! ige Bc next page | RJ3 PROGRAMMING MANUAL Designed to accompany RJ3 training courses at FANUC Robotics (UK) Ltd.vious page | contents | next page bP€ | vreviows page { content next page 1B INTRODUCTION Fanue Robotics’ RJ3 Training Course This manual is intended to accompany the RJ3 training course held within FANUC Roboties UK Ltd. tis not intended as a comprehensive manual of all that a robot can do. Please pay particular attention to the safety advice contained within this document. For further reference please consult the comprehensive FAINUE: Reference Manual Using This Manual Each section is individual labelled to enable you to quickly access the information you require in addition to the table of contents on page 5.@ {previous page | contents | next page | >t page b if a «xf a CONTENTS SAFC ae eeseanennere 7 The Basics, . seseeeseees AT Jogging the Robot & Coordinate ene 17 Creating a Program ....... 25 Testing a Robot Program.. Peete oe losses 29 ‘Touchup. Bs 33 Motion Default. . - - eit - 2. 35 Giving 2 Positions the Same Identity fee rsireeessreene lereeansens 37 Program Elements. as 39 EDCMD Ment...escssnestinsneninniennisenne AT INST Menu . ce 57 Registers... 87 ‘Argument Registers 83 Position Registers 85 LPosiIPos. Cy4 Lyrevious page I contents 1 next page b> CONTENTS Inputs and Outputs... 73 IF/Select Statement Hatta 79 IF Statement. : a 7. 73 Selact Statement cei a3 Wait Instruction. 87 Labeis and Jump Labels .... 91 Call instruction. iinet 95 Miscellaneous Menu : 99 RSR Instruction fd Sit 99 ‘ser Atarms 04 Tin 105 Override Instructions 107 Remark 409 Message Instruction cen a 111 Paremeter Instruction 7 113 ‘Maximum Speed instruction... ad ia 47 Multiple Control Menu 119 Run Command ene i seems 119 Semaphore Instruction 124 Program Control instruction 123 Hall Instruction... Abort Instruction .. Offsets Ment... : Offsets... . seontnnne aa po Frames instruction 131 Skip Condition .. Frames Overview... Overview Seti Tool Frames ... : = User Frames. Jog Frames Utilities Sees 157 Reference Position 187 Soft Float. : led 161 Macros : SS eee f. Shift Runctloneditatieeteet eee feed soe TS Overview. s 473 Program Shift. 476 Mirror Shift 179 User Frame Program Shift... adaidetetiatat ite iat on BS Continuous Tum: 189 PR Look Ahead Function 1195 File Management... fi Ee aun Oo Program Header Information 499 Deleting a Program ee ae ats Copying & PIOGTAM eesnesnsnenineninnntnnnenennsn 205 Backing Up : 2074 {previous page t contents | next page bbSAFETY 4 Lvrevious page f contents | next page | Tl Essential safety measures required whilst using robots Ensure you read and understand the FANUC Robotics SAFETY HANDBOOK. Teaching and manual operation Don't operate the teach pendant and operator's panel with the gloves on your hand. Use a low override speed to increase your control aver the robot when jogging it, Visualize the movement the robot will make before you press the jog keys on the teach pendant Know the path that can be used to escape from a moving robot; make sure the escape path is never blocked. The area near the robot must be clean and free of oil, water, or debris.€. previous page § contestts | next page | Production operation * Understand the complete task the robot is programmed to perform before initiating production operation. * Know the location and status of all switches, sensors, and control signals that could cause the robot to move. = Know where the EMERGENCY STOP buttons are located on both the robot control and external control devices. Be prepared to press these buttons in an emergency. * Never assume that a program is complete if the robot is not moving, The robot, could be wailing for a input signal that will permit tia continue activity FANUC Robotics (UK) Ltd. is not and does not represent itself as an expert in safety systems, safety equipment, or the specific safety aspects of yout company and/or its work force. It is the responsibility of ‘the otoner, employer, or user to take all necessary steps ta guarantee the safety of all personnel in the workplace, The appropriate level of safety for your application and installation can best be determined by safety system professionals. FANUC Robotics (UK) Lid. therefore, recommends that each customer consult with such professionals in order to provide a workplace that allows for the safe application, use, and operation of FANUC Robotic systems. Additionally, as the owner, employer, or user of a robotic system, it is your responsibilty to arrange for the training of the operator of a robot system to recognize and respond to known hazards associated with your robotic system and to be aware of the recommended operating procedures for your particular application and robot installation. FANUC Robotics (UK) Ltd. therefore, requires that all personnel who intend to operate, program, repair, of otherwise use the robotics system be trained in an approved FANUC Robotics (UK) Lid. training course and become familar with the proper operation of the system. Persons responsible for programming the system - including the design, implementation, and debugging of application programs - must be familiar with the recommended programming procedures for your application and robot installation. The following guidelines are provided to emphasize the importance of safety in the workplace, Safety is essential whenever robots are used. Safety Considerations Keep in mind the following factors with regard to safety: + The safety of people and equipment4 Lvrevious page | contents | next page 1 > = Use of safety enhancing devices * Techniques for safe teaching and manual operation of the robot(s) = Techniques for safe automatic operation of the robot(s) * Regular scheduled inspection of the robot and workcell * Proper maintenance of the robot The safely of people is always of primary importance in any situation. However, ‘st be kept safe, too. When prioritizing how to apply safety to your robotic, systern, consider the following: People Extemal devices Robot(s) Tooling Workpiece Aiways give appropriate attention to the work area that surrounds the robot. The safety of the work area can be enhanced by the installation of some or ail of the following devices: Safety fences, barriers, or chains Light curtains Interlock Pressure mats Floor markings Warning lights Mechanical stops DEADMAN switches EMERGENCY STOP buttons G&A Safe Workcell A safe workcell is essential fo protect people and equipment. Observe the following guidelines to ensure that the workcell is set up safely. * Sponsor your personnel for training in approved FANUC Robotics training course(s). Never permit untrained personnel to operate the robots. * Install a lockout device that uses an access code to prevent unauthorized persons from operating the robot. = Use anti-tie-down logic fo prevent the operator from bypassing safety measures, = Install safety fences to protect against unauthorized entry by personnel into the work envelope.e Lcontents E next page § be 16 Arrange the workcell so the operator faces the workcell and can see what is. going on inside the cell Clearly identify the work envelope of each robot in the system with floor markings, signs, and special barriers. The work envelope is the area defined by the maximum motion range of the robot, including any tooling attached to the wrist flange that extends this range. Position ail controllers outside the safety fence. Never rely on software as the primary safety element. easy each of of the work. ica! points inside and around the ot l Ifnecessary, install flashing lights and/or audible warning devices that activate whenever the robot is operating, that is, whenever power is applied to the servo drive system. Install special guarding that prevents the operator from reaching into restricted areas of the work envelope. Use interlocks. Use presence or proximity sensing devices such as light curtains, mats, and capacitance and vision systems to enhance safety. Periodically check the safety joints or safety clutches that can be optionally installed between the robot wrist flange and tooling. If the tooling strikes an object, these devices dislodge, remove power from the system, and help to minimize damage to the tooling and robot. Make sure all extemal devices are properly filtered, grounded, shielded, and suppressed to prevent hazardous motion due to the effects of electro- magnetic interference (EM1), radio frequency interference (RFI), and electro- static discharge (ESD) Eliminate pinch points. Pinch points are areas where personnel could get trapped between a moving robot and other equipment. Provide enough room inside the workcell fo permit personnel to teach the robot and perform maintenance safely. Program the robot to load and unload material safely. If high voltage electrostatics are present, be sure to provide appropriate interlocks, warning, and beacons. f materials are being applied at dangerously high pressure, provide electrical interlocks for lockout of material flow and pressure.4 Lrevious page t contents § next page 1b Observe the following rules * Advise all personnel who must teach the robot or otherwise manually operate the robot to observe the following rules: * Know whether or not you are using an intrinsically safe teach pendant if you are working in a hazardous environment. * Before teaching, visually inspect the robot and work envelope to make sure that no potentially hazardous conditions exist. The work envelope is the area defined by the maximum motion range of the robot. These include tooling attached fo the wrist flange that extends this range. * The arga near the robot must be clean and free of oll, water, 0 immediately report unsafe working conditions to the su department. = FANUC Robotics (UK) Ltd. recommends that no one enter the work envelope ofa robot that is on. However, if you must enter the work envelope, be sure all safeguards are in place, and check the teach pendant DEADMAN switch for proper operation. Take the teach pendant with you, turn it on, and be prepared to release the DEADMAN switch. Only the person with the teach pendant should be in the work envelope. "Know the path that can be used fo escape from a moving robot; make sure the escape path is never blocked. * Isolate the robot from all remote control signals that can cause motion while data is being taught. BRE Testing a Program Test any program being run for the first time in the following manner: * Using a low motion speed, single step the program for at least one full cycle, = Using a low motion speed, test run'the program continuously for at least one full cycle. * As speed is increased, the path may vary slightly. Run through the program at 5-10% intervals up to 100%. * Using the programmed speed, test run the program continuously for at least one full cycle. i Running Preduction Make sure all personnel are outside the safety fence before running production. Advise all personnel who operate the robot during production to observe the following rules:€ [previous page § contents | nex = Know the entire workcell area. The workcell includes the robot and its work envelope, plus the area occupied by all external devices and other equipment with which the robot interacts. * Understand the complete task the robot is programmed to perform before initiating production operation. = Make sure all personnel are outside the safety fence before operating the robot. * Never enter or allow others to enter the work envelope during production operation of the rohot «Know the location and status of all switches, sensors, and control signals that could cause the robot fo move. = Know where the EMERGENCY STOP buttons are located on both the robot control and extemal contro! devices. Be prepared to press these buttons in an emergency. + Never assume that a program is complete if the robot is not moving. The robot could be waiting for an input signal that will permit it to continue activity * Ifthe robot is running in a pattern, do not assume it will continue to run in the same pattem. * Never try to stop the robot, or break its motion, with your body. The only way to stop robot motion immediately is fo press an EMERGENCY STOP button located on the controller panel, teach pendant, or emergency stop stations around the workcell. {028 Inspecting the Robot When inspecting the robot, be sure to * Tum off power at the controller. * Lock out and tag out the power source at the controller according to the policies of your plant. «= Turn off the compressed air source and relieve the air pressure. + If robot motion is not needed for inspecting the electrical circuits, press the EMERGENCY STOP button on the operator panel, + If power is needed to check the robot motion or electrical circuits, be prepared to press the EMERGENCY STOP button, in an emergency. 24 [I previous page | contents { next page | > Maintenance When performing maintenance on your robot system, observe the following rules: Never enter the work envelope while the robot or a program is in operation. Before entering the work envelope, visually inspect the workcell to make sure ‘no potentially hazardous conditions exist. Consider all or any overlapping work envelopes of adjoining robots when standing in a work envelope. Test the teach pendant for proper operation before entering the work envelope. if itis necessary for you to enter the robot work envelope while power is tumed on, you must be sure that you are in control of the robot. Be sure fo take the teach pendant with you, press the DEADMAN switch, and turn the teach pendant on. Be prepared to release the DEADMAN switch to turn off servo power to the robot immediately. Whenever possible, perform maintenance with the power turned off, Before you open the controller front panel or enter the work envelope, turn off and lock out the 3-phase power source at the controller. Release or block all stored energy. Before working on the pneumatic system, shut off the system air supply and purge the air tines. Isolate the robot from all remote control signals. If mainteriance must be done when the power is on, make sure the person inside the work envelope has sole control of the robot. The teach pendant must be held by this person. Make sure personnel cannot get trapped between the moving robot and other equipment. Know the path that can be used fo escape from a moving robot Make sure the escape route is never blocked. Use blocks, mechanical stops, and pins to prevent hazardous movement by the robot, Make sure that such devices do not create pinch points that could trap personnel. Be aware that when you remove a servomotor or brake, the associated axis, will fall if it is not supported or resting on a hard stop. When replacing or installing components, make sure dirt and debris do not enter the system. Use only specified parts for replacement. To avoid fires and damage to parts in the controller, never use non-specified fuses, Before restarting a robot, make sure no one is inside the safety fence; be sure that the robot and all external devices are operating normally.4 Lorevious page t contents | next page E> ¥ Keeping Machine Tool & Other Devices Safe Certain programming and mechanical measures are useful in keeping the machine tools and other external devices safe. These measures are outlined below. implement the following programming safety measures to prevent damage to machine tools and other external devices, * Back-check limit switches in the workcell to make sure they do not fail Implement “failure routines" in programs that will provide appropriate robot actions if an external device or another robot in the workcell fails. + handshaking protocol to synchronize robet and extemal devic rations * Program the robot fo check the condition of all external devices during an operating cycle. * implement the following mechanical safety measures fo prevent damage fo machine tools and other external devices. «Make sure the workcell is clean and free of oil, water, and debris. ® Use software limits, limit switches, and mechanical hardstops to prevent undesired movement of the robot into the work area of machine tools and external devices. Preventing Damage During Operation Observe the following operating and programming guidelines to prevent damage to the robot, + The following measures are designed fo prevent damage to the robot during ‘operation. * Use a low override speed to increase your control over the robot when jogging the robot. "Visualize the movement the robot will make before you press the jog keys on the teach pendant * Make sure the work envelope is clean and free of oil, water, or debris. * Use circuit breakers to guard against electrical overload Preventing Damage During Programming The following safety measures are designed to prevent damage to the robot during programming:4 {previous page § contents I next page b> «Establish interference zones to prevent collisions when two or more robots share a work area = Make sure that the program ends with the robot near or at the home position. * The robot must be at HOME to start a cycle, therefore the robot must return HOME at the end of the program. * Be aware of signals or other operations that could trigger operation of tooling resulting in personal injury or equipment damage4 A vrevious page I contents | next page | &4 I vrevious page | contents | next page 1 JOGGING THE ROBOT The process of moving the robot using jog keys on the teach pendant ith the teach pendant should be in the working envelope Jogging the robot is the process of moving it around. It is ESSENTIAL. Always begin jogging the robot at a LOW speed. Become familiar with the different ways the robot moves depending on the different coordinate system chosen. 8! Coordinate Systems The robot may be jogged in one of four different coordinate systems. Each system moves the robot in a different way.4 | previous page i contents | next page | World Frame The default system of the robot for XYZ moves is the WORLD frame. WORLD is a cartesian (XYZ) frame. That is, it moves the robot in a frame where the X,Y and Z directions are at right angles to each other. ln WORLD, multiple axes at a time move to keep the robot Tool Centre Point in an XYZ plane. World Frame4 Lprevious page | contents | next page 1 Joint Coordinate System Joint Coordinate system allows you fo move only one axis at a time. That is, one joint at a time unless multiple jog keys are pressed. The zero point of this system is on each individual axis. JOINT is the default system of the robot and cannot be changed. Joint Coordinate System 9 ——— Ee User Coordinate System User is a cartesian system, or XYZ. Moves multiple axes at a time to ensure that the tool centre point or robot faceplate moves in the selected XYZ plane. The zero point of the robot can be placed anywhere by setting up a user frame. enemies Ifa user frame has not been set up, the robot will move in the WORLD framE when user Take care... hem a user frante is sek up it can uifict how your programs work, CONSULT THE SECTION ON USER FRAMES, Jog Frame (JGFRM) Coordinate System Ugfrm is a cartesian system, or XYZ. Moves multiple axes at a time to ensure that the tool centre point or robot faceplate moves in the selected XYZ plane. ‘A jog frame can be set up by the user to allow for easier jogging in an XYZ plane other than the default. The robot zero point of a jog frame always remains in the WORLD frame. SUITS aPEnnmen eeeeneryremeneereae Ifa JOG frame has not been set up, the robot will move in the WORLD frame when JGERM coordinate system is selected A jog frame has no effect on a program Consult the Section on Jog Frames.€ fore ous page Econtents | next page |B Activating Coordinate Systems Use the COORD Key to change between Coordinate sysiems. Jogging the Robot The following steps cause the robot to move, take care. 1. To jog the robot, press and hold the deadman handle on the rear of the teach pendant. 2. Turn the teach pendant ON/OFF switch to ON, and if necessary press the RESET key fo reset any faults, ‘Two keys are needed to jog (rmove) the robot, One of the two SHIFT keys and one of the 12 jog keys which are on the right hand side of the teach pendant.4 E previous page | contents § next page 1 > Press and hold any one of the SHIFT keys Press one of the twelve jog keys fo the right of the teach pendant. The robot will now move in whichever coordinate system is active.4b vrevious page contents § next page t ><€ [ vrevious page contents § next page CREATING APROGRAM Runs step by step through the procedure for creating a new program Before you can begin to teach the robot the path to take around an object, you must first create a program. You must give it a unique program name to identify it, and-this. selection illustrates how this is achieved. "8 & Creating a Program 1. Pick up the teach pendant 2. Press the SELECT Key 3. The SELECT screen will be displayed {748 ston Program name Ccomant su8 zest4t vious page contents next page 1b 4. If CREATE is not above F2, press NEXT key 5. Press F2, CREATE 6. The following screen should be displayed = mies 2 Uperean Stores toon Crate Teach Panda Program = Progam ne: 1 7. Press the "OF key to Uppercase and all the letters of the alphabet should be above Passe the function keys, like so: aul Creal Toes Pensa Progam — Progam ne: Emer progran mane eK 8. To select a letter, press the corresponding function key until the required letter appears in the program name box. Note if 2 consecutive letters in the program name appear above the same function key, press ~ the right cursor key FEY 9. Continue to press the function keys i corresponding to the required letters until PAUSED the program name is complete. 1 10. !f you make a mistake, use the BACKSPACE key. Sean 11. Once the program name is complete, press Prgrmeane:180X ENTER 12. The cursor will jump to- ED -~, shown here 26€ Lprevious page | contents § next page E> 13. Press ENTER again to lead fo the program screen. 9 & Recording a Position ‘The teach pendant is now ready for the first program point to be recorded. 14. To do this, jog the robot to the first position and press SHIFT + F1, (POINT), 16. The robot has now been taught that position and a line identifying it will appear looking something like this: J P[1] 100% FINE 48. Continue jogging the robot to new positions and recording them by using SHIFT +F1, POINT. tre eee Every time SHIFT +F1, POINT are pressed, new program lines will be displayed representing the robot positions in space. 17. The new program will look similar to this: J P[1] 100% PINE J P[2] 1008 J P[3] 1008 J P[4] 1008 J P[S] 1008 gc PL6} 1008 18. Each new recorded position is given the next available position number, >t } .[vrevious page | coittents | next page § > ee BRE eae4 vrevious page | contents § next page § TESTINGA ROBOT PROGRAM Running through a'robot program for the first time. 1, To test a program for the first time, cursor to the top of the program and press STEP until the STEP LED lights up to the lef of the teach pendant screen. (2 STEP4 | previous page t contents § next page § ate 2, Ensure a SLOW speed is selected using the SPEED Keys. Ensure it is safe for the robot to move from where it 's currently sitting to the position in the program the cursor is at. If it is not safe, first jog the robot to 2 sefe pe 3. Press and hold the SHIFT key 4. Press the FWD key 5. So long as the STEP LED is on, the robot will oF move to the first position and stop. 6. Keep hold of the SHIFT key and press the FWD. key repeatedly until the program finishes execution. FWD To stop the robot at any time, realease the SHIFT Key, let go of the Deadmans or hit any emergency stop. Running Through the Program Continuously When you are happy that the program is running as it should, press STEP again. The ‘STEP LED will turn off and the robot is in continuous mode. 1. Ensure a SLOW speed is selected 2. Press and hold the SHIFT key 3. Press the FWD key4 {previous page t contents | next page tb The robot will run the program through completely Continue to run the program, increasing the percentage speed slowly, bearing in mind that the path of the robot may change the faster you go. To re-check a program point, press SHIFT & BWD to move back one step at a time.4 Lorevious page § contents | next page | ® a@ [previous page | contents | next page | TOUCHUP Altering a program position The TOUCHUP command may be needed to modify the position of existing points. It is located above F5. c lmUsing TOUCHUP To use Touchup, you must press SHIFT + TOUCHUP whilst in the program screen. This is similar to recording a point using SHIFT + POINT. ‘The difference between the two methods of recording positions is: SHIFT + POINT Records a new position with the defautt set of program elements. SHIFT + TOUCHUP Changes the positional information only ofthe position the cursor is currently on.4 [ vrevious page | coitents { next page bE Set New LB If two points in a program have the same identity, for example if there are two P[3]'s, the teach pendant will ask if you want fo set a new i.d when you try to touchup one of them. Set New 1.D. YES No F4 #5 If YES is selected, the position is touched up and given the next available position number. The secand position in the program will not be touched up and the two no longer have ihe same identity. If NO is selected, the position is touched up and the second position is touched up also, keeping the two positions identical.4 i previous page | contents § next page 1 ® MOTION DEFAULT Changing the way a position is recorded as default The usual program line that appears when SHIFT + POINT is pressed looks similar to: a Pf1] 1008 Fr Itis possible to change what kind of program line appears when SHIFT + POINT is pressed. That is, to change the default. ‘There are 4 possible motion defaults. Changing the Default Motion a. To select from the default menu press F1 POINT without the SHIFT key. b. A screen similar fo that below will appear:bon bP vious page | contents § next pag Prog PAUSED dA 11009 FINE 2 4 |100% onTI00 3 Le, jrotomisec FE )zotmmisas CNTSO 7915 100% FINE c. Press F1, ED_DEF, and these motion defaults can be chang user. ‘ed by the d, Just cursor in, press CHOICE (above F4) and edit these defaults. When completed press DONE (F5). 36[previous page t contents | next page | > GIVING 2 POSITIONS THE SAME ID Recording identical positions This procedure allows you to give a position the same identity as a previously recorded one. 4. The program tine will look like so: J P{5] 100% FINE 2. To give P[5] the same identity as P[2] for example, cursor onto the 5 like so: Bi 1008 Fine 3. Enter a 2 with the numeric keypad, and press ENTER. 4. The program line will now look like so:“4. forevions page I contents § next page 1 > J _P[2] 100% FINE 5. This point has now taken the same identity as a previously recorded position number [2]. If there is no position number [2] in the programm, the position number you have changed will be uninitialized. Ensure you enter a number that exists in the program. This procedure can be carried cut to give any position the sane identity a5 a previously recorded one. Se eee re eee eee eee ee ee eee4 [previous page { contents | next page | PROGRAM ELEMENTS Altering the way the robot moves to positions A program tine is made up of various elements that control how the robot moves between two positions, 7 Each element can be changed to enable the robot to move the required path in the desired way. A typical program line will look like so: TPE 1) 1008 FINE Position Speed 39contents next page 1 Each item in the program line is a progracn element. Every element can be changed and each are described in this section, To change any element cursor onto it and CHOICE appears above F4, Pressing CHOICE will bring up various menus depending on which element the cursor is placed. ‘There are further advanced options available by cursoring to the very end of the fine, past FINE and pressing F4 CHOICE. eWletion The motion type defines the way in which the robot moves between two points. To change it, place the cursor on the first element, and select CHOICE (above F4). Pi) 1008 FINE The following options are available: 1. Joint ra 3. Circular ear Joint The robot makes its own way between two points and calculates the fastest way fo get there. Joint motion is particularly useful for points in space when it doesn't matter which path the robot takes. Joint motion is programmed at the destination position. Destination Pecition 4 PE) 00% FINE It causes the robot to move alll the required axes to the destination position simultaneously. Units of Joint motion can be a percentage of the total default speed, or seconds. The actual speed of a Joint move is dependant on the speed of the slowest axis. Position[previous page | contenis | next page 1 & Linear The robot will move the tool centre point between two positions in a straight line. Linear motion is programmed at the destination position. Units of linear motion can be millimetres per second, inches per minute, centimetres per minute, degrees per second and seconds. The orientation of the too! centre point changes gradually as the robot moves from the start position to the destination position. Destination Position 1 PTZ} 200dmumVsect00% FINE “J PEt] 100% FINE ‘Start Pesition 41With circular motion selected, the robot will move the tool centre point in an arc from the CULAR € Lurevious page | contents § next page E> start position through an intermediate position to the end position. Circular motion is programmed at the intermediate position. Units of circular motion are millimetres per second, inches per minute, centimetres per minute, degrees per second and seconds, DO NOT SELECT CIRCULAR MOTION UNLESS YOU UNDERSTAND Id PROPERLY Pfs) 1oomimises FINE Destination Poston Prey Intermediate Position ol PUL ‘Start Postion4 Lprevious page | contents § next page Em 1008 FINE Place the cursor on any position number to examine the positional coordinates of that position. PRESS F5 POSITION: Pa) ure Ut “CONFIG: N 200 x "gotse men Wieser ae ee 2 ams connie DONE eons) ‘The screen displayed informs you where in space this position was recorded, You can edit all the values by cursoring onto them and using the numeric keypad to enter new values. F XY,Z,W,P and R are the cartesian coordinates of the selected position, To display the JOINT coordinates (each axis in degrees), press F5 [REPRE] and select Joint. When coordinates are displayed in JOINT, all tool and user frame information is ignored.s page | contents § next page |B in Speed J Pit) FINE The speed vaiue can be changed by cursoring onto it and entering a new value via the numeric keypad. ‘The speed units can be changed by cursoring onto them and pressing Fé CHOICE. The choice available depends on the motion type selected, Joint, Linear or Circular. If the motion is JOINT the following units are available for selection If the motion is LINEAR or CIRCULAR the following units are available for selection: 1. mm/sec 5. sec 2. ca/min 6. 3. inch/min 7 4. deg/sec 8. The robot knows how fast it can go and will not let you enter too fast a speed.i vrevious page | contents { next page L & se & Termination c Pil) 100% Gaye ‘There are two types of motion termination, FINE and CNT (continuous). To change between the two types, cursor to either of them and press F4 CHOICE. FINE termination With FINE termination selected, the robot visits each point exactly and momentarily stops at each position before moving to the next position. Pon) ‘start Postion 4 Destination v Position LPI) to0mmsee| PB) Potion 4s€ {previous page | contents f next page b> CNT Termination With CNT termination selected, the robot curves each point, does not stop (at high values of CNT) and may not visit the points exactly. The continuous value can be between 0 and 100. This determines how close the robot will come to the destination position. At CNT100, the robot moves furthest from the destination position, with minimum deceleration. eu) ‘Sten Position {x Pta1 100% neo a enieo L PER] tO0mse 46€ [previous page t contents next page 1 > EDCMD MENU Editing your programs, adding and deleting lines etc. ‘The EDCMD menu is located above FS and to view it you must be in a program. if EDCMD is not above FS, press the NEXT key. The menu consists of: Insert Delete Copy (and Paste) Find Replace Renumber Comment Undo eNOORwOV= This section will go through each item on the list and describe them in turn. aoes page § contents E next page te insert if a further command or point needs to be added to an existing program, a blank line needs to be inserted first, otherwise existing data will be lost. Using the Incert Function 1. You are in the program screen 2. Place the cursor at the start of the program line below where you require the inserted line to be. dP OOH FINE 2. Pi) soommieso FINE 5. Select INSERT 6. Once Insert is selected a question will be asked: How many lines to insert? + @ 7. Enter the number of lines you wish to insert, press ENTER and the biank lines will appear. 48€_ [previous page { contents § next page 1 @bwDelete Deleting program lines. Using the Delete Function 4. You are in the program screen 2. To delete a line or range of lines, place the cursor at the start of the program line at the top or bottom of the range. 3. IFEDCMD is not above FS, press the NEXT key. 4, Pra SJPUTOOM FINE 2. Pal toomsec FINE [Ecorr CEN [REPLACE @ RENUMBER T.COMMENT 2:UNoO 5. Select DELETE 6. The teach pendant will ask: Delete line(s) ? eae NO fi Fa FS 7. Before selecting yes, highlight as many lines as you require to be deleted using the cursor keys. U ft 49€ | previous page | contents | next page | ® A Copy Copying program lines, Using the Copy Function 1. To copy, place the cursor at the start of the program line at the top or bottom of the range of lines to be copied. 2. IFEDCMD is not above FS, press the NEXT key. eo Press FS, ‘uP s00% FINE 2 LP] s0ommeoc FINE SER eno. I REPLACE .RENLMGER 7. COMMENT 1, UNDO 4. Select COPY 5, COPY is above F2, and PASTE above F5. 6. Press F2 COPY ‘Multiple lines can now be highlighted using the cursor keys. io 7. When ail the required lines are selected, press F2 COPY again. The copy has now been performed. CS4 Lrevious page t contents | next page § be Bei@Paste Once program lines have been copied, they can be pasted as many times as required and in as many different programs as required. You do not need to insert blank jines before using the paste command 1. Cursor to the start of the program line in the program where you wish to paste the copied lines. It will paste ABOVE the cursor. 2. If PASTE is not above FS, press the NEXT key until EDCMD appears above FS. Press F5, EDCMD and select copy. 3. Press F5 PASTE. 4. Once PAS keys. options wif appear above the fur Paste before this line: LOGIC POS-ID POSITION CANCEL FZ F3 Fa FS Adds the tines ovactly as they niambers blank, ‘Adis the lines exactly as einen ra ease cre inal at eee positional information, ieee he copied positions with Each pasted position all hace the next aonitable position the sare identity as the q sumters. original numbers, Tf copying from one program to another, you must select Fé POSITION fo paste, F3 POS-ID should only be used iF you are pasting in the same program as you copied from. Reverse Order Pasting To paste in reverse order press the NEXT key, after selecting the PASTE command. The options above appear but this time with an R in front representing reverse. Note 7y and Paste will remain above the function keys until the prev key is pressed ey ren key is stE content: 4 i vrevions pa f next page tm Find In large programs the FIND command can be used to search the program for instructions such as Registers, 1/O and Labels among others The FIND command is located on the EDCMD menu, Using the Find Command 1. You are in the program screen at the start of a program line 2, If EDCMD is not above FS, press the NEXT key, COMMENT 2. UN0O Dv@ previous page | contents | next page “Replace ‘The REPLACE command is used to replace instructions or motion commands in a program. it can be used to replace: FINE to CNT and vice versa Speed Values Speed Units Jump Labels and others. * Registers The REPLACE command is located on the EDCMD menu. Using the Replace Command 1 2. You are in the program screen at the start of a program line If EDCMD is not above F5, press the NEXT key. Press F5. Select 5. REPLACE and follow the instructions on screen. RSET ore fs.corY feRrNOUere UNDO. 3[previous page | contents f next page be Renumber ‘The RENUMBER command is used to renumber positions sequentially. The positional data will remain the same, only the position numbers will change. ‘Suppose you have a program containing 3 positions, like so: 100% FINE 100% FINE 100% FINE You may wish to add a position between positions 1 and 2, (after inserting a blank line first). When you do so, the new position will be given the next available position number, like so: o Plt J P[4}) 2008 FINE J P[2] 100% FINE J _P{3] 100% FINE The RENUMBER command allows you to renumber the positions sequentially like so: P[1] 100% FINE 100% FINE 1008 FINE J J a a 100% FINE The RENUMBER command is located on the EDCMD menu. 1. You are in the program screen at the start of any program line 2. If EDCMD is not above FS, press the NEXT key. 3. Press F5. 4, Select 6, RENUMBER The RENU ER command changes the position number ONLY.€ I previous page contents | next page | Comment The COMMENT command enables or disables the appearance of comments on the prograrn screen, For example, if a Register has a comment to desoribe it (SECTION 5), the comment will appear in the program like so, if this command is enabled. Counter] +1 Ril: Counter] = Ril Using the Comment Function at the siart o You are in the prog 2, If EDCMD is not above FS, press the NEXT key. 3. Press FS. 4. Select 7. COMMENT 5. This will enable or disable the appearance of comments on the program screen. dF} 100% FINE |u| |S REPLACE le renunoen