Yaskawa

Function packages
YASKAWA software solutions
offer greater performance,
easier integration into
production systems, further
control functions and additional
benefits for your robot!
Contents
Overview of communication functions ....................... 05– 07

Function packages
– Relativ Job.....................................................................08
– External IO Allocation ....................................................09
– Independent control.......................................................10
– Coordinated motion.......................................................11
– Alarm detail displaying function......................................12
– Welding in teach mode..................................................13
– Macro command function..............................................14
– Job editing during play...................................................15
– Ethernet WWW..............................................................16
– Automatic backup function............................................17
– Structured language.......................................................18
– Logging function............................................................19
– Data transmission..........................................................20
– Ethernet.........................................................................21
– Ethernet FTP..................................................................22
– CMOS Save with FTP....................................................23
– Ethernet Server..............................................................24
– High Speed Ethernet Server...........................................25
– Tag data replace............................................................26
– External reference point.................................................27
– System Job...................................................................28
– Interrupt Job..................................................................29
– TCP function..................................................................30
– Ladder Editor.................................................................31
– Search function..............................................................32
– Teaching point adjustment function................................33
– Shift condition cancel.....................................................34
– Interface Panel function..................................................35
– Point Variable (T-variable)................................................36
– Pendant oscilloscope function.......................................37
– Numerical input screen display with direct open.............38
– Weaving adjustment.......................................................39
– Hover Weaving (Pause Weaving)....................................40
– Comarc function............................................................41
– Memo Play.....................................................................42
– Euler Angle....................................................................43
– Special shift...................................................................44
– ARC-Digital Basic..........................................................45
– ARC-Analog Basic.........................................................46
– DX200 Q-Set Basic........................................................47
– Password Protection......................................................48
– Sensor function..............................................................49
– Conceyor synchronized function with shift......................50
– T-axis endless function...................................................51
– T-axis speed control function..........................................52
– PMT function.................................................................53
– Analog output corr. speed..............................................54
– Manual break release.....................................................55
– Master tool user frame...................................................56
– Safety re-teach function.................................................57
– Form cutting function.....................................................58
– IO output timing control.................................................59
– Link Servo Float function................................................60
– Link and Linear Servo Float function...............................61
– Link and Linear Servo Float function Multi Robot............62
– DX200 Vision function....................................................63
Page | 4

YASKAWA – Global Leader in Automation,

YASKAWA
Drive Technology and Robotics
YASKAWA Electric is one of the world’s leading manufacturers in
the fields of drive technology, industrial automation and robotics.
Founded in 1915, we see ourselves as a pioneer in these sectors,
always striving to optimise the productivity and efficiency of machines
and industrial systems with our innovations.

Today we produce more than 1.8 million inverters per year.

Furthermore, with a yearly production of more than 800,000 servo
motors and 20,000 robots we offer a wide range of products for drive
automation processes in many different industries like the automotive,
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packaging, wood, textile, and semi-conductor industry.
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YASKAWA, Allershausen
offers exactly those components which combine proven YASKAWA products
to a highly efficient total solution.
VIPA now is not only a strong and worthy member of the YASKAWA familiy,
it is a full-fledged One-Stop-Shop of all important components and possesses
the know-how to master almost any challenge in automation.

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 Page | 5

Overview of
communication functions
Expand the horizon
of your robot
and your system!
MOTOMAN software offers user-friendly functions in a variety of
application fields and provides uncomplicated and efficient assistance
in every production phase.

Overview of communication functions

PP

Robot Controller

PC
Software PP
MotoSim

HMI SPS Module

 Page | 6

Overview of
communication functions
MOTOMAN robot controllers are open con- ting industrial bus communication. Bus communication
trollers. From the NX100 controller generation replaces conventional 24 V I/O wiring. With some exceptions
onwards, both the RS232 interface and the (e.g. MOTOMAN Sync), access is accordingly restricted to
Ethernet interface have come as standard. the I/O level. While the bus interfaces are thus generally used
Depending on the specific controller genera- for exchanging Boolean data values (On/Off), RS232 and
tion, many expansion cards are optionally Ethernet are used for exchanging higher-level data types
available in addition to these interfaces, as (such as positions, status messages, etc.).
both master and slave versions, for suppor-

Standard interfaces RS232 and Ethernet FTP Server

The standard interfaces RS232 and Ethernet The FTP protocol is a protocol for file transfer. In the case of
initially describe the lower levels (refer to OSI-layer MOTOMAN robots these can be program data (job files), system
model) of a communication. The decisive factor for data (tool data, conditional files, etc.) or parameter data.
communication however is the application level,
i. e. the protocols of the upper level. MOTOMAN
controllers have a whole range of application BSC Server (Host mode)
protocols enabling communication with the out- The BSC protocol is the earliest YASKAWA communication
side world. These include standard protocols such protocol. The advantage of this is that the protocol has been
as FTP and HTTP as well as YASKAWA-specific continuously supported by all controller generations since ERC.
protocols BSC, Ethernet Server, High Speed This guarantees investment security since created applications
Ethernet Server, etc. The available protocols can can be transferred to other controller generations with no or only
be grouped in client and server protocols. The minor modifications. The BSC Server protocol is a „General
client, as the communication master, initiates Purpose“ protocol. It offers functions for access to variables, IO
communication by sending queries to a server. signals, files, motions, alarms, etc. The protocol supports Ether-
The server returns the requested data. Between net and RS232. Only the RS232 variant (Data Transmission
the queries the server is in standby mode. Function) is open. The MotoCom SDK however is an implemen-
tation in the form of a Windows Functional Library (DLL).

Server protocols
Server protocols serve to retrieve data from the Ethernet Server
robot controller by means of an external device. The Ethernet Server protocol is an improvement of the BSC
These can be different data. For example, server protocol in terms of performance and Multiclient support. The
protocols are used to connect HMIs. MOTOMAN functionality is identical to that of the BSC Server protocol. The
controllers have the following server protocols: protocol exclusively supports the Ethernet interface. It is open
and also finds an implementation MotoCom SDK. Only there is
also a high compatibility with the BSC protocol. In most cases,
earlier BSC-based MotoCom applications can therefore be
quickly incorporated in Ethernet server-based applications.
 Page | 7

Overview of
communication functions
High Speed Ethernet Server Vision interface
The High Speed Ethernet Server protocol is the current „General VSTART is an inform instruction. Inform is the
Purpose“ protocol of the MOTOMAN robot controllers. Com- programming language of the MOTOMAN
pared with the Ethernet Server protocol, performance and controllers. It maps the vision interface of the
functionality are improved. The High Speed Ethernet Server MOTOMAN robot controllers. It maps the com-
protocol is the standard protocol of the controller types DX100, munication protocols of a variety of selected
DX200 and FS100 and future generations. vision systems and works, dependent on these,
A simple application of the protocol can also be achieved here on the basis of Ethernet or RS232. Compatible
using MotoCom SDK. cameras are systems from Cognex (Insight Native
Mode), Keyence and Omron to name but a few.
In practice, this instruction is used to trigger the
Motoman Sync image recording within job application programs
MOTOMAN Sync is only available for MOTOMAN FS100 con- and to transfer the position data.
trollers. The special feature of MOTOMAN Sync is the Motion
API. It allows for complete control of a MOTOMAN manipulator
using an external system (PC, machine controller, PLC, etc.). Socket communication
In this way, no more jobs have to be carried out on the robot Socket communication refers to the communica-
controller itself. tion using arbitrary sockets on the basis of
Path calculation of the robot motion is still performed by the robot user-defined protocols. Unlike the above menti-
controller in order to ensure high YASKAWA precision standards. oned permanently defined protocols, this allows
Client implementations of the corresponding MOTOMAN Sync for free communication on TCP/IP Ethernet (or
protocols (complete with SDKs) are available for, but certainly not RS232). This enables the connection of any kind
limited to, Windows PCs, Siemens PLCs and Rockwell PLCs. In of device (vision systems, sensors, etc.)
addition to the standard Ethernet interface MOTOMAN Sync The robot can optionally act as client as well as
server supports also Ethernet/IP and Profinet. server. MOTOMAN robot controllers allow socket
communication via MotoPlus technology. From
the user’s point of view, the protocols can either
Client protocols be implemented in the form of a MotoPlus appli-
Client protocols serve to retrieve data from an external device. cation or a MotoGSI application. Beyond this, the
A frequent example of the robot as a client is e.g. the communi- corresponding SDKs (Software Development Kits)
cation with vision systems. are available (see MotoPlus SDK or MotoGSI
SDK). In the case of MotoGSI, implementation is
carried out on the job level in the programming
FTP Client language Inform. In the case of MotoPlus, on the
In addition to the FTP Server function, MOTOMAN controllers other hand, in the high-level programming langu-
also have FTP Client function. It cooperates with common FTP age C using a PC-based development environ-
servers (IIS, Filezilla, etc.). The FTP protocol is a special favourite ment (MotoPlus IDE in the package of MotoPlus
of system administrators since it is an internet standard protocol SDK).
with a wide range of experiences and tools.

BSC Client (DCI mode)

In the Client mode of the BSC protocol only variables and files
can be transferred. This is done in the course of a job (Data
Communication by Instruction). This means that the transfer is
started by a corresponding instruction (e. g. LOADJ) and carried
out synchronously with execution of the program. One application
example is the dynamic reloading during program transfers to
PCs. Corresponding server components can be created by the
user on the basis of MotoCom SDK or purchased (see MotoDCI).
The properties of the protocol correspond to those of the server
variant.
 Page | 8 Function packages

Relativ Job
Relativ Job

R
U

B
Robot Frame
T
User Frame 2

L
User Frame 1

The robot usually stores position data for the

operation in the form of pulse-type data (motor User coordinate system
STANDARD before modification
SETTING rotation pulse amount of each axis). The job (pro-
gram) consisting of the pulse-type data is called User coordinate system
“standard job”. In contrast to the standard job, the after modification
program consisting of position data in the direc- Position
tion of X, Y, and Z, in reference to the origin in a at teaching
coordinate system (such as base coordinate and
user coordinate) is called “relative job”. Converting
the standard job creates the relative job.
Although movement of the relative job itself is no
different from the standard job, the relative job has
a useful function called “relative job shift” to shift
the same movement in another. In the relative job
in the user coordinate system, when a user coor-
dinate is created by changing defined points, the
movement shifted to the changed coordinate can
be performed in the execution of the instruction.

Key benefits
n Change a pulse-type Job to a coordinated-
type Job
n All points are stored in X, Y, Z
n With “relative job shift” function, complete jobs
can be shifted in different frames.
 Function packages Page | 9

External IO Allocation
External IO Allocation

I/O mapping for each I/O- or fieldbus board possible:

STANDARD
#20010 #20010 SETTING
#20020 IN data #20020
#20030 JZNC-YIU01 IN data (YIU01) #20030
#20040 (For DeviceNet slave1) #20040
#20050 #20050
#20060 Status of DeviceNet board #20060
#20070 IN data #20070
#20080 IN data (For DeviceNet slave2) #20080
#20090 #20090
#20100 (For DeviceNet slave1) IN data #20100
#20110 SST-DN3-PCU #20110
#20120 (For DeviceNet slave3) #20120
#20130 (DeviceNet master) IN data #20130
#20140 (For DeviceNet slave2) #20140
#20150 IN data #20150
#20160 IN data (CC-Link #20160
#20170 #20170
#20180 (For DeviceNet slave3) #20180
#20190 Status of CC-Link board #20190
#20200 #20200
#20210 SST-CCS-PCU IN data (YIU01) #20210
#20220 IN data Status of DeviceNet board #20220
#20230 (occupy two #20230
(CC-Link)
#20240 stations) Status of DeviceNet board #20240
#20250 Status of CC-Link board #20250

Status immediately after execution Status after execution

of automatic allocation of manual allocation

Key benefits
n I/O area for each I/O board or fieldbus(ProfiNet, DeviceNet etc)
can be customized
n Easy to create standard I/O interface depending on applicati-
on or customer requests
 Page | 10 Function packages

Independent control
Independent control
Master task Subtask 1
Job name: MASTER Job name: R1JOB
(concurrent job) (R1: robot job)
NOP NOP
* Initial start
PSTART JOB:R1JOB SUB1 JUMP JOB:R1ABC
Master task PSTART JOB:R2JOB SUB2 END

* Waiting for completion

PWAIT SUB1 Job name: R1ABC
PWAIT SUB2 (R1: robot job)

END NOP
Concurrent job MOVJ VJ = 50.0
MOVJ VJ = 50.0
MOVL V = 100.0
Subtask 1 ARCON V = 100.0
completed
END
Start Start
Subtask 2
Job name: R2JOB
(R2: robot job)

NOP

JUMP JOB:R2ABC
Subtask 1 Subtask 1 END

Job name: R2ABC

(R2: robot job)

NOP

Robot job Robot job MOVJ

MOVJ
VJ = 50.0
VJ = 50.0
MOVL V = 100.0
Subtask 2 ARCON V = 100.0
completed
END

DX controller can control a maximum of 8 robots The system can be freely combined with applications for not only
STANDARD and plural stations (jig) through one controller. The Welding + Handling but Spot Welding + Handling, Handling +
SETTING “independent control function” allows two robots Handling, and others. (The key sheets are available on the basis of
or the robot and jig to operate independently with order production.)
different programs.
Also, independent operation of the robot and station (external jig)
The DX controller has a function for decoding and can be performed. As an external axis motor, however, the motor
executing a maximum of 8 jobs (extendable up to for YASKAWA robot must be used.
16 jobs (optional)) individually. The multitask control
performed in this function is called independent
control.

For instance, a two-robot system can be con-

structed that consists of one welding robot welding
the work piece and the other robot transferring
unwelded work pieces and welded work pieces.

Key benefits
n Multitask of 8 jobs (extendable up to 16 jobs)
individually
n Maximum of 8 robots and plural station through
one controller
n Freely combined with applications
 Function packages Page | 11

Coordinated motion
Coordinated motion

Twin synchronous system

Jigless system

Coordinated positioner system

DX100 and DX200 can control a maximum of 8 robots and a

maximum of 24 stations (jig) through one controller. STANDARD
SETTING
The “station coordinated function” enables the station to hold the
work piece and the robot has the working tool, and both of them
work cooperatively.

The “jig less system” enables the first robot to hold the work piece
and a second robot has the torch, and both of them work coope-
ratively. (The concept is the same as the station coordinated.)

To operate the station and robot or two robots at the same time,
the coordinated job must be taught. Coordinated job is available in
the coordinated interpolation that performs the relative interpolati-
on with the station and robot related to master and slave, respec-
tively, and in the individual interpolation that performs individual
operation

Key benefits
n Maximum of 8 robots and a maximum of 24 stations through
one controller.
n Robot and Robot, or Robot and Station or two Robots and
Station work cooperatively
 Page | 12 Function packages
Alarm details
displaying function
Alarm details displaying function

Page Alarm No. Alarm explanation

}
Alarm title
Same as alarm window data
(Ordinary window)

Alarm content

[Right/Left] button

Cause

Possible solution

[Return] [Reset] [Page]

button button button
STANDARD
SETTING

User can specify the window to be shown in If there are some possible causes and countermeasures for
case of alarm occurrence: an alarm, press [Left/Right] buttons or [Left/Right] keys to see
n ALARM window (standard) next “cause” and “measure”. The “cause” and “measure” are
=> Press [SELECT] key to show ALARM displayed in the order to be executed.
DETAILS window
n ALARM DETAIL (parameter set)
If multiple alarms occur simultaneously, press [Page] button
or key to switch to next alarm.

Displays possible causes of the occurring alarm in

descending order of frequency to help users find
the countermeasure for each cause immediately.

Key benefits
n Displays possible causes of occurring alarms
n Help user to find the cause of error
immediately
 Function packages Page | 13

Welding
in teach mode
Welding in teach mode

This function enables execution of ARCON/ARCOF instructions

not only during automatic mode but also in teach mode. STANDARD
SETTING
Welding conditions can be checked directly during programming.

Changing to automatic mode isn‘t necessary.

Activating by one-button-push on special application button of

programming pendant.

Key benefits
n Check welding conditions and results immediately during
programming
n No need to change to automatic mode
n Status information by optical and acoustical signal avoids
mistakenly use
n Test run function can be executed as usual
 Page | 14 Function packages
Macro command
function
Macro command function

Example of macro instruction Example of macro

registry: SEALON job registry: SEALON

Line Step Line Step

000 NOP 000 NOP

001 MOVJ VJ 100.0 001 GETARG LI000 IARG#(1) : Store 1st argument data ‘8’ to LI000.

002 WAIT IN#(1) ON 002 DOUT OT#(10) ON : Turn ON general output 10.

003 MOVJ VJ 50.0 003 MUL LI000 10 : Multiply the number of LI000 by 10. 8×10 80

004 SEALON WIDTH=8 004 WAIT N#(10) ON : Wait for general input 10 to be ON.

005 MOVL V=125 005 AOUT AO#(1) LI000 : Output ‘80’ to the analog output 1.

006 MOVL V=95 006 END

Macro instruction is the function for creating, regi- and stored into the specified local variable to use the data in the
STANDARD stering, and executing one instruction from plural macro job
SETTING INFORM, that corresponds to each system.
If a post-processing is required when a macro command is inter-
An argument tag can be added to a macro com- rupted, it is possible to add an interruption macro job (SUSPEND
mand like a normal instruction. Macro commands JOB) to the program.
and their argument tags can be easily programmed The interruption macro job is carried out when a macro command
at will in the job data display. that includes the interruption macro job is interrupted by being
putting on a status such as hold, emergency stop, or mode
Instruction creation procedure: Create a macro job switching.
(in normal teaching method) and register the macro
job as a macro instruction. (In the macro instruction For macro job, executive commands such as “JUMP”, “CALL”,
setting screen) and “PSTART” cannot be registered. For interruption macro job,
additionally TIMER instruction and WAIT instruction
Instruction to obtain argument for macro instruc-
tion (GETARG):
When the macro instruction is executed, argument
data added to the macro instruction is obtained

Key benefits
n Creating own functions and routines in
INFORM list
 Function packages Page | 15

Job editing during play

Job editing during play

Change of interlock Operating condition

condition can be changed
without stopping
robot work.
(Before change) (After change)
NOP NOP
: :
MOVJ VJ=50.00 MOVJ VJ=50.00 Change of welding
WAIT IN#(1)=ON WAIT IN#(10)=ON
condition number
TIMER T=0.5
MOVJ VJ=50.00 MOVJ VJ=50.00
MOVJ VJ=50.00 MOVJ VJ=50.00 (Before change) ( After change )
: : NOP NOP
END END : :
MOVJ VJ=50.00 MOVJ VJ=50.00

ARCON ASF#(1) ARCON ASF#(2)

Welding condition
MOVJ VJ=50.00 MOVJ VJ=50.00 can be changed
: : without stopping
END END robot work.

Even when the line is in operation, Job edit is possible.

STANDARD
A job can be edited even when the robot is producing or line is SETTING
in operation, fine adjustment such as changing signal numbers,
operating conditions and work conditions without stopping robot
work.

Key benefits
n Cycle time can be reduced.
n Operating conditions can be changed without stopping during
his working time.
 Page | 16 Function packages

Ethernet WWW
Ethernet WWW

The Ethernet WWW function allows to access the

STANDARD internal data of the DX200 by any web browser.
SETTING

Main functions Key benefits

n Browsing the internal data of DX200 n Easy access to DX200 internal data
n View jobs, parameters and system files by any n Uses the standard Ethernet Port. No additional hardware
web browser required

Required functions
n 164059_Funktion DX200 Ethernet
 Function packages Page | 17

Automatic backup
function
Automatic backup function

The system data can be collectively backed up so that the data

can be immediately loaded and restored in case of an unexpected STANDARD
trouble such as data loss SETTING

The automatic backup function saves the internally stored data in

a single file in advance for the smooth restoration from unexpected
troubles

Backup can be stored on the Compact Flash of the programming

pendant, the internal CompactFlash of the controller or the internal
RAM AREA (accessible through High Speed EServer)

Four ways to perform the automatic backup are available: cycle

backup, backup when switching modes, backup on controller
start-up, backup when inputting specified signals

Key benefits Optional functions

n The system data can be collectively backed up, it saves the n 163947_Funktion DX200 CMOS Save with
internally stored data in a single file FTP – Allows to access the backed up data by
n The automatic backup function is for the restoration from FTP client
unexpected troubles.
n Various backup locations supported (Pendant CF card, inter-
nal CF card, internal RAM)
n Adjustable number of backups that reside on the CF card (for
backups on the pendants CF card)
 Page | 18 Function packages

Structured language
Structured language

IF 1000 >= 1 AND 1000 < 10 THEN

(1) IF 1000 = ’0’, IN#(16) is ON
DOUT IN#(16) ON
(2) IF 1000 = ’1’, IN#(17) is ON
ELSEIF 1001 = 1 OR 1001 = 2 THEN
(3) IF 1000 is other than ’0’ or ’1’, IN#(18) is ON
DOUT IN#(17) ON
ELSE
DOUT IN#18) ON
SWITCH (1000) CASE 0
ENDIF
DOUT IN#(16) ON
CASE 1
DOUT IN#(17) ON START
DEFAULT
DOUT IN#18) ON No
1000 = 1?
ENDSWITCH
Yes
No
START 1000 = 10?
Yes No
No 1001 = 1?
1000 = 0?
Yes
Yes No
No 1001 = 2?
1000 = 1?
Yes
Yes

DOUT IN#(16) ON DOUT IN#(17) ON DOUT IN#(18) ON DOUT IN#(16) ON DOUT IN#(17) ON DOUT IN#(18) ON

END END

With the Structured language function it is possible

STANDARD to create clearly arranged programms based on
SETTING high level language with the folloing instructions:

n IFTHEN-ELSEIF-ELSE-ENDIF
n WHILE-ENDWHILE
n FOR-NEXT
n SWITCH-CASE-ENDSWITCH

Key benefits
n Shorten programs
n Structured program overview
n Complex functionality, easy to implement
 Function packages Page | 19

Logging function
Logging function

Log list Log detail

This function stores and displays the edit such as editing data
of the robot controller program (job) and welding condition and STANDARD
the history (log) of programming pendant operation such as job SETTING
execution.
This function also facilitates troubleshooting by ensuring the data
traceability.

Stores 200 Data edit files (job concurrent IO ladder, Various condi-
tion files, edit of parameters, variables and others)

Stores 100 Pendant operations (job start, hold, emergency stop

external memory load and save, and others)

It is also possible to extract and display only the log of data edit or
pendant operation

Key benefits
n History of programming pendant operation can be checked
n Easy error diagnostic
 Page | 20 Function packages

Data transmission
Data transmission

DCI

Job · Variable Transmission

The data transmission function (DCI) is for commu-

STANDARD nication with a host computer such as a personal
SETTING computer in BSC complying protocol. The DCI
function executes instructions described in a robot
job to perform data transmission with a host com-
puter.

Main functions
n Job transmission (Load, save and delete jobs)
n Variable transmission (Load and save variables)

Key benefits Required software

n Job and variable transmission to a host n MotoCom32 – The SDK provides the functionality for
computer accessing Yaskawa robot controllers by a Windows-PC
n Based on BSC protocol using BSC, EServer or High Speed EServer protocol
n Robot is communication master or
n DCI instructions are embedded in robot jobs n MotoDCI32– Software to store robot jobs on a host computer
n DCI server side can be implemented using
MotoCom32 SDK or use existing software
“MotoDCI32”
 Function packages Page | 21

Ethernet
Ethernet

PHG

Ethernet

PC

HMI SPS Vision

STANDARD
SETTING

The DX200 is provided with the Ethernet connector RJ-45 for

data transmission as standard equipment. Therefore, the Ethernet
function can be used without adding any extra hardware. The
Ethernet function with Ethernet (10/100 Mbps) for the transmission
medium enables a faster transmission compared to RS-232C
(max. 9600 bps)

Key benefits Additional functions

n 10 Mbps/100 Mbps (Automatically recognized when n 164063_Funktion DX200 Ethernet Server
the power is turned on) n 164062_Funktion DX200 High Speed Ethernet
n IPv4 Server
n Connector CN104 (RJ-45 8-pin modular jack) n 164060_Funktion DX200 Ethernet FTP
n 164058_Funktion DX200 Data Transmission
 Page | 22 Function packages

Ethernet FTP
Ethernet FTP

FTP

Job · Condition/General Data · System Information

FTP is a common protocol for file transfer through

STANDARD Ethernet. The DX200 controller can act as FTP
SETTING server and also as FTP Client. Depending on the
mode it supports upload, download and deletion of
files and grants access to jobs, system files and
parameter files. Thus the protocol can be used for
a single file backup.

Main functions
n FTP client mode. In client mode the DX200
is capable of uploading and downloading files
to/from a ftp server using the teach pendant
n FTP Server mode. In server mode any FTP
client is capable of uploading and downloading
files to/from DX200 controller

Key benefits Required function

n Common protocol for file transfer n 164059_Funktion DX200 Ethernet
n Supports client and server mode (cannot be
used at the Optional function
same time) n 163947_Funktion DX200 CMOS Save with FTP
n Supports single file backup through FTP
n Supports upload, download and deletion of
files
 Function packages Page | 23

CMOS Save
with FTP
CMOS Save with FTP

This function extends the functionality of the automatic backup

function. It provides access to a generated CMOS backup by any STANDARD
FTP client. A notification message can be send whenever a new SETTING
backup is available. To receive this notification message the back-
up client has to open a TCP server socket on a specified port.

Key benefits Required functions

n Allows to access the generated CMOS backup through n 164060_Funktion DX200 Ethernet FTP
any FTP client n 163928_Funktion DX200 Automatic backup
n Get a notification message whenever a new CMOS backup
is ready to download
 Page | 24 Function packages

Ethernet Server
Ethernet Server

Ethernet Server

The Ethernet Server protocol is an improvement of

STANDARD the BSC protocol concerning performance and
SETTING multi-client support. The functionality is identical to
the BSC protocol.

Main functions
n Read robot status (Current position, Alarm,
Error, Servo Status, …)
n Control the system (Servo on, Start, Hold,
Job call, ...)
n Read or write Variables, Registers and
I/O signals
n File control (Load, Save, and Delete jobs/files)

Key benefits Optional functions

n Protocol is based on TCP/IP n 164062_Funktion DX200 High Speed Ethernet Server –
n Use in custom projects by implementing the The “High Speed Ethernet Server” function is recommended
protocol or by using the MotoCom32 SDK for developing new communication applications
n Uses the standard Ethernet Port. No additional
hardware required Optional software
n Protocol is also available on DX100, DX200 n MotoCom32 – The SDK provides the functionality for
and FS100 accessing Yaskawa robot controllers by a Windows-PC
n Multi-client support using BSC, EServer or High Speed EServer protocol
 Function packages Page | 25

High Speed
Ethernet Server
High Speed Ethernet Server

High Speed Ethernet Server

The High Speed Ethernet Server protocol is the current “General

purpose” protocol for communication between the DX200 and ex- STANDARD
ternal devices. It provides a higher performance and functionality SETTING
over the older protocols like EServer thus it’s the recommended
protocol for developing new applications.

Main functions
n Read robot status (Current position, Alarm, Error,
Servo Status, …)
n Control the system (Servo on, Start, Hold, Job call, ...)
n Read or write Variables, Registers and I/O signals
n File control (Load, Save, and Delete jobs/files), access
backup data

Key benefits n Protocol is also available on DX100, DX200

n Main protocol of DX200 is “High Speed Ethernet Server” and FS100
based on UDP n The “High Speed Ethernet Server” function
n Use in custom projects by implementing the protocol is recommended for developing new commu-
or by using the MotoCom32 SDK nication applications
n Faster communication than using the older protocols
(Ethernet Server) Optional software
n Uses the standard Ethernet Port. No additional hardware n MotoCom32 – The SDK provides the function-
required ality for accessing Yaskawa robot controllers
by a Windows-PC using BSC, Ethernet Server
or High Speed Ethernet Server protocol
 Page | 26 Function packages

Tag data replace

Tag data replace

This edit function allows you to change data tags in

STANDARD
SETTING one or more lines of a job at the same time.
EXPANDED
Changeable line tags:
Position level numbers
Tool numbers
Signal numbers
Variable numbers
Local variable numbers

Key benefits
n Teaching modification time is significantly
reduced
n Tag Data can be easily corrected in the
window on the programming pendant
 Function packages Page | 27

reference point
External
External reference point

The external reference point control function performs teaching

STANDARD
and playback, regarding one point in space as the control point SETTING
of the manipulator. This one point in space is called the external EXPANDED
reference point. Specifically, the point is used in the cases where
sealing in the work piece supporting work or spot welding with
the stationary tool is performed. In this case, operation such as
changing the posture of a work piece can be easily carried out by
setting the tip of tool, nozzle or gun to the reference point. Natural-
ly, during playback, interpolation is performed by controlling the
relative speed and relative position between the external reference
point and the work piece.

Key benefits
n Quality is improved even for work piece supporting work with
a fixed tool
n Teaching time can be reduced.
n Applicable to more than one tool, gun or nozzle (63 external
reference point
 Page | 28 Function packages

System Job
System Job

System JOB

– *1
Every day JOB
Starts – DIN LB000 SOUT # (441)
automatically – MOVJ VJ = 100 Starts when
after turn on – JUMP *LABEL IF LB000 = 1 you go to
the power of – MOVJ VJ = 100 play/remote
the cabinet – SETUALM 8000 “Alarm” mode and
and runs in the – MOVJ VJ = 100 push start.
background. – *LABEL
– MOVJ VJ = 100
– JUMP *1

A system Task is a task that is started immediately nal ladder program. While the access of a ladder program is limited
STANDARD
SETTING and automatically after the controller has started. to IOs and Registers, system jobs can process all available resour-
EXPANDED In comparison to a normal task (user task) neither ces like Variables, System Variables, IOs and Registers. On the
start nor a stop is required to control such a task. other side in contrast to a ladder program the cycle time of a
So it is independent from operation mode (Play/ system task is not fixed. So processing time increases with each
Teach/Operating) and Servo On status. While usu- additional code line and is depending on current CPU Load.
ally motion or operation sequences (workflow) are
programmed in normal tasks a system task is used
to process cyclic tasks in the background. Up to 4
system tasks can be registered and run simultane-
ously in addition to normal job tasks.
Programs running in a system task are called Example:
system jobs. A system job is very similar to a nor- n You can program a system job including a permanent check of
mal job (user job) using the same Inform program- collision detection function status
ming language but with a limited instruction set. n When you are in teaching mode and the collision detection is
For example motion commands are not available. OFF, nothing will happen. But when you are in play mode and
On the other side due to its similar characteristics the collision detection is OFF you will get an alarm e.g. with a
it is sometimes used as a replacement for the inter- reminder “Please turn ON collision detection while PLAY mode”.

Key benefits
n Cyclic Background Tasks in Inform language
n Auto start and independent from Operation
Status
n Access to all resources
n Cycle time depends on number code lines
and CPU load
 Function packages Page | 29

Interrupt Job
Interrupt Job

Interrupt job Job in progress

NOP NOP

Interruption

END END

Interruption table

Interrupt job Interrupt jobs

Level Signal Job name „JIG STOP“ Job in progress

Interruption NOP NOP

signal IN#01
IN#01 JIG STOP Interruption

END END

The interrupt job function is a kind of call job. When a signal to

STANDARD
interrupt the job is sent from a peripheral device or another system, SETTING
this function momentarily suspends a job in progress, and exe- EXPANDED
cutes the job corresponding to the signal.

This function is useful when an error occurs in a peripheral device

or in another system, or when the manipulator should be with-
drawn in an emergency.

Sending a user input signal specified in the interruption table calls

a job corresponding to that signal (IN#1 => job A; IN#2 => job
B… etc.). When interrupt job is completed, the suspended job is
restarted from the instruction line where the cursor was at the
time of interruption. The instructions EI (Interrupt enabled) and
DI (Interrupt disabled) are necessary to enable the interrupt obser
vation.

Key benefits
n Interruptions are possible during move instructions as well as
timer instructions
n Tact time can be reduced
n You can observe an area from your job
n For each robot you can create 8 interrupt jobs
 Page | 30 Function packages

TCP function
TCP function

Tool A

Tool A Tool B

Tool B
Path taught with Tool A

1. After teaching with Tool A, 2. With the TCP function,

put the undercoat using Tool A. put the top coat using Tool B.

The “TCP function” (TCP: Tool Center Point) moves

STANDARD
SETTING the tool along the track that was taught by another
EXPANDED tool.

Quick programming of jobs (example):

n The job copied from the job taught with
Tool A, defined a “Job A” can be defined as
“Job B”. Add the TCP instructions before and
after the sections where Tool B is to be used
in Job B. Set a tool file number for Tool B in
the “TCPON” instruction.
n One tool is used for undercoat paint operation,
the other is used for the top coat paint
operation. Teach a path to either one of the
two tools, then the teaching for the other tool
is not necessary.

Key benefits
n Reduction of programming time:
When moving double-tools along the same
track, only one-time teaching is applied to
each tool, which allows the job creation time
to be reduced.
n Precise tracking of both tools
 Function packages Page | 31

Ladder Editor
Ladder Editor

Menu Tool bar

“Ladder editing” display

“Ladder preview” display

The robot controller has a concurrent I/O function that processes with the above function as a signal connection dia-
STANDARD
I/O related control independently from the manipulator, and in gram or to edit ladder programs easily such as pa- SETTING
parallel with the manipulator operation. sting command parts by a drag- and drop operati- EXPANDED
Ladder software is used to graphically display ladder programs on using the mouse.

Mnemonic Code Ladder Diagram

Editing, Storing

Key benefits
n Simple drag and drop operation
n Cross reference function is enriched
n History jump function is available
n Print function is enriched
 Page | 32 Function packages

Search function
Search function

<Robot Operation>

Search start point Search start point

★ ★

Signal is
input

P000 Manipulator stop

500 mm

Manipulator stop

No signal is input Signal is input

Search function” uses various general detection After the operation starts, as soon as there is a signal input, the
sensors to stop the robot by the detection signal of robot stops. If there is no signal input, the robot stops at a distance
HANDLING the sensor and to allow the robot to operate the of 500 mm ahead of the position defined by P000. In that case,
next work. That is to say, this function searches the whether the robot stops with or without a signal input can be
target to be worked determined by the value of the system byte status $B02.

From the start position (★ mark) to the position

defined by the variable P000, the robot operates by
ARC linear interpolation at a speed of 10.0 mm/sec. At
the same time, after the robot operation starts, the
function starts monitoring whether a signal is input
to DIRECT IN No.1.

GENERAL

Key benefits
n Although normal programs require a teaching
procedure for each work piece, this function
allows the robot to move in search of work
pieces, which simplifies the program.
(Refer to the program on the left side of this
page.)
 Function packages Page | 33

Teaching point
adjustment function
Teaching point adjustment function

The “teaching point adjustment function” modifies the taught posi-

tion data by entering the numeric number on the programming
pendant without operating the manipulator. HANDLING

This function allows simplified offline teaching with CAD data or

others, and allows fine adjustment of position data in any coordi-
nate system without operating the manipulator.

ARC

GENERAL

Key benefits
n Teaching modification time is significantly reduced
n Position can be easily corrected in the window on the
programming pendant
 Page | 34 Function packages

Shift condition cancel

Shift condition cancel

Function disabled!

“SHIFT ON” Wrong!

executed Shift value included!
shift value

Reteach
necessary New position after modification:
offset Result in realation to origin position

Original position Temporary

new position Function enabled!

Okay!
No additional offset by shift value!

This function should be always enabled, when

„shift on“ instruction is used for programming!
HANDLING
It allows to overwrite (reteach) robot positions
under consideration of current shift-values

ARC

GENERAL

Key benefits
n No “master workpiece” with original program-
ming necessary!!!
n Reworks on existing “SHIFT-programmes” are
easy and comfortable
n Temporarily shifted points can be overwritten
(modified), independently from current shift
values
 Function packages Page | 35

Interface panel
function
Interface panel function

Status
displayed
by lamp

Operation
by the button
and switch

Variable and register Variable and register

values displayed values set and
by counter displayed

A virtual operation panel can be constructed in the programming

pendant.
HANDLING
Configuration with software provides flexible support for rapid
system change.

This function makes the system construction simple and enables

the reduction of operation panel and Interlock panel.
GENERAL
Users can construct the arbitrary operation panel for PP by setting
data in Interface panel setting screen.

Key benefits
n No additional hardware is required
n Pendant operation allows for cost cutting on the system
 Page | 36 Function packages
Point Variable
(T-variable)
Point Variable (T-variable)

Detail A

12

0 0
10
A
100
12

100

This function is fixed part of Multi-Layer function where it has been set. Same T-variable (number) can be used
package. in different JOBs and may have different position information!
HANDLING P-variable on the other hand has „global“ character and if it is set
The special type of position variable has been once, it is commonly valid in all controller areas.
created to simplify the programming of multi-layer
welding structures (figures above). All welding Using the T-variables is not mandatory but the more layers you
passes basically have the same robot position. The have to teach, the more useful these T-variables will become.
only difference is the (variable) shift amount from
ARC root pass to current layer. Only the first layer must
be taught by moving the robot. These positions will
be registered as T-variable and in your JOB you can
use same positions as often as necessary (number
of layers) without moving the robot again.
GENERAL
The main difference to standard position variable
(P-variable) is the „local“ character: That means all
information are stored in current JOB and each
determined T-variable belongs only to the JOB

Key benefits
n Simplifies programming on multi-layer seams
n Helps saving memory space
n Substitutes limited P-variables
n Up to 9999 T-variables for each JOB
n Offline editing possible
 Function packages Page | 37

Pendant oscilloscope
function
Pendant oscilloscope function
Waveform display area

Condition setting panel

The Pendant Oscilloscope Function is a monitoring function for

visualizing the speed and torque of each robot axis and the status
of concurrent I/O signals on the Programming Pendant. The Pen- HANDLING
dant Oscilloscope is configured by a user interface, which requires
no additional hardware components. Equipped with an integral
display screen containing the waveform display window and the
condition setting panel, the PP oscilloscope application enables to
perform several processes from condition setting to measurement
operations at the same time.
GENERAL

The following features are included:

n Channel selective triggering and trigger level adjustment
n Cursor measurement function, for measuring certain distances
in waveforms or between peaks after the data acquisition
n Zoom function for displaying the data in a magnified view
n Manual and auto saving mode for storing the data in CSV
format
n Time scale adjustment

Key benefits
n No external Oscilloscope is needed
n The servo conditions can easily be monitored and recorded
n Simple configuration of all relevant measuring parameters
n Data can be logged in a CSV file for easy analysis on PC
 Page | 38 Function packages
Numerical input screen
display with direct open
Numerical input screen display with direct open
Call Job Screen

Position Correction
Screen

Call Job
Screen

I/O
Screen

Main Job
Screen

The numerical input screen function by pushing the

direct open key immediately shows the job content
GENERAL screen or condition file contents of a job being cal-
led with the call instruction. The registered position
data correction screen is also displayed.

Function overview:
n Job content screen of a job name directly
specified by call instruction
n Condition file screen for a file name directly
specified by work instruction
n Position correction screen for move instruction
with position data
n I/O screen with I/O instruction
(when I/O numbers are specified)

Key benefits
n Easier and faster online teaching
 Function packages Page | 39

Weaving adjustment
Weaving adjustment

50 mm

k
2 mm

4 mm

6 mm
Teaching position Teaching position

This function can be used to compensate variable

conditions in a welding groove by continuous ad-
apting of weaving parameter and speed. ARC

Function overview:
n weaving amplitude will be continuously
increased.
n robot speed and weaving frequency can also
be adapted if needed.
GENERAL

The information about groove conditions can be

set manually as constant values, or can be set
automatically by measuring device like touch sen-
sor or any other start point detection unit: Please
check feasibility in detail with technical department.

Key benefits
n Extension of standard weaving function
n Available for application “general” and “arc welding”
n Function is also optional part of adaptive welding routine in
MotoEyeLT software (see picture above: gap condition file),
if laser seam tracking is used
 Page | 40 Function packages
Hover Weaving
(Pause Weaving)
Hover Weaving (Pause Weaving)

Wall Weaving
direction motion

Sanding Weaving Kitchen

REFP 3
belt motion knife

Direction
of travel

Weaving start point Horizontal Robot hand

Weaving end point direction

The “hover weaving function” is special weaving Left figure:

mode for applications in which robot positions for Example for application welding
ARC start-/end-points are the same: During process ro- Workpiece is operated by turn axis, start-/end-position of robot is
bot does not move on a trace! the same, no synchronized motion.

So there’s no travel direction for the robot and th- Right figure:
erefore weaving direction cannot be determined. Example for application grinding/polishing
For these sequences “hover weaving” enables usa- Workpiece in robot’s hand has only one position in relation to the
ge of weaving function. belt, so there’s no travel direction. The only motion is the weaving.

Various weaving shapes are available:

0 : With smoothing

1 : Without smoothing
Single Triangle L-type

Key benefits
n Expansion of weaving function enables wea-
ving for processes where the robot itself is not
doing any movement
n Available for application arc welding and gene-
ral
n Works also in combination with arc sensor
“Comarc”
 Function packages Page | 41

Comarc function
Comarc function

Wall direction Wall direction

Up and Down

Up and Down

Left and right Left and right

Horizontal direction Horizontal direction

COMARC (arc sensor) is the function with which the robot

performs welding while automatically modifying deviation from
welding lines based on the variation information of welding current ARC
in welding.

The welding machine with constant voltage characteristic has the

property that welding current changes as the distance between the
chip and base metal changes. The arc sensor utilizes this property.
This information is acquired in the robot side while performing
weaving for the welding torch, modification is performed in the
horizontal directions of welding lines for the direction of robot
movement so that a current difference between the both sides of
weaving is decreased, and simultaneous modification is performed
in the vertical directions of welding lines for the vertical directions
so that the preset current value is reached.

Key benefits
n Modification position in horizontal and vertical direction.
n Pass-over Function.
n Comarc works only with simple weaving.
n No CMT or Aluminum welding!
 Page | 42 Function packages

Memo Play
Memo Play
1 6

T0000 5

T0001
2 4
T0002

T0003 Path of
3 first
T0005 T0004 layers

Path of first &

second layers

2nd path
of 2nd layer (3)
1st path
of 2nd layer (1) (2)

1st path of 1st layer

This function is fixed part of Multi-Layer welding

package.
ARC
It allows to record any robot path.

The path will be stored in files and can be repro-

duced as often as you want.

Example:
n Work piece tolerances or displacements are
requesting the use of arc sensor Comarc.
n In the first layer arc sensing will compensate
the offsets between taught and current
positions. This „new“ path will be stored and
can be reproduced in all following layers.

Key benefits
n Useful function in multi layer welding package
n Instead of Comarc you can also use Laser
Tracking sensor with MotoEyeLT for first layer!
n Memory extension mandatory
 Function packages Page | 43

Euler Angle
Euler Angle

+Z +Z

-A +A A rotation B rotation C rotation

-B
+C

-C

+B

Euler angle function is fixed part of multi layer welding package. Z-direction which is related to world‘s Z-coodinate
It is special tool coordinate system which follows popular nomen- (please refer pictures).
clature of torch angles used within manual welding: ARC
A-angle: same as forehand/backhand welding Jog operations sometimes become complicated
B-angle: torch orientation in relation to opening angle of welding because Euler doesn‘t work like rectangular
groove (tendency towards the wall or towards ground coordinate system. The picture below shows that
plate) xyz-direction is only 2-dimensional plane! Program-
C-angle: no meaning for manual welding but robot can addi- mer has to get used to this situation.
tionally use rotation around gas nozzle to get into more
suitable position. The behaviour is the same all over the robot‘s
„world“ and is used to perform same multi layer
Please beware two important points for basic understanding of designs at different workpiece positions in the cell
torch angles according to „Euler“: (including rotation around z-axis).
This coordinate system was basically created for fillet seams in
horizontal position. This means that a multi-layer design which was set
once, can be repeated at any position in your cell
Caution: Only under these conditions the function can work as often as wished (restrictions above must be
properly!!! All other positions will miss a correct calculation for considered).

Key benefits
n Part of multi-layer package
n Tool coordinates like commonly used for manual welding
n Beware restrictions caused by non-rectangular and
2D character
n Same multi-layer design repeatable at any workpiece position
 Page | 44 Function packages

Special shift
Special shift

SFTOF instruction isn’t “global” Status display for activated

Type of coordinate system shift mode and current shift
can be set coordinate systems(s)

This function will only effect, if SHIFT-instruction is

used!
ARC It easies and expands the SHIFT instruction per-
formance.
If shift instruction is used with different coordinate
systems at the same time this function should be
compulsory (for example MultiLayer-function)!

The additional features are shown in pictures above

Key benefits
n Useful expansion for any SHIFT-programming
structure
n Easier and more comfortable use of
SHIFT-function
n Use it wherever overlay of shift values in
different coordinate systems becomes
necessary
 Function packages Page | 45

ARC-Digital Basic
ARC-Digital Basic

Cable Feeder Conduit Gas Hose Internal Power Supply

Cable User I/O
Wiring Programming
Harness Pendant
(Base Side)
DX200

Torch
Manipulator

Positioner

Power cable (+)

Power cable (–)
Manipulator cable
Digital Wiring

Settings for communication between Controller and Welding-

Power-Source with Digital interface.
ARC
Input and output assignment can be found in the corresponding
CIO-Ladder Manual

Key benefits
n The welding power source of the documentation data can be
used
n The welding-specific data is managed by the welding power
sources
 Page | 46 Function packages

ARC-Analog Basic
ARC-Analog Basic

Cable Feeder Conduit Gas Hose Internal Power Supply

Cable User I/O
Wiring Programming
Harness Pendant
(Base Side)
DX200

Torch
Manipulator

Positioner

Power cable (+)

Power cable (–)
Manipulator cable
Analog Wiring

Settings for communication between Controller

and Welding-Power-Source with analog interface.
ARC

Key benefits
n The documentation data can be used by
functionality of the controller
n The welding-specific data is managed by the
robot controller
n Individual welding parameter can be defined
n ARC-Retry, -Restart, -AntiStick
 Function packages Page | 47

DX200 Q-Set Basic

DX200 Q-Set Basic

A checking program is executed at regular intervals to check the in case of the automatic measurement and correc-
wire position on the torch In this way, the contact tip can be tion of the programs, the torch (wire) is measured
checked for accurate positioning and wear, and the wire quality with the light barriers in X, Y and also in Z direction ARC
(twist) can also be checked. by means of a special robot program.

The robot enters the testing device in such a way that it interrupts The new tool data is now used to convert and
two laser light barriers with the wire, while keeping the torch intact. to correct all programs as a Relative Jobs. If the
maximum permissible torch deviations are ex-
If the tool is deformed, then at least one of the laser light barrier ceeded, an error message is displayed
isn’t interrupted, in that case either an alarm can be displayed and
the cause of the error can be remedied by the operator, or the
automatic measurement of the torch can be started.

Key benefits
n Quality assurance
n Higher availability through early detection of wear on
the torch
n Torch check in regular intervals
n Automatic program correction after collision
n Automatic TCP adjustment after torch change
n Automatic correction of the Tool-data
n Error message if the maximum deviation of the TCP is
exceeded
 Page | 48 Function packages

Password Protection
Password Protection

The password protection function helps assure Only the system administrator can change registered user account
system safety by requiring each user to have a information.
SINGLE personal authorization registered to access the
controller so as to control what operations may be The password protection function also enables to find out, by
performed by the users. tracing the alarm history, which user has been logged in at the time
of a particular alarm.
The system administrator authorizes each user by
assigning a login name and password, a security
level and a timeout setting, thereby allowing a
specific level of controller access.

The administrator can register up to 100 user

accounts. The user account information can be
stored in a file (USRINFO.DAT).

Key benefits
n 100 user accounts
n Alarms with username
n Logbook function with username
 Function packages Page | 49

Sensor function
Sensor function Shifted tool
center point
Tracking
path

Offset amount
(0, -L, 0)

Shifted tool
center point
x
Welding
line data Position
y data of External
a, b, c calculator,
Vision
z Tool frame controller,
Tool center point etc.
without offset

Search Panel Camera

starting Direct IN Z
position signal Y

Displacement
sensor
X

Stocker

The sensor function corrects, up to three directions, the robot path Shift value creation function according to the
and the speed, measures the distance, and detects the position by sensor signal:
using an analogue displacement sensor, analogue torque sensor, The distance to the target work piece can be cal- SINGLE
and other analogue sensors. culated by using the input signal from the displace-
ment sensor and the robot job can then be shifted
Real time path correction according to the sensor signal in depending on that Measurement.
playback operation:
With this function, a sensor can detect the deformation and positi-
on deviation of the work piece and the robot can correct the path
in real time. Also, this function monitors whether the sensor signal
exceeds the upper or lower limit of the threshold value to prevent
the robot from dramatically deviating from the path.

Real time speed correction according to the sensor signal:

Usually, the robot moves at the set speed in the job, if the operating
time varies depending on individual difference of work pieces,
using this function allows the detection of operation proceeding
and allows the robot to operate at an appropriate speed.

Key benefits
n Full automatic compensation of work piece tolerances
in playback operation
n Speed correction according to an analogue signal
n Shift value creation according to an analogue signal
n Search function according to an analogue signal
 Page | 50 Function packages
Conveyor synchronized
function with shift
Conveyor synchronized function with shift

Shift interval Synchronized interval

Encoder

Manipulator

The conveyor-synchronized function with shift tem-

porally stores information on multiple work pieces
SINGLE to enable the tracking process depending on each
work piece.

This function is used when a large number of work

pieces simultaneously flow between the limit switch
and the manipulator.

Example:
When a part reaches the STP (start position) the
robot starts the synchronization. If another part
reaches the STP, the robot will first finish the run- OL STP
ning Job at the current part. Then the robot returns
to the home position and starts the synchronization
at the second part while it is located within the OL
(over limit) range.

Key benefits
n Robot operations are synchronized with the
conveyor
n The function can be applied to linear conveyor,
circular conveyor, and revolving table
n The function can also be applied to the case
where plural work pieces flow within the shift
interval (a maximum of 99 pieces)
 Function packages Page | 51

T-axis endless
function
T-axis endless function

This function continuously rotates the T-axis a plural number of

turns. Although the rotation angle of the T-axis is generally limited
within ±360 degrees, this function allows it to rotate endlessly. SINGLE
When executing the move instruction MOVJ with the “number of
rotations of the external axis” specified, the T-axis rotates the
“specified rotating amount + teaching position pulses” during the
movement to the target position. One move command can specify
up to ±100 turns.

Key benefits
n No turn back of the T-axis is neccassary
n Teaching time can be reduced
n Tact time can be reduced
 Page | 52 Function packages
T-axis speed control
function
T-axis speed control function

····
····
MOVJVJ=12.50
VCON RV=10 --> Starts rotation Speed: 10
MOVL V=100
VCOF --> Terminates rotation
····
····

This function continuously rotates T-axis, the tip

axis of the manipulator, according to the specified
SINGLE rotational speed.

Continuous rotation is not possible in the normal

position control method because the operating
range of the T-axis is limited. However, this function
allows for continuous rotation regard less of the
limited operating range.

Key benefits
n Teaching time can be reduced.
n Working efficiency can be improved.
n The T-axis can be continuously rotated with
the robot interpolated by the move instruction
 Function packages Page | 53

PMT function
PMT function

Tool at teaching (Original tool)

Deformed tool
(Orientation tool) Dislocation of tool center point

Position data of the step taught

by the original tool is converted

“PMT function” easily and accurately modifies positional data if the

tool is deformed. (PMT: Position Modification for Tool deformation:
position data modification function for tool deformation). SINGLE

If the tool accidentally collides with a surrounding jig or wall and

is deformed, the control points are shifted. As a result, teaching
positions in the job that has been taught are also shifted.

PMT function allows time and works for modifying the shift to be
reduced. When a job is specified, the position data of the tool
dimensions before the deformation (during teaching) is automati-
cally converted to the position data of the tool dimensions after the
deformation.

The tool before modification is called the old tool, and the tool after
the deformation is called the new tool in PMT function.

Key benefits
n Time and work for teaching modification can be reduced.
Teaching modification work can be efficiently performed
because position data can be automatically converted from
the old tool to the new one.
n Storing tool data record can easily restore original tool data.
The original tool data can be easily restored because the
change record of the tool constant can be checked in the
“Tool Backup” window.
 Page | 54 Function packages
Analog output
corr. speed
Analog output corr. speed

ANALOG VOLTAGE
Speed: slow
Discharged
amount: small
14V

Basic
voltage

Offset
voltage
OPERATING
Speed: fast 0 Basic speed SPEED
Discharged amount: large

The “analog output function corresponding to According to the set value of the ARATION instruction, the output
speed” automatically changes the analog output characteristics for the relation between the operating speed and
SINGLE value depending on the variation of the manipulator the analog voltage are calculated. The analog output function
operating speed. This function eliminates the need corresponding to speed is executed depending on these output
for setting the analog output value again depend- characteristics.
ing on the variation of the operating speed, which
reduces the teaching work for the job. When the ARATIOF instruction is executed, the analog output
corresponding to speed is completed, and the set offset voltage
This function is useful when the thickness of sea- becomes the fixed output.
ling or painting should be constant, the manipulator
operating speed can control the discharged
amount of seals or paints.

Key benefits
n Teaching effort is reduced
n Output possibilities: Analog (additional analog
output extension board required) and/or digital
16-bit signal
n By using a filter process, the output signal can
be close to the manipulator’s actual speed
 Function packages Page | 55

Manual break release

Manual break release

The manual brake release function allows forcible release of each

motor brakes of the manipulator and external axes by program-
ming pendant operation. SINGLE

Key benefits
n The Robot and external axis can be moved without Power
connection
 Page | 56 Function packages

Master tool user frame

Master tool user frame

Master Tool
Frame (MTF)

Master Tool
Frame (MTF)
User Frame
based on MTF

User Frame
based on MTF

The “Master Tool User Frame” is a special function By default, user coordinate systems are fixed in space. This feature
for jigless systems and coordinated motion allows the definition of user coordinate systems based on Master
SINGLE systems. Tools.

Master Tools are tool coordinated points at jigless Simple calculation of coordinates and shift values based on Master
systems or calibrations between robots and Tool User Frames
stations.
The devices of two stations do not have to be identical. Relative
During motion of robots and stations Master Tools jobs based on Master Tool User Frames can be easily transferred.
move in space. Shift values or relative coordinates
can hardly be calculated.

Key benefits
n Easy shift of points or jobs
n Easy handling with relative jobs based on user
frames
n Simple job transfer between different stations
or robot systems
n Available for jigless systems and coordinated
systems with stations
 Function packages Page | 57

Safety re-Teach
function
Safety re-teach Function

z y

Thus, so the programmer can control the plant, the area in which
the system operator can make some adjustment of the program.
SINGLE

Key benefits
n Quality improvement through rapid adaptation
n A re-teaching is possible already by the operator
 Page | 58 Function packages

Form cutting function

Form cutting function

Form cut motion instruction Form cut setting file (#1)

FORM:
FORMCUT/CUT CUTTING SPEED:

First stop
time position
Amount of

Cl
Cur in lenght End point
overlap

oc
(arc) (path)

kw
ise
Cur in lenght
(arc)
Start point
(placement)

Cut in angle Start point End point

(center) (placement)

Radius

The form cutting function operates the robot in the

specified form by executing one dedicated instruc-
SINGLE tion (“FORMCUT”/“CUT” instruction) according to
the condition set in the form cut setting file. This
function can be used in the work for cutting the
work piece to a form using the laser cutter or others
gripped by the manipulator.

Key benefits
n Teaching time can be reduced
n Path accuracy is improved
 Function packages Page | 59

IO output timing
control
IO output timing control

1 2 3

Distance adjustment (10.0 mm)

or
OT#(x) ON Time adjustment (1.00 sec)

The IO output timing control function allows the user to switch an

output depending on the distance or time relative to a point.
SINGLE
The instruction is added directly behind the related motion tag.

The instruction is speed independent.

Key benefits
n Precise IO timing depending on robot position
n Speed independent
 Page | 60 Function packages
Link Servo Float
function
Link Servo Float function

The servo float function controls not only the posi- Link Servo Float Function
tion of the robot but both the position and force of This function performs the servo float for each axis of the robot.
SINGLE the robot. Normally, even if an outer force is applied This function is used when a force is applied only to a specific axis
to the robot, the robot tries to maintain the current or when the servo float is applied to all axes of the robot because
position and does not move because only the the direction in which the force is applied cannot be identified.
robot position is controlled. In that case, the servo
float function provides flexible control on the posi-
tion and posture of the robot, in response to the
force applied from outside. It allows to overwrite
(reteach) robot positions under consideration of
current shift-values

Key benefits
n No additional hardware is required
n Link Servo Float Function
Can be activated by programmer for each axis
or all together
 Function packages Page | 61

Link and Linear Servo

Float function
Link and Linear Servo Float function

The servo float function controls not only the position of the robot Link Servo Float Function
but both the position and force of the robot. Normally, even if an This function performs the servo float for each axis
outer force is applied to the robot, the robot tries to maintain the of the robot. This function is used when a force is SINGLE
current position and does not move because only the robot posi- applied only to a specific axis or when the servo
tion is controlled. In that case, the servo float function provides float is applied to all axes of the robot because the
flexible control on the position and posture of the robot, in response direction in which the force is applied cannot be
to the force applied from outside. It allows to overwrite (reteach) identified.
robot positions under consideration of current shift-values
Linear Servo Float Function
This function performs the servo float for each
coordinate axis of coordinate systems such as the
robot coordinate, base coordinate, base coordi-
nate, user coordinate, and tool coordinate. This
function is used when the force is applied only to
the specific direction of each coordinate system.

Key benefits
n No additional hardware is required
n Link Servo Float Function
Can be activated by programmer for each axis or all together
n Linear Servo Float Function
Can be activated by programmer for each coordinate system
in each direction
 Page | 62 Function packages
Link and Linear Servo Float
function Multi Robot
Link and Linear Servo Float function Multi Robot

The servo float function controls not only the posi- Link Servo Float Function
tion of the robot but both the position and force of This function performs the servo float for each axis of the robot.
SINGLE the robot. Normally, even if an outer force is applied This function is used when a force is applied only to a specific axis
to the robot, the robot tries to maintain the current or when the servo float is applied to all axes of the robot because
position and does not move because only the the direction in which the force is applied cannot be identified.
robot position is controlled. In that case, the servo
float function provides flexible control on the posi- Linear Servo Float Function
tion and posture of the robot, in response to the This function performs the servo float for each coordinate axis of
force applied from outside. It allows to overwrite coordinate systems such as the robot coordinate, base coordi-
(reteach) robot positions under consideration of nate, base coordinate, user coordinate, and tool coordinate. This
current shift-values function is used when the force is applied only to the specific direc-
tion of each coordinate system.

Linear Servo Float Function Multi Robot

This function performs the servo float for each coordinate axis of
coordinate systems such as the robot coordinate, base coordi-
nate, base coordinate, user coordinate, and tool coordinate. This
function is used when the force is applied only to the specific direc-
tion of each coordinate system.

Key benefits
n No additional hardware is required
n Link Servo Float Function
Can be activated by programmer for each axis
or all together
n Linear Servo Float Function
Can be activated by programmer for each
coordinate system in each direction
n Linear Servo Float Function Multi Robot
For every Robot Link Servo Float can be
activated in a separate coordinate system
 Function packages Page | 63

DX200 Vision function

DX200 Vision function

This function is an inform instruction to communicate with different

Vision System. It maps the communication protocols of a variety of
selected vision systems and works, dependent on these, on the SINGLE
basis of Ethernet or RS232. This robot instruction allows easy con-
trol of image processing devices.

Main functions COGNEX model: In-sight and In-Sight Micro

n In practice, this instruction is used to trigger a camera series via Ethernet, Cam. No.: 1
and including to receive any results data (e.g. position of a KEYENCE model: CV-3000/5000 and
recognized part) without additional hardware. XG-7000 series, Ethernet, Cam. No.: 1
SHARP model: IV-S200 series comm.
Key benefits Interface: Ethernet, Cam. No.: 1
n Based on inform language (“VSTART” and “VWAIT”) by n Camera Jobs must be create with additional
communication software on camera side ( e.g. for Cognex
n No additional hardware required. Communication is done “In-Sight Explorer” on Pc).
using the standard Ethernet or RS232 port of the controller
n Vision function support the following manufacturer with below Required functions
described model: n DX200 Ethernet Function
OMRON model: F160, F210, F250, via RS232-C FZ2, FZ3,
FZ3 series Ethernet or RS232-C Cam. No.: 1 to 4
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All dimensions in mm | Technical data may be

subject to change without previous notice –
A-05-2014, A-Nr. 168427