CADM MC600 Robotics

POWER UP, JOGGING & INITIAL SETUP

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OBJECTIVES
• Power up the Robot
• Jog the Robot in Joint and World
• View Positional Data
• Robot Axis Limits
• Mastering
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MENU ITEM
DESCRIPTION
ABORT (ALL) Aborts any paused or running program.
* Available DISABLE FWD/BWD Disables the ability to execute program instructions using SHIFT
with multiple FWD and SHIFT BWD.
groups CHANGE GROUP* Changes the current group. Available only if multiple groups
** Available are used.
when TOGGLE SUB Changes the group of axes used for jogging between the first
GROUP*
coordinated six axes and any extended axes. Available only if extended
axes are installed.
motion
TOGGLE COORD This item turns on or off whether the robot jogs coordinates
option is JOG**
pairs using the coordinated motion option.
loaded TOGGLE WRIST Turns on or off whether the robot jogs with the wrist joint motion
*** Available JOG
option.
when the RELEASE WAIT During program execution, wait release allows you to override
Remote TCP pauses in the program when the robot is waiting for I/O
option in conditions to be satisfied. Release wait works only when a
program is running.
loaded
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TOGGLE REMOTE Changes between remote TCP jogging and standard jogging,
TCP***
if remote TCP is enabled.
CHANGE RTCP*** Changes the selected remote TCP frame for jogging, if remote
TCP is enabled.
QUICK/FULL MENU Changes between quick and full menu structures.

SAVE Saves variables and other data to the default device.

PRINT SCREEN Prints the current screen to a serial printer or, if a PC is
connected to the P3 port, to a file called TPSCRN.LS
PRINT This item is not used.
UNSIM ALL I/O This item returns all simulated signals back to their true state.
CYCLE POWER This option is available on the FCTN menu after a Cold start.
This item toggles the power relay via external I/O. The teach
pendant must be enabled for this to work. If the teach
pendant is enabled, a prompt box will be displayed asking if
you are sure. This is not available on an external robot
connection – only from the teach pendant.
REFRESH PANE This item refreshes the page in the active window.
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STARTUP
METHODS
• Cold Start- the common method of
powering on the robot.
• Initializes changes to system variables
• Initializes changes to I/O setup
• Displays the utilities hints screen (during Cold
Start only)
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STARTUP
METHODS
• Controlled Start
• Not Commonly used.
• Used for specific functions outside of normal operation, such as
loading a controller image
• Initializes changes to system variables
• Initializes changes to I/O setup
• Activated during Power Up by holding the Prev and Next Key
on the teach pendant.
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Start Method Description Procedure

Cold Start Initialises changes to system variables Turn the power disconnect circuit breaker
(Start Cold)
Initialises changes to I/O setup or power switch on the operator panel to
Displays the UTILITIES Hints screen (on earlier software) or ON. For R-J3iB and earlier controllers, press
displays the Top Menu (on newer software) the ON button.

Controlled Allows you to set up application specific information With controller ON, press FCTN and select
Start
(Start CTRL) Allows you to install options and updates CYCLE START, select YES, and press ENTER.
Allows you to save specific information Press and hold the PREV and NEXT keys,
Allows you to start KCL continue to hold these keys until the
Allows you to print teach pendant screens and the Configuration Menu screen is displayed.
current robot configuration Release the keys, select Controlled start
Allows you to unsimulate all I/O and press ENTER.
Does not allow you to load teach pendant programs
Hot Start Turns on power to the robot and controller without With controller ON press
entering Boot Monitor MENU>SYSTEM>Config. Setup item 1. Hot
Hot start is useful when you are in production and an Start to TRUE. Then cycle power on the
error occurs requiring controller restart. The controller will controller.
restart in the same condition it was prior to shutdown.
Init Start An initialised (INIT) start occurs automatically as the first Press and Hold F1 and F5. Then turn the
phase of software installation. Please note an INIT start power disconnect circuit breaker or
erases all information stored in the saved memory pools. power switch on the operator panel to
ON. After the BMON menu is displayed,
release the keys and select Init Start from
the menu.
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STARTUP METHODS
CONTD.
• Cold Start: the common method of powering on the robot
o Initialises changes to system variables
o Initialises changes to I/O setup
o Displays the Utilities Hints screen (on earlier software) or displays
the Top Menu (on newer software)
• Controlled Start
o Not Commonly used
o Used for specific functions outside of normal operation, such as
loading a File Backup (performing a File Restore)
o Initialises changes to system variables
o Initialises changes to IO setup
o Activated during Power Up by holding the “Prev” and “Next”
keys on the teach pendant
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TURNING ON THE
ROBOT
• Visually inspect the robot, controller and workcell
ensuring all safeguards are in place and the work
envelope is clear of personnel

• Turn the power disconnect circuit breaker or power

switch on the SOP ON

• For older controllers there will also be an ON/OFF button

on the SOP
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CYCLING CONTROLLER
POWER
R30iA and R30iB Controllers

Ensure the teach

pendant is enabled.
Fctn

1.FUNCTION “FCTN”
2.0 –NEXT–
3.CYCLE POWER
4.Enter (or press 8)
5.Select YES
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TURNING OFF THE

ROBOT
1.If a program is running or if the robot is moving, press the
HOLD key on the pendant.
2.Perform any shutdown procedures specific to your
installation.
3.Turn the disconnect circuit breaker to OFF when
performing maintenance on the robot or controller.

**If you are using an R-J3iB or earlier controller you must

press the ON/OFF button on the SOP before turning off the
disconnect.
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JOG
Jog Speed Values SPEED
Degrees X, Y, Z

Speed Values Joint Cartesian

100,95,90,…,15, 10, 5, 4, 3, 2, 1 % of jog speed % of jog speed

FINE (incremental steps) Approx. 0.001 degrees Approx. 0.0009055 mm

VFINE (incremental steps) Approx. 0.0001 degrees Approx. 0.00007874 mm

Jog Speed Adjustments

• 1% - 100%
• FINE or VFINE
• Fraction of a degree or mm
• Only one step at a time
• Must release and re-press Jog key to keep moving the robot (FINE or VFINE only)
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JOG SPEED
ADJUSTMENTS
• 1%-100%
• FINE (0.001 degrees / 0.0009mm)
• VFINE (0.0001 degrees / 0.00007mm)
• Fraction of a degree or mm
• Only one step at a time
• Must release and re-press Jog key
to keep moving the robot (for
FINE and VFINE only)
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COORDINATE
SYSTEMS
• Defines how the robot
will move
• Five coordinate systems:
– JOINT
– WORLD
– TOOL
– USER
– JGFRM
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JOGGING IN JOINT
COORDINATE
AXIS 4

AXIS 3

AXIS 5
AXIS 6

AXIS 1
AXIS 2
 WORLD COORDINATE SYSTEM
World Frame
The origin is predefined
within the robot (2 –
dimensional Cartesian) J
1

The World Frame Origin is: WORLD

FRAME
Centre of J1 ORIGIN
perpendicular at the
intersection of J2 axis J
-OR- 2

Centre of J1 rotation to J
the height of J2 rotation 2
16

J
1
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RIGHT HAND
RULE
+Z

+X

+Z

+X

+Y

+Y
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WORLD MINOR
AXES
• Yaw (W) – Rotation around the X axis

• Pitch (P) – Rotation around the Y axis

• Roll (R) – Rotation around the Z axis

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WORLD
EXAMPLE

End of
Arm
+Z

World
frame

+X
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JOGGING IN
WORLD

X Y Z keys apply in World

(“J”s apply in JOINT)

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WORLD MINOR
AXES
YaW (W) – Rotation around X

Pitch (P) – Rotation around Y

Roll (R) – Rotation around Z

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JOGGING THE ROBOT AND OTHER AXES

1. Select a coordinate system by pressing the “COORD” key

on the teach pendant
2. Turn the ON/OFF switch on the teach pendant to the ON
position
3. Hold the teach pendant, continuously holding the
DEADMAN switch and the SHIFT button
4. If your system is configured with multiple motion groups,
select the motion group you want to jog by:
• Pressing and holding the SHIFT and COORD key to display
the JOG menu
• Moving the cursor to GROUP and press the appropriate
numeric key
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5. If your system has extended axes, select the sub-group that you
want to jog by:
• Pressing FCTN
• Moving the cursor to TOGGLE SUB-GROUP and press ENTER
• To de-select a sub-group press FCTN, move the cursor to TOGGLE
SUB-GROUP and press ENTER. Refer to the following table for jogging
external axes:
For Axis Use Jog
Number Keys
7 +X,-X
8 +Y,-Y
9 +Z,-Z

6. If you want to use wrist jogging:

• Press FCTN
• Move the cursor to TOGGLE WRIST JOG and press ENTER
• To de-select wrist jogging press FCTN, move the cursor to TOGGLE
WRIST JOG and press ENTER
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7. If you want to use optional remote TCP jogging

• Select the Cartesian coordinate system you want to use for
remote TCP jogging
• Press FCTN
• Move the cursor to TOGGLE REMOTE TCP and press ENTER.
The status line indicator for remote TCP jogging is displayed
as “RN/” in the upper right hand corner of the teach
pendant screen next to the coordinate system, where the
“n” is the number of the remote TCP frame.
• Press FCTN
• Move the cursor to CHANGE RTCP FRAME and press ENTER
• To de-select remote TCP jogging, press FCTN and move the
cursor to TOGGLE REMOTE TCP and press ENTER
8. When you are finished jogging, turn the teach pendant
ON/OFF switch to OFF and release the DEADMAN switch
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ROBOT POSITIONAL STATUS

• Robot positional data can be presented in three ways:
– JOINT
– User
– World
• You can use the POSN (Position) key on the Teach Pendant to display the
positional status
• Positional data can be selected by the MENU key or the POSN key
• JOINT – The joint screen displays positional information in degrees for
each robot axis. Tool indicates the number of the active tool frame.
• USER – The user screen displays positional information in Cartesian
coordinates based on the USER frame. Tool indicates the number of the
active tool frame. Frame indicates the number of the active USER frame.
• WORLD – The world screen displays positional information in Cartesian
coordinates based on the world frame. Tool indicates the number of the
active tool frame.
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POSITIONAL
DATA
Positional data can be selected by MENU key or
+Z=800mm the POSN key

0
Shown in millimeters

+Y=1000mm
Shown in degrees

+X=1800mm
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DISPLAYING POSITION
STATUS
1.Press POSN key
2.Select the appropriate coordinate system
• For joint, press F2, JNT. You will see a screen similar to the
following:

* NOTE: E1, E2 and E3 are only displayed if you have

extended axes
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JOINT
REPRESENTATION
• The robot mechanical arm is represented in joint angles
for each axis
• Joint angles are measured in degrees from the zero
degree position
• Witness marks, scribed on the arm, represent zero
degree marks for each axis
• Teach pendant position data is displayed as follows

J1: 0.00 J2: 0.00 J3: 0.00

J4: 0.00 J5: 0.00 J6: 0.00
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ROBOT AXIS
Setting Axis Limits LIMITS
• Defines the motion range of the robot
• Restricted because of work area limitation, tooling, and fixture interference points
• Axis limits are upper and lower motion degree limitations

Types of Axis Limits (this avoids hard stops of the robot and over-travels):
1. Axis limit software setting
 Upper (+) and lower (-) motion degree limitations

2. Axis limit switches (optional)

 Over-travel switches, when tripped, cut power to the servo motors
 Set three to five degrees beyond the software limits

3. Axis hard stops

 Limits are upper and lower motion degree limitations
 Set three to five degrees beyond the axis limit switches
4. Dual Check Safety (DCS) is a feature of the R-30iA and newer controller
 Emergency Stop Control (Standard)
 Position/Speed Check (Option)
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ROBOT AXIS
LIMITS

MENU

0--NEXT

SYSTEM

F1 [TYPE]

AXIS LIMITS
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ROBOT AXIS
LIMITS
0°

Maximum Space

Operating Space

90° -90°

Axis Limit
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MASTERING
Mastering is an operation J4-axis
performed to associate
the angle of each robot
axis with the pulse count
value supplied from the J5-axis

absolute Pulsecoder
connected to the J3-axis

corresponding axis motor.

To be specific, mastering J2-axis
is an operation for Bottom View

obtaining the pulse count

value corresponding to
the zero position.

Zero Degree
J1-axis Witness Marks
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MASTERING
CONTD.
Mastering is necessary after:
• Motor replacement
• Pulsecoder replacement
• Reducer replacement
• Cable replacement
• Batteries for pulse count
backup in the mechanical
unit have gone dead