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.

1. a
AMrsuBtsHl
INDUSTRIAL
MICRO-
ROBOT
SYSTEM
Model
RV-M1
MOVEMASTERtrX
I

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

11. 1.SPEC|F|CATI0N
2.OPERATIOl{
3.DESCRIPTION
OT
TIIICOt|MANDS
4. MAIl{TEI{ANCT
A1{D
INSPECTION
5.APPENDICTS

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

18. 1.SPECIFICATIONS
J5 axismotor
J4 axis motor
J4 axis timing belt
J2 axis timing belt
J3 axis limit switch
J2 axismotor
J4 axis limit switch
J5 axis limit switch
J2 axis brake J3 axis brake
J'l axis limit switch
Relay card
J2 axis limit switch
J1 axis motor
Fig. 1.3.2Nomenclature
(lnternalView)

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.

25. 1.SPECIFICATIONS
3.2.3External
dimensions
o POWER MOVEMASTER
EX
EMG,STOP
ERROR
EXECUTE
START
STOP
RESET
;0
i0
l
i!
il
)
:l
)
3fl
it I
.U
o
Fig. 1.3.9 External Dimensions (Drive unit)

26. 1.SPECIF|CATIONS
3.3 TeachingBox(Option)
3.3.1Nomenclature
ON/OFF switch
Emergencystop switch
Hand strap
Fig. 1.3.10 Nomenclature (Teaching box)
Control key
Cable (3m)
Teaching box

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.

32. 1.SPECIFICATIONS
Movemaster
Information
{1)
tilisjamesl Therobotarticulation
namescorrespond
to the humanbodyas illustrated
Detow.
/ - - - - ' , , '
--<
-

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.

34. l. sPrcrflcATr0r{s
2.IIPERATIllN
3.DESCRIPTI0t{
0FTHE
C0ililAl{0S
4.ilAlltTtl{A1{CE
Al{D
tt{Spt0Tl0t{
5.APPEilDtCtS

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.

38. 2. OPERATION
(5) Thefixingplate(5)mustbereinstalled
before
transportation
to
protect
the arm (4)(6)duringtransportation.
The robotmust
be transported
in the attitudeshown in Fig.2.1.1.
WARNING
The robot must be transported with the fixing plate
installed.

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

40. 2. OPERATION
WARNING
The customershould keepthe arm fixing plate together
with the bolts as it must be usedwhen transportingthe
robot.

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)

78. l. sPEctFlcATt0l{s
2.0PtRAT|01{
3.DESCRIPTIIIN
tlFTHE
CIIMMANDS
4. iIAINTENANCE
AN0
ll{SPECTl0l{
5.APPTNDICTS

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

80. EA(Enable
Act)' Enabling
theinterrupt
byanexternal
signal. . .. .. .. .. 3-36
ED(End) " Ending
theprog
ram "" "" " 3-38
EO(lfEqu6l) Causing
a jumpto occurif thecontents
of thecompari-
sonregister
equal
a specified
value " " '..... ...........
3-39
GS(GoSub) Executing
a specified
subroutine
" " " -........ 3-40
GT(GoTo) 'Causing
a jumptooccurto
a specified
linenumber..."' 3-41
lC(lncrement
Cou
nter)
.. . ...Adding
l tothevalue
ina specified
counter'.".........
...3-42
LG(lfLarger) Causing
a jumpto occurif thecontents
of thecompari-
sonregister
aregreater
thana specified
va1ue..............
3-43
NE(lfNotEqual) Causing
a jump to occurif thecontents
of thecompari-
sonregister
do notequala specified
value
NW(New) ..Deleting
allprograms
andposition
data " "" "" """ '
NX(Next) "" Specifying
therange
of a loopina program
RC(RepeatCycle). ".' Specifying
thenumberof repeated
cycles
of a loop" "'
RN(Run) .. .Executing
a specified
partof program
RT(Return) " Returningto the main program after completinga
subroutine
SC{SetCounter)
" " " " Loading
a value
ina specified
cou
nter" " "" """ " "'
SM (lfSmaller)"" " " " " Causing
a jumpto occurif thecontents
of thecompari-
sonregister
aresmaller
thana specified
value " "" " 3-51
Hand
Control
Instructions..... " "'3-52
GC(GripClose)
" " " " " " Closing
thehandgrip " "" " "" "'3-52
GF(GripFlag)"""" " " " Definingtheopen/closestateofthehand
" " """ " " 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(Grip
Pressure)."...'....'..Defining
the grippingforce/time
when the hand is
closed
andopened " " "
l/OControl
Instructions
lD(lnput
Direct)"
" " " " " Fetching
anexternalsignal"
" " ""'
lN (lnput) " Fetching
anexternalsignal
synchronously" "" " "
OB(Output
Bit) " " " "" Setting
theoutputstate
of a specified
bit " "" " """ "
OD(Output
Direct)"" " " 'Outputting
specified
data '
OT(Output)" ' Outputting
specified
datasynchronously
" " """ " " '
TB(Test
Bit)" " " " " " "" Causing
a jumpto occurdepending
on thecondition
of
a specified
externalsignal
bit " '
2.5 RS232C
Readlnstructions
CR(Counter
Read) " " Reading
thedataina specified
counter" "" "" "" " "
DR(Data
Read)" " " " Reading
thedataintheexternal
inputport " "
ER(Error
Read).'.
"" " " " Reading
thestatus
oftheerror" "" ""'
LR(LineRead) "" " "" " Reading
theprogram
on a specified
linenumber"" " '
PR(Position
Read)"" "" " Reading
thecoordinates
of a specified
position
WH(Where) Reading
thecoordinates
ofthecurrent
position "" " '
Miscellaneous
RS(Reset) Resetting
theprogram anderror condition
"" " "" ""'
TR(Transfer)
. ......... "" " Transferring
EPROM
data
to RAM" """ " '
wR (write) .writingRAMdataintoEPRoM......
'(Comment)
" " " "" " " " Writing
a comment
" " "" " "" "
2 . 5
2.4
J-4C
3-46
3-47
3-48
3-49
J - 3 U
3-55
3-56
3-56
5-3 |
3-58
3-59
5-OU
J-O I
3-62
5-O Z
3-63
3-64
3-65
3-67
3-68
3-69
3-70
3-71
5 - t z
2.6

81. 3. DESCRIPTION
OFTHECOMMANDS
1. COMMANDOVERVIEW
This chaptergives an overviewof a multitudeof commands
providedfor the Movemaster
as classified
accordingto their
functions.
Fordetails
of eachcommand,
seeCHAPTER
2 DESCRIP-
TIONOF EACHCOMMAND.
( 1 )Position/motion
controlinstructions
(24 instructions)
These commandsare concernedwith the positionsand
motionsof the robot.Theyinclude
thosedefining,
replacing,
assigning,
and calculating
the positiondataas well as those
effecting
the articulated
and linearinterpolations
and con-
tinuous-path
motions.Also includedare the speed-setting,
origin setting,and palletizing
commands.
Programcontrolinstructions
(19 instructions)
Thesecommandscontrolthe flow of the program.They
includethose concerning
the subroutines,
repetitive
loops,
andconditional
jumps.Alsoincluded
arethecounter
opera-
tion and the declarations
of interrupt
operation
by meansof
externalsignals.
Handcontrolinstructions
14instructions)
Thesecommandscontrolthe hand.Commands
are also
available
for the motor-operated
hand (option)that set the
grippingforceand open/close
time of the grip.
l/O controlinstructions
(6 instructions)
Thesecommands
areconcerned
with the inputandoutDutof
datathroughthegeneral-purpose
l/Oport.Eothfor theinputs
and outputs,the data can be exchanged
synchronously
or
asynchronously
andprocessing
is possible
in bitsor parallel.
RS232C
read instructions
(6 instructions)
Thesecommandsallowthe personal
computerto readdata
from the robot'smemory.Thedatathat can be readinclude
the position
data,programdata,counterdata,external
input
data.error mode,and currentposition.
Miscellaneous
(4 instructions)
Groupedinto this categoryare the error resetcommano,
read/write
commands
of the userprogramandposition
data,
and the commandgoverningwriting of comments.
12)
(3)
41
(5)
(6)

82. 3. DESCRIPTION
OFTHECOMMANDS
2. DESCRIPTION
OFEACH Thefollowingpagesexplain
eachcommandin theformatshown
COMMAND below.Notethat thosecommandsmarkedwith X can only be
executeddirectly by the personalcomputer and cannot be
programmed.
IFunction
I Givesa briefdescription
of the function
invokedbv the command.
IlnputFormatl
ISampleInputl
(Explanation
I
Isample
Program
) '
Shows the arrangement
of the com-
mandentry, ( ) indicating
the com-
mandparameter
and [ ] indicating
the
parameter
that can be omitted.
Showsa typicalcommandentry.
Explains
the detailedfunctionor func-
tionsto beinvoked
bythecommand
and
givessome precautions
for use.
Gives a typical program with exact
meaningsof each line and/or some
footnotes.

83. 3. DESCRIPTION
OFTHECOMMANDS
2.1 Position/Motion
Control
Instructions
DP (Decrement
Position)
IFunction
I
Moves
the robotto a predefined
position
with a position
number
smaller
thanthe
currentone.
IInputFormatl
Isample Input)
DP
IExplanation
I
(1) Thiscommandcauses
the robotto moveto a predefined
position
with a position
numbersmallerthan, and closestto, the currentone. (Seecommandlp.)
(2) lf thereis no predefined
position
with a position
numbersmaller
thanthe current
one, error mode II is caused.
Isample Program
I
10 LPRINT
"MO 3"
20 LPRINT
''MO 4"
30 LPRINT
"IV]O5"
40 LPRINT
"DP"
Move to positio
n 3.
lvloveto position4.
Move to position5.
Move to position4.
DP

84. 3. DESCRIPTION
OFTHECOMMANDS
DW (Draw)
(Function
I
Movesthe end of the hanoro
distancespecified
in the X-, y-
(lnput Formatl
a positionaway from the currenr
, and Z-axisdirections.
one coveringthe
(sample tnput)
DW 10.5,20.5,
-30.5
IExplanation
I
(1) Theleastinputincrement
for thedistance
of travelis o.1mm.(e.g.specify
20.1for
2 0 . 1 m m . )
Theattitude
of the hand,including
open/close
stateof the gripper,
do not change
beforeand afterthe movement.
Errormode II is causedif the distance
of travel
exceeds
the robot'soperational
space.
The defaultdistance
of travelis 0.
sincethe motionis based
on articulated
interpolation,
thecombined
motionof the
end of the hand generates
an arcwhen a longerdistance
of travelis involved.
The positionof the end of hand is determinedby the tool length currently
established.
(see commandTL.)
ISampleProgram
I
10 LPRINT
"DW 20,0,0"
20 LPRTNT
"DW 0,20,0"
30 LPRINT
"DW -20,0,0"
40 LPRINT
"DW
0,_20,0" Start
point
X In the aboveexample,
the end of the hand
squareto reachthe start point finally.
movesthroughthe four cornersof a
t2)
(3)
(4)
{s)
DW[ (Travel
distance
in X) ], [ (Travel
distance
iny) ], I (Travel
distance
in Z) I

85. 3. DESCRIPTION
OFTHECOMMANDS
HE (Here)
IFunction
I
Defines
thecoordinates
of thecurrent
IInputFormat]
positionby assigning
a positionnumberto it.
HE (Positio
n number)
Where,1 5 Positionnumber 5 629
ISampleInputl
H E 5
(Explanation
I
(1) The coordinates
of the currentpositionis calculated
basedon the currently
established
tool length(seecommand
rL). Inthe initialcondition,
thetool lengthis
107mm, a point 107mm awayfrom the centerof the hand mountingsurface
towardthe end of the hand.
lf a singlenumberis assigned
to two different
positions.
theonedefined
lasttakes
precedence
with the former creareo.
The open/close
positionof the hand is also storedas the positiondata.
Execution
ofthiscommand
whenanyoftheaxesoftherobotispositioned
nearthe
boundary
of itsoperational
spacemaycauseerrormode II. In suchcases,
avoid
such attitudeof the robot.
ErrormodeII iscaused
if thiscommandisexecuted
before
therobotreturns
to the
ongIn.
IsamptePrograml
1OLPRINT
"MO10"
20 LPRINT
"DW 1O,O,O"
30 LPRINT
"HE11'
tzJ
{3)
(4)
(5)
Move to position10.
Move 1Ommin *X direction.
ldentifyabovepositionas position11.

86. 3. DESCRIPTION
OFTHECOMMANDS
HO (Home)
IFunction)
Establishes
the reference
positionin the cartesian
coordinate
system.
IInput Format
I
ISampleInputI
H O
(Explanation
I
{1) Thiscommand
establishes
thereference
position
(inX-,Y-.andZ-axis
andpitch/roll
angles)
in the cartesian
coordinate
system.
All subsequent
motionsarebasedon
thisreference
coordinates.
{Fordetails.
seeCHAPTER
4 CARTESIAN
COORDINATE
SYSTEMREFERENCE
POSITION
SETTING,
APPENDIX.)
(2) Thiscommandmust be executed
to repeatthe roboticmotionthrougha series
pointspreviously
taughtafterthe robothasbeendisassembled
and reassembled
for mechanical
adjustments.
(3) Thiscommandcannotbeexecuted
whenbit4 of SW'llocated
inside
thesidedoor
of the drive unit is in the lower position(OFF).
Isample Programl
1OLPRINT
"HO"
H O

87. 3. DESCRIPTION
OFTHECOMMANDS
lP (lncrementPosition)
ISampleProgram
I
10 LPRINT
"IVIO
5"
20 LPRINT
"MO 4"
30 LPRINT
"MO 3"
40 LPRINT
" IP"
IFunctionl
Moves
the robotto a predefined
position
witha position
number
greater
thanthe
currentone.
Ilnput Format)
ISampleInputI
I P
IExplanation
I
(1) Thiscommandcauses
the robotto moveto a predefined
position
with a position
numbergreatei'than,
and closest
to, the currentone.(SeecommandDP.)
(2) lf thereis no predefined
position
with a positionnumbergreater
thanthe current
one, error mode 1I is caused.
; Move to position5.
; Move to position4.
; Move to position3.
; Move to position4.
I P

88. 3. DESCRIPTION
OFTHECOMMANDS
MA (Move Approach)
(FunctionI
Movesthe end of the handfrom the currentpositionto a positionaway from a specified
position in incrementsas specifiedfor another position.
IlnputFormatl
MA (Position
number(a)), (Position
number(b)) [, (O or C) ]
Where,1 5 Positionnumber(a),(b) < 629
Isample Input)
M A 2 . 3 . C
(Explanation
l
(1) Thiscommandcauses
the endof the handto movefrom the currentposition
to a
position
awayfrom position
(a)in increments
as specified
for position
(b).lt does
not changethe coordinates
of positions(a) and (b).(SeecommandSF.)
(Eachcoordinateof position (b) is temporaryadded to the corresponding
coordinate
of position(a).)
(2) lf theopen/close
stateofthehandhasbeenspecified
(O:open;C:closed),
therobot
movesafterexecuting
the handcontrolinstruction.
lf it hasnotbeenspecified,
the
hand statein position(a) remainsvalid.
(3) lf the calculated
incremental
dimensions
exceedthe robot'soperational
space,
error mode II is causedbeforethe robot moves.
(4) Errormode II is alsocausedif positions
(a)and (b) havenot beendefinedyet.
(5) The positionof the end of the hand is determined
by the tool lengthcurrently
established.
{see commandTL.
)
ISampleProgram
)
1 0 L P R I N T
" H E 1 "
20 LPRTNT
"PD 5, 0, 0, 30, 0, 0"
30 LPRINT
"MA 1, 5, O'
N In the aboveexample,
the end of the handis movedwith the handopenedfrom
position
1to a position
in 30-mmincrements
onlyintheZ-axis
direction.
Thevalues
of coordinates
of positions1 and 5 do not change.

89. 3. DESCRIPTION
OFTHECOMMANDS
MC (Move Continuous)
ISamplePrograml
1 0 L P R I N T
" M A 1 "
20 LPRINT
"MO 2"
30 LPRINT
"SP 3" tl01
40 LPRINT
"MC 5, 15"
(Function
)
Movestherobotcontinuously
throughthepredefined
intermediate
pointsbetween
the
two specified
positionnumbers.
(lnput Format)
MC (Position
number{a)), (Position
number(b))
Where,1 5 Position
number(a),(b) < 629
Position
number
(a)- Position
number
(b) < 99
IsampleInput)
MC 101,
200
(Explanation
)
{1) Thiscommand
causes
therobotto moveata givenspeed
fromthecurrentposition
viaposition
{a)to position
{b),movingcontinuously
pastthe predefined
intermedi-
ate pointsbetweenpositions{a) and (b).
(2) Depending
on whetherposition
number(a)is greater
thanposition
number(b),or
vice versa,the robot movesthroughthe intermediate
pointsin descending
or
ascending
orderoftheposition
number.
Therobotdecelerates
asit reaches
theend
posrrio
n.
(3) The open/closestate of the hand before the robot starts moving remains valid
throughout the entire movement and the open/closedefinitionsat intermediate
points have no bearing on it.
Since the robot does not decelerateduring its moving through the intermediate
points,avoid movement path that involvesa greatchangein orientationof any of
the axes of motion; otherwise,the resultantoscillations
adverselyaffectthe robot
mechanical.(The maximum speed of travel using command MC is equivalentto
SP4.)
Errormode II is causedif the specifiedpositions{a)and (b)havenot beendefined,
the path connectingthe predefinedintermediatepoints defiesphysicalmovement
of the robot,or if the differencebetweenthe positionnumbers (a)and (b) exceeds
oo
t4l
(5)
Posirion5
Posrtion
2
Positio n 1
MC5,
Position6

90. 3. DESCRIPTION
OFTHECOMMANDS
X IntheaboveexamDle,
linenumbers10and20cause
therobotto moveto Dositions
1 and 2, respectively,
and linenumber40 causes
the robotto movecontinuously
throughthe predefined
intermediate
points6,8,and 10between
positions
5 and15
untilreaching
position
15.

91. 3. DESCRIPTION
OFTHECOMMANDS
MJX (Move
IFunction
I
Turns each
IInput Formatl
Joint)
joint the specified
anglefrom the currentposition.
MJ [ (Waist
turning
angle)],I (Shoulder
turning
angle)l, [ (Elbow
turning
angle)
l , { ( P i t c h
a n g l e )l , [ ( R o l l a n g l e )]
ISampleInput)
MJ 10,20, -30, 40, -50
(Explanation
I
(1) The leastinputincrement
of the turningangleis 0.'1'.
(2) Theopen/close
stateof the handdoesnotchange
beforeandafterthe movement.
Errormove II is caused
before
the axismotionif theturningangleentryexceeds
the robot'soperational
space.
The defaultturningangleis 0.
The positiveand negativedirections
of eachaxis of motionare as follows.
Isample Program
)
10 LPRINT
"MJ
+90, O,O,O,
2 0 L P R I N T
" M J O ,- 3 0 , 0 , 0 ,
30 LPRTNT
"MJ 0, 0, 0, +20,
X In the above example,line number
'10
causesthe waist to sweep g0'in the *
direction,line number 20 causesthe shoulderto swivel 30' in the - direction,and
line number 30 causesthe wrist to bend 20" in the * direction.
(3)
(4)
0 "
0 "
0 "
Wrist roll
Shoulder Elbow rist
)

92. 3, DESCRIPTION
OFTHECOMMANDS
MO (Move)
IFunction
I
Moves the end of the hand to a specifiedposition.
I Input Formatl
MO (Position
number) [, (O or C) ]
Where,'1
5 Positionnumber 5 629
Isample Input)
M O 2 , C
IExplanation
I
(1) This commandcausesthe end of the handto move to the coordinates
of the
specified
position
by articulated
interpolation.
Theposition
oftheendofthehandls
determinedby the tool lengthcurrentlyestablished.
(SeecommandTL.)
(2) lf theopen/close
stateof thehandhasbeenspecified
(O:open;C:closed),
theend
of the handmovesafterexecuting
the handcontrolinstruction.
lf it hasnot been
specified,
the definitionof the specified
positionis executed.
(3) Errormode II is causedif the specified
positionhasnot beenpredefined
or the
movementexceeds
the robot'soperational
soace.
(sample Program)
10 LPRINT
"SP 5" ; Set speedat 5.
20 LPRINT
"MO 20, C" ; Move to oosition20 with hand closed.
30 LPRINT
"MO 30, O" ; Move to position30 with hand open.

93. 3. DESCRIPTION
OFTHECOMMANDS
MPX (Move Position)
IFunction
I
Moves
theendof thehandto a position
whose
coordinates
(position
andangle)
are
specified.
IlnputFormat)
MP[ (X-axis
coordinate)
l, [ (Y-axis
coordinate)
], [ (Z-axis
coordinate)
], [ (pitch
a n g l e )l , [ ( R o l l a n g l e )]
(sample Inputl
MP 0, 380.300,-70. -40
I Explanation
)
(1) The leastinputincrement
of the coordinate
valuesis 0.1mmor 0.'1".
(e.g.specify
20.1for 20.1mm.)
(21ErrormodeII is caused
if thespecified
coordinates
exceed
the robot'soperational
sDace.
{3) The defaultcoordinate
value is 0.
(4) Theopen/close
stateof the handdoesnot changebeforeand afterthe movement.
(5) The positionof the end of the hand is determined
by the tool lengthcurrently
established.
(see commandTL.)
ISampleProgram)
10 LPRTNT
"PD 1, 0, 380,300,-70, -40"
20 LPRINT
"MO 1"
30 LPRINT"MP 0, 380,280,-70, -40"
X In the aboveexample,
the end of the handis first movedto position1 and then
moved20mmdowninZ-axis
direction
by linenumber
30,theopen/close
state
ofthe
handremaining
unchanged.

94. 3. DESCRIPTION
OFTHECOMMANDS
MS (Move Straight)
(Function
I
Movesthe robot to
intermediate
points
Ilnput Format)
MS (Position
number), (No. of intermediate
points) [, (O or C) ]
Where,1 5 Positionnumber 5 629
1 < No. of rntermediate
points< 99
ISampleInput]
M S 2 , 5 , C
(Explanation
)
{1) Thenumberof intermediate
pointsbetween
thecurrentposltion
andthe specified
position
numberiscalculated
byequally
dividing
thedistance
oftravelandposition
angle(pitch/roll
angle)
between
thetwo positions
(thenumberof divisions
equaling
thenumberof intermediate
pointsplus'1
).Acceleration
anddeceleration
duringthe
movementare omitted.
{2) The morethe numberof specified
intermediate
points,the smoother
the straight
linefor the movementpath,butthe moretime required
for calculation
beforethe
robot startsmoving (99 intermediate
pointsrequiresabout 2.4 seconds).
lt rs
thereforerecommended
that the numberof intermediate
points be specified
according
to the distance
of traveland the requiredpath accuracy.
lf any of the intermediatepoints specifiedexceedsthe robot's operationalspace,
the robot stops in mid-motion and error mode ]I is caused.
lf the open/close
stateof the hand has beenspecified(O: open; C: closed),the robot
moves afterexecutingthe hand controlinstruction.lf it has not beenspecified,
the
definition of the soecified oosition is executed.
(5) Errormode II is causedif the specified
positionhas not been predefined.
(6) The positionsof the intermediatepoints are calculatedbased on the tool length
currently established.(See command TL.)
(7) Certain
positions
of therobotmaycause
oscillations.
Insuchcases,
keep
thespeed
low.
a specified
positionnumberthroughthe specified
numberof
on a straight
line.
(3)
(4)

95. 3. DESCRIPTION
OFTHECOMMANDS
Isample Programl
10 LPRINT
"HE 2"
20 LPRINT
"MO 3"
30 LPRINT
"MS 2, 3, C"
40 LPRINT
"MO 3"
50 LPRINT
"MS 2, 6, C"
Position
(Line number 30,3 intermediatepoints) (Linenumber50,6 intermediate
points)
x In the aboveexample,
linenumber20 causes
the robotto moveto position
3 by
articulated
interpolation
andlinenumber
30causes
it to moveto position
2 through
3 intermediate
pointswith the handclosed.Linenumber50 causes
the robotto
move to oosition2 throuoh6 intermediate
ooints.
Position2
Intermediate point

96. 3. DESCRIPTION
OFTHECOMMANDS
MT (Move Tool)
(Function
I
Moves
theendofthehand
fromthecurrent
position
toaposition
away
fromaspecified
position
in increments
as specified
in the tool direction.
IlnputFormatl
MT ( Position
number), [ (Traveldistance)] [, (O or C) ]
Where,1 5 Positionnumber5 629
Isample Input)
MT 5. +70. O
IExplanation
I
11)Theleastinputincrement
of thedistance
of travelis 0.1mm.(e.9.specify150.5
for
150.5m
m.)
(2) Whenthe distance
of travelentered
is positive
(*), the endof the handadvances
alongthe specified
distance
in the tool direction.
Whenthe distance
of travelis
negative
(-), theendretracts
alongthespecified
distance
inthetooldirection.
(The
defaultdistanceis 0.)
(3) lf theopen/close
stateof thehandhasbeenspecified
(O:open;C: closed),
theend
of the handmovesafterexecuting
the handcontrolinstruction.
lf it hasnot been
specified,
the definitionof the specified
positionis executed.
(4) Error mode II is causedbeforethe end of the hand startsmovingwhen the
destination
exceeds
the robot'soperational
space.
lt is alsocaused
if thespecified
positionhas not been predefined
or is out of the operational
space.
(5) The positionof the end of the hand is determined
by the tool lengthcurrently
established.
(SeecommandTL.)
(sample Program)
1 0 L P R I N T
" H E 1 "
20 LPRINT
"IVIT1, +30, C"
X Intheaboveexample,
linenumber20defines
the reference
position
asthecurrent
position;as a result,the end of the hand is advanced
30mm,from the current
positionin the tool direction,
with the hand closed.

97. 3. DESCRIPTION
OFTHECOMMANDS
NT (Nest)
(Function
I
Returns
the robotto mechanical
origin.
Ilnput Formatl
ISampleInputI
NT
IExplanation
I
(1) This commandcausesthe robotto returnto origin,which must be performed
immediately
afterthepoweristurnedON.Execution
of thiscommandis necessary
before any move command can be executed.Origin setting is performed
automatically
bythe limitswitches
andphase-Z
of encoders
provided
in eachaxis.
(2) Originsettingof J2,J3,andJ4 axesis firstexecuted,
whichis followedby origrn
settingof J1 andJ5 axes.lf thearmcaninterfere
with theobjects
surrounding
the
robot,usetheteachingboxto moveit to a safelocationbeforeattemptingto return
the robotto origin.
(3) Caremustbetakento prevent
personal
injuryif thehandholdsa workpiece,
asthe
hand opensas soon as the originsettingoperationis initiated.
(4) Do not touchthe limit switches
and robot body until originsettingcompletes.
Isample Program
)
10 LPRINT"NT"
; Execute
origin setting.
20 LPRINT
"MO 10" ; Moveto oosition
10.
NT

98. 3. DESCRIPTION
OFTHECOMMANDS
OG (Origin)
IFunction
)
Movesthe robot to the reference
positionin the cartesian
coordinate
system.
Ilnput Formatl
(sampleInput
I
ULr
IExplanation
I
(1) This commandcausesthe robot to move to the cartesian
coordinate
syqem
reference
position
established
bytheHOcommand
or by keying
inI P.S and 0 on
the teachingbox. (SeeCHAPTER
4 CARTESIAN
COORDINATE
SYSTEM
REFER-
ENCEPOSITION
SETTING,
APPENDIX.)
{2) lf the reference
positionis yet to be defined.
thiscommandcauses
the robotto a
positionas determined
by tentativedata storedin the systemROM.
(3) Execution
of this commandprior to originsettingresultsin error mode II.
ISampleProgram
)
1OLPRINT
"NT"
20 LPRINT
"OG"
; Returnthe robotto origin
;Move to referenceposition in the cartesian
coordinate
system.

99. 3. DESCRIPTION
OFTHECOMMANDS
PA (PalletAssign)
IFunction
I
Defines
the number
of gridpoints
in thecolumn
androwdirections
for a specified
Da
llet number.
Ilnput Format)
PA (Palletnumber), (No.of columngrid points), (No.of row grid points)
W h e r e ,
1 3 P a l l e t
n u m b e r5 9
1 < No. of columngrid points< 255
1 < No. of row orid oointsS 255
ISampleInputI
PA 3. 20. 30
IExplanation
I
(1) This commandmust be executedbeforethe palletcalculation
command{see
commandPT) is executed.
(2) Thenumber
ofgridpointsisequivalenttothatof
theactual
workpieces
arranged
on
thepallet.
Forexample,
with a palletholding15workpieces
(3X 5),thenumbers
of
columnand row grid pointsare 3 and 5, respectively.
(3) Thecolumnandrow directions
aredetermined
by thedirections
oftheterminating
positions,
respectively.
(SeecommandPT.)
Isample Programl
10 LPRINT
"PA 5, 20,30"
20 LPRINT
"SC 51, 15"
30 LPRINT
"SC 52, 25"
40 LPRINT
"PT 5"
50 LPRINT
"MO 5"
X Inthe aboveexample,
linenumber10defines
pallet5 asthe pallethaving20 X 30
gridpoints.
Linenumbers
20,30,and40thenidentify
thecoordinates
of oneof the
grid points(15.25) as position5 and line number50 movesthe robotto that
oosition.

100. 3. DESCRIPTION
OFTHECOMMANDS
PCX (PositionClear)
(Function
I
Clearsthe positiondata of specified
positionnumberor numbers.
IInput Format
I
PC (Position
number1a)) [, (Position
number(b)) ]
Where,'l < Positionnumber(a),(b) < 629
(SampleInput)
P C 5 , 8
I Explanation
I
(1) Thiscommand
clears
allposition
data
fromposition
(a)uptoandincluding
position
(b).
(2) lf position(b) is omitted,the positiondata of only position(a) is cleared.
(3) Becareful,
thecartesian
coordinate
systemreference
position
dataiscleared
if the
position
numberisomittedor 0 (zero)
isdefined,
except
whenbit4 of sw1 located
insidethe side door of the drive unit is in the lower position(OFF).
(See CHAPTER
4 CARTESIAN
COORDINATE
SYSTEMREFERENCE
POS|T|ON
SETTING,
APPENDIX.)
ISampleProgram
I
10 LPRINT
"MO 10" ; Moveto position
10.
20 LPRINT
"MO 12" ; Moveto position
12.
30 LPRINT
"MO 15" ; Moveto position
15.
40 LPRINT
"PC 12" ; Clearposition
12.
50 LPRINT
"DP"
; Ivloveto position10.

101. 3. DESCRIPTION
OFTHECOMMANDS
PDX (PositionDefine)
IFunction
I
Defines
the coordinates
(position
andangle)
of a specified
position
number.
IlnputFormat)
PD (Position
number), [ (X-axis
coordinate)
], [ (Y-axis
coordinate)
], [ (Z-axis
coordinate)
l, { (Pitchangle)l, [<Roll angle)]
Where,1 S Positionnumber S 629
(sample Inputl
PD 10,0, 380,300 -70, -40
IExplanation
I
(1) Theleastinputincrement
of thecoordinates
is 0.1mmor 0.1'.(e.g.specify
20.1for
20.1mm.)
(2) No erroroccurs
evenwhenthedefined
coordinates
exceed
the robot'soperational
space.
Thisallowsyouto definea position
representing
an incremental
movement
when the command is used in combinationwith the other command.(See
commandSF. MA)
(3) The defaultcoordinate
is 0.
(4) The open/close
stateof the hand is definedby the grip flag command.(See
commandGF.)
(5) Thiscommand
candefinea robotposition
onlywhenthecoordinates
of theendof
the handas deterrnined
by the tool commandare located
aheadZ-axis(i.e.,
the
directionthe robot faces).
(samplePrograml
1OO
LPRINT
"GF 1"
110 LPRTNT
"PD 10,0, 380,300,-70, -40"
120 LPRTNT
"PD 20, O,0, 20, A, O"
130LPRINT
"SF 10,20"
140LPRINT
"MO 10"
X Intheaboveexample,
linenumber110defines
position
10,atwhichhandisclosed,
whilelinenumber120defines
position
20.Linenumber130thenredefines
position
10as position10beingshifted20mmin Z-axis
as determined
by position
20.Line
number140 movesthe robotto the new position10.

102. 3. DESCRIPTION
OFTHECOMMANDS
PL (PositionLoad)
IFunctionl
Assignsthe coordinates
of a specified
positionnumberto anotherspecified
position
number,
(lnput Formatl
PL (Position
number{a)), (Position
number{b))
Where,1 5 Position
number(a),(b) 5 629
ISampleInputl
P L 5 , 7
IExplanation
)
(1) Afterthis commandhas beenexecuted,
the coordinates
of position(a)becomes
equivalent
to thoseof position
(b),the old position
(a)coordinates
beingcleared.
(2) Afterthe commandhasbeenexecuted,
the position
of the handat position(b) is
assigned
to that at position(a).
(3) Errormode II is causedif position(b) is yet to be defined.
Isampte Program
I
10 LPRINT
"HE 2"
20 LPRINT
"PL 3, 2"
X In the aboveexample,
afterthe currentcoordinates
and handpositionhavebeen
definedas position2, the positiondata of position2 is copiedto position3.

103. 3. DESCRIPTION
OFTHECOMMANDS
PT (Pallet)
IFunction
I
calculates
thecoordinates
of a gridpointon a specified
palletnumberandidentifies
the
coordinates
as the positionnumbercorresponding
to the specified
palletnumber.
IInput Format
I
PT ( Pallet number)
Where,'l < Palletnumber5 9
ISampleInputl
P T 3
IExplanation
I
(1) This commandcalculates
the coordinates
of a grid point on a specified
pallet
numberandidentifies
thecoordinates
astheposition
numbercorresponding
to the
specified
palletnumber.
Thepalletdefinition
command(pA)mustbeexecuted
for
the palletto be usedbeforeexecuting
thiscommand,
Afterthe pT commandhas
beenexecuted,
the position
datapreviously
defined
forthetargetposition
number
is clea
red.
(2) ln orderfor thiscommandto be executed,
the palletpositions
(gridpointsat four
corners
of thepallet)
mustbeproperly
defined
whichidentify
a particular
palletand
the palletcounters
(columnandrow)be properly
setthatspecify
a particular
grid
pointon the pallet.Following
is a listingof a combination
of palletpositions
ano
counterscorresponding
to each palletnumber.
(Pallet1) Palletreference
position Position'10
Palletcolumnterminating
position position'l1
Palletrow terminating
position Position12
Palletcornerpositionoppositeto reference Position13
Pallet
columncounter Counter
11
Palletrow counter Counter12
PT1position position'l
Palletreference
position Position20
Pallet
columnterminating
position Position
21
Palletrow terminating
position Position22
Palletcornerpositionoppositeto reference Positjon23
Pallet
columncounter Counter
2l
Palletrow counter Counler22
PT2position Position2
(Pallet
2)

104. 3. DESCRIPTION
OFTHECOMMANDS
(Pallet3)
{Pallet4)
{Pallet5)
(Pallet6)
Position30
Position
31
Position32
Position33
Counter31
Counter32
Position3
Position40
Position41
Position
42
Position
43
Counter4'1
Counter42
Position4
Position50
Position51
Position52
Position53
Counter51
LOUnTer 52
Position5
Position60
Position6'l
Position62
Position63
LOUnrer b I
Counter62
Position
6
Palletreference
position
Pallet
columnterminating
position
Pa
llet row terminating
position
Palletcornerpositionoppositeto reference
Palletcolumncounter
Palletrow counter
PT3position
Palletreference
position
Pallet
columnterminating
position
Palletrow terminating
position
Palletcornerpositionoppositeto reference
Palletcolumncounter
Palletrow counter
PT4position
Palletreference
position
Pallet
columnterminating
position
Palletrow terminating
position
Palletcornerpositionoppositeto reference
Palletcolumncounter
Palletrow counter
PTs position
Palletreference
position
Palletcolumnterminating
position
Palletrow terminating
position
Palletcornerpositionoppositeto reference
Palletcolumncounter
Palletrow counter
PT6positio
n

105. 3. DESCRIPTION
OFTHECOMMANDS
(Pallet7)
(Pallet8)
(Pallet9)
Palletreference
position Position
70
Palletcolumnterminating
position Position71
Palletrow terminating
position Position72
Palletcornerpositionoppositeto reference Position73
Palletcolumncounter Counter71
Palletrow counter Counter72
PT7position Position7
Palletreference
position Position80
Pallet
columnterminating
position Position
81
Palletrow terminatingposition Position82
Palletcornerpositionoppositeto reference Position83
Palletcolumncounter Counter81
Palletrow counter Counter82
PT8position Position
8
Palletreference
position Position90
Palletcolumnterminating
position Position91
Palletrow terminatingposition Position92
Palletcornerpositionoppositeto reference Position93
Palletcolumncounter Counter91
Palletrow counter Counter92
PTgposition Position9
(3)
lf the palletpositions(fourcornerpointsof the pallet)and palletcountersare
properly
defined,
therefore,
execution
of commandPTallowsthecoordinates
of a
grid pointto be definedas the positionnumberequivalent
to the palletnumber.
Error
modeII is caused
if the palletpositions
havenot beendefined
andthe pallet
countershave not beenset or have beenset to havevaluesexceeding
those
definedby commandPA. An error does not occur,however,even when the
coordinates
obtainedfor the grid point exceedthe robot'soperational
space.
{4) The open/closestateof the hand at the targetgrid point is the same as that in the
pallet referenceposition.
(5) When executingthe PT command,the tool lengthof the hand to be used must be
properlydefinedby commandTL.The robot must alsc be taughtthroughthe pallet
positions (four corners)using the predefinedcorrect tool length.

106. 3, DESCRIPTION
OFTHECOMMANDS
ISampleProgram
I
Suppose
you havea palleton whicha totalof 24 workpieces
are arranged,
4 in the
columndirection
and6 in the row direction.
Now,letus havethesvstemcompute
the
coordinates
oftheworkpiece
placed
inthegridposition
(2,4),i.e,,
thesecond
gridinthe
columndirection
and the fourthgrid in the row direction,
and get the robothandto
reachthat position.
Position7l Workpieceplaced in the grid position (2, 4) Position73
g
=
E
?
o
O
Pallet
7
pcs.)
Position 70
(Reference
position)
"rL 200"
"PA7, 4, 6"
"sc 71,2"
"sc 12,4"
"Pr 7"
"MO7"
Position72
LPRINT
1OLPRINT
20 LPRINT
30 LPRINT
40 LPRINT
50 LPRINT
Procedu
re
(l ) We now havepallet7.
Define
thetoollength{inthiscase,
200mm)
corresponding
to thehandin use.Then,
guidethe arm throughpositions
70,71,72,and 73 at four cornersof the pallet.
(2) Execute
the palletdefinition
commandIPA7, 4,6) to define
the numberof grid
pointsin the columnand row directions.
(Linenumber10)
(3) Defineparameter
2 for counter7'l (column)
andparameter
4 for counter
72 lrow.
Theseparameters
correspond
to the targetgrid point.(Linenumbers20 and 30)
(4) Now, executethe palletcalculation
command(PT7).
Thisallowsthe coordinates
of the targetgrid pointto be calculated
andtheyare
identified
asposition
7.Thehandcannow bemovedto thatposition
by MO7.(Line
numbers40 and 50)
h
7 .) c c .l
-r,
C o o ol (, C
o C a a) o
A
y.:) C U C .) /n
-:{
Row direction 6

107. 3, DESCRIPTION
OFTHECOMMANDS
PX (PositionExchange)
IFunction
I
Exchanges
the coordinates
of a specifiedpositionnumber for those of another
specified
positionnumber.
(lnput Format
I
PX (Position
number(a)), (Position
number(b))
Where,1 5 Position
number(a),(b) < 629
ISampleInputl
P X2 , 3
(Explanation
)
(1) After this command has been executed,
the coordinates
of position(a) are
exchanged
for the coordinates
of position(b).
{2) The open/close
stateof the hand at position(a) is also exchanged
for that at
position
(b).
(3) Errormode II is causedif positions(a) and (b) have not been predefined.
(SampteProgram
)
10 LPRINT
"HE 2"
20 LPRTNT
"MJ 20,30,0, 0, 0"
30 LPRINT
"GO"
40 LPRINT
"HE 3"
50 LPRINT
''PX 2, 3"
X Inthe aboveexample,
thecoordinates
andhandopen/close
stateof position
2 are
exchanged
for thoseof position3.

108. 3. DESCRIPTION
OFTHECOMMANDS
sF (shift)
IFunction
)
ShiftS
the coordinates
of a specified
positionnumberin increments
representing
the
coordinates
of anotherspecified
positionnumberand redefines
the new coordinates.
Ilnput Format)
SF (Position
number(a)), (Position
number(b))
Where,1 5 Position
number(a),(b) < 629
ISamplelnput)
sF 10,'100
IExplanation
)
(1) Each
coordinate
of position(b)
isadded
tothecorrespond
ingcoordinate
of position
(4 , .
(2) Errormode 11is causedif positions(a) and/or(b) have not been predefined.
(3) This commanddoes not effectany roboticmotion.
ISampleProgram
I
10 LPRTNT
"PD 5, 0, 0, 30,0, 0"
20 LPRINT
"HE 1"
30 LPRINT
"SF .I,5"
40 LPRINT
"MO 1"
x Intheaboveexample,
Z-coordinate
30mmisadded
to thecorresponding
coordinate
of position1 andthe newcoordinates
aredefined
as position
1.Then,linenumber
10 causesthe robotto move to that point.

109. 3. DESCRIPTION
OFTHECOMMANDS
SP (Speed)
(Functionl
Setsthe operating
velocityand acceleratio
n/deceleration
time for the robot.
(lnput Format)
SP (Speedlevel), [ (H or L) ]
Where,0 < Speedlevel 5 9
ISampleInputl
S P 7 , H
IExplanation
)
(1) Thiscommandsetsthe operating
velocityandthe acceleration/deceleration
time
upon startingand stopping.The velocityis variablein 10 steps,9 being the
maximum speedand 0 the minimum.Acceleration/deceleration
time may be
selected
from amongH or L.Theacceleration
time is 0.35seconds
for H and 0.5
seconds
for L,whiledeceleration
time is 0.4seconds
for H and0.6seconds
for L.
WhenH isselected,
theacceleration
anddeceleration
areconstant
fromSP0to SPg.
WhenL is selected.
theacceleration
anddeceleration
timesareconstant
from SP0
to SPg.
When two or more axes of motion are involved,this command setsthe operating
velocity of the joint having the greatest number of motor pulses.
When the velocityand acceleration/deceleration
time are set,the acceleration
and
deceleration
distancerequiredfor movementis predetermined.
This meansthatthe
set speed may not be reached if the distanceof travel is small.
(4) Errormode I may be causedif a high speedand H time aresetto effecta backward
motion or when the robot's load capacityis large.ln such cases,set a low speed
and L time.
(5) A speed and acceleration/deceleration
time, once set, remainvalid until new ones
are set. In the initial condition, setting is
"SP
4, L". (The last acceleratior't/
decelerationtime remains valid when it is omitted.)
(6) lf the speed parameter is omitted, it defaultsto 0.
(21
(3)
Isample Program
I
1OLPRINT
"SP 3"
20 LPRINT
"MO 10"
30 LPRINT
"SP 6, L"
40 LPRINT
"MO 12"
50 LPRINT
"MO 15"
Set speed at 3.
Move to position '10.
Set speed at 6 and time
Move to position 12.
Move to position 15.

110. 3. DESCRIPTION
OFTHECOMMANDS
Tl (Timer)
IFunction
)
Haltsthe motionfor a specified
periodof time.
IInput FormatI
Tl (Timercounter)
Where,0 S Timer counter5 32767
ISampleInputl
rt 20
IExplanation
]
(1) Thiscommandcauses
therobotto haltitsmotionfor thefollowingperiodof time:
specified
timer countervalue X 0.1 seconds(max.3,276.7
seconds).
(2) Thecommandcanbe usedto introduce
a time delaybeforeandafterthe handrs
openedand closedfor grippinga workpiece.
{3) The default value is 0.
Isample Program
I
10 LPRINT
"MO 1, O"
20 LPRINT
"TI 5"
30 LPRINT
"GC"
40 LPRINT
"TI 5"
50 LPRINT
"MO 2, C"
Move to position1 (with hand open).
Set timer at 0.5 sec.
Closehand (to grip workpiece).
Set timer at 0.5 sec.
Move to position2 (with hand closed).

111. 3. DESCRIPTION
OFTHECOMMANDS
TL (Tool)
IFunction
I
Establishes
the distancebetweenthe hand mounting surfaceand the end of the hand.
Ilnput Formatl
TL [ (Tool length)]
Where.
0 5 Toollength< *300.0(mm)
Isamplelnputl
TL 145
IExplanation
)
{'1
) The leastinput incrementof the tool lengthis 0.1mm.(e.g.specify200.5for
200.5m
m.)
{2) Thetool length,
onceestablished,
remains
validuntila newoneis defined.
Whena
tool lengthis changed,
the currentpositionis alsochangedaccordingly,
which,
however,
doesnot involveany roboticmotion.(lnitial
settingof thetool lengthis
'l07mm.)
(3) The defaultvalue is 0.
{4) Sincethe pointdefined
by thiscommandisthe basis
for calculation
of thecurrent
position,cartesian
jogging,and commandsinvolvingthe cartesian
coordinate
system,
the accurate
tool lengthmustbe established
according
to thetool (hand)
being used.
(5) Whenevera programis to run, be sure to set the same tool length as that
established
duringteachingat the beginningof the program.
Isample Program
)
1OLPRINT
"TL 120"
20 LPRINT
"HE 1"
30 LPRINT
"TL 1OO"
40 LPRINT
"MO 1"
X Intheaboveexample,
linenumber30changes
thetoollengthandthenlinenumber
40 causesthe end of the hand to advance20mm in the tool direction.

112. 3. DESCRIPTION
OFTHECOMMANDS
2.2 Program
control
lnstructions
specified
counterinto the internalccmparisonregister.
CP (CompareCounter)
IFunction
I
Loadsthe valuein a
Ilnput Formatl
CP (Counter
number)
W h e r e .
1 < C o u n t e r
n u m b e r5 9 9
(sampleInputl
CP20
IExplanation
I
(1) Thiscommandmustbeexecuted
before
a conditional
jumpinstruction
(seeEO,NE,
LG,andSM)isto beexecuted
if thevalueinthecounter
whosenumberisspecified
is usedasthecondition
for thejump.Theseconditional
jump instructions
causea
jump to occurwhen certainconditions
are met involvingcomparison
with the
contentsof the internalregisterloadedby the CP command.
(2) Evenwhenthe valueof the specified
counterchanges
afterthe execution
of the
command,
the contents
of the internal
register
are not affected.
lf the conditional
jump is specified
underthe conditionspecifying
comparison
with the counter
value.therefore.
this commandmust be executed
afterthe countervalue has
chanqed.
(3) Theinputcontrolinstructions
(commands
lDandlN)usethesameinternal
register,
meaning
thattheoldcontents
oftheinternal
register
arelostwhenaninputcontrol
instruction
is executed.
(4) Thecontents
ofthecounter
canbechanged
or readby means
ofthecounter-related
instructions.
(SeecommandsSC, lC, DC,and CR.)
ISampleProgram
I
10 LPRINT
"100tc 21"
20 LPRINT
"11OCP 21"
30 LPRTNT
"120 EA 255,500"
40 LPRTNT
"130 GT 100"
50 LPRINT
"500SC 21,0"
60 LPRTNT
"510GT 100"
X Inthe aboveexample,
linenumber100causes
counter
2'1to be incremented
by 1.
Linenumbers110and 120compare
thecontents
of thecounter
withthevalue255
and,if theyequal255,
the program
jumpsto linenumber500,
whereby
thecounter
is initialized
(resetto 0). lf thev do not equal255,line number'l30causesthe
programto returnto line number100.

113. 3. DESCRIPTION
OFTHECOMMANDS
DA {DisableAct}
IFunction
I
Disables
the interrupt
by a signalthroughthe specified
bit of the external
input
terminal.
IlnputFormatl
DA (Bit number)
Where,0 S Bit number< 7 (15)
Figurein ( )is for type416 or 816 l/O card.
Isample Input)
D A 3
I Explanation
I
(1) Thiscommandclears
theinterrupt
enabled
stateof the bit defined
by the interrupt
enableinstruction
(seecommandEA).
(2) Oncethiscommandhasbeenexecuted,
no interrupt
occursevenwhena signalis
input to the specified
bit while the robot is in motion.Note,however,
that the
execution
of thiscommand
doesnotaffect
theinterrupt
enabled
condition
of other
otts.
(3) To inhibitrepeated
interrupts
by a singlesignal,
eitherlow or high,thiscommand
mustbe executed
at the beginning
of a linenumberto whichthe programjumps
afterthe interruDt
has occurred.
Isample Program)
See commandEA.

114. 3, DESCRIPTION
OFTHECOMMANDS
DC (Decrement
Counter)
lFunctionl
Subtracts
l from the value in a specified
counter.
nput Formatl
DC (Counter
number)
W h e r e ,
1 5 C o u n t e r
n u m b e r5 9 9
[SampleInput]
DC 35
IExplanation]
(1) Errormode II is causedif the countervalue becomeslessthan -32767.
(2) Thecommandcanbe usedto countthe numberof workpieces
andjob sequences
and to set the numberof grid pointsin the pallet.
(3) The contentsof the counter can be changed,compared,or read by the
counter-related
instructions.
(SeecommandsSC,lC, CP,and CR.)
[SampleProgram]
10 LPRINT
"SC 21, 15"
20 LPRINT
"DC 21"
X Intheabove
example,
linenumber
10sets
value15incounter
21andlinenumber
20
causesthe counterto be decremented
by 1.

115. 3. DESCRIPTION
OFTHECOMMANDS
DLX (DeleteLine)
IFunction
)
Deletes
the contentsof a specified
line numberor numbers.
(lnput Formatl
D L ' L i n en u m b e r
( a ) ) l , ( L i n en u m b e r
( b ) )l
Where,1 5 Line number(a),(b) < 2048
(sample Input)
DL 200,300
(Explanation
)
(1) Thiscommand
deletes
allcontents
from linenumber
{a)up to andincluding
line
number(b).
(2) lf line number(b) is omitted,the contents
of line number(a) only are deleted.
(sample Program)
10 LPRTNT
"100MO 10"
20 LPRINT
"110MO 12"
30 LPRTNT
"120MO 15"
40 LPRTNT
"130MO 17"
50 LPRINT
"140 MO 20"
60 LPRINT
"DL 130" ; Delete
linenumber130.

116. 3. DESCRIPTION
OFTHECOMMANDS
EA (EnableAct)
IFunction
I
Enables
theinterrupt
byasignalthrough
thespecified
bitoftheexternal
input
terminal,
andspecifies
linenumber
to whichthe program
jumpswheninterrupt
occurs.
IlnputFormatl
EA (+ or -) (Bit number), (Linenumber)
Where,0 S Bit number< 7 (15)
1 S Line nulnber< 2048
Figurein ( )is for type416 or 816 l/O card.
ISampleInputl
EA +7, 1024
(Explanation
)
(1) Thiscommandcauses
an interrupt
by an external
inputsignalto beserviced
while
the robot is in motion,Whenthe specified
signalis inputwhile the robot is in
motion after this command has been executed,
the robot is broughtto an
immediate
stopandthe programjumpsto thespecified
linenumber.
Avoidusing
thecommand
whilethe robotis movingat highspeed,
as mechanical
failure
could
result.iSet speedbelow SP5)
(2) Theprogram
jumpswhenthespecified
inputbit isONif theparameter
* hasbeen
specified,
and when the inputbit is OFFif the parameter
- hasbeenspecifieo.
(3) Two or morebitsmay be specified
at onetime.lf therearemorethanone inputs
received,
the bit with a greaterbit numbertakesprecedence.
14)Oncethis commandis executed,
the interrupt
enabled
condition
is retained
until
the interruptdisableinstruction
(DA),programend instruction(ED).or reset
instruction
(RS)is executed.
(5) Thiscommandis not honoredduringjoggingby meansof the teaching
box and
whilethe robotis in motionas a resultof the move.iointinstruction
(MJ)or nest
instruction
{NT).
ISampleProgram
)
10 LPRTNT
" 100EA +5,600"
20 LPRTNT
" 110VtO1"
30 LPRINT" 120 ED"
40 LPRINT
"600 DA 5"
50 LPRTNT
"6'10MO 2"
60 LPRTNT
"620GT 110"

117. 3. DESCRIPTION
OFTHECOMMANDS
X Intheaboveexample,
linenumber100declares
aninterrupt
causing
theprogram
to
jumpto linenumber600whenbit5 turnsONandlinenumber110movesthe robot
to position1.Whenthe specified
signalis inputduringthismotion,therefore,
the
robotis broughtto a haltandthenthe programjumpsto linenumber600,where
the interrupt
is disabled.
Linenumber610thenmovesthe robotto position
2 and
linenumber
620causes
theprogram
to jumpto linenumber
110.
Therobotisthen
movedto position1 agaan.
Whenno signalis input
Signal input
---
/42n,, ,/
- - , /
Position1
point

118. 3. DESCRIPTION
OFTHECOMMANDS
ED (End)
IFunction)
Endsthe program.
Ilnput Format]
ISampleInputl
E D
IExplanation
I
(1) Thiscommandmarksthe end of a program.
(2) lt is required
at the endof a programunless
the programcommands
aredirectly
executed
from the personal
computer.
{Thecommandis not required,
however,
whenthe programformsa closedloop.)
Isample Program)
10 LPRINT
"1OO
SP 3"
2 0 L P R T N T
" 1 1 0M O 3 "
30 LPRINT
"120MO 5"
40 LPRINT
" 130ED"
' qar cnaa.l .t ?
; Move to position3.
; Move to position5.
; End the program.
ED

119. EO (lf Equal)
IFunctionl
Causesa jump to occur if the contentsof the internalregisterequal a specifiedvalue
wnen compareo.
(lnput Format)
EO (Compared
value), (Jumpinglinenumber)
Where,-32767 5 Compared
value (decimal)
< +32767
or &80015 Compared
value {hexadecimal)
< &7FFF
'1 < Jumpinglinenumber5 2048
ISampleInput)
EA 128,1024;or EO &80, 1024
(Explanation
I
(1) Thiscommand
causes
a jumpto occurconditionally
by meansof an external
input
data or the contentsof the internalcounter.
(2) lf the contents
of the internal
comparison
register
equalthe compared
value(i.e.,
when the conditionis met),the programjumps to the specified
line number;
otherwise
{i.e.,
whenthecondition
is notmet),theprogram
continues
in sequence.
13)A valuecanbe loadedintothe internal
comparison
register
by executing
the input
instruction
(seelD and lN)for an external
inputdataor by executing
the compare
counter
instruction
(seeCP)
forthecounter
data.lt istherefore
necessary
to execute
previously
eitherof thesecommandsso that a conditional
iump can occur.
14)The compared
valuemay be definedeitherin decimalor hexadecimal.
When a
hexadecimal
numberis used,be sureto append"&" at the beginningof the
number.
Isample Program)
1OLPRINT
" 1OO
ID"
2 0 L P R T N T
" 1 1 0E O 1 0 0 ,1 3 0 "
30 LPRINT
"120 ED"
40 LPRTNT
"130MO 7"
Fetchdatafrom externalinput port-
Jumpto line number130iftheinputdataequals
100.
Endthe programif abovecondition
is not met.
Move to position7.

120. 3. DESCRIPTION
OFTHECOMMANDS
GS (Go Sub)
(Function
I
Permits
theinstruction
sequence
to jumptothesubroutine
whichstarts
witha specified
line number.
Ilnput Formatl
GS (Linenumber)
Where,1S Linenumber5 2048
ISampleInputl
GS 1024
IExplanation
I
(1) Thiscommandpermits
theinstruction
sequence
to jumpto a specified
line
The commandRT is usedto returnsubsequently
to the main program
subroutine
has beencompleted.
(2) Subroutines
arewrittenandstoredseparately
fromthemainprogramand
terminatedby the commandRT.
(3) To callsubroutines
incorporated
in othersubroutines
is called"nesting."
nestinglevelsare possible.
number.
afterthe
mustoe
U p t o 9
ISampleProgram)
10 LPRINT
"20 GS 1OO"
I
2OO
LPRINT
"90 ED"
2 1 0L P R T N T
" 1 0 0M O 1 1 "
220LPRINT
"110 MO 12"
230 LPRINT
" 120 MO 13"
240 LPRINT
" 130 RT"
End the program.
Moveto position
11.
Moveto position12.
Move to position13.
End the subroutine.
Subroutine

121. 3. DESCRIPTION
OFTHECOMMANDS
GT (Go To)
IFunctionl
Permits
the program
sequence
to jumpto a specified
linenumber
unconditiona
lry.
IlnputFormat]
GT (Linenumber)
Where,15 Linenumber= 2048
Isample Inputl
Gr 1024
IExplanation
I
(1) Thiscommandcauses
the programsequence
to jump to a specified
linenumber.
(2) lf the specified
line numberis not available,
the first line numberfollowingthe
specified
one is executed.
Isample Program
I
10 LPRINT
"20 MO 1"
20 LPRINT
"30 GT 1OO"
200LPRTNT
"100MO 12"
2 r 0 L P R T N T
" 1 1 0M O 1 5
l4ove
to position1.
Jump to line number100uncond
itionally,
Move to position12.
Move to position15.

122. 3. DESCRIPTION
OFTHECOMMANDS
lC (lncrementCounter)
(Function
I
Adds 1 to the value in a specified
counter.
Ilnput Formatl
lC (Counter
number)
Where,1:! Counter
numberS 99
(SampleInputI
t- zc
IExplanation
I
(1) Error mode II is causedif the countervaluebecomesgreaterthan 32767.
(2) Thecommandcanbe usedto countthe numberof workpieces
andjob sequences
and to set the numberof grid pointsin the pallet.
(3) The contentsof the counter can be changed,compared,or read by the
counter-related
instructions.
(SeecommandsSC,DC,CP,and CR.)
Isample Program
)
1 0 L P R T N T
" S C 2 1 , 1 5 "
20 LPRINT
" IC 21"
X Intheabove
example,
linenumber
10sets
value15incounter
21andlinenumber
20
causesthe counterto be incremented
by 1.

123. 3. DESCRIPTION
OFTHECOMMANDS
LG (lf Larger)
IFunction)
Causes
a jump to occurif the contentsof the internalregisterare greaterthan a
specified
valuewhen compared.
Ilnput Formatl
LG (Compared
value), (Jumpinglinenumber)
Where,-32767 5 Compared
value (decimal)
< +3T167
or &8001S Compared
value{hexadecimal)
< &7FFF
1 < Jumpinglinenumber5 2048
(SampleInputI
LG 12a,1024;or LG &80, 1024
IExplanation
I
{1) Thiscommand
causes
a jumpto occurconditionally
by meansof anexternal
input
data or the contentsof the internalcounter.
12)lf the contents
of the internal
comparison
register
is greaterthanthe compared
value1i.e.,
when the condltionis met),the programjumpsto the specified
line
number;otherwise
(i.e.,
whenthe condition
is not met),the programcontinues
in
seouence.
{3) A valuecanbe loadedintothe internal
comparison
register
by executing
the input
instruction
{seelD and lN)for an external
inputdataor by executing
the compare
counter
instruction
(see
CP)
forthecounter
data.lt istherefore
necessary
to execute
previously
eitherof thesecommandsso that a conditional
.jumpcan occur.
(4) The comparedvaluemay be definedeitherin decimalor hexadecimal.
When a
hexadecimal
numberis used,be sureto append"&" at the beginningof the
number.
(sample Programl
1OLPRINT
" 1OO
ID"
20 LPRTNT
"110LG 100,130"
30 LPRINT
"120 ED"
40 LPRTNT
"130MO 7"
Fetchdatafrom externalinput port.
Jump to linenumber130if the inputdatais
greaterthan 100.
Endthe programif abovecondition
is not met.
Move to position7.

124. 3. DESCRIPTION
OFTHECOMMANDS
NE (lf Not Equal)
(Function
I
Causes
a jumpto occurif thecontents
of the
valuewhen compared.
Ilnput Format)
internal
register
do notequala specified
NE (Compared
value), (Jumpinglinenumber)
Nhere.-32767 S Compared
value(decimal)
< +32767
or &80015 Compared
value (hexadecimal)
< &7FFF
1 5 Jumpingline number5 2048
Isample Inputl
NE 128,1024:or NE &80, 1024
IExplanation
I
(1) Thiscommandcauses
a jumpto occurconditionally
by meansof an external
input
data or the contentsof the internalcounter.
lf thecontents
of theinternal
comparison
register
do notequalthecompared
value
(i.e.,
whenthe condition
is met),the programjumpsto the specified
linenumber;
otherwise
(i.e.,
whenthecondition
is notmet),theprogram
continues
in sequence.
sequence.
A valuecanbe loadedintothe internal
comparison
register
by executing
the input
instruction
(seelD and lN)for an external
inputdataor by executing
the compare
counterinstruction
(seeCP)for thecounterdata.lt isthereforenecessa
ryto execute
previously
eitherof thesecommandsso that a conditional
.iumpcan occur.
The compared
valuemay be definedeitherin decimalor hexadecimal.
When a
hexadecimal
numberis used,be sureto append"&" at the beginningof the
numDer.
t2l
(3)
(4)
Isample Program
)
1OLPRINT
"1OO
ID"
20 LPRINT
"110NE 100,130"
30 LPRINT
"120 ED"
40 LPRINT
"130 MO 7"
Fetchdatafrom external
Jumpto linenumber130
not equal100.
Endthe programif above
Move to position7.
input port.
if the inputdatadoes
condition
is not met.

125. 3. DESCRIPTION
OFTHECOMMANDS
NWx (New)
IFunction)
Deletes
all programand positiondata.
Ilnput Format)
Isample InputI
(Explanation
)
(1) Thiscommand
deletes
allprograms
andposition
datastoredinthedriveunitRAM.
(2) The command does not. however,deletethe referencepositiondata in the
cartesian
coordinate
system.
ISampleProgram
)
10 LPRINT
"NW"
; Deleteall programsand positiondata.
NW

126. 3. DESCRIPTION
OFTHECOMMANDS
NX (Next)
IFunction
I
Specifies
the rangeof a loopin a program
executed
by the command
RC.
IlnputFormat)
ISampleInputl
NX
IExplanation
I
(1) Thiscommand,
usedincombination
withtheRCcommand,
specifies
therangeof a
loop in a programexecutedby the RC command.
(2) Errormode II is causedif there is no matingRC commandspecified.
(SampleProgram)
See commandRC.
NX

127. 3, DESCRIPTION
OFTHECOMMANDS
RC (RepeatCycle)
ISampleProgram)
1 0 L P R I N T
" 2 0 M O 1 "
20 LPRINT
"30 RC3"
30 LPRINT
"40 MO 2"
40 LPRINT
"50 MO 3"
50 LPRINT
"60 MO 4"
60 LPRINT
"70 NX"
70 LPRINT
"80 MO 5"
IFunctionl
Repeatsthe loop specified by the command NX a specifiednumber of times.
Ilnput Fo]matl
RC 'No. of repeated
cycles)
Where,
'l
5 No, of repeatedcycles < 32767
Isample Input)
RC 32
IExplanation
)
(1) Thiscommand,used
incombination
withtheNXcommand,
causes
a loopspecified
bytheNXcommand
to beexecuted
a specif
iednumberoftimesandcauses
theline
numberfollowingNX to be subsequently
executed.
(2) To incorporate
anotherloop(between
RCand NX)intotheexisting
loop(between
RC and NX) is called"nesting."Up to 9 nestinglevelsare possible.
Move to position 1.
Repeat loop delimited by
NX three times.
Move to position 2. )
^ l
rvrove
ro posrronJ. i Loop
Move to position4. l
Delimit
the loop.
Move to position5.

128. 3, DESCRIPTION
OFTHECOMMANDS
RNX (Run)
(Function
I
Executes
a specified
partof instructions
in a program.
(lnputFormat)
RN | (Starting
linenumber)1[, <Ending
line number)]
Where,1 5 Starting/ending
line number5 2048
Isample Inputl
RN 20, 300
IExplanation
)
(1) Thiscommandcauses
the programto run starting
with a specified
startingline
numberand endingwith the line numberone aheada specified
endingline
number.
(2) lf the programis to continue,restartwith the endingline number.
(3) lf the teaching
box is connected,
the linenumberbeingexecuted
is shownon its
LEDdisplay.
lf an endinglinenumberis specified,
theprogramstopswiththatline
numbershownon the LED.
(4) lf thestarting
linenumberis omitted,
theprogram
starts
withthefirstlinenumber.
ISampleProgram)
10 LPRTNT
"100 MO 10"
20 LPRINT
"110 MO 12"
30 LPRINT
"120 GC"
40 LPRINT
"130 MO 17"
50 LPRINT
" 140 ED"
60 LPRINT
"RN 100" ; Runthe programstarting
with linenumber100.

129. 3, DESCRIPTION
OFTHECOMMANDS
RT (Return)
(Function
I
Completes
a subroutine
and returns
to the mainprogram.
IInputFormatl
(sample Inputl
RT
IExplanation
)
(1) Thiscommand
completes
thesubroutine
called
bytheGScommand
andreturns
to
the main program.
(2) Errormode II is causedif the matingGS commandis not specified.
Isample Program
)
SeecommandGS.
RT

130. 3. DESCRIPTION
OFTHECOMMANDS
SC (Set Counter)
IFunction
)
Loadsa specified
value in a specified
counter.
Ilnput Formatl
SC (Counternumber), [ (Value)]
Where,15 Counter
number< 99
-32767 < Value{decimal)
< +32767
or &80015 Value(hexadecimal)
< &7FFF
Isample Inputl
sc 15,123
(Explanation
I
11)All countersare initiallyset to 0.
(2) Thecommandcanbe usedto countthe numberof workpieces
andjob sequences
and to set the numberof grid pointsin the pallet.
(3) The defaultvalue is 0.
(4) The contentsof the counter can be changed,compared,or read by the
counter-related
instructions.
(SeecommandslC, DC,CP,and CR.)
(5) Thevalueloadedin the counteris not changed
by the commandRS,NW,or ED.
Isample Program
I
1OLPRINT
"SC 21, 15"
20 LPRINT
"IC 21"
X lntheabove
example,
linenumber
10sets
value15incounter
21andlinenumber
20
causesthe counterto be incremented
by 1.

131. 3. DESCRIPTION
OFTHECOMMANDS
SM (lf Smaller)
IFunction
I
Causes
a jumpto occurif the contents
of the internal
register
aresmaller
thana
specified
valuewhencompa
red.
IlnputFormat]
SM (Comparedvalue) (Jumpinglinenumber)
Where,-3Z161 5 Compared
value (decimal)
< +32767
or &80015 Compared
value (hexadecimal)
< &7FFF
1 < Jumpinglinenumber5 2048
Isample Input)
SM 128,1024;or SM &80, 1024
(Explanation
I
(1) Thiscommand
causes
a jumpto occurconditionally
by meansof an external
inpur
dataor the contentsof the internalreqister.
{2) lf the contents
of the internal
comparison
register
is smallerthanthe compared
value(i.e.,when the conditionis met),the programjumpsto the specified
line
number;otherwise
(i.e.,
whenthe condition
is not met),the programcontinues
in
seq
uence.
(3) A valuecanbe loadedintothe internal
comparison
register
by executing
the input
instruction
(seelD and lN)for an external
inputdataor by executing
the compare
counterinstruction
(see
CP)
forthecounterdata.lt istherefore
necessa
ryto execute
previously
eitherof thesecommandsso that a conditional
iumo can occur.
(4) The comparedvaluemay be definedeitherin decimalor hexadecimal.
When a
hexadecimal
numberis used,be sureto append"&" at the beginningof the
number.
Isample Program)
1OLPRINT
" 1OO
ID"
20 LPRTNT
"110SM 100,130"
30 LPRINT
"120 ED"
40 LPRINT
" 130MO 7"
Fetchdatafrom externalinput port.
Jump to linenumber130if the inputdatais
smaller
than 100.
Endthe programif abovecondition
is not met.
Move to position7.

132. 3. DESCRIPTION
OFTHECOMMANDS
2.3 HandControl
Instructions
GC (Grip Close)
IFunction
I
Closesthe grip of the hand.
Ilnput Formatl
Isample Input)
IExplanation
I
(1) Motor-operated
hand.
The commandcausesthe grip of the handto be closedby the grippingforce
waveformdefinedby the commandGP."Retained
grippingforce" is only valid
among the commandGP parameters
if the commandGC is used repeatedly.
(2) Pneu
matically-operated
hand:
Thecommandcauses
the solenoid
valveto be energized
to closethe hand(orto
attractthe workpiece).
(3) A certainperiodof time is requiredbeforethe motion of the robot becomes
stabilized
as its handcloses
to holdtheworkpiece.
Thismaymakeit necessary
to
introduce
a timedelayusingthecommand
Tl beforeandafterthiscommand.
The
execution
timeof thiscommandisdetermined
bytheparameter
"starting
gripping
force retention
time" for the GP command.(SeecommandGP.)
Isample Program)
10 LPRTNT
"100 MO 10,O"
20 LPRTNT
"110Tl 5"
30 LPRINT
"12OGC"
40 LPRINT
"130Tl 5"
50 LPRTNT
"140MO 15,C"
Move to position10 (with hand open).
Set 0.5-sec.
timer.
Closehand (to hold workpiece).
Set 0.5-sec.
timer.
Move to position15 (with hand closed).

133. 3. DESCRIPTION
OFTHECOMMANDS
GF (GripFlag)
lFunction
)
Defines
the open/close
stateof the grip of the hand (usedin conjunction
with the
commandPD).
(lnput Format)
GF (Switch)
Where,switch:0 or 1
ISampleInputl
L]T I
I Explanation
I
(1) Thiscommanddefines
theopenor closestateofthe handgripusedin conjunction
with the commandPD which definesthe coordinates
of a specified
position
(2) Thegripstateis openwhentheswitchis setto 0 andclosed
whenthe switchis 1.
The switchis set to 0 (grip opened)when power is turnedON.
(3) The switchsetting,once made,remainsvalid until it is newly set.
(sample Program)
See commandPD.

134. 3. DESCRIPTION
OFTHECOMMANDS
GO (Grip Open)
IFunction)
Opensthe grip of the hand.
Ilnput Format)
IsampleInput)
GO
IExplanation
]
(1) Motor-operatedhand:
The command causesthe grip of the hand to be opened by the gripping force
waveform defined by the command Gp.
,,Retained
gripping force,.is only valld
among the command Gp parametersif the command Go is used re'eatedrv.
(2) Pneumatically-operatedhand:
The command causesthe sorenoidvarveto be energizedto open the hand (or to
releasethe workpiece.)
(3) A certain period of time is required before the motion of the robot becomes
stabilized
as its hand opensto release
the workpiece.
This may makeit necessary
to
introducea time delay using the command l beforeand afterthis command.The
executiontime of this command is determinedby the parameter,,starting
gripping
force retentiontime" for the Gp command. (See command Gp.)
(sample Programl
10 LPRINT
"100 MO 10,C"
20 LPRTNT
"110Tt 5"
30 LPRINT
",120GO"
40 LPRTNT
"130Tt 5"
50 LPRTNT
"140MO 15,O"
Move to position10 (with hand closed).
Set 0.5-sec.
timer.
Open hand (to release
workpiece).
Set 0.s-sec.
timer.
Move to position15 (with hand open).

135. 3. DESCRIPTION
OF
GP (Grip Pressure)
(Function
I
Defines
the grippingforceto be applied
whenthe motor-operated
handis closeoand
opened.
(lnput Formatl
GP (Starting
gripping
force retentiontime)
force) (Retainedgripping force) (Starting
gripping
Where, Starting/retained
Startinggripping
Stading gripping
force
Close
Isample Program)
1 0 L P R I N T
" G P
1 0 , 6 , 1 0 "
20 LPRINT
"GC"
gripping
force5 15
force retention
time < 99
Startinggripping
retentron time
0 <
0 <
Retained
force
gflpping
Time
Grippingforce
Open
ISampleInput]
G P 1 5 .7 . 5
IExplanation
]
(1) Thiscommandsetsthe grippingforceof the motor-operated
hand(option)as it
changes
with time.(Seecommands
GO and GC.)
(2) Thestartingand retained
grippingforcesare 15at theirmaximumand 0 at their
minimum.
Thestarting
gripping
forceretention
timeistheparameter
X0.1seconos
(max.9.9seconds).
Define
the parameters
optimumfor theworkpiece
to be heto.
The parameter
setting,once made,remainsvalid until a new settingis made.
(3) The initialsettings
whenthe poweris turnedON are ,,Gp10,10,3."
(4) Parameters,
starting
andretained
gripping
forces,
areinvalid
forthepneumatically-
operatedhand.
(5) The robot motion stopsduringthe startinggrippingforce retention
time.
; Set grip pressu
re.
; Closehand in abovesettings.

136. 3. DESCRIPTION
OFTHECOMMANDS
2.4 l/O ControlInstructions
lD (lnput Direct)
IFunction
)
Fetches
an externalsignalunconditionally
from the input port
Ilnput Formatl
(sample Inputl
I D
IExplanation
I
(1) Thiscommandcauses
a signal{parallel
data)from external
equipment
suchas a
programmable
controller
to be fetchedunconditionally
from the input port.
(2) Thedatafetched
is loadedintotheinternal
comparison
register
andissubsequent-
ly usedfor comparison
and bit test.(SeecommandsEO,NE,LG,SM, and TB.)
(3) For detaileddescriptionof connections,
see CHAPTER
3 INTERFACE
WITH
EXTERNAL
I/O EOUIPMENT,
APPENDIX.
Isample Program
)
1OLPRINT
" 1OO
ID"
20 LPRTNT
"'1
10 EO 100,130"
30 LPRINT" 120 ED"
40 LPRTNT
"130 MO 7"
Fetchdatafrom externalinput port.
Jumpto linenumber
130iftheinputdataequals
100.
Endthe programif abovecondition
is not met.
Move to position7.
ID

137. 3. DESCRIPTION
OFTHECOMMANDS
lN (lnput)
IFunction)
Fetches
an external
signalsynchronously
from the inputport(using
thecontrolsignal
lines).
Ilnput Formatl
Isample Programl
1OLPRINT
"1OO
IN"
20 LPRTNT
"110EO 100,130"
30 LPRINT
"120 ED"
40 LPRTNT
"130MO 7"
TypeA8, 416 l/O
Type 88, 816 l/O
Fetchdatafrom externalinput port.
Jumpto linenumber130iftheinputdataequals
100.
Endthe programif abovecondition
is not met.
Move to position7.
DATA(IN)
BLISY(OUT)
sTB-(rN)
DATA (IN)
BUSY(OUT)
STB(IN)
L
U
F
-
_n_
Isample Inputl
I N
(Explanation
l
(1) Thiscommandcauses
a signal(parallel
data)from external
equipment
suchas a
programmable
controller
to befetched
synchronously
from the inputport.At this
time,the controlsignallines(STBand BUSYsignalsor STBand BUSYsignals)
must be previously
connected
to the externalequipment-
(2) Thedatafetched
is loadedintotheinternal
comparison
register
andissubsequent-
ly usedfor comparison
and bit test.(SeecommandsEO,NE,LG,SM, and TB.)
(3) For detaileddescriptionof connections,
see CHAPTER
3 INTERFACE
WITH
EXTERNAL
YO EOUIPMENT,
APPENDIX,
IN

138. 3. DESCRIPTION
OFTHECOMMANDS
OB (Output Bit)
(Function
I
Setsthe output stateof a specified
bit throughan externaloutput port.
(lnput Formatl
OB (+ or -) (Bit number)
Where,
0 5 Bitnumber
< 7 {15)
Figure
in ( ) is for type416 or 816l/Ocard.
(sampleInputl
oB+1
IExplanation
I
(1) Set* to turnONthespecified
bitand- toturnOFF
thespecified
bit.Append
the+
or * sign in front of the bit number.
(2) All bitsotherthanthespecified
onearenotaffected
by thiscommand.
Theoutput
stateofthespecified
bitisretained
untila newsetting
ismadebythecommand
OB,
OD, or OT.
(3) lf no bit numberis specified,
it defaultsto bit 0.
Isample Programl
10 LPRINT"OD & FF" ; Outputdata in hexadecimal
(&FF).
20 LPRINT"OB -0"
X Intheaboveexample,
linenumber10setsallexternal
bits(bits0to 7)to ONandline
number20 sets bit 0 to oFF.

139. 3. DESCRIPTION
OFTHECOMMANDS
OD (Output Direct)
IFunction
I
Outputs
specified
dataunconditionally
through
the outputport.
IlnputFo]matl
OD (Outputdata)
Where, 0 (-327671 5 Output data (decimal)< 255 l+32767l.
&0 {&8001)S Outputdata (hexadecimal)
< &FF (&7FFF)
Figurein ( ) is for type A16 or 816 l/O card.
lsample Inputl
o D 7
I Explanation
)
(1) Thiscommand
causes
a signal(parallel
data)to beoutputunconditionally
through
theoutputportto external
equipment
suchasa programmable
controller.
Thedata
outputto externalequipmentis retained.
(2) The outputdatais definedeitherin decimalor hexadecimal.
Fordatadefinedrn
hexadecimal,
be sureto append"&" at the beginning.
(3) For detaileddescriptionof connections,
see CHAPTER
3 INTERFACE
WITH
EXTERNAL
YO EOUIPMENT,
APPENDIX,
(SamplePrograml
10 LPRINT
"OD &FF" ; Setall external
outputport bits (8 bits)to ON.

140. 3. DESCRIPTION
OFTHECOMMANDS
OT (Output)
IFunction
I
Outputs
specified
data
synchronously
through
theoutput
port(using
thecontrol
signal
lines).
IlnputFormatl
OT (Outputdata)
Where, 0 l-32767]. < Output data (decimal)< 255 (+327671
&0 (&8001)< Outputdata thexadecimal)
< &FF (&7FFF)
Figurein ( )is for type416 or 816 l/O card.
DATA (OUT}
nov(our)
A C K( r N )
DATA(OUT)
RDY(OUT)
nCrlrr.r
t
Type 48, 416 l/O
Type88,816 l/O
ISampte
tnput)
o r 7
IExplanation
I
(1) Thiscommandcauses
a signal(parallel
data)to be outputsynchronously
through
the outputportto external
equipment
suchas a programmable
controller.
At this
time,thecontrolsignallines(RDY
andACKsignals
or RDYandACKsignals)
must
be previously
connected
to the external
equipment.
The dataoutputto external
equipmentis reta
ined.
(2) The outputdatais definedeitherin decimalor hexadecimal.
Fordatadefinedin
hexadecimal,
be sureto append"&" at the beginning.
(3) For detaileddescriptionof connections,
see CHAPTER
3 INTERFACE
WITH
EXTERNAL
YO EOUIPMENT.
APPENDIX.
ISamptePrograml
10 LPRINT
"OT &FF" ; Set all external
outputport bits (8 bits)to ON.

141. 3. DESCRIPTION
OFTHECOMMANDS
TB (TestBit)
(Function
)
Causes
a jump (or no jump)to occurby meansof thecontents
of a specified
bit in the
internalregister.
Ilnput Formatl
TB (+ or -) (Bit number), (Jumpinglinenumber)
Where,
0 5 Bitnumber
< 7 (15)
1 < Jumping
linenumber
5 2048
Figure
in ( ) is for type416 or 816l/Ocard.
IsampleInput)
TB +7, 1024
IExplanation
I
(1)Thiscommand
causes
ajumpto occur
conditionally
bymeans
ofanexternal
input
data or the contentsof the internalcounter.
(2) Theprogramjumpsto the specified
linenumberif the specified
bit in the internal
comparison
register
is ONwhentheparameter
* hasbeendefined
or isOFF
when
parameter
- has beendefined.Otherwise
(i.e.,if the conditionis not met),the
programcontinuesin sequence.
(3) A valuecanbe loadedintothe internal
comparison
register
by executing
the input
instruction
(seelD and lN)for an external
inputdataor by executing
thecompare
counter
instruction
(see
CP)forthecounter
data.lt istherefore
necessary
to execute
previously
eitherof thesecommandsso that a conditional
jump can occur.
Isample Program
I
1OLPRINT
" 1OO
ID"
2 0 L P R I N T
" 1 1 0T B + 1 , 1 3 0 "
30 LPRINT
"120 ED"
40 LPRINT
"130 MO 7"
Fetchdatafrom externalinput port.
Jump to line number130if the first bit of the
inputdatais ON.
Endthe programif abovecondition
is not met.
Move to oosition7.

142. 3. DESCRIPTION
OFTHECOMMANDS
2.5 RS232C
Read
lnstructions
CR (CounterRead)
IFunction
I
Reads
the contents
of a specified
counter
(using
RS232C).
llnput Formatl
CR (Counternumber)
Where,1 = Counternumber 5 99
ISampleInputl
CR 75
(Explanation
I
(1) Thiscommandcauses
the contents
of a specified
counterto be outputfrom the
RS232Cport.
(2) The outputformat is ASCIIcode decimalnumbers.
(3) Theterminator
of outputdatais carriage
return(CR,Hex.0D).lf the datais to be
received
by a personal
computer,
therefore,
it is necessary
to handle
theentiredata
streamup to hex.0D.TheBASIC
equivalent
to thisistheLINEINPUT# statement.
(4) lf an undefinedcounteris read,the initialvalue0 is returned.
(sample Programl
10 OPEN"COM1: 9600,E, 7,2" ASfr1
20 INPUT"COUNTER
NO. : "
; N
30 INPUT"COUNTER
DATA: "
; D
40pRrNr#1,
"sc"+ srR$(N)+", "+ srR$(D)
50 PR|NT#1,
"CR"
+ STR$(N)
60 LINEINPUT+1,
A$
70 PR|NTA$
80 END
R U NI
COUNTER
NO. : ? 10J
COUNTER.DATA:? 2s5I
255
X In the aboveexample,
in whichMitsubishi
MULTll6is employed,
linenumber10
openstheRS232C
communication
fileandlinenumbers
20and30enterthedesired
counternumberand data.Linenumber40 usesthe commandSCto definethe
counternumberand data and line number50 transmitsthe commandCR and
counter
number.
Linenumber60thenuses
theLINEINPUT# statement
to storethe
received
datain A$ and linenumber70 outputs
the contents
of the dataon to the
displayscreen.

143. 3. DESCRIPTION
OFTHECOMMANDS
DR (DataRead)
IFunction
)
Readsthe contentsof the
(lnput Format)
internalregister(usingRS232C).
Isampte Inputl
DR
IExplanation
I
(1) Thiscommandcauses
the contents
of the internalregister
to be outputfrom the
RS232C
port.lf executed
followingan inputinstruction,
the commandallowsthe
data of the externalinput port to be readfrom the RS232C
port.
(2) TheoutputformatisASCII
codehexadecimal
numbers
appended
with "&H" atthe
beginning.
(3) Theterminator
of outputdatais carriage
return(CR,Hex.0D).lf the datais to be
received
by a personal
computer,
therefore,
it is necessary
to handle
theentiredata
stream
upto hex.0D.TheBASIC
equivalent
to thisistheLINEINPUT+ statement.
Isample Program)
1 0 O P E N" C O M ' ]: 9 6 0 0 ,
E , 7 , 2 " A S # 1
2 0 P R T N T
f 1 , " t D "
30 PRINTf1, "DR"
40 LINEINPUT#
1, A$
50 PRINT"INPUTDATA : "
; A$
60 END
R U NI
INPUTDATA : &HFF
X In the aboveexample,
in which Mitsubishi
MULTll6is employed,
linenumber10
opensthe RS232C
communication
file and line number20 loadsthe dataof the
inputportintotheinternal
register
usingthedirectinputcommandlD.Linenumber
30 then transmitsthe commandDR.Linenumber40 next usesthe LINEINPUT
statement
to storethe received
datain A$ andlinenumber50outputs
thecontents
of the datato the displayscreen.
DR

144. 3. DESCRIPTION
OFTHECOMMANDS
ERx (ErrorRead)
IFunction
)
Readsthe statusof the error (usingRS232C).
(lnput Formatl
ISampleInputl
ER
(Explanation
l
(1) Thiscommandcauses
thestatus
of theerror,as it mayor maynot beoccurring
in
the robot, to be output from the RS232Cport.
(2) The corresponding
data is output usingASCIIcode: 0 when there is no error
occurring;1 in error mode I ; and,2 in error mode II.
(3) Thedatacanbe readnotonlyin the normalcondition
butalsoin errormode I or
(4) Theterminator
of outputdatais carriage
return(CR,Hex.0D).lf the datais to be
received
by a personal
computer,
therefore,
it is necessary
to handle
theentiredata
streamup to hex.0D.TheBASIC
equivalent
to thisistheLINEINpUT+ statement.
(5) Thiscommandis effective
when usedto checkfor the occurrence
of errorbefore
transferring
a data streamfrom a personal
computerto the robot.
Isample Program
)
10 OPEN"COM1: 9600,E, 7,2" AS+1
2 0 P R I N T #
1 , " M O 1 "
30 GOSUB1OO
40 PRINT#
1, "MO 2"
50 GOSUB1OO
i
1 O O
P R I N T # 1 ,
" E R "
1 1 0L I N EI N P U T #
1 , A $
120lF A$ : "0" THENRETURN
130PRINT
"ERROR
OCCURS
! "
140END
X Inthe aboveexample,
in whichMitsubishi
MULTll6is employed,
linenumber10
opensthe RS232C
communication
file and line numbersfrom 20 and onwaro
transfercommandsto the robot.Notethat subroutine
100is calledeachtime a
commandis transferred,
to checkfor the occurrence
of error.
ER

145. 3. DESCRIPTION
OFTHECOMMANDS
LRX (LineReadl
(Function
)
Readsthe programon a specified
line number(usingRS232C).
Ilnput Formatl
LR (Linenumber)
W h e r e ,
1 5 L i n en u m b e r5 2 0 4 8
Isample Input)
L R 5 1 2
IExplanation
I
(1) Thiscommand
causes
thecontents
oftheprogram
on a specified
linenumberto be
outputfrom the RS232C
port.
(2) The data is output usingASCIIcode.
(3) Theterminator
of outputdatais carriage
return{CR,Hex.0D).lf the datais to be
received
by a personal
computer,
therefore,
it is necessary
to handle
theentire
data
streamupto hex.0D.TheBASIC
equivalent
to thisistheLINEINPUT# statement.
(4) When an undefinedline numberis read,only ODHis returned.
{5) Theparameters
enteredin hex.areconverted
intodecimal
equivalents
whichare
output,(Example:
"OD & FF" is converted
into "OD 255.")
Isample Program
I
10 OPEN"COM1: 9600,E, 7,2" AS#1
2 0 I N P U T
" S T A R T
L I N E : " ; S
30 INPUT"ENDLINE: "
t E
40 FORI:S TO E
50 PR|NT#1,
"LR"
+ STR${r)
6 0 L I N EI N P U T + 1 ,
A $
70 rF A$ :" " rHEN 90
8 0 P R | N T l ; : P R I N T A $
90 NEXT
l O OE N D
R U NI
S T A R T L I N E : ? l j
E N DL I N E
: ? 8 l
1 N T
2 M O ' 1
4 DW +10.0,+20.0,-30.0
6 rvro2
8 E D

146. 3, DESCRIPTION
OFTHECOMMANDS
X Intheaboveexample,
in whichMitsubishi
MULTll6is employed,
linenumber10
opens
theRS232c
communication
fileandlinenumbers
20and30enterthestarting
andendinglinenumbers
for a complete
listingof programs
between
thetwo lines.
Linenumber50transmits
thecommandLRandthe linenumbersrepresented
by a
character
string.
Linenumber60thenuses
theLINElNpur # statement
to storethe
received
datain A$ andlinenumber70verifies
thepresence
of thedata.lf thereis
data,linenumber80causes
itscontents
to beshownon thedisplay
screen
together
with thecorresponding
linenumbers.
lf thereis no data,the program
jumpsto line
number90 and reexecutes
line numbers40 and onward.

147. 3. DESCRIPTION
OFTHECOMMANDS
PR (PositionRead)
IFunction
I
Reads
the coordinates
of a specified
position
(usingRS232C).
(lnputFormatl
PR (Position
number)
Where,1 5 Positionnumber S 629
ISampleInput)
P R 5
IExplanation
)
(1) Thiscommand
causes
thecoordinates
of a specified
position
to beoutputfromtne
RS232C
port.
12)The data is output using the ASCIIcode as shown below. The leastoutpur
increment
is 0.1mmor 0.1".
Outputformat:X-axis
coordinate,
Y-axis
coordinate,
Z-axis
coordinate,
pitchangle,
roll angle0D (Hex.)
(3) The delimiterof the datais a comma(,: Hex.2C)andthe terminator
is carriage
return(CR,
Hex.0D).
lfthedataisto bereceived
by a personal
computer,
therefore,
it isnecessary
to handle
theentiredatastream
upto hex.0D.
TheBASIC
equivalent
to this is the LINEINPUT+ statement.
(4) Whenan undefined
position
is read,0's are returned
(0,0,0,0,0).
ISamplePrograml
10 OPEN"COM1: 9600,E, 7,2" AS#1
2 0 I N P U T
" P O S I T I O N
N O .: " ; P
30 PRINTfI, "PR"
+ STR$(P)
4 0 L I N EI N P U T # 1 ,
A $
50 PRINT
A$
60 END
RUNJ
POSITION
NO. : ? 1sl
+10.0, +380.0,+300.0.-70.0. -40.0
X Intheaboveexample,
in whichMitsubishi
MULTll6is employed,
linenumber'10
opensthe RS232C
communication
file and line number20 entersthe position
numberwhosecoordinates
areto be read.Linenumber30transmits
thecommano
PRandtheposition
number.
Linenumber40thenuses
theLIN
E INPUT# statement
to storethereceived
datain A$ andlinenumber50outputs
thecontents
of thedara
to the displavscreen.

148. 3. DESCRIPTION
OFTHECOMMANDS
WH (Where)
IFunction
I
Reads the coordinatesof the
IInputFo]matl
(SampleInput)
WH
IExplanation
)
(1) Thiscommandcausesthe coordinates
hand,as determined
by thetool length
be outputfrom the RS232C
port.
currentposition(usingRS232C).
of the currentpositionof the end of the
currently
established
(bycommandTL),to
The data is output using the ASCIIcode as shown below.The leastoutput
increment
is 0.1mmor 0.1'.
Outputformat:X-axis
coordinate,
Y-axis
coordinate,
Z-axis
coordinate,
pitchangle,
roll angle0D (Hex.)
The delimiterof the datais a comma(,: Hex.2C)andthe terminatoris carriage
return(CR,
Hex.0D).lf thedataisto bereceived
by a personal
computer,
therefore,
it is necessary
to handle
theentiredatastream
upto hex.0D.TheBASIC
equivalent
to this is the LINEINPUT# statement.
ISampleProgram
I
10 OPEN"COM1: 9600,E, 7,2" AS#1
2 0 P R I N T # 1 ,
" W H "
3 0 L I N EI N P U T # 1 ,
A S
40 PRINT
"CURRENT
POSITION
:" ; A$
50 END
R U NI
cURRENT
POS|T|ON
: +10.0, +380.0,+300.0,-70.0, -40.0
X In the aboveexample,
in which Mitsubishi
MULTll6is employed,
linenumber10
opensthe RS232C
communication
fileandlinenumber20transmits
thecommand
WH. Linenumber30 thenusesthe LINEINPUT# statement
to storethe received
datainA$ andlinenumber
40outputs
thecontents
ofthedatato thedisplav
screen.
12)
(3)
WH

149. 3. DESCRIPTION
OFTHECOMMANDS
2.6 Miscellaneous
RSX (Reset)
IFunction
)
Resets
the programand error condition.
(lnput Format)
lSampleInput)
RS
(Explanation
I
(1) This commandresetsthe programcausingit to returnto its beginning.
(2) The commandalsoresets
an errorconditionin errormode II causing
the error
indicator
LED{ERBOR)
to go off.Note,however,
thaterrormode I cannotbe reset
by this command.To reseterror mode I, turn power OFF.
Isample Programl
1OLPRINT
"RS"
RS

150. 3. DESCRIPTION
OFTHECOMMANDS
TRX (Transfer)
(Function
I
Transfers
the
Ilnput Formatl
programand positiondatastoredin EPROM
to the drive unit RAM.
ISampleInputl
TR
IExplanation
I
(1) Thiscommand
causes
thecontents
ofthe EPROM
installed
intheusersocket
inside
thedriveunitsidedoorto betransferred
to theRAM.Oncethecommandhasbeen
executed,
the old programand positiondatastoredin RAM are all cleared.
(2) Thecommandexecution
indicator
LEDlEXECUTE)
lightsup instantaneously
when
the data is beingtransferred.
(3) Whenbit 4 of SW1located
insidethe driveunitsidedoor is in the upperposition
(ON),
thecommand
alsocauses
thecartesian
coordinate
systemreference
position
datain EPROM
to be readintoRAM.Thistransfer
of datadoesnottakeplace
when
bit 4 is in the lowerposition(OFF)
and the positiondatain RAM remainsvalid.
ISampleProgram]
1OLPRINT
"TR"
TR

151. 3. DESCRIPTION
OFTHECOMMANDS
WRX (Write)
IFunction
]
Writesthe generated
programand positiondata into EPROM.
(lnput Formatl
(sample Input)
WR
(Explanation
I
(1) Thiscommandcauses
the programand positiondatagenerated
in the driveunit
RAMto bewrittenintotheEPROM
installed
inthe usersocket
inside
thedriveunrr
side door. The destination
EPROMmust have previouslybeen erasedbefore
executing
the command.
(2) Whilethe datais beingwrittenintothe EPROM,
thecommandexecution
indicator
LED{EXECUTE)
onthedriveunitfrontpanelstayslit.lt goesoutassoonasalldata
has beenwritten (whichtakesabout 100seconds).
(3) ErrormodeII iscaused
if theEPROM
hasnotbeenerased
or a writeerroroccurs.
(sample Programl
1OLPRINT
"WR"
WR

152. 3. DESCRIPTION
OFTHECOMMANDS
' (Gomment)
IFunction
I
Allowsthe programmer
to writea comment.
IlnputFormat)
'
lstring of information
consisting
of up to 7 alphanumeric
characters]
Isample Input)
, MELCO
IExplanation
I
(1) Thiscommandallowsthe programmer
to writea commentconsisting
of up to 7
alphanumeric
characters
followingthe ' (apostrophe).
(2) Usethiscommand
to writethenameanddateonthegenerated
program
or to mark
a subroutine.
Commentsare helpfulin laterunderstanding
the programas the
commandLR is used.
(3) The systemignorescommentsas it processes
its instructions.
{4) lf the numberof characters
exceeds
7, the whole excessis ignored.
(sample Programl
1OLPRINT
"1 'DATE"
20 LPRINT
"2 'a70821"
30 LPRINT
"3 NT"
40 LPRINT
"4 MO 1"
X Inthe aboveexample,
linenumbers1 and2 writethe datewhenthe programwas
written(21 August 1987).

153. L SPECTFtCAT|0l{S
2.0PtRAT|0t{
3.oESCRtPTt0il
0rT|ltc0lt|MAilDS
4.MAINTENANCE
AND
INSPECTIIIN
5.APPEIIDICES

154. CONTENTS
(MAINTENANCE
AND INSPECTION)
1 .
3.
3.1 Construction
oftheRobot...
. ........4-8
3 . 2 R e m o v a l o f
t h eC o v e r s
. . . . . . . . . .
. . . . . . 4 - 1 0
3 . 3 R e p l a c e m e n t
o ft h eM o t o r
B r u s h . . . . . .. . . . . . . . . . . . . . . . . 4 - 1 2
3.3.'1
Checking
andreplacing
thewaist
drive
motorbrushes.. ..........4-12
3 . 3 . 2
C h e c k 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 / e l b o w d r i v e m o t o r b r u s h e s . . . . . . . . . . . . . . . . . - . 4 - 1 5
3.3.3Replacing
thewristpitch
drive
motor'..... .. .. .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 - 1 8
3 . 4 A d j u s t m e n t
a n dR e p l a c e m e n t
o ft h e T i m i n g
B e l t . . . . . . . . . . . . . . . . . . . . . - . . - . 4 - 2 0
3.4.'1
Replacement
frequency.
. .....4-2O
3.4.2Checking,
adjusting,
andreplacing
theshoulderdrivetiming
be|t............-.......
4-21
3 . 4 . 3
C 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 e l b o w d r i v e t i m i n g b e l t . . . . . . . . . . . . . . . . . . . . . . 4 - 2 4
3.4.4Checking,
adjusting,
andreplacing
thewristpitch
drive
timingbelr.--.-........-....
4-27
3.5 Replacement
oftheCurled
Cables
............. . ..........
4-30
3.6 lnspection,
Adjustment,
andReplacement
oftheBrakes .......... .....4-32
3.6.1Checking,
adjusting,
andreplacing
theshoulder
brake.'..
..........
.......
..........
4-32
3.6.2Checking,
adjusting,
andreplacing
theelbowbrake . .. . . ....4-34
4.1
4.2
4.3

155. 4. MAINTENANCE
AND INSPECTION
1. MAINTENANCEAND
INSPECTION
SCHEDULE
Themaintenance
andinspection
procedures
recommended
in the
followingpagesaremandatory
to ensurebestpossible
perform-
anceof the robot for an extendedperiodof time. Be sure to
performthe daily as well as periodicinspection
procedures.
The periodicinspection
procedure
must be performed
indepen-
dent of the daily inspection
procedure.
InspectionSchedule
Differentinspectionitems are coveredin differentinspection
procedures:'1-month,
3-month,
6-month,
and 1-year.
Thecorres-
pondinginspection
itemsareaddedeach500hoursof operation
in the recommended
inspection
schedule.
New inspection
items are added ev-
ery 500 hours of
operation.
o-
?
o
'l-month
inspection
I monthinspeclion
1-month
inspection 3 monthinspection
1-month
inspection
1 rnonthinspection
'l-month
lnspection 3-month
inspection 6 monthinspection
l-month
inspection
1-rnonth
inspection
1-rnonth
inspection 3-month
inspection
1-month
inspection
1 monthinspect
ior'l
1-month
inspection 3-month
inspection 6-month
inspection 1'year
inspection
. I n s p e c t i o n
'l-shift:
8 hours/day
10 hours/day
2-shift:
'l
5 hours/day
sch
edule guideline
X 20daysX 3 months: Approx.
X 20daysX 3 months: Approx.
X 20daysX 3 months: Approx.
500hours
600hours
'1
,000hours

156. 4. MAINTENANCE
AND INSPECTION
2. INSPECTION
ITEMS
2.1 DailyInspection The daily inspection
day'soperation,
even
the daily inspection
procedure
must be performed
beforeeach
with the24-hour
operation.
Table4.2.1lists
itemsand procedu
res.
Step Inspectionltem (Procedurel Remedial Action
Before power turn'ON Verifv fhe folrowrng len's 1 to 3 bpfore lLrnrng powe. ON.
Check that the power cable is properly connected. (Vislral) Connect properly.
2 . Check that the cable is connected properly between the robot and drive
unit. (Visual)
Connectproperly.
3 . Ensurethat the robotand driveunit arefreeo{ cracking
and contaminants.
lMakesure they are clear of obstacle(for origin setting).(Visual)
Replace
or takenecessary
action.
Powerturn-ON TLrrnpower ON berng allenlrvelo possiblerobot motion.
4. Ensure
the robotdoesnot maltunction
or develop
unusual
noisewhen
poweris turnedON. (Visual)
NOTErNotethe soundof J2 and J3axis brakes
beinoreleased.
Take necessary action
accordingto 2.3 Troub-
leshooting.
Operation Returnthe .obot to origin and run your program.
5. Ensurethe pointof axismotion is properlyaligned.
It it is out of alignment,
check for followings.
1) Installation
bolts left loose (Use a tool to retighten.)
2) Hand mounting bolts left loose (Use a tool to retighten.)
3) Jigs out of alignment (Visuali
4) lf the problem persists,use proceduresshown in 2.3 Troubleshooting.
Take necessary action
according to 2.3 Troub-
leshootrng.
Retighten.
Retighten.
Correct position.
6. Ensure
thereis no unusualnoiseor vibration.
(Visual) Take necessary action
accordingto 2.3 Troub-
leshooting.
fable 4.2.'l Daily Inspection ltems
lf notrouble
Verify correctoperationof peripherals
and start automatic
ooeration.
Performtroubleshooting
procedureaccording
to 2.3 Troub-
leshooting.
lftrouble

157. 4. MAINTENANCE
AND INSPECTION
2.2 Periodic
lnspection Table4.2.2liststhe inspection
items and procedures
aI each
nspectionfrequency.Part of the inspectionand adjustment
procedures
aswellas partsreplacement
procedures
is detailed
in
]. MAINTENANCE
AND INSPECTION
PROCEDURES.
Step Inspectionltem
Inspection Proceduie and
Remedial Action
cross-Reference
Paragraph
1-monthinspection
1 Checklo see if hand rnountingbolts
are left loose.
Use a wrench to checkfor looseness
and retighten as necessary.
2. Check bolts and screws, both visible
and invisible,for looseness.
Use a wrench and screwdriver to
checkfor loosenessand retighten as
necessary.
3. J Checkcablesfor scratches,
damages,I lsolateand eliminatethe cause.
and contaminants.
lExternal
and in- Replace
thecable
ifexcessivelY
dam
ternalexposed
cables). aged.
3.5
Contact our service
Division for replace-
ment of cables other
than the curledcable.
3-monthinspectaon
'11 Checktiming belt for each axis (J2,
J3, and J4). Check teeth for wear.
Checkand adjustaccording
to the
procedures
given in 3. MAINTE-
NANCEAND INSPECTION
PROCE'
DURES.
lfteethareexcessively
worn,replace
with a new belt.
3.4.3
3.4.4
12 CheckJ2- and J3 axis brake linings
for correct gap. Check also for wear
and foreign matter trapped.
Check and adjust according to th€
procedures given in 3. IMAINTE-
NANCE AND INSPECTIONPROCE-
DURES.
Replace
the brakeliningif excessive-
ly damaged.
3.6.2
1 3 Checl J1 , J2-,and J3.axisDC servo-
motor brushes{or wear.
Replacethe brush if lhe wedr ex-
ceedsthe limit.
3.3.1
3.3.2
6 month inspection
Checkthe origin limil switch rollers
and dogs for wear.
Make a visualcheckand replaceas
neceSsary.
Contact our Service
Division for replace-
ment and adjust-
ment.
Table 4.2.2 Periodic Inspection ltems (Continue)

158. 4. MAINTENANCE
AND INSPECTION
Step Inspectionltem
InspectionProcedure
and
RemedialAction
Closs-Reference
Paragraph
1-yearinspection
Contactour ServiceDivisionfor'l-year inspect,onas part ol its items is highly
technical.
Replace J1 , J2-, aod J3-ars DC
servomotor Drusnes.
Replace
the brush;fit hasnot been
replaced
withinthe pasl one year.
For procedure, see 3. MAINTE.
NANCEAND INSPECTION
PROCE
D U R E S ,
3.3.2
ReplaLe
J4 and Js-axisDCse'vomo-
tors.
See3.MAINTENANCE
ANDINSPEC
TIONPROCEDURES. 3.3.4
53 ReplaceJ2-, J3, and J4-axistiming
belts.
Replace
the timingbeltif it hasno.
beenreplaced
within the pastone
year.Forprocedure,
see3. MAINTE
NACE AND INSPECTION
PROCE
DURES.
3.4.3
3.4.4
54 CheckJ3-axisdrive linkfor bend and
roller bearings on both ends lor
excessrveplay.
Beplaceas necessary.
Contactour Service
Division.
55 Disassembleand change grease in
the harmon;( drive reductioo gear
for eachaxis.
Disassemble
the harmonicdrive re'
duction gear and check teeth for
wear and damages. Then, change
or apply grease.
56 Replace
microbearings
for eachaxis. Beplacemicrobearingsused in J2,
J3, and J4 axes.
5-7 Replace
curledcables(for the robot
and hand).
Replace
the cablesif they havenol
been replacedwithin the past one
year.Forprocedure,
see3. lvlAlNTE-
NANCEAND INSPECTION
PROCE,
DURES,
58 Replacecables used in bent sections
inside the robot.
Replacethe cable if it has not been
replaced within the past one year.
Contact our Service
Division.
59 Checkorigin limit switchesfor cor-
rect operation(positionalreference
wath respectto Z phaseof the en-
cooer,.
Adjust as necessary.
Table 4.2.2 PeriodicInspection ltems

159. 4. MAINTENANCE
AND INSPECTION
2.3 Troubleshooting Table4.2.3liststroubleshooting
procedures
that may be used
shouldthe systemdevelopany malfunction
upon power-upor
durino roboticoDeration.
Symptom Possible Cause Remedy
Power does not
turn ON.
'l)
Power cord lett unplugged from the
outlet
2) Blown fuse
3) Wrong sourcevoltage
Connect properly.
Replacethe blown fuse.
Use correct line voltage.
Robot is not acti'
vated.
1) ERROR
LEDis eitherON or tlashing.
2) Robotarm in contactwith mechanical
stoppers
or peripherals
3) Brakesnot released
4) Motorpowercableleft unplugged
Verity correct command.
Connect cables properly.
Verify that the emergency stop switch is
not being activated.
Keep the robot clear ot obstacles.
lf the brakesare leit applied,adjust brake
gaps. (See 3.6.)
Robot cannot re-
turn Io oflgtn.
1) RetLrningto origin not invoed.
2) Returningto origin is not terminated.
Verify correct command and teaching
box key operation.
Verify correct ON/OFF operation of the
limit switches.
Encoder Z phase is possibly out of
adjustment; contact our ServiceDivisron.
Programcannotbe
written from the
personalcom puter.
1 )
2)
Teaching box selectswitch in ON position
ERRORLED ON
3) Drive unit mode
4) Reset switch not pressed after stop
switch has been pressed during execu-
tion ot a program.
5) Personaicomputerconnectioncable left
disconnected.
Turn OFF switch.
Verify correct input format of the com
mand. (See 10.2 Efiot Mode Il, OPERA-
TroN.)
Select personal computer mode. (Place
drive unit STl in the lower position.)
Press reset switch.
Connectcable properly.
Robotstopsduring
rts operation.
1) ERRORLED flashing
2) Line voltage drop
3) Power failure includinginstantaneous
4) Emergency stop switch pressed inadver-
tently
5) lMotordevelopingunusLral
smell
6) Driving parts developingunusual noise
or vibration
Connectconnectioncablesproperly,or
r a ^ l r ^ e h r ^ L A n . r h l o
Check for excessive robot load.
Check for possible contact of arm wrth
mechanical
stoppersand peripherals.
lf it
checksokay,go to
''Poor
repeatability."
Use the specified voltage range.
Restartthe robot beginningwith origin
setting.
Turn power OFF,then ON. Now startthe
robot beginningwith origin setting.
Replaceburnt motor.
Go to 'Unusual norse or vibratron
Poor repeatability 1) Unusual noise developing
2) Robot not securedin position
3) Screws in drive transmitting system left
loose
4) Timing belt slack off
5) Unusual return-to-o
rigin operation
6) Hand attaching screws left loose
Remove noise source.
Secure robot in position.
Tighten screws securely.
Adjust timing belt tension.(See 3.4.)
Go back to
"Robot cannot return to
origin.
"
Tighten screws securely.
Table4.2.3Troubleshooting
Chart {Continue)

160. 4. MAINTENANCE
AND INSPECTION
Symptom Possible
Cause Remedy
Unusualnoise or
vibration
1) Robotmountingscrewsleft loose
2) Brakes
beingapplied
3) Harmonic
drive
developing
unusual
norse
Tighten screws securely.
lf brakes are left applied, adjust brake
gaps. (See 3.6.)
Harmonicdrive may be damaged.Con
tact our ServiceDivision.
Hand cannot be
opened or closed.
1) Hand selectswitch in wrong position
2) Wrong parameterdefinedfor GP com-
mand
3) Hand reachingits servicelife
Select hand selectswitch to either AC or
DC depending on the type o{ drive o{ the
hand being used.
Correct parameter.
Removecoverand manuallyturn timing
pulley insideto checkto see il it turns
smoothly. l{ it binds, the hand has
reachedits service life.
Table4.2,3Troubleshooting
Chart

161. 4, MAINTENANCE
AND INSPECTION
3. MAINTENANCEAND
INSPECTION
PROCEDURES
The following parts must be replacedevery 2,000hours of
fMovemaster
EX RV-M1operation-
(lt is manufacturer's
recom-
mendation
and more ent replacement
rsnecessa nd-
ing on the operatingcondition.)
Thefollowingpages
contain
the replacement
procedures
of these
parts to aid the servicepersonnelin replacingparts at the
customer's
site.Read
theprocedures
carefully
to makeyourselves
familialize
with them.
The replacement
work may be done by our ServiceCenterat
customer's
exDense.
Neverattemptto disassemble
partsnot covered
in the following
pages.
Partsrequiringreplacement
every2,000hoursof operation:
1. DC servomotorbrush(for waist,shoulder,
2. DC servomotor{for wrist pitchand roll)
3. Timing belt (for shoulder,
elbow,and wrist
4. Curledcable(for power and signal)
and elbow)
pitch
)
. The model and quantityof thesepartsare containedin 4.
SERVICE
PARTS,
MAINTENANCE
AND INSPECTION,
WARNING
The replacement
procedures
when performedmay result
in misaligned
mechanical
origin.The positiondata must
therefore be reviewed after the procedureshave been
performed.

162. 4. MAINTENANCE
AND INSPECTION
3.1 Construction
of the
Robot
Fig.4.3.1
showstheconstruction
schematic
oftheMovemaster
EX
RV-M
1.
(1) Waist(J1axis)sweep
. The waist (J1 axis)is driven by J 1 axis motor (J-r
and
harmonic
drivereduction
gear(2,'
located
insidethe base.
. J'1axis limit switchr:31
is installed
on top of the base.
{2) Shoulder{J2 axis)swivel
. The shoulder(J2 axis)is drivenby the J2- and J3-axis
compositeharmonicdrive reductiongear i6.)which is
locatedat the shoulderjoint and rotatedby the J2-axis
timing belt 15from J2-axismotor i4rinstalled
insidethe
shoulder cover.
. lnstalled
on theinputshaftof theharmonic
drivereductaon
geariO is the electromagnetic
brakei7)that prevents
the
shoulder{rom swivelingdown by its own weight when
power is turnedOFF.
. The J2-axislimit switchi8-l
is instalied
on the sideof the
upperarm insidethe shouldercover.
(3) Elbow{J3 axis)extension
. JustaswithJ2 axis,rotation
oftheJ3-axis
motor(91
located
insidethe shouldercover is transmitted
via the J3-axis
timingbeltf,o)
to the J2-and J3-axis
composite
harmonic
drive reduction
gear .6.r.
. Botation
of the J3-axis
outputshaftof the harmonic
drive
reduction
gear(0 istransmitted
viatheJ3-axis
drivelinkto
the elbowshaft,which resultsin the forearmextending.
. As in J2 axis,theelectromagnetic
brakeis installed
on the
input shaftof the harmonicdrive reduction
gear (6).
. TheJ3-axis
limitswitchis installed
onthesideof theupper
arm insidethe shoulder
cover.
(4) Wrist pitch (J4 axis)
. Rotationof the J4-axismotor locatedin the forearmis
transmittedvia the J4-axistiming belt t5) to J4-axis
harmonicdrive reduction
gear(10;as a result,the wrist
housingand end effectorare rotated.
. TheJ4-axis
limitswitchi.llis installed
underthe forearm.
(5) Wrist roll (J5 axis)
. Thehandmounting
flangeis rotated
by the J5-axis
motor
(i0andJS-axis
harmonic
drivereduction
gear(-9,
whichare
both mountedon a sameshaftinsidethe wrist housing.
. TheJ5-axis
limitswitch?0r
is installed
underthe forearm.

163. 4. MAINTENANCE
AND INSPECTION
a2-,
J1-axisharmonic
compositeharmonic
J4-axis timinq belt
drive reductionqear
arE)
Js-axismotor
h J2- and J3-axis
il' J2-axisbrake J2-axistim i4.,J2-axismotor
J3-axis
outputshaft
J3-axis brake
L
Hand mounting uPPerarm
flange
J3-axisdrive link
(lu J5-axls
(E)
J2-axis limit switch
l1JJ4-axis
limit switch
Base
,r
l
limit switch
O Js-axis harmonic drive reductiongear
J1-axismotor
;
J3 axis limit swrtch J J1 axis limit switch
Shoulder cover
Wristhousing
i
Fig. 4.3.1 Robot Construction Schematic

164. 4. MAINTENANCE
AND INSPECTION
3.2 Removal
oftheCovers (1) Whenever
the robotis to be serviced,
removethe coversas
shown in Fig.4.3.2.
(2) Table4.3.1Iiststhe namesof the covers.
Table4.3.2givesa
completelistingof attaching
screws.
(3) Some coversmay be hard to remove dependingon the
positionof the robot. In such cases,move the robot as
appropriate
so that the coverscan be removedeasily.
{4) To replace
the covers,reverse
the order of removal
Key CoverName oty
tr Base side cover 2
T;-l
1 z l Uppershoulder
cover 1
fJ
L:] Lower shoulder cover 1
tr upper arm cover 1
fJ
t!l Forearm cover 1
E Pulleycover
tr Cable cover
Table4.3.1CoverNames
Key Screw Name otv
(a) Philliospan head machine screw lvl3 X 14
(b) Hexaqon socket head bolt M3 X 12 2
(c) Hexagon socket head bolt lvl3 X 14
(d) Phillipsflat head machrnescrew lM3 y 6
( e ) Phillipsoval head machine screw M3 X 6 5
1f) Philliosoval head machine screw M3 X 25 4
Table 4.3.2 Aftaching Screws

165. 4. MAINTENANCE
AND INSPECTION
@ .Q (e)
(u)@@
.-
{u)@@ -....-.
@ @ @ @ @
I
l c l
0
0
R e n
d4d, d,
^ i c l
q J 1 , .
^ l { a J
@., J
@
F
G}
{b}
tf,
L
Fig. 4.3.2 Removal of the Covers

166. 4. MAINTENANCE
AND INSPECTION
3.3 Replacement
of the
Motor Brush
3.3.1Checking
and
replacing
the waist
drivemotot brushes
The RV-M1robot usesthe DC servomotorwith brush,which
makes
the replacement
of the brushat givenintervals
necessarV.
TheDCservomotor
with brushis usedin allaxes;however,
for a
reason
of mechanical
construction,
replace
thewholeservomotor
assemblyfor those usedas the wrist pitchand roll drives.
As a guideline,replace
the motor brushevery2,000hours of
operation.
Inspec{ton
Fig.4.3.3outlinesthe inspectionand replacementprocedures
of the waist drive motor brushes.
Removethe left and right baseside covers by referringto 3.2
Removal of the Covers.
Using a flat-bladescrewdriver,turn the head of the brush
holder cap il, counterclockwise
to remove the brush holder
cap f,r. There are two brush holder caps at right and left.
Fig. 4.3.4shows the shape of the brush and the brush wear
limit length.Checkthe brushfor wear and replaceit beforethe
wear limit is reached.
lf the brush is damaged.replaceit with a new one regardless
of the length of the brush,
Checkthe brush one locationat a time. When it is reinstalled,
make sure of the correct installedposition and direction.
Replacement
(1) Followingthe procedure
given above,removeall brushes.
(2) Usinga vacuumcleaner,
removeallcarbonparticles
from the
brushholderDocket.
( 1 )
2)
(3)
4)
(5)
(6)
ti.
(3) Carbonparticle
residual
can be
and rectification
failurebetween
removeall particles.
(4) Installthe new brushes.
a causeof lossof insulation
grounding
points.Besureto
(5) Afterthe newbrushes
havebeeninstalled,
moveeachaxisof
motionitsmaximumstroke
atthe maximumspeedor runthe
robotfor 30 minutesusing user program.
NOTES:
1) Before
installing
a newbrush,makesurethebrushisfreefrom
grease,
oil, and moisture.
Neverhandle
brushes
withgrease-stained
handsor place
them
in locations
subjectto contamination
with greaseand oil.

167. 4. MAINTENANCE
AND INSPECTION
2) Whenremoving
the carbonparticles,
neversubject
the motor
to grease,oil, and moisture.
3) The brush holdercap Q is providedwith a O-ring.Do not
attemptto removethe O-ringfrom the cap.
4) Tightenbrushholdercap (f to 4 kgf.cm.

168. 4. MAINTENANCE
AND INSPECTION
O Brushholdercap
Fig.4.3.3Checkingand Replacing
the Waist DriveMotor Brushes
O Brushholdercap
Wear limit line
Fig.4.3.4BrushShspe

169. 4. MAINTENANCE
AND INSPECTION
3.3.2Checking
and
replacing
the
shoulder/elbowdrive
motor brushes
Fig.4.3.5 Checking and Replacing the Shoulder/Elbow Drive Motor Brushes
Inspection
Fig.4.3.5
outlines
the inspection
and replacement
procedures
of the shoulderand elbow drive motor brushes.
(2) Remove
theuppershoulder
coverby referring
to 3.2Removal
of the Covers.
( 1 )
(3) Followingsteps{3) to (6),
Checking
and replacing
the
the brushes.
B. Replacement
A. lnspection,
given under 3.3.1
waistdrivemotorbrushes,
check
(1) Following
steps(1)to (5),B. Replacement,
givenunder3.3.1
Checking
andreplacing
thewaistdrivemotorbrushes,
replace
the brushes.

170. 4. MAINTENANCE
AND INSPECTION
3.3.3 Replacing
the wrist A. Beplacement
pitch drive motor
(1) Fig.4.3.6
outlines
the replacement
procedure
of the wristpitch
drive motor.
{2i Removethe forearmcoverand pulleycoverby referringto 3.2
Removal of the Covers.
(3) The wrist pitch drive motor..l- is installedin the Forearm .?,
(4) The J4-axisencoderconnector 3 (connector
name: ENC4)
and J4-axismotor power connector14.
(connectorname: M4)
are connectedto the motor insidethe forearm.Removethese
wires from the motor.
(5) Removethe wrist pitchdrivetiming belt..!,.(Forprocedure,
see 3.4.4 Checking,adjusting,and replacingthe wrist pitch
drive timing belt.
)
(6) Removethe hexagonsocketheadsetscrew 7.that securesthe
timing pulley 16.to the motor shaft and remove the timing
pulley .6,from the motor shaft.
(7) Remove the tvro motor mounting screws i8.r
that securethe
motor ,1. to forearm ?-,and remove the motor t; f rom the
forearm.!.r.
(8) To install a new motor, reversethe order of removal.
WARNING
The replacementof the motor may result in misaligned
mechanicalorigin. The position data must thereforebe
reviewed after the motor has been replaced.

171. 4. MAINTENANCE
AND INSPECTION
Motor power connectori Wrist drlve motor
{M4)
a3.j
Encoderconnector
(ENC4)
) | | m t n g b e t t
i8) lvlotormounting screw
Fig.4.3,6Replacing
the Wrist pitch DriveMotor

172. 4. MAINTENANCE
AND INSPECTION
3.3.4 Replacing
the wrist
rolldrivemotor
A. Replacement
(1) Fig.4.3.7outlinesthe replacementprocedureof the wrist roll
oflve moror.
(2) Removethe fore arm cover by referringto 3.2 Bemovalof the
Covers,
(3) The J5-axisencoderconnector
(11(connector
name: ENC5)
andJS-axis
motorpowerconnector
l2l(connector
name:M5)
areconnected
to themotorinside
theforearm.Remove
these
wires from the motor.
14)Removethe motor bracket
(r from the wrist housingO by
removingthe four motor bracketmountingscrewsQ.
Removethe six flangemountingscrews(6.to removethe
flange (7) from the motor bracket44,1.
At this time, the
flex-spline
shaft(ti)and wave generator
(9-l
of the harmonrc
drivereduction
geararealsoremoved
fromthemotorbracket.
They remaininstalled
on the motor shaft.
Remove
thesetscrews
(0 thatsecure
thewavegenerator
@)
to
the motorshaftand removethe wavegenerator
(9 from the
moror.
Makesurethatthesplines
in theflex-spline
shaft 8 andsteel
ballsof the wave generator9 are free from contaminants.
Remove
the two motor mountingscrewsii from the motor
bracket(4).
To installa new motor,reversethe order of removal.
WARNING
The replacementof the motor may result in misaligned
mechanicalorigin. The position data must thereforebe
reviewed after the motor has been replaced.
(5)
(6)
7)
(8)
(e)

173. 4. MAINTENANCE
AND INSPECTION
5 Wristhousing
4,r lvlotorbracket
tt Encoderconnector
.-'t.-.---
.2) Motor power connector N4otor
bracketmountingscrew
:Q-Flange mounting screw ii Motor
/ F t a n q e il0,Setscrew
O Flex-spline
shaft
Fig.4.3.7 Replacing the Wrist Roll D.ive Motor

174. 4. MAINTENANCE
AND INSPECTION
3.4 Adiustmentand
Replacement
of the
TimingBelt
3.4.1 Replacement
frequency
Timing belts are used as a drive-tra
nsmittingelementin the
IMovemaster
EXRV-n/l1
as shownin Fi9.4.3.1.
Unlikechainsand
gears,the timing belt requires
no lubrication
and develops
low
noise.Belttension,
however,
is veryimportant
in thetimingbelt.
Adjust the belt tension periodically
and replacethe belt if
necessary
to ensurelong belt life and preventnoiseproblem.
The timing beltsused in RV-M1must be replaced
every2,000
hoursof operationunder normalcondition.More frequentre-
placement
is, however,necessary
dependingon the operating
condition.
Usethefollowingguidelines
forthe replacement
of the
belt.The timing belt must be replaced
with a new one when:
(1) The root or backof a tooth cracks.
(2) The belt
(3) The teeth
swellsdue to oil
wear (up to half
(4) A belttoothmisengages
with the matingpulleytoothdueto
excessrve
wear.
(5) The belt is cut off.
NOTE:The timing belt wearsin the initialrun-inperiodas its
roughedgesare reduced.
Worn rubberparticles
may be
present inside the covers after the robot has been
operated
for about300hours,whichdoesnot,however,
indicatea faulty condition.In this case,wipe these
particles
off the inner surfaces
of the covers.lf rubber
particles
are soon producedagain,replace
the belt.
and greaseon it.
of the facewidth).

175. 4. MAINTENANCE
AND INSPECTION
3.4.2Checking,
adiusting, A. Inspection
andreplacing
the
shoulder
drivetiming (1) Fig.4.3.8outlinesthe inspection
procedure
of the shoulder
belt drivetiming belt.
(2) Remove
the uppershoulder
coverby referring
to 3.2Removal
of the Covers.
(3) Visually
checkthe beltto makesurethat it doesnot develop
any of the symptomsgiven in (1) to (5),3.4.1
(4) Depress
the belt at its centerwith a forceof about20 to 30gf
and ensurethat it deflects2mm. See Fig.4.3.9.
B. Adlustment
(1) Fig. 4.3.8 also outlinesthe adjustmentprocedureof the
shoulderdrivetiming belt.
(2) Loosenthe four motor mountingscrews[D.
(3) Whilefeeling
thetension
inthetimingbelt@,movethemotor
t€)in the directions
shownby arrows
"a" and "b". Notethat
the motor@ is secured
usingthe four screwsin the slotsso
they can be moved in the slots.
(4) Moving the motor in the directionshown by arrow "a"
tightensthe belt;movingit in the direction
shownby arrow
"b" slacksthe belt.
(5) Do not movethe motortoo far in direction
"b", or the belt@
comesoff the timing pulleys@ and €).
(6) After the belt tension has been adjusted,tighten motor
mountingscrews
0l securely.
A loosemotormountingscrew
resultsin the belt slackingoff.
C. Replacement
(1) Fig. 4.3.8also outlinesthe replacement
procedureof the
timing belt.
(2) Removethe brakeby referring
to 3.6.1Checking,
adjusting,
and replacing
the shoulderbrake.
13)Removethe threemountingscrews.l0)
to removethe brake
mountingplate(z-1.
(4) Usinga marker,
markalignment
pointers
on thetimingbelt€l
andtimingpulleys
(0 and(0,whileensuring
thatthebeltteeth
are in correctmeshwith the pulleyteeth.See Fig.4.3.10.

176. 4. MAINTENANCE
AND INSPECTION
(5) Loosen
the four motor mountingscrews(!-,11
and removethe
timingbelt.
(6) Markthe alignment
pointerson the new timing belt.During
the procedure,
keepthe belt tightened.
(7) Mountthenewbelt,gettingit around
thetimingpulleys
€r and
(0. Makesurethat the alignmentpointersare lined up.
(8) Adjustthe belttensionby referring
to steps(3)to (6) in B.
REMARKS
Formoredetailedtechnicaldataof thetiming belttension,
see CHAPTER
8 TIMINGBELTTENSION.APPENDIX.

177. 4. MAINTENANCE
AND INSPECTION
:4rTimingpulley(on motorend)
(3, Motor
mountino screw
.1, Motor
.2. Brakemou
a?.Timing belt
.f& .5rTiming pulley (on reductlongear end)
Fig.4.3.8 Checking, Adiusting, and Replacing the Shoulder Drive Timing Belt
:€-llMounting screw
(on reductiongear end)
nment pointer
'2, Timing belt
4 Timing pLriley(on motor end)
Fig,4.3,9 Checking the Timing Belt tor P.oper Tension Fig. 4.3.10 Marking the Timing Belt and Pulleys

178. 4. MAINTENANCE
AND INSPECTION
3.4.3 Checking,adjusting, A. lnspection
and replacingthe
elbowdrivetiming {1) Fig.4.3.lloutlines
the inspection
procedure
of theelbowdrive
belt timinq belt.
(2) Remove
the uppershoulder
coverby referring
to 3.2Removal
of the Covers.
(3) Visually
checkthe beltto makesurethat it doesnot develop
any of the symptomsgiven in (1) to (5),3.4.1
(4) Depress
the beltat itscenterwith a forceof about20 to 30gf
and ensurethat it deflects
2mm. See Fig.4.3.9.
B. Adjustment
(1) Fig.
4.3.11
alsooutlinesthe
adjustment
procedure
oftheelbow
drivetiming belt.
(2) Loosenthe four motor mountingscrews(1,'.
(3) Whilefeeling
thetension
Inthetimingbelt[2),
movethemotor
(3,'
in the directions
shownby arrows"a" and "b". Notethat
the motor(3)is secured
usingthe four screwsin the slotsso
they can be moved in the slots.
(4) Moving the motor in the directionshown by arrow "a"
tightensthe belt;movingit in the direction
shownby arrow
"b" slacksthe belt.
{5) Do not movethe motortoo far in direction
"b", or the belt@
comesoff the timing pulleysG-land 15r.
{6) After the belt tension has been adjusted,tighten motor
mountingscrews
ll) securely.
A loosemotormountingscrew
resultsin the belt slacking
off.
C. Replacement
(1) Fig.4.3.11
alsooutlines
the replacement
procedure
of the
timingbelt.
{2) Removethe brakeby referring
to 3.6.2Checking,
adjusting,
and replacing
the elbowbrake.
(3) Remove
the threemountingscrewsi6lto removethe brake
mounting
plate.7i,
{4) Becareful,
cables
aresecured
to the brakemountingplate-7.
Do not applyexcessive
forcewhen removingthe mounting
prare.

179. 4. MAINTENANCE
AND INSPECTION
(5) Usinga marker,
markalignment
pointers
on thetimingbeltl2l
andtimingpulleys
(4)
and(51,
whileensuring
thatthebeltteeth
are in correctmeshwith the pulleyteeth.See Fig.4.3.10.
(6) Duringadjustment
of thebelttension,
do notallowthe beltto
slackoff so excessively
that the belt comesoff the timing
pulleys({ and (C.
(7) Markthe alignment
pointerson the new timing belt.During
the procedure,
keepthe belt tightened.
(SeeFig.4.3.10.)
(8) Mountthenewbelt,gettingit around
thetimingpulleys4 and
6). wate surethat the alignmentpointersare linedup.
(9) Adjustthe belt tensionby referring
to steps(3)to (6) in B.
REMARKS
Formoredetailedtechnicaldataof thetiming belttension,
see CHAPTER
8 TIMING BELTTENSION,APPENDIX.

180. 4. MAINTENANCE
AND INSPECTION
i1, lMotormounting screw
:2 Timing belt
i4.iTiming pulley
t9
'@%
5 | | m r n qp u e y
(on reductiongear end)
(, Brake mou nting plate
'@% {onmotorend)
i0) Mounting screw
Fig. 4.3.11 Checking, Adiusting, and Replacing the Elbow Drive Timing Belt

181. 4. MAINTENANCE
AND INSPECTION
3.4.4Checking,
adiusting. A. lnspection
andreplacing
the wrist
pitchdrivetimingbelt (1) Fig.4.3.12
outlines
theinspection
procedure
of thewristpitch
drive timinq belt.
(2) Remove
theupperpulleycoverby referring
to 3.2Removal
of
the Covers.
(3) Visually
checkthe beltto makesurethat it doesnot develop
any of the symptomsgiven in 11)to (5),3.4.1
(4) Depress
the beltat itscenterwith a forceof about20to 30gf
and ensurethat it deflects
2mm. See Fig.4.3.9.
B. Adjustment
11)Fig.4.3.12
alsooutlines
theadjustment
procedure
of thewrist
pitchdrivetiming belt.
(2) Loosenthe two motor mountingscrews(D.
(3) Whilefeeling
thetension
inthetimingbelt(2),
movethemotor
@ in the directions
shownby arrows"a" and "b". Notethat
the motor@ is secured
usingthe two screwsin the slotsso
they can be moved in the slots.
(4) Moving the motor in the directionshown by artow "a"
tightens
the belt;movingit in the direction
shownby arrow
"b" slacksthe belt.
(5) Do not movethe motortoo far in direction
"b", or the belt@
comesoff the timing pulleys€l and €,r.
(6) After the belt tension has been adjusted,tighten motor
mountingscrews
ij-lsecurely.
A loosemotormountingscrew
resultsin the belt slacking
off.
C. Replacement
(11Fig.4.3.12also outlinesthe replacement
procedure
of the
timingbelt.
(2) Usinga marker,
markalignment
pointers
on thetimingbelta2l
andtimingpulleys
G.r
and(5,whileensu
ringthatthebeltteeth
are in correctmeshwith the pulleyteeth.See Fig.4.3.10.
(3) Loosenthe two motor mountingscrews(D and removethe
timing belt.
(4) Markthe alignment
pointers
on the newtimingbelt.During
the procedure,
keepthe belt tightened.

182. 4, MAINTENANCE
ANDINSPECTION
(5)
(6)
Mountthenewbelt,gettingit around
thetimingpulleys
G)and
i5).Makesurethat the alignmentpointersare lined up.
Adjustthe belttensionby referring
to steps(3)to (6) in B.
REMARKS
Formoredetailedtechnicaldataot thetiming belttension,
see CHAPTER
8 TIMING BELTTENSION.APPENDIX.

183. 4. MAINTENANCE
AND INSPECTION
il. lMotormounti
-2-t
Timing belt
'v'
b a
+ = +
{ Trming pulley
Fig.4.3,12Checking,
Adiusting,and Replacing
the Wrist PitchDlive Timing Belt

184. 4. MAINTENANCE
AND INSPECTION
3.5 Replacement
ofthe Thecurledcables
usedas the cables
connecting
the RV-M1base
Curled
Cables unitandarmunitmustnormally
be replaced
every2,000
hoursof
gPeration
fwo curledcables
areused,powerandsignal.
Thesetwo cables
must be replaced
at the sametime.
A. Replacement
(1) Fig. 4.3.13outlinesthe replacement
procedureof the two
curledcables.
(2) Makesurethatthepowerswitchon thedriveunitrearpanelis
in the oFF position.
13)Remove
the basesidecoversand upperand lowershoulder
coversby referring
to 3.2 Removalof the Covers.
(4) Unplug the three connectors(connectornames: "PW,"
"HND,"and "CON3")whicharepluggedinto positioninside
the base 1..D.
(5) Unplug the eight connectors{connectornames: "PW,"
"HND,""M2,""M3,""ENC2,"
"ENC3,"
"ENC4,5,"
ANd"LS")
which are pluggedinto positioninsidethe shouldercovers.
(6) Each
connector
is identified
bytheconnector
nameprinted
on
the marklng
seal.
(7) Remove
thetwo mountingscrews
(? andpullofftheterminal
plateQ) togetherwith the powercurledcable[4]and signal
curledcable(0 from the base(11.
(8) Remove
the plastic
nutsQ),eachof whichsecures
the power
curledcable@ andsignalcurledcableO, respectively,
to the
motor plate@.
(9) Pull off the two cablesa4)
and (5)from the motor plate(0.
(10)To installnew cables,reverse
the order of removal.
WARNING
When reconnectingthe connectors,be sure they are
connected
in matchedpairsidentifiedby the sameconnec-
tor name. A wrong connectioncan result in a serious
trouble.

185. 4. MAINTENANCE
AND INSPECTION
Connectors:
"ENC2,""ENC3,
"
7 Plastic
nut
nal curled cable
Connectofl
"CON3"
i-4.Power curled cable
J I ermtnat ptate
lr Ease
2 Mountingscrew
Fig.4.3,13Replacing
the CurledCables

186. 4. MAINTENANCE
AND INSPECTION
3.6 Inspection,
Adtustment,
The RV-M'lrobothasbuilt-inelectromagnetic
brakes
installed
in
andReplacement
ofthe the shoulderswiveland elbowextension
axesthat preventthe
Brakes armfrom droppingby itsown weightwhenpoweris OFF.
Inspect
the brakesat regularintervals
by followingthe inspection
and
adjustment
procedures
given below.
3.6.1Checking,
adiusting, A. Inspection
andreplacing
the
shoulder
brake ('l) During
thenormaloperation
of therobot,
check
to seeif anyof
the followingsymptomsdevelops.
a. The brakeis not released
when power is turnedON.
. Thisis probably
dueto an openbrakecoilleadwrreor
incorrect
armatu
re-to-coil
gap.lf the problempersrsts
evenafterthegaphasbeenadlusted,
replace
thebrake.
b. The brakesqueaks
while the arm is being rotated.
. Thisis probably
dueto incorrect
gap.Adjustthegapas
necessa
ry.
c. The arm dropswhen power is turnedOFF.
. Thisis probably
dueto a worn brakeliningor oil and
grease
trappedinside.
Clean
or replace
thebrakelining.
B. Adjustment
(1) Fig.4.3.14
identifies
the shoulder
brakeparts.
(2) Makesurethatthepowerswitchon thedriveunitrearpanelis
in the OFFposition.
(3) Remove
the upperand lowershoulder
coversby referring
to
3.2 Removalof the Covers.
(4) Loosen
thetwo setscrews
i3).
At thistime,usecarenotto lose
thecopper
plates
(1.Then,usingafeeler
gauge,
adjust
thegap
betweenthe armature(5)and coil :7,r
to 0.1 mm.
(5) After the gap has been properlyadjusted,
tightenthe two
setscrews
i3.l
securely.
At thistime,makesurethatthecopper
plate i11)
is installedbetweenthe setscrewi3l and shaft (8).
C. Replacement
(1) Fig.
4.3.15
outlines
thereplacement
procedure
oftheshoulder
brake.
(2) Makesurethatthepowerswitchon thedriveunitrearpanelis
in the OFFposition.
(3) Remove
the upperand lowershoulder
coversby referring
to
3.2 Removalof the Covers.
(4) The brakeconnector
il) {connector
name:"PW") is plugged
into positioninsidethe shouldercovers.

187. 4. MAINTENANCE
AND INSPECTION
(5)
(6)
Unplugtheshoulder
brakepincontacts
12)
(contact
Nos.1 and
2) from the receptacle
housingin the connectori. See Fig.
4.3.16.
Remove
thetwo setscrews
(3t.
At thistime,usecarenotto lose
thecopperplates
O. Then,remove
thebrake
disk[4],
armature
€,1,and spring [6, from the shaft a0.
(7) Removethe four mountingscrews(91
to removethe coil -47)
from the brakemountingplate(0).
(8) To installa new brake,reversethe order oi removal.
(9) Adjustthe gap by referring
to the procedure
given in B.
(10)Thepincontacts
(a maybeplugged
intoeitherposition,
No.1
and No. 2.
Fig.4.3.16 Removing the Pin Contacts
Fig. 4.3.14 Shoulder Brake Parts ldentification
o.-
q
Brakedisk
L3.r
Setscrew
-
I
. b
i3. Setscrew
(O copper plate
Fig.4.3.15Replacingthe Shoulder Brake

188. 4. MAINTENANCE
AND INSPECTION
3.6.2 Checking,adiusting, A. Inspection
and replacingthe
elbowbrake {1) Duringthe nonnaloperation
ofthe robot,checktoseeif any of
the following symptoms develops.
a. The brake is not releasedwhen power is turned ON.
. This is probablydue to an open brakecoil or leadwire
or incorrectarmature'to-coilgap.lf the problempersists
evenafterthe gap has beenadjusted,replacethe brake.
b. The brake sqr-reaks
while the arm is being rotated.
. Thisis probablydue to incorrect
gap.Adjustthe gap as
necessa
rv.
c. The arm drops when power is turned OFF.
. This is probablydue to a worn brakeliningor oil and
grease
trappedinside.
Cleanor replace
the brakelining.
B. Adjustment
(1) Fig.4.3,17identifies
the elbow brake parts.
(2) Makesurethat the power s^/itch
on the drive unit rearpanelis
in the CFF posiiion.
(3) Removethe rpper and iower shouldercovers by referringto
3.2 Removalcf the Covers.
(4) Loosenthe two setscrews'3:.
At this time, use carenot to lose
the copperplates.11,.
Then,usinga feelergauge,adjustthe gap
betweenthe armature 5 and coil .7 to 0.1mm.
(5) After the gap has been properly adjusted,tighten the two
setscrews13 securely.
At this time, make surethat the copper
plate'.11is installedbetween the setscrewi.3'and shaft (8;.
C. Replacement
(1) Fig. 4.3.i7 also outlinesthe replacement
procedureof the
elbow brake.
{2) Makesurethat the power switchon the drive unit rearpanelis
in the oFF position.
{3) Removethe upper and lower shouldercovers by referringto
3.2 Removal of the Covers.
(4) The brakeconnectorI (connector
name:
"PW")
is plugged
into positioninsidethe sitouldercovers.
(5) Unplugthe elbr:wbrakepin contacts:2.(contactNos.3 and 4)
from the receptaciehousing in the connector i1,. See Fig.
4.3.1
8.
(6) Removethe 1wosetscrews.3. At this tinte,usecarenot to lose
the copperplates11..
Then,removethe brakedisk(4r,
armature
.5, and spring 6l from the shaft .8..

189. 4. MAINTENANCE
AND INSPECTION
(7) Removethe four mountingscrews€-,1
to removethe coil 0)
from the brakemountingplate[0.
(8) To installa new brake,reversethe order of removal.
(9) Adjustthe gap by referring
to the procedure
given in B.
(10)Thepincontacts
i2,maybeplugged
intoeitherposition,
No.3
and No, 4.
WARNING
Thearmfallsdown when the brakesareremoved.Besure
to securethe arm in positionbeforeattemptingto adiust
or replacethe brakes.
ll Coil
il-, Connector
i3- Setscrew
7p
--7
,/ ll copper plate
%@
i-0 Brakemounting plate
Mounting
screw / -@'
d
i4) Brakedisk
Fig.4.3.17 Elbow Blake Parts ldentification
I Connector
Fig.4.3.18Removinglhe Pin Contacts

190. 4. MAINTENANCE
AND INSPECTION
3.6.2 Checking,adjusting, A. lnspection
and replacingthe
elbowbrake (1) Duringthe normaloperation
ofthe robot,checktoseeif any of
the following syrnptoms develops.
a. The brake is not released
when power is turned ON'
. This is probablydue to an open brakecoil or leadwire
or incorrectarmature-to-coil
gap, lf the problempersists
evenafterthe gap has beenadjusted.replacethe brake'
b. The brake squeakswhile the arm is being rotated
. This is probablydue to incorrectgap.Adjustthe gap as
necessa
ry.
c. The arm drops when power is turned OFF.
. This ls probablydue to a worn brakeiiningor oil and
grease
lrappedinside.
Cleanor replace
the brakelining
'
B. Adjustment
(1) Fig.4.3.11rdentifi6s
the elbow brake par1s.
(2) Makesurethatthe nowerswitchon the driveunit rearpanells
is the OFF irosition.
{3) Rerno'rethe ',rpperand lower silouldercovers by referringto
3.2 Removaio{ tho Ccvers.
(4) Loosenthe tr'osetscrews3 . At this time, use carenot to lose
the copperplatesll..Then,using a feelergauge,adjustthe gap
betweenthe armature
'5
and coil .7 to 0.1mm.
15)After the gap has been properly adjusted,tighten the two
setscrews'3'secur"ely.
At thistime,makesurethatthe copper
plate l1 is installedbetween the setscrew .3. and shaft €,'
C. Replacement
(1) Fig. 4.3.17also outlinesthe replacement
procedureof the
elbow brake.
12) Makesurethat the power switchon the drive unit rearpanelis
in the OFF position.
(3) Removethe upper and iower shouldercovers by referringto
3.2 Renrovalcf the Covers.
(4) The brake connector 1 (connectorname:
"PW") is plugged
into position inside the sl.rouider
covers
(5) Unplug the elfrow'brakepin contacts..2.
(contactNos 3 and 4)
from the receptaclehousing in the connector i'lr' See Fig'
4.3.18.
(6) Removethe two setscrews
l3 . At this time, usecarenot to lose
the copperplatesll . Then,removethe brakedisk(4.,armature
. a :

191. 4. MAINTENANCE
AND INSPECTION
(7) Rernove
the four mountingscrewsI to removethe coil (D
from the brakemountingplate@.
(8) To installa new brake,reversethe order of removal.
(9) Adjustthe gap by referring
to the procedure
given in B.
(10)Thepincontacts
!2,maybeplugged
intoeitherposition,
No.3
and No, 4.
WARNING
Thearmfallsdown when the brakesareremoved.Besure
to securethe arm in positionbeforeattemptingto adiust
or replacethe brakes.
il, Connector
'3.
Setscrew
@
re^:@
lMounting
screw / 9 '
d
b, Jpfl nq
-f0,,
Brakemountingplate .41Brakedisk
Fig. 4.3.17 Elbow Brake Parts ldentification
l Connector
Fig.4.3.'18 Removing the Pin Contacts

192. 4. MAINTENANCE
AND INSPECTION
4. SERVICE
PARTS
4.1 RobotConsumables
Table 4.4.1 lists those RV-M1 parts which require periodic
replacement.
Tables
4.4.2and4.4.3arethe listings
of spareparts
that may be requiredduring serviceprocedures.
All partsmaybeordered
fromtheauthorized
manufacturer
or our
ServiceDivision.
Notethatthe oartsrecommended
bv us differ
from manufacturer's
standardparts: bv sure to consult our
ServiceDivisionbeforeordering.
No. Description Model Manulacturel lnstalled Location otv
Motorbrush 3OW-BRSH
lMitsubishi
Electric
Waist, elbow,
shoulderj 2 each
6
2 DC servomotor
11W.J5M
Wrist pitch/roll 2
3 Timing belt MM 1909.5
lMitsuboshiBelt
Shoulder 1
4 Timing belt Mtvt-132,9.5 Elbow 1
5 Timing belt MM-97-4.8 Wrist pitch 1
6 Curled cable BU142B040G51 Mitsubishi
Electric Power/signal
relay 1 set
Table4.4.1RobotConsumables
List

193. 4. MAINTENANCE
AND INSPECTION
4.2 RobotSpaleParts
Noter 10A for 120Vline voltage;5A for 220,230 or 240Vline voltage.
Table 4,4.2 Robot Spare Parts List
Note lr Oty per unit
Note2r J1 to J5
4.3 DriveUnit SpareParts
No, Oescription Model Manufactulel lnstalled Location otv
1 DC servomotor
30w-J1M
30w-J2M
3OW-J3M
MitsubishiElectric
Waist, elbow,
s h o u l d e r ; 1 e a c h
3
2
Harmonic drive
reoucton gear
BU143C172H02
lCS-14,100,24,G
R)
Mitsubishi
Electric
(Harmonic
Drive
Systems)
Base
3
Harmonicdrive
reouclton gear
BU143C
l73H01 Shoulder, elbow
4
Harmonicdrive
reductiongear
BU144D413H01
(FB-14-110,2
BL3-SP)
Wrist pitch
5
Harmonic drive
reouclron gear
BU144D366H01
(FB-14-110-2
BL3)
Wrist roll
6
Limit switch
assemory
LS-ASSY-.
]i ]
Note2: ShaJ
designation
MitsubishiElectric
Origin-setting
signal
for all axes
5 sets
7
Electromag
netic
brakeassembly
BU144D473G51 Mitsubishi
Electric Shoulder, elbow 2
8 Roller follower NART-6EUUV THK CO,,LTD EIbowdrive link 2
9 Relaycard BU1488136G51 MitsubishiElectric Relay in base 1
1 0 Miniature
bearang F69622 NSK CO.,LTD Shoulder,elbow 4
No. Descliption Model Manufacturel lnstalled Location otv
1 Fuse
MF6ONRl
OA-05
(250VAC, 10A) TOYO
Fuseholderin rear
of driveunit
1

194. 1.SPECtFICAT|0l{S
2.0PtRATI01{
3.DtSCRtPil0l{
0FT]|tC0itMAN0s
4. 1||AINTEI{A1{CE
AND
INSPTCTIOI{
5.APPENDICES

195. CONTENTS
(APPENDICES}
1. INTERFACE
WITHTHEPERSONAL
COMPUTER
(CENTRONICS) APP-1
1.1 Centronics
Connector
pinAssignments ................App_1
1 . 2 F u n c t i o n
o f E a c h
S i g n a l
L i n e . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p _ 2
' 1 . 3
S i g n a l
L i n e T i m i n g
C h a r t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p _ z
1 . 4 C e n t r o n i c s
C a b 1 e . . . . . . . . . . . . . . . . . . . . . . . . A p p _ 3
1.5 Centronics
Interfacing
Examples .........................App_3
2. TNTERFACEWTTHTHEPERSONALCOMPUTER(RS232C)..................App_s
2.1 RS232CConnector
pinAssignments................ ....App_s
2 . 2 F u n c t i o n
o fE a c h
S i g n a l
L i n e
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p _ s
2 . 3 R S 2 3 2 C
S e t t i n g s . . . . . . . . . . . . . . . . . . . . . . . . A p p _ 6
2.4 Signal
LineTiming
Chart.......... ...App_8
2 . 5 R S 2 3 2 C
C a b | e . . . . . . . . . . . . . . . . . . . . . . . . . A p p _ 1 0
2.6 RS232C
Interfacing
Examples ....App_11
3. INTERFACE
WITHEXTERNAL
I/OEOUIPMENT ........APP.14
3 . 1 . A
3 . 1
. 8
3.2.4
3.2.8
3.3.A
3.3.
B
3.4.4
3.4.
B
3.5
External
l/OConnector
PinAssignments
(Type
A l/OCard)
.. ... .................App_l5
External
l/OConnector
pinAssignments
(Type
B l/OCard)
..................................App_16
l/OCircuit
Specifications
(Type
A t/OCard).......... .......................App-17
l/OCircuit
Specifications
(Type
B l/OCard)........ ..App_18
Functionsof
l/OSignal
Lines
(Type
A l/OCard)
.............. .............App_l9
Functions
of l/OSignalLines
(TypeB t/OCard) ....App-20
Example
of Connection
to l/OCircuits
(Type
A l/OCard)......................................App_21
Example
ofConnection
to l/OCircuits
(Type
B l/OCard)
...............
.......................
App_22
l/OSignal
LineTiming
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
3.5.1.B
Synchronous
inputtiming
(Type
B t/Ocard)........... .........App-23
3.5.2.A
Synchronous
output
timing(Type
A l/Ocard)...................
......................
App_24
3.5.2.8
Synchronous
outputtiming
(Type
B l/Ocard)........ ..........App_21
3.5.3.4
Dedicated
l/Otiming(Type
A t/Ocard)... ... . ... ......App_25
3.5.3.8Dedicated
t/Otiming(TypeB t/Ocard) .....App_26
Externa|
l/OCab|e.......
.. ...........App-27
Preca
utions
forCon
nection
to Externa
I Equipment .....................App_2g
3.6
3.7
4. CARTESIAN
COORDINATE
SYSTEM
REFERENCE
POSITION
SETTING
......................APP.29
4.1 MovingtheRobottoReferenceposition........... ..App_29
4.2 Setting
theReference
position ...App-29
4.3 Storing
Reference
position
Data
inEpROM .........App_30
4.4 Loading
theReference
position
Data................ ..App_31

196. 5. PROGRAMMING
SYSTEM
USING
PERSONALCOMPUTER ..............APP.32
6. SAMPLE
PROGRAMS........... .-.......App-36
7. COMMANDL|ST.........
.. ..... .........APP-44
8. TtMtNG
BELT
TENSTON .............
....APP-48
9. DEF|N|TIONOFWE|GHTCAPAC|rY
............. . .. ...App-49
10. ROBOTARMSTORAGEPOS|T|ON.............. .'.-.....APP-50
11.OPERATTONALSPACEDTAGRAM........ '. ".'..'......'APP-51
1 2 .W | R I N G D T A G R A M . . . . . . . . ' . . . . . . . . . . . . A P P - 5 2
13. DRTVE
UN|TWtRtNG
D|AGRAM........ ..'............'....APP-53

197. APPENDICES
1. INTERFACEWITHTHE
PERSONAL
COMPUTER
(CENTRONICS}
1.1 Centronics
Connector
PinAssignments
Table 5.1.1shows
nector.
the pin assignments
for the Centronics
con-
Fig. 5.'l.1 Centronics Connectol
Table5.1.1Centronics
ConnectorPin Assignments
N. C: Not connected
Receptacle
model:57LE-40500-77OO
(D3).. . (DDK)
Applicable
plug model: 57E-30500.
. . (DDK)
CENTRONICS
Pin No. Signal Pin No. Signal
1
2
3
5
6
7
I
9
1 0
1 1
1 2
1 3
1 /
'18
STB
DBO
D B l
DB2
DB3
DB4
DB5
DB6
D87
ACK-
BUSY
G N D
N , C
N , C
N . C
G N D
N . C
N . C
1 9
20
2 1
22
24
25
26
27
2a
29
30
3 1
32
33
34
35
36
G N D
G N D
G N D
G N D
G N D
G N D
G N D
G N D
G N D
G N D
G N D
G N D
N . C
N . C
G N D
N . C
N . C
N , C

198. APPENDICES
1.2 Function
of Each
Signal
Line
1.3 SignalLineTimingChart
Table 5.1.2 Functions of Signal Lines on Centronics Connector
DBOto 7 (ln)
STB {ln)
BUSY
ACK
( 1 )
t2l
(out)
(O
ut)
{3)
Fig, 5.1.2 Timing Chart
Datafromthepersonal
computer
istransferred
to DBO
to DB7.
The driveunit outputsa HIGHBUSYsignalon the negative
edgeof a STBsignalfrom the personalcomputer.
Whenthedriveunithascolqpleted
receiving
dataandis ready
to acceptotherdata,an ACKsignalis sentto the personal
computer;at the sametime, the BUSYsignalgoes LOW.
This operatingsequence
repeatsuntil the terminator,hex.
"0D," is input.
Signal Direction Function
DBoto 7
(Databit)
l n
Thesesignalsrepresent
lnformationof the I bits
parallel data, respectively,output frorn the per-
sonal computer.
ST8
(Strobe) l n
This is the pulsesignalindicating
that inputdata
from the personalcomputer is presentto be
read. Data is read in on the LOW-going negative
edge.
BUSY
(Busy) Out
This signal goes LOW when the drive unit is
readytor receiving
data.lt goes HIGHindicating
that the drive unit is unable to receivedata.
ACK
(Acknow
edge)
Out
A LOW 2 to 3 p s pulse indicates
that data has
been receivedand the drive unit is ready to
accept other data.
G N D
(Grou
nd)
Ground connectionfor the above siqnal lines.
(4)

199. APPENDICES
1.4 CentronicsCable When connectingyour personalcomputer to the robot through
the Centronics interface, the printer cable of your personal
computer may be used if it can be properly plugged into the
Centronicsconnector of the drive unit and signal lines match
correctly.
Also available
arethe optionalcablesfor the Mitsubishi
MULTI'16
and NEC PC9801.
1.5 CentronicsInterfacing Example 1: Using Mitsubishi l,1ULTl16[n
Examples
1) Connecting
the Centronics
cable
Usingthe optionalcablefor Centronics
{model:C-MULTI-CBL),
connectthe drive unit to the personalcomputer (with the drive
unit and personalcomputerturned OFF).For the connectoron
the N4ULTl16m,
use its built-inprinterconnector.
2) Setting the personal computer
(Setting switches)
Set the l/O mode suritch (l-SW) on the back panel of the
personal computer as follows.
Bit
'1
: In lower position (OFF)
Bit 2: ln upper position(ON)
Bit 3: In lower position (OFF)
After the above switch settingshave been made,turn ON the
personal computer.
(lnvoking software)
(1) Activate CP/M-86.
(2) Activate the GENSYS command to make the following
settings.
A>GENSYSJ ActivateGENSYS.
Printer?Y J Set Printer configura-
tlon.
fype? 24 pin 16/ Set 16-pintype.
END OF GENSYS(Y/N)?Y I End GENSYS.
(3) Acrivate MBASIC.
A>MBASIC Activate MBASIC
(or MBASIC2).

200. APPENDICES
3) Setting the drive unit
After the drive unit has been turned ON, place ST1 located
inside
the sidedoor in the lowerposition
(OFF).
Thisselects
the
personalcomputermode.Makesurethat the teachingbox is
turned OFF.
4) Verifying proper connection
Input the followingcommand in MBASIC.
LPRINT
"
NT" I
lf the robot performs correct return-to-originoperation,the
connection has been made properly.
Example_
2: Us_49NEC PC9801F
1) Connecting
the Centronics
cable
Using the optionalcable for Centronics
(model: C-PC-CBL),
connectthe drive unit to the personalcomputer {wlth the drive
unit and personal computer turned OFF).
2) Setting the personal computer
No special settings are required on the personal computer.
After N8SDISK-BASIC
has been activated,turn ON the drive
unrt.
3) Setting the drive unit
Perform the same procedureas in MULT|l6lll.
4) Verifying proper connection
Perform the same procedureas in MULTI'16III.

201. APPENDICES
2. INTERFACE
WITHTHE
PERSONAL
COMPUTER
(RS232C)
2 1 RS232c
connector
pin Tabre
5.2.'1
showsthepinassignments
for theRS232c
connector.
Assignments
25
F i 9 . 5 . 2 . 1
1 4
RS232CConnector
Table.
Applicableconnector:
5.2.1 RS232CConnector pin Assignmenrs
JAEDB-25P
(mate)or equivalent(JAE)
N. C: Not connected
2.2 Functionof EachSignal
Line
Pin No. Signal Pin No. Signal
l i F G
z bb trxot
3 I notnxot
: I Rs(Rrs)
5 CS (CTS)
b ] DR (DSR)
7 sc
8 I N . c
9 N . C
1 0
I N c
t 1 N . C
1 2 I * .
1 3 N . C
1 5
1 6
1 1
1 8
'19
20
2 1
22
23
25
N . C
N . C
N , C
N . C
N . C
N . C
ER (DTR)
N . C
N . C
N . C
N . C
N , C
Frameground connectedto the FG terminalon
the drive unit.
Provides the lines on which the onve untt
presents data to the personal computer.
Provides
the lineson whichthe personal
compu
rer presents data to the drive unit
This signalmust be set wheneverthe personal
compurerwrshesto transmit data.
CS (CTS) In
This signalis usedto authorize
the drive unit to
transmit data
This sjgnalis usedto indicatethat the personal
computer ls ready to transmit and receivedata.
Signal ground for data and control ttnes.
ERlDTR) Thissignalis usedto indicate
that the driveunit
is ready to transmit and receivedata.
Table 5.2.2 Functions of Signal Lines on RS232CConnector

202. APPENDICES
2.3 RS232C
Settings When the RS232Cinterface is to be used, the following com-
munication
conditionsettings
must be madeon the driveunit as
well asthe personalcomputer.The settingson the drive unit must
be the sameas thoseon the personai
computer.
Communication
cannot be accomplishedproperly if there is any discrepancy.
The followingparagraphs
explainthe settings
made on the drive
unit.Forpersonal
computersettings,
seelnstruction
Manualof the
oersonal comouter.
/ 1 1 R r r r r i r . t o c a f t i n d
The baud ratecan be setwith SW3 locatedinsidethe drive unit
side door. Placethe corresponding
bit in the upper position
(ON)according
to the desiredbaudrate.(Theunderlined
baud
rate in Table 5,2,3 is the standard settinq.)
WARNING
NEVERset to ON two or more bits at one time while the
drive unit is ON.
Table 5.2.3 Baud Rate Setiing
{2) Formatsettingin asynchronous
transmission
Transferformat can be set with SW2 locatedinsidethe drive
unit sidedoor. Setthe bitsas requiredaccordingto the desired
format. {The underlined settings are standard.)
DIPSW3Bit No.
Baud rate lactor
x 1 x 1 6 x64
1200
2 24AA 1 5 0
3 4800 300 7 5
4 9600 600 1 5 0
5 1200 300
6 2404 600
/ 4800 1200
I 9600 2400

203. APPENDICES
2 3 4 5 6 7 I N u l l l bit 1'112
bits 2 bits
0 0 1
'I
0 1 0 1
1: Even parity; 0: Odd parity
'l:
Parityenablei 0r Parity disable
Character length
5 bits 6 bits 7 bits 8 bits
0 0 l
0 'l
0
Baud rate factor
N u l l X 1 x 1 6 x64
0 0
,I
0 l 0 l
DIPSW2 No. of stop bits
1 - O N
(upperposition)
0 * O F F
(lowerposition)

204. APPENDICES
2.4 SignalLineTiming
Chart
The RS232Cinterfacewas originally the standard pre_scribing
electricalspecifications,
shapesof connectors,unOpin nrrnO"rr.
As- a result, different pieces of communjcation equipment use
different signal line functions and communication proceCures.
When connectingyour personalcomputerto the robol,tfreretore,
thorough understandingis mandatory of the functions of the
signallinesprovided
for boththe personal
computerandthe drrve
unit.
1) Data rransfer timhg.lrp11persona|
!9]]lp!1g|1o ]g!Sl
(Robot)
'l
st character:
Signals
ER(DTR)
and RS(RTS)
areturnedto HIGHfor up to
1l: ld
177ms.
lf anydatais inpurduringthispenod,both
ER(DTR)and RS(RTS)arerurnedto LOW altowingrhe data
to be read in.
2nd characterand onward
The drive unit causesboth ER (DTR)and RS (RTS)ro go
HIGH to be ready for acceptingdata entry. lf any data is
input, ER (DTR)and RS (RTS)are turned to LOW allowrng
the data to be read in. This operation repeatsuntil a hex.
"0D",
code (CR:carriagereturn)or a hex, ,,0A,,
code (LF:
line feed) is input.
(Personaicomputer)
Transferthe 1st characterwhile DR (DSR) remains HIGH.
Transferthe 2nd and subsequentcharacterswhen DR (DSR)
latergoes LOW and again goes HIGH.
RS (RrS) - CS (CTS)
I 1stcharacter
input I 2nd characler inpLtt
Fig. 5.2.2 Data Transfer Timing trom personal Computerto Robot

205. APPENDICES
2) Datatransfertiming from robotto personal
computer
(Robot)
Datatransfer
is initiated
aftercausing
ER(DTR)
to go HIGH.
ER
(DTR)
is turnedto LOWafterthe lasthex."0D" codehasbeen
transferred.
(Personal
computer)
Thepersonal
computer
causes
RSlRTS)togo HIGH
waitingfor
datato betransferred
fromthe robot.lf thepersonal
computer
requires
a hex."0A" code(LF:linefeed)followinghex."0D" as
a terminator
of received
data.bit 1 of SW1located
insidethe
driveunitsidedoormustbeplaced
in theupperposition
{ON).
(Robot) (Personalcomputer)
ER(DTR)
- DR (DSR)
RS (RrS)- CS (cTS)
DR (DSR)
TTstcharacter
output
* E R
cs (crs)* RS
(DTR)
(RTS)
I 2nd character
output
Fig. 5.2.3Data TransferTiming from Robotto Personal
Computer

206. APPENDICES
2.5 RS232C
Cable Whenconnecting
your personal
computerto the robotthrough
theRS232C
interface,
theRS232C
cableofyourpersonalcomputer
maybe usedif it canbe properly
pluggedintothecorresponding
connectorof the drive unit and signallinesare connected
as
shown in Fig.5.2.5.Eachsignalline must,however,meet the
timing described
earlier.
Alsoavailable
aretheoptional
cables
fortheMitsubishi
MULTll6
and NECPC9801.
Personalcomputer
Drive unit
(signal name, pin number) (sagnal
name, pin number)
(FG)1
(SD)2
(RD)3
1 R S )
4
(cs)5
( D R )
6
(ER)20
(SG)7
1 ( F G )
2 {SD)
3 ( R D )
4 ( R S )
5 (CS)
6 (DR)
20 (ER)
7 (SG)
Fig. 5.2.4 RS232CCable Connection

207. APPENDICES
2.6 RS232C
lnterfacing
Examples
@
1) Connecting
the RS232C
cable
Usingthe optionalcablefor RS232C
(model:RS-MULTI-CBL)'
conn-ect
thedriveunitto the personal
computer
(withthedrlve
unitandpersonal
computer
turnedOFF)Fortheconnector
on
the MULT|l6lll,use its built-inRS232C
connector'
2) Settingthe Personal
comPuter
(Settingswitches)
Set53 inside
themaincoverandl/Omodeswitch(l-SW)
on the
backpanelas follows
53: FliPdown to C2 and C4 Positions'
l-SW: Placebit 4 in the lower position(OFF)'
Afterthe aboveswitchsettings
havebeenmade'turn ON the
personal
computer.
{Forlocation
of 53, seeMULTll6lllOwn-
er's Manual.)
3) Setting the drive unrt
After the drive unit has been turned ON place ST1 located
insidethe sidedoor in the lower position(OFF)Thisselectsthe
personalcomputer mode. Make sure that the teachingbox is
turned OFF.Then,set SW1,SW2, and SW3 locatedin the side
(lnvoking
software)
(1) ActivatecPilvl-86.
(2) Activatethe GENSYS
command
settings.
A > GENSYS
I
5
RS232C?
Y I
Async/Sync?
ASYNCI
)
ENDOF GENSYS
(Y/N)?
Y J
(3) ActivatelvlBASIC.
A > I,IBASIC
I
to make the following
ActivateGENSYS.
SetRS232C
configura-
tion.
End GENSYS.
ACtiVAtEMBASIC
(or MBASIC2).
upper Posltlon.
settingsaccordingto 2.3 RS232C
door as follows.
SW1: Placebit 1 in the
SW2l Make the standard
SW3
j Settings.

208. APPENDICES
4) Verifyingproperconnectio
n
Inputand run the followingprogramin MBASIC.
1 0 O P E N" C O M 1: 9 6 0 0 ,
E , 7 , 2 " A s l r l
2 0 P R I N T
# 1 ,
" N T "
30 END Aboveprogramisexecuted.
R U NJ
O K
lf the robot performscorrectretu
rn-to-o
rigin operation,
the
connection
has been made properly.
Example
2: UsingNECPC9801F
1) Connecting
the RS232C
cable
Using the optionalcablefor RS232C
{model: RS-PC-CBL),
connect
thedriveunitto thepersonal
computer
{withthedrive
unit and personal
computerturnedOFF).
2) Settingthe personal
computer
(Settingswitches)
SetDIPswitches
SW1andSW2on the backpanelas follows.
SW1: Placebits 7 and 9 in the lower position(OI,.
Placebits 8 and 10 in the upper position(OFF).
SW2: Placebit 5 in the lower position(ON).
Afterthe aboveswitchsettings
havebeenmade,turn ON the
personal
computer.
{lnvokingsoftware)
(1) ActivateNS8DISK-BASlC.
{2) Set memoryswitchas follows.
OK
monI Activatemachinelan-
guagemonrror.
hlssw2I
08-08
I Setbaudrate(at9,600
baud).
(3) Pressthe resetswitchfor reactivation.
3) Settingthe drive unit
Performthe same procedure
as in MULTll6lll
(except
for placingbit 1 of SW1 in the lower position)

209. APPENDICES
4) Verifyingproperconnection
Inputand run the followingprogramin N-BASIC.
10 OPEN"COM:E73"ASf 1
20 PRINT#1,
"NT"
30 END
R U NI
OK
Aboveprogramisexecuted.
lf the robot performscorrectretu
rn-to-orig
in operation,
the
connection
has beenmade properly.
Example
3: A6GPP
(Mitsubishi
MELSEC-A
series
general-purpose
programmable
controller)
1) Connecting
the RS232C
cable
Usingthe optional
cablefor RS232C
(RS-PC-CBL),
connect
the
drive unit to the corresponding
A6GPPconnector(with the
drive unit and personal
computerturnedoff.)
2) Settingthe A6GPP
(1) Insert
theoptional
3.5-inch
BASIC
disk(SW0GHP-BAS)
into
driveA of the AGGPP
and power up the A6GPP.
(2) ActivateBASIC.
A>BASIC
J
3) Settingthe drive unit
Performthe same procedure
as in MULTll6lll.
(except
for placingbit 1 of SW'l in the lower position)
4) Verifyingproperconnection
Inputand run the followingprogramin 8AS|C.
1 0 l N t T% 1 , " 6 E 7 2 " 1
20 PRINT
%1, "Nr"
30 END
RUNI Aboveprogram
isexecuted.
OK
lf the robot performscorrectretu
rn-to-o
rigin operation,
the
connection
has been made properly.

210. APPENDICES
3. INTERFACE
WITH To connect
the robotto external
l/Oequipment,
plugthe external
EXTERNAL
l/O l/Ocable(tobedescribed
later)intothe EXTERNAL
l/Oconnector
EOUIPMENT on the l/O card.
Therearefourtvpesof l/Ocardsavailable,
A8,88,A16,and B'16,
eachhavingthe followingspecifics.
Table5.3.1l/O Cards
Item
Tvpe
General-purpose
l/O Dedicated l/O
Remalks
lD marking
{silk-screen-
printed)
Input Output Input Output
A8
8 polnts
STB
BTJSY
8 pohts
RDY
ACK
Not
available
Not
available
Operationby meansot external
signalsls not possible.
8 points
STB
BUSY
8 points
RDY
Acr-
Not
available
Not
available
Operationby meansof external
signals is not possible.
# 2 8
16 points
STB
BTJSY
16lco
hts
RDY
ACK
(start,
stop,
reset)
3 points
(run,wart,
error)
Operation by means of external
slgnalsis possible.
'16points
STB
BUSY
'16points
RDY
ACK
(start,
stop,
reset)
3 points
(run,
wait,
error)
Operation by means of external
signalsis possible.
NOTICE
Differences
between "signal"
(lnput signal)
"Signal":
"Signal":
(Output signal)
"Signal":
"Signal":
Indicates
that the corresponding
terminalis in a
significantcondition, i.e. the signal is being
input to the terminal when a relatively"high
voltage" is appliedto the terminal.
Indicates
that the corresponding
terminalis in a
significantcondition, i.e. the signal is being
input to the terminal when a relativelY"low
voltage" is appliedto the terminal.
and
"signal"
Indicatesthat the correspondingterminal is
switched to a "high voltage" state when a
significantconditionis output from the internal
circuitto the terminal.
Indicatesthat the correspondingterminal is
switched to a "low voltage" state when a
significantconditionis output from the internal
circuitto the terminal.

211. APPENDICES
3.1.AExternal
l/O
ConnectorPin
Assignments
(Type
A l/OCard)
Table 5.3.2.Ashows the pin assignmentsfor the external l/O
connectoron tvpe A l/Ocard.
"Wire
colors"shown in the Tableare
keyed to those shown in 3.6 Externall/O Cable.Those signals
marked with " are not available in tvpe A8 l/O card.
Fig. 5.31.A Externall/O Connector
Table 5.3.2.A External l/O Connector Pin Assignments {Type A8/16)
Receptaclemodel: 57LE-40360'77OO
(D3). . . (DDK)
Applicableplug model: 57E-30360.
. . (DDK)
Pin No. Signai Wire Color Pin No. Signal Wire Color
Outputport powerlnput
Oltput poatpower rnpirt
t 0
99tt!til!q
OuF,,l
]t ?
o!ll,i,l9J1
O u t p u t
b t 6
Rll 9.!!,t
-
-9Y!P!bil 8
' O1lrpurbit I0
" o{s!!!r 1?
* Output bit 14
- vVtAlT
outlg!
r ERBORoutpul
- {rpl,"E
-
!,!!t q,t 15
-
l!p9!.br1!
r rry"rg!-lj
* InpLrtbit I
Bury9,ul?9t
tryq.q!l
lllollt-.
bll I
rl!"l.bll !
input blt l
Input port power Input
lnp{rt port power input
1 J
1 4
1 5
21
t 1
12
1 /
1B
20
22
23
24
25
Whiteiblir.k A
Yel oy//black A
Bluelblack
A
GreFrn/b1ack
A
Orange/blaci,
A
PinUfrlack
A
Grayrblack
A
Red/irlark
A
V oletlblackA
Erown,'blackA
White/blackC
Yellow,/back C
Blue/black
C
Gfeen/black
C
Ora.gelbl3ckC
PiN
i(iblack C
Gray/black
C
Redi
black C
Vloletibldck C
Brown/blackC
Yellow/red A
Bi!e/red A
Green,eo A
OrangelredA
26
2r'
28
29
30
3 t
32
33
34
35
36
37
38
39
40
4 1
42
43
44
41
Arj
49
50
Outputport GNDoutput
Cutp.rtport GND outpLrt
9!!P-{ ql l
o!tp{ !! J
orr!91
!,! !
Outputbit 7
49!iT!!
, q!tS{ b,t,s
' oLtlp-Ll_r.
,911.
-1,1
* Oirtpul-blt.
'l3
" ol4put bit 15
'
1!1 99!Pu'
. sr4!I ,r'!r,t
-
!!!lI lset
'!!"t q!11
t inpLrtbit 12
t I n p u t b i t 1 0
*,lip,ut bit 8
STB input
lnq!! b,t9
lls{ !r 1
I'q!. q[ 2
Input bit 0
Input port GND outp!t
Inpui pon GND output
White/black I
Yellow/black B
Blue/blackI
Green/back B
Orange/black
B
Pink/black
B
Gray/biackB
Red/blackI
Violet/black
B
Brown/black B
White/black D
Yellow/black D
Blue/black
2
Green/black
D
Orange/black D
PinUblackD
Gray/black D
Bed/black D
ViolevblackD
Brown/blackD
White/red B
Yel ow/red B
Blue/redB
Green/redB
Orange/redB

212. APPENDICES
3.1.8 External
l/O
ConnectorPin
Assignments
(TypeB l/O Card)
Table 5.3.2.8 shows the pin assignmentsfor the external l/O
connectoron tvoe B l/Ocard.
"Wire
colors" shown in the Tableare
keyed to those shown in 3.6 Externall/O Cable.Those signals
marked with * are not available in tvpe 88 liO card,
Fig. 5.3.1.8 External l/O Connector
Table 5.3.2.8 External l/O Connector Pin Assignments {Type 88/16)
Receptacle
model: 57LE-40500-77OO
(D3).. . (DDK)
Applicable
plug model:57E-30500.
. . {DDK)
Pin N o . S r g n a l W r e C o o r Prn N o . S g n a l Wire Color
1
2
3
4
5
6
/
I
9
1 0
1 1
1 2
1 3
1 4
1 7
1 8
1 9
20
2 1
22
23
24
25
Output port power input
Output port power input
Output bit 0
Output bit 2
OLrtputbit 4
Output bit 6
BDY output
* Output bit 8
+ Output bit 10
* Output bit 12
* Output bit 14
* WAIT output
* ERRORoutput
* STOP input
* I n p u t b i t 1 5
* lnput bit
'13
* Input bit 1'l
* Input bit 9
BUSY output
Input bit 7
Input bit 5
Input bit 3
Input bit 1
Input port power Input
Input port power Input
White/black
A
Yellow/black
A
Blue/back A
Green/black
A
Orange/black
A
PinUblackA
Gray/black
A
Red/black
A
VioletblackA
Brown/black A.
White/blackC
Yellow/black
C
BlLre/black
C
Green/black
C
Orange/black
C
PinVblackC
Gray/black
C
Bed/black
C
ViolevblackC
Brown/blackC
White/red A
Yellow/red A
Blle/red A
Green/redA
Orange/red A
26
27
28
29
30
3 1
32
33
34
35
36
31
3B
39
40
41
43
44
46
41
48
49
50
Outputport GNDoutput
Outputport GNDoutput
Outputbit l
Outputblt 3
Oulputblt 5
Outputbit 7
ACKinput
* Outputbit 9
* Outputbit 1'l
* Outputbit 13
* Outputbit 15
* RUNoutput
+ STARTinput
* RESET
input
* Inputbit 14
* inputbit
'l2
* lnputbit 10
" Inputbit 8
SIB inpLrt
Inputbit 6
Inputbit 4
Inputbit 2
Inputbit 0
Inputport CND output
Inputport GNDoutp!t
White/blackB
Yellow/blackB
Blue/black
B
Green/black
B
Orange/black
B
Pink/black
B
Gray/black B
Red/blackB
Violet/black B
Brown/black B
White/blackD
Yellowblack D
Blue/black
2
Green/black
D
Orange/black
D
PlnUblackD
Gray/black D
Red/blackD
Violet/black
D
Brown/blackD
White/red B
Yellow/red B
Blue/red B
Green/redB
Orange/red B

213. APPENDICES
3.2.Al/OCircuit The l/o circuits
areall isolated
by photocouplers.
Theinputport
Specifications blockshownbelowareseparated
fromtheoutputportblock.
Each
(Type
A l/OCard) blockmaybe provided
with an external
powersupply,
or a single
sourcebe usedfor the two circults.
Notethatthosesignals
marked
with * arenotavailable
in typeA8
L/Ocard.
Table5.3.3.Alnput Port BlockSpecitications
Signal Specifications lntelnal Circuit
!
co
=
Input port power lnput
Input port GND output
Regulated
powersuPPlY
12 to 24V DC
Inputblts
0 t o 7
* 8 t o 1 5
Inpulvoltage
ON voltagei9V DC (min.)
O F Fv o l t a g e : 2 V
D C ( m a x .
)
Inputcurrent
'l2VDC: 2.5mA(typ)
24VDC: 12.5mA
(typ)
input
*START
input
*STOPinput
*RESET
input
BUSYoutput Sameas outputbrts Sameas output bits
Signal Specificalions Internal Circuit
-9
o
Outputport powefinput
Output port GND output
Regulated
power supply
12 to 24V DC
*l
,-J
External
12 to 24V D(
Output bits
0 t o 7
* 8 t o 1 5
Max. appliedvoltage: 26.4V
lMax. load cLrrrent:0.1A'lPin
N4ax.
ON voltage: 1.3V
Leakagecurrent: 100pA (max.)
RDYoutput
*RUNoutput
*WAIT output
*ERROR
output
ACKinput Same as input brts Same as inpLltbits
Table 5.3.4.A Output Port Block Specifications

214. APPENDICES
3.2.Bl/OCircuit Thel/Ocircuits
areall insulated
by photocouplers.
Theinputport
Specifications blockshownbelowareseparated
fromtheoutputportblock.
Each
(TypeB l/OCardl blockmaybe provided
with an external
powersupply,
or a single
sourcebe usedfor the two circuits.
Notethatthosesignals
marked
with * arenotavailable
in type88
l/O card.
Table 5.3.3.8 Input Port Block Specifications
Signal Specifications InternalCi.cuit
E
o
InpLrtport power nput
InpLrtport GND output
Regulated
power supply
12 to 24VDC
External
2 a 24V D(
Input
Inputbits
0 t o 7
"8 to 15
lnput voltage
ON voltage: 9V DC (min.)
OFF voltage: 2V DC (max.)
Input current
12V DCi 2.5mA (typ)
24V DC: 12.5mA (typ)
STBinput
*STARTinput
*STOPinput
TRESET
input
BUSYoutput Sameas outputbits Sameas outputbits
Signal Specitications lnternal Circuit
_9
o
Output port power input
Outputport GNDoutput
Regulatedpower supply
12 b 24V DC r-rT---Tr
l + 1 2 2 ! F l I I
l r u | l r
l - l 5 o v l | |
t{-___sl__4_J
t l
| | | l p o 6 e ( , p p l y
f] | | ltt rcruvor
--F
| | | :
r y l l r J , i
# i l
| | I , H o u t p u t
t t t f t
A l l r t t I
3 3 h o ll l I l D d r r i n e r o n
T I I ltrans'stor
._J-,-r-
i
i i l
Output bits
0 t o 7
*8 to 15
lMax. applied voltage: 26.4V
Max. load current: 0.'lA,/pin
Max. ON voltagei
'1.3V
Leakagecurrenti 100l]A (max.)
RDYoutput
*RUNoutput
*WAIT output
*ERROR
output
ACKinput Same as input bits Same as input bits
Table5.3.4.8Output Port Block Specifications

215. APPENDICES
3.3.A Functions
of l/O
SignalLines
(Type
A l/OCard)
The following Tablesshow the function of each signal line. Note
that those signalsmarked with * are not availablein type A8 l/O
card.
Table 5.3.5.4 Function ol Each Input Signal
Signal Function
_9
o_
Inputbits
C t o T
* B t o 1 5
Representing
the parallel
general'purpose
inputbits,these
slgnals allow the input state to be read in parallelor
bit'by-bitwith a command; Used for conditional
jump or
interiupt by means of externa signals.
STBlnput
Used 10 clock parallel data for input; Data sent flg!0
peripheralis reacjin on the negativeedge of the STB
s g n aL
BUSY
oLrrpur
Usedto ciockparalleldatafor input; Do not changeinput
data from peripheralwhile the BUSY signal is being
auIpuI.
*STARI
i n p u t
l_las
the same fLrnctionas the start switch on the drive unit
fionl control panei whlle the externall/O.
"STOP
i n p u t
Hasthe samefunctionas the stop switchon the drive unit
front control panel w,hilethe externall/O.
*RESET Hasthe samefunctionas the resetswitchon the driveunit
fronl control panei while the externall/O.
!
o_
o
^ - .,-.., Usedto clockparalleldatafor output; Peripheral
readsin
paralleldata when this signal is output.
Outputbits
0 t o 7
*8 to 15
Representingthe parallel generalpurpose output bits,
these signals allow the output state to be specifiedin
paraJlelor bit-bybit with a cornmandj Used to send
signalsto peripheral.
lOutput is retained.)
Usedto clockparallel
data for outputj The stateof output
data is retaineduntil this signal is input.
Outputwhile the prograrn s being executedby the drive
unit.
Output while the program executlonby the drive unit is
being suspended.
Ortput when an efroroccursin the driveunit (errormode
I o r I I )
Table 5.3.6.A Funct;on of Each Output Signal

216. APPENDICES
3.3.8 Functions
of l/O
SignalLines
(TypeB l/O Card)
The followingTablesshow the functionof eachsignalline.Note
that those signalsmarked with * are not availablein type 88 l/O
card.
Table 5.3.5.8 Function ol Each Input Signal
Input bits
0 t o 7
* 8 t o 1 5
Bepresenting
the paralelgeneralpurposeInputbits,these
L signas allow the inpui state lo be read in parallel or
bit-by-bt with a command; Usedfor conditonal jump or
interr!pt by rrreansoi externalsignals.
-9
co
=
o
. J e d t o . o c k p a r . l e l d d l d ' o t n p . t . D a ' a s e n l f ' o m
5 1 6 I n p u r
p e ' p . p r a l s r p a o n o n h e p u s t i v p e o g p o ll h c s l B s r g n a , .
Usedto clockparalle datafor input; Do not changeinput
data from peripheralwhiie the BUSY signal is being
-SIART Hasthe samefunctionas the startswitchon the driveunit
input front control pai'rel
while the externall/O.
Hasthe samefunctionas the stop switchon the drlve unit
front control panel whi e the externall/O.
Hasthe samefunctlonas the resetswitchon the drrveunit
input front control pane lvhrlethe externall/O.
Signal Function
_9
o
o
OLrtputbits
0 t o 7
* 8 i o 1 5
Representingthe parallel general-purpose
output btts,
these signals allow the outp!t state to be soecifiedin
paralel or bit by-bit wrth a command: Used to send
signas to peripheral.
(Output is retained.)
RDYoutput
Usedto clockparalleldatafor output; Peripheral
readsin
paralle data when this signal rs oLrtput.
ACKinput
Usedto clockparalleldatafor output;The stateof output
data is retaineduntil this sigfal is input.
* R UN
ourpur
Outputwhile the program is be ng executedby the drive
unrt.
output
Output while the program execLrtion
by the drlve unit is
being suspended.
-ERROR
ourpur
Outputwhen an erroroccursln the drive unit (errormode
I o r I I ) .
Table 5.3.6.8 Function oI Each Output Signal

217. 3.4.AExample
of
Connection
to l/O
Circuits(TypeA l/O
Card)
(l/O connector)
Thefollowing diagramshows an exampleot connectionsbetween
the l/O connector and an external peripheraldevice.
(External
peripheral
device)
- - -Inputpon powersupply
12t24VDC)
- -Pushbu on switch
n
o
t
o
- -Transistor
- -Photocoupler
- - Output port
112/24V
DC)
power supply
LEDlamp
Input bit O -J-
48
l1p,rtbft 1
28
nOV o
ACK input
Fig.5.3.2.ATypicall/O CircuitConnection
- - - - - - T r a n s i s t o r

218. APPENDICES
3.4.8 Example
of
Connection
to l/O
Circuits(TypeB l/O
Card)
(l/Oconnector)
Thefollowingdiagram
the l/O connector and
shows an exampleof connectionsbetween
an external peripheraldevice.
(External
peripheral
device)
- - -inPUtPort power supply
12t24V DC)
- -Pushbutton
swrtch
_e
n
o
- - -Transistor
- -Limit switch
- - - - - - P h o t o c o u p l e r
' Outputport
l12l24vDC)
power supply
- -LED lamp
--Solenoid or relay
- -Photocouper
Input bit O :-I
Fig.5.3.2.8 Typical l/O CiJcuit Connection
- - -Tra
nsistor

219. APPENDICES
3.5 l/OSignalLineTiming
Chart(Synchronous
l/O)
3.5.1.ASynchronous
input
timing
(TypeA l/O card)
inputtirrg
datausingthe
DATA(inpLrt)
BUSY(output)
STB(input)
( 1 )
Fig. 5.3.3.A Synchronous Input Timing
The drive unit is readyto receivedatafrom the externaldevice
while the BUSY signal remainsHIGH.
When the externaldevice inputs data and an STB signal,the
drive unit causesthe BUSYsignalto go LOW and outputsthe
LOW signalto the externaldevice.The externaldeviceshould
not change the data while the BUSY signal remains LOW.
When the drive unit readsthe data in, the BUSY signal goes
HIGH allowinq other data to be entered.
3.5.1.BSynchronous
input Fig.5.3.3.8
showsthetiminginvolved
in inputting
datausingthe
timing command"1N."
(TypeB l/O card)
DATA(input)
BUSY(output)
STB(input)
Fig.5.3.3.8
Synchronous
InputTiming
The drive unit is readyto receivedatafrom the externaldevtce
wh;le the BUSY signal remainsLOW.
When the externaldevice inputs data and a STB signal,the
driveunit causes
the BUSYsignalto go HIGHand outputsthe
HIGHsignalto the externaldevice.The externaldeviceshould
not changethe data while the BUSY signal remainsHIGH.
(21
(3)
Fig.5.3.3.4shows the timing involvedin
command
"lN."
( 1 )
(3) When the drive unit readsthe data in, the BUSY signal goes
LOW allowing other data to be entered.
t2)

220. APPENDICES
3.5.2.ASynchronousoutput Fig.5.3.4.A
showsthe timing involvedin outputtingdatausingthe
( 1 )
Fig. 5.3.4.A Synchronous Outpul Timing
The drive unit outputsdataas specrfied
by parametersdefined
in the command
"OT"
whilethe RDYsignalremainsHIGHand
the ACK signal remainsLOW.
As soon as the data is output, the drive unit causesthe RDY
signalto go LOW and outputsthe LOW signalto the external
oevtce.
On receivingan ACK signalinputfrom the externaldevice,the
drive unit causesthe RDY signalto go HIGHallowingother
data to be output.
3.5.2.8Synchronous
outputFig.5.3.4.8
showsthetiminginvolved
inoutputting
datausingthe
timing
(TypeA l/O card)
timing
(TypeB l/O card)
command"OT."
DATA(output)
RDY(output)
ACK(input)
command"OT."
DATA(output)
RDY(output)
ACK (input)
21
{3)
( 1 )
2J
Fig. 5.3.4.8 Synchronous Output Timing
The drive unit outputsdataas specifiedby parametersdefined
in the command
"OT"
whilethe RDYsignalaswellasthe ACK
signal remainsHIGH.
As soon as the data is output, the drive unit causesthe RDY
signalto go HIGHand outputsthe HIGHsignalto the externai
devrce.
On receivingan ACK signalinputfrom the externaldevice,the
drive unit causesthe RDY signalto go LOW allowingother
data to be output.
{3)

221. APPENDICES
3.5.3.ADedicated
l/Otimingln a robotic
operation
environment
on theactual
production
floor,
(Type
A l/O card) operation
is possible
(iftypeA16l/Ocardis beingused)through
thededicated
signaI linesofthe l/Oconnector,
instead
of usingthe
front controlswitcheson the drive unit.
Following
describes
the necessary
settings
to be madeandsignal
timino involvedin this oDeration.
(1) Make the following switch settingsby referringIo 2.1.2
Functions
of side settingswitchesand LEDs,OPERATION.
Bits3 and 5 of SW1
: Upperposition{ON)
(2) When the abovesettingshavebeen made,drive unit front
controlswitches
aredisabled
exceptfor the emergency
stop
switch.
(3) In these settings,the program can be started,stopped,
restarted,
and reset(including
resetting
of errormode ]I) by
means of dedicatedinput signals.The function of each
dedicated
input signalcorresponds
to that of the drive unit
front controlswitchas follows.
(FrontControlSwitches) (Dedicated
Input Signals)
E v e n t- - - - - - - - . - - - -
STARTinput signaI
STOPinputsignal
RESET
input signal
(program) Reset(errormode il)
r______l__
STARTswitch
STOPswitch
RESET
switch
t4l Output
fromthededicated
outputs
arethesignals
correspond-
ingto therobotoperating
conditions
(RUN,
WAIT,andERROR
outputs).
These
signals
areoutputin eithersetting,
whetherIn
external
operation
or frontcontrolgwitch
operation
mode.Fig.
5.3.5.A
showsthe dedicated
l/O timing.
Start
I
Reset
I
Stop
I
Restart Stop
l l
STARTinput
STOPinput
RESET
input
RUNoutput
WAfT output
ERROR
output
Fig. 5.3.5.A Dedicated l/O Timing

222. APPENDICES
3.5.3'8Dedicated
l/OtimingIna robotic
operation
environment
on theactual
production
floor,
(TypeB l/Ocard) operation
is possible
(iftypeB16l/Ocardis beingused)through
thededicated
signallinesofthel/Oconnector,
instead
of usinqthe
front controlswitcheson the drive unit.
:ollowingdescribes
thenecessary
settings
to be madeandsrqnal
taminginvolvedin this operation.
(1) Make the following switch settingsby referringIo 2.1.2
Functions
of side settingswitchesand LEDs.OPERATION.
Bits3 and 5
(2) When the above
controlswitches
swtlcn.
of SW1
: Upperposition(ON)
settingshave been made,drive unit front
aredisabled
exceptfor the emergency
stop
(3) In these settings, the program can be started, stoppeo,
restarted,and reset {includingresettingof error mode II) by
means of dedicated input signals. The function of each
dedicatedinput signal correspondsto that of the drive untt
front control switch as follows.
(FrontControlSwitches) (Dedicated
Input Signals)
STARTswitch
STOPswitch
RESET
switch
STARTinput signaI
STOPinputsignaI
RESET
inputsignaI
Event
STARTinput
STOPinput
RESET
input
RUNoutput
WAIT output
ERROR
output
(4) Output
fromthededicated
outputs
arethesignals
correspond-
ingto the robotoperating
conditions
(RUN,
WAIT,andERROR
outputs).
These
signals
areoutputin eithersetting,
whetherin
external
operation
orfrontcontrolswitchoperation
mode.Fig.
5.3.5.A
showsthe dedicated
l/O timinq.
(program) Reset(errormode II )
I
Stop Reset
r i
Start Srop
r t
Restart
I
Fig. 5.3.5.8 Dedicated l/O Timing

223. APPENDICES
3.6 Externall/O Cable A dedicated
cableis available
as an optionto connect
the drive
unitto external
peripheral
equipment.
Oneendof thisexternal
l/O
cablecanbe pluggedintotheexternal
l/Oconnector
on the drive
unit.Theotherfreeendisusedto hookit upto theexternal
device.
The jacketof each signalline (50 in total) is markedwith an
identification
coloranddot marking.
Connect
the rightwireto the
rightpin by referring
to colorcodingdescribed
in 3.1External
l/O
Connector
Pin Assignments.
Examplei
Pin No. Signal Wire Color
Inputbit 5 White/red
A
-f
TL".t
markins
type
(see
berow.)
|
-::-:"::l::
-"'
21
Dot MarkingType
Type A
Type B
Type C
Type D
Dot Pattern
o | | l z
--l_----rr-
2 | | t 2
--t-r-
3 | | l z
--*T--'Fr-
Fig.5.3.6 External l/O Cable Malking

224. APPENDICES
3.7 Precautions
for
Connection
to External
Equipment
(1) Make sure that the externalpower voltageis within the
specified
range.
{2) For the input signal,use the no voltagecontactsignalor
transistor
open-collector
signal.
Whenenergizing
the coil in relaysand solenoids,
connecta
surgesuppressor
diodein parallel
with the load.(Notethe
correctpolarityof the diode.See Fig.5.3.2,)
Whenlightingan LED,connecta protective
resistor
in series
corresponding
to the ratedcurrent.
When lightingan incandescent
lamp,a rush currentflows
about10timeslargerthanthe ratingwhen the lamp is first
energized.
To ensurethat a currentabout20% of the rating
flowsat alltimes,a resistor
mustbe connected
in series.
See
Fig.below.
Drive unit
Fig.5.3.7.A Typical Circuit Including an lncandescent Lamp {Type A l/O Card)
(3)
(4)
(5)
uZ
I
-7-F I
R
Jrt
F.-t
lncandescent
lamp
supply
Incandescent
lamp
Fig.5.3.7.8TypicalCircuitIncludingan Incandescent
Lamp (TypeB l/O Cardl

225. APPENDICES
4. CARTESIAN
COORDINATE
SYSTEM
REFERENCE
POSITION
SETTING
4.1 Movingthe Robotto
Reference
Position
Settingthe Reference
Position
4.2
This chaptercontainsthe procedure
for settingthe cartesian
coordinatesystem referencepositionto effectas accurateaxis
motionsaspossible.
lt alsodescribes
theprocedure
forstoring
the
reference
positiondata in the EPROM.
(1) Securethe robot onto a reference
planesuch as a surface
Dlate.
(2) TurnpowerOFFandremove
theEPROM
fromtheusersocket
SOC2
located
inside
thedriveunitsidedoor.At thesametime,
placeST2and bit 4 of SWl locatedin the sidedoor in the
upperposrtron.
(3) Turn powerON and performthe retu
rn-to-orig
in operation.
(4) After the robot has returnedto the origin, perform the
following operationto move the robot to a temporary
reference
position
whichwill be definedby the systemROM
data.(This
willcause
therobotarmto bealmostfully
extended
in the forwarddirection.)
Usingthe teachingbox
TurnONtheteaching
boxandpress
l ORGland
IENilkeys
in that order.
Usingintelligent
commands
throughpersonal
computer
{per-
sonalcomputermode)
Turn OFFthe teachingbox and executethe command
"OG" in directexecution
mode.
LPRINT
"OG"
{Centronics)
PRINT#1,
"OG"
{RS232C)
(1) Usingthe teaching
box,fully extendthe robotarm so that it
runsin parallel
withthereference
planeasshownin Fig.5.4.1.
At thistime,thelinejoiningcenters
of rotation
in alljoints,i.e.,
the shoulder,
elbow,and wrist (pitchand roll),shouldbe a
straightline and run in parallelwith the reference
plane.
Perform
thisoperation
asaccurately
aspossible
by usingjigs:
remember,
positioning
accuracy
in the cartesian
coordinate
systemis determined
by this setting.
Reference
plane
Fig. 5.4.1 Setting the Relerence Position in the Cartesian Cooidinate System

226. APPENDICES
(2) Perform
thefollowingoperation
to define
thecurrentposition
as the reference
position.
Usingthe teachingbol
TurnONtheteaching
boxandpress
[F.S-],
@, anaIENil
keysin that order.
Usingintelligent
commandsthroughpersonalcomputer
Turn OFFthe teachingbox and executethe command
"HO" in directexecutionmode.
LPRINT
"HO" (Centronics)
PRtNTfi1,
"HO" (RS232C)
(3) Place
bit4 of SW1located
inside
thedriveunitsidedoorinthe
lowerposition
(OFF).
Thisinhibits
thesettingof the reference
position.
(4) This completes
the reference
positionsettingprocedure.
4.3 StoringReference Thereference
position
datajustdefined
is storedin thedriveunit
Position
Datain EPROMRAMasposition
number"0." Now,writethedataintotheEpROM
by followingthe stepsgiven below.Theseprocedures
may be
performed
afterotherpositiondatahavebeendefinedand the
)rogramstepshave beenwntten.
(1) Readyan erasedEPROMand insertit into SOC2locatedinside
the drive unit side door.
{2) Performthe followingoperationto write the reference
position
data into ROM.
Using the teaching bgl
TurnONtheteaching
boxandpress
IWRil and[ENi] keys
in that order.
Usingintelligent
commandsthroughpersonalcomputer
Turn OFFthe teachingbox and executethe command
"WR" in directexecution
mode.
LPRINT
"WR" (Centronics)
PRINT#1,
"WR" (RS232C)

227. APPENDICES
4.4 Loading
theReference The referenceposition data written in the EPROMcan be
Position
Data transferred
to the drive unit RAM by performing
the following
operation.
Theseprocedures
mustbe performed
beforeteaching
the robotthrougha seriesof points.
( 1 )Insertthe EPROM,
in whichthe reference
positiondatahas
beenwritten.
intoSOC2
located
inside
thedriveunitsidedoor.
Place
bit4 of SW1located
inside
thedriveunitsidedoorinthe
upperposition(ON).
Then,transfer
thedatain EPROIVI
to the
RAMby performing
thefollowingprocedure.
Notethat,atthis
time, the programstepsand other positiondata are also
transferred.
Transferring
datq_
upon power-up
PlaceST2 locatedinsidethe driveunit sidedoor in the
upper position(ON)and then turn power ON.
Usingthe teachingbox
TurnONtheteaching
boxandpress
ITRN andlENTlkeys
in that order,
Usingintelligent
commandthroughpersonal
computer
Turn OFFthe teachingbox and executethe command
"TR" in directexecutionmode.
LPRINT
"TR" (Centronics)
PRINT#1,
"TR" (RS232C)
(3) Place
bit4 of SW1located
inside
thedriveunitsidedoorinthe
lowerposition
lOFF).
Thisinhibits
thesettingof the reference
Dosition.
t2)
WARNING
All positiondataobtainedthroughteachingarecalculated
based on the angle with referenceto the reference
position in the cartesiancoordinatesystem.lf the refer-
ence position is changed,therefore,the robot moves
through a different seriesof points than those taught.

228. APPENDICES
5. PROGRAMMING lt is wise to createa programmingsystemwhen a personal
SYSTEM
USING computeris usedto operatethe robotand generate
programs.
PERSONAL
COMPUTERThischapter
introduces
a simpleBASIC
program
asanexample
of
thepersonal
computer
application.
Thisprogramassumes
theuse
of the RS232C
interface
and allowsthe use of all Movemaster
commands.
Inaddition,
by makinguseof thescreen
editorfacility
of the personalcomputer,data shown on the displaycan be
)orrected
by meansof the cursorand keyboard.
Note that some modifications
of the programare necessary
depending
on the model of your personal
computer.
lOOO
1 ******** RV_M1
PROGRAMMING
SYSTEM
**+*****
USINGMULTI16 BY IlITSUBISHI
ELECTRIC
***:+**I
1 0 2 0 '
1030OPEN
"COM1
19600,E,7,2"AS
f1 Varies
with different
personal
computer
models.
1040LINEINPUT;A$
1050c$:LEFr$ (A$,2)
1060lF C$:"DR" THENPRINT:GOTO
1170
1070lF C$:"1R" THENPRINT:GOTO
1240
1080lF C$:"PR" THENPRINT:GOTO
1360
1090lF C$:"WH" THENPRINTTGOTO
1600
1100iF C$:"CR" THENPRINT:GOTO
1780
1 1 1 0l F C $ : " E R " T H E NP R I N T T G O T O
1 9 1 0
1120PRINT* 1,A$:PRINT
1130GOTO1040
1140',
1 1 5 0
1 1 6 0 , + * * * * * * * R S 2 3 2 c | N P U T D A T A R E A D ( , D R , ) - " * * - * * *
1 1 7 0P R T N T
4 1 , A $
1 1 8 0L I N EI NP U T + 1 , 8 $
1190PRINT
"INPUTDATA:" ;B$
't200GoTo 1040
1 2 1 0 '
1 2 2 0 '
1230' +****++*RS232C
PROGRAM
LINEREAD1',1R',)
********
1240INPUT
"STARTLINE:" ;S
1 2 5 0I N P U T
" E N DL I N E : " ; E
1260FORl:S TO E
1270 PRrNT
#1,
"LR" +STR$(l)
'1280 LINEINPUTf, 1,A$
1290 lF A$:" "THEN1310
1300 PRINT
l; :PRINT
A$ (Note)
lf the LPRINT
statementis used insteadof the
PRINT
statement,
thecontents
of the programcan
be outputto the printer.
13']
O NEXTI
1320GOTO1040
1 3 3 0 ' ,
1340',
RS232C
POSITION
READ1',PR',)
".****.*
']360INPUT"STARTPOSITION:";S
1 3 / OI N P U
T " E N DP O S I T I O N - "
; E
1380PRINT
"POS.NO.";
SPC(3);"X(mm)Y(mm)Z(mmi P(des)
R(deg)":PRINT
1390FORl:S TO E

229. APPENDICES
1 4 0 0 P R r N T
# 1 ,
" P R "
+ S T R $ )
'1410
LINEINPUTf 1,A9
1420 lF A$:"0, 0, 0, 0, 0" THEN1550
' 1 4 3 0 P R I N T
" P D " ; : P R I N T
U S I N G
"
# f # " ; l ; : P R I N T
" , " ;
1440 K$: ","
1450 K:1
1460 FORJ:l TO 5
1 4 t O l F J : 5 T H E N ' 1 4 9 0
1480 AIJ):INSTR(K,A$,","i :GOTO1500
'1490 A(J):LEN (A$)+1 :K$:" "
'1500 v(J):vAL (MrD$(A$,K, A{J)-1))
1 5 1 0 K : A ( J ) + 1
1 5 2 0 P R I N T
U S I N G
" # + # f i .
* " ; V ( J ) ;
: P R I N T
K $ ;
1530 NEXTJ
,I540 PRINT
1550NEXTI
1560GOTO1040
1570',
1580',
RS232C
CURRENT
POSITION
READ('WH')**}*****
1600PRINI f, 1,A$
1610LINEINPUTf 1,8$
1620PRINT
SPC(14);"X(mm)
Y(mm)Z(mm)P(deg)
R(des)":PRINT
1630K:1
1640PRINT
"CUR.POS,";
16s0FORl:1 TO 5
1660 lF l:s THEN1680
1670 A(l) :INSTR (K, B$,","):GOTO1690
1680 A(r):LEN (B$)+1
1690 V(r):VAL 1rilrD$(B$,K,
A0) 1))
'1700 K:A(l) +1
1 7 1 0 P R I N T
U S I N G
" # * # 4 # . + " ; V ( l ) ;: P R I N T "
" ;
1720NEXTI
1730PRINT
1740GOTO1040
1 7 5 0
1 1 6 0 '
1 7 7 0 | * * * x * * * + R S 2 3 2 c c o u N T E R R E A D ( , c R , ) * * * * * * + *
1780INPUT"START
COUNTER:";S
1790INPUT"ENDCOUNTER-";E
1800PRINT:PRINT
"CNT.NO.":PRINT
1810FOBl:S TO E
1820 PR|NT+1,
"CR"
+SrR$(r)
1830 LINEINPUT #1,A$
1840 lF A$:"0" THEN1860
1850 PRINT
"SC";:PRINT
USING"#*" ;l;:PRINT
USING"#
# # # # #" ;VAL(A$)
1860NEXTI
1870GOTO1040
1880',
1890',
RS232C
ERROR
READ('ER')
********
1 9 1 0P R T N T
# 1 , A $
1920LINEINPUT# 1,8$
1 9 3 0P R I N T
" E R R O R
M O D E : " ; B $
1940GOTO1040

230. APPENDICES
(Explanation)
Start:
Afterthe programhas beenwritten,run the program.The
cursorlightsup,indicating
thatthe systemis readyto accept
key entry.
Ex.RUN
I
li
Direct execution:
Directlykey in the intelligentcommands.The robot executes
the commands entered.
Ex. NTI .....Executes
return-to-origin
operation.
Forthe RS232C
readinstructions
containing
parameter,
enter
the firsttwo letters
only and definethe parameter
usingthe
BASICinput statements
{commands
LR,PR,and CR).
Programgeneration:
Directly
keyin the intelligent
bers (1 to 2048).This will
specified
line number.
commands
following
linenum-
generatethe programfor the
Ex. 10 MO 1. C .....Moves to oosition 1 with hand closed.
Note that part of the commandscannot be programmed
(those
marked
with X in DESCRIPTION
OFTHECOMMANDS).
Programexecution:
The generated
programcan be executedstartingwith the
specified
linenumberby keyingin the startcommand"RN."
Ex. RNsL.... Executes
the programstarting
with line number5.
ErrormodeII is caused
if a wrongcommandhasbeenentered,
a
wrongparameter
hasbeendefined,
or an unexecutable
command
hasbeenentered.
Inthiscase,keyin the resetcommand"RS" or
pressthe resetswitchon the drive unit front controlpanel.

231. APPENDICES
(Applications)
R U NJ
N T J
M O l l
G O I
M O 2 l
DW 10,20,30I
)
10 MO l,CI .. ...Program
generation
example
20 MO 2,OJ
3 0 G C I
40 DW 10, -20, 30J
5 0 E D J
5
LRJ 'ProgramreadexampleXl
STARTLINE:?]0J (Reading
the programon specified
ENDLINE:?50
I line numbers
throughRS232C)
1 0 M O l , C
20 tvto 2,o
30 GC
40 DW +10.0,-20.0, +30.0
50 ED
R N l OI
5
''''''',' Program executionexample
. ... .Current position read example
''''''''' Positionread example X2
(Reading the position on specitied
line numbers through RS232C)
X {mm) Y (mm) Z (mm) P (deg) R (deg)
cuR. Pos. 10.0 380.0 50.0 -70.0 -40.0
P R J
S T A R T
P O S I T I O N : 1 J
E N DP O S I T I O N : 2 J
POS.No. X (mm) Y (mm) Z (mm) P {deg) R (deg)
PD 1, 0.0, 380.0, 300.0, -70.0, -40.0
PD 2, - 10.0, 350.0, 280.0, -70.0, -30.0
X 1,2: To correctany programand positionreadby usingthe
cursorand required
keys,
the returnkey(J ) mustbe hit
attheend(ontheright)ofthelineandposition
corrected.
x 3 : Hexadecimal
datain the programreadis displayed
as
decimaldata (e.g.OD&FF- OD255).

232. APPENDICES
6. SAMPLE
PROGRAMS This chaptergives severalsample programs in which intelligent
commandsare used.Note that the startingline number of the
sampleprogramsis that of the Movemasterprogram,and not that
of the BASIC.
Example 1: Pick-and-place
work
This program causesthe robot to shift the workpiecefrom one
placeto another.The robot is taughtthrough only positions1 and
2 and the aerialdistancesof travel from the respectivepositions
are to be predefinedby the command
"PD."
( Positionsused)
Position1; At which the workpieceis grasped.
Position2i Onto which the workpieceis placed.
Position
'10:
Aerial distance of travel lrom position
Position 20: Aerial distance of travel from position
(Sampleprogram)
Defines aerial distance of travel trom
p o s i t i o n
1 ( Z : 2 0 m r n ) i n d i r e c tm o d e
and ide^trlies
the ae''al posrlron
as posi-
t i o n 1 0 .
Defines aerial distanceof travel from
p o s i t i o n
2 ( Z : 3 0 m m ) i n d i r e c tm o d e
and idenlifies
lhe aeflalpos'tionas posi-
tion 20.
Sets initial speed.
fMovesrobot to a location above work
piece (20mm above position I ) wrth
hand opened.
Moves robot to workpiece (to position
1 ) .
Closeshand to grasp workpiece.
lMovesrobot above position 1 (distance
being 20rnm) with workpiecegrasped.
lMovesrobot to a location 30mm above
position2.
lMoves robot to position 2.
Opens hand to release workpiece.
lMovesrobot above position 2 (distance
being 30mm) with hand opened.
Returns robot to position 10 allowing it
to repeat the sequence(jLrmpto line
number 40).
30mm (Parameter
for
t _
I I eacnrno
1. I Numeric values
2. J are predefined.
PD 10,O,
(X,
PO 20, 0.
- (x'
(
)
3 0 S P 7
40 tllA 1,
o,20,o,o
Y, Z, P, R)
0 , 3 0 , 0 , 0
Y. Z, P, R)
10,o
1 ,O
60 GC
70 MA 1, 10, C
50 r!10
120GT 40
80 MA 2, 20, C
9 0 M O 2 , C
'100Go
110MA 2, 20, O
lParameterfor
delining position
position I Position
1 0 )
Fi9. 5.6.1 Pick-and-PlaceWork
defining position20)

233. APPENDICES
Example
2: lnterrupt
This programcausesthe robotto graspworkpieces
of varying
heightsby meansof the hand equippedwith a limit switch.lt
assumes
thatthe limit switchsignalis coupledto the driveunit
input terminal.
(Positio
n used)
Position1: A position above the workpiece(teaching)
(lnputsignalused)
Bit 1: Workpiecedetectingsignal.
(Sampleprogram)
9 0 s P 5
100EA+1,
1 1 0M o 1 ,
120DW 0,
1 3 0G T 1 1 0
140DA 1
1 5 0G C
1 6 0M O 1 ,
140
o
0, -50
Selects speed 5.
Enables the interrupt bY bit 1
Moves robot to a position above the workpiece
Moves robot 50mm in -Z direction.
Jumps to linenumber 110causingrobotto return
to position 1 as no workpiece has been detected
Disables interruPt bY bit 1
Closes hand to grasp workplece
Moves robot to position 1 with wo.kpiece
grasped.
Intheabovesample
program,
linenumber120causes
therobot
to move50mmin -Z tooldirection
and,if thereis a workpiece,
the limitswitchsignalis inputandthe robotis stopped.
Then,
theprogram
jumpsto linenumber140to disable
interrupt
and
to allowthe robotto graspworkpiece
and returnto position1.
lf thereis no workpiece
in the robot'smovingrange,no limit
switchsignalis inputandlinenumber130causes
the program
to jumpto linenumber110which,in turn,causes
therobotto
returnto positionI repeating
the samesequence.
Workpiece
Fig. 5.5.2Inierrupt
Within 50mm

234. APPENDICES
Example
3: Pa
lletizing
Thisprogram
causes
therobotto pickup a workpiece
froma pallet
containingworkpiecessubjectto test, set it up on the test
equ;pment,
and placeit in positionin anotherpalletto contain
workpieces
that haveundergone
the test.The programassumes
that the shapesof the two palletsare different.
(Positionused)
Position
1l
Position
2:
Position
10:
Position'l'li
Position
12:
Position
131
Position
20:
Position
21:
Position22;
Position
23:
Position
30:
Position50:
Pallet I set positon I ^ ..
'
I Delined bv command PT
Pallet2 set position J
Pallet 1 reference position
Pallet 1 column terminatingposition
Pallet1 row terminatingposition
Pallet I corner position opposite to reference
Pallet 2 reference position
Pallet2 column terminatingposition
Pallet2 row terminatingposition
Pallet 2 corner position opposite to reference
Test equipment set position
Teaching
Aerial distanceot travel from pallets Numericvaluesare
predefined.
(Parameter
for
definingposition50)
Position10
(Counterused
)
Counter 11: PalletI column counter
Counter 12: Pallet1 row counter
Counter21: Pallet2 column counter
Counter22r Pallet2 row counter
(InputsignaI used)
Bit 7: Test complete signal
Position
Test equipment
Position
Fig. 5.5.3Palletizing
Position 22
20mm
Posilion 13
Position
(Pallet2)
( P a l l e t
1 >
21

235. APPENDlCES
(Sampleprogram)
PD 50, 0, 0. 20, 0, 0
(X, Y, Z, P, R)
.21
7.5(lnitial
setting)
1 0 N T
1 5 T L 1 4 5
20 GP 10,B, 10
2 5 P A 1 , 1 0 ,6
30 PA 2, 15,4
3 5 S C 1r , 1
40 sc 12,1
4 5 S C 2 1 , 1
50 sc 22,1
(Mainprogram
)
100Rc 60
1 1 0G S 2 0 0
120GS 300
130GS 400
140NX
,I50
ED
; Definesaerial distanceof travel (Z :
20mm) in difectmode and identifies
the
aerial position as position 50.
; Nesting
; Sets tool length at 145mm.
; Sets hand open/close parameters
De{iens
the number of grid points in the column
and row directions{or pallet 'l (vert-l0 X horiz.6).
Defiensthe number of grid points in the column
and row directions
for pallet2 (vert.15 X horiz.4).
Loads initialvalue in pallet l column counter.
Loads initiaivalue in pallet 1 row counter.
Loads initialvalue in pallet 2 column counter.
Loads initialvalue in pallet 2 row counter.
Setsthe number of repeatcyclesof a loop up to
l i n e n u m b e r 1 4 0 .
Causesrobot to pick up a workpiecefrom pallet 1.
Causes robot to set up the wo.kpiece on test
equipment.
Causes'obor lo place workpie(e in pallet 2.
Returnsto line number'100.
End.
Sets speed.
ldentifies
the coordinates
oJcalculated
grid point
on pallet 1 as position L
fMoves robot to a location above position 1
(distancebeing 20mm in Z direction).
Sets speed.
Moves robot to position 1.
Closes hand to grasp workpiece.
Moves robot to a location above position 1 with
workpiecegrasped (distancebeing 20mm in Z
direction
).
Incrementspallet 1 colLimncounter by 1.
Loadsvalue in counter
'11
into internalcompari
son register.
Jumps to line number230on completingcolumn
lrne.
Ends subroutineotherwise.
Initializes
counter 11.
* The followingsare subroutines
used in the main program.
(SubroutinerPickingup workpiecefor test)
200 sP 7
202 PT 1
204MA 1,50,O
206 SP 2
208MO 1,O
2 1 0G c
212MA 1,50,C
2 1 4l C 1 1
2 1 6C P 1 1
21a EA 11,230
220 BT
2 3 0S C 1 1 , 1

236. APPENDlCES
232 lC 12
234 RT
(SubroutineiSetting up workpieceon test equipment)
; Incrementspallet 1 row counter by 1
; Ends subroutine.
Sets speed.
Moves robot to a location50mm ahead of test
eq! ipment.
Sets speed-
Causes robot to set up workpiece on test equip-
ment.
Fetches input data.
Causes robot to wait for test to complete.
Moves robot to a location 50mm ahead test
equipment.
Ends subroutine.
Sets speed.
ldentilies
the coordinates
of calculated
grid point
^ n n : l l a t , r e n ^ . i t i ^ n ?
Moves robot to a location above position 2
(distancebeing 20mm in Z direction).
Sets speed.
Moves robot to position 2.
Opens hand to releaseworkpiece.
Moves robot to a location above position 2
(distancebeing 20mm in Z direction).
Incrementspallet 2 column counter by 1.
Loadsvalue in counter21 into internalcompari-
son regrster.
Jumps to line number 430 on completing row
l r n e .
Ends subroutineotherwise.
lnitializes
counter 2'1.
Incrementspallet 2 row counter by 1.
Ends subroutine.
300 sP 7
302 MT 30, 50,C
304 SP 2
306 MO 30, C
308 rD
3',10
TB -7,308
312 tVtT30, 50,C
314 RT
(SubroutinerPlacingtested workpiecein pallet 2)
400 sP 7
402 Pr 2
404 l,,1A
2,50,C
406 SP 2
408 tv102,c
4 1 0G O
412 MA 2,50,0
414lC 21
416CP21
418 EO 16,430
420 RT
430SC 21,1
432 lC 22
434 RT
* Intheabovesample
program,
thecolumncounter
of eachpallet
is incremented
by 1andisinitialized
whentherobotreaches
the
terminatingend of the column. The row counter is then
incremented
to allowtherobotto moveto thefollowingcolumn
lrne.
(Seeline numbers214to 232,414to 432.l
* Robotwaits until a test completesignal is input. (Seeline
number3'10.)
* The completion
of the entiresequence
is determined
by the
numberof main programcycles.
(Seeline number100.)

237. APPENDICES
Input bit 0
l^put blt 1
Example4: Connection
with externall/O equipment
Thisprogramcauses
the robotto select
anyof 8 worksthrough8
switches
connected
to theinputs
for useasexternal
l/Oequipment
and displaythe work currentlybeingexecuted
by any of the 8
LEDsconnectedto the outputs.
(Connection)
l/O port power supply
112Io 24V DC)
. . .. .L E D l
''' . . . 1 E D 2
'....LED3
. ..LED4
' ' . . .L E D 5
... ..LED6
'. LED7
. . . ' . . L E D B
X SeeFig.5.3.2.8
for TypeB
externall/O equipment.
n
E
o
n
Input bit 2
Inputbit 3
[,prt bit 4
lnputbit 5
Input bit 6
lnputbit 7
Output bit 0
Ortprt bfr 1
Output bit 2
Outputbit 3
Outputbit 4
Output bit 5
Output bit 6
Type A UOCard
Outputbit 7
l/OcardFig.5.6.4
Connection
with

238. APPENDICES
(Flow chart)
Example
rn tia speed settlng
Fi9.5.6.5 Flow chart

239. APPENDICES
(Sampleprogram)
(Mainroutine)
1 0 N T
1 5 0 D 0
2 0 S P 5
25 lD
30 TB +0, 100
31 TB +1, 200
32 TB +2, 300
33 TB +3, 400
34 TB +4. 500
35 TB +5, 600
36 TB +6, 700
37 TB +7, 800
38 GT 25
(Subroutines)
1000B +0
105 lvto 10
)
1980B -0
199GT 25
)
800 0B +7
805 MO 80
)
898 0B -7
899 GT 25
Nesting
Switchesoff all LEDS.
Setsspeed.
Input
Jumpsto linenumber
'100
whenswitch'l isturned
on. (Work'11
Jumpsto linenumber200whenswitch2 isturned
on. (Work2)
Jumpsto linenumber300whenswitch3 isturned
on. (Work3)
Jumpsto linenumber400whenswitch4 isturned
on. (Work4)
Jumpsto linenumber500whenswitch5 isturned
on. (Work5)
Jumpsto linenumber600whenswitch6 isturned
on. (Work6)
Jumpsto linenumber700whenswitch7 isturned
on. (Work7)
Jumpsto linenumber800whenswitchI isturned
on. (Work8)
Returns
to linenumber25 {whenall switchesare
oif.)
Switcheson LEDl (work started).
Executes
work 1.
Switchesoff LEDl (work complete).
Returnsto line number25.
Switcheson LEDS(work startedl.
Executes
work 8.
Switchesofl LEDg(work complele).
Returns
to line number25.
WorkI
WorkI

240. APPENDICES
7. COMMANDLIST ]A Position/Motion
ControlInstructions
Program yes - Possible
no Nol possib e
Input Format Function Program Remarks
,] Decrement Posllion D P
Mov€s robol to a predefined
position wlth a posrton n|lm_
b e r s m a l l e rt h a n t h e c u r r e n t
2 Draw
Moves hand end to a position
awav trom the current one
covef ng the dlstance sPeci-
f r e dl n X - ,Y , a n d Z - a x r s
d i r e c
3 H E a
Definesthe coordinatesoi the
current position by assigning
p o s i t l o nn u r n b e rl a ) t o l t .
1 5 a < 6 2 9
4 HO
Eslablishesthe relerenceposr-
tlon ln the carlesian coordln
5 lncremenr Position I P
Moves fobot to a Predelinecj
position with a posrlron num
ber greater lhan the current
6 Move Approach MA aj, a, [, OiC]
Moves hand end from lhe cur
rent pos tron lo a posll on
away frorn position laL)in n
crem€ntsas speofled for posl'
t i o n ( a r ) .
1 = a j , a , = 6 2 9
O : H a n d o p e n e d ;C : H a n d
7 fvlove Cortinuous M C a r , a ,
Moves robot coritlnuous Y
through predefinedinlermedi
ate po nts Detween postlon
n u m b e r s ( a r) a n d ( a , ) .
1 1 a 1 , a 2 < 6 2 9
8 Move Joint
Turns each ioint the specified
angle from the current Posi_
I MO a L OiCI
M o v e s h a n d e n d t o p o s t i o n
( a )
1 5 a = 6 2 9
O: Handopened;
C: Hand
1 0 Move Position
Moves hand end to a Posrtlon
whose coordLnates (pos ilon
and angie) are specifiedas x,
p , a n d
1 l Move Straight M S a , n L O i C I
Moves robot to posllion (a)
through n intermedratepornts
on a straight line,
1 = a 5 6 2 9
1 5 n 5 9 9
O: Handopened;
C: Hand
12 MT a, b [, O/C]
Moves hand end frorn the cur
rent posrl on 10 a pos llon
away from a specifiedposllion
{ a ) l n i n c r e m e n t a l d l s t a n c e
b i n
the too direction.
1 5 a 5 6 2 9
O: Handopened;
Ci Hand
1 3 Nest NT
Returns robot lo rnecha
nlcaI
o r L g
I n .
't4
Origin OG
Moves robol to the reterence
positlon in the cartesrancoor
Pallet Assign PA r, j, k
Defines the n!mber of grld
points (j, k) in ihe column and
row directions for pallet (i).
1 = i 5 9
1 < j , k 5 2 5 5
Posrlion Clear P C a , , [ , a z ]
C l e a r sa l l p o s i t o n d a t a l r o m
posrlron ar ro 42.
a 1 S a 2
1 < a 1 ,a , < 6 2 9 ( o r a 1 : 0 )
1 1 Positron Define P D a , x , y , z , p , l
Defines the coordirlates(x, Y,
z, p, r) of position {a).
l 5 a = 6 2 9

241. APPENDICES
Name Input Format Function Program Remarks
1 8 Position Load
Assigns the coordinates of
p o s i t l o n( a r )t o p o s t i o n ( a 1 ) 1 5 a r , a , 5 6 2 9
1 9 Pallet
Calculates
the coordinatesof a
g r i d p o l n t o n p a l l e t { a ) a n d
idenlifies the coordinates as
p o s i l i o n ( a ) .
1 5 a 5 9
20 Postion Exchange P X a j . a ,
Exchangesthe coordlnates of
position lar) for those of posi-
l i o n ( a r ) .
1 5 a 1 , a 2
1 6 2 9
21 Shift S F a l , a ,
Shiftsthe coordinatesof posi-
tion (ar) in increments repre-
senting the coordlnates of
posi|on (ar) and redefinesthe
new coorornales.
1 < a r , a , 5 6 2 9
22 Speed SP a L H/Ll
Sets lhe operating velocity
and acceleration/deceeration
lime for robol.
0 : l M i n i m u ms p e e d ; 9 : M a x -
imum speed
0 5 a 5 9
H: High acceleration/decel-
eration time; L: Low accel
eration/decelerationtime
23 Timer Tl a
Halts motion for time (a)
( U n l t : 0 . 1 s e c o n d )
0 5 _ a 3 3 2 1 6 1
24 Tool T L a
Establishes the distance be-
tween hand rrounting surface
and hand elld.
0 S a S + 3 0 0 . 0
Unit:mm
IBl Progr"rnControlInstructions
Name Input Format Function Program Remarks
25 Compare Counter C P a
Loads va ue n counter (a) into
the lnternal register.
I 5 a 5 9 9
26 Disable Act D A a
Dlsables
interruptby a signal
throughbit {a)of externalin-
pu1lerrnrnal.
0 5 a 5 7 { 1 5 )
27 Decrement
Counter D C a Decrementscounter (a) by 1 I < a 5 9 9
2A Delete Line D L a r [ , a ? ]
Deletescontents of iine num-
bers from a1 to a2.
a 1 5 a 2
1 5 a1, a2 S 2O4A
29 Enable Act EA a1, a2
Enables interrupl bv a signal
through bil (a1) of external
inpul terminal and specifies
line number (a2)to which the
program lumps wnen Inrer-
( - 1 5 ) 1 + 1 5 )
+i ON; -: OFF
1 3 a 2 5 2 0 4 4
30 E n d ED Endsthe program.
l{ Equal EOar (or &b),a,
Calses a jump to occur to llne
number (ar) if external inpul
data or counter data equals al
( o r & b ) .
| 32167)321611
0 < a1 5 255 (decimal)
0 < b < & F F ( h e x . )
(&8001)
(&7FFF)
1 3 a , 1 2 0 4 8
32 G o S u b G S a
Permlts the lnstruction sequ-
ence to iump to sub routine
which slarts with line number
( a )
1 = a 5 2 0 4 8
33 G T a
Permitsthe program sequence
t o j u m p t o l i n e n u m b e r ( a ) 1 5 a 3 2 0 4 8
34 Increment Countcr l C a lncrernentscounter (a) by 1 1 5 a 5 9 9

242. APPENDICES
Name Input Format Function Program Remarks
35 lf Larger L G a 1 ( o r & b ) , a ?
causes a iump to occur to Ine
number {ar) if external inpul
data or counter data ts greater
t h a n a 1 ( o r & b ) .
l-32761) 132161l
0 5 a1 < 255(decmal)
0 < b 5 & F F ( h e x . )
(&8001)
(&7FFF)
1 < a 2 5 2 0 4 8
36 lf Not Equal NE ar (or &b),a,
Causesa jump to occur to llne
number {ar) if externai inPut
data or counter data does not
e q u a l a l ( o r & b ) .
l-32161) 327671
0 < aj 5 255 (decimal)
0 5 b 5 & F F ( h e x . )
(&8001)
l&7FFFl
1 S a r 5 2 0 4 8
Deletesall program and posi
tion data in RAM.
38 NX
Specifiesthe rangeof a loop ln
a program execlrted by corn-
m a n d B C .
39 Repeat Cycle R C a Bepeatsthe loop specified by
c o m m a n d N X { a ) l i m e s .
1 5 a 3 3 2 1 6 7
40 Bun R N a 1 L a , l
Executes line numbers from
( a r )1 o ( a r ) ,( a ? )n o t i n c l u d e d
1 3 aj, a2 S 2048
52 Return RT
Completes subroutine actr-
vated by command GS and
returns to main program,
42 Set Counter SC ar, [ar] Loads (a2)into counter {a1).
1 < ar 5 99
327613 az 5 32761
43 l f S m a l l e r sM a1(or &b),a,
Causesa jump to occur to line
number (ar) if external lnput
data or co!nter data is smaller
t h a n a 1 ( o r & b ) .
-32161) 1327671
0 < ar 5 255 (decimal)
0 < b 5 & F F ( h e x . )
(&8001)
(&7FFF)
1 3 a 2 < 2 0 4 4
@ XanCControlInstructions
Input Format Function Program Remarks
44 Grip Close Closes hand grip.
45 Grip Flag G F a
Definesthe open/closestateot
hand grip, used in conjunction
with command PD.
a - 0 ( o p e n ) ,1 ( c l o s e d l
46 Grip Open GO Opensh a n d g r i p
47 Grip Pressure G P a j , a r , a 3
Defines gripping force and
gripping force retention time.
0 5 a r , a r < 1 5
0 5 a3 < 93 (Unit:0.1
lDl l/OControl
Instructions
Name Input Format Function Program Remarks
48 Input Direct ID
Fetchesexternalsignal uncon
ditionally from input pon.
49 Input IN
Fetches external signal syn
chronously from input port.

243. APPENDICES
Input Format Function Program Remarks
50 OutputBit O B a
Sets the output state of bit (a)
of external outPut termlnal
- 7 3 a 5 + 1
{ 1 5 ) ( + 1 5 )
+ : o N ; - : o F F
5 1 OLrtputDirect O D a ( o r & b )
Oulputs data a (or &b) uncon'
ditionallythrough outPut Pon
-327611 32761)
o = a 5 2 5 5 ( d e c i m a l )
00 5 b < &FF(hex)
(&8001)
(&7FFF)
52 Output OT a (or &b)
Outputsdata a (or &b) sYn
chronously through output
pon.
l-32167) 1327671
0 5 a < 2 5 5 ( d e c i m a l )
0 0 5 b < & F F { h e x . )
(&2701)
(&7FFF)
53 Test Bil T B a r , a ,
Causesa jurnPto occur to llne
number a, by means of bit (ar)
in external InpLlttermlnal
- 1 3 a 15 + 7
( 1 5 ) ( + 1 5 )
+: ON; : OFF
1 5 a 2 5 2 0 4 8
lr I nszszcRead
Instructions
Name Input Format Function Program Remarks
54 Counter Read C B a Readscontents of counter (a) 1 < a 5 9 9
55 Data Read DR
Reads data in external InPUt
lermlnal, used in conjunctlon
with cornmands lO and lN
56 Error Read ER
Reads status ol efror lno
e r r o r : 0 ; e r r o f m o d e I : 1 ;
e r r o r m o d e I l : 2 ) .
51 Line Read L R a
Readscontentsof line number
( a) .
1 5 a 5 2 0 4 4
58 Position Read
Feads coordinatesof Position
( a) .
1 = a < 6 2 9
59
Reads coordinates of current
fl Miscellaneous
Input Format Function Program Remerks
60 RS Resets error mode II.
TR
Transfers contents of EPROM
62
Writes contents of RAM lnto
E P H O M .
63 Comment
Allows programmer to write a
corFment following .

244. APPENDICES
8. TIMINGBELTTENSION Giving an adequatetensionto the timing belt is the prerequisite
for properdrivetransmissionand sufficientdurability.Do not keep
the belt too tight or slack:give it appropriatetensionso that you
feelreactionwhen pressingit with your thumb, A belt lefttoo slack
causesthe slackend of the belt to vibrate; a tight belt develops
keen noise and vibrateson the tightenedend.
Fig. 5.8.1and Table 5.8.1show specifications
for belt deflection
and load.Alust the belt tension to obtain the deflection Z when
load Pk is aoolied.
DeflectionC
Span length
(at center of span length)
Fig. 5.8.1 Belt Deflection and Load
Table 5.8.1 Belt Deflection and Load
Timing belt
Deflection 0 Load Pk
Shoulder 2.7mm 22 to 37 gI
Elbow 1 . 6 m m 22 to 37 gI
Wrist pitch 1 . 2m m 1 1 t o 1 9 g f

245. APPENDICES
9. DEFINITION
OF
WEIGHT
CAPACITY
The weightcapacity
of the robotis generally
expressed
only in
weight.Weight,however,
differs
with different
positions
of center
of gravity.
Fig.5.9.1showsthe definition
of the weightcapacity
given on
catalogs
andspecifications.
Observe
thisdefinition
whenselecting
workpieces
and custom-made
hands.
Fig.5.9.2showsthe definition
of the weightcapacity
when the
motor-ooerated
hand (option)is attached.
interface
Fig. 5.9.1 Definition Weight Capacity
Centerot gravity
of optionalhand
Center of gravity
hand plus
Center of gravity
of
6009f 6009f
1.2kgJ
Fig. 5.9.2 Definition ot Weight Capacity When Motor-Operated Hand (Optionl is Attached
Mechanical
surface

246. APPENDICES
10. ROBOTARM
STORAGE
Theposition
in whichthe robotis storedwith brakes
not applied
POSITION (servo
locked)
mustbewithintheoperational
space
shownin Fig.
5.10.
1.
lf the robot is storedin a positionoutsidethe spaceshownfor
lonoerthan 10 minutes,a reducedmotor life could result.
Avoid storage in this space for a long time.
Fig. 5.10.1 Robot Storage Position Space

247. APPENDICES
11. oPERATIONAL
SPACE Use the followingdiagramfor examininglayoutof peripheral
DIAGRAM equipmentand palletsizes'
Mechanical interface
142
750
J2 axis centerof rolation
-_'- 550
- 500
_ 450
- 350
300
- 25O
200
1 5 0
100
50
-57
2 1 . 9 1.ffi
,r
Fig. 5.11.1 Operational Space Diagram

248. 1'-',1
i-1 t-i'i'-1 l'-i l'-1 1'-
- a ! - - . - - - r t . - { } - - a } - a l . -

249. 12, WIRING
DIAGRAM
i : 5 6 i , E ; 5 ? 3 ? { ? 3 r 3 8 6 i 5
i
q l
i l
t - _ l
* The RV-Ml'sJ1 to J3 axis motor buildersdependon lots as
follows:
* SanyoElectricCo.,Ltd. motor (framein black)wire color are
indicatedoutside parentheses.
DaitoSeisakusho
Co.,Ltd.motor (framein gold)wire colorsare
indicatedin oarentheses.

250. 13, DRIVE UNTTWIRING DIAGRAM
I
Option for trsvetl
L
Rear
Molor sional
Hand s€lect switch
{AODC)
EXECUTEERROR
LED LED
{Green) lRed)
E M G ,
STOP
Gre€n/yellow
spiral
SIAST
(Green)
STOP BESET
(FBd) {Whire) EXT. _
EMG. :
STOP (
Fronl
{Moth6r card)
'|
2
3
5
6
7
8
I
1 0
1 1
12
l
2
3
5
6

251. l
RM27'21 cabl€
G- SoHe.tess
terminalcaulking
O- sold€rins
$|- rastenea
t€rminalcsulkins
lnlet with NoiseFilter
lAC rN)
Tr 2SC3012
POWER
r L E D I
5600 Diode srack
1t2v'l KBPC2s_MX2

252. d urrsuBrsHr
ELEcrRrc
coRpoRATroN
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