YRC1000

OPERATOR’S MANUAL
FOR PAINTING (NON-PURGE)

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.

MOTOMAN INSTRUCTIONS
MOTOMAN-INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)

MANUAL NO. RE-CSO-A057 1

 DANGER
• This manual describes the various components of the YRC1000
system and general operations. Read this manual carefully and be
sure to understand its contents before handling the YRC1000. Any
matter, including operation, usage, measures, and an item to use,
not described in this manual must be regarded as “prohibited” or
“improper”.
• General information related to safety are described in “Chapter 1.
Safety” of the YRC1000 INSTRUCTIONS. To ensure correct and
safe operation, carefully read “Chapter 1. Safety” of the YRC1000
INSTRUCTIONS.

CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.

NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.

ii
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.

Indicates an imminently hazardous

DANGER situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.

Indicates a potentially hazardous

WARNING situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.

Indicates a hazardous situation,

CAUTION which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.

NOTICE is the preferred signal word

NOTICE to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.

Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.

To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION”.

iii
 DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button

• Before releasing the emergency stop, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN

• Observe the following precautions when performing a teaching

operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop buttons
are located on the front panel of the YRC1000 and on the right of the
programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.

iv
 WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000 cabinet after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows.
Equipment Manual Designation
YRC1000 controller YRC1000
YRC1000 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller

v
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment Manual Designation
Programming Character Keys The keys which have characters or symbols
Pendant /Symbol Keys printed on them are denoted with [ ].
e.g. [ENTER]
Axis Keys [Axis Key] and [Numeric Key] are generic
/Numeric Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a “+”
sign between them, e.g. [SHIFT]+[COORD].
Mode Switch Mode Switch can select three kinds of modes
that are denoted as follows: REMOTE, PLAY or
TEACH.
(The switch names are denoted as symbols)
Button The three buttons on the upper side of the
programming pendant are denoted as follows:
START, HOLD, or EMERGENCY STOP.
(The button names are denoted as symbols)
Displays The menu displayed in the programming
pendant is denoted with { }.
e.g. {JOB}

Start button* Hold button*

START HOLD

Mode switch*
P
EM

ER
O

T
GENCY S

REMOTE
Emergency stop button
PLAY
TEACH

Page key
Coordinate key
Axis keys

Shift key

Enter key
*The button/switch names
Numeric keys are denoted as symbols.

vi
Description of the Operation Procedure
In the explanation of the operation procedure, the expression “Select • • • ”
means that the cursor is moved to the object item and [SELECT] is
pressed, or that the item is directly selected by touching the screen.

Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.

vii
 Contents

1 Painting Application......................................................................................................................... 1-1

1.1 Function Keys .................................................................................................................... 1-1

1.2 Painting System Settings (PAINT SYSTEM CONFIG.) ..................................................... 1-2

1.3 Painting Device Characteristics (PAINT SPECIAL) ........................................................... 1-4

1.4 Painting Conditions (PAINT CONDITION)......................................................................... 1-7

1.5 Calibration Settings (CALIBRATION CONFIG.) ................................................................ 1-8

1.6 Time Chart Settings (TIME CHART CONFIG.)................................................................ 1-10

1.7 Time Chart (TIME CHART).............................................................................................. 1-11

1.8 Painting Data Settings (PAINT DATA CONFIG.)............................................................. 1-13

1.9 Painting Output Test (PAINT OUTPUT TEST) ................................................................ 1-14

1.10 IO Painting Condition Output (IO PAINT CONDITION OUTPUT CONFIG.) ................. 1-17

1.11 Mode Change Auto Reset of Spray ON/Atomization ON Signal.................................... 1-18

1.12 Registering Work Instructions ........................................................................................ 1-21

1.12.1 SPYON ............................................................................................................. 1-21

1.12.2 SPYOF ............................................................................................................. 1-29

1.12.3 PAINTSET ........................................................................................................ 1-37

1.12.4 PAINTEND........................................................................................................ 1-44

1.12.5 CALL................................................................................................................. 1-50

1.12.6 +SPYON ........................................................................................................... 1-62

1.12.7 +SPYOF ........................................................................................................... 1-71

1.13 Execution Timing Adjustment of Paint Start / End ......................................................... 1-80

1.13.1 Example............................................................................................................ 1-81

1.13.1.1 Start Painting ....................................................................................... 1-81
1.13.1.2 End Painting ........................................................................................ 1-83

1.13.2 Interruption ....................................................................................................... 1-87

1.13.2.1 Start Painting ....................................................................................... 1-87
1.13.2.2 End Painting ........................................................................................ 1-88

1.14 Parameter ...................................................................................................................... 1-89

1.14.0.1 AxP080: Specify the Robot With the Paint Gun 1 ............................... 1-89
1.14.0.2 AxP081: Specify the Robot With the Paint Gun 2 ............................... 1-89
1.14.0.3 AxP082: Specify the Robot With the Paint Gun 3 ............................... 1-89
1.14.0.4 AxP083: Specify the Robot With the Paint Gun 4 ............................... 1-89
1.14.0.5 AxP120: Specify the Robot With the Paint Gun 5 ............................... 1-89
1.14.0.6 AxP121: Specify the Robot With the Paint Gun 6 ............................... 1-89
1.14.0.7 AxP122: Specify the Robot With the Paint Gun 7 ............................... 1-89
1.14.0.8 AxP123: Specify the Robot With the Paint Gun 8 ............................... 1-89
1.14.0.9 AxP124: Specify the Robot With the Paint Gun 9 ............................... 1-89

viii
 Contents

1.14.0.10 AxP125: Specify the Robot With the Paint Gun 10 ........................... 1-89
1.14.0.11 AxP126: Specify the Robot With the Paint Gun 11 ........................... 1-89
1.14.0.12 AxP127: Specify the Robot With the Paint Gun 12 ........................... 1-89
1.14.0.13 AxP128: Specify the Robot With the Paint Gun 13 ........................... 1-90
1.14.0.14 AxP129: Specify the Robot With the Paint Gun 14 ........................... 1-90
1.14.0.15 AxP130: Specify the Robot With the Paint Gun 15 ........................... 1-90
1.14.0.16 AxP131: Specify the Robot With the Paint Gun 16 ........................... 1-90
1.14.0.17 AxP132: Specify the Robot With the Paint Gun 17 ........................... 1-90
1.14.0.18 AxP133: Specify the Robot With the Paint Gun 18 ........................... 1-90
1.14.0.19 AxP134: Specify the Robot With the Paint Gun 19 ........................... 1-90
1.14.0.20 AxP135: Specify the Robot With the Paint Gun 20 ........................... 1-90
1.14.0.21 AxP136: Specify the Robot With the Paint Gun 21 ........................... 1-90
1.14.0.22 AxP137: Specify the Robot With the Paint Gun 22 ........................... 1-90
1.14.0.23 AxP138: Specify the Robot With the Paint Gun 23 ........................... 1-90
1.14.0.24 AxP139: Specify the Robot With the Paint Gun 24 ........................... 1-90
1.14.0.25 AxP140: Specify the Robot With the Paint Gun 25 ........................... 1-90
1.14.0.26 AxP141: Specify the Robot With the Paint Gun 26 ........................... 1-91
1.14.0.27 AxP142: Specify the Robot With the Paint Gun 27 ........................... 1-91
1.14.0.28 AxP143: Specify the Robot With the Paint Gun 28 ........................... 1-91
1.14.0.29 AxP144: Specify the Robot With the Paint Gun 29 ........................... 1-91
1.14.0.30 AxP145: Specify the Robot With the Paint Gun 30 ........................... 1-91
1.14.0.31 AxP146: Specify the Robot With the Paint Gun 31 ........................... 1-91
1.14.0.32 AxP147: Specify the Robot With the Paint Gun 32 ........................... 1-91
1.14.0.33 S2C1450: Control Group Specified Gun No...................................... 1-91

ix
 1 Painting Application
1.1 Function Keys

1 Painting Application

1.1 Function Keys

The function keys for painting application are assigned to the [Numeric
Key]s as described below.

Registers a timer instruction “TIMER” in a job.

Registers a reference point “REFP” in a job or modifies an

already-registered reference point.

By pressing [REFP] + [FWD], the manipulator moves to the

registered reference point.
<Teach mode>
By pressing this key, the INHB PAINT signal (#51534) is
turned OFF and the painting becomes enabled.
By pressing this key again, the INHB PAINT signal (#51534) is
turned ON and the painting becomes inhibited.
<Play mode>
By pressing this key when the painting is performed by the
SPYON instruction, the painting becomes inhibited. By
pressing this key again, the painting becomes enabled.
Displays the PAINT CONDITION window.

Registers the spray start instruction “SPYON” in a job.

Registers the spray end instruction “SPYOF” in a job.

In a system configuration where more than one spray is

NOTE connected, the operation of all sprays is controlled by the
“PAINT ON/OFF” key.

1-1
 1 Painting Application
1.2 Painting System Settings (PAINT SYSTEM CONFIG.)

1.2 Painting System Settings (PAINT SYSTEM CONFIG.)

Set the painting system.
The painting system setting window is displayed by selecting “PAINT” in
the main menu  “PAINT SYSTEM CONFIG.” in management mode or
higher. The settings can be edited only in teach mode.

1 2 3 4

* Target gun number (GUN1 to 32) can be switched by the [PAGE] key or
the PAGE button at the bottom of the window.
 NAME
Sets the name of each painting condition item.
Up to 14 alphanumeric and symbol characters can be used.
“/” cannot be used at the beginning.
In related windows, the set name is displayed as a name of painting
condition item.
 UNIT
Sets the unit name of each painting condition item.
Up to 16 alphanumeric and symbol characters can be used.
“/” cannot be used at the beginning.
In related windows, the set unit name is displayed as a unit of painting
condition item.
 OUTPUT
Sets each item’s output (logical output) type of painting conditions.
• UNUSE : No destination for output
• I/O OUTPUT : Output to the user output signal
• I/O OUTPUT(Gr): Output to the user output signal (group output)
• REGISTER : Output to the register

1-2
1 Painting Application
1.2 Painting System Settings (PAINT SYSTEM CONFIG.)

 CALIBRATION OUTPUT
Sets each item’s calibration output (logical output) type of painting con-
ditions.
The followings can be selected from the selection dialog.
• UNUSE : No destination for output
• I/O OUTPUT : Output to the user output signal
• I/O OUTPUT(Gr) : Output to the user output signal (group output)
• REGISTER : Output to the register
• VOLTAGE(0-14V): Output voltage from an AEW circuit board
(optional)

The “NAME” and “UNIT” of each painting condition item

specified in the PAINT SYSTEM CONFIG. window are dis-
played as “NAME” and “UNIT” of painting condition items in
the following windows. Keep that in mind when changing
them.
• PAINT SPECIAL window
NOTE • PAINT CONDITION window
• CALIBRATION CONFIG. window
• TIME CHART CONFIG. window
• PAINT OUTPUT TEST window
• IO PAINT CONDITION OUTPUT CONFIG. window
(optional)

1-3
 1 Painting Application
1.3 Painting Device Characteristics (PAINT SPECIAL)

1.3 Painting Device Characteristics (PAINT SPECIAL)

Sets the characteristics of the device for painting.

The painting device characteristics window is displayed by selecting

“PAINT” in the main menu  “PAINT SPECIAL” in management mode or
higher. The settings can be edited only in teach mode.

1
2
3
4
5

6
6
6
6
6

* Target gun number (GUN1 to 32) can be switched by the [PAGE] key or
the PAGE button at the bottom of the window.

 SPY ON ADVANCE TIME

Sets an advance time or a delay time of the spray (work start instruction)
signal to turn ON for the SPYON instruction execution timing.
If a value larger than 0 is input, it is regarded as an advance time, and if
a value smaller than 0 is input, it is regarded as a delay time.
 SPY OFF ADVANCE TIME
Sets an advance time or a delay time of the spray (work start instruction)
signal to turn OFF for the SPYOF instruction execution timing.
If a value larger than 0 is input, it is regarded as an advance time, and if
a value smaller than 0 is input, it is regarded as a delay time.
 ATOM ON ADVANCE TIME
Sets an advance time or a delay time of the atomization ON signal to
turn ON for the timing to turn ON the spray (work start instruction) sig-
nal.
If a value larger than 0 is input, it is regarded as an advance time, and if
a value smaller than 0 is input, it is regarded as a delay time.
 ATOM OFF DELAY TIME
Sets an advance time or a delay time of the atomization ON signal to
turn OFF for the timing to turn OFF the spray (work start instruction) sig-
nal.
If a value larger than 0 is input, it is regarded as an advance time, and if
a value smaller than 0 is input, it is regarded as a delay time.

1-4
1 Painting Application
1.3 Painting Device Characteristics (PAINT SPECIAL)

If NWAIT is not added to the move instruction registered

before SPYON or SPYOF instruction, the spray (work start
NOTE instruction) signal and the atomization ON signal may not
be output at the desired timing. Be sure to add NWAIT to
the move instruction before the SPYON/SPYOF instruction.

 PAINT CONDITION NO
Sets the destination to output the paint condition number of when the
PAINTSET PCF#(paint condition number) is operated.
Input range: OG#0 to 512, 0 to 8 bit
If OG#0 or 0 bit is specified, no signal is output. If other than OG#0 is
specified, the paint condition number is output with the specified bit
number to the specified user output group. If the paint condition number
cannot be described with the specified bit number, all the specified bit
number of the specified user output group turns ON.
The signal is output when executing the PAINTSET PCF#(paint condi-
tion number) and when executing the PAINTEND.

 OUTPUT/CALIBRATION OUTPUT Destination

Sets the output and the calibration output destination of each painting
condition item.
The setting of the output and the calibration output destination is as
shown below.
Output Input range Description
selection of the
painting system
setting
Unused - -
I/O OUTPUT OT#0 to 4096 The specified user output signal number is
0 to 16 bit regarded as the top (d0 bit), and the painting
condition output value is output with the
specified bit number.
If the output value of the painting condition
cannot be described with the specified bit
number, all the specified bit number of the
specified user output group turns ON.
If OT#0 or 0 bit is specified, nothing is output.
I/O OUTPUT(Gr) OG#0 to 512 The specified user output group signal number
0 to 16 bit is regarded as the top (d0 bit), and the
painting condition output value is output with
the specified bit number.
If the output value of the painting condition
cannot be described with the specified bit
number, all the specified bit number of the
specified user output group turns ON.
If OG#0 or 0 bit is specified, nothing is output.
REGISTER M000 to 599 The output value of the painting condition is
output to the specified register number.

1-5
1 Painting Application
1.3 Painting Device Characteristics (PAINT SPECIAL)

Calibration Input range Description

output selection
of the paint
system setting
Unused - -
I/O OUTPUT OT#0 to 4096 The specified user output signal number is
0 to 16 bit regarded as the top (d0 bit), and the painting
condition output value is output with the
specified bit number.
If the output value of the painting condition
cannot be described with the specified bit
number, all the specified bit number of
the specified user output group turns
ON.
If OT#0 or 0 bit is specified, nothing is
output.
I/O OUTPUT(Gr) OG#0 to 512 The specified user output group signal
0 to 16 bit number is regarded as the top (d0 bit), and
the painting condition output value is output
with the specified bit number.
If the output value of the painting condition
cannot be described with the specified bit
number, all the specified bit number of
the specified user output group turns
ON.
If OG#0 or 0 bit is specified, nothing is
output.
REGISTER M000 to 599 The output value of the painting condition is
output to the specified register number.
VOLTAGE(0-14V) CH0 to 40 The output value of the painting condition is
output to CH.
If CH0 is specified, nothing is output.

1-6
 1 Painting Application
1.4 Painting Conditions (PAINT CONDITION)

1.4 Painting Conditions (PAINT CONDITION)

Sets painting conditions which are used for PAINTSET instruction.
The painting condition window is displayed by selecting “PAINT” in the
main menu  “PAINT CONDITION” in operation mode or higher. The
settings can be edited in edit mode or higher.
When the edit lock is not set, the settings can be edited even during
playback operation.

1
2
3
3
3
3
3

* Condition number (1 to 255) can be switched by the [PAGE] key or the

PAGE button at the bottom of the window.
* Target gun number (GUN1 to 32) can be switched by pressing the “GUN
CHANGE” button at the bottom of the window.
 COMMENT
Sets the comment of the painting condition. Up to 32 alphanumeric and
symbol characters can be input.
At the beginning of the comment, “/” cannot be used.
 PAINT SPEED
Sets the speed of manipulator motion of when operating painting.
Input range: 0.1 to 1500.0 mm/sec
 OUTPUT VALUE OF EACH ITEM
Sets the output value of condition items 1 to 5.
Input range: 0 to 65535

1-7
 1 Painting Application
1.5 Calibration Settings (CALIBRATION CONFIG.)

1.5 Calibration Settings (CALIBRATION CONFIG.)

Sets the calibration for the output value of painting condition items to
calculate the calibration output value, which is output to the external
devices.
The calibration setting window is displayed by selecting “PAINT” in the
main menu  “CALIBRATION CONFIG.” in operation mode or higher, and
the settings can be edited in edit mode or higher.
When the edit lock is not set, the settings can be edited even during
playback operation.

1
2
2
2
2
2
2
2
2
2
3

* Item number (1 to 5) can be switched by the [PAGE] key or the PAGE

button at the bottom of the window.
* Target gun number (GUN1 to 32) can be switched by pressing the “GUN
CHANGE” button at the bottom of the window.
 CALIBRATION SETTING data 1
The value of both OUTPUT and CALIBRATION OUTPUT are fixed to 0.
The values cannot be changed.
 CALIBRATION SETTING data 2 to 10
Sets the calibration output value for the output value. The input range of
both OUTPUT and CALIBRATION OUTPUT is 0 to 65535. However, as
for an item that the calibration output is set to “VOLTAGE (0-14V)” in the
PAINT SYSTEM CONFIG. window, its input range of the calibration out-
put is 0.00 to 14.00 (unit: 0.01V).
 CORRECT RATE (Input range: 0 to 200 (%))
Corrects the calibration output value. If 100(%) is set, the calculated
calibration value is output. If other than 100(%) is set, the value calcu-
lated with the following formula is output:
[ Calculated calibration value  specified correction rate(%) ]

1-8
1 Painting Application
1.5 Calibration Settings (CALIBRATION CONFIG.)

When editing  and  above, “*EDITING” is displayed in the sub title,

and “COMPLETE” button is displayed at the bottom of the window. When
“*EDITING” is displayed, the setting is not completed yet and it is not
reflected as the calibration setting.
The calibration setting is completed by pressing [ENTER] or
“COMPLETE” button after inputting the data of  and . However, if an
output value of a data (its calibration output is not 0) is same as output
value of other data (its calibration output is not 0), an error occurs and the
setting is not completed.

When the setting is completed correctly, the set data is sorted in the
following rules.

• The data whose calibration output is 0 is regarded as invalid, so it is

placed at the end (data10~).

• The data whose calibration output is other than 0 is sorted in ascend-

ing order of output value (data1~).

Calibration output calculation is as follows.

(Example) When the calibration setting is as follows.

OUTPUT CALIBRATION OUTPUT

Data 1 0 0
Data 2 50 60
Data 3 100 150
Data 4 200 320
Data 5 0 0
: : :

Line up the setting values of each output and the calibration output.

The calibration output value for the output value between each setting
value is calculated by the liner interpolation.
Calibration output

320

150

60

0 50 100 200 Output

In this case, if the output is 150, the calibration output is 235.

1-9
 1 Painting Application
1.6 Time Chart Settings (TIME CHART CONFIG.)

1.6 Time Chart Settings (TIME CHART CONFIG.)

The function of time chart operation is as follows.
The time chart operation enables to output the specified ON/OFF state to
the user output signals in two specified groups (consecutive user output
signals: 16 points) for the specified time up to 40 times in succession.
When the time chart operation starts, the specified output value of the
painting condition items is output. When the operation ends, all of the user
output signals in the two specified groups are turned OFF and 0 is output
to all of the painting condition items.
This function can be used for the gun cleaning, the valve opening/closing
patterns for paint filling, etc.
In this setting, the signal number for time chart operations is set.
The time chart setting window is displayed by selecting “PAINT” in the
main menu  “TIME CHART CONFIG.” in management mode or higher.
The settings can be edited only in teach mode.

1
2
3
4

* Target gun number (GUN1 to 32) can be switched by the [PAGE] key or
the PAGE button at the bottom of the window.
 START SIGNAL
Sets the user input signal number for using as a start signal to start the
time chart operation.
 RUNNING SIGNAL
Sets the user output signal number for using as a signal which output
the operation running status.
 COMPLETION SIGNAL
Sets the user output signal number for using as a signal which output
the operation completion status.
 ITEM OUTPUT GROUP
Sets the user output signal group number to control in the time chart
operation.
In the time chart operation, set user output signal group and the next
group are used. (Two groups are used.)

 to  can be set from TABLE 1 to TABLE 8 for each gun.

1-10
 1 Painting Application
1.7 Time Chart (TIME CHART)

1.7 Time Chart (TIME CHART)

Sets motion patterns for performing the time chart operation.

The time chart window is displayed by selecting “PAINT” in the main menu
 “TIME CHART” in operation mode or higher. The settings can be
edited only in edit mode or higher.

If the edit lock is not set nor the time chart is not operated, settings can be
edited even during playback operation.

1
2
2
2
2
2
3
4

* The time chart patterns display (01 to 10, 11 to 20, 21 to 30, or 31 to 40)
can be switched by the [PAGE] key or the PAGE button at the bottom of
the window.
* Table number (1 to 8) can be switched by pressing TABLE button in the
bottom of the window.
* Gun number (GUN1 to 32) can be switched by pressing “DISPLAY” in
the pull-down menu  “GUN 1” to “GUN 32”.

1-11
1 Painting Application
1.7 Time Chart (TIME CHART)

 COMMENT
Sets comment for each table. Up to 32 alphanumeric and symbol char-
acters can be used. “/” cannot be used at the beginning.
 EACH ITEM OUTPUT VALUE
Sets the output value of painting condition items to be output when time
chart operation is started.
 SIGNAL COMMENT
Sets comment for each 16 user output signal to be controlled by the
time chart operation. Up to 16 alphanumeric and symbol characters can
be used. “/” cannot be used at the beginning.
 SIGNAL STATUS SETTING
Sets the signal status to be output for each pattern.
 PATTERN OUTPUT TIME
Sets the signal output time of each pattern. If 0 is set, the pattern is
excluded from the time chart operation.

The time chart operation is as shown below.

1. Time chart operation is started by turning ON the start signal, set on
the TIME CHART CONFIG. window.
2. The running signal, set on the TIME CHART CONFIG. window, is
turned ON.
3. The output value of the painting condition items, set on the TIME
CHART window, is output.
4. The signal pattern of line 01, set on the TIME CHART window, is
output for the specified time to the item output group, set on the TIME
CHART CONFIG. window.
5. The signal pattern of line 02, set on the TIME CHART window, is
output for the specified time to the item output group, set on the TIME
CHART CONFIG. window.
6. The signal patterns of line 03 to 40, set on the TIME CHART window,
are output for the specified time to the item output group, set on the
TIME CHART CONFIG. window.
7. All the 16 signal of item output group, set on the TIME CHART
CONFIG. window, are turned OFF.
8. The running signal, set on the TIME CHART CONFIG. window, is
turned OFF, and the completion signal is turned ON.
9. All the output values in the PAINT CONDITION window become 0.

When the start signal is turned OFF while time chart opera-
tion is running, all the 16 signals of the item output group
are turned OFF, and all the output values in the PAINT
CONDITION window become 0. At this time, the running
NOTE
signal is also turned OFF.
If the time chart operation is completed and the completion
signal is ON, the completion signal is turned OFF by turning
OFF the start signal.

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 1 Painting Application
1.8 Painting Data Settings (PAINT DATA CONFIG.)

1.8 Painting Data Settings (PAINT DATA CONFIG.)

Sets the painting data which can be used in general with jobs.
The painting data setting window is displayed by selecting “PAINT” in the
main menu  “PAINT DATA CONFIG.” in operation mode or higher, and
the settings can be edited in edit mode or higher.
When the edit lock is not set, the settings can be edited even during
playback operation.

1 2 3

* Page number of the painting data (1 to 10) can be switched by the

[PAGE] or the PAGE button at the bottom of the window.

 PAINTING DATA NUMBER

The number of painting data. Press [SELECT] to search numbers.
 PAINTING DATA VALUE
The value of the painting data.
Input range: 0 to 65535
 COMMENT
Sets the comment of the painting data. Up to 32 alphanumeric and
symbol characters can be used. “/” cannot be used at the beginning.

Followings are the access method of the painting data from.

When reading the painting data:
GETFILE D000 PDF#(1) 100 (Value of No. 100 on page 1 in the painting
data is stored in D000.)
GETFILE D010 PDF#(10) 1 (Value of No.1 on page 10 in the painting
data is stored in D010.)
When writing the painting data:
SETFILE PDF#(1) 100 D000 (Contents of D000 is set as No.100 on
page 1 in the painting data.)
SETFILE PDF#(5) 10 D050 (Contents of D050 is set as No.10 on
page 5 in the painting data.)

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 1 Painting Application
1.9 Painting Output Test (PAINT OUTPUT TEST)

1.9 Painting Output Test (PAINT OUTPUT TEST)

The following is the window to execute the output test for the output signal
used for the painting function.
The painting output test window is displayed by selecting “PAINT” in the
main menu  “PAINT OUTPUT TEST” in management mode or higher.
The settings can be edited only in teach mode.

1
2
2
2
2
2
2
2
2
2
2
2
2
2

2
2
2
2
2
2
2
2
3
4
4
4
4
4

 TEST
Set to “VALID” when performing the output test. When it is valid, the
specific output signal for paint output test (#51536) is turned ON.

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1 Painting Application
1.9 Painting Output Test (PAINT OUTPUT TEST)

 SPY ON/ATOM ON
Turn ON/OFF the spray ON and the atomization ON signal of the target
gun. The following is the details.

Name Signal
SPY ON (GUN1) #51530
ATOM ON (GUN1) #51531
SPY ON (GUN2) #51540
ATOM ON (GUN2) #51541
SPY ON (GUN3) #51550
ATOM ON (GUN3) #51551
SPY ON (GUN4) #51560
ATOM ON (GUN4) #51561
SPY ON (GUN5) #51570
ATOM ON (GUN5) #51571
SPY ON (GUN6) #51580
ATOM ON (GUN6) #51581
SPY ON (GUN7) #51590
ATOM ON (GUN7) #51591
SPY ON (GUN8) #51600
ATOM ON (GUN8) #51601
SPY ON (GUN9) #51610
ATOM ON (GUN9) #51611
SPY ON (GUN10) #51620
ATOM ON (GUN10) #51621
SPY ON (GUN11) #51630
ATOM ON (GUN11) #51631
SPY ON (GUN12) #51640
ATOM ON (GUN12) #51641
SPY ON (GUN13) #51650
ATOM ON (GUN13) #51651
SPY ON (GUN14) #51660
ATOM ON (GUN14) #51661
SPY ON (GUN15) #51670
ATOM ON (GUN15) #51671
SPY ON (GUN16) #51680
ATOM ON (GUN16) #51681
SPY ON (GUN17) #51690
ATOM ON (GUN17) #51691
SPY ON (GUN18) #51700
ATOM ON (GUN18) #51701
SPY ON (GUN19) #51710
ATOM ON (GUN19) #51711
SPY ON (GUN20) #51720
ATOM ON (GUN20) #51721
SPY ON (GUN21) #51730
ATOM ON (GUN21) #51731

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1 Painting Application
1.9 Painting Output Test (PAINT OUTPUT TEST)

Name Signal
SPY ON (GUN22) #51740
ATOM ON (GUN22) #51741
SPY ON (GUN23) #51750
ATOM ON (GUN23) #51751
SPY ON (GUN24) #51760
ATOM ON (GUN24) #51761
SPY ON (GUN25) #51770
ATOM ON (GUN25) #51771
SPY ON (GUN26) #51780
ATOM ON (GUN26) #51781
SPY ON (GUN27) #51790
ATOM ON (GUN27) #51791
SPY ON (GUN28) #51800
ATOM ON (GUN28) #51801
SPY ON (GUN29) #51810
ATOM ON (GUN29) #51811
SPY ON (GUN30) #51820
ATOM ON (GUN30) #51821
SPY ON (GUN31) #51830
ATOM ON (GUN31) #51831
SPY ON (GUN32) #51840
ATOM ON (GUN32) #51841

 PAINT COND OUTPUT GUN NO

Select the gun number to output the set painting condition as a test.
 PAINT CONDITION OUTPUT
If set to “ON”, a voluntary set value is output.

The output values in the PAINT CONDITION window

become 0 when the following operations are performed.
• The paint condition output is turned OFF.
NOTE
• The gun number is changed.
• TEST is turned to be invalid when the paint condition
output is ON.

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 1 Painting Application
1.10 IO Painting Condition Output (IO PAINT CONDITION OUTPUT
CONFIG.)
1.10 IO Painting Condition Output
(IO PAINT CONDITION OUTPUT CONFIG.)
This function is for executing the calibration output of the output value set
by the signal to the voluntary signal.

This function becomes available by setting the parameter S2C1029 to 1.

The IO painting condition output window is displayed by selecting “PAINT”

in the main menu  “IO PAINT CONDITION OUTPUT CONFIG.” in
management mode or higher. The settings can be edited only in teach
mode.

1
2
3

 COMMAND VALUE
Sets the input method of output value.
Can be selected by the user input signal or the register.
 OUTPUT INSTRUCTION
Specifies the signal to execute the calibration output.
Specifies the user input signal.
 CALIBRATION OUTPUT
Specifies the output destination of the calibration output.
Can be selected by the user output signal group or the register.

This function can be used by the following methods.

• Set an output value to the signal or to the register, specified to the

command value.

• Turn ON an output instruction.

• Execute calibration output to the specified calibration output destina-

tion.

When the output instruction is ON, the command value is always output
with calibration.

1-17
 1 Painting Application
1.11 Mode Change Auto Reset of Spray ON/Atomization ON Signal

1.11 Mode Change Auto Reset of Spray ON/Atomization ON Signal

The spray ON signal and the atomization ON signal can be turned OFF
automatically when changing mode (from play mode to teach mode, or
from teach mode to play mode).
To use this function, set the following parameter.
S4C1040 (Specifies to turn OFF the spray and the atomization specific
output signals when changing mode.)
The bits of the parameter value and the target signals are allocated
as follows.
d00: Work start instruction gun 1 (#51530)
d01: Atomization ON gun 1 (#51531)
d02: Work start instruction gun 2 (#51540)
d03: Atomization ON gun 2 (#51541)
d04: Work start instruction gun 3 (#51550)
d05: Atomization ON gun 3 (#51551)
d06: Work start instruction gun 4 (#51560)
d07: Atomization ON gun 4 (#51561)
d08: Work start instruction gun 5 (#51570)
d09: Atomization ON gun 5 (#51571)
d10: Work start instruction gun 6 (#51580)
d11: Atomization ON gun 6 (#51581)
d12: Work start instruction gun 7 (#51590)
d13: Atomization ON gun 7 (#51591)
d14: Work start instruction gun 8 (#51600)
d15: Atomization ON gun 8 (#51601)
When changing mode while a bit is ON, the signal is turned OFF.

S4C1250 (Specifies to turn OFF the spray and the atomization specific
output signals when changing mode.)
The bits of the parameter value and the target signals are allocated
as follows.
d00: Work start instruction gun 9 (#51610)
d01: Atomization ON gun 9 (#51611)
d02: Work start instruction gun 10 (#51620)
d03: Atomization ON gun 10 (#51621)
d04: Work start instruction gun 11 (#51630)
d05: Atomization ON gun 11 (#51631)
d06: Work start instruction gun 12 (#51640)
d07: Atomization ON gun 12 (#51641)
d08: Work start instruction gun 13 (#51650)
d09: Atomization ON gun 13 (#51651)

1-18
1 Painting Application
1.11 Mode Change Auto Reset of Spray ON/Atomization ON Signal

d10: Work start instruction gun 14 (#51660)

d11: Atomization ON gun 14 (#51661)
d12: Work start instruction gun 15 (#51670)
d13: Atomization ON gun 15 (#51671)
d14: Work start instruction gun 16 (#51680)
d15: Atomization ON gun 16 (#51681)
When changing mode while a bit is ON, the signal is turned OFF.

S4C1251 (Specifies to turn OFF the spray and the atomization specific
output signals when changing mode.)
The bits of the parameter value and the target signals are allocated
as follows.
d00: Work start instruction gun 17 (#51690)
d01: Atomization ON gun 17 (#51691)
d02: Work start instruction gun 18 (#51700)
d03: Atomization ON gun 18 (#51701)
d04: Work start instruction gun 19 (#51710)
d05: Atomization ON gun 19 (#51711)
d06: Work start instruction gun 20 (#51720)
d07: Atomization ON gun 20 (#51721)
d08: Work start instruction gun 21 (#51730)
d09: Atomization ON gun 21 (#51731)
d10: Work start instruction gun 22 (#51740)
d11: Atomization ON gun 22 (#51741)
d12: Work start instruction gun 23 (#51750)
d13: Atomization ON gun 23 (#51751)
d14: Work start instruction gun 24 (#51760)
d15: Atomization ON gun 24 (#51761)
When changing mode while a bit is ON, the signal is turned OFF.

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1 Painting Application
1.11 Mode Change Auto Reset of Spray ON/Atomization ON Signal

S4C1252 (Specifies to turn OFF the spray and the atomization specific
output signals when changing mode.)
The bits of the parameter value and the target signals are allocated
as follows.
d00: Work start instruction gun 25 (#51770)
d01: Atomization ON gun 25 (#51771)
d02: Work start instruction gun 26 (#51780)
d03: Atomization ON gun 26 (#51781)
d04: Work start instruction gun 27 (#51790)
d05: Atomization ON gun 27 (#51791)
d06: Work start instruction gun 28 (#51800)
d07: Atomization ON gun 28 (#51801)
d08: Work start instruction gun 29 (#51810)
d09: Atomization ON gun 29 (#51811)
d10: Work start instruction gun 30 (#51820)
d11: Atomization ON gun 30 (#51821)
d12: Work start instruction gun 31 (#51830)
d13: Atomization ON gun 31 (#51831)
d14: Work start instruction gun 32 (#51840)
d15: Atomization ON gun 32 (#51841)
When changing mode while a bit is ON, the signal is turned OFF.

1-20
 1 Painting Application
1.12 Registering Work Instructions

1.12 Registering Work Instructions

1.12.1 SPYON
The SPYON instruction is used to start painting.
The instruction turns ON the specific output signals (work start instruction
and atomization ON) corresponding to the specified gun number.

Function key to register the spray start instruction

“SPYON”

Select {DEVICE} in the instruction group list when

SUPPLE registering SPYON instruction from [INFORM LIST].
-MENT

 Registering the SPYON Instruction

1. Select {JOB} under the main menu.

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1 Painting Application
1.12 Registering Work Instructions

2. Select {JOB}.
– The JOB CONTENT window appears.

3. Move the cursor to the address area.

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1 Painting Application
1.12 Registering Work Instructions

4. Press [INFORM LIST].

– The instruction list dialog box appears.

5. Select {DEVICE}.

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1 Painting Application
1.12 Registering Work Instructions

6. Select {SPYON}.

– “SPYON” instruction appears in the input buffer line.

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1 Painting Application
1.12 Registering Work Instructions

7. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.

– Move the cursor to the item to be set and press [SELECT].

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1 Painting Application
1.12 Registering Work Instructions

– Use the [Numeric key]s to input the setting and press [ENTER].

– The setting appears in the buffer line.

8. Press [ENTER].
– When [ENTER] is pressed, the setting is registered in the job.

– To cancel the setting, press [CANCEL]. The window returns to the

JOB CONTENT window.

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 1 Painting Application
1.12 Registering Work Instructions

 Registering the SPYON Instruction by One-touch Operation

1. Press [8 / SPRAY ON].

– “SPYON” appears in the input buffer line.

2. Press [ENTER] to register SPYON.

– SPYON is registered to the job.

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 1 Painting Application
1.12 Registering Work Instructions

Syntax for the SPYON instruction

SPYON END
1 3
GUNNO= ANT= Execution
Gun No. timing
2 4
GGUNNO= Gun No. ANTDIS= Execution
timing

 Gun No. (Setting range: 1 to 32)

The specific output signals (work start instruction and atomization ON)
corresponding to the specified gun number is controlled.
If the gun No. or the control group specified gun No. setting is omitted,
1 is applied for the gun number.
 Control group specified gun No.
This is available to use only when the parameter S2C1450=1.
According to the contents set by the gun connecting robot specified
parameter AxP80-83, 120-147, the gun number allocated to the control
group No.1 to execute the instruction is defined as the control group
specified as the gun No. 1 to 4 in the ascending order from the smaller
number of the gun number.
The specific output signals (work start instruction and atomization ON)
corresponding to the control group specified gun number is controlled.
The range of setting is 1 to 4. If the gun No. or the control group speci-
fied gun No. setting is omitted, 1 is applied for the gun number.
 Execution timing (time) (Setting range: -327.68 to 327.67)
An anticipation time (advance time, delay time) is set in units of sec-
onds. If this setting is omitted, 0 is applied to the anticipation time.
 Execution timing (distance) (Setting range: -3276.8 to 3276.7)
An anticipation distance (advance distance, delay distance) is set in
units of mm.

For details of anticipation, refer to chapter 1.13 “Execution Timing

Adjustment of Paint Start / End” .

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 1 Painting Application
1.12 Registering Work Instructions

1.12.2 SPYOF
The SPYOF instruction is used to stop painting.
This instruction turns OFF the specific output signals (work start
instruction and atomization ON) corresponding to the specified gun
number.

Function key to register the spray end instruction

“SPYOF”

Select {DEVICE} in the instruction group list when

SUPPLE registering SPYOF instruction from [INFORM LIST].
-MENT

 Registering the SPYOF Instruction

1. Select {JOB} under the main menu.

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1 Painting Application
1.12 Registering Work Instructions

2. Select {JOB}.
– The JOB CONTENT window appears.

3. Move the cursor to the address area.

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1 Painting Application
1.12 Registering Work Instructions

4. Press [INFORM LIST].

– The instruction list dialog box appears.

5. Select {DEVICE}.

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1 Painting Application
1.12 Registering Work Instructions

6. Select {SPYOF}.

– “SPYOF” instruction appears in the input buffer line.

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1 Painting Application
1.12 Registering Work Instructions

7. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.

– Move the cursor to the item to be set and press [SELECT].

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1 Painting Application
1.12 Registering Work Instructions

– Use the [Numeric key]s to input the setting and press [ENTER].

– The setting appears in the buffer line.

8. Press [ENTER].
– When [ENTER] is pressed, the setting is registered in the job.

– To cancel the setting, press [CANCEL]. The window returns to the

JOB CONTENT window.

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 1 Painting Application
1.12 Registering Work Instructions

 Registering the SPYOF Instruction in a One-touch Operation

1. Press [9 / SPRAY OFF].

– “SPYOF” appears in the input buffer line.

2. Press [ENTER] to register SPYOF.

– SPYOF is registered to the job.

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 1 Painting Application
1.12 Registering Work Instructions

Syntax for the SPYOF instruction

SPYOF END
1 3
Execution
GUNNO= Gun No. ANT=
timing
2 4
Execution
GGUNNO= Gun No. ANTDIS=
timing

 Gun No. (Setting range: 1 to 32)

The specific output signals (work start instruction and atomization ON)
corresponding to the specified gun number is controlled.
If the gun No. or the control group specified gun No. setting is omitted,
1 is applied for the gun number.
 Control group specified gun No.
This is available to use only when the parameter S2C1450=1.
According to the contents set by the gun connecting robot specified
parameter AxP80-83, 120-147, the gun number allocated to the control
group No.1 to execute the instruction is defined as the control group
specified as the gun No. 1 to 4 in the ascending order from the smaller
number of the gun number.
The specific output signals (work start instruction and atomization ON)
corresponding to the control group specified gun number is controlled.
The range of setting is 1 to 4. If the gun No. or the control group speci-
fied gun No. setting is omitted, 1 is applied for the gun number.
 Execution timing (time) (Setting range: -327.68 to 327.67)
The anticipation time (advance time, delay time) is set in units of sec-
onds. If this setting is omitted, 0 is applied to the anticipation time.
 Execution timing (distance) (Setting range: -3276.8 to 3276.7)
The anticipation distance (advance distance, delay distance) is set in
units of mm.

For details of anticipation, refer to chapter 1.13 “Execution Timing

Adjustment of Paint Start / End” .

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 1 Painting Application
1.12 Registering Work Instructions

1.12.3 PAINTSET
The PAINTSET instruction is used to set the painting conditions for the
paint control panel.

 Registering the PAINTSET Instruction

1. Select {JOB} under the main menu.

2. Select {JOB}.
– The JOB CONTENT window appears.

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1 Painting Application
1.12 Registering Work Instructions

3. Move the cursor to the address area.

4. Press [INFORM LIST].

– The instruction list dialog box appears.

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1 Painting Application
1.12 Registering Work Instructions

5. Select {DEVICE}.

6. Select {PAINTSET}.

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1 Painting Application
1.12 Registering Work Instructions

– “PAINTSET” instruction appears in the input buffer line.

7. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.

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1 Painting Application
1.12 Registering Work Instructions

– Move the cursor to the item to be set and press [SELECT].

– Use the [Numeric key]s to input the setting and press [ENTER].

– The setting appears in the buffer line.

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1 Painting Application
1.12 Registering Work Instructions

8. Press [ENTER].
– When [ENTER] is pressed, the setting is registered in the job.

– To cancel the setting, press [CANCEL]. The window returns to the

JOB CONTENT window.

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 1 Painting Application
1.12 Registering Work Instructions

Syntax for the PAINTSET instruction

PAINTSET A
1 3
GUNNO= Gun No. PCF# ( Painting condition )
file
2
GGUNNO= Gun No.

A B
4 4
PNTPRM1= Output value PNTPRM2= Output value
B C
4 4
PNTPRM3= Output value PNTPRM4= Output value
C END
4 5
Operation
PNTPRM5= Output value V=
speed

 Gun No. (Setting range: 1 to 32)

Set a gun number which outputs the painting condition.
If the gun No. or the control group specified gun No. setting is omitted,
1 is applied for the gun number.
 Control group specified gun No.
This is available to use only when the parameter S2C1450=1.
According to the contents set by the gun connecting robot specified
parameter AxP80-83, 120-147, the gun number allocated to the control
group No.1 to execute the instruction is defined as the control group
specified as the gun No. 1 to 4 in the ascending order from the smaller
number of the gun number.
Set a control group specified gun number which outputs the painting
condition.
The range of setting is 1 to 4. If the gun No. or the control group
specified gun No. setting is omitted, 1 is applied for the gun number.
 Painting condition file No. (Setting range: 1 to 255)
The painting condition of each item set in the painting condition file is
output to the paint control panel.
 Output value (Setting range: 0 to 65535)
The output value set to each item is set to the paint control panel.
 Operation speed (Setting range: 0.1 to 1500.0 [mm/sec])
The operation speed of the manipulator of when painting is set.
If operation speed of the move instruction in the PAINTSET section is
not set, it is overridden by this setting.

If the paint condition number and all the output values are
omitted, the output condition doesn’t vary.
NOTE
If use the paint condition number and the output values, the
output which is set in the painting condition file is overwrit-
ten by this setting.

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 1 Painting Application
1.12 Registering Work Instructions

1.12.4 PAINTEND
The PAINTEND instruction is used to turn OFF the paint condition output
for the paint control panel.

 Registering the PAINTEND Instruction

1. Select {JOB} under the main menu.

2. Select {JOB}.
– The JOB CONTENT window appears.

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1 Painting Application
1.12 Registering Work Instructions

3. Move the cursor to the address area.

4. Press [INFORM LIST].

– The instruction list dialog box appears.

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1 Painting Application
1.12 Registering Work Instructions

5. Select {DEVICE}.

6. Select {PAINTEND}.

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1 Painting Application
1.12 Registering Work Instructions

– “PAINTEND” instruction appears in the input buffer line.

7. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.

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1 Painting Application
1.12 Registering Work Instructions

– Move the cursor to the item to be set and press [SELECT].

– Use the [Numeric key]s to input the setting and press [ENTER].

– The setting appears in the buffer line.

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1 Painting Application
1.12 Registering Work Instructions

8. Press [ENTER].

– When [ENTER] is pressed, the setting is registered in the job.

– To cancel the setting, press [CANCEL]. The window returns to the

JOB CONTENT window.

Syntax for the PAINTEND instruction

PAINTEND END
1
GUNNO= Gun No.

2
GGUNNO= Gun No.

 Gun No. (Setting range: 1 to 32)

Set a gun number which turns OFF the painting condition.
If the gun No. or the control group specified gun No. setting is omitted,
1 is applied for the gun number.
 Control group specified gun No.
This is available to use only when the parameter S2C1450=1.
According to the contents set by the gun connecting robot specified
parameter AxP80-83, 120-147, the gun number allocated to the control
group No.1 to execute the instruction is defined as the control group
specified as the gun No. 1 to 4 in the ascending order from the smaller
number of the gun number.
Set a control group specified gun number which turns off the painting
condition output.
The range of setting is 1 to 4. If the gun No. or the control group speci-
fied gun No. setting is omitted, 1 is applied for the gun number.

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 1 Painting Application
1.12 Registering Work Instructions

1.12.5 CALL

The CALL instruction is used to call a specified job.

This section describes an example where a job registration table

(available when the parameter S2C443 is 1) is specified.

 What Is the Job Registration Table?

In a job registration table, jobs that are read out by instructions such as the
CALL instruction can be registered.

Three files are available for the registration table. Each job registration
can hold 1024 jobs.

A job can be registered or edited in the job registration table even during
play mode. The updated table becomes valid the next time when the job
registration table is referred by instructions such as the CALL instruction.

1
4

3
2

 TABLE NUMBER (Setting range: 1 to 3)

The job registration table number.
 NO.
The job registration number.
 JOB NAME
Sets the job name.
The selection dialog is shown by pressing [SELECT].
Select “SETTING JOB” to open the job list window in which the job can
be entered. The registration can be released by selecting “CANCEL
JOB”.
 CTRL GROUP
The control group of the selected job is displayed.

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1.12 Registering Work Instructions

 How to Register the Job Registration Table

1. Select {JOB} under the main menu.

2. Select {JOB REGISTRATION}.

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1.12 Registering Work Instructions

– The JOB REGISTRATION window appears.

3. Move the cursor to “JOB NAME” and then press [SELECT].

– The selection dialog is shown.

4. Select “SETTING JOB”.

– The JOB NAME window is shown.

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1.12 Registering Work Instructions

– Move the cursor to the job to be set and press [SELECT].

– The setting appears in the window.

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1.12 Registering Work Instructions

 How to Cancel the Job Registration Table

1. Select {JOB} under the main menu.

2. Select {JOB REGISTRATION}.

– The JOB REGISTRATION window appears.

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1 Painting Application
1.12 Registering Work Instructions

– The JOB REGISTRATION window appears.

3. Move the cursor to “JOB NAME” and then press [SELECT].

– The selection dialog is shown.

4. Select “CANCEL JOB”.

– The registered job is canceled.

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1.12 Registering Work Instructions

 Registering the CALL Instruction (JET)

1. Select {JOB} under the main menu.

2. Select {JOB}.
– The JOB CONTENT window appears.

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1.12 Registering Work Instructions

3. Move the cursor to the address area.

4. Press [INFORM LIST].

– The instruction list dialog box appears.

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1.12 Registering Work Instructions

5. Select {CONTROL}.

6. Select {CALL}.

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1.12 Registering Work Instructions

– “CALL” instruction appears in the input buffer line.

7. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.

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1.12 Registering Work Instructions

– Move the cursor to the item to be set and press [SELECT].

(For the CALL destination, select {JET}.)

– Use the [Numeric key]s to input the setting and press [ENTER].

– The setting appears in the buffer line.

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1.12 Registering Work Instructions

8. Press [ENTER].
– When [ENTER] is pressed, the setting is registered in the job.

– To cancel the setting, press [CANCEL]. The window returns to the

JOB CONTENT window.

Syntax for the CALL instruction

ձ
CALL JET# ( Job registration table No. ) A

ղ
A ENTRY= Job registration No. END

 Job registration table No. (Setting range: 1 to 3)

Sets the job registration table number.
 Job registration No. (Setting range: 1 to 1024)
Sets the registration number of the job that is registered in a specified
job registration table.

Example of CALL Job

Line Instruction Description
0000 NOP
0001 WAIT IN#(1)=ON Waits for a start signal to be input.
0002 DIN B000 IG#(2) Enter the job registration number.
0003 CALL JET#(1) ENTRY=B000 Calls the job corresponding to the
registration number that is entered in
B000.
0004 PULSE OT#(1) T=1.00 Output the work end signal in pulses.
0005 END

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1.12 Registering Work Instructions

1.12.6 +SPYON
The +SPYON instruction is used to start painting.
The instruction turns ON the specific output signals (work start instruction
and atomization ON) corresponding to the specified gun number.
Used by adding to MOVJ, MOVL, MOVC, and IMOV.

 Registering the +SPYON Instruction

1. Select {JOB} under the main menu.

2. Select {JOB}.
– The JOB CONTENT window appears.

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1.12 Registering Work Instructions

3. Move the cursor to the address area.

4. Press [INFORM LIST].

– The instruction list dialog appears.

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1.12 Registering Work Instructions

5. Select {MOTION}.

6. Select {MOVJ}.

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1 Painting Application
1.12 Registering Work Instructions

– “MOVJ” instruction appears in the input buffer line.

7. Press [SELECT].
– The DETAIL EDIT window appears.

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1.12 Registering Work Instructions

– Move the cursor to “PAINT START” and press [SELECT].

– Move the cursor to “+SPYON”.

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1.12 Registering Work Instructions

8. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.

– Move the cursor to the item to be set and press [SELECT].

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– Use the [Numeric key]s to input the setting and press [ENTER].

– The setting appears in the buffer line.

9. Press [ENTER].
– The DETAIL EDIT window appears.

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10. Press [ENTER].

– When [ENTER] is pressed, the setting is registered in the job.

– To cancel the setting, press [CANCEL]. The window returns to the

JOB CONTENT window.

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1.12 Registering Work Instructions

Syntax for the +SPYON instruction

3
+SPYON ANT= Execution END
1 timing
4
GUNNO= Gun No. A B
ANTDIS= Execution
2 timing
A B
GGUNNO= Gun No.
3 A B
A ANT= Execution B
1 timing
4
GUNNO= Gun No.
ANTDIS= Execution
2 timing
GGUNNO= Gun No.

 Gun No. (Setting range: 1 to 32)

The specific output signals (work start instruction and atomization ON)
corresponding to the specified gun number is controlled.
If the gun No. or the control group specified gun No. setting is omitted,
1 is applied for the gun number.
 Control group specified gun No.
This is available to use only when the parameter S2C1450=1.
According to the contents set by the gun connecting robot specified
parameter AxP80-83, 120-147, the gun number allocated to the control
group No.1 to execute the instruction is defined as the control group
specified as the gun No. 1 to 4 in the ascending order from the smaller
number of the gun number.
The specific output signals (work start instruction and atomization ON)
corresponding to the control group specified gun number is controlled.
The range of setting is 1 to 4. If the gun No. or the control group
specified gun No. setting is omitted, 1 is applied for the gun number.
 Execution timing (distance) (Setting range: -3276.8 to
3276.7)
An execution timing distance (advance distance, delay distance) is set
in units of mm.
 Execution timing (time) (Setting range: -327.68 to 327.67)
An execution timing time (advance time, delay time) is set in units of
seconds. If this setting is omitted, 0 is applied to the execution timing
time.

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1.12 Registering Work Instructions

1.12.7 +SPYOF
The +SPYOF instruction is used to stop painting.
The instruction turns OFF the specific output signals (work start instruction
and atomization ON) corresponding to the specified gun number.
Used by adding to MOVJ, MOVL, MOVC, and IMOV.

 Registering the +SPYOF Instruction

1. Select {JOB} under the main menu.

2. Select {JOB}.
– The JOB CONTENT window appears.

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1.12 Registering Work Instructions

3. Move the cursor to the address area.

4. Press [INFORM LIST].

– The instruction list dialog appears.

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1.12 Registering Work Instructions

5. Select {MOTION}.

6. Select {MOVJ}.

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1.12 Registering Work Instructions

– “MOVJ” instruction appears in the input buffer line.

7. Press [SELECT].
– The DETAIL EDIT window appears.

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1 Painting Application
1.12 Registering Work Instructions

– Move the cursor to “PAINT END”, and press [SELECT].

– Move the cursor to “+SPYOF”.

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1 Painting Application
1.12 Registering Work Instructions

8. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.

– Move the cursor to the item to be set and press [SELECT].

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1.12 Registering Work Instructions

– Use the [Numeric key]s to input the setting and press [ENTER].

– The setting appears in the buffer line.

9. Press [ENTER].
– The DETAIL EDIT window appears.

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1.12 Registering Work Instructions

10. Press [ENTER].

– When [ENTER] is pressed, the setting is registered in the job.

– To cancel the setting, press [CANCEL]. The window returns to the

JOB CONTENT window.

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1.12 Registering Work Instructions

Syntax for the +SPYOF instruction

3
+SPYOF ANT= Execution END
1 timing
4
GUNNO= Gun No. A B
ANTDIS= Execution
2 timing
A B
GGUNNO= Gun No.
3 A B
A ANT= Execution B
1 timing
4
GUNNO= Gun No.
ANTDIS= Execution
2 timing
GGUNNO= Gun No.

 Gun No. (Setting range: 1 to 32)

The specific output signals (work start instruction and atomization ON)
corresponding to the specified gun number is controlled.
If the gun No. or the control group specified gun No. setting is omitted,
1 is applied for the gun number.
 Control group specified gun No.
This is available to use only when the parameter S2C1450=1.
According to the contents set by the gun connecting robot specified
parameter AxP80-83, 120-147, the gun number allocated to the control
group No.1 to execute the instruction is defined as the control group
specified as the gun No. 1 to 4 in the ascending order from the smaller
number of the gun number.
The specific output signals (work start instruction and atomization ON)
corresponding to the control group specified gun number is controlled.
The range of setting is 1 to 4. If the gun No. or the control group
specified gun No. setting is omitted, 1 is applied for the gun number.
 Execution timing (distance) (Setting range: -3276.8 to
3276.7)
An execution timing distance (advance distance, delay distance) is set
in units of mm.
 Execution timing (time) (Setting range: -327.68 to 327.67)
An execution timing time (advance time, delay time) is set in units of
seconds. If this setting is omitted, 0 is applied to the execution timing
time.

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 1 Painting Application
1.13 Execution Timing Adjustment of Paint Start / End

1.13 Execution Timing Adjustment of Paint Start / End

Execution timing of the paint start / end instructions can be carried out
earlier or later than the arrival timing of the step by specifying distance or
time.
Use the following additional item to adjust the paint start / end instructions.
+SPYON/+SPYOF … "ADJT=" "ADJD="
To adjust the execution timing, set the time of the execution timing
"ADJT=** (second)" or the distance "ADJD=** (mm)".
If set an execution timing with a negative value, the signal output is
executed earlier.
If set an execution timing with a positive value, the signal output is
executed later.

And, the execution timing can be adjusted by using the SPYON / SPYOF
instructions.
SPYON/SPYOF… "ANT=" "ANTDIS="
To adjust the execution timing, set the time of the execution timing
"ANT=** (second)" or the distance "ANTDIS=** (mm)".

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 1 Painting Application
1.13 Execution Timing Adjustment of Paint Start / End

1.13.1 Example

1.13.1.1 Start Painting

In the following example, painting starts 0.5 seconds before getting to the
step n (while the manipulator is moving toward the step n).
In addition, the SPY ON advance time is set to 0.3 seconds and the ATOM
ON advance time is set to 0.2 seconds in the painting device
characteristics (PAINT SPECIAL) window.

Step Instruction
: :
n-1 MOVL
n MOVL +SPYON ADJT=-0.5
n+1 MOVL
: :

Moving time
n- 1 (1.2 s) n n+1
Step

ON
Work start signal
(#51530) OFF SPY ON Adjust time
advance time (ADJT=-0.5 s)
(0.3 s)
ON
Atomization ON signal
(#51531) OFF ATOM ON
advance time
(0.2 s)

When the painting is started using the SPYON instruction as shown in the
above figure, create the job as follows.

Step Instruction
: :
n-1 MOVL
n MOVL NWAIT
SPYON ANT=-0.5
n+1 MOVL
: :

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1 Painting Application
1.13 Execution Timing Adjustment of Paint Start / End

The following restrictions are for the output timing to turn

ON the work start signal and the atomization ON signal.
 Among the work start signal (#51530) and the atomiza-
tion ON signal (#51531), if a signal to be turned ON earlier
is set to be turned ON before the previous step, the signal is
turned ON when passing the previous step.

Moving time
n- 1 n n+1
䠄0.9 s䠅
Step

Work start signal ON

Adjust time
(#51530) OFF SPY ON
advance time 䠄ADJT=-0.5 s䠅
(0.3 s)
Atomization ON signal ON
(#51531) OFF ATOM ON
advance time
(0.2 s)

 Among the work start signal (#51530) and the atomiza-

tion ON signal (#51531), if a signal to be turned ON earlier
NOTE
is set to be turned ON after the next step, the signal is
turned ON when passing the next step.

Moving time
n-1 n n+1
(0.2 s)
Step
Adjust time
(ADJT=1.2 s)
Work start signal ON
SPY ON
advance time
(0.3 s)
(#51530) OFF

Atomization ON signal ON
(#51531) OFF ATOM ON
advance time
(0.2 s)

 If a moving time from a step to the next step is longer

than an ATOM ON advance time, the setting of the ATOM
ON advance time is kept as it stands, and the time gap
between the work start signal (#51530) and the atomization
ON signal (#51531) to be turned ON is regarded as the
ATOM ON advance time. This is also the same in case of
 and .

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1.13 Execution Timing Adjustment of Paint Start / End

1.13.1.2 End Painting

In the following example, painting ends 0.5 seconds after getting to the
step n (while the manipulator is moving toward the step n+1).
In addition, the SPY OFF advance time is set to 0.3 seconds and the
ATOM OFF delay time is set to 0.4 seconds in the painting device
characteristics (PAINT SPECIAL) window.

Step Instruction
: :
n-1 MOVL
n MOVL +SPYOF ADJT=0.5
n+1 MOVL
: :

Moving time
n- 1 n (1.0 s) n+1
Step
Adjust time
(ADJT=0.5 s)
ON
Work start signal
(#51530) SPY OFF
OFF advance time
(0.3 s)
ON
Atomization ON signal
(#51531) ATOM OFF
OFF delay time
(0.4 s)

When the painting is ended using the SPYOF instruction as shown in the
above figure, create the job as follows.

Step Instruction
: :
n-1 MOVL
n MOVL NWAIT
SPYOF ANT=0.5
n+1 MOVL
: :

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1 Painting Application
1.13 Execution Timing Adjustment of Paint Start / End

The following restrictions are for the output timing to turn

OFF the work start signal and the atomization ON signal.
 Among the work start signal (#51530) and the atomiza-
tion ON signal (#51531), if a signal to be turned OFF earlier
is set to be turned OFF before the previous step, the signal
is turned OFF when passing the previous step.

Moving time
n- 1 n n+1
(0.7 s)
Step
Adjust time
(ADJT=-0.5 s)
Work start signal ON
(#51530) OFF SPY OFF
advance time
(0.3 s)
Atomization ON signal ON
(#51531) OFF ATOM OFF
delay time
(0.4 s)

 Among the work start signal (#51530) and the atomiza-

tion ON signal (#51531), if a signal to be turned OFF earlier
NOTE is set to be turned OFF after the next step, the signal is
turned OFF when passing the next step.
Moving time
(0.2 s)

n-1 n n+1
Step
Adjust time
(ADJT=1.0 s)
Work start signal ON
(#51530) OFF SPY OFF
advance time
(0.3 s)
Atomization ON signal ON
(#51531) OFF ATOM OFF
delay time
(0.4 s)

 If a moving time from a step to the next step is longer

than an ATOM OFF delay time, the setting of the ATOM
OFF delay time is kept as it stands, and the time gap
between the work start signal (#51530) and the atomization
ON signal (#51531) to be turned OFF is regarded as the
ATOM OFF delay time. This is also the same in case of 
and .

If NWAIT is not set to the previous move instruction of the

SPY ON/SPY OFF instructions, the execution timing of
SPYON/SPYOFF instructions is the same as the normal
DOUT instruction, and the anticipation cannot be executed.
In addition, as for the SPY ON advance time, the ATOM ON
NOTE advance time, the SPY OFF advance time, and the ATOM
OFF delay time, (those are set in the painting device char-
acteristics (PAINT SPECIAL) window,) the anticipation out-
put is invalid in this case.
When executing the anticipation output, be sure to set
NWAIT to the previous move instruction of the SPYON/
SPYOFF instruction.

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1 Painting Application
1.13 Execution Timing Adjustment of Paint Start / End

When the execution timing distances “ADJD=” and “ANT-

DIS=” are set to output a signal in a delayed timing, the sig-
nal cannot be output in an advanced timing whatever the
setting in the painting device characteristics is.
When the signal is output in an advanced timing by painting
device characteristics setting, it is output at starting the
operation of the target step.
In the following example, the work start signal is turned OFF
when the step n+1 starts.
In addition, the SPY OFF advance time is set to 0.6 sec-
onds and the ATOM OFF delay time is set to 0.4 seconds in
the painting device characteristics (PAINT SPECIAL) win-
dow.

Step Instruction
: :
n-1 MOVL
n MOVL +SPYOF ADJD=50.0
n+1 MOVL
: :

NOTE
In case that signals are set to be output in advance by setting
the painting device characteristics (PAINT SPECIAL).

Moving distance (80.0 mm/s)

n-1 n n+1
Moving time (0.8 s)
Step
Adjust time

Work start signal ON

(ADJD=50.0mm)

SPY OFF
(#51530) OFF advance time
(0.6 s)
Atomization ON signal ON
ATOM OFF
(#51531) OFF delay time
(0.4 s)

The work start signal (#51530) turns OFF

when the step n+1 is started,
and the atomization ON signal (#51531)
turns OFF after the ATOM OFF
delay time has passed.
Moving distance (80.0 mm/s)
n-1 n n+1
Moving time (0.8 s)
Step
Adjust time
(ADJD=50.0 mm)
Work start signal ON
(#51530) OFF

Atomization ON signal ON
(#51531) OFF ATOM OFF
delay time
(0.4 s)

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1 Painting Application
1.13 Execution Timing Adjustment of Paint Start / End

When the execution timing distances “ADJD=” and “ANT-

DIS=” are set to output a signal in a delayed timing, do not
register an instruction except for the following between
steps. If an instruction except for the following is registered,
the paint may not be able to start / end at the specified exe-
cution timing.
• DOUT
• PULSE

NOTE • TIMER
• SET
• ‘ (comment)

Step Instruction
: :
n-1 MOVL
n MOVL +SPYOF ADJD=100.0
DOUT
n+1 MOVL
: :

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 1 Painting Application
1.13 Execution Timing Adjustment of Paint Start / End

1.13.2 Interruption

1.13.2.1 Start Painting

When a job is stopped when only a signal to be output earlier is ON, the
signal which has been ON is turned OFF. When the job is restarted, the
signal which had been turned OFF is turned ON immediately. And
regardless of the passed time before the job is stopped, the signal to be
output later is turned ON according to the set ATOM ON advance time.
In the following example, the atomization ON signal is turned OFF when
HOLD signal is input. When restarted, the atomization ON signal is turned
ON again. And the work start instruction is turned ON after the ATOM ON
advance time has passed.
In addition, the ATOM ON advance time is set to 0.4 seconds in the
painting device characteristics (PAINT SPECIAL) window.

Step Instruction
: :
n-1 MOVL
n MOVL +SPYON ADJT=-1.0
n+1 MOVL
: :

HOLD Stop Restart

n- 1 n n+1
Step

ON
Work start signal
(#51530) OFF

ON
Atomization ON signal
(#51531) OFF ATOM ON ATOM ON
advance time advance time
(0.4 s) (0.4 s)

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 1 Painting Application
1.13 Execution Timing Adjustment of Paint Start / End

1.13.2.2 End Painting

When a job is stopped when only the signal to be output earlier is turned
OFF, the signal to be output later is turned OFF according to the set ATOM
OFF delay time. Until the signal to be output later is turned OFF, the job is
regarded as running and the start lamp is not turned OFF.
In the following example, the atomization ON signal is not turned OFF
even if HOLD signal is input, and the atomization ON signal is turned OFF
after the ATOM OFF delay time has passed.
In addition, the ATOM OFF delay time is set to 0.5 seconds in the painting
device characteristics (PAINT SPECIAL) window.

Step Instruction
: :
n-1 MOVL
n MOVL +SPYOF ADJT=0.5
n+1 MOVL
: :

HOLD Stop

n- 1 n
Step

ON
Work start signal
(#51530) OFF

ON
Atomization ON signal
(#51531) OFF ATOM OFF
delay time
(0.5 s)

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 1 Painting Application
1.14 Parameter

1.14 Parameter

1.14.0.1 AxP080: Specify the Robot With the Paint Gun 1

To specify the robot with the paint gun 1 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.2 AxP081: Specify the Robot With the Paint Gun 2

To specify the robot with the paint gun 2 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.3 AxP082: Specify the Robot With the Paint Gun 3

To specify the robot with the paint gun 3 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.4 AxP083: Specify the Robot With the Paint Gun 4

To specify the robot with the paint gun 4 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.5 AxP120: Specify the Robot With the Paint Gun 5

To specify the robot with the paint gun 5 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.6 AxP121: Specify the Robot With the Paint Gun 6

To specify the robot with the paint gun 6 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.7 AxP122: Specify the Robot With the Paint Gun 7

To specify the robot with the paint gun 7 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.8 AxP123: Specify the Robot With the Paint Gun 8

To specify the robot with the paint gun 8 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.9 AxP124: Specify the Robot With the Paint Gun 9

To specify the robot with the paint gun 9 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.10 AxP125: Specify the Robot With the Paint Gun 10

To specify the robot with the paint gun 10 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.11 AxP126: Specify the Robot With the Paint Gun 11

To specify the robot with the paint gun 11 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.12 AxP127: Specify the Robot With the Paint Gun 12

To specify the robot with the paint gun 12 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

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 1 Painting Application
1.14 Parameter

1.14.0.13 AxP128: Specify the Robot With the Paint Gun 13

To specify the robot with the paint gun 13 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.14 AxP129: Specify the Robot With the Paint Gun 14

To specify the robot with the paint gun 14 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.15 AxP130: Specify the Robot With the Paint Gun 15

To specify the robot with the paint gun 15 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.16 AxP131: Specify the Robot With the Paint Gun 16

To specify the robot with the paint gun 16 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.17 AxP132: Specify the Robot With the Paint Gun 17

To specify the robot with the paint gun 17 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.18 AxP133: Specify the Robot With the Paint Gun 18

To specify the robot with the paint gun 18 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.19 AxP134: Specify the Robot With the Paint Gun 19

To specify the robot with the paint gun 19 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.20 AxP135: Specify the Robot With the Paint Gun 20

To specify the robot with the paint gun 20 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.21 AxP136: Specify the Robot With the Paint Gun 21

To specify the robot with the paint gun 21 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.22 AxP137: Specify the Robot With the Paint Gun 22

To specify the robot with the paint gun 22 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.23 AxP138: Specify the Robot With the Paint Gun 23

To specify the robot with the paint gun 23 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.24 AxP139: Specify the Robot With the Paint Gun 24

To specify the robot with the paint gun 24 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.25 AxP140: Specify the Robot With the Paint Gun 25

To specify the robot with the paint gun 25 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1-90
 1 Painting Application
1.14 Parameter

1.14.0.26 AxP141: Specify the Robot With the Paint Gun 26

To specify the robot with the paint gun 26 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.27 AxP142: Specify the Robot With the Paint Gun 27

To specify the robot with the paint gun 27 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.28 AxP143: Specify the Robot With the Paint Gun 28

To specify the robot with the paint gun 28 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.29 AxP144: Specify the Robot With the Paint Gun 29

To specify the robot with the paint gun 29 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.30 AxP145: Specify the Robot With the Paint Gun 30

To specify the robot with the paint gun 30 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.31 AxP146: Specify the Robot With the Paint Gun 31

To specify the robot with the paint gun 31 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.32 AxP147: Specify the Robot With the Paint Gun 32

To specify the robot with the paint gun 32 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).

1.14.0.33 S2C1450: Control Group Specified Gun No.

To specify the use / unuse of the control group specified gun number tag
(GGUNNO=) in the work instruction.
When using the control group specified gun number tag (GGUNNO=), 1 is
set. When not using the tag, 0, the initial value, is set.
According to the contents set by the gun connecting robot specified
parameter AxP80-83, 120-147, the control group No.1 to 4 is defined in
the ascending order from the smaller number of the gun number allocated
to each robot.

1-91
Index

ATOM OFF DELAY TIME ....................................................................... 1-4

ATOM ON ADVANCE TIME ................................................................... 1-4

calibration output ........................................................................... 1-3, 1-17

calibration settings ................................................................................. 1-8
CALL .................................................................................................. 1-50
COMMAND VALUE ............................................................................. 1-17
COMPLETION SIGNAL ............................................................... 1-10, 1-12
CORRECT RATE .................................................................................. 1-8

End Painting ....................................................................................... 1-83

ENTRY ............................................................................................... 1-61

function keys ......................................................................................... 1-1

GETFILE ............................................................................................ 1-13

I/O OUTPUT ...................................................................... 1-2, 1-3, 1-5, 1-6

I/O OUTPUT(Gr) ................................................................ 1-2, 1-3, 1-5, 1-6
INHB PAINT.......................................................................................... 1-1
Interruption ......................................................................................... 1-87
IO painting condition output .................................................................. 1-17
ITEM OUTPUT GROUP ............................................................... 1-10, 1-12

JET .................................................................................................... 1-56

job registration table............................................................................. 1-50

Index-1
Index

Mode Change Auto Reset ..................................................................... 1-18

NWAIT .................................................................................................. 1-5

OUTPUT INSTRUCTION...................................................................... 1-17

PAINT CONDITION NO.......................................................................... 1-5

PAINTEND .......................................................................................... 1-44
painting conditions ........................................................................ 1-7, 1-37
painting data settings ........................................................................... 1-13
painting device characteristics ................................................................. 1-4
painting output test ............................................................................... 1-14
painting system settings .................................................................. 1-2, 1-5
PAINTSET .......................................................................................... 1-37
PDF .................................................................................................... 1-13

REGISTER........................................................................ 1-2, 1-3, 1-5, 1-6

RUNNING SIGNAL .............................................................................. 1-10

SETFILE ............................................................................................. 1-13

SPY OFF ADVANCE TIME ..................................................................... 1-4
SPY ON ADVANCE TIME ...................................................................... 1-4
SPYOF ............................................................................................... 1-29
SPYON ............................................................................................... 1-21
Start Painting ....................................................................................... 1-81
START SIGNAL ................................................................................... 1-10

TABLE ........................................................................................ 1-10, 1-11

time chart ........................................................................... 1-10, 1-11, 1-12
time chart settings ................................................................................ 1-10

Index-2
Index

VOLTAGE(0-14V)........................................................................... 1-3, 1-6

Work Instruction .................................................................................. 1-21

Index-3
YRC1000
OPERATOR’S MANUAL
FOR PAINTING (NON-PURGE)

C 2018 YASKAWA ELECTRIC CORPORATION

Published by YASKAWA

MANUAL NO. RE-CSO-A057 1

August 2019 18-12