Motoman XRC Controller Inform II User’s Manual ‘Part Number: 142971-1 | Release Date: September 13, 2001. Document Version: 2 ” Document Status: Final MOTOMAN ‘Motoman, incorporated 805 Liberty Lane West Caron, OH 45449 ‘TEL: (637) 847-6200 PAX: (037) 847-6277 24-Hour Service Hotline: (937) 847-3200TABLE OF CONTENTS Section INTRODUCTION 14 About tls Document. 1.2 Reference to Other Documentation. 1.3 Customer Service information... 2 SAFETY 21 Introduction... 22 Standard Comentions. 23 24 25 26 27 Operation Safey. 28 — Maintenance Safety. 3 INFORM INSTRUCTIONS 1 Manual Outine.. 2 Inform Explanations. ‘MOTOWN 7 Taforrn Menu for SRC1.7 1.2 1.3 SECTION 1 INTRODUCTION About this Document ‘This manual provides instructions for Inform IT and contains the following sections: SECTION 1 - INTRODUCTION General information about this manual, a list of reference documents, and ‘customer service information, SECTION 2 - SAFETY Provides information for the safe use and operation of Motoman products. SECTION 3 — INFORM Il INSTRUCTIONS Provides detailed instructions for Inform TI. Reference to Other Documentation For additional information refer to the following: * Concurrent I/O Parameters Manual (P/N 142102-1) + Operator's Manual for General Purpose (P/N 142099-1) * Operator’s Manual for Handling (P/N 142100-1) * Operator’s Manual for Spot Welding (P/N 142101-1) * Operator’s Manual for Arc Welding (P/N 142098-1) * Motoman UP6, XRC Manipulator Manual (P/N 142104-1) * Motoman UP20, XRC Manipulator Manual (P/N 144342-1) * Motoman UPSO, XRC Manipulator Manual (P/N 144343-1) * Motoman UP130, XRC Manipulator Manual (P/N 142107-1) Customer Service Information If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call: + Robot Type (UP6, SK16X, etc.) + Application Type (welding, handling, etc.) * Robot Serial Number (located on the back side of the robot arm) * Robot Sales Order Number (located on back side of XRC controller) mOTOMAN iz Talon i anu to XRG21 SECTION 2 SAFETY Introduction tis the purchaser's responsibility to ensure that all local, county, state, and national codes, regulations, rules, or laws relating to safety and safe operating conditions for each installation are met and followed. ‘We suggest that you obtain and review a copy of the ANSU/RIA National Safety Standard for Industrial Robots and Robot Systeras. This information can be ‘obtained from the Robotic Industries Association by requesting ANSV/RIA RI5.06. The address is as follows: Robotic Industries Association ‘900 Victors Way P.O. Box 3724 Ann Arbor, Michigan 48106 TEL: (734) 994-6088 FAX: (734) 994-3338 Ultimately, the best safeguard is tained personnel The user is responsible for providing personnel who are adequately trained to cperate, program, and maintain the robot cell. The robot must not be operated by personnel who have not been (rained! We recommend that all personne] who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system. This safety section addresses the following: + Standard Conventions (Section 2.2) ‘+ General Safeguarding Tips (Section 2.3) © Mechanical Safety Devices (Section 2.4) * Installation Safety (Section 2.5) * Programming Safety (Section 2.6) * Operation Safety (Section 2.7) ‘+ Maintenance Safety (Section 2.8) 2 Tf Maal fr XRC2.4 SAFETY General Safeguarding Tips ‘All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. General safeguarding tips are as follows: + Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation of this robot, the operator's manuals, the system equipment, and options and accessories should be permitted to operate this robot system, + Donot enter the robot cell while it is in autcmatic operation. Programmers must have the teach pendant when they enter the robot cell. + Improper connections can damage the robot. All connections must be made within the standard voltage and current ratings of the robot 1/O (Inputs and Outputs), + The robot must be placed in Emergency Stop (E-STOP) mode whenever it is ‘not in use. + In accordance with ANSYRIA R15.06, section 6.13.4 and 6.13.5, use lockout/tagout procedures duting equipment maintenance. Refer also to Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health Standards for General Industry (OSHA), Mechanical Safety Devices ‘The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately the user's responsibility. The conditions under which the equipment will be operated safely should be reviewed by the user. ‘he user must be aware of the various national codes, ANSI/RIA R15.06 safety standards, and other local codes that may pertain to the installation and use of industrial equipment. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/orlocation. The following safety ‘measures are available: - * Safety fences and barriers + Light curtains * Door interlocks * Safety mats * Floor markings + Warning lights. Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately. 2g Telorm THe for XRO2.7 SAFETY Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc. Be sure that all safeguards are in place. Check the E-STOP button on the teach pendant for proper operation before programming. Cany the teach pendant with you when you enter the workcell. Be sure that only the person holding the teach pendant enters the workcell, Test any new or modified program at low speed for at least one full cycle. Operation Safety All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation, Operation tips ate as follows: Be sure that only trained personnel familiar with the operation of this robot, the operator's manuals, the system equipment, and options and accessories are permitted to operate this robot system. Check all safety equipment for proper operation. Repair or replace any non- functioning safety equipment immediately, Inspect the robot and work envelope to ensure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc. Ensure that all safeguards are in place. Improper operation can result in personal injury and/or damage to the ‘equipment. Only trained personnel familiat with the vperation, nuuudls, electrical design, and equipment interconnections of this robot should be Permitted to operate the system. Do not enter the robot cell while it is in automatic operation. Programmers must have the teach pendant when they enter the cell, ‘The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in use. ‘This equipment has multiple sources of electrical supply. Electrical interconnections are made between the controller, extemal servo box, and other equipment. Disconnect and lockout/tagout all electrical circuits before making any modifications or connections, All modifications made to the controller will change the way the robot ‘operates and can cause severe personal injury or death, as well as damage the robot. This includes controller parameters, ladder parts 1 and 2, and 1/0 (Input and Output) modifications, Check and test all changes at slow speed. ‘MOTOMAN 25 Teor aaa for RCYASNAC XRC INFORM MANUAL Upon receipt ofthe product and prior to initial operation, read these instructions thoroughly, and retain for future reference, MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN-DIDIC) INSTRUCTIONS YASNAC XRC INSTRUCTIONS. YASNAC XRC OPERATOR'S MANUAL, YASNAC XRC OPERATOR'S MANUAL FOR BEGINNERS “The YASNAC XRC operator's manuals sbove correspond to specific usage, Be sure to use the appropiate manual. YASKAWA MANUAL NO. RE-CKI-A411 gpNOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the YASNAC XRC. In this manual, the Notes for Safe Operation are classified as “WARNING”, "CAUTION", “MANDATORY”, or "PROHIBITED". Indicates a potentially hazardous situation which, if not avoided, WARNING — couidressitin death or serous injury to personnal Indicates a potentially hazardous situation which, if not avoided, AY CAUTION ‘could result in minor or moderate injury to personnel and dam- ‘age to equipment. It may also be used to alert against unsafe practices. @ MANDATORY Aways be ‘sure to follow explicitly the items listed under this QPPROHIBITED sneer te pore. Even items described as “CAUTION” may result in a serious accident in some situations, At any rate, be sure to follow these important items. ‘To ensure safe and efficient operation at all mes, be sure to follow all instructions, even if rnot designated as “CAUTION” and “WARNING”. eo SS SSE ERE SLES eSAX CAUTION + Perform the following inspection procedures prior to conducting ma ulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has boon porformed. -Check for problems in manipulator movement. -Check for damage to insulation and sheathing of external wires. * Always return the programming pendant to the hook on the XRC cabinet after use. The programming pendent can be damaged if its left in the manipulator’s work area, on the floor, or near fixtures. + Read and understand the Explanation of the Alarm Display in the Setup Manual before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the playback panel, the programming pen- dant, and supply cables. In this manual, the equipment is designated as follows. Equipment Manual Designation YASNAG XRC Controller XRC. 7 YASNAG XRG Playback Panel Playback Panel YASNAC XRC Programming Pendant Programming Pendant1 2 INFORM Manual Outline 1.1 About INFORM ... 4.4.4 With INFORM II. 44.2 Type of Instruction 4.4.3 Instruction Set . MH Selecting Instruction Set 41.4.4 Variables to be Used in Instructions ..... Set Value of Variable and Numeric Data. 1.2 Registration of Instructions 4.2.4 Registration....... 4.2.2 Leaming Function 4.3 Detail Edit Display... 1.4 Registration of Expression 4.4.1 Expression. . 1.4.2 Registration . 1.5 INFORM Structure. . HE INFORM Structure Elomonts. Meaning of INFORM Structure ... @ Explanation Table .......,.. INFORM Explanation 2.1 1/0 Instructions . * (LABEL) * (COMMENT) RET. P PAUSE CWAIT ADVINIT | ‘ADVSTOP 2.3 Operating Instruction CLEAR ING 2 DEC SET. ADD’! SUB vil44 About INFORM 1 INFORM Manual Outline 44 About INFORM 1.1.1 With INFORM II The robot programming language used with YASNAC XRC is called INFORM Il. INFORM II is composed of the instruction and the additional item (tag and numeric data). MOVJ WJ=! Tag Numeric data Instruction ‘Additional tem + Instruction ; It is used to execute the operation and processing. In the case of a move instruction, when a position is taught, the move instruction is automatically displayed according to the interpolation method. + Adgitional item : The speed, time, otc. are sot according to the type of instruction. Numeric data and character data are added to the tag that specifies the condition as nec- essary. 1.1.2 Type of Instruction The instruction is divided into several types in terms of each process and operation. Type Content Instruction Example TO Instruction _|It is the Instruction used to control the VO. = [DOURWAT Control Teis the instruction used to contra the processing atid oper- |JUMP, TIMER Instruction. ation, 7 Operating Ttis the instruction by which the variablesiatc. are used and [ADD, SET Instruction operated. ais Move Instruction itis an instruction conceming the movement and the speed. | MOVJ, REFP Shift Instruction | itis an instruction used when a present teaching position is |SFTON, SFTOF shifted. Instruction which | itis an instruction which adheres fo the instruction. WF, UNTIL adheres to struction Work Instruction |Itis an instruction concerning work, such as arc welding and |ARCON, WVON handling, Optional it is an instruction conceming optional functions. It can only z Instruction “+ _}be used when the function is available.1 About INFORM PROHIBT | 4 INSTRUCTION INPUT LEARNING VALID OVE INSTRUCTION SET NE: ‘STEP ONLY CHANGING PROHIBIT 1.1.4 — Variables to be Used in Instructions Variables can be used as numeric data for the additional item of the instructions in the stan- dard and expanded instruction sets. Also, the instructions in the expanded instruction set can use local variables and array vari- ables. ee te EET 8 US TERE ‘The applicable variable differs depending on the additional item. The number of local variables to be used must be set in the job header display. For seting ‘@ the number of local variables, refer to the Operator's Manual “5.3.5 Editing Local Vari- ables". tS TSS AE RU ™ Set Value of Variable and Numeric Data The unit of the numeric date for the additional item of the instruction decides the set value of variable and the value of the additional item at excution. Fetal < Example> TIMER tag (T=) : TIMER T=1000 When a variable is used for the numeric data of the TIMER tag, the unit of numeric data is 0.01 seconds. ‘When 1000 is set for 1000, the value when the instruction is executed is 10.00 seconds. 1-31.2 Registration of Instructions 1.2.2 Learning Function With the leaming function, an instruction can be registered with the same additional items as those previously registered with the instruction. Validate the learning function to minimize the number of instruction registries. Set the leaming function to valid or invalid in the teaching condition display. Select {SETUP} under the top menu > Select (TEACHING COND)! = Move the cur- sor to “INSTRUCTION INPUT LEARNING" = Press [SELECT]"? Explanation] *1 The teaching condition display is shown. FRecTicvuNDRicAL | eatounar ever ‘SUBSET INSTRUCTION INPUTLEARNING VALID. MOVE INSTRUCTION SET UNE: ‘STEP ONLY CHANGING PROHIBIT *2 Each time [SELECT] is pressed, you switch from “VALID" to “INVALID” and vice versa 1-574 Registration of Expression a 4 Revistration of Expression 4. 41 Expression With INFORM II, an expression can be added to the SET instruction. < Example> eae B001 + 8002 )/ BO03 - ( 8004 + B005 ) + B006 Result stored destination Expression Register an expression in the DETAIL EDIT display. sreseonmmeen sat Expressions can be registered only when “STANDARD’ or “EXPANDED has been selected for the language level (instruction set). US SSS AES SS SEBS AE TEST ‘The DETAIL EDIT display for expression is shown below. OStarting parentheses Move the cursor to the parentheses, and press [SELECT]. Each time [SELECT] is pressed, three types of parentheses are displayed in the following order. CF OF HFC > > KO @ - (negative) Move the cursor to the desired position, and press [SELECT]. Each time [SELECT] is pressed, the negative is alternately added and omitted and vice versa. 1714 Registration of Expression < Example of the DETAIL EDIT display for expression > Resutt stored destination Expression 2 Registration Op nm Select (JOB} under thie top menu #> Select (JOB} => Press [INFORM LIST] => Select “ARITH" = Select “SET” > Press [SELECT]"! § Move the cursor to the button |\Y| beside “SOURCE(TOKEN)" ™> Press [SELECT]? = Select "EXPRESS" => Enter the expression and press [ENTER] => Press [ENTER] * = Press [ENTER] “* "1 The DETAIL EDIT display for the SET instruction is shown.75 INFORM Structure Ts NFORM Structure ‘An example of the INFORM structure is shown in the following structure flowchart. The INFORM structure chart is composed of the structure elements (instruction, tag, and data). ‘The order of the rows is shown with the numbers and arrows. (os Tass | {San acing nto No att fle Wo. ‘viable No [SC vom roorerccdoe) H Sfp P= > Peano SPO Soot Car [SN Slaton als aunt sete eount & Ge) 41475 INFORM Siruclure m ~~ Explanation Table The following describes the explanation table, 4 | OT#(utput | Spocifies the output number signal. number) Variable B/VD/LB/L LD can be used. +=NO. ‘The tag number is shown. It corresponds to the number in the INFORM structure. “Tag The surface description of the tag is shown. + Explanation It provides an explanation of the tag. 7 1-13,2.4 UO instructions 2 INFORM Explanation ST 0 Instructions DOUT Instruction set: Available | Available | Available Tums the general output signal on and off. GOL ma DOE DOC 1. OT# (Output number) /OG# (Output group number) /OGH# (Output group number) Choose one of the tags from the following table. OT#Output num- | Specifies the output number signal, Not to 192 bor) Variable B/VDILBILY LD can be used. 2 | OG#(Output Specifies the output number group signal No:1 to 24, group number) | (4group 8 points). Variable BIVDILBILU LD can be used. 2412.1 WO Instructions B Variable number / LB Variable number / B [Array number] / LB [Array number] / Byte type constant When OG# (Output group number) or OGHi# (Output group number) is selected from the table in part 1 of this Explanation, choose one of the tags from the following table. 6 | B Variable num- | Specifies on/off of the output signal by the speci- | bit: bet! fied bit value byte type variable, 0: OFF LLB Variable num- 4:0N ber! B [Array number LB [Array num- ber] 7 | Byte type con- | When the constant byte type is oxpressed in bit stant form, the corresponding on/off output signal Is specied. Specifies on/off of the output signal by bit value. (1) DOUT OTA(12) ON ‘General output signal no. 12 is tumed on. (2) SET B000 24 DOUT OGA(3) BOO0 B000=24(Decimal)= 00011000(Binary) “OT#(24) | OTHZ3) | OTH(22) [OReO] OTs) | OTMI8) | OTT) OGH3) General output signals rios. 20 and 21 are turned on. 232.4 WO Instructions 0G#(Output group number) / SIN#(Specific Input number) / SOUT#(Spe- cific output number) /IGH#(Input group number) / OGH#(Output group number) Choose one of the tags from the following table. 2 | INA(nputnum- | Specifies the general input signal number which | Nort to 192 ber) shows the signal status. Variable B/VD/LEVLY LD can be used. 3. | IGA(Input group | Specifies the generat input group signal number | No:t to 24 number) (1 group 8 points) which shows the signal status. | Variable B/VD/LEVLV LD can be used. 4 | OT#Output num- | Specifies the general output signal number No: to 192 ber) which shows the signal status. Variable B/MD/LBILU LD can be used. 5 | OG#(Output Specifies the general output group signal num- | No:t to 24 group number) | ber (1 group 8 points) which shows the signal | Variable B/VD/LB/LU status, LD can be used. 6 | SIN#Spectic | Specifies the specific input signal number which | No:t to 128, input number) —_| shows the signal status. Variable B/VD/LBILY LD can be used. 7 | SOUTHSpeciic | Specifies the specific output signal number No:t to 208 output number) | which shows the signal status. Variable B/UDILBILV LD can be used. 8 | IGH#(input group | Specifies the general input group number (1 | Nort to 48 number) group 4 points) signal which shows the signal | Variable B/VD/LEVL status, LD can be used. 9 | OGH#(Output ‘Specifies the number of general output group (1. | No:1 to 48 group number) | group 4 points) signal which shows the signal | Variable B/VD/LB/LV status, LD canbe used, spn nena onneerte epee SAE f Input signal | Input signal IN) is 1 point, IGHE(xx) is 1 group 4 points, and IGiH(xx) is 4group 6 points, : i ‘ INH@) [INT | INHG) | INHE) TINA) [ INAS) TINH) [INA | | IGHH2) IGHA(t) : (eo) 252.4 WO instructions Instruction set: ean Available | Available | Available Waits until the status of the external signal or byte type variable is the same as the specified status, 272.1 VO Instructions When an IN# (input number), OT# (output number), SIN# (specific input number), or SOUT# (specific output number) is selected from the table in part 1 of this Explanation, add the follow- ing tag, Itis equal. 3. B Variable number /LB Variable number /B [Array number] / LB [Array number] / ON | OFF When an IN# (input number), OT#(output number), SIN# (specific input number), or SOUTH specific output number )is selected from the table in part 1 of this Explanation, choose one of the tags from the following table. 14 | B Variable num- bor! LB Varlable num- ber! B [Array number]! LB [Array num- ber} Specifies byte type variable which becomes a waiting condition. Least significant bt: O:OFF 14:0N 12 | ON/OFF ‘Specifies on/off of the waiting condition, 4. 5/<> When an IG# (input group number), OG# (output group number), IGH# (input group number), OGH# (output group number), B variable number, LB variable number, B [array number}, or LB [array number] is selected from the table in part 1 of this Explanation, choose one of the tags from the following table. itis equal. itis not equal. 29(@) WAIT IGHH2}O5 2:1 UO Instructions INA) INR) 5 (Decimal)=0101 (Binary) IGHA2) ‘Waits until general input signal nos.5 and 7 are tured off and general input signal nos. 6 and 8 are tuned on. (4) Example of press machine handling. 7 Radin 100.0 tie dl J=100.0 ) Machine ) pp 002. MOV VJ=100.0 oe WAIT IN#(1)=ON BN 7 003 MOVIV=1000 } 62° Step stepe ¢ SP 004 MOVs VJ=100.0 0s 006 ‘Step 7 007 reo 008 MOVJ VJ=100.0 e 009 END ‘The robot cannot be moved to stop 3 while the prose le clocod. ‘Open/close of the press machine (Open: ON, Shut: OFF) is allocated to general input signal No.1, The robot waits until general input signal No.1 turns on at step 2. 2-112.1 HO instructions Explan OT# (output number) / OG# (output group number) / OGH# (output group number) Choose one of the tags from the following table. 1. | OT# (Output No.) | Specifies the number of the signal to which the | No.:1 to 192 pulse signal is output, Variable BIVD/LB/L LD can be used. 2 | OG# Output Speoifies the group number of the signal (1 No.:1 to 24 group No.) ‘group 8 points) to which the pulse signal is out- | Variable B/V/D/LB/LU put. LD can be used. 3 | OGH# (Output | Specifies the group number of the signal (1 No.1 to.48 group No.) group 4 points) fo which the pulse signal is out- | Variable BAVD/LB/LU put. LD can be used. 2. B Variable number / LB Variable number / B [Array number] / LB [ Array number] / Byte type constant When OG# (output group number) or OGHi# (output group number) in the above table is selected, choose one of the tags from the following table. 4 | BVatiable number! | Specifies the number of the corresponding pulse | Bit: LLB Variable number! | output signal when the contents of the specified | 0: OFF B[Aray Number]/ | byte type variable is expressed in bits. 1:0N LB [Array Number] 5 | Byte type constant | Specifies the number of the corresponding pulse ‘output signal when the specified byte type con- stant is expressed in bits. 2-132.4 WO instructions AOUT — Instruction set: Not available | Available | Available Funetion Outputs the set voltage value to the general-purpose analog output port. ‘Analog output ‘Output voltage (aot RCAF COA aon STE 4. AO# (Analog output port number) ‘Add the following tag. ee ee 4 | AO# (Analog out- | Specifies the number of the analog output port to | No.: 1 to 12 put port number) | which the set voltage value is output. Variable B/VD/LE/LV LD can be used, 2. Output voltage value ‘Add the following tag. 2 | Output voltage ‘Specifies the output voltage value. Voltage value: value ~14,00 to +14,00 Variable VLUITYLI] can be used. (Units: 0.01 V) SET 1000 1270 AOUT AO#(1) 1000 The voltage of 12.7 V is output to the analog output port No. 1. 2152.4 UO instructions 3, VeBasie speed The following tag can be added or omitted. 3 | VeBasic speed | Specifies the speed at which the set voltage | Speed: 0.1 10 1500.0 value Is output, mms. Variable B/VD/LB/LIY LD can be used. (Units:'0.1 mmis.) 4. OFV=Offset voltage The following tag can be added or omitted. 4 | OFV=Ofiset vot--} Specifies the analog voltage to be output at the | Vokage value: age motion speed *0". -14.00t0 +14.00V Variable VLUNVLI ‘can bo used. (Units: 0.01 V) 24172:4 VO instructions Analog votage 10 Basiovotage 7 Motion speed (nies) ent vonage 24192.4 WO instructions ANTOUT ‘The ANTOUT instruction can be used only with parameter S4C008. Instruction set: Not available | Available _| Available Carries out the anticipation output function to adjust the timing of the signal output. 2-212:1 0 Instructions ar TK OY Sa 2 es Cac | ogc 4. AT# (Anticipation output number) / AG# (Anticipation group output num- ber) Choose one of the tags from the following table. 1 | AT# (Anticipation | Specifies the number of the signal whose timing | No. 1 to4 ‘output number) | is adjusted. Variable B/VD/LB/LV LD can be used, 2 | AGH# (Anticipation | Specifies the group number of the signal whose | No.1 or2 group output | timing is adjusted. Variablo B/VD/LB/LV number) LD can be used. 2:23B Variable number / LB Variable number / B [Array number] / LB [Array number] / Byte type constant 2:1 WO instructions When an AG#(anticipation group output number) is selected from the table in part 4 of this Explanation, choose one of the tags from the following table. Specifies the ON/OFF status of the output signal 4 | B Variable num- ber! corrresponding to each bit when the contents of | 0: OFF LLB Variable num- | the specified byte type variable is expressed in 4: 0N be bits. B [Arey number}! LB [array num- ber] 5 | Byte type con- | Specifies the ON/OFF status of the output signal stant cortresponding to each bit when the contents of the specified byte type variable is expressed in bits. The following tag can be ANT=Anticipation time added or omitted. 6 “Anticipation | Specifies the delay/advance time for the output time signal timing. Variable VLINE/LID can be used. (Units: 0.01 seconds) When the time is not specified, the time set in the signal tim- ing adjustment fia is applied. Step instructions nt MOVL V=100 n MOVL V=100 NWAIT ATNO. OTQUTPUT ONTIME OFF TIME ANTOUT AT#H(1) ON ae ore net MOVL v=100 1 050 “050 ‘Turns ON the general-purpose signal number 10 | 0.5 seconds before the manipulator reaches the PANO GG OuTrUT step. (Advanced signal output) 226 0.00 = 000 000 0.00 TINE2.2 Control Instruction See 2.2 Control Instruction JUMP Instruction set: _ SUBSET | STANDARD | EXPANDED Available | Available | Available Jumps to specified label or job. 2.272 Control instruction 2. B Variable number / LB Variable number / B [Array number] / LB [Array number] / 1G# (Input group number) When a LABEL: is selected from the table in part 1 of this Explanation, choose one of the tags. from the following table, 40 | B Variable num- | Specifies the byte type variable in which the ber! ‘numerical value for the labels set, LB Variable num ber! B(Anay number LB [Array num- ber] 11 | 1GAKInput group | Specifies the input group number of the numeri- | No:4 to 24 number) cal value for the label BAVD/LB/LULD Vari- able can be used. 3. ENTRY=Registr: n number When a JETi#(job registration table number) is selected from the table in part 4 of this Expla- nation, add the following tag. 42 | ENTRY=Registra- | Specifies the registration number of the job reg- | No.: 1 to 1024 tion number {stered in the specified job registration table, | Variable B/E[J/LBY LBIVII can be used. 4. UF#t (User coordinate number) When JOB:, B variable number, LB variable number, B [Array number], LB [Array number], IG# (Input group number), QUE, I Variable number, L! Variable number, | [Array number], LI [Array number], D Variable number, LD Variable number, D [Array number], LD [Array num- ber], or JET# (Job registration table number) is selected from the table in part 1 of this Expla- ration, the following tag can be added. 43 | UF# (User coordi- | Specifies the coordinates of the job. ‘Available only in the nate number) relative job function, 2-2922 Control instruction Instruction set: Avallable_| Available _| Available Calls the specified job. OK DOPE OGG TET 2.3122 Control instruction 2, ENTRY=Registration number When a JET#(ob registration table number) is selected from the table in part 1 of this Expla- nation, add the following tag. 8 | ENTRY=Registra- | Specifies the registration number of the job reg- | No.: 1 to 1024. tion number istered in the specified job registration table. | Variable B/BIYLB! LBQ/VIALULID| can be used. 3. UF# (User coordinate number) The following tag can be added or omitted. 9 | UF#(Usor coordi- | Specifies the user coordinate system of the jod | Available only in the nate number) | to be called. relative job function, 4.1F The following tag can be added or omitted. Refer to" 2.6 Instruction Which Adheres to an Instruction ", Ex (1) CALL JOB:TEST1 The job named TEST! is called. (2) SET B000 1 CALL BO00 IF IN#(14)=ON IF input signal No.14 is on, it calls the job "1". 23322 Control instruction * (LABEL) Instruction set: Available | Available _| Available Specifies the label for the jump. 1. "Label strings Add the following tag. 1 | *Labelstrings | Specifies the label strings. String: 8 characters NOP 4 1 JUMP JOB:1 IF IN#(1)=ON | Repeat JUMP JOB:2 IF IN#(2)=ON | JUMP "1 ' END 2:352.2 Conirol instruction RET Instruction set: Available | Available | Available Returns from the called job to the original job which has been called. ‘The following tag can be added or omitted. 1 IF ‘Specifies the IF instruction. Refer to" 2.6 Instruction Which: Adheres to an Instruction ", RET IF IN#(12)=ON If general input signal No.12 is on, it returns to the job of the call origin. Coop) [Execution order] (_JOB:2_) NOP NOP. MOVJ VJ 100.00 DOUT OTH1) ON MOVJ VJ=100.00 WAIT IN4(1}=ON. CALL JoB:2 DOUT OTH(1) OFF MOVJ VJI=100.00 RET IF IN4(12)=ON : END22 Control Insiruction PAUSE Instruction set: Available Stops the job temporarily. Eom 1. 1F The following tag can be addad or omitted. ‘Spectties an IF statement. An IF instruction Refer to IF of "2.6 states the execution conditions. Instructions Which Adheres to Instuc- tion’. PAUSE IF IN#(12)=ON Stops the job temporarily if general-purpose input signal number 12 is ON. 2:392.2 Control instruction ADVINIT Instruction set: Not available | Notavailable | Available When the same variable is used for multiple systems in the optional independent control func- tion, ADVINIT controls the timing to change the variable data among the systems, ADVINIT is an instruction used to control YASNAC XRC internal processing, and so, execut- ing this instruction does not affect the job. 2442.3 Operating Instruction 33" Operating Instruction CLEAR Instruction set: Available | Available | Available In Data 1, the variable content from the specified number on, is cleared to 0 only by the ‘amount specified in Data 2. CLEAR BILBBIY ae vu Aug Variable No. 2-432.3 Operating Instruction ora bout the job call stack ‘There are eight stacks, and they store the called position. ‘Siacklovol 1. Stncklovel2 Stacklovel 3 Caeeereeeeaa 2. Byte type constant /ALL ‘When a B Variable number, LB Variable number, B [Array number], LB (Array number}, | Vari- able number, LI Variable number, | [Array number], LI [Array number], D Variable number, LD Variable number, D [Array number}, LD [Array number], R Variable number, LR Variable num- ber, R [Array number], or LR [Array number] is selected from the table in part 4 of this Expla- nation, choose one of the tags from the following table. ‘8 | Byte typo con- | Specifies the number cleared starting from the stant number of the specified variable. 9 ALL ‘All variables starting from the number of the specified variable are cleared, pl (1) CLEAR B003 10 The content of the variables from BO03 to BO012 are cleared to 0. (2) CLEAR DO10 ALL ‘The content of all the double precision type variabies is cleared to 0 starting from Doto. (3) CLEAR STACK All the job call stacks are cleared. 2-4523 Operating Instruction INC Instruction set: Available ‘Adds one to the content of the specified variable, BLBBI) Vera Available Variable No. 2472.3 Operating instruction DEC Instruction set: Not available | Available | Available : ‘Subtracts 1 from a specified variable. D/LD/DIY Jatiable =— 1. B Variable number/LB Variable number/B [Array numverJ/LB [Array num- berJ/I Variable number/Lt Variable number/l [Array numberJ/LI [Array num- ber]/ D Variable number/LD Variable number/D [Array numberJ/LD [Array number] Choose one of the tags from the following table. 1 | BVatiabie number! | Spoctfies tho number of the byto type variable LLB Variable number! | from which 1 is subtracted. B [Array number} LB [Array number] 2 | !Variable number’ | Specifies the number of the integer type variable LI Variable number’ | from which 1 is subtracted. Array number}! LU [Array number] 3 | DVariable number’ | Specifies the number of the double-precision LD Variable number! | type variable from which 4 is subtracted. DIAray number}! LD [Array number] 2492.3 Operating Instruction SET Instruction set: Available | Available | Available Sets Data 2 to Data 1 SET B/LBIBIY oe PILPIPOY Variable No. SPAEP BPI) Variable No. Bay( apy) vaationo LBP, LBPy Variable No. 2-512.3 Operating instruction 4. B Variable number /LB Variable number /B [Array number] /LB [Array num- ber] /I Variable number /L1 Variable number /I [Array number] /LI [Array number] /D Variable number /LD Variable number /D [Array number] /LD [Array number] /R Variable number /LR Variable number /R [Array number] JLR [Array number] /P Variable number /LP Variable number /P [Array num- ber] /LP [Array number] /BP Variable number /LBP Variable number /BP [Array number] /LBP [Array number] /EX Variable number /LEX Variabl number /EX [Array number] /LEX [Array number] Choose one of the tags from the following table. 1 |B Variable num- bet! LB Variable num- bet! Bal/Array num- ber} LBajArray num ber] ‘Speoiies the number of the byte type variable to which data is set. 2. | 1 Variable num- ber! U Variable num- ber! | [Array number}! U [Array number} ‘Spesifies the numberof the integer type variable to which data Is set. 3. | D Variable num- ber! LD Variable num- bet! DafArray num- beri! LDe[Array num- ber} ‘Specifies the number of the double precision type variable to which data is set. 4 | R Variable num- ber! LR Variable nur ber! R [Array number) LR [Array num- ber) ‘Specifies the number of the real type variable to ‘which data is set. 2-5323 Operating Instruction 2. Byte type constant /B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number /L! Variable number /I [Array number] /LI [Array number] /D Variable number /LD Variable num- ber /D [Array number] /LD [Array number] /R Variable number /LR Variable number /R [Array number] /LR [Array numberJExpression When a B Variable number, LB Variable number, B [Array number], or LB [Array number] is selected from the table part 1 of this Explanation, choose one of the tags from the following table. 8 | Bytetypecon- | Specifies the byte type constant. < Data 2> stant 9 | 8 Variable num- | Specifies the number of the byte type variable. | < Data 2> ber! LB Variable num- bet B [Array numbery/ 8 [array num- ber] 40 | | Variable num- | Specifies the number of the integer type variable. | ber! LU Variable num- bor! Array number U Array number] 11 | D Variable num- | Specifies the number of the double precision | < Data 2> bert type variable, LD Variable num- ber! D [Array number) LO [array num- ber] 12 | R Variable num- | Specifies the number of the real type variable. | < Data 2> ber! LR Variable num- ber! R [Array number) LR [Array num- ber] 13 | Expression Specifies the expression. For dotails of setting the expression, refer to "1.4 Registration of Expression’, 2-552.3 Operaiing Instruction 4, Double precision type constant /B Variable number /LB Variable number / B [Array number] /LB [Array number] /I Variable number /LI Variable num- ber /I [Array number] /LI [Array number] /D Variable number /LD Variabl number /D [Array number] /LD [Array number] /R Variable number /LR Vari- able number /R [Array number] /LR [Array numberJExpression When a D Variable number, LD Variable number, D [Array number], or LD [Array numbed] is selected from the table in part 4 of this Explanation, choose one of the tags from the following table. 20 | Double precision type constant 21 |B Variable num- | Specifies the number of the byte type variable. | < Data 2> bet! LB Variable num- bet! B [Array numbery LB [Array num- bet] 22 | | Variable num- | Specifies the number of the integer type variable. | bet! U Variable num- ber! I [Array number} LU (Array number] 23 | D Variable num- | Spocifios the number of the double precision | < Data 2> bert type variable. LD Variable num- bor! D [Array numbery LD [Array num- be] 24 | R Variable num- | Specifies the number of the real type variable. | < Data 2> ber! LR Variable num- ber! R [Array number} LR [Array num ber] 25 | Expression ‘Specifies the expression. For details of setting the expression, refer to“ 4 Registration of Expression’, ‘Specifies the double precision type constant. | < Data 2> 2572.3 Operating Insiruction 6. P Variable number /LP Variable number /P [Array number] /LP [Array num- ber] When a P Variable number, LP Variable number, P [Array number}, or LP [Array number] is selected from the table in part 4 of this Explanation, add the following tag. 32 | P Varieble num- ber! LP Variable num- ber! P [Array number} LP [array num- ber] ‘Specifies the number of the robot axis position variable. 7. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array number} When a BP Variable number, LBP Variable number, BP [Array number] , or LBP [Array num- ber] is selected from the table in part 1 of this Explanation, add the following tag. 33 | BP Variable num- ber! LBP Variable number! BBP [Array nium- orl) LBP ([Array num- bor] Specifies the number of the base axis position variable. number] ber] is selected from the When an EX Variable nur 34 | EX Variable num- bor! LEX Variable number! EX (Array num Specifies the number of the station axis position varlable. 8, EX Variable number /LEX Variable number /EX [Array number] JLEX [Array imber, LEX Variable number, EX [Array number] , or LEX [Array num- table in part 1 of this Explanation, add the following tag. 2-59‘23 Operating insiruction ADD Instruction set: Not available Available Available Adds Data 1 and Data 2, and stores the result in Data 1. Add Variable No, Variable No. lee mane Variable No. ‘BPILBPP Py) Variable No. LePn vaso HI 2-6123 Operating Instruction 4. B Variable number/LB Variable number/B [Array numberJLB [Array num- ber]/I Variable number/L! Variable numberil [Array numberJ/LI [Array num- ber]/D Variable number/LD Variable number/D [Array number]/LD [Array number}R Variable number/LR Variable number/R [Array numberJ/LR [Array number Variable number/LP Variable number/P [Array numbor]/ LP [Array numberJ/BP Variable number/LBP Variable number/BP [Array numberJ/LBP [Array number]/EX Variable number/LEX Variable number/EX [Array numberJ/LEX [Array number] Choose one of the tags from the following table. 1 | BVariabie number’ | Specifies the number of the byte type variable to | LB Variable number’ | be added. B [Array number} LB [Aray number] 2 | 1Variable number/ LI -| Specifies the number ofthe integer type variable | Variable number! | to be added. Array number}! LI Array number] 3 | DVarlabie number’ | Specifies the number of the double-precision | LD Variable number! | type variable to be added. DArray number} LD [Array number] 4 | Variable number’ | Specifies the number of the reaknumber type | LR Variable number! | variable to be added. R [Array number)! LR [Anay number] 5 | PVariable number’ | Specifies the number of the robot axis position | LLP Variable number/ | type variable to be added P Arey number}, LP [Array number] 6 | BP Variable number! | Specifies the number of the base axis position | LBP Variable num- | type variable to be added. ber! BP [Array number! LBP [Array number] 7 | EX\Varlable number! | Specifies the number of the station axis position | LEX Variable num- | type variable to be added. ber! EX [Array number) LEX [Array number) 2-4632.3 Operating Instruction Integer type constant/B Variable number/LB Variable numberiB [Array number]/LB [Array number} Variable number/LI Variable number! [Array number/LI [Array numberJ/D Variable numberiLD Variable number/D [Array numberJ/LD [Array number]/R Variable number/LR Variable number! R [Array numberJ/LR [Array number] ‘When an | Variable number, LI Variable number, | [Array number], or LI [Array number] is selected from the table in part 1 of this Explanation, choose one of the tags from the following table. 13 | Integer type con- | Specifies the integer type data to be added. stant 14 | B Variable num-" | Specifies the number of the byte-type variable to | ber/LB Variable | be added. number! B [Array number} LB [Array num ber] 15 | IVariablo num- | Specifies the number of the integer type variable | beriL! Verlable | to be added. number? Array number! Li fArrey number) 16 | Variable num- | Specified the number of the double-precision | ber/LD Variable | type variable to be added. ‘number! D [Aray number}! LD [Array numn- ber] 17 | Variable num- | Specifies the number of the realnumbertype | beI/LR Variable | variable to be added. number! R Array number}! LR [Array num- ber] 265‘2.3 Operating Instruction Real-number type constant/B Variable number/LB Variable number/B [Array numberJ/LB [Array number]/I Variable numberiL! Variable numberit [Array numberJ/LI [Array number//D Variable number/LD Variable number! D [Array numberJ/LD [Array numberJ/R Variable number/LR Variable num- beriR [Array numberJ/LR [Array number] When an R Variable number, LR Variable number, R [Array number]. or LR [Array number] is selected from the table in part 4 of this Explanation, choose one of the tags from the following table. 23 | Real-numbertype | Specifies the real-number type data to be added. | constant 24 | B Variable num- | Specifies the number of the byte type variable to | boriLB Variable | be added. number! B [Array numbery, LB [Array num- ber] 25 | |Variable num- | Specifies the number of the integer type variable | beriL! Variable | tobe added. number! | Array number} LI [Array number] 26 | D Variable num- | Specifies the number of the double-precision | ber/LD Variable | type variabie to be added. number! D Array number LD (Array num ber] 27 | RVarlable num- | Specifies the number of the rea-number type | beriLR Variable} variable to be added. number! R {Array number) LR [Array num ber] 246723 Operating instruction (1) ADD Boo0 10 Adds 10 to 8000, and stores the result in BO0O, (2) ADD 1000 1001 Adds 1001 to 1000, and stores the resutt in 1000, (3) ADD Po00 Po01 Adds P001 to P000, and stores the result in POOO. 2-6923 Operating instruction earnarber {ype constant 2m2.3 Operaiing Instiuction 6 | BP Variable num- | Specifies the number of the base axis position | ber! type variable to be subtracted. LBP Variable ‘number! BP [Array num- ber} LBP [Array num- bor] 7 | EXVariable num- | Specifies the number of the station axis position | ber! {ype variable to be subtracted. LEX Variable number! EX [Array num- bet) LEX [Array num ben] 27323 Operating instruction 3. Integer type constant/B Variable number/LB Variable number/B [Array numberJ/LB [Array number]/! Variable number/LI Variable number!l [Array numberJLI [Array numberJ/D Variable number/LD Variable number/D [Array numberJ/LD [Array numberJ/R Variable number/LR Variable number! R [Array numberJ/LR [Array number] When an | Variable number, L! Variable number, | [Array number], or LI [Array number] is selected from the table part 1 of this Explafation, choose one of the tags from the following table, 13 | Integer type con- | Specifies the integer type data to be subtracted. | stant 14 | B Variable num- | Specifies the number of the byte type variable to | bor! be subtracted. LB Variable num- ber! B [Array number LB [Array num- ber} 15 | | Variable num- | Specifies the number of the integer type variable | ber! to be subtracted. LU Variable num- ber! Array number U [Array number} 16 | D Variable num- | Specifies the number of the double-precision | beri type variable to be subtracted. LD Variable num- ber! D [Array number}/ LD [Array num- ber] 17 | RVariable num- | Specifies the number of the real-number type | beri variable to be subtracted, LR Variable num- ber! R [Anay number]! LR [Array num- ber] 27523 Operating instruction 5. Real-number type constant/B Variable number/LB Variable numbor/B [Array numberJ/LB [Array number/l Variable number/LI Variable numberil [Array numberl/Lt [Array number/D Variable number/LD Variable number! D [Array number]/LD [Array numberJ/R Variable number/LR Variable num- ber/R [Array numberJ/LR [Array number] When an R Variable number, LR Variable number, R (Array number), or LR [Array number] is, selected from the table in part 1 of this Explanation, choose one of the tags from the following table, 23 | Real-numbertype | Specifies the real-number type data to be sub- | constant tracted 24 |B Variable num- | Specifies the number of the byte type variable to | bor! bo subtracted. LB Variable num- ber B [Array number LB [Array num- ber] 25 | I Variable num- | Specifies the number of the integer type variable | ber! to be subtracted. LL Variable num- bor! Array number! Li [Array number] 26 | D Variable num- | Specifies the number of the double-precision —_| bert type variable to be subtracted. D [Array number}! LD [Array num- ber] 27 | RVariablenum- | Specifies the number of the rea-number type | ber! Variable to be subtracted. LR Variable num- ber! R [Array number}! LR [Array num- ber] 27723 Operating Instruction (1) SUB B00 10 Subtracts 10 from BOOO, and stores the result in BOOO. (2) SUB 1900 1001 ‘Subtracts 1001 from 1000, and stores the result in 1000, (3) SUB P0900 Poot Subtracts PO01 from P00O, and stores the result in POOO. 2792.3 Operating Instruction aay on VVarabie No. Variable No. Variable No. Double-praciaion constant 2-8123 Operating ineirucion BP Variable num- beri LBP Variable number! BP [Array num- beri/ LBP [Array num ber] ‘Specifies the number of the base axis position type variable to be multiplied. EX Variable num ber! LEX Variable number! EX [Array num- beri! LEX [Array num ber} ‘Specifies the number of the station axis position type variable to be muttiplied. 2-832.3 Operating Instruction Integer type constant/B Variable number/LB Variable number/B [Array numberJ/LB [Array number} Variable number/LI Variable number! [Array numberJ/Lt [Array number}/D Variable number/LD Variable number/D [Array numberJ/LD [Array numberJ/R Variable number/LR Variable number! R [Array numberJ/LR [Array number] When an | Variable number, LI Variable number, | [Array number], or LI [Array number] is ‘selected from the table in part 1 of this Explanation, choose one of the tags from the following table. 43 | Integer type con- | Specifies the integer type data to be multiplied. stant 14 | B Variable num- | Specifies the number of the byte type variable to | ber! ‘be multiplied. LB Variable num- ber! B [Ary number}! LB [Array num= ber] 15 | |Variable num- | Specifies the number of the integer type variable | ber! to be muitiplied. LL Variable num- ber! Array number! LI [Array number] 16 | D Variable num- | Specifies the number of the double-precision | ber! type variable to be multiplied. LD Variable num- ber! D [Array number} LD [Array num- ber] 17 | RVariable num- | Specifies the number of the reaknumbertype | ber! variable to be multiplied. LR Variable num- ber! R [Array number} LR [Array num- beri 2-852.3 Operating Instruction Reatnumber type constant/B Variable number/LB Variable number/B [Array numberJ/LB [Array number]! Variable numberiLI Variable number!t [Array number}/LI [Array number}/D Variable number/LD Variable number! D [Array numberJLD [Array number]/R Variable number/LR Variable num- ber/R [Array numberJ/LR [Array number] When an R Variable number, LR Variable number, R [Array number], or LR [Array number] is ‘selected from the table in part 1 of this Explanation, choose one of the tags from the following table. 23 | Realnumbertype | Specifies the real-number type data tobe mult: | ‘constant plied, 24 | BVariable num- | Specifies the number of the byte type variable to | ber! ‘be muttiplieg. LB Variable num- bet! B [Array number}! LB [Array num- ber] 25 | Variable num- | Specifies the number of the integer type variable | ber! to be multiplied. LI Variable num- bel | [Array number] LI TArray number] 26 | D Variable num- | Specifies the number of the double-precision | ber! type variable to be muttiplied, LD Variable num- ber! DAmay number}! LD [Array num- ber] 27 | Variable num- | Specifies the number of the real-numbertype | bor! Variable to be muttiplied. LR Verlable num bor! R[Amay number)’ LR [Array num- ber] 2-872.3 Operating instruction D Variable number/LD Variable number/D [Array numberJ/LD [Array num- ber}/ Double-procision type constant When a P Variable number, LP Variable number, P [Array number], LP [Array number], BP Variable number, LBP Variable number, BP [Array number], LBP [Array number], EX Variable number, LEX Variable number, EX [Array number], or LEX [Array number] is selected from the {able in part 1 of this Explanation, choose one of the tags from the following table after (Ete- ment number) of 6. 29 | D Variable num- | Specifies the number of the double-precision | ber! Variable by which the element of position type LD Variable num- | variable is mutiplied, ber! D [Array number LD [Array num- ber] 30 | Double-precision | Specifies the double-precision type data by type constant —_| which the element of position type variable Is rmustipliod. (1) MUL B00 40 Multiplies BOOO by 10, and stores the result in BO0O. (2) MUL 1000 1001 Multiplies 1000 by 1001, and stores the result in 1000. (3) SET D000 2 MUL P000 (3) DODD Multiplies the Z axis data of P000 by D000 (D000=2), and stores the result in POOO. 2-892.3 Operating Instuction Variable No. toy vai UR Element No. Doubie-precision ‘ype constant Ba 2-912.3 Opsrating instruction BP Varlable num- bor! LBP Variable number! BP [Array num- bor LBP [Array num- ber] Specifies the number of the base axis position type variable to be divided 2.932.3 Operating Instruction Integer type constant/B Variable number/LB Variable number!B [Array number/LB [Array number]/l Variable number/LI Variable numberil [Array numberJ/LI [Array numberJ/D Variable number/LD Variable number/D [Array numberJ/LD [Array numberJ/R Variable number/LR Variable number! R [Array numberJ/LR [Array number] When an | Variable number, LI Variable number, | [Array number], or LI [Array number] is selected from the table in part 1 of this Explanation, choose one of the tags from the following table. 13 | Integertype con- | Specifies the integer type data by which Data | stant is divided. 14 | B Variable num- | Specifies the number ofthe byte type variable by | bor! Which Data 1 is divided. LB Variable num ber! B [Array number} L8 [array num- ber] 15 | |Variable num- | Specifies the numberof the integer type variable | bet! by which Data 1 is divided LI Variable numn- boil [Array number LI fArray number] 16 | D Variable num- | Specifies the numberof the double-precision | ber! type variable by which Data 1 is divided. D [Array numbery LD [Array num- 7 Specifies the number of the reaknumbertype | variable by which Data 1 is divided. LR Variable num bor! R [Array number)’ LR [Array num- ber] 2-952.3: Operating Instuction Real-number type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number! [Array numberJ/LI [Array number/D Variable number/LD Variable number! D [Array numberJ/LD [Array numberJ/R Variable number/LR Variable num- ber/R [Array numberJ/LR [Array number] When an R Variable number, LR Variable number, R [Array number, or LR [Array number] is selected from the table in part 4 of this Explanation, choose one of the tags from the following table. 23 | Real-numbertype | Specifies the reaknumber type data by which | constant Data 1 is divided. 24 | B Variable num- | Specifies the numberof the byte type variable by | ber! which Data 1 Is divided. LB Variable num- ber! B [Array number}! LB [Array num- ber) 25 | Variable num- | Specifies the number of the integer type variable | ber! by which Data 1 is divided. LI Variable num- ber! | [Array number LI fArray number] 26 | D Variable num- | Specifies the number of the double-precision | ber! type variable by which Data 1 is divided LD Variable num- ber! D [Array number] LD (Array num- ber) 27 | RVerlable num- | Specifies the number of the real-number type | beri variable by which Data 1 is divided. LR Variable num- ber! R [Ary number LR (Array num- ber] 2-97ZS Operating insiruction CNVRT Instruction set: Not available | Available Available Converts the pulse type position type variable of Data 2 to the XYZ type position type variable in the specified coordinate system, and stores the result in Data 1. CNVRT Coordinate system designation 1. PX Variable number/LPX Variable number/PX [Array numberJLPX [Array number] Add the following tag. ber! LPX Variable number! PX [Array num ber LPX [Array num- ber] ‘Specifies the number of the expanded position type variable where the converted data is stored. 2992.3 Operating Instruction BFIRF/TF/UF# (User coordinate number)/MTF Choose one of the tags from the following table. 3 | BF Specifies the conversion in the base coordinate system, 4 [RF ‘Specifies the conversion in the robot coordinate system. 5 [TF ‘Specifies the conversion in the tool coordinate system. 6 | UF# (User coord | Specifies the conversion in the user coordinate | No. 1 to 24 rnate number) —_| system. Variable BIID/LB/LY LD can be used. 7 [ute Specifies the conversion on the master fool coor- | Available only with inate system. the optional Indepen- On the master tool coordinate system, the data is | dent coordinate func converted to a position relative fo the master | tion. manipulator. ‘CNVRT PX000 PX001 BF For the job R1, the pulse type position data of P001 is converted to the XYZ type position data in the base coordinate system and stores the converted data in POOO, 2-10123 Operating Instruction B Variable number/LB Variable number/B [Array number]/LB [Array num- ber]/Byte type constant ‘Choose one of the tags from the following table. Specifies the number of the byte type variable for which the logical multiplication is carried out. ber! LB Variable num. ber! B [Array number}/ LB [Array num- 3 | Bytetype con- | Specifies the byte type data for which the logical | stant ‘multiplication is carried out. SET 8000 5 SET B0101 ‘AND B000 8010 Carries out the logical multiplication of B000 (0000 0101) and BO10 (0000 0001), and stores the result (0000 0001=1) in BOOO. 2-1032.3 Operating Instruction B Variable number/LB Variable number/B [Array numberJ/LB [Array num- ber]/Byte type constant Choose one of the tags from the following table. 2 |B Vatiable num- | Specifies the number of tho byte type variable for | ber! which the logical sum is carried out. LLB Variable num- ber B [Array number! LB [Array num- ber] 3 | Byte type con- | Specifies the byte type data for which the logical | stant sum is carried out. SET BO00 5 SET BO10 10 OR BO00 BO10 Carries out the logical sum of B000 (0000 0101) and B010 (0000 1010), and stores the result {0000 4111=45) in BO00. 2-4052:3 Operating instruction 2. B Variable number/LB Variable number/B [Array numberJ/LB [Array num- ber]/Byte type constant Choose one of the tags from the following table. 2, | B Variable num- | Specifies the numberof the byte type variable for | ber! which the logical negation is carried out. LB Variable num- ber! B [Array number LB [Array num- ber] 3. | Bytetype con | Sposifios the byte type data for which the logical | stant negation is carried out. SET B0000 SET BO101 NOT B000 B010 Carries out the lo, B09, I negation of BO10 (0000 0001), and stores the result (1111 1110=254) in 2-1072.3 Operating Instruction 2. B Variable number/LB Variable number/B [Array numberJ/LB [Array num- ber]/Byte type constant Choose one of the tags from the following table, 2. | B Variable num- | Spectios the number of the byte type variable for | ber! Which the exclusive OR is carried out. LB Variable num- ber! B [Aray number}! LB [Array num- ber] 3. | Bytetype con- | Specifies the byte type data for which the exolu- | stant sive OR is carried out SET BO000 1 SET B0105 XOR B00 BO10 Carries out the exclusive OR of B00O (0000 0001) and B010 (0000 0101), and stores the result (0000 0100=4) in B00O. 2-1092.3 Operating Instruction PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number] ‘Add the following tag. 3 | PX Variable num- | Specifies the number of the expanded position | ber type variable where the position data of the user LPX Variable coordinate's defined point ORG has been stored. number! PX [Array num- ber} LPX (Array num- ber] 3. PX Variable number/LPX Variable number/PX [Array numberJ/LPX [Array number] ‘Add the following tag. 4 | PX Variable num- | Specifies the number of the expanded position | ber! type variable where the position data of the user LPX Variable coordinate's defined point XX has been stored. number? PX [Array num bery/ LPX [Array num- ber] 4. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number] ‘Add the following tag. 5 | PX Variable num- | Specifies the number of the expanded position | beri type variable where the position data of the user LPX Variable coordinate’s defined point XY has been stored. ‘number! PX [Array num ber]/ LPX (Array num- ber] 241123. Operating insttuction SETE Instruction set: Not available | Available _| Available Sets Data 2 in the element of position type variable of Data 1. SETE (Element number) ae OO ama KD D> a BPO ‘Vartable No, Bp Povble Precision ey “t est x DADDY! oc 5 ae 2-4132.3 Operating Instruction [Array numberLD [Array number] Choose one of the tags from the following table. Doubte-precision ‘ype constant set. ‘Specifies the douible-precision type data to be Double-precision type constant/D Variable number/LD Variable number/D ber! type variable to be set, LD Variable num- ber! DIAmay number} LD [Array num- 6 | DVatiablenum- | Specifies the number of the double-precision| SETE P000 (3) 2000 2000 is set in the Z axis data of PO00. 2-1152.3 Operating Instruction 2. P Variable number/LP Variable number/P [Array numberJ/LP [Array num- berJ/BP Variable number/LBP Variable number/BP [Array number]/LBP [Array numberJEX Variable number/LEX Variable number/EX [Array num- berJ/LEX [Array number] Choose one of the tags from the following table. 2. | P Variable num- ber! LP Veriable numn- ber! P [Array number}! LP [Array number ‘Speoities the number of the robot axis position type variable to be stored. 3. | BP Veriable num- ber! LEP Variable number! BP [Array num- bery LBP [Array num- bet] Spocifies the number of the base axis position * ‘ype variable to be stored. 4 | EX Variable num ber! LEX Variable number! EX [Array num- ber} LEX [Array num- ber] ‘Speoities the number of the station axis position type variable to be stored. 3. (Element number) ‘Add the following tag. (Element number) ‘Specified the number af the of the position type variable element to be stored. Element No.: 1 to 255 Variable B/LB. can be used. GETE D000 P00 (3) The Z axis data of P000 is stored in D000. 2-1172.3 Operating instuction 4. B Variab! number/LB Variable number/B [Array number]/LB [Array num- ber}/I Variable number/LI Variable number! [Array number]/LI [Array num- ber]/D Variable number/LD Variable number/D [Array numberJ/LD [Array fnumberJR Variable number/LR Variabl number/R [Array numberJ/LR. [Array number}/PX Variable number/LPX Variable number/PX [Array num- berJ/LPX [Array number] Choose one of the tags from the following table, B Variable num: beri LB Variable num- ber B [Array numbery LB [Array num- ber] Spocifios the number of the byte type variable to store the system variable, 2. | [Variable num- ber! LI Variable num- ber! | Array numbery Li [Array number] Spooifies the number of the integer type variable to store the system variable. 3. | D Variabie num- ber! LD Variable num- bert D [Array number! LD [Array num ber] ‘Specifies the number of the double-precision type variable to store the system variable. 4 | R Variable num- beri LR Variable num- beri R [Aray number}! LR [Array num- ber] Specifies the number of the reaknumber type: variable to store the system variable, 5 | PX Variable num- ber! LPX Variable number! PX [Array num ber) LPX [Array num- ber] Specifies the number of the expanded position type variable to store the system variable. 2-4192.3 Operating Instruction No. Explanation SPX type variable Expanded position type |sPx000 [Current value (pulse type) 'sPx001 (Current value (XYZ type) ‘SPxO02 Position detected by the optional SRCH instruc tion (pulse type) }SPx003 Position detected by the optional STCH instruc- tion (XYZ type) |$PX004 [Current value excluding the shift amount (XYZ type) ‘$PXO05, Teaching position (pulse type) ‘$PXO06 (Operation target position (pulse type) $Px040 Path correction amount (available only with the Joptional COMARC function) [sPx100 to SPX149 RIN#(1)'s detected position by the optional INSRCH instruction (pulse type) 'sPx150 to $Px199 RIN(1)'s detected position by the optional NSRCH instruction (XYZ type) $PX200 to SPX249 RIN#(2y's detected position by the optional NSRCH instruction (pulse type) [sPx250 to /$Px299 RIN#(2)'s detected position by the optional INSRCH instruction (XYZ typo) |sPx300 to SPX349 RIN#(3)'s detected position by the optional NSRCH instruction (pulse type) '$PX360 to SPX399 RINi#(3Y's detected position by the optional NSRCH instruction (XYZ type) 2-4212.3 Operating Instruction 6. $PX Variabl number/$PX [Array number} ‘When a PX Variable number, LPX Variable number, PX [Array number}, or LPX [Array num- ber] is selected from the table in part 1 of this Explanation, add the following tag. 10 SPX Variable number! SPX [Array num- ber] ‘Specifies the number of the expanded position type system variable to be stored. (1) GETS B000 $8002 The result of the SRCH instruction is stored in BO00. (2) GETS Pxo00 $Px000 For the job R1, the pulse type current value is stored in POO, 24232.3 Operating Instruction ber]/Real-number type constant Choose one of the tags from the following table. 2. | R Variable num- | Specifies the number of the real-number type | ber variable whose square root is calculated. LR Variable num- ber! R [Array number}! LR [Array num ber] 3 | Real-numbertype | Specifies the real-number type data whose constant square root is calculated, SQRT R002 1.414214E + 00 is stored in ROOO. 24125233 Operating instuction 2. R Variable number/LR Variable number/R [Array numberJ/LR [Array num- ber]/Real-number type constant Choose one of the tags from the following table. 2 | RVarlable num- | Specifies the number of the real-number type | bor! variable whose sine Is calculated. ber! R [Array number LR [Array num- ber] 3 | Real-numbertype | Specifies the real-numbor type data whose sine | constant is caiculated. SIN R000 60 8.660254E - 01 is stored in ROO... 24272.3 Operating instruction 2. R Variable numberiLR Variable number/R [Array numberJ/LR [Array num- ber]/Real-number type constant Choose one of the tags from the following table. Specifies the numbor of the real-number type | bet! variable whose cosine is caiculated. ber! R [Array number LR Ary num- ber] 3. | Realnumbertype | Specifies the real-number type data whose ‘constant cosine is calculated. COS ROO0 60 5,000000E - 01 is stored in ROOO, 2-12923 Operating Instuction 2. R Variable number/LR Variable number/R [Array number]/LR [Array num- ber}/Real-number type constant Choose one of the tags from the following table. 2 | RVariable num- | Specifies the number of the real-number type | be! variable whose arc tangent is calculated, LR Variable num- bert R [Array number) LR [Array num- ber] 3. | Real-numbertype | Specifies the real-number type data whose arc | constant tangent is calculated. ATAN R000 60 8,904516E + 01 is stored in ROOO. 2-1342.3 Operating Instruction P Variable numberiLP Vai bor] ble number/P [Array numberJLP {Array num- ‘Add the following tag, P Variable num- | Specifies the numbor of the position type vari- | bert able for which the matrix muiipication is calcu- LP Variable num- | lated. bert P [Array number}! LP [Array num- ber] 3. P Variable number/LP Variable number/P [Array numberJ/LP [Array num- ber] Add the following tag. ‘Specified the number of the position type vari- able for which the matrix multipication is calou- LP Variable num- | lated. ber! P [Array number LP [Array num- ber] & ‘MULMAT and INVMAT instructions The amount of shift for a three-dimensional shift can be obtained by using the MULMAT and INVMAT instructions. The instructions, exclusive to the XRC, to obtain the shift amount are used for the optional three-dimensional shift function. However, the amount ofthe three-dimensional shift can be also obtained by using the standard instructions, MULMAT and INVMAT. i The target value for a three-dimensional shift can be calculated by the following equation. Pnew=P3d x Pold Where Pnew: Target position after a three-dimonsional shift 3d: Throe-dimensional shift amount old: Taught position The amount of a three-dimensional shift can be obtained as follows: P3d=Pnew x Pold* on Se sR TNE 2-13323 Operating Instuction INVMAT Instruction set: Not available | Available | Available Calculates the inverse matrix of Data 2, and stores the result in Data 1. INVMAT aa) re 1. P Variable numberiLP Variable number/P [Array numberJ/LP [Array num- ber] ‘Add the following taa. 1. |-P Variable num- bor! LP Variable num- ber! P [Aray number}! LP [Array num- ber] ‘Specifies the number of the position type var able to store the result. ber] ‘Add the following tag, 2. | P Variable num- ber! LP Variable numn- ber! P [Array number) LP (Array num- ber] ‘Specifies the number of the position type vari- able for which the inverse matrix is calculated. 2. P Variable number/LP Variable number/P [Array numberJ/LP [Array num- 2-135,SETFILE Instruction set: Not availablo | _Availablo Available 2.3 Operating Instruction Changes the specified data of the specified condition file to the numeric data of Data 1. Specify the data of the condition file to be changed by its element number. SETFILE Condition file specification (Element number) J Soni astro | ‘ondton te No ‘Ureiercoaing ‘equstnent ean | is on) 2-137 23 Operating Instuction 3. Double-precision type constant/D Variable numberiLD Variable number/D [Array numberJ/LD [Array number] Choose one of the tags from the following table. 5. | Double-precision | Specifies the double-precision type data tobe | type constant changed. 6 | DVariable num- | Specifies the number of the double-precision | ber! type variable of the data to be changed, LD Variable num- ber D [Arey number) LD [Array num- ber] 2-139‘2.3 Operating instruction GETFILE Instruction set: Not available | Available | Available ‘Stores the data of the specified condition file in Data 1 ‘Specify the data of the condition file to be stored by its element number. GETFILE Condition file designation (Element number) ! S969) | aan carrie 7 1. D Variable number/LD Variable number/D [Array numberJLD [Array num- ber] ‘Add the following tag. ‘Specifies the number of the double-prec! type variable to store the data, LD Variable num- ber! D [Array numberj/ LD [Array num- bor] 2-141Ba Move Instruction MOVJ Instruction set: Avaliable Moves to the teaching position by joint interpolation. Cen) Available The tag which can be used is limited by the type of the job. TA [yay Tar S (ow) ir Sanaa HEH ears Sian tear poston fe No. Parey 2 ten py veratio no Sy) Sin eactng Hf oat fle No. SS &—————_2 —— SP/LEP (sh{ Po. Variable No. Neh oy Na. 2-143 2.4 Move Instuction‘2.4 Move Instruction Availabilty of Each Tag No Tag Control Group 3 a 5 Note Robot teaching Position file number’ x PALPIPILPT, x ‘Station teaching position file number} EXILEXEXDLEXD ‘[Base axis teaching position file number Station teaching position file number | rT ‘Optional ‘BP/LBPIBPILBP] x . BULEWEXLEXD x . x x 10 T (Optional it WE 2 PE 7] SPOL= x|elelo ole} el x ‘Optional 14 0} ofel el x x| of ef o| x [Optional 48 MTE= [Optional 16 NWAIT 7 ENWAIT (Optional 8 UNTIL 719 NSRCH [Optional 20 ACC= ai DEG= 2 MOVS ‘Optional 23 MOVE x] x] x] @| ef ol ef o] | o] 0] of e| | x (Optional 2 MOVE Optional E aMOVS x| x] x| x] e] ef ol ef of ef} x x| x] x] x] @} e| of ef] e| x] of of el o| x x| x} x| x] @] ef 0] ef 0] e] 0} 0] of ef o| x x} x] x| x] e] ef 0} eo] e| 0] x | of of of} @| 0] eof @| x Q| Of O| Of @| ef 0] eof @| x [Optional ‘Avaliable ©: Available only with optional function enabled >< Not available 2-1452.4 Move instuction 2. Base Teaching Position File Number When a robot teaching position file number is selected from the table in part 4 of this Explana- tion, add the following tag. Base teaching —_| The base avis teaching position in each step is | On the job display, position fle num-} written in this file unconditionally when the step is | this tag is not dis- ber taught. This teaching position cannot be edited. | played. 3. Station Teaching Position File Number When a robot teaching position file number is selected from the table in part 4 of this Explana- tion, add the following tag, 6 | Station teaching | The station axis teaching position in each step is | On the job display, Position fl num- | written inthis fle unconditionally when the step is | this tag is not dis- ber taught. This teaching position cannot be edited. | played 4. T Point Variable number When a robot teaching position file number is selected from the table in part 1 uf this Explania~ tion, the following tag can be added or omitted. es aioe sete eee 7 | TPoint Variable | Specifies the number of the point variable. Available only with number ‘The point variable manages the teaching posi- _| the optional point tions registered in the job, and is used to move _| variable function. the manipulator to the same position several times in one job. 5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array number] When a P Variable number, LP Variable number,P [Array number], or LBP [Array number] is selected from the table in part 1 of this Explanation, the following tag can be added, 8 | BP Variable num- | Specifies the position variable number ofthe | Variable number: ber! base axis, 000 to 127 LBP Variable | Moves o the position data set in the variable of number! the specified number. BP [Array num- ber] / LBP [Aray num- ber] 2447