Mitsubishi Electric Industrial Robot

CR800-R/CR800-Q series controller

iQ Platform Supporting
Extended Function Instruction Manual

BFP-A3528-B
 Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.

CAUTION All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned
ON.)
Enforcement of safety training

CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan. (This also applies to
maintenance work with the power source turned ON.)
Preparation of work plan

WARNING Prepare a device that allows operation to be stopped immediately during

teaching work. (This also applies to maintenance work with the power source
turned ON.)
Setting of emergency stop switch

CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc. (This also applies to maintenance work with the power
source turned ON.)
Indication of teaching work in progress

DANGER Provide a fence or enclosure during operation to prevent contact of the

operator and robot.
Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work, and
follow this method.
Signaling of operation start

CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress

CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
Inspection before starting work
 The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.

DANGER When automatic operation of the robot is performed using multiple control
devices (GOT, programmable controller, push-button switch), the interlocking of
operation rights of the devices, etc. must be designed by the customer.

CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to a drop or reliability or faults. (Temperature, humidity,
atmosphere, noise environment, etc.)

CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.

CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.

CAUTION Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.

CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.

CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.

WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.

WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.

CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.

WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.

CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation
before starting automatic operation. Failure to do so could lead to interference
with peripheral devices because of programming mistakes, etc.

CAUTION Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to
do so could lead to personal injuries.

CAUTION Never carry out modifications based on personal judgments, or use non-
designated maintenance parts.
Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not
place hands or fingers in the openings. Failure to observe this could lead to
hands or fingers catching depending on the posture.

CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during
automatic operation, the robot accuracy could be adversely affected. Moreover,
it may interfere with the peripheral device by drop or move by inertia of the arm.

CAUTION Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of the
robot controller may be damaged.

DANGER Do not connect the Handy GOT when using the GOT direct connection function
of this product. Failure to observe this may result in property damage or bodily
injury because the Handy GOT can automatically operate the robot regardless
of whether the operation rights are enabled or not.

DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR800-R/CR800-Q controller. Failure to
observe this may result in property damage or bodily injury because the Handy
GOT can automatically operate the robot regardless of whether the operation
rights are enabled or not.

DANGER Do not remove the SSCNET III cable while power is supplied to the multiple
CPU system or the servo amplifier. Do not look directly at light emitted from
the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or
the servo amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET
III cable. If the cap is not attached, dirt or dust may adhere to the connector
pins, resulting in deterioration connector properties, and leading to malfunction.

CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer emer-
gency stop, and door switch) are working properly after the wiring setup is com-
pleted.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments
connected to USB. When using network equipment, measures against the noise,
such as measures against EMI and the addition of the ferrite core, may be
necessary. Please fully confirm the operation by customer. Guarantee and
maintenance of the equipment on the market (usual office automation
equipment) cannot be performed.

CAUTION To maintain the safety of the robot system against unauthorized access from
external devices via the network, take appropriate measures.
To maintain the safety against unauthorized access via the Internet, take mea-
sures such as installing a firewall.
*CR800 controller

Notes of the basic component are shown.

CAUTION Please install the earth leakage breaker in the primary side power supply of the
controller because of leakage protection.

㼀㼔㼞㼑㼑㻌㼜㼔㼍㼟㼑 㻿㼕㼚㼓㼘㼑㻌㼜㼔㼍㼟㼑 㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞㻌㼞㼑㼍㼞

㻭㻯㻞㻜㻜㼂 㻭㻯㻞㻜㻜㼂

㻼㼞㼕㼙㼍㼞㼥㻌㼟㼕㼐㼑

Note 1)
㻱㼍㼞㼠㼔㻌㼘㼑㼍㼗㼍㼓㼑㻌 㻭㻯㻵㻺㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞
㻭㻯㻵㻺㻌㼏㼍㼎㼘㼑
㼎㼞㼑㼍㼗㼑㼞㻌㻔㻺㼂㻕 㻔㼍㼠㼠㼍㼏㼔㼙㼑㼚㼠㻕 㻼㻱㻌㻔㼜㼞㼛㼠㼑㼏㼠㼕㼢㼑㻌㼑㼍㼞㼠㼔㻕㻌㼠㼑㼞㼙㼕㼚㼍㼘
㻹㻠㻌㼟㼏㼞㼑㼣
㻿㼑㼏㼛㼚㼐㼞㼥㻌㼟㼕㼐㼑
㻸㻝 㻸㻞 㻸㻟 㻸 㻺
㻳㼞㼛㼡㼚㼐㼕㼚㼓㻌㼏㼍㼎㼘㼑
㻼㻱㻌㼠㼑㼞㼙㼕㼚㼍㼘
㻼㻱㻌㼠㼑㼞㼙㼕㼚㼍㼘
㻼㻱㻌㼠㼑㼞㼙㼕㼚㼍㼘

Note 1) Always use the terminal cover for the earth leakage breaker.

1) Prepare the following items.

Part name Specifications Remarks

Earth leakage breaker The following is recommended product. Prepared by customer.

Single phase: NV30FAU-2P-10A-AC100-240V-30mA
(Terminal cover: TCS-05FA2)
Three phase: NV30FAU-3P-10A-AC100-240V-30mA
(Terminal cover: TCS-05FA3)

Cable for primary power supply AWG14 (2mm2) or above Prepared by customer.
Tightening torque for terminal
fixing screw is 2 ～ 3Nm.

Grounding cable AWG14 (2mm2) or above Prepared by customer.

Tightening torque for terminal
fixing screw is 2 ～ 3Nm.
ACIN cable Terminal: M5, cable length: 3m Supplied with the product.
2) Confirm that the primary power matches the specifications.
3) Confirm that the primary power is OFF and that the earth leakage breaker power switch is OFF.
4) Connect the ACIN cable to the breaker.
Connect the power terminals of the ACIN cable to the secondary side terminals of the earth leakage breaker.
Also, ground the FG terminal of the cable.
5) Connect the ACIN cable to the ACIN connector on the rear of the controller.
6) Connect one end of the grounding cable to the PE (protective earth) terminal on the controller and ground the
other end (2-point grounding) in order to comply with the requirements of EN 61800-5-1 for the touch cur-
rent of 3.5 mA AC or more.
7) Connect the primary power cable to the primary side terminal of the earth leakage breaker.
Revision history
Date of print Specifications No. Details of revisions

2017-05-17 BFP-A3528 • First edition created.

2017-07-03 BFP-A3528-A • “2.1.1 Set up Sequencer's Multiple CPUs” was modified.

2018-03-01 BFP-A3528-B • Descriptions of CR800-Q controller were added.

*Introduction

Thank you for buying the industrial robot MELFA manufactured by Mitsubishi Electric.
This document provides the instructions for iQ Platform supporting extended functions in CR800-R/
CR800-Q series robot controller. Our extended functions allows the sequencer easily to monitor the
robot through CPU buffer memory between sequencer and robot, set up data, and operate the robot
without a program (sequencer direct performance). This document provides a detailed description of
the data configuration of the CPU buffer memory*, monitoring, and operation procedures. (*shared
memory if using the CR800-Q)

Please carefully read and fully understand this document before making use of the extended func-
tions.

Target controller of this document

This document supports the robot controller below:
• CR800-R/CR800-Q series controller

<Precautions>
Read "CPU buffer memory" as "CPU shared memory" if using the CR800-Q.

• No part of this manual may be reproduced by any means or in any form, without prior consent
from Mitsubishi.
• The contents of this manual are subject to change without notice.
• The specifications values are based on Mitsubishi standard testing methods.
• The information contained in this document has been written to be accurate as much as possi-
ble. Please interpret that items not described in this document "cannot be performed." or "alarm
may occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
•This specifications is original.

• Microsoft, Windows, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 8.1 are
either registered trademarks or trademarks of Microsoft Corporation in the United States and/or
other countries.
• Windows®XP, Windows Vista®, Windows® 7, Windows® 8, Windows® 8.1 are either product
names of Microsoft Corporation in the United States.
• Ethernet is registered trademarks or trademarks of Xerox Corporation in the United States.
• All other company names and production names in this document are the trademarks or regis-
tered trademarks of their respective owners.

Copyright(C) 2017-2018 MITSUBISHI ELECTRIC CORPORATION

 Contents
Page
1 Overview ......................................................................................................................................... 1-1
1.1 Function List .............................................................................................................................. 1-1
1.2 Features .................................................................................................................................... 1-2
1.3 CPU buffer Memory Configuration ............................................................................................ 1-4
1.3.1 Memory Configuration for Valid/Invalid Extended Function ................................................ 1-4
1.3.2 Memory Map of Extended Function Area ........................................................................... 1-5

2 Preparation for Using Extended Function ....................................................................................... 2-6

2.1 Operation flow ........................................................................................................................... 2-6
2.1.1 Set up Sequencer's Multiple CPUs ..................................................................................... 2-7
(1) CR800-R series ................................................................................................................ 2-7
(2) CR800-Q series .............................................................................................................. 2-10
2.1.2 Set up Robot's Multiple CPUs ........................................................................................... 2-11
2.1.3 Set up Parameter for Selecting CPU buffer Memory Extended Function ......................... 2-12
2.1.4 Check Robot Language Setting ........................................................................................ 2-13
2.1.5 Allocation Example of CPU buffer Memory ....................................................................... 2-14
(1) Multiple CPU Configuration with One Sequencer plus One Robot ................................ 2-14
(2) Multiple CPU Configuration with One Sequencer plus Three Robots ............................ 2-18

3 Monitor Robot Information ............................................................................................................ 3-26

3.1 Operation Flow ........................................................................................................................ 3-27
3.1.1 Select Monitoring Items .................................................................................................... 3-28
3.1.2 Select Target Mecha ......................................................................................................... 3-28
3.1.3 Timing Chart ..................................................................................................................... 3-29
3.1.4 Sample Ladder ................................................................................................................. 3-30
3.2 Monitoring Item ....................................................................................................................... 3-32
3.2.1 Monitor Operation Control Setting Values ........................................................................ 3-32
3.2.2 Monitor Activities ............................................................................................................... 3-34
3.2.3 Monitor Current and Aimed Positions ............................................................................... 3-35
3.2.4 Monitor Position and Joint Information ............................................................................. 3-37
(1) Select Position and Joint Data ....................................................................................... 3-37
(2) Position and Joint Data .................................................................................................. 3-39
3.2.5 Monitor Maintenance Information ..................................................................................... 3-42

4 Reads/Writes Robot's Variables ................................................................................................... 4-43

4.1 Function Description ............................................................................................................... 4-43
4.2 Operation Flow ........................................................................................................................ 4-43
4.3 How to Operate Variables ....................................................................................................... 4-44
4.3.1 Data List ............................................................................................................................ 4-44
(1) Sequencer output data ................................................................................................... 4-44
(2) Robot output data ........................................................................................................... 4-45
(3) Completion status ........................................................................................................... 4-46
(4) Data description ............................................................................................................. 4-46
4.3.2 Timing Chart ..................................................................................................................... 4-48
4.3.3 Sample Ladder ................................................................................................................. 4-49

5 Read Current Line of Robot Program ........................................................................................... 5-51

5.1 Function Description ............................................................................................................... 5-51
5.2 Operation flow ......................................................................................................................... 5-51
5.3 How to Operate Program ........................................................................................................ 5-52
5.3.1 Data List ............................................................................................................................ 5-52
5.3.2 Timing Chart ..................................................................................................................... 5-56
5.3.3 Sample Ladder ................................................................................................................. 5-57

6 Set up Robot's Maintenance ......................................................................................................... 6-59

6.1 Function Description ............................................................................................................... 6-59

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Page
6.2 Operation flow ......................................................................................................................... 6-59
6.3 How to Operate Maintenance ................................................................................................. 6-60
6.3.1 Data List ............................................................................................................................ 6-60
6.3.2 Timing Chart ..................................................................................................................... 6-62
6.3.3 Sample Ladder ................................................................................................................. 6-63

7 Read Robot Information ................................................................................................................ 7-65

7.1 Function Description ............................................................................................................... 7-65
7.2 Operation flow ......................................................................................................................... 7-65
7.3 How to Operate Robot Information ......................................................................................... 7-66
7.3.1 Data List ............................................................................................................................ 7-66
7.3.2 Timing Chart ..................................................................................................................... 7-69
7.3.3 Sample Ladder ................................................................................................................. 7-70

8 Perform Sequencer Direct ............................................................................................................ 8-72

8.1 Sequencer Direct Performance Function ................................................................................ 8-72
8.2 Operation flow ......................................................................................................................... 8-73
8.2.1 Parameter Setting ............................................................................................................. 8-74
8.2.2 Teaching ........................................................................................................................... 8-75
(1) Position Data .................................................................................................................. 8-75
(2) Position Teaching in Position Box (R32TB) ................................................................... 8-76
8.2.3 Prepare to Perform Sequencer Direct .............................................................................. 8-80
8.3 How to Operate Sequencer Direct .......................................................................................... 8-81
8.3.1 Operation Command ........................................................................................................ 8-81
(1) Sequencer output ................................................................................................................................................... 8-81
(2) Robot output .............................................................................................................................................................. 8-83
(3) Data description ............................................................................................................. 8-83
8.3.2 Timing Chart for Performing Operation Command ........................................................... 8-90
(1) Perform Operation (Normal Operation) .......................................................................... 8-90
(2) Operation Command Is Impracticable: ........................................................................... 8-91
(3) Suspend/Resume Operation .......................................................................................... 8-92
(4) Support on Occurrence of Error ..................................................................................... 8-93
(5) Suspension when Robot's External Operation Authority Gets Invalid ............................ 8-94
(6) Cancel Based on Command Request OFF Signal ......................................................... 8-95
8.3.3 Sample Ladder for Performing Operation Command ....................................................... 8-96
8.3.4 Control Robot Hand .......................................................................................................... 8-98
(2) Mapping hand signal with parameter HANDTYPE ......................................................... 8-99
(3) Hand control image ...................................................................................................... 8-100
8.3.5 Timing Chart for Robot Hand Control ............................................................................. 8-102
8.3.6 Sample Ladder for Robot Hand Control ......................................................................... 8-107
8.4 Samples ................................................................................................................................ 8-109
8.4.1 Robot Program ............................................................................................................... 8-109
8.4.2 Sample Ladder Program ................................................................................................. 8-110
8.4.3 Sample Operation Setting in GOT Screen ...................................................................... 8-119
8.5 Precautions for Sequencer Direct Performance ................................................................... 8-123
8.5.1 Requirements ................................................................................................................. 8-123
8.5.2 Running together with Program ...................................................................................... 8-123
8.5.3 Prohibit Program Startup with always Running Program ................................................ 8-123
8.5.4 Robot Language Setting ................................................................................................. 8-123

9 Cooperative operation function ................................................................................................... 9-124

9.1 Outline ................................................................................................................................... 9-124
9.2 Parameter of Selecting CPU buffer Memory Extended Function .......................................... 9-124
9.3 System configuration ............................................................................................................ 9-125
9.4 Sample program ................................................................................................................... 9-125
9.4.1 Automatic operation program (1.prg) .............................................................................. 9-126

ii
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Page
9.4.2 Robot adjustment program (BFRM.prg) .......................................................................... 9-127
9.5 Sequence program ............................................................................................................... 9-128
9.6 Adjustment ............................................................................................................................ 9-129
9.6.1 Adjustment 1: Adjustment of the common base coordinates .......................................... 9-129
9.6.2 Adjustment 2: Setting of the common tool ...................................................................... 9-130
9.6.3 Adjustment 3: Teaching and parameter setting of the workpiece transport destination . 9-131
9.7 Cooperated operation by robots ........................................................................................... 9-132
9.7.1 Parallel straight motion by robot No.1 ............................................................................. 9-132
9.7.2 Rotating motion by robot No.1 ........................................................................................ 9-132

10 CPU buffer Memory Extended Function Relevant Parameter ................................................ 10-133

10.1 Parameter of Selecting CPU buffer Memory Extended Function ...................................... 10-133
10.2 Function Definition Parameter .......................................................................................... 10-135

11 Extended Function Relevant Error List ................................................................................... 11-136

iii
 1Overview

1 Overview
These specifications describe the functions (sequencer direct performances) which extend the CPU buffer
memory in CR800-R series robot controller, exchange various robot information between sequencer and
robot through the extended CPU buffer memory, and operate the robot without a robot program.
Note: These CPU buffer memory extended functions only support MELFA-BASIC V and VI or later. They do
not support MELFA-BASIC IV.
(For more information, refer to Page 13, "2.1.4 Check Robot Language Setting")
Sequencer direct performance does not support mecha 2 and 3 for multiple mecha. It supports addi-
tional axis.

Monitor information CPU

㼎㼡㼒㼒㼑㼞
Operate robot 㼙㼑㼙㼛㼞㼥
㻔㼒㼕㼤㼑㼐㻌㼏㼥㼏㼘㼑㻕
Instruct robot operation

Sequence program Instruct robot operation

GOT

1.1 Function List

These CPU buffer memory extended functions are largely classified into monitoring and operation functions.
Monitoring function periodically updates and outputs the data in CPU buffer memory on the robot. Operation
function outputs a request from the sequencer to the robot as needed and exchanges the data. CPU buffer
memory extended functions also provide a direct performance function to directly operate the robot.
I/F btwn
No Item Description Update Cycle
Robots
1 Monitor- Monitor operation con- Monitors the setting values relating to Motoring output 3.5ms(CR800-R)
ing func- trol setting values operation control command and opera- 7.1ms(CR800-Q)
tion tion control. (Robot side peri-
2 Monitor activities Monitors the robot's activities (current odically updates 3.5ms(CR800-R)
speed, arrival factor to the aimed posi- the data in CPU 7.1ms(CR800-Q)
tion, etc.) buffer memory)
3 Monitor current and Monitors current and aimed positions of 3.5ms(CR800-R)
aimed positions robot. 7.1ms(CR800-Q)
4 Monitor general position Monitors various position type data (ori- It may differ accord-
and joint information entation at collision, etc.) and joint type ing to each item.
data (current value, load factor, etc.) Refer to Page 37,
"3.2.4 Monitor Posi-
tion and Joint Infor-
mation".
5 Monitor maintenance Monitors the maintenance information Depending on the
information (battery and grease remaining times). parameter MFINTVL
6 Operation Read/write variables Reads/ writes variables used in the Request reply Responds within 1s
function robot's program. method (It may vary accord-
7 Read program's current Reads currently performing line of the ing to the load status
line robot program on a per line basis (up to (The robot side of robot control)
128 characters). answers by the
8 Set up maintenance Resets the servomotor information. output request of
9 Read error information Reads detailed error information (pro- the sequencer,
gram name, occurred line, etc.) and delivers the
10 Read product information Reads the robot's product information data on the CPU
(model name, version, and serial num- buffer memory)
ber).

Function List 1-1

1Overview

I/F btwn
No Item Description Update Cycle
Robots
11 Perform sequencer direct Operates the robot from the sequencer
through CPU buffer memory

1.2 Features
(1) Fulfilling functions to monitor and operate robot from GOT. Advances T/B and PC-less solution.
→ Various functions can be performed by reading/ writing the data in CPU buffer memory from GOT.

● Allows you to check activities, position information, and setting values of operation control command and
thereby analyze the operation in case of debugging or problem. (Monitoring current and aimed positions,
activities, and operation control setting values)
● Allows you to read and write the contents of program and variables and thereby change the robot's oper-
ation in case of debugging or problem.
● Allows you to check and set up maintenance status.
● Allows you to check error's detailed content. (Reading error information)
● Allows you to display and check various information in the robot (product, servo information, etc.)

(2) Controls peripheral devices and system according to the robot activities with the sequencer
The sequencer allows you to monitor the data in CPU buffer memory and responsively control the peripheral
device connected to the sequencer according to the monitored value.

● Allows you to control the peripheral devices by monitoring the robot's activities (current speed, arrival fac-
tor to the aimed position, etc.)
● Allows you to generate an alarm to the system and report to the upper side by monitoring the mainte-
nance and servomotor information (load factor, etc.)

(3) Analyzes the data and performs the quality control by logging the robot information through sequencer
Allows you to analyze the system data and perform the products' quality control by sending the logged robot
information in CPU buffer memory to the sequencer and upper device connected to the sequencer.

● Allows you to control the system's operating situation by logging error information.
● Allows you to perform the quality control of product assembly by logging servo monitor information (cur-
rent value, etc.)

1-2Features
 1Overview

(4) Allows to operate the robot without learning robot language (sequencer direct performance)
● Allows to operate the robot without knowing robot language.
Allows you to operate the robot by writing predetermined setting value into the specified address in CPU
buffer memory. Therefore, this function can be fulfilled regardless of sequencer language (ladder, ST lan-
guage, SFC, etc.)
● Allows you to select either joint or linear interpolation. Also, allows you to adequately specify the robot
operations such as override, acceleration and deceleration, tool setting.
Command Action
Operation con- Mov Move for joint interpolation
trol Mvs Move for linear interpolation
Ovrd Specify the overall speed
Spd Specify the linear interpolation speed
Accel Specify the acceleration and deceleration speed
Definition com- Tool Specify the tool data
mand
Hand command Hopen/Hclose Open/close a hand

● Allows you to operate the robot with a sense, which is familiar to the sequencer programmer, to move a
positioning unit.
● Allows you to control the system operations only with sequencer.
Makes the program management easy so that a sequencer programmer can support for the change of
system specification and the problem.
● Allows you to control the system settings only with the sequencer in the GOT screen.
A sequencer programmer can support for the change of system specification and the problem so that the
program management gets so easy.

Features 1-3
1Overview

1.3 CPU buffer Memory Configuration

Here, describes the CPU buffer memory configuration among multiple CPUs.

1.3.1 Memory Configuration for Valid/Invalid Extended Function

To use the CPU buffer memory extended functions, enable the CPU buffer memory extended functions with
the parameter "IQMEM".
After enabling the CPU buffer memory extended functions, the CPU buffer memory is used by extending the
robot I/O area by 0.5 K word.

Extended Function Invalid Extended Function Valid

0 0

Robot input
Robot inputarea
area
(Sequencer output
(Sequencer outputarea)
area) User area User area

511 511 Total 1K

512 word used

Extended 0.5K
function area
words
1023 extended

0 0

Robot
Robot outputarea
output area User area User area
(Sequencer
(Sequencer inputarea)
input area)

511 511 Total 1K

・ 512 words used
・
・
Sequencer CPU buffer memory address (per word) Extended 0.5K
Sequencer shared memory address (per word)
* Above notation is an offset address from the beginning. function area
* Above notation is an offset address from the beginning words
1023 extended
・
・
・
Sequencer CPU
Sequencer buffer
shared memoryaddress
memory address (per
(perword)
word)
** Above
Above notation
notationisis
ananoffset address
offset fromfrom
address the beginning.
the beginning

Note) Only the user area can be referred to by robot program, signal monitor, and dedicated I/O signal allo-
cation. They cannot refer to the extended function area.

1-4CPU buffer Memory Configuration

 1Overview

1.3.2 Memory Map of Extended Function Area

The table below lists the memory map of extended function area in the CPU buffer memory among multiple
CPUs.
* As the sequencer address may differ according to each CPU device, the sequencer address is described
in the offset address from start address.
* When not otherwise specified, the values are stored in binary format.
(1) Robot input (sequencer output) area (2) Robot output (sequencer input) area
CPU buffer CPU buffer
Memory Addr Memory Addr
Description Description
Sequencer Sequencer
Addr Addr
512 Common setting area of extended function 512 Common setting area of extended function
Sequencer direct performance area Sequencer direct performance area

Common area of operation function

Read/write variables

Reading area of program's current line

600 600

Reset area of servo monitor information

Reading area of information

700 Common area of operation function 700

Reading/ writing/ teaching area of variables

Common area of monitoring function

Reading area of program's current line Monitoring area of operation control setting
values

800 800
Monitoring area of activities
Reset area of servo monitor information
Reading area of error and product informa- Monitoring area of current and aimed posi-
tion tions
Common area of monitoring function
Monitoring area of general position and joint
information
(Reserved: Future extended area)

900 900 Monitoring area of general position and joint

information

Monitoring area of maintenance information

1000 1000
(Reserved)
1023 1023
1024 1024

CPU buffer Memory Configuration 1-5

2Preparation for Using Extended Function

2 Preparation for Using Extended Function

2.1 Operation flow

Start

● Sets up sequencer's parameter (multiple CPU setting).

Set up sequencer's multiple CPUs … For robot CPU, allocate 1K word of free user area in high-speed
communication area of multiple CPUs to robot's I/O area.
(Refer to Page 7, "2.1.1 Set up Sequencer's Multiple CPUs")
● Sets up multiple CPUs' parameters.
Reset sequencer … (Refer to Page 11, "2.1.2 Set up Robot's Multiple CPUs")
● Sets up parameter IQMEM.
1) To enable the extended function, set bit 0 to one.
2) To enable the sequencer direct performance, set bit 1 to one.
(Refer to Page 12, "2.1.3 Set up Parameter for Selecting CPU buf-
fer Memory Extended Function")
● Set robot language to "MELFA BASIC V" or "MELFA BASIC VI."
(Refer to Page 13, "2.1.4 Check Robot Language Setting")
● Carry out the reset operation of sequencer or reset the sequencer
Reset sequencer … by turning ON the power.

Did the sequencer

successfully restart?

"3Monitor Robot Information"

Carry out the functions described in "4Reads/Writes Robot's Variables"
chapters 3 to 8 "5Read Current Line of Robot Program"
"6Set up Robot's Maintenance"
"7Read Robot Information"
"8Perform Sequencer Direct"

2-6Operation flow
 2Preparation for Using Extended Function

2.1.1 Set up Sequencer's Multiple CPUs

(1) CR800-R series
Set up a module configuration before set up sequencer's multiple CPUs. Based on the actual module con-
figuration, arrange the modules as shown below.

GX Works3 module configuration screen (three robots)

When the module configuration screen is closed after arranging the modules, the following dialogue will
appear. Click [Yes] button.

Operation flow 2-7

2Preparation for Using Extended Function

Open the system parameter screen to set up the multiple CPUs.

2-8Operation flow
 2Preparation for Using Extended Function

Setting Item Description Setting Value

Communica- PLC Unit Data Set up this to avoid data separation at data commu- Enable
tion Setting nications by refresh. When data of more than 64 bit Disable
between data is handled, data croaking may occur.
CPUs The update cycle of the Sequencer link I/O func-
tion of the robot CPU is as follows.
< PLC Unit Data - Disable >
It will be the specified periodic communication
interval.
< PLC Unit Data - Enable >
Even when setting the periodic communication
interval setting to "0.444 ms" or less, it will be
0.888 ms.
* Other data update cycle is as described in
each chapter.
Fixed Scan Select whether the fixed scan communication func- Use
Communica- tion is used or not.
tion Function Always select "Use" when using together with a
robot CPU.
Fixed Scan Set up the range of transmission area of each <CPU buffer memory extended functions are
Communica- device in the fixed scan communication area. valid:>
tion Area Set- The necessary area Note1) for robot is as follows:  Device #1: Sum of the size (1K) of the data to
ting CPU buffer memory extended functions are be sent to the robot and the size of the data to
valid: be sent to other devices
 Robot input area: 1.0K  Robot device: Set 1K for it
 Robot output area: 1.0K  Other devices: Set its own transmission size
CPU buffer memory extended functions are <CPU buffer memory extended functions are
invalid: invalid:>
 Robot input area: 0.5K  Device #1: Sum of the size (0.5K) of the data
 Robot output area: 0.5K to be sent to the robot and the size of the data
to be sent to other devices
 Robot device: Set 1K for it Note2)
 Other devices: Set its own transmission size
0.05ms Unit Specify whether to set the fixed scan communica- Not Set
Setting tion cycle in increments of 0.05ms. Please be sure
to select "Not Set" when combining with robot CPU.
Fixed Scan Select the fixed scan communication cycle to be set 0.222ms
Interval Set- from the list items. The same option should be 0.444ms
ting specified only for CPU modules which will use the 0.888ms
(Not set in fixed scan communication function. 1.777ms
0.05ms unit) Please select "0.888ms" or less regardless of the 3.555ms
PLC Unit Data. When using cooperative control 7.111ms
function or interference avoidance function of the
robot CPU.
Operation Stop Setting If a moderate or major error occurs at any of the Major: All Station Stop, Moderate: All Station
Mode Setting CPUs, set whether to stop or continue operation for Continue.
all CPUs. * Set for all CPUs.
Synchronous Set up this to synchronize startup time of CPU Synchronize
Startup Setting modules in multiple CPUs system.
* Always select "Synchronize" due to the robot CPU
takes as long as 18 seconds to startup.
Note1) For information about multiple CPUs and fixed scan communication area, refer to the RCPU manual (MELSEC iQ-
R CPU Module User's Manual (Application)).
Note2) Because the area is set up in 1K unit, allocate 1K even in case of 0.5K.

Operation flow 2-9

2Preparation for Using Extended Function

(2) CR800-Q series

Here, sets up the multiple CPU setting as a sequencer's PC parameter. Also refer to the description of
sequencer link I/O functions described in Supplement volume "Instruction Manual, Detailed Description of
Functions and Operations."
Below is an example of configuring multiple CPUs in GX-Developer. It is also possible to configure multiple
CPUs in GX Works2 and GX Works3.

GX-Developer multiple CPU setting screen (three robots. The shared memory extended functions are valid
in all robots)

Setting Item Description Setting Value

CPU quantity Set up the quantity of CPU units used in multiple CPU 2-4
system.
Synchronous startup Set up this to synchronize the startup times of CPU Required for check
among multiple CPUs units in multiple CPU system.

* Because the robot CPU takes a dozen second for

startup, select the synchronize startup
High-speed communica- Set up this when the data is transferred by using the <Shared memory extended functions are valid:>
tion area setting among high-speed communication area Note1) among multiple  Device #1: Sum of the size (1K) of the data to be
multiple CPUs CPUs. sent to the robot and the size of the data to be
The necessary area for robot is as follows: sent to other devices
Shared memory extended functions are valid:  Robot device: Set 1K for it
 Robot input area: 1.0K  Other devices: Set its own transmission size
 Robot output area: 1.0K <Shared memory extended functions are invalid:>
Shared memory extended functions are invalid:  Device #1: Sum of the size (0.5K) of the data to be
 Robot input area: 0.5K sent to the robot and the size of the data to be
 Robot output area: 0.5K sent to other devices
 Robot device: Set 1K for it Note2)
 Other devices: Set its own transmission size

Note 2: Because the area is set up in 1K unit, allo-

cate 1K even in case of 0.5K.
Automatic refresh setting Set up this when the device data is automatically Robot device: Set zero point for it
refreshed by using the high-speed communication area Other devices: To use automatic refresh function,
among multiple CPUs. set its score and target device
* Robot CPU is not supported. Always set this to zero.
Note1) For information about multiple CPUs and high-speed communication area among multiple CPUs, refer to the QCPU
manual (QCPU User Manual, Multiple CPU System).
Note2) Because the area is set up in 1K unit, allocate 1K even in case of 0.5K.

2-10Operation flow
 2Preparation for Using Extended Function

2.1.2 Set up Robot's Multiple CPUs

Here, sets up the multiple CPUs as a robot's parameter. In the description below, parameter setting screen
of RT ToolBox3 illustrates this setting. This can also be set up by specifying the parameter name in the
teaching box's parameter setting screen.

 The multiple CPU input offset

parameter "QMLTCPUS" can also
be set.

 In the multiple CPU Synchronous

Startup area and Multiple CPU
High Speed Transmission Area
Setting, automatically get the
value of device #1 settings.

RT ToolBox3 multiple CPU setting screen

(three robots. CPU buffer memory extended functions are valid in all robots)

[Start address of robot input offset]

The Table 2-1 lists the start addresses of robot input area in the robot's initial setting (multiple CPU input off-
set parameter "QMLTCPUS" is set to "-1") (The start address changes according to whether the CPU buffer
memory extended functions are enabled or not).

Table 2-1:Start address of robot input area when the multiple CPU input offset parameter is initial value
CPU buffer Memory Extended Functions
Device No
Invalid Valid
Device #2 (robot 1) 0K 0K
Device #3 (robot 2) 0.5K 1.0K
Device #4 (robot 3) 1.0K 2.0K

The start address of robot's input area may differ, when the valid/invalid setting for CPU buffer memory
extended function may differ in other devices or when a unit other than robot is installed. In these cases, set
up the multiple CPU input offset parameter (QMLTCPUS).
For setting example, refer to Page 14, "2.1.5 Allocation Example of CPU buffer Memory".
About input offset parameter (QMLTCPUS)
Sets up the offset of robot's input signals in multiple CPUs in 1K word unit.
For example, when QMLTCPUS is set to one, the start address of robot's input area is an address
(U3E0\HG1024) offset by 1K word from the start address of transmission area of device #1 (sequencer).
When QMLTCPUS is set to -1 (initial value), the start address of robot's input area is as listed in the table
above.

Operation flow 2-11

2Preparation for Using Extended Function

2.1.3 Set up Parameter for Selecting CPU buffer Memory Extended Function

The parameter "IQMEM" for selecting the CPU buffer memory extended function is 16bit data. Set the bit 0
to one to use the extended functions (monitoring, operation functions). Set the bit 1 to one to use the
sequencer direct performance function. Both bits can be set to one.
For information on how to set up a parameter, refer to Supplement volume "Instruction Manual, Detailed
Description of Functions and Operations."

Array Qty
Parameter
Parameter Character Description Factory Default
Name
Qty
Select CPU buffer IQMEM 1 digit inte- Set validity (1)/ invalidity (0) for the function. 0000000000000000
memory extended ger Sets each bit by allocating a function to each bit.
function 0000000000000000 bit2-15: Not used
|+- bit0: Use the CPU buffer
memory extended function
+-- bit1: Sequencer direct
performance function

To use the CPU buffer memory extended functions and sequencer direct performance functions, set each
bit as follows:
Bit 1 Bit 0
Use the CPU buffer memory extended function 0 1
Use the sequencer direct performance function 1 1

When using the sequencer direct performance function, robot's internal memory is extended as follows:
Robot controller's internal memory

Sequencer direct performance is invalid: Sequencer direct performance is valid:

External program External program

Extend and delete variable Set both bits 0, 1 of variable
external program parameter IQMEM to 1
variable
External program
Set either bit 0, 1 of variable for
parameter IQMEM to 0 sequencer direct Extend external
performance program variable
(For instructing
robot location)

Extend and delete

system state System state System state
variable variable Set both bits 0, 1 of variable
parameter IQMEM to 1

+
Set either bit 0, 1 of
parameter IQMEM to 0
System state
variable for Extend system state
sequencer direct variable
performance

CAUTION When the sequencer direct performance function is valid, external program variable
and system state variable areas are extended in the robot controller (extended vari-
ables). When the function gets invalid, the extended variable area is cleared. Conse-
quently, after the sequencer direct performance function was enabled once, the
robot location was taught, and the data was set, when the parameter is turned back,
be aware that the previous teaching and setting data will disappear.

2-12Operation flow
 2Preparation for Using Extended Function

2.1.4 Check Robot Language Setting

The CPU buffer memory extended functions can be carried out only when the robot language is set to
MELFA-BASIC V or MELFA-BASIC VI.
Check the value of robot language setting parameter "RLNG".
To use the CPU buffer memory extended function, set the parameter "RLNG" to 2 or 3.
For information on how to set up a parameter, refer to Supplement volume "Instruction Manual, Detailed
Description of Functions and Operations."

Array Qty
Parameter
Parameter Character Description Factory Default
Name
Qty
Robot language RLNG 1 digit inte- Select the robot language to be used: 3 (RT ToolBox3)
ger 3: MELFA-BASIC VI (RT ToolBox3)
2: MELFA-BASIC V
1: MELFA-BASIC IV

Operation flow 2-13

2Preparation for Using Extended Function

2.1.5 Allocation Example of CPU buffer Memory

(1) Multiple CPU Configuration with One Sequencer plus One Robot
1) Case 1: Robot: Extended function is enabled, input offset parameter is initial value
The robot uses each 1K word for I/O.
<CR800-R series>

Device #1 Device #2 (robot 1)

(sequencer) Extended function: Valid
㼁㻟㻱㻜㼈㻴㻳㻜
Transmission area Transmission area
of Device #1 of Device #1 Robot input
1K word (for Device #2)
㼁㻟㻱㻝㼈㻴㻳㻜
Transmission area Transmission area
of Device #2 of Device #2 Robot output
1K word

2-14Operation flow
 2Preparation for Using Extended Function

<CR800-Q series>

Device #1 Device #2 (robot 1)

(sequencer) Extended Function: Valid
Transmission U3E0\G10000
area of Device Transmission
#1, 3K word area of Device #1 Robot input
(1K x 3) (for Device #2)
U3E1\G10000
Transmission Transmission
area of Device area of Device #2 Robot output
#2, 1K word

Operation flow 2-15

2Preparation for Using Extended Function

2) Case 2: Robot: Extended function is disabled, input offset parameter is initial value
The robot uses each 0.5K word for I/O.
As the transmission score is set yet in 1K word unit, the transmission score setting is as fol-
lows:
<CR800-R series>

Device #1 Device #2 (robot 1)

(sequencer) Extended function: Invalid
㼁㻟㻱㻜㼈㻴㻳㻜
Transmission area Transmission area Robot input
of Device #1 of Device #1
㼁㻟㻱㻜㼈㻴㻳㻡㻝㻞
2K word (Empty)
(0.5K x 4)
㼁㻟㻱㻝㼈㻴㻳㻜
Transmission area
Transmission area of Device #2 Robot output
of Device #2 㼁㻟㻱㻝㼈㻴㻳㻡㻝㻞
1K word (Empty)
(0.5K x 2)

2-16Operation flow
 2Preparation for Using Extended Function

<CR800-Q series>

Device #1 Device #2 (robot 1)

(sequencer) Extended Function: Invalid
Transmission U3E0¥G10000 Transmission Robot input
area of Device
area of Device #1
#1, 2K word U3E0¥G10512
(0.5K x 4) (Empty)

Transmission U3E1¥G10000 Transmission Robot output

area of Device area of Device #2
#2, 1K word U3E1¥G10512 (Empty)
(0.5K x 2)

Operation flow 2-17

2Preparation for Using Extended Function

(2) Multiple CPU Configuration with One Sequencer plus Three Robots
1) Case 1: All robots: Extended function is enabled, input offset parameter is initial value
All robots use each 1K word for I/O.
The beginning of robot 2 input area starts at 1.0K offset from the beginning of CPU buffer
memory address, and the beginning of robot 3 input area starts at 2.0K offset from the begin-
ning of CPU buffer memory address.
<CR800-R series>

Device #1 Device #2 (robot 1) Device #3 (robot 2) Device #4 (robot 3)

(sequencer) Extended function: Valid Extended function: Valid Extended function: Valid
㼁㻟㻱㻜㼈㻴㻳㻜
Transmission area
of Device #1 Robot input
Transmission area (for Device #2)
of Device #1 㼁㻟㻱㻜㼈㻴㻳㻝㻜㻞㻠
3K word Transmission area
(1K x 3) of Device #1 Robot input
(for Device #3)
㼁㻟㻱㻜㼈㻴㻳㻞㻜㻠㻤
Transmission area
of Device #1 Robot input
Transmission area (for Device #4)
of Device #2 㼁㻟㻱㻝㼈㻴㻳㻜
1K word Transmission area
of Device #2 Robot output

Transmission area 㼁㻟㻱㻞㼈㻴㻳㻜

of Device #3 Transmission area
1K word of Device #3 Robot output

㼁㻟㻱㻟㼈㻴㻳㻜
Transmission area Transmission area
of Device #4 of Device #4 Robot output
1K word

2-18Operation flow
 2Preparation for Using Extended Function

<CR800-Q series>

Device #2 (robot 1) Device #3 (robot 2) Device #4 (robot 3)

Device #1 Extended Function: Extended Function: Extended Function:
(sequencer) Valid Valid Valid
U3E0\G10000
Transmission
area of Device #1 Robot input
(for Device #2)
Transmission U3E0\G11024
area of Device Transmission
#1, 3K word area of Device #1 Robot input
(1K x 3) (for Device #3)
U3E0\G12048
Transmission
area of Device #1 Robot input
(for Device #4)
U3E1\G10000
Transmission Transmission
area of Device #2 Robot output
area of Device
#2, 1K word
U3E2\G10000
Transmission Transmission
Robot output
area of Device area of Device #3
#3, 1K word
U3E3\G10000
Transmission Transmission
area of Device Robot output
area of Device #4
#4, 1K word

Operation flow 2-19

2Preparation for Using Extended Function

2) Case 2: All robots: Extended function is disabled, input offset parameter is initial value
All robots use each 0.5K word for I/O.
The beginning of robot 2 input area starts at 0.5K offset from the beginning of CPU buffer
memory address, and the beginning of robot 3 input area starts at 1.0K offset from the begin-
ning of CPU buffer memory address.
The setting is in 1K word unit as follows:
<CR800-R series>

Device #1 Device #2 (robot 1) Device #3 (robot 2) Device #4 (robot 3)

(sequencer) Extended function: Invalid Extended function: Invalid Extended function: Invalid
㼁㻟㻱㻜㼈㻴㻳㻜 Transmission area of
Device #1 Robot input
(for Device #2)
㼁㻟㻱㻜㼈㻴㻳㻡㻝㻞 Transmission area of
Transmission area
of Device #1
Device #1 Robot input
(for Device #3)
2K word 㼁㻟㻱㻜㼈㻴㻳㻝㻜㻞㻠 Transmission area of
(0.5K x 4) Device #1 Robot input
(for Device #4)
(Empty)
㼁㻟㻱㻝㼈㻴㻳㻜
Transmission area
Transmission area of Device #2 Robot output
of Device #2
1K word (Empty)
(0.5K x 2)
㼁㻟㻱㻞㼈㻴㻳㻜
Transmission area
Transmission area of Device #3 Robot output
of Device #3
1K word (Empty)
(0.5K x 2)
㼁㻟㻱㻟㼈㻴㻳㻜
Transmission area
Transmission area of Device #4 Robot output
of Device #4
1K word (Empty)
(0.5K x 2)

2-20Operation flow
 2Preparation for Using Extended Function

<CR800-Q series>

Device #2 (robot 1) Device #3 (robot 2) Device #4 (robot 3)

Device #1 Extended Function: Extended Function: Extended Function:
(sequencer) Invalid Invalid Invalid
U3E0\G10000 Transmission area of Device #1

(for Device #2)

Robot input
U3E0\G10512 Transmission area of Device #1
(for Device #3)
Robot input
Transmission
U3E0\G11024
area of Device Transmission area of Device #1
Robot input
#1, 2K word (for Device #4)

(0.5K x 4) (Empty)

Transmission U3E1\G10000
Transmission area
Robot output
area of Device of Device #2
#2, 1K word (Empty)
(0.5K x 2)
Transmission U3E2\G10000
Transmission area
Robot output
area of Device of Device #3
#3, 1K word (Empty)
(0.5K x 2)
Transmission U3E3\G10000 Transmission area
Robot output
area of Device of Device #4
#4, 1K word (Empty)
(0.5K x 2)

Operation flow 2-21

2Preparation for Using Extended Function

3) Case 3: Robots 1, 2: Extended function is disabled, Robot 3: Extended function is enabled (#1)
By default, the robot 3 input area starts at 2.0K offset from the beginning of CPU buffer mem-
ory (By default, the extended function of robots 1, 2 is also assumed to be enabled, similar to
robot 3). Therefore, the multiple CPU input offset parameter (QMLTCPUS) of robot 3 should
be set to "1."
<CR800-R series>

Device #1 Device #2 (robot 1) Device #3 (robot 2) Device #4 (robot 3)

(sequencer) Extended function: Invalid Extended function: Invalid Extended function: Valid
㼁㻟㻱㻜㼈㻴㻳㻜 Transmission area of
Device #1 Robot input
(for Device #2)
㼁㻟㻱㻜㼈㻴㻳㻡㻝㻞 Transmission area of
Transmission area Device #1
of Device #1 (for Device #3)
Robot input
2K word 㼁㻟㻱㻜㼈㻴㻳㻝㻜㻞㻠
(0.5K x 2, 1K x 1) Transmission area
of Device #1 Robot input
(for Device #4)
㼁㻟㻱㻝㼈㻴㻳㻜
Transmission area
Transmission area of Device #2 Robot output
of Device #2
1K word (Empty)
㼁㻟㻱㻞㼈㻴㻳㻜
Transmission area
Transmission area of Device #3 Robot output
of Device #3
1K word (Empty)
㼁㻟㻱㻟㼈㻴㻳㻜
Transmission area Transmission area
of Device #4 of Device #4 Robot output
1K word
Input offset parameter of
robot 3 is changed

2-22Operation flow
 2Preparation for Using Extended Function

<CR800-Q series>

Device #2 (robot 1) Device #3 (robot 2) Device #4 (robot 3)

Device #1 Extended Extended Extended
(sequencer) Function: Invalid Function: Invalid Function: Valid
U3E0\G10000 Transmission area of Device #1
Robot input
(for Device #2)
Transmission U3E0\G10512 Transmission area of Device #1 Robot input
area of Device
(for Device #3)
#1, 2K word U3E0\G11024
(0.5K x 2, 1K x1) Transmission area of Device #1
Robot input
(for Device #4)

U3E1\G10000 Transmission Robot output

Transmission area of Device #2
area of Device (Empty)
#2, 1K word
U3E2\G10000 Transmission Robot output
Transmission area of Device #3
area of Device (Empty)
#3, 1K word
U3E3\G10000
Transmission Transmission Robot output
area of Device area of Device #4
#4, 1K word

Input offset parameter of

robot 3 is changed

Operation flow 2-23

2Preparation for Using Extended Function

4) Case 4: Robots 1, 2: Extended function is disabled, Robot 3: Extended function is enabled (#2)
This example allocates 1K area in advance so that the allocation is not changed even when
the extended function is enabled in the future, while the extended function was disabled and
the extended area was not allocated.
Empty area of 0.5K is kept at the back of each transmission area of robot 1 (for robots 2, 3).
By default, the robot 2 input area starts at 0.5K offset from the beginning of CPU buffer mem-
ory (By default, the extended function of robots 1 is also assumed to be disabled, similar to
robot 2). Therefore, the multiple CPU input offset parameter (QMLTCPUS) of robot 2 should
be set to "1".
<CR800-R series>

Device #1 Device #2 (robot 1) Device #3 (robot 2) Device #4 (robot 3)

(sequencer) Extended function: Invalid Extended function: Invalid Extended function: Valid
㼁㻟㻱㻜㼈㻴㻳㻜 Transmission area of
Device #1 Robot input
(for Device #2)
(Empty)
Transmission area 㼁㻟㻱㻜㼈㻴㻳㻝㻜㻞㻠 Transmission area of
of Device #1 Device #1 Robot input
(for Device #3)
3K word
(1K x 3) (Empty)
㼁㻟㻱㻜㼈㻴㻳㻞㻜㻠㻤
Transmission area
of Device #1 Robot input
(for Device #4)
㼁㻟㻱㻝㼈㻴㻳㻜
Transmission area Transmission area
of Device #2 Robot output
of Device #2
1K word (Empty)
㼁㻟㻱㻞㼈㻴㻳㻜
Transmission area Robot output
Transmission area of Device #3
of Device #3
1K word (Empty)
㼁㻟㻱㻟㼈㻴㻳㻜
Transmission area Transmission area
of Device #4 of Device #4 Robot output
1K word Input offset parameter of
robot 2 is changed

2-24Operation flow
 2Preparation for Using Extended Function

<CR800-Q series>

Device #2 (robot 1) Device #3 (robot 2) Device #4 (robot 3)

Device #1 Extended Function: Extended Function: Extended Function:
(sequencer) Invalid Invalid Valid
U3E0\G10000 Transmission area of Device #1
Robot input
(for Device #2)

(Empty)
Transmission U3E0\G11024 Transmission area of Device #1 Robot input
area of Device (for Device #3)
#1, 3K word (Empty)
(1K x 3)
U3E0\G12048
Transmission area of Device #1
Robot input
(for Device #4)

U3E1\G10000 Transmission
Transmission Robot output
area of Device #2
area of Device
(Empty)
#2, 1K word

Transmission
U3E2\G10000 Transmission Robot output
area of Device #3
area of Device
(Empty)
#3, 1K word

Transmission U3E3\G10000
Transmission Robot output
area of Device
area of Device #4
#4, 1K word

Input offset parameter of

robot 2 is changed

Operation flow 2-25

3Monitor Robot Information

3 Monitor Robot Information

The Table 3-1 lists the robot information monitored from sequencer.
Setting values are also monitored during performing sequencer direct.

Table 3-1:Monitoring item list

Mecha No Section
No Item Description I/F betw Robots Update Cycle
Setting No
1 Monitor operation Monitors the setting values relating to Monitoring output 3.5ms(CR800-R ○ "3.2.1"
control setting operation control command and opera- 7.1ms(CR800-Q) (necessary)
values tion control (Robot side peri-
2 Monitor activities Monitors the robot's activities (current odically updates 3.5ms(CR800-R ○ "3.2.2"
speed, arrival factor to the aimed posi- the data in CPU 7.1ms(CR800-Q)
tion, etc.) buffer memory
3 Monitor current Monitors current and aimed positions of 3.5ms(CR800-R ○ "3.2.3"
and aimed posi- robot 7.1ms(CR800-Q)
tions
4 Monitor position Monitors various position type data (ori- Differ according ○ "3.2.4"
and joint informa- entation at collision, etc.) and joint type to items
tion data (current value, load factor, etc.)
5 Monitor mainte- Monitors the maintenance information Depending on ○ "3.2.5"
nance informa- (battery and grease remaining times) the parameter
tion MFINTVL

3-26
 3Monitor Robot Information

3.1 Operation Flow

Start

Prepare for Using Extended Function … Refer to Page 6, "2 Preparation for Using Extended Function".

Select monitoring items

Select items to be monitored from the sequencer.

No Is the function selected by The robot outputs the signal "Function performing" of the moni-
toring function.
the robot side?
(Refer to Page 28, "3.1.1 Select Monitoring Items")
Yes

Select mecha

Select the mecha number from the sequencer.

No Is the mecha selected by The robot outputs the "Mecha No" of monitoring target.
the robot side? (Refer to Page 28, "3.1.2 Select Target Mecha")

Yes

Whether to monitor posi- No

Monitoring starts
tion and joint information?
• Monitor operation control setting values
• Monitor activities
Yes • Monitor current and aimed positions
• Monitor maintenance information
Select position and joint data

Select the position and joint data from the sequencer.

The robot outputs the "Position and joint data No" of monitoring
No Is the data selected by the target.
robot side? (Refer to Page 37, "(1) Select Position and Joint Data")

Yes

Monitoring starts
• Monitor position and joint information

Operation Flow 3-27

3Monitor Robot Information

3.1.1 Select Monitoring Items

Here, selects the monitoring functions output by the robot from the sequencer.
Only the data specified by items (set to "1") selected with each bit can be monitored. For more information
on each monitoring data, refer to Page 32, "3.2 Monitoring Item" and after.

(1) Sequencer output data

a) Word data
Sequencer Addr
Description Remarks
(offset)
Function selection [Allocated to each bit, 0: invalid, 1: valid]
bit15 0
0000000000000000
|||||||+--bit0: (Reserved)
||||||+---bit1: (Reserved)
512 |||||+----bit2: Monitor operation control settings
||||+-----bit3: Monitor activities
|||+------bit4: Monitor current and aimed positions
||+-------bit5: Monitor position and joint information
|+--------bit6: Monitor maintenance information
+---------bit7: (Reserved)

(2) Robot output data

a) Word data
Sequencer Addr
Description Remarks
(offset)
Function performing [allocated to each bit, 0: invalid, 1: valid]
bit15 0
0000000000000000
|||||||+--bit0: (Reserved)
||||||+---bit1: (Reserved)
512 |||||+----bit2: Monitor operation control settings
||||+-----bit3: Monitor activities
|||+------bit4: Monitor current and aimed positions
||+-------bit5: Monitor position and joint information
|+--------bit6: Monitor maintenance information
+---------bit7: (Reserved)

3.1.2 Select Target Mecha

Here, selects the target mecha number of monitoring data output by the robot from the sequencer.
The robot outputs the data with selected mecha number. The number (1 to 3) is selectable for mecha num-
bers. When the number other than 1 - 3 is specified, the data is initialized (zeros are put in the whole target
area)

(1) Sequencer output data

a) Word data
Sequencer Addr
Description Remarks
(offset)
841 Specify a mecha number [1 - 3]

(2) Robot output data

a) Word data
Sequencer Addr
Description Remarks
(offset)
731 Mecha number [1 - 3]

3-28Operation Flow
 3Monitor Robot Information

3.1.3 Timing Chart

Sequencer Robot
Robot (1) (2) (3) (4) (5) (6) (7)
Sequencer

Select function, bit 4

(Monitor current and
aimed positions)

Select function, bit 6

(Monitor maintenance
information)

Specify mecha 1 2 0 1
No

Performing function, bit 4

(Monitor current and
aimed positions)

Performing function, bit 6

(Monitor maintenance
information)

Mecha No 1 2 0 1

Data for monitoring Mecha 1's Mecha 2's Mecha 1's

current and value value value
aimed positions

Data for monitoring

Mecha 1's Mecha 2's Mecha 1's
maintenance
value value value
information

The data is updated periodically while outputting

setting values (monitoring output)

Fig.3-1:Timing chart for selecting monitoring items and target mecha

(1) When the sequencer sets the target bit of "Select function" to "ON", the robot sets the target bit of
"Performing function" to "ON" to start the monitoring output of target item. Here, when "Specify
mecha number" is other than 1 - 3, the robot waits to update the data.
(2) When the sequencer sets "Specify mecha number" to one, the robot starts to update mecha 1's data.
(3) When the target bit of "Select function" is set to "ON" while the sequencer sets "Specify mecha num-
ber", the robot starts to update the data of target item while at the same time the robot sets the target
bit of "Performing function" to "ON".
(4) When the sequencer changes "Specify mecha number", the robot outputs the data of specified
mecha.
(5) When the sequencer sets "Mecha number" to other than 1 - 3, the robot clears the output data.
(6) When the sequencer re-sets "Mecha number", the robot outputs the data of target mecha.
(7) When the sequencer sets the target bit of "Select function" to "OFF", the robot sets the target bit of
"Performing function" to "OFF" to initialize the output data.

CAUTION The synchronization of data in CPU buffer memory is guaranteed on a per 32bit (2
word) basis. But, the synchronization in the unit more than this bit cannot be guaran-
teed. Therefore, be aware that the position type and joint type data is guaranteed for
each axis, the data is not guaranteed as a whole.

Operation Flow 3-29

3Monitor Robot Information

3.1.4 Sample Ladder

Here, shows the sample ladder to retrieve current and aimed positions and maintenance information into
the internal device by specifying the monitoring item and mecha number.

[Target function]
Select monitoring items (monitoring current and aimed positions, monitoring data of maintenance infor-
mation) and mecha

[Target robot]
The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)

[Description]
When the device with desired function to be monitored is set to "ON" of monitoring request (M14) for cur-
rent and aimed positions, monitoring request (M15) for maintenance information, and device of selecting
mechas 1 - 3 (M21 - M23), target data is output to the internal device for monitoring.
The data of current and aimed positions is stored in D1000 - D1071.
The data of maintenance information is stored in D1100 - D1133.

Example:
To output the current and aimed positions data of mecha 1, set M14 and M21 to "ON" (M22 and M23 are
"OFF") to output the monitoring data to D1000 to D1071.
To output the maintenance information data of mecha 1, set M16 and M21 to "ON" (M22 and M23 are
"OFF") to output the monitoring data to D1100 to D1133.

[Device details]
M14: Request to monitor the current and aimed positions
M16: Request to monitor the maintenance information
M21: Selects mecha 1
M22: Selects mecha 2
M23: Selects mecha 3

M34: Monitoring the current and aimed positions

M36: Monitoring the maintenance information
M41: Mecha 1 selected
M42: Mecha 2 selected
M43: Mecha 3 selected
D1000 - D1071: Stores the current and aimed positions data from the robot
D1100 - D1133: Stores the monitoring data of maintenance information from the robot

3-30Operation Flow
 3Monitor Robot Information

[Ladder]

U3E0\HG512.4

U3E1\HG512.4

U3E0\HG512.6

U3E1\HG512.6

U3E0\
HG841

U3E0\ U3E1\
HG841 HG731

U3E0\
HG841

U3E0\ U3E1\
HG841 HG731

U3E0\
HG841

U3E0\ U3E1\
HG841 HG731

U3E1\
HG830

U3E1\
HG980

Operation Flow 3-31

3Monitor Robot Information

3.2 Monitoring Item

3.2.1 Monitor Operation Control Setting Values

Here, periodically outputs the robot's operation control commands and the setting values for operation con-
trol to the CPU buffer memory.

(1) Monitoring data list

Supported
Sequencer Addr Update
Description State
(Offset) Cycle
Variable
ColChk setting value Collision detection setting [0: Invalid/ 1: Valid (error 3.5ms(CR8
777
occurred)/ 2: Valid (error not occurred) 00-R)
778 ColLvl setting value Collision detection level, J1 axis [%: 1 - 500] 7.1ms(CR8
00-Q)
779 Collision detection level, J2 axis [%: 1 - 500]
780 Collision detection level, J3 axis [%: 1 - 500]
781 Collision detection level, J4 axis [%: 1 - 500]
782 Collision detection level, J5 axis [%: 1 - 500]
783 Collision detection level, J6 axis [%: 1 - 500]
784 (Reserved)
785 (Reserved)
CMP Pos/Tool/Jnt set- Compliance coordinate type
794
ting values [0: Invalid/ 1: Perpendicular/ 2: Tool/ 3: Joint]
Specify a compliance coordinate type [Specify target
axis with bit]
[Setting values to specify compliance axis of CMP
Pos/Tool/Jnt setting values]
The values below are set by setting up bit:
bit7 0
00000000
795 |||||||+---bit0:J1/X axis
||||||+----bit1:J2/Y axis
|||||+-----bit2:J3/Z axis
||||+------bit3:J4/A axis
|||+-------bit4:J5/B axis
||+--------bit5:J6/C axis
|+---------bit6:(Reserved)
+----------bit7:(Reserved)
796 CmpG setting value Compliance J1/X axis gain [10-2: 1 - 100]
797 Compliance J2/Y axis gain [10-2: 1 - 100]
798 Compliance J3/Z axis gain [10-2: 1 - 100]
799 Compliance J4/A axis gain [10-2: 1 - 100]
800 Compliance J5/B axis gain [10-2: 1 - 100]
801 Compliance J6/C axis gain [10-2: 1 - 100]
802 (Reserved)
803 (Reserved)
MvTune/Prec setting val- Operation characteristic [1: Standard/ 2: High-
804
ues speed/ 3: Track preferred/ 4: Vibration restricted]

3-32Monitoring Item
 3Monitor Robot Information

<Precautions>
● When the target mecha does not exist, outputs the data zero.
● The value below is output as ColChk:
- When multiple mechas are in use or when the element 1 of parameter COL is zero (collision detection
unavailable),
→ zero is output
- Otherwise (collision detection available):
When being in operation (including step feed, position jump operation, and sequencer direct perfor-
mance),
→ the initial value is the value of element 2 of parameter COL, and then the output value is the
value changed by ColChk command.
When not being in operation (including suspension and jog operation),
→ it is set to the value of element 3 of parameter COL.
● The value below is output as ColLvl:
- When multiple mechas are in use or when the element 1 of parameter COL is zero (collision detection
unavailable) and
being in operation,
→ the initial value is the value of parameter COLLVL, and then the output value is the value
changed by ColLvl command.
When not being in operation,
→ it is the value during automatic operation is held when being in suspension, and it is the value
of parameter COLLVL when being stopped.
- Otherwise (collision detection available),
When being in operation,
→ the initial value is the value of parameter COLLVL, and then the output value is the value
changed by ColLvl command.
When not being in operation,
→ it is the value of parameter COLLVLJG.
● CMP Pos/Tool/Jnt setting values are set to zero when mechas 2, 3 are selected during using multiple
mechas.
(User mecha cannot use compliance)

Monitoring Item 3-33

3Monitor Robot Information

3.2.2 Monitor Activities

Here, periodically outputs the robot's activities (current speed, arrival factor to the aimed position, etc.) to
the CPU buffer memory.

(1) Monitoring data list

Sequencer
Supported Update
Addr Description
State Variable Cycle
(offset)
810 Current instruction speed [10-4mm/s] M_RSpd
811
812 Current distance remained [10-4mm] M_RDst
813
814 Distance between instructed and feedback positions [10-4mm] M_Fbd
815 3.5ms(CR8
816 Arrival factor [%] to the current aimed position M_Ratio 00-R)
Current acceleration and deceleration state M_AclSts 7.1ms(CR8
817 00-Q)
[0: Stopped/ 1: Accelerated/ 2: Constant speed/ 3: Decelerated]
818 Collision detection [1: Collided/ 0: Otherwise] Note1) M_ColSts
Going over the limit during performing compliance M_CmpLmt
819
[1: Almost go over the limit/ 0: Does not go over the limit]
820 Deviance amount between instructed and actual positions during performing M_CmpDst
821 compliance [10-4mm]
Note1) Robot state variable (M_ColSts) is "1" for about 3.5ms (CR800-R)/7.1ms (CR800-Q) between collision detection
and servo OFF. But, the data "1" is output to the CPU buffer memory for 1sec after the collision is detected.

<Precautions>
● When the target mecha does not exist, outputs the data zero.
● When the data is dependent on a slot and the slot does not exist which has the control of target mecha,
outputs the data zero. The data dependent on a slot is as follows:
• Current distance remained (M_RDst)
• Arrival factor to the current aimed position (M_Ratio)
• Current acceleration and deceleration state (M_ActSts)

3-34Monitoring Item
 3Monitor Robot Information

3.2.3 Monitor Current and Aimed Positions

Here, periodically outputs robot's current and aimed positions to the CPU buffer memory.

(1) Monitoring data list

Sequencer
Update
Addr Description
Cycle
(offset)
830 3.5ms(CR8
X coordinate value [10-4mm/10-4deg] 00-R)
831
7.1ms(CR8
832
Y coordinate value [10-4mm/10-4deg] 00-Q)
833
834
Z coordinate value [10-4mm/10-4deg]
835
836
A coordinate value [10-4mm/10-4deg]
837
838
B coordinate value [10-4mm/10-4deg]
839
Current position (perpendicular)
840
C coordinate value [10-4mm/10-4deg]
841
842
L1 coordinate value [10-4mm/10-4deg]
843
844
L2 coordinate value [10-4mm/10-4deg]
845
846
Structure flag
847
848
Multi-turn data
849
850
X coordinate value [10-4mm/10-4deg]
851
852
Y coordinate value [10-4mm/10-4deg]
853
854
Z coordinate value [10-4mm/10-4deg]
855
856
A coordinate value [10-4mm/10-4deg]
857
858
B coordinate value [10-4mm/10-4deg]
859
Aimed position (perpendicular)
860
C coordinate value [10-4mm/10-4deg]
861
862
L1 coordinate value [10-4mm/10-4deg]
863
864
L2 coordinate value [10-4mm/10-4deg]
865
866
Structure flag
867
868
Multi-turn data
869

Monitoring Item 3-35

3Monitor Robot Information

Sequencer
Update
Addr Description
Cycle
(offset)
870
J1 coordinate value [10-4mm/10-4deg]
871
872
J2 coordinate value [10-4mm/10-4deg]
873
874
J3 coordinate value [10-4mm/10-4deg]
875
876
J4 coordinate value [10-4mm/10-4deg]
877
Current position (joint)
878
J5 coordinate value [10-4mm/10-4deg]
879
880
J6 coordinate value [10-4mm/10-4deg]
881
882
J7 coordinate value [10-4mm/10-4deg]
883
884
J8 coordinate value [10-4mm/10-4deg]
885
886
J1 coordinate value [10-4mm/10-4deg]
887
888
J2 coordinate value [10-4mm/10-4deg]
889
890
J3 coordinate value [10-4mm/10-4deg]
891
892
J4 coordinate value [10-4mm/10-4deg]
893
Aimed position (joint)
894
J5 coordinate value [10-4mm/10-4deg]
895
896
J6 coordinate value [10-4mm/10-4deg]
897
898
J7 coordinate value [10-4mm/10-4deg]
899
900
J8 coordinate value [10-4mm/10-4deg]
901

<Precautions>
• When the target mecha and axis do not exist, outputs the data zero.
• When the origin is not established, outputs zero for the both perpendicular and joint components of current
position.

(2) Data description

[Perpendicular data]
• The unit is 10-4mm or 10-4deg.
• Only lower one word is used for the structure flag. Upper one word is a reserved area.

[Joint data]
• The unit is 10-4mm or 10-4deg.

3-36Monitoring Item
 3Monitor Robot Information

3.2.4 Monitor Position and Joint Information

Here, periodically outputs the robot's various position type and joint type data to the CPU buffer memory.
The sequencer selects the data output by the robot. The area exists for one pieces of position type data and
three pieces of joint type data and the data output for monitoring can be individually set by the sequencer.

(1) Select Position and Joint Data

In the sequencer, set up the number for position and joint data output by the robot.
The robot outputs the monitoring data corresponding to the selected data number.
The area exists for one pieces of position type data and three pieces of joint type data and the data can be
individually set.
When the sequencer specifies the data with the number which is out of range, the robot sets all monitoring
data to zero.

(1) Data list

a) Sequencer output
Sequencer
Addr Description
(offset)
Position data selection [1 - 4]
1: (Reserved)
850 2: (Reserved)
3: (Reserved)
4: Direction at the time of collision
Joint data selection-1 [1 - 13]
1: (Reserved)
2: (Reserved)
3: Difference between estimated and actual torques when detecting a collision
4: (Reserved)
5: Current instruction
6: Maximum current instruction 1
851
7: Maximum current instruction 2
8: Current feedback
9: Allowable current instruction, minus side
10: Allowable current instruction, plus side
11: Effective current
12: Axis load level
13: Maximum axis load level
Joint data selection-2 [1 - 13]
852
For setting values, refer to 851 above.
Joint data selection-3 [1 - 13]
853
For setting values, refer to 851 above.

b) Robot output
Sequencer
Addr Description
(offset)
906 Position data number [1 - 4]
907 Joint data number-1 [1 - 13]
908 Joint data number-2 [1 - 13]
909 Joint data number-3 [1 - 13]

Monitoring Item 3-37

3Monitor Robot Information

(2) Timing chart

(1) (2) (3) (4)
Sequencer Robot
Sequencer Robot
Joint data
number-1 5 12 0 5

Joint data
5 12 0 5
number-1

Joint data 1: Current 12: Axis load 5: Current

number-1 instruction level instruction

The data is updated periodically while

outputting setting values (monitoring output)

Fig.3-2:Joint data output, Timing chart

(1) When the sequencer selects "Joint data selection-1," the robot outputs the target data to "Joint data-
1" area.
(2) When the sequencer changes "Joint data selection-1," the robot outputs the changed target data to
"Joint data-1" area.
(3) When the sequencer selects the data out of valid range for "Joint data selection-1," the robot clears
"Joint data-1" (set all components to zero) and outputs zero for "Joint number-1."
(4) When the sequencer reselects "Joint data selection-1", the robot outputs the target data to "Joint
data-1" area.

* The same applies to Joint data-2, 3 and position data.

3-38Monitoring Item
 3Monitor Robot Information

(2) Position and Joint Data

(1) Data list

b) Robot output
Sequencer
Addr Description
(offset)
910
X coordinate value
911
912
Y coordinate value
913
914
Z coordinate value
915
916
A coordinate value
917
918 Position data [1 - 4]
1: (Reserved) B coordinate value
919
2: (Reserved)
920
3: (Reserved) C coordinate value
921 4: Direction at the time of collision
922
L1 coordinate value
923
924
L2 coordinate value
925
926
Structure flag
927
928
Multi-turn data
929
930
J1 coordinate value
931
932 Joint data-1 [1 - 13]
1: (Reserved) J2 coordinate value
933
2: (Reserved)
934 3: Difference between estimated and actual torques when J3 coordinate value
935 detecting a collision
936 4: (Reserved)
5: Current instruction J4 coordinate value
937
6: Maximum current instruction 1
938
7: Maximum current instruction 2 J5 coordinate value
939 8: Current feedback
940 9: Allowable current instruction, minus side
J6 coordinate value
941 10: Allowable current instruction, plus side
942 11: Effective current
12: Axis load level J7 coordinate value
943
13: Maximum axis load level
944
J8 coordinate value
945
946
J1 coordinate value
947
948
J2 coordinate value
949
950
J3 coordinate value
951
952
J4 coordinate value
953 Joint data-2 [1 - 13]
954 * The data is similar to Joint data-1.
J5 coordinate value
955
956
J6 coordinate value
957
958
J7 coordinate value
959
960
J8 coordinate value
961

Monitoring Item 3-39

3Monitor Robot Information

Sequencer
Addr Description
(offset)
962
J1 coordinate value
963
964
J2 coordinate value
965
966
J3 coordinate value
967
968
J4 coordinate value
969 Joint data-3 [1 - 13]
970 * The data is similar to Joint data-1
J5 coordinate value
971
972
J6 coordinate value
973
974
J7 coordinate value
975
976
J8 coordinate value
977

<Precautions>
• When the target mecha and axis do not exist, outputs the data zero.

3-40Monitoring Item
 3Monitor Robot Information

(2) Data description

The table below lists the content of each data item.
Supported
Item Description Setting Value (unit) State Update cycle
Variable
Divides the direction at P_ColDir 3.5ms(CR800-
the time of collision to RNote2) )
Position data

4: Direction at the time components X, Y, Z. 7.1ms(CR800-Q)

Robot's direction when the collision is
Specify the value with
of collision Note1) detected
the proportion when the
maximum moving axis
value is set to ±100.
3: Difference between J_Colmxl 3.5ms(CR800-
estimated and Maximum difference value between RNote2) )
actual torques when estimated and actual torques when [10-3%] 7.1ms(CR800-Q)
detecting a collision detecting a collision is valid
Note1)

5: Current instruction Outputs the current instruction value. [10-3Arms] 28ms

Outputs the maximum current instruc- 0.9sec
6: Maximum current
instruction 1
tion value after power-up. Reset when [10-3Arms]
the robot power supply is shut off.
7: Maximum current Outputs the maximum current instruc- 0.9sec
instruction 2 tion value for past 2sec. [10-3Arms]
3.5ms(CR800-
Outputs the current value generated in
8: Current feedback
the servo motor. [10-3Arms] RNote2) )
7.1ms(CR800-Q)
Outputs the maximum allowable value 3.5ms(CR800-
9: Allowable current (minus side) of the current generated in RNote2) )
Joint data

instruction, minus the servo motor. * The value may vary [10-3Arms] 7.1ms(CR800-Q)
side according to jog and automatic opera-
tions.
Outputs the maximum allowable value 3.5ms(CR800-
(plus side) of the current generated in RNote2) )
10: Allowable current
instruction, plus side
the servo motor. * The value may vary [10-3Arms] 7.1ms(CR800-Q)
according to jog and automatic opera-
tions.
Outputs the effective value of current 28ms
11: Effective current
feedback. [10-3Arms]

Outputs the motor's load level. The 0.9sec

bigger this value, the heavier the
load on the motor.
12: Axis load level [10-3%]
Roughly it should be 80% or less.
* It takes a few minutes until the value
will stable.
Outputs the maximum value of axis 0.9sec
13: Maximum axis load
level
load level after power-up. Reset when [10-3%]
the power supply is shut off.
Note1) Because the collision detection function is unavailable during using multiple mechas, outputs zero.
Note2) Update cycle is 7.1ms when user mechanism is enabled in CR800-R.

Monitoring Item 3-41

3Monitor Robot Information

3.2.5 Monitor Maintenance Information

Here, periodically outputs the robot’s scheduled maintenance data (grease and belt remaining times) to the
CPU buffer memory.

(1) Monitoring data list

Sequencer
Addr Description Update Cycle
(offset)
980
(Reserved)
981
982
Grease remaining time - J1 axis [Hr]
983
984
Grease remaining time - J2 axis [Hr]
985
986
Grease remaining time - J3 axis [Hr]
987
988
Grease remaining time - J4 axis [Hr]
989
990
Grease remaining time - J5 axis [Hr]
991
992
Grease remaining time - J6 axis [Hr]
993
994
Grease remaining time - J7 axis [Hr] Updated at sched-
995
uled interval set up
996
Grease remaining time - J8 axis [Hr] in the second ele-
997 ment of parameter
998 "MFINTVL"
Belt remaining time - J1 axis [Hr]
999
1000
Belt remaining time - J2 axis [Hr]
1001
1002
Belt remaining time - J3 axis [Hr]
1003
1004
Belt remaining time - J4 axis [Hr]
1005
1006
Belt remaining time - J5 axis [Hr]
1007
1008
Belt remaining time - J6 axis [Hr]
1009
1010
Belt remaining time - J7 axis [Hr]
1011
1012
Belt remaining time - J8 axis [Hr]
1013

<Precautions>
● When the target mecha does not exist, outputs all the data with zero.
● When the target mecha exists but the maintenance schedule is not supported, outputs all the data with "-
1".
● When the target axis is not updated by the maintenance schedule, outputs the data "-1".

(2) Data description

[Grease remaining time]: Outputs the remaining time until the grease-up of each axis.
[Belt remaining time]: Outputs the remaining time until the belt exchange of each axis.

3-42Monitoring Item
 4Reads/Writes Robot's Variables

4 Reads/Writes Robot's Variables

4.1 Function Description
(1) Function list
The table below lists the variable operations performed from the sequencer:

Table 4-1:Variable operation function list

Robot's
No Item Description
response time
1 Read numeric variable Reads variable content by specifying slot number and variable name.
Rewrites variable content by specifying slot number, variable name, and vari-
2 Write numeric variable
able content. Answered within
3 Read position variable Reads variable content by specifying slot number and variable name. 1sec (it may vary
Rewrites variable content by specifying slot number, variable name, and vari- according to the
4 Write position variable robot control's
able content.
5 Read joint variable Reads variable content by specifying slot number and variable name. load state)
Rewrites variable content by specifying slot number, variable name, and vari-
6 Write joint variable
able content.

(2) Functional requirements

Always available when a program is selected for robot's target slot and the target variable exists.
When the target is external variable, the variable operation is possible by specifying zero for a slot number,
even when a program is not selected.

CAUTION Be careful fully to change variable value.

The robot's location and behavior may be changed by changing the variable value,
thereby interfering with surrounding devices. Because it is especially dangerous
when the robot is in operation, sufficiently check the value to be changed.

4.2 Operation Flow

Start

Prepare for Using Extended Function ··· Refer to Page 6, "2 Preparation
"2. Preparation forExtended
for Using Using Extended Function".
Function."

No
Is variable operation necessary?

Yes

Carry out variable operation (read/ write) ··· Refer to "4.3

PageHow
44, "4.3 How toVariables."
to Operate Operate Variables".

Function Description 4-43

4Reads/Writes Robot's Variables

4.3 How to Operate Variables

Here, in the sequencer, operates the robot's variables (read/ write variables) by specifying function number,
slot number, variable name, and variable data.
Function number setting allows you to select work type (read/ write variable) and variable type (numeric/
position/ joint variables) and specify a variable name (designation of ASCII character).

4.3.1 Data List

(1) Sequencer output data
1) Word data
Setting values when specifying ASCII character for variable and program names
Setting Value for Specifying ASCII Character
Sequencer Numeric Var Numeric Var
Addr Numeric Var
Item Position Var Joint Var (Long-precision (Single-precision real
(Integer)
(offset) integer number) number)

Read Write Read Write Read Write Read Write Read Write
701 (Reserved) (Reserved)
702 Function No 101 102 104 105 107 108 111 112 121 122
703 Slot No Slot number [0, 1 to the value of parameter TASKMAX]
704
705
Program
706
name (Not used)
707
(Not used)
708
709
710
711
712
713 Variable
Variable name [ASCII data, up to 16 characters]
714 name
715
716
717
718 Integer Long-
X coor- J1 coor- precision Single-
precision
dinate dinate integer real num-
719 value value number
value ber value
720 Y coor- J2 coor-
dinate dinate
721 value value
722 Z coor- J3 coor-
dinate dinate
723 value value
724 A coor- J4 coor-
dinate dinate
725 value value
726 B coor- J5 coor-
Variable (Not (Not dinate (Not dinate (Not (Not
727 (Not value value
data used) used) used) used) used)
used)
728 C coor- J6 coor- (Not (Not
dinate dinate used) used)
729 value value
730 L1 coor- J7 coor-
dinate dinate
731 value value
732 L2 coor- J8 coor-
dinate dinate
733 value value
734 Struc-
735 ture flag
(Not
736 Multi- used)
turn
737 data

4-44How to Operate Variables

 4Reads/Writes Robot's Variables

2) Bit signal
Sequencer Address
Description
Addr (offset) Bit position
700 0 Request for variable operation

(2) Robot output data

1) Word data
Setting values when specifying ASCII character for variable and program names
Setting Value for Specifying ASCII Character
Sequencer Numeric Var Numeric Var
Numeric Var
Addr Item Position Var Joint Var (Long-precision (Single-precision real
(Integer) integer number) number)
(offset)
Read Write Read Write Read Write Read Write Read Write
Completion
551 Completion status [1: OK/ other than 1: NG]
status
552 Function No 101 102 104 105 107 108 111 112 121 122
553 Slot No Slot number [0, 1 to the value of parameter TASKMAX]
554
555
556 Program
Program name, ASCII data, up to 12 characters]
557 name
558
559
560
561
562
563 Variable
Variable name [ASCII data, up to 16 characters]
564 name
565
566
567
568 Integer J1 coordinate Long-precision inte- Single-precision
X coordinate value
569 value ger number value real number value
570 J2 coordinate
Y coordinate value
571 value
572 J3 coordinate
Z coordinate value
573 value
574 J4 coordinate
A coordinate value
575 value
576 J5 coordinate
B coordinate value
577 Variable value
data (Not (Not
578 J6 coordinate (Not (Not (Not (Not
used) used) C coordinate value
579 value used) used) used) used)
580 L1 coordinate J7 coordinate
581 value value
582 L2 coordinate J8 coordinate
583 value value
584
Structure flag
585 (Not (Not
586 used) used)
Multi-turn data
587

How to Operate Variables 4-45

4Reads/Writes Robot's Variables

2) Bit signal
Sequencer Address
Description
Addr (offset) Bit position
550 0 Variable operation completed

(3) Completion status

The values below are established as completion status:
Setting
Description
Value
1 Successfully completed
Specified data (function number, slot number, variable number, element number, or external variable specification)
2
out of range
3 Program not selected for the target slot
4 Target variable does not exist
5 (Reserved)
6 Not the formal variable data (at the time of writing variable)
7 Target variable not writable (at the time of writing variable)
Target variable value out of range at the time of reading variable: Not in the range between -32768 and 32767 (at the
8
time of reading numeric variable)
10 NG because of a factor other than 2 to 8

(4) Data description

[Function No]
Select the target function.
Function number setting allows you to select work type (read/ write variable) and variable type (numeric/
position/ joint variables) and specify a variable name (designation of ASCII character).

[Slot number]
Select the target slot.
In general, specify a value between 1 and the value of parameter TASKMAX (factory default: 8). In case
of external variable, "0" can be specified.

[Program name]
Program name is displayed in ASCII character.

● Specifying ASCII character

• Specify ASCII program name in 6 words area (12 characters).
• To specify ASCII characters, specify all 12 characters or string data including terminating code.
However, leading and ending blank characters (space) are ignored.
• When target is an external variable and zero is specified for slot number, the program name becomes
NULL.

[Variable name]
To specify a variable name, specify ASCII characters.

● Specifying ASCII character

• Specify the variable name (including leading character) in the 8 words area (16 characters, robot speci-
fication).
• To specify ASCII characters, specify all 16 characters or string data including terminating code.
However, leading and ending whitespace characters (space) are ignored.
• The character underscore (_) used in array and external variable is also available, and array or external
variable can be specified.

4-46How to Operate Variables

 4Reads/Writes Robot's Variables

<ASCII data setting example>

• Set up the data in order from low to high byte of start address.
• Specify zero as a terminating code.
(Be compliant with the character input specification of the sequencer)

"1A023" CPU buffermemory

Shared memoryaddr
addr
b15･････････b8 b7･･････････b0
U3E0\HG10
U3E0¥G10010 “A”(41H) “1”(31H)
Set up the data in order from Low to High U3E0\HG11
U3E0¥G10011 “2”(32H) “0”(30H)
byte of start address
U3E0¥G10012
U3E0\HG12 (0H) “3”(33H)

Specify zero as a terminating code

<Available character>
Available characters are compliant with robot specification. (Refer to the table below.)

Program Variable
Category Available Characters
Name Name
Alphabetic ABCDEFGHIJKLMNOPQRSTUVWXYZ ○ ○
character abcdefghijklmnopqrstuvwxyz × ○
Figure 0123456789 ○  Note1)
"'&()*+-.,/:;=<>?[\]^{}~|!#$% × × Note2)
Symbol
'_' (underscore) ×  Note3)
White space Whitespace character × ×
Note1) Only the alphabetic characters are available at the beginning of variable name. A figure is available for
second and after characters.
Note2) Parentheses "()" for specifying an array are available.
Note3) Available for second and after characters. The variable whose second character is underscore '_' is an
external variable.

[Variable data: numeric variable (Integer)]

• One word is prepared for a numeric variable and only an integer can be specified.
• Therefore, its range is between -32768 and 32767, and digits after decimal point are discarded.

[Variable data: numeric variable (Long-precision integer number)]

• Two words are prepared for a numeric variable and only an integer can be specified.
• Therefore, its range is between -2147483648 and 2147483647, and digits after decimal point are dis-
carded.

[Variable data: position, joint, and numeric (Single-precision real number) variables]
• The unit is 10-4mm or 10-4deg.
However, the number of significant figures for position and joint variable data output from the robot is
dependent on the parameter PRGDPNTM (digits after decimal point: factory default is 2 or 3 digits (it may
vary according to the robot model)), and the portion less than the significant figures is rounded off.
For example, when PRGDPNTM is two, to round off 1.2345 gives 12300 and to round off 6.7890 gives
67900.
• Only lower one word is used for the structure flag of position variable, and upper one word is a reserved
area.
• When a variable in undefined state (a variable exists but its data is empty) is read, zero is set to the unde-
fined portion of data.
• Because each component value is handled as a single-precision floating type real number in the robot, the
number of significant figures is about 7 digits.
(The value which can be expressed with 24bit when expressed in binary number is about 7 digits when
expressed in decimal number).

How to Operate Variables 4-47

4Reads/Writes Robot's Variables

• When the data is successfully written into a variable, the variable data in the robot after the writing is read
again and sent.
Therefore, even when writing into a position or joint variable is successfully ended, the data specified by
the sequencer may be different from the data to be sent by the robot. The robot's posture data or the num-
ber of significant figures of data's digits after decimal point may differ.
4.3.2 Timing Chart

(1) (2) (3) (4)

Sequencer Robot
Sequencer Robot
Function No
Slot No
Variable Name

(Variable data)

Request for variable

operation

Variable operation
completed

Completion status

Function No
Slot No
Program name
Variable Name

Variable data

Fig.4-1:Variable operation timing chart

(1) The sequencer sets up "Function number", "Slot number", "Variable name", and "Variable data" (only
for writing variable) and turns ON "Request for variable operation".
(2) When the robot receives "Request for variable operation ON", the robot operates the variable based
on received data. When "Function number", "Slot number", "Variable name", "Variable data", and
"Completion status" are specified after the operation, the robot turns ON "Variable operation com-
pleted".
When the operation cannot be carried out, the robot specifies a number indicating NG and turns ON
"Variable operation completed".
(3) When "Variable operation completed ON" is received, the sequencer turns OFF "Request for variable
operation".
(4) When received "Request for variable operation OFF", the robot turns OFF "Variable operation com-
pleted" and clears the data.

4-48How to Operate Variables

 4Reads/Writes Robot's Variables

4.3.3 Sample Ladder

Here, describes a ladder example which reads the data by specifying a position variable name.

[Target function]
Reads position variable (designation of ASCII character)

[Target robot]
The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)

[Description]
Turn ON the position variable read trigger (M100) to read the data of position variable P200 in slot 1.
The read position variable data is stored in D118 and after.
When the read handling is completed, M104 is turned ON. In this case, successful completion turns
M102 ON and abnormal completion turns M103 ON.
When M104 is turned ON, turn OFF the position variable read trigger (M100).

[Device details]
D10 - D17: Specify variable name
M100: Position variable read trigger
M101: Position variable successfully received
M102: Position variable reception OK completed
M103: Position variable reception NG completed
M104: Reading position variable completed

D101: Received data from the robot (completion status)

D102: Received data from the robot (function number)
D103: Received data from the robot (slot number)
D104 - D109: Received data from the robot (program name)
D110 - D117: Received data from the robot (variable name)
D118 - D137: Received data from the robot (position variable data)

How to Operate Variables 4-49

4Reads/Writes Robot's Variables

[Ladder]
U3E0\
HG702

U3E0\
HG703

U3E0\
HG710

U3E0\HG700.0

U3E1\HG550.0

U3E1\
HG551

U3E1\HG550.0

4-50How to Operate Variables

 5Read Current Line of Robot Program

5 Read Current Line of Robot Program

5.1 Function Description
(1) Function list
The Table 5-1 lists the program operations performed from the sequencer.

Table 5-1:Program operation function list

Robot's Response
No Item Description
Time
Responds within 1s
 Reads currently performing robot program (one line, 128 charac-
Read program's cur- (it may vary accord-
1 ters) by specifying a slot number.
rent line ing to the robot con-
 Practicable when a program is selected for robot's slot. trol's load state)

(2) Program data

The program data is as follows:
• The data is one line of program (up to 128 characters) in ASCII.
• When the data is less than 128 characters, terminating code 0 (NULL) is added at the end of string.
• Shift JIS codes are used for kanji character (similar to GOT specification).

CAUTION When a program line can be longer than 128 characters, the data after 128th char-
acter cannot be read.
Consequently, when the program whose line is longer than 128 characters is read
and the data is written as-is into the robot, be careful that the data which exceeds
128 characters will be deleted.

5.2 Operation flow

Start

Prepare for Using Extended Function ··· Refer to "2.

Page 6, "2 Preparation
Preparation forExtended
for Using Using Extended Func-
Function."
tion".

No
Is program operation necessary?

Yes

Carry out program operation (read) ··· Refer to "5.3

PageHow
52, "5.3 How toProgram."
to Operate Operate Program".

Function Description 5-51

5Read Current Line of Robot Program

5.3 How to Operate Program

Here, in the sequencer, operates the robot program by specifying function number, slot number, program
name, and program data.
Setting function number to '103' allows you to select a work type (read current line) and specify a program
name (designation of ASCII character).

5.3.1 Data List

(1) Sequencer output data
1) Word data
Setting Value for Specifying ASCII
Sequencer Character
Addr Item
Program
(offset)
Read current line
740 (Reserved) (Reserved)
741 Function No 103
Slot number
742 Slot No
[1 to the value of parameter TASKMAX]
743
744
745
Program name (Not used)
746
747
748
749 Line No (Not used)
750 (Reserved) (Reserved)
751
752
·
·
·

Program data (Not used)

813
814

2) Bit signal
Sequencer Address
Bit Description
Addr (offset)
position
700 1 Request for program operation

5-52How to Operate Program

 5Read Current Line of Robot Program

(2) Robot output data

1) Word data
Setting Value for Specifying ASCII
Sequencer Character
Addr Item
Program
(offset)
Read current line
590 Completion status Completion status [1: OK/ other than 1: NG]
591 Function No 103
Slot number
592 Slot No
[1 to the value of parameter TASKMAX]
593
594
595
Program name Program name, ASCII data, up to 12 characters
596
597
598
599 Line No Line No [1 - 32767]
Number of pro-
600 Number of program characters
gram characters
601
602
·
·
·

Program to be read
Program data [ASCII data, up to 128 characters]
* Shift JIS code for kanji

663
664

2) Bit signal
Sequencer Address
Bit Description
Addr (offset)
position
550 1 Program operation completed

How to Operate Program 5-53

5Read Current Line of Robot Program

(3) Completion status

The values below are established as completion status:
Setting
Description
Value
1 Successfully completed
2 Specified data (function number, slot number, program number) out of range
3 Program not selected for the target slot
4 (Reserved)
5 (Reserved)
6 (Reserved)
7 (Reserved)
10 NG because of a factor other than 2 to 7

(4) Data description

[Function No]
Selects the target function.
Function number setting allows you to select a work type (read current line) and specify a program name
(designation of ASCII character).

[Slot number]
Select the target slot. Specify a value (factory default: 8) in the range between 1 and the value of param-
eter TASKMAX.

[Program name]
ASCII characters of the output program name.

• Specifying ASCII character

• Specify ASCII program name in 6 words area (12 characters).
• To specify ASCII characters, specify all 12 characters or string data including terminating code. How-
ever, leading and ending whitespace characters (space) are ignored.

For information about ASCII data, available characters, refer to Page 46, "(4) Data description".

[Line No]
The line number of the read line is output.
When a program is selected but program is in abeyance (program is not running), the line number of first
line is output.

5-54How to Operate Program

 5Read Current Line of Robot Program

[Number of program characters]

Outputs the number of characters of target line in the target program.
Count and specify the number of characters from the leading to final character (exclusive of line feed/ ter-
minating characters) including comment line (exclusive of line number).
When the target line is longer than 128 characters, up to 128 characters are read as a program data, but
the number of counted characters is set as-is as the number of program characters.
When writing into a program, the number of characters of written line is set.

Example 1: A line is less than 128 characters:

Stored in program data area (25 characters + terminating code (0))

MOV P1 ' Move to the aimed position <CR>

Number of program characters 25

Specify the number of characters from the leading to the final character (exclusive of
terminting character)

Example 2: A line is more than 128 characters:

Stored in program data area (128 characters)

PHOSEI=PBASE*INV(PTOOL)*PDATA ' Calculate······································· correction calculation <CR>

Number of program characters 132

Specify the number of characters from the leading to the final character (exclusive of
terminting character)

[Program data]
• The data is in ASCII format and up to 128 characters of program content are stored.
• Shift JIS codes are used for kanji.
• Line number is excluded from the program data.

How to Operate Program 5-55

5Read Current Line of Robot Program

5.3.2 Timing Chart

(1) (2) (3) (4)

Sequencer Robot
Sequencer Robot
Function No
Slot No
(Program name)
(Line No)

(Program data)

Request for program

operation

Program operation
completed

Completion status

Function No
Slot No
Program name
Line No

Program data

Fig.5-1:Program operation timing chart

(1) The sequencer sets up necessary data of "Function number", "Slot number", "Program name", "Line
number", and "Program data" and turns ON "Request for program operation".
(2) When the robot receives "Request for program operation ON", the robot operates the program based
on received data. When "Function number", "Slot number", "Program name", "Program data", and
"Completion status" are specified after the operation, the robot turns ON "Program operation com-
pleted".
When the operation cannot be carried out, the robot specifies a number indicating NG and turns ON
"Program operation completed".
(3) When "Program operation completed ON" is received, the sequencer turns OFF "Request for pro-
gram operation".
(4) When received "Request for program operation OFF", the robot turns OFF "Program operation com-
pleted" and clears the data.

5-56How to Operate Program

 5Read Current Line of Robot Program

5.3.3 Sample Ladder

Here, describes a ladder example which reads the current line of a program performed by the robot.

[Target function]
Reads program's current line (designation of ASCII character)

[Target robot]
The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)

[Description]
Turn ON the program read trigger (M110) to read the program data of current line in slot 1.
The read program data is stored in D210 and after.
When the read handling is completed, M114 is turned ON. In this case, successful completion turns M112
ON and abnormal completion turns M113 ON.
When M114 is turned ON, turn OFF the program read trigger (M110).

[Device details]
M110: Program read trigger
M111: Program successfully received
M112: Program reception OK completed
M113: Program reception NG completed
M114: Reading program completed

D200: Received data from the robot (completion status)

D201: Received data from the robot (function number)
D202: Received data from the robot (slot number)
D203 - D208: Received data from the robot (program name)
D209: Received data from the robot (line number)
D210 - D273: Received data from the robot (program data)

How to Operate Program 5-57

5Read Current Line of Robot Program

[Ladder]
U3E0\
HG741

U3E0\
HG742

U3E0\HG700.1

U3E1\HG550.1

U3E1\
HG590

U3E1\HG550.1

5-58How to Operate Program

 6Set up Robot's Maintenance

6 Set up Robot's Maintenance

6.1 Function Description
(1) Function list
The Table 6-1 lists the maintenance setting performed from the sequencer.

Table 6-1:Maintenance setting function list

Robot's
No Item Description
Response Time
Responds within 1s
(it may vary
Reset maximum ser- Resets the servo monitor's maximum values (current value, load factor, etc.)
1 according to the
vomotor value stored by robot to zero.
robot control's load
state)

(2) Functional requirements

Always practicable.

6.2 Operation flow

Start

Prepare for Using Extended Function ··· Refer to

to "2.
Page 6, "2 Preparation
Preparation for Using for Using Extended
Extended Function." Function".

No
Is program operation necessary?

Yes

Carry out maintenance setting operation ··· Refer to

to "6.3
Page 60,to"6.3
How How to
Operate Operate Maintenance".
Maintenance."

Function Description 6-59

6Set up Robot's Maintenance

6.3 How to Operate Maintenance

Here, in the sequencer, operates the maintenance setting by specifying function number and setting data
corresponding to the function.
Function number setting allows you to select function items.

6.3.1 Data List

(1) Sequencer output data
1) Word data
Setting Value
Sequencer
Item Reset Servo Monitor's Maximum/Minimum
Addr (offset)
Values

820 (Reserved) (Reserved)

821 Function No 6
822 Mecha No Mecha No[1-3]
823
824
825
Mecha No (Not used)
826
827
828

2) Bit signal
Sequencer Address
Addr Description
Addr (offset)
(offset)
700 2 Request for maintenance setting

(2) Robot output data

1) Word data
Setting Value
Sequencer
Item
Addr (offset) Reset Servo Monitor's Maximum/Minimum Values

Completion sta-
670 Completion status [1: OK/ other than 1: NG]
tus
671 Function No 6
672 Mecha No Mecha No[1-3]
673
674
675
Mecha No (Not used)
676
677
678

2) Bit signal
Sequencer Address
Addr Description
Addr (offset)
(offset)
550 2 Maintenance setting completed

6-60How to Operate Maintenance

 6Set up Robot's Maintenance

(3) Completion status

The values below are established as completion status:
Setting
Description
Value
1 Successfully completed
Specified "Function number" and "Mecha number" are out of range (including the case that the target mecha
2
does not exist).
3 (Not used)
4 No target function (the function specified by target mecha does not exist)
10 NG because of a factor other than 2 to 4

(4) Data description

[Function No]
Selects the target function.

[Mecha No]
Select the target mecha. Specify a mecha in the range of mechas 1 - 3.

How to Operate Maintenance 6-61

6Set up Robot's Maintenance

6.3.2 Timing Chart

(1) (2) (3) (4)

Seque Robot
Sequencer Robot

Function No

(Setting data)

Request for
maintenance setting

Maintenance setting
completed

Completion
status

Function No

(Setting data)

Fig.6-1:Maintenance function timing chart

(1) The sequencer sets up necessary data of "Function number" and "Setting data" and turns ON
"Request for maintenance setting."
(2) When the robot received "Request for maintenance setting ON," the robot operates the maintenance
setting based on received data. When "Function number", "Setting data", and "Completion status"
are specified after the operation, the robot turns ON "Maintenance setting completed."
When the operation cannot be carried out, the robot specifies a number indicating NG and turns ON
"Maintenance setting completed."
(3) When "Maintenance setting completed ON" is received, the sequencer turns OFF "Request for main-
tenance setting.”
(4) When "Request for maintenance setting OFF" is received, the robot turns OFF "Maintenance setting
completed" and clears the data.

6-62How to Operate Maintenance

 6Set up Robot's Maintenance

6.3.3 Sample Ladder

Here, describes a ladder example which resets the servo data's maximum values (current value, load factor)
stored in the robot.

[Target function]
Reset the maximum servo monitor value

[Target robot]
The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)

[Description]
Turn ON the maintenance setting read trigger (M120) to reset the maximum servo monitor values.
Output data from the robot is stored in D302 and after.
When the reset handling is completed, M124 is turned ON. In this case, successful completion turns
M122 ON and abnormal completion turns M123 ON.
When M124 is turned ON, turn OFF the maintenance setting read trigger (M120).

[Device details]
M120: Maximum servo monitor value reset trigger
M121: Maximum servo monitor value successfully reset
M122: Maximum servo monitor value reset OK completed
M123: Maximum servo monitor value reset NG completed
M124: Maximum servo monitor value reset completed

D300: Received data from the robot (completion status)

D301: Received data from the robot (function number)
D302: Received data from the robot (mecha number)

How to Operate Maintenance 6-63

6Set up Robot's Maintenance

[Ladder]
U3E0\
HG821

U3E0\
HG822

U3E0\HG700.2

U3E1\HG550.2

U3E1\
HG670

U3E1\HG550.2

6-64How to Operate Maintenance

 7Read Robot Information

7 Read Robot Information

7.1 Function Description
(1) Function list
The Table 7-1 lists the robot information reading performed from the sequencer.

Table 7-1:Robot information reading function list

Robot's
No Item Description
Response Time
Reads the detailed error information generated in the robot. Responds within 1s
When multiple errors occur, three information can be read at the same (it may vary
1 Read error information
time, and the information to be read can be changed by specifying the according to the
start number. robot control's load
2 Read product information Read the robot's product information. state)

(2) Functional requirements

Always practicable.

7.2 Operation flow

Start

Prepare for using extended function ・・・ RefertotoPage

Refer "2. Preparation for Using
6, "2 Preparation for Extended Function."
Using Extended Function".

No Is reading robot information

necessary?

Yes

Read robot information ・・・ Refer to Page 66, "7.3

"7.3 How How Information."
to Robot to Operate Robot Information".

Function Description 7-65

7Read Robot Information

7.3 How to Operate Robot Information

Here, reads the robot information from the sequencer by specifying function number and setting data.
Function number allows you to select the robot information to be read.

7.3.1 Data List

(1) Sequencer output data
1) Word data
Setting Value
Sequencer
Item Read Error Read Product
Addr (offset)
Information Information

830 (Reserved) (Reserved)

831 Function No 3 4
832 Setting No Start number [1 -] (Not used)

2) Bit signal
Sequencer Address
Addr Description
Addr (offset)
(offset)
700 3 Request for reading information

7-66How to Operate Robot Information

 7Read Robot Information

(2) Robot output data

1) Word data
Setting Value
Sequencer
Item Read Error Read Product
Addr (offset)
Information Information
680 Completion status Completion status [1: OK/ other than 1: NG]
681 Function No 3 4
682 Start number [1 -] (Not used)
Number of errors
683
occurred
684 Information 1 (error No)
685
686 Information 1
(error occurred program Robot type name
687
name) [ASCII data, up to 20
688 [ASCII data, up to 12 characters]
689 characters]
690
Information 1
691
(occurred line No)
692 Information 1
693 (detailed error No)
Controller version
Information 1
694 [ASCII data, up to 6
(occurred slot No)
characters]
695
696 (Reserved)
697
698 Information 2 (error No)
Controller serial No
699
[ASCII data, up to 16
700 Information 2
(error occurred program characters]
701
name)
702
[ASCII data, up to 12
703 characters]
704 Read data
Information 2
705
(occurred line No)
706 Information 2
(detailed error No) Robot serial No
707
[ASCII data, up to 16
Information 2 characters]
708
(occurred slot No)
709
710 (Reserved)
711
712 Information 3 (error No)
713
714 Information 3
715 (error occurred program
name)
716 [ASCII data, up to 12
717 characters]
718
Information 3 (Not used)
719
(occurred line No)
720 Information 3
721 (detailed error No)
Information 3
722
(occurred slot No)
723
724 (Reserved)
725

How to Operate Robot Information 7-67

7Read Robot Information

2) Bit signal
Sequencer Address
Addr Description
Addr (offset)
(offset)
550 3 Reading information completed

(3) Completion status

The values below are established as completion status:
Setting
Description
Value
1 Successfully completed
2 Specified "Function number" out of range
3 Specified "Setting data" out of range
10 NG because of a factor other than 2 and 3

(4) Data description

[Function No]
Selects the target function.

[Start No of read data]

Specify the information's start number to be read.
The robot reads and stores three pieces of information from the specified number in the CPU buffer
memory.
Specify 1: Reads first to third pieces of registered information.
Specify 2: Reads second to fourth pieces of registered information.
Specify 3: Reads third to fifth pieces of registered information.
Of information 1 - 3, the information with small number is a new error.

When the target information with the specified number does not exist, the robot sets all read data to zero.

7-68How to Operate Robot Information

 7Read Robot Information

7.3.2 Timing Chart

(1) (2) (3) (4)

Sequencer Robot
Sequencer Robot
Function No
(Start No)

Request for reading

information

Reading information
completed

Completion
status

Function No
(Start No)

Read data

Fig.7-1:Information reading timing chart

(1) The sequencer sets up necessary data of "Function number" and "Start number" and turns ON
"Request for reading information."
(2) When "Request for reading information ON" is received, the robot specifies requested "Read data"
and "Completion status" and turns ON "Reading information completed."
When the operation cannot be carried out, the robot specifies a number indicating NG and turns ON
"Reading information completed."
(3) When "Reading information completed" is received, the sequencer turns OFF "Request for reading
information."
(4) When "Request for reading information OFF" is received, the sequencer turns OFF "Reading infor-
mation completed."

How to Operate Robot Information 7-69

7Read Robot Information

7.3.3 Sample Ladder

Here, describes a ladder example which reads the detailed error information occurred in the robot.

[Target function]
Read error information

[Target robot]
The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)

[Description]
Turn ON the error information read trigger (M130) to read the robot error information (first thee pieces of
information from start).
The read error information is stored in D403 and after.
When the read handling is completed, M134 is turned ON. In this case, successful completion turns
M132 ON and abnormal completion turns M133 ON.
When M134 is turned ON, turn OFF the error information read trigger (M130).

[Device details]
M130: Error information read trigger
M131: Error information received successfully
M132: Error information reception OK completed
M133: Error information reception NG completed
M134: Reading error information completed

D400: Received data from the robot (completion status)

D401: Received data from the robot (function number)
D402: Received data from the robot (start number)
D403 - D445: Received data from the robot (error information)

7-70How to Operate Robot Information

 7Read Robot Information

[Ladder]
U3E0\
HG831

U3E0\
HG832

U3E0\HG700.3

U3E1\HG550.3

U3E1\
HG680

U3E1\HG550.3

How to Operate Robot Information 7-71

8Perform Sequencer Direct

8 Perform Sequencer Direct

8.1 Sequencer Direct Performance Function
The sequencer direct performance function directly operates the robot by using the extended CPU buffer
memory.
The performance function is composed of robot operation, hand open/close, working speed/ acceleration
setting, position data management, etc.
The figure below shows the data flow between sequencer and robot when performing the sequencer direct.

CPU buffer
(2) Open/close hand memory
Sequencer Dedicated I/O signal Robot

Input Output
Sequence program
(1) Perform an operation Signal control
(Mov, Mvs, ,..) Request Completioin signal
signal
Working signal

Instruction data Working data

Current position
(3) Set up the detailed operation
(Speed, acceleration and Command condition
deceleration, etc. Speed (5) Enabled to specify
current position
Accele
Perfome instruction

(6) Sequencer setting Sequencer setting

position data (three) position (three)

State data

Robot state
(CPU
buffer
memory Position data
extended 1 to 999
function)

(4) Robot can prepare up to 999

pieces of position data

(1) The sequencer specifies a command (instruction) to directly operate the robot (sequencer direct per-
formance).
(2) The sequencer controls a hand (dedicated I/O signal control).
(3) The sequencer specifies the command conditions and speed, acceleration, tool setting, etc. for the
sequencer direct performance.
(4) The sequencer prepares up to 999 pieces of position data for sequencer direct performance in the
robot controller.(Teaching data does not occupy all the memory area of the sequencer device.)
(5) The sequencer can move the robot relatively with reference to robot's current position.
(6) The sequencer moves the robot to the position by specifying the position data.

8-72Sequencer Direct Performance Function

 8Perform Sequencer Direct

8.2 Operation flow

The figure below shows the operation flow when performing the sequencer direct.
Start

Yes … ● Set up multiple CPUs for sequencer and robot CPUs.

Is parameter setting completed?
When already established, carry out the next teaching
operation.
No

Set up parameters
(Refer to Page
(refer 74, "8.2.1
to "8.2.1. Set upParameter Setting")
parameter")

Yes … ● Teach robot's working position.

Is teaching completed?
When teaching was already established, prepare the
next sequencer direct performance and perform the
No sequencer direct.

Start teaching
(Refer to Page
(Refer 75, "8.2.2
to "8.2.2. Teaching")
Teaching.")

Prepare to perform sequencer direct

(Refer to Page
(Refer 80, "8.2.3
to "8.2.3. Prepare
Prepare to Perform
to perform Sequencer
sequencer Direct")
direct.")

… ● "8.3.1Operation
● 8.3.1. Operation Command"
command
Perform sequencer direct
● 8.3.3.
● Control Robot
"8.3.4Control robot hands
Hand"
Run operation command
Control hands

End

* In general, parameter setting and teaching are carried

out only once on startup.
They are not necessary for operation after the startup.

Operation flow 8-73

8Perform Sequencer Direct

8.2.1 Parameter Setting

Start

… ● Sets up the sequencer's parameters (multiple CPU setting).

Set up sequencer's multiple CPUs For robot CPU, allocate 1k words of free user area in high-speed
communication area of multiple CPUs to robot's I/O area.
(Refer
(RefertotoPage 7, "2.1.1
"2.1.1. Set upSet up Sequencer's
sequencer's Multiple
multiple CPUs")
CPUs.")

Set up robot's parameters … ● Sets up multiple CPUs' parameters.

(Refer
(RefertotoPage 11, Set
"2.1.2. "2.1.2
upSet up Robot's
robot's Multiple
multiple CPUs")
CPUs.")
● Sets up parameter IQMEM
1) To enable the extended function, set bit 0 to one.
2) To enable the sequencer direct performance, set bit 1 to one.
(Refer
(RefertotoPage 12, Set
"2.1.3. "2.1.3
upSet up Parameter
parameters for for Selectingshared
selecting CPU buffer
Memory
memoryExtended
extended Function")
function.")
● Set
Set robot
robotlanguage
languagetoto"MELFA
"MELFA BASIC
BASIC V"V."
or "MELFA BASIC VI."
(Refer
(Refer toto "2.1.4.
Page Check
13, "2.1.4 robotRobot
Check language
Languagesetting.")
Setting")

Reset sequencer … ● Carry out the reset operation of sequencer or reset the sequencer
by turning ON the power.

No
Is the sequencer successfully restarted?

Yes

End

For information on how to set up parameters, refer to Page 6, "2 Preparation for Using Extended Function".

8-74Operation flow
 8Perform Sequencer Direct

8.2.2 Teaching
Here, teaches the position data for performing the robot's sequencer direct.

(1) Position Data

The position data handled in the sequencer direct performance shall be position type data only. The joint
type data is not handled.
The table below lists the available positions:
Position No Score Description Remarks
1 - 999 999 Position type data in robot controller
5000 1 Robot's current position State variable P_Curr is sup-
ported
5100 - 5102 3 Position type data specified by the sequencer in the CPU buf-
fer memory

● How to use positions 5100 - 5102

Use these positions when performing sequencer direct with the position data created in the sequencer.
Sequencer direct can be performed by storing the position data created in the sequencer in the position
type data area (5100 - 5102) in the sequencer CPU buffer memory and specifying the position number
5100 - 5102.

● Specifying the tool data

Before teaching, specify the tool data. The tool data specifies the control point of hand or tool mounted
on the robot. For more information, refer to Page 87, "(8) Tool data setting"
Note that when tool data is specified or changed after teaching, previous teaching data will be unavail-
able. (When you try to move the robot to previous teaching position before setting or changing of tool
data, the robot moves to the wrong position.)

Operation flow 8-75

8Perform Sequencer Direct

(2) Position Teaching in Position Box (R32TB)

1) Screen change
<MENU>　　 　 "6. ENHANCED" is displayed under conditions below:
a) Connected to the following robot controller:
1.FILE/EDIT 2.RUN CR800-R/Q series controller
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT. 6.ENHANCED b) T/Bver.1.3 or later

　 123 CLOSE

[F4]: CLOSE [6]: ENHANCED

Moves to the "1. SQ DIRECT" screen under conditions below:

<ENHANCED>　　 　 a) Connected to the following robot controller.
CR800-R/Q series controller
1.SQ DIRECT 2.WORK COORD. b) Sequencer direct performance function is valid
Both bits 1, 0 of parameter (IQMEM) for selecting the CPU
buffer memory extended function are "1"
　 123 CLOSE c) In robot controller's MANUAL mode
d) T/B is valid
Invalid T/B operation
(Moves to the menu screen [1]: SQ DIRECT
after saving the data)
[F1]: MOVE: Robot moves to a position
<SQ DIRECT> JNT 100% POS.1 <SQ DIRECT>
X: +0.00 A: +0.00
Y: +0.00 B: +0.00 [F2]: TEACH POSITION 1
Z: +0.00 C: +0.00 RECORD CURRENT POSITION.
L1: +0.00 L2: +0.00 OK?
FL1:00000000 FL2:00000000
[F1]: YES
MOVE TEACH 123 Prev Next ⇒ Yes 123 No ⇒
[F2]: NO

[F3]: Prev. Displays previous data (from 1 to 999, 998, ...1)

[FUNCTION] [FUNCTION]

[F4]: Next. Displays next data (from 1 to 2, ...999, 1)

<SQ DIRECT> JNT 100% POS.1 <SQ DIRECT>

X: +0.00 A: +0.00
Y: +0.00 B: +0.00 [F2]: NUMBER POSITION NUMBER ( )
Z: +0.00 C: +0.00
L1: +0.00 L2: +0.00
[F4]: CLOSE FL1:00000000 FL2:00000000
No. 123 CLOSE ⇒
NUMBER 123 CLOSE ⇒
[EXE]
[F4]: CLOSE

Error Error * JOG JOG HAND HAND MONITOR MONITOR

Occurred Occurred key key key key key key

Error screen Jog screen Hand screen Monitoring screen

* When an error occurs while displaying the teach confirmation screen, the screen returns to the SQ DIRECT teach
screen by resetting the error.

8-76Operation flow
 8Perform Sequencer Direct

2) Description of screens
2-1) Menu screen
<MENU>　　 　

1.FILE/EDIT 2.RUN
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT. 6.ENHANCED

　 123 CLOSE
"6. ENHANCED" is displayed as a menu item. It is always possible to move to the ENHANCED
menu screen.

2-2) ENHANCED function menu screen

<ENHANCED>　　 　

1.SQ DIRECT 2.WORK COORD.

　 123 CLOSE
["1. SQ DIRECT" display]
Although the sequencer direct function is valid or not, "1. SQ DIRECT " is displayed.

[Selecting "1. SQ DIRECT "]

When "1. SQ DIRECT " is selected, the sequencer direct teach screen is displayed.
<Condition>
All the conditions below should be met:
a) Connected to the following robot controller
CR800-R/Q series controller
b) Sequencer direct performance function is valid
Both bits 1, 0 of parameter (IQMEM) for selecting the CPU buffer memory extended func-
tion are "1"
c) In robot controller's MANUAL mode
d) T/B is valid

<Action when screen change is impossible>

When above conditions a, b are not met, the warning screen below is displayed.
<SEQUENCER DIRECT>
THIS CONTROLLER DOES NOT PROVIDE
SQ DIRECT. Warning screen is displayed when above condition
"a)" is not met
123 CLOSE ⇒

<SEQUENCER DIRECT>
THE SQ DIRECT IS DISABLE NOW. Warning screen is displayed when above condition
IT CAN BE ENABLED, IF YOU SET UP "b)" is not met
THE "IQMEM" PARAMETER.

123 CLOSE ⇒

● When [F4] (CLOSE) is selected or [RESET] key is pushed, comes back to the
ENHANCED menu screen.
● When an error occurs, changes to the error screen. The screen returns to the ENHANCED
menu screen by resetting the error.
● Push [JOG] key to change to the JOG screen. Push [JOG] key again to change to the
ENHANCED menu screen.
● Push [HAND] key to change to the hand screen. Push [HAND] key again to change to the
ENHANCED menu screen.
● Push [MONITOR] key to change to the monitoring screen. Push [MONITOR] key again to
change to the ENHANCED menu screen.

Operation flow 8-77

8Perform Sequencer Direct

● Disable T/B to change to the ENHANCED menu screen.

When the warning screen above is displayed while an error occurs, push [RESET] key to
reset the error and then change to the ENHANCED menu screen.

When the conditions "c)", "d)" above are not met while the conditions "a)", "b)" above are met,
the buttons are grayed out. The warning screen is not displayed.

2-3) SQ DIRECT teach screen

<SQ DIRECT> JNT 100% POS.1
X: +0.00 A: +0.00
<SQ Y: +0.00 JNT 100%
DIRECT> B: +0.00
POS.1
Z: X: +0.00
+0.00 C: A:
+0.00
+0.00
L1: Y: +0.00
+0.00 L2: B:
+0.00
+0.00
FL1:00000000
Z: +0.00 FL2:00000000
C: +0.00
L1: +0.00 L2: +0.00
TEACH 123
MOVE FL1:00000000 Prev Next ⇒
FL2:00000000
NUMBER 123 CLOSE ⇒

For information on teaching operation, refer to the description about position edit screen
in "Instruction Manual, Detailed Description of Functions and Operations."

[Position check]
The robot moves to the displayed position while pushing [F1] (MOVE) key.
<Condition>
All the conditions below should be met:
a) In robot controller's MANUAL mode
b) T/B is valid
c) T/B enabled switch (3-positioned switch) is turned ON (intermediate position)
d) Servo is turned ON

[Teaching position]
Push [F2] (TEACH) key to display the confirmation screen below.
<SQ DIRECT>

POSITION 1
RECORD CURRENT POSITION.
OK?

Yes 123 No ⇒

Push [F1] (Yes) key in the confirmation screen to teach you that current position is at the dis-
played position and come back to the screen.
Push [F4] (No) key to come back to the screen without teaching.

[Teaching position]
Teaching in the SQ DIRECT teach screen always sets up current position for mecha 1.
Even when mecha 2 or 3 is selected by T/B, it sets up current position for mecha 1.

[MDI (Manual Data Input) registration/ modification of position]

A position can be registered by directly inputting numeric value to each axis's component of
position data.
Push arrow key to move the cursor to the data to be modified, input numeric value, and push
[EXE] key.
<SQ DIRECT> JNT 100% POS.1
X: +0.00 A: +0.00
Y: +0.00 B: +0.00
Z: +0.00 C: +0.00
L1: +0.00 L2: +0.00
FL1:00000000 FL2:00000000
MOVE TEACH 123 Prev Next ⇒

8-78Operation flow
 8Perform Sequencer Direct

[Changing position display]

(a) Forward/ backward feed
Each time [F3] (Prev) or [F4] (Next) key is pushed, displayed position is changed.
The display changes as follows:
[F3] (Prev): From 1 to 999, 998, 997, ..., 1
[F4] (Next): From 1 to 2, 3, ..., 999, 1
(b) Call number
Push [FUNCTION] key, change the function key allocation, and push [F2] (NUMBER) key
to display the position number input screen below.
<SQ DIRECT>
POSITION NUMBER ( )

123 CLOSE ⇒

Input a position number and push [EXE] key to come back to the screen and display the tar-
get position.
When a number other than 1 to 999 is entered, the [EXE] key gets unavailable.
Push [F4] (CLOSE) key to come back to the previous screen.

[Displaying menu screen]

Push [FUNCTION] key, change the function key allocation, and push [F4] (CLOSE) key to
come back to the ENHANCED menu screen.

[Handling when T/B became invalid]

When T/B became invalid while displaying the sequencer direct teach screen (including the
teach confirmation and position number input screens), saves the position data and comes
back to the ENHANCED menu screen.

[Handling when entered into AUTOMATIC mode]

When changed to AUTOMATIC mode while displaying the sequencer direct teach screen
(including the teach confirmation and position number input screens), an error "H5000 TB
Enable key is ON " occurs and an error screen appears. The screen comes back to the previ-
ous screen by resetting the error.

Operation flow 8-79

8Perform Sequencer Direct

8.2.3 Prepare to Perform Sequencer Direct

Prepare to perform

No Is it in robot automatic mode? …

(1) Get operation authority

Change theMODE
Change the controller’s mode
switch to to "AUTOMATIC".
"AUTOMATIC" on the robot operation panel
(ATTOPMD or ATEXTMD robot output ON)

Yes

Get operation authority (IOENA robot input For information on input/ output signals, refer
to "Instruction Manual, Detailed Description of
Functions and Operations."

No
Is operation authority gotten successfully?
(IOENA robot output ON)
(2) Check error (3) Check program is available (4) Servo ON

Yes

H or L error occurred? Yes

Reset error (ERRRESET robot input ON)
(HLVLERR, LLVLERR robot
output ON)
No

Is program available? No
Reset program (SLOTINIT robot input ON)
(SLOTINIT robot output ON)

Yes

Is servo ON? No
Servo ON (SRVON robot input ON)
(SRVON robot output ON)

Yes

No Perform sequencer direct … Refer to "8.5.1.

Page 123, "8.5.1 Requirements".
Requirements."
Are Requirements met?

Yes

End

(1) In the sequencer, get the robot's external operation authority.

1) Change the controller’s mode to "AUTOMATIC".
2) Turn ON the sequencer's operation authority signal (IOENA).
3) Wait until the robot successfully gets the operation authority (robot's operation authority (IOENA) sig-
nal is ON).
(2) In the sequencer, check that H or L level error is not occurring in the robot.
Check the robot's error state (robot's HLVLERR and LLVLERR signals OFF). When either one is turned
ON, turn ON sequencer's ERRRESET signal to reset the error.
(3) In the sequencer, check that robot's program is available (program is not running).
Check the robot's program availability (robot's SLOTINIT signal ON). When it is not turned ON, turn ON
sequencer's SLOTINIT signal to reset the error.
(4) In the sequencer, turn ON the robot's servo.
Check the robot's servo ON (robot's SRVON signal ON). When it is not turned ON, turn ON sequencer's
SRVON signal and wait until the robot turns ON the servo.

* The order of steps (1) to (4) are not necessarily the same as above. But, in the sequencer, to reset a pro-
gram and turn ON the servo, it is necessary to get external operation authority.

8-80Operation flow
 8Perform Sequencer Direct

8.3 How to Operate Sequencer Direct

Here, describes the robot's operation commands and how to control hand.
To issue an operation instruction to the robot, set up the command data (command number + auxiliary data)
and command condition data and turn ON the command request signal. The robot runs according to the
specified command. Control the hand by turning ON/OFF the hand output signal.

8.3.1 Operation Command

Memory map of sequencer direct performance area corresponding to the robot operation commands is as
follows:

(1) Sequencer output

Sequencer
Output Description Remarks
Addr (offset)
Command request signal
Bit allocation
520 bit15 0
Bit signal
0000000000000000
+- bit0: Command request
521 (Reserved)
522 (Reserved)
523 (Reserved)
524 Command data Command No
525 Command data 1
526 Command data 2
527 (Reserved)
528 (Reserved)
529 (Reserved)
530 Override [%: 1 - 100, 0] 100% when zero
531 Acceleration rate [%: 1 - 100, 0] 100% when zero
532 Deceleration rate [%: 1 - 100, 0] 100% when zero
533 (Reserved)
534 (Reserved)
When either 0 or 10000, it operates at
535 Speed setting [mm/s: 1 - 10000, 0]
maximum speed.
Command con- <Joint interpolation>
dition data 0: Roundabout (teaching posture)
Shortcut/roundabout specification
536 1: Shortcut
[0: Initial value/ 1: Opposite of initial value]
<Linear/ circular interpolation>
0: Shortcut /1: Roundabout
Auxiliary operation specification
537 [0: Equivalent rotation/1: Orthogonal triaxis/2: Sin- Valid for linear/ circular interpolation
gularity pass]
538 Tool setting [0: Current tool/ 1- 4: Tool number]

539 - 639 (Reserved)

How to Operate Sequencer Direct 8-81

8Perform Sequencer Direct

Sequencer
Output Description Remarks
Addr (offset)
640
X coordinate value [10-4mm/10-4deg]
641
642
Y coordinate value [10-4mm/10-4deg]
643
644
Z coordinate value [10-4mm/10-4deg]
645
646
A coordinate value [10-4mm/10-4deg]
647
648
B coordinate value [10-4mm/10-4deg]
649 Position data 1
650 (5100)
C coordinate value [10-4mm/10-4deg]
651
652
L1 coordinate value [10-4mm/10-4deg]
653
654
L2 coordinate value [10-4mm/10-4deg]
655
656
Structure flag
657
658
Multi-turn data
659
660
X coordinate value [10-4mm/10-4deg]
661
662
Y coordinate value [10-4mm/10-4deg]
663
664
Z coordinate value [10-4mm/10-4deg]
665
666
A coordinate value [10-4mm/10-4deg]
667
668
B coordinate value [10-4mm/10-4deg]
669 Position data 2
670 (5101)
C coordinate value [10-4mm/10-4deg]
671
672
L1 coordinate value [10-4mm/10-4deg]
673
674
L2 coordinate value [10-4mm/10-4deg]
675
676
Structure flag
677
678
Multi-turn data
679
680
X coordinate value [10-4mm/10-4deg]
681
682
Y coordinate value [10-4mm/10-4deg]
683
684
Z coordinate value [10-4mm/10-4deg]
685
686
A coordinate value [10-4mm/10-4deg]
687
688
B coordinate value [10-4mm/10-4deg]
689 Position data 3
690 (5102)
C coordinate value [10-4mm/10-4deg]
691
692
L1 coordinate value [10-4mm/10-4deg]
693
694
L2 coordinate value [10-4mm/10-4deg]
695
696
Structure flag
697
698
Multi-turn data
699

8-82How to Operate Sequencer Direct

 8Perform Sequencer Direct

(2) Robot output

Sequencer
Input Description Remarks
Addr (offset)
Command completion signal
bit15 0
520 0000000000000000
Bit signal
|+- bit0: Completed
+-- bit1: Working
521 (Reserved)
522 Completion status [1: OK/ other than 1: NG]
523 (Reserved)
524 Command data Command No
525 Command data 1
526 Command data 2

527 - 549 (Reserved)

(3) Data description

[Command data]
● Command number (524), command data 1 (525), command data 2 (526)
Instruction data (sequencer output 524 - 526) to the robot for sequencer direct performance and returned
data from the robot (robot output 524 - 526). The setting values according to the instructed operations
are as follows:

Symbol Command Command Command

Action Note1) Remarks
No data 1 data 2

Joint Moves to the specified position. Mov 1 Destination Z direction tool When the setting
interpola- Specify the Z direction tool distance Position No distance value of data 2 is set
tion to move by specified distance away [10-1mm] to zero, moves to the
to the Z axis direction in the tool specified position.
coordinate system.

Moves the robot to the position with MovA 2 Destination Approach coor-
coordinate value of the destination position num- dinate position
position added by the coordinate of ber number
the approach coordinate position.
Linear Moves to the specified position. Mvs 11 Destination Z direction tool When the setting
interpola- Specify the Z direction tool distance position num- distance value of data 2 is set
tion to move by specified distance away ber [10-1mm] to zero, moves to the
to the Z axis direction in the tool specified position.
coordinate system.

Moves the robot to the position with MvsA 12 Destination Approach coor-
coordinate value of the destination position num- dinate position
position added by the coordinate of ber number
the approach coordinate position.

Note1) These symbols MovA, MvsA are different from the robot language. They are used for description below.

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● Completion status (sequencer input 522)

When the sequencer direct is successfully performed or when the sequencer direct cannot be received,
the completion status is set.
The values below are established as completion status:
Setting
Description Remarks
Value
1 Successfully completed
2 External operation authority invalid The command cannot be received
3 H or L level error is occurring
4 Program is not available (program running)
5 Not robot servo ON
6 Stop signal inputting
7 Returning to retracting point
8 Remote Jog working
Variable not extended
9 (For more information, refer to Page 133, "10.1 Parameter of Selecting CPU
buffer Memory Extended Function")
10 Origin not set
11 Command number out of range
12 Command data 1 out of range
13 Command data 2 out of range
Operating condition data out of range
14 (Only the available operating conditions for the target operation are
checked)
20 Sequencer direct impracticable because of other causes
30 Sequencer direct performance suspended Command suspended

[Command condition data] (sequencer output 530 - 538)

The table below lists the data specified as command condition data:
Corresponding
Operation for
Name Description Setup range Command
Initial Value (0)
MELFA-BASIC
Override Specify the speed rate [%] of robot operation 1 - 100, 0 100% Ovrd
[1 - 100, 0] (100% when zero)
Acceleration rate Specify the acceleration rate [%] of robot 1 - 100, 0 100& Accel
operation (100% when zero)
[1 - 100, 0]
Deceleration rate Specify the deceleration rate [%] of robot 1 - 100, 0 100%
operation (100% when zero)
Speed setting Specify the speed [mm/s] of robot's linear 1 - 10000, 0 Maximum speed Spd
interpolation (When either 0 or
10000, it operates at
maximum speed)
Shortcut/round- Specify the robot's shortcut/roundabout Refer to the left Joint interpola- Type specifica-
about specifica- [0: Initial value/ 1: Opposite of initial value] tion tion of operation
tion Note1) <Joint interpolation> → Roundabout command
0: Roundabout (teaching posture) /1: Short- Linear interpola-
cut tion
<Linear interpolation> → Shortcut
0: Shortcut /1: Roundabout
Auxiliary opera- Auxiliary specification for robot's linear inter- 0: Equivalent rotation Equivalent rota-
tion specification polation 1: Orthogonal triaxis tion
2: Singularity pass
Tool setting Sets the tool number. 0: Current tool Current tool M_Tool
Tool data (MEXTL 1 - 4) with specified num- 1 - 4: Tool number
ber is used as the current tool data and is
set to parameter MEXTL.
Note1) Shortcut/roundabout specification value
When the shortcut/roundabout specification value is zero, it specifies the initial value (without Type
specification) of the robot program commands (Mov, Mvs). When it is one, it specifies reverse initial value.
They are different from the value set up by Type specification of robot program command.

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[Position data 1 - 3] (sequencer output 640 - 699)

Used during setting up the position data in the sequencer when performing the sequencer direct.
The unit is 10-4mm or 10-4deg.
Only lower one word is used for the structure flag of position variable, and upper one word is a reserved
area.

[Command/ command condition description]

(1) Joint interpolation: Mov, MovA
Evenly interpolate the robot's each axis differ-
ence between joint angles of start and end
positions. Therefore, end's track draws a
smooth arc. Start

MovA moves the robot to the position with coor-

dinate values of the destination position added
by the coordinate values of the approach coor-
dinate position.
For example, when Z value of approach coordi-
nate position is the distance A shown in the fig-
ure right below, joint interpolates to position A
over the aimed position. Move
End
Distance A
(2) Linear interpolation movement: Mvs, MvsA
Linear interpolation moves the robot so that the
track of control points from robot's start to the
end becomes a straight line.
The hand's posture changes evenly from the
start to the end.
Start
MvsA moves the robot to the position with coor-
dinate values of the destination position added
by the coordinate values of the approach coor-
dinate position.
For example, when Z value of approach coordi-
nate position is the distance A shown in the fig-
ure right above, linear interpolates to position A Move
over the aimed position.
End
Distance A

(3) Override: Ovrd

Specify the speed of robot operation with the value between 1 and 100%.

(4) Acceleration/ deceleration rate: Accel

Specify the acceleration and deceleration in rate (%) during robot operation.
Specify the acceleration/deceleration rate with the value between 1 and 100% with reference to the
acceleration and deceleration time set up for robot in advance. The initial value is 100% (maximum
acceleration and deceleration) for both acceleration and deceleration. Adjust the acceleration/decel-
eration rate according to the robot activity.

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(5) Speed: Spd

Specify the speed of the end when the robot moves for linear interpolation. The unit is mm/s.
This value does not impact on the joint interpolation command.
When zero or 10000mm/s is specified as the speed, the robot is in the maximum speed control
mode.
The maximum speed control mode allows you to reduce the takt time by adjusting the motor speed of
robot's each axis while keeping linear track. Consequently, linear speed may change.
Actual linear speed is a value specified by override command multiplied by a speed specified by this
speed setting command.
Example: When override = 50% and speed setting = 300mm/s, actual linear speed = 0.5 x 300 =
150mm/s

(6) Shortcut/roundabout specification

There are three types of hand rotation direction below when performing a move command:
a) Shortcut specification
b) Roundabout specification
c) Move to teaching posture (Roundabout joint interpolation)

現在位置の姿勢(45度)
Posture of current position (45°) Posture目的位置の姿勢(-45度)
of aimed position (-45°)

Moves to the direction

Shortcut
近回り動作 operation 移動距離が180度未満とな
which the move distance is less than
る
180 deg.
方向へ移動します

Moves to the direction

Roundabout
遠回り動作 operation 移動距離が180度以上とな
which the move distance is 180 deg
る
or more.
方向へ移動します

Move to teaching ﾃｨｰﾁﾝｸﾞ姿勢(多回転ﾃﾞｰﾀ)

ﾃｨｰﾁﾝｸﾞ姿勢へ移動 Moves to the position
posture の位置へ移動します
of teaching posture
→結果的に近回り／遠回り
(multi-turn data)
どちらのｹｰｽもあります
→ Results in both cases of shortcut
and roundabout.

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(7) Auxiliary operation specification

Specify the hand posture control type during linear inter-
polation. Singularity of vertical 6-axis robot

a) Equivalent rotation: Evenly interpolates from start pos-

1) Posture A
ture (A, B, C) to the posture (A, B,
C) at aimed position.
b) Orthogonal triaxis: Interpolates with joint angle (J4,
J5, J6) instead of hand posture (A,
B, C). Evenly interpolates from
start posture (J4, J5, J6) to the
posture (J4, J5, J6) at aimed posi- 2) Posture B
tion.
Effective when passing by near a Flag switch
singularity. posture
c) Singularity pass: Specification to pass by a singular-
ity specific to six axes robot (sin-
gularity posture is posture B 3) Posture C
shown in the right figure (2)).
Restricted by some positions and
postures.
For more information on the oper-
ation, refer to "Instruction Manual,
Detailed Description of Functions
and Operations".

(8) Tool data setting

Select the tool data (1 - 4) set up by parameters in advance.
The tool data indicates the end (grip point) of hand and is specified by shift amount from the center of
robot flange and rotation angle.
Center of flange

Ym

Mechanical interface coordinate system

Zm Zt Tool coordinate system

Yt

Tool position
Xm

Tool data
Xt

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[How to decide tool data]

The tool data has the same components as the position data.
X, Y, Z: Shift amount. Moving amount from the center of flange to the tool position. (Unit is mm)
A, B, C: Rotation angles of coordinate axes. (Unit is deg)
A: Rotation angle around X axis
B: Rotation angle around Y axis
C: Rotation angle around Z axis

To decide each data, move the mechanical interface coordinate system at the center of flange in
order of (1) shift amount, (2) Z axis rotation, (3) Y axis rotation, (4) X axis rotation to accord with the
aimed tool coordinate system. In this case, the move amounts (1) - (4) (rotation amounts) indicates
the tool data.
Based on the example shown in the figure above, the figure below shows the steps to decide each
data. In this example, because steps 2 and 4 of steps (1) - (4) are not necessary, the steps 2 and 4
are omitted.

Ym

Zm
(1) Move offset
Yt
Zt
Xm
Zt (3) Rotate -90 deg
Mechanical interface around Y axis
coordinate system
Yt
Xt

When shifted by 100mm Xt

to Zm direction,
(X, Y, Z) = (0, 0, 100) (A, B, C) = (0, -90, 0)

Tool data: (X,Y,Z,A,B,C) = (0,0,100,0,-90,0)

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[Tool data setting example]

A sample hand attachment and sample tool data setting in the coordinate system are shown below:
(1) Mechanical interface coordinate system is (2) Zt direction becomes perpendicular to
shifted as a whole: mechanical interface coordinate system:
Tool data: (0,0,100,0,0,0) Tool data: (0,0,100,0,-90,0)

Ym
Ym

Zt Yt
Yt

Zm Zm

Xm
Xm
Zt
Xt
100mm
100mm Xt

Ym Ym

Yt
Yt Zm Zt
Zm

Zt Yt
Zt Xm
Xm

100mm 100mm
Shifted Xt Shifted Xt B=-90deg Xt

(3) Hand is tilted by 45deg to the Zm axis of (4) Hand is tilted by 90deg to the Zm axis of
mechanical interface coordinate system: mechanical interface coordinate system:
Tool data: (0,0,100,45,-90,0) Tool data: (0,0,100,90,-90,0)

Yt
Ym Yt
Ym
Zt

Zm Zm

Xt Xt
Xm Zt
Xm
100mm 100mm

Ym Ym

Zm Yt Zm Yt
Zt Zt

Zt Zt
Yt Yt Yt
Xm Xm Yt
100mm A=45deg 100mm
Shifted Xt B=-90deg Xt Shifted Xt B=-90deg Xt
Zt A=90deg
Zt Xt
Xt

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8.3.2 Timing Chart for Performing Operation Command

(1) Perform Operation (Normal Operation)
The sequencer operates the robot by setting the data for command number and command data 1, 2.
When the command condition data is set to zero, the robot runs based on the default setting.
The robot runs based on the instructed setting by setting value for condition data.
(1) (2) (3) (4) (5)
Sequencer Robot
Command data
- Command No 1, 100, 0
- Command data 1
- Command data 2
Command
condition data Override, acceleration, deceleration, speed, ...

Command request

Command
running

Command
completed

Completion status 1

Command data
- Command No 1, 100, 0
- Command data 1
- Command data 2

Robot operation MOV operation

(1) The sequencer sets up "Command data" and "Condition data" and sends "Command request ON".
(2) When "Command request ON" is received, the robot imports "Command data" and "Condition data".
When the imported data is formal and sequencer direct is practicable, the robot sets up "Command
data" (returned data), sends "Command running ON", and carries out the instructed robot operation.
(3) When the robot successfully completed the operation, the robot sends "Command running OFF", sets
"Completion status" to one, and sends "Command completed ON".
(4) When the sequencer received "Command completed ON", the sequencer imports "Completion sta-
tus" and sends "Command request OFF".
(5) When the robot received "Command request OFF", the robot clears "Completion status" and "Com-
mand data" to zero and sends "Command completed OFF".

Robot's arrival point when operation command is completed

"Command completed" signal for performing an operation command is turned ON when the robot
arrived at the aimed position (encoder feedback position is not checked).
Therefore, when performing operations continuously, the robot may perform next operation before
arriving at the aimed position. In order to avoid this situation, make sure that the sequencer takes a
delay time before carrying out next operation after sequencer direct was completed.

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(2) Operation Command Is Impracticable:

When the command data instructed by the sequencer is not formal or when the robot is out of work, the
robot stores a number indicating an impracticable reason in "Completion status" against "Command
request" from the sequencer and then returns "Command completed".
(1) (2) (3) (4)
Sequencer Robot
Command data
- Command No 1, 100, 0
- Command data 1
- Command data 2
Command
condition data Override, acceleration, deceleration, speed, ...

Command request

Command running

Command
completed

Other than 1
Completion status

Command data
- Command No 1, 100, 0
- Command data 1
- Command data 2

Robot operation

(1) The sequencer sets up "Command data" and "Condition data" and sends "Command request ON."
(2) When "Command request ON from OFF" is received, the robot imports "Command data" and "Condi-
tion data." When the imported data is not official or when the robot is impracticable of sequencer
direct, the robot sets "Command data" (returned data) and "Completion status" to other than one,
and sends "Command completed ON."
(3) When the sequencer receives "Command completed ON", the sequencer imports "Completion sta-
tus" and sends "Command request OFF".
(4) When the robot receives "Command request OFF", the robot clears "Completion status" and "Com-
mand data" and sends "Command completed OFF".

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(3) Suspend/Resume Operation

When the robot stops due to the robot's stop operation or stop input while performing the sequencer direct,
the operation is suspended and the command is also suspended (Completion status = 30, suspended).
To resume after suspension, set up "Command data" and "Condition data" again and send "Command
request" signal again.
(1) (2) (3) (4) (5)
Sequencer Robot
Restart
Command data
- Command No 1, 100, 0 1, 100, 0
- Command data 1
- Command data 2
Command Override, acceleration, deceleration,
Override, acceleration, deceleration,
condition data

Command request

Command
running

Command
completed

Completion status 30

Command data
- Command No 1, 100, 0 1, 100, 0
- Command data 1 Stop
- Command data 2
MOV
MOV operation
Robot operation operation

<Suspension handling>
(1) When the robot stops while performing the sequencer direct, the robot sends "Command running
OFF", sets "Completion status" to 30 (suspended), and sends "Command completed ON".
(2) When the sequencer receives "Command completed ON", the sequencer imports "Completion sta-
tus" and sends "Command request OFF".
(3) When the robot receives "Command request OFF", the robot clears "Completion status" and "Com-
mand data" to zero and sends "Command completed OFF".

<Resume handling>
(4) When a resume operation is carried out in the sequencer, the sequencer sets up "Command data"
and "Condition data" and sends "Command request ON".
(5) When "Command request ON" from OFF is received, the robot imports "Command data" and "Condi-
tion data", sets up "Command data" (returned data), sends "Command running ON", and carries out
the instructed robot operation.

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(4) Support on Occurrence of Error

When H or L level error occurs while performing the sequencer direct, the operation is suspended.
To resume after suspension, reset the error, re-set up "Command", "Command data", and "Condition data",
and send "Command request" signal again (I/F for suspension and resume is the same as Page 92, "(3)
Suspend/Resume Operation").
(1) (2) (3) (4) (5) (6)
Sequencer Robot
Restart
Command data
- Command No 1, 100, 0 1, 100, 0
- Command data 1
- Command data 2
Command Override, acceleration, deceleration,
Override, acceleration, deceleration,
condition data

Error reset
Command request

Error reset
(ERRRESET)

H/L level error

H/L level error occurred
occurred
(HLVLERR/LLVLERR)

Command running

Command
completed

Completion status 30

Command data
- Command No 1, 100, 0 1, 100, 0
- Command data 1
- Command data 2

MOV operation MOV operation

Robot operation

<Handling on error occurrence>

(1) When H or L level error occurs in the robot while performing the sequencer direct, the operation is
suspended. The robot sends "Command running OFF", sets "Completion status" to 30 (suspended),
and sends "Command completed ON".
(2) When the sequencer receives "Command completed ON", the sequencer imports "Completion sta-
tus" and sends "Command request OFF".
(3) When the robot receives "Command request OFF", the robot clears "Completion status" and "Com-
mand data" to zero and sends "Command completed OFF".
<Error reset handling>
(4) Error reset operation clears the robot error.
<Resume handling>
(5) When a resume operation is carried out in the sequencer, the sequencer sets up "Command data"
and "Condition data" and sends "Command request ON".
(6) When "Command request ON" from OFF is received, the robot imports "Command data" and "Condi-
tion data", sets up "Command data" (returned data), sends "Command running ON", and carries out
the instructed robot operation.

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(5) Suspension when Robot's External Operation Authority Gets Invalid

When the robot's external operation authority gets invalid while performing the sequencer direct (robot's
dedicated signal - operation authority output (IOENA) is turned OFF), the operation is suspended.
The conditions which make the robot's external operation authority invalid are as follows:
1) The MODE switch is changed from AUTOMATIC to MANUAL on the robot operation panel
(robot is turned servo OFF)
2) The sequencer set the robot's operation authority signal (IOENA) to "OFF"
(1) (2) (3)
Sequencer Robot
Command data
- Command No 1, 100, 0
- Command data 1
- Command data 2
Command
Override, acceleration, deceleration,
condition data
d

Command request

Operation authority
Mode of a switch
MODE controller
(IOENA) AUTOMATIC→MANUAL
AUTO to MANUAL

Operation authority
(IOENA)

Command running

Command
completed

Completion status 1
30

Command data
- Command No 1, 100, 0
- Command data 1
- Command data 2
MOV operation
Robot operation

(1) When the robot's external operation authority gets invalid while performing the sequencer direct, the
robot stops, sends "Command running OFF", sets "Completion status" to 30 (suspended), and
sends "Command completed ON".
(2) When the sequencer receives "Command completed ON", the sequencer imports "Completion sta-
tus" and sends "Command request OFF".
(3) When the robot receives "Command request OFF", the robot clears "Completion status" and "Com-
mand data" to zero and sends "Command completed OFF".

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(6) Cancel Based on Command Request OFF Signal

When sequencer's "Command request" is turned OFF while performing the sequencer direct, the robot'
operation can be terminated halfway (the robot slows down and stops in the same manner as stop input).
(1) (2)
Sequencer Robot
Command data
- Command No 1, 100, 0
- Command data 1
- Command data 2
Command
Override, acceleration, deceleration, speed, ...
condition data

Command request
Cancel

Command
running

Command
completed

Completion status

Command data
- Command No 1, 100, 0
- Command data 1
- Command data 2
MOV operation
Robot

(1) When the sequencer wants to terminate the robot operation halfway while performing the sequencer
direct, the sequencer sends "Command request OFF".
(2) When the robot receives "Command request OFF", the robot stops, clears "Command data" to zero
and sends "Command running OFF".

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8.3.3 Sample Ladder for Performing Operation Command

Here, describes a ladder program example which runs an operation command of sequencer direct perfor-
mance function.

[Target function]
Runs an operation command of sequencer direct performance function (moves to position 1 with joint
interpolation (command number: 1))

[Target robot]
The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)

[Description]
Turn ON the sequencer direct performance trigger (M150) to run an operation command.
Operation result (completion status) is stored in D20.
When the operation is completed, M151 is turned ON. In this case, successful completion turns M152
ON, halfway suspension turns M153 ON, and abnormal completion turns M154 ON.
When M151 is turned ON, turn OFF the sequencer direct performance trigger (M150).

[Device details]
M150: Sequencer direct performance trigger
M151: Sequencer direct performed
M152: Sequencer direct performed successfully
M153: Sequencer direct performed suspendedly
M154: Sequencer direct performed abnormally

D20: Received data from the robot (completion status)

Precautions
To run an operation command, put the sequencer and robot in the state below in advance.
(For more information, refer to Page 80, "8.2.3 Prepare to Perform Sequencer Direct")
• The sequencer has gotten the robot's external operation authority.
• The robot is not in H or L level error state.
• The robot can select a program.
• The robot's servo is turned ON.

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[Ladder]
U3E1\HG520.0 U3E0\
HG524

U3E0\HG520.0 U3E0\
HG525

U3E0\
HG526

U3E0\
HG530

U3E0\HG520.0

U3E1\HG520.0 U3E0\HG520.0

U3E1\
HG522

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8.3.4 Control Robot Hand

Dedicated I/O signals allows you to control a robot hand.
Controls the hand by allocating an I/O signal number for hand control according to the parameters listed in
the table below.
The condition to control the robot hand through external signal is "T/B invalid"

(1) Dedicated I/O parameters for hand control

Factory
Parameter Signal
Category Name Function Default
Name Level
Signal No
HANDENA Input Hand control per- Permits (ON)/ prohibits (OFF) the robot hand control Level -1,
mission input through external signal.
Note: The robot can control a hand during automatic oper-
ation. For security purposes, make sure to interlock the
robot and external equipment such as a sequencer.
Output Hand control per- Outputs the permission (ON)/ prohibition (OFF) of the -1
mission output robot hand control through external signal.
When the hand control permission input signal is turned
ON while T/B is invalid, it gets permitted (ON).
HANDOUT Input Hand output con- Sets up external input signal range for robot hand control. Edge -1,-1
trol signal The specified external input signals are mapped in
order to the hand signals established by the param-
eter HANDTYPE. Note1)
Element 1: Start number of hand output control signal
Element 2: End number of hand output control signal
Note1) Hand type
Factory default setting assumes that a hand of double solenoidal type is used. To use a single solenoidal type or
to control the hand through general-purpose signals, change the parameter (HANDTYPE) as follows:

Table 8-1:Factory default parameter setting

Parameter Name Initial value
HANDTYPE D900, D902, D904, D906, , , ,

The values from left to right corresponds to the hand numbers 1, 2, ... The initial values are as follows:
Hand 1: Accesses the signal numbers 900, 901
Hand 2: Accesses the signal numbers 902, 903
Hand 3: Accesses the signal numbers 904, 905
Hand 4: Accesses the signal numbers 906, 907
<How to set up>
To use double solenoidal type, specify the number by attaching 'D' at the beginning of signal number.
For double solenoidal type, the hands 1 - 4 are available.
To use single solenoidal type, specify the number by attaching 'S' at the beginning of signal number.
For single solenoidal type, the hands 1 - 8 are available.
Example:
(1) To allocate two general-purpose signal numbers beginning with #10 to the hands of double solenoidal
type:
HANDTYPE=D10, D12, , , , ,
(2) To allocate three general-purpose signal numbers beginning with #10 to the hands of single solenoi-
dal type:
HANDTYPE=S10, S11, S12, , , , ,
(3) To allocate general-purpose signal #10 to the hand 1 of double solenoidal type, #12 to the hand 2 of
single solenoidal type:
HANDTYPE=D10, S12, , , , ,

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(2) Mapping hand signal with parameter HANDTYPE

When the parameter HANDTYPE setting is changed, robot hand signal corresponding to the hand output
control signal may change. The signals allocated to hand signals correspond to the hand output control sig-
nals in order.

● The tables below list the correspondence to the robot hand output signals, when hand output control sig-
nals (HANDOUT) are set to "10080, 10087":

a) Parameter HANDTYPE=D900,D902,D904,D906, , , , (factory defaults):

Hand No 1 2 3 4
Open/Close Open Close Open Close Open Close Open Close
Robot hand output sig 900 901 902 903 904 905 906 907
Hand output cont sig 10080 10081 10082 10083 10084 10085 10086 10087

b) Parameter HANDTYPE=D10,D12, , , , , ,:
Hand No 1 2 3 4
Open/Close Open Close Open Close Open Close Open Close
Robot hand output sig 10 11 12 13 - - - -
Hand output cont sig 10080 10081 10082 10083 - - - -
The areas 10084 - 10087 are not used.

c) Parameter HANDTYPE=S10, , ,S13, , , , :

Hand No 1 2 3 4
Open/Close Open Close Open Close Open Close Open Close
Robot hand output sig 10 - - - - 13
Hand output cont sig 10080 - - - - 10081
The areas 10082 - 10087 are not used.

d) Parameter HANDTYPE=D10,S12, , , , , ,:
Hand No 1 2 3 4
Open/Close Open Close Open Close Open Close Open Close
Robot hand output sig 10 11 12 - - - -
Hand output cont sig 10080 10081 10082 - - - -
The areas 10083 - 10087 are not used.

● It also supports hands 5 - 8 of parameter HANDTYPE.

When parameter HANDTYPE=D900, D902, D904, D906, D10, D12, D14, D16,
hand output control signal (HANDOUT) are set to "10080, 10095":
Hand No 1 2 3 4
Open/Close Open Close Open Close Open Close Open Close
Robot hand output sig 900 901 902 903 904 905 906 907
Hand output cont sig 10080 10081 10082 10083 10084 10085 10086 10087

Hand No 5 6 7 8
Open/Close Open Close Open Close Open Close Open Close
Robot hand output sig 10 11 12 13 14 15 16 17
Hand output cont sig 10088 10089 10090 10091 10092 10093 10094 10095

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(3) Hand control image

The hand control image is shown below based on the robot parameter setting below (HANDTYPE is factory
default):
• HANDENA (hand control permitted) = 10079,10079
• HANDOUT (hand output control signal) = 10080,10087

a) T/B is valid:
T/B controls a robot hand. Hand control through external signals is prohibited.
General-purpose Robot Sequencer
input (external
input)
Hand control
permitted?
10079 ? 10072
10087 10080
Hand output
control signal

Hand output
907 900

Hand operation
through T/B

T/B valid

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 8Perform Sequencer Direct

b) T/B is invalid:
Allows you to select either external signals or controller (robot program or forced output) for the robot
hand control according to the hand control permission (HANDENA) signal.
b-1) HANDENA signal is ON: b-2) HANDENA signal is OFF:
External signal controls the robot hand. Controller (robot program or forced output) con-
→ Changes the hand output signal by detecting trols the robot hand.
the edge (ON to OFF or OFF to ON) of gen- → The hand signal control through program
eral-purpose input signal which is allocated to command changes hand output signals.
the hand output control signal.

Sequencer Sequencer
General-purpose Robot (external
General-purpose Robot (external
input input) input input)
Hand control Hand control
permission permission
ON OFF
10079 1 10072 10079 0 10072
10087 10080 10087 10080
Change hand output Hand output Hand output
signal by detecting the control signal control signal
edge (ON to OFF or OFF
to ON) of general-purpose
input signal

Hand output Hand output

907 900 907 900

Hand control through Hand control through

program program
HOpen 2 HOpen 2
HOpen 1 HOpen 1
Wait M_IN(900)=1 Wait M_IN(900)=1
HClose 1 HClose 1
 
 

How to Operate Sequencer Direct 8-101

8Perform Sequencer Direct

8.3.5 Timing Chart for Robot Hand Control

The figure below shows the hand control timing chart when the robot parameter is set up as follows:
• HANDENA (hand control permitted) = 10079,10079
• HANDOUT (hand output control signal) = 10080,10087

• HNDCNTL1 (hand output signal) = 10048, 10055 (factory defaults)

• HANDTYPE (hand type) = D900, D902, D904, D906, , , , (factory defaults)

a) Changes of hand control enabled state according to T/B valid/ invalid

External Robot
AUTOMATIC
Mode
Mode of robot
key of robot
controller
controller MANUAL

(2) (4)
Valid
T/B valid/invalid Invalid
(3)

(1)
Hand cont permission
input sig (10072)

Hand cont Controllable Controllable

permission output through external
through external
sig (10072) signal
signal

(1) When an external controller (sequencer, etc.) sends "Hand control permission input ON" while the
robot is in MANUAL mode and T/B is invalid, the robot sends "Hand control permission output ON"
to enable the hand control through external signal (hand output control signal).
(2) When T/B gets valid, the robot sends "Hand control permission output OFF" to prohibit the hand con-
trol through external signal.
(3) When T/B gets invalid again, the robot sends "Hand control permission output ON" to enable the
hand control through external signal.
(4) When T/B gets valid even while the robot is in MANUAL mode, the robot sends "Hand control permis-
sion output OFF" to prohibit the hand control through external signal.
(Error "H5000 Teaching" occurs.)

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 8Perform Sequencer Direct

b) Robot hand control through external signal

External Robot
T/B valid/invalid
Invalid
(1)

Hand cont
permission input
sig (10079)

Hand cont
permission output
sig (10079)
External (GOT, etc.) External (GOT, etc.)
close operation open operation

Hand output control (2)

signal
(10080: Hand 1 open)
Hand output
(900: Hand 1 open)
(10048: HNDCNTL1)

Hand output control

signal
(10081: Hand 1 close)

Hand output
(901: Hand 1 close)
(10049: HNDCNTL1)

(1) An external controller (sequencer, etc.) sends "Hand control permission input ON".
When T/B is invalid, the robot sends "Hand control permission output ON" to enable the hand con-
trol through external signal (hand output control signal).
(2) When "Hand control permission output" is ON, the robot hand output signal changes according to the
edge (ON to OFF or OFF to ON) of signals which are allocated to the hand output control signal.

How to Operate Sequencer Direct 8-103

8Perform Sequencer Direct

c) Robot hand control 1 when T/B gets invalid

External Robot
Valid
T/B valid/invalid
Invalid Invalid
T/B valid T/B invalid
Hand cont When an external signal tries to
permission input open/close a hand after the robot side
sig (10079) controlled the hand, single signal may
(2) (4) not open/close the hand.
Hand cont (In this case, to close the hand, open the
permission output hand once.)
sig (10079)
External (GOT, T/B open External (GOT, External (GOT, etc.)
etc.) close operation etc.) close open and close
Hand output control (1)
(5)
signal
(10080: Hand 1 open)

Hand output
(900: Hand 1 open) (3) × ×
(10048: HNDCNTL1)

Hand output control

signal
(10081: Hand 1 close)

Hand output
(901: Hand 1 close)
(10049: HNDCNTL1)
× ×

Hand state Close Open Close

Even when T/B is invalid and hand

control gets permitted, because
signal's edge is not detected, the
hand output is not changed.

(1) When "Hand control permission output" is ON, the robot hand output signal changes according to the
edge (ON to OFF or OFF to ON) of signals which are allocated to the hand output control signal.
(2) When T/B gets valid, the robot sends "Hand control permission output OFF" to prohibit the hand con-
trol through external signal.
(3) When T/B opens/closes a hand while T/B is valid, the hand output signal changes and the hand oper-
ates.
(4) When T/B gets invalid, the robot sends "Hand control permission output ON" again to enable the
hand control through external signal.
In this case, because the edge of "Hand output control signal" is not detected even when "Hand out-
put control signal" is different from "Hand output", "Hand output" does not change.
(5) To operate a hand, change "Hand output control signal". (Refer to the caution below.)

CAUTION When T/B gets enabled halfway and T/B operates a hand, "Hand output control sig-
nal" from the sequencer may be different from actual "Hand output". In this case,
when "Hand output control signal" from the sequencer is not accorded with actual
"Hand output", as described in the timing chart above, single hand operation may
not complete the hand operation.

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 8Perform Sequencer Direct

d) Robot hand control 2 when T/B gets invalid (recommended)

External Robot
Valid
T/B valid/invalid
Invalid Invalid
T/B valid T/B invalid

Hand cont
permission input Even after the robot side
sig (10079) (2) (4) controlled a hand, the hand can
be operated without any
Hand cont restriction.
permission output
sig (10079) External (GOT, etc.)
External (GOT, etc.) T/B open
close operation
close operation operation
(1) (5)
Hand output control
signal
(10080: Hand 1 open)

Hand output
(3)
(900: Hand 1 open)
(10048: HNDCNTL1)

Hand output control

signal
(10081: Hand 1 close)

Hand output
(901: Hand 1 close)
(10049: HNDCNTL1)

Hand state Close Open Close

When "Hand control permission output signal" is OFF,
external controller (sequencer, etc.) reads "Hand output"
signals and always outputs them as "Hand output control
signals". (Accord the Hand state with "Hand output
control signal")

(1) When "Hand control permission output" is ON, the robot hand output signal changes according to the
edge (ON to OFF or OFF to ON) of signals which are allocated to the hand output control signal.
(2) When T/B gets valid, the robot sends "Hand control permission output OFF" to prohibit the hand con-
trol through external signal.
(3) When T/B opens/closes a hand while T/B is valid, the hand output signal changes and the hand oper-
ates.

CAUTION When "Hand control permission output" is OFF, external controller (sequencer, etc.)
reads "Hand output" signals and always output them as "Hand output control sig-
nals," thereby according the hand state with "Hand output control signal".

(4) When T/B gets invalid, the robot sends "Hand control permission output ON" again to enable the
hand control through external signal.
(5) Even after the robot side controlled a hand, the hand can be controlled with "Hand output control sig-
nal" without any restriction.

How to Operate Sequencer Direct 8-105

8Perform Sequencer Direct

e) Switch between hand control with external signal and hand control with robot program

External Robot

T/B valid/invalid
Invalid
(1)
Hand cont (4) (6)
perm ission input
sig (10079)

Hand cont
perm ission output
sig (10079)
Because the external hand
External (GOT, etc.) control perm ission is turned External (GOT, etc.)
close operation ON, hand com m ands from open operation
(2) a program are ignored.
Hand output control
signal
(10080: Hand 1 open)

Hand output
(900: Hand 1 open) ×
(10048: HNDCNTL1)

Hand output control

signal
(10081: Hand 1 close)

Hand output ×
(901: Hand 1 close)
(10049: HNDCNTL1) (3)
(5)
Hand state Close Open Close Open

HOpen1 HOpen1 HClose1

Run robot program command command command

(1) To control the robot hand with external signals, send "Hand control permission input ON".
When T/B is invalid, the robot sends "Hand control permission output ON" to enable the hand con-
trol through external signal (hand output control signal).
(2) When "Hand control permission output" is ON, a robot hand can be operated with "Hand output con-
trol signal".
(3) When "Hand control permission output" is ON, the hand will not operate even if a robot program
issues a hand control command.
(4) To control a hand from the robot, send "Hand control permission input OFF".
When the robot confirmed that "Hand control permission output" is OFF, the robot sends "Hand con-
trol permission output OFF".
(5) When "Hand control permission output" is OFF, the robot program's hand control command can oper-
ate the hand. (T/B operation and forced output from RT ToolBox3 also can operate the hand).
When "Hand control permission output" is OFF, external controller (sequencer, etc.) reads "Hand
output" signals and always output them as "Hand output control signals" to accord the hand state
with "Hand output control signal". Then, when "Hand control permission output" is turned ON again,
the hand can be controlled without any restriction.
(6) To control the robot hand with external signals again, send "Hand control permission input ON."
When T/B is invalid, the robot sends "Hand control permission output ON" to enable the hand con-
trol through external signal (hand output control signal).

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 8Perform Sequencer Direct

8.3.6 Sample Ladder for Robot Hand Control

Here, describes a ladder program example which controls a robot hand with robot dedicated signals in the
sequencer.

[Target function]
Controls a robot hand (opens/closes hand 1)

[Target robot]
The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)

[Robot parameter setting]

• HANDENA (hand control permitted) = 10079,10079
• HANDOUT (hand output control signal) = 10080,10087

• HNDCNTL1 (hand output signal status) = 10048, 10055 (factory defaults)

• HANDTYPE (hand type) = D900, D902, D904, D906, , , , (factory defaults)

[Description]
When the robot is in AUTOMATIC mode, the sequencer controls a robot hand.
When M160 is turned ON (M161 is turned OFF), hand 1 opens. When M161 is turned ON (M160 is
turned OFF), hand 1 closes.
When the robot is in MANUAL mode ("Hand control permission output" is OFF), the sequencer reads
"Hand output signal status" and always outputs it as "Hand output control signal", thereby according the
hand state with "Hand output control signal" output from the sequencer.
Robot's dedicated output and input signals are batch transferred to B0/ B100 and after respectively.

[Device details]
M160: Hand 1 open trigger
M161: Hand 1 close trigger

B14F: Hand control permission input signal

B150: Hand output control signal (open hand 1)
B151: Hand output control signal (close hand 1)

M4F: Hand control permission output signal

B30: Hand output signal status (open hand 1)
B31: Hand output signal status (close hand 1)

How to Operate Sequencer Direct 8-107

8Perform Sequencer Direct

[Ladder]
U3E1\
HG0

U3E0\
HG0

8-108How to Operate Sequencer Direct

 8Perform Sequencer Direct

8.4 Samples
Here, as samples for sequencer direct performance, describes the examples that the robot takes out works.
The examples are a robot program which takes out works, a ladder which uses sequencer direct perfor-
mance command plus hand control function, and an operation setting in the GOT screen.

8.4.1 Robot Program

'// Initial setting

HOPEN 1 ' Opens hand (1) This program is assumed to be a
' vertical type robot. When a robot is
horizontal type, because tool's Z
'// Takes out a work
axis is opposite to vertical type,
Mov P_DM(1),-200 ' Moves over the takeout position (2) change the code as follows:
Ovrd 70 ' Override 70% (3)
Accel 50,50 ' Accelerate and decelerate 50% (4) Mov P_Dm(1), -200
Mvs P_DM(1) ' Moves to the takeout position (5) to Mov P_Dm(1), +200
Dly 0.2 ' Waits for 0.2sec (arrival check) (6)
HClose 1 ' Closes hand (7)
Wait M_IN(901)=1 ' Checks hand close (8)
Dly 0.1 ' Waits for 0.1sec (9)
Ovrd 100 ' Override 100%s (10)
Accel 100,100 ' Accelerate and decelerate 100% (11)
Mvs P_DM(1),-200 ' Moves over the takeout position (12)
'
End

(2)Mov P_DM(1),-200
(Moves over the takeout (1) HOpen 1 (Opens hand)
position)

(3) Ovrd 70 (Reduce speed to 70%)

(4) Accel 50.50 (Reduce acceleration and
deceleration rate to 50%)
(10) Ovrd 100 (Put back speed to 100%)
(11) Accel 100,100 (Put back acceleration and
(5) Mvs P_DM(1) (Moves to the takeout deceleration rate to 100%)
position) (12) Mvs P_DM(1),-200 (Moves over the takeout
(6) Dly 0.2 (Waits for 0.2sec, arrival check) position)

200mm
(7) HClose 1 (Closes hand)
(8) Wait M_In(901)=1 (Wait for close signal)
(9) Dly 0.1 (Waits for 0.1)

Fig.8-1:Robot operation

Samples 8-109
8Perform Sequencer Direct

8.4.2 Sample Ladder Program

(1) Condition
[CPU configuration]
Sequencer plus one robot

[Sequencer multiple CPUs setting]

The figure below shows the multiple CPU parameter setting of the sequencer:
<CR800-R series>

Allocates 1K to the sequencer (#1) and

robot (#2) respectively

<CR800-Q series>

Allocates 1K to the sequencer (#1) and

robot (#2) respectively

8-110Samples
 8Perform Sequencer Direct

[Robot parameter setting]

● Selecting CPU buffer memory extended function
• IQMEM: Set both bits 0, 1 to one to enable the sequencer direct performance function

● Robot output signal control

• HANDENA (hand control permitted): 10079, 10079
• HANDOUT (hand output control signal): 10080, 10087

Use the robot input signals (10080 - 10087) to control the robot hand output signal (900 - 907)
Refer to Table 8-2.

[Robot hand]
Table 8-2:Hand output
Hand No 1 2 3 4
Open/Close Open Close Open Close Open Close Open Close
Robot hand output sig 900 901 902 903 904 905 906 907
Hand output control signal 10080 10081 10082 10083 10084 10085 10086 10087

Samples 8-111
8Perform Sequencer Direct

[Allocating robot dedicated I/O signals]

Allocate the signals HANDENA, HANDOUT as well as the dedicated signals allocated in initial setting.
To handle the robot dedicated I/O signals in the sequencer, replace the robot dedicated I/O signals with
device B.
Sequencer
Parameter Robot Input Signal Robot Mapping
Robot Output Signal Name Mapping (B)
Name Name
Input Output Output Input
STOP Stop input Pausing output 10000 10000 100 000
RCREADY - Controller power ON ready - 10001 - 001
ATEXTMD - Remote mode output - 10002 - 002
TEACHMD - Teaching mode output - 10003 - 003
ATTOPMD - Automatic mode output - 10004 - 004
IOENA Operation rights input Operation rights output 10005 10005 105 005
START Start input Operating output 10006 10006 106 006
STOPSTS - Stop signal input - 10007 - 007
Program selection enabled out-
SLOTINIT Program reset input 10008 10008 108 008
put
ERRRESET Error reset input Error occurring output 10009 10009 109 009
SRVON Servo ON input In servo ON output 10010 10010 10A 00A
SRVOFF Servo OFF input Servo ON disable output 10011 10011 10B 00B
CYCLE Cycle stop input In cycle stop operation output 10012 10012 10C 00C
SAFEPOS Safe point return input In safe point return output 10013 10013 10D 00D
BATERR - Battery voltage drop - 10014 - 00E
General-purpose out-
OUTRESET - 10015 - 10F -
put signal reset
HLVLERR - High level error output - 10016 - 010
LLVLERR - Low level error output - 10017 - 011
CLVLERR - Warning level error output - 10018 - 012
EMGERR - Emergency stop output - 10019 - 013
PRGSEL Program selection input - 10020 - 114 -
OVRDSEL Override selection input - 10021 - 115 -
Program No. output
PRGOUT Program No. output 10022 10022 116 016
request
LINEOUT Line No. output request Line No. output 10023 10023 117 017
OVRDOUT Override value request Override value output 10024 10024 118 018
Error No. output
ERROUT Error No. output 10025 10025 119 019
request
- - - - - - -
- - - - - - -
- - - - - - -
- - - - - - -
- - - - - - -
- - - - - - -
IODATA Numeric value input 0 Numeric value output 0 10032 10032 120 020
↑ Numeric value input 1 Numeric value output 1 10033 10033 121 021
↑ Numeric value input 2 Numeric value output 2 10034 10034 122 022
↑ Numeric value input 3 Numeric value output 3 10035 10035 123 023
↑ Numeric value input 4 Numeric value output 4 10036 10036 124 024
↑ Numeric value input 5 Numeric value output 5 10037 10037 125 025
↑ Numeric value input 6 Numeric value output 6 10038 10038 126 026
↑ Numeric value input 7 Numeric value output 7 10039 10039 127 027
↑ Numeric value input 8 Numeric value output 8 10040 10040 128 028
↑ Numeric value input 9 Numeric value output 9 10041 10041 129 029
↑ Numeric value input 10 Numeric value output 10 10042 10042 12A 02A

8-112Samples
 8Perform Sequencer Direct

Sequencer
Parameter Robot Input Signal Robot Mapping
Robot Output Signal Name Mapping (B)
Name Name
Input Output Output Input
↑ Numeric value input 11 Numeric value output 11 10043 10043 12B 02B
↑ Numeric value input 12 Numeric value output 12 10044 10044 12C 02C
↑ Numeric value input 13 Numeric value output 13 10045 10045 12D 02D
↑ Numeric value input 14 Numeric value output 14 10046 10046 12E 02E
↑ Numeric value input 15 Numeric value output 15 10047 10047 12F 02F
HNDCNTL1 - Hand output signal state 900 - 10048 - 030
↑ - Hand output signal state 901 - 10049 - 031
↑ - Hand output signal state 902 - 10050 - 032
↑ - Hand output signal state 903 - 10051 - 033
↑ - Hand output signal state 904 - 10052 - 034
↑ - Hand output signal state 905 - 10053 - 035
↑ - Hand output signal state 906 - 10054 - 036
↑ - Hand output signal state 907 - 10055 - 037
HNDSTS1 - Hand input signal state 900 - 10056 - 038
↑ - Hand input signal state 901 - 10057 - 039
↑ - Hand input signal state 902 - 10058 - 03A
↑ - Hand input signal state 903 - 10059 - 03B
↑ - Hand input signal state 904 - 10060 - 03C
↑ - Hand input signal state 905 - 10061 - 03D
↑ - Hand input signal state 906 - 10062 - 03E
↑ - Hand input signal state 907 - 10063 - 03F
USRAREA - User defined area 1 - 10064 - 040
↑ - User defined area 2 - 10065 - 041
↑ - User defined area 3 - 10066 - 042
↑ - User defined area 4 - 10067 - 043
↑ - User defined area 5 - 10068 - 044
↑ - User defined area 6 - 10069 - 045
↑ - User defined area 7 - 10070 - 046
↑ - User defined area 8 - 10071 - 047
- - - - - - -
- - - - - - -
- - - - - - -
- - - - - - -
- - - - - - -
Hand control permis-
HANDENA Hand control permission output 10079 10079 14F 04F
sion input
HANDOUT Hand output control 900 - 10080 - 150 -
Allocation
↑ Hand output control 901 - 10081 - 151 - added with
↑ Hand output control 902 - 10082 - 152 - dedicated I/
O parame-
↑ Hand output control 903 - 10083 - 153 -
ters
↑ Hand output control 904 - 10084 - 154 - HANDENA,
↑ Hand output control 905 - 10085 - 155 - HANDOUT
↑ Hand output control 906 - 10086 - 156 -
↑ Hand output control 907 - 10087 - 157 -

- - - - - - -
- - - - - - -
- - - - - - -
- - - - - - -
- - - - - - -

Samples 8-113
8Perform Sequencer Direct

(2) Details
[Sequencer device mapping]
Device Name Description
M1 Robot transfer instruction Turn it ON when carrying out an operation to take out works in the
system.
M5 System running Turn it ON when system is running.
Turn it OFF when a suspension or error occurred.
M7 Error reset instruction When instructing an error reset in the system, turn it ON.
M200 - M209 Work takeout operation Sets up the flow of work takeout operation.
M240 Sequencer direct practicable condition Turn it ON, when the sequencer direct is practicable.
M250 Sequencer direct performance trigger When requesting for sequencer direct performance, turn it ON.
M251 Sequencer direct performed When the sequencer direct performance is completed, turn it ON.
M252 Sequencer direct performed successfully When the sequencer direct performance is successfully completed,
turn it ON.
M253 Sequencer direct performance sus- When the sequencer direct performance is suspended (paused), turn
pended it ON.
→It is necessary to issue this signal to suspend the system.
M254 Sequencer direct performance error exit When the sequencer direct performance is unavailable, turn it ON.
→It is necessary to issue this signal to admit the system error.
D20 Sequencer direct performance comple- Stores the completion status of sequencer direct performance.
tion status
D104-D106 Command data value Sets up the command data for sequencer direct performance.
D110-D118 Command condition data value Sets up the command condition data for sequencer direct perfor-
mance.
T10 Work takeout position arrival check A timer to set up the delay time for arrival check after moving to the
work takeout position.
T20 Hand close delay timer A timer to set up the delay time after hand close.

[Description]
(1) When M1 (transfer instruction) is turned ON, carries out an operation to take out a work. When the
operation is completed, Work transfer completed (M209) is turned ON.
(2) The robot operates only when the System running (M5) is ON.
When the sequencer direct performance is suspended (M253 is turned ON) and becomes error
(M254 is turned ON), carry out a system control (create it separately) to stop the system and turn
OFF System running (M5). When System running (M5) is turned ON due to the resume, the robot
operation resumes.
(3) The robot hand control in the sequencer is carried out only in AUTOMATIC mode.
(4) When Error reset instruction (M7) is turned ON, the robot error is reset.

8-114Samples
 8Perform Sequencer Direct

[Ladder program]

U3E1\
HG0
Batch transfer the
robot output sig-
nal to B0 and
after

Prepare to per-
form sequencer
direct
- Get control
authority
- Error reset
- Program reset
- Servo ON

HOpen 1

Write an operation
flow
Prepare perfor-
mance

Mov P_DM(1),-200

Samples 8-115
8Perform Sequencer Direct

Ovrd 70
Accel 50,50
Mvs P_DM(1)

Dly 0.2

HClose 1

Wait M_In(901)=1
Dly 0.1

Ovrd 100
Accel 100,100
Mvs P_DM(1),-200

Write an opera-
tion flow
Prepare perfor-
mance

End

8-116Samples
 8Perform Sequencer Direct

Create com-
mand data of
sequencer direct
performance

Samples 8-117
8Perform Sequencer Direct

U3E1\HG520.0 U3E0\
HG524

U3E0\HG520.0
U3E0\HG520.0

U3E1\HG520.0 U3E0\HG520.0

U3E1\
I/F handling of HG522
sequencer direct
performance

Hand open/close
I/F handling

Batch transfer
the data in B100
and after to the
robot input signal U3E0\
HG0

8-118Samples
 8Perform Sequencer Direct

8.4.3 Sample Operation Setting in GOT Screen

Realizes a robot operation without user program by entering the robot operation into GOT.
Sequencer handling is provided by function block or ladder program. Also GOT screen is provided. (Refer to
MITSUBISHI ELECTRIC FA Site.)

<Sequencer> <Robot>

System control ladder

(1)
Peripheral
GOT setting
control 1
(2) Device
ﾃﾞﾊﾞｲｽ (FB)
Operation A ﾃｰﾌﾞﾙ
table
Instruct
ﾃｰﾌﾞﾙ1to GOT command edit screen
select table
選択指示 Target table data
1 対象ﾃｰﾌﾞﾙﾃﾞｰﾀ
(3)
Peripheral
control 2 Instruct to
ﾃｰﾌﾞﾙ2
select table Device table
選択指示
2 Control ladder (4)
Perform
ｼｰｹﾝｻﾀﾞｲﾚ
Operation B (FB) Sequencer
sequencer
Direct performance ｸﾄ実行 Sequencer direct
direct
I/F ladder perf ormance
(FB) (7)
Instruct to Hand control
ﾊﾝﾄﾞ制御
ﾃｰﾌﾞﾙ3
select table Hand control dedicated
専用信号 Dedicated I/O
Peripheral 選択指示
3 signal
control 3 (6) (5) I/F ladder (FB) Action
Ladder waiting f or time

(FB)

Ladder waiting f or
signal (FB)

Signal output
ladder (FB)
Operation C
Inner sequencer processing
Peripheral
control 4

(1) Input robot control commands sequentially in GOT.

The input data is stored in the sequencer device table.
(2) When a robot operation is generated in the system control, the sequencer calls up the device table
control by designating the table number.
(3) As for the device table control, the sequencer reads the setting values for target device table and car-
ries out the control steps (4) - (6) in order according to the setting values.
(4) As for robot movement, the sequencer sends the instruction of sequencer direct performance to the
robot based on the values in device table.
(5) As for hand control, the sequencer sends the dedicated signals for hand control.
(6) As for inner sequencer processing, the sequencer carries out the sequencer's target operation.
(7) The robot carries out operations instructed by sequencer direct performance and hand control.

<S/W for robot operation>

Item Target Program to be prepared
Program created by the customer Sequencer None
Robot None
Function block and screen pro- Sequencer ● GOT setting
vided by us ● Device table control
● Inner sequencer processing (waiting for time and signal, signal output, etc.)
● I/F handling of sequencer direct performance
● Hand control I/F handling
GOT ● Command edit screen

Samples 8-119
8Perform Sequencer Direct

[GOT screen image (sample)]

In the GOT screen, enter setting values, such as operation command, position, speed, acceleration, to
operate the robot based on the specified steps. The figure below shows an example of operation command
input screen.

Select Select

Hand/ program control

is achieved through
dedicated I/O signals

Robot move is achieved by

sequencer direct performance

Signal/ time control is pro-

cessed within the
sequencer

8-120Samples
 8Perform Sequencer Direct

The figure below shows the change of pages when entering an operation command in the GOT screen.

Samples 8-121
8Perform Sequencer Direct

<Operating procedure>

1) Select target robot and table number to display the

command edit screen.

2) Push the [Action cmd]/[Control cmd] button to dis-

play the command select screen and select a com-
mand.

3) Display the numeric keypad by pushing a number

display to enter the data necessary for the com-
mand.

* Necessary data may vary according to the com-

mand. Enter the data according to the guidance
display at the top of number display.

4) Carry out the steps "2)" and "3)" as many as the

number of commands to end the editing.

8-122Samples
 8Perform Sequencer Direct

8.5 Precautions for Sequencer Direct Performance

8.5.1 Requirements
Sequencer direct performance can be carried out when all conditions below are met:
(1) Valid operation authority (robot output IOENA is ON)
(2) No H or L level error (robot signals HLVLERR, LLVLERR are OFF)
(3) Program is available (robot output SLOTINIT is ON)
(4) Robot servo is ON (robot output SRVON is ON)
(5) No stop input (robot output STOPSTS is OFF)
(6) Not returning to retracting point (robot output SAFEPOS is OFF)
(7) Remote JOG is not working (robot output JOGENA is OFF)
(8) Robot's origin has been set up
(9) Parameter ALWENA is set to zero (refer to Page 123, "8.5.3 Prohibit Program Startup with always
Running Program")
(10) Robot language is set to "MELFA-BASIC V" (parameter RLNG=2) or "MELFA-BASIC VI" (parameter
RLNG=3 (Only RT ToolBox3)) (Refer to Page 123, "8.5.4 Robot Language Setting")

8.5.2 Running together with Program

Even when sequencer direct performance function is valid, the program startup through external signal is
possible. However, they cannot run simultaneously. The Table 8-3 lists whether it is possible to run each
program simultaneously.

Table 8-3:Possibility to run each program as well as sequencer direct performance

Item Decision Description
Start up a program with startup condition • START program is unavailable during performing sequencer direct
START simultaneously × • Sequencer direct is unavailable during running START program
Start up a program with startup condition • Sequencer direct is available during running ALWAYS program
ALWAYS simultaneously ○
Start up a program with startup condition • ERROR program is available during performing sequencer direct
ERROR simultaneously △ • Sequencer direct is unavailable during running ERROR program

The robot program and the position edit/variable monitor can the handle position data for sequencer direct
performance.

The table below lists the handling of each position:

Reference Definition
as a as a Teach/
Variable Name Used Display Delete
Positon No Function Command Command Edit
in Program Variable Variable
Note1) Note2) Variable

1 - 999 P_DM(1) - P_DM(999) External program variable ○ × ○ ○ ×

5000 P_D5000 System state variable ○ × ○ × ×
5100 - 5102 P_D5100 - P_D5102
Note1) Mov P_DM(1), etc.
Note2) Def Pos P_DM, etc.

8.5.3 Prohibit Program Startup with always Running Program

When the sequencer direct performance function is valid, ALWENA=0 is assumed regardless of the param-
eter ALWENA setting (X**, SERVO, RESET ERR commands in the always running program are prohibited).
When the controller starts up with parameter ALWENA=1 while the sequencer direct performance function is
valid, an error "L3995 Unavailable together with the function (sequencer direct, ALWENA)" occurs.

8.5.4 Robot Language Setting

The sequencer direct performance is enabled only when MELFA-BASIC V (parameter RLNG=2) or MELFA-
BASIC VI (parameter RLNG=3 (only RT ToolBox3)) is selected for robot language . When MELFA-BASIC IV
is selected (parameter RLNG=1), an error "L3996 Sequencer direct function unavailable" occurs on
controller startup. This error cannot be reset.

Precautions for Sequencer Direct Performance 8-123

9Cooperative operation function

9 Cooperative operation function

9.1 Outline
The cooperative operation function by two robots enables the transportation that two robots grasp the target
workpiece at one end, respectively, together in synchronization.
A position-tracking control of robots enables this operation. After the common coordinates are set in a mas-
ter robot (robot No.1) and a slave robot (robot No.2), robot No.2 obtains the current position data of robot
No.1 every controller control time via a PLC, and tracks robot No.1 operation.
The controller control time is approx. 3.5 ms with the CR800-R, and approx. 7.1 ms with CR800-Q.

Robot No.2 obtains the current

position data of robot No.1 at
: Robot No.1 motion path established intervals and tracks
the position.
: Robot No.2 motion path
(Example command: Mxt 1,0)

Workpiece

Robot No.1 Robot No.2

(Master) (Slave)
Robots' synchronized
points on the workpiece
transport path

Fig.9-1:Cooperative operation

CAUTION The accuracy of the transport path by both robots operation and the tracking
intervals of robot No.2 are not guaranteed.
When the operation speed of robot No.1 is set to high, the operation of robot
No.2 may be delayed.

9.2 Parameter of Selecting CPU buffer Memory Extended Function

Array Qty
Parameter
Parameter Character Description Factory Default
Name
Qty
Select CPU buffer IQMEM 1 digit inte- Set validity (1)/ invalidity (0) for the function. 0000000000000000
memory extended ger Sets each bit by allocating a function to each bit.
function 0000000000000000 bit2-15: Not used
|+- bit0: Use the extended function
+-- bit1: Sequencer direct
performance function

9-124Outline
 9Cooperative operation function

9.3 System configuration

This is a multi-CPU system configured with three CPU modules; a PLC CPU module and two robot CPU
modules.
A position data is transmitted between robots through the CPU buffer memory by the PLC.

Robot No.1’s CPU

PLC CPU
Robot No.2’s CPU

Teaching Teaching
pendant pendant

Controller Controller

Robot No.1 Robot No.2

(Master) (Slave)

Fig.9-2:System configuration

9.4 Sample program

Sample programs are shown below.

Robot Program Content

Robot 1 1.prg A program for automatic operation of the robot (actuation between two teach-
(Master) ing positions)

BFRM.prg A program for adjustment of setting the common coordinates in robot No.1 and
robot No.2
Robot 2 1.prg A program for automatic operation of the robot (tracking robot No.1 to its desti-
(Slave) nation)

BFRM.prg A program for adjustment of setting the common coordinates in robot No.1 and
robot No.2

System configuration 9-125

9Cooperative operation function

9.4.1 Automatic operation program (1.prg)

Robot No.1 (Master) Robot No.2 (Slave)

Robot CPU No.2 Robot CPU No.3

'#### Teaching point #### '#### Teaching point ####

'P0 'Start of the cooperative movement 'P0 'Safe point, before starting the cooperative operation
'P1,P2 'Operation point for the cooperative movement '
'
M_Mxt(2)=0 Wait M_Mxt(2)=0
Wait M_Mxt(3)=0 M_Mxt(3)=0
' 'Wait at the standby position for start command from the
master.
Mov P0 Mov P0
' Send start command for the cooperative operation at '
operational start position.
M_Mxt(2)=1 Wait M_Mxt(2)=1
Open "MXT:QRBUS2" As #1 'Specify the module No. 2 in the
CPU buffer memory.
Mov P_GCurr(2) ' Set the robot arm to the operational
start position.
Dly 0.1
HClose 1
Dly 0.1
Wait M_Mxt(3)=1 M_Mxt(3)=1
' Cooperative movement ' Execute the real-time external control through the CPU buffer
memory.
Dly 0.5 'Wait for MXT command execution Mxt 1,0 ' Keep execution until the value of M_Mxt(2)
Spd 30 ' Set the operation speed at 30 mm/s. (cooperation start) turns 0.
Mvs P1 Note 1)
Mvs P2

Spd M_NSpd
Dly 0.1
' Send stop command for the cooperative operation '
at operational end position.
M_Mxt(2)=0 ' Stop cooperation.
Wait M_Mxt(3)=0 M_Mxt(3)=0
' Stop cooperation. '

Note 1) Teach the workpiece transport destination to robot No.1. Refer to Page 131, "9.6.3 Adjustment 3:
Teaching and parameter setting of the workpiece transport destination" for details.

9-126Sample program
 9Cooperative operation function

9.4.2 Robot adjustment program (BFRM.prg)

Robot No.1 (Master) Robot No.2 (Slave)

Robot CPU No.2 Robot CPU No.3

'#### Teaching point #### '#### Teaching point ####

'PPL1,PPL2,PPL3 ' Common coordinate 'PPL1,PPL2,PPL3 ' Common coordinate
'PPK1 ' Picking point '
' '#### Calcurated point ###
'#### Calcurated point ### 'PFR1 ' Origin point of the common
'PFR1 ' Origin point of the common coordinate (Robot 1)
coordinate (Robot 1) 'PFR2 ' Origin point of the common
' Note 1) coordinate (Robot 2)
'##### Main process ##### 'PBASE ' Base coordinate point
*MAIN '
' <1> Theching three point(PPL1, PPL2, PPL3) for create the '##### Main process #####
common frame. Execute next line. *MAIN
PFR1=Fram(PPL1,PPL2,PPL3) ' Calculate the origin data of ' <1> Input the origin data of common fram of Robot 1 to
common frame of Robot 1. 'PFR1' variable.
' ' <2> Theching three point(PPL1, PPL2, PPL3) for create the
'** Set the common TOOL data between Robot 1 and Robot 2 ** common frame. Execute next line.
' <2> Teaching the operation position of Robot 1 to 'PPK1' PFR2 =Fram(PPL1,PPL2,PPL3) ' Calculate the origin data of
variable. common frame of robot 2.
' <3> Input the theching data of 'PPK2' variable of Robot 2. '
Execute next three lines. ' The base coordinate of Robot 2 will be set same as the
PBT=(PPK1+PPK2)/2 ' Calculate the center position robot1's.
between Robot 1 and Robot 2. PBTMP=PFR2*Inv(PFR1) Note 2)
PTL1=Inv(PPK1)*PBT ' Calculate the common TOOL data for PBASE=Inv(PBTMP)
Robot 1. Base PBASE 'Set the Base coordinate.
Tool PTL1 '
End '** Set the common TOOL data between Robot 1 and Robot 2 **
' ' <3> Teaching the operation position of Robot 2 to 'PPK2'
variable.
Note 3) ' <4> Input the theching data of 'PPK1' variable of Robot 1.
Execute next three lines.
PBT=(PPK1+PPK2)/2 'Calculate the center position between
Robot1 and Robot 2.
PTL2=Inv(PPK2)*PBT 'Calculate the common TOOL data for
Robot 2.
Tool PTL2
End
'

Note 1) Set the common frame coordinates to robot No.1 and robot No.2. Refer to Page 129, "9.6.1 Adjust-
ment 1: Adjustment of the common base coordinates" for details.
Note 2) Use the setting of the robot No.1 base coordinates for robot No.2 base coordinates. Refer to Page
129, "9.6.1 Adjustment 1: Adjustment of the common base coordinates" for details.
Note 3) Set the common tool in the robots. Refer to Page 130, "9.6.2 Adjustment 2: Setting of the common
tool" for details.

Sample program 9-127

9Cooperative operation function

9.5 Sequence program

Use the PLC program to output the data of the robot No.1 current position to the CPU buffer memory.
(It is required to enable the extended function parameter IQMEM for robot No.1 and robot No.2.)

U3E0\HG512.4

U3E0\HG512.3

U3E0\
HG841

U3E0\HG536.4

U3E0\HG536.3

U3E0\
HG1865

9-128Sequence program
 9Cooperative operation function

9.6 Adjustment
9.6.1 Adjustment 1: Adjustment of the common base coordinates
Use the robot program BFRM.prg to set the common coordinates in robot No.1 and robot No.2. (Use the
setting of the robot No.1 base coordinates for robot No.2 base coordinates.)

■Outline of setting procedure

1) Set the position data (PPL1, PPL2, and PPL3) to define the common frame coordinates in robot No.1
and robot No.2. (Specify the common position data in the common frame coordinates of robot No.1
and robot No.2.)
2) Set the common frame coordinates in robot No.1 and robot No.2.
<Program>
PFR1=Fram(PPL1,PPL2,PPL3) ‘Calculate the origin data of common frame of robot No.1.
PFR2=Fram(PPL1,PPL2,PPL3) ‘Calculate the origin data of common frame of robot No.2.
3) Use the setting of the robot No.1 base coordinates for robot No.2 base coordinates. (setting on robot
No.2 only)
<Program>
Share the setting of the robot No.1 base coordinates with robot No.2.
PBTMP=PFR2*Inv(PFR1)
PBASE=Inv(PBTMP)
Base PBASE ‘Set the base coordinate.

Common frame
PPL2

PPL3
PPL1

PFR1 PFR2
Inv(PFR1)

Robot No.1 Robot No.2

(Master) PBASE=Inv(PFR2*Inv(PFR1)) (Slave)

Fig.9-3:Adjustment of the common base coordinates

Adjustment 9-129
9Cooperative operation function

9.6.2 Adjustment 2: Setting of the common tool

Use the robot program BFRM.prg to set the common tool in robot No.1 and robot No.2. (Establish the tool
position at midpoint between the workpiece grasp positions for robot No.1 and robot No.2.)

■Outline of setting procedure

1) Teach the workpiece grasp positions for robot No.1 and robot No.2. (PPK1, PPK2)
(PPK1: Workpiece picking position of robot 1. PPK2: Workpiece picking position of robot 2.)
2) Set the tool coordinate of robot 1.
<Program>
PBT=(PPK1+PPK2)/2 ‘ Determine the midpoint by calculation between the work-
piece removing positions for robot No.1 and robot No.2.
PTL=Inv(PPK1)*PBT ‘ Determine the common tool by calculation in robot No.1 and
robot No.2.
Tool PTL
3) Set the tool coordinate of robot 2.
<Program>
PBT=(PPK1+PPK2)/2 ‘ Determine the midpoint by calculation between the work-
piece removing positions for robot No.1 and robot No.2.
PTL=Inv(PPK2)*PBT ‘ Determine the common tool by calculation in robot No.1 and
robot No.2.
Tool PTL

Common tool
Wprkpiece position

PPK1

PPK2

PBASE
Robot No.1 Robot No.2
(Master) (Slave)
Robot No.1 tool Robot No.2 tool
(PLT1) (PLT2)

Fig.9-4:Setting of the common tool

9-130Adjustment
 9Cooperative operation function

9.6.3 Adjustment 3: Teaching and parameter setting of the workpiece transport destination
Use the robot program 1.prg for robot No.1 to teach the workpiece transport destination (to robot No.1 only).
Set the parameter to enable each extended function for robot No.1 and robot No.2.

■Outline of setting procedure

1) Teach the workpiece transport destination to robot No.1. (P1, P2)
2) Set the parameter to enable each extended function for robot No.1 and robot No.2.
(Change [1: 00000000000000000] to [1: 00000000000000011].)

Common tool position

Workpiece

P2

P1

PBASE
Robot No.1 Robot No.2
(Master) (Slave)
Fig.9-5:Teaching and parameter setting of the workpiece transport destination

Adjustment 9-131
9Cooperative operation function

9.7 Cooperated operation by robots

9.7.1 Parallel straight motion by robot No.1

Common tool position

P2
Parallel straight
motion

P1

P_D5100

PBASE
Robot No.1 Robot No.2
(Master) (Slave)
Fig.9-6:Parallel straight motion

9.7.2 Rotating motion by robot No.1

Robot No.1 and robot No.2 rotate the workpiece about the common tool position as a center of rotation.

Common tool position

PBASE

Robot No.1 Robot No.2

(Master) (Slave)
Fig.9-7:Rotating motion

9-132Cooperated operation by robots

 10CPU buffer Memory Extended Function Relevant Parameter

10 CPU buffer Memory Extended Function Relevant Parameter

Here, describes a parameter relating to CPU buffer memory extended function.

When a parameter is changed, make sure to turn on again the robot controller' power supply (OFF to ON) or
reset the sequencer. The parameter setting does not become effective only with the parameter change.

10.1 Parameter of Selecting CPU buffer Memory Extended Function

Array Qty
Parameter
Parameter Character Description Factory Default
Name
Qty
Select CPU buffer IQMEM 1 digit inte- Set validity (1)/ invalidity (0) for the function. 0000000000000000
memory extended ger Sets each bit by allocating a function to each bit.
function 0000000000000000 bit2-15: Not used
|+- bit0: Use the extended function
+-- bit1: Sequencer direct
performance function

When sequencer direct performance is valid, external program variables P_DM(1) - P_DM(999) (999 in
total) in the robot controller and system state variables P_D5000, P_D5100 - P_D5102 are extended
(extended variables are referred to as "extended variable", below).

Robot controller's internal m em ory

Sequencer direct perform ance is inv alid: Sequencer direct perform ance is v alid:
Program external Program external
v ariables prepared Set both bits 0, 1 of v ariables prepared
Extend and delete
in adv ance param eter IQ MEM to 1 in adv ance
external program
(P_00, etc.) ＋
v ariables

Set either bit 0, 1 of

param eter IQ MEM to 0
External program
v ariables for
sequencer direct Extend external
perform ance program v ariables
P_DM(1)
|
P_DM (999)
(999)

Extend and delete

system state
v ariables System state System state
v ariables prepared v ariables prepared
in adv ance in adv ance
(P_Curr, etc.) Set both bits 0, 1 of (P_Curr, etc.)
param eter IQ M EM to 1

＋
Set either bit 0, 1 of
param eter IQ M EM to 0 System state v ariables
Extend system state
for sequencer direct
v ariables
perform ance
P_D5000, P_D5100 - 5102

Parameter of Selecting CPU buffer Memory Extended Function 10-133

10CPU buffer Memory Extended Function Relevant Parameter

(1) Variable extension timing

When the controller is started up while the sequencer direct performance function is valid (both bits 0, 1 of
parameter IQMEM for selecting CPU buffer memory extended function are set to one), external program
variables and system state variables are extended.

User defined external variable with the same name is used:

When the user defined external variable with the same name is in use, an error "L4811 User defined
external variable redefinition error" occurs, but the variables for sequencer direct performance are
extended. However, because already created user defined external variable still remains, there are two vari-
ables with same name. In this case, because the extended variables for sequencer direct performance is
preferred for variable reference, the values of extended variables for sequencer direct performance are dis-
played in the variable monitor.
When the sequencer direct performance gets invalid, the user defined external variable becomes available
as before.

Out of memory:
In case of out of memory, errors "C7010 Out of memory", "L4800 System based program unavailable"
occur. Here, because the system based program itself is not created, the variables are not extended.

Change of parameter PRGGBL (external variable extension)

When the system starts up while sequencer direct performance function is valid, this parameter PRGGBL is
changed to one (valid) even if PRGGBL was set to zero (invalid). The factory default of PRGGBL is one, but
when its value was changed by the user, the valid setting of sequencer direct performance changes the
value.

(2) Deletion timing of extended variables

When the controller is started up while the sequencer direct performance function is invalid (either bits 0, 1
of parameter IQMEM for selecting CPU buffer memory extended function is set to zero), extended external
program variables and extended system state variables are deleted. The user available memory space
increases.

(3) Add controller program check

When the definition (Def Pos P_DM, etc.) of extended variable is tried to be entered into the controller while
sequencer direct performance function is valid, an error "4350 Duplicated variable definition tried" occurs.

(4) Program syntax check

The definition (Def Pos P_DM, etc.) error of extended variable is not checked by syntax check in the RT
ToolBox3 (because the syntax check of RT ToolBox3 cannot determine whether the sequencer direct perfor-
mance function is valid or not). Its error is checked by the controller's program check during transferring the
program to the controller.

(5) Treatment when sequencer direct is performed while the variables were not extended
The sequencer direct performance is not received without variable extension.
The completion status is set to the number indicating an impracticable reason (refer to Page 91, "(2) Opera-
tion Command Is Impracticable:").

10-134Parameter of Selecting CPU buffer Memory Extended Function

 10CPU buffer Memory Extended Function Relevant Parameter

10.2 Function Definition Parameter

Array Qty
Parameter
Parameter Character Description Factory Default
Name
Qty
Define function IQSPEC 1 digit inte- Set up function for robots. 0000000000000001
ger Set each function allocated by each bit.
0000000000000000 bit1-15: Not used
+--- bit0: Direction to write
into CPU buffer
memory

0: Reads/writes in order from first to last address

(until Ver. N7)
1: Reads in order from first to last address, writes in
order from last to first address
(communication specification among iQ Platform
multiple CPUs)

The access sequence of the CPU buffer memory before the software version N7 of the robot controller is
direction to the final address from the top address for both of reading and writing. However, the sequencer's
communication specification among iQ Platform multiple CPUs is direction from last to start address for writ-
ing. Thus, when a system is designed according to the CPU buffer memory map specification, the interlock
of dataset may be impossible. (For more information, refer to the Fig. 10-1.)
Therefore, when utilizing CPU buffer memory expanded function, it is necessary to make the CPU buffer
memory access order the same as the specification of the sequencer. We provide the parameter (IQSPEC)
to solve it. The initial value is set to the same specification as the sequencer, so its change by customer is
not necessary at all. But, in order to assure the compatibility with previous models, the behavior based on
the previous specification is possible.

Prevention of separation of data over 32 bits

When user’s free area is used
The program reads in order from start of user’s free area. In write command, the transmission data is
written in order from last to start address of user’s free area.
Consequently, the interlock device at the start of data for communication can prevent separation of data
for communication

CPU buffermemory
Shared memory
Low Sequencer
Sequencer
Sequencer’s
Sequencer's Write Robot's
handling
handling
Interlock Read
handling

Transmission
data
Robot's writing
Robot’s writing direction
direction
isischanged
changedto tothe
the same
same
asassequencer
sequencer

Robot output

Interlock
Read Write
Transmission
data

High

Fig.10-1:Change the writing order of CPU buffer memory data

Function Definition Parameter 10-135

11Extended Function Relevant Error List

11 Extended Function Relevant Error List

(1) Error occurred when MELFA-BASIC IV is selected while CPU buffer memory extended function is valid

Error No Error Cause and Measure

L3994 Error message Shared memory extended function unavailable (MB4)
Cause CPU buffer memory extended function is unavailable in MELFA-BASIC IV.
The parameter RLNG=1 (MELFA-BASIC IV) is selected while CPU buffer memory extended
function is valid. Make sure to set the parameter RLNG to 2 (MELFA-BASIC V) or 3 (MELFA-
BASIC VI (only RT ToolBox3)).
Measure Set the parameter RLNG to 2 (MELFA-BASIC V) or 3 (MELFA-BASIC VI (only RT ToolBox3)).

(2) Error occurred when the parameter ALWENA is set to one (enabled) while the sequencer direct perfor-
mance is valid

Error No Error Cause and Measure

L3995 Error message Unavailable together with the function (sequencer direct, ALWENA)
Cause Unavailable together with the function (sequencer direct, ALWENA)
The parameter ALWENA is set to one (enabled) while the sequencer direct performance function
is valid. During performing sequencer direct, X** commands are unavailable in the always run-
ning program. Make sure to set the parameter ALWENA to zero (disabled).
Measure Set the parameter ALWENA to zero (disabled).

(3) Error occurred when MELFA-BASIC IV is selected while the sequencer direct performance is valid

Error No Error Cause and Measure

L3996 Error message Sequencer direct function unavailable (MB4)
Cause Sequencer direct function is unavailable in MELFA-BASIC IV.
The parameter RLNG=1 (MELFA-BASIC IV) is selected while the sequencer direct perfor-
mance function is valid. Make sure to set the parameter RLNG to 2 (MELFA-BASIC V) or 3
(MELFA-BASIC VI (only RT ToolBox3))
Measure Set the parameter RLNG to 2 (MELFA-BASIC V) or 3 (MELFA-BASIC VI (only RT ToolBox3)).

11-136
 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
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