This document provides instructions for operating an industrial micro-robot system. It includes sections on specifications, installation, basic functions, programming procedures, position setting, executing programs, and descriptions of commands. Installation instructions cover transporting and setting up the robot, drive unit, optional equipment, and making electrical connections. Programming involves setting positions, generating and executing programs using intelligent commands described in the document.
2. f sercrrrcnrrorus
THIS MANUAL IS DIVIDEDUP AS FOLLOWS
Givesoverallof construction,
mainspecifications,
usinginstruc-
tions.etc. Please
readthis oart first.
Givesinstallation
and connection
procedures,
basicfunctions
of
systemcomponents,
powering-up
to position
settingprocedures,
and programgeneration
and execution
procedures.
p oernarroru
13I DESCRIPTION
OF THECOMMANDS
Givesformatsand usagesof intelligent
commands
which have
been classified
in accordance
with functions.The commands
appearin alphabetical
order.
I4 MAINTENANCE
AND INSPECTION
@ neeeNorcrs
Givesmaintenance,
inspection,
partsreplacement
procedures
and
servrcepans.
Gives interfacing
with a personalcomputerand externall/O
equipment,
cartesian
coordinate
systemreference
positionset-
ting, commandlist,application
programs,
etc.
3. CONTENTS
I 1 I SPECIFICATIONS
1,UNPACKING
ANDACCEPTANCE
INSPECTION
2.SYSTEM
OFCONSTRUCTTON
2.1 Overall
of Construction
2.2 Standard
andOptional
1.1 Unpack
ingInstructions
1.2 Acceptancelnspection
' ' t - 5
1-3
1-5
J . I
3.1.3 Externaldimensions . . . . . . 1 - 7
' ' ' ' ' ' t - l t
3.1
.4 Operation
space
. .......... .
3.1.5 Basic
operations.
.. .......- ' " ' . ' .. . . . .
. . . . . . . .
. . . . . .
1 - 9
J . Z DriveUnit .......-.
1_'t'l
3.2.1 Nomenclature. .. . . . .
. . . . .
. . . . . .
1 - 1
1
3.2.3 Exte
rna
I dimensions
3.3 Teaching
Box(Option)
3.3.1 Nomenclature..
3.3.2 Externaldimensions ...........
1-15
3.4 Motor-operated
Hand(Option).. ...........................
1-16
4.USINGINSTRUCTIONS
t - t J
1-14
1-'t4
4.1
A '
4.3
4.4
A F
4.6
4.7
1-17
1-17
1-17
1 - 1 8
1 - 1 8
1 - 1 9
1 - 1 9
Line
Voltage
.. .....
5.WARRANTY
PERIOD
ANDPAINTCOLORS
4. 1 .
iz] onennrom
1.'l Transportation
of the Robot " " 2-1
1.2 lnstallation
of theRobot 2-3
'l.3
Transportation
and Installation
of the DriveUnit. .. ........... . . . . 2-5
1 . 4 l n s t a l l a t i o n o f
t h el / OC a r d . . . . . . . . . . . . . . . . . . . '
. . . . . . 2 - 5
1.5 Grounding 2-6
1.6 CableConnections 2-7
1 . 7 l n s t a l l a t i o n
o f t h eH a n d( O p t i o n ) .
. . . . . . . . . . . . . . . . . . 2 - 8
'1.8
Installation
of theTeaching
8ox (Option) " " " '2-10
1.9 lnstallation
of the Backup
Battery
{Option) .. .. .. . . 2-10
1.10 instailatron
of the Emergency
StopSwitch " '2-11
D r i v e
Un i t . . . . . . . . ' . ' .
2 - 1 2
2.1.1 Functionsoffrontcontrol
switches
and LEDs" ' " " "'2-12
2.1.2 Functionsof sidesettingswitchesand LEDs " " " ' 2-13
2.1.3 Functionsof connectors,
switches,and terminalblockon rearpanel " " """ 2-16
T e a c h i n g
B o x " . " " " " 2 - 1 8
2 . 2 . 1 F u n c t i o n s o f
t h es w i t c h e s " " " " " " " " 2 - 1 8
2 , 2 . 2 F u n c t i o n s o f e a c h k e y " " " " " " " " 2 - 1 8
2.2.3 Functionsofthe
indicator
LED " "" " " "" " "" '2-21
2.2.4 Eeleasing
the brakes ' ' '' '' '' '' ''''''2-22
2.2.5 lrrreliigent
commandscorresponding
to eachkey" " " """"" 2-22
SystemContigu
ration "" 2-23
3.1.1 Systemconfiguration
centering
arounda personal
computer" "" """""'2-23
3.1.2 Systemconfiguration
centering
aroundthe driveunit " "" "" " """ "" " '2-24
Robot-Computer
Link 2-25
3.2.1 Cerrt
ronicsinterface 2-25
3.2.2 RS232C
interface " "'2-25
ControlModes " """ "" " " "" 2-26
3 . 3 . 1 P e r s o n a l c o m p u t e r
r h o d e" ' ' ' 2 - 2 6
3.3.2 Driveunitmode ' ' '2-24
4 . 1 S e t t i n g
t h eS i d e
S e t t i n g
S w i t c h e s " ' ' ' ' ' 2 - 2 9
4.2 Turning
Power
ON 2-29
4.3 Origin
Setting """'2-29
2.2
J . l
3.2
3.3
5. 5. POSITION
SETTING
PROCEDURE
5.1 Setting
theCartesian
Coordinate
System
Reference
Position
'. ............
..................
2-30
5 . 2 S e t t i n g t h e T o o l
L e n g t h . . . . . . . . . . . . 2 - 3 0
5.3 Defining,Verifying,Changing,andDeletingthePositions"
"' ...'..2-31
6.
o . l
6.2 Executing
theProgram " " 2-34
6.2.1 Stepexecution
' " " " "... ...2-31
6.2.2 Starting
theprogram . .2-34
6.2.3 Stopping/resta
rting
theprogram ...............2-35
6.2.4 Stoppin
g/resetting
theprogram
7. WRITINGTHE PROGRAM/POSITION
DATA IN EPROM
( P E R S O N A L C O M P U T E R M O D E ) .
. . . . . . . . . . . .. . . . . 2 - 3 6
7.1 Inserting
Erased
EPROM .'. .....'.....2-36
7.2 Writing
Data
intoEPROM ....... .....2-36
7.3 Preca
utionsforStorag
e of EPROM "" "" " "" " " 2-36
8.1 lnserting
theEPROM ' 2-37
8.2 Setting
theSideSetting
Switches
.......... . . . . .. . 2-37
8.3 TurningPower
ON ' ' 2-37
8.4 Executing
theProgram ' ' 2-37
8.4.1 Stepexecution ' 2-37
8.4.2 Starting
theprogram """ " 2-37
8.4.3 Stopping/resta
rtingtheprogram " " "" " " 2-38
8.4.4 Stopping/resetting
theprogram 2-38
9. OPERATION
USINGTHEEXTERNAL
SIGNALS
8.
10.
1 0 . 1E r r o r M o d e
I " " " " " " " " 2 - 4 O
10.2 ErrorModeII " 2-41
6. El DESCBTPTTON
OF THE COMMANDS
1 .
2 . 1 P o s i t i o n / M o t i o n
C o n t r o l
I n s t r u c t i o n s . . . .
. . . . . .. . . . . . . . ' . ' . .
. . . . . . . . . . . . . .
3 - 3
DP{Decrement
Position) " Moving
to a position
number
onesma1|er................
... . 3-3
DW(Draw) 'Moving a distance
specified
in the cartesian
coordinate
s y s t e m . . . . . . . . . . . 3 - 4
HE(Here) Teaching
thecurrent
position .............
. 3-5
HO{Home) " Settingthe cartesian
coordinate
systemreference
posi-
t i o n . . . . ' . . . . . . . . . . . . . . 3 - 6
l P( l n c r e m e n t
P o s i t i o n )
. . . . M o v i n g t o a p o s i t i o n n u m b e r o n e g r e a t e r . . . . . . . . . . . . . . . . . . . 3 - 7
MA (Move
Approach) Moving
to a specified
incremental
dimension
...............
3-8
MC{Move
Continuous)
" " Moving
through
intermediate
points
continuously....
.....3-9
M J ( M o v e J o i n t ) " " . ' . . T u r n i n g
e a c h
j o i n t a s p e c i f i e d a n g l e . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 1 1
MO(Move) Movingto a specified
position
by articulated
interpola-
t i o n " . . . . . .
. . 3 - 1 2
MP(MovePosition) Movingto a position
whosecoordinates
arespecified...
3-13
MS(Move
Straight) Movingto
a specified
position
bylinear
interpolation....
3-'14
MT(MoveTool) Movingan incremental
distance
specified
in the tool
d i r e c t i o n " " " " " " ' 3 - 1 6
N T( N e s t ) . R e t u r n i n g t h e r o b o t t o o r i g i n . . . . . . . . ' . . ' . . . . . . . ' . . . ' . ' . . . ' . . . 3 - 1 7
OG(Origin) Movingto the cartesian
coordinate
systemreference
positlon " " "" 3-18
PA(Pallet
Assign) ' ..Defining
thenumberofcolumnandrowgridpoints
for a
s p e c i f i e d
o a l l e t ' . . . . . . . . . . . . . . . ' . .
3 - 1 9
PC(Position
Clear)" " Clearing
a specified
position " "' 3-20
PD(Position
Define) " Defining
thecoordinates
ofaspecifiedposition..........3-21
PL(Position
Load) " Asslgning
the positiondataof a specified
positionto
another
specified
position """ " " "' 3-22
PT(Pallet) Calculating
thecoordinates
of a gridpointon a specified
n a | | e t .
. . . . . . . . . . . . . . . . . 3 - 2 3
PX(Position
Exchange)" Exchanging
the coordinates
of a positionfor thoseof
another" "" " " "" 3-2'l
SF(Shift)" Shifting
thecoordinates
of a specified
position" " " 3-28
SP{Speed) Settingthe operating
velocityand acceleration/decel-
eration
time" " "" 3-29
Tl{Timer) " Halting
themotionfor a specified
periodoftime " 3-30
T L ( T o o l ) " S e t t i n g
t h e t o o l
l e n g t h . . . . ' . . . . " " " ' 3 - 3 1
Program
Control
lnstructions
" " ' """""'3-32
CP(Compare
Counter)
"" Loading
counter
dataintothecomparison
register
"" " 3-32
DA(Disable
Act) Disabling
theinterrupt
byanexternalsignal
"" "" " " 3-33
DC(Decrement
Counter) " Subtracting
1froma valuein a specified
counter
"" " 3-34
D L ( D e l e t e L i n e )
" " " " D e l e t i n g
a s p e c i f i e d
p a r t
o fa p r o g r a m " " " " " " ' 3 - 3 5
z . z
7. EA{Enable
Act) Enabling
theinterrupt
by anexternal
signal "" " "'
ED(End) " Ending
theprogram
EO(lfEqual) Causing
a jumpto occurif thecontents
of thecompari-
sonregister
equala specified
value " " "" " "" '
GS(GoSub) Executing
a specified
subroutine '
GT(GoTo) Causing
alumptooccurto
a specified
linenumber""'
lC(lncrement
Counter) " 'Adding1to thevalueina specified
counter"" "" " '
LG(lfLarger)
.".................
Causing
a jumpto occurif thecontents
of thecompari-
sonregister
aregreater
thana specified
value"" " " " 3-43
NEllf NotEqual) " " " Causing
a jump to occurif thecontents
of thecompari-
sonregister
do notequalaspecified
value " "" " " 3-44
NW(New) ..Deleting
allprograms
andposition
data" "" " ' 3-45
NX(Next)" " " " "" " 'Specifying
therangeof
a loopina program
" "" " ""'3-46
RC(Repeat
Cycle)' ' ' 'Specifyingthenumberof
repeated
cycles
ofa loop""'3-47
RN{Run) " "' Executing
a specified
partof prog
ram "" """""" 3-48
RT(Return)" Returningto the main program after completinga
s u b r o u t i n e " " " " " 3 - 4 9
S C ( S e t C o u n t e r )
" " ' ' ' L o a d i n g a v a l u e i n a s p e c i f i e d c o u n t e r " "
" " " " " " ' 3 - 5 0
SM(lfSmaller)" Causing
a jumpto occurif thecontents
of thecompari-
sonregister
aresmaller
thana specified
value" " " " ' 3-5i
Hand
Control
Instructions"
'. " "'3-52
GC(GripClose)
" " " " "'Closingthehandgrip "" " " "" " "" 3-52
GF(Grip
Flag)
'. ........... '. Defining
theopen/close
state
ofthehand "" " " " 3-53
G O( G r i p
O p e n )
" " " " " O p e n i n g t h e
h a n d
g r i p " " " " " " 3 - 5 4
GP(GripPressure)"
" "" " Definingthe grippingforce/timewhen the hand is
3-36
3-38
3-39
3-40
3-41
3-42
3-55
3-56
3-56
3-57
3-58
3-59
3-60
2.3
2.4
2 . 5
lD(lnput
Direct)" "" " Fetching
anexternalsignal
" " " '
lN(lnput) " Fetching
anexternalsignal
synchronously
" "" " " '
OB(OutputBit)
"" "" " " " Setting
theoutput
state
ofa specif
iedbit " "" " " "'
OD(Output
Direct)..""" " 'Outputting
specified
data " "" " "
O T ( O u t p u t )
" " " " " " ' O u t p u t t i n g
s p e c i f i e d
d a t a
s y n c h r o n o u s l y
" " " " " '
TB(Test
Bit)" " " " " "'Causinga jumpto occurdepending
on thecondition
of
a specified
external
signalbit" " "" " " "" "" " " 3-6'
RS232C
Readlnstructions " 3-62
CR(Counter
Read)"" ' Reading
thedataina specified
counter"" " " " 3-62
DR(Data
Read)"" " " " Reading
thedataintheexternal
inputport " "" ' 3-63
E R ( E r r o r R e a d )
. " " " " R e a d i n g t h e s t a t u s o f t h e
e r r o r
" " " " " " ' 3 - 6 4
LR(LineRead) Reading
theprogram
on a specified
linenumber" " " 3-65
PR(Position
Read)"- " " Reading
thecoord
inates
of a specified
position " "'3-67
WH(Where) Reading
thecoordinates
ofthecurrent
position " ' 3-68
Miscellaneous " "'3-69
RS(Reset)
TR(Transfer)
" " " Transferring
EPROM
data
to RAM "" ""'3-70
wR (write) writingRAMdataintoEPROM """""" 3-7
' ( C o m m e n t )
" " " " ' W r i t i n g
a c o m m e n t" " " ' 3 - 7 2
2.6
8. l!l MATNTENANCE
AND TNSPECTTON
3.
2 . 1
2.2
2.3
J . I
3.2
3.5
J . O
A 1
4.2
4.3
Construction
ofthe Robot.... ..........4-g
R e m o v a l
o f t h eC o v e r s . . . . . . . . . . . . . . . . . .
4 - 1 0
R e p l a c e m e n t
o f t h eM o t o rB r u s n. . . . . . . . . . . . . . . . . . . - . . - . . 4 - j 2
3.3.1Checking
and replacing
thewaistdrivemotorbrushes.. ..........4-12
3.3.2Checking
and replacing
the shoulder/elbow
drivemotorbrushes....................
4-15
3.3.3Replacing
the wristpitchdrivemotor...... ...... ......................
4-16
3 . 3 . 4R e p l a c i n g t h e w r i s t r o l l d r i v e m o t o r . . . . . . . . . . . . . ........................ 4 -1g
Adjustment
and Replacement
of theTimingBelt......'....
..... ...........
4-20
3.4.1 Replacement
frequency... .....4-20
3 . 4 . 2C h e c k i n g , a d j u s t i n g , a n d r e p l a c i n g t h e s h o u l d e r d r i v e t i m i n g b e l t . . . . . . . . . . . . . . . . . . 4 - 2 1
3.4.3Checking,
adjusting,
andreplacing
the elbowdrivetimingbe1t........
... .. ......4-24
3.4.4Checking,
adjusting,
andreplacing
thewristpitchdrivetimingbelt..................
4-27
Replacement
ofthe CurledCaores............ ............
4-30
lnspection,
Adjustment,
and Replacement
ofthe Brakes......... .........
4-32
3.6.1Checking,
ad.justing,
and replacing
theshoulder
brake...............
...................
4-32
3.6.2Checking,adjusting,andreplacingtheelbowbrake... ... ....4-34
.. 4-36
3.4
4.
9. @ neeeruorces
1 . 1
1 . 2
1 . 4
1 . 5
2.
1 1
2.2
2 . 5
APP-1
APP.5
3 . 1 . A
3 . 1
. 8
3.2.8
5 . 5 . 4
3.3.8
3.4.A
3.4.8
3.5
F u n c t i o n
o f E a c h
S i g n a l
L i n e . . .
. . . . . . . . . . . . .
RS232C
Settings
2.5 RS232C
Cable..
2.6 RS232C
Interfacing
Examples
J . O
a ' 7
External
l/OConnector
PinAsslgnments
lType
A l/OCard)..................................App-15
External
l/OConnector
PinAssignments
(Type
B l/OCard)
...'..............................App-16
l / O C i r c u i t S p e c i f i c a t i o n s ( T y p e A l / O C a r d ) . . . . . . . . . . . . . . . . . . . . . . . . ' . . . . . A p p - l 7
l/OCircuit
Specifications
(Type
B l/OCard).
. .......... ..................App-18
Functionsof
l/OSignal
Lines
(Type
A l/OCard)
............ . ...........App-19
Functions
of l/OSignal
Lines
(Type
B l/OCard)
.......
.. . . .............App-20
E x a m p l e o f
C o n n e c t i o n t o l / O C i r c u i t s ( T y p e A l / O C a r d ) . . . . . . . .
. . . . . . . . . ' . . . . . . . . . . . . . . . . A p p - 2 1
E x a m p l e
o fC o n n e c t i o n t o l / O C i r c u i t s ( T y p e B l / O C a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 2
l/OSignal
Line
Timing
Chart
(Synchronous
l/O)......... . ............App-23
3 . 5 . 1 . A S y n c h r o n o u s i n p u t t i m i n g ( T y p e A l / O c a r d ) . . . . . . . . . . . . . . . . . . A p p - 2 3
3.5.'l.B
Synchronous
inputtiming
(Type
B l/Ocard).........
. .........App-23
3.5.2.A
Synchronousoutputtiming(TypeAl/Ocard)................ ..App-24
3 . 5 . 2 . 8
S y n c h r o n o u s o u t p u t t i m i n g ( T y p e B l / O c a r d ) . . . . . . . . . . . . . . A p p - 2 4
3.5.3.A
Dedicated
l/Otiming(Type
A t/Ocard)................ ............App-25
3.5.3.8Dedicated
l/OtiminglTypeB l/Ocard) .....App-26
External
l/OCab1e.....
... .....'....APP-27
Precautio
nsforCon
nection
to ExternaI
Equipment ....................APP-28
4. CARTESIAN
COORDINATE
SYSTEM
REFERENCE
4.1 Movingthe
Robotto
Beference
Position....
.. ... ..App-29
4.2 Setting
theReference
Position
..... .... ..............
App-29
4.3 StoringReference
Position
Datain EPROM .........App-30
4.4 Loadingthe
Reference
Position
Data...'......
.. . ..APp-31
10. 5. PROGRAMMING
SYSTEM
USING
PERSONALCOMPUTER ..."".......APP-32
5. SAMPLE
PROGRAMS.... ...............App-36
7 . C O M M A N D 1 | S T . . . . . . .
. . . . . . . . . . . . . . . . . A p p - 4 4
8. TIM|NG
BELTTENSTON .......
.....'..
App-48
9 . D E F I N I T I O N O F W E I G H T C A P A C | T Y . . . . . . . . . . . . . . . . . . . . . A p p - 4 9
10.ROBOTARMSTORAGEPOS|T|ON...
........... .....App-50
11.OPERAT|ONALSPACED|AGRAM.
.............. .......App-51
1 2 .W | R | N G D I A G R A M . . . . . . . . . . . . . . . . . .
. . A p p - 5 2
1 3 .D R | V E U N | T W t R t N G D | A G R A M . . . . . . . . . . . . . . . . . . . ' . . . . . . A p p - 5 4
12. CONTENTS
(SPECIFICATIONS}
1.UNPACKING
ANDACCEPTANCE
INSPECTION
1.1 Unpacking
Instructions ' ' '' 1-1
1.2 Acceptance
Inspection
" """ "'1-2
2.SYSTEM
OFCONSTRUCTION
2. 1 Overall
ofConstruction
" " ""'
Standardand OptionalEquipment " " " ....'t-4
R o b o t
" " " " " " " " " " ' 1 - 5
3.1.1 Nomenclature
' " " "" 1-5
3.1.2 Standard
specifications
' "" """ "" 1-7
3.1.3 Externaldimensions """' " "1-7
3 . 1 . 4O p e r a t i o n s p a c e
" " ' " " " " " " ' 1 - 8
3 . 1 . 5B a s i c
o p e r a t i o n s "
" " " " " " " " " " " 1 - 9
3.1.6 Origin
set(Return
to origin) "" " " ' " "" 1-10
Drive
Unit
"" "" " 1-11
3.2.1 Nomenclature" "" "" " "' 1-11
3 . 2 . 2 S t a n d a r d
s p e c i f i c a t i o n s
' " " " " " " " ' ' l - 1 2
t - J
1-5
3 . 1
3.2
3.4
4.1
.+.J
4.4
1+.3
1 - 1 3
1-14
1-14
1 - 1
5
1 - 1
6
1-17
1-17
1-'t7
1 -
1 8
1 - 1 8
1 - 1 9
1 - 1 9
3.2.3 Externaldimensions
Teaching
Box(Option)
3.3.1 Nomenclature
'
3.3.2 Exte
rnaldimensions
Robot ""'
4.6 Noise"'
4.7 Position
5.WARRANTY
PERIOD
ANDPAINTCOLORS
.....
3 . 1
5.2
1-21
1-21
13. 1.SPECIFICATIONS
1. UNPACKINGAND
ACCEPTANCE
INSPECTION
1.1 Unpacking
Instructions11)Carefullyread "Section1.1 RobotTransportation,
Vol. 2,,
beforeremovingthe robotfrom the package.
(2) Donotholdthecover
(area
A in Fig.1.1.1.)
whenremoving
the
robot.
(3) The origin limit switchesand dogs (areasB, C) have been
factory-adjusted.
Do not touchthem to ensurehigh repeata-
bility.
(4) Brakeis beingappliedto the arms(areasD. E) Do not force
thesearms to extend.
(5) Do not removethe arrnfixing plate(areaF) untilthe robot
installation
is complete,
This plateprotects
the arm during
transportation.
The arm fixingplatemust be reinstalled
beforetransporting
the robot.
Do nol force the arm.
Do not force the arm,
'Do not ho d tlie cover,
Do
t h e I mil swltch.
Do not louch the imlt swilch.
Robot weight: approx. 1gkg
Fig. 1.1.1 Robot Attitude in the Package
14. 1.SPECTF|CAT|ONS
1.2 Acceptance
Inspection Check
thatthereceived
product
conforms
to yourpurchase
order.
Ihe basiccomponents
whichvou havepurchased
areasfollows:
No. Description Tvpe Ouantity
Robot RV,Ml 1
2 Dflve unit D/U t,'11 1
3 lMolorsignai cable {5m) IVISM1 l
4 Motor power cable {5m) t,1P-
t,1
1 ,I
5 Power cord (2.5m) POW-M1 1
6 Sparefuse(10A) 1
1 Instructron
manua 1
8 Warranty card 1
I Installation
bolt M 8 x 3 0 4
1 0
Spring washer for installation
bolt
For Mg 4
1 1 Flatwasher {or installation
bolt ForM8 4
12 l/O card A 8 o r 4 1 6 ( 8 8o r 8 1 6 ) 1
Table 1.1.1 Standard Components
The following options are available.
No. Description Type
1 Teachingbox T/8,M1
2 lMotoroperated hand Htvl-01
3 EP-RO
I,4 256K,ROM
4 External l/O cable l/O-CBL{5m)
5 Personalcomputer cable NilULTl16,
PC9801 (Note)
6 Backupbattery BAT-M1
Table 1.1.2 Options
15. 1. SPECIFICATIONS
2. SYSTEMOF
CONSTRUCTION
2.1 Overallof Construction
Motor power cable
( M P M ] ) 5 m computercable*
Motor signalcable
( M SM l ) 5 m
Drive unit
I D / UM 1 )
Robot
( R V , M 1 )
(POWM1
OPersonalcomputer
(MUtTtl6lll)
Teaching
box'
(T/BMl)
Cablelength3m
+ indicales an option.
OThe equipment indicated by should be prepared by the customer.
Fig. 1.2.1Ovelallof Construction
16. 1.SPECIFICATIONS
2.2 Standardand
OptionalEquipment
Division Description Type Remarks
e
;
E
Robot RV-t,11
Verticalarticulatedrobot with 5 degreesof
freedom.
Drive unit D/UM1 Pobot controller.
Molor siEnalcable (5m) MS.t,4
1
Givescontrolslgnalsfrom the driveunitto
the robot.
lMotorpower cable (5m) t,1P-
M1
Suppliespower from the drive,Jnitto the
robot.
Power cord (2.5m
) POWM1 Supplies
powerto the driveunit.
l/O card A8 (or BB) to-A8 (r/o-88) 8 inputs/B
outputs.
E
c
l/O card416 (or B16i vo-A16
(t/o816) 16 lnputs/16
outpurs.
Teachingbox
{Cablelength 3m)
T/B Ml
Handy cont.ol switch box with a cable for
teach
ing, checking,correctingpositrons-
Motor operatedhand HM O1
Hand which is only used with the RV-M1
and allows16 step holdingpower control.
EP,ROM 256KROM Stores
writtenprograms
andsetpositions.
Backupbattery BATII1 Backsup l"e memory dulng power off.
External l/O cable r/o-cBL Connects
with an externalperipheral,
e.g.
programmablecontroller.
f
E
M U L T I l 6
RS'MULTI-CBL
{3m)
RS 232C cable used to connect the
MULTI'I6.
Centronics C-MU
LTI-CBL
(2m) Centronics cable used to connect the
MULr16.
PC9801
RS-232C RS'PC-CBL
(3m) RS 232C cable used to connect the
PC9801.
Centronics C-PC-CBL
(1.5m) Centronics cable used to connect the
PC9801
.
Free cable
RS-232C RSFREE
CBL(3m) RS-232Ccable wiih one free end.
Centronics C-FREE-CBL
(1.5m) Centronicscable with one {.ee end.
Table 1.2.1 Standard and Optional Equipment
Note: l/O cardA8 or 416 is for sink ioad.
B8 or 816 is for sourceload.
17. 1. SPEC|F|CAT|ONS
3. MAIN
SPECIFICATIONS
3.1 Robot
3.1.1Nomenclature
upper arm
Elbow (J3 axis)
u"j"i:i
/A
-+f--
-t
Shoulder
(J2 axis)
Shouldercover
(upperl
Hand installation
surface
Wristpitch(J4 axis)
Waist{J1 axis) --S=:?
Curl cable
Molor siqnal cable
(to the upper
conneclorl
Motor power cable
Shoulder cover
{lower)
(to the lower
connector)
Baseside cover (R)
Forearm
* {L) Left side
Fig. 1.3.1 Nomenclature (External Viewl
19. 1. SPECTFTCAT|ONS
3.1.2Standard
specifications
3.1.3External
dimensions
Table 3.1.1 Standard Soecifications
Itern Specifications Remarks
Mechanical Structure
5 degrees of freedom, venical articulated
robot
Operation
range
Waist rotation 300' (max. 120"/sec) J1 axis
Shoulder
rotation 130"lmax. 727sec) J2 ax;s
Elbow rotation 1'10'(max. 109'/sec) J3 axis
Wrist pitch 190" (max. 1001sec) J4 axis
ro tl 1180' (max.1637sec) J5 axis
Arm length
upper arm 250mm
Forearm 160mm
Weight capacity Max. 1.2kgf(includingthe hand weight)
75mm from the mechanical
interface (center of gravity)
Maximum path velocity 1000mm/sec (wrist tool surface) Speedat point P in Fig. 1.3.4
Positionrepeatability 0.3mm(rollcenterof the wristtool surface)
Accuracy at point P in Fig.
1.3.4
Drivesystem Electrical
servodriveusinqDCservomotors
Robot weight
Motor capacity
Approx. 1gkgf
Jl to J3 axes:30W;J4, J5 axesr1lW
Mechanical
interface
180"
Frange deraiLs lP c 968)
-
-L
?
I
I r+s
t 6 8
60
a2
254
Fig. 1.3.3 Fxternal Dimensions
20. 1. SPECTFTCATIONS
3.1.4 Operationspace
Fig. 1.3.4OperationSpace
Note1: Theoperation
space
indicated
in Fig.1.3.4
assume
thatthe
hand is not installed
to the robot.(Traceof point P)
Note2: Thewristpitchoperation
maybe restricted
in somearea
depending
the upperarm and fore arm positions.For
details,
see Fig.5.11.1
in the appendix.
Note3: Jog operation
mustbe performed
with special
careasthe
wristmavinterfere
with the robotbaseandfloorsurface.
REMARKS
Jog operation indicatesa manual operation using the
teachingbox.
21. 1. SPECIFICATIONS
3.1.5 Basicoperations Fig. 1.3.5showsaxis operations
in the articulated
system.
# lJ:lr 'E
Srro!de. roraro.
.rzr9
Fig. 1.3.5Operations in Articulated System
NoteI: Thepositive
direction
of the J1 andJ5 axisoperations
is
clockwise
as viewedfrom arrowsA and B, respectively.
Note2: Thepositive
direction
of theJ2,J3 andJ4 axisoperations
is the uowarddirectionof the arm and wrist.
Fig.1.3.6showsoperations
in the cartesian
coordinate
system.
_
, r *, l*. /f<<-=
*4)>J+; ';
-,
M/1,'y z7:-
/ - ' a
//' I roo
/ rength
/ t--
Fig. 1.3.6Operations
Note3: The TCP
system.
in CartesianCoordinateSystem
moves straightin the Cartesiancoordinate
Note4:The tool length is set by a parameter.(See the TL
command.)
Note5: f, indicates
therobotattitude
changing
operation
without
movingthe TCP.
REMARKS
Symbolsin "n" indicatethe controlkeysof the teaching
box.
22. 1.SPECIFICATIONS
3.1.6Originset
(Returnto origin) - 1 0 "
< top vrew 2
Fig. 1.3.7RobotZeroingOperation
The robotof the Movemaster
EX RV-M1mustbe returned
to
origin after power on. (Fordetails,see Section4.3 Origin
Setting,
Vol. 2.)
The arm shouldbe movedas appropriate
by jog operation
beforereturnto originso that the robotwill not interferewith
any peripheral
equipmentduringset origin.
Returnto origin procedure
(SeeFig. 1.3.7.)
e Q.,
Note1: Allaxesinstep1),step2)mustbereturned
to originatthe
same me.
Note2: The wrist roll (J5)angleis *179.9" afteroriginset.
( 1 )
t2l
(3)
23. 1. SPECIFICATIONS
3.2 DriveUnit
3.2.1Nomenclature
Externalvi
Frontcontrol
Ventilationopening
Side door
Powerswitch
Rating plate
Rearview (ViewA)
Centronics
connector
RS-232C
connector
Teaching box
connecror
Motor signal
cable connector
Externall/O equipmentconnector
Motor power cable connector
Heatsink
Fuse(10A)
Hand select
sw[cn
Rearterminal
block
Externalemergency
I
stop and frame
I
grouno l
@;
now
o
0
a
E
Fig. 1.3.8 Nomenclature (Drive unit)
AC inlet
24. 1.SPECIFICATIONS
3.2.2Standard
specifications
Item Specilications
Teachingmethod
Programminq language system 163 commands), MDI'1 (using a personal
compLlter)
Control method PTP position control system usinq DC sei/o motors
Number of ccntrol axes 5 a,(es{ i l oL,!cna a^ 3l
Position detection Pulse encodei system
Return
to Origin
Originsetting Limit switcheeand pulse en.cdefs (Z phase detectionmethod)
Interpolation functioo Articulaticninterpolation,
linear interpolation
Speedsetting 'lC
stepslmax. 1000n-rmlsec)
Number of positions 629 (8KB)
Number of program sleps 2048 (16K8)
Datastorage
Write to EP ROM iisrng the built-in EP-RO|4
writer or storage in the battery-
backed static RAM lthe battery is optional and backs up the RAfvlfor about 2
years).
Positro
n teachingequipment TeachingDox {option)or personalcomputer*2
Programm
ing equipment Personalcomp!ter*'z
Externall/O
General'purpose
I'O, 6 pointseach (16:plnt type algllab]gL
General-purpose
synchronous
signals
lSTB,BUSY,
ACK,RDY)
No dedicatedl/O (dedicated
l/O of 3 pointseach available)
Powerfor externall/O shouldbe preparedby the user (12Vto 24V DC)
Interface
1 parallel interface (conforming to Centronics)
serial interface(conformrngto RS 232C)
1
Emergencystop
Using any of the front control switch, teaching box switch, and rear terminal
block (N/C contact terminali
Hand control Motor-operated hand or pneum atically-operated irand (using AC solenoid)
Brakecontrol J2 axis(shoulder),
J3 axis(elbow)
Power source 120Vt220V
t230Vt240V
AC, 0.5KVA.-
Ambient temperature 5"C to 40"C
Weight Approx.23kgt
Size 380(W)x 331 (D)x 246{H)mm
Table 1.3,2DriveUnit StandardSpecitications
Note1: MDI standsfor ManualDataInput
Note2: To be preparedby the user.
Note3: Depending
on thesource
powervoltagein yourcountry.
27. 1. SPECIFICATIONS
3.3.2Externaldimensions
L : 3 0 0 0 m m I
_r------------1
RV-M1
t_t t_t
l t . t t .
t t t t
t t . t _ t .
rruc
lloec
;;llP . C
NST ORG
TRN WRT
'-lt
STEP
ar
xYz
;;llT00t
Y-
l[-;-
Atr
;ll
4 E + l l I E -
n1
P _
."*
ll
R _
7
Flt
0PTt0
<o>
o
> c <
MITSUBISHI
Fig. 1.3.11 External Dimensions (Teaching box,
28. 1.SPECIFICATIONS
3.4 Motor-operated
Hand
(Option)
Themotor-operated
handfor the RV-M1
canbeeasilyinstalled
to
the robot and allowsthe holdingpower to be set by current
control.
Item Specifications Remarks
Type HM-01
The holding power can be set
in 16 steps.
Drivesystem DC servo motor drive
Opening/closing
stroke 0 to 60mm
Grip power M a x . 3 . s k g f
Ambienttemperature 5 to 40"C
Service life More than 300,000
times
Weight 6009f
Table 1.3.3 Motor-Opeiated Hand Specifications
Conneciion
The motor-operated hand can be used by
connectingthe curl cable to the connector of
the robot fore arm.
2-3.4mm dia. hole
{6.5 mm dia. x 3
spot facing in the
rear surface)
2 x 4-M3
1'l
n
o l
;r--,t -
mr-'.
- l I
- t
I
Stroke
0 t o 6 0
(20 to 80)
29. 1 SPECTFTCATTONS
4. US|NGTNSTRUCTTONS
4.1 Safety (1) Do nottouchany movingpartof the robotduringoperation.
Any work within the operationrangesmust be done after
switchingoff the power.
4.2 Operating
Environments
4.3 Robot
(2) Severalemergencystop switchesshould be installedas
required.
(3) Do not allowthe robotto makecontact
with any person(e.g.
set up a fencearoundthe robot).
{4) Signals
corresponding
to the robotoperating
states
from the
driveunitl/Oconnector
maybeusedasappropriate
to indicate
the operation
statusof a line,etc.(Dedicated
outputsignal
available
for the option l/O-A16
or B16)
{5) Groundthe Movemaster
to preventnoiseandelectric
shock.
(1) Usethe robotand driveunitwithinthe allowedtemperature
range(between5'C and 40'C).
(2) Install
the Movemaster
awayfromthe directsunlight
andany
heat source.
(3) Do not allowwater,liquidand metalshavings
to enterthe
robot and drive unit.
(4) Usethe Movemaster
anywhere
that thereare no explosive
gases,dust,dirt, oil mist,etc.
Do not use this robot in atmospheres
contsining
explosive
gas,dust or mrst.
(5) Protect
the robot againstimpactand vibration.
(6) Keepthe robot and drive unit connectors
clean.Wipe the
conductive
areaswith alcoholto protectfrom dirt,dust,etc.
(1) Protect
the plasticcoversfrom damage.
(2) Inspection
mustbe donedailyandperiodically.
lf anynoiseis
generated
or unusual
operation
performed,
immediately
stop
the robot and make the requiredcheck and adjustment
according
to vol.4 "IVIAINTENANCE
ANDTNSPECTION
PROC-
EDURE."
30. 1.SPECTF|CATIONS
(3) Thedrivemotormaybeoverloaded
andburneddepending
on
the robotusingcondition.
Therobotmustnot be usedunder
the following
conditions.
(D Theworkpiece
is extremely
large.
(Thecenterof gravityof
the workpieceis away from the hand mountingflange
surface.
)
@ Loadover the drive motor ratingle.g.forcing,pressure
application
) is generated
continuously.
€) The robot arm is extended
for a long time.
f4l Acceleratio
n/deceleration
is repeated
withoutstopping
the
given axis.
@ The jog operationkey is kept pushedwith the robot
pressedagainsta mechanical
stopper.
(4) Do not operatethe robotwith the brakeapplied(shoulder,
elbow axes only). (Checkthat the brake "clicks" in the
shouldercoverat power on.)
(5) Fix the robot to a surfaceplate,etc. using the accessory
installation
bolts.(Minimumsizeof the ironDlate:
270x 350x
1 2 m m )
(6) Beforetransporting
the robot,the suppliedarm fixing plate
must be installedin accordance
with "TRANSPORTATION.
INSTALLATION
AND SETTING-UP"
in Vol.2.
(7) Avoidanycollision
between
therobotarmandworkpiece,
etc.
to protectthe mechanical
areafrom damage.
4.4 Hand ('l) Themotor-operated
handlosesthe grip powerduringpower
off.
(2) A lessholdingpoweris providedby extremely
longfingers.
4.5 LineVoltage (1) The line voltagemust be within +101o of the rating.
(2) The robot is resetor placedin an error stateand is then
brought
to a stopwheninstantaneous
powerfailure
continues
morethan20ms.Inthiscase.restart
the operation
beginning
with the steo after oower on.
(3) lt is recommended
to usethememorybackup
battery
(option)
to retaindataduringany powerfailure.
31. 1. SPECIFICATIONS
4.6 Noise
4.7 Position
Repeatability
( 1 )
21
A robotfaultor dislocation
mayoccurif surgevoltage
of more
than 1000V,1us is appliedto the power line.
UsetheMovemaster
awayfromanyequipment
thatgenerates
largenoise(e.9.
large-sized
inverter,
high-frequency
oscillator,
contactor).
(3) Usea radioor television
awayfrom the Movemaster.
(Con-
cerningelectromagnetic
interference,
the Movemaster
con-
forms to classA in FCC,U.S.A.)
(4) In hostileenvironments,
disconnect
the teachingbox when
not in useso thatexternal
noisemav notcausea robotfault.
ThePosition
reoeatabilitv
oftheMovemaster
robotisbased
onthe
followingindustrialrobot definitionin the Japanese
Industrial
Standards.
{JlS)
Position
repeatability:
Themeasure
oftheaccuracy
withwhichthe
robotis positioneci
underthe sameconditions
and by the same
method.
Thisdefinition
doesnotapplyto the position
difference
whenthe
teaching
speeds
aredifferent
from execution
speeds,
andto the
numerically
setcoordinates
andto the positioning
precision,
etc.
33. 1. SPECIFICATIONS
5, WARRANTY
PERIOD
AND
PAINTCOLORS
5.1 WarrantyPeriod
5.2 PaintColors
( 1 )The robotindicated
in the warrantycard is repaired
free of
charge
withinoneyear(i.e.8 hours/day
x 250days)afterthe
deliverydate if a fault has occurredunderthe appropriate
operatingconditionsand the fault is attributable
to the
manufacturing
process.
(Thiswarrantydoesnotapplyto any
consumable
partsspecified
by Mitsubishi.)
Therobotwill be repaired
on a commercial
basisevenduring
the warrantyperiodif thefaultand/ordamageis attributable
I O :
1) Act of God (e.9.earthquake,
damagesfrom wind and
water).fire.
2) Using mistake.
3) Movementor transportation
after installation.
4) Repairor modification
made by otherthan Mitsubishi.
5) Equivalents
for the above
WARNING
Consumableparts (e.g. motor, brush, timing belt, curl
cable|are changedon a commercialbasis.(Forconsum-
able parts,seeSection4 MAINTENANCE
PARTS,
Vol. 4.)
(3) Any warranty card without the delivery data and sales
representative
nameenteredis invalid.
(4) lmmediately
contact
the salesrepresentative
if anv fault has
occu
rred.
{5) Thewarrantycardmustbe shownto the service
engineer.
lf
the warrantycard is not shown, a servicingfee may be
chargedeven duringthe warrantyperiod.
2)
O R o b o t a r m
. . . . . . . . . . .
. . . . . . . . . . .
M u n s e l l
€)Robot
base.....................
Munsell
€)Drive
unit . Munsell
@ T e a c h i n g
b o x. . . . . . . . . . . .
. . . . . .
M u n s e l l
OMotor-operated
hand........
Munsell
The standard
paintcolorsare subject
10Y8/1
70% gloss
10Y3/1
70% gloss
10Y8/1
70% gloss
5.2G2.510.2
N2.5metallic70% gloss
to changewithoutnotice.
35. CONTENTS
(OPERATION}
1. TRANSPORTATION,
INSTALLATION,
ANDSETTING-UP............ ,..........
2-1
1.1 Transportation
oftheRobot.... ........2-1
1,2 Installation
oftheRobot..... .............2-3
1.3 Transportation
andInstallation
oftheDrive
Unit................. .............. 2-5
1.4 lnstallation
ofthel/OCard ...............2-s
1.5 Grounding .............2-6
1 . 6 C a b l e
C o n n e c t i o n s
. . . . . . . . . . . . ' . . . . . . . . . . . . . - . . . . . . . . . . . . . . . . 2 - 7
1.7 Installation
oftheHand
(Option)..........' ...................2-8
1.8 Installation
oftheTeaching
Box(Option) ................
2-10
1.9 fnstallation
oftheBackup
Battery
(Option) ..............2-10
1.10 lnstallation
oftheEmergency
StopSwitch ..............2-11
2. BASfCFUNCT|ONSOFSYSTEMCOMPONENTS................... ..............2_12
2.1 Drive
Unit ............
2-12
2.1.1 Functions
offrontcontrol
switches
andLEDs................ ........2-12
2.1.2 Functionsof
sidesettingswitchesandLEDs............... ..........2-13
2.1.3 Functionsof
connectors,
switches,
andterminal
blockonrearpanel...............2-16
2 . 2 T e a c h i n g
B o x. . . . . . . . . . . . . . . ' . . . . . . . . . . . . . . 2 - 1 8
2.2.1 Functions
oftheswitches ...........................
2-19
2.2.2 Functions
ofeach
key....... ..........................
Z-19
2.2.3 Functions
oftheindicator
LED
................. ........................... 2_21
2 . 2 . 4 R e l e a s i n g t h e b r a k e s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 2 2
2.2.5 lntelligent
commands
corresponding
to each
key.........................................2-22
3. BEFORE
STARTfNG
THEOPERATION .........................2-23
3,1 System
Configuration.........'.... .....2-23
3.1
.1 System
configuration
centering
around
a personalcomputer'...
. .. . ............2-23
3.1
.2 System
configuration
centering
around
thedrive
unit........'.........'...
...........2-24
3.2 Robot-Computer
Link............. .....2-Zs
3.2.1 Centronicsinterface.....
. .. ...... ..................2-25
3.2.2 RS232C
interface....'..'.. ......2-25
3.3 Control
Modes.. ...........................2-26
3.3.1 Personal
computer
mode ...'.......
............
.2-26
3.3.2 Drive
unitmode ...'..'..'.......2-28
4. FROMPOWER-UPTOORtctNSETT|NG. .....................2_29
4.1 Setting
theSideSetting
Switches .. . .....'.. ..'. .. ...2-29
4 . 2 T u r n i n g
P o w e r
O N. . . . . .
. . . .. . . . . . . . . . . . . . . . . . . . .
. . . . . . . .
. 2 - 2 9
4.3 OriginSetting ......2-29
36. s. PosfTfoN
SETT|NG
PRoCEDURE
.................. ............2-30
5.1 Setting
theCartesian
Coordinate
System
Reference
Position...............
...................
2-30
5 . 2 S e t t i n g t h e T o o l
L e n g t h
. . . ' . . . . . . . . . . . . . . . . . . ' . . . . . . . . . . . . . . . . .
2 - 3 0
5.3 Def
ining,Verifying,
Chang
ing,andDeleting
thePositions
'. ..... . .2-31
6. PROGRAM
GENERATION
ANDEXECUTION.. ,..,.,,..,..,,2-33
6.1 Generating
andTransferring
a Program ..........'......
2-33
6.2 Executing
theProgram ..'.'...........2-34
6.2.1 Stepexecution ..-..-.......'..'..2-34
6.2.2 Starting
theprogram .... .2-34
6.2.3 Stopping/resta
rting
theprogram .......
...... . 2-35
6.2.4 Stopping/resetting
theprogram ......'...........
2-35
7. WRITINGTHE PROGRAM/POSITION
DATA IN EPROM
(PERSONALCOMPUTERMODE).......
.. . ...................2-36
7.1 Inserting
Erased
EPROM ..'..'........
2-36
7.2 Writing
Data
intoEPROM ..............
2-36
7.3 Precautions
forStorage
ofEPROM ..........
..'....'....
2-36
8. OPERATfON
USING
THEEPROM
DATA ......................2-37
8.1 lnserting
theEPROM
. ......... ......-..2-37
8.2 Setting
theSide
Setting
Switches
.......... .....'.'....'.'.2-37
8 . 3 T u r n i n g P o w e r O N
" ' . . . ' . . . . . . . . . . . . . . . - - . - . . . . . . . . . . . ' . ' . 2 - 3 7
8.4 Executing
theProgram ....-....-....-..2-37
8.4.
1 Stepexecution. ..................
2-37
8.4.2 Starting
theprogram --.-..--..2-37
8.4.3 Stopping/resta
rting
theprogram .......'.....'.'.
2-38
8.4.4 Stopping/resetting
theprogram ...............'..2-38
9. OPERATIONUSINGTHEEXTERNALSIGNALS ..........,,2-39
9.1 Setting
theSwitches.......... .......'...
2-39
9.2 Executing
theProgram .................
2-39
9.2.1 Starting
theprogram ..........
2-39
9.2.2 Stopping/resta
rtingthe program ..'.".'..'.'....2-39
9.2.3 Stopping/resetting
theprogram ......'...........
2-39
10.ERRORCOND|T|ONS.......... .............2-40
37. 2. OPERATION
1. TRANSPORTATION.
INSTALLATION,
AND
SETTING-UP
1.1 Transportation
of the
Robot
Fig. 2.1.1 Transportation of the Robot
(1) Fig. 2.1.1shows the locationsto be held bv hands when
transportingthe robot.
12)Beforetransporting
the robot,release
the brakesin accord-
ancewith Section
2.2.4,
Vol.2, movethe firstarm (4)in the
positivedirectionand the secondarm (6) in the negative
direction
untiltheyarepressed
against
thestoppers
asshown
in Fig.2.1.1,
andinstall
thearmfixingplate
(5)to thefirstarm
(4)and body (1).
(3) Whenraising
the robot,takeholdof theunderside
of body11)
or base{2) with your both hands.
(4) Never take hold the sides or back of shoulder cover (3), or
damage to the cover or personal accidentcould result.
39. 2. OPERATION
Installation
F o u r M 8 X
1.2 Installation
of the Robot
Dolt,
30 hexagon
Front ot rooot
Fig. 2.1.2 Installation ot the Robot Fig. 2.1.3 Robot lnsta ed Dimensions
l1) Fig.2.1.2shows how the robot is installed.
(21The robotmountingsurface
hasbeenmachined
for accurate
installation.
Usingthe 0 9 mountingholesprovidedat four
cornersof the base and the installation
bolts lMg X 30
hexagon
socketheadbolts)furnished,
secure
the robotonto
the floor.
It is recommended
that commonsurfaceplatesbe usedro
ensure
thatthe robotis properly
aligned
with the equipmenr,
jigs, and fixtureson which the robotworks.
Surface
roughness
of the surface
platesontowhichthe robot
is to besecured
mustbe Vv or more.A roughsurface
is the
causeof poor contactbetween
the robotand surfaceplate,
resulting
in misalignment.
Thefixingplate(4)is installed
beforeshipmentas shownin
Fi7.2.1.1
to protect
thearm(5)duringtransportation.
Remove
this platebeforeoperating
the robot.
(6) Thecustomer
shouldkeepthefixingplateas it mustbe used
when transporting
the robot.
17) Fig. 2.1.3 shows the installeddimensions of the robot.
(8) Removethe arm fixing plateafterthe installation
is complete.
When the robot is transportedon a surfaceplate,this plate
must be keptfit on the robot untilthe robot is finallvinstalled.
{3)
(4)
(5)
82 1 6 8
60
.---+i
I
les
41. 2. OPERATION
1.3 Transportationand (1) Use care not to subjectthe drive unit to excessiveshocksand
Installationofthe Drive vibrationsand not to let it topple over or tilt duringtransporta-
Unit tion.
(2) Wherever feasible,keep level the drive unit when installed.
The tilting angle should be kept within 20".
(3) Keep the ventilationopening in the drive unit open to
atmosphere.
(4) Allow a distanceof 100mmor more betweenthe backpanelof
the drive unit and the adjacent
wall. When the drive unit is
installedin a cabinet,make sure that it is well ventilatedfor
ample heat dissiDatio
n.
1.4 Installationof the l/O
Card
Fig. 2.'1.4Insta ation ot the Drive Unit
Insertyour l/O card into the empty slot {the secondone from the
left)in the rearof the drive unit.At this time, ensurethat the card
fits in the upperand lower guide railsprovidedin the slot,slidethe
cardall the way into the slot,and secureit by tighteningthe upper
and lower screws. Fig. 2.1.5 shows the installationproceoure.
The type of your l/O card is identified by a unique symbol as
follows: A8, i2A; 88, *28; A16, #2C: and, 816. fi2D. The
symbol is silk-screen-printed
on the sheetmetalof each card.
(Setbit 3 of the side panelswitch SW'l in accordarrce
with the l/O
card used. See Section 2.1.2.)
Itttttilililililtilliltl
Q
-'.
!== *nff
Fig. 2.1.5 lnstallation ot the l/O Caro
42. 2. OPERATION
1.5 Grounding {1) Whereverfeasible,providethe separategroundingdedicated,
respectively,
to the robot and the drive unit. Forthe drive unit.
notethat the frame ground terminalprovidedon its rearpaner
is the ground connection.
Usethe Class3 grounding(groundresistance
100ohms or
below).The best methodto be employedis the dedicated
grou
ndIng.
Use a 2-mm2-or-more
groundingwire.
Locatethe grounding point as near the robot and drive unit
and keep the grounding wire as short as possible.
D/U: Driveunit; P/C:Personal
computer
(21
(3)
t4l
T
FI
T
-=-
a) Dedicated
lBest) b) Shared(cood)
Fig.2.1.6GroundingMethods
c) Common (Fair)
43. 2. OPERATION
1.6 Cable
Connections
D r v e l n i t
M o t o r s i g n a lc a b e
{ T v p e :M S M l )
Motor power cab e
(Type: MP N,4
I j
Fig. 2.1.7
Fig. 2.1.7 shows the cable connections.
Beforeattemptingto connectcables,makesurethat the power
switchon the rearpanelof the drive unit is in the OFFposition.
Plugthe power cord into the AC inlet on the rear panelof the
drive unit.
Connectthe motor signalcableand motor power cableto the
correspondingconnectorsin the robot and drive unit.
The two cables have no specificorientationfor connection.
Eitherend can be hookedup to either unit.
When securing the connector, be sure to raise the spring
latcheson both sides of the connectoras illustratedin Fig.
2 . 1 . 8 .
{7) Use specialcarewhen routingthe cables.Do not pull hard or
bend the cables, as an open-circuitedcable or damaged
connectorcould result.
Spring latch
Raise
( 1 )
2)
(3)
t4)
(5)
(6)
t
Fig.2.1.8 Securingthe Connecto.
44. 2, OPERATION
n ,t-
lol r
n JJJ
Ar
lr
€/
F i t n y l o n c l r p
1.7 Installation
oftheHand
(Option)
Connector on fore arm Curled cable (Hl.4-CBL)
Position of the connecror
Fig. 2.1.9 Installation of the Hand (Option) Fig. 2.1.10 Hand position When Installed
Fig.2.1.9shows how the motor-operated
hand {option)isto be
installed.
Fig. 2.1.10shows the position of the hand with referenceto
that of the hand moundingsurfacewhere the hand is installed.
(Forinstallation,
usetwo M3 x 12 hexagonsockethead bolts.)
Afterthe hand has beeninstalled,
securethe curledcableonto
the connectoron the hand and that on the fore arm as shown
in Fig. 2.1.9.Using the nylon clip furnishedwith the hand,
secure the straight section of the curled cable to the cable
cover.
lf the hand is customizedby the customer,makesurethat the
hand weighs 1.2 kg{ or less including the workpieceto be
handled. (At this time, ensure that the center of gravity is
located 75mm or lower than the hand mounting surface.)
Table2.'1.'1
liststhe specifications
of the motor,solenoidvalve,
and connectorsfor the custom-built hand.
( 1 )
t2)
(3)
t4l
(5)
J5 axis dog
WARNING
The curledcablemay get caught betweenwrist housing
andfore arm duringoperationof the robot equippedwith
a hand,dependingon the positionof wrist pitch (J4axis)
andwrist roll (J5axis).Avoidusingwith the robot in such
a position.
45. 2. OPERATION
Key
No.
Description
Connector Connector
pin
Manufac{urer
Name Type Tvpe
ill Connectoron fore arm
SM
connector
SMP,O2V.BC SHF,OOl
T O.8SS
SOLDERLESS
TERMINAL
MFG,CO,,LTD.
.r., Cableconnector(onarm side) SMRO2V-BC sYM 001T,0.6
a3-' Cableconnector
(on handside)
S R 1 3
connector
s B1 3 , 1 0 R
2 P( 0 1 ) Furnished
withconnector HIROSE
ELECTRIC
CO.,LTD,
i4l Connectoron hand sBr3roP.2s
(01) Furnishedwith connector
C!rled cable
(HM,CBL)
WrJstflan
Forearm
"Specifications
for cLrstom-built
hand
WARNING
The hand select switch
located on the rear
panel of the drive unit
must be set properly
according to the type of
hand to be used (AC or
DC). Wrong setting can
be a cause of a burnt
dflve source.
NOTEr
. Installvalve on top of forearm and connect
line wire to connectoron forearm (1).
. The load capacity will be reduced by the
weight of the valve.
Motor-operated hand
NOTE:
. M o d e l 1 0 6 - 3 0 0 1
( S M 2 6 )
motor manufactu
red by
Sanyo Electricis recom
mended.
Pneumatically-operated hand llotor operated hand
Drivesource:AC solenoidvalve
Power requirements.120,220,230,240V
AC
(Dependingon sourcevoltage in the country)
Allowablecurrent: Max.0.5A(120V
AC),
0.254l22O to 24Ov AC)
Drivesource:DCmotor
Powerrequirement
| 24VDC
Capacityr6.5W
Table2.1.1Specificationstor the Motor, Solenoid Valve,and Connectorsfor Hand
46. 2. OPERATION
1.8 lnstallationof the
Teaching Box (Option)
When using the teachingbox (option),be sureto plug the teaching
box cableconnectorintothe matingconnectoron the rearpanelof
the drive unit (thelower connectoron the l/Ocard)beforeturning
power ON. At this time, do not forgetto raisethe spring latchesto
secure the connector rnto posrtron.
Wheneverthe connectoris pluggedand unplugged,make sure
that the drive unit is OFF.
l/O card or f,2C or #2Dl
Fig. 2.'1.11Connecting the Teaching Box
1.9 lnstallationof the To installthememory backupbattery{option),proceedasfollows.
Backup Battery (Option)
After ensuringthat the power is OFF,loosen the upper and
lower screws on the card in the first slot from the left in the
rear of the drive unit. Then. slide the card all the wav out.
Pass
theLt"_V!"o*(-liS,llgu_oJf
!_el€lJurnished
intothemount-
ing hole in the empty area locatedon the right bottom of the
cardand securethe batteryin positionas shown in Fig.2.1.12.
Pickup the both endsof the batterysocketand plug the socket
into the connector(PS'1)
on the card. At this time. make sure
that$9SgegJ_tj,q,s_o_cJtelylgLg_t!9_gle,gg_oge_
j9,v_'jJ9!E
Je999.
9SWg^ltlg,gelg,SyIgggl
to en
sure correctpoIarity.
(4) Afterthe aboveprocedures
havebeencomplete,
reinsert
the
cardintothefirstslotfrom theleftandsecure
it bytightening
the upperand lower screws.
( 1 )
(21
(3)
.aa Q
&
tnt
ltil
IlJI
?t
o
47. 2, OPERATION
WARNING
Beforethe drive unit is first turned ON after the battery
has been installed,be sure to flip down (to the OFF
position)bit 2 of SWI locatedinsidethe sidedoor of the
unit.
After the power has beenturned ON, flip up (to the ON
position)bit 2.
1.10Installation
ofthe
Emergency
Stop
Switch
Fig. 2.'1.12.
Froma safetyviewpoint,be sureto installthe emergency
stop
switchat a locationwhich is readilyaccessible.
(1) Usethe "EXT.EMG.STOP"terminals
on the rearpanelof the
drive unit for connection
(2) Removethe strapfurnishedand connectthe COMterminal
and NC terminal{norma
lly-closed
) of the emergency
stop
switchto the terminals.
Use care not to losethe strap.
(3) Electrical
ratingsfor the emergency
stopare 'l2VDC,25mA.
Select
wirethatofferssufficient
strength
andgoodresistance
to environmental
cha
nges.
48. 2. OPERATION
2. BASICFUNCTIONS
OF
SYSTEM
COMPONENTS
2.1 DriveUnit
2.1.1Functions
offront
controlswtichesand
LEDs
( 1 )
t2)
r r l
l2')
i3)
i.4)
( 6 1
!,1)
Fig.2.2.1 Dtive Unit Front Panel
POWER
(PowerindicatorLED,yellow)
Lights
upwhenthedriveunitisturned
ON.lt isOFF
whenthe
fuse in the rear panelis blown.
EMG.STOP(Emergency
stop switch,red)
Theemergency
stoppushbutton
switch.Whenthisswitchis
pressed,
theservosystem
iscutoffandthebrakes
areapplied,
thus bringingthe robotto an immediate
stop.At the same
time,theerrorindicator
LED(3)flashes
OFF
andONwith LED3
located
insidethe driveunit sidedoor lighting
up.
ERROR
(ErrorindicatorLED,red)
Blinks
or lightsup to warnthatan errorhasoccurred
in the
system.In error mode I, it blinksat 0.s-second
intervals.
while in errormode II. it lightsup and stayslit.The buzzer
sounds
in phase
withtheONtimingof thisLEDif it hasbeen
set to ON {bit 8 of SWl insidethe side door in the upper
position).
EXECUTE
(Commarid
execution
indicatorLED,green)
Lightsup andstayslitwhilea commandis beingexecuted
by
operaing
the driveunitor teaching
box.lt goesout whenthe
execution
has beencompleted.
lt staylit whilea programrs
running.
START(Startswitch,green)
Startsthe programor restarts
it from an suspended
state.
(3)
(4)
POWER
t!1ovEt,lASTEREX
EMG.STOP
ERROR
EXECUTE
START
STOP
RESET
M I T S U B I S H I
(5)
49. 2. OPERATION
(6)
t7)
STOP(Stop switch, red)
Stopsthe programbeingexecuted.
At this time, the robor
completes
executing
the currentcommandbeforeit stops.
Thismeansthat,if the robotis executing
a movecommand
when the switch is pressed,
it will completereaching
the
destination
point.
RESET
(Reset
switch,white)
Resets
the programsuspended
by the deperssion
of the stop
switchand errormode II. Whenthe switchis pressed,
the
programreturns
to itsbeginning
and,if anerrorhasoccurreo,
the error indicatorLEDgoes out. Note,however,that the
general-purpose
l/O outputsare not resetat this time.
(el [o)
Fig.2,2.2 Dtive Unit Side Panel
SOC2(EPROM
socketfor programand positiondata)
A usersocketfor installation
of an EPROMinto which the
program
andposition
datahavebeenwritten.
TheEPROM
can
beinserted
into,or removed
from,thesocket
byjustoperating
the lever providedunder the socket.When insertingthe
EPROM,
makesurethatthe indentation
is positioned
on the
left.
ST1 (Controlmode settingswitch)
Setsthe controlmodeof the driveunit(upperposition:
drrve
unit mode; lower position:personal
computermode).
2.1.2 Functions
of side
settingswitchesand
LEDs
(1r)
l)?)
(8)
(s)
50. 2. OPERATION
(10)ST2{Select
switchwhetherto transfer
datafrom EPROM
to
RAM upon power-up)
Selects
whetherto transferdatafrom EPROM
to ciriveunit
memoryRAMwhenthepoweristurnedON(upper
position:
EPROM
datais transferred
to RAM;lowerposition:EPROM
datais nottransferred
to RAM).
TheRAMdatais usedto run
a programfrom the driveunit.lt is therefore
necessary
to
previously
setthisswitchto theupperposition
whenrunning
a programby meansof datawritten in EPROMafterthe
powerhasbeenturnedON.Whena programisto be run by
the battery-backed-u
p RAM, set this switchto the lower
position.
(11) SW1 (Functionselect DIP switch; Bits are numbered 1
through 8 from left to right)
Bit 1: Selects
theterminator
for datatransmission
from the
driveunitthroughthe RS232C
interface
(upperposi-
tion:CR* LF;lowerposition:
CR).
Flipthisbitdown
to the lower positionunlessyou use MULT|16.
Bit 2: Selects
whetherto checkif the contents
of the RAM
data are retainedupon power-up{upperposition:
Checkis performed;lower position:Checkis not
performed).
Set this bit to the lower positionif the
battery(option)is not used.
lf the batteryis to be used,set the bit to the lower
position
whenthe systemis firstturnedON afterthe
battery
hasbeeninstalled;
thereafter,
placethe bit in
the upper position.Then,error mode I is caused
when poweris turnedON if the contents
of memory
arenotproperly
retained
duringpowerdowndueto a
batteryfailureor other cause.(At this time, LEDS
insidethe driveunit sidedoor lightsup.)
Bit3: Selects
thetypeof l/Ocardused{upperposition:
type
A16 or 816; lower position:type A8 or B8).
Bit 4: Selects
whetheror not to set,change,
or deletethe
reference
positiondata in the cartesian
coordinate
system (upper position:enabled; lower position:
disabled).
Set this bit to the upper positionwhen
setting the cartesiancoordinatesystem reference
positionsand when loadingthe reference
position
datawrittenin the EPROM
into the RAM;otherwise,
setit to the lowerposition
to avoiderroneous
setting.
51. 2. OPERATION
Bit 5: Selects
to enableeitherthe drive unit front control
switches
or external
signals
for runningthe program
whiletypeA16 or 816 l/Ocardis beingused(upper
position:external
signals;lowerposition:front con-
trol switches).
When this bit is set to the uDoer
position.
operation
becomes
possible
by meansof the
dedicated
signallineson the external
liO equipment
connector
on thedriveunitrearpanel,
whilethefront
controlswitches
(except
the emergency
stopswitch)
aredisabled.
Withthebitsetto thelowerposition,
the
frontcontrolswitches
areenabled,
whilethe external
dedicated
signallineis disabled.
Place
the bit in the
lowerpositionwhen tyfleA8 or 88 l/Ocardis to be
useo.
Bit 6: Selectswhetherto enabletf'e Sl] key on the
teachingbox to release
robotbrakes.
Normally,
set
this bit to the lower position.
lsee 2.2.4Releasing
the brakes.)
Bit 7: Not used.
Bit8: Selects
whetherto turn ON or OFFthe buzzer
(upper
position:buzzer
soundswhen an erroroccurs;lower
position: buzzerdoes not sound when an error
occu
rs).
(12)SW2 (RS232C
communication
format settingswitch)
SeeCHAPTER
2INTERFACE
WITHTHEPERSONAL
COMPU-
TER(RS232C),
APPENDIX.
(13)SW3 (RS232C
baud ratesettingswitch)
SeeCHAPTER
2INTERFACE
WITHTHEPERSONAL
COMPU-
TER(RS232C),
APPENDIX.
(14)LEDs1 - 5 (Hardware
errordisplays)
Indicatethe
cause
ofthecorresponding
hardware
error(error
mode I ) when it occurs.
LEDl Excessive
servosystemerrors(1stLEDfrom the
teft)
LED2 Open or disconnected
motor signalcable(2nd
LEDfrom the left)
Driveunitemergency
stopinput(3rdLED
fromthe
left)
Teaching
boxemergency
stopinput(4thLED
from
rhe left)
Backupbatteryfailure(sth LEDfrom the left)
52. 2. OPERATION
2.1.3Functions
of
connectors,
switches,
andterminalblockon
rearpanel
?41
L18r 129,
Fig.2.2.3 Drive Unit Rear panel
{15)CENTRONICS
(Centron
ics connector)
Servesas the connector
for the Centronics
interface
that
connects
a personalcomputerand drive unit.
(16) RS-232C
{RS232C
connecto
r)
Servesas the connectorfor the RS232Cinterfacethat
connects
a personal
computerand drive unit.
(17) EXTERNALl/O (Externall/O equipment connector)
Servesas the connectorfor connectingexternal l/O equip-
ment (limit switches,LEDs,programmablecontrollers,etc.)
and drive unit.
{18) TEACHINGBOX (Teachingbox connector)
Serves as the connector for connectingthe teaching box
{option)and drive unit.
i?3)
L2lr
i?7
i l 9 i
(19) MOTORPOWER
(Motorpower cable
Serves
astheconnector
forthepower
unit and robot.
(20)MOTOR
SIcNAL(Motorsignalcable
Serves
astheconnector
forthesignal
unit and robot.
connector)
line betweenthe drive
connector)
line betweenthe drive
(21)EXTElvlG.
STP(Emergency
stop input terminal)
lnput terminalfor connecting
an externalemergency
stop
switch(12VDC,25mA,N/Ccontactterminal).
(22
) G (Frame
ground)
Grounding
terminal
of the driveunit.
53. 2, OPERATION
(23) HANDAC/DC(Handselectswitch)
Selects
eitherDCor ACdepending
on thetypeof driveof the
handattached
totherobot.
Select
DCwhena motor-operated
hand(option)
is used;select
ACwhen usingpneumatically-
operatedhandemployingAC solenoidvalves.Mgbg_€gy}_ly_
s,
yJ9
-9J
-t-te
-c-g
Lr-e,*
-s,{!iJL%
99-
in:ruiL^9J$l^ittY,^
(24) FUSE(Fuse
)
Fuseholdercontaining
a fuse{250VAC, 10A)for the drive
untr.
(25) POWER
{Powerswitch)
PowerON/OFF
switchfor the drive unit.
(26)AC (AC inlet)
lnletintowhichthe driveunitpowercordis plugged.
(120,
220,230,
or 240V
ACdepending
on thesource
powervoltage
rn your countrv)
54. 2. OPERATION
2.2 TeachingBox
2.2.1Functions
ofthe
switches
301
,31
32
L3l
311
361
37
L38l
L39r
40
:4Zl
4 1
27
)
Fig. 2.2.4 Teaching Box
ON/OFF(Power switch)
Selectswhether to enable or disable keys on the teaching
box,When the robot isto be operatedusingthe teaching box,
turn this switch ON. During program run or when controlling
the robot by means of commands sent from a personal
computer,turn the switch OFF.An erroneouskev entrv can
also be cleared by turning the switch OFF.
EMG. STOP (Emergencystop switch)
Pushbuttonswitch used for emergency stop of the robot
{signal is internally latched when this swjtch is presseol.
When the switchis pressed,
the robot is immediatelybrought
to a stop and the error indicatorLEDblinks(errormode I ).
LED4 inside the drive unit side door also comes on.
(28)
2.2.2Functions
ofeachkey (29) INC (+ IENT)
Moves the robot to a predefinedposition with a position
number greater than the current one. To move the robot
through a certainsequence,repeatthe keying-insequence.
(Seecommand
"lP.")
(3r
1141
r46l
i47l
ilEl
191
is0
52i
i53
1541
L56l
(30)
IDE-cl(+
[=NT-]
Moves the robot to a predefined position with a position
number smaller than the current one. To move the robot
through a certainsequence,repeatthe keying-insequence.
{Seecommand
"DP.")
55. 2. OPERATION
(31)
iP.t (+ !N!.@ + lEttfr
Definesthe coordinatesof the current position of the robot
into a position
with the numberspecified.
lf a singlenumber
is assignedto two differentpositions,the one defined last
takesprecedence.
(Seecommand
"HE.")
132), cl r+tN,;crl + Egf)
Deletesthe contentsof a positionwith the number specified.
{Seecommand
"PC.")
(33)
lNSil {+ [FNT]
Returnsthe robot to origin. (See command
"NT.")
(34)
l-bRq-
(+ ENr--)
Moves the robot to the referenceposition in the cartesian
coordinate
system.(Seecommand "OG.")
(35)
mNl(+EE)
Transfers
the contentsof the user EpROM(programano
position
data)installed
in SOC2
of thedriveunitsidepanel
to
the driveunit RAM.(Seecommand"TR.")
(36)
@ (+ fENil)
Writes
theprogram
andposition
datawritteninthedriveuntt
RAMintothe userEPRoMinstalled
in soc2 0f thedriveuntr
sidepanel.
(Seecommand"CR.")
(37)
lMotl (+ [Nfitt] + [ENi])
Movesthe end of the hand to a specifiedposition.(See
command"MO.")The movingspeedis equivalent
to SP4.
(38)
l-rEF (+:M;Grl + aENl
Executesthe program step by step starting with the line
number specified.To cause the program to be executed
sequentiallyfrom one step to another,repeatthe keying-in
sequence. Note that, at this time, no number entry is
necessary.
Error mode II is causedif an error occurswhile
the steps are being executed.
(3e)
[FrPi
Selects the articulatedjog operation. When this key is
pressed,operationof any jog keythereaftereffectsa motion
in eachjoint.In the initialcondition
when the teaching
box is
turned ON, this PTP state is set.
Selectsthe cartesian
jog operation.When this key is pressed,
operationof any jog key thereaftereffectsan axis motion in
the cartesiancoordinatesystem.
(40)
56. 2. OPERATION
l41J
Selectsthe tool jog operation.When this key is pressed,
operationof any jog key thereaftereffectsan axis motion in
the tool coordinate system (advance/retractmotion In rne
hand direction
).
(42)[ENil
Completes
eachkey entryfrom (29)through(38)to effect
corresponding
operation.
(€) [t+/Bfl
Moves the end of the hand in positive X-axis (to the left
looking toward the front of robot) in the cartesian jog
operation and sweeps the waist in the positive direction
(clockwise
as viewed from the top of robot)in the articulated
.log operation.
l44l
(45)
Frle-
Moves the end of the hand in negativeX-axis (to the right
looking toward the front of robot) in the cartesian.jogand
sweepsthe waist in the negativedirection(counterclockwise
as viewed from the top of robot) in the articulatedjog.
wT/s+l
Moves the end of the hand in positiveY-axis(to the front of
the robot)in the cartesian
jog and swivelsthe shoulder.
in the
positive direction (upward) in the articulatedjog.
fa-=- l
LY-{b- l
IVloves
the end of the hand in negativeY,axis(to the rear of
the robot)in the cartesian
jog and swivelsthe shoulderin the
negativedirection {downward) in the articulatedjog.
Moves the end of the hand in positive Z-axis {straight
upward) in the cartesianjog, turns the elbow in the positive
direction{upward) in the articulatedjog, and advancesthe
hand in the tool jog. lt servesalso as the numeric key
"4."
IVlovesthe end of the hand in negative Z-axis (straight
downward) in the cartesianjog, turns the elbow in the
negative direction (downward) in the articulatedjog, and
retracts
the hand in the tool jog. lt servesalsoas the numeric
key
"9."
Turns the end of the hand, while maintainingits current
position determinedby the
"TL"
command, in the positive
direction(upward) in the cartesianjog and bends the wrist
(wrist pitch) in the positivedirection(upward)in the articu-
lated jog, lt also serves as the numeric key
"3.".
(46)
57. 2. OPERATION
(50)
( 5 1
)
[F--e
Turnsthe end of the hand,while maintaining
its current
positiondetermined
by the "TL" command,in the negative
direction
(downward)
inthecartesian
jog andbends
thewrist
(wrist pitch)in the negativedirectionldownward)in the
articulated
jog. lt also servesas the numerickey "8.".
tR+2
Twists
thewrist(wristroll)inthepositive
direction
{clockwise
looking
towardthehandmountingsurface).
lt alsoserves
as
the numerickey "2."
(53)
,-^, t^
---=
czl lI t l
(57)
(58)
Twiststhe wrist (wristroll)in the negative
direction
(coun-
terclockwise
lookingtowardthe handmoundingsurface).
lt
also servesas the numerickey "7."
FoprrorlTll
Moves the optional axis in the positive direction. lt also
serves as the numeric key
"1,"
Movesthe optionalaxis in the negativedirection.lt also
serves
as the numeric
key "6."
t<otal
Opensthe handgripper.lt alsoservesas the numerickey
" 0 . "
(55)
(s6)
The
tlc< 5l
Closesthe hand gripper. lt also serves as the
c .
4-digit LED shows the following information.
Positio
n number
Shows the position number in 3 digits when
lP.='1,
Eql, o' lrvtbvlkeyis beins
used.
Program
linenumber
numerickey
Functions
of the
indicator
LED
[Ni], JoEfl
Showstheprogramlinenumberin 4 digitswhen[SiiPlkey
is beingusedor when programis running.
(59)Teaching
box statusindicator
(thefirst digit from the left)
"-
1"meansprocessing
invoked
by depression
of ENTkeyis
eitherin progress
or at an end.
"!" meansprocessing
invokedby depression
of ENTkey
cannotbe carriedout.
58. 2, OPERATION
2.2.4Releasing
thebrakes when the systempoweris oFF or when errormode I occurs,
brakes
areapplied
to J2 andJ3 axesof therobot.Thismeansthat
theseaxesof motioncannotbeachieved
externally.
Thefollowing
stepsmay,however,
beperformed
to release
thebrakes
andallow
for the axismotionexternally.
Theprocedures
canbe useownen
servicing
the robotor positioning
it for packing.
(Remember,
you
must havethe teachingbox to performthe procedure.)
(1) AfterpowerhasbeenturnedON, pressthe emergency
stop
pushbutton
switchonthefrontpanelof thedriveunitto cause
errormode I.
(2) Flipup {to ON position)
bit 6 of SW'l locatedinsidethe side
door of the drive unit.
(3) Settheteaching
boxON/OFF
switch
to ONandpress
the ENTI
keyto release
brakes
inJ2 andJ3 axes.
At thistime,besureto
holdthe robotarm with vour handsso that it will not droo
down bv its own weiqht. Note that the brakesare released
J2 andJ3 axesatthesametime;brakes
arereapplied
assoon
as the fENil key is released.
(4) Aftertherequired
job hasbeencompleted,
besureto flip bit 6
of SW'l down (to OFFposition).
2.2.5Intelligent
commandsThefunctions
of the keyson the teaching
box correspond
to the
corresponding
to eachfunctions
invoked
by intelligent
commands
sentfromthepersonal
key computeras follows.
tNc
P . S
t J I
TRN
MOV
< o >
" tP"
11E
" NT"
"TR"
"MO"
" G O "
* "DP"
* "PC"
* "oG"
* ,,WR,,
p-a-
fFr. 1
tbRGI
twBil
Dc{l* "cc"
59. 2. OPERATION
3. BEFORESTARTINGTHE
OPERATION
3.1 SystemConfiguration
3.1.1Systemconfiguration
centeringarounda
personalcomputer
This chapter gives the overview of the operation and program-
ming as initiationto the robotic system.
TheMovemaster
systenr
maybeconfigured
intwo different
ways.
Thefollowingparagraphs
describe
theuniquefeatures
of,andthe
basicidea behind,eachsystemconfiguration.
Thissystemconfigures
the Movemaster
with a personal
compu-
ter.The personal
computerinvokes
the robot'saxismotionsby
the intelligent
commands
provided
in the Movemaster.
In this
configuration,
thepersonal
computer
actsasthebrainthatcauses
the robotto performa varietyof tasksincludingassembly
and
experimentation,
When configured
with a whole rangeof peripheral
equipment,
suchasthe printer,
X-Yplotter,
external
storage,
andsensors,
the
systembecomes
a highlyexpandable,
enhanced
one.Thesystem
will alsobecomehighlyflexible,
sinceall roboticmotionsare
effectedby the programwritten with the personalcomputer.
Possible
application
areasincludethe trainingand research
programs,preliminary
assessment
of a roboticsystembefore
makinga decisionto investin it, and laboratory
automation.
Thisconfiguration
corresponds
to the personal
computer
control
modeto be decribed
laterin this manual.
Personal
computer
Expansion
unit tuB: Keyboard;
D/U: Driveunit
- - - - - - l
Measuring X Y plotter Printer Sensor
equipment
2.3.1 Typical System Configuration Cenlering
lMovemaster
Around a Personal Computer
Fis.
60. 2. OPERATION
3.1.2 Systemconfiguration
centering
around
the Thisconfiguration
uses
thedriveunitto drivetheMovemaster
and
driveunit the personal
computeris usedonly for programming
purposes.
Theprogram
writtenwith thepersonal
computer
istransferred
to
thedriveunitfor laterrunningthe robot.Thismeansthatyou do
not needto installa personal
computer
on the actualproductaon
floor.Signalexchange
between
the robotand peripheral
equip-
ment such as limit switches,
relays,LEDs,and programmable
controllers
is accomplished
throughthe externall/O port in the
driveunit.Theprogram,
whichisstoredinthebuilt-in
EPROM,
can
be easilychanged
by just exchanging
the existingEPROM
for a
new one.
Application
areasincludethe productionlines and inspection
stationsin the plants.
Theconfiguration
corresponds
to the driveunit controlmodeto
be described
laterin this manual.
Programmable controller Movemaster
Fig.2.3.2 Typical System Contiguration Centering Around the Drive unit
h
F
Personal
computer
61. 2, OPERATION
3.2 Robot-Computer
Link
3.2.1 Centronics
interface
3.2.2 RS232C
interface
The drive unit makesavailabletwo tvoes of interfaces
for the link
betweenthe lvlovemaster
and a personalcomputer.The following
paragraphs outline the features of each interface.Study the
descriptionsand use the appropriateinterfaceaccordingto your
personalcomputer and application.For more details,see CHAP-
TERS
'l
and 2 INTERFACE
WITH THE PERSONALCOMPUTER,
APPENDIX.
This is originally
the parallel
standard
for printers
established
by
CentronicsCorporation.Most printersand X-Y plotterscurrently
in use support this standard.The personalcomputer sends8 bits
simultaneously,
or in parallel,and the dedicatedsignal lines
control the flow of data.
Though restricted
to small distancesof 1 to 2 meters,the parallel
transmissionensuresa transmissionsoeed faster bv far and
requiresno specialsettings,thus allowingfor easeof applications.
The Movemasterhas the interfaceequivalentto that used in the
printer,meaning that the data transferls only one-wayfrom the
personal computer to the robot. Also, part of the intelligent
commands (thoserequestingfor read of data on the robot side,
includingWH, PR,and LR) cannot be used.
Data communicationis done bv the LPRINTstatementin BASIC.
The RS232C interface was originally the standard for data
communication
equipment
usingtelephone
linesand hasevolved
into the serialdatatransmissionstandardfor the computerand its
peripheralequipment.
Sincedata are sent alonga singlewire, or channel,
one bit at a
time, it takeslongerthan in the parallel
transmission
if the baud
rate is low. Settingson the robot must also match those on the
personal computer and not all personal computers can be
emoroveo,
Its bidirectionaldata transfer capability,however, enables the
personalcomputer to read the robot's internaldata. Serial also
permitsa transmission
distance
longerthan parallel,
as long as 3
to 15 meters,and allows conflgurationeven when the Centronics
port of the personalcomputer has been occupiedby a printer or
other Derioheraldevice.
In BASIC,
datacommunication
isdoneby the OPEN,
PRINT#, and
LINE INPUT f statements.
62. 2. OPERATION
3.3 ControlModes Theseparagraphs
describe
thetwo controlmodesavailable
with
the Movemaster,
i.e.,thepersonal
computer
modeanddriveunit
mode.
3.3.1Personal
computer Lsetting
procedurel
mode Setthetoggleswitch(ST1
) located
inside
thedriveunitsioeooor
to the lower position,
lExplanationJ
fhis modeallowsthepersonal
computer
to execute
theintelligent
commandsdirectly,
write and transfera program,and startthe
program
transferred
to thedriveunitRAM(themodecorrespond-
ing to 3.1.1Systemconfiguration
centering
arounda personal
computer).The operationin this mode is divided into the
following
threephases
just as in the general
BASIC.
Inthefollowingoperations,
be sureto keeptheON/OFF
switchof
the teaching
box in the OFFposition.
(1) Directexecution
Thisphasedirectly
executes
the intelligent
commands
of the
Movemaster,
Forexample,
to movethe robotto a previously
taughtpoint(position
1) usingthe command
"MO" (move),
the character
string:
"MO 1" (Moveto position
1)
is sent in ASCIIcode.This corresponds
to:
L P R I N T
" M O 1 "
for the Centronics
interface,
and
P R I N T
r 1 , " M O 1 "
for the RS232C
interface
(spacemay be omitted).
Thecommandssequentially
sentin this phaseareexecuted
oneby oneandtheydo notform intoa program
storedin the
drive unit.
(2) Programgeneration
The personal
computerin this phasegenerates
a program
usingthe Movemaster
commands.
The programis storedin
the drive unit RAM.
For example,to write a programfor the roboticmotion
effected
above,the character
string:
" 1 0 M O 1 "
is sent in ASCIIcode;wherethe numberat the beginning,
"10,"represents
theMovemaster
programlinenumber,
which
identifies
theorderof storage
in memorylikethoseusedinthe
generalBASIC.
The programis executed
in the orderof the
linenumber.Besure,therefore,
to assign
the linenumberat
the beginningwhen writing a program.Line numbersare
possiblefrom 1 up to 2048.
The Centronics
equivalent
to the above;s:
L P R I N T
" 1 0 M O 1 " .
whilethe RS232C
equivatent
is:
P R | N T
# 1 , " 1 0 M O 1 " ,
wherethe spacemay be omitted.
63. 2. OPERATION
13)Programexecutio
n
In this phase,the programstoredin the drive unit RAM is
executed.
The programis startedby sendingthe command
"RN" whichcorresponds
to "RUN,"the programstartcom-
mandin BASIC,
The Centronics
equivalent
to this command
I S :
LPRINT
"RN",
whilethe RS232C
equivalent
is:
P R I N T
# 1 ,
" R N " .
Now, let us study some of the typicalprograms.
(Example1) Directexecution(Centronics)
lOOLPR
INT
1 1 0L P R I N T
120LPB
INT
130LPB
INT
140LPR
INT
1 5 0E N D
R U N
O K
" N T "
" s P 7 "
" M O 1 0 ,
" M O 1 1 ,
hand opened.
hand ciosed.
o"
C "
Origrn setting (nesting).
Set speed at 7.
fMoveto position 10 with
Close hand {grip close).
Move to position 11 with
End BASICprogram.
Run BASICprogram.
End Movemasterprogram.
End BASICprogram.
Run EASICprogram.
Run Movemasterprogram.
Inthisexample,
hitting
"RUN"
causes
eachline(numbered
100to
150)of the BASICprogram to be executed,which in turn causes
each of the Movemaster commands to be directly executed
sequentially(with resultantrobotic motions).
lExample 2) Program generationto execution(Centronics)
l O OL R P I N T
" 1 0 N T "
1 1 0L P R I N T
" 1 2 S P1 "
120LPBTNT
"14 t4010,
1 3 0L P R I N T
" 1 6 G C "
140LPRTNT
"18 t,40
1r,
150LRPINT
"20 ED"
1 6 0E N D
R U N
O K
L P R I N T
" B N "
o"
c"
Inthisexample,
hitting
"RUN"
causes
eachline{numbered
100to
160)of the BASICprogram to be executed,which in turn causes
the Movemaster program (lines numbered 10 to 20) to be
transferred
to the drive unit. Notethat,at this time,the robot does
not start its motion.
When
"RN"
is then transferred.it resultsin the robotic motion.
64. 2. OPERATION
3.3.2
Driveunitmode I q 6 + r i h ^ n / ^ ^ a ; | , 1 6 l
Setthetoggleswitch{ST1)
located
inside
thedriveunitsidedoor
to the upper position.
IExplanation]
Thismodeallowsthe programstoredin the driveunitEPROM
or
batte
ry-backed-u
p RAM to be executed(corresponding
to 3.1.2
Systemconfiguration
centeringaroundthe drive unit).In this
mode,thefrontcontrolswitches
ofthedriveunitareusedto start,
stop,and resetthe program.
lf type,A16
or B'16
l/Ocardis being
used,operationis possibleby meansof externalsignals.Any
commandsentfrom the personal
computeris not honored.
65. 2. OPERATION
4. FROMPOWER-UP
TO
ORIGIN
SETTING
4.1 Settingthe SideSetting
Switches
4.2 TurningPowerON
4.3 OriginSetting
This chapterdescribes
the procedures
that must be performed
afterdelivery
and installation
of the systembeforeinitiating
the
actualroboticoperations.
Before
turningthesystempowerON,setthesidesetting
switches
asfollowsby referring
to 2.1.2Functions
of sidesettingswitches
and LEDs.
ST1
: Lowerpositlon(Personal
computermode)
ST2: Lowerposition{EPROM
data is not transferred
to RAM)
Turn ON the power switch locatedon the rear panelof the drive
unit. When the drive unit is turned ON, the power indicatorLED
(POWER)on the front panel of the drive r.rnitlights up.
The robot must be returnedto origin as follows after power is
turned ON. This is done to match the robot's mechanicalorigin
with the controlsystem'soriginand is requiredonly onceafterthe
power is turned ON. Here is the motion of each axis:
1l J2, J3, and J4 axes move to their respectivemechanical
ongrns.
2) Then, J1 and J5 axes move to their respectivemechanical
ongins.
Be alert,at this time, that the arm could interferewith the objects
surroundingthe robot.lt must thereforebe moved as appropriate
to a safe position using the teaching box before attempting to
returnthe robot to origin.The command executionindicatorLED
(EXECUTE)
on the drive unit front panel stays lit during origin
setting and goes out as soon as it completes.
Using the teaching box
1) Turn ON the teachinq box ON/OFFswitch.
2) Press
INSTl and ENT, successively
in that order.
Using intelligentcommands through personal computer
1) Turn OFF the teaching box ON/OFFswitch.
2) Executethe command "NT"
in direct execution mode.
LPRINT"NT" (Centronics)
PRINT41,
"NT" (RS232C)
66. 2. OPERATION
5, POSITION
SETTING
PROCEDURE
5.1 Setting
theCartesian
Coordinate
System
Reference
Position
5.2 Settingthe ToolLength
This chapter describesthe position
-setting procedurefollowing
the origin-setting
proced
ure.
This sett'ngis rnadeto effectas accurateaxis motionsas possible
and is not necessary
if the robot is only moved through a seriesof
taught points. lf the commands in the cartesiancoordinate
system,such as palletcommands,are to be used,however,this
settingmust be madepnor to teaching.
Oncethissettingis made
and is stored in EPROM,the setting procedure is no longer
necessary.
(Formore details,see CHAPTER
4 CARTESIAN
COOR-
DINATESYSTEMREFEFENCE
POSITION
SETTING,
APPENDIX.)
To definepositionsusingthe Movemaster,the positionof the end
of hand must first be established.
This procedureis not necessary
when{heoptional
motor operated
handis used,sincethe posltron
represents
a point about l07mm away from the hand mounting
surface,which rs defaultedto when the system is initialized.
lf, however,the hand other than the above type is usecior if an
additionaltool is attachedto the end of the motor-operated
hand.
the end position must newly be defined. This is because all
position data in the Movemasteris representedby the
"position
and attitude" of the end of the hand in the cartesiancoordinate
systern.To setthe tool length,usethe command
"TL"
through the
personalcomputer.After settingthe tool length,teach the robot
through the desired positions.(See Command
"TL,"
DESCRIP-
TION OF THE COMMANDS,)
Example:-Tool &!g!f. _2_0inr[
LPRINT
"TL
200" (Centronics)
PRINTf, 1,
'
L 2OO"{RS232C)
NOTE
. When positionsare taught with a tool length other
than the standard(107mm)set, be sureto ggu€lhg
gg$glggJJ-elStj,'at the beginning of the program in
which thosetaught positionsare used.
Example:(Teaching)
Position
1 issetwith a 200-mm
tool length.
{Programming}
1 TL 200 2 NT 3 MO 1
67. 2. OPERATION
5.3 Defining,
Verifying,
Changing,
andDeleting
the Positions
Here, let us actuallyoperatethe
change,and deletepositions.
Now, turn ON the teachingbox
teaching box to define,verify,
ON/OFFswitch.
('1
) Def
ining positions
Let us definethreedifferentpositionsas follows.
1) Press
theappropriate
jog keyor keysto movetheendofthe
arm to an appropriate
position.
2) Suppose
this is position"10." Now,hit thefollowingkeys
successively:
Fg trl td lENfl
This sets position 10.At this time, the open/closeposition
of the hand has also been defined.
3) ln the same way, define positions11 and 12 by repeating
steps 1) and 2) above.
(2) Verifying position
s
Let us verify if positions have been correctly defined.
1) To verify position 10, hit the following keys successively:
fmon'l
E tr tENil
lf the position has been correctlydefined,the end of the
arm moves to the point mentioned above.
2) In the same manner,verify positions11 and 12.
Changing
positio
ns
Let us change,or redefine,
previously
definedpositions
1) Movethearmendto a position
otherthanposition10and
hit the followingkeyssuccessively:
E t r E t E N f
This clearsthe old positiondataand redefinesposition10.
2) ln the same way, redefine positions 11 and 12.
(3)
68. 2. OPERATION
(4) Deletingpositions
You may even wish to deletesome posjtions.
'1)
To deleteposition10,hit the followingkeyssuccessively:
E t r t r N ]
Thisclears
position
10making
it available
for newde|nr_
tion.
2) Toverifythatposition
l0 hasbeenproperly
deleted,
hitrhe
followingkeyssuccessivery:
trbvln tr ENf
lf theposition
datahasbeenproperly
deleted,
theteachina
boxstatusindicator
LEDshows,,f ', whichindicates
tha-t
the functioninvokedcannotbe performed.
69. 2. OPERATION
6. PROGRAM
GENERATION
This chapterdescribes
the procedures
requiredto generatea
ANDEXECUTION programin the personal
computermodeby usingthe positions
previously
definedand to executeit.
The description
that followsassumes
the teachingbox ON/OFF
switchis in the OFFposition.
6.1 Generating
and Wewill heregenerate
a modelprogramin thepersonal
computer
Transferring
a Program mode describedearlier.Now, why don't we write a simple
programusingthreepositions
{numbered
10,11,and 12)?
The
followingliststhe programsequence,
wherethe numbersat the
beginning
represent
the Movemaster
programlinenumbers.
For
details
ofthecommands,
seeDESCRIPTION
OFTHECOMMANDS.
With the Centronicsinterface,executethe following BASIC
program
to transfer
theaboveprogram
to thedriveunit.Notethat
the numbers
at the beginning
showthe BASIC
linenumbers.
Movemaster
program
1 ON T
1 2 5 P 7
14 tll0 10, O
16 t,10
11,C
18 tvtO12,C
20 Tt 30
22 Gr 14
BASICprogram
1OO
LPRINT
"10 NT"
1',10
LPRINT
"12 SP 7"
1 2 0L P R T N T
" 1 4 M O 1 0 ,O "
1 3 0L P R T N T
" 1 6 M O 1 1 ,C "
140LPRINT
"18 MO 12,C"
150LPRTNT
"20 r 30"
160LPRINT
"22 CT 14"
1 7 0E N D
R U N
OK
Origin setting (nesting).
Set speed at 7.
lMove to position 10 with hand opened.
Move to position 11 with hand closed.
Move to position 12 with hand closed.
Stop for 3 seconds.
Jump to line number 14.
; E n d B A S I Cp r o g r a m .
; Run BASICprogram.
Forthe RS232C
interface,
execute
the followingBASIC
program.
Fordetails
of thesettings
to be made,seeCHAPTER
2 INTERFACE
WITHTHE PERSONAL
COM]PUTER
(RS232C).
APPENDIX
70. 2, OPERATION
1OO
OPEN
1 1 0P R I N T
120PRINT
130PRINT
140PRINT
150PRINT
160PRINT
170PRINT
1 8 0E N D
R U NJ
OK
" C O M I : 9 6 0 0 ,
E , 7 , 2 " A S
* 1 ,
" 1 0N T "
* 1 ,
" 1 2S P1 "
4 1 ,
" 1 4M O 1 0 "
+ 1 , " 1 6M O 1 1 "
n I , " 1 8M O 1 2 '
F,
"20 rl 30"
* 1 ,
" 2 2 G T 1 4 "
41 ; For lvlitsubishi
MULTl16.
; End BASICprogram.
; R u n B A S I Cp r o g
r a m .
5.2 Executing
the Program
6.2.1Stepexecution
Thesesequencesof operationscausethe programto be transfer-
red to the drive unit internal memory RAM,
Let us then executethe generatedprograrn using the following
procedure.
The generated program may be executed, line by line. by
operating the teaching box keys for verification. Here is the
procedure.
1) Turn ON the teaching box ON/OFFswitch.
2) To executethe program startingwith line number 10, hit
the following keys successivelyin that order.
tslEFl
tr tr t-Nil
The command
"NT"
on line number 10 is executed.
3) Afterthecommand
"NT" hasbeenexecuted,
theteaching
box LEDshowsthe subsequent
programlinenumber(in
this case,"0012"1.
To executeline number12,key in:
tSrEPltEt.lrl
Thiscau
sesthe command
exec
uted,
"SP7"on linenumber12to be
4) Repeat
step3)to verifytheprogram,
lineby line.Notethat
no entry of line numberis necessary.
6.2.2Starting
theprogram In the personal
computermode,the generated
programcan be
initiatedby the personal
computer.Hereis the procedure.
1) Turn OFFthe teachingbox ON/OFF
switch.
71. 2. OPERATION
6.2.3 Stopping/restarting
the program
6.2.4 Stopping/resetting
the program
Restarting : Pressthe
to restart
sroppeo.
switch.Thiscauses
the program
linenumberfollowing
the one
2) Execute
the command"RN" to directlyrun the program.
LPRINT
"RN" (Centron
ics
)
PRINTlt1, "RN"
{RS232C)
Whilethe program
is running,
thecurrent
linenumberrs
shown on the teachingbox LED.
The programcurrently
runningcan be stoppedand restarted
by
operating
certain
switches
on the frontcontrolpanelof the drive
unit.
, E=-;]
Stopping : Pressthe ISTOP; switch, and the robot stops after
completing executingthe current line number. This
means that, if the robot is executinga move com-
mand when the switch is pressed,it will complete
reaching the destination point. At this time, the
teachingbox LEDshows the line number in which the
robot was stoDoed.
TurningONtheteaching
boxON/OFF
switchwhiletheprogramis
beinghalted
enables
theoperation
fromtheteaching
box.Besure,
however,to turn the switch OFF before pressingti e [Si[Ril
switchto restart
the program.
Notealsothatno commandcanbe
executedfrom the personalcomputereven in the personal
computermodewhilethe programis beinghalted.To execute
commands,performthe followingresetting
operation.
The programcurrentlyrunningcan be stoppedand resetby
operating
certain
switches
on the frontcontrolpanelof the drive
unit. When reset,the programreturnsto its beginning.lf the
program
is terminated
by thecommand
"ED,"it endsnormally.
. f ^=::-t
Stopping : Pressthe I STOP switch.The operationisthe sameas
described before
Resetting: Pressthe _B_LS_ll
switchafterthe STOP switchhas
been pressed,and the program is reset.
To restartthe program following the resettingoperation in the
personalcomputer mode, the command
"RN"
must be used.At
this time, pressingthe ISi[Ril s*itch doesnot startthe program.
Note also that the general-purposel/O outputs are not reset.
f rom the
72. 2. OPERATION
7. wRlrlNGTHE Theprogramand positiondatawrittenin the driveunit memory
PROGRAM/POSITIONRAM can be storedin the EPROIVI.
The followinqdescribes
the
DATAlN EPROM proced
ure.
(PERSONAL
COMPUTER
MODE)
7.1 Inserting
Erased
EPRoMInserta new EPROMor one erasedby the EpRoMeraser(the
;"#
[::::3,
:i,ffi
T,T
:ff,::
i:"
y:f
:::[T:i3
"':l
:#i:
;ure of the correctinstallation
directionof the EPROM:the
Indentation
must be positioned
on the left.
7.2 WritingDatainto
EPROM
We shall now write the contentsof the drive unit RAM into the
EPROI4
.
Using the teaching box
1) Turn ON the teachingbox ON/OFFwitch.
2) Press WRTj and []!1,] , successivety
in that order.
qsllg t!191!fS9!1_!9
nr ! through the persona|computer
1) Turn OFFthe teaching
box ON/OFF
switch.
2) Execute
the command"WR" in directexecution
mode.
LPRINT
"WR" (Centronics)
PRINTf 1, "WR" (RS232C)
y"'ii""'::i:';fi
?,:H;lffi
?;:"Ti:iil;y;'J;'i:191'.'"?
)ut in about 100secondsafterthe data has beenwritten correctly.
Do not removethe EPROMfrom the socketuntilthe LEDgoesout.
Shouldthe databe written incorrectly(dueto an EpROMfailureor
write error),it causeserror mode ll. lf the error conditionoccur.
reset the condition and trv another EPROM.
7.3 Precautions
for Storage Be sure to affix an ultravioletrays shieldingseal onto the glass
of EPROM window of the EPROMinto which data has beenwrittento ensure
data integrity.When the EPROMisto be storedoff the socket,take
necessarypreventivemeasuresagainst electrostaticcharge.
73. 8. OPERATION
USINGTHE
EPROM
DATA
8.1 Insertingthe EPRoM
8.2 Settingthe SideSetting
Switches
8.3 TurningPowerON
8.4 Executing
the Program
8.4.1 Stepexecution
8.4.2 Startingthe program
Thischapter
describes
the procedure
to operate
the robotin the
driveunitmodeusingtheprogram
andposition
datawritteninthe
EPROM.
The procedure
given in the followingstartswith the condition
beforeturningpower ON.
Insert
theEPROM,
intowhichtheprogramandposition
datahave
beenwritten,intothe usersocket
on the driveunit.Makesureof
the correctinstallation
direction
of the EpROM,
the indentation
beingpositioned
on the left
BeforeturningpowerON,makethefollowingswitchsettings
by
referring
to 2.1.2Functions
of side settingswitchesand LEDs.
ST1 ......Upperposition
(Driveunit mode)
ST2 " .. Upperposition(EPROM
datato be transferreo
ro
RAM)
Turn ON the powerswitchon the rear panelof the drive unit.
Then,the EPROM
datais transferred
to the driveunit memory
RAMaccording
to the switchsettingmadein the preceding
step.
Now, let us executethe programtransferred
to RAM rn rne
followingproced
ure.
The transferred program may be executed, line by line, by
operatingthe teaching box keys for verification.Detailedproce_
dure is the same as that for the personalcomputer mode. (See
6.2.1 Step execution.
)
In the drive unit mode, the transferredprogram may be initiated
by operatinga certainswitchon the drive unit front controlpanet.
Here is the procedure,
1) Turn OFF the teaching box ON/OFFswitch.
2) Presstf'e lSiFnf'l switchon rhe front controtpanet.
The teaching box LED shows the current line number beino
executed.
74. 2. OPERATION
8.4.3Stopping/restarting
the program
8.4.4 Stopping/resetting
the program
The programcurrently
runningcan be stoppedand restarted
by
operating
certain
switches
on thefrontcontrolpanelof the drive
unit.Theprocedure
isthesameasthatforthepersonal
computer
mode.{See6.2.3Stopping/resta
rting the program.)
The programcurrentlyrunningcan be stoppedand resetbV
operating
certain
switches
on thefrontcontrolpanelof the drive
unit. When reset,the programreturnsto its beginning.lf the
program
is terminated
by thecommand
"ED."it endsnormarrv.
Stopping: Press
theISTOP
I switch.
Theoperation
isthesameas
described
before.
Resetting: Press
thelT€SE-ilswitchafterthe
beenpressed,
and the proqram
switch has
resettrng caLrsesthe
first line number. Note
not reset.
Pressing
program
that the
the switch following
to be executedstartingwith the
general-purposel/O outputs are
rs reset.
75. 2. OPERATION
9. OPERATION
USINGTHE
EXTERNALSIGNALS
9.1 Settingthe Switches
9.2.2 Stopping/restarting
the program
9.2.3 Stopping/resetting
the program
Stopping: The programis stoppedby a
Restarting
: The programis restarted
by
followingthe STOPsignal.
Stopping: The programis stoppedby
Resetting
: The program is reset by
followingthe STOPsignal.
STOPsignalinput.
a STARTsignal input
STOPsignaI input.
RESETsignaI input
In the driveunit mode,the programis run by operating
thefront
controlswitches
of the driveunit as we haveseen.Thischaoter
outlinesthe procedureto effectthese operationsusing the
external
signallineswith an l/Ocard(typeA16or 816)inserted
in
position.For more details,see CHAPTER
3 INTERFACE
WITH
EXTERNAL
I/O EOUIPMENT,
APPENDIX.
Makethefollowingswitchsettings
by referring
to 2.1.2Functions
of side settingswitchesand LEDs.
ST1 " " Upperposition(Driveunit mode)
SW1 Bits3 and5 in upperposition
(Type416or 816l/O
card selected;
externalsignalsenabled)
Whenpoweris turnedON with the aboveswitchsettings
made,
theexternal
signals
areenabled
for theexecution
of the program
in the driveunit mode.In thesesettings,
the personal
computer,
and driveunitfront controlswitches
areall disabled,
exceptthe
emergency
stop switch.
9.2 Executing
the Program
9.2.1Starting
theprogram The programis initiatedby a STARTsignalinput.
a
76. 2. OPERATION
10. ERRORCONDITIONS
10.1ErrorMode I
This chapterdescribesvarious error conditionswhich may occur
duringthe operationof the Movemaster,
includingthe warning
indicators,
conditionswhen the errorsoccur,possiblecauses,and
remedial action procedures.
Error mode I is concerned mainly with hardware errors. The
causeof the error may be known by the lit LEDinsidethe sioeooor
of the drive unit. (See2.1.2Functionsof sidesettinqswitchesand
LEDs.)
(Warning indicators)
The error indicatorLED(red)on the drive unit front panelflashes
OFFand ON at 0.5-second
intervals.
The buzzer,if setto ON, also
soundsin phasewith the ON tim;ngof the LED.lFtypeA'16
or 816
l/Ocard is beingused,an error signalis outputfrom the dedicated
signal line of external l/O equipment connector.
(Condition)
Currentto motorsfor all axes (includingthe hand)is immediately
cut off {servoOFF)and brakesare appl;edto J2 and J3 axes.As a
result,the robot is brought to an immediate stop.
(Possiblecauses)
(1) LEDl ON ' Excessive
servosystemerrors.More precisely,
causesanclude
excessiveload,encodersignal
failure, and robot crashing into an obstacle.
12) LED2ON Open or disconnectedsignal cable between
the robot and drive unit.
(3) LED3ON Drive unit emergency stop input, More pre-
cisely,when the emergencystop switchon the
drive unit front panelis pressedor when there
is an input to the external emergency stop
input terminal (N/Ccontact)on the drive unit
rear panel.
(4) LED4ON "..Teaching box emergencystop input. More
specifically,
when the emergency stop push-
button switch on the teachingbox is pressed,
when the teaching box connectorcomes off
while the teachingbox is in use,or when the
teachingbox connectoris pluggedwhen pow-
er is turned ON.
(5) LED5ON Backupbatteryfailure.This error occurs only
when the batterycheckfacilityis enabled(bit 2
of SW1 insidethe drive unit sidedoor in ON
position).
(Remedialaction
)
Turn power OFF, and then eliminate the cause of the error
occurred.When restartingthe robot,makesurethat the robot has
been returnedto origin with the arm moved to a safe position.
77. 2. OPERATION
10.2 ErrorMode II Error mode ]I is concernedmostly with softwareerrors.No
indicator
is provided
for errormodellto lettheoperator
knowthe
causeof the error.
(Warning
indicato
rs)
Theerrorindicator
LED(red)
onthedriveunitfrontpanellightsup
steadily.
Thebuzzer,
if setto ON,alsosounds
continuously.
lf type
A16 or 816l/Ocardis beingused,an errorsignalis outputfrom
the dedicated
signallineof the external
l/Oequipment
connector
just as in errormode I.
(Condition)
The systementersthe modewaitingfor errorreset.lf the error
occurs
whilea programis running,
the programstopsat the line
numberon whichtheerroroccurs,
the linenumberbeinoshown
on the teachinobox LED.
(Possible
causes
)
(1) Commandtransfererror by the personalcomputer.More
specifically,
an undefined
command,input format error,or
transmtssron
error.
Commandis beingunexecutable.
Moreprecisely,
an entryof
parameter
exceeding
the specified
rangeor movecommand
to an undefined
position.
EPROM
writeerror.Morespecifically,
theEPROM
unerased
or
EPROM
failure,
(Remedial action)
Perform either of the following resettingoperations.
Using drive unit switch
Pressthe switch.
Usingintelligent
commands
throughthe personal
computer
(in
personal
computermode)
Turn OFFthe teachingbox ON/OFF
switchand execute
the
command"RS" in directexecutionmode.
LPRINT
"RS"
{Centronics)
PRINTf 1, "RS" (RS232C)
Usingdedicated
signalline of l/O connector
Turn ON the RESET
inputsignal.
Theerrorindicator
LEDgoesout as soonas the aboveresetting
procedure
hasbeencompleted.
Theprogram,
if it hasbeenbeing
executed,
is reset
andit will bestarted
fromthefirstlinenumberif
restarted.
Notethatgeneral-purpose
l/Ooutputsarenot resetby
this resetting
operation.
(2)
(3)
79. 2.1
CONTENTS
(DESCRIPTION
OF THE COMMANDS}
1. COMMANDOVERV|EW........ ............'.3-1
2. DESCRfPTIONOFEACHCOMMAND................ .......... 3-2
Position/Motion
Control
Instructions"""" "" "' " "" " " "" " ".'' 3-3
DP(Decrement
Position)"" Movingto a position
numberonesmaller"" "" " "" "' 3-3
DW(Draw) .Movinga distance
specified
in the cartesian
coordinate
s y s t e m . ." " " " " . . " . ' 3 - 4
HE(Here) ...Teachingthecurrentposition
"" "" " " " " " """.".'3-5
HO(Home)
...... Setting
the cartesian
coordinate
systemreference
posi-
t i o n. . . . . . . . . . . . . . . . . . . . . . . . . . .
3 - 6
lP(lncrement
Position)""
" Movingtoapositionnumberonegreater""
"" "" " " 3-7
MA (MoveApproach)
" "" Movingto a specified
incremental
dimension
"" "" " "' 3-8
MC(MoveContinuous)
....'..Movingthroughintermediate
pointscontinuously.'........
3-9
MJ(MoveJoint)"
" "" " " Turning
each
iointa specified
angle
" " "" " "" " ""'3-11
MO(Move)....... Movingto a specified
positionby articulated
interpola-
t i o n " " " " " " " " " " 3 - 1 2
MP(MovePosition) Movingto a position
whosecoordinates
arespecified
" 3-13
MS(MoveStraight) Movingto a specified
position
by linearinterpolation...'
3-14
MT(MoveTool) Movingan incremental
distance
specified
in the tool
d i r e c t i o n " " " " " " " ' 3 - 1 6
N T ( N e s t ) " R e t u r n i n g t h e r o b o t t o o r i g i n
" " " " ' 3 - 1 7
OG(Origin) Moving to the cartesiancoordinatesystem reference
o o s i t i o n " " " " " " " " ' 3 - 1 8
PA(Pallet
Assign) "" " "" Defining
thenumber
of columnandrowgridpoints
fora
specified
pallet "" " ""
PC(Position
Clear)""" "" 'Clearing
a specified
position
" " "'
PD(Position
Define)
......... Defining
thecoordinates
of a specified
position "" " "
PL(Position
Load)
"""" "" Assigning
the positiondataof a specified
positionto
another
specif
iedposition
PT(Pallet) " Calculating
thecoordinates
of a gridpointon a specified
Da
llet" " " "" "
PX(Position
Exchange)
""" Exchanging
the coordinates
of a positionfor thoseof
anotner"""" "'
SF(Shift)........ Shifting
thecoordinates
ofa specif
iedposition
" " " " ""
SP(Speed) 'Settingthe operatingvelocityand acceleration/decel-
eration
timd " "" "" 3-29
Tl (Timer)
...... . Halting
themotionfora specified
periodoftime """ " 3-30
TL(Tool) "" Setting
thetoollength " "" " "" " " 3-31
Program
Control
Instructions " """"""" 3-32
CP(Compare
Counter)" "" Loading
counter
dataintothecomparison
register
"""' 3-32
DA(Disable
Act) Disabling
theinterrupt
byanexternal
signal" " "" "" 3-33
DC(Decrement
Counte.)"" Subtracting
1froma valueina specified
counter
"" "" 3-34
D L ( D e l e t e L i n e )
" " " " " " D e l e t i n g
a s p e c i f i e d
p ar to fa p r o g
r a m " " " " " " " " 3 - 3 5
3-19
3-20
3-21
3-22
3-23
3-27
3-28
2.2
