is 1 Add to the contents of repetition variable by one for every looping and repeat for next next until the value of the ival become the same as the variable loop 5 6 do exitDo loop Repeat an operation from do to loop until it exits by exitDo do If there is no condition to exit from repetition repeat contents of repetition looping endlessly loop do contents of repetition can be put before or after contents of repetition Condition if l Int i Po n Condition If genIn1 1 exit from the repetition of do loop and exitDo endif go to the next command of loop contents of repetition loop In case of the looping commands an error will occur if the nest level exceeds 10 If you set the looping commands at CP Passing Point or a point whose Base Type is CP Passing Point as a point job the robot may stop because of too many loops Features II 67 CARTESIAN Benchtop Robot Controlling Tool Movement Moving the Z axis upZ downZ movetoZ The following explains how to raise lower the Z axis
91. waitStartBZ proceeds if it will be also recognized as an endWait error and the message Error on point job endif will be displayed endWait 3 level De level 1 level Features II CARTESIAN Benchtop Robot Wait Condition waitCond waitCondTime timeUp endWait This section explains the point job data commands for waiting until the sensor connected to genIn2 comes ON These commands belong to the category Wait Condition Command Category Command Parameter _waitCondTime Period for Time Out Waits for conditions for a certain period timeUp Executes when time is up _endWait _ End of WAIT command waitCond l Waits for conditions Wait Condition Wait Condition commands are invalid at the CP Passing Point or a point whose Base Type is CP Passing Point Be sure to put condition commands after waitCond or waitCondTime waitCond endWait Wait until conditions are met e g A workpiece exists Sensor genIn2 ON A workpiece does not exist Sensor genIn2 OFF Condition waitCond Stand by in place until the following conditions are met Id genIn2 genIn2 ON Condition endWait End of the condition line waitCondtime timeUp endWait Wait for the specified period of time until conditions are met e g If workpieces do not come within 30 seconds it is recognized as an error an external lamp connected to genOut2 comes ON and the robot stands by until a s
92. with the given character code Returns the top string code Other codes are ignored Returns the string length byte length _ Does not handle multiple byte codes Returns the first part string position matching b in a Returns a character string from the n th to the m th characters counting from the top of character string a _ Converts a numeric value to a decimal string Converts a numeric value to a binary string _m Number of binary string digits Converts a numeric value to a hexadecimal string _m Number of hexadecimal string digits Rounds a numeric value to a 1 byte signed integer and _ converts it to a 1 byte string 1 byte Signed Integer Rounds a numeric value to a 2 byte signed integer and _ converts it to a 2 byte string big endian 2 byte Signed Integer Big Endian l ounds a numeric value to a 2 byte signed integer and converts it to a 2 byte string little endian 2 byte Signed Integer Little Endian lt Rounds a numeric value to a 4 byte signed integer and converts it to a 4 byte string big endian 4 byte Signed Integer Big Endian Rounds a numeric value to a 4 byte signed integer and converts it to a 4 byte string little endian 4 byte Signed Integer Little Endian Regards a numeric value as a floating decimal and converts it _ to 4 byte string big endian 4 byte Float Big Endian Regards a numeric value as a floating decimal and converts it to 4 byte string little endian

Loctite CARTESIAN 300 User's Manual

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