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FDCon 04 Teaching

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47 views54 pages

FDCon 04 Teaching

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laciel1024
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Chapter4 Teaching ‘This chapter describes the teaching work, 4.1 Teaching procedure 44 4.2 Preparations prior to teaching 42 4.2.1 Input the number ofthe program. 42 4.22 Listing the programs on the display. 43 4.3 Teaching 44 4.3.1 Conceming the screen displays during teaching, 44 43.2 Basic teaching operations. 45 4.3.3 What isthe interpolation type? 48 4.3.4 What is the accuracy level? 46 4.35 Continue and Pause. 48 4.3.6 What is the acceleration? 49 4.3.7 What is smoothness? 4-10 43.8 Number of recordable steps. an 4.4 Try Teaching <> 412 4.4.4 Teaching method 412 4.42 Try Teaching, 417 4.5 Apractice teaching session <>. 423 4.6 Recording function commands 429 4.6.1 Directly selecting a command withthe function numbers. 430 46.2 Selecting from categorized groups. 4.30 4.6.3 Setting and recording function command parameters (conditions) ..4-32 4.7 Checking what has been taught. 433 4.8 Modifying the program. 437 4.8.1 Modifying the robot position 437 48.2 Modifying movement command data <......4-38 4.8.3 Overwriting movement commands. 4.39 4.8.4 Adding movement commands. 4-42 4.8.5 Deleting movement and function commands 445 4.9 Using the soreen editor function to modify commands 446 4.8.1 Modifying with the screen editor function 448 4.9.2 Batch changing the speed of MOVE command 4-48 RT 1 Teaching procedure Proceed with teaching by following the steps below. 1. | Select the teach mode. ee ee Teaching is performed in the teach mode teaching 2. | Input the number ofthe program. > Page 42 ~ P pes Tnput the number of the program to be created ‘Any number from 0 to 9999 can be input. 3] Record the movement commands (positions to which the robot is to move and postures). + Move the robot to the recorded position and posture by ‘manual operation, + Press [O.WRITE/REC] to record the step (movement command) Record the steps (movement commands) in sequence by repeating this process. Teaching @ Page ss ~ 4 | If necessary, record the function commands. Record the function commands in the appropriate steps. If function commands are recorded, signals can be output to an external device or the robot can be made to stand by. % | Record the end command (function command END ) that ‘shows the program end, Record the end command (END function command) in the step that will conclude the operation as the final step. 6 | Check the teaching contents, Checking of contents ‘Move in numerical order through the recorded steps and check @ Paged.23 ~ the recorded positions and postures. Modify 7 _| Revise the teaching contents if necessary ange the r it F © page sr ~ ‘Change the recorded points, add or delete steps, ete. a EY 4.2 Preparations prior to teaching 4.2.1 Input the number of the program ‘When teaching the robot new movements, provide a number to the program which will now be created. Any number from 0 to 9999 can be input. I Input the number of the program. 7 Setect ach mode. O- 3 While holding down [ENABLE], press [PROGISTEPI. >> The [Program Selection] window now opens. i] Input the number of the program in the “Des {Enter} ated program” field, and press When “1” to be specified as the program number, for instance, press the [1] numeric ‘- mre OD ee i] Press [Enter]. (2) >> Program “1,2 new program, is now opened ‘At this point, the teaching can now begin (we If you do not know which numbers are not yet used, check the programs already created by listing them on the display. “> See page 4-3°4.2.2 Listing the programs on the display’. Q Ifyou do not know which numbers are not yet used 42 4.2.2. Listing the programs on the display ‘Acconvenient way to open an already created program is to list the programs on the display and then make the selection. The number can also be directly specified as described in “4.2.1 Input the number of the program". 1] Listing the programs on the display J] Select the ich mod FO) g | While holdings down [ENABLE], press [PROGISTEP]. >> The [Program Selection] window now opens. 2 Align the cursor with “Directory”, and press [Enter]. fra * (2) >> Alist of the programs already created is now displayed qheets = oer are Align the cursor with the program to be opened, and press [Enter] Fr | (a) >> The selected program is now opened, Concerning the contents displayed when programs are listed “The contents displayed are as follows. 1 2 3 ‘The program filenames are displayed inthis column. The filenames are indicated using the “robot name 300% format, "xox" denotes the numberof the program |: The number of recorded steps is displayed inthis column ]: ifcomments have been registered, they ae displayed in this column, 43 4.3 Teaching 4.3.1 Concerning the screen displays during teaching ‘Various information is displayed on the screen during teaching as shown below. Before proceeding with teaching, remember this information as background knowledge. um 100 JOINT AI TH 100 JOINT AL TT 100 JOINT AL TT Ace. 100% JOINT AL TT cuLeCi00 PE;Progran call 200 cava LIN AI TL too 2 JOINT AL TT 1 | Program No, The number of the currently selected program is displayed. If not even one step has been recorded, "Free" is displayed: if one or more steps have been recorded, "EX" is displayed. 2 | Step No. The number of the currently selected step is displayed, 3 | Comment The contents ofthe comment (REM function command) recorded at step 1 in the program are displayed as the comment ofthe program itself. The maximum number of characters which can be used for the REM function command is 199. However, the Comment which consists ofthe fist 38 of these characters appears in this area 4 | Manual Speed ‘The speed set here is reflected as the movement command of the robot set in <<>. Each time [CHECK SPD/TEACH SPEED] is pressed, the speed of the recording status is switched 5 | Recording status ‘The currently set speed, interpolation method, etc. are displayed here. The movement commands are recorded under the conditions displayed in recording status by pressing [O.WRITE/REC], 6 | cursor This cursor indicates operation target. tis displayed as a green bar, 7_| Program contents The recorded steps are displayed here. The step numbers are provided for both the movement commands and function ‘commands. 4.3.2 Basic teaching operations ‘There are two types of teaching, "movement command teaching” and “function command teaching.” Teaching using the movement commands (i) Operate the robot manually until reaches the position to be recorded (2) Set the speed, interpolation type and other data ‘Speed “This is the speed at which the robot is to move to the recorded position, Interpolation type ~Select the tracks of the operations up to the recorded position. ‘Accuracy “This refers to the degree by which the path along which the tool moves as it passes through the recorded point of each step is distanced from the recorded point, thereby describing an arc on the inside of these points. Ths is also called accuracy. () The movement command is recorded by pressing [O.WRITE/REC} ‘Concerning the movement command data settings ‘All the movement command data can be changed after teaching. Therefore, until operators become familiar with the operation of the robot, they should simply remember "how to record the robot positions” ‘The data is revised upon completion of the teaching session, "See page 4-37 “4.8 Modifying the program’. Teaching using the function commands (1) Press [FN] (2) Select the function command to be recorded, and press Enter) (3) Specify the parameter (condition) ofthe function command, and press {Enter}. ‘When there is more than one parameter (condition), press [Enter] with each parameter, To correct input errors = Ifthe wrong function or command has been selected, press [RESETIR], + To correct a numerical value, etc. specified in an function command, press [BS]. + To delete the last operation, press [ENABLE] + [BS] ‘The operating method of teaching differs according to the set “Operating mode.” ‘There are two types of operating mode, <> and <>, For details on the operating method, check the set operating mode, and read the appropriate section for that operating mode. <> ‘lB Page 4-12 “4.4 Try Teaching <>" <> "@™ Page 4.23 "4.5 A practice teaching session <>" ‘The set operating mode can be checked in the system environment display. For details, see "1.2 How to read the instruction manual.” 45 in 4.3.3, What is the interpolation type? How the tooltip is to be moved is determined by the interpolation type. Table 4.3.1 Interpolation type Interpolation type Path of tooltip movement ‘Joint interporation | Since each avis moves WOINT) | independently, the path of the tool tip is not a straight line. vet JR sont Tine interpolation | Tthe next step (arget step) (UN) Involves linear interpolation, the tool tip moves in a straight line that connects the steps. Thatolipmowe UN inasragnt ma JONT JONT Gircular | Wthe target step and the step that interpolation _ | follows involve circular (CIR) | interpolation, the too tip moves along an arc 4.3.4 What is the accuracy level? This refers to the degree to which the path along which the tool moves as it passes through the recorded point of each step describes an arc on the inside of the recorded point. AT to AB can be specified as this degree. When At is specified, the tooltip will pass through the recorded point. When AZ or above is specified, the time required for playback is reduced depending on how far the too! passes along an arc on the inside of the recorded points Select a stringent (lower) accuracy level at the welding points and a lax (higher) level in the air cutting areas. This controler performs inward turn even if the interpolation classification of the linked step is different Control over the rabot operations that involve accuracy levels difers depending on the application used. 46 (wo) Sab 12 application is used When a level from At to AB is specified, the overlap speed ratio changes step by step across a range from 0 to 100%. Even ifthe accuracy level remains the same, the path of the robot is changed by the recording speed. (The higher the recording speed, the further inside the arc which is described.) Even if the playback speed is changed, the inward turn tracks are calculated so as not to affect the tracks. However, the actual amount of inward tum may differ due to machine curvature or servo control delay. Changing the playback speed means speed changes when the speed override or low safety speed functions. are used. Accuracy levels when arc welding is. performed Over Level | coed rao Ai 0%. AZ 5% a3 7096 Ad 15% AS 25% AB 50% AT 75% as | 100% ‘When th Iding application When a level from At to AB is specified, the inside arc amount changes step by step across a range from 0 to 500 mm, If the accuracy level remains the same, the path of the robot is not affected even when the recording speed is changed, ‘Similarly, even when the playback speed changes, there is hardly any effect on the path of the robot. (The “playback speed” is the speed resulting from a change made by speed override, the low safety speed or other actual speed during playback.) ‘Accuracy levels when spot welding is performed eet | rout A_[ Om Az | 8 mm 43—| 0 mm. ‘a [25 mm 5 | 50mm A810 mm AT [200 mm ‘A8_| 600 mm (NOTE) In case of a manipulator of which the number of axes is seven or more, the default control setting is “Overlap speed ratio”. Do not change this default setting, ccan be used as AS, and *No overlap" can be used as A. “Accuracy” corresponds to “Overlap” in Daihen robots prior to the EX-C series. “With overlap” a7 in 4.3.5 Continue and Pause Coptie TPase The accuracy level described in the previous section can be divided into two types of control methods, “continue” and “pause. With the “continue” method, the robot tool passes smoothly along the inside of the tool path with no reduction in its speed. ‘Continue’ is described in "4.3.4 What is the accuracy level?”,) Since this control method generates the path in such a way that the tool moves along the inside of the path formed by the recorded points, itis used for those areas where the tool does not make contact with the work but moves from one point to the next through the air. With the pause” method, which is also referred to as “in-position check,” each time the command position inside the robot reaches a step, the actual robot arival is awaited before advancing to the next step, ‘This method is used at steps such as spot welding which require a high level of positioning accuracy. To select continue or pause, open the screen editing screen, and select “0" or “1” at the position shown in the figure below. When "1" is selected, “P" appears following accuracy levels “A1-A8,” ‘This indicates that pause has now been set. “Continue/pause” indicated here (without "P”: pass; with *P": pause). 1 4° 1200 mm/s LIN Al_TI 5 600 mm/s LIN A{PITI 6 400 mm/s LIN AT TI Fig. 4.3.1 Example of steps displayed with “pause” ‘An alternative way to set continue or pause as the recording status is to use the [Continue/Pause] fey. For linear interpolation For pit hispotaton xa Continue ‘Asana hero hn each ha ie Peete tere etree itr nt an nches eos pect ase | The robot tool does not continue through the recorded points but passes smoothly along the inside of the tool path with no reduction in its speed, Exactly how far inside the tool path the robot tool moves depends on the accuracy level setting Recorded point Recorded point IP AIP Pause | Both A1P and ASP tooltip continue through the recorded points. However, the positioning accuracy differs according to the accuracy level. The lower the figure used for the accuracy level, the greater the deceleration at the recorded points and the higher the positioning ‘accuracy which is achieved, Record the accuracy level for those steps requiring positioning accuracy. 48 4.3.6 What Accel e IMPORTANT. 8 IMPORTANT, is the acceleration? The “acceleration” isa function which adjusts the smoothness by adjusting the acceleration of the robot operation. When vibration arises due to a factor such as the rgicity of the tool or work, the: robot can be moved gently by using the function in the movement command concerned. As a result, the amount of vibration is reduced. Unlike the “accuracy level" which expresses the positioning roughness when the tool passes through the recorded points, ‘acceleration’ functions. feven when there is one movement command. “Acceleration” can be specified for each movement command, and one of four different settings (0, 1, 2 or 3) can be selected. At an acceleration setting of 0 (00), the robot accelerates or decelerates at its maximum capacity, and the higher the setting used, the more smoothly (that is, to say, the lower the acceleration) the robot moves. (Factory setting) Effects produced by “acceleration” ‘Acceleration setting of 0 ‘Acceleration, setting of 1 Acceleration & setting of 2 -Receleration setting of 3 Fig, 4.3.2. “Acceleration” Open the screen editing window, and set a level from 0 to 3 at the position shown in the figure: below. ‘Anumber appears after ‘D." The display is cleared only when 0 has been set. This is the “acceleration’ setting 1 561200 mm/s LIN Al TI 57 600 mm/s LIN A2 TI Dis3 58 400 mm/s LIN AIPTI Fig. 4.3.3 Example of ‘acceleration’ step display Furthermore, if the “Accel” F key is used, the acceleration can be set in the recording status. When “acceleration” is sot, it always takes longer for the robot to move. Since this will adversely affect the cycle (tact) time, do not record the function in movement commands unnecessarily. Both “acceleration” and “smoothness” can be recorded at the same time. Both will function simultaneously. 49 in 4.3.7 What is smoothness? “Smoothness” is a function that adjusts the smoothness by changing the acceleration speed of the robot axes. When vibration arises due to a factor such as the rigidity of the tool or work, the robot can be moved gently by using the function in the movement command concemed. As a result, the amount of vibration is reduced. Unlike the “accuracy level” which expresses the positioning roughness when the tool passes through the recorded points, "smoothness! functions even when there is one movement command. “Smoothness” can be specified for each movement command, and one of four different settings (0, 1,2 or 3)can be selected. At a smoothness setting of 0 (S0), the robot accelerates or decelerates at its maximum capacity, and the higher the setting used, the more smoothly (that is to say, the lower the acceleration speed) the robot moves. (Factory setting) Effects produced by “smoothness” ‘Smoothness setting of 0 ‘Smoothness! setting of 1 % Smosthiess setting of Smoothness 1 setting of 3 Time Fig. 4.3.4 “Smoothness' Open the screen editing window, and set a level from 0 to 3 at the position shown in the figure: below, ‘Anumber appears after "S." The display is cleared only when 0 has been set. This is the “smoothness” seting 1 4 1200 mm/s LIN Al TI 5 600 mm/s LIN A2 Tl DIGG 6 400 mm/s LIN AIPTI Fig. 4.3.5 Example of “smoothness” step display Furthermore, if the “Smooth” F key is used, the smoothness can be set in the recording status. When “Smoothness” is set, it takes longer for the robot to move. Since this will adversely affect the cycle (tact) time, do not record the function in IMPORTANT — movement commands unnecessarily. © eses accretion and “smoctnest canbe recorded tthe same wernt Bott fanctonsenanaocly 4-10 ESC 4.3.8 Number of recordable steps ‘The maximum number of steps that can be recorded in a program is 300, 2SET 01] WAIT 1 REM "Task program” “REM "Process 1 Stat If the number of steps exceeds 300, divide the steps into multiple programs, and then call the programs divided from the parent program using the program call command (FNE0). By dividing, the programs can be reused, and management and maintenance also become easier. 1 REM “Main program” 2 CALLP [100] 3 CALLP [200] "4 CALLP [300] 55 100% JOINT AB, '5 CALLP [400], 6 100% JOINT AB, 1 REM ‘Process 1" BEND 2.100% JOINT AB, 4108 100% JOINT AS, 3 100% JOINT AB OA BEM Py 2 TORENT Process 2 slat 414 100% JOINT AS 112 100% JOINT AB: 200 100% JOINTAB 201 REM "Process 2end’_|| Divided REM ‘Process 2" 2 100% JOINT AS 3 100% JOINT AB Process 3 Start 203 80% JOINT AB 204 100% JOINT AB 319 100% JOINT AB 1 REM Process E , 24004 JONT AB SHU REM Process Send Divided. 3.100% JOINT AS 500 100% JOINT AB 112 100% soINT AB Seren? 113 END e IMPORTANT e IMPORTANT Fig. 4.3.6 Example of teaching with reduced numbers of steps T'the “AZ150: Program Is too large” error message appears during teaching or ‘screen editing, it means that the number of steps stored in a task program is too high. This error occurs when the file size exceeds 64Kb. Ina case like this, divide the task program in the manner shown in the example above. When di 1g an existing task program, press the [PROG./STEP] key, select “Copy,” and copy the steps into a new task program. (Step copy function) The step copy function can also be selected by selecting - [9 Program Conversion} -[2 Step copy). “The "A3084: Media device is full” error message sometimes appears during teaching, ‘screen editing, file editing or a file operation. This error is caused by insufficient memory as defined in the cases described below. += There is not enough space or no space at alin the internal memory device to record new data, “There is not enough space in the internal memory to edit or operate the specified file. In such a case, make more space in the internal memory by “deleting unused files” or “saving files which have not been used recently onto a USB memory and deleting aos at ALES 4.4 Try Teaching <> 4.4.1 Teaching method ‘There are broadly 2 types of teaching method for <>. In one method, the recorded status is used for teaching (Fig. 4.4.1 (A)), and in the other method the whole screen is Used for teaching (Fig. 4.4.1(B)). The teaching method can be selected by the operation used for, teaching the movement command. Use whichever method is easier TTT SE —— << Recording status Ls Ose eMasT TTT Si LE TTT rae (Switching operation) ms Gente Oat Crean J (Switching operation) (Switching operation) _____] Sista come (A) Teaching the movement command from the recorded (B) Teaching the movement command from 1 status sereen Fig. 4.4.1 Teaching Method Neo. When the teaching method in Fig. 4.4.1 (B) is used, the teaching operation can be done in almost exactly the same way as Daihen robots prior to the EX.C series. ‘There are specialized operations in both (A) and (B) in Fig. 4.4.1. In addition to them, operations can be performed using [ENABLE] + number keys ({7I-(9)). For teaching with [ENABLE] + number keys ([7}~(9]), the settings in Table 4.4.1 need to be configured Table 4.4.4 (Constant Setting - [7 f Keys] - [8 HARD KEY] settings arc (A Tescing the movement | (reaching he movement [8 HARD KEY] setting recorded status command from 1 screen “The use ofthe hard Key” Use Use “The instruction method of the nekveton mates Simple teaching Detailed teaching HARD KEY], see “7.7 Customizing the Hard Keys” in "Chapter 7 Useful (neo. For details of the setting procedures for [Constant Setting] - [7 f-Keys] — [8 functions." 4-12 I] Teaching the movement command from the recorded status —R GE ge Use the [Axis operating keys] to move the robot to the position to be recorded. In the recorded status, the movement command is already in the selected stat ‘Set the move method, speed, and accuracy level from this state to the teaching step. While pressing [ENABLE], press [INTERP/COORD] and set the interpolation specification for the recorded status. >> Each time it is pressed, the interpolation classification of the recorded status ‘switches in order between “JOINT” —+ LIN’ —» “CIR” “JOINT.” Alternatively, hold down [ENABLE] and press [7~9] to set the interpolation specification directly. >> Press [ENABLE] + [7] ~ Interpolation classification switches to “JOINT.” Press [ENABLE] + [8] -» Interpolation classification switches to “LIN.” Press [ENABLE] + [9] — Interpolation classification switches to “CIR.” PAE LN 77 PEN Press [SPD]. >> The speed correction screen is displayed Da MB e2 Fever 6st011 0- 1000) Number (0) i Enter the desired speed (e.g. “100"), and press [Enter]. >> "100%" is displayed in the recording status. TT —— Pt To specify the accuracy level, press [ACC]. >> Each time the button is pressed, the accuracy level changes in order from At to AB, = Press [O.WRITE / REC]. >> The step is recorded TT ——— a = 4-13 414 ‘Step numbers are added to the recorded steps, which are then written to the program, mee ‘Step number. Specify this step number to perform step jump. Set speed, Interpolation classification, JOINT, LIN, or C1/C2 is displayed, ‘Accuracy. Set to AB for "With overlap,” and At for *No overlap,” *P* is added when specified for positioning ‘Tool number. To perform the operations marked within the dotted lines above, see "4.4.1 Teaching method.” 8 4 8 | Teaching the movement command using the whole screen Press [CLAMP ARC]. >> Frequently used commands are displayed in the f keys. Perform operation 1 when using the f keys for teaching, When using the keys inside the dotted lines (number keys) in the subsequent explanation, this operation is not needed. displayed in the f keys, + When [CLAMP ARC] is pressed again, the f key display returns to the previous display, nF. + When f1 is pressed, a different command group is Use the [Axis operating keys] to move the robot to the position to be recorded. Press the f key that corresponds to the interpolation classification that you want to record. Alternati number key (71-19). >> The corresponding screen as shown below is displayed. {7 Or [ENABLE] + [7] —> Joint interpolation (JOINT) 18 (Or [ENABLE] + [8] — Linear interpolation (LIN) {9 Or [ENABLE] + [9] ~> Circular interpolation (C1/C2) ly, hold down [ENABLE] and press the corresponding Eg: For Joint interpolation (JOINT) ‘BSP |DETALS| Sos TS ein ac Movement Overao Ente ODintle ON mera nt Meconom ee Teal ine DT) T reco con 4-15 ind press [Enter]. marly EA Align the cursor to “Overlap”, then hold [ENABLE] and press [Left/Right]. Select “YesiNo” “Numerical input’ is selected when performing fine setings of the accuracy, but in normal circumstances itis sufficient to select "Yes/No." With overlap/No overlap, so proceed to operation For advanced purposes, use operations {J and §. T_Setthe toot number in “Too Normally, there is only 1 tool (toch or hand), 0 ths is not changed from “1.” If this is incorrectly specified, the positon ofthe robot tse does not change. However, the robot interpolation accuracy is affected during playback because the tool contol point (TCP) different Spec the tol number only when operation requires the tol tobe changed a number of times using a tool changer et Fea setings such as numeri speciation of the accuracy and speed can be done from the “Details” tab. Press [CLOSE/SELECT SCREEN] to switch tabs. Dt SE DETALS | Stor hor For details on these conditions, see the robot's built-in reference manual © I Att configuring all of the conditions, press #12 aaa >> The step is recorded To perform the operations marked within the dotted lines above, see “4.4.1 ‘Teaching method.” INFO.) When the cursor is moved to “Interp.” the interpolation classification ~~ can be switched. This is useful in situations such as when the wrong command is selected due to mistaken key operation. 4-16 44.2 Try Teaching Upon completion of the preparations, try a practice session in teaching. In this section, the program shown below wil be created. Teaching A Teaching st poston “As shown in the figure on the left, x01 ‘move the robot from step 1 to step moe _ 5, and record the positions. ‘Superimpose the recording position for step 6 at the same position as step 1 twee “This is done in order to ensure that \ the robot operation wil move Great from step 5 the step 1 3 mere postion without being intemuptes ae eee Ging playback Fig. 4.4.2 Teaching example | Recording step 1 (work home point) Record step 1 the work home point. Here, record using the teaching method that uses the record status. = 7 nee I] Use the [Axis operation keys] fo move the robot to step. —=—=S~S~S {As step 1, set the robot to the position which will serve as the work home point Inthe recording status, movement commands Rave already been selected. —— From this state, specify the method, the speed and the accuracy level of the movement up to step 1 For step 1, try setting “joint interpolation” for the movement method, “100%" for the ‘speed and "1" for the accuracy level 2 While holding down [ENABLE], press [INTERP/COORD], and set the interpolation specification of the recording status to “JOINT.” >> Each time this is pressed, the interpolation type of the recording status is switched in the following sequence: “JOINT” —»"LIN" "CIR" —» JOINT’, ete, al 1] Press [SPD]. >> The speed correction screen is displayed 02 Foner sso 0-000 417 @ Input “100 nd press [Enter]. 10} >> 100% displayed in the recording status, LTT ——— J To specify the accuracy level, press [ACC]. >> Each time itis pressed, the accuracy changes in sequence by one level from A1 to AB. —— ze 7] Press [O.WRITEIREC). Ca.) >> Step 1 is now recorded. —_— | Recording step 2 (just before the actual work start position) Record step 2 near the actual work start position. The actual work start position denotes the position where the actual welding or other work will be performed. swt Use the [Axis operation keys] to move the robot fo step ‘As step 2, set the robot to just before the start postion of the work. In terms of the posture, set the robot to the posture which is close to the one in which the robot will ‘actually perform the work in step 3 J Set the movement method and speed up to step 2. In the same way as for step 1, try setting “joint interpolation” for the movement method ‘and "100%" for the speed. The movement command stored last is left for the recording status. To use the previous condition as is, press [O.WRITE/REC] without changing the value. >> Step 2 is now recorded 4-18 I Recording step 3 (actual work start position) Record the position where the actual welding or other work isto start as step 3 ]_Use the [Axis operation keys] to move the robot to step 3. Since step 3 isthe position where the actual welding and other work are to start, ‘manually operate the robot unti its posture is optimal for the work to be performed. Set the movement method and speed up to step 3. Press [O.WRITEIREC]. >> Step 3 is now recorded, gr St x wow ae 1 2 one IN AT | Recording step 4 (actual work end position) Record the position where the actual welding or other work is to end as step 4. Try recording this step and the following steps using the teaching method that uses the whole screen, + Ifthe f keys are not displayed, press [CLAMP ARC] to display them. + To perform the [ENABLE] + {7~9] operation, see "4.4.1 Teaching method.” Use the [Axis operation keys] to move the robot to step 4. ‘The movements of the robot by manual operations up to step 4 need not be in a straight line. A detour may be taken but operate the robot manually in such a way that it does not ‘make contact with the work piece. 4-19 B Use linear interpolation for the movement to step 4. Press 8 or [ENABLE] with [8]. >> Linear interpolation (LINE) is selected, Soe veda Ele ODeale Nam ret 1nerce ve Pe compet ‘Sot the speed and overlap to we After configuring all of the conditions, press f12 . >> Step 4s recorded, 1 10 Ir ay ty ‘ito x ON ALT | Recording step 5 (position away from the work piece) Record the position away from the work piece as stp 6 RED Use the [Axis operation Kevsl to move the robot to sten 6. ep AS Sep sel the robot nthe appropiate positon at some distance rom the work piece, seine | Use “joint interpolation” for the movement to step 5. as Press f7 . >> Joint interpolation (JOINT) is selected. H_Setthe speed and overlap to enabled or isabled. 4-20 11 After configuring all of the conditions, press 12 . >> Step Sis recorded oo 0M ae Yoo SOINt A TH 200 ave UN AT | Recording step 6 (same position as for step 1) Record the same postion as for step 1 as step 6. am Jo setoresanrnton \ J I] Press [PROGISTEP]. >> The [Step Selection] screen now appears. Pa cc) nero Desieoted eo ey he So ceeon Input “1” in "Designated step”, and press [Enter]. >> The cursor moves to step 1 While grasping the robot stops.) >> The robot moves to the position recorded in step 1 |. (Keep pressing it until ‘To record the position where the robot stopped (position in step 1) as step 6, call step 5. 421 Press [PROG/STEP]. >> The [Step Selection] screen now appears. SS ‘Caner ote 1 Desiostd ten a at tues een Oubit ‘Select “Bottom”, and press [Enter]. >> The cursor moves to the last step (step 5). ‘This is now the state in which step 6 can be recorded, The conditions in step 5 will be used as i >> Step 6 is now recorded. 80 press [O.WRITEIREC]. | Recording the end command (End function command) Since all the steps have now been recorded, record the end command at the end of the program. ‘The end command must be recorded without fal, I Press 16 . Alternatively, hold [ENABLE] and press [END/TIMER].—— he end command is now recorded ————— 100% JOINT ag TH 100 % JOINT a8 TH 100 £ JOINT a8 TH 200 sas LIN AB TT too SOINT a8 TH 100% JOINT Ag_T1 a 1 rrr ‘This now completes the creation of the program. Next, check the robot operations, postures, etc. 4-22 Upon completion of the preparations, try a practice session in teaching. In this section, the program shown below will be created \ Teaching ‘As shown in the figure on the left, ‘move the robot from step 1 to step Ne 5, and record the positions. ‘Superimpose the recording position for step 6 at the same position as step 1 D 098 This is done in order to ensure that the robot operation will move directly from step 5 to the step 1 sep ran position without being interrupted (cet tp (stat te during playback. Fig. 45.1. Teaching example Il Recording step 1 (work home point) Record step 1 asthe work home point. Car j]_ Use the [Axis operation keys] to move the robot to step 7. ‘As step 1, set the robot to the position which will serve as the work home point ted. Recording status Gr From this state, specify the method, the speed and the accuracy level of the movement up to step 1 For step 1, try setting “joint interpolation” for the movement method, “100%” for the ‘speed and “1” for the accuracy level. While holding down [ENABLE], press [INTERP/COORD], and set the interpolation specification of the recording status to “JOINT.” >> Each time this is pressed, the interpolation type of the recording status is switched the following sequence: “JOINT” — LIN’ = “JOINT”, ete, POA PE NT PRS 1 4-23 oe Press [CHECK SPDITEACH SPEED], and set the manual speed to “5” (the recording status speed also changes along with the manual speed. When set, “100%" is displayed). or vr To specify the accuracy level, press [ACC]. is >> Each time itis pressed, the accuracy changes in sequence by one level from At to AB. ———— J Press (O.WRITEIREC]. >> Step 1 is now recorded rr ll Recording step 2 (just before the actual work start position) Record step 2 near the actual work start position. The actual work start position denotes the position where the actual welding or other work will be performed. I] Use the [Axis operation keys] to move the robot to step 2. As step 2, set the robot to just before the start position of the work. In terms of the posture, set the robot to the posture which is close to the one in which the robot will actually perform the work in step 3 i Set the movement method and speed up to step 2. Inthe same way as for step 1, try setting ‘joint interpolation” for the movement method ‘and "100%" for the speed, The movement command stored last is left for the recording status. To use the previous condition as is, press [O.WRITE/REC] without changing the value. >> Step 2 is now recorded. TTT 00. INT AL TE 4-24 I Recording step 3 (actual work start position) Record the position where the actual welding or other work isto start as step 3. ‘operation keys] to move the robot to step 3. Since step 3 is the position where the actual welding and other work are to stat, ‘manually operate the robot unti its posture is optimal for the work to be performed. J Set the movement method and speed up to step 3. 2 Press [O.WRITEIREC] >> Step 3is now recorded oo £ SIN AL | Recording step 4 (actual work end position) Record the position where the actual weding orcther works to end as step 4 ‘ . \. - Pompey ae I] Use the [Axis operation Keys] to move the robot to step 4. ‘The movements of the robot by manual operations up to step 4 need not be in a straight line. A detour may be taken but operate the robot manually n such a way that it does not make contact wth the work piece. 2 Sette move Set the move method to “ wethod and speed up tw step 4 terpolation on (linear),” and the speed to "500mmis.” While pressing [ENABLE], press [INTERP/COORD] and set the interpolation specification for the recorded status to linear interpolation (“LIN” is displayed in the recorded status). Press [CHECK SPD/TEACH SPEED], and set the speed to “500mmis.” 4-25 Press [O.WRITEMREC], >> Step 4is now recorded. 100 fom at Tr 100 OIMt AL TH | Recording step 5 (position away from the work piece) Record the position away from the work piece as step 6. \ 7 I] Use the [Axis operation keys] to move the robot to step 5. {As step 5, set the robot inthe appropriate position at some distance from the work piece. @ Set the move method and speed up to step 5, Set the move method for step § to “Joint interpolation’, and speed to "100%." While pressing [ENABLE], press [INTERP/COORD] and set the interpolation specification for the recorded status to “JOINT.” ‘Also, press [CHECK SPD/TEACH SPEED], and set the speed to “100%.” TTT ————— Press (0.WRITEREC]. >> Step 5is now recorded, a 2 ie OMT AL TH {me St At Tt 1 5t0 ave LIN ALT 4-26 | Recording step 6 (same position as for step 1) Record the same postion as for step 1 as step 6. ea Press [PROGISTEP]. >> The [Step Selection] screen now appears. ET ‘Curerstse 5 a | Bat Nettie ease denon Ovbint QO a Input “1” in “Designated step”, and press [Enter]. whe ormtatoaay ———————— 2 —— Some oman Stn ve UINU AL TH sim Sotwe at fa] |Z While grasping the [Enable switch] press [CHECK GO]. (Keep pressing it until the robot stops.) >> The robot moves to the position recorded in step 1 To record the position where the robot stopped (posi call step 5. nin step 7) as step Press [PROG/STEP]. >> The [Step Selection] screen now appears. xe a one ee a Pedeocee Cdkgerden Ovbie ‘Select “Bottom,” and press [Enter]. >> The cursor moves to the last step (step 5), ‘This is now the state in which step 6 can be recorded, ‘The conditions in step 6 will be used as is, so press [O WRITEIREC]. >> Step 6 is now recorded. 4-27 ll Recording the end command (End function command) Since all the steps have now been recorded, record the end command at the end of the program. ‘The end command can be recorded either by specifying function number FNS2 or by selecting the END function command from the list of commands. (The end command must be recorded without fail.) Press [FN], then press [9] — [2] — [Enter]. Alternatively, hold [ENABLE] and press [END/TIMER]. >> The end command is now recorded, do INT at This now completes the creation of the program, Next, check the robot operations, postures, etc. 4-28 eT CMM Creole litem iio mould In order to operate the hand or gun attached to the robot wrist or capture signals that check the work, function ‘commands (functions) are recorded at the appropriate positions in the program, Furthermore, in order to perform complicated work, other programs may be called or, depending on the status of the extemal signals, operation may jump to other programs. These are also recorded as function commands, ‘The basic function commands are expressed using a format based on SLIM (Standard Language for Industrial Manipulators) which is a robot language. ‘Alteratively function commands can be specified using the "FN***" format where a 1- to 3-digit number is input into the "**" part (which is called a function number), ‘Some typical function commands are shown below. Table 4.6.1. Typical function commands Funston Gommans | Function THe Description of unetion ‘sum set ns | output signal On The speci output signals set to ON reser | FNa | Output signal OFF The specified output signal is set to OFF This causes the robot o stand by for he vetay—fenso | timer Ths causes vogiam cal “Anather program which has been a ee Prog it specified is called. When he specied signals ON, another cate | FNst | Condtiona program eat_| When te spect eno frnoz——|eND The execution ofthe program is ended This ataches @ deserve comment in rem | FN9@ | Comment nae Input tna wat This causes the robot to standby unt the a) Gis (positive logic) specified signal is set to ON. way | ensze | lutsiona wai This causes the robot standby nthe (negative logic) specified signal is set to OFF. 4-29 4.6.1 Directly selecting a command with the function numbers ‘This section explains how to select function commands directly, using the function numbers. ‘Selecting function commands (How to directly select a command with the function numbers) [Press [FN] atthe position where the function command is to be recorded. FN >> The list of function commands is now displayed. ‘SetOnr FRlaads OSLM commer ‘The function commands can be rearranged in the order of function number or ia alphabetical order using expressions in the SLIM format To select the sorting sequence, press [left or right] while holding down [ENABLE]. Either solect the function command from the list or input its function number, and press [Enter]. 4.6.2 Selecting from categorized groups ‘This section explains how to select function commands from categorized groups. This method is. Useful since it allows you to find the command you want to record from among categorized groups, ‘even if you don't remember the function number. To make a selection by group, it is necessary to have [Constant Setting] — [5 Operation Constants] —[1 Operation condition] — [11 Selection of a function] set to “Group”. These settings. become the default status for the robot set in <>. Selecting function commands (When selecting from categorized groups) Press [FN] atthe position where the function command is to be recorded. FN >> The funtion groups will be displayed on the f keys, SetOnior @FlenseOSLMconrar 4-30 ‘Selecting a program call (CALLP) is given here as an example. Press {6 . >> The function commands related to program calls and step calls will be displayed on the f keys. At the same time, the function commands being displayed in “Function Record Status" in the center of the screen will be narrowed down. o coma IL sl fen a? lo? le? Press f9, >> The program call command is now selected. SetOnee GC Filsadd OSLM commer Frc fet Pree ERAELEN STE ty som prom fet @ It can also be selected using the following methods. + Select from the list in the center of the screen using [Up/Down] [Enter] + Input its function number, and press [Enter]. 4-31 4.6.3 Setting and recording function command parameters (conditions) This section describes how to input and record parameters (conditions) after the function ‘commands have been selected Recording the output signal ON command (SET function command) will be used here as an example. Setting and recording function command parameters (conditions) function number (FN32), and press [Enter]. >> The output signal ON command is now selected SotOnr ORVak OSLM comer nes ae agON OF seioes z Input the number of the output signal using the [Number input keys]. The parameters which are to be set and their input ranges are displayed on the screen. 11 Name of parameter and its input range 2 Function number 3 Setting (in this case, 100 is set as the output number) To delete the wrong setting which has been input for a parameter, press [BS] When there are 2 or more parameters In the case of an function command with 2 or more parameters, input the first parameter, and then press [Enter]. Proceed to input the second and subsequent parameters, Upon completion of the parameter settings, press [Enter] >> The output signal ON command is now recorded. 4-32 eee 4.7 Checking what has been taugh ‘After the program has been created, be absolutely sure to check what has been taught, ‘This checking work is called the check operation. When the check operation is performed, the robot can be ‘made to stop at each step so that its position and posture at each step, and the path of its movement between steps can be checked. If necessary, modifications can be made Use [CHECK GO] and [CHECK BACK] on the teach pendant for the check operation. “Check go” refers to ‘moving the robot step by step starting with the lowest step number; “check back’ refers to operating the robot starting with the highest step number. ‘The robot can also be moved through all the steps continuously. Checking the step sequence [CHECK GO] The operation of the program created in the previous section will be checked here. The screen that appears when teaching is completed should be the one shown below. If the created program has not been selected, select it using the method described in “4.2 Preparations prior to teaching” (Page 4-2) I] Press [PROGISTEP] in order to call the step which is to be checked first. >> The [Step Selection] screen now appears. odoenson Odi Input [0] in “Designated step”, and press [Enter]. , (a) >> The cursor moves to step 0 ([START), ‘To check from the start of the program, specify “0” as the Designated step. | To specify the speed to be used during the check operation, press [CHECK +O +h ‘SPD/TEACH SPEED] while holding down [ENABLE]. Here, select “3” to ensure safety. >> Each time the [CHECK SPD/TEACH SPEED] key is pressed, the speed changes in ‘sequence to the next of the 5 settings. "1" is the slowest speed, and °5"is the fastest. ba = Nes 4-33 ~ (W?8) the check operation sped canbe changed by groping he [ENABLE Santi ob olny ie J08 Sak oe hating Soon fate Press [CHECK GO] while grasping the [ENABLE SWITCH]. >> While [CHECK GO] is pressed, the robot starts moving toward step 1, and when it reaches step 1, it stops. When the step is reached, the display turns yellow. When [CHECK GO] is released while the robot is moving, the robot stops. The robot also stops when the enable switch is released during operation. However, in this case, the servo power is tumed off immediately without the acceleration or deceleration applying a heavy load to the mechanisms. Before releasing the enable ‘switch, try to remember to release [CHECK GO] and wait for the robot to come to a stands To move to step 2, first release [CHECK GO] and then press it again. ‘Check up to the final step by repeating these operations, When the final step is reached, the robot operates again from step 1. I] Checking the steps in the reverse order [CHECK BACK] The robot can also be operated in the reverse order ofthe steps Press [CHECK BACK] while grasping the [ENABLE SWITCH). >> The robot now moves in the reverse order ofthe steps When step 1 is reached by [CHECK BACK], the robot operates no further. (Check back cannot be performed to the final step.) The operation method after the speed has been switched or robot has stopped ata step, etc, are the same as for Check Go. ‘The robot also stops when the enable switch is released during operation. However, in this case, the servo power is turned of immediately without the acceleration or deceleration applying a heavy load to the mechanisms. Before releasing the enable switch, try to remember to release [CHECK BACK] and wait for the robot to come to a standstil. 1] Checking the steps continuously ‘The robot can be operated continuously step by step by holding down [CHECK GO] or [CHECK BACK] ‘When the continuous mode is specified, the robot passes along an arc on the inside of the recorded points, reflecting the accuracy levels taught at each step. IT Press [STOPICONT]. IL >> “CONT” is displayed in the [Step number display area}. ms Baa Perform the Check Go/Check Back operation. Hold down the [CHECK GO] or [CHECK BACK] key. >> The robot operates continuously step by step. J To release the continuous mode, press [STOP/CONT] again. 4-34 1 Switching the continuous/step mode during Check Go operation The continuous mode can be switched to the step mode and vice versa by pressing down [Shift] while pressing [CHECK GO), ‘While pressing the [Shift], the display is shown to switch from the continuous mode to the step mode and conversely, therefore Check Go is operated following the mode which is switched, When the continuous m M1 Press the [STOP/CONT]. >> "CONT is displayed in the [Step number display area}, = fa |@on) s Perform the Check Go operation. Press down the (CHECK GO} >> The robot operates continuously step by step. Pressing down the [Shift] whi continuous mode into the step mode. >> During this time, the display changes from "[CONT]' to “step” While this "step" is displayed, Check Go is considered as the completion when the current step has been completed as the same Check Go of "BREAK" mode. ‘When Check Go is completed, the display returns from “[step|" to “[CONT}.” Check Go operation, switching from the Cy 1) To release the step mode, release the [Shif]. Or release the [CHECK GO}. >> When the mode release is completed, the display returns from “step to “[CONT}” When the step mi Press [Stop/Cont) >> Nothing has been displayed in the [Step number display area} A me Perform the Check Go operation. Pressing down the [CHECK GO]. >> The robot operates step toward the next step, Pressing down the [Shift] while playback, switching from the step mode into the continuous mode, >> During this time, the display changes from * (no display) to ICONT].” While this “CONT is displayed, Check Go is considered as the completion when the final step has been completed, and the robot operates continuously step by step as the same Check Go of the continuously moae. When Check Go is completed, the display retums from {CONT]' to" * (no display) 1] To release the continuous mode, release the [Shift]. Or release the [CHECK GO}. >> When the mode release is completed, the display retums from *[CON’ display) 4-35 {| Jump to the Specified Step [Step Jump] ‘When you want to move to a specified step, press [PROGISTEP] and specify the number of the step to which you want to move However, when you move the robot using [CHECK GO] operation after specifying the step, always be sure to specify a move command step. You can specify an function command step and only move the cursor, but an error will occur when you do [CHECK GO}, Press [PROGISTEP]. >> [Step Selection] screen appears, ‘urereses 5 a | eat Nettixe Seo Select Hrsaon Cdgmrdon Ovkint snber @ ; When designating the number of the step, input the number of the step in “Designated step", and press [Enter]. >> The cursor moves to the step which has been designated, ey When you move relatively from the current step, without specifying a step ‘number, specify the jump destination in the “Edit” column. >> The cursor moves to the step which has been designated, ‘You can select from among the following items. Movements of the cursor ‘Move from the current step to the next move step (skip function command steps), ‘Move from the current step to the previous move step (skip function command steps). ‘Movement destination Next Move Step Prev. Move Step Last Move Step ‘Move to the last move step in the program, Bottom ‘Move to the last step in the program, ‘Copy Call the step copy function. This is the same as selecting — [9 Program Conversion} — [2 Step copy). Dan “Select Interpolation” specifies the operation method when moving toa step. Before inputting a step number, you can switch using [LEFT/RIGHT] while holding down [ENABLE]. Movements of the robot ‘AL the time of a check operation to the specified step, operation is done according to the interpolation classification of the target step. For ‘example, when the target step is ‘LIN’, movement is done using linear interpolation. ‘At the time of check operation to the specified step, movement is done using joint interpolation, ‘Movement format ‘depend on step Joint While grasping the [ENABLE SWITCH], press [CHECK GO]. >> The robot moves as far as the designated step. 436 This section describes how to modify the commands which have been recorded in the program ‘The commands can be modified in a number of ways as follows Table 4.8.1 Dasecription of modification How to change the steps Operation method Reference page Moding te pein | rena] + OD Pete © Pope 37 Hciying te aed ony <> | {SPO] Movement | Modifying the accuracy 1 Page 4-38 command | only [Acc] mroaeaten | <> [ENABLE] + [O.WRITE/REC] Mosining eventing | use tt to mad te . Uorementcormana | Rlepyatontps tolrunbe ee, | @- Page se overwriting) separately. ‘Adding movement commands [ENABLE] + [INS] @ Page 4-42 Tis is ded auoratcaly wih he sare Ang function commands Inethod as row fog is ded at the some poston ashe move command Deen mover carmands an . See ener [ENABLE] + [DEL] @ Page 4-45 oT X% The paranetes of the functon Using the screen editing function to commands cannot be modified in the | "@ Page 4-46 ‘modify commands teach screen. Use the screen editing function to modify commands. 4.8.1. Modifying the robot po: Try changing the I Modifying the robot position of (wo) oN ion cumeeaipa sition of step 2 in the program such as the followin (en N 7 I] Move the robot to step 2 using [CHECK GO] (or [CHECK BACK). Alternatively, the step may be called. ‘An alternative to the operation in fis to call step 2 by selecting [PROG/STEP] = [2] — [Enter]. In this case, however, what happens is that only the display ‘moves and the robot fails to move to step 2. To move the robot, designate the step and then press [CHECK GO}, 4-37 Use the [Axis operation keys] to operate the robot manually to set and posture to which they are to be changed. to the position Hold [ENABLE] and press [Modify position]. >> Aconfirmation screen is displayed. GB) Prades ney sation afte? ‘Select “OK” and press [Enter]. >> The position is now modified This completes the modification of the step 2 position, 4.8.2. Modifying movement command data <> The speed and accuracy recorded in a movement command can be modified separately without changing the position data of the robot. This method can only be used when <> is set. This method cannot be used for modification when <> is set (Overwrite the linear command, or use screen editing Modifying the speed and accuracy in step 3 is given here as an example. 1 Modifying movement command data =]. i] Press (PROGISTEP] — [3] — [Enter]. CeeaCs oo eindeteermvesw sens To change the speed, press [SPD]. >> The [Modify speed] screen now appears. HD oy spond fate? ut Pon [10- 100] i Use the [Number input Keys] to input the value. Press (Enter). >> The new specified speed is recorded. Re To change the accuracy, press [ACCI. >> The [Modify accuracy] screen now appears. ET My acasy fe Oversee ey © Press (Enter. >> The new specified accuracy is recorded. ‘This completes the modification ofthe step 3 speed and accuracy. 4-38 4.8.3 Overwriting movement commands ‘Steps can also be overwritten. ‘When a step has been overwritten, all the data including the position of the robot, its speed and interpolation type is modified. Changing join interpolation in step 3 to linear interpolation is given here as an example. 1 Overwriting movement commands <> =]. Press [PROGISTEP] — [3] — [Enter]. Fee e eee ee To change the position, use the [Axis operation Keys] to operate the robot manually. Ef While holding down [ENABLE], press [INTERPICOORD], and set the interpolation specification of the recording status to linear interpolation. is displayed for the recording status.) F500 cnn CN ALT] wri 1 Aftor pressing [SPD], input a suitable value. While holding down [ENABLE], press [O.WRITE/REC]. >> A confirmation screen now appears. he teaching mé Jing th “uN” (A Promotes? eae J Select "OK" and press [Enter (1) >> The step is oveaiten | 100s wow AL TY af aon AL TY mv = WNT AL TY 4-39 Div ‘Modifying with the teac! method using the whole screen Press 8 . >> Aconfirmation message is displayed. DPR STT ecert std ce ‘Select “YES” and press [Enter]. ‘Set the speed and overlap to enabled or disabled. Spans Owe Eres Diente etc The Nant © TE After configuring al of the conditions, pross #12 . >> Aconfimation message is displayed ae CREP Nisan torte carer) Ie) ee. 0" Samar 1] Overwriting movement commands <> Changing joint interpolation in step 3 to linear interpolation is given here as an example. = Press [PROG/STEP] —[3] —[Enter]. Eas] Oo rnecteer moves sep To change the position, use the [Axis operation keys] to operate the robot manually. I While holding down [ENABLE], press (INTERP/COORD], and set the interpolation specification of the recording status to linear interpolation. (“LIN" is displayed for the recording status.) 1 Pross [CHECK SPDITEACH SPEED], and sat a suitable value for the speed. P00 cn/m TIN AL TY I While holding down [ENABLE], press (O.WRITE/REC]. >> A confirmation screen now appears, GB) Praed neti saticnofns? H Select“OR and press (Ener a) >> The step severe, oo £ JOINT at 2 ioe OINr at TE 4.8.4 Adding movement commands Using the following work program as an example, a new step will now be added between steps 1 and 2 eer cea The position at which the command is added differs between <> and <>. The added position of the new step is “After the current step” for <>, and "Before the current step” for <>. (yea) The poston at which the command is added is st by [Constant Seting] — (5 Operation Constants] — [1 Operation Condition] — [7 Step insertion position], 0 you can change it However, you must be EXPERT evel or above to make changes. 1] Adding movement commands <> Move the robot to step 2 using [CHECK GO] (or [CHECK BACK). i ey ZX)" Toadda step, move tothe step before the location where you want to add the step + Moving the cursor as shown below adds the step after the first step. TTT esa 2 wk MAT 4 2p dave LMU AL TH Swe" Son a 1 é we ON AT tr Use the [Axis operation keys] to operate the robot manually, and set the robot to the position and posture to be added. ina with the teaching method usi recorded status J Set the speed and interpolation classification using the same method as when doing new teaching. ‘Whe aang down TENABLE, prove INST O)a{Se] Fei etimaton son now appears (B) Pramtts inert nen te tate? Select “OK” and press [Enter]. >> This completes the addition of the new step. All the previous steps 2, 3 and up are incremented by one to become steps 3, 4 and up, The numbers of the steps recorded as the parameters of jump/call and other function commands are automatically modified at this time. L [eirtee| alti nia +E] Modifying with the teaching method using the whole screen ‘Selects commands. >> confirmation message is displayed DET te cert ceed es JL} Gg Select “No” and press [Enter]. E Set the speed and overlap to enabled or disabled. ‘ASH [DETALS| a in Mec Mover Owiso Enable ODeatle ONsrarlinat Meche te Toa tetce cow i 21Fee=0 Oimmarem tear ‘After configuring all of the conditions, press 12 . >> Aconfirmation message is displayed. Q) Presteinens rows barca? ‘Select “OK” and press [Enter]. >> Anew step is now added, ‘The order of the 2” step and 3" step etc. all increase by 1 to become the 3" step and 4” step etc, The step numbers recorded as parameters for function commands such as jumplcall ete, are automatically modified at this time TE 1] Adding movement commands <> Move the robot to step 2 using [CHECK GO] (or [CHECK BACK]). 1) i KN To add a step, move to the step after the location where you want to add the step. +| Moving the cursor as shown below adds the step before the 2nd step. okt 6 Moo 2° Sow at fm % owt At 10 aitne Use the [Axis operation keys] to operate the robot manually, and set the robot to the position and posture to be added, Set the speed and interpolation classification using the same method as when doing new teaching. ig down [ENABLE], press [INS]. White hor + O)+ >> A confirmation screen now appears, Dh Pel oinets ren steam see? Select “OK” and press [Enter]. >> This completes the addition of the new step. All the previous steps 2, 3 and up are incremented by one to become steps 3, 4 and up. ‘The numbers of the steps recorded as the parameters of jump/call and other function commands are automatically modified at this time. 4.8.5 Deleting movement and function commands Using the following work program as an example, step 5 will be deleted here. I] Deleting movement and function commands Press [PROGISTEP] — [5] — [Enter]. While holding down [ENABLE], press [DEL]. >> Aconfirmation message now appears, J Select “VES” and press [Enter]. >> This completes the deletion of step 5 % The previous step 6 is decremented by one to become sep 5 ‘The numbers of the stops recorded as the parameters of jumplcall and other function commands ae automaticaly modified at this time. 4.9 Using the screen editor function to modify commands All the data recorded in the program can easily be modified using the screen editor function. The screen editing function can be used in the teaching mode, and during playback in the playback mode. The operations which can be performed using the screen editor function are listed below. Table 4.9.1 Operat Operation Data modification tions which can be performed using the screen editor function Details ‘Allthe data (euch as the speed, interpolation type and position data) recorded for mavement commands can be modified, (To correct position data, you must be EXPERT evel or above.) Further, the data recorded for function commands can also be modified. File Copy (One line or several ines can be copied and inserted into another position, Cut (One line or several ines can be deleted Paste The copied or deleted line or lines are inserted at another position, Function command insertion, replacement Function command search Screen Separation Batch changing of the speed “An function command can be inserted at any position In addition, an function command can be changed into another function command. Function commands can be searched, “The screen can be divided into the top half and bottom half ‘The speed of MOVE command set in two or more lines can be batch changed, 4.9.1. Modifying with the s creen editor function ‘This section describes how to select and modify the screen editor function, ll Selecting the screen editor function press [EDIT]. >> The screer | in the teach mode or when step playback has been selected in the playback mode, n display for the currently selected program is now switched. asin EE 3 1" 13 Cursor The cursor can be moved to the data Description of data ‘A description of the data at the cursor position and the range of the values in which the data can be input are displayed here. Input field To change the data at the cursor position, input the new value here, and press (Enter) Find Function This is used to search the function commands. ut This is used to cut (delete) the selected line or lines. The cut line or lines can be Inserted at any position using “Paste” Copy This is used to copy the selected line or lines. The copied line or lines can be inserted at any position using “Paste”. Paste This is used to insert the cut or copied line or lines at any position. Cancel This is used to terminate program editing without reflecting the modifications made. Itis also used to cancel a cut or copy operation at any point [RESET/R] also has the same functions Complete This is used to save the modification results and terminate the program editing, Other Direction This is used to select the direction during pasting When “reverse direction’ is selected, the order of the data in the cut or copied lines is reversed, and the data is pasted inthis reverse order. ‘Screen Separation This is used to divide the screen into the top half and bottom half. Use [CLOSE/SELECT SCREEN] to select the half of the screen where operations are to be performed. ‘Step Keep Normally, when screen editing ends, it automatically returns to the step it was at prior fo starting screen editing. if you press this key while holding down [ENABLE], it will stay at the step it was at in screen editing when it returns to the program screen (write is also done). This is useful in cases such as when you found a step in screen editing that can be an indicator for Check GO and Check BACK operations. However, in such cases, the displayed step will differ from the actual robot step, Therefore, you need to be careful when doing Check GO and Check BACK operations after that, ‘Search Direction ‘Switch the search direction between up and down. “Input” field in response to the guide message displayed in the “Description of data’ field, and press [Enter]. >> The contents of the program directory now change to the new number that was input ‘At this time, the program contents are not rewritten, {To reflect the changes, press f12 or press the [EDIT] key again. >> The program contents are updated, the screen editor function is exited, and the original screen is restored. To quit the function without reflecting the changes, press the [RESET/R] key. 4.9.2 Batch changing the speed of MOVE command ‘The speed of MOVE command set in two or more lines can be batch changed while performing the screen edit || Batch changing the speed of MOVE command J) Press [SPO] with holding [ENABLE]. i) al) >> The currently appeared cursor is highlighted as a speed batch change start step. or OMA ioe SMa woe na a & i Sanh ae coon Press (Up/Down. >> The highlighted fines) can be adjusted as a range ofthe target steps to make changes. a 2a | oa Ed ba saree Fen rT i me! xe Pita on 2 Mo owt At # cee anna coon ‘td H 100 EOIN AL 3) os tox som at rt cameo | 10 im % JOINT AL TT comic) 11100 IMT AT TH (8 & orc &z corgi {To cancel selecting a target step, press [Cancel] or [RESETIR] key. >> The highlighted lines are restored, afoa) Press [SPO]. >> The display changes tothe “Speed change” screen, The range of speed change is indicated by the “Start Step” and “End Step”. Sisto ONE EWseo OO ot TT Comm mad (ato Sead 50m \ If pressing (SPD] without specifying the range for change-target steps ((ENABLE] + [SPD)) all steps are to be targeted R Without the range selecting operation J Refer to Table 49.2, and set the conditions for batch changing. To set “Confirm”, align the cursor on it and press [Enter]. >> Every time you press this key, the status (ON/OFF) is switched. Sarto 0X6 EntSiep 0007 ct (Con. method |——_‘Ratio| Speed i sok >> Every time you press this key, the status (Ratto/Direct) is switched, Pies crores StertSteo 0005 EndStep 0007 Confitn OF Conv method | Direct [int io Speed 1.0 When switched to *Direct’, the pull-down lst for the interpolation type appears on the right side, If pressing [Enter] as moving to the pull-down lis, alternatives (Joint/Line/Circular) are displayed. Then, select an appropriate interpolation type with [Up/Down] key. the speed value Entering ay I] To set “Speed”, align the cursor on it, enter the speed value, and press [Enter] o E Press f12 . >> Now, the speed batch change starts, I ‘Confirm’ has been set to OFF, the screen-editor window is restored after executing the speed batch change. "Confirm" has been set to ON, on the other hand, the screen as below appears. @ suos wore ee 1008 Baer 5008 eae Button (YES) INO} [CANCEL] [ro (enee) ‘Ration “The speed of the indicated step is changed, proceeding to “Confirm in the next step. ‘After changing the speed in the last step, the screen-editor window is restored, ‘The speed of the indicated step is not changed, proceeding to “Confirm” in the next step. ‘After changing the speed in the last step, the screen-editor window is restored, “The speed change is aborted for the ind ted step and after, and then the speed batch change screen is restored. To reflect the change just made, restore the screen-editor window and press 12 or [EDIT]. >> The program details are updated, the screen editing function exits and the screen returns fo the previous screen, IRESET]. If not to reflect the change, restore the screen-editor window, and press 9 p Table 4.9.2 Condition settings for the speed batch changing Gonaiton Tseng range Meanings Detaut Contin [ON Pressing 112 , the “Conf” message | ON appears, by every sep,’ which enables 10. select ONOFFICence OFF Al steps from the start step to the end step are batch changed without any confirming action. Conv. method | Ratio Designates the ratio (%) to the current record speed for | Ratio changing, (Example: To make the speed half, designate 50%.) All steps are the targets for change. Direct Joint Designate the speed only for the step of which interpolation type is “Joint. The step of ‘LineICircular” is not changed. Direct: Line/Gireular Designate the speed only for the step of which interpolation type is "Line/Circular” The step of “Joint” is not changed. 4-50 Se Condition ee Setting range Meanings Default ‘Speed Ratio 0~200% 50% Note that the value after change does not exceed the Lupperflower limit ofthe record speed. Direct : Joint Use the unit in entering the value specified in “Joint | Minimam Interpolation” on the record speed screen, value within The screen appears by proceeding to f5 - [5 Operation Constants] ~ [4 Record Spee | range d) Direct : Line/Cireular Use the unit in entering the value specified in “Line? Circular" on the record speed screen. The screen appears by proceeding to f5 - [5 Operation Constants] ~ [4 Record Spee 4d} e IMPORTANT In the step with the multi-mechanism configuration, the target step will be the one of which interpolation type agrees with that of the speed-based mechanism. And only the speed of that mechanism within the step is to be changed. NOTE 4-52

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