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MRC Operating Manual

MOM

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2K views

MRC Operating Manual

MOM

Uploaded by

anand
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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OC YASNAC MRC CONTROLLER FOR INDUSTRIAL ROBOT MOTOMAN BASIC OPERATOR'S MANUAL Before initia! operation, read these instructions thoroughly, and retain for future reference, YASKAWA Turn this page for figures of the YASNAG MRC operator's panel and the programming pendant. Cc This manual illustrates graphically the basic operation procedures for MOTOMAN robots. Refer to the standard Operator's Manual and Maintenance Manual, G respectively, for details. | Related Publications + Motoman Series with YASNAG MRC CONTROLLER OPERATOR'S MANUAL (TOE-C945-400 - ) * YASNAC MRC MAINTENANCE MANUAL (TOE-C245-403) ————~ CONTENTS GUIDE OF THE MANUAL /4 BASIC OPERATION /23, WKEYs /1 POWER ON /23 SCREENS /5 TEACHING /24 CONTROLLER /6 PREPARATION FOR TEACHING /24 KEY FUNCTION /7 TEACHING /27, PLAYBACK BOX /7 PROGRAMMING PENDANT /8 MANIPULATOR AXIS NAMES /70 CU 00ROINATE SYSTEMS /11 JOINT COORDINATE SYSTEM /11 RECTANGULAR COORDINATE SYSTEM /12 CYLINDRICAL COORDINATE SYSTEM /13 ‘TOOL COORDINATE SYSTEM /i4 USER COORDINATE SYSTEM /14 TCP FIXED FUNCTION /15 ‘SELECTING COORDINATE SYSTEM /16 SELECTING COORDINATE SYSTEM /16 WSELECTING RECTANGULAR/CYLINDRICAL COORDINATE SYSTEM /16 FLOW OF OPERATION /17 OVERLAPPING FIRST AND LAST STEPS /36 CHECKING STEPS /38 ME MODIFYING A JOB /10 PLAYBACK /34 RELEASING TEACH-LOCK /54 PLAYBACK /55, POWER OFF /55 OTHER OPERATION /57 JOB CALL /57 JOB MASTER REGISTRATION AND CALL /59 JOB COPY /63, WIOB DELETION /68 SOFT KEY TREE /71 INSTRUCTIONS FOR ARC WELDING /74 Keep this page unfolded while performing key operation. MIPLAYBACK BOX KEY FUNCTION INSIDE SUB PANEL MPROGRAMMING PENDANT KEY FUNCTION GUIDE OF THE MANUAL KEYS ‘© Keys are enclosed in boxes, © Softkey labels displayed on the screen are enclosed in brackets. seed 5 follows a (Example Ce) key is a ( Depress [Fi] [T-LOCK) G © Keys joined by "+" means to hold down the first key, and depress second key. Example] Instruction to hold down [= ] and depres is written as follows: SS oes (=) + STEER ‘@ Each numerical key is assigned to a function apart from entry of the number. In this ‘manual, a numerical key is represented by either the numeral or the word on the key top that corresponds to the objective function in the context. {Example} key is represented as follows Instruction to enter the number “1” is written as fotlows: © Instruction to enter a timer instruction is writen as follows: =| SCREENS ‘© The whole or part of the programming pendant screen is shown as follows, as required Entire screen (asec fore eereelfesee YG Upper part of the screen Co | Middle part of the screen Lower part of the screen ac | c (In the description ofthe operation procedures, the keys and screens are inthe operating order in principle (Example] © 1 Ce Swarm 36 TeRGH_ eYELE los cowrekt Ce gest Too: 0 co! est soe e002 oot tov v= 50.00 oe ore CONTROLLER ‘The main power switch and the doo lock are provided on the front of the YASNAC MRC. controller. ‘The playback box is mounted on the upper right part of the front face. The brogramming pendant is hooked on the side. ua ROMER SynreH — PrAYaRcK Gx MAIN POWER SWITCH: ‘Tums ON and OFF contro! power to the YASNAC MAC, DOOR LOCK: Locks the front door. PLAYBACK BOX: Supports keys that are 1 inly used when playing back a job with the manipulator. PROGRAMMING PENDANT: Supports keys that are mainly used when teac ng the manipulator. KEY FUNCTION IEPLAYBACK BOX 108 O Tamas OFF the servo oomet semvo powen [a] Tuins ON the servo power RAY TEACH REMOTE Goo eee Ents play mode are enables playback ‘operation fora jo to which teaching has Poy been complete. Ents teach mode and enables axis cpera tion and edting operation on tho program a ‘ming pencant. Entars remote mode and enactes playback ‘operation by instuctons trough an exter: al computer ores Muro 1 ovcue Ter Coo Selocts oporting cycte in playback opera tin, ‘Operates the selected job repeated, Lever ‘Operates the Selected job once, perates one step ofthe jot each time the STEP key Is dressed Quine entene ana C)__iige termes sea ae aps geting mrt ‘rex Q setae, UN RECOVERY Depressing this Key momentarily releases. ° limt switch overuns and. shock senscr tips wan of Power fr op disk dive FC RS-202 (D-SUB) connector. Connects with fan extemal recorder, printer, &° personal computer. 2 C9 rszw Key-ock switch, Ture ON and OFF main ower remeta fom the contol "This switch i optional. ce vo ‘DQ oa Key-lock switch. Prtibits. the editing peration from the progaming pendant or the operator's pane! option) at ON positon. “This switch is optional. KEY FUNCTION PROGRAMMING PENDANT 6) Om 8 ou THE ON medi png SSOFTKEYS! —Goresponds 10 the function of soft key DD aH aH ca MHS ate bottom of the seer Cc Cals up he nos five ot kay able te @ Sev lvel wh the ==" symbol spars Be loner night porton CU @ Moves the soft hey cursor Enables the axis operation on tho program ming pendant white ths Key-amp 1 it When this key i depressed again the lamp ‘9008 OFF indicating ta the enabled state hs been cleared uss seo VA sw} Us Switches the group of axos to bo operated or taught Baa Using with another key? yee + ‘Group axes to be operated canbe selected Enters display mode an enables selection of various display manu, Enters eoit mode and enables etng oper aon of obs and data. Cm Sees GD see cota teeters a= Enabies to use tho customized function = (Ee age Seats coat system or man oe ten ‘Using wih arober key Ge “he conciate No can be changed when Bio tseranp ti Sets the spood for manual operation fn cluding FORWARD/BACKWAPD) ‘Using with another key? "SLOW" speed is chosen, During manu operation, depress this Key while holcing down any of tho axis Keys “The manipulator moves a the high spaed while the keys are eld down, Spoes ‘changing operation can be skipped. ‘Selects motion yoe at playback operation, {Using with anther Key> (=) + Caotion TP ation type is changed to special liane Moves specified axis on manipulctor in specified coordinates while tho key Is Sepressed. ‘Using with anether key? [z] + ans kevs Moves base axis when “robot axes” is Selocte. Moves the cursor on the CRT ceplay inthe ‘drocton ofthe arows, : Using with another hey? [More he casae to te vena icht sorion of he dlay. [210 [ost tevin moe (2): [loose tensa [i] + C2) Scots me spay toward ia ‘Moves the manipulator to check a series of taught steps 25 a continuous movement while this Key and [FWD Jare depressed at the samo tine. {Using with another Key> TEST START | + a ‘The manipulator continuously moves as taught in steps. Felosse [TESTSTART] to stop the ‘manipuiato irmectaty. Moves the manipulator in the locus of {Sit stop wile he hey pense son — ‘Using wit abe key mo aan Tre manioultor executes a instctons ent move rections [amis] Moves the maripultr moves in he ous = Orage sine te veveus iccnon Lee he key exes Hate the manips and he ve Soh Fas) natin te fe sehen she a dhpresood again the lamp gone OFF ie (een) icating that the hold state has been clear & Figs] ranges the. staon mis cats among LS) Stone aot poston date 3 Paes the flowing operation dng fem) loa = Pomtoin to the aug pit = Seting of sitong sere vat 7 cs = Ss the motion spa at plank wy cal) ‘Cancels eroncous input data or clear err statue. Deletes instctions’ and data alady taught Inserts now inetuctions and data Modties positon data, instuctons, and ata aleaty taught. ae Designates the execution of each process for resisting instuctons, data, curent positon of the manizuat Displays the confers of the job or condi- tion fle on whch the cursors placed Calls roserved kee ‘Using with anether key? [] + Reserved Display Cal The display being curently displayed Is registered as @ reserved dsolay. When this key and any of the following eye are dopresod at the same fimo, the {unction of tra later key changes. Depress thase keys when the “>” prompt {is displayed on the input ine to enter te umber or symbol indieatad on the upper lett onthe Key top Registre the novossary reference point {wall poi, comer aunilary point, ee) 0 ‘move the manipulator st woaving ‘Using with anchor key? CREF PNT] + (FWO) Moves the manipulator 10 the relewence roi Registrs timer instructions and changes set value } MANIPULATOR AXIS NAMES | Wt YASNAG WAC exter sie reso i bn nd tton nt Accortnly, inv aes ofthe oor pt ae lsd yt tion o abt base nd statins | “Teaching coordmted operation ow masses ot & anor nd ation became esi y avin conensienal eter ts obs ad etation aes ROBOT AXIS belongs fo ne — 10 - COORDINATE SYSTEMS The following coordinate systems control manipulator operation. MJOINT COORDINATE SYSTEM In joint coordinate system, each axis of the manipulator operates independently @ + Depressing two or more keys results in a mixture of motion, None of the axes operate when two direc tion keys in one axis are depressed simul taneously (such as [X=] + S-AXIS agcie “Tums the body. L-axis -Moves the lower arm krack and forth: AS B-AKIS Moves tho wrist up and dow -Moves the upper arn up] a ee T-AXIS “Tums the wrist- | COORDINATE SYSTEMS IBRECTANGULAR COORDINATE SYSTEM ‘The manipulator moves in parallel to X, Y, and Z-axes. —412- MICYLINDRICAL COORDINATE SYSTEM ‘The @-axis moves around the S-axis. ‘The r-axis moves in parallel to the L-axis arm. Z-axis makes the same movement as that of linear coordinate system, o aus Move very to Zane @ rites © stem COORDINATE SYSTEMS TOOL COORDINATE SYSTEM The tool coordinates are defined at the tip of the tool, assuming that the effective direction of the tool mounted on the manipulator wrist flange is Z-axis, ‘Therefore, the tool-coordinate axis direction moves with the wrist, In tool coordinate system motions, the manipulator can be moved using the effective tool direction as a reference regardless of the manipulator psition or orientation. These ‘motions are best suited when the manipulator is required to move parallel while maintain ing the tool orientation with the workpieces, J womrece pas oo MUSER COORDINATE SYSTEM ‘The manipulator moves in parallel to the axes of a specified user coordinate system. ~14- METCP FIXED FUNCTION ‘TCP fixed function is possible to change only wrist orientation at a fixed TCP position in any coordinate system except joint coordinate system. | SELECTING COORDINATE SYSTEM | NISELECTING COORDINATE SYSTEM Depress [COORD]. Each time this key is depressed, coordinate systems are switched in the following order. Verify the selection by the “COORD” lamp. 1 Dierent manual speed are Rep ia memory forthe Joint coordinate system and other coordinate sys tems, When siting fom the jin. coordinate ster 0 another coordinate spsem, oF vie versa sama sped are itched a the same tine SELECTING RECTANGULAR/CYLINDRICAL COORDINATE SYSTEM After selecting rectangulat/cylindrical by the [COORD] key, select the rectangular or cylindrical coordinate system by the following procedure. Initial Selection is the eylindri- cal coordinate system, Sm LET ons weenrin oa re TER ecrers al alu a : BBS Mo | game ae 1 $e reed fg ~~ | Ca | "00" jew 108 57 08] SEL 68 WORT} oe) Depress HORE] and to folowing so ney i | aot dines Leider *) To et Cynical Coordinate ogee Suede | oo ar] cy oPy) Greue_[wararn|| Cow) Gane E> depres [Fa] (COND oly opens rc [Lieer@) Zee ‘ater serio, depress 5) (CUM) TWRL3 ial Teo hiro or EL Teac com [Sea @:0n Oioer sr 2: HOVE RSE eT o Four f MENT SIEPIC) ° 7 '. seen Lane Ge) é FLOW OF OPERATION ‘This paragraph gives operation charts from when the YASNAC MRC power supply is truned ON to when it is turned OFF after job registration, teaching, ete. for convenience. \ ig a i POWER ON TO JOB REGISTRATION [MAIN POWER] ~» [SERVO POWER] ~- [TEACH] For Move ~ (1-L0CK] = [F2] (NEW JoR] + [CG 2) = ENTER ~ wove TH cu See |. [as] {F9) [ABC — [CURSOR] — (ENTER) — [Fs] (quer! +2, me cor ase [SYSTEM WITH STATION AXIS) ~+ MOVE THE CURSOR TO DESIRED ROBOT AXIS. > cally ati ne | 2 | TEACHING Step 1 Stop 2 Step 3 Stop 4 For hosing Av ‘a Operates rmbIo@ Start positon Verify that the edit mode is entered and depress ENABLE) 2 Move the manipulator toa safe and convenient place for operation by using the axis keys. d 3 Switch [MOTION TYPE] to JOINT and set the speed by [PLAY SPD) + or(T]. ‘Then depress [ENTER] "Neat operation stat position. Use axis keys to move the manipulator to the position at which it can ‘operate (welding or handling) and depress ENTER] Operation welding oF handling) start positon, 1 Depress MAN SPD key [SEW] or [FST] and set the speed to “MED" 2 Use axis keys to move the manipulator at the positon set in Step 2 to the operation start position. Set the speed by - Gepress [ENTER] Operation completion position 1 Determine the positon to complete operation and switeh [MOTION YEE) to LINEAR, 2. Set the speed by [PLAYSPD] ~[T] or[T] and depress a—— 47 — FLOW OF OPERATION ‘Ste9 5: Poston away from operation end point: ig is not bumped 1 Depress MAN SPD key ind set the speed to “FST”, 2. Use axis keys to move the manipulator to a place where the jg is not bumped and switch (MOTION TPs to JOINT 3. Set the speed by (PLAY SPD) —+[T] or [I] and depress ENTER] Stop 6 : Near start position Use axis keys to move the nanipnor near the start position and depress ENTER] Hi OVERLAPPING FIRST AND LAST STPES Forraxaing ng step rere a pests tom O19 1 Return the cursor to the start of the job by [T] + [T] Depress [T] once and move the cursor to Step 2 Depress [FWD] and move the manipulator to Step 1 Depress [f ] three times and match the cursor to the last step (Step 6). Depress [MODIFY] -- [ENTER] , and the first step (Step 1) and the last step (Step 6) are in the same position. 4 | STEP VERIFICATION — [FI] JOB} to display the job text. Return the cursor to the start of the job by [1] + [E] ince and move the cursor to Step 1 Depress MAN SPD key [SEW] or [FST] and set the speed to “MED” and verity each step by using using [7] + [3] After verification, return the cursor to the start of the job by — 18 — 5 Verify that “I CYCLE” is entered and play back all steps (1 to 6) by FEST START] + [FWD] @ IF CYCLE” is entered, perform te following operation ° s- ~altcvete) [FZ] evens] pres in playhack bo i JOB MODIFICATION @Betore modification 1 Depress [BISP! 2 Depress| [OB} to display the job data screen, to enter the edit mode, 3. The following modification is performed. * Modify step position data, -----=--To (1) + Add a step. seo (2 u + Delete a step, + Modify speed between steps. (Modify step position data. NEw STEP POSTION 1 Depress [FWD] and move the cursor to the step to be changed. I At the same time, the manipulator ‘moves to that step. 2 Use axis keys to move the manipula: tor fo the position to be changed and | depress [MODIFY] -» ENTER] co Coonsert a step. 1 Depress [FWD] and move the cursor a BE oe seATED : . ~ to the one step before the step to be >> inserted, At the same time, the manipdlator | moves to that step. 2. Use axis keys to move the manipula tor to the position where the step is to be inserted and depress a — 19 — _ FLOW OF OPERATION (Delete a step, Ste? To ee oFteTED 1 — Sh (4iModity speed between steps, Depress [FWD] and move the cursor to the step to be deleted [AC the same time, the manipulator moves to that step, Use axis keys to verity thatthe cursor is al the sep tobe deleted and depress G Modify by [MODIFY] + [PLAY SPD] -~.---To (1) + Modify according to play speed type. To (a + Modify in the ratio for current play speed. --To (2) 1 Modity by [MODIFY] ~~ [PLAY SPD] Move the cursor to the step to be changed and depress [MODIFY] Set the speed by [PLAY SPD] Depress [TEACH] ~> job text displayed + address area) JOINT SPEED FP) [sPEED)} L__ aw ‘rep SPEED CoEGSooS Poo} {ET change the spd te he ase vl [Fi] [SKIP] ~- [ENTER] -> “aie sp) (quit) and depress [ENTER] 2 Modify according to play speed type (single rewrite) + Ewen the cursor is inthe @Move the cursor to the play speed to be changed. v3) ~ (0) ~ @)(ENTER]-- val 7) Gl 3 Modify in the ratio for current play speed (1 to 200%), (For relative change, single rewrite) TEACH] + job text displayed -» [EDIT] + [=] (when the cursor isin the address area.) @Move the cursor to play speed to be changed. ~ 20 - eH [SPEED] + teen) (5) ~()(B ) ENTER - [for play speed. {CE chance the Spc to ta xno wal i cab ep [Fi] [SKIP] + [ENTER) — [F5] (QUIT] ISKEP) ghited for cootinuons rewrite After copipietion of correction, move the manipulator near Step 1 by axis keys. Then, return the cursor to the start of the job using 6 | RELEASING TEACH LOCK j 1 Depress [ENABLE] to extinguish the lamp. 2 Depress[SELECT] — [MORE] — [A] ~ [Fi] [UNLOCK]. 7 | PLAYBACK 1 Verify that there is no man near the manipulator 2 Depress(PLAY] ~ [I CYCLE] + [START] . Door ~ [MAIN POWER OFF] oy cae OTHER OPERATION (REFERENCE) JOB CALL A job which has been registered is called TEACH) [SEL JOB] + JOBNAMEINPUT — [ENTER] ALPHABET | [CURSOR] ——— JOB MASTER REGISTRATION AND CALL Once a job is registered as a master job, it can be called easily 1 Register a job as a master job. [TEACH] — [MORE] -- (F3] [MJ RGTR] + [F4) [RGTR) » JOB NAME INPUT ~ [ENTER] [ea aun 2 Calll the master jab. In teach mode -> [TEACH] ~+ [F5] (MJ CALL] In play made -> When depressing [PLAY] or in the play mode [SELECT] — (F2] (MJ CALL) JOB COPY A registered jab is copied to create another job + Job header sereen [EDIT] -- [F¥] {COPY] — input new job name. -+ [ENTER] ~ [F3] + dob list scroon (EDIT] + (CURSOR) [FH] (COPY) ~ tap new job name. [ENTER] ~-[F5) JOB DELETE A registered job is deleted + dob header screen [EDIT] + [F2] (DELETE) — (F5] [EXECUTE] + Job list screen {BT OH. pn mth eth eohcmel et TE EXECUTE) ~ 22 — BASIC OPERATION (POWER ON) Turn ON the main power first, then the servo power. Before turning ON the power, be sure to check that nobody is near manipulator. estes YASNAC MBG Se a ‘The manipulator fs nt vet operable, SERVO POWER seAvo yore on {progtemaing pendant) ~ 23 - Turn ON the main power. Turn ON the main power switch provided ‘on the front of the controller. ‘The main power is turned ON and the playback box and the programming pen: dant become operable. The initial display appears as shown below Tou CLE STOP OS ‘asic Re noe eee ae | ve] Tie Ospay Tum ON the servo power. Depress [SERVO POWER] either on the playback box or programming pendant. ‘The power supply for driving. the manipu: lator has been turned ON. BASIC OPERATION (TEACHING) IEPREPARATION FOR TEACHING Before starting teaching, follow the steps betow + Set the operation mode to teach mode and set up teach-lock. ‘sEnter a job name. + Set the screen mode to edit mode Enter the teach mode. [© Depress [TEACH] on the playback box. “TEACH” is displayed in the status area. Rea) VOLE STOPS a Enter teach-lock. @ Be sure to set teachrlock for safety {T-LOCK] In the status area, the indication of mode bot fnew os SSS RT WTS] “TEACH” changes to “LOCK” Bae sor SE ‘Wile cach ck ese, the mad of operation si to ‘each mode and esnnot be switched if attend wing © He plasback box or externa inp — 24 ~ oo ‘i “aK OSES 2 MORK WORK 2 jwor-s worm & >o eng] feaccse|| gar “eb List splay FE Si (eore = mare =a arp Ro oe — 25 — Depress [F2] (NEW JOB] ‘The job list appears Job names that have already been regis. tered are displayed, Job names tat nave ‘aloady been registred Depress [7] and [0] in that order. Job names cam be registered using alpha. bets and numbers. Follow the steps to register a new job name “10A” is displayed on the entry line. Then input * Move the cursor to "A" on the alphabet screen and depress (ENTER) ics z APC R EGE Beane ty THe Character entry is completed by (F5] (quir} “I0A" is displayed on the entry line. BASIC OPERATION (TEACHING) EDIT made it onto automaticaly Ns Tein 6 7003 cook GLE STOP _(raP bow cower I Se msrUcTiNS Too :* "oon Goa oe (ow! END OTN went {SHY invour feowTRoc Bev Tf PRIOR 5 | Depress ‘When the system has no station axis ‘The job name “10A" is registered in mem: ory of YASNAC MRC and displayed in the status areal At the same time, the jab contents appear and NOP and END instructions are auto. matically registered, @ ho screen mode is changed to EDIT utomatialy when the system has Follow steos Kl an Tih $0) Look HE STP EL For a system with station axes, the group combination select display (GkoUP cow (GROUP AS MASTER mi No orou axis Rern2 ae I I Group Combination Selec splay ao > Tri § 0p T6OK OGLE STOR eo Hoe CONTENT RrFRZ iL “Gs INSTRUCTIONS roo: ‘ow aoe Nor t ‘SHE T 1 Cinveur loowrRot|| oewee It pacar [Same Job Text Display — 26 — appears after [ENTER] is depressed, “R2" and “SI” stand for a manipulator (robot) axis and station axis, respectively. i Move the cursor to “Ri” and depress EN TER) . Assume that job “LDA” is to be executed by the manipulator numbered as “RI” ‘The job name “LOA” is registered in mem-” ‘ory of YASNAC MAG and the job contents appear. ‘The job name “10A” is displayed on the left end of the status area, NOP and END. instructions are automatically registered. TEACHING In this section, a welding job from point A to point B of the workpiece shown below will be taught to the manipulator. This job consists of Step 1 to Step 6. {Check an te eveen ofthe programming sere | Bena ale operation mee LOEK” z rmaneulato FERCING Sept Determine the set point 1 Step 2 ermine te peste of he manipulator for weding L Step 3 Move ine manipulator fe the welding eat point t Step 4 Detexmine the medina end on Seep 6 | tur the manipulator near the set point, (Overlap et ard Last Stops, 4 ‘Grek Sos, BASIC OPERATION (TEACHING) [STEP 1] Step is the start point, The point must be always safe ‘oth Psion at woia (Sonte') and ready for starting the work, ye) sip [Lim Sia ia eae SOP GY Check that “EDIT” is displayed on the right end of the status area, I the et made is no entered, depress [EDIT] on the programming pendant tw cer eit mode, Make the manipulator operable. Depress [ENABLE] key Move the manipulator to the start point (step 1) using the axis keys. ‘The point must be skeays safe and cea for starting the work oP eg seee0 TO Ts 500% ae sev 251009, a a fers NererNS coo aco oP STEP 118, fo! 901 ova vs=50.00 reecisrenen, (0002, evo — 29 - oie “Lomk ore Choose joint motion type. Depress [MOTION TYPE] “JOINT” is displayed in the status area Depress [PLAY SPD] to sot operation speed by moving the cursor usin, i Set the speed to “7 : 50.0094". Depress [ENTER Step 1 is registered, BASIC OPERATION (TEACHING) STEP 2] Step 2 is near the welding start position. The welding posture of the manipuiator is determined, wee) ‘Set the manipulator to @ welding posture (Step 2) using the axis keys. a aH Depress [ENTER] ae Step 2 is registered, oo or boo: 00) Movs ys =s0.00 Cc STEP 2 1S—welooe ote Mow v= 20.00 hecisteReo. [on PND. 30 — a STEP 3] _ Step Sis the welding start point. Move the manipulator to the welding start point in the same posture as set in Step 2, suey 1 | Set "MED" speed, Cc van sro © Se Depress manual speed keys SL SuWor FSF Move the manipulator to the welding start point (Step 3) using the axis keys. Do net change the posure of the manipulator se in Step Depress | to set approaching zoned by mig hw cas ing To 4 Set the speed to "5 : 12.50%", Fe exe 0 vane ou | sree fe Bio oem 8 Om, g Depress [ENTER Step 3 is registered State BASIC OPERATION (TEACHING) [STEP 4] 1 Ste9 4, the weteing enc point is determined spe a” ore. ul Move the manipulator to the welding end point (Step 4) using the axis keys. ‘The menipulater canbe moved atound the workpiece Te doesnot ave tobe moved nthe actual wel path slong the warkpece, u Oss MGTON FE) town motion type to linear, TES aE HERS] “LINEAR” in isplayed in the status area Depress [PLAY SPD] to set welding 8 speed by moving the cursor using T Jor ego Y Set the speed to "3 : 276 m/min”, 22 tee Ce Bes nk See sem our | Bee Depress [ENTER] — 32 - [STEPS] _ '" Stop §, the manipulator moves away from the welding fend point so that it will not bump the jig. S aS, \ ss an 560 A: Depress manual speed key ed 'SLW] or [FST mea Move the manipulator away from the jig using the axis keys. | Depress [MOTION TYPE] to switch motion type to joint. “JOINT” is displayed in the status area ~ 33 — BASIC OPERATION (TEACHING) 4 | Depress [PLAY SPD] to set moving speed by moving the cursor using Tor Bes BP oR SPEED To- 7: $5005 8 Ser 8 o0.eRme Set the speed to “7 : 50,0096", v ci Depress [ENTER] Step 5 is registered 0 STEPS 1s is 05 Host ic 30.0 ecisTeReo. | ~ 34 — [STEPE] '"Ste0 6, the manipulator retuns near the start pint i Move the manipulator near the start point (Step 6) using the axis keys. | 2 | Depress [ENTER] este es Step 6 is registered. ic 32 istucnen fave 000 no fon: 00° hens lute bse wow fons ashe foo oo how nos os ews STEP 6 1S e006 908M easrenen. [097..._.END — 35 — BASIC OPERATION (TEACHING) MIOVERLAPPING FIRST AND LAST STEPS Now the manipulator stops at Step 6, near Step 1. If the manipulator directly moves from the welding end point in Step 5 to Step 1, it can immediately start welding the next workpiece and work efficiency is improved. ‘The following teaching implements this by overlapping Step 6, the last point, and Step 1, the start point rer WoRK ROUTE tH GOOD EFROENCY sree sire Depress [7] + [J] a The cursor retums to the start of the job. Jeo Ss? insrrvenons oor (ca G09 Nae loo1 oor wow vs=s0.00 | ono 002 Movs VI=S0.£0, | a Davos [one GU vi The cursor moves to Step lb “8 2“ staeON Tata 000 09 nF joer oat ows vs= 50.00 ce 902. Movi Vi= 0, H Depress [FWD ernanauaree ~ 36 — og Dares [7] tice tes w nove Oe “CURBOR KEY cursor to the last step (Step 6). eco 6s aaa waa.) i STEP 6 —le006 008, Wav Nd= 59.00 Gi Dopress [MODIFY] and 3 fer] Step 6 position is changed to overlap with be > Step 1 position. The job to operate is completed. - 37 BASIC OPERATION (TEACHING) MICHECKING STEPS In the following, operate the manipulator to check that taught steps are correct. Sa ops Evaro 208 _||_F0sH ow eowren INSTRUCTIONS aco 900. Hoe est 001 mow inte a¢2 wots v= 30:00 fans eos wows We 12-50 lave owe Mowe y-=e7e las cos sows ¥s~eo.00 (oid, OW) ¥I= 80,00 Toa: 9 Job content Osepay fui esis Twat START OF Joa ean Goo NOP ‘cul for wows ws=s0.00 fone 062 Mow} ¥J=40.00 35> ingtmicions [mp0 G00 noe jot oot wows fone one We, STP) Toe — 38 — Depress [DISP| Softkey label as shown on the left is dls played Depress [Ft] [JOB] he job contents appear. “Depress [7] + [7]. ‘The cursor returns to the start of the job. Depress [1] once, ‘The cursor moves to Step 1. Set "MED" speed. Depress manual speed keys {SLW) or FST] c | 6 | Depress [FWD] 10 check the motion of the manipulator step by step. is depressed, the manipu: Jator moves by single step, After checking each step, depress [1] + [1 ]to move the cursor to the start of the job. Oo Paton note cout ese all along, Check that the operation cycle is set to ; = “ICYCLE” and depress [TEST START) and [FWD] If the operation eyele is not set to “lL CYCLE”, set to “1 CYCLE” by either of the following ways Depress and play sot key labels, then depress CYCLE] 1 CYCLE) Depress [TICYGEE] on the playback box Did the manipulator move as intended ? sagt BASIC OPERATION (TEACHING) MIMODIFYING A JOB After checking the motion of the manipulator in each step, positions may need to be changed, added), or deleted. To do this, follow the procedure below. C BEFORE EDITING - Depress played — | [2 Sete ay Tare x08 | FOSN [ALE [| aR 20 een : ic “gr sraucTIONS oo. ‘The job contents appear 00 000. NP ena uot Nor Mow vies aoe woe Movs tos 093. OW Soot os Mov fncs 605. wows (006 506. WOW) ge S88 2 7 , Enter the edit mode. “EDIT” is displayed in the status area, : elo S ooo YE sto FBT 's displayed The following modification can be performed. i |» Modifying step position data ~ 1 Inserting a step . 42 Deleting a step: f 44 Modifying speed between steps 45 ~ 40 - (.___ MODIFYING STEP POSITION DATA _) ‘Modify the position registered in Step 2, using the following steps, 1] J neweosinon | eres +(ana orster2 ai sieee sop} fleler page 3 1 | Depress [FWD] to move the cursor to ie ‘Step 2, which is to be modified. Bach time [FWD jis depressed, the manipu we ar wena 80:48 | ate iS | tor a a sine tp u Vow be map tw no position (new Step 2 position) using the. Rp axis keys. © ; g Depress [ENTER The position data are changed in the step. ona wa “ow wi =sa.9" loa coe Mow ¥= 85.00, A! D003 003, MOV! NIE 2°30 BASIC OPERATION (TEACHING) (—__INSERTING A STEP ) Assume that the workpiece is changed as shown in Fig, A. If the jab that has been taught is executed as itis, the manipulator will bump against the workpiece. ‘To avoid this, one step must be added as shown in Fig. B. Add the step as explained in the following. Depress [FWD] to move the cursor to where the additional step is to be in- serted, Each time{FWD] is depressed, the manips lator moves by a single step. oi ot wait =e (ONE STEP 005005 04 ¥/=50.00 Bo Mice ecians be inserted using the axis keys. — 42 — x a insenreD sTEPA_ feos tos mov v)=80.00 lcs bee wows v)=s0.00 STEP NO. 1S fag 607 wou v3=30.c0 uromaricattv{ ones °” Ev INCREASED. — 43 — Depress [ENTER] A Step is inserted. Each time a step is added, the step numbers automatically BASIC OPERATION (TEACHING) Gare DELETING A STEP Delete the step that has been inserted, in the following steps. Delete one step from Fig, lator moves by a single step. move the curso othe (00s ots Non vs=$0.00 one toe want v=o | STEP To BE——e= ono 96 MOY ¥=50.90 a | o Covi a ecu a sp 7 bo coe ee Depress /DELETE| GE] " Each time a step is deleted, the step num c Ga bers automatically decrease. aes 009 wus ¥i=s0.00 nace 006 wos vs=50.00 cor awl V6 | ee MODIFYING SPEED BETWEEN STEPS ) Change the speed at which the manipulator moves in the following steps. ‘The welding speed from Step 3 to Step 4 is to be decreased, ‘There are three ways to modify as follows + Modify by [MODIFY] — [PLAY SPD]. 45 * Modify according to play speed type. +--+ =46) + Modify in the ratio for current play speed. -~-~50 ‘worn sonea| © Modify by [MODIFY | — |PLAY SPD] . a Move the cursor to Step 4 by the cursor geo keys. os wea =a 80 STEP 4 —e-loone doe tov v =z 000,05, MONI i= $0.00 Depress [MODIFY 4 Depress[PLAY SPD]to set the speed by moving the cursor. e iz > % Set the speed to “2 : 138em/min", ea gees {—-}) Senin | c Se Siten genes I 7 Depress [ENTER] ‘The speed is changed. _SPTED Is crmniceD. ovo os wai ia 5 foe see ove vise ncos, s,s ¥5=50.00 — 45 - BASIC OPERATION (TEACHING) Modify according to play speed type. (Single rewrite) ‘This paragraph describes how to modify speed using play speed type VJGoint speed) ‘or V{control point speed) as an example oo) 1 | : Enter the teach mode. Depress [TEACH] v | 2 | Depress [DISP] Softkey label shown on the left is dis. played, ue [war oa ar H INSTRUCTIONS roo: of Nar foi cor mows vs=s0.00, lene coe WoW vI~5000 (008 00s Mow ¥I= 12 st Iaoe Ope wv foams aos wow vs~ so. 00 OE, 08, we v9.06 Jeb Content Ospay | The job contents appear errr — i — 46 — ag Enter the edit mode. i Depress [EDIT] depress [=] to move the cursor” to the (ine eo][ sreen TT IS GHG 5 | Move the cursor to the line of play speed to be modified using the cursor eae eee B285 ” Instruction area i jane tor wor ccurson——eloont one woxt fons S08, wos Steps below the cursor line are to be modi 6 | z Depress [F2] [SPEED] e The softkey label of play speed types is ae ea displayed ui Select the type of play speed to be modified. Depress either [Fi] [VJ] or [F2] (V — 47 — BASIC OPERATION (TEACHING) oi Enter the desired play speed using the number keys. 9 | © Depress [ENTER] cv i) _-T0 8€ woorre. on 08 ows w= 13-8 > Put tat Wowie esi ‘The play speed at the cursor is modified. a [bes Ss wens s o sisi el ‘The softkey Iabel fs as shown on the left. i eC a to the same value, perform the following steps. I ] 3 To change the speed in the other steps. > Depress [FI] [SKIP] to move the cursor to. | the next step to be modified. exonge) louie 010 wou v=ise =o | a1) 1: wow wsz5.00 TO Be MowieO —eejonie O12 MOM Vnt6t speed at the cursor, to modify the play 48 — exnele) not? 17 wo ole 12 Mov! 8 ota. wow G 10g moore tage JeWhen te play speed atthe cur tino (for example, Step 18) is not modified, depress [Fi] [SKIP] ‘The cursor moves to the next step tobe modified. ‘By repeating EIQ] , the play speed in the other steps can be changed to the same value Depress [F5] [QUIT] BASIC OPERATION (TEACHING) © Modify in the ratio for current play speed. (For relative change, single rewrite) Relative change is the method to specify the ratio (1 to 200%) for current speed and change the speed to the value decreased according to the ratio. All steps can be changed disregarding to play epeed type. : uo Er wach ws [_» Depress [TEACH TER | 2 | Depress [DISP) ‘The softkey label shown on the left is oo Pos [FE [ae a displayed, YU 3 | Depress [Fi] [JOB] Los cower Se nstauerions Took: ¢ ‘600 ove fot an fons ooo lone oe loos 90s aoe ‘The jab contents appear. Job Content Display ~ 50 ~ Ae refer vey {~~ | “Toro pili aos u oH FA iS} a) 2 cu io oa wana = T9 56 cursor—elocoe aoe wave v=e%6 eos 0s, Movs ¥)~ 30,00, Enter the edit mode. Depress When the cursor is in the address area, depress [2] to move the cursor to the instruction area Move the cursor to the line of play speed to be modifiad using the cursor key. Steps below the cursor line are to be modified Depress [F2] [SPEED] . ‘The softkey label of play speed types is displayed, Depress [FS] [REL] ~ 61 — BASIC OPERATION (TEACHING) Javea oe wove. v~ 50-6 tas, 9, Mv VI 0, © _J0 8 woot. ois sos nea ge ean) naa i> wiowsva=25.00 79 Be MOvIFED, —me|0921 O12 NoWLY-=8iT suena oO Enter the ratio for the current play speed using the number keys. ‘The ratio must be a value between 1 to 200 (9. The play speed at the cursor is modified, The softkey label changes as shown on the left To change the speed in the other steps. to the same value, perform the following steps. Depress[Fi] [SKIP] to move the cursor to the next step to be modified. @ [SKIP] is omit for cominsove rewtit. Depress [ENTER] to modify the play speed at the cursor. — 52 — When the play speed at the cursor line (for example, Step 21) is not modified, dopress [Fi] [SKIP] [ied 012 Now he cursor moves to the next to. i we or The cursor moves tothe next step to be rose noone — = St °° MER a By repeating [10], he play speed in the ther stops can be changed tothe same c value Next basic operation is playback. Before playback, be sure to perform the following so that the manipulator will not start moving from a half-way step. ‘Move the manipulator near Step | using the axis Keys | @denress[t] + LL] to return the cursor to the start of the job 53 — BASIC OPERATION (PLAYBACK) MIRELEASING TEACH-LOCK Before playback operation, release teach-lock. Hct 1 Depress [ENABLE], and check that the a ENABLE] lamp is OFF. & @ Be sure to heck that [ENABLE] tap is OFF Depress [SELECT]. ‘The softkey label on the left is displayed. ee F Depress|MORE]. | see -| The softkey label on the left is displayed. foro ore [arate exo leone o a° Tris St TE Se] In the status area, mode indication “LOCK is changed to “TEACH”. Depress [ f] and [Fi] [UNLOCK] — 54 ~ IBPLAYBACK Let’s move the manipulator from the beginning. Before start x roveue aay $05 Eo | [eo Soe make sure there is nobody around the manipulator for safety reasons. Enter the play mode. mn the playback box. In the status area, mode indication “TCH” is changed to “PLAY”, tt the operation cycle is not one-cycle, depress [1 CYCLE] on the playback box. In the operation cycle field of the status area, “CYCLE” is displayed. Depress [START] on the playback box. ‘The manipulator moves the taught steps for a single cycle, then stops, Did the manipulator move just as it was taught ? — 65 - BASIC OPERATION (POWER OFF) After operation, turn the power OFF. Payback Bo © Programming Pendant, ae YASNAC MRG Turn OFF the servo power. “Depress either [E-STOP] button on the Playback box or the programming pen- dant. When the servo power is turned OFF, the mechanical brake is activated and the manipulator stops, can be applied anytime, in any mode. Turn OFF the main power. Turn OFF the main power switeh on the controller Now, all the basic operation has been completed. 56 — OTHER OPERATION WJOB CALL A job which has been registered is called, BowooooG -u00¢ [New 08] nav 905 [SEC oa WoL TST CO STOP, Se iG) Test-2 wo ic ta ce ene Tesi ear — 67 — Enter the teach mode, Depress [TEACH] ‘The softkey label shown on the left is cisplayed Depress [Fa] [SEL JOB] . The job list display appears. OTHER OPERATION FEAL none rs =D 8 — a ob Content Oisolay — 58 — Select a job to be called, Input the job name by moving the cursor to the job or by character input operation. -BoaBbo - 3 Depress [ENTER] . ‘The selected job is called and the’ job contents appear. MIJOB MASTER REGISTRATION AND CALL (REGISTERING A JOB AS MASTER JOB _) Itis convenient to register a frequently playback job as the master job. © Bao. ce x 1 Set regret arto -F2.90K [NEW 208] RSV 1 [SE 08] (peo ar RLY oP = oil mara ey THO! Gv S707 Se oe Na Nesr-1 test=2 19e wORK-B t fark | 1 Set etsor on chaaser nae [granu I Bene | ~ lease Tear i Enter the teach mode. Depress The softkey label shown on the left is displayed, Depress [MORE ‘The softkey label shown on the left is displayed Depress [F3] [MJ RGTR] and then [F4} [RGTR] . The job list display appears ~ 59 — _ OTHER OPERATION eso sae a> RS c com i ee oe ‘3: INSTRUCTIONS root: @ Noe ia: oat ows vs=s0.00 [ise ten [Lock [ew 36] 0 [SL 08 Ta eA Job Conte Display Bea o =f og Select a job to be registered ‘as a master job. Input the job name by moving the cursor * to the job or by character input operation, ‘The selected job is registered as a master job and the job contents appear ~ 60 - —_— CALLING UP THE MASTER JOB ) ‘The job registered as a master job can be called by easier operation than “JOB CALL” ‘The operation mode can be either teach or play mode, @ Teach Mode i Enter the teach mode. le “s ‘oon to0 ona et fone baz aos 803 ane aoa cos sos bcos neo HOB CONTENT TRSTRUCTIONS nor Movs vs=s0.09 Movs ¥s=s0-00, Mov =12.59 Mow v= Movs ¥5=s0.09 Movivi=s0.00 END. LW CGE Setresired freien T-.00x [new Joo es 08 [SEL 908] ww GALE E> Ses Toot : 0 1 salad te ("Poor [new 158 ][RSY 908] SEL Oe wa cm =) Job Content Oislay 61 Depees [TEACH] ‘The softkey label shown on the left is displayed. ‘The master job is called and the job con- tents appear. OTHER OPERATION @Play Mode oO ee sey tone) OveLE—st6e ES] Tae or nat oot wows 50.00 lace oc2. ov vs—50.93 003 063. Movs v= 12189 cok bos Move vere Movsvs~$0.09 MOV N3=$0.00 Jeb Content Display — 62 ~ Enter the play mode. Depress [SELECT] in the play mode. Depress [PLAY] on the playback box. ‘The mode indicat area changes from 1 in the status display “TEACH” to “PLAY, ‘The softkey label shown on the left is displayed. Oepress [F2] [MJ CALL] . ‘The master job is called and the job con. tents appear. Ss MOB COPY egg Seed oea ‘Sonne, Pecoraro) spi ne goer oo A now job is created by copying a registered job. Job copying is available when the job header display or job list is displayed ( JOB HEADER DISPLAY ©) ) The job being edited is used as the source job on the job header display. He (EACH — Fa) (9. 208) ~ [CURSOR or characte ap pertios 0 Elect a ob ele pa [FRE oo orton psy = to? 2 ¥en a0 sete, prtwm ne ote oerabon (Dis) -[F] (408) ~ Fifer cre) =] eaer) e So | Me Lo Lame a | 63 — io Displey ~\ TWA 5 =O TOR EVOL be renee S08 AME = WORK-& cou C12omme)| lore 982"1a/ 1090 fur iezesires [UNS “OLNES STEPS: zosTEPS [Dir Loo«: Lore 1a SAVE To FLO=PYOISK : NOT DONE letoup ser sat +81 “sro oP "See ‘Jew ow eaten | as nero 5 | UST) Depress Jab Header Display Enter the edit mode, ‘The softkey label shown on the left is cisplayed, OTHER OPERATION | 2 | Perform copy operation es Depress [FI] [COPY} JT Tbtb LOG CrOLE STOP EO] how-cepy cena, pesTINATON ~- The job copy display appears, > 10a 1 tr aw 8 nme cu ane Se age [Pe ise {fr ob Copy Display c er tat vo delete he crracies ae on of ob Copy Dispey ~ 66 — Input a new job name. Move the cursor to the character to be AA o modified, delete it and input a new job EEF) _ = gr e-aspo- RE ve wet erect (CET) 7 ie rr EEA Depress [CANCET] to deete the character HA in the input ling and input a new job name. ‘The character is input Depress [ENTER| ‘ian BESTA ‘The job name in the input line is displayed Peete in the “DESTINATION” area. [7 Depressing EXECUTE soley copies 108] Eeesocre = 6G | Depress [F5] [EXECUTE] . Ge Job copy starts. After completion of ab covy, the jb it display appears Depressing [Fi] [CANCEL] stops job ae ~ 67 - OTHER OPERATION JOB DELETION Registered jobs can be deleted. Job deleting is available when the job header display or job list is displayed, (Coto Bspiey ) +88 Jon} (EURTTHr race G EATER) poo const asian + 2 2 hon a ob 2685, grtorm the allowing aesson (BS#) “fF K0e) ~ [Fi fos cH) J hEADEA) oo nase apy CET SETS [Lona or oI ae [EEE cu Depress [FS)[EXECUTE]. cy OR SE T_T TEST=2 WORE —WORK-C Job List Display (Sorting) Depressing [F4] (CANCEL] stops job dele. tion and the job list display is returned i C JOB HEADER DISPLAY ‘The job being edited is deleted on the job header display. (Wma Sons Gok ONE STOP "ps Tos READER Sos NaMe = WOR A ow [leans] (ate 1986 18/1 1990 (cee aeesvTes. jimes = SounessrePs esrers "LOD: LOFr} To save 10 FLOPPYOISK NOT CONE (crave ser smi +s 1 seet te [suexo [oe [henner [08 nxt ow Fos] useT I USTZ J Header Display Enter the edit mode. Depress [EDIT] The softkey label shown on the leit is displayed. Depress [F2] [DELETE] ‘The softkey label shown on the left is displayed. ‘The edit job is deleted, At completion of deletion, the job list (sor: ting) appears. In the status display area, “oF #4 + "is displayed for the job name, in dicating that no job is called up for edit. ing — 68 — JOB LIST DISPLAY ) EE eet nne ent nS TAN Pe LEED) ‘The job to be deleted is selected on the job list display. ari LE WORA $008 LOOK ORE STOR vse (Bo Da \ faa ant ( fos-1"" S082" vesti4o — WoRk-a 1 ren ajo ent eet, ror fotoing roma | bi tn. oo = RE enc "nou coe o sls” a Gero age 81) = Job ist Display (Sorting) [ERIE Ge cone sans «10 2 Uu 2 merase prior elton ncton | [EWI S019 OLE A] «(F}iv08 » Fins oot {08-LsT REEORDWG) (554) «El eoel ~ Eins oot no. "JOH NAME” CAP (Pos) RTE save LIST). = Jo tet dupty eng orden (to) :Tesriad)‘tofaee) 10/1 Ge FIRST 2] Joo tet aaniy tegen ce Jeawoz ‘Joe. 2aeties) at tas jonns wore S$84rie) ots asus & fone: worn-8 —ss(ous) 1/22 N28 @ ue Nets tors? Raitt) 085 tS t og Ene ot mote, e vee EDT &) v = The softkey label shown on the left is ‘Oey | aE [Payot |e ae [ew EL cu displayed. | 2 | Depress (F2|[DELETE]. & 1 Enter ne 08 Fa mace] Er ‘The softkey label shown on the Teft is } displayed, —~ 69 — OTHER OPERATION H Input job namo 1 be deleted + cursorkey Sect ajo toe deleted by cursor key or Aas character input operation @ ro ce or a° -agB0 -G ie ages Depress [F5] (QUIT) to complete charae > G3 ter input operation. The job to be deleted is reversely dis . Played a eyes EH, Yu i sea Depress [F5] [EXECUTE] “The selected job is deleted a & At completion of deletion, the job list disptay (sorting) appears Det [F4] [CANCEL] stops job dele. tion and the job list display appears - 70 — SOFT KEY TREE ‘The following shows one basic operation tree for reference. (©7961 ERE is depressed cS co ae] Ser Hoa] a} a] Se Po 8 ae _j}—10 © ees se TE] 00 conten cxrLay Stosoou eae [LIEBE J ne usr nsruy econo ° BaD ] sve Hessen sey [| menor bre [oson | SS tea) Brera uy SOFT KEY TREE ‘@vhen EERIE s dopressod during job content display (a oo =m on) i me] |} fe] | rar ee }cam) |e] | oe fo }-an} ——$ — ——{ ee} Sw w 0806 |, [RAE] 8 exoenoenny | [Ve 08 cae ose I erence ie OSA 1] teuis ase some — 00 sr osray ecorone) | i ~— 72 © ven EI i copressoa chrng job neadercispley during job list display. mes {cour i ear] = 73 INSTRUCTIONS FOR ARC WELDING —— NOTATION sper 1. C ) = Not displayed in the screen 2. < > ! Numerical or character data | 3. —/-~ : Selection item (Select one) @ Move Instructions inaction Faneton Feat Earp Moves t9 the teach point by Jont Iter | [Postion data] [Base axis potion dota] | NOVI VJ—PL=? UNTIL TNATO polation, ‘Station axis pion data) ON NwaIT Movs Vim lay peed (ve, Jaina VE= Dour ocho 2 : [etree Eva Nos eae pe w aoa nat OTH nce ND PULSE OTAGOT Ie ce PULSE r 7 (010 to 3008) | Note "I no specication, 0.8 i set lina ne Bis Bone Set a en oly ee = OG#I Univ. output group No), Waits wnt ino ‘coincides. with | IN&() rer Returns to the called j IF syntax. RET IF INH2) OFF metus [eee ey END. En of ob EXD u NOP [ie oprai OF - ~~ Sone maniglate forepecicd tine | T= Tine TIMER T=1B5 Timer ' EEE tw sen878) eH Deters & vary of conde | «Camparcon elm JUMP #1218 INROD OFF U IF Syntax o>

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