ROBOT

Vertical articulated

V*-D/-E SERIES
Horizontal articulated

H*-D/-E SERIES
Cartesian coordinate

XYC-4D SERIES

Vision-21 SERIES
PROGRAMMERS MANUAL I PROGRAM DESIGN AND COMMANDS (Ver. 1.95)

Vision device

Copyright DENSO WAVE INCORPORATED, 2002 All rights reserved. No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher. Specifications are subject to change without prior notice.

All products and company names mentioned are trademarks or registered trademarks of their respective holders

Preface
Thank you for purchasing this high-speed, high-accuracy assembly robot. Before operating your robot, read this manual carefully to safely get the maximum benefit from your robot in your assembling operations.

Robot series and/or models covered by this manual

- Vertical articulated robot - Horizontal articulated robot - Cartesian coordinate robot - Vision devaicec V*-D/-E series H*-D/-E series XYC-4D series

Vision-21 series

Robot controller version (Note)

- Applicable to up to Ver. 1.9 of the RC5 type controller.

Note: The robot controller version is indicated in the main software ver. column of the controller setting
table affixed on the controller. It can also be confirmed from the teaching pendant by reading the ROM version column displayed by basic screen - F6 setting - F6 maintenance - F2 version.

Important
To ensure operator safety, be sure to read the precautions and instructions in "SAFETY PRECAUTIONS," pages 1 through 9.

How the documentation set is organized

The documentation set consists of the following books. If you are unfamiliar with this robot and option(s), please read all books and understand them fully before operating your robot and option(s).

GENERAL INFORMATION ABOUT ROBOT

Provides the packing list of the robot and outlines of the robot system, robot unit, and robot controller.

INSTALLATION & MAINTENANCE GUIDE

Provides instructions for installing the robot components and customizing your robot, and maintenance & inspection procedures.

BEGINNER'S GUIDE
Introduces you to the DENSO robot. Taking an equipment setup example, this book guides you through running your robot with the teach pendant, making a program in WINCAPSII, and running your robot automatically.

SETTING-UP MANUAL
Describes how to set-up or teach your robot with the teach pendant, operating panel, or minipendant.

WINCAPSII GUIDE
Provides instructions on how to use the teaching system WINCAPSII which runs on the PC connected to the robot controller for developing and managing programs.

PROGRAMMER'S MANUAL (I), (II) - this book Describes the PAC programming language, program development, and command specifications in PAC.

RC5 CONTROLLER INTERFACE MANUAL

Describes the RC5 controller, interfacing with external devices, system- and user-input/output signals, and I/O circuits.

ERROR CODE TABLES

List error codes that will appear on the teach pendant, operating panel, or PC screen if an error occurs in the robot series or WINCAPSII. These tables provide detailed description and recovery ways.

OPTIONS MANUAL
Describes the specifications, installation, and use of optional devices.

ii

How this book is organized

This book is just one part of the documentation set. This book consists of SAFETY PRECAUTIONS and chapters one through five.

SAFETY PRECAUTIONS
Defines safety terms, safety related symbols and provides precautions that should be observed. Be sure to read this section before operating your robot.

Commands Listed in Alphabetical Order Commands Listed According to Functions

PART 1 PROGRAM DESIGN

Chapter 1 Sample Program
This chapter utilizes a simple application example to provide usage of each command.

Chapter 2 Program Flow

This chapter provides an explanation on the rules, which are required for creating a program, for the operation of programs in the PAC language.

Chapter 3 Robot Motion

This chapter provides an explanation of various motions of the robot. The robot motion varies according to the reference position and the decision method for reach destination position.

Chapter 4 Speed, Acceleration and Deceleration Designation

This chapter provides an explanation of the meanings and settings for speed, acceleration, and deceleration.

Chapter 5 Vision Control

This chapter provides explanations of terms related to vision that are required in creating a program.

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PART 2 COMMAND REFERENCE

Chapter 6 Guide to Command Reference
This chapter provides command descriptions and a command list for the PAC robot. Use the command list to quickly search for information concerning each command.

Chapter 7 PAC Language Configuration Elements

This chapter provides an explanation of the element rules (identifier, variable, constant, operator, expression, and command) which construct the PAC language.

Chapter 8 PAC Language Syntax

This chapter provides an explanation on the rules of syntax when you describe a program in the PAC language.

Chapters 9 to 21
These chapters provide an explanation of each command in the PAC robot language. Commands are classified by function. To quickly find an explanation of a particular command, use the command list in CHAPTER 1.

Chapter 22 Appendices
Character Code Table Figures of the Shoulder, Elbow, and Wrist Environment Setting Values Using Condition Parameters Reserved Word List Conventional Language Command Correspondence Table (VS) Version Correspondence Table Setting Parameter Table Index

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SAFETY PRECAUTIONS

SAFETY PRECAUTIONS
Be sure to observe all of the following safety precautions. Strict observance of these warning and caution indications are a MUST for preventing accidents, which could result in bodily injury and substantial property damage. Make sure you fully understand all definitions of these terms and related symbols given below, before you proceed to the text itself.

WARNING CAUTION

Alerts you to those conditions, which could result in serious bodily injury or death if the instructions are not followed correctly. Alerts you to those conditions, which could result in minor bodily injury or substantial property damage if the instructions are not followed correctly.

Terminology and Definitions

Maximum space: Refers to the volume of space encompassing the maximum designed movements of all robot parts including the end-effector, workpiece and attachments. (Quoted from the RIA* Committee Draft.) Restricted space: Refers to the portion of the maximum space to which a robot is restricted by limiting devices (i.e., mechanical stops). The maximum distance that the robot, end-effector, and workpiece can travel after the limiting device is actuated defines the boundaries of the restricted space of the robot. (Quoted from the RIA Committee Draft.) Motion space: Refers to the portion of the restricted space to which a robot is restricted by software motion limits. The maximum distance that the robot, end-effector, and workpiece can travel after the software motion limits are set defines the boundaries of the motion space of the robot. (The "motion space" is Denso-proprietary terminology.) Operating space: Refers to the portion of the restricted space (or motion space in Denso) that is actually used by the robot while performing its task program. (Quoted from the RIA Committee Draft.) Task program: Refers to a set of instructions for motion and auxiliary functions that define the specific intended task of the robot system. (Quoted from the RIA Committee Draft.)
(*RIA: Robotic Industries Association)

1. Introduction

This section provides safety precautions to be observed during installation, teaching, inspection, adjustment, and maintenance of the robot.

2. Installation Precautions
2.1 Insuring the proper installation environment
2.1.1 For standard type

The standard type has not been designed to withstand explosions, dust-proof, nor is it splash-proof. Therefore, it should not be installed in any environment where: (1) there are flammable gases or liquids, (2) there are any shavings from metal processing or other conductive material flying about, (3) there are any acidic, alkaline or other corrosive gases, (4) there is cutting or grinding oil mist, (5) it may likely be submerged in fluid, (6) there is sulfuric cutting or grinding oil mist, or (7) there are any large-sized inverters, high output/high frequency transmitters, large contactors, welders, or other sources of electrical noise.

2.1.2 For dust-proof, splashproof type

The dust-proof, splash-proof type is an IP54-equivalent dustproof and splash-proof structure, but it has not been designed to withstand explosions. (The wrist of the VM-D-W and VS-E-W is an IP65-equivalent dust-proof and splash-proof structure.) Note that the robot controller is not a dust- or splash-proof structure. Therefore, when using the robot controller in an environment exposed to mist, put it in an optional protective box. The dust-proof, splash-proof type should not be installed in any environment where: (1) there are any flammable gases or liquids, (2) there are any acidic, alkaline or other corrosive gases, (3) there are any large-sized inverters, high output/high frequency transmitters, large contactors, welders, or other sources of electrical noise, (4) it may likely be submerged in fluid, (5) there are any grinding or machining chips or shavings, (6) any machining oil other than DENSO authorized oil is in use, or Note: DENSO authorized oil: Yushiron Oil No. 4C (nonsoluble) (7) there is sulfuric cutting or grinding oil mist.

2.2 Service space

The robot and peripheral equipment should be installed so that sufficient service space is maintained for safe teaching, maintenance, and inspection.

SAFETY PRECAUTIONS
2.3 Control devices outside the robot's restricted space
The robot controller, teach pendant, and operating panel should be installed outside the robot's restricted space and in a place where you can observe all of the robots movements when operating the robot controller, teach pendant, or operating panel. Pressure gauges, oil pressure gauges and other gauges should be installed in an easy-to-check location. If there is any possibility of the electrical wiring or hydraulic/pneumatic piping being damaged, protect them with a cover or similar item.

2.4 Positioning of gauges

2.5 Protection of electrical wiring and hydraulic/pneumatic piping

2.6 Positioning of emergency stop switches

Emergency stop switches should be provided in a position where they can be reached easily should it be necessary to stop the robot immediately. (1) The emergency stop switches should be red. (2) Emergency stop switches should be designed so that they will not be released after pressed, automatically or mistakenly by any other person. (3) Emergency stop switches should be separate from the power switch.

2.7 Positioning of operating status indicators

Operating status indicators should be positioned in such a way where workers can easily see whether the robot is on temporary halt or on an emergency or abnormal stop.

2.8 Setting-up the safety fence or enclosure

A safety fence or enclosure should be set up so that no one can easily enter the robot's restricted space. If it is impossible, utilize other protectors as described in Section 2.9. (1) The fence or enclosure should be constructed so that it cannot be easily moved or removed. (2) The fence or enclosure should be constructed so that it cannot be easily damaged or deformed through external force. (3) Establish the exit/entrance to the fence or enclosure. Construct the fence or enclosure so that no one can easily get past it by climbing over the fence or enclosure. (4) The fence or enclosure should be constructed to ensure that it is not possible for hands or any other parts of the body to get through it. (5) Take any one of the following protections for the entrance/ exit of the fence or enclosure: 1) Place a door, rope or chain across the entrance/exit of the fence or enclosure, and fit it with an interlock that ensures the emergency stop device operates automatically if it is opened or removed. 2) Post a warning notice at the entrance/exit of the fence or enclosure stating "In operation--Entry forbidden" or "Work in progress--Do not operate" and ensure that workers follow these instructions at all times. When making a test run, before setting up the fence or enclosure, place an overseer in a position outside the robots restricted space and one in which he/she can see all of the robots movements. The overseer should prevent workers from entering the robot's restricted space and be devoted solely to that task.

2.9 Positioning of rope or chain

If it is not possible to set up the safety fence or enclosure described in Section 2.8, hang a rope or chain around the perimeter of the robots restricted space to ensure that no one can enter the restricted space. (1) Ensure the support posts cannot be moved easily. (2) Ensure that the rope or chains color or material can easily be discerned from the surrounds. (3) Post a warning notice in a position where it is easy to see stating "In operation--Entry forbidden" or "Work in progress --Do not operate" and ensure that workers follow these instructions at all times. (4) Set the exit/entrance, and follow the instructions given in Section 2.8, (3) through (5).

SAFETY PRECAUTIONS
2.10 Setting the robot's motion space
The area required for the robot to work is called the robot's operating space. If the robots motion space is greater than the operating space, it is recommended that you set a smaller motion space to prevent the robot from interfering or disrupting other equipment. Refer to the "INSTALLATION & MAINTENANCE GUIDE" Chapter 4.

2.11 No robot modification allowed

Never modify the robot unit, robot controller, teach pendant or other devices.

2.12 Cleaning of tools

If your robot uses welding guns, paint spray nozzles, or other end-effectors requiring cleaning, it is recommended that the cleaning process be carried out automatically.

2.13 Lighting

Sufficient illumination should be assured for safe robot operation.

2.14 Protection from objects thrown by the endeffector

If there is any risk of workers being injured in the event that the object being held by the end-effector is dropped or thrown by the end-effector, consider the size, weight, temperature and chemical nature of the object and take appropriate safeguards to ensure safety. Place the warning label packaged with the robot on the exit/entrance of the safety fence or in a position where it is easy to see.

2.15 Affixing the warning label

3. Precautions while robot is running

Warning

Touching the robot while it is in operation can lead to serious injury. Please ensure the following conditions are maintained and that the cautions listed from Section 3.1 onwards are followed when any work is being performed. 1) Do not enter the robot's restricted space when the robot is in operation or when the motor power is on. 2) As a precaution against malfunction, ensure that an emergency stop device is activated to cut the power to the robot motor upon entry into the robot's restricted space. 3) When it is necessary to enter the robot's restricted space to perform teaching or maintenance work while the robot is running, ensure that the steps described in Section 3.3 "Ensuring safety of workers performing jobs within the robot's restricted space" are taken.

3.1 Creation of working regulations and assuring worker adherence

When entering the robots restricted space to perform teaching or maintenance inspections, set "working regulations" for the following items and ensure workers adhere to them. (1) Operating procedures required to run the robot. (2) Robot speed when performing teaching. (3) Signaling methods to be used when more than one worker is to perform work. (4) Steps that must be taken by the worker in the event of a malfunction, according to the contents of the malfunction. (5) The necessary steps for checking release and safety of the malfunction status, in order to restart the robot after robot movement has been stopped due to activation of the emergency stop device (6) Apart from the above, any steps below necessary to prevent danger from unexpected robot movement or malfunction of the robot. 1) Display of the control panel (See Section 3.2 on the following page) 2) Assuring the safety of workers performing jobs within the robot's restricted space (See Section 3.3 on the following page) 3) Maintaining worker position and stance Position and stance that enables the worker to confirm normal robot operation and to take immediate refuge if a malfunction occurs.

SAFETY PRECAUTIONS
4) Implementation of measures for noise prevention 5) Signaling methods for workers of related equipment 6) Types of malfunctions and how to distinguish them Please ensure "working regulations" are appropriate to the robot type, the place of installation and to the content of the work. Be sure to consult the opinions of related workers, engineers at the equipment manufacturer and that of a labor safety consultant when creating these "working regulations".

3.2 Display of operation panel

To prevent anyone other than the worker from accessing the start switch or the changeover switch by accident during operation, display something to indicate it is in operation on the operating panel or teach pendant. Take any other steps as appropriate, such as locking the cover. When performing jobs within the robots restricted space, take any of the following steps to ensure that robot operation can be stopped immediately upon a malfunction. (1) Ensure an overseer is placed in a position outside the robots restricted space and one in which he/she can see all robot movements, and that he/she is devoted solely to that task.

3.3 Ensuring safety of workers performing jobs within the robot's restricted space

Q An emergency stop device should be activated

immediately upon a malfunction.

R Do not permit anyone other than the worker engaged

for that job to enter the robots restricted space. (2) Ensure a worker within the robot's restricted space carries the portable emergency stop switch so he/she can press it (the robot stop button on the teach pendant) immediately if it should be necessary to do so.

3.4 Inspections before commencing work such as teaching

Before starting work such as teaching, inspect the following items, carry out any repairs immediately upon detection of a malfunction and perform any other necessary measures. (1) Check for any damage to the sheath or cover of the external wiring or to the external devices. (2) Check that the robot is functioning normally or not (any unusual noise or vibration during operation). (3) Check the functioning of the emergency stop device. (4) Check there is no leakage of air or oil from any pipes. (5) Check there are no obstructive objects in or near the robots restricted space.

3.5 Release of residual air pressure

Before disassembling or replacing pneumatic parts, first release any residual air pressure in the drive cylinder.

3.6 Precautions for test runs

Whenever possible, have the worker stay outside of the robot's restricted space when performing test runs.

3.7 Precautions for automatic operation

(1) At start-up Before the robot is to be started up, first check the following items as well as setting the signals to be used and perform signaling practice with all related workers. 1) Check that there is no one inside the robots restricted space. 2) Check that the teach pendant and tools are in their designated places. 3) Check that no lamps indicating a malfunction on the robot or related equipment are lit. (2) Check that the display lamp indicating automatic operation is lit during automatic operation. (3) Steps to be taken when a malfunction occurs Should a malfunction occur with the robot or related equipment and it is necessary to enter the robot's restricted space to perform emergency maintenance, stop the robots operation by activating the emergency stop device. Take any necessary steps such as placing a display on the starter switch to indicate work is in progress to prevent anyone from accessing the robot.

SAFETY PRECAUTIONS
3.8 Precautions in repairs
(1) Do not perform repairs outside of the designated range. (2) Under no circumstances should the interlock mechanism be removed. (3) When opening the robot controller's cover for battery replacement or any other reasons, always turn the robot controller power off and disconnect the power cable. (4) Use only spare tools authorized by DENSO.

4. Daily and periodical inspections

(1) Be sure to perform daily and periodical inspections. Before starting jobs, always check that there is no problem with the robot and related equipment. If any problems are found, take any necessary measures to correct them. (2) When carrying out periodical inspections or any repairs, maintain records and keep them for at least 3 years.

5. Management of floppy disks

(1) Carefully handle and store the "Initial settings" floppy disks packaged with the robot, which store special data exclusively prepared for your robot. (2) After finishing teaching or making any changes, always save the programs and data onto floppy disks. Making back-ups will help you recover if data stored in the robot controller is lost due to the expired life of the back-up battery. (3) Write the names of each of the floppy disks used for storing task programs to prevent incorrect disks from loading into the robot controller. (4) Store the floppy disks where they will not be exposed to dust, humidity and magnetic field, which could corrupt the disks or data stored on them.

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CONTENTS
Preface.................................................................................................................................................................................i How the documentation set is organized........................................................................................................................ ii How this book is organized............................................................................................................................................. iii SAFETY PRECAUTIONS ...............................................................................................................................................1 Commands Listed in Alphabetical Order (Follows the Contents.) Commands Listed According to Functions (Follows the Commands Listed in Alphabetical Order.)

PART 1 PROGRAM DESIGN Chapter 1 Sample Program 1.1 1.2 1.3 Model Case Application ................................................................................................................................. 1-1 Program Flow ................................................................................................................................................. 1-2 Program List ................................................................................................................................................... 1-3

Chapter 2 Program Flow 2.1 Calling a Program and Subroutine.................................................................................................................. 2-1 2.1.1 Calling a Subroutine................................................................................................................................... 2-2 2.1.2 Calling a Program....................................................................................................................................... 2-3 2.1.3 Program Recursive Call ............................................................................................................................. 2-4 2.2 Running a Program......................................................................................................................................... 2-5 2.2.1 Running from the Teach Pendant ............................................................................................................... 2-5 2.2.2 Running from the Operating Panel............................................................................................................. 2-5 2.2.3 Running from an External Device.............................................................................................................. 2-5 2.3 Multitasking.................................................................................................................................................... 2-6 2.3.1 Priority ....................................................................................................................................................... 2-6 2.3.2 Communication among Tasks .................................................................................................................... 2-6 2.4 Serial Communication .................................................................................................................................... 2-8 2.4.1 Circuit Number........................................................................................................................................... 2-8 2.4.2 Communication Command......................................................................................................................... 2-8 2.4.3 Clearing the Communication Buffer .......................................................................................................... 2-8 2.4.4 Sample Application .................................................................................................................................... 2-9 2.4.5 Serial Binary Transmission (Version 1.5 or later) .................................................................................... 2-13 2.5 Library.......................................................................................................................................................... 2-14 2.5.1 Program Bank........................................................................................................................................... 2-14 2.5.2 Palletizing Library.................................................................................................................................... 2-15 Chapter 3 Robot Motion 3.1 Absolute Motion and Relative Motion ........................................................................................................... 3-1 3.1.1 Absolute Motion......................................................................................................................................... 3-1 3.1.2 Relative Motion.......................................................................................................................................... 3-1 3.1.3 Absolute Motion and Relative Motion Examples ...................................................................................... 3-1

3.2 Confirming Reach Position ............................................................................................................................ 3-3 3.2.1 Pass Motion................................................................................................................................................ 3-3 3.2.2 End Motion................................................................................................................................................. 3-3 3.2.3 Encoder Value Check Motion..................................................................................................................... 3-3 3.2.4 Motion Examples of Pass, End and Encoder Value Check......................................................................... 3-4 3.2.5 Execution Time Difference among Pass Motion, End Motion and Encoder Value Check Motion ............ 3-5 3.2.6 If Pass Motion Does Not Execute .............................................................................................................. 3-6 3.2.7 If Pass Motion Effect Reduces ................................................................................................................... 3-7 3.2.8 If Acceleration Affects Pass Motion Path................................................................................................... 3-8 3.2.9 Pass Start Displacement ............................................................................................................................. 3-9 3.2.10 Arch Motion Control [Version 1.9 or later, only for 4-Axis Robot].........................................................3-11 3.3 Interpolation Control .................................................................................................................................... 3-12 3.3.1 PTP Control.............................................................................................................................................. 3-12 3.3.2 CP Control................................................................................................................................................ 3-13 3.3.3 Arc Interpolation Control ......................................................................................................................... 3-13 3.4 If Output Command Is Present after Motion Instruction .............................................................................. 3-14 3.5 Compliance Control Function ...................................................................................................................... 3-15 3.5.1 Overview.................................................................................................................................................. 3-15 3.5.2 Current limiting function for individual axes [V1.2 or later] ................................................................... 3-15 3.5.3 Tip Compliance Control Function [V1.4 or later] .................................................................................... 3-17 Chapter 4 Speed, Acceleration and Deceleration Designation 4.1 External Speed and Internal Speed ................................................................................................................. 4-1 4.2 Speed Designation .......................................................................................................................................... 4-1 4.3 External Acceleration, External Deceleration, Internal Acceleration and Internal Deceleration .................... 4-1 4.4 Setting Acceleration and Deceleration............................................................................................................ 4-2 4.5 Example of Setting Speed and Acceleration................................................................................................... 4-2 4.6 Control Sets of Motion Optimization ............................................................................................................. 4-5 4.6.1 Control Set 0 .............................................................................................................................................. 4-5 4.6.2 Control Set 1 .............................................................................................................................................. 4-8 4.6.3 Control Set 2 .............................................................................................................................................. 4-9 4.6.4 Control Set 3 ............................................................................................................................................ 4-10 4.6.5 Using Conditions That You Must Set ....................................................................................................... 4-10 4.6.6 Notes for Setting........................................................................................................................................4-11 4.7 Setting the Master Control Parameters in User Preferences......................................................................... 4-12 4.7.1 Setting Master Control Parameters of the Mass of Payload, Center of Gravity, and Control Set of Motion Optimization ......................................................................................................................................................... 4-12 4.7.2 Setting Internal Load Condition Values (Mass of Payload and Center of Gravity) and Internal Mode ... 4-16 4.7.3 Setting Robot Installation Condition ........................................................................................................ 4-17 4.7.4 How to Set Optimal Load Capacity Initializing [V1.4 or later] ............................................................... 4-20 4.8 Safety Features ............................................................................................................................................. 4-23 4.8.1 ndTc (Statement) [V1.2 or later] .............................................................................................................. 4-23 4.8.2 ndTs (Statement) [V1.2 or later]............................................................................................................... 4-23 Chapter 5 Vision Control 5.1 Vision Control ................................................................................................................................................ 5-1 5.1.1 Terms of Vision Control ............................................................................................................................. 5-1 PART 2 COMMAND REFERENCE Chapter 6 Guide to Command Reference 6.1 Description Format of Command Explanations ............................................................................................. 6-1 6.2 Command List ................................................................................................................................................ 6-2 6.2.1 Commands Listed in Alphabetical Order ................................................................................................... 6-2 6.2.2 Commands Listed According to Functions ................................................................................................ 6-2

Chapter 7 PAC Language Configuration Elements 7.1 New Robot Language PAC............................................................................................................................. 7-1 7.2 Relation between PAC Robot Language and Conventional Languages ......................................................... 7-2 7.3 Language Element .......................................................................................................................................... 7-3 7.4 Name .............................................................................................................................................................. 7-3 7.5 Identifier ......................................................................................................................................................... 7-4 7.5.1 Variable ...................................................................................................................................................... 7-4 7.5.2 Function...................................................................................................................................................... 7-8 7.5.3 Label........................................................................................................................................................... 7-8 7.5.4 Program...................................................................................................................................................... 7-9 7.6 Data Type...................................................................................................................................................... 7-10 7.6.1 Character String........................................................................................................................................ 7-10 7.6.2 Numeric Value.......................................................................................................................................... 7-10 7.6.3 Vector ....................................................................................................................................................... 7-10 7.6.4 Pose .......................................................................................................................................................... 7-10 7.6.5 I/O (ON/OFF)........................................................................................................................................... 7-10 7.7 Data Type Conversion ...................................................................................................................................7-11 7.7.1 Numeric Value...........................................................................................................................................7-11 7.7.2 Character and Numeric Value....................................................................................................................7-11 7.7.3 Pose Type Data..........................................................................................................................................7-11 7.8 Constant........................................................................................................................................................ 7-12 7.8.1 Numeric Value Constant........................................................................................................................... 7-12 7.8.2 Character String Constant ........................................................................................................................ 7-14 7.8.3 Vector Type Constant ............................................................................................................................... 7-14 7.8.4 Pose Constant ........................................................................................................................................... 7-14 7.9 Expression and Operator .............................................................................................................................. 7-16 7.9.1 Assignment Operator................................................................................................................................ 7-16 7.9.2 Arithmetic Operator ................................................................................................................................. 7-16 7.9.3 Relational Operator .................................................................................................................................. 7-17 7.9.4 Logical Operator ...................................................................................................................................... 7-18 7.9.5 Character String Operator ........................................................................................................................ 7-18 7.9.6 Vector Operation ...................................................................................................................................... 7-19 7.9.7 Position Operation.................................................................................................................................... 7-19 7.9.8 Joint Operation ......................................................................................................................................... 7-20 7.9.9 Homogeneous Transformation Array Operation ...................................................................................... 7-20 7.9.10 Operator Precedence (Version 1.5 or later) .............................................................................................. 7-20 7.10 Units for the PAC Language......................................................................................................................... 7-22 Chapter 8 PAC Language Syntax 8.1 Statement and Line ......................................................................................................................................... 8-1 8.2 Program Name and Declaration ..................................................................................................................... 8-2 8.3 Label............................................................................................................................................................... 8-3 8.4 Character Set .................................................................................................................................................. 8-4 8.5 Reserved Word ............................................................................................................................................... 8-5 8.6 Declaration Statement..................................................................................................................................... 8-6 8.6.1 Type Declaration ........................................................................................................................................ 8-6 8.6.2 Function/program Declaration ................................................................................................................... 8-9 8.6.3 User Coordinate System Declaration ......................................................................................................... 8-9 8.7 Assignment Statement .................................................................................................................................. 8-10 8.7.1 Numeric Value Assignment Statement ..................................................................................................... 8-10 8.7.2 Character String Assignment Statement ................................................................................................... 8-10 8.7.3 Vector Assignment Statement................................................................................................................... 8-10 8.7.4 Pose Assignment Statement.......................................................................................................................8-11

8.8 Flow Control Statement................................................................................................................................ 8-13 8.8.1 Unconditional Branch .............................................................................................................................. 8-13 8.8.2 Conditional Branch .................................................................................................................................. 8-13 8.8.3 Selection................................................................................................................................................... 8-13 8.8.4 Repeat....................................................................................................................................................... 8-14 8.8.5 Calling Defined Process ........................................................................................................................... 8-15 8.9 Robot Control Statement .............................................................................................................................. 8-17 8.9.1 Motion Control Statement ........................................................................................................................ 8-17 8.9.2 Stop Control Statement............................................................................................................................. 8-17 8.9.3 Speed Control Statement .......................................................................................................................... 8-18 8.9.4 Time Control Statement ........................................................................................................................... 8-18 8.9.5 Coordinate Transformation Statement...................................................................................................... 8-18 8.10 Input/output Control Statement .................................................................................................................... 8-19 8.10.1 DI/DO Control Statement......................................................................................................................... 8-19 8.10.2 RS232C Control Statement ...................................................................................................................... 8-19 8.10.3 Pendant Control Statement....................................................................................................................... 8-19 8.11 Multitasking Control Statement.................................................................................................................... 8-20 8.11.1 Task Control Statement ............................................................................................................................ 8-20 8.11.2 Semaphore Control Statement.................................................................................................................. 8-20 8.11.3 Special Semaphore Control Statement ..................................................................................................... 8-20 8.12 Time and Date Control ................................................................................................................................. 8-21 8.13 Error Control ................................................................................................................................................ 8-22 8.14 System Information ...................................................................................................................................... 8-23 8.15 Preprocessor ................................................................................................................................................. 8-24 8.16 Calling with a Value and with Reference...................................................................................................... 8-25 8.16.1 Calling with a Value ................................................................................................................................. 8-25 8.16.2 Calling with Reference............................................................................................................................. 8-26 8.17 Vision Control .............................................................................................................................................. 8-27 8.17.1 Image Input/output ................................................................................................................................... 8-27 8.17.2 Window Setting........................................................................................................... ............................. 8-27 8.17.3 Draw......................................................................................................................................................... 8-28 8.17.4 Image Processing...................................................................................................................................... 8-28 8.17.5 Code Recognition..................................................................................................................................... 8-29 8.17.6 Labeling.................................................................................................................................................... 8-29 8.17.7 Search Function........................................................................................................................................ 8-29 8.17.8 Result Obtaining....................................................................................................................................... 8-30 8.17.9 Vision Calibration .................................................................................................................................... 8-30 Chapter 9 Declaration Statements 9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8 Program Name................................................................................................................................................ 9-1 Interference Area Coordinates ........................................................................................................................ 9-2 User Function ................................................................................................................................................. 9-4 Home Coordinates .......................................................................................................................................... 9-5 Tool Coordinates ............................................................................................................................................ 9-6 Work Coordinates............................................................................................................ ............................... 9-7 Local Variable................................................................................................................................................. 9-8 Array............................................................................................................................................................. 9-17

Chapter 10 Assignment Statements 10.1 10.2 10.3 10.4 10.5 10.6 10.7 Variables ....................................................................................................................................................... 10-1 Vector ........................................................................................................................................................... 10-2 Figure ........................................................................................................................................................... 10-5 Link Angle.................................................................................................................................................... 10-6 Posture.......................................................................................................................................................... 10-7 Rotation Component..................................................................................................................................... 10-8 Axis Component......................................................................................................................................... 10-12

Chapter 11 Flow Control Statements 11.1 11.2 11.3 11.4 11.5 11.6 Program Stop .................................................................................................................................................11-1 Call ................................................................................................................................................................11-4 Repeat............................................................................................................................................................11-9 Conditional Branch......................................................................................................................................11-17 Unconditional Branch..................................................................................................................................11-21 Comment .....................................................................................................................................................11-23

Chapter 12 Robot Control Statements 12.1 12.2 12.3 12.4 12.5 12.6 12.7 12.8 12.9 12.10 Motion Control ............................................................................................................................................. 12-1 Figure Control ............................................................................................................................................ 12-35 Stop Control ............................................................................................................................................... 12-40 Speed Control ............................................................................................................................................. 12-44 Time Control .............................................................................................................................................. 12-60 Coordinate Transformation......................................................................................................................... 12-62 Interference Check...................................................................................................................................... 12-66 Supervisor Task .......................................................................................................................................... 12-68 Internal Servo Data..................................................................................................................................... 12-69 Particular Control ....................................................................................................................................... 12-71

Chapter 13 Input/Output Control Statements 13.1 I/O Port......................................................................................................................................................... 13-1 13.2 Command for RS232C and Ethernet (Server/Client) Port............................................................................ 13-8 13.3 Serial Binary Transmission Commands (RS232C and Ethernet ports) ...................................................... 13-13 13.4 Pendant ....................................................................................................................................................... 13-20 13.5 Customizing TP Operation Screens............................................................................................................ 13-24 13.5.1 Programming a TP operation screen....................................................................................................... 13-25 Chapter 14 Multitasking Control Statements 14.1 14.2 14.3 Task Control ................................................................................................................................................. 14-1 Semaphore .................................................................................................................................................... 14-6 Arm Semaphore.......................................................................................................................................... 14-14

Chapter 15 Functions 15.1 15.2 15.3 15.4 15.5 15.6 15.7 15.8 15.9 15.10 15.11 15.12 15.13 15.14 15.15 Arithmetic Function...................................................................................................................................... 15-1 Trigonometric Function.............................................................................................................................. 15-12 Angle Conversion....................................................................................................................................... 15-19 Speed Conversion....................................................................................................................................... 15-22 Time Function ............................................................................................................................................ 15-23 Vector ......................................................................................................................................................... 15-24 Pose Data Type Transformation.................................................................................................................. 15-28 Distance Extraction .................................................................................................................................... 15-35 Figure Component ...................................................................................................................................... 15-36 Angle Component....................................................................................................................................... 15-37 Axis Component......................................................................................................................................... 15-38 Rotation Component................................................................................................................................... 15-41 Figure Component ...................................................................................................................................... 15-45 Position Function........................................................................................................................................ 15-46 Character String Function........................................................................................................................... 15-50

Chapter 16 Constants 16.1 Built-in Constants......................................................................................................................................... 16-1

Chapter 17 Time/Date Control 17.1 Time/Date ..................................................................................................................................................... 17-1

Chapter 18 Error Controls 18.1 18.2 Error Information ......................................................................................................................................... 18-1 Error Interruption ......................................................................................................................................... 18-4

Chapter 19 System Information 19.1 19.2 System .......................................................................................................................................................... 19-1 Log ............................................................................................................................................................... 19-4

Chapter 20 Preprocessor 20.1 20.2 20.3 Symbol Constants Macro Definitions......................................................................................................... 20-1 File Fetch...................................................................................................................................................... 20-4 Optimization................................................................................................................................................. 20-5

Chapter 21 Vision Control (Option) 21.1 21.2 21.3 21.4 21.5 21.6 21.7 21.8 21.9 21.10 Precautions for using vision commands. ...................................................................................................... 21-1 Compatibility with the Conventional Vision-15......................................................................................... 21-1 Image Input and Output................................................................................................................................ 21-3 Window Setting .......................................................................................................................................... 21-14 Draw........................................................................................................................................................... 21-24 Vision Processing ....................................................................................................................................... 21-41 Code Recognition ....................................................................................................................................... 21-64 Labeling...................................................................................................................................................... 21-67 Search Function.......................................................................................................................................... 21-76 Obtaining Results ....................................................................................................................................... 21-93

Chapter 22 Appendices 22.1 22.2 22.3 22.4 22.5 22.6 22.7 22.8 Index Character Code Table ................................................................................................................................... 22-1 Figures of the Shoulder, Elbow, and Wrist ................................................................................................... 22-2 Environment Setting Values ....................................................................................................................... 22-13 Configuration List ...................................................................................................................................... 22-14 Reserved Word List .................................................................................................................................... 22-21 Conventional Language Command Correspondence Table (VS) ............................................................... 22-23 Version Correspondence Table ................................................................................................................... 22-28 Setting Parameter Table.............................................................................................................................. 22-29

Commands Listed in Alphabetical Order

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to:

Commands

Functions

4-axis 6-axis

Vision device

#
#define #error #include #pragma optimize #undef
Replaces a designated constant or macro name in the program with a designated character string. Forcibly generates a compiling error if the #error command is executed. Fetches the preprocessor program. Designates optimization to be executed for each program. Makes a symbol constant defined with #define or macro definition invalid. Obtains the absolute value of an expression value. Designates internal acceleration and internal deceleration. Obtains an arc cosine. Executes the absolute movement designated in the tool coordinate system. Declares the area where an interference check is performed. Returns the center position and direction of a rectangular parallelepiped with the position type for an area where an interference check is performed. Returns the size (each side length) of a rectangular parallelepiped which defines the interference check area with the vector type. Defines the motion ratio relative to the programmed full travel distance to the target point in order to make the current program stand by to execute the next step until the robot reaches the defined motion ratio. Converts to a character code. Obtains an arc sine. Obtains an arc tangent. Obtains the arc tangent of expression 1 divided by expression 2. Extracts an approach vector. Converts the value of an expression to a binary character string. Executes labeling. Copies an object label number. Obtains the label number for designated coordinates. Executes feature measurement of the object label number. Sounds a buzzer. 20-1 20-3 20-4 20-5 20-2

A
ABS ACCEL ACOS APPROACH AREA AREAPOS AREASIZE ARRIVE
V1.2 15-1 12-47 15-12 12-1 9-2 15-46

15-47

12-32

ASC ASIN ATN ATN2 AVEC

15-50 15-13 15-14 15-15 15-24

B
BIN$ BLOB BLOBCOPY BLOBLABEL BLOBMEASURE BUZZER
15-51 21-67 21-74 21-72 21-70 13-22

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to:

Commands

Functions

4-axis 6-axis

Vision device

C
CALL CAMIN CAMLEVEL CAMMODE change_bCap change_pCap CHANGETOOL CHANGEWORK CHR$ CLEARLOG com_discom com_encom com_state COS CREATESEM CURACC CURDEC CUREXJ CURFIG CURJACC CURJDEC CUREXTACC CUREXTDEC CUREXTSPD CURJNT CURJSPD CURPOS CURSPD CURTOOL CURTRN CURWORK
Calls a program and executes it. Stores an image from the camera in the image memory (process screen). Sets the camera image input level. Sets the function used to store a camera image. Edits a caption for a specified button. Edits a caption for a specified page. Changes the tool coordinate system. Changes the user coordinate system. Converts an ASCII code to a character. Initializes recording of the servo control log. Releases the RS-232C port from binary transmission. Enables the RS-232C port only for binary transmission. Gets the status of RS-232C or Ethernet port. Obtains a cosine. Creates a semaphore. Gets the current internal composite acceleration of joints included in a currently held arm group. Gets the current internal composite deceleration of joints included in a currently held arm group. Gets the current angle of an extended-joint into a floating-point variable. Obtains the current value of the robot figure. Gets the current internal acceleration of individual joints included in a currently held arm group. Gets the current internal deceleration of individual joints included in a currently held arm group. Obtains the current external acceleration value. Obtains the current external deceleration value. Obtains the current external speed value. Obtains the current angle of the robot using type J. Gets the current internal speed of individual joints included in a currently held arm group. Obtains the current position in the tool coordinate system using type P. Gets the current internal composite speed of joints included in a currently held arm group. Obtains the currently designated TOOL number. Obtains the current position in the tool coordinate system using type T. Obtains the currently designated WORK number. Obtains the current date. Specifies the internal composite deceleration of joints involved in a currently held arm group. Declares a user-defined function. V1.5 V1.5 V1.5 V1.5 V1.5 V1.5 V1.4 V1.4 V1.4 V1.4 V1.4 V1.5 V1.5 V1.5 V1.5 V1.5 V1.6 V1.4 V1.4 V1.4 V1.4 V1.4 11-4 21-3 21-6 21-4 13-32 13-33 12-62 12-63 15-52 19-5 13-18 13-17 13-19 15-16 14-7 12-51 12-53 12-27 12-35 12-52 12-54 12-57 12-58 12-59 12-24 12-55 12-25 12-56 12-64 12-26 12-65 17-1 12-49 9-4

D
DATE$ DECEL DEF FN

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 9-10

Commands

Functions Declares a double precision real type variable. The range of double precision real type variables is from 1.79769313486231D + 308 to 1.79769313486231D + 308. Defends a task. Declares an integer type variable. The range of the integer is from -2147483648 to 2147483647. Declares an I/O variable corresponding to the input/output port. Declares a joint type variable. Declares a position type variable. Declares a single precision real type variable. The range of single precision real variables is from 3.402823E+38 to 3.402823E+38. Declares a character string type variable. You can enter 247 characters or less as a character string. Declares a homogeneous transformation type variable. Declares a vector type variable. Converts the unit to a radian. Suspends program processing for a designated period time. Deletes a semaphore. Executes the relative motion in the tool coordinate system. Gets the target position of an extended-joint invoked by the current motion command into a floating-point variable. If the robot is on halt, this command will get the current position (commanded value). Obtains the current movement instruction destination position using type J. The current position (instruction value) is obtained when the robot stops. Obtains the current movement instruction destination position with type P. When the robot stops, the current value (instruction value) is obtained. Obtains the current movement instruction destination position with type T. When the robot stops, the current position (instruction value) is obtained. Declares an array. Displays a specified page of a TP operation screen. Returns the distance between two points. Executes a decision iteration (repetition). Executes the relative movement designated in the work coordinate system. Executes the relative motion of each axis. Executes the absolute motion of each axis. Declares the motion end by a program. Obtains the line number where an error occurred.

4-axis 6-axis

Vision device

DEFDBL

DEFEND DEFINT DEFIO DEFJNT DEFPOS DEFSNG DEFSTR DEFTRN DEFVEC DEGRAD DELAY DELETESEM DEPART DESTEXJ

V1.5

V1.6

14-4 9-8 9-16 9-14 9-13 9-9

9-11 9-15 9-12 15-19 12-60 14-10 12-4 12-31

DESTJNT

12-28

DESTPOS

12-29

DESTTRN

12-30

DIM disp_page DIST DO-LOOP DRAW DRIVE DRIVEA

V1.5

V1.5

9-17 13-34 15-35 11-9 12-7 12-9 12-11

E
END ERL
11-1 18-1

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 18-2 18-3 11-11 11-14 15-2

Commands

Functions Obtains an error number that occurred. Sets an error message. Forcibly exits from DO-LOOP. Forcibly exits from FOR-NEXT. Obtains an exponential function with a natural logarithm taken as a base.

4-axis 6-axis

Vision device

ERR ERRMSG$ EXIT DO EXIT FOR EXP

F
FALSE FIG FIGAPRL FIGAPRP FLUSH FLUSHSEM FOR-NEXT
Sets a value of false (0) to a Boolean value. Extracts a figure. Calculates figures at an approach position and a standard position available to move in CP motion. Calculates an approach position where the PTP motion is available, and a reference position figure. Clears the input buffer. Releases tasks from waiting for a semaphore. Repeatedly executes a series of instructions between FOR-NEXT sections. Obtains the environment setting values of the system. Gets the internal servo data of robot joints. Gets the internal servo data of a specified joint. Releases robot control priority. Releases a task from waiting for a semaphore. Releases visual process priority. Moves to the position (home position) defined by the HOME statement. Calls a subroutine. Unconditionally branches a program. Stops executing a program. Obtains a value converted from a decimal to a hexadecimal number as a character string. Holds program processing for a time. Declares arbitrary coordinates as a home position. Conditionally decides a conditional expression between IF-END IF. Executes a conditional decision of a logical expression. Reads data from the I/O port designated by an I/O variable. Turns on motors, carrier out CAL, and sets the speed according to the preset supervisor task parameters. Obtains data from the RS232C or Ethernet port. Inputs a single byte of data from the RS-232C or Ethernet port. Obtains the maximum integer value possible from a designated value. 16-4 15-36 12-37 12-39 13-12 14-11 11-12

G
GETENV GetSrvData GetJntData GIVEARM GIVESEM GIVEVIS GOHOME GOSUB GOTO
V1.5 V1.5 V1.7 V1.5 V1.5 V1.5 V1.7 V1.5 19-1 12-69 12-70 14-19 14-12 14-21 12-13 11-6 11-21 12-41 15-56 12-40 9-5 11-17 11-18 13-1 12-68 13-8 13-14 15-3

H
HALT HEX$ HOLD HOME

I
IF-END IF IF-THEN-ELSE IN INIT INPUT inputb INT

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 12-42 13-3

Commands

Functions Interrupts a robot motion. Concurrently executes a non-motion instruction such as an I/O or calculation instruction during execution of a motion instruction. Transforms joint type data to position type data. Transforms joint type data to homogeneous transformation type data. Specifies the internal acceleration and deceleration of individual joints included in a currently held arm group. Specifies the internal deceleration ratio of individual joints included in a currently held arm group. Extracts an angle from joint type coordinates. Specifies the internal speed of individual joints included in a currently held arm group. Forcibly terminates a task. Extracts the left part of a character string. Obtains the length of a character string in bytes. Assigns a value to a variable. Assigns a value to an approach vector of the homogeneous transformation type. Sets the environment setting values of the system. Assigns a value to a figure component of the position type or homogenous transformation type. Assigns a value to a designated link angle of the joint type. Assigns a value to an orientation vector of the homogeneous transformation type. Assigns a value to a position vector of the position type or homogenous transformation type. Assigns a value to three rotation components of the position type. Assigns a value to the X axis rotation component of the position type. Assigns a value to the Y axis rotation component of the position type. Assigns a value to the Z axis rotation component of the position type. Assigns a value to the T axis component of the position type. Assigns a value to the X axis component of the Vector type/ Position type/ Homogenous transformation type. Assigns a value to the Y axis component of the Vector type/ Position type/ Homogenous transformation type. Assigns a value to the Z axis component of the vector type/ position type/ homogeneous transformation type.

4-axis 6-axis

Vision device

INTERRUPT ON/OFF IOBLOCK ON/OFF

J
J2P J2T JACCEL JDECEL JOINT JSPEED
15-28 15-29 12-48

12-50 15-37 12-46

K
KILL
14-2 15-57 15-58 10-1 10-2 19-2 10-5 10-6 10-3 10-4 10-7 10-8 10-9 10-10 10-11 10-12

L
LEFT$ LEN LET LETA LETENV LETF LETJ LETO LETP LETR LETRX LETRY LETRZ LETT LETX LETY LETZ

10-13

10-14

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 13-9

Commands

Functions Reads data to a delimiter through the RS232C or Ethernet port and assigns it to a character string type variable. Inputs multiple bytes of data from the RS-232C or Ethernet port. Obtains a natural logarithm. Obtains a common logarithm. Outputs multiple bytes of data to the RS-232C or Ethernet port. Obtains the vector size. Extracts the maximum value. Extracts a character string for the designated number of characters from a character string. Extracts the minimum value. Moves to the designated coordinate. Converts an expression of speed. Sets the TC time. Sets the TS time and slow speed. Sets an OFF (0) value. Sets an ON (1) value. Interrupts when an error occurs. Calls a corresponding subroutine to the value of an expression. Executes an unconditional branch due to the value of an expression. Converts to a character code. Outputs data to the I/O port designated by an I/O variable. Extracts an orient vector. Transforms position type data to joint type data. Transforms position type data to homogeneous transformation type data. Sets a value. Forcibly restores the current position of a joint to 0 mm or 0 degree. Extracts the X-axis rotation component. Extracts the Y-axis rotation component. Extracts the Z-axis rotation component. Extracts the T-axis rotation component. Extracts the X-component. Extracts the Y-component. Extracts the Z-component. Obtains an exponent. Outputs data from the RS232C or Ethernet port.

4-axis 6-axis V1.5 V1.5 V1.5 V1.5

Vision device

LINEINPUT linputb LOG LOG10 lprintb

13-16 15-4 15-5 13-15

M
MAGNITUDE MAX MID$ MIN MOVE MPS
V1.5 V1.2 V1.2 V1.6 15-27 15-7 15-59 15-8 12-14 15-22 4-23 4-23 16-1 16-2 18-4 11-7 11-22 15-60 13-2 15-25 15-30 15-31 16-3 12-34 15-41 15-42 15-43 15-44 15-38 15-39 15-40 15-6 13-10

N
ndTC ndTS

O
OFF ON ON ERROR GOTO ON-GOSUB ON-GOTO ORD OUT OVEC

P
P2J P2T PI POSCLR POSRX POSRY POSRZ POST POSX POSY POSZ POW PRINT

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 13-13 13-21 13-23 13-20 9-1 15-26 15-20 15-21 11-23 11-15 13-7 12-67 18-5 11-8 15-61 15-9 12-19 12-22 14-1 15-45 15-23 11-19 13-5 13-27 13-30 12-66 15-10 21-90 21-80 21-79 21-87 21-89 21-86 21-76 21-81 21-82 21-78 15-17 12-44 15-53

Commands

Functions Outputs a single byte of data to the RS-232C or Ethernet port. Outputs data to the debug window. Sets a label (caption) for a user definition button. Displays a message with a caption and icon on the color LCD of the teach pendant. Declares a program name. Extracts a position vector. Converts a value set in radians to degrees. Converts the unit to degrees. Describes a comment. Executes a tail decision iteration. Sets an I/O port to OFF. Initializes an interference check. Returns from an interruption process routine. Returns from a subroutine. Extracts the right part of a character string. Generates random numbers from 0 to 1. Executes a rotation movement around the designated axis. Executes rotary motion by taking an approach vector as an axis. Concurrently runs another program. Extracts a figure. Converts a value expressed in seconds to milliseconds. Executes a plural condition decision. Sets an I/O port to ON. Sets button parameters. Sets page parameters. Selects the area where an interference check is performed. Checks a sign. Searches for a circle. Deletes a registered model. Copies a registered model. Searches for a corner. Sets the condition for searching a circle. Sets the conditions for a corner search. Registers the search model. Displays a registered model on the screen. Searches for a model. Refers to registered model data. Obtains a sine. Specifies the internal composite speed of joints included in a currently held arm group. Converts an expression to a designated format and returns it as a character string.

4-axis 6-axis V1.5 V1.5 V1.5 V1.5

Vision device

printb PRINTDBG PRINTLBL PRINTMSG PROGRAM PVEC

R
RAD RADDEG REM REPEAT-UNTIL RESET RESETAREA RESUME RETURN RIGHT$ RND ROTATE ROTATEH RUN RVEC

S
SEC SELECT CASE SET set_button set_page SETAREA SGN SHCIRCLE SHCLRMODEL SHCOPYMODEL SHCORNER SHDEFCIRCLE SHDEFCORNER SHDEFMODEL SHDISPMODEL SHMODEL SHREFMODEL SIN SPEED SPRINTF$
V1.5 V1.5

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 15-11 19-4 12-71

Commands

Functions Obtains the square root. Starts recording of the servo control log. Changes the internal load condition values. There are the mass of payload, noted in grams (g), and the payload center of gravity, noted in millimeters (mm), for the load condition values. Designate both of them. (See Note1.) Selects the internal mode for proper control setting of motion optimization. Obtains the program status. Releases servo lock for the specified axis. Servo-locks a specified axis. Ends program execution. This statement stops a continuously executed program or stops a program with a cycle option after a cycle. When a cycle of a program that includes this statement is started, the motion will not be affected even if this statement is executed. Stops servo control log recording. Converts a value to a character string. Disables the compliance control function. Initializes the allowable deviation values of the position and the posture of the tool end under the compliance control. Initializes the current limit under the compliance control. Initializes the compliance rates. Disables the velocity control mode under the compliance control. Resets the motor current limit of the specified axis. Initializes the damping rates under the compliance control. Resets the allowable deviation value of the specified axis to the initial value. Initializes the force assistance (special compliance control function statement). Initializes the force limiting rates. Disables the balance setting between the limited motor torque and gravity torque, which is made with ST_SetGravity. Disables the gravity offset function. Disables the gravity compensation function. Obtains the position of a character string. Enables the compliance function. Sets the allowable deviation values of the position and the posture of the tool tip under the compliance control. Enables the compliance control function. Sets the current limit under the compliance control. Sets the compliance rates under the compliance control. Sets the velocity control mode under the compliance control.

4-axis 6-axis V1.9 V1.9

Vision device

SQR STARTLOG ST_aspACLD

ST_aspChange STATUS ST_OffSrvLock ST_OnSrvLock STOP STOPEND

V1.9 V1.9 V1.9

V1.9

12-72 14-5 12-83 12-82 11-2 11-3

STOPLOG STR$ ST_ResetCompControl ST_ResetCompEralw ST_ResetCompJLimit ST_ResetCompRate ST_ResetCompVMode ST_ResetCurLmt ST_ResetDampRate ST_ResetEralw ST_ResetFrcAssist ST_ResetFrcLimit ST_ResetGravity ST_ResetGrvOffset ST_ResetZBalance STRPOS ST_SetCompControl ST_SetCompEralw ST_SetCompFControl ST_SetCompJLimit ST_SetCompRate ST_SetCompVMode

V1.9 V1.9

19-6 15-63 12-87 12-100

V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9

12-96 12-92 12-98 12-79 12-102 12-81 12-94 12-90 12-74

V1.9

V1.9

V1.9 V1.9

V1.9 V1.9 V1.9

12-76 12-104 15-62 12-84 12-99

V1.9 V1.9 V1.9 V1.9

12-86 12-95 12-91 12-97

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 12-77 12-101 12-80 12-93 12-88 12-89 12-73

Commands

Functions Sets the limit of motor current to be applied to the specified axis. Sets the damping rates under the compliance control. Modifies the allowable deviation of the specified axis. Sets the force assistance under the compliance control. Selects a force limiting coordinate system. Sets the force limiting rates. Compensates for the static load (gravity torque) applied to each joint and attains balance with gravity torque. Compensates the torque of each joint programmed with ST_SetGravity for gravity torque. Sets the gravity compensation value of the Z and T axes (exclusively designed for 4-axis robots). Suspends a task. Transforms homogeneous transformation type data to joint type data. Transforms homogeneous transformation type data to position type data. Gets an arm group. Upon execution of this statement, the programmed speed, acceleration and deceleration will be set to 100. If the gotten arm group includes any robot joint, this statement restores the tool coordinates and work coordinates to the origin. Obtains a semaphore with a designated semaphore ID. Obtains visual process priority. Obtains a tangent. Obtains the current time. Obtains the elapsed time. Calculates an inverse matrix of homogeneous transformation type data. Declares a tool coordinate system. Returns a tool coordinate system as the position type. Sets a value of true (1) to a Boolean value. Converts a character string to a numeric value. Obtains the version of each module. Binarizes the screen. Displays a binarized screen. Designates a drawing brightness value. Displays an image from the camera on the monitor. Draws a circle on the screen. Fill (cleens) a designated screen, set in a mode with a designated brightness. Copies the screen. Draws a cross symbol on the screen.

4-axis 6-axis V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9

Vision device

ST_SetCurLmt ST_SetDampRate ST_SetEralw ST_SetFrcAssist ST_SetFrcCoord ST_SetFrcLimit ST_SetGravity ST_SetGrvOffset ST_SetZBalance SUSPEND

V1.9

V1.9

V1.9 V1.9

V1.9

12-75 12-103

14-3 15-32 15-33 14-14

T
T2J T2P TAKEARM

TAKESEM TAKEVIS TAN TIME$ TIMER TINV TOOL TOOLPOS TRUE

14-13 14-20 15-18 17-2 17-3 15-34 9-6 15-48 16-5 15-64 19-3 21-47 21-49 21-26 21-7 21-33 21-27 21-54 21-36

V
VAL VER$ VISBINA VISBINAR VISBRIGHT VISCAMOUT VISCIRCLE VISCLS VISCOPY VISCROSS

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 21-39 21-11 21-60 21-34 21-50 21-93 21-42 21-94 21-43 21-45 21-30 21-37 21-52 21-55 21-9 21-8 21-95 21-96 21-40 21-58 21-31 21-29 21-64 21-32 21-98 21-44 21-13 21-24 21-35 21-97 21-41

Commands

Functions Designates the size of characters and the display method. Reads images on the camera and sets the look-up table data for image output. Measures the edge in a window. Draws an ellipse on the screen. Executes filtering on the screen. Obtains an image process result from the storage memory. Obtains designated coordinate brightness from the storage memory (processing screen). Obtains code recognition result. Obtains the histogram (brightness distribution) of the screen. Obtains a binarization level based on the histogram result. Draws a line on the screen. Designates the display position of characters. Executes calculations between images. Measures features in the window (area, center of gravity, main axis angle). Displays draw screen information on the monitor. Displays an image in the storage memory on the monitor. Obtains an image process result (Coordinate X) from the storage memory. Obtains an image process result (Coordinate Y) from the storage memory. Displays characters and figures on the screen. Measures the projected data in the window. Draws a line connecting two points on the screen. Draws a point on the screen. Reads the QR code. Draws a rectangle on the screen. Obtains calibration data (Vision-robot coordinate transformation). Reads histogram results. Refers to data on the look-up table. Designates a drawing screen. Draws a sector on the screen. Monitors the process result of each instruction. Designates the storage memory (process screen) to process. Stops program processing based on a condition. Executes a head decision iteration. Deletes set window information. Copies window data. Draws a designated window. Designates an area for image processing. Obtains window information.

4-axis 6-axis

Vision device

VISDEFCHAR VISDEFTABLE VISEDGE VISELLIPSE VISFILTER VISGETNUM VISGETP VISGETSTR VISHIST VISLEVEL VISLINE VISLOC VISMASK VISMEASURE VISOVERLAY VISPLNOUT VISPOSX VISPOSY VISPRINT VISPROJ VISPTP VISPUTP VISREADQR VISRECT VISREFCAL VISREFHIST VISREFTABLE VISSCREEN VISSECT VISSTATUS VISWORKPLN

W
WAIT WHILE-WEND WINDCLR WINDCOPY WINDDISP WINDMAKE WINDREF
12-61 11-16 21-19 21-20 21-23 21-14 21-22

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 9-7 15-49 13-11

Commands

Functions Declares a user coordinate system. Returns the user coordinate system as the position type. Outputs data from the RS232C or Ethernet port.

4-axis 6-axis

Vision device

WORK WORKPOS WRITE

Commands Listed According to Functions

Vision 4-axis 6-axis device Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots V1.2 of Version 1.2 or later. Refer to:

Classified by functions Declaration Statements Program Name Interference Area Coordinates User Function Home Coordinates Tool Coordinates Work Coordinates Local Variable Integer Floating-point

Commands

Functions

4-axis 6-axis

Vision device

PROGRAM AREA DEF FN HOME TOOL WORK DEFINT

DEFSNG

Double-precision

DEFDBL

String

DEFSTR

Vector Position Joint Homogeneous transform matrix I/O

DEFVEC DEFPOS DEFJNT DEFTRN DEFIO DIM LET LETA

Array Assignment Statements Variables Vector

Declares a program name. Declares the area where an interference check is performed. Declares a user-defined function. Declares arbitrary coordinates as a home position. Declares a tool coordinate system. Declares a user coordinate system. Declares an integer type variable. The range of the integer is from -2147483648 to 2147483647. Declares a single precision real type variable. The range of single precision real variables is from -3.402823E+38 to 3.402823E+38. Declares a double precision real type variable. The range of double precision real type variables is from 1.79769313486231D + 308 to 1.79769313486231D + 308. Declares a character string type variable. You can enter 247 characters or less as a character string. Declares a vector type variable. Declares a position type variable. Declares a joint type variable. Declares a homogeneous transformation type variable. Declares an I/O variable corresponding to the input/output port. Declares an array. Assigns a value to a variable. Assigns a value to an approach vector of the homogeneous transformation type.

9-1 9-2

9-4 9-5 9-6 9-7

9-8

9-9

9-10

9-11

9-12 9-13 9-14 9-15 9-16

9-17 10-1 10-2

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Functions Refer to: 10-3

Classified by functions

Commands

4-axis 6-axis Assigns a value to an orientation vector of the homogeneous transformation type. Assigns a value to a position vector of the position type or homogenous transformation type. Assigns a value to a figure component of the position type or homogenous transformation type. Assigns a value to a designated link angle of the joint type. Assigns a value to three rotation components of the position type. Assigns a value to the X axis rotation component of the position type. Assigns a value to the Y axis rotation component of the position type. Assigns a value to the Z axis rotation component of the position type. Assigns a value to the T axis component of the position type. Assigns a value to the X axis component of the Vector type/ Position type/ Homogenous transformation type. Assigns a value to the Y axis component of the Vector type/ Position type/ Homogenous transformation type. Assigns a value to the Z axis component of the vector type/ position type/ homogeneous transformation type. Declares the motion end by a program. Ends program execution. This statement stops a continuously executed program or stops a program with a cycle option after a cycle. When a cycle of a program that includes this statement is started, the motion will not be affected even if this statement is executed.

Vision device

LETO

LETP

10-4

Figure

LETF

10-5

Link Angle

LETJ LETR LETRX LETRY LETRZ LETT

10-6

Posture

10-7

Rotation Component

10-8

10-9

10-10

10-11 10-12

Axis Component

LETX

LETY

10-13

LETZ

10-14

Flow Control Statements Program Stop

END STOP STOPEND

11-1 11-2 11-3

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 11-4 11-6 11-7

Classified by functions Call

Commands

Functions Calls a program and executes it. Calls a subroutine. Calls a corresponding subroutine to the value of an expression. Returns from a subroutine. Executes a decision iteration (repetition). Forcibly exits from DO-LOOP. Repeatedly executes a series of instructions between FORNEXT sections. Forcibly exits from FOR-NEXT. Executes a tail decision iteration. Executes a head decision iteration. Conditionally decides a conditional expression between IF-END IF. Executes a conditional decision of a logical expression. Executes a plural condition decision. Unconditionally branches a program. Executes an unconditional branch due to the value of an expression. Describes a comment. Executes the absolute movement designated in the tool coordinate system. Executes the relative motion in the tool coordinate system. Executes the relative movement designated in the work coordinate system. Executes the relative motion of each axis. Executes the absolute motion of each axis. Moves to the position (home position) defined by the HOME statement. Moves to the designated coordinate. Executes a rotation movement around the designated axis.

4-axis 6-axis

Vision device

CALL GOSUB ON-GOSUB RETURN DO-LOOP EXIT DO FOR-NEXT EXIT FOR REPEAT-UNTIL WHILE-WEND

Repeat

11-8 11-9 11-11 11-12

11-14 11-15 11-16 11-17

Conditional Branch

IF-END IF IF-THEN-ELSE SELECT CASE

11-18

11-19 11-21 11-22

Unconditional Branch

GOTO ON-GOTO

Comment REM Robot Control Statements Motion Control APPROACH

11-23 12-1

DEPART DRAW DRIVE DRIVEA GOHOME MOVE ROTATE

12-4 12-7

12-9 12-11 12-13

12-14 12-19

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Functions Refer to: 12-22

Classified by functions

Commands

4-axis 6-axis Executes rotary motion by taking an approach vector as an axis. Obtains the current angle of the robot using type J. Obtains the current position in the tool coordinate system using type P. Obtains the current position in the tool coordinate system using type T. Gets the current angle of an extended-joint into a floatingpoint variable. Obtains the current movement instruction destination position using type J. The current position (instruction value) is obtained when the robot stops. Obtains the current movement instruction destination position with type P. When the robot stops, the current value (instruction value) is obtained. Obtains the current movement instruction destination position with type T. When the robot stops, the current position (instruction value) is obtained. Gets the target position of an extended-joint invoked by the current motion command into a floating-point variable. If the robot is on halt, this command will get the current position (commanded value). Defines the motion ratio relative to the programmed full travel distance to the target point in order to make the current program stand by to execute the next step until the robot reaches the defined motion ratio. Forcibly restores the current position of a joint to 0 mm or 0 degree. Obtains the current value of the robot figure. Calculates figures at an approach position and a standard position available to move in CP motion. V1.5 V1.6

Vision device

ROTATEH CURJNT CURPOS CURTRN CUREXJ DESTJNT

12-24 12-25

12-26

12-27

12-28

DESTPOS

12-29

DESTTRN

12-30

DESTEXJ

V1.5

V1.6

12-31

ARRIVE

V1.2

12-32

POSCLR
Figure Control

V1.5

V1.6

12-34

CURFIG FIGAPRL

12-35 12-37

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 12-39

Classified by functions

Commands

Functions Calculates an approach position where the PTP motion is available, and a reference position figure. Holds program processing for a time. Stops executing a program. Interrupts a robot motion. Specifies the internal composite speed of joints included in a currently held arm group. Specifies the internal speed of individual joints included in a currently held arm group. Designates internal acceleration and internal deceleration. Specifies the internal acceleration and deceleration of individual joints included in a currently held arm group. Specifies the internal composite deceleration of joints involved in a currently held arm group. Specifies the internal deceleration ratio of individual joints included in a currently held arm group. Gets the current internal composite acceleration of joints included in a currently held arm group. Gets the current internal acceleration of individual joints included in a currently held arm group. Gets the current internal composite deceleration of joints included in a currently held arm group. Gets the current internal deceleration of individual joints included in a currently held arm group. Gets the current internal speed of individual joints included in a currently held arm group. Gets the current internal composite speed of joints included in a currently held arm group. Obtains the current external acceleration value.

4-axis 6-axis

Vision device

FIGAPRP

Stop Control

HOLD HALT INTERRUPT ON/OFF SPEED

12-40 12-41 12-42 12-44

Speed Control

JSPEED ACCEL JACCEL

12-46

12-47

12-48

DECEL

12-49

JDECEL

12-50

CURACC

12-51

CURJACC

12-52

CURDEC

12-53

CURJDEC

12-54

CURJSPD CURSPD

12-55

12-56

CUREXTACC

V1.4

V1.4

12-57

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Functions Refer to: 12-58 12-59 12-60 12-61 12-62 12-63 12-64 12-65 12-66

Classified by functions

Commands Obtains the current external deceleration value. CUREXTSPD Obtains the current external speed value. DELAY Suspends program processing for a designated period time. Stops program processing WAIT based on a condition. CHANGETOOL Changes the tool coordinate system. CHANGEWORK Changes the user coordinate system. Obtains the currently CURTOOL designated TOOL number. CURWORK Obtains the currently designated WORK number. SETAREA Selects the area where an interference check is performed. RESETAREA Initializes an interference check. Turns on motors, carrier out INIT CAL, and sets the speed according to the preset supervisor task parameters. GetSrvData Gets the internal servo data of robot joints. GetJntData Gets the internal servo data of a specified joint. Changes the internal load ST_aspACLD condition values. There are the mass of payload, noted in grams (g), and the payload center of gravity, noted in millimeters (mm), for the load condition values. Designate both of them. (See Note1.) ST_aspChange Selects the internal mode for proper control setting of motion optimization. Compensates for the static ST_SetGravity load (gravity torque) applied to each joint and attains balance with gravity torque. ST_ResetGravity Disables the balance setting between the limited motor torque and gravity torque, which is made with ST_SetGravity. ST_SetGrvOffset Compensates the torque of each joint programmed with ST_SetGravity for gravity torque. ST_ResetGrvOffset Disables the gravity offset function.

4-axis 6-axis V1.4 V1.4 V1.4 V1.4 V1.7 V1.4 V1.4 V1.4 V1.4 V1.7

Vision device

CUREXTDEC

Time Control

Coordinate Transformation

Interference Check

12-67 12-68

Supervisor Task

Internal Servo Data

V1.5 V1.5 V1.9

V1.5 V1.5 V1.9

12-69 12-70 12-71

Particular Control

V1.9

V1.9

12-72

V1.9

V1.9

12-73

V1.9

V1.9

12-74

V1.9

V1.9

12-75

V1.9

V1.9

12-76

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 12-77

Classified by functions

Commands

Functions Sets the limit of motor current to be applied to the specified axis. Resets the motor current limit of the specified axis. Modifies the allowable deviation of the specified axis. Resets the allowable deviation value of the specified axis to the initial value. Servo-locks a specified axis. Releases servo lock for the specified axis. Enables the compliance function. Enables the compliance control function. Disables the compliance control function. Selects a force limiting coordinate system. Sets the force limiting rates. Initializes the force limiting rates. Sets the compliance rates under the compliance control. Initializes the compliance rates. Sets the force assistance under the compliance control. Initializes the force assistance (special compliance control function statement). Sets the current limit under the compliance control. Initializes the current limit under the compliance control. Sets the velocity control mode under the compliance control. Disables the velocity control mode under the compliance control. Sets the allowable deviation values of the position and the posture of the tool tip under the compliance control. Initializes the allowable deviation values of the position and the posture of the tool end under the compliance control. Sets the damping rates under the compliance control. Initializes the damping rates under the compliance control.

4-axis 6-axis V1.9 V1.9

Vision device

ST_SetCurLmt ST_ResetCurLmt ST_SetEralw ST_ResetEralw ST_OnSrvLock ST_OffSrvLock

ST_SetCompControl
ST_SetCompFControl
ST_ResetCompControl

V1.9 V1.9 V1.9

V1.9 V1.9 V1.9

12-79 12-80 12-81

V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9 V1.9

12-82 12-83 12-84 12-86 12-87 12-88 12-89 12-90 12-91 12-92 12-93 12-94

ST_SetFrcCoord ST_SetFrcLimit ST_ResetFrcLimit ST_SetCompRate

ST_ResetCompRate

ST_SetFrcAssist ST_ResetFrcAssist ST_SetCompJLimit

ST_ResetCompJLimit

V1.9 V1.9 V1.9 V1.9

12-95 12-96 12-97 12-98

ST_SetCompVMode
ST_ResetCompVMode

ST_SetCompEralw

V1.9

12-99

ST_ResetCompEralw

V1.9

12-100

ST_SetDampRate
ST_ResetDampRate

V1.9 V1.9

12-101 12-102

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Functions Refer to: 12-103 12-104

Classified by functions

Commands

4-axis 6-axis V1.9 V1.9

Vision device

ST_SetZBalance

Sets the gravity compensation value of the Z and T axes. ST_ResetZBalance Disables the gravity compensation function. Input/Output Control Statements I/O Port

IN OUT IOBLOCK ON/OFF

Command for RS232C and Ethernet Port

SET RESET INPUT LINEINPUT

PRINT WRITE FLUSH

Serial Binary Transmission printb Commands

inputb lprintb linputb com_encom com_discom com_state

Pendant

PRINTMSG PRINTDBG BUZZER PRINTLBL

Reads data from the I/O port designated by an I/O variable. Outputs data to the I/O port designated by an I/O variable. Concurrently executes a nonmotion instruction such as an I/O or calculation instruction during execution of a motion instruction. Sets an I/O port to ON. Sets an I/O port to OFF. Obtains data from the RS232C or Ethernet port. Reads data to a delimiter through the RS232C or Ethernet port and assigns it to a character string type variable. Outputs data from the RS232C or Ethernet port. Outputs data from the RS232C or Ethernet port. Clears the input buffer. Outputs a single byte of data to the RS-232C or Ethernet port. Inputs a single byte of data from the RS-232C or Ethernet port. Outputs multiple bytes of data to the RS-232C or Ethernet port. Inputs multiple bytes of data from the RS-232C or Ethernet port. Enables the RS-232C port only for binary transmission. Releases the RS-232C port from binary transmission. Gets the status of RS-232C or Ethernet port. Displays a message with a caption and icon on the color LCD of the teach pendant. Outputs data to the debug window. Sounds a buzzer. Sets a label (caption) for a user definition button.

13-1 13-2 13-3

13-5 13-7 13-8 13-9

V1.5 V1.5

V1.5 V1.5

13-10 13-11 13-12 13-13 13-14

V1.5

V1.5

13-15

V1.5

V1.5

13-16

V1.5 V1.5 V1.5

V1.5 V1.5 V1.5

13-17 13-18 13-19 13-20

13-21 13-22 13-23

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 13-27 13-30 13-32 13-33 13-34

Classified by functions Programming a TP operation screen

Commands

Functions Sets button parameters. Sets page parameters. Edits a caption for a specified button. Edits a caption for a specified page. Displays a specified page of a TP operation screen.

4-axis 6-axis V1.5 V1.5 V1.5 V1.5 V1.5 V1.5 V1.5 V1.5 V1.5 V1.5

Vision device

set_button set_page change_bCap change_pCap disp_page

Multitasking Control Statements Task Control

RUN KILL SUSPEND DEFEND STATUS CREATESEM DELETESEM FLUSHSEM GIVESEM TAKESEM

Semaphore

Arm Semaphore

TAKEARM

GIVEARM TAKEVIS GIVEVIS

Functions Arithmetic Function

Concurrently runs another program. Forcibly terminates a task. Suspends a task. Defends a task. Obtains the program status. Creates a semaphore. Deletes a semaphore. Releases tasks from waiting for a semaphore. Releases a task from waiting for a semaphore. Obtains a semaphore with a designated semaphore ID. Gets an arm group. Upon execution of this statement, the programmed speed, acceleration and deceleration will be set to 100. If the gotten arm group includes any robot joint, this statement restores the tool coordinates and work coordinates to the origin. Releases robot control priority. Obtains visual process priority. Releases visual process priority. Obtains the absolute value of an expression value. Obtains an exponential function with a natural logarithm taken as a base. Obtains the maximum integer value possible from a designated value. Obtains a natural logarithm. Obtains a common logarithm. Obtains an exponent. Extracts the maximum value. Extracts the minimum value.

14-1 14-2 14-3 14-4 14-5 14-7 14-10 14-11 14-12 14-13 14-14

14-19 14-20 14-21

ABS EXP INT LOG LOG10 POW MAX MIN

15-1 15-2

15-3

15-4 15-5 15-6 15-7 15-8

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Functions Refer to: 15-9 15-10 15-11 15-12 15-13 15-14 15-15

Classified by functions

Commands

4-axis 6-axis Generates random numbers from 0 to 1. Checks a sign. Obtains the square root. Obtains an arc cosine. Obtains an arc sine. Obtains an arc tangent. Obtains the arc tangent of expression 1 divided by expression 2. Obtains a cosine. Obtains a sine. Obtains a tangent. Converts the unit to a radian. Converts a value set in radians to degrees. Converts the unit to degrees. Converts an expression of speed. Converts a value expressed in seconds to milliseconds. Extracts an approach vector. Extracts an orient vector. Extracts a position vector. Obtains the vector size. Transforms joint type data to position type data. Transforms joint type data to homogeneous transformation type data. Transforms position type data to joint type data. Transforms position type data to homogeneous transformation type data. Transforms homogeneous transformation type data to joint type data. Transforms homogeneous transformation type data to position type data. Calculates an inverse matrix of homogeneous transformation type data. Returns the distance between two points. Extracts a figure. Extracts an angle from joint type coordinates. Extracts the X-component. Extracts the Y-component. Extracts the Z-component.

Vision device

RND SGN SQR ACOS ASIN ATN ATN2 COS SIN TAN DEGRAD RAD RADDEG MPS SEC AVEC OVEC PVEC MAGNITUDE J2P J2T P2J P2T T2J T2P TINV
Distance Extraction Figure Component Angle Component Axis Component

Trigonometric Function

Angle Conversion

15-16 15-17 15-18 15-19 15-20 15-21 15-22 15-23 15-24 15-25 15-26 15-27 15-28 15-29

Speed Conversion Time Function Vector

Pose Data Type Transformation

15-30 15-31

15-32

15-33

15-34

DIST FIG JOINT POSX POSY POSZ

15-35 15-36 15-37 15-38 15-39 15-40

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 15-41 15-42 15-43 15-44 15-45 15-46

Classified by functions Rotation Component

Commands

Functions Extracts the X-axis rotation component. Extracts the Y-axis rotation component. Extracts the Z-axis rotation component. Extracts the T-axis rotation component. Extracts a figure. Returns the center position and direction of a rectangular parallelepiped with the position type for an area where an interference check is performed. Returns the size (each side length) of a rectangular parallelepiped which defines the interference check area with the vector type. Returns a tool coordinate system as the position type. Returns the user coordinate system as the position type. Converts to a character code. Converts the value of an expression to a binary character string. Converts an ASCII code to a character. Converts an expression to a designated format and returns it as a character string. Obtains a value converted from a decimal to a hexadecimal number as a character string. Extracts the left part of a character string. Obtains the length of a character string in bytes. Extracts a character string for the designated number of characters from a character string. Converts to a character code. Extracts the right part of a character string. Obtains the position of a character string. Converts a value to a character string. Converts a character string to a numeric value.

4-axis 6-axis

Vision device

POSRX POSRY POSRZ POST

Figure Component Position Function

RVEC AREAPOS

AREASIZE

15-47

TOOLPOS WORKPOS
Character String Function ASC

15-48 15-49 15-50 15-51

BIN$ CHR$ SPRINTF$ HEX$ LEFT$ LEN MID$

15-52 15-53

15-56

15-57 15-58 15-59

ORD RIGHT$ STRPOS STR$ VAL

15-60 15-61 15-62 15-63 15-64

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Functions Refer to:

Classified by functions Constants Built-in Constants

Commands

4-axis 6-axis

Vision device

OFF ON PI FALSE TRUE

Sets an OFF (0) value. Sets an ON (1) value. Sets a value. Sets a value of false (0) to a Boolean value. Sets a value of true (1) to a Boolean value. Obtains the current date. Obtains the current time. Obtains the elapsed time.

16-1 16-2 16-3 16-4 16-5

Time/Date Control Time/Date

DATE$ TIME$ TIMER ERL

17-1 17-2 17-3 18-1 18-2 18-3 18-4 18-5

Error Controls Error Information

Error Interruption

Obtains the line number where an error occurred. ERR Obtains an error number that occurred. ERRMSG$ Sets an error message. ON ERROR GOTO Interrupts when an error occurs. Returns from an interruption RESUME process routine.

System Information System

GETENV LETENV VER$

Log

STARTLOG CLEARLOG STOPLOG

Obtains the environment setting values of the system. Sets the environment setting values of the system. Obtains the version of each module. Starts recording of the servo control log. Initializes recording of the servo control log. Stops servo control log recording. Replaces a designated constant or macro name in the program with a designated character string. Makes a symbol constant defined with #define or macro definition invalid. Forcibly generates a compiling error if the #error command is executed. Fetches the preprocessor program. Designates optimization to be executed for each program.

19-1 19-2 19-3 19-4 19-5 19-6

Preprocessor Symbol Constants Macro Definitions

#define

20-1

#undef #error
File Fetch Optimization

20-2

20-3

#include #pragma optimize

20-4 20-5

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to:

Classified by functions Vision Control (Option) Image Input and Output

Commands

Functions

4-axis 6-axis

Vision device

CAMIN CAMMODE CAMLEVEL VISCAMOUT VISPLNOUT VISOVERLAY VISDEFTABLE VISREFTABLE

Window Setting

WINDMAKE WINDCLR WINDCOPY WINDREF WINDDISP VISSCREEN VISBRIGHT VISCLS VISPUTP VISLINE VISPTP VISRECT VISCIRCLE VISELLIPSE VISSECT VISCROSS VISLOC VISDEFCHAR VISPRINT

Draw

Stores an image from the camera in the image memory (process screen). Sets the function used to store a camera image. Sets the camera image input level. Displays an image from the camera on the monitor. Displays an image in the storage memory on the monitor. Displays draw screen information on the monitor. Reads images on the camera and sets the look-up table data for image output. Refers to data on the look-up table. Designates an area for image processing. Deletes set window information. Copies window data. Obtains window information. Draws a designated window. Designates a drawing screen. Designates a drawing brightness value. Fill (cleens) a designated screen, set in a mode with a designated brightness. Draws a point on the screen. Draws a line on the screen. Draws a line connecting two points on the screen. Draws a rectangle on the screen. Draws a circle on the screen. Draws an ellipse on the screen. Draws a sector on the screen. Draws a cross symbol on the screen. Designates the display position of characters. Designates the size of characters and the display method. Displays characters and figures on the screen.

21-3

21-4 21-6 21-7 21-8

21-9 21-11

21-13 21-14 21-19 21-20 21-22 21-23 21-24 21-26 21-27

21-29 21-30 21-31 21-32 21-33 21-34 21-35 21-36 21-37 21-39

21-40

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Functions Refer to: 21-41

Classified by functions Vision Processing

Commands

4-axis 6-axis Designates the storage memory (process screen) to process. Obtains designated coordinate brightness from the storage memory (processing screen). Obtains the histogram (brightness distribution) of the screen. Reads histogram results. Obtains a binarization level based on the histogram result. Binarizes the screen. Displays a binarized screen. Executes filtering on the screen. Executes calculations between images. Copies the screen. Measures features in the window (area, center of gravity, main axis angle). Measures the projected data in the window. Measures the edge in a window. Reads the QR code. Executes labeling. Executes feature measurement of the object label number. Obtains the label number for designated coordinates. Copies an object label number. Registers the search model. Refers to registered model data. Copies a registered model. Deletes a registered model. Displays a registered model on the screen. Searches for a model. Sets the conditions for a corner search. Searches for a corner. Sets the condition for searching a circle. Searches for a circle. Obtains an image process result from the storage memory. Obtains code recognition result.

Vision device

VISWORKPLN VISGETP VISHIST VISREFHIST VISLEVEL VISBINA VISBINAR VISFILTER VISMASK VISCOPY VISMEASURE VISPROJ VISEDGE

21-42

21-43

21-44 21-45 21-47 21-49 21-50 21-52 21-54 21-55

21-58 21-60 21-64 21-67 21-70

Code Recognition Labeling

VISREADQR BLOB BLOBMEASURE BLOBLABEL BLOBCOPY SHDEFMODEL SHREFMODEL SHCOPYMODEL SHCLRMODEL SHDISPMODEL SHMODEL SHDEFCORNER SHCORNER SHDEFCIRCLE SHCIRCLE VISGETNUM VISGETSTR

21-72 21-74 21-76 21-78 21-79 21-80 21-81 21-82 21-86 21-87 21-89 21-90 21-93

Search Function

Obtaining Results

21-94

Vision 4-axis 6-axis device

V1.2

Available with all series of robots and vision device. Available with all series of robots. The command specifications differ between the 4-axis, 6-axis robot, and vision device. Available with the 4-axis robots and the 6-axis robots of Version 1.2 or later. Refer to: 21-95

Classified by functions

Commands

Functions Obtains an image process result (Coordinate X) from the storage memory. Obtains an image process result (Coordinate Y) from the storage memory. Monitors the process result of each instruction. Obtains calibration data (Vision-robot coordinate transformation).

4-axis 6-axis

Vision device

VISPOSX VISPOSY VISSTATUS VISREFCAL

21-96

21-97 21-98

PART 1
PROGRAM DESIGN

Chapter 1 Sample Program

This chapter utilizes a simple application example to provide usage of each command.

Chapter 1 Sample Program

1.1 Model Case Application

This section describes a sample program by using an application as a model case as shown in Fig. 1-1.

Fig. 1-1 Model Case Application

In this model case, the robot reads the QR code on the object placed at pPick. The robot determines to which of pPlace1 and pPlace2 it will carry the object depending on the QR code. It then picks and carries the object to each predetermined position and places it. pHome is the home position, or the reference point position. Note: Refer to Part 2, Flow of Personal Computer Teaching System Operation in the BEGINNER'S GUIDE for instructions on how to create a program. The chapter provides an operation procedure explanation on how to create a program by using the same model case application.

1-1

1.2 Program Flow

Fig. 1-2 shows the program flow of the model case.
#define #define #define #define #define #define #define #define #define #define #define #define #define * * * * Macro Definition * * * * * pHome 10 'Home position pPick1 11 'Part chuck position pPlace1 12 'Part A unchuck position pPlace2 13 'Part B & C unchuck 'position ioParts 34 'Part supply signal ioPartsAck 104 'Synchronization signal 'of part supply signal ioChuck 106 'If ON, chucks. If OFF, 'unchucks. ioUnChuck 107 'If ON, unchucks. If 'OFF, chucks. iPartsld 0 'Part number iCountA 1 'Number of A parts iCountBC 2 'Number of B and C parts ioComplete 105 'Motion finish signal ioCompleteAck 35 'Synchronization signal 'of motion finish 'signal ioErrQR 108 'QR read error ioErrQRAck 36 'Check QR read error.

Start

Moves to the home position pHome

Internal speed 50%

Sets internal speed to 100% I/O[34] Supply signal I/O[104] Synchronization signal QR code: 1=part A, 2=part B, 3=part C Store a part number in iPartsId.

Checks part supply

#define #define

Checks parts

Part NO.

Error [-1]

Part A [1]

Part B,C [2,3]

Others

CR code reading Error output

Moves to pPick in CP motion

Moves to pPick in CP motion

Chuck part A

Chuck part B

Moves to pPlace1 in PTP motion

Moves to pPlace2 in PTP motion

Unchuck

Unchuck

Stores a work number

Stores the work number

Work finish confirmation

End

Fig. 1-2 Model Case Program Flow

1-2

Chapter 1 Sample Program

1.3 Program List

Below is a program list for the model case. There are 4 programs: PRO1, PRO2, dioSetAndWait, and dioWaitAndSet. PRO1 is the main program. PRO2 is the subprogram related to QR code reading. dioSetAndWait and dioWaitAndSet are subprograms to operate the I/Os used to check part supply. These two programs are stored in the PAC program manager program bank.
Program coding list PRO1

'!TITLE Pick & Place #INCLUDE dio_tab.h #INCLUDE var_tab.h #DEFINE appLen 100
appLen and 100 are functionally equivalent.

'Reads a DIO macro definition file. 'Reads a variable macro definition file. 'Defines an approach length.

PROGRAM pro1 Declares a program name. See p. 9-1. TAKEARM Statement required to run the
robot. See p. 14-13.

'Obtains an arm semaphore. 'Moves to the home position at 50% of 'internal speed in PTP motion. 'Sets the internal speed to 100%. 'Checks part supply.

MOVE P, P[pHome], S=50

Equivalent to macro P[10] or P10. See p. 20-1.

SPEED 100 CALL dioWaitAndSet(ioParts, ioPartsAck)

Invokes a program. See pp. 2-1 and 2-3.

CALL pro2 'Reads the QR code. SELECT CASE I[iPartsId] Statement that conditionally executes a statement block
Macro depending on I[] and passes control. See p. 11-19.

CASE -1 If I[] is -1, the following will be executed. CALL dioSetAndWait(ioErrQR, ioErrQRAck) CASE 1 GOSUB *PlacePartsA
Calls a subroutine. See p. 2-2.

'Countermeasure for QR code reading 'failures. 'Outputs an error. 'Processes part A.

CASE 2, 3 GOSUB *PlacePartsBC END SELECT CALL dioSetAndWait(ioComplete,ioCompleteAck) GIVEARM Releases the arm semaphore
declared with TAKEARM.

'Processes parts B and C. 'Outputs the motion finish signal. 'Releases the arm semaphore.

END Continued on the following page.

1-3

Program coding list PRO1(Continued)

' ===== Chucking a part ===== *ChuckItem: *Specifies a label with :. Will be called later by CALL*ChuckItem. RESET IO[ioUnChuck] Equivalent to IO[106].
Macro Turns IO off. See p. 13-7. SET IO[ioChuck] Equivalent to IO[106]. Macro Turns IO on. See p.13-5.

RETURN Statement that structures a subroutine with *ChuckItem.

' ===== Unchuck parts ===== *UnchuckItem: Label RESET IO[ioChuck] SET IO[ioUnChuck] RETURN Statement ' ===== Part A processing ===== *PlacePartsA: Label name (declares a subroutine) APPROACH P, P[pPick], appLen
Moves the arm Equivalent to to a point right macro P[11]. above P[pPick1]. Equivalent to macro 100 defined in the 4th line. Defining this way makes it possible to modify the approach length by changing one value.

'Moves to a position 100mm away from the 'chuck point in CP motion.

MOVE L, P[pPick], S=80

Statement. See p. 12-14.

'Moves to a chuck point at 80% of internal 'speed in CP motion. 'Chucks a part. 'Moves to a position 100 mm away from the 'current position.

GOSUB *ChuckItem DEPART L, appLen

Statement. See p. 12-4. Equivalent to macro 100 defined in the 4th line. Defining this way makes it possible to modify the approach length by changing one value.

APPROACH P, P[pPlace1], appLen

Moves the arm to a point right above P[pPick1]. Equivalent to macro 100 defined in the 4th line. Defining this way makes it possible to modify the approach length by changing one value.

'Moves to a position 100 mm away from the 'unchuck position in CP motion.

MOVE L, P[pPlace1], S=50

Statement. See p. 12-14.

'Moves to the unchuck point at 50% of 'internal speed in CP motion. 'Unchucks the part. 'Moves to a point 100 mm away from the current 'position in CP motion.

GOSUB *UnchuckItem DEPART L, appLen

Statement. See p. 12-4. Equivalent to macro 100 defined in the 4th line. Defining this way makes it possible to modify the approach length by changing one value.

I[iCountA] = I[iCountA] + 1
Increases I[iCountA] by one.

'Counts the number of parts A.

RETURN Continued on the following page.

1-4

Chapter 1 Sample Program

Program coding list PRO1(Continued)

' ===== Parts B and C processing ===== *PlacePartsBC: Label name (declares a subroutine) APPROACH P, P[pPick], appLen
Moves the arm to a point right above P[pPick1]. Equivalent to macro 100 defined in the 4th line. Defining this way makes it possible to modify the approach length by changing one value.

'Moves to a position 100mm away from the 'chuck point in CP motion.

MOVE L, P[pPick], S=90 GOSUB *ChuckItem DEPART L, appLen

Statement. See p. 12-4. Equivalent to macro 100 defined in the 4th line. Defining this way makes it possible to modify the approach length by changing one value.

'Moves to a chuck point at 90% of internal 'speed in CP motion. 'Chucks a part. 'Moves to a position 100 mm away from the 'current position.

APPROACH P, P[pPlace2], appLen

Moves the arm to a point right above P[pPick1]. See p. 12-1. Equivalent to macro 100 defined in the 4th line. Defining this way makes it possible to modify the approach length by changing one value.

'Moves to a position 100 mm away from the 'unchuck position in CP motion.

MOVE L, P[pPlace2], S=80

Statement. See p. 12-14.

'Moves to the unchuck point at 80% of 'internal speed in CP motion. 'Unchucks the part. 'Moves to a point 100 mm away from the current 'position in CP motion.

GOSUB *UnchuckItem DEPART L, appLen

Statement. See p. 12-4. Equivalent to macro 100 defined in the 4th line. Defining this way makes it possible to modify the approach length by changing one value.

I[iCountBC] = I[iCountBC] + 1 RETURN

'Counts the number of parts B and C.

Continued on the following page.

1-5

Program coding list PRO2

'!TITLE Reading QR code #INCLUDE var_tab.h 'Store a parts number in [iPartsId]. PROGRAM pro2 DIM len1 AS INTEGER

'Reads the variable macro definition file.

Makes local variable declaration "lenl" usable as a local integer variable.

TAKEVIS Declares control on vision device. Required to use

vision device.

'Obtains the visual semaphore. 'Designates draw screen 0 to the draw 'destination. 'Clears draw screen 0. 'Displays draw screen 0. 'Retrieves the image on the camera to 'process screen 0. 'Displays process screen 0. 'Reads the QR code.

VISSCREEN 1,0,1
See p. 21-24.

VISCLS 0
See p. 21-27.

VISOVERLAY 1
See p. 21-9.

CAMIN

1,0,0

See p. 21-3.

VISPLNOUT
See p. 21-8.

0,1

VISREADQR
See p. 21-64.

1,WINDREF(1, 2),WINDREF

(1, 3),0,0,1 WINDDISP

See p. 21-23.

'Displays the window. , 10 'Designates the position to display. 'When the measuring result is OK. 'Obtains the number of measured characters. 'Displays the measurement result. 'Stores the part number.

VISLOC

10

See p. 21-37.

IF VISSTATUS(0) = 0 THEN len1 = VISGETNUM(0, 0) VISPRINT VISGETSTR(1, len1) I[iPartsId] = VAL(VISGETSTR(1, len1)) ELSE VISPRINT Cannot recognize a code. I[iPartsId] = -1 ENDIF
Branches conditionally. See p. 11-17. GIVEVIS Releases control on vision device.

'Displays an error. 'Store 1 when an error occurs.

'Releases the visual semaphore.

END

Note: Process window 1, for reading the QR code, is assumed to have been defined already.

1-6

Chapter 1 Sample Program

Program coding list "WAIT SET" (Library)

'!TITLE WAIT SET PROGRAM dioWaitAndSet(waitIndex%, ackIndex%)

Declares with argument. See p. 9-1.

RESET IO[ackIndex] Statement. See p. 13-7. WAIT IO[waitIndex] = ON Statement that waits for IO
coming on. See p. 12-53.

'Synchronization signal OFF 'Waits for synchronization signal ON.

SET IO[ackIndex] See p. 13-5. END

'Synchronization signal ON

Program coding list "SET WAIT" (Library)

'!TITLE SET WAIT PROGRAM dioSetAndWait(ackIndex%, waitIndex%)

Declares with argument. See p. 9-1.

SET IO[ackIndex] See p. 13-5. WAIT IO[waitIndex] = ON Statement that waits for IO
coming on. See p. 12-53.

'Synchronization signal ON 'Waits for synchronization signal ON. 'Synchronization signal OFF

RESET IO[ackIndex] Statement See p. 13-7. END

1-7

Chapter 2 Program Flow

This chapter provides an explanation of the flow regulation required for creating programs using the PAC language.

Chapter 2 Program Flow

2.1 Calling a Program and Subroutine

A section of a program that repeats a specific motion can be put out of the program and called if required. The method of putting this section in the same program is called a subroutine. If this section is independently put in a separate file as another program and that program is called, this is referred to as calling a program. A subroutine must be included in the same file as the calling program. The program of an independent separate file can be called from various programs and commonly used. If a series of work is organized as a unit of a subroutine or another program the same contents do not have to be described repeatedly. This is effective for correcting descriptions, reducing the creation time and otherwise improving the ease of reading programs.
Program declaration statement Program PRO1 Program name Program MOTION

GOSUB statement

*SUBROUTINE

END statement

*SUBROUTINE
Subroutine

RETURN statement

Fig. 2-1 Difference Between Calling a Program and Calling a Subroutine

2-1

2.1.1 Calling a Subroutine

To use the same program at different positions in one program describe the process as a subroutine. The subroutine can be used by calling it from the different positions. The subroutine must be described in the same file as the calling program. If a subroutine is called using a GOSUB statement, control moves to the subroutine. If control executes a RETURN statement on the last line of the subroutine, it returns to the next line of the program that called the subroutine. A subroutine can be called from another subroutine. Because the subroutine is in the same file as the calling program, local variables are common. Therefore, variables do not have to be transferred when the subroutine is called. However, it cannot be called from other files and it cannot be directly started from the pendant or an external device either.

Program example 1 Calls same program many times.

Program example 2 Calls other subroutine from a subroutine.

Main routine (Calling routine)

Main routine (Calling routine)

Subroutine 1

Subroutine 1

Subroutine 2

Fig. 2-2 Calling a Subroutine

2-2

Chapter 2 Program Flow

2.1.2 Calling a Program

If a program is created separately from the one that is mainly executed, the program can be used by calling it like a subroutine. When the program is called, designate the program name using a CALL statement. When a CALL statement calls a program, control moves to the program that is called. If control executes an END statement on the last line of the called program, control returns to the next line in the calling program. The called program can also call another program. However, the called program cannot call the calling program. Since one program can call multiple programs, efficiency can be raised by creating a universal program. Only global variables can be commonly used in the calling program. Pass local variables as arguments if required since they are not commonly used. Refer to 8.16 Calling with a Value and with Reference.

Program PRO1

Program MOTION

Program TIMING

Program PRO2

One program can be called from multiple programs. Other programs can be called in the called prograI. (Calling nesting)

Fig. 2-3 Program Calling Diagram

2-3

2.1.3 Program Recursive Call

When a program is called, the calling program itself can be designated as a program name using a CALL statement. This is referred to as a recursive call.
Program PRO1

Program MOTION

Calls itself again

Fig. 2-4 Program Recursive Calling Diagram

Note: The variables in a PAC program are stored in the static memory of each program; therefore, pay attention to has to use variables when a recursive call is used. If the initial value is set using a local variable the value returns to its initial value every time the program is called.

2-4

Chapter 2 Program Flow

2.2 Running a Program

The following 3 methods are available for running a program.
Start using teach pendant operation. Start using the operating panel. Start by using I/O from an external device.

As explained below, there are limitations to running a program depending on the running method. For the method by which the started program calls another program, refer to 2.1 Calling a Program and Subroutine.

2.2.1 Running from the Teach Pendant

To run a program from the teach pendant, use teach check mode or internal automatic mode. The programs that can be started are limited to programs that do not include any arguments. A program with any type of program name can be started.

2.2.2 Running from the Operating Panel

Use internal automatic mode to run a program from the operating panel. The programs that can be started are limited to ones with a name that conforms to the PRO< number > format. Note (1): The mode cannot be changed to teach check mode from the operating panel. Note (2): A program with a program name format of PRO< number > cannot include arguments.

2.2.3 Running from an External Device

In external automatic mode, a program can be run with input from external I/O. The programs that can be started are limited to the ones with a program name in the PRO< number > format. The programs that can be started from an external device is limited to programs PR00 to PR032767 in standard mode and PR00 to PR0127 in compatible mode. Note: A program with a program name format of PRO< number > cannot include arguments.

2-5

2.3 Multitasking
A PAC language program can concurrently execute progress management of multiple programs. Each program forms its own motion process and this is called a task. Concurrent progress management of multiple programs means that there are multiple tasks present. This is called multitasking.

2.3.1 Priority
To run a task using the RUN command, designate a priority. As a result all tasks have their own priority. The VS series robot checks task priority at fixed time intervals during program execution, and changes tasks so that the tasks in the waiting status with the highest priority are executed. As a result the program is executed in sequence of the highest priority. If tasks have the same priority, the robot controls the tasks so that the task execution order alternates at each fixed time interval. Since the alternating task execution requires such a short time to be controlled it appears as if multiple programs are executed concurrently.

2.3.2 Communication among Tasks

When the robot is controlled in multitasking operation, tasks sometimes need to be synchronized or exclusively controlled so those tasks do not operate at the same time. In any case, communication among tasks is required since the tasks must exchange signals. For communication among tasks semaphores are generally used but I/O can also be used with the VS series robots.

2.3.2.1

Semaphore
Up to 32 semaphores can be created as required. Prior to using semaphores, if a semaphore is created using a CREATESEM command the semaphore ID can be obtained. This semaphore ID can be used to designate a specific semaphore. In either synchronization control or exclusive control, a task waiting for a command from another task will execute a TAKESEM command and then wait for the task to send a command to execute using a GIVESEM command. If the task sending a command is ready, it executes a GIVESEM command and allows the task, which is waiting for a semaphore, to execute the process. One GIVESEM command is valid only for a task that is waiting for one semaphore. When multiple tasks are waiting for a semaphore with the same semaphore ID, one of two queuing (execution waiting) systems can be selected for processing (first-come order or priority order starting from a specific task). Use the CREATESEM command to designate the queuing system.

2-6

Chapter 2 Program Flow

The following two programs MOTION1 and TIMING are examples of synchronization control that use semaphores. If the program TIMING1 is run the program MOTION1 starts concurrently. The timing of the MOTION1 is created by the TIMING1 with a semaphore to execute the MOVE command.
PROGRAM TIMING1 I1 = CREATESEM (1) TAKESEM I1 PROGRAM MOTION1 TAKEARM SPEED 100 RUN TIMING TAKESEM I1 MOVE P, P1 MOVE P, P2 END END Fig. 2-5 Example of Synchronization Control Using Semaphore RUN MOTION1 I[1]=0 DO WHILE I[1]<10 DELAY 5000 GIVESEM I1 LOOP DELETESEM I1

2.3.2.2

I/O
The robot can communicate among tasks by using I/O. The following two programs MOTION2 and TIMING2 are examples of synchronization control that use I/O. The motion is the same as Example of synchronization control using semaphore explained in 3.3.2.1 semaphore." If communication among tasks is executed using I/O then only the first come order Queuing method can be used. If the program TIMING2 is run, the timing of the MOTION2 is created by the TIMING2 according to the status of IO [118] to execute the MOVE command. This operation repeats itself until the TIMING2 loop ends.
PROGRAM TIMING2 PROGRAM MOTION2 TALEARM SPEED 100 WAIT IO[118] MOVE P, P1 MOVE P, P2 END END Fig. 2-6 Example of Synchronization Control Using I/O RUN MOTION2 I[1]=0 DO WHILE I[1]<10 SET IO[118] DELAY 500 RESET IO[118] DELAY 5000 LOOP

2-7

2.4 Serial Communication

2.4.1 Circuit Number
The table below lists the relationship between the circuit numbers and channel numbers assigned in the robot controller.
Circuit and Channel Number Assignment Circuit number 0 1 2 3 4 to 7 (NOTE1) 8 to 15 (NOTE1) Channel number ch1 ch2 ch3 ch4 ch5 to ch8 ch9 to ch16 Used as: Teach pendant port Universal port (Reserved) (Reserved) Ethernet server ports Ethernet client ports (NOTE2)

NOTE1: Version 1.9 or later NOTE2: When using the Ethernet client port, you need to open or close a port using com_encom or com_discom statement explained in Section 7.2, "Serial Binary Transmission." NOTE3: For setting the Client or Server of the Robot Controller, refer to SETTING-UP MANUAL, Section 5.7.

2.4.2 Communication Command

In PAC language, the following four commands are used for communication through the RS232C or Ethernet interface. The command format is the same for both the RS232C and Ethernet. For commands, refer to Section 13.2. PRINT statement (Output) WRITE statement (Output) INPUT statement (Input) LINEINPUT statement (Line input) The PRINT and WRITE statements differ in their output form. Character-strings outputted in the form of WRITE statement can be correctly inputted using the INPUT statement.

2.4.3 Clearing the Communication Buffer

The FLUSH statement clears the RS232C and Ethernet communication buffers. Be sure to clear those buffers before starting communication. FLUSH statement : Refer to Section 13.2, FLUSH

2-8

Chapter 2 Program Flow

2.4.4 Sample Application

In this section, a practical program sample is illustrated as a simple application that uses serial communication. Refer to this sample for practical application. In this sample application the robot controller counts the number of motions and transmits the data for these motions at fixed intervals. On the personal computer side, the data for the number of motions sent from the robot controller is received. The program in the robot controller is described using the PAC language. Visual Basic is used for an example of the personal computer. If the programs shown in 2.4.4.1 Robot Controller Program and 2.4.4.2 Personal Computer Program are prepared in the robot controller and in the personal computer respectively and then run, the number of robot motions will be transmitted through the RS232C circuit and received by the personal computer.

2.4.4.1

Robot Controller Program

Figs. 2-7 and 2-8 show examples of programs in the robot controller. These two programs execute multitasking operation. The program PRO1 first initializes the counter and the coordinates and then concurrently runs the PRO2. In the PRO1 the robot executes the reciprocal motion between P2 and P1. During this operation the PRO2 sends the number of robot motions stored in variable I[1] every 2 seconds (2000 milliseconds) through the RS232C port (ch2).

'!TITLE Robot motion PROGRAM PRO1 I1=0 P1=(370,400,750,-90,90,0,5) P2=(510,400,750,-90,90,0,5) RUN PRO2 TAKEARM DO MOVE P,P2 DELAY 1000 MOVE P, P1 I1=I1+1 LOOP END

' ' ' ' ' ' ' ' ' ' ' '

Clears the count. Sets the coordinate. Sets the coordinate. Concurrently runs task. Obtains robot control priority. Moves to point P2. Waits 1 second. Moves to point P1. Counts the number of movements. Executes loop.

Fig. 2-7 Program PRO1 Robot Motion of the Robot Controller

2-9

'!TITLE Sending PROGRAM PRO2 DO PRINT #2,I1 DELAY 2000 LOOP END

Fig. 2-8 Program PRO2 Sending of the Robot Controller

2.4.4.2

Personal Computer Program

A program in the personal computer is shown below. The beginning section of the program list defines a program module for communication. The last section of the program has programs for receiving data by the use of each module. Note: This program is described using Visual Basic made by Microsoft Corporation and using the communication control made by Bunka Orient Co., Ltd. Therefore, run the program on the personal computer where Visual Basic and PDQComm are installed.

' Module defining statement ' ' Communication port and communication speed setting ' PortNo% : Designates communication port 1 or 2 ' ComInitString$: Sets communication speed etc. 9600,N,8,1 ' Private Sub CommOpen(PortNo%,ComInitString$) '---------------------------------------' Communication speed setting '---------------------------------------PDQComm1.CommPort = PortNo% PDQComm1.Settings= ComInitString$ '9600,N,8,1 '---------------------------------------' Without handshake ' Input timeout value setting (in millimeters) ' Receiving buffer size setting ' Sending buffer size setting '---------------------------------------PDQComm1.Handshaking = 0 PDQComm1.InTimeout = 50 PDQComm1.InBufferSize = 2048 PDQComm1.OutBufferSize = 2048 '---------------------------------------' Open a port. '---------------------------------------- Continued on the following page.

2-10

Chapter 2 Program Flow

PDQComm1.PortOpen = True End Sub

' ' Closes the communication port. ' ' Private Sub CommClose() '---------------------------------------' Closes a port. '---------------------------------------PDQComm1.PortOpen = False End Sub ' ' Encloses the character string designated to the communication port ' in double Quotations. The system then adds a carriage return to ' the end of the line and sends this. ' SendText$: character string to send ' Private Sub CommWrite(SendText$) '---------------------------------------' When character string and control code ich (CR+LF) are sent. '---------------------------------------PDQComm1.Output = Chr(&H22) &SendText$ & Chr(&H22) & Chr(13) & Chr(10) '---------------------------------------' Waits until the output buffer becomes vacant. '---------------------------------------Do DoEvents Loop Until PDQComm1.OutBufferCount = 0 End Sub ' ' Obtains the character string received from the communication port ' until the carriage return appears, and then returns the character ' string. ' Private Function CommRead() '---------------------------------------' Data reading process '---------------------------------------InString$ = Do While 1 DoEvents Continued on the following page.

2-11

'---------------------------------------'Reading received data. '---------------------------------------If PDQComm1.InBufferCount > 0 Then InString$ = InString$ +PDQComm1.Input If InStr(1, InString$,vbCr, vbBinaryCompare) <> 0 Then Exit Do End If Loop CommRead = InString$ End Function Using sample Private Sub mnuCh1_Click() ' Uses port 1 and sets the baud rate to 19200. CommOpen 1,19200,N,8,1 ' Receives moving count number from the controller. ReadBuf$ = CommRead ' Closes the used port. CommClose End Sub

Fig. 2-9 Program on the Personal Computer Side

2-12

Chapter 2 Program Flow

2.4.5 Serial Binary Transmission (Version 1.5 or later)

In Version 1.4 or earlier, the robot controller can transmit only ASCII codes via the RS-232C ports. In Version 1.5 or later, it may support byte-controlled binary data transmissions, increasing the types of connectable communications devices. In Version 1.743 or later, Ethernet ports are also available in serial binary transmission as well as RS-232C ports.

2.4.5.1

Using Serial Binary Transmission

Connect the robot controller to external equipment with an RS-232C or Ethernet interface cable and use the following commands:

n Data input/output commands

(1) (2) (3) (4) (5) (6) (7) printb inputb lprintb linputb com_encom com_discom com_state Output a single byte of data. Input a single byte of data. Output multiple bytes of data. Input multiple bytes of data. Enable COM port. Disable COM port. Get COM or Ethernet port status.

NOTE: The com_encom, com_discom, and com_state are functionally extended for supporting Ethernet, but their conventional functions and syntaxes are not changed.

n Transmission system
(1) Transmission method : (2) Transmission port (3) Pin array : : RS-232C Controller RS-232C port, Vision board RS-232C port Same as conventional

(4) Transmission status : Controller RS-232C port Variable, same as the previous controllers Transmission speed : Bit length : Parity bit : Stop bit : Flow control : 9600bps 8 None 1 None

Vision board RS-232C port

2-13

2.5 Library
The program library is used to collect all-purpose programs like parts and use them accordingly. In the PAC language, since other programs can be called from a program, programs can be developed more efficiently using the programs in the library or by registering a created program to the library.

Library

Newly developed sections

Fig. 2-10 Image of Program Development Using the Library

2.5.1 Program Bank

The PAC manager of WINCAPSII provides a program bank for using the library. The program bank is a tool used to register a program as a library, or to add registered programs to a project. For operation of the program bank, refer to 5.6.2 Program Bank in Owners Manual (WINCAPSII).

2.5.1.1

Program Library Classifications

The standard program library is classified into the following 7 classes.
Table 2-2 Standard Program Library Class Class name 1 2 3 4 5 6 7 Conventional language Palletizing Tool operation Input/output Arm motion Vision Ver. 1.2 compatible Description Provides functions similar to conventional language commands. Provides a palletizing function. Provides tool operation related functions. Provides DIO and RS232C input/output related functions. Provides arm motion related functions except for the above described. Provides vision operation related functions. Provides the version 1.2 compatible library that can be used in Controller Software Version 1.2* or earlier. This library contains three programs-ndVcom, pltMove, and pltMove0. If in Version 1.2* or earlier any of those programs not in this library but in classes 1 to 6 above is used, a compilation error will result. Use libraries in classes 1 to 6 above except for those three programs.

2-14

Chapter 2 Program Flow

2.5.2 Palletizing Library

There is no special instruction for palletizing in the PAC language. But palletizing operation can be realized using a program prepared as a library. A library can be added for palletizing to a project by using the program bank. When the system executes New system project, if [1-palletizing] is selected in the column [EQuipment type] of the dialog box [New project], a library program is automatically registered in the program project from the beginning of the library.
Select [1-palletizing].

Fig. 2-11 [New Project] Dialog Box

2.5.2.1

Palletizing
Palletizing is used to place parts on a pallet or pick them up in order from a pallet with partitions as shown in Fig. 2-12. A library program for palletizing is created so that the robot executes palletizing operation only when the number of partitions and positions of the 4 corners are taught. The palletizing program changes the pick-up position on the pallet every time the program is called.

Fig. 2-12 Pallet with Partitions

2-15

[ 1 ] Palletizing Parameter
Figs. 2-13 to 2-15 and Table 2-3 show the required parameters for palletizing. The PAC language stores these parameters as the values of variables. P3 P4

N pcs.

P1 M pcs. Robot
Fig. 2-13 Top View of Pallet

P2

H3mm

Fig. 2-14 Side View of Pallet

APR H1 DEP H2 Robot motion path

H1 H2mm

or

K layers

Fig. 2-15 Pallet Layer Drawings

2-16

Chapter 2 Program Flow

Table 2-3 Parameters Required for Palletizing Symbol Name Palletizing number Number of side partitions Number of lengthwise partitions Number of layers Approach length Depart length Meaning Palletizing index number Number of partitions in the direction from P1 to P3 Number of partitions in the direction from P1 to P2 Number of pallet layers Approach length when the robot gets access to a pallet. Depart length when the robot leaves the pallet. Height of one pallet layer Unit None (Integer) Pc (Integer) Pc (Integer) Pc (Integer)

N M K H1 H2 H3

P1 P2 P3 P4

mm (Single precision real) Mm (Single precision real) Pallet height Mm (Single precision real) However, H1 and H2 must satisfy the following conditions. H1 > [H3 (K-1)] + 5 H2 > [H3 (K-1)] + 5 The relative position of the 4 corner points on the pallet shown in Fig. 213 cannot be exchanged. The robot figure taught at position P1 is maintained at all points.

N Number of side partitions Shows the number of partitions in the pallet side direction. Fig. 2-13 shows 3 partitions. M Number of lengthwise partitions Shows the number of partitions in the pallet lengthwise direction. Fig. 2-14 shows 5 partitions. K Number of layers Shows the number of pallet layers. Fig. 2-15 shows 3 layers. H1 Approach length Shows the approach length when the robot gets access to a pallet. Every time the palletizing program is called, the same approach length is used. H2 Depart length Shows the depart length when the robot leaves a pallet. Every time the palletizing program is called, the same depart length is used. H3 Pallet height Shows the 1 pallet layer height. If the number of layers increases, enter a positive value. If the number of layers decreases due to removal of pallets, enter a negative value. If the number of layers does not change, enter 0.

2-17

Note: H1 and H2 must satisfy the following conditions. H1 > {H3 (K-1)} + 5 H2 > {H3(K-1)} + 5 If these conditions are not satisfied, an error occurs during initialization. These are provided so that the robot does not collide with a pallet. They are used to set an approach point and a depart point that are 5 mm higher than the maximum number of layers. Even if the number of layers increases or decreases, the approach and depart points are the same as shown in Fig. 2-16.

Approach and depart points

Approach and depart points Approach and depart points

H1 or H2

H3
Fig. 2-16 Change of Layer Number and the Approach and Depart Points.

Points P1, P2, P3, and P4 at the 4 corners of the pallet show the positions of parts. Fig. 2-17 shows each point and the respective execution sequence. P3 P4

N pcs. Executes in the sequence of (1) ~ (15) P1 M pcs.

Fig. 2-17 Palletizing Sequence

P2

2-18

Chapter 2 Program Flow

[ 2 ] Parameter Value Setting
Set the parameter values such as the numbers of side and lengthwise partitions and the layers in palletizing by calling pltInitialize from the program library. If you select [1-palletizing] in [Equipment type] in the [New project] dialog box when New system project is executed, the program PRO2 titled palletizing initialization template 1 is automatically registered in the library. Since this program is called pltInitialize, change the values of the arguments in the CALL statement to the proper ones before using.

'!TITLE palletizing Initialization template 1 #DEFINE pltIndex 0 PROGRAM PRO2 CALL pltInitialize(pltIndex, 4,3,1,50,50,50,52,53,54,55) END

'Initializes palletizing 'number 0.

Fig. 2-18 Library Program Palletizing Initialization Template 1

CALL pltInitialize(pltIndex, 3, 5, 3, 50, 50, 10, 52, 53, 54, 55) in parameter description 1st Palletizing program No. (pltIndex) 2nd Number of side partitions (3) 3rd Number of lengthwise partitions (5) 4th Number of layers (3) 5th Approach length (50mm) 6th Depart length (50mm) 7th Pallet height (10mm) 8th P1 position (P52) Designate only a number for type P variable. 9th P2 position (P53) 10th P3 position (P54) 11th P4 position (P55)

Fig. 2-19 Description of Parameter pltInitialize

The meaning of this parameter can be seen with the tool Command builder in the PAC manager of WINCAPSII.

2-19

[ 3 ] Palletizing Counter
In palletizing the robot counts the number of partitions and stores the count values as variables. There are 4 types of counters; side direction (N), lengthwise direction (M), height direction (K) and total (cnt). These counters are defined in pltKernl which is the nucleus program for controlling palletizing operation. The library program pltMove adds a value of 1 to the total counter every time one operation is finished and adjusts the values of the other counters. The library program pltDecCnt subtracts 1 from the total counter value every time calling is made, and each counter value is adjusted by subtraction. Up to 30 palletizing programs can be created as the initial setting. Therefore, there are 31 sets of palletizing counters. To change the number of palletizing programs, refer to 2.5.2.2.1 Palletizing Program Customization.

Count Rule
The palletizing counter adds a value of 1 to the total counter every time pltMove is executed and adjusts the values of the other counters. As a result of this the next pallet position is ensured. If 1 is added to the total counter, the position of the lengthwise counter (M) moves to the next. If the lengthwise counter (M) reaches the end and it becomes the maximum value, then the side direction counter (N) moves to the next and the lengthwise counter (M) becomes its minimum value. If the position of the widthwise counter (N) reaches the end and becomes the maximum value, the position of the vertical direction counter (K) moves to the next and the widthwise counter (N) becomes the set minimum value. If a palletizing program is stopped during processing and is then restarted, the robot moves to the next position because the value of the counter variable is counted up. The contents of the palletizing counter are stored even if the power is turned off. If the system is not initialized after being rebooted, the robot proceeds with palletizing from the previous counter value. Note: If an execution program is loaded after compiling, the values of variables are initialized.

2-20

Chapter 2 Program Flow

P3 P4 c N a P1 M When N=3, m=5, and K=3, Point a is N=1, m=1, K=1 Point b is N=2, m=2, K=2 Point c is N=3, m=4, K=3
Fig. 2-20 Relation between Palletizing Position and Counter

c b K a

P2

Counter Initialization
When pallets are replaced or all partitions are not used the counters need to be initialized. In the initialization of the counters all palletizing counters are set to 1. All the palletizing counters can be initialized at once by using pltResetAll of the library program. For example, if all counters of pallet number 1 are initialized, describe as follows. CALL pltResetAll(1) If each palletizing counter is independently initialized, use pltLetN1, pltLetM1, pltLetK1 and pltLetCnt. For example, if the N counter of pallet number 1 is initialized, describe as follows. CALL pltLetN1(1, 1) Note: The variables are inifialized after compiling by loading the execution program.

End Signal of Palletizing Program

The palletizing program sets a one layer finish flag or all layer finish flag if one layer or all layers are finished. To obtain the one layer finish flag status, use the library program pltGetPLT1END. To obtain the all layer finish flag status, use the library program pltGetPLTEND. To reset (0) the 1 layer finish flag, use the library program pltResetPLT1END. To reset (0) the all layer finish flag, use the library program pltResetPLTEND.

2-21

2.5.2.2

Palletizing Program
A practical palletizing program varies in special situations depending on the application. However, the standard procedure for assembling the program by the use of the library is prepared in the program PRO1 of the title Palletizing Template 2. Use this Palletizing Template 2 as a model and add the required items for the application to make full use of program development. Fig. 3-21 shows the program PRO1 of the title Palletizing Template 2. This example is based on the following assumptions. The points of palletizing are P50-P55. In the prepared program, the robot moves to fixed position P50 and executes the palletizing program 0. Then it moves to assembling position P51 to unchuck. It checks the layer finish and if the finish signal is output, it changes the pallet accordingly. If there is no workpiece then it terminates the motion. Palletizing Template 2 with the program name PRO1 and Palletizing initialization template with the program name PRO2 are automatically registered if Palletizing is selected in the item Equipment type of the New project dialog box when a new project is created with WINCAPSII. Refer to p.2-14 2.5.2 Palletizing library.

' !TITLE "Palletizing Template 2" ' !AUTHOR "Denso Robot Engineering Dept. #DEFINE pltIndex 0 ' Palletizing program No. ' Any numeric value from 0 to 30 is available for selection. #DEFINE ChuckNG 40 ' Number of pick up inspections IO. ' Any numeric value is available for selection. PROGRAM PRO1 ' Change the name to the proper one. MOVE P, P50 ' Moves to fixed position P50. ' Moves to palletized P50. IF IO[ChuckNG] = ON THEN ' Pick up inspection for the previous time. CALL pltDecCnt(pltIndex) ' Subtract 1 from the total counter. END IF CALL pltMove(pltIndex) ' Executes palletizing number 0. MOVE P, P51 ' Moves to assembling position P51. ' Moves to palletized P51. '<--- Insertion such as unchuck motion ---> CALL pltGetPLT1END(pltIndex,0) ' Obtains a finish signal for the 1st layer in I[0]. ' The second argument "0" is an array number of "I" ' that is decided on the next line. IF I[0] THEN ' When this is ON (e.g. when <>0) '<--- Insertion of pallet change motion ---> CALL pltResetPLT1END(pltIndex) ' Clears the finish signal for the 1st layer. END IF END

Fig. 2-21 Program Name PRO1 and Palletizing Template 2

2-22

Chapter 2 Program Flow

[ 1 ] Palletizing Program Customization
Q. A. Q. A. How do you change a palletizing program to execute to 1? Change the value of pltIndex in PRO1 and PRO2 to 1. How do you change the menber of palletizing partitions to 5 for side and 3 for lengthwise? Change 3 and 5 of the second and third parameters of pltInitialize to 5 and 3 respectively. * CALL pltInitialize (pltIndex, 5, 3, 3, 50, 50, 10, 52, 53, 54, 55) How do you change the number of palletizing programs available? Change 31 of #DEFINE mcPaltMax 31 the in pltKernel program to any number you like and the number of palletizing programs can be set.

Q. A.

Q. How do you set a palletizing dodge point? A. If you add a dodge point of X = 10, Y = 10, Z = -10 to the approach direction, add a command to move a point with parallel deviation (10, 10, -10) H added to a point P[mcNextPos] in the file paltmove1. pac. * MOVE P, P[mcNextPos] + (10, 10, -10)H 'Moves to the dodge point of 'X=10, Y=10, Z=-10. Q. How do you obtain N1, M1 and K1? A. Add the program libraries pltGetK1, pltGetM1, and pltGetN1. * call pltGetK1(Index, iValue) * call pltGetM1(Index, iValue) * call pltGetN1(Index, iValue) 'Index . . . Palletizing program No. 'iValue. . . Number of type I variable to which K1, M1, and N1 values are returned.
Example) #define pltIndex 0 'Palletizing program No. Program Exmp DefInt Index, iValue Index = pltIndex 'Inserts a palletizing program 'number into Index register. call pltGetK1(Index, iValue) 'Returns the value of 'K1 to the type I 'variable 'designated with 'iValue. call pltGetM1(Index, iValue) 'Returns the value of 'M1 to the type I 'variable 'designated with 'iValue. call pltGetN1(Index, iValue) 'Returns the value of 'N1 to the type I 'variable 'designated with 'iValue. End

2-23

Q. How do you chAnge N1, M1 and K1? A. Add the program libraries pltLetK1, pltLetM1, pltLetN1.
* call pltLetK1(Index, iValue) * call pltLetM1(Index, iValue) * call pltLetN1(Index, iValue) 'Index . . . Palletizing program No. 'iValue. . . Enter this value into K1, M1, and N1. Example) #define pltIndex 0 'Palletizing program No.

Program Exmp DefInt Index, iValue Index = pltIndex

'Inserts the palletizing 'program number 'into the Index register. iValue = 10 'Enters values in K1, M1, and 'N1. call pltLetK1(Index, iValue) 'Enters the value of iValue 'into K1. call pltLetM1(Index, iValue) 'Enters the value of iValue 'into M1. call pltLetN1(Index, iValue) 'Enters the value of iValue 'into N1. End

Q. A.

How do you obtain the total counter? Add the program library pltGetCnt.
*call pltGetCnt(Index, iValue) 'Index ....Palletizing program No. 'iValue ...Number of type I variable to which the value of the total counter is returned. Example) #define pltIndex 0 'Palletizing program No.

Program Exmp DefInt Index, iValue Index = pltIndex

'Inserts the palletizing 'program number into Index 'register. call pltGetCnt(Index, iValue) 'Returns the value of the 'total counter to the type 'I variable specified with 'iValue. End

2-24

Chapter 2 Program Flow

Q. How do you change the total counter? A. Add the program library pltIncCnt.
* callpltLetCnt(Index, iValue) 'Index . . . Palletizing program No. 'iValue. . . This value is entered in the total counter. Example) #define pltIndex 0 'Palletizing program No.

Program Exmp DefInt Index, iValue Index = pltIndex 'Inserts the palletizing 'program No. 'into the Index register. iValue = 0 'Enters a value into the 'total counter. call pltLetCnt(Index, iValue) 'The value of iValue is 'entered into the total 'counter. End

Q. With what timing does the total counter count? A. It counts up when pltKernel (Index, -15, mcNextPos, ndErr) is executed. Therefore, if the program library pltGetNextPos, pltMove and pltMove0 are executed, the total counter will count up.
* call pltMove(Index) * call pltMove0 * call pltGetNextPos(Index, NextPos) 'Index . . . . Palletizing program No. 'NextPos . . . Type P variable number where the position of the next position is entered.

2-25

Chapter 3 Robot Motion

There are various robot motions according to reference point settings or how to determine whether the robot reaches the destination position. This chapter provides an explanation of these robot motions.

Chapter 3 Robot Motion

3.1 Absolute Motion and Relative Motion

3.1.1 Absolute Motion
An absolute motion is a motion to move a taught position. An absolute motion always moves to a taught position without being affected by the previous motion. The commands to execute an absolute motion are as follows. APPROACH, MOVE, GOHOME, DRIVEA

3.1.2 Relative Motion

A relative motion is a motion to move by a taught distance from the current position. Since a relative motion sets its reference to the current position of the result of executing the previous motion command, the previous motion command affects the motion. The commands to execute a relative motion are as follows. DEPART, DRAW, DRIVE, ROTATE, ROTATEH

3.1.3 Absolute Motion and Relative Motion Examples

Here are two example programs to move the robot from the current position P1 to point P3 through point P2. MOVEMENT1 is expressed with an absolute motion. MOVEMENT2 is expressed with an absolute motion and a relative motion. If you execute them, both programs perform the same motion, as shown in Fig. 3-3.
PROGRAM MOVEMENT1 TAKEARM MOVE L, P2 MOVE L, P3 END

Fig. 3-1 Absolute Motion Example

PROGRAM MOVEMENT2 TAKEARM MOVE L, P2 DRAW L, V3 END

'V3 is the relative distance of P2 and P3.

Fig. 3-2 Relative Motion Example

3-1

MOVEMENT1 motion

MOVEMENT2 motion

Fig. 3-3 Motion Examples of Two Programs

If you delete the first motion instruction MOVE P, P1 from MOVEMENT1 and MOVEMENT2, their motions change, as shown in Fig. 3-4. With MOVEMENT1, the robot moves to point P3 with an absolute motion, however, MOVEMENT2 moves by V3 from the current position with a relative motion.

MOVEMENT1 motion

MOVEMENT2 motion

Fig. 3-4 Motion Examples of Two Programs (After deletion)

Note: A relative motion executes a movement to a designated relative distance from the current position. Therefore, if you execute a relative motion, right after you skip the motion instruction with the INTERRUPT ON/OFF instruction (refer to 12.3 INTERRUPT ON/OFF), the position of motion finish may change depending on the timing of the ON interruption signal. To fix the motion finish position, use an absolute motion.

3-2

Chapter 3 Robot Motion

3.2 Confirming Reach Position

There are three methods of determining the first motion finish when the robot arm changes from one motion to another. They are called pass motion, end motion and encoder value check motion. The following explains each motion.

3.2.1 Pass Motion

A pass motion is a motion to pass the vicinity of a taught motion position or relative position. If you designate the pass start displacement distance to @P or @Numeric value (Numeric value > 0) for all motion commands, you can execute a pass motion.

3.2.2 End Motion

Among motions to reach a taught motion position or relative position, an end motion is a motion to determine if the robot has reached the destination position when the command value of the servo system meets the destination position. If you designate the pass start displacement distance to @0 for all motion commands, you can execute an end motion.

3.2.3 Encoder Value Check Motion

Among motions to reach a taught motion position or relative position, an encoder value check motion is a motion to determine if the robot has reached the destination position when the encoder value entered within a designated pulse (initial value 20) from the destination position. You can change the designated pulse in the program for each axis. If you designate the path pass displacement distance to @E for all motion commands, you can execute an encoder value check motion. Note (1): If the encoder value is outside the designated pulse from the destination position, the robot does not determine it has reach the destination position and does not proceed to the next motion. You should consider the deviation amount of the servo system when you decrease the designated pulse or when the load is large. Note (2): In machine lock operation, all motions designated with @E are executed with motions of @0. Therefore, the program execution time displayed is less than that of the practical motion. Note (3): If the reach position check method is described, the end motion @0 is automatically set to the pass start displacement distance.

3-3

3.2.4 Motion Examples of Pass, End and Encoder Value Check

These examples show three programs to move the robot from the current position P1 to point P3 through point P2. They are program examples of pass motion, end motion and encoder value confirmation motion, respectively.
PROGRAM PASS_MOVE TAKEARM MOVE P, @P P2 MOVE P, @0 P3 END

Fig. 3-5 Pass Motion Program Example

PROGRAM END_MOVE TAKEARM MOVE L, @0 P2 MOVE L, @0 P3 END

Fig. 3-6 End Motion Program Example

PROGRAM ENCODER_MOVE TAKEARM MOVE L, @E P2 MOVE L, @0 P3 END

Fig. 3-7 Encoder Value Check Motion Program Example

Pass motion

End motion

Encoder value check motion

Servo deviation

Fig. 3-8

Examples of Pass Motion, End Motion and Encoder Value Check Motion

3-4

Chapter 3 Robot Motion

3.2.5 Execution Time Difference among Pass Motion, End Motion and Encoder Value Check Motion
Among the three motions, the pass motion has the fastest execution time, followed by the end motion and finally the encoder check motion. The pass motion starts the next acceleration motion during deceleration time before it reaches P2 as is shown in Fig. 3-9. Therefore, the execution time is shorter than the end motion, which executes deceleration and acceleration individually. In the encoder value check motion, because the robot strictly checks reach of the destination position with the encoder value, it requires more time to eliminate servo deviation than the end motion does.

The pass motion is fastest because it overlaps deceleration and acceleration at P2.

The end motion executes deceleration and acceleration individually at P2.

The encoder value check motion takes longer time than the end motion, because it executes deceleration and position check at P2 and P3.

Fig. 3-9

Execution Time of Pass Motion, End Motion and Encoder Value Check Motion

3-5

3.2.6 If Pass Motion Does Not Execute

In the following cases, even if a pass motion is designated, the robot moves with end motion.

3.2.6.1

If Pass Motion Command Is at the End of the Main Program

The pass motion command to be executed at the end of the main program is executed as the end motion command. For example, in Fig. 3-10, the robot reaches the last position P3 with an end motion.
PROGRAM PRO10 TAKEARM MOVE L, @P P1 MOVE L, @P P2 MOVE L, @P P3 END

Fig. 3-10

A Program Example of Pass Motion Command Present on the Last Line of the Main Program.

However, if you continuously run the main program, P3 becomes a pass motion as shown in Fig. 3-11.

P2

P3

P1
Fig. 3-11 Main Program is Continuously Running.

3.2.6.2

If GIVEARM Is Present after Pass Motion Command

If you execute GIVEARM (refer to p.14-17 GIVEARM), the robot waits until the motion completely stops. Therefore, if you execute GIVEARM just after the pass motion command, the robot does not execute the pass motion.

3-6

Chapter 3 Robot Motion

3.2.7 If Pass Motion Effect Reduces

3.2.7.1 If Non-Motion Command Is Present after Pass Motion
If a non-motion command is present between a pass motion command and the next motion command, the effects of reducing the execution time of the pass motion decrease. A non-motion command is one, which does not let the robot move. Fig. 3-12 shows an example of when a non-motion command present between a pass motion command and the next motion command. For example, as shown in Fig. 3-13, the non-motion command is executed during deceleration time of the path motion command. Therefore, the effects of reducing the execution time of the pass motion decrease.
PROGRAM PRO13 MOVE L, @P P2 SET IO1 RESET I02 : MOVE L, @0 P3 END

' Pass motion command ' Non motion command ' Non motion command ' End motion command

Fig. 3-12

Example of Presence of Non-motion Command Between Pass Motion Command and the Next Motion Command

Fig. 3-13 Example of Less Effect of Reducing Pass Motion Execution Time

Speed
Time Time required for non-motion commands such as these

3.2.7.2

If Path after Pass Is Short

If the speed pattern becomes a triangle, due to a short path after pass, the pass start position delays so that pass motion ends after the path deceleration pass finishes. Therefore, if the path deceleration prior to the pass is small as shown in Fig. 3-14, the pass effect decreases.
Path after pass Path before pass

Pass section

Fig. 3-14 Triangle Pattern Due to Short Path After Pass

3-7

3.2.8 If Acceleration Affects Pass Motion Path

The VS-D series robot automatically sets the square of speed divided by one hundred for acceleration and deceleration when you set speed. If you use a SPEED command, in the same manner as above, acceleration and deceleration is set. If the robot executes a pass motion by using the set automatic acceleration, its motion path is always constant. Fig. 3-15 shows an example when the speed is set to 60% and 80%. CAUTION: When you set acceleration, be sure to check that there is no danger of collision due to the change of pass motion path.

Same pass motion path under the above two conditions

Fig. 3-15 Example of Automatic Acceleration Setting

If you set arbitrary acceleration, the motion path may change. Fig. 3-16 shows an example of 60% speed with 100% acceleration and 10% deceleration.

Fig. 3-16 Example of Arbitrary Acceleration Setting

CAUTION:

If you execute an instantaneous stop during deceleration of the pass motion and restart the motion, the robot moves to the position of the next step command value. Therefore, exercise due care if speed, acceleration, and deceleration are occurring.
Instantaneous stop position Restart motion after instantaneous stop

Fig. 3-17 Restart the Motion After the Instantaneous Stop

3-8

Chapter 3 Robot Motion

3.2.9 Pass Start Displacement

If you designate pass start displacement with @P, the next motion starts together at the start of deceleration of the motion, which is executed until that time. Therefore, the distance L between the path start position and passing point B changes depending on the speed and the acceleration.

Pass start position

Fig. 3-18 Pass Start Position

If you designate pass start displacement with @ numeric value, the pass motion starts from a position with a value = L (mm). If the value designated with @ numeric value exceeds the deceleration movement distance, the deceleration start position is corrected as shown in Fig. 3-19. Therefore, if designated with @ numeric value, the deceleration is reduced and the movement path may be longer.

MOVE L,@P1

The value designated with @ numeric value exceeds half of the movement distance, the deceleration start position is fixed to half of the movement distance as shown in Fig. 3-20.

Speed Speed

Speed

S1

Time

S1'

Time

If this area (S1) is less than the numeric value (x) of numeric value designation (x>S1)

Fig. 3-19 Deceleration Start Position

MOVE L,@P1

Speed

S2
Time If this area (S2) is less than the numeric value (x) of numeric value designation (x>S2)

S2'
S2=S2' Time

Fig. 3-20 If (@numeric value) Exceeds 1/2 of Movement Distance

3-9

Therefore, when X>S2, the pass motion never changes even if you change X. And when X>S2, the Set path start displacement distance again warning is displayed on the pendant. If the deceleration start position changes, the acceleration time of the next path also changes. As shown in Fig. 3-21, the motion time may be longer compared with @P designation.

MOVE L,@P P1 MOVE L,@0 P2 Speed Time In the case of @P designation

In the case of @ numeric value designation

Fig. 3-21 Motion Time When the Deceleration Start Position Changes.

Speed Time

Note:

In the following case, even if you designate with @ numeric value, the pass motion starts from the position which is less than the position of numeric value = L (mm). (1) If the speed pattern becomes a triangle because of its short curve. Similar to If path motion effect reduces on page 4-7, the pass motion start position changes. Especially, if the robot executes the path motion, when the motion changes from low speed to high speed, the pass motion start position may easily change. During the pass motion, use a constant internal speed before and after the pass motion.

3-10

Chapter 3 Robot Motion

3.2.10 Arch Motion Control

[Version 1.9 or later, only for 4-Axis Robot]

The arch motion control facilitates an effective pick-and-place motion.

P2

P3

L1 L2 L3

P1

P4

The above figure shows a pick-and-place motion from source position P1 to destination position P4. The pick-and-place motion can be usually accomplished by setting route positions P2 and P3. In the motion, specifying a pass motion in the vicinity of positions P2 and P3 may save the motion time of the arm endpoint. Unlike a usual pass motion, the new arch motion control allows the arm endpoint to move from anywhere on the Z axis towards the next position, enabling more efficient pick & place motion. Further, it is easy to program the arch motion control. You need to define only the move distance of the Z axis from P3 to P4 (L1), the distance from P1 to the arch start position (L2), and the distance from P4 to the arch end position (L3). Note that the arch motion does not support the position control so that the path of the arm endpoint may vary depending upon the actual robot speed. Be careful with interference with the surrounding facilities when the robot is in arch motion. Under the arch motion control, all robot operations are performed via point-to-point (PTP) moves.

PAC library for Arch Motion Control: ArchMove, SetArchParam

3-11

3.3 Interpolation Control

When the robot arm moves, there is not just one path. You can create various paths together with the operation of each axis. You can also control the robot so that it creates line or circle paths. An explanation of the control methods, according to the types of motion paths, is as follows. Use the commands shown below to designate an interpolation method. The commands to designate an interpolation method : APPROACH, DEPART, DRAW, MOVE

3.3.1 PTP Control

PTP (Point to Point) can be defined as the movement from one point to another point. The path on which the robot moves depends on the robot posture and is not always a straight line. Fig. 3-22 shows an example of motion by PTP control. If you designate P when you designate the interpolation method with the motion control command, the robot executes the PTP motion. If you designate a Type P or Type T variable as the PTP motion destination position and also designate robot figure, the robot moves so that the robot becomes the designated robot figure. If you do not designate any robot figure, it will be the current robot figure.

The motion path is not always a straight line (example of MV)

Fig. 3-22 PTP Control Motion

3-12

Chapter 3 Robot Motion

3.3.2 CP Control
CP control manages interpolation so that the path to reach the motion destination position will be a straight line. Fig. 3-23 shows an example of CP control motion. If you designate L for designation of the interpolation method with the motion control command, the robot executes the CP motion.

Motion path is a line.

Fig. 3-23 CP Control Motion

When CP control is executed, the robot cannot simply move the position of a different figure from the current figure. If you designate a different figure, an error of 607F robot figure mismatch may occur. However, if the movement is available, the error may not occur. A figure similar to the current one is selected as the robot figure when CP control is executed. Therefore, even if you designate the robot figure with a Type P or Type T variable, the figure may not become the one designated. If the figure is different from the figure designated, a warning 601C change figure may occur. If you execute the first motion command in a program with CP control the, motion may not be available depending on the robot position. PTP control is recommended for the first motion command in the program.

3.3.3 Arc Interpolation Control

Arc interpolation controls interpolation so that the path to reach the motion destination position will be an arc. Fig. 3-24 shows an example of motion by arc interpolation control. If you designate C for designation of the interpolation method with the motion control command, the robot executes an arc interpolation motion.

The motion path becomes an arc.

Fig. 3-24 Arc Interpolation Control Motion

When arc interpolation control is executed, the robot cannot simply move to the position of a different figure from the current figure in the same manner as in CP control. If you designate a different figure, an error of 607F robot figure mismatch may occur. However, if the movement is possible, the error may not occur. A figure similar to the current one is selected for the robot figure when arc interpolation control is executed. Therefore, even if you designate the robot figure with a Type P and Type T variable, the figure may not become the one designated. If the figure is different from the figure designated, a warning 601C change figure may occur. If you execute the first motion command in a program with arc interpolation control, the motion may not be available depending on the robot position. PTP control is recommended for the first motion command in the program.

3-13

3.4 If Output Command Is Present after Motion Instruction

The current position of the robot normally experiences delay in moving to the position commanded by the robot controller, when the motion command is executed. In the case of the end motion, the robot controller proceeds to the next command after the command position reaches the destination position of the motion command. Therefore, if there is an output command after the motion command, the output command may possibly be executed before the robot reaches the destination position. There are the following methods to execute the next command after the robot reaches the destination position. Set wait time with a DELAY command (Fig. 3-25 shows a program example). Do not use an end motion. Use an encoder value check motion. Fig. 3-26 shows a program example. Note: In the encoder value check motion, if the payload is heavy, the encoder value may not completely meet the destination position.

PROGRAM PRO13 : : MOVE L, @0 P3 DELAY 500 SET IO1 RESET IO2 : : END

'End motion command 'Waits 0.5 seconds. 'Sets I/O1 to ON. 'Sets I/O2 to OFF.

Fig. 3-25 Program Example to Set Wait Time Due to the DELAY Command
PROGRAM PRO13 : : MOVE L, @E P3 SET IO1 RESET IO2 : : END

'Encoder value check motion 'command 'Sets I/O1 to ON. 'Sets I/O2 to OFF.

Fig. 3-26 Program Example using an Encoder Value Check Motion

3-14

Chapter 3 Robot Motion

3.5 Compliance Control Function

3.5.1 Overview
The compliance control function provides compliance for a robot by software. This function absorbs a position displacement in handling and prevents an excessive force applied to a robot or a work. This function is divided into two parts; setting compliance to individual joints (current limiting function) and compliance function to individual elements of the coordinate system at the tip of a robot (tip compliance control function). The current limiting function is available for Ver 1.20 or later and the tip compliance control function is available for the vertical articulated robot Ver. 1.40 or later (VM-6070D not included). Note: This function is explained by using PAC libraries in this section. In version 1.9 or later, the statement commands described on Section 12.10, Particular Control are also available.

3.5.2 Current limiting function for individual axes [V1.2 or later]

This function sets compliance for individual axes. Limiting the torque of motors for individual axes realizes compliance. You can specifically use this function to prevent an excessive force applied to a robot or a work, or to avoid a down due to over load or over current.

3.5.2.1

How to Use Current Limiting Function

You can use the library function and execute the current limiting libraries (SetCurLmt, ResetCurLmt) to enable or to disable this function. Make sure to provide the following setting. See the section for the PAC library for more information on the library. (1) Tip Payload Specification (Required) You should specify the exact mass of payload and payload center of gravity of the tip. You should set values corresponding to a hand and a work you use to the mass of payload [g], the payload center of gravity X6 [mm], the payload center of gravity Y6 [mm], and the payload center of gravity Z6 [mm]. If the mass changes during chucking or unchucking a work, you should use aspACLD to change the setting. See the optimal load capacity setting function in the 4.7 User Preferences for more information. Notes: If you fail to provide exact values, your robot may fall toward the direction of the gravity when you are setting the current limit. (2) Gravity Offset Specification (Required) You should enable the gravity offset specification. Otherwise, you will receive an error, 665a Current limiting specification is not available. To enable the gravity offset, you should use the pendant to set the enabling/disabling gravity offset setting to 1. To do so, follow the steps below: 1) On the initial screen of the pendant, press [F2 Arm][F6 Aux.][F7 Config.]. You will see the configuration parameter screen. 2) Press [F3 Jump] and specify 24. You will see the enabling/disabling gravity offset setting line. 3) Enter 1 to the enabling/disabling gravity offset setting and press OK. When you set 1 to the enabling/disabling gravity offset setting, the gravity offset is always enabled after the calibration is completed. 3-15

Though you can also use SetGravity and ResetGravity to enable/disable the gravity offset, your robot may present a slight movement while switching between the enabled state and disabled state. We recommend that you use the configuration of the pendant to set the enabling/disabling gravity offset setting to 1 and call SetGravity once in your initialization program. (3) Gravity Offset Compensation (If Applicable) The difference between the setting of the mass of payload of the tip and the actual mass of payload may present an error in the gravity balance based on the gravity offset. When you set a smaller current limit to an axis where gravity applied, your robot may fall toward the direction of gravity. The gravity offset compensation function compares the torque at the stationary state of your robot and the gravity offset torque to compensate the error. When you set the current limit to 30% or less for an axis where gravity applied, always set the gravity offset compensation. You should execute SetGrvOffset to have compensation value calculated when the robot is stopping. The value you will obtain is for the posture when SetGrvOffset is executed. You should execute SetGrvOffset again when the posture deviates largely from that when compensated. Executing SetGrvOffset may generate a compensation value including an error when an external force such as a contact is applied to the robot. Run SetGrvOffset when the external forces (except for gravity) are not present. (4) Allowable Deviation Specification (If Applicable) If an external force is applied while current is limited, joint will rotate toward the direction of the force. This will increase the deviation of the angle of the joint and may cause an error, 612* J *Excessive Deviation. If this is the case, you should use SetEralw to set the allowable deviation specification. The function checking deviation is provided for safety. You should not extend the range. (5) Library Execution Procedure When Current Limiting Enabled 1) Use the pendant to set the enabling/disabling gravity offset setting to 1 in the configuration. 2) Add the following statement to your initialization program. CALL SetGravity 3) Enable the current limiting. Provide (statement) when necessary. Wait until an action is completed. (CALL SetGrvOffset) Calculate the gravity offset compensation value CALL SetCurLmt(n1, m1) Set the current for n1 axis to m1 (%) of the rating (CALL SetEralw(n2, m2)) Set the current for n2 axis to m2 (%) of the rating When Current Limiting Disabled CALL ResetCurLmt(0) Reset the current limits for all axes and initialize the allowable deviation (CALL ResetGrvOffset) Initialize the gravity offset compensation values

3-16

Chapter 3 Robot Motion

3.5.3 Tip Compliance Control Function [V1.4 or later]

This function sets compliance for the individual elements of the coordinate system at the tip of a robot. Controlling motor torque values for individual axes based on the force limit at the tip realizes the compliance of the tip. You can select a coordinate system from either the base, the tool or the work coordinate system. You can use this function to align your robot in a specified direction according to an external force or to have your robot push against an object to check a height.

3.5.3.1

Enabling the function

This function is an extended function. Thus, you should use the pendant to enable the compliance control function. Once you enable an extended function, the setting is maintained after you turn off the controller and you do not need to set again. To enable the compliance control function, follow the steps below. (1) View the system extension screen of the pendant. Operation flow: Main screen-[F6 Set]-[F7 Option]-[F8 Extend]

(2) Press [F5 Input ID] for adding a function. You will see the ID number screen. (3) Enter the ID number. The ID number is 6519.

(4) Press OK, check a system message you will receive, and press OK again. 3-17

3.5.3.2

How to Use Tip Compliance Control Function

You can use the library function and execute the compliance control libraries (SetCompControl, ResetCompControl) to enable or disable this function. Make sure to provide the following setting. See the section for the PAC library for more information on the library. (1) Tip Payload Specification (Required) See 2-1 How to Use Current Limiting Function. (2) Gravity Offset Specification (Required) See 2-1 How to Use Current Limiting Function. (3) Compliance Control Parameters (Required) There are following five parameters. 1) Force Limiting Coordinate System Selecting Parameter Select either the base, the tool or the work coordinate system for the force limiting coordinate system. Use the compliance control library (SetFrcCood) for specification. 2) Force Limiting Rate Specify the rate of force limiting for the individual elements (translations along and rotations about X, Y, and Z axes ) of the coordinate system specified at 1). Use the compliance control library (SetFrcLimit) for the specification. When you specify SetFrcLimit, 3) the compliance rate and 4) the damping rate will be the same. 3) Compliance Rate (If Applicable) Specify the rate of compliance for the individual elements (translations along and rotations about X, Y, and Z axes ) of the coordinate system specified at 1). Use the compliance control library (SetCompRate) for the specification. When you specify SetCompRate, 4) the damping rate will be the same. 4) Damping Rate (If Applicable) Specify the rate of damping for the individual elements (translations along and rotations about X, Y, and Z axes ) of the coordinate system specified at 1). Use the compliance control library (SetDampRate) for the specification. You seldom use this function except for the velocity control mode, which is a special tip compliance control function. Note that you should not specify values smaller than the compliance rates specified in SetFrcLimit and SetCompRate. 5) Allowable Position/Posture Deviation under Compliance Control (If Applicable) Specify the allowable position/posture deviation for the individual elements (translations along and rotations about X, Y, and Z axes ) of the coordinate system specified at 1). Use the compliance control library (SetCompEralw) for the specification. The initial value for the position deviation is 100 (mm) and the posture deviation is 30 (degree). The function checking deviation is provided for safety. You should not extend the range unnecessarily. (4) Gravity Offset Compensation (If Applicable) The gravity offset compensation function compares the torque at stationary state of your robot and the gravity offset torque to compensate the error when SetCompControl is specified. Executing SetCompControl may generate an error in the compensation value when an external force such as a contact is applied to the robot. Run SetCompControl while the external forces (except for gravity) are not present. Use SetGrvOffset and SetCompFControl and execute the libraries as described below when you enable the compliance control under external forces are applied to your robot.

3-18

Chapter 3 Robot Motion

(SetCompControl = SerGrvOffset + SetCompFControl) While your robot is stationary without contacts (interference) with external objects, execute CALL SetGrvOffset Move your robot in contact (interference) with external objects CALL CompFControl (1) Library Execution Procedure When Compliance Control Enabled 1) Use the pendant to set the enabling/disabling gravity offset setting to 1 in the configuration. 2) Add the following statement to your initialization program CALL SetGravity 3) Enable the compliance control. Provide (statement) when necessary. CALL SetFrcCoord(n) Set the force limiting coordinate system to n CALL SetFrcLimit(fx, fy, fz, mx, my, mz) Set the rate of force limiting to (fx, fy, fz, mx, my, mz) [%] (CALL SetCompRate(cx, cy, cz, crx, cry, crz)) Set the rate of compliance to (cx, cy, cz, crx, cry, crz) [%] (CALL SetDumpRate (dx, dy, dz, drx, dry, drz)) Set the rate of damping to (dx, dy, dz, drx, dry, drz) [%] CALL SetCompControl Enable the compliance control (CALL SetCompEralw (ex, ey, ez, erx, ery, erz)) Set the allowable position deviation to (ex, ey, ez) (mm), and set the allowable posture deviation to (erx, ery, erz) (degree). (CALL SetEralw (n1, m1)) Set the allowable deviation for n1 axis to m1 (degree) When Compliance Control Disabled. Provide (statement) when necessary. CALL ResetCompControl Disable compliance control CALL ResetCompEralw Initialize position deviation (Call ResetEralw(0)) Initialize angle deviation

3.5.3.3

How to Use Special Tip Compliance Control Function Library

You can use the special compliance control function library to make better use of the compliance control function. However, since this function directly change the robot control data, your robot may present an abnormal action depending on values you will specify. Set the allowable deviation to small values for adjusting. You can specify the following parameters for the special compliance control function library. (1) Force Assistance under Compliance Control Applying a force assistance in the direction of aligning will facilitate the profiling motion when your robot cannot profile due to friction or the like. You can use the compliance control function library (SetFrsAssis) to specify assistance values in individual directions. The initial values are 0 after turned on.

3-19

(2) Current Limiting Setting under Compliance Control Under the compliance control condition, providing motors with torque according to the position deviations controls the force at the tip. Thus, the conventional control according to angular deviations for individual axes is not active (current limit = 0), and the robot motion may be oscillating. If this is the case, you can adjust the current limiting setting in stead of adjusting the force limiting rate under the compliance control condition to realize a smoother control. When you use the current limiting setting in stead of the force limiting setting to adjust the tip force limit in a specific direction, set the force limiting setting in that direction to 0 and adjust the current limiting setting of the angle rotating for the motion in the limiting direction. You can use the special tip compliance control function library (SetCompLimit) to set the current limit for the individual axes. The initial values are 0 after turned on. (3) Parameters for Selecting How to Control Compliance Control according to the velocity deviation in stead of the position deviation will increase the stability in contacting motion. You can use a special tip compliance control function library (SetCompVMode) to set the velocity control mode and use SetFrcLimit and SetDampRate to set the control direction. (Example) Setting the velocity control mode in Z axis direction CALL SerFrcCoord(0) CALL SetCompVMode CALL SetFrcLimit (100, 100, 0, 100, 100, 100) CALL SetDampRate (100, 100, 100, 100, 100, 100) CALL SetCompControl

3.5.3.4

Notes for Your Safety

(1) Error Detecting Functions When the force is limited by the compliance function, a robot may move toward the force limiting direction due to an external force. Also a robot may move due to the component force in a force limiting direction of an external force applied in a direction other than the force limiting direction. The following functions have been added to detect abnormality for the safety in adjusting a robot. 1) Position deviation under compliance control error (60F8) This error occurs when the position deviation at the robot tool tip exceeds the limit. The initial values for allowable deviation are 100 (mm) for translation along and 30 (degree) about X, Y and Z axis. You can use SetCompEralw to change the allowable deviation. Since large allowable deviation may prevent detecting an error, do not set excessive limits. 2) Force limit reference error (60FB) This error occurs when an excessive force is applied at the robot tool tip. This error occurs when you have a robot contact in the direction where you set a high force limiting rate. Make sure that the force limiting direction and the force limiting parameters are set properly when you receive this error.

3-20

Chapter 3 Robot Motion

3) Exceeded speed limiting reference under the compliance control (60FC) A high speed motion is not available under the compliance control. This error occurs when the product of the internal speed and the external speed exceeds 50%. When this error occurs, you should reduce the internal speed setting. 4) PTP motion is not available under the compliance control (60FD) The PTP motion (see 3.3.1 PTP Control) is prohibited under the compliance control. This error occurs when you execute a PTP motion. You should change to the CP motion or execute a PTP motion after you disable the compliance control. Also, this error occurs when you start for continuing motion or restart in the resuming path mode. 5) Current position exceeds J* soft limit under the compliance control (66D*) A robot may move to a position exceeding a soft limit due to an external force under the compliance control. Then, this error happens. Though a motor will not be turned off in the manual mode when a soft limit is exceeded, a motor will be turned off when this error occurs under the compliance control. (2) For Adjusting Safely A robot may fall in the direction of gravity due to an error in the parameter setting or moves toward an unexpected direction due to an external force under the compliance control. To secure the safety for adjusting, do not set the excessive values for the allowable angle deviation and the allowable position deviation. Also use SetCompEralw to set smaller values than the initial values (10 [mm] for translation along and 5 [degree]) for rotation about X, Y and Z axes) for allowable deviations in directions other than the force limiting direction before adjusting. (3) Adjusting Parameters for Compliance Control Functions Adjust limited force under compliance control based on the force limiting rate. However the relation between the force limiting values and the force limiting rate varies depends on the posture and the direction of a robot. Adjust the force limiting parameters for each force limiting posture and direction. A robot profiles in the direction of an external force when a joint torque due to the external force becomes larger than the static friction of a joint. On the other hand, the static friction is larger than a joint torque due to an external force, a robot stays in equilibrium. A robot may move toward the force limiting direction (the direction of reference value) if the equilibrium between the friction and the limited force changes as the result of the friction change due to the posture alteration during robot operation under compliance control. Pay attention to the robot motion toward the force limiting direction when you operate a robot while controlling the compliance. (4) Position Teaching You can use the function for setting positing to variables to teach position of a robot. The position setting into variables is the current position reference of a robot. When you push a robot to move and set positions (direct teaching) under the compliance control, there are difference between the position reference and an actual position. Please follow the procedure below to teach positions under the compliance control.

3-21

(5)

(6)

(7) (8)

1) Decide an I type variable for teaching number. We assume I10 here. 2) Prepare the following program. When you use P type variable for teaching: Program DirectTeach P(I10)=CURPOS end When you use J type variable for teaching: Program DirectTeach J(I10)=CURJNT end 3) Assign teaching position number to I10, move a robot to a teaching point, and execute DirectTeach. Setting Tool Coordinate and Work Coordinate When you use SetFrcCoord to set the force limiting coordinate to the tool coordinate and execute compliance control, if you use Changetool to change the tool coordinate under the compliance control, the force limiting direction will not change. However the tool coordinate will change in terms of the robot motion. This will cause a discrepancy between the force limiting coordinate system and the motion coordinate system. This applies to the work coordinate as well as the tool coordinate. If you set large values to X, Y, and Z of the tool coordinate to execute compliance control, the control sensitivity to the change of the robot posture will be high and a robot may present an oscillation resulting in a stop by error. If this is the case, you should use SetFrcLimit and SetCompRate to decrease the parameters gradually from 100. Continuing Function The continuing motion is not available during the compliance control. If you turn off a motor and turn on the motor in a state ready for continuing motion, you will receive an error 66EF Compliance control is disabled. If you start for continuing after a momentary stop, you will receive an error 66FD PTP motion is not available under the compliance control. Recovery after Power Failure The function for recovery after power failure is not available if the power to the controller is discontinued under the compliance control. Robot Motion Accuracy under Compliance Control When a motion command is executed under the compliance control, the accuracy of the motion trajectory of a robot decreases. The position in the force limiting direction may present a large deviation. If you need an accurate motion, disable the compliance control function. The stop accuracy of a robot decreases under the compliance control. If you execute an encoder value check motion (See 4.2.3 Encoder Value Check Motion), a robot may stop for a longer period or you may receive an error 6651 Check command time over. If you need accuracy for stop, disable the compliance control function.

3-22

Chapter 4 Speed, Acceleration and Deceleration Designation

The maximum rates of speed, acceleration and deceleration must be set. This chapter provides explanations of the meanings and settings of speed, acceleration and deceleration.

Chapter 4 Speed, Acceleration and Deceleration Designation

4.1 External Speed and Internal Speed

There are external speed and internal speed for VS series robots. The external speed is the speed set from the teach pendant or an external device prior to execution of a program. The internal speed is the speed set with a command in a program.

4.2 Speed Designation

The product of external speed and internal speed determines the actual speed of robot motion. For example, if the following conditions are set, external speed: 70% internal speed: 30% the expression below is obtained. Actual speed = maximum speed 0.7 0.3 The actual speed is 21% of the maximum speed. If you change the internal speed using the SPEED command in a program, internal acceleration and internal deceleration are also set. The internal acceleration and internal deceleration the internal speed squared and divided by 100. The JSPEED command changes the internal axis speed. If you change the internal axis speed, internal axis acceleration and internal axis deceleration also change. Internal axis acceleration and internal axis deceleration are the internal axis speed squared and divided by 100.

4.3 External Acceleration, External Deceleration, Internal Acceleration and Internal Deceleration
Acceleration and deceleration are both classified into external acceleration/ deceleration and internal acceleration/deceleration. External acceleration and external deceleration are set with the teach pendant or an external device prior to execution of a program. Internal acceleration and internal deceleration are set with a command in a program.

4-1

4.4 Setting Acceleration and Deceleration

The product of external acceleration and internal acceleration determines actual acceleration and deceleration. For example, if the following conditions are set, external deceleration: 70% internal deceleration: 30% the expression below is obtained. Actual deceleration = maximum deceleration 0.7 0.3 The actual deceleration is 21% of the maximum deceleration. The commands to set acceleration and deceleration are listed in Table 4-1.
Table 4-1 Setting Commands of Acceleration and Deceleration Command SPEED ACCEL DECEL JSPEED JACCEL JDECEL Function Internal speed setting Internal acceleration setting Internal deceleration setting Internal axis speed setting Internal axis acceleration setting Internal axis deceleration setting

4.5 Example of Setting Speed and Acceleration

The program shown in Fig. 4-1 does not set any internal speed. If you execute this type of program at 80% external speed, the following results occur.
PROGRAM PRO1 TAKEARM MOVE P, P1 END Actual speed = external speed x internal speed Actual speed = 80% x 100% Actual speed = 80% Actual acceleration = external acceleration x internal acceleration Actual acceleration = 64% x 100% Actual acceleration = 64% Actual deceleration = external deceleration x internal deceleration Actual deceleration = 64% x 100% Actual deceleration = 64%

Fig. 4-1 Example of Not Setting Internal Speed

4-2

Chapter 4 Speed, Acceleration and Deceleration Designation

The internal speed is set in the program in Fig. 4-2. If you execute a similar program at 80% external speed, the following results occur.
PROGRAM PRO2 TAKEARM SPEED 50 MOVE P, P1 END

'internal speed50%

Actual speed = external speed x internal speed Actual speed = 80% x 50% Actual speed = 40% Actual acceleration = external acceleration x internal acceleration Actual acceleration = 64% x 25% Actual acceleration = 16% Actual deceleration = external deceleration x internal deceleration Actual deceleration = 64% x 25% Actual deceleration = 16%

Fig. 4-2 Example of Setting Internal Speed

4-3

The program shown in Fig. 4-3 sets internal acceleration and deceleration. If you execute this program at 80% external speed, the following results occur.
PROGRAM PRO1 TAKEARM ACCEL 50 DECEL 25 MOVE P, P1 END

' Internal acceleration: ' Internal deceleration:

50% 25%

Actual speed = Internal speed x internal speed Actual speed = 80% x 100% Actual speed = 80% Actual acceleration = external acceleration x internal acceleration Actual acceleration = 64% x 50% Actual acceleration = 32% Actual deceleration = external deceleration x internal deceleration Actual deceleration = 64% x 25% Actual deceleration = 16%

Fig. 4-3 Example of Settings for Internal Acceleration and Deceleration

Caution:

When you set acceleration and deceleration, check that there is no danger of collision due to pass changes. If you change the speed or acceleration using a motion option or with a command during a pass motion, be aware of the possibility of a collision.

4-4

Chapter 4 Speed, Acceleration and Deceleration Designation

4.6 Control Sets of Motion Optimization

This function is to set proper speed and acceleration according to the mass of payload and the posture of the robot. You can select a control set of motion optimization among 4 sets listed in Table 4-1.
Table 4-1 Control Sets of Motion Optimization Description Control set 0 1 2 3 Mass of payload and robot posture Setting condition PTP motion Mass of payload Maximum acceleration Maximum speed, acceleration Same as control set 0 Same as control set 1 CP motion Maximum acceleration Same as control set 0 Maximum speed, acceleration Same as control set 2

4.6.1 Control Set 0

This control set is the default when you boot the controller. Set the maximum acceleration of PTP motion and CP motion according to the robot load condition value. In VS-D series robots, the relation between the load condition and the minimum movement time in the case of control set 0 is shown in Figs. 4-4 to 49. For cycle time calculation in designing, refer to these figures. For another series robots, refer to Installation & Maintenance Guide .
(Sec.) (Load set value) 5 kg 4 kg Positioning time 3 kg 2 kg 1 kg

Motion distance (mm)

Fig. 4-4 CP Motion Positioning Time (VS-D)

4-5

(Sec.)

(Load set value) 5 kg 4 kg

Positioning time

3 kg 2 kg 1 kg

Motion range (deg.)

Fig. 4-5 1st- and 2nd-Axis Positioning Time in PTP Motion (VS-D)
(Sec.) (Load set value) 5 kg 4 kg Positioning time 3 kg 2 kg 1 kg

Motion range (deg.)

Fig. 4-6 3rd, 4th, and 5th-Axis Positioning Time in PTP Motion (VS-D)

4-6

Chapter 4 Speed, Acceleration and Deceleration Designation

(Sec.)
(Load set value) 5 kg 4 kg

Positioning time

3 kg 2 kg 1 kg

Motion range (deg.)

Fig. 4-7 6th-Axis Positioning Time in PTP Motion (VS-D)

4-7

4.6.2 Control Set 1

Set the maximum speed and acceleration for the 1st, 2nd and 3rd axes in PTP motion according to the load condition value of the robot and the robot figure in motion. For the 4th, 5th and 6th axes in PTP motion, and for CO motion, this is the same as that of control set 0.

4.6.2.1

Using Control Set 1

If you need to reduce the motion time in PTP motion, select control set 1. Check the motion time for control set 1 in machine lock operation.

4.6.2.2

Precautions for Using Control Set 1

An overload error or excess deviation error may occur in motion. For the load factor, check the overload estimation value on the pendant. (Refer to the SETTING-UP MANUAL, Section 5.3, Displaying anticipated overloads to the capacity of motors and brake resistance of the robot controller, [F2][F6] [F10].") Or, check the load factor using the log function of WINCAPSII (refer to the WINCAPSII Guide, Section 10.4, Actions Menu). If an overload error occurs, adjust the motor load by setting appropriate values of the timer, internal speed, and acceleration. If an excess deviation occurs, adjust the speed and acceleration. Depending on the motion speed, the pass locus may change by approximately 20 mm. Therefore, because the pass motion near an obstacle may possibly interfere with the obstacle, execute the motion in control set 0.

4-8

Chapter 4 Speed, Acceleration and Deceleration Designation

4.6.3 Control Set 2

Set the maximum speed and acceleration in CP motion according to the load condition value of the robot and the robot figure in motion. This is the same as that of control set 0 in PTP motion.

4.6.3.1

Using Control Set 2

Use control set 2 in the following two cases. If you need to reduce the motion time in CP motion. Fig. 4-8 shows the relation between the load condition and the shortest moving time in control set 2. However, because the robot may possibly and automatically reduce the speed during motion, check the motion time in machine lock operation.

4 (kg) < PL 5 (kg) 3 (kg) < PL 4 (kg) 2 (kg) < PL 3 (kg) 1 (kg) < PL 2 (kg) PL 1 (kg) Positioning time PL: Load set value

Motion distance (mm)

Fig. 5-8 Positioning Time in CP Motion (Shortest time) ; (VS-D)

If you select control set 0 or 1, an error of command speed limit over (6081 to 6086) occurs in CP motion. In control set 0 or 1, if the path passes near a singular point (refer to the SETTING-UP MANUAL, Subsection 4.1.3, [ 2 ] Boundaries of Robot Figures) or the vicinity of the motion range limit, an error of command speed limit over may occur, stopping the robot. In control set 2, however, the speed automatically falls within the command speed limit, allowing you to operate the robot without the above error.

4-9

4.6.3.2

Precautions for Using Control Set 2

In this control set, an overload error may occur during the robot motion. When you adjust the speed, check the load rate using the log function of the load estimation value on the pendant. (Refer to the SETTING-UP MANUAL, Section 5.3, Displaying anticipated overloads to the capacity of motors and brake resistance of the robot controller, [F2][F6][F10].") Or, check the load rate using the log function of WINCAPSII (refer to the WINCAPSII Guide, Chapter 10, Outline of Log Manager"). If an overload error occurs, adjust the motor load by setting appropriate values of the timer or internal speed and acceleration. Depending on the motion speed, the path may possibly change by approximately 20 mm. Therefore, because in the pass motion near obstacles, the robot may interfere with them, execute control set 0. Because the speed may change in the constant speed movement section in CP motion, perform work that requires constant speed movement in control set 0 or 1. Errors of command acceleration limit over (6761 to 6766) and excessive deviation (6111 to 6116) may occur in CP motion. If such an error occurs, adjust the acceleration with internal speed and internal acceleration. A path shift of up to approximately 5 mm may also occur in high-speed motion. Therefore, use the robot by reducing the speed if there is an obstacle near the motion. If you stop the robot instantaneously during speed reduction near the vicinity of a singular point (refer to the SETTING-UP MANUAL, Subsection 4.1.3, [ 2 ] Boundaries of Robot Figures"), the instantaneous stop time may extend. The instantaneous stop distance, however, remains unchanged.

4.6.4 Control Set 3

In this control set, the robot moves the same as in control set 1 in PTP motion and control set 2 in CP motion. Refer to 4.6.2 Control Set 1 and 4.6.3 Control Set 2 described above.

4.6.5 Using Conditions That You Must Set

If you determine the mass of payload (end-effector and workpiece) which is applied on the 6th axis of the robot, set the mass of payload and the center of gravity position. Set the mass of payload and the center of gravity position in the using condition of the pendant or WINCAPSII (refer to p.4-8.). You can change them even with a program in order to change the tool or workpiece. For changing them with a program, refer to 4.7.2 Setting Internal Load Condition Value (Mass of Payload and Center of Gravity Position) and Internal Mode.

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Chapter 4 Speed, Acceleration and Deceleration Designation

4.6.6 Notes for Setting

There are external load condition values (mass of payload, center of gravity position) and an external mode that are set with the pendant and WINCAPSII and internal load condition values and an internal mode that are set in a program in load condition value (mass of payload and center of gravity position) and mode which are set with this function. If you set the external load condition values and the external mode, the internal load condition values and the internal mode also have the same values. The robot moves by setting the maximum speed and acceleration from the internal load condition and the internal mode. You can check the current internal load condition values and the internal mode on the pendant (refer to 4.7 Control Set of Motion Optimization in User Preferences). When you turn ON the main power of the controller, both the internal and external modes are set to 0. (Note: only Ver. 1.3* before. See Section 4.7.4.) And the internal load condition values become the same as the external load condition values. Therefore, set the internal mode and the internal load condition values in a program according to your requirement. The external load condition values before delivery are 7000 [g] of end load mass, and X6=0 [mm], Y6=80 [mm] and Z6=100 [mm] of the load center of gravity position. Note (1): Be sure to set the correct load condition values corresponding to the load. Improperly set data will cause overcurrent, excessive deviation, overload and other errors during robot operation, resulting in a robot failure. Additionally, when the robot stops on receiving a robot stop signal, the stop distance may extend and the robot may collide with peripheral devices. Set the correct robot installation condition. Set this with the pendant or WINCAPSII (refer to Part 1 4.7.3 Setting robot installation condition). Improperly set data will cause overcurrent, excessive deviation, overload, and other errors during robot operation, resulting in a robot failure. Additionally, when the robot stops on receiving a robot stop signal, the stop distance may extend and the robot may collide with peripheral devices.

Note (2):

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4.7 Setting the Master Control Parameters in User Preferences

4.7.1 Setting Master Control Parameters of the Mass of Payload, Center of Gravity, and Control Set of Motion Optimization
n Setting with the Teach Pendant
Access: Top screen
[F2 Arm]

[F6 Aux.]
[F7 Config.]

If you use the teach pendant and follow the above procedure, the User Preferences window will appear where you can set master control parameters such as the control set of motion optimization and the mass of payload. Refer to the SETTING-UP MANUAL, Section 2.9 ."

Select the following items in this User Preferences window, then press [F5 Change.] to call up the numeric keypad where you can enter new values. Setting item: "Control set of motion optimization" "Mass of load (g)" "Payload center of gravity X (mm)" "Payload center of gravity Y (mm)" "Payload center of gravity Z (mm)" or Inertia of payload (kgcm2) (for 4-axes robot in Ver.1.9 or later)

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Chapter 4 Speed, Acceleration and Deceleration Designation

The entry range of "Control set of motion optimization" is from 0 to 3. If you enter any value out of this range, the following error may appear: Error 6003 Exceeded valid numeric value range. The entry range of "Mass of load" is specified in each robot model. If you enter any value out of this range, the following error will occur: Error 60d2 End load set value exceeded permissible value. For "Payload center of gravity," enter a value that conforms to the following range. If the value is out of the following range, Error 60d2 End load set value exceeded permissible value will occur.

4-13

n Setting with WINCAPSII

This section explains the methods used to set the external load condition values (Mass of payload and center of gravity) and the external mode with the personal computer teaching system WINCAPSII. Refer to the " SETTING-UP MANUAL, Section 2.9 " and the "WINCAPSII Guide, 8.6.1.2 User Preferences." Select Options from the Tools menu of Arm Manager and the Options window will appear. Click on the User Preferences tab in the Options window to display the User Preferences window.

If the set value boxes of the following items are double-clicked on this [User Preferences (No. of parameters:)] screen, the respective parameter values can be edited. Setting item: "Control set of motion optimization" "Mass of payload (g)" "Payload center of gravity X (mm)" "Payload center of gravity Y (mm)" "Payload center of gravity Z (mm)" or Inertia of payload (kgcm2) (for 4-axes robot in Ver.1.9 or later)

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Chapter 4 Speed, Acceleration and Deceleration Designation

After each parameter value is set, transmit the data to the robot controller. First, turn OFF the motor power with the MOTOR key on the teach pendant. Set Arm Manager to the connection status and click on Transmit of Arm Manager to display the Transfer Environment Table. Then, execute transmission. For transmission, refer to the "WINCAPSII Guide, 8.2.5 Transfer Project .

Note (1): Click on < Receive in the Transfer Environment Table to receive data from Arm Manager of the controller. The external load condition value and the external mode can be received in this case. However, the internal load condition values and the internal modes that are edited in a program cannot be transmitted to WINCAPSII). Note (2): Enter the payload center of gravity in the TOOL0 coordinates (refer to Fig. 4-9). The unit is mm. The reference position of the TOOL0 coordinates is the 6th axis flange center. The reference position of the TOOL0 coordinates is the center of the 6th axis flange. For component Y, it is the direction from the flange center to a pinhole of 6H7 (orientation vector direction). For component Z, it is the direction vertical to the flange surface through the flange center (approach vector direction). For component X, it is the X-axis direction (normal vector direction) in the right-hand coordinate system when the orientation vector is set to the Y axis and the approach vector is set to the Z axis (refer to Fig. 4-10).

4-15

Orientation vector (Y-axis) Orientation vector 6H7 (pinhole) Normal vector (X-axis)
Approach vector (Z-axis)

6th axis flange surface Approach vector

Flange center Tool 0 coordinate

-b

Payload center of gravity

( X6,Y ,Z6 ) 6

X6

Y
Z6 Y6

Payload center of gravity position in tool 0 coordinate system

Fig. 4-9 Payload Center of Gravity

+Y axis (Orientation vector)

+Z axis (Approach vector) +X axis (Normal vector)

Fig. 4-10 Right-Hand Coordinate System

4.7.2 Setting Internal Load Condition Values (Mass of Payload and Center of Gravity) and Internal Mode
4.7.2.1 Setting Internal Load Condition Values
Set these values by executing the conventional language library aspACLD. For details, refer to 22.1 Conventional Language.

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Chapter 4 Speed, Acceleration and Deceleration Designation

4.7.2.2

Setting Internal Mode

Set this mode by executing the conventional language library aspChange. For details, refer to 22.1.2 aspChange.

4.7.3 Setting Robot Installation Condition

This is a setting for floor installation use and for gantry use. Set 0 for floor installation and 1 for gantry use. Before shipping, it is set to 0 (floor installation). This setting must be changed if the robot is to be installed on the ceiling.

n Setting with the Teach Pendant

Operation flow: Main screen [F2 Arm]
[F6 Aux.] [F7 Config.]

If you use the teach pendant and follow the above procedure, the User Preferences window will appear where you can set master control parameters such as the control set of motion optimization and the mass of payload. Refer to the " SETTING-UP MANUAL, Section 2.10 .

Select the "Floor-mount or Overhead-mount" item in this User Preferences window, then press [F5 Change.] to call up the numeric keypad where you can enter new values. Set 0 or 1: otherwise, the following error occurs: 6003 Excess in effective value range.

4-17

Note: Transmit the installation condition set using the teach pendant to WINCAPSII. For information on the transmission procedure, refer to Note (1) on page 4-18.

n Setting with WINCAPSII

This section explains the setting method for floor installation and for gantry installation using the personal computer teaching system WINCAPSII. Refer to the " SETTING-UP MANUAL, Section 2.9 " and the "WINCAPSII Guide, 8.6.1.2 User Preferences." Select Options in the Tools menu of Arm Manager and the Options window will be displayed. Click on the User Preferences tab on the Options window to display the User Preferences window.

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Chapter 4 Speed, Acceleration and Deceleration Designation

If the Set value box of [floor or gantry] on the [Using condition (parameter number:) ] screen is double-clicked, the parameter value can be edited. After the parameter values are set, transmit the data to the robot controller. First, turn OFF the motor power with the MOTOR key on the teach pendant. Set Arm Manager to the connection status and click on Transmit of Arm Manager to display the Transfer Environment Table. Then, execute transmission. For transmission, refer to the WINCAPSII Guide , 8.2.5 Transfer Project .

Note (1):

Click on < Receive in the Transfer Environment Table to receive data from Arm Manager of the controller. The external load condition value and the external mode can be received in this case. However, the internal load condition values and the internal mode which are edited in a program cannot be transmitted to WINCAPSII. Enter the payload center of gravity in the Tool 0 coordinate system (See Fig. 4-9). The unit should be mm. The origin of the Tool 0 coordinate system coincides with the center of the 6 axis flange, the Y component directs from the center of the flange to the 6H7 pin hole (the direction of the orientation vector), the Z component passes through the center of the flange and is aligned with the normal of the flange face (the direction of the approach vector), and the X component is the X axis of a right hand coordinate system where Y axis is the orientation vector and the Z axis is the approach vector (See Fig. 4-10).

Note (2):

4-19

4.7.4 How to Set Optimal Load Capacity Initializing [V1.4 or later]

This section describes how to set the optimal load capacity initializing mode to the mode 0 or how to maintain the current setting after the controller is turned on. Set Value 0 1 Description Initializes the optimal load capacity setting mode to the mode 0 after the controller is turned on. Does not initialize the optimal load capacity setting mode after the controller is turned on (maintains the current setting).

n Setting with Teach Pendant

Operation flow: Main Screen-[F2 Arm] [F6 Aux.]-[F7 Config.] The [User Preference (No. of Parameters:)] screen appears after you use the teach pendant to go through the operation flow above. On the screen, you will see the current internal load condition values and the internal mode.

On the [User Preference (No. of Parameters:)] screen, select [Set Optimal Load Capacity Initializing] and press [F5 Set change]. The [Parameter change] screen will appear and you will be able to change individual parameter values. 0: Disabled Initializes after the controller is turned on. 1: Enabled Does not initialize after the controller is turned on. (maintains the current values)

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Chapter 4 Speed, Acceleration and Deceleration Designation

You can provide only 0 or 1 to set the optimal load capacity initializing, otherwise you will receive an error, "6003 Exceeding valid range".

Note: You should transfer the optimal load capacity initializing settings specified by the teach pendant to WINCAPSII. See 4.7.3 Setting with WINCAPS Note (2) for how to transfer the settings.

4-21

n Setting with WINCAPS II

This section describes how to use the WINCAPS II, a PC-based teaching system, to set the optimal load capacity initializing. Select [Set] from [Tools] menu of Arm Manager to view [Set] window. Click [User Preference] tab of the [Set] window to see [User Preferences].

Double click a setting item for the optimal load capacity initializing to change the parameter values in this [User Preference (No. of Parameters:)] screen. After you have finished parameter setting, you may transfer the data to the robot controller. First, use [MOTOR] on the teach pendant to turn off the motors. Make the Arm Manager connected, click [Transfer] to display [Transfer] dialog box, and execute the transfer. See "8.2.5 Transfer" in "WINCAPS II Guide" for the transfer. You can provide only 0 or 1 to set the optimal load capacity initializing, otherwise you will receive an error, "6003 Exceeding valid range". Note: When you click [Receive] in [Transfer] dialog box to receive data in the Arm manager of the controller. Changes made to the optimal load capacity initializing setting will not be transferred to WINCAPSII

4-22

Chapter 4 Speed, Acceleration and Deceleration Designation

4.8 Safety Features

4.8.1 ndTc (Statement) [V1.2 or later]
Function Syntax Explanation
Sets the TC time length. ndTc(<TClength>) This statement is functionally equivalent to the TC command of the conventional language. The TC time length can be set within the range from 0 to 600 seconds. The factory default is 60 seconds. The specification of 0 produces the same function as TC OFF of the conventional language.

Macro Definition Related Terms

Requires a <pacman.h> file. ndTs

4.8.2 ndTs (Statement) [V1.2 or later]

Function Syntax Explanation
Sets the TS time length and the slow speed. ndTs(<TSlength>,<Slowspeed>) This statement is functionally equivalent to the TS command of the conventional language. The TS time length can be set within the range from 3 to 30 seconds. The factory default is 5 seconds. The slow speed can be set within the range from 1 to 10%. The factory default is 10%.

Macro Definition Related Terms

Requires a <pacman.h> file. ndTc

4-23

Chapter 5 Vision Control

This chapter provides an explanation of vision related terms required for creating programs.

Chapter 5 Vision Control

5.1 Vision Control

This section explains commands to use the Vision board, which is optionally built in the robot controller. You should read this chapter when you create or enter a program using the vision device.

5.1.1 Terms of Vision Control

5.1.1.1 Pixel
The Vision board treats image element data as a group of dots. One dot is called pixel or image element. The number of pixels handled by the Vision board can be expressed in pixels on two different screens. The process screen storage memory is 512 by 480 pixels and the draw only screen memory is 624 by 480 pixels.

5.1.1.2

Brightness
Each pixel of image data processed by the Vision board has a value to express lightness. This value is called brightness. The brightness value ranges from 0 to 255, in 256 levels. The nearer the value is to 0, the darker the image will be. Oppositely, the nearer the value is to 255, the brighter the image will be.

5.1.1.3

Window
Set a window as shown in Fig. 5-1 to display the Vision board vision processing range. With the window, the size is memorized for each window number inside the Vision board. There are two ways to edit the window. The first is with the vision manager and second is by the user program. Note that window information, which is edited by the user program, is lost if you turn OFF the power.

Measuring object

Window

Fig. 5-1 Image Process Window

5-1

5.1.1.4

Area, Center of Gravity and Major Axis Angle

[ 1 ] Area
The board binarizes image data taken from the camera and counts each pixel of white (1) and black (0) in the designated range of the window area. The Vision board counts the area by real-time binarization without changing the brightness value of each pixel in the window. Therefore, you do not have to binarize image data beforehand.

Window

1 (Wh) Area=13 0 (Bl) Area=12

Fig. 5-2 Area

[ 2 ] Center of Gravity
Image data taken from the camera displays the object as a plane. The point where the object weight is balanced on the plane is called the center of gravity. The Vision board obtains the center of gravity from the pixels of white (1) and black (0) in the designated range of the window. The center of gravity is expressed with coordinate values of X and Y.

Window

Object

Center of gravity

Fig. 5-3 Center of Gravity

5-2

Chapter 5 Vision Control

[ 3 ] Major Axis Angle
Image data taken from the camera displays the object as a plane. When the object on this plane is rotated, the longitudinal direction axis, which is easy to rotate, is called the major axis of the main axis. The axis vertical to this is called the minor axis of the main axis. The Vision board defines an angle ( ) from the horizontal axis (X axis) to the major axis of the main axis as the main angle. The main axis angle is obtained to an object in white (1) or black (0), in the designated range of the window after binarization of the image data.

Major axis

Minor axis

X
Window Object

Fig. 5-4 Main Axis Angle

Note: The main axis angle cannot be specified for a square or circle.

5-3

5.1.1.5

Binarization
Image data taken in the Vision board from the camera has 256 levels of brightness for each pixel. Binarization rewrites each pixels brightness to white (1) and black (0) with a threshold value as the boundary. This threshold value is called the binarization level. The Vision board designates binarization levels with two values, a lower binary limit and a upper binary limit. The levels for values between the lower binary limit and the upper binary limit are binarized to white (1) and other levels to black (0).

[ 1 ] Binarization

Before binarization

Object area Sx

Brightness value
After binarization

Binarization level

Fig. 5-5 Binarization

[ 2 ] Histogram
A histogram counts the occurrence frequency of brightness values in a designated range of a window of the image data taken from the camera. Drawing the histogram as a graph helps you easily understand the distribution of brightness values and you can therefore, easily determine the binarization level. The Vision board provides an automatic binarization level decision function. This function uses histograms to decide the binarization level. Fig. 56 is a histogram of image data before binarization. You can see 2 images separated into an object and a background. Fig. 5-7 shows the result of binarization with different binarization levels. By adjusting the lower binary limit and the upper binary limit, you can achieve different binarization results.
Number of pixels 0
Brightness

255

Lower Upper limit limit

Lower Upper limit limit

Decide

Binarization

Before Binarization

After binarization

After binarization

Fig. 5-6 Before Binarization Fig. 5-7 After Binarization

5-4

Chapter 5 Vision Control

[ 3 ] Binarization Level Detection Mode Method
If the histogram of an image forms a double-humped distribution, which has two peaks corresponding to the object shape and the background, the method used to set the binarizatioin level (t) to the valley section (t) which lies between the two humps is called a mode method. Since the Vision board detects the peak and valley in the histogram in the direction from brightness value 0 to 255, as shown in Fig. 5-8, point t is regarded as the valley and the board sets it as the binarization level.

Discrimination Analysis Method

In an image histogram, you divide the brightness value into black and white sections with the binarization level K. The method of determining the binarization level K by using the statistical method to clearly divide the 2 sections is called the discrimination analysis method. If a image does not have a double-humped distribution histogram, the mode method described above is inappropriate. You can determine the optimal threshold value with the discrimination analysis method instead.

Number of pixels

Brightness value 0 Detection direction 255

Fig. 5-8 Binarization Level Due to Mode Method

Fig. 5-9 Binarizatioin Level by Discrimination Analysis Method

Number of pixels Brightness value 0 k 255

5-5

P Tile Method
This method detects the binarization level where the object area coincides with Sx, by the use of a histogram when the objects white and black area is already known as Sx. If the object is white, the area is obtained by adding pixels from a higher brightness value of the histogram. If the calculated result reaches Sx at the brightness level, the brightness value is set as the binarization level. If the object is black, the area is obtained by adding pixels from a lower brightness value. The binarizatioin level is obtained in the same manner as the white area. This method is effective when the object area is known beforehand.

Detection direction of white object

Number of pixels

Object area

Brightness value 0 Binarization Level 255

Fig. 5-10 Binarization Level Due to P Tile Method

5-6

Chapter 5 Vision Control

5.1.1.6

Brightness Integral Value

The total of all pixel brightness values in the range designated with the window for the obtained image from the camera is called a brightness integral. The value of the total is called a brightness integral value.

Window
100 100 100 100 100 100 100 100 100 100 20 20 20 20 20 20 20 20 20 20 20 20 100 100 100

Brightness integral value =100 ~3 {0 ~2=1540 1 2 1

Fig. 5-11 Brightness Integral Value

5.1.1.7

Edge
A point that changes the object in a designated window from dark to light (black to white) or light to dark (white to black), namely, the brightness changing point, is called an edge. The edge position that is detected by the Vision board is the brightness value of the area value that satisfies the designated level value. You can use an absolute value and a differential value to designate the level value. Use them appropriately, depending on the status of the object. For absolute designation, the system detects a level where the brightness value or area value passes the designated position. However, in differential value designation, positions are detected where the changed brightness value or area value is greater than the designated value.

Window

Edge

Brightness

Position
Brightness
Absolute value Difference value

Brightness

Level

Level value : edge detection position

Fig. 5-12 Edge

5-7

5.1.1.8

Labeling
Labeling is a process to binarize the obtained image data from the camera and attach a sequence number to the link areas of white (1) or black (0) pixels.

Window

Object

Fig. 5-13 Labeling

With labeling, you can separately and individually handle multiple objects present in the range designated with the window. When labeling is executed, the Vision board can determine the area, center of gravity, main axis angle, filet shape, and periphery length as individual object features. The filet shape is a circumscribe polygon of the objects.

Filet reference point

Filet width

Filet height

Fig. 5-14 Filet Shape

The periphery length is the sum of pixel counts, which form the outer shape of the object.

Outline

Periphery length

=12 pixels

Fig. 5-15 Periphery Length

5-8

Chapter 5 Vision Control

5.1.1.9

Search
Search moves the standard image data (search model) previously stored in the searching range (within the window range) of the measuring object image, and finds the matching position with the search model.

Search

Search model

Window

Fig. 5-16 Search

In the Vision board, standard image data is called a search model. It is comprised of image data and the reference coordinates (OX, OY).
Search model

OY
Image data

OX

Fig. 5-17 Search Model

The value that an expressed degree of search model corresponds to the measuring object image is called a correspondence degree. If the correspondence value larger than the designated one is obtained, the system can obtain the coordinates of the correspondence position of the search model and the measuring object image. The detection accuracy of the coordinates is 1 (the minimum unit of the pixel). You can obtain results with an accuracy of less than 1 pixel using sub pixels. If you execute measurement with sub pixels, it takes longer time to measure than to measuring with pixels.

5-9

PART 2
COMMAND REFERENCE

Chapter 6 Guide to Command Reference

This chapter provides command descriptions and a command list for the PAC robot. Use the command list to quickly search for information concerning each command.

Chapter 6 Guide to Command Reference

6.1 Description Format of Command Explanations

Chapter 9 and the following chapters provide descriptions of each PAC command. This section explains the description format of commands.

9.4

HOME Coordinate

9.4
(3)

HOME Coordinates (1)

(2)

HOME (Statement)[Confirm to SLIM]

2.4.1. 2.4.1.2 2.4.1.3 Function
Declares an arbitrary coordinates as a home position.

(4)

Format
HOME <Position type>

(5)

Description
This statement declares arbitrary coordinates designated with <Position type> as the home position. Define the home position for each program.

(6)

2.4.1.4 2.4.1.5

Related term(s)
GOHOME

(7)

Example

DIM lp1 As Point HOME (350, 0, 450, 0, 0, 180) 'declares the coordinates of (350, 0, 450, '0, 0, 180) as an home position. HOME lp1 'declares the lp1 coordinates as an home 'position.

Description format of command explanations

(1) Command name: describes the command name first. (2) Command type: describes the command type (statement, function, system variable, built-in constant) after the command name. If the command conforms to the SLIM standard, [Conforms to SLIM] is added. (3) Function: explains the function of the command. (4) Format: describes the syntax of the description format. If the command includes an argument, the argument description is enclosed in < and >. If there are plural arguments, a delimiter , is used. Elements which can be ignored are enclosed in square brackets ([ and ]). [,<b>] in [ and ] in the [<a>[,<b>]] format means that if <a> is ignored then [,<b>] must also be ignored. If only one element is required in a set of elements, the set of elements is described within brackets { and }, and each argument is separated by a delimiter |. (5) Explanation: describes how to use the command. (6) Related terms: shows other related commands or explanations. (7) Example: gives a description of how to use the command.

6-1

6.2 Command List

6.2.1 Commands Listed in Alphabetical Order
Refer to Commands Listed in Alphabetical Order that follows the Contents.

6.2.2 Commands Listed According to Functions

Refer to Commands Listed According to Functions that follows the Contents.

6-2

Chapter 7 PAC Language Configuration Elements

This chapter provides an explanation of the elements that configure the PAC language.

Chapter 7 PAC Language Configuration Elements

7.1 New Robot Language PAC

A programming language used to describe robot motion and work is called a robot language. The robot language used for DENSO robots is called PAC (Programming language for Assembly Cell). PAC was newly developed to increase efficiency in the development and maintenance of robot control programs over conventional languages. The major features are described below. It is upwardly compatible with the industrial robot language SLIM that conforms to JIS. Easy to read because it is a structured programming language, and this also makes development and maintenance easy. Not only robot programs can be described but also vision device control is universal with PAC. Program processing is effective as a result of a multitasking function. As a result of an interruption process function, exceptional processing, such as when an error occurs, can be described efficiently.

7-1

7.2 Relation between PAC Robot Language and Conventional Languages

Conventionally there are many problems with robot languages such as incompatibility between different robots and manufacturers. JIS has enacted an industrial robot program language SLIM to standardize robot languages to help alleviate the burden of managing different languages for different robots. SLIM was standardized (JIS B 8439) with the purpose of mainly describing assembly work, and data types and robot motion instructions particular to a certain robot are added based on BASIC language. Therefore, one advantage of SLIM is that even persons accustomed to robot languages prior to SLIM can master the SLIM language with comparative ease. The PAC robot language used for DENSO robots is based on the structured BASIC language, an upper compatible BASIC language. This gives PAC the advantages of SLIM while also providing various other features such as a structured language and a multitasking function. Since the specifications are the same as SLIM in regard to instructions special to robots, PAC is also upwardly compatible to the SLIM language. PAC can thus respond to high requirements by making use of the advantage of SLIM that even persons accustomed to robot languages prior to SLIM can master it with relative ease.

7-2

Chapter 7 PAC Language Configuration Elements

7.3 Language Element

The following elements are used to construct the PAC language. Identifier ...... the name to identify a construction element. Variable ....... to temporarily store data. Constant...... data with a constant value. Operator ...... a symbol to calculate two values. Expression .. a combination of construction elements used to obtain a value. Command.... an instruction built into the PAC language to execute processes.

There are only a few types of variables and constants. This chapter provides an explanation of the construction elements and data types. For information regarding commands refer to Part 2 Command Reference.

7.4 Name
The PAC language has regulations for identifying various elements in a program. This chapter provides an explanation of these regulations. Names that express commands, variables, functions, labels and programs follow the conventions described below. A name must begin with a character (one-byte alphabet, no discrimination between uppercase and lowercase letters)or ruled symbol. Characters, numerals and underscores can be used for names. The first character of a name must be an alphabet letter. A period, slash, back slash, blank, colon, semicolon, single quote, double quotation, and asterisk cannot be used. Characters such as +, -, *, /, (, ) that are used as operators cannot be used. To distinguish the name from other words, place a blank character between the name and the other words. The maximum number of characters that can be used for a name is 64.

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7.5 Identifier
7.5.1 Variable
A variable is used to temporarily store data used in a program. There are global variables, local variables and system variables. A global variable can be commonly used from any program (task). A local variable is valid only in one program. Even if another program executed together also has a variable with the same name, it works only in the program it belongs to and does not affect the programs mutually.

Global variable F10=10

Available to refer Available to refer Program 2

Available to refer

Program 1 Local variable JIGU=5

Local variable LOVE=8

Not available to refer

Program 3 Local variable LOVE=10

Unexpected accidents can be avoided since the local variable does not interfere with the variables of other programs.
Global Variable and Local Variable

7-4

Chapter 7 PAC Language Configuration Elements [ 1 ] Global Variable

A global variable name is expressed with an alphabet letter (I, F, D, S, V, P, J, T, IO)that expresses the type with an integer expression added after the letter. Only an I/O variable has 2 letters (IO). For example, F0001, F1, and F[1] all express the same single precision real type variable. Since variable names are reserved by the system, they can be used without declaration. The following types can be used for global variables. Type I: integer type (range: -2147483648 ~ + 2147483647) Example) I0001, I1, I[1] Type F: single precision real type (-3.402823E + 38 ~ 3.402823E + 38) Example) F0001, F1, F[1] Type D: double precision real type (-1.79769313486231D + 308 ~1.79769313486231D + 308) Example) D0001, D1, D[1] Type S: character string type (Maximum 247 characters) Example) S0001, S1, S[1] Type V: vector type (X, Y, Z) Example) V0001, V1, V[1] Type P: position type (X, Y, Z, RX, RY, RZ, FIG) (6 axes ) Example) P0001, P1, P[1] Type J: joint type (J1, J2, J3, J4, J5, J6) (6 axes ) Example) J0001, J1, J[1] Type T: homogeneous transformation type (Px, Py, Pz, Ox, Oy, Oz, Ax, Ay, Az, FIG) Example) T0001, T1, T[1] Type IO: I/O type Example) IO0001, IO1, IO[1] NOTE: Types V, P, J, and T are not available with vision equipment Vision21.

7-5

Global Variable Indirect Reference

When a global variable is designated, the variable number is designated using an expression. This is called an indirect reference. If an indirect reference is executed, the variable number enclosed in [ ] is expressed. Example:
I1 = I[5*3] F1 = F[I1] D1 = D[I1+1] S1 = S[I7] V1 = V[I1] MOVE L, P[I5] J1 = J[I5*3] T1 = T[I1*3] SET IO[I1*5] 'Assigns a value of I15 to I1. 'Assigns a type F variable with a value of I1 to F1. 'Assigns a type D variable with a value that is I1 plus 1 to D1. 'Assigns a type S variable with a value of I7 to S1. 'Assigns a type V variable with a value of I1 to V1. 'Moves to a position of type P variable with a value of I5. 'Assigns a type J variable with a value that is 3 times I5 to J1. 'Assigns a type T variable with a value that is 3 times I1 to T1. 'Sets a bit type port with a value that is 5 times I1 to ON.

7-6

Chapter 7 PAC Language Configuration Elements [ 2 ] Local Variable

The following variable types can be used for local variables in the same manner as global variables. Type I: integer type (range: - 2147483648 ~ + 2147483647) Type F: single precision real type (-3.402823E + 38 ~ 3.402823E + 38) Type D: double precision real type (- 1.79769313486231D + 308 ~ 1.79769313486231D + 308) Type S: character string type (maximum 247 characters) Type V: vector type (X, Y, Z) Type P: position type (X, Y, Z, RX, RY, RZ, FIG) (6 axes ) Type J: joint type (J1, J2, J3, J4, J5, J6) (6 axes ) Type T: homogeneous transformation type (Px, Py, Pz, Ox, Oy, Oz, Ax, Ay, Az, FIG) Type IO: I/O type Local variables can be used after type declaration is executed using type declaration commands. Type declaration can also be executed using the type declaration characters for numeric value type and character string type local variables. For type declaration commands and type declaration characters, refer to 8.6 Declaration Statement. Note (1): If a variable is used without type declaration, it functions as a single precision real type variable. However, if a variable without type declaration is used, it may cause a programming error. Therefore, type declaration should be executed if possible. Note (2): In the default setting of the personal computer teaching system WINCAPSII, Explicit type declaration is always required is set. If this is set and type declaration is ignored, an error will occur when compiling is carried out. If there are no special considerations, use the system with this setting. Note (3): If local variables other than the I/O type are referred to in the program, a certain value must be assigned to the local variable (initialization of variable) before referring to it. If a variable is referred to without this local variable initialization, an error will occur in execution. Variables can be initialized by describing an assignment statement for the variable in the program beforehand or by using DEFINT A = 1, for example, to describe it in the variable declaration section of the program for variables other than array variables. Note (4): If you restart the program when a program having local variables is called using CALL and it is being executed or in the wait or hold status, the system should have two tasks : one is created by the first call and the other is created at restart. Although they are different tasks the same program cannot secure independence of the local variables and thus the robot may perform some unexpected or incorrect action. To avoid this, do not start the program independently when the program is called using the CALL command. Note (5): Types V, P, J, and T are not available with vision equipment Vision-21.

7-7

[ 3 ] System Variable
A system variable is used to check the system status. Since the variable name uses words reserved by the system, the variable name does not have to be declared. The following are system variables. CURJNT CURPOS CURTRN CURFIG CURACC CURDEC CURJDEC CURJSPD CURSPD DESTJNT DESTPOS DESTTRN DATE$ TIME$ TIMER ERL ERR

7.5.2 Function
A function is used to obtain the operation result of the designated value (argument) using the operation method determined beforehand. There are some functions which do not have arguments depending on the function type. In the PAC language, there are a function for handling pose and vector data, a function for handling numeric value data, a function for handling character string data and a user defined function. For function commands, refer to Chapter 15 Command Reference.

7.5.3 Label
A label expresses the statement position in a program. The destination position of a branch can be expressed with a label. If the label is set using a meaningful name, the program will be easy to understand.

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Chapter 7 PAC Language Configuration Elements

7.5.4 Program
A program can be designated using the program name and calling other programs from the program. Declare a program name at the head of the program using the PROGRAM command. For program names, refer to 8.2 Program Name and Declaration. Program example: program call using a program name Program on the program calling side PROGRAM PRO1 IF IO[138] = ON THEN CALL MOTION ELSE DELAY 200 END IF END MOTION program on called side. PROGRAM MOTION TAKEARM SPEED 100 MOVE P, P1 DELAY 200 MOVE P, P2 END

7-9

7.6 Data Type

The following data types are handled in the PAC language; character string, numeric value, position, vector and I/O. These data types are described below.

7.6.1 Character String

Character string (String) type data is also referred to as type S data. It can include a maximum of 247 characters.

7.6.2 Numeric Value

The following 3 types of data exist under numeric value type data. Type I: integer type (range: -2147483648 ~ + 2147483647) Type F: single precision real type (-3.402823E + 38 ~ 3.402823E + 38) Type D: double precision real type (-1.79769313486231D + 308 ~ 1.79769313486231D + 308)

7.6.3 Vector
Vector type data is also referred to as type V data. It is comprised of three single precision real parameters of components X, Y and Z. Type V: vector type (X, Y, Z)

7.6.4 Pose
The following 3 types exist under pose type data. Type P: position type (X, Y, Z, RX, RY, RZ, FIG) Type J: joint type (J1, J2, J3, J4, J5, J6) Type T: homogeneous transformation type (Px, Py, Pz, Ox, Oy, Oz, Ax, Ay, Az, FIG)

7.6.5 I/O (ON/OFF)

I/O type data has an I/O port status (ON or OFF) as a value.

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Chapter 7 PAC Language Configuration Elements

7.7 Data Type Conversion

Changing the data type among different data types is also possible.

7.7.1 Numeric Value

Numeric value data can be converted by following the rules below. If numeric value data is assigned to a different type numeric value variable, the numeric value is converted to meet the variable type. If an operation is executed with a different type numeric value, the operation is carried out so that the higher precision type is used. In a logical operation, numeric values are converted to integers and the operation is executed. The result becomes an integer. If a real type is converted to an integer, the result is rounded off to the maximum integer which does not exceed the result. If a double precision real type is assigned to a single precision real type, the result is rounded off to 7 significant digits.

7.7.2 Character and Numeric Value

The PAC language provides the following commands to convert characters, character strings, character codes, and numeric values.
Conversion Commands for Characters and Numeric Values
After conversion Before conversion Character code Character Numeric value Converted to character code Converted to Character string CHR$ ASC Converted to numeric value Converted to binary notation character string Converted to hexadecimal notation character string HEX$

VAL$

BIN$

STR$

7.7.3 Pose Type Data

The type conversion of pose type data can be executed using the following functions. The tool and work coordinate systems when type conversion is executed are reflected in the pose type data.
Conversion Commands for Pose Type Data
After conversion Converted to type P Before conversion Type P Type J Type T Converted to type J Converted to type

P2J J2P T2P T2J

P2T J2T

Example: J0 T0 P0 T0 P0 J0

= = = = = =

P2J P2T J2P J2T T2P T2J

(P0) (P0) (J0) (J0) (T0) (T0) 7-11

7.8 Constant
A constant is an expression with a fixed value. Constants in the PAC language are classified into the following.
1 Numeric value data Type I: Type F: Type D: Type S: Type V: Type P: Type J: Type T: integer type constant single precision real type constant double precision real type constant character string type constant (maximum of 247 characters) vector type constant (X,Y,Z) position type constant (X,Y,Z,RX,RY,RZ,FIG) (in case of 6 axes) joint type constant (J1,J2,J3,J4,J5,J6) (in case of 6 axes) homogeneous transformation type constant (Px,Py,Pz,Ox,Oy,Oz,Ax,Ay,Az,FIG) (Each element of type V, P, J, and T is single precision real.)

2 Character string data 3 Vector data 4 Pose data

Constants of each type are explained as follows.

7.8.1 Numeric Value Constant

[ 1 ] Integer Type Constant
This constant is an integer from -2147483648 to +2147483647. There are 3 kinds of notations for integer type constants: decimal, binary and hexadecimal.

Decimal Format
This is an integer type constant expressed using decimal numbers. If you add an integer type postposition % to a real type within a range of 2147483648 to +2147483647, it is regarded as a constant integer type with the digits after the decimal point rounded down. Example: 32767 -125 +10 3256.21% Since this is an integer type postposition, it is regarded as 3256.

Binary Format
This is an integer type constant expressed using binary numbers. This is expressed by an arrangement of 0s and 1s using &B at the head of the numeric value. If the range for a numeric value of an integer type constant is expressed in the binary format, it is &B0~&B11111111111111111111111111111111 (in the range of 32 bits). Example: &B110 &B0011

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Chapter 7 PAC Language Configuration Elements

Hexadecimal Format
This is an integer type constant expressed using hexadecimal numbers. This is expressed by an arrangement of 0 to F with &H at the head of the numeric value. If the range for a numeric value of the integer type constant is expressed in the hexadecimal format, it is &H0~&HFFFFFFFF (in the range of 32 bits). Example: &H100 &H3D5A

[ 2 ] Single Precision Real Type Constant

This is a constant of real type that has significant digit precision up to 7 digits. The range of a value is -3.402823E + 38 ~ 3.402823E + 38. The following 3 notation formats are available for a single precision real type constant. A number that has a single precision real type postposition ! at the end Exponential format with the use of E Real of 7 digits or less without the above designation Example: 1256.3 35.78! -9.345E-06

[ 3 ] Double Precision Real Type Constant

This is a real type constant that has significant digit precision up to15 digits. The range of a value is -1.79769313486231D + 308 ~ 1.79769313486231D + 308. The following 3 notation formats are available for a double precision real type constant. A number that has a double precision real type postposition # at the end Exponential format with the use of D Real of more than 7 digits or less than 15 digits without the above designation Example: 1256.325468 35.78# -9.345D-06 Note: An error may occur due to the internal expression and significant digit number of single precision real type constants and double precision real type constants. Example F1=10.0025 D1=10.0025 In this case, it is internally expressed as 1.0002499580383E+1, and if this is entered with the single precision real type, this becomes 10.00250 by rounding off the next digit of the significant digit number (8th digit). If this is entered with the double precision real type, this becomes a value like 10.002499580383 by rounding off the next digit of the significant digit number (16th digit).

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7.8.2 Character String Constant

The character string type constant is a constant used to express a character sting. Express a character string by putting it in double quotations. The length of a character string must be 247 characters or less. Example: PAC

7.8.3 Vector Type Constant

A vector type constant is a constant with vector expression consisting of components X, Y and Z. Each element of X, Y, and Z is expressed with single precision real. Example: Vector type constant is assigned to vector type variable V1. V[1] = (1,0,0)

7.8.4 Pose Constant

[ 1 ] Position Type Constant
A position type constant is comprised of position (X, Y, Z), posture (RX, RY, RZ) and figure (FIG), and it has 7 single precision real parameters. The position X, Y, and Z are expressed in units of mm, the posture(RX, RY, RZ) in units of rotation angle () and the figure (FIG) using numbers from 0 to 31 (undefined is -1). Note: If any value other than 0 to 31 is entered to FIG, the value you enter will be displayed but it will be internally handled as undefined (-1). The posture shows the rotation angle of the X-, Y- and Z-axes, and each right hand direction is taken as forward rotation. The range is limited to -180 ~ +180. Since the posture depends on the rotation sequence of axes, the rotation sequence is regulated only from the X-, Y- and Z-axes. Example: Position type constant is assigned to position type variable P1. P[1] = (100,200,300,10,20,30,0) X=100,Y=200,Z=300,RX=10,RY=20,RZ=30,FIG=0 The element component of a position type variable can be ignored in the aniddle of programming. If it is ignored, 0 is designated to Y, Z, RX, RY, RZ and -1 (undefined) to FIG. You cannot ignore the component X. For example, P[0] = (100,200,300) and P[0] = (100,200,300,0,0,0,-1) have the same meaning.

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Chapter 7 PAC Language Configuration Elements [ 2 ] Joint Type Constant

A joint type constant is constructed of each axis value from the 1st to 6th. Each axis value is expressed using single type real. The unit is degrees. Example: Joint type constant is assigned to axis type variable J1. J[0] = (10,20,30,40,50,60) '1~6 axes: 10,20,30,40,50,60 The element component of a joint type variable can be ignored in the middle of programming. If it is ignored, 0 is designated. You cannot ignore the J1 component. For example, J[0] = (10,20) and J[0] = (10,20,0,0,0,0) have the same meaning.

[ 3 ] Homogeneous Transformation Type Constant

A homogeneous transformation type constant is a pose constant that is expressed with 3 vectors of position, orient and approach, and with figure. The 3 vectors are expressed with 3 single precision real type parameters respectively. Therefore, the homogeneous transformation type constant should be expressed with 10 single precision real type parameters. The unit for the 3 elements of a position vector is mm. Note: The orient vector and the approach vector are both unit vectors with a size of 1 and must vertically intersect each other. If a vector is designated that does not satisfy the above conditions and it is in turn used with the motion command, the system takes priority over the approach vector and executes motion after automatically crossing the orient vector. Example: Assigns homogeneous transformation type constant to homogeneous transformation type variable T1. T[1] = (10,20,30,1,0,0,0,1,0,4)

7-15

7.9 Expression and Operator

An expression is used to return a value. There are expressions that have an independent value and expressions that are comprised of multiple elements linked via operators. All data type values in the PAC language are expressed with expressions. If the operators described in the following sections are used, the operation in the expression can be executed.

7.9.1 Assignment Operator

Use the assignment operator [=] in the assignment statement to assign variables. A value the on right side of the assignment operator is assigned to the left side. In the assignment statement, use the following commands according to the data type. LET, LETA, LETF, LETJ, LETO, LETP, LETR, LETRX, LETRY, LETRZ, LETX, LETY, LETZ Since a command can be ignored only for the LET command used to assign a numeric value variable, the following two expressions have the same meaning. Example: LET I1 = 5 'Assigns 5 to I1. I1 = 5 'Assigns 5 to I1.

7.9.2 Arithmetic Operator

Use the operators listed in Table 1-3 in arithmetic operations. An operation is executed with the priority shown in the table.
Table 1-3 Arithmetic Operators Arithmetic operator ^ *, / MOD +, Operation description Exponential (Exponentiation)Operation Negative sign Multiplication, division Remainder Addition, subtraction Low Operation priority High

Note (1): Note (2):

An error occurs in execution if division by 0 is executed. If a digit overflow occurs in addition or multiplication of integers, the overflow figures are ignored. Note that an error does not occur. Example: I1 = 2147483647 + 1 '2147483647 is the maximum allowable value of integer type variable. If the above expression is executed, the result is -2147483648. -2147483648 is the minimum allowable value of integer type variables.

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Chapter 7 PAC Language Configuration Elements

Note (3): An error occurs if a digit overflow occurs in addition or multiplication of real or if an attempt is made to assign a value that cannot be recorded with an integer type variable from the real type variable. In subtraction among integers, the result is rounded off to the maximum integer which does not exceed the result. The sign of an integer remainder is decided as given in below Table .

Note (4): Note (5):

Arithmetic Operators Divisor + Dividend + 0 + 0 Error Error Error + 0 + 0 -

7.9.3 Relational Operator

A relational operator is used to compare two numeric values. The result is obtained with a Boolean value (True 1 and False 0), and is used in a conditional expression in the flow control statement for example.
Relational Operators Relational operator = =. <> < > <= >= Operation description Equal to Nearly equal (Approximation comparison) Not equal to Less than Greater than Less than or equal to Greater than or equal to

Remark:

For comparison precision of the approximation comparison operator (=.), you can set with Approximation comparison precision of the program table in [Project Set] of [File] in [PAC manager].

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7.9.4 Logical Operator

The logical operator executes bit operations. An operation is executed after values other than integer type are converted to integer type. Note: If a value out of the permissible range is designated for integer type, an error occurs in execution.

Logical Operators Logical operator NOT AND OR XOR Operation description Negation Logical product Logical addition Exclusive logical addition

Example: Bit operation I1 = &B1100 XOR &B0101 The result of this example is &B1001.

NOTE: NOT operator The NOT operator is one of the logical bit operators, so it cannot negate any evaluation result of an expression such as I1=I2. (Refer to the PROGRAMMER'S MANUAL, Subsection 7.9.4.) The following sample cannot negate the evaluation result: if NOT (I1=I2) then If the result of I1=I2 is Truth, the NOT operator cannot make it False. To negate the evaluation result, write as follows: if (I1=I2) = FALSE then

7.9.5 Character String Operator

A character string can be linked with a character string operator +. Example: A$ = ABC + DEF 'A$ becomes ABCDEF.

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Chapter 7 PAC Language Configuration Elements

7.9.6 Vector Operation

In a vector operation, use the operators shown in below Table . An operation is carried out according to the priority shown in the table.
Vector Operators Vector operator ., *, x +, Operation description Inner product, scalar, outer product Addition, subtraction Operation priority High Low

Example1:Calculation of inner product of V1 and V2. F1 = V1 . V2 Example2:Calculation of twice of V1. V2 = V1 * 2 Example3:Calculation of outer product V1 and V2. V3 = V1 x V2 Note: Since the sign of the outer product operator is the letter x, be sure to add a blank character before and after the sign.

7.9.7 Position Operation

This is the operation executed for position type data. Only + can be used for operation of parallel motion and rotation deviation. Example1: Calculation of point P1 which is (dx, dy, dz) away from the reference point P0 deviation in the robot coordinate system. P1 = P0 + (dx, dy, dz) or P1 = P0 + (dx, dy, dz, 0, 0, 0) Example2: Calculation of point P2 which is (df, dg, dh) away from the current position in the tool coordinate system. P2 = * + (df, dg, dh)H or P2 = * + (df, dg, dh, 0, 0, 0)H Example3: Calculation of point P3 which is obtained so that the figure at the reference point is rotated by Rx (degree) around X axis, by Ry (degree) around Y axis and Rz (degree) around Z axis in the robot coordinate system. P3=P0 + (0, 0, 0, Rx, Ry, Rz) Example4: Calculation of point P4 which is (df, dg, dh) away from the current position in the tool coordinate system, and is rotated by Rx (degree) around the normal vector, by Ry (degree) around the orient vector, and Rz (degree) around the approach vector. P4=* + (df, dg, dh, Rx, Ry, Rz)H Note: A position type variable cannot be used for deviation.

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7.9.8 Joint Operation

This is the operation executed for joint type data. Only + can be used for operations of parallel deviation. Example: Calculation of point J1 which is (d1, d2, d3, d4, d5, d6) away from the reference point J0 deviation in the robot coordinate system. J1 = J0 + (d1, d2, d3, d4, d5, d6) Note : A joint type variable cannot be used for deviation.

7.9.9 Homogeneous Transformation Array Operation

This is the operation executed for homogeneous transformation arrays. For the product of a homogeneous transformation array, use the operator [*]. Example: Calculate T3 with product of T1 and T2. T3 = T1 * T2 Where, the figure T3 is set to that of T2.

7.9.10 Operator Precedence (Version 1.5 or later)

In Ver. 1.5, one program line may contain arithmetic operators, logical operators, and relational operators together. The precedence of those operators is shown below.
Operators Operations Precedence

^ *, /, ., x MOD +, NOT AND OR XOR =, =., <>, <, >, <=, >=

Index (Exponent) Negation Multiplication, division, inner product, outer product Modulo arithmetic Addition, subtraction Logical negation Logical multiplication Logical addition Exclusive logical addition Relational operators

High

Low

When more than one operator occurs at the same level of precedence, the Main Software resolves the expression by proceeding from left to right. The parentheses ( ) allow you to override operator precedence; that is, operations enclosed with parentheses are first carried out.

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Chapter 7 PAC Language Configuration Elements

Example of operator precedence

1. if IO128 = ON and IO129 = OFF then (1) (2) (3)

2. if (IO128 = ON) and (IO129 = OFF) (1) (2) (3)

then

In the above examples, the operation order is (1) through (3).

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7.10 Units for the PAC Language

Below Table shows the units of expression for each physical value in the PAC language.
Units of Expression for Each Physical Value in the PAC Language Physical value Length Angle Time Speed Acceleration Deceleration Unit Millimeter (mm) Degree (DEGREE) Millisecond (msec.) % (Rate of the maximum speed) % (Rate of the maximum acceleration) % (Rate of the maximum deceleration)

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Chapter 8 PAC Language Syntax

This chapter provides an explanation of the regulations for writing a program using the PAC language.

Chapter 8 PAC Language Syntax

8.1 Statement and Line

A PAC language program is configured with multiple lines. One statement can be described on an arbitrary line. The length of a line may be up to 255 bytes. A statement is the minimum unit to describe a process in the PAC language and it is comprised of one command. A command is comprised of a command name and the information (parameter) given to the command.

8-1

8.2 Program Name and Declaration

Declare the items required for program execution such as the program name and variables prior to execution. Especially if a program name is declared, it must be declared on the first valid line of the program. This statement is called a PROGRAM declaration statement. The PROGRAM declaration statement can be ignored. If ignored the program file name is used as the program name. For example, if the program file name is PRO1.PAC, and another name is not designated with a PROGRAM declaration statement, the program name is set to PRO1. If a PROGRAM declaration statement is ignored, an argument cannot be passed when a program is called. Moreover, it becomes hard to understand a program when edited. Do not ignore a PROGRAM declaration statement unless there is a special reason. For calling a program, refer to 2.1 Calling a Program and Subroutine. Note (1): Programs that can be run by teach pendant operation are limited to ones without any arguments. And programs that can be called with an external device are limited to ones with a program name using the format PRO <number>. Programs that cannot be run with the teach pendant or an external device can be called from other programs. Note (2): When a program with a program name that uses the format PRO<number> is called, an argument cannot be passed. Note (3): If PRO is set for the first 3 letters of a program name, be sure to add a number. Since <Number> is interpreted as numerals, it may be handled as PRO1 it may be handled as PRO1 even if it is described as PRO01 or PRO001.

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Chapter 8 PAC Language Syntax

8.3 Label
A label can be used to indicate a branch destination and the position of a statement in a program. The following rules apply when using a label. A label name starts with an asterisk ( * ) . The second letter of a label name must be an arbitrary alphabet letter. Any combination of alphabet letters and numerals can be used for the third letter and the following letters in a label name. The last letter of a label name must be a colon ( : ) . A reserved word cannot be used as a label name. A label name to be referred to must be placed at the head of a line. An error occurs if the same label name to be referred to is duplicated. The range in which a label can be referred to is only in the program where the label is present. PROGRAM WITH_LABEL IF IO138=1 THEN*ACTION: ELSE *ACTION: SPEED 100 MOVE P, P1 DELAY 200 MOVE P, P2 *NOACTION: DELAY 200 END IF END
Program Example Using Label

*NOACTION:

8-3

8.4 Character Set

The characters which can be used in the PAC language include alphabet letters, numerals, and symbols. For the alphabet letters, no distinction is made between upper case and lower case letters. The symbols include the following in addition to arithmetic operators of (+, -, *, /). Comma ( , ) Used to separate each parameter. Semicolon ( ; ) Used to separate each parameter in an argument of a command. Single quotation ( ' ) Used as a substitute for the REM command. Double quotation ( " ) Used to designate character string data by placing these quotations at the head and end of an arbitrary character string. Asterisk ( * ) Used at the head of a label name. This indicates the current position of the interface coordinate system. Blank Always required at the head and end of an instruction name. Note: You can include the Chinese character codes (Shift JIS) into the comment of the REM statements and string constants

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Chapter 8 PAC Language Syntax

8.5 Reserved Word

A word which has fixed usage for PAC language processing such as command names or operators are called a reserved word. To use reserved words, special characters must be inserted (blank characters, , # and :) before and/or after each word, in order to identify them. Reserved words in the PAC language are given in Reserved word list in Appendix-5. A reserved word cannot be used itself as a variable name or label, but a name which includes a reserved word can be used. For example, HOME is a reserved word, but you can use a name such as HOME1 for a variable name or label.

8-5

8.6 Declaration Statement

Declare definitions in a declaration statement before using variables, constants, functions and so on that are required to have designated names or types in a program. The following 3 broad types of statements fall under the declaration statement. : declares the type of a variable on : constant. Function/program declaration : declares a function or program. User coordinate system declaration : declares a user coordinate system. Type declaration

8.6.1 Type Declaration

[ 1 ] Type Declaration Character (Postposition)
Fixed postpositions can be used to declare a variable type. Postpositions are as follows.
Type Declaration Characters (Postpositions) Type Integer type postposition Single precision real type postposition Double precision real type postposition Character string type postposition Postposition % ! # $ Example A% A! A# A$

Note:

The variable type in a program is handled as the type first declared. Even if a different type postposition from the declaration is used in the middle of a program, the type is not identified. A, A%, A!, A#, and A$ are recognized as the same variables and are registered as the type first used. Therefore, an error will occur if a different type postposition from the one first used is used.

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Chapter 8 PAC Language Syntax [ 2 ] Type Declaration Instruction

The following type declaration commands can be used to declare the variable type.
Type Declaration Instructions Type Integer type Single precision real type Double precision real type Character string type Vector type Position type Joint type Homogeneous transformation type Command DEFINT DEFSNG DEFDBL DEFSTR DEFVEC DEFPOS DEFJNT DEFTRN Example DEFINT AA, AB DEFSNG BA, BB DEFDBL CA, CB DEFSTR DA, DB DEFVEC EA, EB DEFPOS FA, FB DEFJNT GA, GB DEFTRN HA, HB

In these commands a variable can be initialized together with type declaration. In a declaration statement using these commands, a postposition cannot be added to a variable name. Example:
DEFINT AA = 1 DEFSNG BB (10) 'Assigns 1 to AA as an integer type. 'Sets BB to a single precision real type 'of which number of elements is 10.

Bad example: DEFINT AB%

'An

error

occurs

because

'postposition is used.

8-7

[ 3 ] Array Declaration
This is a declaration statement for an array. An array can be created for all types except for an I/O variable by adding a postposition to a variable name. However, an array cannot be initialized together with the declaration. The subscript of an array must be 0 or more. The array can be up to 3 dimensions. The upper limit of the total number of elements for an array is 32767.
Array Declaration Type Array declaration Command DIM Example DIM AA (10,10)

Example of array declaration:

DIM CC (3,3,3) integer AS INTEGER 'Sets CC to 3-dimensional array of an 'type.

The above example can be expressed as follows by the use of a DEFINT command.
DEFINT CC (3,3,3) integer 'Sets CC to 3-dimensional array of an 'type.

Note:

Difference between DEF??? statement and DIM statement A DIM statement can be used for more than just an array. For example, instead of DEFINT CC, Express as follows. DIM CC AS INTEGER Since it cannot be initialized at the same time as the type declaration, a DIM statement is more universal than a DEF??? statement. For example, the following expression cannot be created using a DIM statement. DEFINT CC = 1 'Declares CC as an integer type and sets the initial value to 1. If it is not initialized together with the declaration, all types of arrays can be handled in the same manner. Therefore, using a DIM statement is recommended.

[ 4 ] I/O Variable Declaration

A variable name corresponds to a specific I/O port.
I/O Variable Declaration Type I/O variable declaration Command DEFIO Example DEFIO PORT = BYTE,104

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Chapter 8 PAC Language Syntax

8.6.2 Function/program Declaration

Commands used to declare a function or a program name are as follows.
Function/Program Declaration Type Function declaration Program declaration Command DEF FN PROGRAM Example DEF FN AREA (R) = PI * R * R PROGRAM PRO1

8.6.3 User Coordinate System Declaration

Commands shown below are used to declare a user coordinate system.
User Coordinate System Declaration Type Interference area declaration Tool coordinate system declaration Work coordinate system declaration Command AREA TOOL WORK Example AREA 1, P0, V0, 15, 6 TOOL 1, P0 WORK 1, P0

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8.7 Assignment Statement

An assignment statement sets a value for a variable of each type. There are 4 assignment statements for numeric values; assignment statement, character string assignment statement, vector assignment statement and pose assignment statement. Note: The LET command can be ignored in all assignment statements.

8.7.1 Numeric Value Assignment Statement

A numeric value assignment statement assigns a value to a numeric value variable. Example: LET I[1] = 10 D[2] = 3.14 'Assigns 10 to I[1]. 'Assigns 3.14 into D[2].

8.7.2 Character String Assignment Statement

A character string assignment statement assigns a character string type variable. Example: S[2] = "DENSO" LET SS$ = S[2] 'Assigns "DENSO" to S[2]. 'Assigns a value of S[2] to SS$.

8.7.3 Vector Assignment Statement

A vector assignment statement assigns a vector type variable. The following 4 commands can be used.
Vector Assignment Statements Type Vector type assignment X component assignment Y component assignment Z component assignment Command LET LETX LETY LETZ Example LET V[2] = (1,2,3) LETX V[2] = F1 LETY V[2] = F1 LETZ V[2] = F1

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Chapter 8 PAC Language Syntax

8.7.4 Pose Assignment Statement

There are 4 types of pose assignment statements: position assignment statement, joint assignment statement, homogeneous transformation assignment statement, and home position assignment statement.

[ 1 ] Position Assignment Statement

A position assignment statement assigns a position type variable. following commands can be used.
Position Assignment Statements Type Position type assignment Position vector assignment Rotation vector assignment X component assignment Y component assignment Z component assignment RX component assignment RY component assignment RZ component assignment Figure component assignment Command LET LETP LETR LETX LETY LETZ LETRX LETRY LETRZ LETF Example LET P[3] = (10, 10, 10, 0, 0, 0) LETP P3 = V1 LETR P3 = V2 LETX P[3] = F1 LETY P[3] = F1 LETZ P[3] = F1 LETRX P[3] = F1 LETRY P[3] = F1 LETRZ P[3] = F1 LETF P[3] = I1

The

[ 2 ] Joint Assignment Statement

A joint assignment statement assigns a joint type variable. commands can be used.
Joint Assignment Statements Type Joint type assignment Axis component assignment Command LET LETJ Example LET J[4] = (1, 2, 3, 4, 5, 6) 6 axes LETJ 1, J[4] = F1

The following

8-11

[ 3 ] Homogeneous Transformation Assignment Statement

A homogeneous transformation assignment statement assigns a value to a homogeneous transformation type variable. The following commands can be used.
Homogeneous Transformation Assignment Statements Type Homogeneous transformation assignment Position vector assignment Orientation vector assignment Approach vector assignment Figure component assignment
Command

Example LET T[x]= (1, 2, 3, 4, 5, 6, 7, 8, 9, 4) LETP T[x] = V1 LETO T[x] = V[1] LETA T[x] = V2 LETF T[x] = I1

LET LETP LETO LETA LETF

[ 4 ] Home Position Assignment Statement

A home position assignment statement sets an arbitrary position as the home position.
Home Position Assignment Statements Type Home position assignment
Command

Example HOME * or HOME CURPOS Sets the current position as the home position.

HOME

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Chapter 8 PAC Language Syntax

8.8 Flow Control Statement

Use a flow control statement to control the execution sequence of each statement in a program. Use a label in a program control flow statement to indicate the position of it in a program. The flow control can be roughly classified into 5 statements: unconditional branch, conditional branch, selection, repeat and calling defined process.

8.8.1 Unconditional Branch

Use this to transfer program execution to an arbitrary position. Describe a label for the statement you would like to execute next, after the GOTO command. Example: GOTO *LABEL1

8.8.2 Conditional Branch

If an IF ~ THEN ~ ELSE statement or IF ~ ENDIF statement is used, a branch destination determines whether the designated condition is satisfied. If the relational expression value described just after IF is true (TRUE (1) ), the process after THEN is executed. Otherwise, the process after ELSE is executed.

8.8.3 Selection
Depending on the value of a designated expression, the process to be executed is selected. There are 3 commands. In SELECT CASE statements, place an arithmetic expression after CASE on the SELECT line. The process is executed from the line of CASE that has a value satisfying this arithmetic expression to the next CASE line or the END SELECT line. If those CASE lines do not satisfy the expression, the process is executed from the line after CASE ELSE to the END SELECT line. In ON ~ GOSUB statements place an arithmetic expression after ON. The process proceeds to a subroutine according to the value of the arithmetic expression. In ON ~ GOTO statements place an arithmetic expression after ON. The process proceeds to a label name according to the value of the arithmetic expression.

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8.8.4 Repeat
This controls repetition according to a designated condition. commands for this. There are 4

In FOR ~ NEXT statements, place a repetition condition after the FOR line. The process from FOR to the corresponding NEXT line repeats until this condition is satisfied. In DO ~ LOOP statements, place a relational expression after WHILE or UNTIL. While this is satisfied (in the case of WHILE) or until this is satisfied (in the case of UNTIL) , the process between the DO line and the Loop line repeats itself. In WHILE ~ WEND statements, place a relational expression after WHILE. While this is satisfied, the process between the WHILE line and the WEND line repeats itself. This has the same function as DO WHILE ~ LOOP statements. In REPEAT ~ UNTIL statements, place a relational expression after UNTIL. Until this is satisfied, the process between the REPEAT line and the UNTIL line repeats itself. This has the same function as DO ~ LOOP UNTIL statements.

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Chapter 8 PAC Language Syntax

8.8.5 Calling Defined Process

If a part of a program that repeats a particular motion is separated, the part can be called as it is required. This is referred to as a calling defined process. For the calling defined process there are two kinds of calling; subroutine calling and program calling.

[ 1 ] Subroutine
If a subroutine is called, designate a destination with a label in a GOSUB statement. The subroutine must be written in the same file as the program to be called. The last line of the subroutine should have a RETURN statement. After a series of processes are performed, the RETURN statement is executed and control is returned to the next line in the program which called the subroutine.

Main routine (Calling routine)

*SUBROUTINE:

Subroutine
*SUBROUTINE:

Subroutine Calling Structure

8-15

[ 2 ] Program
If a program is called, designate the program name in a CALL statement and execute it. A recursive call can also be executed. For details refer to 2.1 Calling a Program and Subroutine.
PROGRAM PRO1

PROGRAM MOTION

Program Calling Structure

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Chapter 8 PAC Language Syntax

8.9 Robot Control Statement

Robot control statements can be roughly classified into a motion control statement, a figure control statement, a stop control statement, a speed control statement, a time control statement, and a coordinate transformation statement.

8.9.1 Motion Control Statement

A statement to control the robot motion is called a motion control statement. There are robot arm motion control statements, hand control statements and motor control statements.

[ 1 ] Robot Arm Control

There are four types of robot arm motion control statements; statements for type P, type J, type T and for data other than P/J/T.

Destination Pose: Type P, J, T Data

Motion Control Commands (The Destination Pose is Data of Type P, J and T.) Type of motion General movement Approach movement Depart movement Command MOVE APPROACH DEPART

Destination Pose: Oher Than Type P, J, T Data

Motion Control Commands (The Destination Pose is Other Than Type P, J and T.) Type of motion Rotation movement Approach direction rotation movement Translation movement Each axis relative motion Each axis absolute motion Home position movement Command ROTATE ROTATEH DRAW DRIVE DRIVEA GOHOME

8.9.2 Stop Control Statement

The stop control statement stops or ends program execution.
Stop Control Commands Type of motion Execution temporal stop Execution stop Execution end Motion abort Command HOLD HALT STOP INTERRUPT Remark Stop after a step. Instantaneously stops SUSPENDs own task. KILLs own task. Instantaneously stops due to interruption.

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8.9.3 Speed Control Statement

A speed control statement can be used to set the movement speed, as well as the acceleration and deceleration of the arm.
Speed Control Commands Type of motion CP control speed designation PTP control speed designation CP control acceleration deceleration PTP control acceleration deceleration CP control deceleration designation PTP control deceleration designation Command SPEED JSPEED ACCEL JACCEL DECEL JDECEL

8.9.4 Time Control Statement

A time control statement executes motion control of the robot according to the elapsed time.
Time Control Commands Type of motion Designated time stop Conditional stop Command DELAY WAIT

8.9.5 Coordinate Transformation Statement

A coordinate transformation statement changes the coordinate system.
Coordinate Transformation Commands Type of motion Tool coordinate system change Work coordinate system change Enables interference check area Disables interference check area Command CHANGETOOL CHANGEWORK SETAREA RESETAREA

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Chapter 8 PAC Language Syntax

8.10 Input/output Control Statement

There are 3 types of input/output control statements; DI/DO statement, RS232C control statement and pendant control statement.

8.10.1 DI/DO Control Statement

A DI/DO control statement controls I/O port input/output.
DI/DO Control Commands Type of motion Data reading Data writing I/O port ON I/O port OFF Non-motion instruction concurrent processing Command IN OUT SET RESET IOBLOCK

8.10.2 RS232C Control Statement

An RS232C control statement controls RS232C port input/output.
RS232C Control Commands Type of motion Data printing Data reading Data writing Buffer clear Command PRINT INPUT WRITE FLUSH

8.10.3 Pendant Control Statement

A pendant control statement sets pendant input and output.
Pendant Control Commands Type of motion Debug screen output Operation panel button definition Message screen output Sounds buzzer TP Operation Screen definition Command PRINTDBG PRINTLBL PRINTMSG BUZZER

set_button set_page change_bCap change_pCap disp_page 8-19

8.11 Multitasking Control Statement

Multitasking control statements include a task control statement and a semaphore control statement.

8.11.1 Task Control Statement

A task control statement controls tasks except for those which include a task control statement.
Task Control Commands Type of motion Task creation and running Task abort Task deletion Task protection Command RUN SUSPEND KILL DEFEND

8.11.2 Semaphore Control Statement

A semaphore control statement executes semaphore-related control.
Semaphore Control Commands Type of motion Semaphore creation Semaphore deletion Semaphore release Semaphore obtaining Semaphore waiting task release Command CREATESEM DELETESEM GIVESEM TAKESEM FLUSHSEM

8.11.3 Special Semaphore Control Statement

Special Semaphore Control Statements Type of motion Arm semaphore release Arm semaphore obtaining Vision semaphore release Vision semaphore obtaining Command GIVEARM TAKEARM GIVEVIS TAKEVIS

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Chapter 8 PAC Language Syntax

8.12 Time and Date Control

Time and data control statements obtain the current time and date, the elapsed time, and the control interruption due to time.
Time and Date Control Commands Type of motion Obtains the current date Obtains the current time Obtains the elapsing time Command DATE$ TIME$ TIMER

8-21

8.13 Error Control

An error control statement controls interruption due to an error.
Error Control Commands Type of motion Error interruption definition Error code Error line Error recovery Command ON ERROR GOTO ERR ERL RESUME

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Chapter 8 PAC Language Syntax

8.14 System Information

System information can be obtained using the following commands.
System Information Commands Type of motion Obtains the system environment setting value System environment setting value assignment Obtains the ROM version information Obtains the program status. Command GETENV LETENV VER$ STATUS

8-23

8.15 Preprocessor
A preprocessor statement controls character string replacement or file fetch when a program is converted (compiled) into execution form.
Preprocessor Command Type of motion Replacing a character string with a constant and macro name Canceling a #define statement File fetch Pseudo-error occurrence Designates program optimization Command #define #undef #include #error #pragma optimize

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Chapter 8 PAC Language Syntax

8.16 Calling with a Value and with Reference

It may be desired to pass data to a program when another program is called from the current program. In this case the data can be passed by adding an argument list after by the program name to be called. Calling with a value directly passes a value while calling with reference passes variables using an argument passing method. The commands to call a program are CALL and RUN. For the CALL command, both calling methods can be used, however, for the RUN command, only calling with a value can be used. The type of argument passed to a program must match that of the argument described in the program to be called. Therefore, if a constant is passed, a type declaration character must be added. And in the program to be called, a type declaration character must be added to the argument name because the argument is declared as a local variable.

8.16.1 Calling with a Value

When constants are passed, expressions and character strings always use values. If a variable is enclosed in parenthesis, it is regarded as an expression. Thus, even a variable can be passed with a value. Example: Method of calling a program PROGRAM SUB1 (AA#). If a variable is passed as a value If a constant is passed If an expression is passed CALL SUB1 ( (D1) ) CALL SUB1 (10#) CALL SUB1 (D1 + D2)

Note 1: When a variable is passed as a value, calling with a value of the entire array is impossible. If you write such a calling, it will be processed as "calling with reference." Note 2: When an expression is passed, note the type of the result of the expression. It must be the same as the type of the argument of the program to be called.

8-25

8.16.2 Calling with Reference

A local variable can be passed as an argument. To designate an entire array as an argument, put the array name in parentheses. When the contents of a variable passed by calling with reference are changed in the program to be called, the change is valid even if the flow returns to the calling program. Example 1: If you call the program PROGRAM SUB1 (AA#) If a local variable is passed 1 (When DD has been declared with DEFDBL) CALL SUB1 (DD#) If a local variable is passed 2 (When DA has been declared with DEFDBL) CALL SUB1 (DA) Note: A value must be assigned to a local variable beforehand. In the following case, use a value to pass. CALL SUB1 (D1) Example 2: If the program PROGRAM SUB2 (BB% (10)) is called If the entire array is called (When AB% (10) has been declared with DIM) CALL SUB2 (AB% ())

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Chapter 8 PAC Language Syntax

8.17 Vision Control

8.17.1 Image Input/output
The commands below control camera images and image data in memory.
Image Input/Output Control Commands Type of motion Stores camera images in memory Camera image storage function setting Camera image input level setting Displays camera images on the monitor Displays memory images on the monitor Displays draw screen information on the monitor Look-up table data setting Look-up table data reference Command CAMIN CAMMODE CAMLEVEL VISCAMOUT VISPLNOUT VISOVERLAY VISDEFTABLE VISREFTABLE

8.17.2 Window Setting

The commands below are used to execute window (range for executing image processing) editing.
Window Setting Commands Type of motion Window information setting Window information clear Window information copy Window information reference Window draw Command WINDMAKE WINDCLR WINDCOPY WIMDREF WINDDISP

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8.17.3 Draw
The commands below are used to control the draw motion in storage memory (processing screen) and overlay memory (draw only screen) .
Draw Commands Type of motion Draw destination screen designation Brightness designation in draw Screen deletion Point draw Line draw by designating length and angle Line draw by connecting 2 points Rectangle draw Circle draw Ellipse draw Sector draw Cross symbol draw Character display position designation Draw character setting Character display Command VISSCREEN VISBRIGHT VISCLS VISPUTP VISLINE VISPTP VISRECT VISCIRCLE VISELLIPSE VISSECT VISCROSS VISLOC VISDEFCHAR VISPRINT

8.17.4 Image Processing

The commands below are used to execute image data processing.
Image Processing Commands Type of motion Process object screen designation Designated coordinate brightness obtaining Histogram measurement Histogram result reference Binarization level calculation Binarization process Binarization display Filter process Operation between images Screen copy Measurement of area, center of gravity, and main axis angle Projection data measurement Edge measurement Command VISWORKPLN VISGETP VISHIST VISREFHIST VISLEVEL VISBINA VISBINAR VISFILTER VISMASK VISCOPY VISMEASURE VISPROJ VISEDGE

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Chapter 8 PAC Language Syntax

8.17.5 Code Recognition

The command below executes QR code reading.
Code Recognition Command Type of motion QR code reading Command VISREADQR

8.17.6 Labeling
The commands shown below are used to execute label processing.
Labeling Commands Type of motion Labeling execution Feature measurement for label number Label number obtaining Label image copy Command BLOB BLOBMEASURE BLOBLABEL BLOBCOPY

8.17.7 Search Function

The commands below are used to execute registration and search of image models.
Search Function Commands Type of motion Search model registration Registered model information obtaining Registered model copy Registered model deletion Registered model display Model search Corner search condition setting Corner search Circle search condition setting Circle search Command SHDEFMODEL SHREFMODEL SHCOPYMODEL SHCLRMODEL SHDISPMODEL SHMODEL SHDEFCORNER SHCORNER SHDEFCIRCLE SHCIRCLE

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8.17.8 Result Obtaining

The commands below are used to obtain information related to the contents of results after image processing.
Result Obtaining Commands Type of motion Image process result obtaining Control recognition result obtaining Image process result X coordinate obtaining Image process result Y coordinate obtaining Process result status obtaining Command VISGETNUM VISGETSTR VISPOSX VISPOSY VISSTATUS

8.17.9 Vision Calibration

The command below is used to obtain calibration (vision-robot coordinate transformation) data.
Vision Calibration Command Type of motion Coordinate transformation data obtaining Command VISREFCAL

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Chapter 9 Declaration Statements

When variables or functions are used in a program they must be defined with a declaration statement. The declaration statement commands explained in this chapter are used for this purpose. However, system variables and built-in functions can be used directly in a program without declaration.

Chapter 9 Declaration Statements

9.1 Program Name

PROGRAM (Statement)
Function
Declares a program name.

Format
PROGRAM <Program name> [(<Argument>[,<Argument>...])]

Explanation
This statement declares the character string designated in <Program name> as the program name. Declare a program name on the first line of the program. If there is no program name declaration on the first line, the file name becomes the program name. When the program name has a name in a PRO <Number> format, an argument cannot be used. The first character of a program name must be an alphabetic letter. A maximum of 64 letters can be used for program name. For <Argument>, the argument data sent from the calling side is applied. If a variable is sent as an argument using a CALL statement and the value of the variable specified with <Argument> in the PROGRAM statement is changed, the value of the variable specified in <Argument> on the calling side also changes. The <Argument> type must be the same type as that in the CALL statement. The type is expressed as follows using a postposition or AS expression. PROGRAM SUB0 (aa%, bb!) PROGRAM SUB0 (aa AS INTEGER, bb AS SINGLE) If an array variable is used in <Argument>, enter the maximum value of the array subscript defined in the DIM statement as well as the number of subscripts. A maximum of 32 <Argument>s can be used. Programs which can be started from the operating panel and external devices are only programs of PRO <number>.

Related Terms
CALL

Example
PROGRAM PRO1 PROGRAM SUB2 ( la, lb%, lc# ) PROGRAM SUB3 ( lb%( 12, 5 ) ) 'Declares PRO1 as the program name. 'Declares SUB2 which includes arguments of la, lb%, 'and lc# as a program. 'Declares SUB3 as a program and receives arguments 'with a two-dimensional array of lb%. In this example 'the array 'subscripts are 12 and 5.

PROGRAM SUB0 ( la%, lb! ) PROGRAM SUB0 ( la As Integer, lb As Single )

9-1

9.2 Interference Area Coordinates

AREA (Statement )
Function
Declares the area where an interference check is performed.

Format
AREA <Area number>, <Position>, <Vector>, <I/O number>, <Position type variable number for storing interference position> [,<Error output>]

Explanation
This statement declares an interference check area. The number of areas that can be declared with <Area number> is 8, from 0 to 7. <Position> is the center position and angle of an interference check area. <Vector> designates the interference check area zone. The side length of an area becomes twice each component of <Vector>. Designate the I/O number, which is set when interference occurs in the interference check area, to <I/O number>. The status of I/O is maintained until RESETAREA is executed or the I/O is RESET. In Version 1.8 or later, <I/O number> can be expressed in variable such as IO104 or IO[104]. Also in Version 1.8 or later, setting -1 to <I/O number> prohibits output to the I/O line. <P variable number for interference position> is a position variable number in which you want to save the coordinates where area interference occurs. In Version 1.8 or later, <P variable number for interference position> can be expressed in position variable such as P55 or P[55]. Also in Version 1.8 or later, setting -1 to <P variable number for interference position> prohibits assignment to the position variable. In Version 1.8 or later, <Error output> is any of the following numbers. <Error The system will detect Error signal output output> it as an error when: 0 No 1 Yes The robot arm invades the defined area. 2 Yes (You may switch to Manual mode and operate the robot manually for recovery.) 3 No The robot arm exits 4 Yes from the defined area. 5 Yes (You may switch to Manual mode and operate the robot manually for recovery.) To check interference, the system compares the cube defined as an interference check area with the origin of the currently active tool coordinates. If the origin of the tool coordinates is inside the interference check area, then the system determines it as interference. If area interface is detected and the I/O signal is set to active, then the system will get the origin of the current tool coordinates in the user coordinates into a position variable number specified by <P variable number for interference position>. Usually, the origin of the tool coordinates lies on the surface of the cube; however, if the origin lies inside the cube at execution of SETAREA, the system gets that position into <P variable number for interference position>. The interference area can be set using either WINCAPSII or the teach pendant. 9-2

Chapter 9 Declaration Statements Notes

The center position of an area is always based on WORK0. Even if the user coordinate system is changed, the position of the interference check area will not change.

Tool coordinate reference point for WORK 1. Tool coordinate reference point for WORK 0. Interference check area

Z axis Z axis In t er fer en ce ch eck area Interference check ar ea

Vect or Vector Z com pon en t Z component

X Y com pon en t component X axis Y a xis

P osit ion Position

X com pon en t Ycomponent

YX a xis axis

Related Terms
SETAREA, RESETAREA, AREAPOS, AREASIZE

Example
6-/4-axis AREA 2, P50, V10, 104, 55 'Defines an area at number 2 specified by P50'and V10. SETAREA 2 'Makes area check of number 2 valid. RESETAREA 2 'Makes area check of number 2 invalid. AREA 2, P50+(100, 100, 0, 10, 'Defines an '(100, 100, SETAREA 2 'Makes area RESETAREA 2 'Makes area 0, 0), V10, 104, 55 area at number 2 specified by P50+ 0, 10, 0, 0) and V50. check of number 2 valid. check of number 2 invalid.

6-axis

4-axis

AREA 2, P50+(100, 100, 0, 10), V10, 104, 55 'Defines an area at number 2 specified by P50+ '(100, 100, 0, 10) and V50. SETAREA 2 'Makes area check of number 2 valid. RESETAREA 2 'Makes area check of number 2 invalid.

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9.3 User Function

DEF FN (Statement) [Conforms to SLIM]
Function
Declares a user-defined function.

Format
DEF FN <Function name>[<Postposition>] = <Constant> DEF FN <Function name>[<Postposition>](<Argument>[,<Argument>...]) = <Arithmetic expression>

Explanation
This statement declares a <Function name> starting with FN as the user defined function. Designate a variable name used in <Arithmetic expression> for <Argument>. <Postposition> can be ignored. However, if it is added the variable type can be declared with it. For postpositions, the following can be used. Integer type postposition: % Single precision type postposition: ! Double precision type postposition: # Character string type postposition: $ If the postposition is ignored, the single precision real type is applied. A different variable type with the same variable name cannot be declared.

Example
DEF FND$ = DENSO DEF FNLAP# (radius) = 2 * PI * radius 'Declares FND$ as a user defined function. 'Declares FNLAP# (radius) as a user defined 'function of the double precision real type. DEF FNAREA (radius) = PI * POW(radius, 2) 'Declares FNAREA (radius) as user defined 'function of the single precision real type. PRINT #1, FND$ 'Outputs DENSO from ch1. PRINT #2, HANKEI PRINT #1, FNLAP# (HANKEI) 'Outputs the value of (2 * PI * HANKEI) from 'ch1. PRINT #2, FNAREA (HANKEI) 'Outputs the value of (PI * POW(HANKEI, 2) 'from ch2.

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Chapter 9 Declaration Statements

9.4 Home Coordinates

HOME (Statement)[Conforms to SLIM]
Function
Declares arbitrary coordinates as a home position.

Format
HOME <Position type>

Explanation
Declares arbitrary coordinates designated with <Position type> as a home position. Define a home position for each program. If multiple HOME statements are declared, the most recent declaration is taken as the home position.

Related Terms
GOHOME

Example
6-axis DIM lp1 As Point HOME (350, 0, 450, 0, 0, 180) 'Declares the coordinates of (350, 0, 450, 0, 0, 180) 'as a home position. HOME lp1 'Declares the coordinates of lp1 as a home position. DIM lp1 As Point HOME (200, 300, 300, 45, 0) 'Declares the coordinates of (200, 300, 300, 45, 0) 'as a home position. HOME lp1 'Declares the coordinates of lp1 as a home position.

4-axis

9-5

9.5 Tool Coordinates

TOOL (Statement)
Function
Declares a tool coordinate system.

Format
TOOL <Tool coordinate system number>, <Position type>

Explanation
Declares a position specified with <Position type> as the tool coordinate system specified with <Tool coordinate system number>. A number from 1 to 63 can be specified for the tool coordinate system number.

Related Terms
CHANGETOOL, TOOLPOS

Example
6-axis DIM lp1 As Point TOOL 1, lp1 'Declares lp1 as the tool coordinate system of tool 'coordinate system number 1. TOOL 2, (100, 100, 50, 0, 90, 0) DIM lp1 As Point TOOL 1, lp1

4-axis

'Declares lp1 as the tool coordinate system of tool 'coordinate system number 1. TOOL 2, (100, 100, 50, 0)

Notes
Values changed by this command are maintained while power is on. You should save the system parameters (see P5-153 in Setting-ups) if you want to keep values after power is turned off.

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Chapter 9 Declaration Statements

9.6 Work Coordinates

WORK (Statement)
Function
Declares a user coordinate system.

Format
WORK <User coordinate system number>, <Position type>

Explanation
Declares the user coordinates assigned to the position type variable shown in <Position type> as the user coordinate system specified by <User coordinate system number>. A number from 1 to 7 can be used for the user coordinate system number.

Related Terms
CHANGEWORK, WORKPOS

Example
6-axis DEFINT li1 li2 WORK 1, P1 'Declares coordinates assigned to position type 'variable number 2 as the user coordinate system in 'user coordinate system number 1. WORK li1, P[li2] 'Declares coordinates assigned to the position type 'variable expressed with li2 as the user coordinate 'system in the 'user coordinate system number expressed 'by li1. WORK li1, (100, 100, 50, 0, 0, 90) DEFINT li1 li2 WORK 1, P1

4-axis

'Declares coordinates assigned to position type 'variable number 2 as the user coordinate system in 'user coordinate system number 1. WORK li1, P[li2] 'Declares coordinates assigned to the position type 'variable expressed with li2 as the user coordinate 'system in the 'user coordinate system number expressed 'by li1. WORK li1, (100, 100, 50, 0)

Notes
(1) If values for the robot work area are set beyond the X, Y and Z elements of the work coordinates, the specified robot position may shift due to an arithmetic overflow. Use values within the robot work area for the X, Y and Z elements of the work coordinates. (2) Values changed by this command are maintained while power is on. You should save the system parameters (see P5-153 in "Setting-ups") if you want to keep values after power is turned off.

9-7

9.7 Local Variable

DEFINT (Statement)
Function
Declares an integer type variable. 2147483648 to 2147483647. The range of the integer is from

Format
DEFINT <Variable name>[=<Constant>][,<Variable name>[=<Constant>]...]

Explanation
This statement declares the variable designated by <Variable name> as the integer type variable. By writing a constant after <Variable name>, initialization can be carried out simultaneously with the declaration. Multiple variable names can be declared at a time by delineating the names using ,.

Related Terms
DEFDBL, DEFSNG, DEFSTR

Example
DEFINT lix, liy, liz DEFINT lix = 1 'Declares lix, liy, and liz as integer type variables. 'Declares lix as an integer type variable and sets 'the initial value to 1.

9-8

Chapter 9 Declaration Statements

DEFSNG (Statement)
Function
Declares a single precision real type variable. The range of single precision real variables is from -3.402823E+38 to 3.402823E+38.

Format
DEFSNG <Variable name>[=<Constant>][,<Variable name>[=<Constant>]...]

Explanation
This statement declares a variable designated by <Variable name> as a single precision real type variable. By writing a constant after <Variable name>, initialization can be done simultaneously with the declaration. Multiple variable names can be declared at a time by separating them with a comma ,.

Related Terms
DEFDBL, DEFINT, DEFSTR

Example
DEFSNG lfx, lfy, lfz DEFSNG lfx = 1.0 'Declares lfx, lfy, and lfz as single precision real type 'variables. 'Declares lfx as a single precision real type variables and 'sets the initial value to 1.0.

9-9

DEFDBL (Statement)
Function
Declares a double precision real type variable. The range of double precision real type variables is from -1.79769313486231D + 308 to 1.79769313486231D + 308.

Format
DEFDBL <Variable name>[=<Constant>][,<Variable name>[=<Constant>]...]

Explanation
Declares the variable designated by <Variable name> as a double precision real type variable. By writing a constant after <Variable name>, initialization can be performed simultaneously with the declaration. Multiple variable names can be declared at a time by separating each variable name by a comma (,).

Related Terms
DEFINT, DEFSNG, DEFSTR

Example
DEFDBL ldx, ldy, ldz DEFDBL ldx = 1.0 'Declares ldx, ldy, and ldz as double precision real type 'variables. 'Declares ldx as a double precision real type variable and 'sets the initial value to 1.0.

9-10

Chapter 9 Declaration Statements

DEFSTR (Statement)
Function
Declares a character string type variable. You can enter 247 characters or less as a character string.

Format
DEFSTR <Variable name>[=<Constant>][,<Variable name>[=<Constant>]...]

Explanation
Declares a variable designated by <Variable name> as a character string. By writing a constant after <Variable name>, initialization can be done simultaneously with the declaration. Multiple variable names can be declared at a time by separating each variable with a comma (,).

Related Terms
DEFDBL, DEFINT, DEFSNG

Example
DEFSTR lsx, lsy, lsz DEFSTR lsx = DENSO 'Declares lsx, lsy, and lsz as character string type 'variables. 'Declares lsx as a character string type variable and sets 'the initial value to DENSO.

9-11

DEFVEC (Statement)
Function
Declares a vector type variable.

Format
DEFVEC <Variable name>[=<Vector type constant>][,<Variable name> [=<Vector type constant>]...]

Explanation
This statement declares a variable designated by <Variable name> as a vector type variable. By writing a constant after <Variable name>, initialization can be carried out simultaneously with the declaration. Multiple variable names can be declared at a time by delineating the names using ,.

Related Terms
DEFJNT, DEFPOS, DEFTRN

Example
DEFVEC lvx, lvy, lvz DEFVEC lvx = (10, 10, 5) 'Declares lvx, lvy, and lvz as vector type variables. 'Declares lvx as a vector type variable and sets the 'initial value to (10, 10, 5).

9-12

Chapter 9 Declaration Statements

DEFPOS (Statement)
Function
Declares a position type variable.

Format
DEFPOS <Variable name>[=<Position type constant>][,<Variable name> [=<Position type constant>]...]

Explanation
Declares a variable designated by <Variable name> as a position type variable. By writing a constant after <Variable name>, initialization can be carried out simultaneously with the declaration. Multiple variable names can be declared at a time by delineating the names using ,.

Related Terms
DEFJNT, DEFTRN, DEFVEC

Example
6-axis DEFPOS lpx, lpy, lpz 'Declares lpx, lpy, and lpz as position type variables. DEFPOS lpx = (10, 10, 5, 0, 9, 0, 1) 'Declares lpx as a position type variable and sets the 'initial value = (10, 10, 5, 0, 9, 0, 1). DEFPOS lpx, lpy, lpz 'Declares lpx, lpy, and lpz as position type variables. DEFPOS lpx = (100, 100, 300, 45, 0) 'Declares lpx as a position type variable and sets the 'initial value = (100, 100, 300, 45, 0).

6-axis

9-13

DEFJNT (Statement)
Function
Declares a joint type variable.

Format
DEFJNT <Variable name>[=<Joint type constant>][,<Variable name>[=<Joint type constant>]...]

Explanation
This statement declares a variable designated by <Variable name> as a joint type variable. By writing a constant after <Variable name>, initialization can be carried out simultaneously with the declaration. Multiple variable names can be declared at a time by delineating the names using ,.

Related Terms
DEFPOS, DEFTRN, DEFVEC

Example
6-axis DEFJNT ljx, ljy, ljz 'Declares ljx, ljy, and ljz as joint type variables. DEFJNT ljx = (10, 10, 5, 0, 9, 0) 'Declares ljx as a joint type variable and sets the 'initial 'value to (10, 10, 5, 0, 9, 0). DEFJNT ljx, ljy, ljz 'Declares ljx, ljy, and ljz as joint type variables. DEFJNT ljx = (10, 10, 5, 0) 'Declares ljx as a joint type variable and sets the 'initial 'value to (10, 10, 5, 0).

4-axis

9-14

Chapter 9 Declaration Statements

DEFTRN (Statement)
Function
Declares a homogeneous transformation type variable.

Format
DEFTRN <Variable name>[=<Homogeneous transformation type constant>] [,<Variable name>[=<Homogeneous transformation type constant>]...]

Explanation
This statement declares a variable designated by <Variable name> as a homogeneous transformation type variable. By writing a constant after <Variable name>, initialization can be carried out simultaneously with the declaration. Multiple variable names can be declared at a time by delineating the names using ,.

Related Terms
DEFJNT, DEFPOS, DEFVEC

Example
DEFTRN ltx, lty, ltz 'Declares ltx, lty, and ltz as homogeneous transformation type 'variables. DEFTRN ltx = (10, 10, 5, 20, 20, 10, 30, 30, 15) 'Declares ltx as a homogeneous transformation type variable 'and sets the initial value to '(10, 10, 5, 20, 20, 10, 30, 30, 15).

9-15

DEFIO (Statement) [Conforms to SLIM]

Function
Declares an I/O variable corresponding to the input/output port.

Format
DEFIO <Variable name> = <I/O variable type>,<Port address>[,<Mask data>]

Explanation
This statement declares a variable designated by <Variable name> as an I/O variable. <I/O variable type> Selects the type of the I/O variable. The I/O variable types include BIT, BYTE, WORD and INTEGER. Designate a range of 1 bit for a BIT type, 8 bits for a BYTE type, 16 bits for a WORD type and 32 bits for an INTEGER type. <Port address> Designates the starting input/output port number. <Mask data> In the case of an input port, the AND (product set) from input data and mask data is taken. In the case of an output port, the AND (product set) from output data and mask data is output, however, the output status of a bit where no mask has been set does not change.

Related Terms
IN, OUT, SET, RESET

Example
DEFIO samp1 = BIT, 1 'Declares samp1 as a BIT type I/O variable which starts from 'port 1. The return value of samp1 becomes a 1-bit integer 'of 1 or 0 that expresses the status of port 1. DEFIO samp2 = BYTE, 10, &B00010000 'Declares samp2 with mask data as a BYTE type I/O 'variable which starts from port 10. The return value of 'samp2 becomes an 8-bit integer of 0 or 16 that expresses 'the status of port 10. DEFIO samp3 = WORD, 15 'Declares samp3 as a WORD type I/O variable which starts 'from port 15. The return value of samp3 becomes a 16-bit 'integer of 0&Hffff which expresses the status of the ports 'from 15 to 30. DEFIO samp4 = INTEGER, 1 'Declares samp4 as an INTEGER type I/O variable which 'starts from port 1. The return value of samp4 becomes a '32-bit integer of 0&Hffffffff which expresses the 'status of the ports from 1 to 32.

Notes
For WORD and INTEGER, a port used as the MSB is assumed to be a sign bit. The table below lists the allowable range of numeric values and pot numbers used as the MSB. WORD INTEGER Allowable range of numeric values MSB port No.: Starting port address + 15 Allowable range of numeric values MSB port No.: Starting port address + 31

9-16

Chapter 9 Declaration Statements

9.8 Array
DIM (Statement) [Conforms to SLIM]
Function
Declares an array.

Format
DIM <Variable name>[<Postposition>] [(<Number of elements>[,<Number of elements>[,<Number of elements>]])][AS<Variable type>][,<Variable name>[<Postposition>]...]

Explanation
This statement declares a variable designated by <Variable name> as an array variable. By adding <Postposition>, the system can declare the variable type together. The following postpositions are available. Integer type postposition: % Single precision real type postposition: ! Double precision real type postposition: # Character string type postposition: $ If the postposition is omitted, the system regards the statement as a statement of a single precision real number type. Specify the maximum number of elements to be arrayed in <Number of elements>. The maximum number must be 1 or larger. The total number of elements must not exceed 32767. Up to three dimensions are usable for DIM statements. The subscript can be specified in the range from 0 to (number of elements 1). You can declare the variable type by specifying AS <Variable type>. Note that the AS expression and the postposition cannot be specified at the same time. The table below shows the <Variable types> usable in AS expression.
Variable type Long integer type Single precision real type Double precision real type Character string type Identifier INTEGER SINGLE DOUBLE STRING Variable type Vector type Position type Joint type Homogeneous transformation type Identifier VECTOR POSITION JOINT TRANS

9-17

Example
DIM samp1(5) DIM samp2(10, 10) DIM samp3(20, 5, 10) DIM samp4% (3, 3, 3) DIM samp5! (4, 3) DIM samp6# (3) 'Declares samp1 as an array variable 'real type with size (5). 'Declares samp2 as an array variable 'real type with size (10, 10). 'Declares samp3 as an array variable 'real type with size (20, 5, 10). 'Declares samp4 as an array variable 'size (3, 3, 3). 'Declares samp5 as an array variable 'real type with size (4, 3). 'Declares samp6 as an array variable 'real type with size (3). of a single precision of a single precision of a single precision of an integer type with of a single precision of a double precision

9-18

Chapter 10 Assignment Statements

Use an assignment statement command when assigning a value to variables. Use commands properly according to the type or contents of the value to be handled.

Chapter 10 Assignment Statements

10.1 Variables
LET (Statement) [Conforms to SLIM]
Function
Assigns a value to a variable.

Format
[LET] <Variable name> = <Arithmetic expression>

Explanation
You can ignore [LET]. As a rule the <variable name> type and the <arithmetic expression> type must be the same. If the variable name type and the arithmetic expression type are different, they are converted as follows. <Variable name> is converted to the variable type. When a real variable is converted to an integer, the decimal places are rounded down. When a double precision variable is converted to a single precision real variable, the value is rounded to 7 significant digits. Calculations are performed based on the precision of the type with the higher precision.

Example
6-/4-axis DEFINT li1, li2 LET li1 = li2 + 1 'Assigns the value of (li2 + 1) to li1. li1 = li2 + 1 'Assigns the value of (li2 + 1) to li1 (same as the above 'instruction statement). DEFPOS lp1, lp2 DEFJNT lj1, lj2 lp1, = lp2 + (10, 10, 10, 0, 0, 0) 'Assigns the value of (lp2 + (10,10,10,0,0,0)) to lp1 lj1, = lj2 + (10, 20, 30, 40, 0, 0) 'Assigns the value of (lj2 + (10,20,30,40,0,0)) to lj1 DEFPOS lp1, lp2 DEFJNT lj1, lj2 lp1, = lp2 + (10, 10, 10, 20) 'Assigns the value of (lp2 + (10, 10, 10, 20) ) to lp1 lj1, = lj2 + (10, 20, 30, 40) 'Assigns the value of (lj2 + (10, 20, 30, 40) ) to lj1

6-axis

4-axis

10-1

10.2 Vector
LETA (Statement)
Function
Assigns a value to an approach vector of the homogeneous transformation type.

Format
LETA <Homogeneous transformation type variable> = <Vector type>

Explanation
The assignment statement starts with LETA and the right side of the statement is a vector. By the execution of this assignment the approach vector of <Homogeneous transformation type variable> is changed to <Vector type>.

Related Terms
LETO, LETP

Example
DEFTRN lt1, lt2, lt3 DEFVEC lv1, lv2 LETA lt1 = AVEC(lt3) LETA lt2 = lv1 x lv2 'Assigns approach vector lt3 to approach vector lt1. 'Assigns value of (lv1 x lv2) to approach vector lt2.

10-2

Chapter 10 Assignment Statements

LETO (Statement)
Function
Assigns a value to an orientation vector of the homogeneous transformation type.

Format
LETO <Homogeneous transformation type variable> = <Vector type>

Explanation
The assignment statement starts with LETO and the right side of the expression is a vector. By the execution of this assignment the orientation vector of <Homogenous transformation type variable> is changed to <Vector type>.

Related Terms
LETA, LETP

Example
DEFTRN lt1, lt2, lt3 DEFVEC lv1, lv2 LETO lt1 = OVEC(lt3) LETO lt2 = lv1 x lv2 'Assigns orientation vector lt3 to orientation vector lt1. 'Assigns a value of (lv1 x lv2) to orientation vector lt2.

10-3

LETP (Statement)
Function
Assigns a value to a position vector of the position type or homogenous transformation type.

Format
LETP {<Position type variable>|<Homogeneous transformation type variable >} = <Vector type>

Explanation
The statement starts with LETP and the right side of the expression is a vector. By the execution of this assignment, the position vector of <Position type variable> or <Homogenous transformation type variable> is changed to <Vector type>.

Related Terms
LETO, LETA

Example
DEFTRN lt1, lt2 LETP lt1 = PVEC(lt2) 'Assigns position vector lt2 to position vector lt1.

10-4

Chapter 10 Assignment Statements

10.3 Figure
LETF (Statement)
Function
Assigns a value to a figure component of the position type or homogenous transformation type.

Format
LETF <Position type variable> | <Homogeneous transformation type variable>

Explanation
The statement starts with LETF and the right side of the expression is <Figure>. By the execution of this assignment, the figure component of <Position type variable> is changed to the value of <Figure>.

Related Terms
CURFIG, FIG, robot figure (Appendix 2)

Example
DEFPOS lp1, lp2 LETF lp1 = 1 LETF lp2 = CURFIG 'Sets figure lp1 to LEFTY-ABOVE-FLIP. 'Sets figure lp2 to the current posture.

10-5

10.4 Link Angle

LETJ (Statement)
Function
Assigns a value to a designated link angle of the joint type.

Format
LETJ <Axis number>, <Joint type variable> = <Arithmetic expression>

Explanation
The statement starts with LETJ <Axis number> and the right side of the expression is <Arithmetic expression>. By the execution of this assignment the link angle designated by <Axis number> of <Joint type variable> is changed to the value of <Arithmetic expression>.

Related Terms
JOINT

Example
DEFJNT lj1, lj2, lj3 DEFSNG lf1, lf2 LETJ 1, lj1 = JOINT(2, lj3) LETJ 3, lj2 = lf1 - lf2 of 'lj2. 'Assigns the 2nd axis link angle of lj3 to the 1st 'axis of lj1. 'Assigns the value of (lf1 - lf2) to the 3rd axis

10-6

Chapter 10 Assignment Statements

10.5 Posture
LETR (Statement)
Function
Assigns a value to three rotation components of the position type.

Format
LETR <Position type variable> = <Vector type>

Explanation
The statement starts with LETR and the right side of the expression is a vector. By the execution of this assignment, the figure of <Position type variable> is changed to <Vector type>.

Related Terms
LETP, LETRX, LETRY, LETRZ

Example
DEFPOS lp1, lp2 LETR lp1 = RVEC(lp2) 'Assigns the figure of lp2 to that of lp1.

10-7

10.6 Rotation Component

LETRX (Statement)
Function
Assigns a value to the X axis rotation component of the position type.

Format
LETRX <Position type variable> = <X axis rotation angle>

Explanation
The statement starts with LETRX and the right side of the expression is an X axis rotation angle. By the execution of this assignment, the X axis rotation component of <Position type variable> is changed to the value of <X-axis rotation angle>.

Related Terms
LETRY, LETRZ, LETR

Example
DEFPOS lp1, lp2, lp3 DEFSNG lf1, lf2 LETRX lp1 = POSRX(lp3) lp1. LETRX lp2 = lf1 - lf2 'Assigns the value of (lf1 - lf2) to the X axis rotation 'component of lp2. 'Assigns the X axis rotation component of lp3 to that of

10-8

Chapter 10 Assignment Statements

LETRY (Statement)
Function
Assigns a value to the Y axis rotation component of the position type.

Format
LETRY <Position type variable> = <Y axis rotation angle>

Explanation
The statement starts with LETRY and the right side of the expression is an Y axis rotation angle. By the execution of this assignment, the Y axis rotation component of <Position type variable> is changed to the value of <Y-axis rotation angle>.

Related Terms
LETRX, LETRZ, LETR

Example
DEFPOS lp1, lp2, lp3 DEFSNG lf1, lf2 LETRY lp1 = POSRY(lp3) lp1. LETRY lp2 = lf1 - lf2 'Assigns the value of (lf1 - lf2) to the Y axis rotation 'component of lp2. 'Assigns the Y axis rotation component of lp3 to that of

10-9

LETRZ (Statement)
Function
Assigns a value to the Z axis rotation component of the position type.

Format
LETRZ <Position type variable> = <Z axis rotation angle>

Explanation
The statement starts with LETRZ and the right side of the expression is a Z axis rotation angle. By the execution of this assignment, the Z axis rotation component of <Position type variable> is changed to the value of <Z-axis rotation angle>.

Related Terms
LETRX, LETRY, LETR

Example
DEFPOS lp1, lp2, lp3 DEFSNG lf1, lf2 LETRZ lp1 = POSRZ(lp3) lp1. LETRZ lp2 = lf1 - lf2 'Assigns the value of (lf1 - lf2) to the Z axis rotation 'component of lp2. 'Assigns the Z axis rotation component of lp3 to that of

10-10

Chapter 10 Assignment Statements

LETT (Statement)
Function
Assigns a value to the T axis component of the position type.

Format
LETT <Position type variable> = <T axis rotation angle>

Explanation
The statement starts with LETT and the right side of the expression is a T axis rotation angle. By the execution of this assignment, the T axis rotation component of <Position type variable> is changed to the value of <T-axis rotation angle>.

Example
DEFPOS lp1 DEFSNG lf1, lf2 LETT lp2 = lf1 - lf2 'Assigns the value of (lf1 - lf2) to the T axis rotation 'component of lp1.

10-11

10.7 Axis Component

LETX (Statement) [Conforms to SLIM]
Function
Assigns a value to the X axis component of the Vector type/ Position type/ Homogenous transformation type.

Format
LETX {<Vector type variable>|<Position type variable>|<Homogenous transformation type variable>}= <X axis component>

Explanation
The statement starts with LETX and the right side of the expression is an X axis component. By the execution of this assignment, the X-axis component of <Vector type variable>, <Position type variable> or <Homogenous transformation type variable> is changed to the value of <X-axis component>.

Related Terms
LETP, LETY, LETZ

Example
DEFPOS lp1, lp2 DEFVEC lv1, lv2 LETX lv1 = POSX(lv2) LETX lp2 = POSX(lp2) 'Assigns the X-axis component of lv2 to that of lv1. 'Assigns the X-axis component of lp2 to that of lp1.

10-12

Chapter 10 Assignment Statements

LETY (Statement) [Conforms to SLIM]

Function
Assigns a value to the Y axis component of the Vector type/ Position type/ Homogenous transformation type.

Format
LETY {<Vector type variable>|<Position type variable>|<Homogenous transformation type variable>}= <Y axis component>

Explanation
The statement starts with LETY and the right side of the expression is Y axis component. By the execution of this assignment, the Y-axis component of <Vector type variable>, <Position type variable> or <Homogenous transformation type variable> is changed to the value of <Y-axis component>.

Related Terms
LETP, LETX, LETZ

Example
DEFPOS lp1, lp2 DEFVEC lv1, lv2 LETY lv1 = POSY(lv2) LETY lp2 = POSY(lp2) 'Assigns the Y-axis component of lv2 to that of lv1. 'Assigns the Y-axis component of lp2 to that of lp1.

10-13

LETZ (Statement)[Conforms to SLIM]

Function
Assigns a value to the Z axis component of the vector type/ position type/ homogeneous transformation type.

Format
LETZ {<Vector type variable>|<Position type variable>|<Homogeneous transformation type variable>}= <Z axis component>

Explanation
The statement starts with LETZ and the right side of the expression is a Z axis component. By the execution of this assignment, the Z-axis component of <Vector type variable>, <Position type variable> or <Homogenous transformation type variable> is changed to the value of <Z-axis component> value.

Related Terms
LETP, LETX, LETY

Example
DEFPOS lp1, lp2 DEFVEC lv1, lv2 LETZ lv1 = POSZ(lv2) LETZ lp2 = POSZ(lp2) 'Assigns the Z-axis component of lv2 to that of lv1. 'Assigns the Z-axis component of lp2 to that of lp1.

10-14

Chapter 11 Flow Control Statements

A flow control statement is used to change the program flow depending on the situation. There are many ways to have the program proceed to the next process.

Chapter 11 Flow Control Statements

11.1 Program Stop

END (Statement) [Conforms to SLIM]
Function
Declares the motion end by a program.

Format
END

Explanation
The motion by a program will end if this command is executed. This does not mean the end of the program file. When subroutines are used, the subroutines will be arranged after the main routine in some cases. Use this END instruction to delimit the main routine from the subroutines. When subroutines are not used and the END instruction is ignored, system processing will proceed as if the final line includes END.

Related Terms
PROGRAM

Example
DEFSNG lf1, lf2, lf3 PROGRAM prog1(lf1, lf2, lf3) END 'prog1 ends.

11-1

STOP (Statement) [Conforms to SLIM]

Function
Ends program execution.

Format
STOP

Explanation
During program execution, if the system executes a STOP statement, the program execution ends there.

Related Terms
DELAY, HALT, HOLD, STATUS

Example
REM Executes plural condition decision. SELECT CASE Index 'The command is executed if the index value and the CASE 'statement value match. CASE 0 'When the index is 0. STOP 'Ends a program. CASE 1 'When the index is 1. HALT STOP 'Suspends program execution. CASE 2 'When the index is 2. HOLD STOP 'Suspends program execution. CASE 3 'When the index is 3. STOPEND 'Stops a continuous executed program after a cycle. CASE 4 'When the index is 4. ON li1 + li2 GOSUB *samp1, *samp2, *samp3 'Calls a subroutine of the label name written at the same level as the 'value of li1 + li2. CASE 5 'When the index is 5. ON li1 + li2 GOTO *samp1, *samp2, *samp3 'Jumps to a label written at the same level as the value of li1 + li2. CASE 6 'When the index is 6. END 'Declares the end of motion by the program. END SELECT 'Declares the end of a plural condition decision statement.

11-2

Chapter 11 Flow Control Statements

STOPEND (Statement)
Function
This statement stops a continuously executed program or stops a program with a cycle option after a cycle. When a cycle of a program that includes this statement is started, the motion will not be affected even if this statement is executed.

Format
STOPEND

Explanation
If a program in execution encounters a STOPEND statement, the system stops the program being executed after a cycle.

Related Terms
STOP, HALT, END

Example
REM Executes a plural condition decision. SELECT CASE Index 'The command is executed if the index value matches the CASE statement value. 'When the index is 0. 'Ends a program. 'When the index is 1. 'Suspends execution of the program. 'When the index is 2. 'Suspends execution of the program. 'When the index is 3. 'Stops a continuously executed program or stops the program after a cycle. CASE 4 'When the index is 4. ON li1 + li2 GOSUB *samp1, *samp2, *samp3 'Calls a subroutine of the label name written at the same level as the value 'of li1 + li2. CASE 5 'When the index is 5. ON li1 + li2 GOTO *samp1, *samp2, *samp3 'Jumps to a label written at the same level as the value of li1 + li2. CASE 6 'When the index is 6. END 'Declares the end of motion by a program. END SELECT 'Declares the end of a plural condition decision statement. CASE 0 STOP CASE 1 HALT "STOP" CASE 2 HOLD "STOP" CASE 3 STOPEND

11-3

11.2 Call
CALL (Statement)
Function
Calls a program and executes it.

Format
CALL <Program name> [(<Argument>[,<Argument>])]

Explanation
A CALL statement calls the program designated by <Program name> and transfers control. An END statement in a CALL program has the same meaning as a RETURN statement in a subroutine and returns control to the calling program. Designate an argument to send the program designated by <Program name> for <Argument>. <Argument> can be sent either by calling with a value which uses a constant or expression, or by calling with reference which sends a variable. Refer to Part 1 2.16 Calling with a Value and with Reference. 1. Calling with a value A constant, an arithmetic expression and a character expression with a value are sent. A variable even when enclosed in parentheses ( ) is regarded as an expression and can be sent as a value. For numbered variables, an integer type, single precision type, double precision type or character string type can be enclosed in parentheses ( ) and sent with a value. Example: Calling a program of PROGRAM SUB1(AA#) If a variable is sent as a value CALL SUB1((D1)) If a constant is sent CALL SUB1(10#) If an arithmetic expression is sent CALL SUB1(D1 + D2) Note: If an arithmetic expression is sent, note the result type of expression. The type must be the same as the argument in the called program.

11-4

Chapter 11 Flow Control Statements

2. Calling with reference In calling with reference, a variable can be sent as an argument. When you wish to designate a whole array as <Argument>, add parentheses ( ) to the array name. For a variable sent by calling with reference, if its contents are modified in the called program, the modification is valid even if it returns to the calling program. Example 1: Calling the program of PROGRAM SUB1(AA#) If a local variable is sent 1 CALL SUB1(DD#) If a local variable is sent 2 CALL SUB1(DA) (DA has been declared with DEFDBL.) Note: A value must be assigned to a local variable beforehand. Example 2: Calling the program of PROGRAM SUB2(BB%(10)) If a whole array is sent CALL SUB2(AB%()) (AB%(10) has been declared with DIM.) Note (1): Note (2): Note (3): If there is no value assigned to a variable, an error will occur in execution. If the program name is PRO <Figure>, an argument cannot be sent. The number of arguments on the calling side must match that on the called side.

Related Terms
PROGRAM

Example
DEFDBL ld1, ld2 CALL SUB1((ld1)) CALL SUB1(10#) CALL SUB1(ld1 + ld2) 'When a variable is sent as a value. 'When a constant is sent. 'When an arithmetic expression is sent.

11-5

GOSUB (Statement) [Conforms to SLIM]

Function
Calls a subroutine.

Format
GOSUB <Label name>

Explanation
Calls a subroutine specified by the designated <Label name>. Additional subroutines can be called from one subroutine (nested subroutines).

Related Terms
GOTO, RETURN

Example
DIM li1 As Integer IF li1 = 0 THEN STOP ELSEIF li1 = 1 THEN GOTO *samp1 GO TO *samp2 ELSEIF li1 = 2 THEN GOSUB *samp3 ELSE RETURN END IF 'When li1 is 0. 'Stops program execution. 'When li1 is 1. 'Jumps to the label of *samp1. 'Jumps to the label of *samp2. 'When li1 is 2. 'Calls a subroutine with the label name*samp3. 'When li1 is another value. 'Returns to the program calling subroutine. 'Declares the end of the IF statement.

Notes
Use the RETURN statement to return the control from the subroutine called with GOSUB (ON-GOSUB) to the program that called the subroutine.

11-6

Chapter 11 Flow Control Statements

ON-GOSUB (Statement) [Conforms to SLIM]

Function
Calls a corresponding subroutine to the value of an expression.

Format
ON <Expression> GOSUB <Label name>[,<Label name>]

Explanation
This statement makes control jump to the label written in the same order as the value of <Expression> to continue program execution. The labels are counted in the order of 1, 2, from the left. When the value of <Expression> is real, the system rounds down to the maximum integer that does not exceed the value and processes it. Note: If the result of an expression exceeds the order, nothing is executed.

Related Terms
ON-GOTO, RETURN, SELECT CASE

Example
REM Executes a plural condition decision. SELECT CASE Index 'The command is executed when the index value matches the CASE 'statement value. CASE 0 'When the index is 0. STOP 'Ends the program. CASE 1 'When the index is 1. HALT "STOP" 'Suspends execution of the program. CASE 2 'When the index is 2. HOLD "STOP" 'Suspends execution of the program. CASE 3 'When the index is 3. STOPEND 'Stops a continuous program or stops the program after a cycle. CASE 4 'When the index is 4. ON li1 + li2 GOSUB *samp1, *samp2, *samp3 'Calls the subroutine of a label name written at the same level as the 'value of li1 + li2. CASE 5 'When the index is 5. ON li1 + li2 GOTO *samp1, *samp2, *samp3 'Jumps to the label written at the same level as the value of li1 + li2. CASE 6 'When the index is 6. END 'Declares the end of movement by a program. END SELECT 'Declares the end of a plural conditional decision statement.

Notes
Use the RETURN statement to return the control from the subroutine called with GOSUB (ON-GOSUB) to the program that called the subroutine.

11-7

RETURN (Statement) [Conforms to SLIM]

Function
Returns from a subroutine.

Format
RETURN

Explanation
This statement ends the execution of a subroutine to which control has been transferred with a GOSUB statement and returns to the calling program.

Related Terms
GOSUB

Example
DIM li1 As Integer IF li1 = 0 THEN 'When li1 is 0. STOP 'Stops the execution of the program. ELSEIF li1 = 1 THEN 'When li1 is 1. GOTO *samp1 'Jumps to the label of *samp1. GO TO *samp2 'Jumps to the label of *samp2. ELSEIF li1 = 2 THEN 'When li1 is 2. GOSUB *samp3 'Calls the subroutine of the label name*samp3. ELSE 'When li1 is another value. RETURN 'Returns to the calling program. END IF 'Declares the end of the IF statement.

11-8

Chapter 11 Flow Control Statements

11.3 Repeat
DO-LOOP (Statement)
Function
Executes a decision iteration (repetition).

Format
DO [{WHILE|UNTIL}[<Conditional expression>]] : LOOP Or DO : LOOP [{WHILE|UNTIL}[<Conditional expression>]]

Explanation
DO WHILE and DO UNTIL are head decision iterations. LOOP WHILE and LOOP UNTIL are tail decision iterations. A WHILE statement repeats while a conditional expression is satisfied (true (except for 0)) and an UNTIL statement repeats until a conditional expression is satisfied. If the right side of <Conditional expression> is ignored, the system determines whether the value is true (except for 0). If <Conditional expression> is ignored the conditional expression is regarded as true (except for 0) and the loop becomes infinite in a WHILE statement. In the UNTIL statement, a head decision is not processed and a tail decision executes the loop once. There is also a WHILE-WEND statement which serves the same function as DO WHILE-LOOP, however, only DO WHILE-LOOP should be used. There is also a REPEAT-UNTIL statement which serves the same function as DO-LOOP UNTIL, however, only DO-LOOP UNTIL should be used. WHILE and UNTIL can be ignored but they mean an infinite loop.

Related Terms
EXIT DO, WHILE-WEND, REPEAT-UNTIL, FOR-NEXT

11-9

Example
DEFINT li1, li2, li3, li4, li5, li6, li7, li8, li9 DO WHILE li1 > li2 'Executes a head decision iteration. IF li1 = 4 THEN EXIT DO 'Exits from DO-LOOP if li1 = 4. FOR li3 = 0 TO 5 'Repeats the process of FOR-NEXT 5 times. FOR li4 = li5 TO li6 'Repeats the process of FOR-NEXT by adding 1 to the value of 'li5 every time the repetition is done until li5 becomes the value 'of li6. FOR li7 = 1 TO li8 STEP 2 'Repeats the process of FOR-NEXT by adding 2 to a value 'every time the repetition is done from 1 until it becomes li8. IF li2 = 2 THEN EXIT FOR 'Exits from FOR-NEXT if li2 < 0. DO WHILE li2 < li9 'Executes a head decision iteration. GOSUB *samp2 li9 = li9 + 1 LOOP 'Calls a GOSUB *samp2 statement until li2 < li9. NEXT li7 'Repeats. NEXT 'Repeats. NEXT 'Repeats. li9 = 0 DO 'Executes a tail decision iteration. GOSUB *samp2 li9 = li9 + 1 LOOP UNTIL li9 < 5 'Calls a GOSUB *samp2 statement until li9 < 5. LOOP 'Repeats.

11-10

Chapter 11 Flow Control Statements

EXIT DO (Statement)
Function
Forcibly exits from DO-LOOP.

Format
EXIT DO

Explanation
This statement forcibly exits from DO-LOOP and proceeds to the next instruction of a DO-LOOP statement.

Related Terms
DO-LOOP

Example
DEFINT li1, li2, li3, li4, li5, li6, li7, li8, li9 DO WHILE li1 > li2 'Executes a head decision iteration. IF li1 = 4 THEN EXIT DO 'Escapes from DO-LOOP if li1 = 4. FOR li3 = 0 TO 5 'Repeats the process of FOR-NEXT 5 times. FOR li4 = li5 TO li6 'Repeats the process of FOR-NEXT by adding 1 to the value of li5 'every time the repetition is done until li5 becomes a value 'of li6. FOR li7 = 1 TO li8 STEP 2 'Repeats the process of FOR-NEXT by adding 2 to a value 'every time the repetition is done from 1 until it becomes li8. IF li2 = 2 THEN EXIT FOR 'Escapes from FOR-NEXT if li2 < 0. DO WHILE li2 < li9 'Executes a head decision iteration. GOSUB *samp2 li9 = li9 + 1 LOOP 'Calls a GOSUB *samp2 statement until li2 < li9. NEXT li7 'Repeats. NEXT 'Repeats. NEXT 'Repeats. li9 = 0 DO 'Executes a tail decision iteration. GOSUB *samp2 li9 = li9 + 1 LOOP UNTIL li9 < 5 'Calls a GOSUB *samp2 statement until li9 < 5. LOOP 'Repeats.

11-11

FOR-NEXT (Statement) [Conforms to SLIM]

Function
Repeatedly executes a series of instructions between FOR-NEXT sections.

Format
FOR <Variable name> = <Initial value> TO <Final value> [STEP <Increment>] : NEXT [<Variable name>]

Explanation
This statement repeatedly executes a series of instructions between FORNEXT according to the condition designated on the FOR line. Set the initial value of the variable designated by <Variable name> for <Initial value>. Set the final value of the variable designated by <Variable name> for <Final value>. Set an increment value between the initial value and the final value for <Increment>. The increment is regarded as 1 if STEP is ignored. In the following cases, FOR-NEXT is not executed and execution proceeds to the next statement of NEXT. (1) If <Increment> is a positive value and <Initial value> is larger than <Final value> (2) If <Increment> is a negative value and <Initial value> is smaller than <Final value>. However, <Initial value> is assigned to <Variable>. You can put another FOR-NEXT in one FOR-NEXT (referred to as a nested construction). In this case, a different variable must be used for each <Variable name>. Additionally, one FOR-NEXT must be completely inside the other FOR-NEXT. Note : FOR and NEXT must be a pair. If a program jumps into a FOR-NEXT loop or jumps out of the loop, its operation is not guaranteed. If the increment is set to 0, the loop becomes infinite.

Related Terms
DO-LOOP, EXIT FOR

11-12

Chapter 11 Flow Control Statements Example

DEFINT li1, li2, li3, li4, li5, li6, li7, li8, li9 DO WHILE li1 > li2 'Executes a head decision iteration. IF li1 = 4 THEN EXIT DO 'Exits from DO-LOOP if li1 = 4. FOR li3 = 0 TO 5 'Repeats the process of FOR-NEXT 5 times. FOR li4 = li5 TO li6 'Repeats the process of FOR-NEXT by adding 1 to the 'value of li5 every time the repetition is done until 'li5 becomes the value of li6. FOR li7 = 1 TO li8 STEP 2 'Repeats the process of FOR-NEXT by adding 2 to the value 'every time the repetition is done from 1 until it becomes li8. IF li2 = 2 THEN EXIT FOR 'Exits from FOR-NEXT if li2 < 0. DO WHILE li2 < li9 'Executes a head decision iteration. GOSUB *samp2 li9 = li9 + 1 LOOP 'Calls a GOSUB *samp2 statement until li2 < li9. NEXT li7 'Repeats. NEXT 'Repeats. NEXT 'Repeats. li9 = 0 DO 'Executes a tail decision iteration. GOSUB *samp2 li9 = li9 + 1 LOOP UNTIL li9 < 5 'Calls a GOSUB *samp2 statement until li9 < 5. LOOP 'Repeats.

11-13

EXIT FOR (Statement)

Function
Forcibly exits from FOR-NEXT.

Format
EXIT FOR

Explanation
This statement forcibly exits from FOR-NEXT and proceeds to the next instruction after a FOR-NEXT statement.

Related Terms
FOR-NEXT

Example
DEFINT li1, li2, li3, li4, li5, li6, li7, li8, li9 DO WHILE li1 > li2 'Executes a head decision iteration. IF li1 = 4 THEN EXIT DO 'Exits from DO-LOOP if li1 = 4. FOR li3 = 0 TO 5 'Repeats the process of FOR-NEXT 5 times. FOR li4 = li5 TO li6 'Repeats the process of FOR-NEXT by adding 1 to the value of li5 'until li5 becomes the value of li6. FOR li7 = 1 TO li8 STEP 2 'Repeats the process of FOR~NEXT by adding 2 to the value 'from 1 until it becomes li8. IF li2 = 2 THEN EXIT FOR 'Exits from FOR-NEXT if li2 < 0. DO WHILE li2 < li9 'Executes a head decision iteration. GOSUB *samp2 li9 = li9 + 1 LOOP 'Calls a GOSUB *samp2 statement until li2 < li9. NEXT li7 'Repeats. NEXT 'Repeats. NEXT 'Repeats. li9 = 0 DO 'Executes a tail decision iteration. GOSUB *samp2 li9 = li9 + 1 LOOP UNTIL li9 < 5 'Calls a GOSUB *samp2 statement until li9 < 5. LOOP 'Repeats.

11-14

Chapter 11 Flow Control Statements

REPEAT-UNTIL (Statement)
Function
Executes a tail decision iteration.

Format
REPEAT : UNTIL [<Conditional expression>]

Explanation
This statement repeats statements between a REPEAT statement and an UNTIL statement until <Conditional expression> is satisfied. If <Conditional expression> is ignored, it is regarded as true (except for 0) and a loop is executed only once. There is also a DO-LOOP UNTIL statement which serves the same function as REPEAT-UNTIL, but only DO-LOOP UNTIL should be used.

Related Terms
DO-LOOP, WHILE-WEND

Example
DEFINT li1, li2, li3, li4, li5, li6, li7, li8, li9 DO WHILE li1 > li2 'Executes a head decision iteration. IF li1 = 4 THEN EXIT DO 'Exits from DO-LOOP if li1 = 4. FOR li3 = 0 TO 5 'Repeats a process of FOR-NEXT 5 times. FOR li4 = li5 TO li6 'Repeats the process of FOR-NEXT by adding 1 to the value 'of li5 every time the repetition is done until li5 becomes FOR li7 = 1 TO li8 STEP 2 'the value of li6. 'Repeats the process of FOR-NEXT by adding 2 to the 'value every time the repetition is done from 1 until 'it becomes li8. 'Exits from FOR-NEXT if li2 < 0. 'Executes a head decision iteration.

IF li2 = 2 THEN EXIT FOR WHILE li2 < li9 GOSUB *samp2 li9 = li9 + 1 WEND NEXT li7 NEXT NEXT li9 = 0 REPEAT GOSUB *samp2 li9 = li9 + 1 UNTIL li9 < 5 LOOP

'Calls a GOSUB *samp2 statement until li2 < li9. 'Repeats. 'Repeats. 'Repeats. 'Executes the tail decision iteration.

'Calls a GOSUB *samp2 statement until li9 < 5. 'Repeats.

11-15

WHILE-WEND (Statement)
Function
Executes a head decision iteration.

Format
WHILE [<Conditional expression>] : WEND

Explanation
This statement repeats statements between a WHILE statement and a WEND statement while <Conditional expression> is satisfied. If <Conditional expression> is ignored, it is regarded as true (except for 0) and the loop is infinitely repeated. If a statement branches into a WHILE statement and a WEND statement with a GOTO statement, for example, it normally executes the WEND statement and returns to the WHILE statement. The program is then executed normally so that it enters this syntax. There is also a DO WHILE-LOOP statement which serves the same function as WHILE-WEND, but only DO WHILE-LOOP should be used.

Related Terms
DO-LOOP, REPEAT-UNTIL

Example
DEFINT li1, li2, li3, li4, li5, li6, li7, li8, li9 DO WHILE li1 > li2 'Executes a head decision iteration. IF li1 = 4 THEN EXIT DO 'Exits from DO-LOOP if li1 = 4. FOR li3 = 0 TO 5 'Repeats the process of FOR-NEXT 5 times. FOR li4 = li5 TO li6 'Repeats the process of FOR-NEXT by adding 1 to the 'value of li5 every time the repetition is done until li5 'becomes the value of li6. FOR li7 = 1 TO li8 STEP 2 'Repeats the process of FOR-NEXT by adding 2 to the 'value every time the repetition is done from 1 until 'it becomes li8. IF li2 = 2 THEN EXIT FOR 'Exits from FOR-NEXT if li2 < 0. WHILE li2 < li9 'Executes a head decision iteration. GOSUB *samp2 li9 = li9 + 1 WEND 'Calls a GOSUB *samp2 statement until li2 < li9. NEXT li7 'Repeats. NEXT 'Repeats. NEXT 'Repeats. li9 = 0 REPEAT 'Executes a tail decision iteration. GOSUB *samp2 li9 = li9 + 1 UNTIL li9 < 5 'Calls a GOSUB *samp2 statement until li9 < 5. LOOP 'Repeats.

11-16

Chapter 11 Flow Control Statements

11.4 Conditional Branch

IF-END IF (Statement)
Function
Conditionally decides a conditional expression between IF-END IF.

Format
IF <Conditional expression> THEN : [ELSEIF <Conditional expression> THEN] : [ELSE] : END IF

Explanation
The execution of a program is controlled with the condition of <Conditional expression>. If <Conditional expression> of an IF statement is true (except for 0), then the statements between the IF-ELSEIF statement are executed. If the <Conditional expression> is false (0), then <Conditional expression> of an ELSEIF statement is decided. In the same manner as this, ELSEIF-ELSE and ELSE-END IF are executed.

Related Terms
IF-THEN-ELSE

Example
DIM li1 As Integer IF li1 = 0 THEN STOP ELSEIF li1 = 1 THEN GOTO *samp1 GO TO *samp2 ELSEIF li1 = 2 THEN GOSUB *samp3 ELSE RETURN END IF 'When li1 is 0. 'Stops the execution of the program. 'When li1 is 1. 'Jumps to the label of *samp1. 'Jumps to the label of *samp2. 'When li1 is 2. 'Calls the subroutine of the label name*samp3. 'When li1 is another value. 'Returns to the calling program. 'Declares the end to the IF statement.

11-17

IF-THEN-ELSE (Statement)[Conforms to SLIM]

Function
Executes a conditional decision of a logical expression.

Format
IF <Conditional expression> THEN {<Statement>|<Label name>} [ELSE {<Statement>|<Label name>}]

Explanation
This statement controls the execution of a program depending on the condition of <Conditional expression>. If <Conditional expression> is true (except for 0), then the latter section of THEN is executed. If the <Conditional expression> is false (0), then the latter section of ELSE is executed.

Related Terms
IF-END IF

Example
IF l0 = 0 THEN STOP ELSE GOSUB *samp1 'If i1 is 0, control stops program execution. If il is 'another value, control calls the subroutine with a 'label name of *sampl. il = il + 1 'il is added. END 'Defines the program end. *sampl: 'Defines the subroutine label. i0 =0 'Substitute 0 for i0. RETURN 'Returns to the calling program.

11-18

Chapter 11 Flow Control Statements

SELECT CASE (Statement)

Function
Executes a plural condition decision.

Format
SELECT CASE <Expression> CASE <Item>[,<Item>...] : [CASE ELSE] END SELECT

Explanation
This statement executes a series of instructions after CASE if the value of <Expression> matches <Item> of the CASE statement. An arithmetic expression or character string can be designated for <Expression>. A variable, a constant, an expression or a conditional expression can be designated for <Item>. A conditional expression can be designated as follows. <Arithmetic expression 1> TO < Arithmetic expression 2> The result of <Expression> is checked if it is <Arithmetic expression 1> or higher, or if it is <Arithmetic expression 2> or lower. This statement cannot be used in the case of a character string. IS <Comparison operator><Arithmetic expression> The result of <Expression> and the value of <Arithmetic expression> are compared. In the case of a character string, <Comparison operator> is = . A CASE ELSE statement is executed if all CASE statements are not satisfied. A CASE ELSE statement must be put before an END SELECT statement.

Related Terms
IF-END IF

11-19

Example
REM Executes a plural condition decision. SELECT CASE Index 'The command is executed if the index value matches the CASE 'statement value. CASE 0 'When the index is 0. STOP 'Ends the program. CASE 1 'When the index is 1. HALT STOP 'Suspends the execution of the program. CASE 2 'When the index is 2. HOLD STOP 'Suspends the execution of the program. CASE 3 'When the index is 3. STOPEND 'Stops a continuous program or stops the program after a cycle. CASE 4 'When the index is 4. ON li1 + li2 GOSUB *samp1, *samp2, *samp3 'Calls the subroutine of the label name written at the same level as the 'value of li1 + li2. CASE 5 'When the index is 5. ON li1 + li2 GOTO *samp1, *samp2, *samp3 'Jumps to the label written at the same level as the value of li1 + li2. CASE 6 TO 8 'When the index is 6 to 8. PRINTDBG Reservation 'Outputs a message to the debug window. CASE IS 9 'When the index is 9 or more. END 'Declares the end of motion by the program. END SELECT 'Declares the end of the plural conditional decision statement.

11-20

Chapter 11 Flow Control Statements

11.5 Unconditional Branch

GOTO (Statement) [Conforms to SLIM]
Function
Unconditionally branches a program.

Format
{GOTO|GO TO}<Label name>

Explanation
This statement jumps to the label designated by <Label name> and continues execution there. GO TO can be used instead of GOTO.

Related Terms
GOSUB

Example
DIM li1 As Integer IF li1 = 0 THEN STOP ELSEIF li1 = 1 THEN GOTO *samp1 GO TO *samp2 ELSEIF li1 = 2 THEN GOSUB *samp3 ELSE RETURN END IF 'When li1 is 0. 'Stops the execution of the program. 'When li1 is 1. 'Jumps to the label of *samp1. 'Jumps to the label of *samp2. 'When li1 is 2. 'Calls the subroutine of the label name*samp3. 'When li1 is another value. 'Returns to the calling program. 'Declares the end to the IF statement.

11-21

ON-GOTO (Statement) [Conforms to SLIM]

Function
Executes an unconditional branch due to the value of an expression.

Format
ON <Expression> GOTO <Label name> [,<Label name>]

Explanation
This statement jumps to the line number written at the same level as the value of <Expression> and continues the execution of the program there. The order of this is counted as 1, 2, from the left. The system rounds down the value of <Expression> to an integer and processes it. Note: If the result of the expression exceeds the order, nothing is executed.

Related Terms
ON-GOSUB

Example
REM Executes a plural condition decision. SELECT CASE Index 'The command is executed when the index value matches the CASE 'statement value. CASE 0 'When the index is 0. STOP 'Ends the program. CASE 1 'When the index is 1. HALT STOP 'Suspends the execution of the program. CASE 2 'When the index is 2. HOLD STOP 'Suspends the execution of the program. CASE 3 'When the index is 3. STOPEND 'Stops a continuous program or stops the program after a cycle. CASE 4 'When the index is 4. ON li1 + li2 GOSUB *samp1, *samp2, *samp3 'Calls the subroutine of the label name written at the same 'level as the value of li1 + li2. CASE 5 'When the index is 5. ON li1 + li2 GOTO *samp1, *samp2, *samp3 'Jumps to the label written at the same level as the value 'of li1 + li2. CASE 6 'When the index is 6. END 'Declares the end of motion by the program. END SELECT 'Declares the end of a plural condition decision statement.

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Chapter 11 Flow Control Statements

11.6 Comment
REM (Statement)[Conforms to SLIM]
Function
Describes a comment.

Format
{REM|'}[<Comment>]

Explanation
This statement is added when <Comment> is described in a program. A character string after REM does not affect program execution. A single quote (') can be used instead of REM.

Example
REM Executes a plural condition decision. SELECT CASE Index 'The command is executed when the index value matches the CASE 'statement value. CASE 0 'When the index is 0. STOP 'Ends the program. CASE 1 'When the index is 1. HALT STOP 'Suspends the execution of the program. CASE 2 'When the index is 2. HOLD STOP 'Suspends the execution of the program. CASE 3 'When the index is 3. STOPEND 'Stops a continuous program or stops the program after a cycle. CASE 4 'When the index is 4. END 'Declares the end of motion by the program. END SELECT 'Declares the end of a plural condition decision statemen

11-23

Chapter 12 Robot Control Statements

This chapter provides an explanation of the commands and robot control statements used for robot motion control.

Chapter 12 Robot Control Statements

12.1 Motion Control

APPROACH (Statement)
Function
Executes the absolute movement designated in the tool coordinate system.

Format
APPROACH <Interpolation method>, <Base position>,[<Path displacement> ]<Approach length>[,<Motion option>][,NEXT] start

Explanation
The position type, joint type or homogeneous type can be used for <Base position>. 6-axis 4-axis The robot moves to a position away from the <Base position> by <Approach length> in the -Z direction of the tool coordinate system. The robot moves to a position away from the <Base position> by <Approach length> in the +Z direction of the base coordinate system. Either P (or PTP) or L can be selected for <Interpolation method>.
Interpolation method P (or PTP) L Meaning Moves in PTP control. Moves in CP control.

The <Path start displacement> value is expressed by the radius of a globe with the target position centered. If the motion instruction value is entered the robot proceeds to the next control. Designate the value in millimeters. The aim is to change the pass start timing with this value. Also note that if the end of the arm enters the globe, the robot does not proceed to the next control. If the value is ignored, it is processed as the default value @0. If the value is @0, the robot moves in the end movement. If @P, it moves in the pass movement. If @E, the robot checks the arrival at the target position with the value of the encoder and then proceeds to the next movement. For <Motion option>, there are SPEED, ACCEL, and DECEL options.
Motion option SPEED (or S) ACCEL Meaning Designates the movement speed. The meaning is the same as the SPEED statement. Designates acceleration. The meaning is the same as the ACCEL statement. However, deceleration cannot be designated. Use the DECEL statement to designate deceleration. Designates deceleration. The meaning is the same as the DECEL statement.

DECEL

12-1

If <NEXT option> is added, the robot proceeds to the next no-movement instruction without waiting for movement to finish. However, the following instructions are not executed until robot movement ends (pass start). Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.) If this command is used with a movement option, the NEXT option is no longer valid. When <NEXT option> is added and if step stop is executed in the waiting status for the next movement instruction, the robot will stop after the movement ends. Therefore care needs to be exercised since it requires a long distance to stop. Remarks: The APPROACH statement can be rewritten using the MOVE statement. APPROACH <Interpolation method>,[<Pass start displacement> ]<Base position>,<Approach length> [,<Motion option>][,NEXT] The following shows the statement if the above APPROACH statement is rewritten using MOVE. 6-axis MOVE <Interpolation method>,[<Pass start displacement> position>+(0, 0, -<Approach length>)H[,<Motion option>][,NEXT] Example : APPROACH P, P3, 100 'The same as MOVE P, P3+(0, 0, -100)H. MOVE <Interpolation method>,[<Pass start displacement> position>+(0, 0, <Approach length>)[,<Motion option>][,NEXT] Example : APPROACH P, P3, 100 'The same as MOVE P, P3+(0, 0, 100). DEPART, SPEED ]<Base

4-axis

]<Base

Related Terms

Example
DEFSNG lf1, lf2 DEFPOS lp1, lp2, lp3 6-axis APPROACH P, (740, 0, 480, 180, 0, 180, 5), 70 'The robot moves (PTP control) to a point 70 mm away from the position of 'robot figure 5 at (740, 0, 480, 180, 0, 180) in the Zm direction. APPROACH L, lp1, lf1, SPEED = 100 'The robot moves (CP control, internal speed = 100 %) to a position at lf1 'distance from the position of lp1 in the Zm direction. APPROACH P, lp2, @P lf2, S = 50 'The robot moves to a position lf2 distance from the lp2 position in the Zm 'direction (PTP control, internal speed = 50 %) via the pass movement. APPROACH L, lp3, 80 'The robot moves (CP control) to a position 80 mm away from the position of lp3 'in the Zm direction.

12-2

Chapter 12 Robot Control Statements

4-axis APPROACH P, (100, 200, 300, 45, 1), 70 'Moves to a position 70mm far form a point (100, 200, '300, 45,1) with posture 1 in +Zb direction (PTP 'control) APPROACH L, lp1, lf1, SPEED=100 'Moves to a position lf1 far form lp1 in +Zb direction '(CP control, internal speed=100%) APPROACH P, lp2, @P, lf2, S=50 'Moves to a position lf2 far form lp2 in +Zb direction 'along a path (PTP control, internal speed=50%) APPROACH L, lp3, 80 'Moves to a position 80 mm far from lp3 in +Zb 'direction (CP control)

Notes
(1) There is a possibility that the approach position obtained from the base position may lie beyond the motion space of the robot. In such a case, an error with a level of 6070 (J * software motion limit over, beyond motion space, a singular point) may occur. (2) The figure of the approach position becomes that of the base position. Therefore, there is a possibility that the approach position is beyond the motion space and error 667* software motion limit over, beyond the motion space 2 may occur. In this case, use FIGAPRL and FIGAPRP (refer to p.12-33 FIGAPRL and p.12-35 FIGAPRP) to calculate the figure of the approach position, or change the figure using LETF (refer to 10.3 LETF) by replacing it using the MOVE instruction as described in REMARKS. (3) In CP motion, if the current figure (refer to the Owner's Manual Setting-up, Section 4.2, Figures of the Shoulder, Elbow and Wrist) and the figure of the base position are different, error 607F (Robot figure inconsistency) occurs. However, if the robot can move to change figures, the error does not occur. (4) In CP motion, if the robot passes in the vicinity of a singular point (refer to the Setting-up Guide, Subsection 4.1.3 Boundaries of Robot Figures), an error with a level of 6080 (designated speed limit over) may occur and the motion may stop. In this case, slow down the speed or set 2 or 3 in optimal load capacity setting mode (refer to p.4-8 4.6 Optimal Load Capacity Setting Function). If the error still occurs, evade the path near this singular point. (5) In CP motion, there is a possibility that a 601C warning (change figure) may occur because the figure of the approach position and that of the base position do not meet. Change the figure of the base position to the figure when the motion ends (note that operation is not affected even if the warning occurs).

12-3

DEPART (Statement)
Function
Executes the relative motion in the tool coordinate system.

Format
DEPART <Interpolation method>,[<Pass length>[,<Motion option>][,NEXT] start displacement> ]<Depart

Explanation
6-axis 4-axis The robot moves by <Depart length> distance from the current position in the Z direction of the tool coordinate system. The robot moves by <Depart length> distance from the current position in the Z direction of the tool coordinate system. P (or PTP) or L can be selected for <Interpolation method>.
Interpolation method P (or PTP) L Meaning Moves in PTP control. Moves in CP control.

The value of <Pass start displacement> is expressed using the radius of the globe with the target position centered. If the motion instruction value is entered, the robot proceeds to the next control. Designate the value in millimeters. This value aims to change the pass start timing, and if the end of the arm enters the globe, the robot does not always proceed to the next control. If the value is ignored, it is processed as the default value @0. If the value is @0, the robot moves in the end movement. If @P, it moves in the pass movement. If @E, the robot checks the arrival at the target position with the value of the encoder and then proceeds to the next movement. The SPEED, ACCEL, and DECEL options are available for <Motion option>.
Motion option SPEED (or S) ACCEL Meaning Designates the movement speed. The meaning is the same as the SPEED statement. Designates acceleration. The meaning is the same as the ACCEL statement. However, deceleration cannot be designated. Use the DECEL statement to designate deceleration. Designates deceleration. The meaning is the same as the DECEL statement.

DECEL

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Chapter 12 Robot Control Statements

If <NEXT option> is added, the robot proceeds to the next no-movement instruction without waiting for movement to finish. However, the following instructions will not be executed until robot movement ends (pass start). Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.) If this command is used with the movement option, the NEXT option is no longer valid. When <NEXT option> is added and if step stop is executed in the waiting status for the next movement instruction, the robot will stop after movement ends. Therefore, care must be exercised since it requires a long distance to stop. Remarks: The DEPART statement can be rewritten using the MOVE statement. DEPART <Interpolation method>,[<Pass start displacement amount> ]<Depart length>[,<Motion option>][,NEXT] The following shows the statement if the above DEPART statement is rewritten using the MOVE statement. 6-axis MOVE<Interpolation method>,[<Pass start displacement amount> ]<Current position>+(0, 0, -<Depart length>)H[,<Motion option>][,NEXT] Example 1: DEPART P, 70 'The same as MOVE P, P0+(0, 0, -70)H ;P0 is the current position. Example 2: DEPART P, @P 70 'The same as MOVE P, @P P0+(0, 0, -70)H.;P0 is the current position. 4-axis MOVE<Interpolation method>,[<Pass start displacement amount> ]<Current position>+(0, 0, <Depart length>) [,<Motion option>][,NEXT] Example 1: DEPART P, 70 'The same as MOVE P, P0+(0, 0, 70) ;P0 is the current position. Example 2: DEPART P, @P 70 'The same as MOVE P, @P P0+(0, 0, 70).;P0 is the current position.

12-5

Related Terms
APPROACH, SPEED

Example
6-axis DEFSNG lf1, lf2 DEPART P, 70 'The robot moves (PTP control) to a position 70 mm 'away from the current position in the Zm direction. DEPART L, lf1, SPEED = 100 'The robot moves (CP control, S = 100) to a position lf1 'distance away from the current position in the Zm 'direction. DEPART P, lf2, S = 50 'The robot moves (PTP control, S = 50) to a position lf2 'distance away from the current position in the Zm 'direction. DEPART L, 80 'The robot moves (CP control) to a position 80 mm away 'from the current position in the Zm direction. 'The robot moves (PTP control) to a position 70 mm 'away from the current position in the Zb direction. DEPART L, lf1, SPEED = 100 'The robot moves (CP control, S = 100) to a position lf1 'distance away from the current position in the Zb 'direction. DEPART P, lf2, S = 50 'The robot moves (PTP control, S = 50) to a position lf2 'distance away from the current position in the Zb 'direction. DEPART L, 80 'The robot moves (CP control) to a position 80 mm away 'from the current position in the Zb direction.

4-axis

DEPART P, 70

Notes
The figure of the DEPART motion position is that of motion start. As a result there is a possibility that error 667* software motion limit over, beyond motion space 2 may occur since the DEPART operation position will be beyond the operation space. In this case, replace the instruction with the MOVE instruction as described in REMARKS and change the figure using LETF (refer to 10.3 Figure).

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Chapter 12 Robot Control Statements

DRAW (Statement)
Function
Executes the relative movement designated in the work coordinate system.

Format
DRAW <Interpolation method>,[<Pass start displacement amount>]<Parallel movement distance>[,<Motion option>][,NEXT]

Explanation
The robot moves from the current position by a distance of <Translation movement distance>. Either P (or PTP) or L can be selected for <Interpolation method>.
Interpolation method P (or PTP) L Meaning Moves in PTP control. Moves in CP control.

The value of <Pass start displacement> is expressed using the radius of the globe with the target position centered. If the motion instruction value is entered, the robot proceeds to the next control. Designate the value in millimeters. This value aims to change the pass start timing, and if the end of the arm enters the globe, the robot does not always proceed to the next control. If the value is ignored, it is processed as the default value @0. If the value is @0, the robot moves in the end movement. If @P, it moves in the pass movement. If @E, the robot checks the arrival at the target position with the value of the encoder and then proceeds to the next movement. The SPEED, ACCEL, and DECEL options are available for <Motion option>.
Motion option SPEED (or S) ACCEL Meaning Designates the movement speed. The meaning is the same as the SPEED statement. Designates acceleration. The meaning is the same as the ACCEL statement. However, deceleration cannot be designated. Use the DECEL statement to designate deceleration. Designates deceleration. The meaning is the same as the DECEL statement.

DECEL

12-7

If <NEXT option> is added, the robot proceeds to the next no-movement instruction without waiting for movement to finish. However, the following instructions will not be executed until the robot movement ends (pass start). Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.) If this command is used with the movement option, the NEXT option is no longer valid. When <NEXT option> is added and if step stop is executed in the waiting status for the next movement instruction, the robot will stop after movement ends. Therefore, care must be exercised since it requires a long distance to stop. Remarks: The DRAW statement can be rewritten using the MOVE statement. DRAW <Interpolation method>,[<Pass start displacement> ]<Translation movement distance>[,<Motion option>] [,NEXT] The following shows the statement if the above DRAW statement is rewritten using the MOVE statement. MOVE <Interpolation method>,[<Pass start displacement> ]<Current position>+<Translation movement distance> Example: DRAW L, (50, 10, 50) 'The same as MOVE L, P0+(50, 10, 50)

Related Terms
SPEED, TOOL, CHANGEWORK

Example
DEFVEC lv1, lv2 DRAW L, (50, 10, 50) 'The robot moves (CP control) to a position '(X = 50, Y = 10, Z = 50) away from the current position. DRAW L, lv1, SPEED=90 'The robot moves (CP control, S = 90) to a position 'lv1 away 'from the current position. DRAW L, lv2, S = 50 'The robot moves (CP control, S = 50) to a position 'lv2 away from the current position.

Notes
The figure of the DRAW motion position is that of motion start. As a result there is a possibility that error 667* software motion limit over, beyond motion space 2 may occur since the DRAW operation position will be beyond the motion space. In this case, replace the instruction with the MOVE instruction as described in REMARKS and change the figure using LETF (refer to 10.3 Figure).

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Chapter 12 Robot Control Statements

DRIVE
Function

(Statement) [Conforms to SLIM]

Executes the relative motion of each axis.

Format
DRIVE[<Pass start displacement> ](<Axis number>,<Relative movement amount>)[,(<Axis number>,<Relative movement amount>)][,<Motion option>][,NEXT]

Explanation
This statement moves the axis designated by <Axis number> to the angle (DEG) designated by <Relative movement amount>. If <Relative movement amount> is positive, the designated axis moves in the positive direction and if negative it moves in the negative direction. To execute this command, you need to get an arm group involving a joint(s) to be moved. If a same axis is designated several times the latest designation becomes valid. The value of <Path start displacement> is expressed using the radius of the globe with the target position centered. If the motion instruction value is entered, the robot proceeds to the next control. Designate the value in millimeters. This value aims to change the pass start timing, and if the end of the arm enters the globe, the robot does not always proceed to the next control. If the value is ignored, it is processed as the default value @0. If the value is @0, the robot moves in the end movement. If @P, it moves in the pass movement. If @E, the robot checks the arrival at the target position with the value of the encoder and then proceeds to the next movement. The SPEED, ACCEL, and DECEL options are available for <Motion option>.
Motion option SPEED (or S) ACCEL Meaning Designates the movement speed. The meaning is the same as the JSPEED statement. Designates acceleration. The meaning is the same as the JACCEL statement. However, deceleration cannot be designated. Use the DECEL statement to designate deceleration. Designates deceleration. The meaning is the same as the JDECEL statement.

DECEL

12-9

If <NEXT option> is added, the robot proceeds to the next no-movement instruction without waiting for movement to finish. However, the following instructions will not be executed until robot movement ends (pass start). Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.) If this command is used with the movement option, the NEXT option is no longer valid. When <NEXT option> is added and if step stop is executed in the waiting status for the next movement instruction, the robot will stop after movement ends. Care should therefore be exercised since it requires a long distance to stop.

Related Terms
DRIVEA, MOVE with EX or EXA option (Commands applicable to the extended-joints include MOVE with EX or EXA option, DRIVE and DRIVEA only.)

Example
Ex1 DEFINT li1, li2, li3 DEFSNG lf1, lf2, lf3 DRIVE (li1, 30) 'Moves li1 distance of 30 degrees (deg) from the 'current position. DRIVE (li1, lf1) 'Moves the axis with value li1 from the current 'position. DRIVE (li1, 0.78RAD), (li2, lf2), (li3, lf3) 'Moves li1 by 0.78 (rad), li2 by a distance of lf2, 'and li3 by a distance of lf3 from the current 'position. Ex2 (extended-joint)

PROGRAM PRO1 TAKEARM1 'Arm Group 1 involves 7th and 8th joints. DRIVE (7,30),(8,50) 'Operate 7th and 8th joints END

In the above example, to move the 7th and/or 8th extended-joint, the program needs to get Arm Group 1 or Arm Group 2.

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Chapter 12 Robot Control Statements

DRIVEA (Statement)
Function
Executes the absolute motion of each axis.

Format
DRIVEA[<Pass start displacement> ] (<Axis number>,<Axis coordinate>)[,(<Axis number>,<Axis number>)][,<Motion option>][,NEXT]

Explanation
This statement moves the axis designated by <Axis number> to the angle (DEG) designated by <Axis coordinate>. To execute this command, it is necessary to get an arm group including a joint(s) to be moved. If a same axis is designated several times the latest designation becomes valid. The value of <Pass start displacement> is expressed using the radius of the globe with the target position centered. If the motion instruction value is entered, the robot proceeds to the next control. Designate the value in millimeters. This value aims to change the pass start timing, and if the end of the arm enters the globe, the robot does not always proceed to the next control. If the value is ignored, it is processed as the default value @0. If the value is @0, the robot moves in the end movement. If @P, it moves in the pass movement. If @E, the robot checks the arrival at the target position with the value of the encoder and then proceeds to the next movement. The SPEED, ACCEL, and DECEL options are available for <Motion option>.
Motion option SPEED (or S) ACCEL Meaning Designates the movement speed. The meaning is the same as the JSPEED statement. Designates acceleration. The meaning is the same as the JACCEL statement. However, deceleration cannot be designated. Use the DECEL statement to designate deceleration. Designates deceleration. The meaning is the same as the JDECEL statement.

DECEL

12-11

If <NEXT option> is added, the robot proceeds to the next no-movement instruction without waiting for movement to finish. However, the following instructions will not be executed until robot movement ends (pass start). Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.) If this command is used with the movement option, the NEXT option is no longer valid. When <NEXT option> is added and if step stop is executed in the waiting status for the next movement instruction, the robot will stop after movement ends. Care should therefore be exercised since it requires a long distance to stop.

Related Terms
DRIVE, MOVE with EX or EXA option (Commands applicable to the extended-joints include MOVE with EX or EXA option, DRIVE and DRIVEA only.)

Example
Ex1 DEFINT DEFSNG DRIVEA DRIVEA 'Moves li1 a distance of 30 degrees (deg). 'Moves the axis with value li1 to the value of lf1 'from the current position. DRIVEA @P (li1, 0.78RAD), (li2, lf2), (li3, lf3) 'Moves li1 0.78 (rad), li2 by a distance of lf2 and 'li3 by a distance of lf3 from the current position. Ex2 li1, li2, li3 lf1, lf2, lf3 (li1, 30) (li1, lf1)

PROGRAM PRO1 TAKEARM1 'Arm Group 1 involves 7th and 8th joints. DRIVEA (7,30),(8,50) 'Operate 7th and 8th joints END In the above example, to move the 7th and/or 8th extended-joint, the program needs to get Arm Group 1 or Arm Group 2.

Notes
(1)If a numerical value is set to <@PassStartOffset> for the specified extended-joint, the joint will move in pass motion regardless of the entered value. (2)This command is not applicable to any joints specified for boundless rotation.

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Chapter 12 Robot Control Statements

GOHOME (Statement) [Conforms to SLIM]

Function
Moves to the position (home position) defined by the HOME statement.

Format
GOHOME

Explanation
This statement moves the robot from the current position to the home position using PTP control. Use the HOME statement to declare a home position. An error will occur if this statement is executed without setting HOME.

Related Terms
HOME

Example
GOHOME 'The robot moves from the current position to the home position.

12-13

MOVE (Statement) [Conforms to SLIM]

Function
Moves the robot flange to the specified coordinates. If specified with an EX option (relative motion of extended-joints) or EXA option (absolute motion of extended-joints), the MOVE can move both the robot flange and the extended-joints synchronously. (i.e. Synchronized start and stop from/at the specified positions is possible.)

Format
MOVE <Interpolation method>,[@<Path start displacement> ]<Pose>[,[@<Path start displacement> ]<Pose>][,<Motion option>][,NEXT]

Explanation
This statement moves the robot from the current position to the designated coordinate <Pose>. For <Pose>, the position type (P type), joint type (J type) or homogeneous transformation type (T type) can be used. For the position type, a variable, a pose array by numbered variables, a constant or the current position (*, CURPOS) can be used. For the joint type, a variable, a pose array by numbered variables, or the current angle (CURJNT) can be used. For the homogeneous transformation type, a variable or a pose array by numbered variables can be used. Expression of the pose array: P[3 TO 6] From P[3] to P[6]. P, L, or C can be selected for the For <Interpolation method>.
Interpolation method P (or PTP) L C Meaning The robot moves from the current position to the designated coordinates using PTP control. The robot moves from the current position to the designated coordinates using CP control. The robot moves to a purpose pose performing arc interpolation via a relay point pose from the current position. The robot performs an interpolation motion from the figure of the current position to that of the purpose pose (the figure of the relay point pose is ignored). In arc interpolation, a relay point pose and a purpose pose must be designated. (A pose array cannot be used for C.) Even if pass start displacement is designated to a relay point pose, the motion does not change. Use MOVE C, P1, @P P2 to designate the pass taken when the arc interpolation motion is finished.

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Chapter 12 Robot Control Statements

The value of <Path start displacement> is expressed using the radius of the globe with the designated coordinates centered. If the motion instruction value is entered, the robot proceeds to the next control. Designate the value in millimeters. This value aims to change the pass start timing, and if the end of the arm enters the globe, the robot does not always proceed to the next control. If the value is ignored, it is processed as the default value @0. If the value is @0, the robot moves in the end movement. If @P, it moves in the pass movement. If @E, the robot checks the arrival at the target position with the value of the encoder and then proceeds to the next movement. For <Motion option>, there are SPEED, ACCEL, and DECEL options.
Motion option SPEED (or S) ACCEL Meaning Designates the movement speed. The meaning is the same as the SPEED statement. Designates acceleration. The meaning is the same as ACCEL or JACCEL statement. However, deceleration cannot be designated. Use the DECEL statement to designate deceleration. Designates deceleration. The meaning is the same as the DECEL statement.

DECEL

If <NEXT option> is added, the robot proceeds to the next no-movement instruction without waiting for movement to finish. However, the following instructions are not executed until robot movement ends (pass start). Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.) If this command is used with the movement option, the NEXT option is no longer valid. When <NEXT option> is added and if step stop is executed in the waiting status for the next movement instruction, the robot will stop after movement ends. Care should therefore exercised since it requires a long distance to stop. Expressions such as MOVE P,P[3 TO 5] or MOVE P,P3,P6,P9 have the same expression as MOVE P,P[3 TO 5] MOVE P, P3, NEXT MOVE P, P4, NEXT MOVE P, P5 or MOVE P,P3,P6,P9 MOVE P, P3, NEXT MOVE P, P6, NEXT MOVE P, P9

12-15

(The left expressions have higher priority in processing.) Therefore, (1) If these expressions are present between IOBLOCK ON and OFF, the next non-motion instruction is not executed until the motion of the final pose (P5 or P9) motion starts. Refer to Part 2 6.1.3 IOBLOCK ON/OFF. (2) If the NEXT option is added, the next non-motion instruction is not executed until the final pose (P5 or P9) motion starts. The syntax of an EX or EXA option is shown below. <EX/EXAoption> syntax
EX((<JntNumber>,<RelativeDistance>)[,(<JntNumber>, <RelativeDistance>)]) EXA((<JntNumber>,<AxisCoordinates>)[,(<JntNumber>, <AxisCoordinates>)])

To <JntNumber>, you can specify only an extended-joint, never specify any robot joint. For details about other options, refer to the PROGRAMMER'S MANUAL, Section 12.1 "MOVE."

Related Terms
SPEED, DRIVE, DRIVEA (Commands applicable to the extended-joints include MOVE with EX or EXA option, DRIVE and DRIVEA only.)

Example
Ex1 6-axis DIM li1 As Integer MOVE P, (740, 0, 480, 180, 0, 180, 5),NEXT 'Moves (PTP control) to the coordinates of robot figure 5 with (740, '0, 480, 180, 0, 180). After the motion starts, the next instruction 'is executed. MOVE P, (100, 200, 300, 45, 1),NEXT 'Moves (PTP control) to the coordinates of robot figure 1 with (100, 200, 300, '45, 1). After the motion starts, the next instruction is executed. MOVE L, lp1, SPEED = 100 'Moves (CP control, internal speed = 100) to the coordinates of lp1. MOVE P, @30 lp2, lp3, S = lil 'Sequentially moves (PTP control, internal speed = li1) to the 'coordinates of lp2(@30) and lp3 . MOVE L, @20 lp4, @50 lp5, @100 lp6 'Sequentially moves (CP control) to the coordinates of lp4(@20), 'lp5(@50), and lp6(@100). MOVE L, @P P[6 TO 15], lp7 'Sequentially moves from P[6] to P[15] in pass motion and moves '(CP motion) to the coordinates of lp7. MOVE C, lp1, @p lp2 'Executes an arc interpolation motion via lp1 to lp2. 'Executes the pass motion at lp2 and proceeds to the next control.

4-axis

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Chapter 12 Robot Control Statements

Ex2

PROGRAM PRO1 TAKEARM 2 MOVE P, P0 EX ((7,30),(8,10))

MOVE P, P1 EXA ((7,30))

'Get Arm Group 2 involving both robot 'joints and extended-joints. 'Move robot flange to P0 as well as 'moving 7th and 8th extended-joints to 'relative coordinates synchronously. 'Move robot flange to P1 as well as 'moving 7th extended-joint to absolute 'coordinates synchronously.

END

12-17

Notes
(1) If a pose is designated in the position type and the homogeneous transformation type, the designated pose goes beyond the robot motion space. As a result of this an error with level 6070 (J* software motion limit over, out of motion space, singular point) may occur. Be careful when designating specific figures of 16 to 31. (2) In CP motion or arc interpolation motion, if the current figure (refer to the "Setting-up Guide, 4.1.3 Figures of the Shoulder, Elbow and Wrist) and the figure at the designated coordinates are wrong, error 607F (Robot figure incompatibility) may occur. However, no error will occur if it is possible for the robot to change its figure. (3) In CP motion and arc interpolation motion, if the robot passes in the vicinity of a singular point (refer to the "Setting-up Guide, 4.1.3 [2] Boundaries of Robot Figures), an error with a level of 6080 (Command speed limit over) will occur and the robot may stop. In this case, reduce the speed or set 2 or 3 in the optimal load capacity setting mode (refer to p.4-8 "4.6 Control Set of Motion Optimization"). If the error still occurs, avoid the path in the vicinity of the singular point. (4) In CP motion, warning 601C (Change a figure.) may occur if a figure at the end of movement is incompatible with the designated figure. Teach the robot again with a figure at the end of movement (if the warning occurs it will not affect movement). (5) For a pass motion in an arc interpolation movement or an encoder value checking movement, designate the pass start displacement amount to the destination pose. If the pass start displacement amount is designated as the relay pose, the movement does not change. (6) The arc interpolation movement ignores the figure of the relay pose. Therefore, in order to let the tool end pass the relay pose, set the tool coordinates at the tool end using the tool definition. (7) In the arc interpolation movement, if the movement is restarted after an instantaneous stop during the pass movement when the previous movement is a pass movement, error 60de The robot executes rotation movement different from the designated one. may occur. (8) In the arc interpolation movement, if the current pose and the target pose are the same, the robot does not move. If the current pose and the relay pose are the same, or the relay pose and the target pose are the same, the robot moves toward the target pose in CP motion. (9) (Notes of extended-joint.) The MOVE with EXA option (absolute motion) is not applicable to any extended-joints specified for boundless rotation. (10)( Notes of extended-joint.) Given below is an example handling a POSE array. Example: MOVE P,P[3 TO 5]EX((7,30)) The above sample will produce the same result as the following; that is, the motion of the 7th joint will synchronize with that of the robot flange to P5. MOVE P,P3,NEXT MOVE P,P4,NEXT MOVE P,P5 EX((7,30))

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Chapter 12 Robot Control Statements

ROTATE (Statement) [Conforms to SLIM]

Function
Executes a rotation movement around the designated axis.

Format
ROTATE <Rotation plane>,[@<Pass start displacement>],<Relative rotation angle> [,[<Rotation center point>] [,<Rotation option>] [,<Movement option>][,NEXT]] Rotation plane format 6-axis 4-axis {{XY|YZ|ZX}|{XYH|YZH|ZXH}|(Vector type, vector type, vector type)} {{XY}|{XYH}}

Explanation
The hand rotates around the axis vertically created in <Rotation plane> by the angle designated <Rotation angle>. There are two types of rotation axes in the rotation plane. The axis with the smaller angle made in the approach vector is selected. The rotation plane can be selected from the following seven planes. Rotation plane format 6-axis If the rotation plane is parallel to the XY, YZ and ZX planes of the work coordinates, designate XY|YZ|ZX. If the rotation plane is parallel to the XY, YZ and ZX planes of the tool coordinates, designate XYH|YZH|ZXH. A plane seen from the base coordinates is created from the three points of the XYZ coordinates (Vector type, Vector type, Vector type). 4-axis If the rotation plane is parallel to the XY planes of the work coordinates, designate XY. If the rotation plane is parallel to the XY planes of the tool coordinates, designate XYH. A plane seen from the base coordinates is created from the three points of the XYZ coordinates (Vector type, Vector type, Vector type). The value of <Pass start displacement> is expressed using the radius of the globe with the designated coordinates (pause) centered. If the motion instruction value is entered, the robot proceeds to the next control. Designate the value in millimeters. This value aims to change the pass start timing, and if the end of the arm enters the globe, the robot does not always proceed to the next control. If the value is ignored, it is processed as the default value @0. If the value is @0, the robot moves in the end movement. If @P, it moves in the pass movement. If @E, the robot checks the arrival at the target position with the value of the encoder and then proceeds to the next movement. The unit of measurement of <Relative rotation angle> is degrees (DEG) and the sign is plus (+) for the right-handed screw.

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6-axis

For <Rotation center point>, designate a work coordinate point if the rotation plane is of {XY|YZ|ZX} and(Vector type, Vector type, Vector type). And if the rotation plane is of {XYH|YXH|ZXH}, designate a tool coordinate point. If <Rotation center point> is ignored, the rotation center will be (0,0,0) when the rotation plane is of {XY|YZ|ZX}. And when the rotation plane is of (Vector type, Vector type, Vector type), the first vector becomes the rotation center. However, if a rotation plane of {XYH|YZH|ZXH} is designated, the robot cannot rotate around the rotation center of (0, 0, 0). Be sure to designate a rotation center point.

4-axis

For <Rotation center point>, designate a work coordinate point if the rotation plane is of {XY} and(Vector type, Vector type, Vector type). And if the rotation plane is of {XYH}, designate a tool coordinate point. If <Rotation center point> is ignored, the rotation center will be (0,0,0) when the rotation plane is of {XY}. And when the rotation plane is of (Vector type, Vector type, Vector type), the first vector becomes the rotation center. However, if a rotation plane of {XYH } is designated, the robot cannot rotate around the rotation center of (0, 0, 0). Be sure to designate a rotation center point. Designate <Rotation option> with pose=1 or pose=2. With pose=1, the robot moves to the rotation center using the posture constant. The range of the rotation angle is 540. With pose=2, the robot keeps the current posture. If no option is designated, the robot moves in the same way as in the case of pose=2. For <Movement option> there are SPEED, ACCEL and DECEL options.
Motion option SPEED (or S) ACCEL Meaning Designates the movement speed. The meaning is the same as the SPEED statement. Designates acceleration. The meaning is the same as the ACCEL statement. However, deceleration cannot be designated. Use the DECEL statement to designate deceleration. Designates deceleration. The meaning is the same as the DECEL statement.

DECEL

If <NEXT option> is added, the robot proceeds to the next no-movement instruction without waiting for movement to finish. However, the following instructions will not be executed until robot movement ends (pass start). Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.) If this command is used with the movement option, the NEXT option is no longer valid. When <NEXT option> is added and if step stop is executed in the waiting status for the next movement instruction, the robot will stop after movement ends. Care should therefore be exercised since it requires a long distance to stop.

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Chapter 12 Robot Control Statements Related Terms

ROTATEH

Example
ROTATE XY,45,V1 posture vertical 6-axis only 'to the XY plane. ROTATE(V2, V3, V4),F1 'The robot rotates around the axis vertical to the plane 'created from (V2, V3, V4) passing point V2 by the 'value of F1. ROTATE XYH,43,V1,S=100 'The robot rotates around an approach vector which passes 'the tool coordinates V1 by 43 degrees at a moving speed 'of 100 %. 'The robot the rotates axis by 45 degrees through at a constant V1 and 'around passing point

Notes
When you execute instantaneous stop during path movement and restart the system, error 60de Robot may execute rotation movement different from the designated. may occur.

12-21

ROTATEH (Statement)
Function
Executes rotary motion by taking an approach vector as an axis.

Format
ROTATEH [@<Pass start displacement> ]<Relative rotation angle around approach vector>[,<Motion option>][,NEXT]

Explanation
This statement rotates the hand end by <Relative rotation angle around approach vector> taking the approach vector as the axis. The unit of measurement for <Relative rotation angle around approach vector> is degrees (DEG). However, designate the rotation angle in a range from 180(DEG) to 180(DEG). The value of <Pass start displacement> is expressed using the radius of the globe with the designated coordinate (pause) centered. If the motion instruction value is entered, the robot proceeds to the next control. Designate the value in millimeters. This value aims to change pass start timing, and if the end of the arm enters the globe, the robot does not always proceed to the next control. If the value is ignored, it is processed as the default value @0. If the value is @0, the robot moves in the end movement. If @P, it moves in the pass movement. If @E, the robot checks the arrival at the target position with the value of the encoder and then proceeds to the next movement.

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Chapter 12 Robot Control Statements

For <Motion option> there are SPEED, ACCEL, and DECEL options.
Motion option SPEED (or S) ACCEL Meaning Designates the movement speed. The meaning is the same as the SPEED statement. Designates acceleration. The meaning is the same as the ACCEL statement. However, deceleration cannot be designated. Use the DECEL statement to designate deceleration. Designates deceleration. The meaning is the same as the DECEL statement.

DECEL

If <NEXT option> is added, the robot proceeds to the next no-movement instruction without waiting for movement to finish. However, the following instructions are not executed until the robot movement ends (pass start). Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.) If this command is used with the movement option, the NEXT option in no longer valid. When <NEXT option> is added and if step stop is executed in the waiting status for the next movement instruction, the robot will stop after movement ends. Care should therefore be taken since a long distance is required to stop. Remarks: The ROTATEH statement can be rewritten using the MOVE statement. If you rewrite the ROTATE statement of ROTATEH, [<Pass start displacement>]<Rotation angle>[, <Motion option>][NEXT] using the MOVE statement, it can be described as follows. MOVE L, [<Pass start displacement>]<Current position>+(0, 0, 0, 0, 0, <Rotation angle>)H[, NEXT] Example: The same as ROTATEH @P, F1 'MOVE L, @P PO+(0, 0, 0, 0, 0, F1)H:PO is a current position.

Related Terms
ROTATE

Example
DEFSNG FF1=50 TAKEARM MOVE P,P1 CHANGETOOL 1 ROTATEH @50 FF1 CHANGETOOL 0 'Sets the relative rotation angle to 50 degrees. 'Obtains the robot control priority. 'Moves to point P1 in PTP motion. 'Makes 1 of TOOL valid. 'Sets pass start displacement to 50, and the relative rotation 'angle FF1. 'Sets TOOL to 0.

12-23

CURJNT (System Variable)

Function
Obtains the current angle of the robot using type J.

Format
{CURJNT | *}

Explanation
The Joint angles detected by each axis encoder of the robot are stored using type J data. If the robot is in operation the values are obtained when this instruction is executed. If the destination pose is obtained use DESTJNT.

Related Terms
DESTJNT, CURPOS, CURTRN

Example
DIM lj1 As Joint lj1 = CURJNT 6-axis 'Assigns the current joint angle to lj1. lj1 = CURJNT + (10, 10, 0, 0, 0, 10) 'Assign the current joint angles + '(10, 10, 0, 0, 0, 10) to lj1 lj1 = CURJNT + (10, 10, 0, 0) 'Assign the current joint angles + '(10, 10, 0, 0) to lj1

4-axis

Notes
During operation with the machine lock function, the joint angles detected by the encoder of each axis are not stored but virtual joint angles (instruction angles) are stored.

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Chapter 12 Robot Control Statements

CURPOS (System Variable)[Conforms to SLIM]

Function
Obtains the current position in the tool coordinate system using type P.

Format
{CURPOS|*}

Explanation
The current positions detected by each axis encoder in the tool coordinate system are stored using type P data. If the robot is in operation the values are obtained when this instruction is executed. If the destination pose is obtained use DESTPOS.

Related Terms
DESTPOS, CURJNT, CURTRN

Example
DEFPOS lp1, lp2 lp1 = CURPOS 'Assign the current position in the tool 'coordinate system to lp1 lp2 = * 'Assign the current position in the tool 'coordinate system to lp2 lp1 = CURPOS + (100, 200, 0, 10, 10, 0) 'Assign the current position + (100, 200, 0, 10, '10, 0) in the tool coordinate system to lp1 lp1 = CURPOS + (100, 200, 0, 10) 'Assign the current position + (100, 200, 0, 10) 'in the tool coordinate system to lp1

6-axis

4-axis

Notes
During operation with the machine lock function, the joint angles detected by the encoder of each axis are not stored but virtual joint angles (instruction angles) are stored.

12-25

CURTRN (System Variable) [Conforms to SLIM]

Function
Obtains the current position in the tool coordinate system using type T.

Format
{CURTRN | *}

Explanation
The current positions detected by each axis encoder in the tool coordinate system are stored using type T data. If the robot is in operation the values are obtained when this instruction is executed. If the destination pose is obtained use DESTTRN.

Related Terms
DESTTRN, CURJNT, CURPOS

Example
DEFPOS lp1, lp2 lp1 = CURPOS Lp2 = * 'Assigns a position in the current tool coordinate system to 'lp1. 'Assigns a position in the current tool coordinate system to 'lp2.

Notes
During machine lock operation, the joint angles detected by the encoder of each axis are not stored but virtual joint angles (instruction angles) are stored.

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Chapter 12 Robot Control Statements

CUREXJ (Statement)
Function
Gets the current angle of an extended-joint into a floating-point variable.

Format
CUREXJ(<JntNumber>)

Explanation
CUREXJ reads an angle detected by the encoder of an extended-joint specified by <JntNumber> into a floating-point variable. If the specified joint is in motion, this command will get the current angle of the joint detected when this command executes. To get the target angle of an extended-joint, use a DESTEXJ command.

Related Terms
CURJNT, CURPOS, CURTRN, and DESTEXJ

Example
PROGRAM PRO1 DIM lf1 AS SINGLE TAKEARM 1 DRIVEA (7,100) lf1 = CUREXJ(7) END

'Move the 7th joint to an angle of 100 degrees. 'Assign current position of 7th joint to lf1.

Notes
When the machine is locked (Machine Lock state), the CUREXJ command will get not an angle detected by an encoder but a virtual angle (commanded angle).

12-27

DESTJNT (System Variable)

Function
Obtains the current movement instruction destination position using type J. The current position (instruction value) is obtained when the robot stops.

Format
DESTJNT

Explanation
The destination position of the previous movement instruction is stored using a type J data format. Because the data can be obtained with a system variable, the transfer of data to another program using local variables or global variables is not required. Use CURJNT to obtain the positions detected by each axis encoder.

Related Terms
CURJNT, DESTPOS, DESTTRN

Example
6-axis 4-axis DEFJNT lj1, lj2 MOVE P, @P lj1, NEXT lj2 = DESTJNT+(100, 0, 0, 0, 0, 0) 'In this case, DESTJNT = lj1. lj2 = DESTJNT+(100, 0, 0, 0) 'In this case, DESTJNT = lj1.

Notes
A stop position is fetched when the movement stops after the movement stop instruction (refer to Part 2 5.3.3 INTERRUPT ON/OFF) is entered. (Example) INTERRUPT ON MOVE P, J1 An interrupt signal turns ON during movement. INTERRUPT OFF J2=DESTJNT J1=J2 is not satisfied. J2 is a stop position.

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Chapter 12 Robot Control Statements

DESTPOS (System Variable)

Function
Obtains the current movement instruction destination position with type P. When the robot stops, the current value (instruction value) is obtained.

Format
DESTPOS

Explanation
The destination position of the previous movement instruction is stored with a format of a type P data. Because the data can be obtained with a system variable, it does not require to transfer the data to another program with variables such as local variables or global variables. Use CURPOS to obtain positions detected with each axis encoder.

Related Terms
CURPOS, DESTJNT, DESTTRN

Example
6-axis 4-axis DEFPOS lp1, lp2 MOVE P, @P lp1, NEXT lp2 = DESTPOS+(100, 10, 10, 0, 0, 0) 'In this case, DESTPOS = lp1. lp2 = DESTPOS+(100, 10, 10, 0) 'In this case, DESTPOS = lp1.

Notes
A stop position is fetched when the movement stops after the movement stop instruction (refer to Part 2 5.3.3 INTERRUPT ON/OFF) is entered . (Example) INTERRUPT ON MOVE P, P1 An interrupt signal turns ON during movement. INTERRUPT OFF P2=DESTPOS P1=P2 is not satisfied. P2 is a stop position.

12-29

DESTTRN (System Variable)

Function
Obtains the current movement instruction destination position with type T. When the robot stops, the current position (instruction value) is obtained.

Format
DESTTRN

Explanation
The destination position of the previous movement instruction is stored using a type T data format. Because the data can be obtained with a system variable, it does not require to transfer the data to another program with variables such as local variables or global variables. Use CURTRN to obtain positions detected with each axis encoder.

Related Terms
CURTRN, DESTJNT, DESTPOS

Example
DEFPOS lp1, lp2 MOVE P, @P lp1, NEXT lp2 = DESTTRN+(100, 10, 10) 'In this case, DESTTRN = lp1.

Notes
When the movement stop instruction (refer to Part 2 5.3.3 INTERRUPT ON/OFF) is entered and the movement stops, the stop position is stored. (Example) INTERRUPT ON MOVE P, T1 An interrupt signal turns ON during movement. INTERRUT OFF T2=DESTTRN T1=T2 is not satisfied. T2 is a stop position.

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Chapter 12 Robot Control Statements

DESTEXJ (Statement)
Function
Gets the target position of an extended-joint invoked by the current motion command into a floating-point variable. If the robot is on halt, this command will get the current position (commanded value).

Format
DESTEXJ(<JntNumber>)

Explanation
DESTEXJ reads the target position of an extended-joint invoked by the current motion command and specified by <JntNumber> into a floating-point variable. To get a position detected by the encoder of an individual joint, use a CUREXJ command.

Related Terms
CUREXJ, DESTJNT, DESTPOS, and DESTTRN

Example
PROGRAM PRO1 DIM lf1 AS SINGLE TAKEARM 1 DRIVEA (7,100),NEXT

lf1 = DESTEXJ(7) END

'Move 7th joint to an angle of 100 degrees. 'NEXT advances the process to the next command 'before the motion is completed. 'Assign target angle 100 of previously 'commanded motion into lf1.

Notes
If a robot motion is stopped by entering Stop motion command (Refer to INTERRUPT ON/OFF stated later), the DESTEXJ will get the joint angle where the motion is stopped. Example
INTERRUPT ON DRIVEA(7,100) 'Interrupt signal turns ON during motion. 'The 7th joint stops and the process advances 'to the next command. 'The value of F1 will not be 100 but the value 'of the angle where the joint stopped.

INTERRUPT OFF F1=DESTEXJ(7)

12-31

ARRIVE (Statement) [Ver.1.2 or later]

Function
Defines the motion ratio relative to the programmed full travel distance to the target point in order to make the current program stand by to execute the next step until the robot reaches the defined motion ratio.

Format
ARRIVE <Motionratio>

Explanation
When an usual motion command is executed, any command on the subsequent step cannot be executed until the completion of the current motion or the start of pass motion. If a motion command includes an IOBLOCK or NEXT option, however, the program may proceed to the subsequent step halfway through the execution of the current command. This ARRIVE command makes the program stand by to execute the next step until the robot reaches the defined motion ratio. <Motionratio> is the motion ratio relative to the programmed full travel distance instructed by a motion command. The entry range is from 1 to 99 (%) which may be set with numerals, integer variables, or floating-point variables. ARRIVE takes effect only for robot joints. Therefore, when operating only extended-joints by DRIVE or DRIVEA, this ARRIVE command does not work.

Example
Ex1 PROGRAM PRO1 TAKEARM MOVE P, P1, NEXT ARRIVE 50 SET IO[240] ARRIVE I1 RESET IO[240] END

'If the motion ratio reaches 50%, 'turn on IO[240]. 'If the motion ratio reaches the percentage assigned to 'integer 1, turn off IO[240].

Ex2(extended-joint) If an arm group is set in 4-joint robots as shown below, the program sample below works as follows.

PROGRAM PRO1 TAKEARM 1 DRIVE(1,30)(7,30),NEXT ARRIVE 50 MOVE P,P0 EX((7,30)),NEXT ARRIVE 50 DRIVE(7,30),NEXT ARRIVE 50 END
Since the previous DRIVE command involves an extended-joint only, the ARRIVE does not work and the process advances to the next line. Since the previous command involves robot joints also, the ARRIVE works. Synchronized motion with extended-joints. So the ARRIVE will works.

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Chapter 12 Robot Control Statements Notes

An ARRIVE command defines the motion ratio for the immediately preceding motion command in a TAKEARMed task that has obtained arm-semaphore. If an ARRIVE command is executed after arm-semaphore is obtained and before execution of a motion command, Error 648C will result. If an ARRIVE command is executed without arm-semaphore obtained, Error 21F7 will result. If the robot has stopped instantaneously during execution of an ARRIVE command and the positioning error exceeds 10 mm between the stop position and the restart position at restarting, Error 6486 will result. If the robot has stopped instantaneously during execution of an ARRIVE command and no motion command has been executed at restarting, then the robot will not reach <Motionratio>, resulting in Error 6489. The <Motionratio> refers to the ratio relative to the robot travel distance. However, depending upon the robot operating conditions (e.g., speed and acceleration), the actual robot position when the ARRIVE command is completed may vary. On the contrary, changing the <Motionratio> may bring no change of the actual robot position when the ARRIVE command is completed. If you want to use the ARRIVE command and synchronize the robot with the peripherals, check the timing. If you use an ARRIVE command with any current limit function, the robot may not pass the <Motionratio> due to its limited drive current. If this happens, the program will infinitely wait for the completion of the ARRIVE command. You need to stop the program and resume it. If you use an ARRIVE command with an INTERRUPT command, any motion command following INTERRUPT ON will not be executed by INTERRUPT SKIP signals but the ARRIVE command will be executed. Therefore, depending upon the timing of the INTERRUPT SKIP signals, the ARRIVE command may be executed for an unexpected motion command or the robot may not pass the <Motionratio>. If either of them happens, the program will infinitely wait for the completion of the ARRIVE command. You need to stop the program and resume it. In teach check, the NEXT option and IOBLOCK command are invalid, and the ARRIVE command has no meaning.

12-33

POSCLR (Statement)
Function
Forcibly restores the current position of a joint to 0 mm or 0 degree.

Format
POSCLR<JntNumber>

Explanation
POSCLR forcibly restores the angle of a joint specified by <JntNumber> to 0 mm or 0 degree. This command is applicable only to joints specified for boundless rotation. Use this command if a joint keeps on rotating in the same direction so that any of the following happens: - The current position value becomes too large to handle. - The current position value jumps to a large negative value (due to overflow or wrap-around of a variable value). To execute this command, you need to get an arm group including a joint whose position is to be restored to its origin.

Related Terms Example

PROGRAM PRO1 TAKEARM 1 DRIVEA (7,100) POSCLR 7 END 'Move 7th joint to an angle of 100 degrees. 'Force restore the current angle of the 7th 'joint to 0 degree.

Notes
(1) This command is not applicable to robot joints (Only to extended-joints). (2) The controller runs this command after the robot has completely stopped. Therefore, any pass motion command written preceding POSCLR will cause no pass motion. (3) The Step Back function cannot return the program control back to any command written preceding the POSCLR command.

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Chapter 12 Robot Control Statements

12.2 Figure Control

CURFIG (System variable)
Function
Obtains the current value of the robot figure.

Format
CURFIG

Explanation
The current robot figure is stored with integers. The relation between the integer value and the figure is listed in the following table.
Robot Figures Value 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 SINGLE4 DOUBLE4 DOUBLE4 DOUBLE4 DOUBLE4 DOUBLE4 DOUBLE4 Figure ( For 6-axes robots ) SINGLE6 SINGLE6 SINGLE6 SINGLE6 SINGLE6 SINGLE6 SINGLE6 SINGLE6 DOUBLE6 DOUBLE6 DOUBLE6 DOUBLE6 DOUBLE6 DOUBLE6 DOUBLE6 DOUBLE6 SINGLE6 SINGLE6 SINGLE6 SINGLE6 SINGLE6 SINGLE6 FLIP ABOVE RIGHTY FLIP ABOVE LEFTY FLIP BELOW FLIP BELOW RIGHTY LEFTY Figure ( For 4-axes robots ) SINGLE SINGLE RIGHTY LEFTY

NONFLIP ABOVE RIGHTY NONFLIP ABOVE LEFTY NONFLIP BELOW NONFLIP BELOW RIGHTY LEFTY DOUBLE DOUBLE RIGHTY LEFTY

FLIP ABOVE RIGHTY FLIP ABOVE LEFTY FLIP BELOW FLIP BELOW RIGHTY LEFTY

NONFLIP ABOVE RIGHTY NONFLIP ABOVE LEFTY NONFLIP BELOW NONFLIP BELOW RIGHTY LEFTY

FLIP ABOVE RIGHTY FLIP ABOVE LEFTY FLIP BELOW FLIP BELOW RIGHTY LEFTY

NONFLIP ABOVE RIGHTY NONFLIP ABOVE LEFTY

12-35

22 23 24 25 26 27 28 29 30 31

DOUBLE4 DOUBLE4 DOUBLE4 DOUBLE4 DOUBLE4 DOUBLE4 DOUBLE4 DOUBLE4 DOUBLE4 DOUBLE4

SINGLE6 SINGLE6 DOUBLE6 DOUBLE6 DOUBLE6 DOUBLE6 DOUBLE6 DOUBLE6 DOUBLE6 DOUBLE6

NONFLIP BELOW NONFLIP BELOW

RIGHTY LEFTY

FLIP ABOVE RIGHTY FLIP ABOVE LEFTY FLIP BELOW FLIP BELOW RIGHTY LEFTY

NONFLIP ABOVE RIGHTY NONFLIP ABOVE LEFTY NONFLIP BELOW NONFLIP BELOW RIGHTY LEFTY

Related Terms
LETF, Robot figure (Appendix 2)

Example
DIM li1 As Integer li1 = CURFIG 'Assigns the current robot figure to integer type variable li1.

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Chapter 12 Robot Control Statements

FIGAPRL (Function)
Function
Calculates figures at an approach position and a standard position available to move in CP motion.

Format
FIGAPRL (<Reference position>, <Approach length>)

Explanation
For <Reference position>, you can use only a position type. 6-axis Calculate the figure of <Reference position> which can perform CP motion from the position (approach position) away from <Approach length> to <Reference position> in the -Z direction of the hand coordinate system. The system automatically searches a figure available for the CP motion from the approach position to <Reference position> in the following procedure order until the movement becomes available. (1)The figure of <Reference position> (If the figure of <Reference position> isindefinite, the current figure is applied.) (2) Exchange the wrist figure (flip-non flip). (3) Exchange an elbow figure (above-below) with a non flip wrist figure. (4) Set the wrist figure to flip. (5) Exchange the arm figure (left-right) with the elbow figure above and with the wrist figure non flip. (6) Set the wrist figure to flip. (7) Set the elbow figure to below and the wrist to non flip. (8) Set the wrist figure to flip. If the system cannot move even after the 8th search, an error of level 6070 (J* software motion limit over) may occur. In this case, change the current position or approach length. Calculate the figure of <Reference position> which can perform CP motion from the position (approach position) away from <Approach length> to <Reference position> in the +Z direction of the base coordinate system. The system automatically searches a figure available for the CP motion from the approach position to <Reference position> in the following procedure order until the movement becomes available. (1) The figure of <Reference position> (If the figure of <Reference position> is indefinite, the current figure is applied.)

4-axis

12-37

Related Terms
FIGAPRP, APPROACH

Example
6-/4-axis I1=FIGAPRL(P1, 100.0) LETF P1, I1 APPROACH P, P1, 100.0 MOVE L, P1 I1=FIGAPRL(P1 + (100.200, 0, 0, 10, 0), 100) LETF P1, I1 APPROACH P, P1, 100.0 MOVE L, P1 I1=FIGAPRL(P1 + (100.200, 0, 0), 100) LETF P1, I1 APPROACH P, P1, 100.0 MOVE L, P1

6-axis

4-axis

Notes
(1) Use FIGAPRL if the movement action after the approach is the CP motion. If it is PTP motion, use FIGAPRP. (2) <Reference position> and the approach length used in FIGAPRL should be consistent with <Reference position> and the approach length designated in APPROACH motion. If <Reference position> or approach length is different, an error of level 6070 may occur in CP motion after approach. (3) Even if you obtained a figure with FIGAPRL, the robot possibly stops in CP motion after approach with the occurrence of an error of level 6080 (command speed limit over). In this case, slow down the speed or set 2 or 3 in optimal load capacity setting mode (refer to p.4-8, "4.6 Control Set of Motion Optimization). If an error still occurs, adjust the approach length.

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Chapter 12 Robot Control Statements

FIGAPRP (Function)
Function
Calculates an approach position where the PTP motion is available, and a reference position figure.

Format
FIGAPRP (<Reference position>, <Approach length>)

Explanation
For <Reference position>, you can use only a position type. 6-axis Calculate the figure of <Reference position> which can perform PTP motion from the position (approach position) away from <Approach length> to <Reference position> in the -Z direction of the hand coordinate system. The system automatically searches a figure available for PTP motion from the approach position to <Reference position> in the following procedure order until the movement becomes available. (1)The figure of <Reference position> (If the figure of <Reference position> is indefinite, the current figure is applied.) (2)Exchange the wrist figure (flip-non flip) and if the 4th axis movement angle from the approach position to <Reference position> is within 90 degrees, the motion is assumed to be available. If the 4th axis movement angle exceeds 90 degrees or the movement is not available, an error of level 6070 (J* software motion limit over) may occur. In this case, change the current position or approach length. Calculate the figure of <Reference position> which can perform PTP motion from the position (approach position) away from <Approach length> to <Reference position> in the +Z direction of the base coordinate system. The system automatically searches a figure available for PTP motion from the approach position to <Reference position> in the following procedure order until the movement becomes available. (1) The figure of <Reference position> (If the figure of <Reference position> is indefinite, the current figure is applied.) FIGAPRL, APPROACH

4-axis

Related Terms Example

I1 = FIGAPRP(P1, 100.0) LETF P1, I1 APPROACH P, P1, 100.0 MOVE P, P1 I1 = FIGAPRP(P1 + (100, 200, 0, 0, 0, 10), 100, 0) I1 = FIGAPRP(P1 + (100, 200, 0, 0), 100, 0)

6-axis 4-axis

Notes
(1) Use FIGAPRP if the movement action after the approach is a PTP motion. Use FIGAPRL if it is CP motion. (2) <Reference position> and the approach length used in FIGAPRP should be consistent with <Reference position> and the approach length designated in APPROACH motion. If <Reference position> or approach length is different, an error of level 6070 may occur in PTP motion after approach.

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12.3 Stop Control

HOLD (Statement) [Conforms to SLIM]
Function
Holds program processing for a time.

Format
HOLD <Message>

Explanation
This statement holds program processing and outputs the contents designated in <Message> to the pendant. For contents of <Message>, refer to the RINTMSG statement. If you restart the system, it executes the suspended program from the next statement after the HOLD statement. The number of characters for a message is 60 letters (One-byte character).

Related Terms
DELAY, HALT, STOP

Example
DEFINT li1, li2 HOLD li1 + li2 'Holds program processing to set the system to the stop status in step 'mode and outputs value of (li1 + li2) to the pendant. HOLD stop 'Holds program processing to set the system to the stop status in step 'mode and outputs a character string stop to the pendant.

Notes
When you use a type F variable and a type D variable as a message, the system displays up to 4 digits after the decimal point.

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Chapter 12 Robot Control Statements

HALT (Statement) [Conforms to SLIM]

Function
Stops executing a program.

Format
HALT <Message>

Explanation
This statement stops program execution and outputs the contents designated by <Message> to the pendant. For contents of <Message>, refer to the PRINTMSG statement. If you restart the system, the system starts the program from the first line. The maximum number of letters available for a message is 60.

Related Terms
DELAY, HOLD, STOP

Example
DEFINT li1, li2 HALT li1 + li2 'Stops the program and outputs the value of (li1 + li2) to the pendant. HALT end 'Stops the program and outputs the character string end to the 'pendant.

Notes
If you use a type F variable and a type D variable, the screen shows only 4 digits after the decimal point.

12-41

INTERRUPT ON/OFF (Statement)

Function
Interrupts a robot motion.

Format
INTERRUPT {ON|OFF}

Explanation
INTERRUPT ON and INTERRUPT OFF are used as a pair. In program lines sandwiched by the pair, if an interrupt skip signal turns ON during execution of motion commands, then the robot controller will interrupt execution of the current motion command and proceeds to the next program step. To execute the INTERRUPT command, the task must have gotten an arm group semaphore. Without INTERRUPT ON written earlier, even if an interrupt skip signal turns ON, the controller will not interrupt execution of any motion commands. If the program comes to a stop or GIVEARM command is executed, then INTERRUPT will be set to OFF automatically

Related Terms Example

Ex1 DIM lp1 As Position INTERRUPT ON 'Proceeds to the next step after interrupting a motion instruction in 'execution when the interruption signal of the special I/O port is turned 'ON. MOVE P, lp1 INTERRUPT OFF

Ex2

PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1 involving 7th and 8th 'extended-joints. INTERRUPT ON DRIVE (7,100), (8,30) 'If interrupt skip signal turns ON during 'execution of this motion command between 'INTERRUPT ON/OFF program lines, then the 'controller interrupts the command and 'proceeds to the next program step. INTERRUPT OFF END

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Chapter 12 Robot Control Statements Notes

(1) If the controller executes any relative motion command immediately following an interrupt skip, then the subsequent relative motion will start from the position where the robot stops. In program lines sandwiched by the INTERRUPT pair, therefore, use an absolute motion command. (2) The system does not perform a pass motion during INTERRUPT ON. If the system finds the pass motion designated, all of then are executed in the end motion. (3) Turning an interrupt skip signal ON interrupts all motion commands sandwiched by the INTERRUPT pair and stops all robot motions. Therefore carefully design your robot system for multitasking if you use the INTERRUPT. Program Example

PRO1 TAKEARM 0 INTERRUPT ON MOVE P,P0 'Motion command . . . INTERRUPT OFF END

PRO2 TAKEARM 1 INTERRUPT ON DRIVE(7,30) . . . INTERRUPT OFF END

'Motion command

When the controller is running PRO1 and PRO2 programs concurrently in multitasking mode, if an interrupt skip signal turns ON, then the controller will interrupt all commands (MOVE in PRO1 and DRIVE in PRO2 in the above example) running in both programs and make the programs simultaneously proceed to the next step.

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12.4 Speed Control

SPEED (Statement) [Conforms to SLIM]
Function
Specifies the internal composite speed of joints included in a currently held arm group.

Format
SPEED <Movement speed>

Explanation
The <SpeedRatio> should be the target ratio (%) of the maximum internal composite speed of joints in a currently held arm group. The entry range is from 0.1 to 100 of a real number. NOTE: If less than 0.1 is specified, no error will occur, but the actual speed may differ from the specification. If 0 or less is specified, an error will result. The actual speed value is (external internal 100). If SPEED is set, then ACCEL and DECEL are also changed.
CP control Speed setting Acceleration setting Deceleration setting Current speed obtain Current acceleration obtain Current deceleration obtain SPEED ACCEL DECEL CURSPD CURACC PTP control JSPEED JACCEL JDECEL CURJSPD CURJACC

CURDEC

CURJDEC

Example: If you write SPEED 50, the following will be set automatically:
JSPEED 50 (same value as SPEED) ACCEL 25 (SPEED*SPEED100) JACCEL 25 (SPEED*SPEED100) DECEL 25 (SPEED*SPEED100) JDECEL 25 (SPEED*SPEED100)

If you write SPEED without getting any arm group beforehand, an error will result.

Related Terms
ACCEL, DECEL, JSPEED, MPS

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Chapter 12 Robot Control Statements Example

Ex1 DIM li1 As Integer SPEED 100 'Sets the movement speed of the hand to 100. SPEED li1/100 'Sets the movement speed of the hand to a value of (li1/100).

Ex2(extended-joint)

PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1 (including 7th and 8th joints). SPEED 100 'Specify composite speed of joints (7th and 8th) 'involved in Arm Group 1. END

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JSPEED (Statement)
Function
Specifies the internal speed of individual joints included in a currently held arm group.

Format
JSPEED <Movement speed>

Explanation
The <JointSpeedRatio> should be the target ratio (%) of the maximum internal speed of individual joints in a currently held arm group. The entry range is from 0.1 to 100 of a real number. NOTE: If less than 0.1 is specified, no error will occur, but the actual speed may differ from the specification. If 0 or less is specified, an error will result. The actual speed value is (external internal 100). If JSPEED is set, then JACCEL and JDECEL are also changed. Example: If you write JSPEED 50, the following will be set automatically:
JACCEL 25 (JSPEED*JSPEED100) JDECEL 25 (JSPEED*JSPEED100)

If you write JSPEED without getting any arm group beforehand, an error will result.

Related Terms
CURJSP, JACCEL, JDECEL, SPEED

Example
Ex1 DIM li1 As Integer JSPEED 100 'Sets the movement speed of an axis to 100. JSPEED li1/100 'Sets the movement speed of an axis to the value of (li1/100).

Ex2(extended-joint)

PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1 (involving 7th and 8th joints). JSPEED 100 'Specify speed of joints (7th and 8th) involved 'in Arm Group 1. END

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Chapter 12 Robot Control Statements

ACCEL (Statement) [Conforms to SLIM]

Function
Designates internal acceleration and internal deceleration.

Format
ACCEL <Acceleration> [,<Deceleration>]

Explanation
The <AccelerationRatio> or <DecelerationRatio> should be the target ratio (%) of the maximum internal composite acceleration or deceleration of joints in a currently held arm group, respectively. The entry range is from 0.0001 to 100 of a real number. NOTE: If less than 0.0001 is specified, no error will occur, but the actual acceleration/deceleration may differ from the specification. If 0 or less is specified, an error will result. The actual acceleration/deceleration values are (external internal 100). If the speed is changed, the acceleration/deceleration values are automatically changed to a value expressed by (SPEED2 100). Note: If an axis speed interlock is valid in the Using condition parameter and ACCEL is set, JACCEL becomes the same value. Example: If you write ACCEL 50, the JACCEL 50 (same value as ACCEL) will be set automatically:
JACCEL 25 (JSPEED*JSPEED100) JDECEL 25 (JSPEED*JSPEED100)

If you write ACCEL without getting any arm group beforehand, an error will result.

Related Terms
DECEL, SPEED

Example
Ex1 DEFINT li1, li2 ACCEL 100 'Sets the acceleration to 100. ACCEL 50, 25 'Sets the acceleration to 50 and the deceleration to 25. ACCEL li1/100, li2/100 'Sets the acceleration to (li1/100) and the deceleration to (li2/100).

Ex2

PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1 (involving 7th and 8th joints). ACCEL 100 'Specify composite acceleration ratio of joints '(7th and 8th) involved in Arm Group 1. END

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JACCEL (Statement) [Conforms to SLIM]

Function
Specifies the internal acceleration and deceleration of individual joints included in a currently held arm group.

Format
JACCEL <Axis acceleration> [,<Axis deceleration>]

Explanation
This statement designates the maximum internal axis acceleration/deceleration rates (%) to <Axis acceleration>/<Axis deceleration> in a range from 0.0001 to 100. NOTE: If less than 0.0001 is specified, no error will occur, but the actual acceleration/deceleration may differ from the specification. If 0 or less is specified, an error will result. The actual axis acceleration/deceleration values are (external internal 100). If the axis speed is changed, the axis acceleration/deceleration values are automatically changed to a value expressed by (JSPEED2 100). If you write JACCEL without getting any arm group beforehand, an error will result.

Related Terms
JDECEL, JSPEED, SPEED

Example
Ex1 DEFINT li1, li2 JACCEL 100 JACCEL 50, 25 JACCEL li1/100, li2/100 'Sets the axis acceleration to 100. 'Sets the axis acceleration to 50 and the axis 'deceleration to 25. 'Sets the axis acceleration to the value of (li1/100) 'and the axis deceleration to that of (li2/100).

Ex2

PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1 (involving 7th and 8th joints). JACCEL 100 'Specify acceleration ratio of joints (7th and 8th) 'involved in Arm Group 1. END

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Chapter 12 Robot Control Statements

DECEL (Statement) [Conforms to SLIM]

Function
Specifies the internal composite deceleration of joints involved in a currently held arm group.

Format
DECEL <Deceleration>

Explanation
The <DecelerationRatio> should be the target ratio (%) of the maximum internal composite deceleration of joints in a currently held arm group. The entry range is from 0.0001 to 100 of a real number. NOTE: If less than 0.0001 is specified, no error will occur, but the actual deceleration may differ from the specification. If 0 or less is specified, an error will result. The actual deceleration value is (external internal 100). If the speed is changed, the deceleration value is automatically changed to a value expressed by (SPEED2 100). Note: If an axis speed interlock is valid in the Using condition parameter and DECEL is set, JDECEL becomes the same value. Example: If you write DECEL 50, the JDECEL 50 (same value as DECEL) will be set automatically: If you write DECEL without getting any arm group beforehand, an error will result.

Related Terms
ACCEL, SPEED

Example
Ex1 DIM li1 As Integer DECEL 100 DECEL li1/100 'Sets the deceleration to 100. 'Sets the deceleration to the value of (li1/100).

Ex2(extended-joint)

PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1 involving 7th and 8th joints. DECEL 100 'Specify deceleration ratio of joints (7th and 8th) 'in Arm Group 1. END

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JDECEL (Statement) [Conforms to SLIM]

Function
Specifies the internal deceleration ratio of individual joints included in a currently held arm group.

Format
JDECEL <Axis deceleration>

Explanation
The <DecelerationRatio> should be the target ratio (%) of the maximum internal deceleration of individual joints in a currently held arm group. The entry range is from 0.0001 to 100 of a real number. NOTE: If less than 0.0001 is specified, no error will occur, but the actual deceleration may differ from the specification. If 0 or less is specified, an error will result. The actual axis deceleration value is (external internal 100). If the axis speed is changed, the system automatically changes the axis deceleration to a value obtained by (JSPEED2 100). If you write JDECEL without getting any arm group beforehand, an error will result.

Related Terms
JACCEL, JSPEED, SPEED

Example
Ex1 DIM li1 As Integer JDECEL 100 JDECEL li1/100 'Sets the axis deceleration to 100. 'Sets the axis deceleration to the value of (li1/100).

Ex2(extended-joint)

PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1 involving 7th and 8th joints. JDECEL 100 'Specify deceleration ratio of joints (7th and 8th) 'involved in Arm Group 1. END

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Chapter 12 Robot Control Statements

CURACC (System Variable)

Function
Gets the current internal composite acceleration of joints included in a currently held arm group.

Format
CURACC

Explanation
Executing this command in a task holding no arm group will return a value of 100.

Related Terms
ACCEL, DECEL, CURDEC, CURJACC, CURJDEC, CURJSPD, CURSPD

Example
Ex1 DIM lf1 As Single lf1 = CURACC ACCEL CURACC * 0.5 'Assigns the current acceleration value to lf1. 'Sets the acceleration to 50% of the current speed.

Ex2(extended-joint) PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1. ACCEL 70 'Specify composite acceleration of joints included in 'Arm Group 1 at 70. I0=CURACC 'Return current acceleration 70 of Arm Group 1 to I0. END

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CURJACC (System Variable)

Function
Gets the current internal acceleration of individual joints included in a currently held arm group.

Format
CURJACC

Explanation
Executing this command in a task holding no arm group will return a value of 100.

Related Terms
JACCEL, JDECEL, JSPEED, SPEED, CURDEC, CURJDEC, CURJSPD, CURSPD

Example
Ex1 DIM lf1 As Single lf1 = CURJACC JACCEL CURJACC * 0.5 'Assigns the current axis acceleration value to lf1. 'Sets the axis acceleration to 50% of the current speed.

Ex2(extended-joint) PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1. JACCEL 70 'Specify acceleration of individual joints included 'in Arm Group 1 at 70. I0=CURJACC 'Return current acceleration 70 of Arm Group 1 to I0. END

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Chapter 12 Robot Control Statements

CURDEC (System Variable)

Function
Gets the current internal composite deceleration of joints included in a currently held arm group.

Format
CURDEC

Explanation
Executing this command in a task holding no arm group will return a value of 100.

Related Terms
ACCEL, DECEL, CURACC, CURJACC, CURJDEC, CURJSPD, CURSPD

Example
Ex1 DIM lf1 As Single lf1 = CURDEC DECEL CURDEC * 0.5 'Assigns the current deceleration value to lf1. 'Sets the deceleration to 50% of the current value.

Ex2(extended-joint) PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1. DECEL 70 'Specify composite deceleration of joints included 'in Arm Group 1 at 70. I0=CURDEC 'Return current deceleration 70 of Arm Group 1 to I0. END

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CURJDEC (System Variable)

Function
Gets the current internal deceleration of individual joints included in a currently held arm group.

Format
CURJDEC

Explanation
Executing this command in a task holding no arm group will return a value of 100.

Related Terms
JACCEL, JDECEL, JSPEED, SPEED, CURACC, CURDEC, CURJACC, CURJSPD, CURSPD

Example
Ex1 DIM lf1 As Single lf1 = CURDEC DECEL CURDEC * 0.5 'Assigns the current deceleration value to lf1. 'Sets the deceleration to 50% of the current value.

Ex2(extended-joint) PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1. JDECEL 70 'Specify current deceleration of individual joints 'included in Arm Group at 70. I0=CURJDEC 'Return current deceleration 70 of Arm Group 1 to I0. END

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Chapter 12 Robot Control Statements

CURJSPD (System Variable)

Function
Gets the current internal speed of individual joints included in a currently held arm group.

Format
CURJSPD

Explanation
Executing this command in a task holding no arm group will return a value of 100.

Related Terms
JSPEED, CURACC, CURDEC, CURJACC, CURJDEC, CURSPD

Example
Ex1 DIM lf1 As Single lf1 = CURJSPD JSPEED CURJSPD * 0.5 'Assigns the current axis movement speed value to lf1. 'Sets the axis movement speed to 50% of the current value.

Ex2(extended-joint) PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1. JSPEED 70 'Specify speed of individual joints in Arm Group 1 'at 70. I0=CURJSPD 'Return current speed 70 of Arm Group 1 to I0. END

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CURSPD (System Variable)

Function
Gets the current internal composite speed of joints included in a currently held arm group.

Format
CURSPD

Explanation
Executing this command in a task holding no arm group will return a value of 100.

Related Terms
CURACC, CURDEC, CURJSPD, CURJACC, CURJDEC

Example
Ex1 DIM lf1 As Single lf1 = CURJSPD JSPEED CURJSPD * 0.5 'Assigns the current axis movement speed. 'Sets the axis movement speed to 50% of the current value.

Ex2

PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1. SPEED 70 'Specify composite speed of joints included in 'Arm Group 1 at 70. I0=CURSPD 'Return current speed 70 of Arm Group 1 to I0. END

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Chapter 12 Robot Control Statements

CUREXTACC (System Variable) [Ver.1.4 or later]

Function
Obtains the current value of the external acceleration

Format
CUREXTACC

Explanation
Stores the external acceleration currently set

Related Terms
ACCEL, DECEL, CUREXTDEC

Example
DIM lf1 As Single lf1 = CUREXTACC ACCEL CUREXTACC * 0.5

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CUREXTDEC (System Variable) [Ver.1.4 or later]

Function
Obtains the current value of the external deceleration

Format
CUREXTDEC

Explanation
Stores the external deceleration currently set

Related Terms
ACCEL, DECEL, CUREXTACC

Example
DIM lf1 As Single lf1 = CUREXTDEC DECEL CUREXTDEC * 0.5

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Chapter 12 Robot Control Statements

CUREXTSPD (System Variable) [Ver.1.4 or later]

Function
Obtains the current value of the external speed

Format
CUREXTSPD

Explanation
Stores the external speed currently set

Related Terms
SPEED

Example
DIM lf1 As Single lf1 = CUREXTSPD SPEED CUREXTSPD * 0.5

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12.5 Time Control

DELAY (Statement) [Conforms to SLIM]
Function
Suspends program processing for a designated period time.

Format
DELAY <Delay time>

Explanation
The program processing stops until the time designated by <Delay time> elapses. <Delay time> is expressed in ms, however, the actual delay time changes in increments of 1/60. If multiple tasks are processed at the same time, the delay time may possibly be longer than the designated value.

Related Terms
HOLD, WAIT

Example
DIM li1 As Integer DELAY 100 DELAY li1 + 10 'Waits until 100ms(0.1s) elapses. 'Waits until time of (li1 + 10) elapses.

Notes
When using delay time, if an instantaneous stop during execution of an instruction is executed and the system is restarted, the delay time will elapse even during suspension.

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Chapter 12 Robot Control Statements

WAIT (Statement) [Conforms to SLIM]

Function
Stops program processing based on a condition.

Format
WAIT <Conditional expression> [,<Timeout time> [,<Storage variable>]]

Explanation
This statement stops program processing until <Conditional expression> is satisfied. If <Timeout time> is set, control stops the execution of a WAIT statement after the designated time elapses and proceeds to the next command. Infinite stoppage can be avoided by using this. <Timeout time> is expressed in ms. The reevaluation interval for monitoring <Conditional expression> or <Timeout time> depends on the priority of the task. In Version 1.8 or later, when <Storage variable> is set, the WAIT command will assign TRUE (1) or FALSE (0) to the designated variable if control passes out of the WAIT statement by the satisfied <Conditional expression> or by timeout, respectively.

Related Terms
DELAY

Example
DEFINT li1, li2, li3, li4, li5 WAIT li1 = 1 'Waits until li1 = 1 is satisfied. WAIT li2 = 0, 2000 'Waits until li2 = 0 is satisfied. Even if it is not satisfied 'after 2 seconds, the system proceeds to the next statement. WAIT li3 = li4, li5 'Waits until li3 = li4 is satisfied. Even if it is not 'satisfied after the time of 'li5, the system proceeds to the next statement. WAIT IO[10] = ON 'Waits until the 10th IO comes ON. [Version 1.8 or later] WAIT li3 = li4, li5, li6

'Wait until li3 = li4. If the conditional expression 'is not satisfied within li5 period, pass control to 'the next statement and assign FALSE to li6. 'If satisfied within li5 period, pass control to the 'next statement and assign TRUE to li6.

Notes
When using timeout time, if an instantaneous stop during execution of an instruction is executed and the system is restarted, the designated time will elapse even during suspension.

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12.6 Coordinate Transformation

CHANGETOOL (Statement)
Function
Changes the tool coordinate system.

Format
CHANGETOOL <Tool coordinate system number>

Explanation
This statement changes the tool coordinate system to the coordinate system designated by <Tool coordinate system number>. This declaration is valid until the next CHANGETOOL statement is executed. Numbers from 0 to 63 are valid for <Tool coordinate system number>. Tool 0 is a mechanical interface coordinate system.

Related Terms
TOOL, TOOLPOS

Example
DIM li1 As Integer DIM lp1 As Position Li1 = 1 Lp1 = (10, 10, 5, 0, 9, 0, 1) TOOL 1, lp1 'Declares the tool coordinate system designated by position type 'variable lp1. CHANGETOOL li1 'Changes to the tool coordinate system denoted by the tool 'coordinate system number designated in li1.

Notes
If TAKEARM is executed, TOOL0 is set.

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Chapter 12 Robot Control Statements

CHANGEWORK (Statement)
Function
Changes the user coordinate system.

Format
CHANGEWORK <User coordinate system number>

Explanation
This statement changes the user coordinate system to the coordinate system designated by <User coordinate system number>. This declaration is valid until the next CHANGEWORK statement is executed. Numbers from 0 to 7 are valid for <User coordinate system number>. User 0 signifies the base coordinate system.

Related Terms
WORK, WORKPOS

Example
DIM li1 As Integer DIM lp1 As Position Li1 = 1 Lp1 = (10, 10, 5, 0, 9, 0, 1) WORK 1, lp1 'Declares the user coordinate system designated by position 'type variable lp1 in user coordinate system 1. CHANGEWORK li1 'Changes to the user coordinate system denoted by the user 'coordinate system number designated in li1.

Notes
If TAKEARM is executed, WORK0 is set. (However, this is not applicable to a subroutine.)

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CURTOOL (System Variable) [Ver.1.4 or later]

Function
Obtains the TOOL number currently set.

Format
CURTOOL

Explanation
Stores the TOOL number currently set.

Related Terms
TOOL, CHANGETOOL, TOOLPOS

Example
DIM li1 As Integer li1 = CURTOOL TOOL CURTOOL+Il, Pl CHANGETOOL CURTOOL+Il Pl = TOOLPOS (CURTOOL)

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Chapter 12 Robot Control Statements

CURWORK (System Variable) [Ver.1.4 or later]

Function
Obtains the WORK number currently set.

Format
CURWORK

Explanation
Stores the WORK number currently set.

Related Terms
WORK, CHANGEWORK, WORKPOS

Example
DIM li1 As Integer li1 = CURWORK WORK CURWORK+Il, Pl CHANGEWORK CURWORK+Il Pl = WORKPOS (CURWORK)

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12.7 Interference Check

SETAREA (Statement)
Function
Selects the area where an interference check is performed.

Format
SETAREA <Interference check area number>

Explanation
<Interference check area number> selects the interference check area previously defined. The valid area numbers are from 0 to 7. This must be declared beforehand using the AREA command. An interference check is performed during the time after the SETAREA command is executed and prior to the execution of the RESETAREA command. Once interference is detected, the RESETAREA command is executed. The next interference is not detected until SETAREA is executed again. An interference check can be executed simultaneously in a maximum of 8 areas specified using the area numbers from 0 to 7, if the SETAREA command has been executed. The SETAREA command does not initialize the designated I/O declared by the AREA command. In such a case, the I/O is directly set in the input/output control statement and initialization of the RESETAREA command is required.

Related Terms
AREA, RESETAREA, AREAPOS, AREASIZE

Example
DIM lp1 As Position DIM lv1 As Vector Lp1 = (10, 10, 5, 0, 9, 0, 1) Lv1 = (50, 10, 50) AREA 2, lp1, lv1, 104, 1 'Declares I/O number 104 in the area specified by lv1 'at the position specified by lp1 in area number 2. SETAREA 2 'Makes the area check of number 2 valid. RESETAREA 2 'Initializes the area check of number 2.

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Chapter 12 Robot Control Statements

RESETAREA (Statement)
Function
Initializes an interference check.

Format
RESETAREA <Initializing area number>

Explanation
This statement resets the I/O set when interference was detected and makes an interference check invalid. When the input/output control statement directly resets an I/O even if interference occurs again, the I/O will not be set. To check interference again, execute the RESETAREA command to initialize, and then execute the SETAREA command again. Valid area numbers are from 0 to 7.

Related Terms
AREA, SETAREA, AREAPOS, AREASIZE

Example
DIM lp1 As Position DIM lv1 As Vector Lp1 = (10, 10, 5, 0, 9, 0, 1 ) Lv1 = (50, 10, 50 ) AREA 2, lp1, lv1, 104, 1 'Declares I/O number 104 specified by lv1 at the 'position specified by lp1 in area number 2. SETAREA 2 'Makes the area check of number 2 valid. RESETAREA 2 'Initializes the area check of number 2.

Notes
Since the robot is operating in a multitasking operation environment, if RESET is instructed just after SETAREA execution to check an area, there is a possibility that RESET may be executed prior to SETAREA due to the timing.

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12.8 Supervisor Task

INIT [Ver.1.7 or later]
Function
Turns on motors, carrier out CAL, and sets the speed according to the preset supervisor task parameters.

Format
INIT

Explanation
(1) If the supervisor task is disabled ("Not Use Supervisor TASK" parameter is selected), then the INIT command causes no operation. (2) If the supervisor task is enabled ("Use Supervisor TASK" parameter is selected), then the INIT command causes the following: When the INIT run mode is set to "without motor on and CAL": If the INIT speed has been set to 10 or 100, this command sets the external speed of the robot controller to 10 or 100, respectively. When the INIT run mode is set to "with motor on and CAL": If the INIT speed has been set to 10 or 100, this command sets the external speed of the robot controller to 10 or 100, respectively, turns motors on and carries out CAL.

Example
'!TITLE "Initialization" PROGRAM TSR1 INIT END 'Turn motors on, execute CAL, 'and set the speed.

Notes
(1) Do not concurrently run robot operation programs and task programs which run only the INIT command in an infinite loop. (2) During execution of an INIT command, the status display of running programs may show " On standby." Be careful with restart of those programs. (3) Do not run INIT commands simultaneously in more than one supervisor task.

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12.9 Internal Servo Data

GetSrvData (System Variable) [Ver.1.5 or later]
Function
Gets the internal servo data of robot joints.

Format
<InternalServoData> = GetSrvData(<DataNumber>)

Explanation
GetSrvData gets the internal servo data specified by <DataNumber> into <InternalServoData>. <InternalServoData> is a joint type data of robot. <DataNumber be any of the following:
<DataNumber> 1 2 4 5 8 17 18 19 20 <InternalServoData> Current motor speed (Actual speed) in rpm Motor rotation angle error in pulses Motor current absolute value in ratio (%) to the rated value Motor torque control value (excluding torque offset) in ratio (%) to the rated value Joint position or angle control value in mm or degrees Tool-end speed (3 position elements only in the work coordinates) in mm/s Tool-end positioning speed (3 position elements only in the work coordinates) in mm Tool-end speed (3 position elements only in the tool coordinates) in mm/s Tool-end positioning speed (3 position elements only in the tool coordinates) in mm

should

Related Terms
GetJntData

Notes
(1) Data numbers other than those given above are reserved. Do not use any other number other than the above, although no error will result if you specify any number up to 30. (2) If you attempt to fetch the servo data when the single-joint servo data monitor is running, the fetching process may become very slow. Take care when using the single-joint servo data monitor. (3) If you change <DataNumber>, the modification may take time. Do not change it so frequently. (4) Execute this command in a TAKEARMed task that holds an arm semaphore. If not in a TAKEARMed task, the error "21F7: Cannot take arm semaphore" will result.

Example
defjnt vel defsng absv,xvel,yvel,zvel vel=GetSrvData(17) xvel=JOINT(1,vel) yvel=JOINT(2,vel) zvel=JOINT(3,vel) absv = SQR(xvel*xvel+yvel*yvel+zvel*zvel) 'Get tool-end speed. 'Select X component in work coordinates. 'Select Y component in work coordinates. 'Select Z component in work coordinates. 'Calculate total tool-end speed.

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GetJntData (System Variable) [Ver.1.5 or later]

Function
Gets the internal servo data of a specified joint.

Format
<JntInternalServoData> = GetJntData(<DataNumber>,<JntNumber>)

Explanation
GetJntData gets the internal servo data (specified by <DataNumber>) of a joint specified by <JntNumber> into <JntInternalServoData>. <JntInternalServoData>.is a floating point type data of the specified joint. <DataNumber> should be any of the following:
<DataNumber> 1 2 4 5 8 <JntInternalServoData> Current motor speed (Actual speed) in rpm Motor rotation angle error in pulses Motor current absolute value in ratio (%) to the rated value Motor torque control value (excluding torque offset) in ratio (%) to the rated value Joint position or angle control value in mm or degrees

Related Terms
GetSrvData

Notes
(1) Data numbers other than those given above are reserved. Do not use any other number other than the above, although no error will result if you specify any number up to 30. (2) If you attempt to fetch the servo data when the single-joint servo data monitor is running, the fetching process may become very slow. Take care when using the single-joint servo data monitor. (3) If you change <DataNumber>, the modification may take time. Do not change it so frequently. (4) Execute this command in a TAKEARMed task that holds an arm semaphore. If not in a TAKEARMed task, the error "21F7: Cannot take arm semaphore" will result.

Example
defsng vel vel=GetJntData(1,7) 'Get motor speed of J7.

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12.10 Particular Control

This section describes newly added commands (statements) that have been used as servo-related PAC libraries. Using these commands will improve the efficiency of program development.

ST_aspACLD (Statement)
Function

[Ver.1.9 or later]

Changes the internal load condition values. There are the mass of payload, noted in grams (g), and the payload center of gravity, noted in millimeters (mm), for the load condition values. Designate both of them. (See Note1.)

Format
ST_aspACLD <Mass of payload>, <Payload center of gravity coordinate X >, <Payload center of gravity coordinate Y>, <Payload center of gravity coordinate Z> Note1: For 4-axes robot, <Payload center of gravity coordinate Z> is replaced with <Inertia of payload (kgcm2)>

Explanation (Example for 6-axces robot)

The mass of payload is the mass of load (tool and workpiece) mounted on the 6th axis of the robot. This unit is designated as (g). For the load center of gravity position, designate the payload center of gravity using the TOOL0 coordinates. The unit is millimeters (mm). (See Note1.) The reference position of the TOOL0 coordinates is in the center of the 6th axis flange. For component Y, the direction is from the flange center to the pinhole of 5H7 (orientation vector direction). For component Z, the direction is vertical to the flange surface through the flange center (approach vector direction). For component X, the direction of the X axis (normal vector direction) is the right-hand coordinate system, when the orientation vector is set to the Y axis and the approach vector is set to the Z axis. Refer to "4.7 Control Set of Motion Optimization in User Preferences." Even if you change only one of the four values of the mass of payload, the payload center of gravity X6, the payload center of gravity Y6, and payload center of gravity Z6 ,describe all of the 4 values again. It takes about 0.1 sec. to switch the load condition values. Frequently switching the load condition may cause operational delays. Do not change the mode during pass motion while near an obstacle because the path locus may shift. This may delay switching if you change the load condition values.

Related Terms
Refer to the Programmer's Manual, " 4.7 Control Set of Motion Optimization in User Preferences."

Example
ST_aspACLD 8500,-50,100,80 'Sets the internal payload conditions. 'Mass of payload:8500(g), Payload center of 'gravity component X: -50(mm), component Y: '100(mm),component Z: 80(mm) 12-71

Notes
(1) For the mass of payload, designate it with a numerical value of the specified range for each robot type. If you designate a value out of this range, the error message "60d2 Mass of payload out of setting range" will be displayed. (2) For the payload center of gravity, enter it so that it satisfies the specified range for each robot type. If it is out of this range, the error message "60d2 Mass of payload out of setting range" will be displayed. (3) When setting the internal payload condition, observe the following rule relative to the external payload condition. If not, the error message "60d2 Mass of payload out of setting range" will be displayed.
0.5 x External payload condition Internal payload condition External payload condition

ST_aspChange (Statement)
Function

[Ver.1.9 or later]

Selects the internal mode for proper control setting of motion optimization.

Format
ST_aspChange <Mode>

Explanation
This statement switches the mode for control setting of motion optimization. <Setting value> 0 Invalid 1 Valid only for PTP 2 Valid only for CP 3 Valid for both PTP and CP. It takes about 0.1 sec. to switch the load condition values. Frequently switching the load condition may cause operational delays. Do not change the mode during pass motion, near an obstacle because the path locus may shift. This may delay switching if you change the load condition values.

Related Terms
Refer to the Programmer's Manual, " 4.7 Control Set of Motion Optimization in User Preferences."

Example
ST_aspChange 1 'Sets the internal mode in the control sets of 'motion optimization to 1.

Notes
For <Mode>, designate it with a numerical value between 0 and 3. If it is out of this range, the error message "6003 Excess in effective value range" will be displayed.

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ST_SetGravity (Statement)
Function

[Ver.1.9 or later]

Compensates for the static load (gravity torque) applied to each joint and attains balance with gravity torque.

Format
ST_SetGravity

Explanation
Each joint of the robot undergoes downward static load (gravity torque) due to earth gravity. The effects of the gravity torque will vary depending upon the mass of payload (tool and workpiece), the payload center of gravity, and robot figures. If you limit the motor output torque by setting its drive current limit so that the limited torque becomes lower than the gravity torque, then the robot will move down towards the earth. To prevent it, this statement compensates the limited torque for the gravity torque, keeping the balance of torque.

Related Terms
ST_SetCurLmt, ST_ResetGravity, ST_SetGrvOffset

Notes
(1) Execute this command in a TAKEARMed task that has obtained armsemaphore. If this command is executed without arm-semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) Set the mass of payload and the payload center of gravity accurately. Otherwise, the robot may move down due to gravity if you set a low current limit value (e.g., less than 30). For the entry procedure of the mass of payload and the payload center of gravity, refer to the PROGRAMMER'S MANUAL "4.7 Setting the Master Control Parameters in User Preferences." (3) f you do not know the accurate mass of payload or its center of gravity or if the robot moves down in spite of accurate settings, then use the gravity offset function (ST_SetGrvOffset) that compensates for the gravity compensation value. (4) If you set the gravity offset setting to "1" on the teach pendant, the gravity offset function becomes enabled. The setting made on the teach pendant will take effect immediately following the completion of calibration after the robot controller is turned on.

Example
ST_SetGravity Delay 100 ST_SetCurLmt 2,30 'Enable the gravity compensation function. 'Wait for gravity compensation to go into 'effect. 'Set the current limit value of the 2nd axis 'to 30%.

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ST_ResetGravity (Statement)
Function

[Ver.1.9 or later]

Disables the balance setting between the limited motor torque and gravity torque, which is made with ST_SetGravity.

Format
ST_ResetGravity

Explanation
This command disables the balance setting between the motor torque limited by the current limit function and gravity torque.

Related Terms
ST_ResetCurLmt, ST_SetEralw

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm-semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) If this command is executed when the current limit function is enabled, Error "665B Cannot disable the gravity compensation" will result. Disable the current limit function and then try it again. (3) If you set the gravity offset setting to "0" on the teach pendant, the gravity offset function becomes disabled. If you do it when the current limit function is enabled, Error 665b will result, as in step (2).

Example
ST_ResetGravity

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ST_SetGrvOffset (Statement)
Function

[Ver.1.9 or later]

Compensates the torque of each joint programmed with ST_SetGravity for gravity torque.

Format
ST_SetGrvOffset

Explanation
Each joint of the robot undergoes downward static load (gravity torque) due to earth gravity. Although gravity compensation command ST_SetGravity allows you to adjust the balance between the limited torque and gravity torque, the balance may be offbalance due to the difference between the mass of payload you set and the actual one. This offset function presumes the gravity torque when the robot is on halt and calculates the gravity offset value.

Related Terms
ST_SetCurLmt, ST_SetGravity, ST_ResetGrvOffset

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) This command should be executed when the motor power is on and the robot is on halt. If it is executed when the motor power is off, Error "6006 Motor power is off" will result. If it is executed when the robot is in motion, Error "600B Robot is running" will result. (3) If the robot attitude is greatly changed after execution of this command, execute this command again. (4) If the current limit reset value in User Preferences is set to any value other than "1", "3", "5", or "7", the compensation value will be reset to "0" when you turn on the motor power.

Example
ST_SetGrvOffset

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ST_ResetGrvOffset (Statement)
Function
Disables the gravity offset function.

[Ver.1.9 or later]

Format
ST_ResetGrvOffset

Explanation
Disables the gravity offset function which has been enabled with ST_SetGrvOffset.

Related Terms
ST_SetGrvOffset

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error 21F7 "Arm semaphore cannot be fetched." will result. (2) This command should be executed when the robot is on halt. If it is executed when the robot is in motion, Error "600B Robot is running" will result. This command is executable even when the motor power is off.

Example
ST_ResetGrvOffset

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ST_SetCurLmt (Statement)
Function

[Ver.1.9 or later]

Sets the limit of motor current to be applied to the specified axis.

Format
ST_SetCurLmt <AxisNumber>, <Value>

Explanation
Limits the value of motor current (torque) to be applied to the axis specified by <AxisNumber> to the value specified by <Value>. This command is useful when you want to limit torque that a workpiece will undergo during insertion or butting jobs. The maximum value of <Value> is 100 which refers to the motor rating current. If any value exceeding the allowable limit for each axis is specified, the value will be automatically limited to that allowable limit. Set a value of 1 or above. If 0 or a negative number is set, Error "6003 Excess in effective value range" will result.

Related Terms
ST_ResetCurLmt, ST_SetGravity, ST_SetGrvOffset, ST_SetEralw

Notes
(1) When the motor current is limited with ST_SetCurLmt, the robot cannot move at the maximum speed or acceleration. Use ST_SetCurLmt only at steps that need the current limit. When using ST_SetCurLmt, decrease the acceleration. (2) If a workpiece bumps against something at high speed even if the driving force is controlled by limiting the motor current, the impact is considerable due to the inertia of the workpiece, end-effector and axis. Set the current limit just before the workpiece comes into contact with the object and reduce the speed. (3) Set the current limit when the robot is on halt. If it is set during a pass motion, an error is likely to occur. (4) Execute this command in a TAKEARMed task that has obtained armsemaphore. If this command is executed without arm-semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (5) If the current limit reset value in User Preferences is set to any value other than "1", "3", "5", or "7", the compensation value will be reset to "0" when you turn on the motor power. To make the current limit function effective immediately after switching on the motor power, set the current limit reset value to "1."
6-axis

(6) When setting the current limit, be sure to enable the gravity compensation function. If the current limit is set when the gravity compensation function is disabled, Error "665A Cannot set current limit" will result. For the gravity compensation function, refer to ST_SetGravity.

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6-axis

(7) Set the mass of payload and the payload center of gravity accurately. Otherwise, the robot may move down due to gravity if you set a low current limit value (e.g., less than 30). For the entry procedure of the mass of payload and the payload center of gravity, refer to the Programmer's Manual, " 4.7 Control Set of Motion Optimization in User Preferences."

6-axis

(8) If the current limit reset value is set to "1," the robot might move down due to gravity the moment you turn on the motor power. Reset the current limit by executing ST_ResetCurLmt when the motor power is off and then switch on the motor power. (9) If you do not know the accurate mass of payload or its center of gravity or if the robot moves down in spite of accurate settings, then use the gravity offset function (ST_SetGrvOffset) that compensates for the gravity compensation value. (10) When setting the current limit to the Z-axis or the T-axis of the 4-axis robot without an air balance mechanism, the Z-axis may move down or the T-axis may rotate if you set a low current limit value. Set current limit after execution the gravity compensation function (ST_SetZBalance) for the Z and the T-axis.

6-axis

4-axis HS-E

Example
6-axis

ST_SetGravity ST_SetGrvOffset ST_SetEralw 2, 20 ST_SetCurLmt 2, 30

'Enable the gravity offset. 'Compensate the gravity offset value 'Set the allowable deviation of the 2nd axis to 20 'degrees 'Set the current limit of the 2nd axis to 30% 'Set the allowable deviation of the 2nd axis to 20 'degrees 'Set the current limit of the 2nd axis to 30% 'Set the 'Set the 'Set the 'degrees 'Set the 'Set the gravity compensation value of the Z-axis allowable deviation of the Z-axis to 100 mm allowable deviation of the T-axis to 30 current limit of the Z-axis to 10% current limit of the T-axis to 10%

4-axis

ST_SetEralw 2, 20 ST_SetCurLmt 2, 30

4-axis HS-E

ST_SetZBalance ST_SetEralw 3, 100 ST_SetEralw 4, 30 ST_SetCurLmt 3, 10 ST_SetCurLmt 4, 10

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ST_ResetCurLmt (Statement)
Function

[Ver.1.9 or later]

Resets the motor current limit of the specified axis.

Format
ST_ResetCurLmt <AxisNumber>

Explanation
ResetCurLmt releases the drive current limit set for the motor of a joint specified by <AxisNumber>. The motor drive current limit and positioning error allowances will revert to the defaults. [For Ver. 1.4 or earlier] If you set "0" to <AxisNumber>, the drive current limit set for all joints will revert to the default. [For Ver. 1.5 or later] If you set "0" to <AxisNumber>, the drive current limit set for all joints involved in an arm group semaphore held by the current task running ST_ResetCurLmt, will revert to the default.

Related Terms
ST_SetCurLmt, ST_ResetEralw

Notes
(1) When resetting the current limit, this command carries out deviation elimination process. If there is angle deviation due to external force, the time required for deviation elimination process will vary depending upon the set speed and acceleration. To shorten the time, set higher speed and acceleration. (2) The command can be executed even when the motor power is off. For resetting the current limit when motor power is off, run the following program after finishing the task that is obtaining arm semaphore. PRO999 TAKEARM ST_ResetCurLmt 0 END (3) [For Ver. 1.4 or earlier] Execute this command in a TAKEARMed task that has got robot arm semaphore. If you specify any joints not in the arm semaphore to <AxisNumber>, then error "21F7 Cannot take arm semaphore" will result. [For Ver. 1.5 or later] Execute this command in a TAKEARMed task that has got an arm group. If you specify any joints not included in the arm group to <AxisNumber>, then error "27D* Cannot take J* semaphore" will result.

Example
ST_ResetCurLmt 0 ST_ResetGrvOffset 0 'Reset the current limit of all the axes. 'Disable the gravity offset function.

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ST_SetEralw (Statement)
Function

[Ver.1.9 or later]

Modifies the allowable deviation of the specified axis.

Format
ST_SetEralw <AxisNumber>, <Value>

Explanation
Sets the allowable deviation of the axis specified by <AxisNumber>. Use this command if angle deviation occurs due to external force when the current limit function is enabled. The <Value> is the arm joint angle and specified in degrees. "Allowable deviation value" refers to the allowable range of the "Error 611* J* excess error" which will occur for safety if the servo deviation exceeds the specified value. During assembling operation with the current limit enabled, if servo deviation occurs due to external force, the above error may occur. To avoid this, you may use this command temporarily to increase the allowable deviation value. This command can also be used to reduce the allowable deviation value for helping quick detection of the downward movement of the robot due to gravity when the current limit function is enabled.

Related Terms
ST_SetCurLmt, ST_ResetEralw

Notes
(1) Run this command in a TAKEARMed task which has obtained arm semaphore. If the command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.

Example
ST_SetEralw 2,20 'Set the permissible deviation of the 2nd 'axis to 20 degrees.

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ST_ResetEralw (Statement)
Function

[Ver.1.9 or later]

Resets the allowable deviation value of the specified axis to the initial value.

Format
ResetEralw <AxisNumber>

Explanation
Resets the allowable deviation value of the axis specified by <AxisNumber> to the default value. If <AxisNumber> is specified to "0," the allowable deviation values of all the axes will be reset. [For Ver. 1.4 or earlier] If you set "0" to <AxisNumber>, the positioning error allowance set for all joints will revert to the default. [For Ver.1.5 or later] If you set "0" to <AxisNumber>, the positioning error allowance set for all joints involved in an arm group semaphore held by the current task running ST_ResetEralw, will revert to the default.

Related Terms
ST_ResetCurLmt, ST_SetEralw

Notes
(1) [For Ver. 1.4 or earlier] Execute this command in a TAKEARMed task that has got robot arm semaphore. If you specify any joints not in the arm semaphore to <AxisNumber>, then error "21F7 Cannot take arm semaphore" will result. [For Ver. 1.5 or later] Execute this command in a TAKEARMed task that has got an arm group. If you specify any joints not included in the arm group to <AxisNumber>, then error "27D* Cannot take J* semaphore" will result.

(2) Like this command, execution of ST_ ResetCurLmt will also reset the allowable deviation values to the initial values.

Example
ST_ResetEralw 0 'Return the allowable deviation values of all 'axes to initial values.

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ST_OnSrvLock (Statement)
Function

[Ver.1.9 or later]

Servo-locks a specified axis (exclusively designed for four-axis robots).

Format
ST_OnSrvLock <specified axis>

Explanation
Provides a function similar to that of the ON SVLOCK instruction in the conventional language. Servo lock means that robot arms are controlled and their positions are held.

Related Term
ST_OffSrvLock

Notes
(1) Set servo lock as the robot stops. If it is set during path operation, an error may occur. (2) Execute this command in a TAKEARMed task which has obtained arm semaphore. If the command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.

Example
ST_OnSrvLock 1 ST_OnSrvLock 0 'Servo lock for the 1st axis. 'Servo lock for all axes.

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ST_OffSrvLock (Statement)
Function

[Ver.1.9 or later]

Releases servo lock for the specified axis. (Exclusively designed for four-axis robots)

Format
ST_OffSrvLock <specified axis>

Explanation
Provides a function similar to the OFF SVLOCK instruction in the conventional language. Servo lock refers to the state where the robot arm is controlled to keep its position. When it is released, the robot arm is not kept in its position but moved by an external force applied to it.

Related Term
ST_OnSrvLock

Notes
(1) No operation command can be executed for an axis for which servo lock is released. (2) Set release of servo lock while the robot is in stopped state. If set during path operation, an error may result. (3) Execute this command in a TAKEARMed task that has obtained arm semaphore. If the command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (4) If bit 2 of the value set to "25: Current limit reset" in the operating conditions is "0" (initial value), servo lock release is reset (to cause servo lock) upon motor power on. To validate servo lock release immediately after motor power on, set "+2" as the current limit reset value. Note: Setting example of operating condition "25: Current limit reset" PWM * 0 1 SVLock * 1 1 Curlmt * 0 1

If only SVLock is effective If all is effective

=2 =7

Example
ST_OffSrvLock 1 'Release servo lock for the 1st axis.

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ST_SetCompControl (Statement)
Function

[Ver.1.9 or later]

Enables the compliance function (exclusively designed for 6-axis robots)

Format
ST_SetCompControl

Explanation
Enables the compliance function. Enables the compliance conditions set by ST_SetFrcLimit, ST_SetCompRate, and ST_SetFrcCoord.

Related Terms
ST_SetFrcLimit, ST_SetCompRate, ST_SetFrcCoord, ST_ResetCompControl, ST_SetCompFControl

Notes
(1) You will receive an error "60F5 Compliance control is not executable", when this statement is executed while the gravity offset is disabled and the current limiting is enabled. Execute again after you enable the gravity offset and disable the current limiting. See ST_ResetCurLmt and ST_SetGravity for disabling the current limiting and enabling the gravity offset respectively. (2) The compliance control will not be enabled while motors are off. The compliance control will be disabled when you turned off motors under the compliance control. (3) Execute this command in a TAKEARMed task has obtained arm semaphore. If this command is executed without arm semaphore obtained, an error "21F7 Cannot take arm semaphore" will result. (4) Execute this command when your robot is on halt. Executing this command in a pass motion will cause an end motion. If executing this command in a pass motion causes an error "600B Robot is running," then stop the robot with a Delay command and then execute this command. (5) If the robot is moved by any external force under compliance control, an error "611* J* excess error" may occur. In such a case, change the allowable deviation by using the ST_SetEralw. (6) This command should not be executed when the robot undergoes any force, e.g., in contact with any surrounding facility. To enable the compliance control in such conditions, use the ST_SetCompFControl. (7) If the robot posture greatly changes after execution of the ST_SetCompControl, then an error may be generated in the gravity offset compensation value and the robot may move in the direction of gravity. If the posture changes greatly under compliance control, use the ST_ResetCompControl to disable the compliance control and then execute the ST_SetCompControl again to enable the compliance control.

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Chapter 12 Robot Control Statements Example

ST_SetFrcCoord 1 'Set the compliance control coordinate system. ST_SetFrcLimit 100, 0, 100, 100, 100, 100 'Set the compliance rate ST_SetCompControl 'Enable the compliance control ST_SetEralw 1, 90 'Set the allowable deviation

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ST_SetCompFControl (Statement)
Function

[Ver.1.9 or later]

Enables the compliance control function (exclusively designed for 6-axis robots).

Format
ST_SetCompFControl

Explanation
Enables the compliance control function, just like the ST_SetCompControl. Note that this command will not execute the gravity offset compensation.

Related Terms
ST_SetCompControl

Notes
(1) If this command is executed when the gravity offset is disabled and the current limiter is disabled, then an error "60F5 Cannot execute compliance control" will occur. (2) Executing this command when the motors are off will not enable the compliance control. Under the compliance control, turning off the will disable the compliance control. (3) Execute this command in a TAKEARMed task has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (4) Execute this command when the robot is on halt. Executing this command in a pass motion will cause an end motion. If executing this command in a pass motion causes Error "600B Robot is running," then stop the robot with a Delay command and then execute this command. (5) Set the payload exactly. If the setting and actual payload differ, the robot arm may fall down in the direction of gravity. To prevent such a fall, execute the ST_SetGrvOffset.

Example
ST_SetGrvOffset 'Calculate the gravity offset compensation 'value. ST_SetFrcCoord 1 'Set the compliance control coordinate system. ST_SetFrcLimit 100, 0, 100, 100, 100, 100 'Set the compliance rate ST_SetCompFControl 'Enable the compliance control

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ST_ResetCompControl (Statement)
Function

[Ver.1.9 or later]

Disables the compliance control function (exclusively designed for 6-axis robots).

Format
ST_ResetCompControl

Explanation
Disables the compliance control function.

Related Terms
ST_SetCompControl

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) Execute this command when the robot is on halt. Executing this command in a pass motion will cause an end motion. If executing this command when the robot is in motion immediately stops the robot or causes Error "612* J* overcurrent," then set the value to "1" or stop the robot by using the Delay command. (3) If the robot comes to a momentary stop during execution of this command so that you perform a Step back or Program reset, then Error "60F9 Improper compliance set/reset operation" will occur. (4) If you use ST_SetEralw to change the allowable deviation values while the compliance control is enabled, the allowable deviation values will return to their initial values. The allowable deviation values may not be reset to the initial values when an error occurs while executing ST_ResetCompControl. If this is the case, use ST_ResetEralw to initialize the allowable deviation values after disabling the compliance control. (5) If Error " 608* J* command speed limit over" occurs, use the ST_aspChange to change the optimal load capacity mode to 2 or 3 before execution of the ST_ResetCompControl. After execution of this command, return the optimal load capacity mode to the previous value.

Example
ST_ResetCompControl ST_ResetEralw 'Disable the compliance control. 'Initialize the allowable deviation values

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ST_SetFrcCoord (Statement)
Function

[Ver.1.9 or later]

Selects a force limiting coordinate system (exclusively designed for 6-axis robots).

Format
ST_SetFrcCoord <Set value>

Explanation
Selects a coordinate system for force limiting values specified by ST_SetFrcLimit and ST_SetCompRate. You can use a set value 0 for the base coordinate system, a set value 1 for the tool coordinate system, and a set value 2 for the work coordinate system of your robot.

Related Terms
ST_SetFrcLimit, ST_SetCompRate, ST_SetFrcCoord, ST_ResetCompControl

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) This statement is not executable under the compliance control. If this command is executed under the compliance control, Error " 60FA Not Executable in compliance control" will result. (3) When you specify 1 for <Set value> to select the tool coordinate system, the tool coordinate will be the tool coordinate for enabling the compliance control (executing ST_SetCompControl). When you use the changetool command to change the tool coordinate while the compliance control is enabled, the force limiting coordinate will not be changed. (4) When you specify 2 for <Set value> to select the work coordinate system, the work coordinate will be the work coordinate for enabling the compliance control (executing ST_SetCompControl). When you use the changework command to change the work coordinate while the compliance control is enabled, the force limiting coordinate will not be changed. (5) The set value will be initialized to 0 (the base coordinate system) after the controller is turned on.

Example
ST_SetFrcCoord 1 'Set the compliance coordinate system to 'the tool coordinate Changetool 2 'Set the tool coordinate to tool2 ST_SetFrcLimit 100, 0, 100, 100, 100, 100 'Set the compliance rate ST_SetCompControl 'Set the compliance rate in Y direction 'of the tool 2 coordinate system to 0% and 'enable the compliance control

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Chapter 12 Robot Control Statements

ST_SetFrcLimit (Statement)
Function

[Ver.1.9 or later]

Sets the force limiting rates (exclusively designed for 6-axis robots).

Format
ST_SetFrcLimit <Limiting rate along X>, <Limiting rate along Y>, <Limiting rate along Z>, <Limiting rate about X>, <Limiting rate about Y>, <Limiting rate about Z>

Explanation
Sets the force limiting rates along and about X, Y, and Z axes of a coordinate system specified by ST_SetFrcCoord. Setting ranges from 0 to 100. Up to two decimal places are valid.

Related Terms
ST_ResetFrcLimit, ST_SetFrcCoord, ST_SetCompControl

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) This statement is not executable under the compliance control. If this command is executed under the compliance control, Error " 60FA Not Executable in compliance control" will result. (3) All the set values for along and around the X, Y and Z-axes will be initialized to 100 after the controller is turned on.

Example
ST_SetFrcCoord 1 'Set the compliance coordinate system to 'the tool coordinate ST_SetFrcLimit 100, 0, 100, 100, 100, 100 'Set the compliance rates ST_SetCompControl 'Set the compliance rate in Y direction 'of the tool coordinate system to 0% and 'enable the compliance control

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ST_ResetFrcLimit (Statement)
Function

[Ver.1.9 or later]

Initializes the force limiting rates (exclusively designed for 6-axis robots).

Format
ST_ResetFrcLimit

Explanation
Initializes the force limiting rates. All rates along and about X, Y, and Z axes are set to 100%.

Related Terms
ST_SetFrcLimit

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) This statement is not executable under the compliance control. If this command is executed under the compliance control, Error " 60FA Not Executable in compliance control" will result.

Example
ST_ResetCompControl ST_ResetFrcLimit 'Disable compliance control 'Initialize the force limiting rates

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Chapter 12 Robot Control Statements

ST_SetCompRate (Statement)
Function

[Ver.1.9 or later]

Sets the compliance rates under the compliance control (exclusively designed for 6axis robots).

Format
ST_SetCompRate <Compliance along X>, <Compliance along Y>, <Compliance along Z>, <Compliance about X>, <Compliance about Y>, <Compliance about Z>

Explanation
Sets the compliance rates along and about X, Y, and Z axes of a coordinate system specified by SetFrcCoord. Setting ranges from 0 to 100 and 0 gives the maximum compliance. Up to two decimal places are valid.

Related Terms
ST_ResetCompRate, ST_SetFrcCoord, ST_SetCompControl

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) This statement is not executable under the compliance control. If this command is executed under the compliance control, Error " 60FA Not Executable in compliance control" will result. (3) All the set values for along and around the X, Y and Z-axes will be initialized to 100 after the controller is turned on.

Example
ST_SetFrcCoord 1 'Set the force limiting coordinate system to 'the tool coordinate ST_SetCompRate 100, 0, 100, 100, 100, 100 'Set the compliance rate ST_SetCompControl 'Set the compliance rate in Y direction of 'the tool coordinate system to 0% and enables 'the compliance control

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ST_ResetCompRate (Statement)
Function

[Ver.1.9 or later]

Initializes the compliance rates (exclusively designed for 6-axis robots).

Format
ST_ResetCompRate

Explanation
Initializes the compliance rates along and about X, Y, and Z axes to 100%.

Related Terms
ST_SetCompRate

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) This statement is not executable under the compliance control. If this command is executed under the compliance control, Error " 60F9 Improper compliance set/reset operation" will result.

Example
ST_ResetCompControl ST_ResetCompRate 'Disable the compliance control 'Initialize the compliance rates

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Chapter 12 Robot Control Statements

ST_SetFrcAssist (Statement)
Function

[Ver.1.9 or later]

Sets the force assistance under the compliance control (special compliance control function statement) (exclusively designed for 6-axis robots).

Format
SetFrcAssist <Force assistance along X>, <Force assistance along Y>, <Force assistance along Z>, <Moment assistance about X>, <Moment assistance about Y>, <Moment assistance about Z>

Explanation
Sets the force assistance along and the moment assistance about X, Y, and Z-axes of a coordinate system specified by ST_SetFrcCoord. The maximum set value is 10% of the maximum force limiting value. The unit for the force setting is [N]. The unit for the moment setting is [Nm]. Up to one decimal place is valid.

Related Terms
ST_ResetFrcAssist, ST_SetFrcCoord, ST_SetCompControl

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) Your robot may move toward the direction to which the force assistance and the moment assistance are applied. If this is the case, reduce the set values. (3) All the set values for along and around the X, Y and Z-axes will be initialized to 0 after the controller is turned on.

Example
ST_SetFrcCoord 1 'Set the force limiting coordinate system to 'the tool coordinate ST_SetFrcAssist -30, 0, 0, 0, 0, 0 'Set the force assistance to 30 [N] toward -X 'direction ST_SetFrcLimit 0, 100, 100, 100, 100, 100 'Set the force limiting rates ST_SetCompControl 'Enable the compliance control function. 'Force limiting in X direction is 0% and a 'force of 30 [N] is applied toward -X 'direction

12-93

ST_ResetFrcAssist (Statement)
Function

[Ver.1.9 or later]

Initializes the force assistance (special compliance control function statement) (exclusively designed for 6-axis robots).

Format
ST_ResetFrcAssisit

Explanation
Initializes the force assistance along and the moment assistance about X, Y, and Zaxes of a coordinate system specified by ST_SetFrcCoord are set to 100%.

Related Terms
ST_SetFrcAssist

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.

Example
STResetCompControl ST_ResetFrcAssist 'Disable the compliance control 'Initialize the force assistance and the 'moment assistance

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Chapter 12 Robot Control Statements

ST_SetCompJLimit (Statement)
Function

[Ver. 1.9 or later]

Sets the current limit under the compliance control (special compliance control function statement) (exclusively designed for 6-axis robots).

Format
ST_SetCompJLimit <J1 current limit>, <J2 current limit>, <J3 current limit>, <J4 current limit>, <J5 current limit>, <J6 current limit>

Explanation
Sets the current limit under the compliance control. The rated current of a motor corresponds to 100. When you use SetFrcLimit to set 0 to all the directions, the motor currents are limited to values less than the setting. Setting ranges from 0 to 100.

Related Terms
ST_ResetCompJLimit, ST_SetCompControl

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) The set values will be initialized and all the current limits will be 0 after the controller is turned on. (3) When you use ST_SetCompJLimit to set relatively large values, your robot may present an oscillation resulting in an error. If this is the case, use ST_SetCompRate and ST_SetDumpRate to adjust the compliance.

Example
ST_SetFrcCoord 1 'Set the force limiting coordinate system to 'the tool coordinate ST_SetCompJLimit 30, 0, 0, 0, 0, 0 'Set the current limit for J1 to 30% ST_SetFrcLimit 0, 100, 100, 100, 100, 100 'Set the force limiting rates ST_SetCompControl 'Enable the compliance control function.

12-95

ST_ResetCompJLimit (Statement)
Function

[Ver.1.9 or later]

Initializes the current limit under the compliance control (special compliance control function statement) (exclusively designed for 6-axis robots).

Format
ST_ResetCompJLimit

Explanation
Initializes the current limit under the compliance control and set 0 to all axes.

Related Terms
ST_SetCompJLimit, ST_SetCompControl

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.

Example
ST_ResetCompControl ST_ResetCompJLimit 'Disable the compliance control 'Initialize the current limits

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Chapter 12 Robot Control Statements

ST_SetCompVMode (Statement)
Function

[Version 1.9 or later]

Sets the velocity control mode under the compliance control (special compliance control function statement) (exclusively designed for 6-axis robots).

Format
ST_SetCompVMode

Explanation
Enables the compliance velocity control mode when ST_SetCompControl is executed.

Related Terms
ST_ResetCompVMode

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.

Example
ST_SetCompVMode ST_SetCompControl 'Enable the compliance velocity control mode 'Enable the compliance control

12-97

ST_ResetCompVMode (Statement)
Function

[Ver.1.9 or later]

Disables the velocity control mode under the compliance control (special compliance control function statement) (exclusively designed for 6-axis robots).

Syntax
ST_ResetCompVMode

Explanation
Disables the compliance velocity control mode when ST_SetCompControl is executed.

Related Terms
ST_SetCompControl

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.

Example
ST_ResetCompVMode ST_SetCompControl 'Disable the compliance velocity control mode 'Enable the compliance control

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Chapter 12 Robot Control Statements

ST_SetCompEralw (Statement)
Function

[Ver.1.9 or later]

Sets the allowable deviation values of the position and the posture of the tool tip under the compliance control (exclusively designed for 6-axis robots).

Format
ST_SetCompEralw <Allowable deviation along X>, <Allowable deviation Y>, <Allowable deviation Z>, <Allowable deviation X>, <Allowable deviation Y>, <Allowable deviation Z>

Explanation
Sets the allowable deviation values of the position and the posture of the tool tip under the compliance control. The unit for the allowable deviation along X, Y, and Z is (mm), and the unit for the allowable deviation about X, Y, and Z is (degree). Up to one decimal place is valid.

Related Terms
ST_ResetCompEralw, ST_SetFrcCoord

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) The initial values of allowable deviation are 100 (mm) along X, Y, and Z and 30 (degree) about X, Y, and Z. The maximum value about X, Y, and Z-axes is 175 (degree). If you set larger values than the maximum value, you will receive an error " 6003 Excess in effective value range ". (3) If the position or the posture deviation of the tool tip exceeds the allowable value, you will receive an error " 60F8 Compliance deviation excess error ". (4) The coordinate system used for setting the deviation is the one set by ST_SetFrcCoord. When you specify as STSetFrcCoord 1, the setting coordinate system for ST_SetCompEralw is the tool coordinate system.

Example
ST_SetFrcCoord 2 'Set the force limiting coordinate system to 'the work coordinate system ST_SetFrcLimit 100, 0, 100, 100, 100, 100 'Set the force limiting rate for the Y 'direction of the work coordinate system to 0% ST_SetCompEralw 10, 150, 10, 5, 5, 5 'Set the allowable deviation values along X 'and Z of the work coordinate to 10 (mm), 'along Y to 150 (mm), and about X, Y, and Z to '5 (degree).

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ST_ResetCompEralw (Statement)
Function

[Ver.1.9 or later]

Initializes the allowable deviation values of the position and the posture of the tool end under the compliance control (exclusively designed for 6-axis robots).

Format
ST_ResetCompEralw

Explanation
Initializes the allowable deviation values of the position and the posture of the tool tip under the compliance control. The initial values of allowable deviation are 100 (mm) along X, Y, and Z and 30 (degree) about X, Y, and Z.

Related Terms
ST_SetCompEralw

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.

Example
ST_ResetCompEralw

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Chapter 12 Robot Control Statements

ST_SetDampRate (Statement)
Function

[Ver.1.9 or later]

Sets the damping rates under the compliance control (exclusively designed for 6-axis robots).

Fomat
ST_SetDampRate <DampRate along X>, <DampRate along Y>, <DampRate along Z>, <DampRate about X>, <DampRate about Y>, <DampRate about Z>

Explanation
Sets the damping rates along and about X, Y, and Z axes on the coordinate system specified by ST_SetFrcCoord. The entry range is from 0 to 100. Zero gives the maximum damping. Up to two decimal places are valid.

Related Terms
ST_ResetDampRate, ST_SetFrcCoord, ST_SetCompRate

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore " will result. (2) This statement is not executable under the compliance control. If this command is executed under the compliance control, Error " 60FA Not Executable in compliance control" will result. (3) When the controller is turned on, all the damping rates will revert to the initial values (100). (4) Do not set the damping rates to less than the compliance rates specified by the ST_SetCompRate. Doing so will cause the robot to vibrate; in some cases, the robot will stop due to an error. (5) If the ST_SetCompRate is executed after execution of the ST_SetDampRate, then the damping rates will change to the setting made by ST_SetCompRate.

Example
ST_SetFrcCoord 1 'Set the compliance coordinate system to 'the tool coordinate system ST_SetCompRate 100, 0, 100, 100, 100, 100 'Set the compliance rate ST_SetDampRate 100, 20, 100, 100, 100, 100 'Set the damping rate ST_SetCompControl 'Set the compliance rate and the damping rate 'in Y direction of the tool coordinate system 'to 0% and 20%, respectively, and enable the 'compliance control

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ST_ResetDampRate (Statement)
Function

[Ver.1.9 or later]

Initializes the damping rates under the compliance control (exclusively designed for 6-axis robots).

Format
ST_ResetDampRate

Explanation
Initializes all damping rates along and about X, Y, and Z axes to 100.

Related Terms
ST_SetDampRate

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore " will result. (2) This command is not executable under the compliance control. If this command is executed under the compliance control, then Error " 60FA Not Executable in compliance control" will result.

Example
ST_ResetDampRate 'Initialize the damping rates

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Chapter 12 Robot Control Statements

ST_SetZBalance (Statement)
Function

[Ver.1.9 or later]

Sets the gravity compensation value of the Z and T axes (exclusively designed for 4axis robots).

Format
ST_SetZBalance

Explanation
Having no air balance mechanism, the Z and T axes of a 4-axis robot undergo a downward static load (gravity torque). If you set the current limit value less than the gravity torque in the current limit function, then the Z axis will move down and the T axis will rotate. This command estimates the gravity torque when the robot is on halt and sets the gravity compensation value, preventing unexpected Z-axis downward movement and T-axis rotation.

Related Terms
ST_ResetZBalance, ST_SetCurLmt

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) This command should be executed when the motor power is on and the robot is on halt. If it is executed when the motor power is off, Error "6006 Motor power is off" will result. If it is executed when the robot is in motion, Error "600B Robot is running" will result. (3) If the work weight changes after execution of this command, the preset gravity compensation value will deviate. You need to execute this command again.

Example
ST_SetZBalance

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ST_ResetZBalance (Statement) [Ver.1.9 or later]

Function
Disables the gravity compensation function (exclusively designed for 4-axis robots).

Format
ST_ResetZBalance

Explanation
Disables the gravity compensation function set by the ST_SetZBalance for Z and T axes of 4-axis robots.

Related Terms
ST_SetZBalance

Notes
(1) Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result. (2) This command should be executed when the robot is on halt. If it is executed when the robot is in motion, Error "600B Robot is running" will result. This command is executable even when the motor power is off.

Example
ST_ResetZBalance

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Chapter 13 Input/Output Control Statements

This chapter provides an explanation of the commands used to control various I/Os.

Chapter 13 Input/Output Control Statements

13.1 I/O Port

IN (Statement)[Conforms to SLIM]
Function
Reads data from the I/O port designated by an I/O variable.

Format
IN <Arithmetic variable name> = <I/O variable>

Explanation
This statement assigns the I/O port data designated by <I/O variable> to the variable designated by <Arithmetic variable name>. The <I/O variable> is declared using a DEFIO statement or an I/O type variable.

Related Terms
OUT, DEFIO

Example
DEFINT Li1, Li2 DEFIO samp1 = INTEGER, 220 IN Li1 = samp1 IN Li2 = IO[240] OUT samp1 = Li1 OUT IO[240] = Li2 'Declares samp1 as an INTEGER type I/O variable 'beginning at port 220. 'Assigns the samp1 data to Li1. 'Assigns the port 240 data to Li2. 'Outputs the Li1 data from the port declared in samp1. 'Outputs the Li2 data from port 240.

13-1

OUT (Statement) [Conforms to SLIM]

Function
Outputs data to the I/O port designated by an I/O variable.

Format
OUT <I/O variable> = <Output data>

Explanation
This statement outputs the value of <Output data> to the port address designated by <I/O variable>. <I/O variable> is declared using a DEFIO statement or I/O type variable.

Related Terms
IN, DEFIO

Example
DEFINT Li1, Li2 DEFIO samp1 = INTEGER, 220 IN Li1 = samp1 IN Li2 = IO[240] OUT samp1 = Li1 OUT IO[240] = Li2 'Declares samp1 as an INTEGER type I/O variable 'beginning at port 220. 'Assigns the samp1 data to Li1. 'Assigns the port 240 data to Li2. 'Outputs theLi1 data from the port declared in samp1. 'Outputs the Li2 data from port 240.

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Chapter 13 Input/Output Control Statements

IOBLOCK ON/OFF (Statement) [Conforms to SLIM]

Function
Concurrently executes a non-motion instruction such as an I/O or calculation instruction during execution of a motion instruction.

Format
IOBLOCK {ON|OFF}

Explanation
Use IOBLOCK ON and IOBLOCK OFF as a pair. Non-motion instructions such as plural I/O instructions or calculation instructions that follow a motion instruction, can be executed concurrently during execution of a robot motion instruction. When a robot motion instruction is issued, the controller interrupts the concurrent execution and waits the currently executed operation (pass start in the case of pass motion) to be completed. Then, the controller executes the next motion instruction. If a non-motion instruction follows the next motion instruction, it is also concurrently executed with the motion instruction. If IOBLOCK OFF is executed during execution of a motion instruction in IOBLOCK, the system proceeds to the next step after execution of the motion instruction.

Related Terms Example

'Obtains robot control priority. 'Concurrently executes an I/O instruction with the next 'motion instruction. MOVE P (902.7,0,415.3,180,50,180,1) 'Moves (PTP control) to the coordinates '(902.7,0,415.3,180,50,180,1). SET IO[240] 'Sets the port 240 BIT type to ON. SET IO[241],40 'Sets the port 241 BIT type to ON for 40 ms. SET IO[SOL1] 'Sets the port designated by I/O variable SOL1 to ON. SET IO[104 TO 110] 'Sets the port 104 110 BIT type to ON. IF IO[242] THEN RESET IO[240] 'Sets the port 240 type to OFF. RESET IO[SOL1] 'Sets the port designated by I/O variable SOL1 to OFF. RESET IO[104 TO 110] 'Sets the port 104 110 BIT type to OFF. ENDIF IOBLOCK OFF TAKEARM IOBLOK ON

13-3

Notes
(1) Concurrent processing is not executed in the following cases. i) If a motion option is added to a motion instruction ii) If you execute CHANGEWORK, CHANGETOOL, SPEED, JSPEED, ACCEL, or JACCEL. iii) If you execute the conventional language library of [aspChange], [aspACLD], arm motion library [mvSetPulseWidth], [mvSetTimeOut], [mvReverseFlip], [mvResetPulsetWidth], or [mvResetTimeOut]. Execution of the next step should stop until the motion instruction is finished (from designation of the pass motion until the pass motion starts) in all cases. (2) If the system is restarted after a step or instantaneously stop of the robot during robot movement, the robot may not execute concurrent motion with a non-motion command. (3) If the robot is stopped after a step during the first motion when a motion instruction is repeated twice in IOBLOCK, the robot stops after a step once the next motion is finished. During execution of the first motion, if you instantaneously stop and run the step, the robot also stops after the step once the next motion is finished. Example IOBLOCK ON MOVE P, JO During movement to JO, even if the robot is stopped after a step, the next motion of MOVE P, J1 is executed. After that, the robot stops after a step. MOVE P, J1 SET IO[1] IOBLOCK OFF (4) The range of IOBLOCK is valid only in a defined program, not in a subprogram. Example PROGRAM PRO1 TAKEARM DEFPOS 1p1, 1p2 IOBLOCK ON CALL SUB1 MOVE P, 1p1, 1p2 SET IO[1] SET IO[2] IOBLOCK OFF : : For this type of program, IOBLOCK defined in PRO1 is not valid in SUB1. The valid IOBLOCK range is independent for each program. (5) IOBLOCK is disabled in the teaching check mode.

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Chapter 13 Input/Output Control Statements

SET (Statement) [Conforms to SLIM]

Function
Sets an I/O port to ON.

Format
SET <I/O variable>[,<Output time>]

Explanation
This statement sets the designated port in <I/O variable> to ON. If <Output time> is designated a pulse is output. (The output time unit is ms.) If <Output time> is designated the system does not proceed to the next instruction until this time elapses. The specified output time value is the minimum output time while the actual output time will change according to task priority.

Related Terms
RESET, DEFIO

Example
TAKEARM IOBLOK ON 'Obtains the robot control priority. 'Concurrently executes an I/O instruction with the next motion 'instruction. MOVE P,(902.7,0,415.3,180 50,180,1) 'Moves (PTP control) to the coordinates '(902.7,0,415.3,180,50,180,1). SET IO[240] 'Sets the port 240 BIT type to ON. SET IO[241],40 'Sets the port 241 BIT type to ON for 40 ms. SET IO[SOL1] 'Sets the port designated by I/O variable SOL1 to ON. SET IO[104 TO 110] 'Sets the port 104 to 110 BIT to ON. IF IO[242] THEN RESET IO[240] 'Sets the port 240 type to OFF. RESET IO[SOL1] 'Sets the port designated by I/O variable SOL1 to OFF. RESET IO[104 TO 110] 'Sets the port 104 to 110 BIT type to OFF. ENDIF IOBLOCK OFF

13-5

Notes
(1) If output time is designated, it may be extended due to factors such as the presence of another program during movement, pendant operation, or communication with external devices. (2) When output time is designated, it may possibly shift by 16.7ms since the standard clock for controller processing is 16.7 ms. (3) Note the following two points when using the time designation SET. 1) If you RESET the same port with another task while the port is ON due to the time designation SET, the port is set to OFF from the time of RESET (this means the time designation SET is valid). 2) If you keep resetting the same port and SET with another task while the port is ON due to the time designation SET, the designated port is set to OFF after the designated time elapses (time designation SET is valid). (4) When output time is used, note that even during temporary stoppage the output time will elapse after an instantaneous stop during execution of the instruction and restart of the system.

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Chapter 13 Input/Output Control Statements

RESET (Statement) [Conforms to SLIM]

Function
Sets an I/O port to OFF.

Format
RESET <I/O variable>

Explanation
Sets the port designated by <I/O variable> to OFF.

Related Terms
SET, DEFIO

Example
TAKEARM IOBLOK ON 'Obtains the robot control priority. 'Executes an I/O instruction concurrently with the next 'instruction. MOVE P, (902.7,0,415.3,180,50,180,1) 'Moves to the coordinates (902.7,0,415.3,180,50,180,1) '(PTP control) SET IO[240] 'Sets the port 240 BIT type to ON. SET IO[241],40 'Sets the port 241 BIT type to ON for 40 ms. SET IO[SOL1] 'Sets the port designated by I/O variable SOL1 to ON. SET IO[104 TO 110] 'Sets the port 104 to 110 BIT type to ON. IF IO[242] THEN RESET IO[240] 'Sets the port 104 to 110 BIT type to OFF. RESET IO[SOL1] 'Sets the port designated by I/O variable SOL1 to OFF. RESET IO[104 TO 110] 'Sets the port 104 to 110 BIT type to OFF. ENDIF IOBLOCK OFF

13-7

13.2 Command for RS232C and Ethernet (Server/Client) Port

INPUT (Statement)[Conforms to SLIM]
Function
Obtains data from the RS232C or Ethernet port.

Format
INPUT [#<Circuit number>,]<Variable name>[,<Variable name>]

Explanation
This statement stores data received via the RS232C or Ethernet port into the variable designated by <Variable name>. Designate a circuit number to use for <Circuit number>. If <Circuit number> is ignored the default value of ch2 is set. Ch1 cannot be designated because it is used for the pendant. (Refer to Section 2.4.1, Circuit Number.) If plural information is received for the same number of variables add a comma (,) between each variable. Designate the baud rate using a system parameter. Note (1): Note (2): Execute a FLUSH command to clear the data remaining in the input buffer of the received data prior to receiving data. If input data exceeds the maximum value of the variable type to which it has been assigned, the result is the maximum value of that type.

Related Terms
FLUSH, PRINT, WRITE

Example
DIM li1 As Integer DEFSTR ls1, ls2, ls3, ls4 INPUT #1, ls1 INPUT #1, li1, ls2, ls3 INPUT ls4 'Writes data from ch2 to ls1. 'Writes data from ch2 to li1, ls2, and ls3. 'Writes data from ch2 to ls4.

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Chapter 13 Input/Output Control Statements

LINEINPUT (Statement)
Function
Reads data to a delimiter through the RS232C or Ethernet port and assigns it to a character string type variable.

Format
LINEINPUT [#<Circuit number>,] <Character string type variable name>

Explanation
All characters, from the data received via the RS232C or Ethernet port to a delimiter (CR or CR + LF), are stored into the variable designated by <Character string type variable name >. Delimiter is not stored into any variable. For <Circuit number>, designate the circuit number of the RS232C or Ethernet port to be used. If <Circuit number> is ignored, the default value of ch2 is set. Ch1 cannot be designated since it is used for the pendant. (Refer to Section 2.4.1, Circuit Number.) Designate the name of the character string type variable for <Character string variable name>.

Related Terms Example

DEFSTR ls1,ls2,ls3 LINEINPUT #0, ls1 'Receives a character string from port 1 and assigns it to ls1. LINEINPUT #1, ls2 'Receives a character string from port 2 and assigns it to ls2. LINEINPUT ls3 'Receives a character string from port 2 and assigns it to ls3.

13-9

PRINT (Statement)[Conforms to SLIM]

Function
Outputs data from the RS232C or Ethernet port.

Format
PRINT [#<Circuit [<Separator>] number>,] <Message> [<Separator> <Message>]

Explanation
This statement outputs the value of <Message> from the RS232C or Ethernet port to an external device. For <Circuit number>, designate the circuit number of the RS232C or Ethernet port to be used. If <Circuit number> is ignored, the default value of ch2 is set. Ch1 cannot be designated since it is used for the pendant. (Refer to Section 6.1, "Circuit Number.") A comma (,) or semicolon (;) can be used for <Separator>. In the case of a comma (,), insert a blank character between the <Message> and <Message>. If a comma (,) is designated after <Message> but no <Message> is found, a delimiter (CR or CR+LF) is transferred after the final <Message> once output is finished. In the case of a semicolon (;), no blank character should be inserted between the semicolon and <Message>. If a semicolon (;) is designated after <Message> but no <Message> is found, a delimiter (CR or CR+LF) is transferred after the final <Message> and output is finished. If pose type data is output, each element is separated for output using a blank character.

Related Terms
WRITE

Example
DEFINT li1, li2 DEFSTR ls1, ls2 PRINT #1, li1, ls1; ls2 'Outputs the values of li1, ls1, and ls2 from ch2. '(A blank is made between li1 and ls1, and no blank is made between ls1 and ls2.) 'Outputs the value of li2 from ch2.

PRINT li2

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Chapter 13 Input/Output Control Statements

WRITE (Statement)
Function
Outputs data from the RS232C or Ethernet port.

Format
WRITE [#<Circuit number>,]<Message>[,<Message>]

Explanation
This statement outputs the value of <Message> from the RS232C or Ethernet port to an external device. For <Circuit number>, designate the circuit number of the RS232C or Ethernet port to be used. If <Circuit number> is ignored, the default value of ch2 is set. Ch1 cannot be designated since it is used for the pendant. (Refer to Section 6.1, "Circuit Number.") If plural messages are written, a comma (,) must be used to separate the messages. The following are the points that differ from the PRINT statement. (1) Character string data is output in double quotation marks ("). (2) At the end of output information, a delimiter (CR or CR+LF) is added. (3) Commas (,) separating messages are output as they are. (4) If pose type data is output, each element is separated for output using a comma (,).

Related Terms
PRINT

Example
DEFINT li1, li2 DEFSTR ls1, ls2 WRITE #1, li1, ls1, ls2 WRITE li2 'Outputs the values of li1, ls1, ls2 from ch2. 'Outputs the value of li2 from ch2.

13-11

FLUSH (Statement)
Function
Clears the input buffer.

Format
FLUSH [#<Circuit number>]

Explanation
This statement clears the input buffer of the RS232C or Ethernet port. Designate a circuit number to clear the input buffer for <Circuit number>. If <Circuit number> is ignored, the default value of ch2 is set. Ch1 cannot be designated since it is used for the pendant. (Refer to Section 2.4.1, Circuit Number.) Execute a FLUSH command to clear the data remaining in the input buffer prior to receiving data.

Related Terms
INPUT

Example
FLUSH #1 FLUSH 'Clears the input buffer of the ch2 circuit. 'Clears the input buffer of the ch2 circuit.

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Chapter 13 Input/Output Control Statements

13.3 Serial Binary Transmission Commands (RS232C and Ethernet ports)

printb (Version 1.5 or later)
Function
Outputs a single byte of data to the RS-232C or Ethernet port.

Format
printb #<portnumber>,<integervarnumber> <portnumber> Output port number (1: Controller RS-232C port, -1: Vision RS-232C port, 4 to 7: Ethernet server ports, 8 to 15: Ethernet client ports)

<integervarnumber> Integer variable number where output data is stored

Explanation
This command outputs the lower byte of data assigned <integervarnumber> to the port specified by <portnumber>. to

Example
'!TITLE "<Title>" PROGRAM sample . . . printb #1,I10 . . . end

'Output the lower byte of data stored in I10 to RS-232C port

13-13

inputb (Version 1.5 or later)

Function
Inputs a single byte of data from the RS-232C or Ethernet port.

Format
inputb #<portnumber>,<integervarnumber> <portnumber> Input port number (1: Controller RS-232C port, -1: Vision RS-232C port, 4 to 7: Ethernet server ports, 8 to 15: Ethernet client ports)

<integervarnumber> Integer variable number where input data is to be stored

Explanation
This command stores a single byte of data inputted from the specified port, into <integervarnumber>. NOTE: If no data exists in the specified port, executing this command will result in an error. Before execution of this command, transfer data from external equipment. To check whether any data exists or not, use com_state command.

Example
'!TITLE "<Title>" PROGRAM sample . . . inputb #1,I10 . . . end

'Store data inputted from RS-232C port into I10

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Chapter 13 Input/Output Control Statements

lprintb (Version 1.5 or later)

Function
Outputs multiple bytes of data to the RS-232C or Ethernet port.

Format
lprintb #<portnumber>,<arrayheadelement>,<outputbytes> <portnumber> Output port number (1: Controller RS-232C port, -1: Vision RS-232C port, 4 to 7: Ethernet server ports, 8 to 15: Ethernet client ports)

<arrayheadelement> Head element of an array where output data is stored <outputbytes> Number of bytes to be outputted

Explanation
This command outputs the specified number of bytes of data from the specified element of an array where the output data is stored, to the specified port.

Example
'!TITLE "<Title>" PROGRAM sample . . . lprintb #1,I64,30 succession . . . end

'Output the lower byte of data from I64 to I93 in 'to RS-232C port.

13-15

linputb (Version 1.5 or later)

Function
Inputs multiple bytes of data from the RS-232C or Ethernet port.

Format
linputb #<portnumber>,<arrayheadelement>,<inputbytes> <portnumber> Input port number (1: Controller RS-232C port, -1: Vision RS-232C port, 4 to 7: Ethernet server ports, 8 to 15: Ethernet client ports)

<arrayheadelement> Head element of an array where input data is to be stored <inputbytes> Number of bytes to be inputted

Explanation
This command inputs the specified number of bytes of data from the specified element of an array, to the specified port. NOTE: If no data exists in the specified port, executing this command will result in an error. Before execution of this command, transfer data from external equipment. To check whether any data exists or not, use com_state command.

Example
'!TITLE "<Title>" PROGRAM sample . . . linputb #1,I64,30 port. . . . end

'Input data from I64 to I93 in succession from RS-232C

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Chapter 13 Input/Output Control Statements

com_encom (Version 1.5 or later)

Function
Enables the RS-232C port only for binary transmission. (Occupies the COM port.) If the Ethernet client port has been occupied, this command enables it to establish Ethernet connection.

Format
com_encom #<portnumber>

Explanation
This command discriminates binary data from ASCII data in binary transmission between the PC and robot controller e.g., in WINCAPSII. After binary transmission is completed, you need to release the communication port by using com_discom command. NOTE: If data is transferred from the PC (e.g., in WINCAPSII) to the robot controller after execution of this command, then the controller will treat it as binary data and will not close the RS-232C port occupied by binary transmission. NOTE: After executing this command in Ethernet connection, it will not influence data communications with WINCAPSII.

Example
'!TITLE "<Title>" PROGRAM sample . . . com_encom #1 . . . end

'Make port exclusive for binary transmission

13-17

com_discom (Version 1.5 or later)

Function
Releases the RS-232C port from binary transmission. (Releases the COM port.) If the Ethernet client port has been used, this command disables the Ethernet client port to disconnect the Ethernet connection.

Format
com_discom #<portnumber>

Explanation
This command disables com_encom command to release the RS-232C dedicated to binary transmission for other uses. NOTE: Executing this command clears the RS-232C port once for preventing data confusion between ASCII and binary data. NOTE: If this command is executed during Ethernet communication, the connection will be disconnected without waiting for completion of transmission. The receiver may keep waiting for receiving non-transmitted data.

Example
'!TITLE "<Title>" PROGRAM sample . . . com_discom #1 . . . end

'Release port from binary transmission

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Chapter 13 Input/Output Control Statements

com_state (Version 1.5 or later)

Function
Gets the status of RS-232C or Ethernet port.

Format
com_state #<portnumber>,<integervar>

Explanation
This command gets bytes of data remaining in the transmission buffer, into the integer variable specified by <integervar>. Note that -1 will be returned if a transmission port error occurs. At the time of Ethernet use, -1 will be also returned if network connection of the port is not established.

Example
'!TITLE "<Title>" PROGRAM sample . . . com_state #1,I280 . . . end

'Gets data remaining in transmission buffer into I280

13-19

13.4 Pendant
PRINTMSG (Statement)
Function
Displays a message with a caption and icon on the color LCD of the teach pendant.

Format
PRINTMSG <Message character>,<Icon type>,<Caption character string>

Explanation
The system displays the message designated by each argument with a caption and icon on the color LCD of the teach pendant. Icon type 0 1 2 3 4 Icon

A maximum of 60 characters can be used for a message character string and a maximum of 40 characters for a caption character string.

Related Terms
PRINTDBG, PRINTLBL

Example
PRINTMSG Hello World !, 1, Message 'Displays Hello World ! with a 'caption and icon.

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Chapter 13 Input/Output Control Statements

PRINTDBG (Statement)
Function
Outputs data to the debug window.

Format
PRINTDBG <Message>[<Separator><Message>][<Separator>]

Explanation
This statement outputs the value of <Message> in the debug window of the pendant. For <Separator> a comma (,) or semicolon (;) can be used. In the case of a comma (,) a blank character should be inserted between the comma and the <Message> that follows. In the case of a semicolon (;) no blank character must be inserted between the semicolon and <Message>. If pose type data is output each element is separated with a blank character and displayed. The line is fed if there is no <Separator> at the end of <Message>.

Related Terms
PRINTMSG, PRINTLBL

Example
PRINTDBG DEBUG 'Outputs DEBUG on the debug window.

13-21

BUZZER (Statement)
Function
Sounds a buzzer.

Format
BUZZER <Sound time>

Explanation
This statement sounds the buzzer on the pendant for the time designated in <Sound time>. The unit of <Sound time > is msec.

Related Terms Example

BUZZER 3000 'The buzzer sounds for 3 seconds.

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Chapter 13 Input/Output Control Statements

PRINTLBL (Statement)
Function
Sets a label (caption) for a user definition button.

Format
PRINTLBL <Panel number>, <Button number>,<Caption character string>

Explanation
This statement sets a label (caption) for each user-defined button on the operation panel of the teach pendant. For <Panel number>, a number from 0 to 6 can be designated. For <Button number>, set a number from 0 to 11. Designate the character string using a maximum of 6 characters in <Caption character string>.

Related Terms
PRINTDBG, PRINTMSG

Example
PRINTLBL 3, 1, E_STOP 'Sets the label of the first button on the third panel 'to E_STOP.

13-23

13.5 Customizing TP Operation Screens

Main software version 1.5 or later allows you to easily customize your own operation screens on the teach pendant for facilitating control of the robot by the robot controller in stand-alone mode. In PAC language, you may program your own control buttons in size, position, and color and paste them onto the Teach Pendant screen. Once the PAC program in which you have defined your own screens runs, those screens go into effect and remain in effect as long as you do not clear them, even if you restart the robot system or controller.

n Buttons and screens

You may customize buttons and screens up to 500 and 50, respectively.

n Commands for creating TP operation screens

set_button set_page change_bCap change_pCap disp_page Sets button parameters (incl. an attribute for choosing visible/invisible) Sets page parameters (incl. an attribute for choosing visible/invisible) Edits captions on buttons Edits captions on pages Displays a specified page

n Parameters set by commands

Button parameters Index Display position (Upper left X coordinate, upper left Y coordinate, lower right X coordinate, and lower right Y coordinate) Button type (Touch switch with variation in shape, value display box, value entry box, digital switch, lamp with variation in shape, and page switching button) Status (reserved) Background color Text color Enable/disable flag Visible/invisible flag Captions Variable type Variable number I/O number Page number Modification flag (reserved) Result (reserved) Index Screen type (fixed) Status (reserved) Background color Text color Enable/disable flag Visible/invisible flag Captions Modification flag (reserved) Result (reserved)

Page parameters

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Chapter 13 Input/Output Control Statements

13.5.1 Programming a TP operation screen

Program a TP operation screen as follows: (1) Setting button parameters Use set_button command to specify button parameters for a button. (Example) Create a button numbered 1 with background (7) set to black (0) set_button 1,7,0 (2) Setting page parameters Use set_page command to specify page parameters for a page. (Example) Create a page numbered 2 with background (3) set to red (4) set_page 2,3,4 (3) Setting a button caption Use change_bCap command to specify a desired button caption. (Example) Specify caption "Setup" for button numbered 2 change_bCap 2,"Setup" (4) Setting a page caption Use change_pCap command to specify a desired page caption. (Example) Specify caption "Screen 3" for page numbered 3 change_pCap 3,"Screen 3" (5) Displaying a specified page Use disp_page command to display the desired page.

13-25

(6) Displaying a programmed TP operation screen From the top screen of the teach pendant, choose [F9: Panel] to display a TP operation screen you have programmed. TP operation screen sample

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Chapter 13 Input/Output Control Statements

set_button (Version 1.5 or later)

Function
Sets button parameters.

Format
set_button <ButtonNumber>,<ParameterType>,<NewValue> <ButtonNumber> <ParameterType> <NewValue> Number indicating the button location in all button arrangement on a TP operation panel. Button attributes including color, position and others. (See the table below.) Parameter value for making new settings (See the table below.)
Explanation

<Parameter Type>

<NewValue> (Note 1) 0 to 640 in dots 0 to 350 in dots 0 to 640 in dots 0 to 350 in dots 0: 1: 2: 17: 18: 19: 20: 33: 34: 35: 36: 37: 38: 0: 1: 2: 0: 1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: None Label Line 2D button (Change variable) 3D button (Change variable) 3D button (Change variable) Circle (Change variable) 2D LED (lamp) Circle LED (lamp) 3D button (Change IO) Reserved Reserved Box Center characters Left-justify characters Right-justify characters Black Blue Green Cyan Red Magenta Brown Light gray Gray Light blue Light green Light cyan Light red Light magenta Yellow White

1 2 3 4 5

Upper left X coordinate Upper left Y coordinate Lower right X coordinate Lower right Y coordinate Button type

Button status

Background color

13-27

<Parameter Type>

Explanation

<NewValue> 0: 1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 0: 1: 0: 1: Black Blue Green Cyan Red Magenta Brown Light gray Gray Light blue Light green Light cyan Light red Light magenta Yellow White Disable Enable Invisible Visible

Text color

9 10 11

Usable state Visible/invisible state Variable type (Note 2)

1: Integer 2: Floating point 3: Double-precision floating point 4: Character string (up to 32 characters) Variable number that may be changed by the change variable button. Variable number that may be changed by the change I/O button. (128 to 511) Page number in which the buttons are displayed.

12 13 14

Variable number I/O number Display page number

(Note 1) Always enter integers to <ParameterType>. Any other value will cause a "data tag error." (Note 2) A floating-point or double-precision floating-point number occupies 13- or 22-character space, respectively. Take it into account and reserve suitable spaces when programming a numeric entry button using floating point or double-precision variable.

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Chapter 13 Input/Output Control Statements Explanation

set_button changes the current value of a parameter specified by <ParameterType> to <NewValue> to modify the specifications of a button specified by <ButtonNumber>. *Sample of Button type 1: 2: 3: 4: 5: 6: 7: 8: 9: 10: Label Line 2D button (Change variable) 3D button (Change variable) 3D button (Change variable) Circle 2D LED Circle LED 3D button (Change IO) Box

10

Example
'!TITLE "<Title>" PROGRAM sample1
. .

set_button set_button set_button set_button

. .

(btn_no),(1),(minx) (btn_no),(2),(miny) (btn_no),(3),(maxx) (btn_no),(4),(maxy)

end

13-29

set_page (Version 1.5 or later)

Function
Sets page parameters.

Format
set_page <PageNumber>,<ParameterType>,<NewValue> <PageNumber> <ParameterType> <NewValue> Number indicating a page out of all pages arranged on a TP operation panel. Page attributes including color, position and others. (See the table below.) Parameter value for making new settings (See the table below.)
Explanation

<Parameter Type>

<NewValue> 0 (Fixed) Not used. 0: 1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 0: 1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 0: 2: 0: 1: Black Blue Green Cyan Red Magenta Brown Light gray Gray Light blue Light green Light cyan Light red Light magenta Yellow White Black Blue Green Cyan Red Magenta Brown Light gray Gray Light blue Light green Light cyan Light red Light magenta Yellow White Disable Enable Invisible Visible

1 2 3

Page type Button status Background color

Text color (Not used in Ver. 1.5 or 1.6)

5 6

Usable state Visible/invisible state

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Chapter 13 Input/Output Control Statements Explanation

set_page changes the current value of a parameter specified by <ParameterType> to <NewValue> to modify the specifications of a page specified by <PageNumber>.

Example
'!TITLE "<Title>" PROGRAM sample2
. . .

set_page panel_no, P_BGCOLOR,GRAY set_page panel_no, P_USESTATE,ON set_page panel_no, P_VISSTATE,ON

. . .

'Set background color of the 'page. 'Enable page. 'Make page visible.

end

13-31

change_bCap (Version 1.5 or later)

Function
Edits a caption for a specified button.

Format
change_bCap <ButtonNumber>,<Caption> <ButtonNumber> <Caption> Number indicating the button location in all button arrangement on a TP operation panel. Character string to be displayed on the center of a button.

Button caption example

Explanation
change_bCap displays a character string specified by <Caption> on the center of a button specified by <ButtonNumber>.

Example
'!TITLE "<Title>" PROGRAM sample3
. . .

bcap4 = "Cut workpiece" btn_no = 3

. . .

change_bCap btn_no,bcap4
. . .

end

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Chapter 13 Input/Output Control Statements

change_pCap (Version 1.5 or later)

Function
Edits a caption for a specified page.

Format
change_pCap <PageNumber>,<Caption> <PageNumber> <Caption> Number indicating a page out of all pages arranged on a TP operation panel. Character string to be displayed in the title bar of a page.

Page caption example

Explanation
change_pCap displays a character string specified by <Caption> in the title bar of a page specified by <PageNumber>.

Example
'!TITLE "<Title>" PROGRAM sample4
. . .

pcap4 = "Cut workpiece" page_no = 3

. . .

change_pCap page_no,pcap4
. . .

end

13-33

disp_page (Version 1.5 or later)

Function
Displays a specified page of a TP operation screen.

Format
disp_page <PageNumber> <PageNumber> Number indicating a page out of all pages arranged on a TP operation panel.

Explanation
disp_page displays the page specified by <PageNumber> on the TP operation screen.

Example
'!TITLE "<Title>" PROGRAM sample3
. . .

'disp_page panel_no
. . .

'Display the specified page.

end

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Chapter 13 Input/Output Control Statements

Sample Program: Creating a TP Operation Panel
Shown below is a sample program for creating a TP operation panel.
'! TITLE "<Title>" PROGRAM BUTTON3D_VAL_3 'Color definition #define BLACK 0 'Black #define BLUE 1 'Blue #define GREEN 2 'Green #define CYAN 3 'Cyan #define RED 4 'Red #define MAGENTA 5 'Magenta #define BROWN 6 'Brown #define LIGHTGRAY 7 'Light gray #define GRAY 8 'Gray #define LIGHTBLUE 9 'Light blue #define LIGHTGREEN 10 'Light green #define LIGHTCYAN 11 'Light cyan #define LIGHTRED 12 'Light red #define LIGHTMAGENTA 13 'Light magenta #define YELLOW 14 'Yellow #define WHITE 15 'White 'Button #define #define #define #define #define #define #define #define #define definition LABEL 1 LINE 2 2DBUTTON_V 3DBUTTON_V 3DBUTTON_V2 CIRCLE 20 2DLED 33 CIRCLELED 3DBUTTON_IO

'Label 'Line 17 '2D button (Change variable) 18 '3D button (Change variable) 19 '3D button 2 (Change variable) 'Circle (Change variable) '2DLED (Lamp) 34 'Circle LED (Lamp) 35 '3D button (Change IO)

'Page parameters #define P_BGCOLOR #define P_CHARCOLOR #define P_USESTATE #define P_VISSTATE 'Button #define #define #define #define #define #define #define #define #define #define #define #define #define

3 4 5 6

'Page background color 'Page text color 'Enable/disable 'Visible/invisible

parameters X_UPPERLEFT_P 1 'Upper left X coordinate Y_UPPERLEFT_P 2 'Upper left Y coordinate X_LOWERRIGHT_P 3 'Lower right X coordinate Y_LOWERRIGHT_P 4 'Lower right Y coordinate B_KIND 5 'Button type B_BGCOLOR 7 'Button background color B_FGCOLOR 8 'Button text color B_USESTATUS 9 'Button enable/disable B_VISSTATUS 10 'Button visible/invisible B_VALUEKIND 11 'Button variable type (Fixed) B_VALUE_NO 12 'Button variable number B_IO_NO 13 'Button I/O number B_DISP_PNO 14 'Button display page number

13-35

'Button #define #define #define

status ON 1 OFF 0 I_VAL 1

'ON 'OFF 'Integer

'Button address #define IO_PB_ADRS 170 'I/O number assigned to the 1st button 'on a TP operation panel. defint defint defint defstr defstr btn_no,minx,maxx,miny,maxy,loopcnt enable,visible,var_type,var_index panel_no,io_no,io_adrs,btn_adrs panel_cap bcap0,bcap1,bcap2,bcap3,bcap4,bcap5,bcap6,bcap7 panel_no = 3 panel_cap = "Setup screen (Screen 3)" loopcnt = 0 change_pCap panel_no,panel_cap set_page panel_no,P_BGCOLOR,GRAY set_page panel_no,P_USESTATE,ON set_page panel_no,P_VISSTATE,ON 'Resetting all parameters btn_adrs = 30 io_no = IO_PB_ADRS reset io[128 to 133] enable = ON visible = ON var_type = I_VAL var_index = 1 bcap0 bcap1 bcap2 bcap3 bcap4 bcap5 bcap6 bcap7 = = = = = = = = "plan+chr$(10)+"Data1" "plan+chr$(10)+"Data2" "plan+chr$(10)+"Data3" "plan+chr$(10)+"Data4" "plan+chr$(10)+"Data5" "plan+chr$(10)+"Data6" "Screen0+chr$(10)+"Back to" "here"+chr$(10)+"Touch" 'Set page title. 'Set page background color. 'Enable page. 'Make page visible.

while loopcnt < 6 'Loop 6 times. btn_no = btn_adrs + loopcnt minx = 10 + ((loopcnt mod 6)*100) miny = 50 + ((loopcnt / 6)*100) maxx = 100 + ((loopcnt mod 6)*100) maxy = 120 + ((loopcnt / 6)*100) io_adrs = IO_PB_ADRS + loopcnt 'Common process set_button (btn_no),(1),(minx) set_button (btn_no),(2),(miny) set_button (btn_no),(3),(maxx) set_button (btn_no),(4),(maxy) set_button (btn_no),(9),(enable) set_button (btn_no),(10),(visible) set_button (btn_no),(11),(var_type) set_button (btn_no),(12),(var_index) set_button (btn_no),(14),(panel_no)

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Chapter 13 Input/Output Control Statements

'Label display select case loopcnt case 0 set_button btn_no,B_KIND,LABEL 'Set button type. set_button btn_no,B_IO_NO,io_adrs 'Set I/O address. set_button btn_no,B_BGCOLOR,GRAY 'Set background color. set_button btn_no,B_FGCOLOR,RED 'Set foreground color. change_bCap btn_no,bcap0 'Set button number. case 1 set_button btn_no,B_KIND,LABEL 'Set button type. set_button btn_no,B_IO_NO,io_adrs 'Set I/O address. set_button btn_no,B_BGCOLOR,GRAY 'Set background color. set_button btn_no,B_FGCOLOR,BLACK 'Set foreground color. change_bCap btn_no,bcap1 'Set button number. case 2 set_button btn_no,B_KIND,LABEL 'Set button type. set_button btn_no,B_IO_NO,io_adrs 'Set I/O address. set_button btn_no,B_BGCOLOR,GRAY 'Set background color. set_button btn_no,B_FGCOLOR,WHITE 'Set foreground color. change_bCap btn_no,bcap2 'Set button number. case 3 set_button btn_no,B_KIND,LABEL 'Set button type. set_button btn_no,B_IO_NO,io_adrs 'Set I/O address. set_button btn_no,B_BGCOLOR,GRAY 'Set background color. set_button btn_no,B_FGCOLOR,YELLOW 'Set foreground color. change_bCap btn_no,bcap3 'Set button number. case 4 set_button btn_no,B_KIND,LABEL 'Set button type. set_button btn_no,B_IO_NO,io_adrs 'Set I/O address. set_button btn_no,B_BGCOLOR,GRAY 'Set background color. set_button btn_no,B_FGCOLOR,LIGHTMAGENTA 'Set foreground. color change_bCap btn_no,bcap4 'Set button number. case 5 set_button btn_no,B_KIND,LABEL 'Set button type. set_button btn_no,B_IO_NO,io_adrs 'Set I/O address. set_button btn_no,B_BGCOLOR,GRAY 'Set background color. set_button btn_no,B_FGCOLOR,LIGHTBLUE 'Set foreground color. change_bCap btn_no,bcap5 'Set button number. end select loopcnt = loopcnt + 1 wend

13-37

'Display in the lower row loopcnt = 0 while loopcnt < 6 'Loop 6 times. btn_no = btn_adrs + 10 + loopcnt minx = 10 + ((loopcnt mod 6)*100) miny = 120 + ((loopcnt / 6)*100) maxx = 100 + ((loopcnt mod 6)*100) maxy = 190 + ((loopcnt / 6)*100) io_adrs = IO_PB_ADRS+6+loopcnt var_index = var_index + 1 'Common process set_button (btn_no),(1),(minx) set_button (btn_no),(2),(miny) set_button (btn_no),(3),(maxx) set_button (btn_no),(4),(maxy) set_button (btn_no),(9),(enable) set_button (btn_no),(10),(visible) set_button (btn_no),(11),(var_type) set_button (btn_no),(12),(var_index) set_button (btn_no),(14),(panel_no) 'Label display select case loopcnt case 0 set_button btn_no,B_KIND,3DBUTTON_V 'Set button type. set_button btn_no,B_KIND,3DBUTTON_V2 'Set button type. set_button btn_no,B_IO_NO,io_adrs 'Set I/O address. set_button btn_no,B_BGCOLOR,MAGENTA 'Set background color. set_button btn_no,B_FGCOLOR,RED 'Set foreground color. var_index = loopcnt set_button btn_no,B_VALUE_NO,var_index change_bCap btn_no,bcap7 case 1 set_button btn_no,B_KIND,3DBUTTON_V 'Set button type. set_button btn_no,B_KIND,3DBUTTON_V2 'Set button type. set_button btn_no,B_IO_NO,io_adrs 'Set I/O address. set_button btn_no,B_BGCOLOR,LIGHTGRAY 'Set background color. set_button btn_no,B_FGCOLOR,BLACK 'Set foreground color. var_index = loopcnt set_button btn_no,B_VALUE_NO,var_index change_bCap btn_no,bcap7 case 2 set_button btn_no,B_KIND,3DBUTTON_V 'Set button type. set_button btn_no,B_KIND,3DBUTTON_V2 'Set button type set_button btn_no,B_IO_NO,io_adrs 'Set I/O address. set_button btn_no,B_BGCOLOR,BLUE 'Set background color. set_button btn_no,B_FGCOLOR,WHITE 'Set foreground color. var_index = loopcnt set_button btn_no,B_VALUE_NO,var_index change_bCap btn_no,bcap7 case 3 set_button btn_no,B_KIND,3DBUTTON_V 'Set button type. set_button btn_no,B_KIND,3DBUTTON_V2 'Set button type. set_button btn_no,B_IO_NO,io_adrs 'Set I/O address. set_button btn_no,B_BGCOLOR,GREEN 'Set background color. set_button btn_no,B_FGCOLOR,YELLOW 'Set foreground color. var_index = loopcnt set_button btn_no,B_VALUE_NO,var_index change_bCap btn_no,bcap7

'

'

'

'

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Chapter 13 Input/Output Control Statements

case 4 ' set_button btn_no,B_KIND,3DBUTTON_V 'Set set_button btn_no,B_KIND,3DBUTTON_V2 'Set set_button btn_no,B_IO_NO,io_adrs 'Set set_button btn_no,B_BGCOLOR,CYAN 'Set set_button btn_no,B_FGCOLOR,LIGHTMAGENTA var_index = loopcnt set_button btn_no,B_VALUE_NO,var_index change_bCap btn_no,bcap7 case 5 ' set_button btn_no,B_KIND,3DBUTTON_V set_button btn_no,B_KIND,3DBUTTON_V2 set_button btn_no,B_IO_NO,io_adrs set_button btn_no,B_BGCOLOR,GRAY set_button btn_no,B_FGCOLOR,LIGHTBLUE var_index = loopcnt set_button btn_no,B_VALUE_NO,var_index change_bCap btn_no,bcap7 'Set button type. 'Set button type. 'Set I/O address. 'Set background color. 'Set foreground color. button type. button type. I/O address. background color. 'Set foreground color

end select loopcnt = loopcnt + 1 wend

'Creating a 3D button for returning to screen 0 io_adrs = 128 minx = 510 maxx = 600 miny = 250 maxy = 320 btn_no = 92 set_button (btn_no),(1),(minx) set_button (btn_no),(2),(miny) set_button (btn_no),(3),(maxx) set_button (btn_no),(4),(maxy) set_button (btn_no),(9),(enable) set_button (btn_no),(10),(visible) set_button (btn_no),(11),(var_type) set_button (btn_no),(12),(var_index) set_button (btn_no),(14),(panel_no) set_button btn_no,B_KIND,3DBUTTON_IO set_button btn_no,B_IO_NO,io_adrs set_button btn_no,B_BGCOLOR,BLUE set_button btn_no,B_FGCOLOR,WHITE change_bCap btn_no,bcap6 'Set button type. 'Set I/O address. 'Set background color. 'Set foreground color. 'Set button number.

disp_page panel_no

'Display specified screen.

END

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TP Operation Panel Sample: Result of the above sample program

13-40

Chapter 14 Multitasking Control Statements

Multitasking control is one of the features of PAC. This chapter provides explanations of the commands used for multitasking control.

Chapter 14 Multitasking Control Statements

14.1 Task Control

RUN (Statement)
Function
Concurrently runs another program.

Format
RUN <Program name> [(<Argument>[,<Argument>])][,<RUN option>]

Explanation
This statement allows the currently executed program to run a program designated in <Program name>. However, the current program cannot run the program itself. Only values are usable for <Argument>. Even if you specify reference pass, the reference data will automatically be changed to values. But you cannot use local array. For <RUN option>, there are PRIORITY (or P) and CYCLE (or C). PRIORITY (or P) Designates the priority of a program. If ignored, the default value of 128 is set. The smaller the value, the higher the level of priority. The setting range is from 102 to 255. Note: The priority over of the supervisory task cannot be changed. CYCLE (or C) Designates an alternate cycle (time of each cycle when a program is run repeatedly). This option is expressed in msec. The setting range is from 1 to 2,147,483,647. You cannot start any program that includes arguments when using the cycle option.

Related Terms
CALL, GOSUB

Example
DEFINT Li1 = 1, Li2 =2, Li3 = 3 RUN samp1 C=1000 'Runs samp1 in parallel n (C=1000). RUN samp2(Li1) 'Runs samp2 using the Li1 argument in parallel. RUN samp3(Li1,Li2),PRIORITY = 129 'Runs samp3 using the Li1 and Li2 arguments in parallel '(P = 129). RUN samp4(Li1,Li2),PRIORITY = 150 'Runs samp4 using the Li1 and Li2 arguments in parallel '(P = 150). RUN samp5(Li1,Li2,Li3)P = 120 'Runs samp5 using the Li1, Li2, and Li3 arguments in parallel '(P = 120)

14-1

Notes
(1) When a task for which motion is being suspended is run again with a SUSPEND instruction, execute RUN after the motion completely stops. If RUN is executed and the robot is moved again before the motion stop finishes, an error such as a command speed limit over error may occur. (2) If a CYCLE option is used, note that cycle synchronization elapses even during suspension after an instantaneous stop of the robot during instruction execution followed by a restart of the robot. (3) RUN command is not executed in the teaching check mode.

KILL (Statement)
Function
Forcibly terminates a task.

Format
KILL <Program name>

Explanation
This statement forcibly terminates the task (program) designated by <Program name>. However, it cannot kill a program that contains the statement. If attempted, an error will occur. To forcibly terminate a statement-containing program, use a STOP instruction.

Related Terms
SUSPEND, STOP

Example
RUN samp1 . . . KILL samp1 'Concurrently runs samp1.

'Ends samp1.

Notes
If a task in the process of obtaining an arm semaphore is forcibly terminated and an arm semaphore is obtained by another task, an Arm semaphore obtaining failure error may occur. In such a case, a timer should be inserted before another task obtains the arm semaphore.

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Chapter 14 Multitasking Control Statements

SUSPEND (Statement)
Function
Suspends a task.

Format
SUSPEND <Program name>

Explanation
This statement suspends the processing of a designated task. However, it cannot suspend a program that contains the statement. To suspend a statement-containing program, use a HOLD instruction.

Related Terms
KILL, HOLD

Example
SUSPEND samp1 'Suspends task execution of samp1.

Notes
When a task for which motion has been suspended using a SUSPEND instruction is RUN again, it should be executed after the motion has completely stopped. If RUN is executed and the robot moves again before motion stop ends, an error such as a command speed limit over may occur.

14-3

DEFEND (Statement)
Function
Defends a task.

Format
DEFEND {ON|OFF}

Explanation
A program task usually releases execution priority to another program task with equal or higher priority at fixed intervals. Use a DEFEND command when a program is processed without releasing execution priority to another task. After DEFEND ON is executed the execution priority is kept until DEFEND OFF is executed. However, if each time designation command for DELAY, WAIT and SET IO is executed, the execution priority is released to another program task. Note (1): Set the section of a program that is to be defended with DEFEND ON as short as possible. If the task is in an infinite loop status after execution of DEFEND ON, execution priority will never be transferred to other program tasks. Even if a task is defended with DEFEND ON, the defense status is automatically released in the following cases. When an END command (except for an END command at the end of a called program) is executed When a KILL command is executed When the robot controller is initialized using the teach pendant or I/O.

Note (2):

Related Terms Example

DEFEND ON SET IO[100] 'Defends own task. 'The following 3 instructions are always continuously executed when 'a task is defended.

SET IO[102] SET IO[104] DEFEND OFF

'Releases the defense of own task.

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Chapter 14 Multitasking Control Statements

STATUS (Function)
Function
Obtains the program status.

Format
STATUS (<Program name>)

Explanation
This statement stores the program status of the program designated in <Program name> using an integer.
Value 1 2 3 4 5 6 Running Stopping Suspend Delay Pending Step Stopped Status Executing Stopping in progress Suspension in progress Delay in progress Currently pending Step stoppage in progress

Related Terms
DELAY, HALT, HOLD, STOP

Example
DIM li1 As Integer li1 = STATUS(samp1) integer. ' Assigns the program status of samp1 to li1 using an

Notes
This statement cannot obtain the status of its own.

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14.2 Semaphore
A semaphore can be used to communicate (connect a signal) among tasks when multiple tasks are synchronized (synchronized control) or when multiple tasks are not permitted to operate at the same time (exclusive control). To use a semaphore, create a semaphore with a CREATESEM command to obtain a semaphore ID. Then a specific semaphore can be designated among plural semaphores. When synchronized control or exclusive control is executed, wait for the task which sends commands to execute a GIVESEM command after a TAKESEM command has been executed for the task waiting for the instruction of another task. If the task sending a command is ready, it executes a GIVESEM command and permits processing of the task which is waiting for a semaphore to execute. One GIVESEM command is valid only for a task waiting for one semaphore. If multiple tasks have a semaphore with the same semaphore ID, the sequence of task execution can be selected from among two queuing (execution wait) systems; first-come sequence and priority sequence.

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Chapter 14 Multitasking Control Statements

CREATESEM (Function)
Function
Creates a semaphore.

Format
CREATESEM (<Arithmetic expression>)

Explanation
This function creates a semaphore and obtains a semaphore ID. If there is no semaphore ID, other semaphore related commands cannot be used. Therefore, be sure to execute this CREATESEM command prior to using a semaphore. Designate a task queuing (execution waiting) system using an argument. Determine the execution order if plural tasks have the same semaphore. The following two types of queuing systems are available.
Argument 0 Other than 0 First-come sequence Priority order of tasks

First-come sequence is the order in which TAKESEM commands are executed. Task priority is designated with an option (PRIORITY) of the RUN command. As soon as CREATESEM is executed, the system status changes to the one where a semaphore is present. Therefore, TAKESEM can be executed even if GIVESEM is not executed. Up to 32 semaphores can be created.

Related Terms
DELETESEM, FLUSHSEM, GIVESEM, TAKESEM

14-7

Example
DEFINT Li1 Li2 Li3 = 1 Li1 = CREATESEM(Li3) 'Creates a semaphore with the queuing system designated in Li3 'and the semaphore ID obtained in Li1. Li2 = CREATESEM(Li3) 'Creates a semaphore with the queuing system designated in Li3 'and the semaphore ID obtained in Li2. TAKESEM Li1 'Obtains the semaphore designated in Li1. TALESEM Li2 100 'Obtains the semaphore designated in Li1. However, a timeout 'occurs after 100 ms. RUN samp1 GIVESEM Li1 'Releases one task from the wait status which has the semaphore 'designated in Li1. FLUSHSEM Li2 'Releases all tasks from the wait status which have the semaphore 'designated in Li2. DELETESEM Li1 'Deletes the semaphore with the semaphore ID designated in Li1. DELETESEM Li2 'Deletes the semaphore with the semaphore ID designated in Li2.

Notes
Notes on using a CREATESEM instruction: (1) Phenomena which occur due to wrong usage If one of the following actions is executed when a program which already has a semaphore ID created by a CREATESEM instruction is being executed or suspended and in the wait status, the program with the semaphore ID will be left in the wait status without being able to obtain a semaphore. 1) Rewrite a semaphore ID storage variable using CREATESEM. or, 2) Purposely rewrite the variable from the program pendant.

(2) Example Start up pro1 and instantaneously stop using the STOP key during execution of pro2. After that, if the system is restarted, pro3 will wait for a semaphore indefinitely since the semaphore ID stored in i1 will be changed.

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Chapter 14 Multitasking Control Statements

PROGRAM PRO1 i1 = CREATESEM(0) RUN PRO2 RUN PRO3 END PROGRAM PRO2 TAKESEM i1 . . . GIVESEM i1 END PROGRAM PRO3 TAKESEM i1 . . . GIVESEM i1 END

(3) Countermeasure when an infinite wait occurs. To get out of this status, run a calling program (ipro1 in this example) after stopping the program (pro3 in this example) that is in an infinite wait status. (4) Observe the following for proper use of this statement. Do not rewrite the ID of a semaphore that is in a wait status. Especially observe the following two points. 1) Create a semaphore that uses the same variable number only once as long as it is not clearly deleted. 2) Do not use a variable which controls a semaphore ID for other purposes.

14-9

DELETESEM (Statement)
Function
Deletes a semaphore.

Format
DELETESEM <Semaphore ID>

Explanation
This statement deletes a semaphore with the semaphore ID designated in <Semaphore ID>.

Related Terms
CREATESEM, FLUSHSEM, GIVESEM, TAKESEM

Example
DEFINT Li1 Li2 Li3 = 1 Li1 = CREATESEM(Li3) 'Creates a semaphore with the queuing system designated in Li3 and Li2 = CREATESEM(Li3) TAKESEM Li1 TALESEM Li2 100 occurs 'after 100 ms. RUN samp1 GIVESEM Li1 semaphore FLUSHSEM Li2 semaphore DELETESEM Li1 DELETESEM Li2 'Releases one task from the wait status which has the 'designated in Li1. 'Releases all tasks from the wait status 'the semaphore ID obtained in Li1. 'Creates a semaphore with the queuing system designated in 'Li3 and the semaphore ID obtained in Li2. 'Obtains the semaphore designated in Li1. 'Obtains the semaphore designated in Li1. However, a timeout

which have the

'designated in Li2. 'Deletes the semaphore with the semaphore ID designated in Li1. 'Deletes the semaphore with the semaphore ID designated in Li2.

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Chapter 14 Multitasking Control Statements

FLUSHSEM (Statement)
Function
Releases tasks from waiting for a semaphore.

Format
FLUSHSEM <Semaphore ID>

Explanation
This statement permits all tasks that are waiting for the semaphore designated in <Semaphore ID> to resume processing.

Related Terms
CREATESEM, DELETESEM, GIVESEM, TAKESEM

Example
DEFINT Li1 Li2 Li3 = 1 Li1 = CREATESEM(Li3) 'Creates a semaphore with the queuing system designated in Li3 'and the semaphore ID obtained in Li1. Li2 = CREATESEM(Li3) 'Creates a semaphore with the queuing system designated in Li3 'and the semaphore ID obtained in Li2. TAKESEM Li1 'Obtains the semaphore designated in Li1. TALESEM Li2 100 'Obtains the semaphore designated in Li1. However, a timeout 'occurs after 100 ms. RUN samp1 GIVESEM Li1 'Releases one task from the wait status which has the semaphore 'designated in Li1. FLUSHSEM Li2 'Releases all tasks from the wait status which have the semaphore 'designated in Li2. DELETESEM Li1 'Deletes the semaphore with the semaphore ID designated in Li1. DELETESEM Li2 'Deletes the semaphore with the semaphore ID designated in Li2.

14-11

GIVESEM (Statement)
Function
Releases a task from waiting for a semaphore.

Format
GIVESEM <Semaphore ID>

Explanation
This statement releases the semaphore designated in <Semaphore ID>. The system permits a restart of a process if there is one task which has the semaphore designated in <Semaphore ID> when it is released. If there is a task waiting for multiple semaphores, the system determines the execution sequence using the queuing system designated by the CREATESEM command when the semaphores were created.

Related Terms
CREATESEM, DELETESEM, FLUSHSEM, TAKESEM

Example
DEFINT Li1 Li2 Li3 = 1 Li1 = CREATESEM(Li3) 'Creates a semaphore with the queuing system designated in Li3 'and the semaphore ID obtained in Li1. Li2 = CREATESEM(Li3) 'Creates a semaphore with the queuing system designated in Li3 'and the semaphore ID obtained in Li2. TAKESEM Li1 'Obtains the semaphore designated in Li1. TALESEM Li2 100 'Obtains the semaphore designated in Li1. However, a timeout 'occurs after 100 ms. RUN samp1 GIVESEM Li1 'Releases one task from the wait status which has the semaphore 'designated in Li1. FLUSHSEM Li2 'Releases all tasks from the wait status which have the semaphore 'designated in Li2. DELETESEM Li1 'Deletes the semaphore with the semaphore ID designated in Li1. DELETESEM Li2 'Deletes the semaphore with the semaphore ID designated in Li2.

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Chapter 14 Multitasking Control Statements

TAKESEM (Statement)
Function
Obtains a semaphore with a designated semaphore ID.

Format
TAKESEM <Semaphore ID>[,<Timeout time>]

Explanation
This statement obtains the semaphore designated in <Semaphore ID>. If another task obtains a semaphore, the system waits for the semaphore to be released before the semaphore is obtained. Waiting time can be designated in milliseconds (ms) using the option <Timeout time>. If the system cannot obtain a semaphore within the designated time, an error occurs.

Related Terms
CREATESEM, DELETESEM, FLUSHSEM, GIVESEM

Example
DEFINT Li1 Li2 Li3 = 1 Li1 = CREATESEM(Li3) 'Creates a semaphore with the queuing system designated in Li3 'and the semaphore ID obtained in Li1. Li2 = CREATESEM(Li3) 'Creates a semaphore with the queuing system designated in Li3 'and the semaphore ID obtained in Li2. TAKESEM Li1 'Obtains the semaphore designated in Li1. TALESEM Li2 100 'Obtains the semaphore designated in Li1. However, a timeout 'occurs after 100 ms. RUN samp1 GIVESEM Li1 'Releases one task from the wait status which has the semaphore 'designated in Li1. FLUSHSEM Li2 'Releases all tasks from the wait status which have the semaphore 'designated in Li2. DELETESEM Li1 'Deletes the semaphore with the semaphore ID designated in Li1. DELETESEM Li2 'Deletes the semaphore with the semaphore ID designated in Li2.

Notes
When the timeout time option is used, note that the waiting time elapses even in suspension after an instantaneous stop of the robot during execution of an instruction and a subsequent restart of the robot.

14-13

14.3 Arm Semaphore

TAKEARM (Statement)
Function
Gets an arm group. Upon execution of this statement, the programmed speed, acceleration and deceleration will be set to 100. If the gotten arm group includes any robot joint, this statement restores the tool coordinates and work coordinates to the origin.

Format
TAKEARM[<ArmGroupNumber>][<KEEP=DefaultValue>]

Explanation
This statement continues the process as it is, if a TAKEARM command in a task which already has control priority, or in a subroutine called by the task is executed.

n <ArmGroupNumber> [V1.5 or later]

If <ArmGroupNumber> is omitted, the TAKEARM gets the semaphore of Arm Group 0 in which only robot joints are enabled.

n <KEEP = Set value for initializing> [V1.4 or later]

Set value for initializing 0: The tool coordinate and the work coordinate are returned to the origin, and the internal speed, the internal acceleration, and the internal deceleration are set to 100. 1: The tool coordinate, the work coordinate, the internal speed, the internal acceleration, and the internal deceleration are maintained to their current setting.

If <KEEP = Set value for initializing> is omitted, KEEP=0 (the tool coordinate and the work coordinate are returned to the origin, and the internal speed, the internal acceleration, and the internal deceleration is set to 100) is assumed.

(1) Arm group includes any robot joint

An error will occur if a task without robot control priority attempts to execute a robot motion instruction in the following table. Be sure to obtain a control priority with a TAKEARM command for programs that are used to execute these motion instructions.
Robot motion instructions requiring control priority Type Declaration statement HOME, TOOL, WORK APPROACH, DEPART, DRAW, DRIVE, DRIVEA, GOHOME, MOVE, ROTATEH, ROTATE, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL, CHANGETOOL, CHANGEWORK, LETENV Proper portable mass setting library, Arm motion library Commands

Robot control statement

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Chapter 14 Multitasking Control Statements

Note 1: Robot control priority is automatically released in the following cases. If an END command is executed (Except for an END command at the end of a called program) If a KILL command is executed If a HALT command is executed If a STOP command is executed If the robot controller is initialized with the teach pendant or I/O. If a TAKEARM command is executed, the system automatically executes the following process. The TOOL definition is initialized to TOOL 0. The work coordinates are set to the base coordinates of the robot. The internal speed, internal acceleration and internal deceleration are set to 100. The system does not release during program suspension.

Note 2:

Note 3:

(2) extended-joints
If a task holding no arm group attempts to execute any of the following motion commands, an error will occur. Before executing those commands, get the arm semaphore (Arm Group) by using the TAKEARM command.
Commands Requiring Arm Group

Commands HOME, TOOL, WORK, APPROACH, DEPART, DRAW, GOHOME, MOVE, ROTATEH, ROTATE, CHANGETOOL, CHANGEWORK, DRIVE, DRIVEA, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL, INTERRUPT, LETENV, Motion optimization library, and Arm motion library DRIVE, DRIVEA, SPEED. JSPEED. ACCEL, JACCEL, DECEL, JDECEL, INTERRUPT, LETENV, and POSCLR Notes

Requires: Arm group involving robot joints

Arm group that may or may not involve robot joints

(1) The DRIVE and DRIVEA commands require an arm group involving a joint(s) to move. Example: DRIVE (7,10) To move the 7th joint, the task should hold the arm group involving the 7th joint. (2) The MOVE command with EX (EXA) option requires the arm group involving robot joints and extended-joints which are invoked by the EX (EXA) option. Example: MOVE P, P0 EX ((7,10)) The arm group should involve robot joints as well as the 7th joint. (3) The speed setting commands will only change the speed of joints involved in an active arm group currently held in the task. (4) The LETENV command requires an arm group involving joints associated with parameters to be changed.

14-15

Related Terms
GIVEARM, TAKEVIS, GIVEVIS

Example
Example 1: PROGRAM PRO1 TAKEARM MOVE P, P1 MOVE P, P2 GIVEARM 1 ' 'Executes TAKEARM on the first line of the program which 'instructs the robot motion. ' ' 'Releases robot control priority with GIVEARM when this is 'finished. 'This is not always required since the priority is automatically 'released with END just after this statement. '

END Example 2: PROGRAM PRO2 MOVE P, P3

END Example 3: PROGRAM PRO3 TAKEARM MOVE P, P4 CALL SUB1 END PROGRAM SUB1 MOVE P, P5 END Example 4: PROGRAM PRO4 TAKEARM SPEED 50 CHANGEWORK 3 CHANGETOOL 1 MOVE P, P5 CALL PRO5 END PROGRAM PRO5 TAKEARM twice

' ': If a MOVE instruction is executed without execution of 'TAKEARM, an error occurs. ' '

' ' ' ' ' ' 'An error does not occur since TAKEARM has already been executed 'by PRO3. '

' ' ' ' ' ' ' ' ' 'An error does not occur even if TAKEARM is instructed 'by PRO4 since this is called as a subroutine of PRO4.

MOVE P, P6 internal END

'However, the tool coordinates and the work coordinates are 0 and the 'speed is 100. '

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Chapter 14 Multitasking Control Statements

Example 5: PROGRAM PRO6 TAKEARM RUN PRO7 MOVE P, P7 END PROGRAM PRO7 TAKEARM of MOVE P, P7 END Example 6:(extended-joints)_ 'PRO6, since PRO6 already has robot control priority. ' '

' ' ' ' ' ' ': An error occurs when an attempt is made to obtain the robot 'execution priority with PRO7 which is run as another task

Shown below are program samples for the TAKEARM command when arm groups are arranged as listed below (for 4-axis robots).

PROGRAM PRO1 TAKEARM 1 'Get Arm Group 1 (7th extended-joint involved). DRIVEA (7,100) 'Move the 7th extended-joint to an angle of 100 'degrees. END

PROGRAM PRO2 TAKEARM 2

'Get Arm Group 2 (all robot joints and 7th 'extended-joint involved). MOVE P,P0 EX ((7,10)) 'Simultaneously move robot joints and 7th 'extended-joint. DRIVEA (7,100) 'Move the 7th extended-joint to an angle of '100 degrees. END

14-17

Notes
(1) One program cannot hold more than one different arm group. However, it can get the same arm group again in one program.
Example: TAKEARM 0 MOVE P, P0 TAKEARM 0 TAKEARM 1

'Can get Arm Group 0 again, even if this 'program has got it. 'Error occurs since TAKEARM attempts to 'get Arm Group 1 while Arm Group 0 has been 'held.

(2) If TAKEARM with KEEP option being set to "1" gets an arm group, the arm speed will not be initialized and remain as that of the old arm group. Example: If arm groups are arranged as listed below and the three programs exist:

PROGRAM PRO1 TAKEARM 1 SPEED 10 DRIVE(7,10) END

PROGRAM PRO2 TAKEARM 2 SPEED 20 DRIVE(7,10) END

PROGRAM PRO3 TAKEARM 1 keep=1 DRIVE(7,10) END

First run PRO1. The 7th-joint will move at speed 10. Next run PRO2. The 7th-joint will move at speed 20. Then run PRO3. Since the KEEP option is "1", the 7th-joint will move at speed 10 keeping the speed defined by SPEED command for Arm Group 1 in PRO1.

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Chapter 14 Multitasking Control Statements

GIVEARM (Statement)
Function
Releases robot control priority.

Format
GIVEARM

Explanation
This statement releases the robot control priority. With this, other tasks can obtain a control task. If an attempt is made to execute a GIVEARM command although another task has already obtained robot control priority, an error occurs. Note: Robot control priority is automatically released in the following cases. Therefore, it is possible to ignore a GIVEARM command. If an END command is executed (Except for an END command at the end of the program called) If a KILL command is executed. If the robot controller is initialized with the teach pendant or I/O.

Related Terms
TAKEARM, TAKEVIS, GIVEVIS

Example
TAKEARM MOVE P, lp1 MOVE P, lp2 GIVEARM 'Executes TAKEARM at the head of the program which executes robot motion. ' ' 'Releases robot control priority with GIVEARM when 1 is finished. This does 'not always have to be executed since the robot is automatically released at the 'END just after this.

Notes
The system waits until the robot completely stops before executing GIVEARM. Therefore, even if a pass motion is designated before GIVEARM, the pass motion does not execute.

14-19

TAKEVIS (Statement)
Function
Obtains visual process priority.

Format
TAKEVIS

Explanation
This statement obtains visual process priority on the VISION board optionally installed in the robot controller. Without a VISION board installed, an error will occur if the TAKEVIS command is executed. If another task has already obtained visual process priority and the system cannot obtain it, an error occurs. If a task that does not obtain visual process priority attempts to execute a visual instruction, an error occurs. In a program in which a visual instruction is executed, visual process priority must be obtained with the TAKEVIS command prior to the visual instruction. If a TAKEVIS command is executed in a task with visual process priority or in a subroutine called from the task, the processing continues without change. Note: Visual control priority is automatically released in the following cases. If an END command is executed (Except for an END command at the end of the program called) If a KILL command is executed If the robot controller is initialized with the teach pendant or I/O

Related Terms
TAKEARM, GIVEARM, GIVEVIS

Example
DEFINT Li1, Li2 TAKEVIS VISSCREEN 1, 0, 1 VISCLS FOR Li1 = 0 TO 255 Li2 = VISREFTABLE(1, Li1) VISLOC 10, 10 VISDEGCHAR 1, 1, 2 VISPRINT Data; Li1; =; Li2 NEXT Li1 GIVEVIS 'Obtains visual process priority.

'Obtains data from table 1. 'Sets the display position. 'Sets the display character. 'Displays. 'Releases visual process priority.

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Chapter 14 Multitasking Control Statements

GIVEVIS (Statement)
Function
Releases visual process priority.

Format
GIVEVIS

Explanation
This statement releases visual process priority on the VISION board optionally installed in the robot controller. With this, another task can obtain visual process priority. Without a VISION board installed, an error will occur if the GIVEVIS command is executed. If an attempt is made to execute the GIVEVIS command although another task has already obtained visual process priority, an error will occur. Note: Robot control priority is automatically released in the following cases. Therefore, it may be possible to ignore the GIVEVIS command. If an END command is executed (Except for an END command at the end of the program called) If a KILL command is executed If the robot controller is initialized with the teach pendant or I/O

Related Terms
TAKEARM, GIVEARM, TAKEVIS

Example
DEFINT Li1, Li2 TAKEVIS VISSCREEN 1, 0, 1 VISCLS FOR Li1 = 0 TO 255 Li2 = VISREFTABLE (1, Li1) VISLOC 10, 10 VISDEGCHAR 1, 1, 2 VISPRINT Data; Li1; =; Li2 NEXT Li1 GIVEVI 'Obtains visual process priority.

'Obtains data from table 1. 'Sets the display position. 'Sets the display character. 'Displays. 'Releases visual process priority.

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Chapter 15 Functions

This chapter provides an explanation of various functions prepared in PAC.

Chapter 15 Functions

15.1 Arithmetic Function

ABS (Function) [Conforms to SLIM]
Function
Obtains the absolute value of an expression value.

Format
ABS (<Expression>)

Explanation
This statement obtains the absolute value of the value designated in <Expression>. If <Expression> includes a double precision real numeral, the value obtained becomes double precision. Otherwise, a single precision value is obtained. Explanation: The absolute value is a numeric value of which the sign is removed. For example, both ABS (-1) and ABS (1) return 1.

Related Terms

Example
DEFSNG lf1, lf2, lf3, lf4 lf1 = ABS(-2) lf2 = ABS(lf3/lf4) 'Assigns the absolute value of 2 to If1. 'Assigns the absolute value of (lf3/lf4) to lf2.

15-1

EXP (Function) [Conforms to SLIM]

Function
Obtains an exponential function with a natural logarithm taken as a base.

Format
EXP (<Expression>)

Explanation
If <Expression> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained. Explanation: Memo: If the value of an argument number exceeds 709.782712893 , an overflow error occurs. The constant e is approximately 2.718282. The EXP function is an inverse function of the logarithm and is often referred to as an inverse logarithm.

Related Terms
LOG, LOG10

Example
DEFSNG lf1, lf2, lf3, lf4 lf1 = EXP(2) 'Assigns the 2nd power of the natural logarithm base to lf1. lf2 = EXP(lf3/lf4) 'Assigns the (lf3/lf4) power of the natural logarithm base to lf2.

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Chapter 15 Functions

INT (Function) [Conforms to SLIM]

Function
Obtains the maximum integer value possible from a designated value.

Format
INT (<Expression>)

Explanation
This statement returns the maximum integer that does not exceed the value of <Expression>. If the value overflows, the maximum integer value with the same sign as <Expression> is applied.

Example
DIM li1 As Integer li1 = INT(123.456) 'Rounds down after the decimal point and assigns the value to 'integer variable li1. '123.456->123

15-3

LOG (Function) [Conforms to SLIM]

Function
Obtains a natural logarithm.

Format
LOG (<Expression>)

Explanation
This statement obtains the natural logarithm of the value designated in <Expression>. Designate a value that is greater than 0 for <Numeric value>. If <Expression> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained. Explanation: The natural logarithm is a logarithm with the constant e as the base. The value of the constant e is approximately 2.718282. The logarithm of an arbitrary numeric value of x with n as the base can be obtained by dividing the natural logarithm of x by the natural logarithm of n as shown below. Lognx = Logex/Logen

Related Terms
EXP, LOG10

Example
DEFSNG lf1, lf2, lf3, lf4 lf1 = LOG(2) 'Assigns the natural logarithm of 2 to lf1. lf2 = LOG(lf3/lf4) 'Assigns the natural logarithm of (lf3/lf4) to lf2.

15-4

Chapter 15 Functions

LOG10 (Function) [Conforms to SLIM]

Function
Obtains a common logarithm.

Format
LOG10 (<Expression>)

Explanation
This statement obtains the common logarithm of the value designated in <Expression>. The base of the common logarithm is 10. Designate a value larger than 0 for <Numeric value>. If <Expression> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained.

Related Terms
EXP, LOG

Example
DEFSNG lf1, lf2, lf3, lf4 lf1 = LOG10(2) 'Assigns the common logarithm of 2 to lf1. lf2 = LOG10(lf3/lf4) 'Assigns the common logarithm of (lf3/lf4) to lf2.

15-5

POW (Function) [Conforms to SLIM]

Function
Obtains an exponent.

Format
POW (<Base>,<Exponent>)

Explanation
This statement obtains the exponent of the value designated in <Base>of <Exponent>. If <Base> or <Exponent> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained.

Related Terms
EXP

Example
DEFSNG lf1, lf2 DEFINT li1, li2 li1 = POW(5, 2) lf1 = POW(lf2, li2) 'Assigns the 2nd power of 5 to li1. 'Assigns the li2 power of lf2 to lf1.

Notes
In an exponential calculation, a domain error occurs if the first argument is negative. If <Base> and <Exponent> include a double precision real numeral, the precision is guaranteed up to 15 digits. If <Base> and <Exponent> do not include a double precision real numeral, the precision is guaranteed only up to 7 digits.

15-6

Chapter 15 Functions

MAX (Function) [Conforms to SLIM]

Function
Extracts the maximum value.

Format
MAX (<Expression>,<Expression>[,<Expression>])

Explanation
This statement extracts the maximum value from an arbitrary number of <Expression>s. The maximum number of expressions is 32. Explanation: If the MIN function and the MAX function are used, the minimum or maximum value of the designated accumulation method or group fields can be obtained. For example, this function can be used to check the maximum and minimum shipping charges. If there is no designation of the accumulation method, the whole table becomes an object.

Related Terms
MIN

Example
DEFSNG lf1, lf2, lf3, lf4, lf5, lf6 DEFINT li1, li2, li3, li4, li5, li6 li1 = MAX(1, 2) 'Assigns the maximum value between (1, 2) to 'li1. li2 = MAX(li3, li4, li5, li6) 'Assigns the maximum value among (li3, li4, 'li5, li6) to li2. lf1 = MAX(lf2, lf3, lf4, lf5, lf6) 'Assigns the maximum value among (lf2, lf3, 'lf4, lf5, lf6) to lf1.

15-7

MIN (Function) [Conforms to SLIM]

Function
Extracts the minimum value.

Format
MIN (<Expression>,<Expression>[,<Expression>])

Explanation
This statement extracts the minimum value from an arbitrary number of <Expression>s. The minimum number of expressions is 32. Explanation: If the MIN function and the MAX function are used, the minimum or maximum value of the designated accumulation method or group fields can be obtained. For example, this function can be used to check the maximum and minimum shipping charges. If there is no designation of the accumulation method, the whole table becomes an object.

Related Terms
MAX

Example
DEFSNG lf1, lf2, lf3, lf4, lf5, lf6 DEFINT li1, li2, li3, li4, li5, li6 li1 = MIN(1, 2) 'Assigns the minimum value between (1, 2) to li1. li2 = MIN(li3, li4, li5, li6) 'Assigns the minimum value among (li3, li4, 'li5, li6) to li2. lf1 = MIN(lf2, lf3, lf4, lf5, lf6) 'Assigns the minimum value among (lf2, lf3, 'lf4, lf5, lf6) to lf1.

15-8

Chapter 15 Functions

RND (Function)
Function
Generates random numbers from 0 to 1.

Format
RND (<Expression>)

Explanation
According to the value in <Expression>, processing varies as shown in the table below. <Expression> applies to integer values. If a real value is designated, it is rounded down and converted to an integer.
Value of Expression Expression <0 Expression =0 Expression >0 Processing <Expression> is applied as the seed value for the random number. If the seed value is the same, the return value of the RND function is always the same. A random number previously generated is taken. Zero is returned if no random number is generated after the robot controller power is turned ON. The next random number in the random number sequence is generated.

Explanation:

For the RND function, a value from 0 to 1 inclusive is returned. Depending on the argument value, the random number returned by the RND function will vary. As long as the initial seed value is the same, the random number sequence returned by a series of RND functions is the same. This is because each consecutive RND function generates the next random number using the previous random number in the random number system as the seed value.

Remark:

When the seed value in the random number is the same, the random number sequence obtained is the same. To obtain different random numbers each time, use the return value of the TIMER function as a seed value.

Example
DIM array(10) As Single array(0) = RND(-TIMER) 'The seed value for the random number is set using the 'TIMER function. FOR I1 = 1 TO 9 array(I1) = RND(1) 'Obtains random numbers. NEXT I1

15-9

SGN (Function)
Function
Checks a sign.

Format
SGN (<Expression>)

Explanation
This statement checks the sign of <Expression> and returns the following numeric value.
If positive If 0 If negative 1 0 -1

Example
DEFSNG lf1, lf2 lf2 = SGN (lf1) 'Returns the sign of the real variable lf1.

15-10

Chapter 15 Functions

SQR (Function) [Conforms to SLIM]

Function
Obtains the square root.

Format
SQR (<Expression>)

Explanation
This statement obtains the square root of the value in <Expression>. If <Expression> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained. <Expression> must be a value greater than or equal to 0.

Example
DEFSNG lf1, lf2, lf3, lf4, lf5, lf6, lf7 lf1 = SQR (2) 'Assigns the square root of 2 to lf1. lf2 = SQR (lf4) 'Assigns the square root of lf4 to lf2. lf3 = SQR (lf5 + lf6) * lf7 'Assigns the value of the square root of (lf5 + 'lf6) multiplied by lf7 to lf3.

15-11

15.2 Trigonometric Function

ACOS (Function) [Conforms to SLIM]
Function
Obtains an arc cosine.

Format
ACOS (<Expression>)

Explanation
This statement obtains the arc cosine of the value in <Expression>. The obtained value is expressed in degrees and ranges from 0 to 180. If <Expression> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained.

Related Terms
SIN, TAN, ASIN, ATN, ATN2

Example
DEFSNG lf1, lf2, lf3, lf4, lf5, lf6, lf7 lf1 = ACOS (0.5) 'Assigns the arc cosine value of 0.5 to lf1. lf2 = ACOS (lf4/2) 'Assigns the arc cosine value of (lf4/2) to lf2. lf3 = ACOS (lf5/lf6) * lf7 'Assigns the arc cosine value of (lf5/lf6) 'multiplied by lf7 to lf3.

15-12

Chapter 15 Functions

ASIN (Function) [Conforms to SLIM]

Function
Obtains an arc sine.

Format
ASIN (<Expression>)

Explanation
This statement obtains the arc sine of the value in <Expression>. The obtained value is expressed in degrees and ranges from -90 to 90. If <Expression> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained.

Related Terms
SIN, COS, TAN, ACOS, ATN, ATN2

Example
DEFSNG lf1, lf2, lf3, lf4, lf5, lf6, lf7 lf1 = ASIN (0.5) 'Assigns the arc sine lf2 = ASIN (lf4/2) 'Assigns the arc sine lf3 = ASIN (lf5/lf6) * lf7 'Assigns the arc sine 'multiplied by lf7 to value of 0.5 to lf1. value of (lf4/2) to lf2. value of (lf5/lf6) lf3.

15-13

ATN (Function) [Conforms to SLIM]

Function
Obtains an arc tangent.

Format
ATN (<Expression>)

Explanation
This statement obtains the arc tangent of the value in <Expression>. The obtained value is expressed in degrees and ranges from -90 to 90. If <Expression> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained. Explanation: The ATN function receives the ratio of 2 sides of a right triangle as an argument (number) and returns the corresponding angle. The 2 sides mentioned here include the right angle. The ratio of the 2 sides is the value of the opposite side length to the obtained angle divided by the adjacent side (base, or side adjacent to the obtained angle) length. The return value will range from -/2 to /2 (expressed in radians). To convert degrees to radians, multiply the degree by /180. To convert radians to degrees, multiply the radian by 180/. The ATN function is an inverse trigonometric function of the Tan function. The Tan Function receives an angle as an argument, and returns the ratio of the 2 sides that include the right angle of a right triangle. Note the difference between the ATN function and the cotangent (1/tangent) of the reciprocal tangent.

Memo:

Related Terms
SIN, COS, TAN, ASIN, ACOS, ATN2

Example
DEFSNG lf1, lf2, lf3, lf4, lf5, lf6, lf7 lf1 = ATN(0.5) 'Assigns the arc tangent value of 0.5 to lf1. lf2 = ATN(lf4/2) 'Assigns the arc tangent value of (lf4/2) to lf2. lf3 = ATN(lf5/lf6) * lf7 'Assigns the arc tangent value of (lf5/lf6) 'multiplied by lf7 to lf3.

15-14

Chapter 15 Functions

ATN2 (Function) [Conforms to SLIM]

Function
Obtains the arc tangent of expression 1 divided by expression 2.

Format
ATN2 (<Expression1>, <Expression2>)

Explanation
This statement obtains the arc tangent value of <Expression1> divided by <Expression2>. The unit of the obtained value is degrees and its range is from -180 to 180. If <Expression> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained. The following is a value range of ATN2.
First quadrant Lower limit value Upper limit value 0 90 Second quadrant 90 180 Third quadrant -180 90 Fourth quadrant -90 -0

Related Terms
SIN, COS, TAN, ASIN, ACOS, ATN

Example
DEFSNG lf1, lf2, lf3, lf4, lf5, lf6, lf7, lf8 lf1 = ATN2(1, 2) 'Assigns the arc tangent value of (1, 2) to lf1. lf2 = ATN2(lf4, lf5) 'Assigns the arc tangent value of (lf4, lf5) to lf2. lf3 = ATN2(lf6, lf7) * lf8 'Assigns the arc tangent value of (lf6, lf7) 'multiplied by lf8 to lf3.

15-15

COS (Function) [Conforms to SLIM]

Function
Obtains a cosine.

Format
COS (<Expression>)

Explanation
This statement obtains the cosine value of the value in <Expression>. Designate the unit of <Expression> in degrees. If <Expression> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained. If an argument is entered in radians, add RAD followed by the constant. Explanation: The COS function receives an angle as an argument and returns the ratio of the 2 sides of a right triangle including the right angle. The 2 sides mentioned include the angle designated to the argument number. The ratio of the 2 sides is the value of the adjacent side length (base) to the hypotenuse side (oblique side) length. The return value ranges from -1 to 1. To convert degrees to radians, multiply the degrees by /180. To convert radians to degrees, multiply the radians by 180/.

Related Terms
SIN, TAN, ASIN, ACOS, ATN, ATN2

Example
DEFSNG lf1, lf2, lf3, lf4, lf5 lf1 = COS(0.78525) 'Assigns the cosine value of 0.78525 to lf1. lf2 = COS(lf4) 'Assigns the cosine value of lf4 to lf2. lf3 = COS(45) * lf5 'Assigns the cosine value of 45 degrees multiplied 'by lf5 to lf3.

15-16

Chapter 15 Functions

SIN (Function) [Conforms to SLIM]

Function
Obtains a sine.

Format
SIN (<Expression>)

Explanation
Obtains the sine value of the value in <Expression>. Designate the unit of <Expression> in degrees. If <Expression> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained. If an argument is entered in radians, add RAD after the constant. Explanation: The SIN function receives an angle as an argument and the ratio of the 2 sides of a right triangle including the right angle. The 2 sides mentioned here are the opposite side to the designated angle and the hypotenuse side. The ratio of the 2 sides is the value of the opposite side length divided by the hypotenuse side length. The return value ranges from -1 to 1. To convert degrees to radians, multiply the degrees by /180. To convert radians to degrees, multiply the radians by 180/.

Related Terms
COS, TAN, ASIN, ACOS, ATN, ATN2

Example
DEFSNG lf1, lf2, lf3, lf4, lf5 lf1 = SIN(0.78525) 'Assigns the sine value of 0.78525 to lf1. lf2 = SIN(lf4) 'Assigns the sine value of lf4 to lf2. lf3 = SIN(45) * lf5 'Assigns the sine value of 45 degrees multiplied by 'lf5 to lf3.

15-17

TAN (Function) [Conforms to SLIM]

Function
Obtains a tangent.

Format
TAN (<Expression>)

Explanation
This statement obtains the tangent value of the value in <Expression>. Designate the unit of <Expression> in degrees. If <Expression> includes a double precision real numeral, the obtained value becomes double precision. Otherwise, a single precision value is obtained. If an argument is entered in radians, add RAD after the constant. Explanation: The TAN function receives an angle as an argument and returns the ratio of 2 sides of a right triangle including the right angle. The 2 sides mentioned here include the right angle. The ratio of the 2 sides is the value of the opposite side length from the obtained angle divided by the adjacent side (base, or side adjacent to the obtained angle) length. To convert degrees to radians, multiply the degrees by /180. To convert radians to degrees, multiply the radians by 180/.

Related Terms
SIN, COS, ASIN, ACOS, ATN, ATN2

Example
DEFSNG lf1, lf2, lf3, lf4, lf5 lf1 = TAN(0.78525) 'Assigns the tangent value of 0.78525 to lf1. lf2 = TAN(lf4) 'Assigns the tangent value of lf4 to lf2. lf3 = TAN(45) * lf5 'Assigns the tangent value of 45 degrees multiplied by 'lf5 to lf3.

15-18

Chapter 15 Functions

15.3 Angle Conversion

DEGRAD (Function) [Conforms to SLIM]
Function
Converts the unit to a radian.

Format
DEGRAD (<Expression>)

Explanation
This statement converts the unit of the value designated in <Expression> from degrees to radians.

Related Terms
RADDEG

Example
DEFSNG lf1, lf2, lf3 lf1 = DEGRAD(90) 'Assigns the value of 90 converted to radians to lf1. lf2 = SIN(DEGRAD(lf3 + 20)) 'Assigns the sign value of (lf3 + 20) converted to 'radians to lf2.

15-19

RAD (Function)
Function
Converts a value set in radians to degrees.

Format
<Numeric value> RAD

Explanation
This statement converts a <Numeric value> set in radians to degrees and calculates it.

Related Terms
RADDEG

Example
DIM lf1 As SINGLE lf1 = 2RAD 'Converts radian 2 to degrees and assigns it to lf1.

15-20

Chapter 15 Functions

RADDEG (Function) [Conforms to SLIM]

Function
Converts the unit to degrees.

Format
RADDEG (<Expression>)

Explanation
This statement converts the unit of the value designated in <Expression> from radians to degrees.

Related Terms
RAD, DEGRAD

Example
DEFSNG lf1, lf2 lf1 = RADDEG(1.5705) lf2 = RADDEG(PI/2) 'Assigns the value of 1.5705 converted to degrees to lf1. 'Assigns the sine value of (/2) converted to degrees to lf2.

15-21

15.4 Speed Conversion

MPS (Function)
Function
Converts an expression of speed.

Format
MPS (<Expression>)

Explanation
This statement converts the <Expression> speed value (percentage) to the arm end movement speed value %. <Expression> is expressed in mm/sec.

Related Terms
SPEED

Example
SPEED MPS(50/2) 'Converts the internal movement speed to 50/2 (mm/sec).

15-22

Chapter 15 Functions

15.5 Time Function

SEC (Function)
Function
Converts a value expressed in seconds to milliseconds.

Format
<Numeric value> SEC

Explanation
This statement converts <Numeric value> set in seconds to milliseconds and calculates it. Use this statement for an instruction set in milliseconds.

Example
DELAY(10SEC) 'Waits until 10 seconds elapse.

15-23

15.6 Vector
AVEC (Function)
Function
Extracts an approach vector.

Format
AVEC (<Homogeneous transformation type>)

Explanation
This statement extracts an approach vector from homogeneous transformation type coordinates.

Related Terms
OVEC, PVEC

Example
DEFTRN lt1, lt2, lt3 DEFVEC lv1, lv2 lv1 = AVEC(lt1) lv2 = AVEC(lt2 * lt3) 'Assigns the approach vector of lt1 to lv1. 'Assigns an approach vector with a value of (lt2 * lt3) to lv2.

15-24

Chapter 15 Functions

OVEC (Function)
Function
Extracts an orient vector.

Format
OVEC (<Homogeneous transformation type>)

Explanation
This statement extracts an orient vector from homogeneous transformation type coordinates.

Related Terms
AVEC, PVEC

Example
DEFTRN lt1, lt2, lt3 DEFVEC lv1, lv2 lv1 = OVEC(lt1) lv2 = OVEC(lt2 * lt3) 'Assigns the orient vector of lt1 to lv1. 'Assigns an orient vector with a value of (lt2 * lt3) to lv2.

15-25

PVEC (Function)
Function
Extracts a position vector.

Format
PVEC ({<Homogeneous transformation type>|<Position type>})

Explanation
This statement extracts a position vector from homogeneous transformation type coordinates or from position type coordinates.

Related Terms
AVEC, OVEC, RVEC

Example
DIM DIM DIM lv1 6-axis lt1 As Trans lv1 As Vector lp1 As Position = PVEC(lt1) 'Assigns the position vector of lt1 to lv1.

lv1 = PVEC(lp1 + (100, 200, 0, 0, 0, 0) ) 'Assigns the position vector of lp1 + '(100, 200, 0, 0,0, 0) to lv1. lv1 = PVEC(lp1 + (100, 200, 0, 0) ) 'Assigns the position vector of lp1+(100, 200, 0, 0) 'to lv1.

4-axis

15-26

Chapter 15 Functions

MAGNITUDE (Function)
Function
Obtains the vector size.

Format
MAGNITUDE (<Vector type>)

Explanation
This statement obtains the vector size of a vector type coordinate value.

Related Terms
DIST

Example
DEFSNG lf1, lf2 DIM lv1 As Vector lf1 = MAGNITUDE((10, 10, 10)) lf2 = MAGNITUDE(lv1) 'Assigns the size of vector (10, 10, 10) to lf1. 'Assigns the size of vector lv1 to lf2.

15-27

15.7 Pose Data Type Transformation

J2P (Function)
Function
Transforms joint type data to position type data.

Format
J2P (<Joint type>)

Explanation
This statement transforms the joint type data designated in <Joint type> to position type data. The value to be obtained reflects the tool and work coordinate systems that are set at the moment.

Related Terms
J2T, P2J, P2T, T2J, T2P

Example
DEFPOS lp1, lp2 DIM lj1 As Joint lp1 = J2P(lj1) lp1. 6-axis 'Assigns lj1 data transformed to position type data to

lp2 = J2P((0, 0, 90, 0, 0, 0)) 'Assigns the data of (0, 0, 90, 0, 0, 0) 'transformed to position type data to lp2. lp2 = J2P((0, 0, 300, 0)) 'Assigns the data of (0, 0, 300, 0) 'transformed to position type data to lp2.

4-axis

15-28

Chapter 15 Functions

J2T (Function)
Function
Transforms joint type data to homogeneous transformation type data.

Format
J2T (<Joint type>)

Explanation
This statement transforms the joint type data designated in <Joint type> to homogeneous transformation type data. The value to be obtained reflects the tool and work coordinate systems that are set at the moment.

Related Terms
J2P, P2J, P2T, T2J, T2P

Example
DEFTRN lt1, lt2 DIM lj1 As Joint lt1 = J2T(lj1) 'Assigns lj1 data transformed to homogeneous 'transformation type data to lt1.

6-axis

lt2 = J2T((0, 0, 90, 0, 0, 0)) 'Assigns the data (0, 0, 90, 0, 0, 0) transformed 'to homogeneous transformation type data to lt2. lt2 = J2T((0, 0, 300, 0)) 'Assigns the data (0, 0, 300, 0) transformed 'to homogeneous transformation type data to lt2.

4-axis

15-29

P2J (Function)
Function
Transforms position type data to joint type data.

Format
P2J (<Position type>)

Explanation
This statement transforms the data designated in <Position type> to joint type data. If the FIG value in the position type data is -1 (undetermined), transformation is executed with the current figure. The value to be obtained reflects the tool and work coordinate systems that are set at the moment.

Related Terms
J2P, J2T, P2T, T2J, T2P, CURFIG

Example
DEFJNT lj1, lj2 DIM lp1 As Point lj1 = P2J(lp1) 'Assigns lp1 data transformed to joint 'type data using the current figure to lj1.

6-axis

lj2 = P2J((0, 0, 90, 0, 0, 180)) 'Assigns the data of (0, 0, 90, 0, 0, 180) 'transformed to joint type data using the 'current type to lj2. lj2 = P2J((100, 100, 300, 45)) 'Assigns the data of (100, 100, 300, 45) 'transformed to joint type data using the 'current type to lj2.

4-axis

15-30

Chapter 15 Functions

P2T (Function)
Function
Transforms position type data to homogeneous transformation type data.

Format
P2T (<Position type>)

Explanation
This statement transforms the data designated in <Position type> to homogeneous transformation type data. The value to be obtained reflects the tool and work coordinate systems that are set at the moment.

Related Terms
J2P, J2T, P2J, T2J, T2P

Example
DEFTRN lt1, lt2 DIM lp1 As Point Lt1 = P2T(lp1) 'Assigns lp1 data transformed to 'homogeneous transformation type data to lt1.

6-axis

lt2 = P2T((350, 0, 450, 0, 0, 180)) 'Assigns the data of (350, 0, 450, 0, 0, 180) 'transformed to homogeneous transformation data 'to lt2. lt2 = P2T((100, 100, 300, 45)) 'Assigns the data of (100, 100, 300, 45) 'transformed to homogeneous transformation data 'to lt2.

type

4-axis

type

15-31

T2J (Function)
Function
Transforms homogeneous transformation type data to joint type data.

Format
T2J (<homogeneous transformation type>)

Explanation
This statement transforms the data designated in <Homogeneous transformation type> to joint type data. If -1 (indefinite) is set in <Figure> in homogeneous transformation type data, the data is transformed using the current robot figure. The value to be obtained reflects the tool and work coordinate systems selected at the moment.

Related Terms
J2P, J2T, P2J, P2T, T2P, CURFIG

Example
DEFJNT lj1, lj2, lj3 DEFTRN lt1, lt2 DIM li1 As Integer lj1 = T2J(lt1) 'Assigns lt1 data transformed to joint type data 'using the current figure to lj1. lj2 = T2J(lt2) 'Assigns lt2 data transformed to joint type data 'using the figure of 0 to lj2. lj3 = T2J(350, 0, 450, 0, 1, 0, 0, 0, -1) 'Assigns the homogeneous transformation type data '(350, 0, 450, 0, 1, 0, 0, 0, -1) transformed to 'joint type data using the figure value li1 to lj3.

15-32

Chapter 15 Functions

T2P (Function)
Function
Transforms homogeneous transformation type data to position type data.

Format
T2P (<homogeneous transformation type>)

Explanation
This statement transforms the data designated in <homogeneous transformation type> to position type data. The value to be obtained reflects the tool and work coordinate systems that are set at the moment.

Related Terms
J2P, J2T, P2J, P2T, T2J

Example
DEFPOS lp1, lp2 DIM lt1 As Trans lp1 = T2P(lt1) 'Assigns lt1 data transformed to position type data to lp1. lp2 = T2P(350, 0, 450, 0, 1, 0, 0, 0, -1) 'Assigns the homogeneous transformation type data (350, 0, '450, 0, 1, 0, 0, 0, -1) transformed to position type data 'to lp2.

15-33

TINV (Function)
Function
Calculates an inverse matrix of homogeneous transformation type data.

Format
TINV (<homogeneous transformation type>)

Explanation
This statement inversely transforms the data designated in <homogeneous transformation type>.

Example
DEFTRN lt1, lt2, Lt3 lt1 = TINV(350, 0, 450, 0, 1, 0, 0, 0, -1) 'Assigns the inverse matrix of (350, 0, 450, 0, 1, 0, 0, 0, '-1) to lt1. lt2 = TINV(lt3) 'Assigns the inverse matrix of lt3 to lt2.

NORMTRN (Function)
Function

[Ver.1.8 or later]

Normalizes homogeneous-transformation data.

Syntax
NORMTRN (<H-TransData>)

Description
This function normalizes data designated by <H-TransData>. "Normalize" refers to transforming an orient vector to orthogonal vector against the base approach vector or transforming an approach or orient vector to its norm vector.

Example
DEFTRN 1t1,1t2 1t1=NORMTRN((350,0,450,0,1,0,0,0,-1)) 1t1=NORMTRN(1t2)

15-34

Chapter 15 Functions

15.8 Distance Extraction

DIST (Function) [Conforms to SLIM]
Function
Returns the distance between two points.

Format
DIST (<Position type1>,<Position type2>)

Explanation
This statement obtains the distance between <Position type1> and <Position type2>.

Example
DEFSNG lf1, lf2 DEFPOS lp1, lp2, lp3 6-axis lf1 = DIST((350, 0, 450, 0, 0, 180), lp1) 'Assigns the distance between (350, 0, 450, 0, 0, 180) 'and lp1 to lf1. lf1 = DIST((350, 0, 300, 45), lp1) 'Assigns the distance between (350, 0, 300, 45) 'and lp1 to lf1. lf2 = DIST(lp2, lp3) 'Assigns the distance between lp2 and lp3 to lf2.

4-axis

15-35

15.9 Figure Component

FIG (Function)
Function
Extracts a figure.

Format
FIG ({<Position type>|<homogeneous transformation type>})

Explanation
This statement extracts a figure from position type data and homogeneous transformation type data.

Related Terms
CURFIG, LETF, Robot figure (Appendix 2)

Example
DIM li1 As Integer DIM lp1 As Point li1 = FIG(lp1) 'Assigns the figure of lp1 to li1. 6-axis li1 = FIG(lp1 + (0, 0, 100, 0, 0, 0) ) 'Assigns the figure of lp1 + (0,0,100,0,0,0) to li1. li1 = FIG(lp1 + (0, 0, 100,0) ) 'Assigns the figure of lp1 + (0, 0, 100,0) to li1.

4-axis

15-36

Chapter 15 Functions

15.10 Angle Component

JOINT (Function)
Function
Extracts an angle from joint type coordinates.

Format
JOINT (<Axis number>, <Joint type>)

Explanation
Extracts the joint angle of the axis designated in <Axis number> from the joint type coordinates designated in <Joint type>.

Related Terms
LETJ

Example
DEFJNT lj1, lj2 DEFSNG lf1, lf2 DIM li1 As Integer lf1 = JOINT(1, lj1) 'Assigns the 1st axis joint angle of lj1 to lf1. lf2 = JOINT(li1, lj2) 'Assigns the axis joint angle with values li1 and lj2 to lf2. 6-axis lf1 = JOINT(1, lj1 + (10, 10, 0, 0, 0, 0) ) 'Assigns the 1st axis joint angle of lj1 + '(10, 10, 0, 0, 0, 0) to lf1. lf1 = JOINT(1, lj1 + (10, 10, 0, 0) ) 'Assigns the 1st axis joint angle of lj1 + '(10, 10, 0, 0) to lf1.

4-axis

15-37

15.11 Axis Component

POSX (Function) [Conforms to SLIM]
Function
Extracts the X-component.

Format
POSX ({<Position type>|<Vector type>})

Explanation
This statement extracts the X-component from position type or vector type coordinates.

Related Terms
POSY, POSZ

Example
DIM lf1 As Single DIM lp1 As Position lf1 = POSX(lp1) 'Assigns the X-component of lp1 to lf1. 6-axis lf1 = POSX(lp1 + (100, 100, 100, 0, 0, 0) ) 'Assigns the X-component of lp1 + '(100, 100, 100, 0, 0, 0)to lf1. lf1 = POSX(lp1 + (100, 100, 100, 0) ) 'Assigns the X-component of lp1 + '(100, 100, 100, 0)to lf1.

4-axis

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Chapter 15 Functions

POSY (Function) [Conforms to SLIM]

Function
Extracts the Y-component.

Format
POSY ({<Position type>|<Vector type>})

Explanation
This statement extracts the Y-component from position type or vector type coordinates.

Related Terms
POSX, POSZ

Example
DIM lf1 As Single DIM lp1 As Position lf1 = POSY(lp1) 'Assigns the Y-component of lp1 to lf1. 6-axis lf1 = POSY(lp1 + (100, 100, 100, 0, 0, 0) ) 'Assigns the Y-component of lp1 to lp1 + '(100, 100, 100, 0, 0, 0). lf1 = POSY(lp1 + (100, 100, 100, 0) ) 'Assigns the Y-component of lp1 to lp1 + '(100, 100, 100, 0).

4-axis

15-39

POSZ (Function) [Conforms to SLIM]

Function
Extracts the Z-component.

Format
POSZ ({<Position type>|<Vector type>})

Explanation
This statement extracts the Z-component from position type or vector type coordinates.

Related Terms
POSX, POSY

Example
DIM lf1 As Single DIM lp1 As Position lf1 = POSZ(lp1) 'Assigns the Z-component of lp1 to lf1. 6-axis lf1 = POSZ(lp1 + (100, 100, 100, 0, 0, 0) ) 'Assigns the Z-component of lp1 to lp1 + '(100, 100, 100, 0, 0, 0). lf1 = POSZ(lp1 + (100, 100, 100, 0) ) 'Assigns the Z-component of lp1 to lp1 + '(100, 100, 100, 0).

4-axis

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Chapter 15 Functions

15.12 Rotation Component

POSRX (Function)
Function
Extracts the X-axis rotation component.

Format
POSRX (<Position type>)

Explanation
This statement extracts the X-axis rotation component from the position type coordinates designated in <Position type>.

Related Terms
POSRY, POSRZ

Example
DIM lf1 As Single DIM lp1 As Position lf1 = POSRX(lp1) 'Assigns the X-axis rotation component of lp1 to lf1.

15-41

POSRY (Function)
Function
Extracts the Y-axis rotation component.

Format
POSRY (<Position type>)

Explanation
This component extracts the Y-axis rotation component from the position type coordinates designated in <Position type>.

Related Terms
POSRX, POSRZ

Example
DIM lf1 As Single DIM lp1 As Position lf1 = POSRY(lp1) 'Assigns the Y-axis rotation component of lp1 to lf1.

15-42

Chapter 15 Functions

POSRZ (Function)
Function
Extracts the Z-axis rotation component.

Format
POSRZ (<Position type>)

Explanation
This statement extracts the Z-axis rotation component from the position type coordinates designated in <Position type>.

Related Terms
POSRX, POSRY

Example
DIM lf1 As Single DIM lp1 As Position lf1 = POSRZ(lp1) 'Assigns the Z-axis rotation component of lp1 to lf1.

15-43

POST (Function)
Function
Extracts the T-axis rotation component.

Format
POST (<Position type>)

Explanation
This statement extracts the T-axis rotation component from the position type coordinates designated in <Position type>.

Example
DIM lf1 As Single DIM lp1 As Position lf1 = POST(lp1) 'Assigns the T-axis rotation component of lp1 to lf1.

15-44

Chapter 15 Functions

15.13 Figure Component

RVEC (Function)
Function
Extracts a figure.

Format
RVEC (<Position type>)

Explanation
This statement extracts a figure from position type coordinates.

Related Terms
PVEC

Example
DIM lp1 As Point DIM lv1 As Vector lv1 = RVEC(lp1) 'Assigns the figure of lp1 to lv1.

15-45

15.14 Position Function

AREAPOS (Function)
Function
Returns the center position and direction of a rectangular parallelepiped with the position type for an area where an interference check is performed.

Format
AREAPOS (<Area number>)

Explanation
This statement designates <Area number> declared using the AREA command and returns the current setting (center position) with the position type. <Area number> Area number (0 to 7)

Related Terms
AREA, SETAREA, RESETAREA, AREASIZE

Example
DIM lp1 As Point lp1 = AREAPOS(1) 'Assigns the center position and direction of the cube for 'an area where an interference check is performed to lp1.

15-46

Chapter 15 Functions

AREASIZE (Function)
Function
Returns the size (each side length) of a rectangular parallelepiped which defines the interference check area with the vector type.

Format
AREASIZE (<Area number>)

Explanation
Designate <Area number> declared using the AREA command, and the statement will return the size (each side length) of the rectangular parallelepiped which defines the area with the vector type. The length of each side of the rectangular parallelepiped is double the length of each component of vectors X, Y and Z.

Z axis Interference check area

Vector Z component

X Y component
X component Y

X Y axis

Position

X Y axis

Related Terms
AREA, SETAREA, RESETAREA, AREAPOS

Example
DIM lv1 As Vector lv1 = AREASIZE(1) the 'interference check area to lv1. 'Assigns the size of the rectangular parallelepiped defining

15-47

TOOLPOS (Function)
Function
Returns a tool coordinate system as the position type.

Format
TOOLPOS (<Tool coordinate system number>)

Explanation
Designate <Tool coordinate system number> declared using the TOOL command, and this statement will return a tool coordinate system setting with the position type. In this case, -1 (indefinite) is entered for a FIG component of the position data. <Tool coordinate system number> tool coordinate system number (1 to 63)

Related Terms
TOOL, CHANGETOOL

Example
DIM lp1 As Point lp1 = TOOLPOS(1) 'Assigns the tool coordinate system to lp1.

15-48

Chapter 15 Functions

WORKPOS (Function)
Function
Returns the user coordinate system as the position type.

Format
WORKPOS (<user coordinate system number>)

Explanation
Designate <User coordinate system number> declared using the WORK command, and this statement will return a work coordinate system setting with the position type. In this case, -1 (indefinite) is entered for a FIG component of the position data. <User coordinate system number> User coordinate system number (1 to 7)

Related Terms
WORK, CHANGEWORK

Example
DIM lp1 As Point lp1 = WORKPOS(1) 'Assigns the user coordinate system to lp1.

15-49

15.15 Character String Function

ASC (Function)
Function
Converts to a character code.

Format
ASC (<Character string >)

Explanation
This statement converts the first character of <Character string > to a character code. Note: This function returns only the first byte value of a character string. Therefore, even if the first character is kanji, the first 1 byte of the Shift-JIS code is returned.

Related Terms
CHR$, character code table (Appendix 1)

Example
DIM li1 As Integer li1 = ASC( ABCDEFGH ) 'Assigns character code 65(&H41) of A to li1.

15-50

Chapter 15 Functions

BIN$ (Function) [Conforms to SLIM]

Function
Converts the value of an expression to a binary character string.

Format
BIN$ (<Expression>)

Explanation
This statement converts the value designated in <Expression> to a binary form and converts the value to a character string.

Related Terms
CHR$, HEX$, STR$, VAL

Example
DIM li1 As Integer DEFSTR ls1, ls2 ls1 = BIN$(20) ls2 = BIN$(li1) 'Converts 20 to a binary form and assigns it to ls1. 'Converts li1 to a binary form and assigns it to ls2.

15-51

CHR$ (Function) [Conforms to SLIM]

Function
Converts an ASCII code to a character.

Format
CHR$ (<Expression>)

Explanation
This statement obtains a character with the character code of the value designated in <Expression>.

Related Terms
BIN$, HEX$, STR$, VAL, Character code table (Appendix 1)

Example
DEFSTR ls1, ls2 ls1 = CHR$(49) ls2 = CHR$(&H4E) 'Assigns a character with the character code of 49 to ls1. 'Assigns a character with the character code of &H4E to ls2.

15-52

Chapter 15 Functions

SPRINTF$ (Function)
Function
Converts an expression to a designated format and returns it as a character string.

Format
SPRINTF$ (<Format>, <Expression>)

Explanation
<Format> includes a character string for output as it is, and a conversion designation character string for converting and outputting the contents of <Expression> (as a part of a character string). The first character of the conversion designation character string is % and a character (string) follows it. A flag of 0 or more signifies a conversion designation character string (no special order). The minimum field width (option) for writing a character string. If the number of converted character values is less than the minimum field width, the left side (right side if the following left justification flag is designated) of the field is embedded with blanks (default) to fill the minimum field width. The field width value is denoted as an asterisk (*) (described in latter section) or an integer value. Precision (Option). The precision option designates the minimum number of digits displayed in conversion using conversion designation symbols d, i, o, x and X. It designates the number of digits after the decimal point displayed in conversion using conversion designation symbols e, E and f, and the maximum effective number of digits displayed in conversion using conversion designation symbols g and G. It also designates the maximum number of characters written from a character string in conversion using conversion designation symbol s. A period (.) is used as the precision value followed by an asterisk (*) (described in the latter section) or an integer value (option). If only a period is designated, the precision is designated as 0. If precision is designated with other conversion designation symbols, the motion is not defined. Conversion designation symbol As just described, an asterisk (*) can be designated for field width and precision. In the case of an integer type argument, designate the value of width and precision. Arguments which designate the field width or precision, or a value of both must be designated before (put field width before precision) an argument (only if this is present) can be converted. If a negative value is designated for the field width, it becomes the same designation as the positive field width designated after a negative conversion designation symbol. If a negative value is designated for precision, it is the same as if the precision is ignored. The meanings of the flags are as follows. - : + : The conversion result is left justified in the field. (If this flag is not designated, it is right justified.) In conversion with a sign, the first figure always has a + or - sign (If this flag is not designated, a sign of - is added only for a negative value.)

15-53

<space> : If <space> and a + flag at the head of the result are designated when the first character is not a sign in conversion with a sign, or when no characters are created after a conversion with a sign, <space> is ignored. # : Conversion is done using the Replacement format. In conversion with conversion designation symbol o, the precision is changed so that the leading digit of the result becomes 0. In conversion with a conversion designation symbol x (or X), 0x (or 0X) is added so that the first digit of the result is not 0. In conversion with conversion designation symbols e, E, f, g or G, (even if there are no figures after the decimal point) the decimal point character is always added to the result. (In such conversion, the decimal point character is usually added only when figures are present after the decimal point.) In conversion with conversion designation symbols g and G, the o at the end is not deleted. The operation in other conversion is not defined. 0 : In conversion with conversion designation symbols d, i, o, x, X, e, E, f, g and G, the minimum field width is ensured by embedding 0 at the head (after a sign or base). There is no embedding with <space>. If a 0 flag and a - flag are designated at the same time, the 0 flag is ignored. If conversion of precision is designated with conversion designation symbols d, i, o, x, and X, a 0 flag is ignored. The operation in cases where other conversion designation symbols are used is not defined. The meanings of the conversion designation signs is as follows. d, i : Convert the value of an integer type argument to a character string of decimals with a sign in a [-] dddd format. The minimum number of digits displayed is determined by the designated precision. If a converted value does not fill the minimum number of digits, the head is embedded with 0s. The default precision is 1. If a value of 0 is converted with precision 0, no character is output.

o, x, X : Convert an integer type argument to a character string of an octal number (o) or hexadecimal number (x or X)without a sign in a dddd or hexadecimal number (x or X) format. The lower case letters (abcdef) are used for the conversion designation symbol x and upper case letters (ABCDEF) for the conversion designation symbol X. The minimum number of digits displayed is determined by the designated precision. If a value after conversion does not reach the minimum number of digits, the head is embedded with 0s. The default precision is 1. If a value of 0 is converted with precision 0, no characters are output.

15-54

Chapter 15 Functions
f : Converts a real type argument to a character string of decimals displayed in a [-] ddd.ddd format. The number of digits after the decimal point is determined by the designated precision. If the precision is not designated, the number of digits after the decimal point is 6. If the precision is 0 and a # flag is not designated, the characters after the decimal point are not displayed. If characters after the decimal point are displayed, at least one digit before the decimal point is displayed. The value is rounded to a proper number of digits. Convert a real type argument to a character in a [-] d.ddde+/-dd format. One digit (other than 0 if the argument is not 0) is displayed before the decimal point character. The number of digits after the decimal point is determined according to the designated precision. If the precision is not designated, the number of digits after the decimal point is 6. If the precision is 0 and a # flag is not designated, the characters after the decimal point are not output. The value is rounded to a proper number of digits. If the conversion designation symbol E is used, the exponent is expressed not with e but E. The exponent is always expressed with 2 digits or more. If the value is 0, the exponential part also becomes 0.

e, E :

g, G : Convert a real type argument to a type of f or e (In the case of G, E is used). The valid number of digits depends on the precision. If the precision is 0, the valid number of digits is 1. The format used is determined by the value to be converted. Conversion of type e (or E) is used only when the exponential part of the conversion result is less than -4, or greater than or equal to the precision. If there is a 0 as the last digit after the decimal point, it is deleted. Figures with a decimal point are displayed only when there is a digit after the decimal point. C : Converts an integer type argument to an ASCII character byte and outputs the characters after conversion. S : System reservation % : Outputs a character of %. The argument is not converted. The designation of complete conversion is %%. There is no regulation for operation if the conversion designation is wrong. If the result of conversion is longer than the field width, it may be cut it short but the field is never extended with the conversion result.

Related Terms
HEX$, STR$

Example
S1 S2 S3 S4 S5 = = = = = SPRINTF$("% d",123) SPRINTF$("%-6.3f", 1.23) SPRINTF$("%e",123.456#) SPRINTF$("%g",12345678#) SPRINTF$("%#x",128) 'Assigns 'Assigns 'Assigns 'Assigns 'Assigns "123" to S1. "1.230 " to S2. "1.234560e+002" to S3. "1.23457e+007" to S4. "0x80" to S5.

15-55

HEX$ (Function) [Conforms to SLIM]

Function
Obtains a value converted from a decimal to a hexadecimal number as a character string.

Format
HEX$ (<Expression>)

Explanation
This statement converts the designated value in <Expression> from a decimal number to a hexadecimal number and converts the value to a character string. Explanation: If an argument is not an integer, the argument is rounded down to an integer which does not exceed the value prior to conversion.

Related Terms
BIN$, CHR$, STR$, VAL

Example
DIM li1 As Integer DEFSTR ls1, ls2 ls1 = HEX$(20) ls2 = HEX$(li1) 'Converts 20 to a hexadecimal number and assigns it to ls1. 'Converts li1 to a hexadecimal number and assigns it to ls2.

15-56

Chapter 15 Functions

LEFT$ (Function) [Conforms to SLIM]

Function
Extracts the left part of a character string.

Format
LEFT$ (<Character string >, <Number of digits>)

Explanation
This statement extracts a character string for <Number of digits> from the left side of <Character string>. If the character string includes a NULL value, the NULL value is returned. If a value longer than the character string is designated in <Number of digits>, the whole character string is returned. Note: <Number of digits> is handled as byte counts.

Related Terms
LEN, MID$, RIGHT$

Example
DIM li1 As Integer DEFSTR ls1, ls2 ls1 = LEFT$( abcdefg, 3 ) ls2 = LEFT$( ls1, li1 ) 'Assigns 3 characters abc from the left of the 'character string in abcdefg to ls1. 'Assigns a character string for the value of the number 'of characters in li1 from the left of ls1 to ls2.

15-57

LEN (Function) [Conforms to SLIM]

Function
Obtains the length of a character string in bytes.

Format
LEN (<Character string >)

Explanation
This statement obtains the total sum byte count of the character string length designated in <Character string>.

Related Terms
MID$, LEFT$, RIGHT$

Example
DEFINT li1, li2 DIM ls1 As String li1 = LEN( abcdefg ) 'Assigns 7 characters of the character string abcdefg to li1. li2 = LEN( ls1 ) 'Assigns the byte count of ls1 to li2.

15-58

Chapter 15 Functions

MID$ (Function) [Conforms to SLIM]

Function
Extracts a character string for the designated number of characters from a character string.

Format
MID$ (<character string >, <Start position>[, <Number of digits>])

Explanation
This statement extracts a character string for <Number of digits> from <Start position> of <Character string>. If the character string includes a NULL value, the NULL value is returned. If a value longer than the character string is designated in <Number of digits>, the whole character string is returned. If <Number of digits> is ignored, or if the character string has fewer characters than the number of digits designated, all characters after the start position are returned. If a value longer than the character string is designated in <Start position>, the whole character string is returned. Note: <Number of digits> is handled as byte counts.

Related Terms
LEN, LEFT$, RIGHT$

Example
DEFSTR ls1, ls2 ls1 = MID$( abcdefg, 2, 3 ) ls2 = MID$( ls1, 2, 2 ) 'Assigns the character string bcd to ls1. 'Assigns the 2 digits from the second character of ls1 to 'ls2.

15-59

ORD (Function) [Conforms to SLIM]

Function
Converts to a character code.

Format
ORD (<Character string >)

Explanation
This statement converts the first character in <Character string > to a character code. Note: This function returns only the first byte value of a character string. Therefore, even if the first character is kanji, the first byte of the Shift-JIS code is returned. If the character string is , it returns 0.

Related Terms
CHR$, Character code table (Appendix 1)

Example
DIM li1 As Integer li1 = ORD( ABCDEFGH ) 'Assigns character code 65(&H41) of A to li1.

15-60

Chapter 15 Functions

RIGHT$ (Function) [Conforms to SLIM]

Function
Extracts the right part of a character string.

Format
RIGHT$ (<Character string >, <Number of digits>)

Explanation
This statement extracts a character string from the right side of <Character string > for <Number of digits>. If the character string includes a NULL value, the NULL value is returned. If a value longer than the character string is designated in <Number of digits>, the whole character string is returned. Note: <Number of digits> is handled as byte counts.

Related Terms
LEN, MID$, LEFT$

Example
DIM li1 As Integer DEFSTR ls1, ls2 ls1 = RIGHT$( abcdefg, 3 ) ls2 = RIGHT$( ls1, li1 ) 'Assigns the character string efg for 3 characters 'from the right in abcdefg to ls1. 'Assigns a character string for the number of 'characters from the right of the value ls1 to ls2.

15-61

STRPOS (Function) [Conforms to SLIM]

Function
Obtains the position of a character string.

Format
STRPOS (<Character string 1>, <Character string 2>)

Explanation
This statement obtains the position of <Character string 2> in <Character string 1>. For the order, count 1, 2, from the left. If the string is not found, 0 is returned.

Related Terms

Example
DIM li1 As Integer li1 = STRPOS(abcdefg, bc) 'Assigns position (2) of bc in abcdefg to li1.

15-62

Chapter 15 Functions

STR$ (Function) [Conforms to SLIM]

Function
Converts a value to a character string.

Format
STR$ (<Expression>)

Explanation
This statement converts the value designated in <Expression> to a character string. Explanation: If a value is converted to a character string, there is always a blank to display a sign at the head of the return value. If the value is positive, a blank is inserted at the head of the return value of the Str function. This blank denotes the plus sign. The Str function recognizes only a period (.) as a valid decimal point symbol.

Related Terms
BIN$, CHR$, HEX$, VAL

Example
DIM li1 As Integer DEFSTR ls1, ls2 ls1 = STR$(20) ls2 = STR$(li1) 'Converts 20 to a character string and assigns it to ls1. 'Converts li1 to a character string and assigns it to ls2.

15-63

VAL (Function) [Conforms to SLIM]

Function
Converts a character string to a numeric value.

Format
VAL (<Character string >)

Explanation
This statement converts a character string designated in <Character string > to a numeric value. If the first character of <character string > is not +, -, &, or numeric value, VAL becomes 0. Explanation: If the system finds a character other than the figures in the character string, the Val Function stops reading. The Val function does not interpret symbols or letters which are normally regarded as part of a numeric value such as the yen symbol (\) or comma (,). However, the Val function does recognizes prefixes &H (hexadecimal number) and &B (binary number). Blanks, tabs and line feeds in the character string of an argument are ignored.

Related Terms
BIN$, CHR$, HEX$, STR$

Example
DEFINT li1, li2, li3 li1 = VAL(&B100) li2 = VAL(&H20) li3 = VAL(-30) 'Converts &B100 to a numeric value '(4 in decimal) and assigns it to li1. 'Converts &H20 to a numeric value '(32 in decimal) and assigns it to li2. 'Converts -30 to a numeric value (-30 in decimal) and assigns 'it to li3.

15-64

Chapter 16 Constants

This chapter provides an explanation about PAC prepared constants.

Chapter 16 Constants

16.1 Built-in Constants

OFF (Built-in Constant)
Function
Sets an OFF (0) value.

Format
OFF

Explanation
This statement sets an OFF (0) value in an expression.

Related Terms
ON

Example
1F I1 = TRUE THEN I1 = ON ELSEIF I1 = FALSE THEN I1 = OFF ELSE D1 = PI ENDIF 'Sets 'Sets 'Sets 'Sets the Boolean value to true (1). ON(1) to the integer type variable. the Boolean value to true (1). OFF(0) to the integer type variable.

'Assigns to the real type variable.

16-1

ON (Built-in constant)
Function
Sets an ON (1) value.

Format
ON

Explanation
This statement sets an ON (1) value in an expression.

Related Terms
OFF

Example
1F I1 = TRUE THEN I1 = ON ELSEIF I1 = FALSE THEN I1 = OFF ELSE D1 = P ENDIF 'Sets 'Sets 'Sets 'Sets the Boolean value to true (1). ON(1) to the integer type variable. the Boolean value to true (1). OFF(0) to the integer type variable.

'Assigns to the real type variable.

16-2

Chapter 16 Constants

PI (Built-in constant)
Function
Sets a value.

Format
PI

Explanation
This statement returns a double-precision type value of .

Example
1F I1 = TRUE THEN I1 = ON ELSEIF I1 = FALSE THEN I1 = OFF ELSE D1 = PI ENDIF 'Sets 'Sets 'Sets 'Sets the Boolean value to true (1). ON(1) to the integer type variable. the Boolean value to true (1). OFF(0) to the integer type variable.

'Assigns to the real type variable.

16-3

FALSE (Built-in constant)

Function
Sets a value of false (0) to a Boolean value.

Format
FALSE

Explanation
This statement sets a value of false (0) to a Boolean value in an expression.

Related Terms
TRUE

Example
1F I1 = TRUE THEN I1 = ON ELSEIF I1 = FALSE THEN I1 = OFF ELSE D1 = PI ENDIF 'Sets 'Sets 'Sets 'Sets the Boolean value to true (1). ON(1) to the integer type variable. the Boolean value to true (1). OFF(0) to the integer type variable.

'Assigns to the real type variable.

16-4

Chapter 16 Constants

TRUE (Built-in constant)

Function
Sets a value of true (1) to a Boolean value.

Format
TRUE

Explanation
This statement sets a value of true (1) to a Boolean value.

Related Terms
FALSE

Example
1F I1 = TRUE THEN I1 = ON ELSEIF I1 = FALSE THEN I1 = OFF ELSE D1 = PI ENDIF 'Sets 'Sets 'Sets 'Sets the Boolean value to true (1). ON(1) to the integer type variable. the Boolean value to true (1). OFF(0) to the integer type variable.

'Assigns to the real type variable.

16-5

Chapter 17 Time/Date Control

This chapter provides an explanation of commands necessary to understand time, date or elapsed time and other commands to control interruptions due to time.

Chapter 17 Time/Date Control

17.1 Time/Date
DATE$ (System Variable) [Conforms to SLIM]
Function
Obtains the current date.

Format
DATE$

Explanation
This statement stores the yyyy/mm/dd(year/month/day). current date in the following format:

Related Terms
TIME$

Example
DIM ls1 As String ls1 = DATE$ 'Assigns the current date to ls1.

17-1

TIME$ (System Variable) [Conforms to SLIM]

Function
Obtains the current time.

Format
TIME$

Explanation
This statement stores the current time in the following format: hh:mm:ss (Time: minute: second). Time is displayed using the 24 hour system.

Related Terms
DATE$

Example
DIM ls1 As String ls1 = TIME$ 'Assigns the current time to ls1.

17-2

Chapter 17 Time/Date Control

TIMER (System Variable) [Conforms to SLIM]

Function
Obtains the elapsed time.

Format
TIMER

Explanation
This statement obtains the elapsed time, measured in milliseconds from the time, when the controller power is ON (0). Note: If the elapsed time exceeds 2147483647 milliseconds, the elapsed time will be displayed from -214148.3648 milliseconds.

Related Terms Example

DEFINT li1, li2, li3 li1 = TIMER li2 = TIMER + li3 'Assigns the elapsed time from the reference time to li1. 'Assigns the value of the elapsed time with li3 added from 'the reference time to li2.

17-3

Chapter 18 Error Controls

When an error occurs, you can check the contents of the error, or program a procedure to recover. This chapter provides an explanation of commands necessary to handle an error.

Chapter 18 Error Controls

18.1 Error Information

ERL (System Variable)
Function
Obtains the line number where an error occurred.

Format
ERL

Explanation
This program stores the line number of the program where an error occurred. The initial status is quite unstable and even if you can read the contents of the ERL before an error occurs, it does not have any meaning. The ERL does not include any error line number of other programs being executed in multitasking operation. Remarks: This command has no meaning when Error interruption process code deletion is set to ON (1) in [Program] of [Project setting] of PAC manager in WINCAPSII. The same setting has been prepared in the teach pendant.

Related Terms
ERR, ON ERROR GOTO

Example
DIM Li1 As INTEGER DIM Li2% (2, 3) ON ERROR GOTO *Error1 FOR Lil = 0 TO 3 Li2 (0, Li1) = 0 NEXT Li1 *R_Label: END *Errorl: 'Declares the label *Errorl. S1 = Line+STR$(ERL)+ : +ERRMSG$(ERR) 'Edits the error message. PRINTMSG S1, 2, Error'Outputs error information. IF ERR = &H3B3E THEN RESUME NEXT 'Returns to the line following the line where the error 'occurred. ELSE RESUME *R_Label 'Returns to the line of *R_Label. ENDIF 'Branches to the *Error1 processing routine when the error 'occurs. 'An error occurs when Li1 is 3, and this branches to the *Error1 'processing 'routine.

18-1

ERR (System Variable)

Function
Obtains an error number that occurred.

Format
ERR

Explanation
This program stores an error number that occurred. The ERR does not include any error number of other programs being executed in multitasking operation. Remarks: This command has no meaning when Error interruption process code deletion is set to ON (1) in [Program] of [Project setting] of PAC manager in WINCAPSII. The same setting has been prepared in the teach pendant.

Related Terms
ERL, ERRMSG$, ON ERROR GOTO

Example
DIM Li1 As INTEGER DIM Li2% (2, 3) ON ERROR GOTO *Error1 FOR Lil = 0 TO 3 Li2 (0, Li1) = 0 NEXT Li1 *R_Label: END *Errorl: 'Declares the label *Errorl. S1= Line +STR$(ERL)+ : +ERRMSG$(ERR) 'Edit the error message. PRINTMSG S1,2, error 'Outputs error information. IF ERR = &H3B3E THEN RESUME NEXT 'Returns to the line following the line where the error 'occurred. ELSE RESUME *R_Label 'Returns the line of *R_Label. ENDIF 'Branches to the process routine of *Error1 when the error 'occurred. 'When Li1 is 3, an error occurs and it branches to process 'routine of *Error1.

18-2

Chapter 18 Error Controls

ERRMSG$ (Function)
Function
Sets an error message.

Format
ERRMSG$ (<Arithmetic expression>)

Explanation
This statement sets the error message corresponding to the error number designated with <Numeric expression>.

Related Terms
ERL, ERR, ON ERROR GOTO

Example
Ex. 1: DIM ls1 As String ls1 = ERRMSG$(&H600C) Ex. 2: DIM Li1 As INTEGER DIM Li2% (2, 3) ON ERROR GOTO *Error1 FOR Lil = 0 TO 3 Li2 (0, Li1) = 0 NEXT Li1 *R_Label: END *Errorl: 'Declares the *Errorl label. S1= Line +STR$(ERL)+ : +ERRMSG$(ERR) 'Edits the error message. PRINTMSG S1,2, error 'Outputs error information. IF ERR = &H3B3E THEN RESUME NEXT 'Returns to the line following the line where the 'error occurred. ELSE RESUME *R_Label 'Returns a line of *R_Label. ENDIF 'Assigns the error message with an error number of &H600C to ls1.

'Branches to the process routine *Error1 when the error 'occurred. 'When Li1 is 3, an error occurs and it then branches to the process 'routine of *Error1.

18-3

18.2 Error Interruption

ON ERROR GOTO (Statement)
Function
Interrupts when an error occurs.

Format
ON ERROR {GOTO|GO TO}<Label name>

Explanation
This statement defines and executes an interruption process routine when an error occurs. If this interruption occurs, the program with the error process routine designated with <Label name> is executed. To return from the error process routine to the program, execute the RESUME statement. When an error occurs while the error process routine is being executed, the ongoivy program stops. Remarks: This command has no meaning when Error interruption process code deletion is set to ON (1) in [Program] of [Project setting] of PAC Manager in WINCAPSII. The same setting has been prepared in the teach pendant.

Related Terms
ERR, ERL, RESUME

Example
DIM Li1 As INTEGER DIM Li2% (2, 3) ON ERROR GOTO *Error1 FOR Lil = 0 TO 3 Li2 (0, Li1) = 0 NEXT Li1 *R_Label: END *Errorl: 'Declares the *Errorl label S1= Line +STR$(ERL)+ : b+ERRMSG$(ERR) 'Edits the error message. PRINTMSG S1,2, error 'Outputs error information. IF ERR = &H3B3E THEN RESUME NEXT 'Returns to line following the line where the 'error occurred. ELSE RESUME *R_Label 'Returns the line of *R_Label. ENDIF 'When an error occurs, the program branches to the 'process routine of Error1. 'When Li1 is 3, an error occurs and the program branches 'to the process routine *Error1.

18-4

Chapter 18 Error Controls

RESUME (Statement)
Function
Returns from an interruption process routine.

Format
RESUME [NEXT|<Label name>]

Explanation
This statement returns to the program before it has been branched from an interruption process routine, as defined in the ON ERROR GOTO statement. With RESUME NEXT, the program returns to the line following the line where an error occurred. With RESUME <Label name>, the program passes control to a designated label line. If you ignore all of the argument options in the RESUME statement, the program returns to the line where the error occurred. Remarks (1): This command has no meaning when Error interruption process code deletion is set to ON (1) in [Program] of [Project setting] of PAC manager in WINCAPSII. The same setting has been prepared in the teach pendant. If the program returns to the line where the error occurred, without removal of the error cause, the program may execute an infinite loop. You cannot use this statement outside of the interruption process routine.

Remarks (2):

Remarks (3):

Related Terms
ON ERROR GOTO

Example
DIM Li1 As INTEGER DIM Li2% (2, 3) ON ERROR GOTO *Error1 FOR Lil = 0 TO 3 Li2 (0, Li1) = 0 NEXT Li1 *R_Label: END *Errorl: 'Declares the *Errorl label S1= Line +STR$(ERL)+ : b+ERRMSG$(ERR) 'Edits the error message. PRINTMSG S1,2, error 'Outputs error information. IF ERR = &H3B3E THEN RESUME NEXT 'Returns to the line following the line where the 'error occurred. ELSE RESUME *R_Label 'Returns the line of *R_Label. ENDIF 'When an error occurs, the program branches to the 'process routine of Error1. 'When Li1 is 3, an error occurs and the program branches 'to the process routine *Error1.

18-5

Chapter 19 System Information

This chapter provides an explanation of commands necessary to obtain robot system information.

Chapter 19 System Information

19.1 System
GETENV (Function)
Function
Obtains the environment setting values of the system.

Format
GETENV (<Table number>, <Element number>)

Explanation
This statement obtains the environment setting values of the system designated with <Table number> and <Element number>. For the items of the environment setting values, refer to Appendix 3 Environment Setting Value.

Related Terms
VER$, Environment setting value (Appendix 3)

Example
DIM li1 As Integer li1 = GETENV (9, 1) 'Assigns the contents of the environment setting values of 'number '9 and 1 to li1.

19-1

LETENV (Statement)
Function
Sets the environment setting values of the system.

Format
LETENV <Table number>, <Element number>, <Setting value>

Explanation
This statement sets the environment setting values of the system designated with <Table number> and <Element number> to <Setting value> For the items of the environment setting values, refer to Appendix 3 Environment Setting Value. An error may occur when execution starts, if you set an element number or any set value exceeds the setting range. Remarks: The easiest way to tell if setting is possible is to open the manager of WINCAPSII, which controls the table corresponding to <Table number>, and check the table screen. If a column of the property does not have a symbol of *, the element in that item can be set. However, you should log-in with the password level of <programmer>.

Note: If you change the environment setting values, it is recommended that you restart the controller.

Related Terms
VER$, GETENV

Example
LETENV 6, 22, 5600 'Sets 5600 for the environment setting values of number 6 and 22.

19-2

Chapter 19 System Information

VER$ (Function)
Function
Obtains the version of each module.

Format
VER$ (<Expression>)

Explanation
This statement stores the version of each module corresponding to the value of <Expression> with a character string. Refer to Appendix 9 Version Corresponding Table.

Related Terms
GETENV, Version corresponding table (Appendix 9)

Example
DEFSTR ls1, ls2, ls3 DIM li1 As Integer li1 = 1 ls1 = VER$ (1) 'Assigns the main board version to ls1. ls2 = VER$ (2) 'Assigns the version of ROM on the DIO board to ls2. ls3 = VER$ (li1) 'Assigns the version information that corresponds to the li1 'value to ls3.

In this example, data is stored in ls1 and ls2 in the following format as a character string (the date below was the date when the version was published).
ls1 ls2 1.000 V1.00 07/30/1998 08/03/1998

19-3

19.2 Log
NOTE: Control log is greatly enhanced in Ver. 1.20 or later. If you use Ver. 1.20 or later, refer to WINCAPSII Guide, Section 10.7, "New Control Log" on page 10-27.

STARTLOG (Statement)
Function
Starts recording of the servo control log.

Format
STARTLOG

Explanation
Use the STARTLOG command to start recording of the servo control log in the program. To ensure recording of the servo control log, execute the CLEARLOG command beforehand or perform a servo log clear operation in the log manager before starting the STARTLOG command. Once servo control log recording has been started, recording is not possible even if you execute the STARTLOG command. In manual mode and teach check mode, the system automatically starts recording of the servo control log. In automatic mode, the system starts recording of the servo control log with instructions to start recording in the program or by starting recording in the log manager. If an error occurs or the buffer is full (10 seconds), recording of the servo control log stops. In manual mode, the system keeps the log for the last 10 seconds until the program is instructed to stop recording.
Power ON Automatic mode Recording data (Ring buffer mode) Manual mode Data recording not started STARTLOG command or log start instruction from the log manager CLEARLOG command or log clear instruction from the log manager (Clear in auto mode.) Recording start Instruction Recording data (Non-ring buffer mode) Error occurrence One of Log completion until buffer end STOPLOG command execution Log end from log manger STOPLOG instruction or recording stop instruction from the log manager

CLEARLOG command or log clear instruction from the log manager (Clear in manual mode.) Error occurrence

Recording stop status due to error

Recording stop status due to full buffer

Log Operation Status Transition Diagram

19-4

Chapter 19 System Information Related Terms

CLEARLOG, STOPLOG

Example
STARTLOG 'Starts recording of the servo control log.

CLEARLOG (Statement)
NOTE: Control log is greatly enhanced in Ver. 1.20 or later. If you use Ver. 1.20 or later, refer to WINCAPSII Guide, Section 10.7, "New Control Log" on page 10-27.

Function
Initializes recording of the servo control log.

Format
CLEARLOG

Explanation
Use the CLEARLOG command to instruct initialization of the servo control log in the program. You must clear (initialize) the contents of the log before restarting recording, when the servo log record buffer is full or when program execution stops because of an error. Refer to p.19-4 Log Operation Status Transition Diagram. To record the servo control log without fail, execute the CLEARLOG command before executing the STARTLOG command. After recording has started, recording will not be possible even if you execute the STARTLOG command.

Related Terms
STARTLOG, STOPLOG

Example
CLEARLOG 'Initializes servo control log recording.

19-5

STOPLOG (Statement)
NOTE: Control log is greatly enhanced in Ver. 1.20 or later. If you use Ver. 1.20 or later, refer to WINCAPSII Guide, Section 10.7, "New Control Log" on page 10-27.

Function
Stops servo control log recording.

Format
STOPLOG

Explanation
Use the STOPLOG command to instruct the servo control log to stop in a program. In automatic mode, if the buffer is full after recording starts, the log recording automatically stops. Therefore, you do not need to execute the STOPLOG command in the program.

Related Terms
STARTLOG, CLEARLOG

Example
STOPLOG 'Stops servo control log recording.

19-6

Chapter 20 Preprocessor

If you create a program with the PAC manager, you can use the preprocessor commands described in this chapter. The PAC manager automatically replaces designated character strings or files according to the definitions of the preprocessor commands and then compiles them. By using the preprocessor commands, you can use the library program or you can describe a program that is easy to read.

Chapter 20 Preprocessor

20.1 Symbol Constants Macro Definitions

#define (Preprocessor Statement)
Function
Replaces a designated constant or macro name in the program with a designated character string.

Format
#define <Symbol constant> <Character string> or #define <Macro name (Argument)> <Argument included character string>

Explanation
This statement replaces <Symbol constant> or <Macro name> in the program with a designated character string. In the case of a macro name, it is replaced with the arguments already included. <Symbol constant> or character strings of <Macro name> in (double quotations) are not replaced. You must describe the #define statement on one line. You must place 1 or more space characters between <Symbol constant> and <Character string>. Do not place a space between a macro name and the parentheses of an argument. You can redefine <Symbol constant> and <Macro name>, however, you need to make them invalid with #undef at least once. The most recently defined ones become valid. <Symbol constant> and <Macro name> must be within 64 characters. You can use a maximum of 2048 macro names in one program. There is no limitation to the number of macro function arguments you may use.

Related Terms
#undef

Example
#DEFINE NAME Denso Corporation 'Assigns Denso Corporation to the symbol constant NAME. #DEFINE mAREA(radius) PI * POW(radius, 2) 'Declares mAREA(radius) as a macro function. S1 = NAME D1 = mAREA(10) 'Assigns Denso Corporation to S1. 'Assigns the calculation value of PI*POW(10,2) to D1.

20-1

#undef
Function

(Preprocessor Statement)

Makes a symbol constant defined with #define or macro definition invalid.

Format
#undef {<Symbol constant>|<Macro name>}

Explanation
This statement makes a symbol constant defined with #define or macro definition invalid in the program after this #undef. Designate only the macro name for a macro with an argument.

Related Terms
#define

Example
#UNDEF NAME 'Makes NAME defined with a symbol definition or macro definition 'in the #DEFINE statement invalid.

20-2

Chapter 20 Preprocessor

#error (Preprocessor Statement)

Function
Forcibly generates a compiling error if the #error command is executed.

Format
#error [<Message>]

Explanation
Use this statement when you purposely want to generate an error to test a program. If you compile a line using the #error command, an error occurs. At this time, an error message appears, showing the contents defined in <Message>.

Example
#error Error Occur 'If compiling is executed, the message Error Occur 'appears.

20-3

20.2 File Fetch

#include (Preprocessor Statement)
Function
Fetches the preprocessor program.

Format
#include [Path] file name #include <[Path] file name>

Explanation
This statement fetches the preprocessor program file, at a position where the #include statement is placed. In the case of , if the path of the file is ignored the system searches for the file in the current directory first and then the system directory. In the case of < >, it searches only the system directory. If the path is designated with a full path, it searches only in the directory designated. You can include the #include statement for a file designated with the #include statement. You can nest up to 8 levels. There are H and PAC file extensions available to designate.

Example
#include samp1.h 'Expands the samp1.h file on this line.

20-4

Chapter 20 Preprocessor

20.3 Optimization
#pragma optimize (Preprocessor Statement)
Function
Designates optimization to be executed for each program.

Format
#pragma optimize (<Option list>, {on/off})

Explanation
This statement designates optimization to be executed for each program. Describe this statement on the line before the PROGRAM declaration statement or on a valid statement line. Designate an arbitrary number of parameters, listed on the following table for <Option list>.
Parameter A C Optimization type Deletes the array inspection code. Deletes the cycle time calculation code.

Remarks:

If you effectively use the optimization option, you can increase the execution speed of a non-action instruction by 10% to 20 %. When you select [File] and then [Project setting] in the PAC manager, you can find the program setting table. There is also a program optimization option there.

Example
#pragma optimize( ac, ON ) 'Deletes the array inspection code and makes the 'cycle time calculation code valid.

Note
This command has priority over the status set in Project setting of the PAC manager. Therefore, if the array inspection code is deleted, the system does not check the range of the array subscripts although the error process is set with ON ERROR GOTO.

20-5

Chapter 21 Vision Control (Option)

This chapter lists all the commands available for use with the Vision board and Vision-21.

Chapter 21 Vision Control (Option)

21.1 Precautions for using vision commands.

(1) To use vision commands, an optional Vision board is required. (2) A vision command should be preceded by a vision process priority command (TAKEVIS). Example: TAKEVIS CAMIN 1 VISPLNOUT 0 . . (3) If an error occurs during execution of a vision command except camera input commands, the error message will appear when the next vision command is executed. Example: WINDMAKE R,1,100,10,0,2 VISPRJ 1,100,100,1,128 At this point, a "window shape error" occurs. WINDDISP 1 At execution of this command, . the error message will appear. . . (4) If a TAKEVIS command is executed during communications from the WINCAPSII Vision Manager to the Vision board, an error will result.

21.2 Compatibility with the Conventional Vision-15

The functions of the conventional Vision-15 are inherited, except for commands related to output (parallel I/O, RS232C). However, there is a difference in the format of instructions. If you edit a program which refers to a conventional program, refer to the correspondence table below.
Vision-15 VIN AOUT VOUT WNDALN WNDCIR WNDDPT WNDELP WNDRCT WNDSCT HWIND CLRWND WNDCPY WDISP SCREEN CLS PUTP LINE LNDPT RECT CIRCLE ELIPSE SECT PAINT Vision board CAMIN VISCAMOUT VISPLNOUT VISOVERLAY Description Camera input Camera image display Process screen display Overlay setting Page 21-3 21-7 21-8 21-9

Image Input/output

WINDMAKE

Sets window data.

21-14

Window Setting

Draw

WINDCLR WINDCOPY WINDDISP VISSCREEN VISCLS VISPUTP VISLINE VISPTP VISRECT VISCIRCLE VISELLIPSE VISSECT VISRECT VISCIRCLE VISELLIPSE

Clears set window setting data. Copies set window data. Window display Sets drawing condition. Clears screens. Draws points. Draws lines (length and angle). Draws lines (2 point). Draws rectangles. Draws circles. Draws ellipses. Draws sectors. Draws rectangles. Draws circles. Draws ellipses.

21-19 21-20 21-23 21-24 21-27 21-29 21-30 21-31 21-32 21-33 21-34 21-35 21-32 21-33 21-34

21-1

Draw

Vision-15 CROSS CRSALN LOC PRINT GETP HIST HCLR LEVEL BINA RBINA AREA BIGT CENTR MOMENT STRT PROJ EDGE CORN CIRC

Vision board VISCROSS VISLOC VISDEFCHAR VISPRINT VISGETP VISHIST VISREFHIST VISLEVEL VISBINA VISBINAR

Description Draws cross symbols. Locates character display positions. Draw character setting Draws characters.
Obtains brightness of designated coordinates.

Page 14-36 14-37 14-39 14-40 14-42 14-43 14-44 14-45 14-47 14-49

Executes histograms. Obtains histogram results. Calculates binary code levels. Binary processing Display binary code Calculates features (area, center of gravity, main axis angle and so on). Projection process Measures edge Searches corners. Searches circles.

Image Process

VISMEASURE

14-55

Search Function

VISPROJ VISEDGE SHCORNER SHCIRCLE

14-58 14-60 14-86 14-89

21-2

Chapter 21 Vision Control (Option)

21.3 Image Input and Output

CAMIN (Statement)
Function
Stores an image from the camera in the image memory (process screen).

Format
CAMIN <Camera number>[, <Storage memory number> [, <Table number> ] ]

Explanation
<Camera number> Designates the camera number (1 or 2). <Storage memory number> Designates the number of the storage memory (process screen) (0 to 3). If this is ignored, 0 is set as the default. <Table number> Designates the number of the look-up table to store from 0 to 15. If this is ignored, 0 is set as the default. Note (1): If a camera is not connected, or if input is not available due to malfunction, an error will occur. Note (2): If the table number is other than 0 when the image is stored, the table is changed. When this happens, the screen may appear disordered; however, this is not a failure. Note (3): After execution, the number of the table automatically returns to 0. Note (4): To execute this instruction, a Vision board (option) is required.

Related Terms
CAMMODE, CAMLEVEL, VISDEFTABLE

Example
'Converts an image from camera number 1, with table number '0 (with the same brightness as of the camera image) and stores 'it in storage memory 0. DELAY 2000 'Stops for 2 seconds. CAMIN 1 'The same result can be obtained as CAMIN 1, 0, 0. DELAY 2000 'Stops for 2 seconds. I1 = 1 ' I2 = 0 ' I3 = 3 ' CAMIN I1, I2, I3 'Converts an image from camera number 1, with the table 3 '(reverse) and stores it in storage memory 0. VISPLNOUT 0 'Outputs an image in storage memory number 0 to the monitor 'as a still-image. CAMIN 1, 0, 0

21-3

CAMMODE (Statement)
Function
Sets the function used to store a camera image.

Format
CAMMODE <Camera number>, <Function>, <Storage method>

Explanation
<Camera number> Designates the number of the camera (1 or 2). <Function> Designates the function of the camera (0 or 1). 0: 1: Normal (in the case of the normal setting) Reset function. (After the camera operation is reset, a camera image is stored.) For further details, refer to the 2.5.2.1 General Information about the Camera in Owners Manual (Installation & Maintenance). Frame reading Stores an image from camera for 1 frame. The resolution in the vertical direction is the maximum. Field reading When using the shutter function of the field shutter camera, set this. Store an image without distortion and with virtually no delay (1/60 second) between fields. However, the resolution in the vertical direction is half.

<Storage method> Designate storage method (0 or 1). 0: 1:

Note (1): If you do not set this instruction, the initial setting value is used. Note (2): This instruction does not change the initial setting. If you restart the system with the power OFF, the set values are lost. Note (3): Check the camera connection. If the camera is faulty, check the status of VISSTATUS. If the status of VISSTATUS (0) is -1, the camera is faulty, and if the camera is not faulty, 0 is returned. Note (4): To execute this instruction, a Vision board (option) is required.

21-4

Chapter 21 Vision Control (Option) Related Terms

CAMIN, VISSTATUS

Example
CAMMODE 1, 0, 0 I1 = VISSTATUS(0) IF I1 = 0 THEN CAMIN 1 'Sets the function of camera 1 to normal and sets the storage 'method to frame. 'When normal, I1 = 0

'Converts an image from camera 1 with table 0 (with the same 'brightness as of the camera image) and stores it in storage 'memory 0. VISPLNOUT 0 'Outputs an image (still image) in storage memory 0 on the 'monitor. VISLOC 10, 10 'Sets the position to display. VISPRINT Reading normal 'Displays characters on the screen. ELSE VISLOC 10, 10 'Sets the position to display. VISPRINT camera malfunction 'Displays characters on the screen. END IF

21-5

CAMLEVEL (Statement)
Function
Sets the camera image input level.

Format
CAMLEVEL <Camera number>, <Lower limit level>, <Upper limit level>

Explanation
<Camera number> <Lower limit level> <Upper limit level> Designates the number of the camera (1 or 2). Sets the lower limit level for reading camera images (0 to 93). Sets the upper limit level for reading camera images (7 to 100).

Note (1): This instruction sets the lower limit of the maximum input range to 0% and the upper limit to 100%. Note (2): The range between the set lower limit and upper limit is divided into 256 intensity levels. Note (3): It is necessary that the setting be between 0 lower limit value < upper limit value 100 and upper limit lower limit 7. Note (4): To obtain more detail image information, use this command to adjust a dark image or bright image, or to partly increase the resolution of the brightness. Note (5): If you do not set this instruction, the initial set values are used. Note (6): This instruction does not change the initial setting. The setting values are lost if you restart the system with the power OFF. Note (7): To execute this instruction, a Vision board (option) is required. Note (8): This command takes effect at execution of the next camera input command (CAMIN).

Related Terms
CAMIN, VISCAMOUT

Example
CAMLEVEL 1, 0, 100 'Sets the input level range of camera 1 to the maximum. VISCAMOUT 1 'Displays an image (dynamic image) from the camera on the 'monitor. CAMIN 1 'Converts an image of camera 1 with table 0 (with the same 'brightness as of the camera image) and stores it in 'storage memory 0. DELAY 2000 'Stops for 2 seconds. CAMLEVEL 1, 30, 80 'Sets the lower input level limit to 30% and the upper limit 'to 80% for camera 1. VISCAMOUT 1 'Displays an image (dynamic image) from the camera on the 'monitor. CAMIN 1

21-6

Chapter 21 Vision Control (Option)

VISCAMOUT (Statement)
Function
Displays an image from the camera on the monitor.

Format
VISCAMOUT <Camera number>[, <Table number>]

Explanation
<Camera number> Designates the number of the camera (1 or 2). <Table number> Designates the number of the look-up table to display (0~15). If this is ignored, 1 is set as the default.
Vision board Camera Camera Process screen Memory Memory Memory Storage memory Monitor

Draw screen Memory Draw memory

Note :

To execute this instruction, a Vision board (option) is required.

Related Terms
VISDEFTABLE, VISPLNOUT, VISOVERLAY, CAMMODE

Example
VISCAMOUT 1, 1 'Converts an image (dynamic image) from camera 1 with 'table 1 (0~175, 70% brightness compressed) and displays 'it on the monitor. 'The same result as that of VISCAMOUT 1, 1 can be obtained.

VISCAMOUT 1

21-7

VISPLNOUT (Statement)
Function
Displays an image in the storage memory on the monitor.

Format
VISPLNOUT <Storage memory number>[, <Table number>]

Explanation
<Storage memory number> <Table number> Designates the number of the storage memory (process screen number) (0 to 3). Designates the number of the look-up table to display (0~15). If this is ignored, 1 is set as the default.

Vision board Camera Camera Process screen Memory Memory Memory Storage memory Monitor

Draw screen Memory Draw memory

Related Terms
VISDEFTABLE, VISCAMOUT, VISOVERLAY

Example
VISPLNOUT 0, 1 'Converts an image (still image) in storage memory 0 with 'table 1 (0~175, 70% brightness compressed) and displays 'it on the monitor. 'The same result as that of VISPLNOUT 0, 1 can be obtained.

VISPLNOUT 0

21-8

Chapter 21 Vision Control (Option)

VISOVERLAY (Statement)
Function
Displays draw screen information on the monitor.

Format
VISOVERLAY <Number>

Explanation
<Number> Sets draw screen display (0 to 3). 0: Does not display the draw screen. 1: Displays draw screen 0. 2: Displays draw screen 1. 3: Displays both draw screens 0 and 1 at the same time.

Vision board Camera Camera Process screen Memory Memory Memory Storage memory Monitor

Draw screen Memory Draw memory

Related Terms
VISCAMOUT, VISPLNOUT

21-9

Example
VISOVERLAY 3 'Sets the destination screen to draw. VISSCREEN 1, 0 ' VISCLS 0 ' VISLOC 10, 10 'Sets the position to display. VISPRINT Draw on the draw screen 0 'Draws characters on the screen. VISSCREEN 1, 1 'Sets the destination screen to draw. VISLOC 10, 11 'Sets the position to display. VISPRINT Draw on draw screen 0 'Draws characters on the screen. VISOVERLAY 0 'Stops displaying the draw screen. DELAY 5000 'Stops for 5 seconds. VISOVERLAY 1 'Displays draw screen 0 on the monitor. DELAY 5000 'Stops for 5 seconds. VISOVERLAY 2 'Displays draw screen 1 on the monitor. DELAY 5000 'Stops for 5 seconds. VISOVERLAY 3 'Displays draw screens 0 and 1 on the monitor.

21-10

Chapter 21 Vision Control (Option)

VISDEFTABLE (Statement)
Function
Reads images on the camera and sets the look-up table data for image output.

Format
VISDEFTABLE <Table number>, <Input value>, <Output value>

Explanation
<Table number> <Input value> <Output value> Designates the number of the look-up table (5 to 15). Designates the input value of the table (0 to 255). Designates the output value of the table (0 to 255).

Look-up table

Table No. 3 (Reverse table)

Example of conversion using the look-up table

Note (1): If you do not set this instruction, the statement follows the initial setting values. Note (2): This instruction requires 2 to 3 seconds to complete. Note (3): Tables considered useful are set for the table numbers 0 to 4 beforehand. With this command, you cannot edit. Table 0: Normal (0 to 255) Table 1: 70% brightness compressed (0 to 175) Table 2: compensation Table 3: Reversed Table 4: 70% brightness compressed and reversed Note (4): To execute this instruction, a Vision board (option) is required. Note (5): During execution of this instruction, do not power off the controller. If you do so, the controller will recognize in the next powering-on sequence that it has not been normally terminated, so it will initialize the vision-related information.

Related Terms
CAMIN, VISCAMOUT, VISPLNOUT, VISREFTABLE

21-11

Example
' ' 'Converts an image (dynamic image) from camera 1 with table '1 (0~175, 75% brightness compressed) and displays it on 'the monitor. DELAY 5000 'Stops for 5 seconds. VISDEFCHAR 4, 4, 2 ' FOR I1 = 0 TO 255 ' VISLOC 10, 10 ' VISPRINT I1 ' VISDEFTABLE 5, I1, 255-I1 'Set table number 5. NEXT I1 ' VISCAMOUT 1, 5 'Reverses an image (dynamic image) from camera 1 and displays 'it on the monitor. VISSCREEN 1, 0, 1 VISCLS 0 VISCAMOUT 1, 1

21-12

Chapter 21 Vision Control (Option)

VISREFTABLE (Function)
Function
Refers to data on the look-up table.

Format
VISREFTABLE (<Table number>, <Input value>)

Explanation
<Table number> Designates the number of the look-up table (0 to 15). <Input value> Designates the input value of the table (0 to 255).

Related Terms
VISDEFTABLE

Example
VISSCREEN 1, 0, 1 VISCLS 0 FOR I1 = 0 TO 255 I2 = VISREFTABLE(1, I1) VISLOC 10, 10 VISDEFCHAR 1, 1, 2 VISPRINT Data;I1;=;I2 NEXT I1 ' ' ' 'Obtains table number 1 data. 'Sets the position to display. 'Sets characters to display. 'Displays the window. '

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21.4 Window Setting

WINDMAKE (Statement)
Function
Designates an area for image processing.

Format
WINDMAKE <Window shape>, <Window number>, <Parameter 1>, <Parameter 2>, Line window (2 point designation): WINDMAKE P, <Window number>, <Start point X coordinate>, <Start point Y coordinate>, <End point X coordinate>, <End point Y coordinate> Line window (length and angle designation): WINDMAKE L, <Window number>, <Length>[, <Angle>] Circle window: WINDMAKE C, <Window number>, <Radius> Ellipse window: WINDMAKE E, <Window number>, <Width>, <Height> Sector window: WINDMAKE S, <Window number>, <Outer diameter>, <Inner diameter>, <Start angle>, <End angle>, <Partition angle>[, <Mode>] Rectangle window: WINDMAKE R, <Window number>, <Width>, <Height>[, <Angle>[, <Mode>]]

Explanation
<Window shape> Designates the window shape. P: Line window Point to Point (2 point designation) L: Line window Line (Length and angle designation) C: Circle window Circle E: Ellipse window Ellipse S: Sector window Section R: Rectangle window Rectangle <Window number> Designates the window number (0 to 511). <Parameter> Designates the value to set each window shape.

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Chapter 21 Vision Control (Option)

Line window (2 point designation) <Start point X coordinate> Designates the line start point X coordinate (0 to 511). <Start point Y coordinate> Designates the line start point Y coordinate (0 to 479). <End point X coordinate> Designates the line end point X coordinate (0 to 511). <End point Y coordinate> Designates the line start point Y coordinate (0 to 479).
X axis axis

(End X coordinate, end Y coordinate)

(Start X coordinate, start Y coordinate)

Line window (Length and angle designation): <Length> Designates the line length from 1 to 512. <angle> Designates the angle of the line. If this is ignored, 0 degrees is set as the default.
X axis

axis Length

Angle

Circle window: <Radius> Designates the radius of a circle (1 to 240).

X axis

axis Radius

21-15

Ellipse window: <Width> Designates the width of an ellipse (1 to 256). <Height> Designates the height of an ellipse (1 to 240).

X axis a xis axis Width

Height

Sector window: <Outer diameter>

Designates the outer diameter of a sector (outer diameter > inner diameter) (1 to 9999). <Inner diameter> Designates the inner diameter of a sector (outer diameter > inner diameter) (1 to 9999). <Start angle> Designates the start angle of a sector (-720 to 720). <End angle> Designates the end angle of a sector (-720 to 720). <Partition angle> Designates the resolution for processing (0.1 to 360). <Mode> Designates the mode to draw (0 to 2). 0: Designates the VISPROJ and VISEDGE scanning direction to the meridian. 1: Designates the VISPROJ and VISEDGE scanning direction to the periphery of a circle. 2: Does not designate the VISPROJ and VISEDGE scanning direction. If this is ignored, 0 is entered.

X axis Y axis

Outer diameter Inner diameter Start angle End angle

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Chapter 21 Vision Control (Option)

Rectangle window: <Width> Designates the width of a rectangle (1 to 512). <Height> Designates the height of a rectangle (1 to 480). <Angle> Designates the angle of the line. If this is ignored, 0 degrees is entered (-720 to 720). <Mode> Designates the mode to draw (0 to 2). 0: Designates the VISPROJ and VISEDGE scanning direction to the width direction. 1: Designates the VISPROJ and VISEDGE scanning direction to the height direction. 2: Does not designate the VISPROJ and VISEDGE scanning direction. If this is ignored, 0 is set as the default.
X axis Y axis Height Angle

Width

Note (1): This instruction does not change the initial setting. When restarting the system with the power OFF, the initial setting values are restored. Note (2): If it is necessary to permanently change, delete the data with the WINCAPSII VisManager. Note (3): To execute this instruction, a Vision board (option) is required.

Related Terms
VISHIST, VISBINA, VISFILTER, VISMASK, VISMEASURE, VISPROJ, VISEDGE, VISREADQR, BLOB, SHMODEL, SHCORNER, SHCIRCLE

21-17

Example
VISSCREEN 1, 0, 1 VISCLS 0 VISCAMOUT 1 CAMIN 1 VISPLNOUT 0 WINDMAKE P, 1, 50, 100, 100, 150 WINDMAKE L, 2, 100, 45 WINDMAKE C, 3, 50 WINDMAKE E, 4, 50, 100 WINDMAKE S, 5, 100, 80, 90, 300, 1, 2 WINDMAKE R, 6, 100, 50, 45, 2 VISMEASURE 1, 100, 100, 1, 1, 128 WINDDISP VISMEASURE 2, 150, 150, 1, 1, 128 WINDDISP 2 VISMEASURE 3, 200, 200, 1, 1, 128 WINDDISP 3 VISMEASURE 4, 250, 250, 1, 1, 128 WINDDISP 4 VISMEASURE 5, 300, 300, 1, 1, 128 WINDDISP 5 VISMEASURE 6, 350, 350, 1, 1, 128 WINDDISP 6 ' ' ' ' ' 'Creates a line window (2 point designation). 'Creates a line window (Length and angle 'designation). 'Creates a circle window. 'Creates an ellipse window. 'Creates a sector window. 'Creates a rectangle window. ' ' ' ' ' ' ' ' ' ' ' '

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Chapter 21 Vision Control (Option)

WINDCLR (Statement)
Function
Deletes set window information.

Format
WINDCLR <Window number>

Explanation
<Window number> Designates the window number (0 to 511). Note (1): This instruction does not change the initial setting. When restarting the system with the power OFF, the initial setting values are restored. Note (2): If it is necessary to permanently delete data, delete if with the WINCAPSII VisManager. Note (3): To execute this instruction, a Vision board (option) is required.

Related Terms
WINDMAKE

Example
VISSCREEN 1, 0, 1 ' VISCLS 0 ' VISCAMOUT 1 ' WINDMAKE R, 1, 50, 100, 0, 2 ' FOR I1 = 0 TO 7 ' FOR I2 = WINDREF(1, I1) 'Obtains window number 1 data. FOR VISLOC 0, I1 'Sets the position to display. FOR VISPRINT Data;I1;=;I2 'Displays the window. NEXT I1 ' WINDCLR 1 ' VISLOC 0, 9 ' VISPRINT After deletion of window information ' FOR I1 = 0 TO 7 ' FOR I2 = WINDREF(1, I1) 'Obtains window number 1 data. FOR VISLOC 0, 10+I1 'Sets the position to display. FOR VISPRINT Data;I1;=;I2 'Displays the window. NEXT I1 '

21-19

WINDCOPY (Statement)
Function
Copies window data.

Format
WINDCOPY <Copy source window number>, <Copy destination window number>

Explanation
<Copy source window number> <Copy destination window number> Designates the window number from which data will be copied (0 to 511). Designates the window number to which data will be copied (0 to 511).

Note (1): This instruction does not change the initial setting. When restarting the system with power the OFF, the copied setting is lost. Note (2): To execute this instruction, a Vision board (option) is required.

Related Terms
WINDMAKE

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Chapter 21 Vision Control (Option) Example

VISSCREEN 1, 0, 1 VISCLS 0 VISCAMOUT 1 WINDCLR 2 WINDMAKE R, 1, 50, 100, 0, 2 VISLOC 0, 0 VISPRINT Copy source window information FOR I1 = 0 TO 7 FOR I2 = WINDREF(1, I1) FOR VISLOC 0, 1+I1 FOR VISPRINT Data;I1;=;I2 NEXT I1 VISLOC 0, 9 VISPRINT Before window information copy FOR I1 = 0 TO 7 FOR I2 = WINDREF(2, I1) FOR VISLOC 0, 10+I1 FOR VISPRINT Data;I1;=;I2 NEXT I1 WINDCOPY 1, 2 VISLOC 0, 18 VISPRINT After window information copy FOR I1 = 0 TO 7 FOR I2 = WINDREF(2, I1) FOR VISLOC 0, 19 + I1 FOR VISPRINT Data;I1;=;I2 NEXT I1 ' ' ' ' ' ' ' ' 'Obtains window number 1 data. 'Sets the position to display. 'Displays the window. ' ' ' ' 'Obtains window number 1 data. 'Sets the position to display. 'Displays the window. ' ' ' ' ' 'Obtains window number 1 data. 'Sets the position to display. 'Displays the window. '

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WINDREF (Function)
Function
Obtains window information.

Format
WINDREF (<window number>, <Item>)

Explanation
This statement designates the window number with <Window number>(0 to 511). Designates the number to obtain the data with <Item>(0 to 7). Item number 0: Presence of the Item number 0: window setting Item number 1: Window shape Return value Present = 0 Not present = -1 Return value (Refer to the table below.) Item number 2: Window reference point X coordinates Item number 3: Window reference point Y coordinates Item number 4~9: Windows each Return value for each setting Item number 4~9: setting data data (Refer to the table below.)
Item Window shape Line (2 Point Designation) Line (Length and Angle Designation) Circle Ellipse Sector Rectangle 1 0 1 2 3 4 5 4 Start Point X Coordinate Length Radius Width Outer diameter Width 5 Start Point Y Coordinate Angle -1 Height Inner diameter Height 6 End Point X Coordinate -1 -1 -1 Start angle Angle 7 End Point Y Coordinate -1 -1 -1 End angle Mode 8 -1 -1 -1 -1 Partition angle -1 9 -1 -1 -1 -1 Mode -1

Note (1): If nothings is set, a return value of -1 is set as the default. Note (2): Data obtained is not the initially set data but the current set data. Note (3): To execute this instruction, a Vision board (option) is required.

Related Terms
WINDMAKE

Example
VISSCREEN 1, 0, 1 VISCLS 0 VISCAMOUT 1 WINDMAKE R, 1, 50, 100, 0, 2 FOR I1 = 0 TO 7 FOR I2 = WINDREF(1, I1) FOR VISLOC 0, I1 FOR VISPRINT Data;I1;=;I2 NEXT I1 ' ' ' ' ' 'Obtains window number 1 data. 'Sets the display position. 'Displays the window. '

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Chapter 21 Vision Control (Option)

WINDDISP (Statement)
Function
Draws a designated window.

Format
WINDDISP <Window number>

Explanation
This statement designates the window number with <Window number> (0 to 511). Note (1): In window information, there is a reference point to process a window. This data is determined with each image process instruction. Therefore, if you execute this instruction after process instructions are executed , the window will be displayed at a right position. Note (2): Just after a new window is set, the window reference point is set to X = 0 and Y = 0. Note (3): A screen to draw becomes the one set with VISSCREEN. Note (4): To execute this instruction, a Vision board (option) is required.

Related Terms
WINDMAKE, VISSCREEN

Example
VISOVERLAY 1 VISSCREEN 1, 0, 1 WINDMAKE R, 1, 200, 200, 0, 2 WINDDISP 1 VISHIST 1, 100, 100 WINDDISP 1 'Displays draw only screen number 0 on the 'monitor. 'Instantaneously draws on draw screen number 0. 'Creates a rectangular window. 'Displays the window (with the reference point of 'X=0 and Y=0). 'Executes histogram processing. 'Displays the window (with the reference point of 'X=100 and Y=100).

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21.5 Draw
VISSCREEN (Statement)
Function
Designates a drawing screen.

Format
VISSCREEN <Draw object>, <Screen number>[, <Draw mode>]

Explanation
<Draw object> Designates the storage memory or overlay memory (screen) (0 or 1). 0: Storage memory (Processing screen) 1: Overlay memory (Draw only screen) <Screen number> Screen number on each screen Storage memory (Processing screen): 4 screens from 0 to 3 Overlay memory (Draw only screen): 2 screens, 0 and 1. <Draw mode> Designates the display drawing method(0 or 1). 0: Instant display OFF 1: Instant display ON If ignored, 1 is the default setting. Note (1): When you turn ON the power, VISSCREEN 1, 0, 1 are set as the initial setting. Note (2): When the system executes the draw instruction with instant display ON, the draw result is displayed on the monitor. However, with instant display OFF, the screen is renewed after the execution of instructions corresponding to the draw object of either VISPLNOUT or VISOVERLAY. Note (3): With instant draw ON, when the draw instruction is executed, it takes about 0.02 seconds for the system to renew. Therefore, if you frequently repeat drawing, requirement time rapidly accumulates. By setting the instant draw to OFF and displaying all objects once, it is possible to save processing time. Note (4): For this instruction, a Vision board (option) is required.

Related Terms
VISBRIGHT, VISCLS, VISPUTP, VISLINE, VISPTP, VISRECT, VISCIRCLE, VISELLIPSE, VISSECT, VISCROSS, VISLOC, VISDEFCHAR, VISPRINT

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Chapter 21 Vision Control (Option) Example

VISSCREEN 1,0,1 VISCLS 0 FOR I1 = 100 TO 200 STEP 2 FOR VISRECT I1,I1,200,200 NEXT I1 VISCLS 0 VISSCREEN 1,0,0 FOR I1 = 100 TO 200 STEP 2 FOR VISRECT I1,I1,200,200 NEXT I1 VISOVERLAY 1 'Instantaneously draws the drawing screen 0. ' ' 'Draws a rectangle with a width of 200 and a height of 200. ' 'Clears the screen. 'Draws on drawing only screen 0. ' 'Draws a rectangle with a width of 200 and a height of 200. ' 'Displays (Renews) draw only screen 0 on the monitor.

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VISBRIGHT (Statement)
Function
Designates a drawing brightness value.

Format
VISBRIGHT <Brightness value>

Explanation
<Brightness value> Designates a drawing brightness value (0 to 255). Note (1): If a drawing object is in the storage memory (Processing screen), it is drawn with a designated brightness. If it is in the overlay memory (draw only memory), the following brightness will be used. Brightness value 128 to 255 : 255 (White) Brightness value 1 to 127 : 0 (Black) Brightness value 0 : Through (Transparent) Note (2): When you turn ON the power, VISBRIGHT 255 is set as the default setting. Note (3): For this instruction, a Vision board (option) is required.

Related Terms
VISSCREEN, VISCLS, VISPUTP, VISLINE, VISPTP, VISRECT, VISCIRCLE, VISELLIPSE, VISSECT, VISCROSS, VISLOC, VISDEFCHAR, VISPRINT

Example
VISPLNOUT 0 VISSCREEN 0,0,1 VISCLS 0 FOR I1 = 10 TO 200 STEP 5 FOR VISBRIGHT I1 FOR VISRECT 100+I1,100,200,200 NEXT I1 DELAY 500 VISCLS 0 VISSCREEN 1,0,1 FOR I1 = 10 TO 200 STEP 5 FOR VISBRIGHT I1 FOR VISRECT 100+I1,100,200,200 NEXT I1 'Displays storage memory 0 (processing screen). 'Instantaneously draws on processing screen 0. ' ' ' 'Draws a rectangle with a width of 200 and a height of 200. ' 'Stops for 0.5 seconds. 'Clears the screen. 'Instantaneously draws on draw only screen 0. ' ' 'Draws a rectangle with a width of 200 and a height of 200. '

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Chapter 21 Vision Control (Option)

VISCLS (Statement)
Function
Fills (clears) a designated screen, set in a mode with a designated brightness.

Format
VISCLS [<Mode>[,<Brightness value>]]

Explanation
<Mode> (0~3) If ignored, 2 is set. 0: Fills the screen set with VISSCREEN instruction with a designated brightness. 1: Fills the entire processing screen with a designated brightness. 2: Fills the entire screen with a designated brightness. 3: Fills all screens with a designated brightness. <Brightness value> Designates the brightness value for coating (clearing). (0 to 255). If ignored, 0 will be the default setting. Note (1): If a drawing object is in the storage memory (Processing screen), it is cleared with a designated brightness. If it is in the overlay memory (draw only memory), the following brightness will be used. Brightness value 128 to 255 : 255 (White) Brightness value 1 to 127 : 0 (Black) Brightness value 0 : Through (Transparent) Note (2): For this instruction, a Vision board (option) is required.

Related Terms
VISSCREEN

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Example
VISSCREEN 1,0,1 VISCLS 0 VISSCREEN 1,1,1 VISCLS 0 VISPLNOUT 0 VISSCREEN 0,0,1 FOR I1 = 10 TO 200 STEP 5 FOR VISCLS 0,I1 NEXT I1 DELAY 500 VISCLS 0 VISRECT 200,200,200,200 DELAY 500 VISCLS 0 VISCAMOUT 1 VISSCREEN 1,0,1 VISRECT 100,100,200,200 DELAY 500 VISCLS 0 VISCLS 0,127 DELAY 500 VISCLS 0,255 DELAY 500 VISCLS 0 ' ' ' ' 'Displays storage memory 0 (processing screen). 'Instantaneously draws on processing screen 0. ' 'Fills the screen with the designated brightness of I1. ' 'Stops for 0.5 seconds. 'Fills the screen with brightness 0. 'Draws a rectangle with a width of 200 and a height of 200. 'Stops for 0.5 seconds. 'Fills a rectangle on the drawing screen. ' 'Instantaneously draws on draw only screen 0. 'Draws a rectangle with a width of 200 and a height of 200. 'Stops for 0.5 seconds. 'Fills a rectangle on the draw screen. 'Fills the drawing screen black. 'Stops for 0.5 seconds. 'Fills the draw screen white. 'Stops for 0.5 seconds. 'Sets the drawing screen to transparent.

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Chapter 21 Vision Control (Option)

VISPUTP (Statement)
Function
Draws a point on the screen.

Format
VISPUTP <X coordinate >, <Y coordinate >

Explanation
<X coordinate > Designates the X coordinate in order to draw a point. <Y coordinate > Designates the Y coordinate in order to draw a point. Note (1): The values of the X and Y coordinates are not checked. Fven if they are out of the permissible drawing range, no error will result. Note (2): The object screen is the screen set with VISSCREEN. Note (3): The brightness value for drawing is the brightness designated with VISBRIGHT. Note (4): For this instruction, a Vision board (option) is required.

X axis axis

( X coordinate, Y coordinate)

Related Terms
VISSCREEN, VISBRIGHT

Example
VISPLNOUT 0 VISSCREEN 0,0,1 VISCLS 0 VISBRIGHT 255 FOR I1 = 10 TO 200 STEP 5 FOR VISPUTP 100+I1,100 NEXT I1 'Displays storage memory 0 (processing screen). 'Instantaneously draws on processing screen 0. 'Clears the screen. 'Sets the brightness value for drawing. ' 'Draws a point at the coordinates (100+I1,100). '

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VISLINE (Statement)
Function
Draws a line on the screen.

Format
VISLINE<X coordinate >, <Y coordinate >, <Length> [, <Angle>]

Explanation
<X coordinate > Designates the X coordinate in order to draw a line. <Y coordinate > Designates the Y coordinate in order to draw a line. <Length> Designates the length of the line to be drawn. <Angle> Designates the angle of the line to be drawn. If ignored, 0 degrees will be the default setting. Note (1): The values of the X and Y coordinates, lengths, and angles are not checked. Even if they are out of the permissible drawing range, no error will result. Note (2): The object screen is the screen set with VISSCREEN. Note (3): The brightness value for drawing is the same as the brightness designated with VISBRIGHT. Note (4): For this instruction, a Vision board (option) is required.

X axis axis (0, 0)

Length Angle

(X coordinate, Y coordinate)

Related Terms
VISSCREEN, VISBRIGHT

Example
VISPLNOUT 0 VISSCREEN 0,0,1 VISCLS 0 VISBRIGHT 255 FOR I1 = 0 TO 360 STEP 5 FOR VISLINE 256,256,100,I1 NEXT I1 'Displays storage memory 0 (processing screen). 'Instantaneously draws on processing screen 0. 'Clears the screen. 'Sets the brightness value for drawing. ' 'Draws a line with a length of 100. '

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Chapter 21 Vision Control (Option)

VISPTP (Statement)
Function
Draws a line connecting two points on the screen.

Format
VISPTP <Start point X coordinate >, <Start point Y coordinate >, <End point X coordinate >, <End point Y coordinate >

Explanation
<Start point X coordinate > <Start point Y coordinate > <End point X coordinate > <End point Y coordinate > Designates the start point of the X coordinate of the line to be drawn. Designates the start point of the Y coordinate of the line to be drawn. Designates the end point of the X coordinate of the line to be drawn. Designates the end point of the Y coordinate of the line to be drawn.

Note (1): The values of the X and Y coordinates are not checked. Even if they are out of the permissible drawing range, no error will result. Note (2): The object screen is the screen set with VISSCREEN. Note (3): The brightness value for drawing is the same as the brightness designated with VISBRIGHT. Note (4): For this instruction, a Vision board (option) is required.
X axis axis

(End X coordinate, end Y coordinate)

(Start X coordinate, start Y coordinate)

Related Terms
VISSCREEN, VISBRIGHT

Example
VISPLNOUT 0 VISSCREEN 0,0,1 VISCLS 0 VISBRIGHT 255 FOR I1 = 200 TO 300 FOR VISPTP 100,100,200,I1 NEXT I1 'Displays storage memory 0 (processing screen). 'Instantaneously draws on processing screen 0. 'Clears the screen. 'Sets the brightness value for drawing. ' 'Draws a line connecting two points. '

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VISRECT (Statement)
Function
Draws a rectangle on the screen.

Format
VISRECT <X coordinate >, <Y coordinate >, <Width>, <Height>[, <Mode>[, <Angle>] ]

Explanation
<X coordinate > Designates the X coordinate of the rectangle to be drawn. <Y coordinate > Designates the Y coordinate of the rectangle to be drawn. <Width> Designates the width of the rectangle to be drawn. <Height> Designates the height of the rectangle to be drawn. <Mode> Designates the mode for drawing. 0: Draws only an outline of the rectangle. 1: Draws a whole coated screen. If ignored, 0 will be the default setting. <Angle> Designates the angle of the line to be drawn. If ignored, 0 degrees is will be the default setting. Note (1): Values of X and Y coordinates, lengths and angles are not checked. If they are out of the permissible drawing range, no error will result. Note (2): The object screen is the screen set with VISSCREEN. Note (3): The brightness value for drawing is the same as the brightness designated with VISBRIGHT. Note (4): For this instruction, a Vision board (option) is required.
X axis axis Height (X coordinate, Y coordinate) Angle

Width

Related Terms
VISSCREEN, VISBRIGHT

Example
VISPLNOUT 0 VISSCREEN 0,0,1 VISCLS 0 VISBRIGHT 255 FOR I1 = 0 TO 360 STEP 5 FOR VISRECT 256,256,100,100,0,I1 NEXT I1 VISRECT 200,200,50,50,1,45 'Displays the storage memory 0 (processing screen). 'Instantaneously draws on the processing screen 0. 'Clears the screen. 'Sets the brightness value for the drawing. ' 'Draws a rectangle with a height of 100 and width of 100. ' 'Draws a coated rectangle with a height of 50 and width of 50.

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Chapter 21 Vision Control (Option)

VISCIRCLE (Statement)
Function
Draws a circle on the screen.

Format
VISCIRCLE <X coordinate >, <Y coordinate >, <Radius> [, <Mode>]

Explanation
<X coordinate > Designates the X coordinate of the circle to be drawn. <Y coordinate > Designates the Y coordinate of the circle to be drawn. <Radius> Designates the radius of the circle to be drawn. <Mode> Designates the mode of drawing. 0: Draws only an outline of a circle 1: Draws a whole filled circle. If ignored, 0 will be the default setting. Note (1): The values of the X and Y coordinates and the radius are not checked. Even if they are out of the permissible drawing range, no error will result. Note (2): The object screen is the screen set with V ISSCREEN. Note (3): The brightness value for drawing is the same as the brightness designated with VISBRIGHT. Note (4): For this instruction, a Vision board (option) is required.

X axis axis Radius (X coordinate, Y coordinate)

Related Terms
VISSCREEN, VISBRIGHT

Example
VISPLNOUT VISSCREEN VISCLS 0 VISBRIGHT VISCIRCLE VISCIRCLE 0 0,0,1 'Displays storage memory 0 (processing screen). 'Instantaneously draws on processing screen 0. 'Clears the screen. 255 'Sets the brightness value for drawing. 255,255,100 'Draws a circle with a radius of 100. 200,200,50,1 'Draws a filled circle with a radius 50.

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VISELLIPSE (Statement)
Function
Draws an ellipse on the screen.

Format
VISELLIPSE <X coordinate >, <Y coordinate >, <Width>, <Height> [, <Mode>]

Explanation
<X coordinate > Designates the X coordinate of the ellipse to be drawn. <Y coordinate > Designates the Y coordinate of the ellipse to be drawn. <Width> Designates the width of the ellipse to be drawn. <Height> Designates the height of the ellipse to be drawn. <Mode> Designates the mode of drawing. 0: Draws only an outline of an ellipse. 1: Draws a whole filled ellipse. If ignored, 0 will be the default setting. Note (1): The values of the X and Y coordinates and the radius are not checked. Even if they are out of the permissible drawing range, no error will result. Note (2): The object screen is the screen set with VISSCREEN. Note (3): The brightness value for drawing is the same as the brightness designated with VISBRIGHT. Note (4): For this instruction, a Vision board (option) is required.
X axis axis Width Height (X coordinate, Y coordinate)

Related Terms
VISSCREEN, VISBRIGHT

Example
VISPLNOUT 0 VISSCREEN 0,0,1 VISCLS 0 VISBRIGHT 255 VISELLIPSE 255,255,100,50 VISELLIPSE 255,255,50,100,1 'Displays storage memory 0 (processing screen). 'Instantaneously draws on processing screen 0. 'Clears the screen. 'Sets the brightness value for drawing. 'Draws an ellipse with a width of 50 and a height of 100. 'Draws a coated ellipse with a width of 50 and a height 100.

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Chapter 21 Vision Control (Option)

VISSECT (Statement)
Function
Draws a sector on the screen.

Format
VISSECT <X coordinate>, <Y coordinate>, <Outer diameter>, <Inner diameter>, <Start angle>, <End angle>

Explanation
<X coordinate > Designates the X coordinate of the sector to be drawn. <Y coordinate > Designates the Y coordinate of the sector to be drawn. <Outer diameter> Designates the outer diameter of the sector to be drawn. <Inner diameter> Designates the inner diameter of the sector to be drawn. <Start angle> Designates the start angle of the sector to be drawn. <End angle> Designates the end angle of of the sector to be drawn. Note (1): Designated values are not checked. Even if they are out of the permissible drawing range, no error will result. Note (2): The object screen is the screen set with VISSCREEN. Note (3): The brightness value for drawing is the same as the brightness designated with VISBRIGHT. Note (4): For this instruction, a Vision board (option) is required.

X axis axis R1: Outer diameter R2: Inner diameter 1: Start angle 2: End angle (X coordinate, Y coordinate)

Related Terms
VISSCREEN, VISBRIGHT

Example
VISPLNOUT 0 VISSCREEN 0,0,1 VISCLS 0 VISBRIGHT 255 VISSECT 255,255,100,50,100,260 'Displays storage memory 0 (processing screen). 'Instantaneously draws on processing screen 0. 'Clears the screen. 'Sets the brightness value for drawing. 'Draws a sector.

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VISCROSS (Statement)
Function
Draws a cross symbol on the screen.

Format
VISCROSS <X coordinate>, <Y coordinate>[, <Axis length 1>[, <Axis length 2> [, <Angle>] ] ]

Explanation
<X coordinate > <Y coordinate > <Axis length 1> <Axis length 2> <Angle> Designates the X coordinate of the cross symbol to be drawn. Designates the Y coordinate of the cross symbol to be drawn. Designates the axis length of the cross symbol to be drawn. If ignored, 10 will be the default setting. Designates the axis length of the cross symbol to be drawn. If ignored, 10 will be the default setting. Designates the angle of the cross symbol to be drawn. If ignored, 0 degrees will be the default setting.

Note (1): Designated values are not checked. Even if they are out of the permissible drawing range, no error will result. Note (2): The object screen is the screen set with VISSCREEN. Note (3): The brightness value for drawing is the same as the brightness designated with VISBRIGHT. Note (4): For this instruction, a Vision board (option) is required.

X axis axis Axis length 1 Axis length 2

Angle

(X coordinate, Y coordinate)

Related Terms
VISSCREEN, VISBRIGHT

Example
VISPLNOUT 0 VISSCREEN 0,0,1 VISCLS 0 VISBRIGHT 255 VISCROSS 255,255,10,20,45 'Displays storage memory 0 (processing screen). 'Instantaneously draws on processing screen 0. 'Clears the screen. 'Sets the brightness value for drawing. 'Draws a cross symbol.

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Chapter 21 Vision Control (Option)

VISLOC (Statement)
Function
Designates the display position of characters.

Format
VISLOC <X position>, <Y position>[, <Mode>]

Explanation
<X coordinate > Designates the X coordinate of the character to be drawn. <Y coordinate > Designates the Y coordinate of the character to be drawn. <Mode> Designates the coordinate mode of X and Y position data. If ignored, 0 will be the default setting. 0: Designates by column and line. 1: Designates with the XY coordinate system. The values to designate are not checked. Even if they are out of the drawing range, no error will result. Additionally, if they are out of the range, this instruction becomes invalid and the previously set value will be used. Note (1): When you turn ON the power, VISLOC 0, 0, 0 will be set as the initial setting. Note (2): If you set the mode to 0, the system will memorize the end position of the characters after they are drawn. Note (3): If the right of characters exceeds the end of a line, the system automatically feeds more lines. Note (4): For this instruction, a Vision board (option) is required.

(0, 0)

64

(0, 0)

(63, 29) Mode Mode When the processing screen is an object. (0, 0) (-56, 0)

(511, 479)

(77, 29) Mode

(567, 479)

Mode 1 (Display position at center) When the draw screen is an object.

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Related Terms
VISPRINT

Example
VISPLNOUT 0 VISSCREEN 0,0,1 VISCLS 0 VISBRIGHT 255 VISLOC 10,10 VISPRINT Test mode 0 VISLOC 10,10,1 VISPRINT Test mode 1 VISPRINT Continuing Test mode 'Displays storage memory 0 (processing screen). 'Instantaneously draws on processing screen 0. 'Clears the screen. 'Sets the brightness value for drawing. 'Designates the position to display characters. ' 'Designates the position to display characters. ' 1 ' VISPRINT ******** Line feed ********

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Chapter 21 Vision Control (Option)

VISDEFCHAR (Statement)
Function
Designates the size of characters and the display method.

Format
VISDEFCHAR <Lateral size>, <Longitudinal size>, <Display method>

Explanation
<Lateral size> Designates the lateral size of character (1 to 4). <Longitudinal size> Designates the longitudinal size of characters (1 to 4). <Display method> Designates the display method of characters (0 to 3). 0: White 1: Black 2: Outline characters on a white background 3: Outline characters on a black background Note (1): When you turn ON the power, VISDEFCHAR 1, 1, 0 will be set as the initial setting. Note (2): The standard character size is 16 (longitudinal) x 16 lateral dots a (VISDEFCHAR 1, 1, *).
DENSO

VISDEFCHAR 1,1,1

DENSO

VISDEFCHAR 2,2,1

Note (3): If you set white or black, only characters are displayed with the background remaining. Note (4): For characters on a black background, the background is set to black and characters to white. For characters on a white background, the background is set to white and characters to black. Therefore, characters which are hard to read can be seen clearly. Note (5): For this instruction, a Vision board (option) is required.

Related Terms
VISPRINT

Example
VISPLNOUT 0 'Displays storage memory 0 (processing screen). VISSCREEN 0,0,1 'Instantaneously draws on processing screen 0. VISCLS 128 'Clears the screen. VISLOC 10,10 'Sets the display position. VISDEFCHAR 1,1,0 'Designates the character size and the display method. VISPRINT Size 1 ' VISLOC 10,11 'Sets the display position. VISDEFCHAR 2,2,1 'Designates the character size and the display method. VISPRINT Size 2 ' VISLOC 10,13 'Sets the display position. VISDEFCHAR 2,2,2 'Designates the character size and the display method. VISPRINT Outline character on white background VISDEFCHAR 2,2,3 'Designates the character size and the display method. VISPRINT Outline character on black background

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VISPRINT (Statement)
Function
Displays characters and figures on the screen.

Format
VISPRINT <Message>[<Separator><Message> ]

Explanation
<Message> Designates characters, variables and constants specified in . <Separator> Uses a comma (,) or semicolon (;). Comma: Creates blank spaces between messages. Semicolon: No spaces between messages. If you designate a comma or semicolon at the end of <Message>, no line feed is generated and the next display with VISPRINT continues from that line.

Related Terms
VISSCREEN, VISBRIGHT, VISLOC, VISDEFCHAR

Example
VISPLNOUT 0 'Displays storage memory 0 (processing screen). VISSCREEN 0,0,1 'Instantaneously draws on processing screen 0. VISCLS 0 'Clears the screen. VISLOC 10,10 'Sets the display position. VISDEFCHAR 1,1,0 'Designates the character size and the display method. I1= 10 ' F1 = 0.999 ' VISPRINT Integer variable I1=;I1,Real variable F1=;F1

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Chapter 21 Vision Control (Option)

21.6 Vision Processing

VISWORKPLN (Statement)
Function
Designates the storage memory (process screen) to process.

Format
VISWORKPLN <Storage memory number>

Explanation
<Storage memory number> Designates the storage memory number to process (0 to 3). If ignored, 0 is set. Note (1): When you turn ON the power, VISWORKPLN 0 is the initial setting. Note (2): For this instruction, a Vision board (option) is required.

Related Terms
VISGETP, VISHIST, VISBINA, VISMEASURE, VISPROJ, VISEDGE, VISREADQR, BLOB, SHDEFMODEL, SHMODEL, SHCORNER, SHCIRCLE

Example
VISWORKPLN 0 'Designates the processing object to storage memory 0.

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VISGETP (Function)
Function
Obtains designated (processing screen). coordinate brightness from the storage memory

Format
VISGETP (<Coordinate X>, <Coordinate Y>)

Explanation
<Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). Note (1): Note (2): The processing object is the screen designated with VISWORKPLN. For this instruction, a Vision board (option) is required.
X axis Y axis

(X coordinate, Y coordinate)

Related Terms
VISWORKPLN

Example
VISPLNOUT 0 FOR I1 = 10 TO 200 STEP 5 I2 = VISGET P(100+I1,100) 'Displays storage memory 0 (process screen). ' 'Assigns the brightness value of the (100+I1, 100) coordinates to 'I2. VISLOC 10,10 'Sets the display position. VISDEFCHAR 1,1,3 'Designates the display character size and the display mode. VISPRINT brightness value =;I2 ' NEXT I1

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Chapter 21 Vision Control (Option)

VISHIST (Statement)
Function
Obtains the histogram (brightness distribution) of the screen.

Format
VISHIST <Window number>, <Coordinate X>, <Coordinate Y>

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). Note (1): Note (2): Note (3): Designate the process area with a window. If the designated window position is out of screen, the execution will result in an error. The only possible window shape that you may designate is a rectangle with 0 degrees. If another window shape is designated, an error will result. The processing object is the screen designated with VISWORKPLN. It is possible to read the processing result with the VISREFHIST instruction. The memory stores the processing result. It will be kept until this instruction is executed again. For this instruction, a Vision board (option) is required.

Note (4): Note (5): Note (6): Note (7):

Related Terms
WINDMAKE, VISWORKPLN, VISREFHIST

Example
'Sets window 1 to rectangle. 'Obtains a camera image from the storage memory. 'Sets the processing object screen for storage memory 0. 'Executes the histogram for window 1 with the coordinates '(100, 100) as the home position. FOR I1 = 0 TO 255 ' I2 = VISREFHIST(I1) 'Assigns the distribution data of the brightness value I1 to I2. VISLOC 10, 10 'Sets the display position. VISDEFCHAR 1,1,3 'Designates the display character size and the display mode. VISPRINT Distribution data=;I2 ' NEXT I1 WINDMAKE R,1,100,100,0,2 CAMIN 1 VISWORKPLN 0 VISHIST 1,100,100

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VISREFHIST (Function)
Function
Reads histogram results.

Format
VISREFHIST (<Brightness value >)

Explanation
<Brightness value> Designates the brightness value of the histogram to read (0 to 255).

Related Terms
VISHIST

Example
WINDMAKE R,1,100,100,0,2 CAMIN 1 VISWORKPLN 0 VISHIST 1,100,100 'Sets window 1 to rectangle. 'Obtains a camera image from the storage memory. 'Sets the processing object screen for storage memory 0. 'Executes the histogram for window 1 with the coordinates '(100, 100) as the home position. FOR I1 = 0 TO 255 ' I2 = VISREFHIST(I1) 'Assigns the distribution data of the brightness value I1 to I2. VISLOC 10, 10 'Sets the display position. VISDEFCHAR 1,1,3 'Designates the display character size and the display mode. VISPRINT Distribution data=;I2 ' NEXT I1

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Chapter 21 Vision Control (Option)

VISLEVEL (Function)
Function
Obtains a binarization level based on the histogram result.

Format
VISLEVEL (<Mode>[, <Reference area>[, <Processing object>] ] )

Explanation
<Mode> Designates the method of obtaining the binarization level (0 to 2). 0: Mode method 1: Discrimination analysis method 2: P tile method For details, refer to Part 1 6.1.1.5 Binarization. <Reference area> Designates the value of the area when the system obtains the binarization level by the tiling method P (1 to 245760). If this is ignored, 1 will be the default setting. <Processing object> Designates the object (white and black) when the system obtains the binarization level by the tiling method P (0 or 1). If this is ignored, 1 will be the default setting. 0: Black (accumulated from brightness value 0) 1: White(accumulated from brightness value 255) Note (1): Note (2): Note (3): Note (4): <Reference area> and <Processing object> are not used in the mode method and the discrimination analysis method. You should execute VISHIST before executing this function. If the designated data is incorrect, or the process result is an error, the return value will be 1. For this instruction, a Vision board (option) is required.

Related Terms
VISHIST

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Example
VISCLS 0 WINDMAKE R,1,100,100,0,2 CAMIN 1 VISWORKPLN 0 ' 'Sets window 1 to rectangle. 'Obtains a camera image from the storage memory. 'Sets the processing object screen to storage memory '0. VISHIST 1,100,100 'Executes the histogram in window 1 with the 'coordinates (100, 100) as the home position. WINDDISP 1 ' I2 = VISLEVEL(0) 'Obtains the binarization level using the mode 'method. VISLOC 10,10 ' IF I2 = -1 THEN VISPRINT Error ELSE VISPRINT Binarization levle=;I2 ' I2 = VISLEVEL(1) 'Obtains the binarization level using the 'discrimination analysis method. VISLOC 10,11 ' IF I2 = -1 THEN VISPRINT Error ELSE VISPRINT Binarization level=;I2 ' I2 = VISLEVEL(2,100,0) 'Obtains the binarization level using the P tile

method. VISLOC 10,12 ' IF I2 = -1 THEN VISPRINT Error ELSE VISPRINT Binarization level=;I2 '

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Chapter 21 Vision Control (Option)

VISBINA (Statement)
Function
Binarizes the screen.

Format
VISBINA <Window number>, <Coordinate X>, <Coordinate Y>, <Binary lower limit>[, <Binary upper limit>]

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). <Binary lower limit> Designates the upper level for binarization (0 to 254 lower limit < upper limit). <Binary upper limit> Designates the upper level for binarization (1 to 255 lower limit < upper limit). If this is ignored, 255 will be the default setting.

Binarization processing

Example of binarization

Note (1): Note (2): Note (3):

Note (4): Note (5):

Designate the process area with a window. If the designated window position is out of screen, the execution will result in an error. The only possible window shape that may be designated is a rectangle with 0 degrees. If another window shape is designated, an error will result. The processing object is the screen designated with VISWORKPLN. For this instruction, a Vision board (option) is required.

Related Terms
WIMDMAKE, VISWORKPLN

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Example
VISSCREEN 1,0,1 WINDMAKE R,1,100,100,0,2 CAMIN 1 VISWORKPLN 0 0. VISPLNOUT 0 VISBINA 1,100,100,128,255 WINDDISP 1 'Displays storage memory 0 on the monitor. 'Binarizes in the window. 'Draws the window. 'Instantaneously draws on drawing screen 0. 'Sets window 1 to rectangle. 'Obtains a camera image from the storage memory. 'Sets the processing object screen to storage memory

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Chapter 21 Vision Control (Option)

VISBINAR (Statement)
Function
Displays a binarized screen.

Format
VISBINAR <Mode>[, <Binary lower limit>[, Binary upper limit]]

Explanation
<Mode> Designates the mode to display the binarized screen (0 or 1). 0: Quits binarization display and returns to the original display. 1: Executes binarization display. <Binary lower limit> Designates the lower level for binarization (0 to 254 lower limit < upper limit). <Binary upper limit> Designates the upper level for binarization (1 to 255 lower limit < upper limit). If this is ignored, 255 will be the default setting. Note (1): Note (2): Note (3): Note (4): The whole screen being displayed on the current monitor will be binarized. The contents of the memory do not change even if the storage memory (process screen) is selected and displayed. Binarization display continues unless the mode is set to 0. For this instruction, a Vision board (option) is required.

Related Terms
VISBINA

Example
VISBINAR 1,128,255 VISCAMOUT 1 DELAY 5000 VISPLNOUT 0 DELAY 5000 VISBINAR 0 'Starts binarization display. 'Displays camera 1 on the monitor. 'Stops for 5 seconds. 'Displays storage memory 0 on the monitor. 'Stops for 5 seconds. 'Returns to the previous display.

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VISFILTER (Statement)
Function
Executes filtering on the screen.

Format
VISFILTER <Window number>, <Coordinate X>, <Coordinate Y>, <Process screen>, <Storage screen> [, <Mode>]

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). <process screen> Designates the storage memory number (0 to 3). <Storage screen> Designates the storage memory number to store filtering results (0~3). <Mode> Designates the type of filtering (3 x 3 space filtering). 0: minimum value filtering 1: maximum value filtering If this is ignored, 0 will be the default setting.
Before execution The values in square are brightness.

After execution If you execute the maximum value filtering, the center brightness is replaced with the maximum value among the 8 peripheral pixels. Therefore, if you execute all object processing ranges, fine points or lines in an image are deleted. On the other had, you can delete points and lines with high brightness by executing the minimum value filtering.

Maximum value filtering

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Chapter 21 Vision Control (Option)

Note (1): Note (2): Note (3): Note (4): If the process screen and the storage screen have the same number, an error will result. Designate the process area with a window. If the designated window position is out of screen, the execution will result in an error. The only possible window shape that may be designated is a rectangle with 0 degrees. If another window shape is designated, an error will result. For this instruction, a Vision board (option) is required.

Note (5):

Related Terms
WINDMAKE

Example
VISSCREEN 1,0,1 WINDMAKE R,1,100,100,0,2 CAMIN 1 VISPLNOUT 1 VISFILTER 1,100,100,0,1,0 VISFILTER 1,100,100,1,0,0 VISFILTER 1,100,100,0,1,0 VISFILTER 1,100,100,1,0,0 VISFILTER 1,100,100,0,1,0 WINDDISP 1 'Instantaneously draws on drawing screen 0. 'Sets window 1 to rectangle. 'Obtains a camera image from the storage memory. 'Displays storage memory 1 on the monitor. ' ' ' ' ' 'Draws the window.

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VISMASK (Statement)
Function
Executes calculations between images.

Format
VISMASK <Window number>, <Coordinate X>, <Coordinate Y>, <Screen 1>,<Screen 2>, <Mode> [, <Binary lower limit>[, <Binary upper limit>]]

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). <Screen 1> Designates the storage memory number to calculate (0 to 3). <screen 2> Designates the storage memory number to calculate. This is the storage destination for a processing result (0 to 3). <Mode> Designates the type of calculation between images(0 to 10). 0: Binary AND 1: Binary OR 2: Binary XOR 3: AND (Executes AND for each bit after the brightness value is binarized) 4: OR (Executes OR for each bit after the brightness value is binarized.) 5: XOR (Executes XOR for each bit after the brightness value is binarized.) 6: Addition (Sets 255 if the brightness value is 255 or more.) 7: Subtraction (Sets 0 if the brightness value is 0 or less.) 8: Maximum value (Selects a larger brightness value.) 9: Minimum value (Selects a smaller brightness value.) 10: Absolute value (the absolute value of the difference between brightness values.)

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Chapter 21 Vision Control (Option)

An image of image storage memory 0

After execution Addition An image of image storage memory 1

Example of addition for VISMASK) To delete an unnecessary section (IC pins) in the image, create the image with the draw instruction from image storage memory 1 (process screen 1) and add it to image storage memory 0 along with the brightness value. You can obtain the same result if you use the maximum value setting.

Note (1): Note (2): Note (3): Note (4):

Note (5): Note (6):

If the process screen and the storage screen have the same number, an error will result. Designate the process area with a window. If the designated window position is out of screen, the execution will result in an error. The only possible window shape that may be designated is a rectangle with 0 degrees. If another window shape is designated, an error will result. In calculation of binarization, screen 1 is also binarized. For this instruction, a Vision board (option) is required.

Related Terms
VISBINA

Example
VISSCREEN 0,0,1 'Instantaneously draws on storage memory 0. WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangle. CAMIN 1 'Obtains a camera image from the storage memory. VISCOPY 0,1 'Copies storage memory 0 to 1. VISBRIGHT 255 'Sets the drawing brightness to 255. VISRECT 100,100,100,100,1 'Draws a filled rectangle on the screen. VISPLNOUT 1 'Displays storage memory 1 on the monitor. VISMASK 1,0,0,0,1,10 'Calculates the absolute value of the difference between the 2 WINDDISP 1 'screens. 'Draws the window.

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VISCOPY (Statement)
Function
Copies the screen.

Format
VISCOPY <Copy source screen>, <Copy destination screen>

Explanation
<Copy source screen> <Copy destination screen> Designates the storage memory number of the copy source. (0 to 3) Designates the storage memory number of the copy destination.(0 to 3)

Note (1): Note (2):

Note (3):

If the copy source and copy destination numbers are the same, an error will result. If the copy destination number has been displayed on the screen, the system follows the designation of VISSCREEN draw mode. For this instruction, a Vision board (option) is required.

Related Terms
VISSCREEN

Example
VISSCREEN 1,0,1 CAMIN 1 VISCOPY 0,1 VISPLNOUT 1 'Instantaneously draws on drawing screen 0. 'Obtains a camera image from the storage memory. 'Copies storage memory 0 to 1. 'Displays storage memory 1 on the monitor.

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Chapter 21 Vision Control (Option)

VISMEASURE (Statement)
Function
Measures features in the window (area, center of gravity, main axis angle).

Format
VISMEASURE <Window number>, <Coordinate X>, <Coordinate Y>, <Processing object>, <Mode>, <Binary lower limit>[, <Binary upper limit>]

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). <Processing object> Designates the object to measure (0 or 1). 0: Black (brightness value < binary lower limit, binary upper limit < brightness value) 1: White (binary lower limit brightness value binary upper limit) <Mode> Designates the feature to measure. 0: Accumulated brightness, area 1: Accumulated brightness, area, center of gravity (primary moment) 2: Accumulated brightness, area, center of gravity (primary moment), main axis angle (secondary moment) Note (1): Note (2): The more the features are, the longer the time process takes. When this command is executed, the process screen 3 (VISWORKPLN 3) is used as a work area and data on the process screen 3 are not guaranteed. Also, you cannot use the process screen 3 for processing. For this instruction, a Vision board (option) is required.

Note (3):

Y axis Main axis angle

X axis Center of gravity (X, Y)

Main axis

<Binary lower limit> Designates the lower level for binarization (0 to 254 lower limit < upper limit). <Binary upper limit> Designates the upper level for binarization (1 to 255 lower limit < upper limit). If this is ignored, 255 will be the default setting.

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Note (1):

Designate the process area with a window. (Only the sector window cannot measure the main axis angle.)
: Available : not available Windmake P Windmake L Windmake C Windmake E Windmake S Windmake R 0 Mode 1 2

Line (2-point designation) Line (Length and angle) Circle Ellipse Sector Rectangle

Note (2): Note (3):

If the designated window position is out of screen, the execution will result in an error. The following data can be obtained with the processing result obtaining function.

n 0 1 2

VISSTATUS (n) Item Execution result 0= normal -1= abnormal unknown Execution time VISGETNUM (a, b) a=0 Area Center of gravity coordinate X value Center of gravity coordinate Y value Main axis angle Accumulated brightness Primary moment X Primary moment Y Secondary moment X Secondary moment Y Secondary moment XY

b 0 1 2 3 4 5 6 7 8 9

Note (4):

For this instruction, a Vision board (option) is required.

Related Terms
WINDMAKE, VISWORKPLN, VISGETNUM, VISSTATUS

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Chapter 21 Vision Control (Option) Example

'Instantaneously draws on storage memory 0. 'Sets window 1 to rectangle. 'Obtains a camera image from the storage memory. 'Designates the object from storage memory 0. ' 'Obtains the accumulated brightness, area, center of 'gravity and main axis angle. IF VISSTATUS(0) = 0.0 THEN ' FOR I1 = 0 TO 9 ' VISLOC 0,I1 ' VISPRINT Result;I1;=;VISGETNUM(0,I1) ' NEXT I1 ' END IF ' VISSCREEN 0,0,1 WINDMAKE R,1,512,480,0,2 CAMIN 1 VISWORKPLN 0 VISPLNOUT 0 VISMEASURE 1,0,0,1,2,128

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VISPROJ (Statement)
Function
Measures the projected data in the window.

Format
VISPROJ <Window number>, <Coordinate X>, <Coordinate Y>, <Processing object>, <Binary lower limit>[, <Binary upper limit>]

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). <Processing object> Designates the object to measure (0 or 1). 0: Black (brightness value < binary lower limit, binary upper limit < brightness value) 1: White (binary lower limit brightness value binary upper limit) <Binary lower limit> Designates the lower level for binarization (0 to 254 lower limit < upper limit). <Binary upper limit> Designates the lower level for binarization (1 to 255 lower limit < upper limit). If this is ignored, 255 will be the default setting. Note (1): Designate the processing range with a window.
: Available Line (2-point designation) Line (length and angle) Circle Ellipse Sector Rectangle : Not avalilable Windmake P Windmake L Windmake C Windmake E Windmake S Windmake R

Note (2):

If the designated window position is out of screen, the execution will result in an error.

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Chapter 21 Vision Control (Option)

Note (3): The following data can be obtained with the processing result obtaining function.

VISSTATUS (n) n 0 1 2 Item Execution result 0= Normal -1= Abnormal Unknown Execution time VISGETNUM (a, b) b 0 1 2 3 4 5 6 7 8 9 a = 0~511 Area unknown unknown unknown Brightness integration unknown unknown unknown unknown unknown

Note (4):

Note (5):

When this command is executed, the process screen 3 (VISWORKPLN 3) is used as a work area and data on the process screen 3 are not guaranteed. Also, you cannot use the process screen 3 for processing. For this instruction, a Vision board (option) is required.

Related Terms
WINDMAKE, VISWORKPLN, VISGETNUM, VISSTATUS

Example
VISSCREEN 0,0,1 'Instantaneously draws on storage memory 0. WINDMAKE R,1,100,20,0,1 'Sets window 1 to rectangle. CAMIN 1 'Obtains a camera image from the storage memory. VISWORKPLN 0 'Designates an object from storage memory 0. VISPROJ 1,100,100,1,128'Measures the project data. IF VISSTATUS(0) = 0.0 THEN ' FOR I1 = 0 TO 19 ' VISPRINT VISGETNUM(I1,0) ' NEXT I1 ' END IF '

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VISEDGE (Statement)
Function
Measures the edge in a window.

Format
VISEDGE<Window number>,<Coordinate X>,<Coordinate Y>, <Step>, <Processing object>, <Level>[,<Mode>[, <Binary lower limit>[,<Binary upper limit>]]]

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). <Step> Designates the scanning direction and the sampling rate (-511 to 511).
Edge scanning sampling step Step number = +1 Edge scanning direction Reference point Step number = +2 Edge scanning direction Reference point Edge scanning direction Step number = positive Edge scanning direction Reference point Start position Edge scan from left to right Edge scan from right to left In rectangle window (mode 0) In rectangle window (mode 0) Step number = negative Edge scanning direction Rererence point

Scanned every step

Scanned every 2 steps

<Processing object> Designates the objects to be measured (0 to 2) 0: Turning point from black to white (edge) 1: Turning point from white to black 2: Turning point (both edges 0 and 1)
Kind of edge When mode = 0 (black to white) Edge scanning direction When mode = 1 (white to black) Edge scanning direction

Edge position

Edge position

The edge scanning direction and the specified value of mode 1 determine the edge detecting position.

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Chapter 21 Vision Control (Option)

<Level> <Mode> Designates the level to detect the edge (0 to 512). Designates the method for detecting the edge. If this is ignored, 0 will be the default setting. 0: Absolute value of average brightness 1: Difference value of the average brightness 2: Absolute value of the area 3: Difference value of the area

Brightness average value Edge scanning direction (White to black) (Black to white)
In this example, the edge is detected from left to right in a rectangle window. The graph shows how the brightness changes with the brightness average. The window used is divided into units of 1 pixel, in the edge scanning direction. Brightness average value: An average value of one pixel obtained by dividing the brightness value measured in each divided pixel window by the number of pixels (n pixels) in each window. Specify the level value with the brightness average value (0~255).

pixel

Width 1 pixel

Brightness

Level

X Coordinate

Relation between Level and Edge

The graphs show the change in brightness in a window. The detected edge position is points a and b where the Edge scanning direction brightness passes a designated level in graph (1). Black to white White to black In graph (2), c is the point where the brightness reaebes the designated level. Level If the brightness does not reach the designated level, the edge Brightness of black to white is detected. If the brightness reaches a level higher than the designated level, the edge of white to black is detected. Coordinate X If the brightness changes from the same level as the designated level to a lower level value, like point d shown in Edge scanning direction graph (2), it is not detected as an edge.

Level Brightness White to black Black to white X Coordinate

<Binary lower limit> <Binary upper limit>

Designates the lower level for binarization (0 to 254 lower limit < upper limit). The default is 0. Designates the upper level for binarization (1 to 255 lower limit < upper limit) The default is 255.

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Note (1): Designate the processing range with a window.

: Available : Not available Line (2 point specification) Windmake P Line (Length, angle) Circle Ellipse Sector Rectangle Windmake L Windmake C Windmake E Windmake S Windmake R

Note (2): If the specified window is larger than the screen, an error will result. Note (3): The following data can be obtained with the processing result obtaining function.
VISSTATUS (n) n 0 1 2 Item Execution result 0= Normal -1= Abnormal Number of edges detected Execution time VISGETNUM (a, b) a = 0~511 Unknown Coordinate X value Coordinate Y value Angle(Note (4)) Unknown Unknown Unknown Unknown Unknown Unknown

b 0 1 2 3 4 5 6 7 8 9

Note (4): Gauging results (angle) can be obtained only when the processing range is specified in the sector window (mode=0). Note (5): The processing screen is the one defined by VISWORKPLN. Note (6): For this instruction, a Vision board (option) is required. Note (7): Increasing the number of steps reduces the detection time but lowers the resolving power for detection.

Related Terms
WINDMAKE, VISWORKPLN, VISGETNUM, VISSTATUS

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Chapter 21 Vision Control (Option) Example

VISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0. VISPLNOUT 0 ' VISCLS 0 ' WINDMAKE R,1,300,20,0,0 'Sets window 1 to rectangle. CAMIN 2 'Obtains a camera image from the storage memory. VISWORKPLN 0 'Designates the object to storage memory 0. VISPLNOUT 0 ' VISEDGE 1,100,100,1,0,128 'Measures an edge. WINDDISP 1 ' I1 = VISSTATUS(0) ' IF I1 = 0 THEN ' FOR I1 = 0 TO VISSTATUS(1)-1 ' VISCROSS VISPOSX(I1), VISPOSY(I1) ' NEXT I1 ' I1 = VISSTATUS(1) ' IF I1 = 0 THEN ' VISLOC 10,10 ' VISPRINT An edge cannot be found. ' END IF ' ELSEIF I1 <> 0 THEN ' VISLOC 10,10 ' VISPRINT Measurement cannot be done. ' END IF '

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21.7 Code Recognition

VISREADQR (Statement)
Function
Reads the QR code.

Format
VISREADQR <Window number>, <Coordinate X>, <Coordinate Y>, <Mode> [, <Binary lower limit>[, <Binary upper limit>] ]

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). <Mode> Designate the method for binarization. 0: Automatic binarization (Binarizes the process range with the decision analysis method.) 1: Designated value binarization (Binarizes based on the binarization level in the instructions.) <Binary lower limit> Designates the lower limit for binarization (0 to 254 lower limit < upper limit). If ignored, 0 is set. <Binary upper limit> Designates the upper limit for binarization (1 to 255 lower limit < upper limit). If ignored, 255 is set.

QR code home position

Reference mark 1

Angle Height Reference mark 3 Reference mark 2

Example of a QR code (Version 2)

Width

Cell size (width of a cell)

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Chapter 21 Vision Control (Option)

Note (1): Designate the process range with a window. Note (2): The only window shape that can be designeted is a rectangle with 0 degrees. If another window shape is designated, an error will result. Note (3): The processing object is the screen designated with VISWORKPLN. Note (4): The memory board stores the contents of the codes and you can obtain them with VISGETSTR. Note (5): If the code has an error and it cannot be read, the result of VISSTATUS (0) will be -1. Note (6): The following data can be obtained with the processing result obtaining function.
n 0 1 2 VISSTATUS(n) Item Execution result 0=Normal -1=Abnormal Number of characters (Unit of byte) Execution time

Note (7): For this instruction, a Vision board (option) is required.

VISGETNUM (a, b) b 0 1 a=0 Number of characters (Unit of byte) Coordinate X value a=1 unknown Reference mark 1 X coordinate value Reference mark 1 Y coordinate value unknown unknown unknown unknown unknown unknown unknown a=2 unknown Reference mark 2 X coordinate value Reference mark 2 Y coordinate value unknown unknown unknown unknown unknown unknown unknown a=3 unknown Reference mark 3 X coordinate value Reference mark 3 Y coordinate value unknown unknown unknown unknown unknown unknown unknown

Coordinate Y value

3 4 5 6 7 8 9

Angle Width Height Version Cell size Model identification [V1.4 or later] unknown

Related Terms
WINDMAKE, VISWORKPLN, VISGETNUM, VISSTATUS, VISGETSTR

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Example
VISSCREEN 1,0,1 ' VISCLS ' WINDMAKE R,1,512,480,0,2 'Sets window 1 to a rectangle. CAMIN 1 'Obtains a camera image from storage memory. VISPLNOUT 0 ' VISREADQR 1,0,0,0 'Reads the QR code. I1 = VISSTATUS(0) ' VISPRINT I1, VISSTATUS(1) ' IF I1 = 0 THEN ' VISLOC 10,10 ' VISPRINT VISGETSTR(1, VISSTATUS(1)) ' END IF ' VISCAMOUT 1 '

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Chapter 21 Vision Control (Option)

21.8 Labeling
BLOB (Statement)
Function
Executes labeling.

Format
BLOB <Widow number>, <Coordinate X>, <Coordinate Y>, <Processing object>, <Binary lower limit>[, <Binary upper limit>[, <Link>[, <Area lower limit>[, <Sort>]]]]

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). <Processing object> Designates the object to obtain with labeling (0 or 1). 0: Black (brightness value < binary lower limit, binary upper limit < brightness value) 1: White(binary lower limit brightness value binary upper limit) <Binary lower limit> Designates the lower limit for binarization (0 to 254 lower limit < upper limit). <Binary upper limit> Designates the upper limit for binarization (1 to 255 lower limit < upper limit). If ignored, 255 is set. <Link> Designates the condition of the link (0 or 1). 0: Neighbor 4 link (Neighbor pixels at right and left, and top and bottom are checked.) 1: Neighbor 8 link (Neighbor pixels at slant, as well as right and left, and top and bottom are checked.) <Area lower limit> Designates a lower limit of an area value to be ignored in labeling. (0 to 245760) <Sort> Designates sorting of numbers obtained with labeling (0 to 2). 0: Obtained order 1: Area value descending 2: Area value ascending
Center of gravity coordinate

Filet dia. reference point

By executing labeling, you can obtain the numbers and positions of multiple objects. In the example shown on the left, the labeling number is 4. If you use BLOBMEASURE, you can obtain the indination (direction : main axis angle) and the peripheral length individually.

Filet dia. height

Filet dia. width

Example of labeling

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Note (1): Designate the process range with a window. Note (2): If the designated window position is out of screen, the execution will result in an error. Note (3): The only window shape you are able to designate is a rectangle with 0 degrees. If another window shape is designated, an error will result. Note (4): The processing object is a screen designated with VISWORKPLN. Note (5): The following data can be obtained with the process result obtaining function.
VISSTATUS (n) Item Execution result 0=Normal -1=Abnormal Number of labels Execution time VISGETNUM (a, b) a = 0~ max511 Area Center of gravity a coordinate X value Center of gravity a coordinate Y value unknown Filet dia. reference point coordinate Y Filet dia. reference point coordinate X Filet dia. width Filet dia. height unknown unknown

n 0 1 2

b 0 1 2 3 4 5 6 7 8 9

Note (6): For this instruction, a Vision board (option) is required.

Related Terms
WINDMAKE, VISWORKPLN, VISGETNUM, VISSTATUS

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Chapter 21 Vision Control (Option) Example

VISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0. VISCLS 0 ' WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangle. CAMIN 1 'Obtains a camera image to storage memory 0. VISPLNOUT 0 ' VISWORKPLN 0 'Designates the object to storage memory 0. BLOB 1,0,0,0,128 'Executes labeling. I1 = VISSTATUS(0) ' IF I1 = 0 THEN ' I2 = VISSTATUS(1) ' VISDEFCHAR 1,1,2 ' VISLOC 10,10 ' VISPRINT I1,I2 ' IF I2 <> 0 THEN ' FOR I1 = 0 TO I2 -1 ' VISLOC 10,11 ' VISPRINT VISGETNUM(I1,1), VISGETNUM(I1,2) ' VISCROSS VISGETNUM(I1,1), VISGETNUM(I1,2) ' NEXT I1 END IF ' END IF ' VISCAMOUT 1 '

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BLOBMEASURE (Statement)
Function
Executes feature measurement of the object label number.

Format
BLOBMEASURE <Label number>, <Feature>

Explanation
<Label number> Designates the label number obtained by labeling. (0 to 511) <Feature> Designates the feature to obtain. (0 or 1) 0: Main axis angle 1: Periphery length

Main axis angle

Peripheral length

Binarization is automatically done inside without changing the original image. You do not need to execute binarization beforehand.

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Chapter 21 Vision Control (Option)

Note (1): Before executing this function, you need to execute labeling with BLOB. Note (2): When you obtain the periphery length, you need to leave the source image when you executed labeling. Note (3): The following is an example of the data you can obtain with the processing result obtaining function.
n 0 1 2 VISSTATUS (n) Item Execution result 0=Norma -1=Abnormal unknown Execution time VISGETNUM (a, b) a = 0~ max511 Area Center of gravity a coordinate X value Center of gravity a coordinate Y value Main axis angle Filet dia. Reference point coordinate X Filet dia. Reference point coordinate Y Filet dia. width Filet dia. height Periphery length unknown

b 0 1 2 3 4 5 6 7 8

Note (4): For this instruction, a Vision board (option) is required.

Related Terms
BLOB

Example
VISSCREEN 1,0,1 'Instantaneously draws the drawing screen 0. WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangle. CAMIN 1 'Obtains a camera image from the storage memory. BLOB 1,0,0,0,128 'Executes labeling. IF VISSTATUS(0)=0.0 THEN ' IF VISSTATUS(1)<>0.0 THEN ' FOR I1 = 0 TO VISSTATUS(1)-1 ' BLOBMEASURE I1,0 'Obtains the main axis angle of label I1. VISCROSS VISGETNUM(I1,1), VISGETNUM(I1,2),10,20,VISGETNUM(I1,3) NEXT I1 ' END IF ' END IF '

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BLOBLABEL (Function)
Function
Obtains the label number for designated coordinates.

Format
BLOBLABEL(<Coordinate X>, <Coordinate Y>)

Explanation
<Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479).

Label number 0

P2

Label number 1

P1

BLOBLABEL checks if the designated coordinates are included in each labeled object. If you designate the coordinates. of P1 with BLOBLABEL for a measured image when the number of objects to be labeled is 4 and the label number is as shown in the left figure, the return value becomes 0 for the label number. If you designate P2, the return value becomes -1 because there is no corresponding object.

Label number 2 Label number 3

Example of label number obtaining

Note (1): Before executing this function, you need to execute labeling with BLOB beforehand. Note (2): Obtain the label number present for the designated coordinates. Note (3): If there is no label number present, -1 is returned. Note (4): For this instruction, a Vision board (option) is required.

Related Terms
BLOB

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Chapter 21 Vision Control (Option) Example

VISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0. WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangle. CAMIN 1 'Obtains a camera image from the storage memory. BLOB 1,0,0,0,128 'Executes labeling. IF VISSTATUS(0)=0.0 THEN ' IF VISSTATUS(1)<>0.0 THEN ' IF BLOBLABEL(100,100)<>-1 THEN ' VISLOC 100,100,1 ' VISPRINT Label number =;BLOBLABEL(100,100) ' END IF ' END IF ' END IF '

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BLOBCOPY (Statement)
Function
Copies an object label number.

Format
BLOBCOPY <Label number>, <Copy destination screen>, <Coordinate X>, <Coordinate Y>

Explanation
<Label number> Designates the label number obtained with labeling (0 to 511). <Copy destination screen> Designates the storage memory number of the copy destination (0 to 3). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479).

Label number 0 Label number 1

Label number2 Label number3

Process screen 0

Process screen 1

The object image is designated with a label number when copied. In the above example, label number 0 is copied to process screen 1.
Example of BLOBCOPY

Note (1): Before executing this function, you need to execute labeling with BLOB beforehand. Note (2): Do not change the screen, because the copy source screen (labeling object screen) is referenced when copying. Note (3): For this instruction, a Vision board (option) is required.

Related Terms
BLOB

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Chapter 21 Vision Control (Option) Example

VISSCREEN 0,1, VISCLS 128 VISSCREEN 1,0,1 VISCLS 0 WINDMAKE R,1,512,480,0,2 CAMIN 1 BLOB 1,0,0,0,128 I1 = VISSTATUS(0) IF I1 = 0 THEN I1 = VISSTATUS(1) IF I1<>0 THEN BLOBCOPY 0,1,100,100 END IF END IF VISPLNOUT 0 DELAY 2000 VISPLNOUT 1 DELAY 2000 VISCAMOU VISCAMOUT 1 'Instantaneously draws on storage memory 1. 'Clears the screen. 'Instantaneously draws on drawing screen 0. ' 'Sets window 1 to rectangle. 'Obtains a camera image for the storage memory. 'Executes labeling. ' ' ' ' 'Copies label 0 to storage memory 1. ' ' ' ' ' ' '

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21.9 Search Function

SHDEFMODEL (Statement)
Function
Registers the search model.

Format
SHDEFMODEL <Model number>, <Coordinate X>, <Coordinate Y>, <Width>, <Height>, <Offset X>, <Offset Y>[, <Offset angle>]

Explanation
<Model number> Designates the model number to register (0 to 99). <Coordinate X> Designates the home position X coordinate (16 to 485). <Coordinate Y> Designates the home position Y coordinate (16 to 463). <Width> Designates the width of the registered model (10 to 256). <Height> Designates the height of the registered model (10 to 256). <Offset X> Designates Offset X measured from the origin (-511 to +511) <Offset Y> Designates Offset Y measured from the origin (-511 to +511) <Offset angle> Designates Offset angle measured from the angular origin (-360 to 360) [V1.4 or later]

X, Y coordinate

Width Offset X Home position (0, 0

Height Offset Y

X axis Y axis Angular origin Offset angle

You specifies an offset value measured from the angular origin to [Offset angle]. When a searching model has an offset angle measured from the angular origin as indicated in the figure, you can specify [Offset angle] to reflect the offset angle to [Angle] in a measured result obtained with [SHMODEL].

Searching model

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Note (1): If the model to be registered is not more than 16 pixels inside from the edge of the screen, it cannot be registered. Note (2): The reference coordinates are used to designate a point to detect when a model is searched. Note (3): A registered model requires a certain amount of brightness distribution. If the brightness distribution is too flat or there are many small differences in the model, it cannot be registered. Note (4): If you designate a number already registered, it overwrites the already registered model. Note (5): You can find the availability of registration by using VISSTATUS after the instruction is executed. Note (6): When this command is executed, the process screen 3 (VISWORKPLN 3) is used as a work area and data on the process screen 3 are not guaranteed. Also, you cannot use the process screen 3 for processing.
n 0 VISSTATUS (n) Item Execution Result 0 = Normal -1 = Designated area error -2 = Space full -3 = Uniform model -4 = Complicated 1,2 = Search time long 3,4 = Angle unidentifiable [V1.4 or later] Not Used 0 Execution Time

1 2

Note (7): For this instruction, a Vision board (option) is required. Note (8): During execution of this instruction, do not power off the controller. If you do so, the controller will recognize in the next powering-on sequence that it has not been normally terminated, so it will initialize the vision-related information.

Related Terms
SHREFMODEL, SHDISPMODEL, SHCLRMODEL, SHMODEL

Example
VISSCREEN 1,0,1 'Instantaneously draws on draw screen No. 0. VISCLS 0 ' VISRECT 100,100,100,100 ' CAMIN 1 'Obtains a camera image from the storage memory. SHDEFMODEL 1,100,100,100,100,50,50 'Registers the model. I1 = VISSTATUS(0) ' VISLOC 10,10 ' IF I1 = 0 THEN VISPRINT Registration completed ELSE VISPRINT Cannot register. ' VISCAMOUT 1 '

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SHREFMODEL (Statement)
Function
Refers to registered model data.

Format
SHREFMODEL (<Model number>,<Item>)

Explanation
<Model number> Designates the reference model number (0 to 99). <Item> Designates the data type of a reference model (0 to 8). 0: Status (Presence of the model registration Yes = 0 No = -1) 1: Width of the registered model 2: Height of the registered model 3: Offset X of the registered model 4: Offset Y of the registered model 5: File size of the registered model 6: Registrable file size (Available capacity). 7. Offset angle of the registered model [V1.4 or later] 8: Compatible mode (1: for mode without angle measurement, 2: for mode with angle measurement, 3 for mode with and without angle measurement) [V1.4 or later]

Related Terms
SHDEFMODEL

Example
VISSCREEN 1,0,1 ' VISCLS 0 ' IF SHREFMODEL(1,0) = 0 THEN 'Confirms VISLOC 10,1 ' VISPRINT Width =;SHREFMODEL(1,1) 'Displays VISLOC 10,2 ' VISPRINT Height =;SHREFMODEL(1,2) 'Displays VISLOC 10,3 ' VISPRINT X=;SHREFMODEL(1,3) 'Displays VISLOC 10,4 ' VISPRINT Y=;SHREFMODEL(1,4) 'Displays VISLOC 10,5 ' VISPRINT Size =;SHREFMODEL(1,5) 'Displays VISLOC 10,6 ' VISPRINT Capacity =;SHREFMODEL(1,6) 'Displays END IF ' the presence of registration. the width. the height. the reference X coordinate. the Y reference coordinate. the file size.

the available capacity.

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Chapter 21 Vision Control (Option)

SHCOPYMODEL (Statement)
Function
Copies a registered model.

Format
SHCOPYMODEL <Copy source model number>,<Copy destination model number>

Explanation
<Copy source model number> Designates the model number to copy (0 to 99). <Copy destination model number> Designates the new model number (0 to 99). Note (1): If the copy source number and the copy destination member are the same, an error occurs. Note (2): If the copy source file is not present or if there is insufficient capacity, copying is not executed. Note (3): The following data may be obtained with the processing result obtaining function.
n 0 1 2 VISSTATUS (n) Item Executed result 0=Normal -1=Abnormal unknown unknown

Note (4): For this instruction, a Vision board (option) is required. Note (5): During execution of this instruction, do not power off the controller. If you do so, the controller will recognize in the next powering-on sequence that it has not been normally terminated, so it will initialize the vision-related information.

Related Terms
SHDEFMODEL, SHREFMODEL

Example
VISSCREEN 1,0,1 ' VISCLS 0 ' SHCOPYMODEL 2,0 'Copies model 2 informetion to model 0. VISLOC 10,10 ' I1 = VISSTATUS(0) IF I1 = 0 THEN VISPRINT Copy completed ELSE VISPRINT Copy failed '

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SHCLRMODEL (Statement)
Function
Deletes a registered model.

Format
SHCLRMODEL <Model number>

Explanation
<Model number> Designates the model number to delete (0 to 99). Note (1): If the model number designated does not exist, nothing is executed. Note (2): For this instruction, a Vision board (option) is required. Note (3): During execution of this instruction, do not power off the controller. If you do so, the controller will recognize in the next powering-on sequence that it has not been normally terminated, so it will initialize the vision-related information.

Related Terms
SHDEFMODEL, SHREFMODEL

Example
VISSCREEN 1,0,1 ' VISCLS 0 ' SHCLRMODEL 1 'Deletes registered model 1. I1 = SHREFMODEL(1,0) ' VISLOC 10,10 ' IF I1 = -1 THEN VISPRINT Deletion completed. ELSE VISPRINT Deletion failed. '

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Chapter 21 Vision Control (Option)

SHDISPMODEL (Statement)
Function
Displays a registered model on the screen.

Format
SHDISPMODEL <Model number>, <Displaying screen>, <Coordinate X>, <Coordinate Y>

Explanation
<Model number> Designates the model number to display (0 to 99). <Destination screen to display> Designates the storage memory number for display (0 to 3). <Coordinate X> Designates the home position coordinate X of the registered model (0 to 511). <Coordinate Y> Designates the home position coordinate Y of the registered model (0 to 479). Note (1): If the model number designated does not exist, nothing is executed. Note (2): For this instruction, a Vision board (option) is required.

Related Terms
SHDEFMODEL

Example
VISSCREEN 0,0,1 VISPLNOUT 0 SHDISPMODEL 1,0,100,100 'Instantaneously draws from storage memory 0. 'Displays storage memory 0 on the monitor. 'Displays model 1 on the screen.

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SHMODEL (Statement)
Function
Searches for a model.

Format
SHMODEL <Window number>, <Coordinate X>, <Coordinate Y>, <Model number>, <Correspondence degree>[, <Mode>[, <Number>[, <Start angle>[, <End angle>]]]]

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). <Model number> Designates the model number to search for (0 to 99). <Correspondence degree> Designates the correspondence degree of the model to search for (0 to 100). <Mode> Designates the mode when searching is executed. 0: Search in pixel units. 1: Search in sub-pixel units. If these are ignored, 0 is set as the default. <Number> Designates the number of models to search for at a time (1 to 49). If this is ignored, 1 is set. <Start angle> Designates an angular range (start angle) for an object to be searched (-360 to 360). 0 is assumed as the default. [V1.4 or later] <End angle> Designates an angular range (end angle) for an object to be searched (-360 to 360). 0 is assumed as the default. [V1.4 or later]
X and Y coordinate of the origin searched X and Y coordinate of a point searched

Offset X

B: X and Y coordinate of the origin A: X and Y coordinate of a point

Offset Y

Searching model Window (search area)

After a search is completed, the position corresponding to the point A of a searching model is stored in [X, Y Coordinate Value] and the position corresponding to the origin B of a searching model is stored in [X, Y Coordinate Value for Origin].

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Chapter 21 Vision Control (Option)

270 -90
Start angle

315 -45 180 -180 45 -315

270 -90
End angle

315 -45

180 -180

0
End angle

0
Start angle

90 -270

90 -270

45 -315

Measures an angle of an object whose angle from the angular origin exists in an area ranging from [Start Angle] to [End Angle]. As shown in the figure, both condition (1) and (2) give the same measuring range. (1) [Start Angle] = -45, [End Angle] = 45 (2) [Start Angle] = -45, [End Angle] = -315

X axis

Y axis

Offset angle

Offset angle

Angle from angular origin Searching model Search result Angle = Angle from angular origin + Offset angle

An angle deviated from an image registered as a searching model is stored in [Angle from Angular Origin] as a measuring result. The sum of [Offset Angle] registered in a searching model and [Angle form Angular Origin] is stored in [Angle] as a measuring result.

Note (1): Register the model to search for with SHDEFMODEL. Note (2): When you set two or more numbers and the system cannot find a designated number, an error occurs. Note (3): A search requires time, and if searching is not finished within a limited time, a timeout error occurs. You can set this on your personal computer. The initial setting is 2 seconds. Note (4): If the correspondence degree is set to high, searching cannot be performed; therefore, decrease the correspondence degree. Note (5): Designate the process range with a window. Note (6): If the position of the designated window is not on the screen, an execution error will result.

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Note (7): The shape of the window available to designate is a rectangle with 0 degrees. If you designate any shape other than this, an error occurs. Note (8): The processing object is the screen designated with VISWORKPLN. Note (9): When this command is executed, the process screen 3 (VISWORKPLN 3) is used as a work area and data on the process screen 3 are not guaranteed. Also, you cannot use the process screen 3 for processing. Note (10): You can obtain data with the processing result obtaining function after executing an instruction.
VISSTATUS (n) Item Execution Result 0 = Normal -1 = Model Unregistered -2 = Failure -3 = Timeout Number Execution Time VISGETNUM (a, b a = 0~49 Number X Coordinate Value Y Coordinate Value Correspondence Degree Angle [V1.4 or later] X Coordinate Value for Origin [V1.4 or later] Y Coordinate Value for Origin [V1.4 or later] Angle from Angular Origin [V1.4 or later] unknown unknown

n 0

1 2

b 0 1 2 3 4 5 6 7 8 9

Note (11): Vision board (optional) is required for this command. Note (12): If the searching mode size and the widow size coincide, the correspondence degree only at that position is calculated. Note (13): An angles measurement is executed when you set both [Start Angle] and [End Angle] to 0. Note (14): An angle measurement is executed as you set as [Start Angle] = 0 and [End Angle] = 360, if you set both [Start Angle] and [End Angle] to the same value other than 0.

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Chapter 21 Vision Control (Option) Related Terms

WINDMAKE, VISWORKPLN, VISGETNUM, VISSTATUS, SHDEFMODEL

Example
VISSCREEN 1,0,1 VISCLS 0 VISPLNOUT 0 WINDMAKE R,1,512,480,0,2 CAMIN 1 VISWORKPLN 0 SHMODEL 1,0,0,1,80 'Instantaneously draws on drawing screen 0. ' ' 'Sets window 1 to rectangle. 'Obtains a camera image from the storage memory. 'Designates an object to storage memory 0. 'Searches for model 1 and the part whose correspondence 'degree is 80% on the screen. I1 = VISSTATUS(0) ' VISLOC 10,10 ' VISDEFCHAR 1,1,3 ' VISPRINT I1 ' IF I1 = 0 THEN ' VISPRINT VISGETNUM(0,1),VISGETNUM(0,2) ' VISCROSS VISPOSX(0),VISPOSY(0) ' END IF '

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SHDEFCORNER (Statement)
Function
Sets the conditions for a corner search.

Format
SHDEFCORNER <Distance>, <Clearance>, <Width>, <Height>

Explanation
<Distance> Designates the distance from a pad corner in the corner search. (1 to 10) <Clearance> Designates the space of pads in the corner search (1 to 10). <Width> Designates the pad width in the corner search (1 to 10). <Height> Designates the pad height in the corner search (1 to 10).
A corner is detected using the average brightness of 4 pads, as shown in the left figure. In other words, if SHCORNER is 1, this means that a corner is detected where the difference between the average brightness of A and B and the average brightness of C and D is greater than the difference in the SHCORNER levels. You can adjust the pad clearance and width with SHDEFCORNER.

Distance B
Corner position Clearance

D
Pad height

Pad width

Note (1): This instruction is a temporary setting, so the initial value is not permanently changed. Note (2): For this instruction, a Vision board (option) is required. Note (3): If the clearance is set to wide, it is unaffected by disturbances in detection but detection becomes inaccurate. Note (4): The initial values set at the factory prior to shipping are as follows: distance = 4, clearance = 1, width = 3, and height =3.

Related Terms
SHCORNER

Example
SHDEFCORNER 4,1,3,3

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SHCORNER (Statement)
Function
Searches for a corner.

Format
SHCORNER <Window number>, <Coordinate X>, <Coordinate Y>, <Level difference>, <Mode>

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). <Level difference> Designates the detection level in the corner search (0 to 255). <Mode> Designates an object in the corner search (0 to 7).

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Note (1): Designate the process range with a window. Note (2): If the designated window is not positioned on the screen, an execution error will result. Note (3): Only rectangular windows with an angle of 0 degrees can be designated. If you designate any shape other than this, an error occurs. Note (4): The processing object is the screen designated with VISWORKPLN. Note (5): When this command is executed, the process screen 3 (VISWORKPLN 3) is used as a work area and data on the process screen 3 are not guaranteed. Also, you cannot use the process screen 3 for processing. Note (6): The following data can be obtained with the processing results obtaining function.
VISSTATUS (n) Item Execution result 0 = Normal -1 = Abnormal Number Execution Time VISGETNUM (a, b) a = 0~511 Number X Coordinate Value Y Coordinate Value unknown Level unknown unknown unknown unknown unknown

n 0 1 2

b 0 1 2 3 4 5 6 7 8 9

Note (7): For this instruction, a Vision board (option) is required.

Related Terms
WINDMAKE, VISWORKPLN, VISGETNUM, VISSTATUS, SHDEFCORNER

Example
VISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0. VISCLS 0 ' WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangular parallelepiped. CAMIN 1 'Obtains a camera image from the storage memory. VISWORKPLN 0 'Designates an object to storage memory 0. SHCORNER 1,0,0,180,0 'Searches for a black corner in the left lower section. I1 = VISSTATUS(0) ' IF I1 = 0 THEN ' I2 = VISSTATUS(1) ' IF I2 <> 0 THEN ' FOR I1 = 0 TO I2-1 ' VISCROSS VISGETNUM(I1,1),VISGETNUM(I1,2) ' NEXT I1 ' END IF ' END IF '

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Chapter 21 Vision Control (Option)

SHDEFCIRCLE (Statement)
Function
Sets the condition for searching a circle.

Format
SHDEFCIRCLE <Clearance>, <Width>

Explanation
<Clearance> Designates the clearance between pads for the circle search (1 to 10). <Width> Designates the pad width for the circle search (1 to 10).
A circle is detected with an average brightness of 2 pads, as shown in the left figure. In other words, if SHCIRCLE is 0, a circle is detected when the difference between the average brightness of A and that of B is larger than the difference in SHDEFCIRCLE. You can adjust the pad clearance and width with SHDEFCIRCLE.

Pad width

A
Clearance

Note (1): This instruction is a temporary setting, so the initial value is not permanently changed. Note (2) : For this instruction, a Vision board (option) is required. Note (3) : If a large clearance is set, it is only slightly affected by disturbances in detection but detection accuracy lowers. Note (4) : The initial values set at the factory prior to shipping are as follows: clearance = 1 and width = 3

Related Terms
SHCIRCLE

Example
SHDEFCIRCLE 1,3

21-89

SHCIRCLE (Statement)
Function
Searches for a circle.

Format
SHCIRCLE <Window number>, <Coordinate X>, <Coordinate Y>, <Radius>, <Level difference>, <Mode>

Explanation
<Window number> Designates the window number (0 to 511). <Coordinate X> Designates the X coordinate (0 to 511). <Coordinate Y> Designates the Y coordinate (0 to 479). <Radius> Designates the radius of the circle to search for (3 to 240). <Level difference> Designates the detection level for the circle search (0 to 255). <Mode> Designates the object for the circle search (0 or 1).

White circle (Mode = 0)

Black circle (Mode = 1)

21-90

Chapter 21 Vision Control (Option)

Note (1): Designate the process range with the window. Note (2): If the position of the designated window is not on the screen, an execution error will result. Note (3): The shape of the window available to designate is a rectangle with 0 degrees. If you designate any shape other than this, an error occurs. Note (4): The processing object is the screen designated with VISWORKPLN. Note (5): When this command is executed, the process screen 3 (VISWORKPLN 3) is used as a work area and data on the process screen 3 are not guaranteed. Also, you cannot use the process screen 3 for processing. Note (6): The following data can be obtained with the processing result obtaining function.
n 0 1 2 VISSTATUS (n) Item Execution Result 0 = Normal -1 = Abnormal Number Execution Time VISGETNUM a, b a = 0~511 Number X Coordinate Value Y Coordinate Value unknown Level unknown unknown unknown unknown unknown

b 0 1 2 3 4 5 6 7 8 9

Note (7): For this instruction, a Vision board (option) is required. Note (8): If the search range of a designated window is wide and the radius is small, the processing time increases and a timeout error may occur.

Related Terms
WINDMAKE, VISWORKPLN, VISGETNUM, VISSTATUS, SHDEFCIRCLE

21-91

Example
VISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0. VISCLS 0 ' WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangle. CAMIN 1 'Obtains a camera image from the storage memory. VISWORKPLN 0 'Designates an object to storage memory 0. SHCIRCLE 1,0,0,30,128,1 'Searches for a black circle. I1 = VISSTATUS(0) ' VISLOC 10,10 ' VISPRINT I1 ' IF I1 = 0 THEN ' I2 = VISSTATUS(1) ' IF I2 <> 0 THEN ' FOR I1 = 0 TO I2-1 ' VISCROSS VISGETNUM(I1,1), VISGETNUM(I1,2) ' NEXT I1 ' END IF ' END IF '

21-92

Chapter 21 Vision Control (Option)

21.10
Function

Obtaining Results

VISGETNUM (Function)
Obtains an image process result from the storage memory.

Format
VISGETNUM(<Parameter 1>, <Parameter 2>)

Explanation
<Parameter 1> <Parameter 2> Designates the number of the process result to obtain (0 to 511). Designates the type of the process result to obtain (0 to 9).

Note (1): The result contents stored change depending on an image process instruction executed in advance. Refer to the image process instructions. Note (2) : The result is kept until the next image process instruction is executed; therefore, you can obtain the result as whenever you want. Note (3) : The value becomes unknown if you designate an unknown storage with the image process instruction in advance. Note (4) : For this instruction, a Vision board (option) is required.

Related Terms
VISMEASURE, VISPROJ, VISEDGE, VISREADQR, BLOB, BLOBMEASURE, SHMODEL, SHCORNER, SHCIRCLE, VISPOSX, VISPOSY

Example
VISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0. VISCLS 0 ' WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangle. CAMIN 1 'Obtains a camera image from the storage memory. VISPLNOUT 0 ' VISWORKPLN 0 'Designates an object to storage memory 0. BLOB 1,0,0,0,128 'Executes labeling. I1 = VISSTATUS(0) ' IF I1 = 0 THEN ' I2 = VISSTATUS(1) ' IF I2 <> 0 THEN ' FOR I1 = 0 TO 15 ' VISDEFCHAR 1,1,0 ' VISLOC 10,10+I1 ' VISPRINT X=;VISGETNUM(I1,1), VISGETNUM(I1,2) ' NEXT I1 ' END IF ' END IF '

21-93

VISGETSTR (Function)
Function
Obtains code recognition result.

Format
VISGETSTR(<Leading character number>, <Number of characters>)

Explanation
<Leading character number> Designates the leading character number to obtain (1 to 611). <Number of characters> Designates the number of characters to obtain (1 to 240). Note (1): If the number of characters to obtain is unknown, refer to a the process result for each instruction, Note (2): For this instruction, a Vision board (option) is required.

Related Terms
VISREADQR, VISGETNUM

Example
VISSCREEN 1,0,1 ' VISCLS 0 ' WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangle. CAMIN 1 'Obtains a camera image from the storage memory. VISPLNOUT 0 ' VISREADQR 1,0,0,0 'Reading the QR code. I1 = VISSTATUS(0) ' VISPRINT I1, VISSTATUS(1) ' IF I1 = 0 THEN ' VISLOC 10,10 ' VISPRINT VISGETSTR(1, VISSTATUS(1)) ' END IF ' VISCAMOUT 1 '

21-94

Chapter 21 Vision Control (Option)

VISPOSX (Function)
Function
Obtains an image process result (Coordinate X) from the storage memory.

Format
VISPOSX (<Parameter>)

Explanation
<Parameter> Designates the number of the process result (Coordinate X) to obtain (0 to 511). Note (1): This is the same as when the VISGETNUM parameter is set to 1. VISGETNUM (n, 2) = VISPOSY (n) Note (2) : The process results are different from the results stored with previous image processing instructions. Refer to the image processing instructions. Note (3) : You can repeatedly obtain results because they are kept until the next image process instruction is executed, Note (4) : If the previous image processing instruction designated an unexpected storage location, the value becomes an unknown number. Note (5) : For this instruction, a Vision board (option) is required.

Related Terms
VISMEASURE, VISPROJ, VISEDGE, VISREADQR, BLOB, BLOBMEASURE, SHMODEL, SHCORNER, SHCIRCLE, VISGETNUM, VISPOSY

Example
VISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0. VISCLS 0 ' WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangle. CAMIN 1 'Obtains a camera image from the storage memory. VISPLNOUT 0 ' VISWORKPLN 0 'Designates an object to storage memory 0. BLOB 1,0,0,0,128 'Executes labeling. I1 = VISSTATUS(0) ' IF I1 = 0 THEN ' I2 = VISSTATUS(1) ' IF I2 <> 0 THEN ' FOR I1 = 0 TO 15 ' VISDEFCHAR 1,1,0 ' VISLOC 10,10+I1 ' VISPRINT X=;VISPOSX(I1), Y=;VISPOSY(I1) ' VISCROSS VISPOSX(I1), VISPOSY(I1) ' NEXT I1 ' END IF ' END IF ' VISCAMOUT 1 '

21-95

VISPOSY (Function)
Function
Obtains an image process result (Coordinate Y) from the storage memory.

Format
VISPOSY (<Parameter>)

Explanation
<Parameter> Designates the number for the processing result (Coordinate Y) to obtain (0 to 511). An obtained value is represented as a single precision real type constant (F type). Note (1): This is the same as when parameter 1 of VISGETNUM is designated to 2. VISGETNUM (n, 2) = VISPOSY (n) Note (2): The process results are different from the results stored with previous image processing instructions. Refer to the image processing instructions. Note (3): You can repeatedly obtain results because they are kept until the next image process instruction is executed. Note (4): If the previous image processing instruction designates an unexpected storage location, the value becomes an unknown number. Note (5): For this instruction, a Vision board (option) is required.

Related Terms
VISMEASURE, VISPROJ, VISEDGE, VISREADQR, BLOB, BLOBMEASURE, SHMODEL, SHCORNER, SHCIRCLE, VISGETNUM, VISPOSX

Example
VISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0. VISCLS 0 ' WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangle. CAMIN 1 'Obtains a camera image from the storage memory. VISPLNOUT 0 ' VISWORKPLN 0 'Designates an object to storage memory 0. BLOB 1,0,0,0,128 'Executes labeling. I1 = VISSTATUS(0) ' IF I1 = 0 THEN ' I2 = VISSTATUS(1) ' IF I2 <> 0 THEN ' FOR I1 = 0 TO 15 ' VISDEFCHAR 1,1,0 ' VISLOC 10,10+I1 ' VISPRINT X=;VISPOSX(I1), Y=;VISPOSY(I1) ' VISCROSS VISPOSX(I1), VISPOSY(I1) ' NEXT I1 ' END IF ' END IF ' VISCAMOUT 1 '

21-96

Chapter 21 Vision Control (Option)

VISSTATUS (Function)
Function
Monitors the process result of each instruction.

Format
VISSTATUS (<Parameter>)

Explanation
<Parameter> Designates the data to obtain (0 to 2). 0: Execution result status 1: Auxiliary data 2: Processing time An obtained value is represented as a single precision real type constant (F type). Note (1): The obtained data varies depending on the instructions previously executed. Refer to the explanation of each instruction. Note (2): All processing times for instructions become objects. You can obtain the processing times of previously executed instructions. Note (3): For this instruction, a Vision board (option) is required.

Related Terms
VISMEASURE, VISPROJ, VISEDGE, VISREADQR, BLOB, BLOBMEASURE, SHMODEL, SHCORNER, SHCIRCLE

Example
VISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0. VISCLS 0 ' WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangle. CAMIN 1 'Obtains a camera image from the storage memory. VISPLNOUT 0 ' VISWORKPLN 0 'Designates an object to storage memory 0. BLOB 1,0,0,0,128 'Execute labeling. I1 = VISSTATUS(0) ' I2 = VISSTATUS(1) ' F1 = VISSTATUS(2) ' VISLOC 10,9 ' VISPRINT Execution result =;I1;Labeling number =;I2, Execution time (second)=;F1 ' IF I1 = 0 THEN ' IF I2 <> 0 THEN ' FOR I1 = 0 TO I2 -1 ' VISCROSS VISGETNUM(I1,1), VISGETNUM(I1,2) ' NEXT I1 ' END IF ' END IF ' VISCAMOUT 1 '

21-97

VISREFCAL (Function)
Function
Obtains calibration data (Vision-robot coordinate transformation).

Format
VISREFCAL (<Set number>, <Data number>)

Explanation
<Set number> Designates the number of the calibration data group to use (0 to 31). <Data number> Designates the number of the calibration data (0 to 11). Note (1): The system can store up to 32 sets of calibration data groups. Note (2): Use a personal computer to set calibration data. Note (3): For this instruction, a Vision board (option) is required.

Example
VISSCREEN 1,0,1 'Instantaneously draws on storage memory '0. VISCLS 0 ' FOR I1 = 0 TO 11 ' VISLOC 10,10+I1 ' VISPRINT Data;I1;=;VISREFCAL(0,I1) '

NEXT I1

21-98

Chapter 22 Appendices

Chapter 22 Appendices

22.1 Character Code Table

Table 1. Character Code Table +0 00 10 20 30 40 50 60 70 80 90 A0 B0 C0 D0 E0 F0 0 @ P ` p ! 1 A Q a q 2 B R b r # 3 C S c s $ 4 D T d t ~ 5 E U e u & 6 F V f v 7 G W g w ( 8 H X h x ) 9 I Y i y * : J Z j z + ; K [ k { l | , < L = M ] m } . > N ^ n ~ / ? O _ o +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F

22-1

22.2 Figures of the Shoulder, Elbow, and Wrist

[ 1 ] Available 32 Figures
A 6-axis robot can take different figures for its shoulder, elbow, wrist, 6th axis, and 4th axis for a single point and attitude (X, Y, Z, RX, RY, and RZ) at the end of the endeffector. Figures 1 through 5 show how the robot can take different figures for its shoulder, elbow, wrist, 6th axis, and 4th axis, respectively. Combining these different figures allows the robot to take 32 different figures for its single position and attitude, as listed in Table 2. Figure 6 shows examples of eight possible combinations of the shoulder, elbow, and wrist figures in the VS-D series robot.
Table 2. Available Figures
Value 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4th-Axis Figure SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 SINGLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 DOUBLE 4 6th-Axis Figure SINGLE SINGLE SINGLE SINGLE SINGLE SINGLE SINGLE SINGLE DOUBLE DOUBLE DOUBLE DOUBLE DOUBLE DOUBLE DOUBLE DOUBLE SINGLE SINGLE SINGLE SINGLE SINGLE SINGLE SINGLE SINGLE DOUBLE DOUBLE DOUBLE DOUBLE DOUBLE DOUBLE DOUBLE DOUBLE Wrist Figure FLIP FLIP FLIP FLIP NONFLIP NONFLIP NONFLIP NONFLIP FLIP FLIP FLIP FLIP NONFLIP NONFLIP NONFLIP NONFLIP FLIP FLIP FLIP FLIP NONFLIP NONFLIP NONFLIP NONFLIP FLIP FLIP FLIP FLIP NONFLIP NONFLIP NONFLIP NONFLIP Elbow Figure ABOVE ABOVE BELOW BELOW ABOVE ABOVE BELOW BELOW ABOVE ABOVE BELOW BELOW ABOVE ABOVE BELOW BELOW ABOVE ABOVE BELOW BELOW ABOVE ABOVE BELOW BELOW ABOVE ABOVE BELOW BELOW ABOVE ABOVE BELOW BELOW Shoulder Figure RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY RIGHTY LEFTY

22-2

Chapter 22 Appendices (1) Shoulder figure

A shoulder figure is defined by a set of the values of the 1st-, 2nd-, and 3rd-axis components. The robot can take two different shoulder figures--Left-handed (LEFTY) and Righthanded (RIGHTY). (J1 to J6 denote Joint 1 to Joint 6.)

LEFTY

RIGHTY

Figure 1. Shoulder Figure

(2) Elbow figure

An elbow figure is defined by a set of the values of the 2nd- and 3rd-axis components. The robot can take two different elbow figures--Over-handed (ABOVE) and Underhanded (BELOW). (J1 to J6 denote Joint 1 to Joint 6.)

J3 J2 J2 J3

ABOVE

BELOW

Figure 2. Elbow Figure

22-3

(3) Wrist figure

A wrist figure is defined by a set of the values of the 4th- and 5th-axis components. The robot can take two different shoulder figures--Normal (NONFLIP) and Reversed (FLIP). The NONFLIP figure refers to a figure of the robot whose 4th axis is turned by 180 degrees without changing the wrist figure. (J1 to J6 denote Joint 1 to Joint 6.)

NONFLIP

FLIP

Figure 3. Wrist Figure

(4) 6th-axis figure

A 6th-axis figure is defined by the value of the 6th-axis component. The robot can take two different 6th-axis figures--SINGLE and DOUBLE. If the 6th axis rotates by -180<6180 in mechanical interface coordinates, the figure is SINGLE; if it rotates by 180<6360 or -360<6-180, the figure is DOUBLE. The robot takes quite different figures when 6 is 180 or 181. Take special care when changing any position data fort the 6th-axis figure. For example, supposing that you want to change the 6th-axis figure at 6=181, the robot will take the 6th-axis figure at 6=-179 if you make no figure modification.

DOUBLE

DOUBLE

SINGLE

Figure 4. 6th-Axis Figure

22-4

Chapter 22 Appendices (5) 4th-axis figure

The 4th-axis figure is defined by a value of the 4th-axis component. The robot can take two different 4th-axis figures--SINGLE 4 and DOUBLE 4. If the 4th axis rotates by -180<4180 in mechanical interface coordinates, the figure is SINGLE 4; if it rotates by 180<4185 or -185<4-180, the figure is DOUBLE 4. The robot takes quite different figures when 4 is 180 or 181. Take special care when changing any position data fort the 6th-axis figure. For example, supposing that you want to change the 4th-axis figure at 4=181, the robot will take the 4th-axis figure at 4=-179 if you make no figure modification.

J4 = 178 SINGLE 4

J4 = -182 DOUBLE 4

Figure 5. 4th-Axis Figure

22-5

Figure-1 LEFTY, ABOVE, and NONFLIP

Figure-2 LEFTY, ABOVE, and FLIP

Figure-3 LEFTY, BELOW, and NONFLIP

Figure-4 LEFTY, BELOW, and FLIP

Figure-5 RIGHTY, ABOVE, and NONFLIP

Figure-6 RIGHTY, ABOVE, and FLIP

Figure-7 RIGHTY, BELOW, and NONFLIP

Figure-8 RIGHTY, BELOW, and FLIP

Figure 6. Possible Combinations of Robot Shoulder, Elbow, and Wrist Figures

22-6

Chapter 22 Appendices
CAUTION: When carrying out a command with CP control, if the robot figures at the start point differ from those saved in programming or teaching, be sure to check beforehand that no part of the robot will not interfere with the surrounding equipment or facilities. This is because each joint of the robot will take currently suitable motions depending upon the current figures to make the tip of the end-effector reach an object point even if the robot position and attitude at the start point are the same as those in programming or teaching. However, the path of the end-effector is virtually the same although the figures may be different.

(ABOVE)

Point A Point B

(BELOW)

CAUTION: All of the 32 different figures may not be applicable to every position and attitude of the robot due to the robot structure. In some cases, only the LEFTY/ABOVE/NONFLIP figure may be applicable depending upon point and attitude. (In almost of all practical cases, the robot may not take all of the logically possible figures, but only two figures are possible--LEFTY/ABOVE/NONFLIP and LEFTY/ABOVE/FLIP. For the 4th-axis figure, the robot will take SINGLE 4.)

22-7

[2]

Boundaries of Robot Figures

This section describes the boundary of each of the robot shoulder, elbow, wrist, and 6th-axis figures. When judging the boundaries of the robot shoulder, elbow, and wrist, the system uses intersection point Pw of the two rotary axes of the 5th and 6th axes, as illustrated in Figure 7.

Figure 7. Location of Pw

A boundary point in figures is called a singular point. Any path defined by commands with CP control (e.g., MOVE, APPROACH, and DEPART) should not run through the vicinity of the singular point. Refer to PART 1, Section 4.3. If the path runs through the vicinity of the singular point, the robot will issue ERROR6080s (Over speed) or ERROR6070s (Over software motion limit) and then stop.

22-8

Chapter 22 Appendices (1) LEFTY/RIGHTY (Shoulder figure)

The rotary axis of the 1st axis is defined as the boundary between LEFTY and RIGHTY. When viewed from the normal line on the side of the arm link, if point Pw exists in the left-hand side of the rotary axis of the 1st axis, the figure is LEFTY; if point Pw exists in the right-hand side, it is RIGHTY. In Figure 8, the boundary is drawn with alternate long and short dash lines. NOTE: If point Pw exists on the rotary axis of the 1st axis, that is, on the boundary between LEFTY and RIGHTY, then it is called a singular point.

Figure 8. Boundary between LEFTY and RIGHTY

22-9

(2) ABOVE/BELOW (Elbow figure)

The centerline of the arm link (connecting the shoulder with elbow) is defined as the boundary between ABOVE and BELOW. If point Pw exists in the + side of the centerline, the figure is ABOVE; if point Pw exists in the -side, it is BELOW. In Figures 9 and 10, the boundary is drawn with alternate long and short dash lines.

Figure 9. Boundary between ABOVE and BELOW for LEFTY

Figure 10. Boundary between ABOVE and BELOW for RIGHTY

22-10

Chapter 22 Appendices (3) FLIP/NONFLIP (Wrist figure)

The rotary axis of the 4th axis is defined as the boundary between FLIP and NONFLIP. If the normal line on the flange surface tilts up the rotary axis of the 4th axis, the figure is FLIP; if it tilts down the rotary axis, it is NONFLIP. In Figures 11 and 12, the boundary is drawn with alternate long and short dash lines.

Figure 11. Boundary between FLIP and NONFLIP for LEFTY

Figure 12. Boundary between FLIP and NONFLIP for RIGHTY

22-11

(4) SINGLE/DOUBLE (6th-axis figure)

If the rotation angle (6) of the 6th axis is within the range of -180<6180 around the Z axis in mechanical interface coordinates, the figure is SINGLE; if it is within the range of 180<6360 or -360<6-180, the figure is DOUBLE. Boundaries exist at -180 and +180.

5H7

DOUBLE

DOUBLE Boundary SINGLE Boundary

Figure 13. Boundary between SINGLE and DOUBLE

22-12

Chapter 22 Appendices

22.3 Environment Setting Values

Table number 1 2 3 4 5 6 7 8 9 Macro name cnfSYS cnfARM cnfVIS cnfPAC cnfSRV cnfSPD cnfITP cnfDIO cnfCOM Description System parameter table Path creation parameter table Vision parameter table PAC parameter table Servo parameter table Using condition parameter table Interpreter parameter table DIO parameter table Communication parameter table WINCAPSII Arm manager Vision manager PACmanager Arm manager Arm manager PACmanager DIOmanager

Remark (1): Macro names are defined in <pacman.h>. If you use a macro name with the GETENV and LETENV commands, include the file in the following manner. #INCLUDE <pacman.h> Remark (2): You can create a macro name of an element number in an arbitrary table with each manager of WINCAPSII. Refer to the Owners Manual (WINCAPSII) for the creating procedure. For example, if you create a macro definition file for path creation parameter table in the arm manager, include the file in the following manner. #INCLUDE arm_cnf.h

22-13

22.4 Configuration List

The table below lists the items displayed in the User Preferences window of the teach pendant (Access: [F2 Arm][F6 Aux.][F7 Config.]) or in the Config. tab of the Options window in WINCAPSII (Access: [Arm Manager][Tools Menu][Options] [Configuration]).

No. 7

Items Control set of motion optimization

Factory default 0

Powering-on default 0

Description 0: OFF 1: PTP movement only 2: CP movement only 3: Both PTP and CP movement (Refer to the PROGRAMMERS MANUAL, Section 4.6, Control Sets of Motion Optimization.) 0: Floor-mount 1: Overhead-mount 2: Wall-hanging (Ver. 1.6 or later) Mass of end-effector and object to be mounted at the end of the robot arm. X component of payload center of gravity (consisting of end-effector and object) (Refer to the PROGRAMMERS MANUAL, Section 4.6, Control Sets of Motion Optimization.) Y component of payload center of gravity (consisting of end-effector and object) (Refer to the PROGRAMMERS MANUAL, Section 4.6, Control Sets of Motion Optimization.) Z component of payload center of gravity (consisting of end-effector and object) (Refer to the PROGRAMMERS MANUAL, Section 4.6, Control Sets of Motion Optimization.) Convergence accuracy for specified axis (one of J1 to J8) at execution of a motion command with @E option At execution of a motion command with @E option, if positioning is not completed within this specified time, a timeout will occur. No. of control logs to be stored. Entry range: 1 to 3 (1250 x Set value) = No. of control logs

Comments Can be set with aspChange ().

Floor-mount, Overhead-mount or Wall-hanging setting Mass of payload (g)

Last value at powering-off

Differs depending upon models.

Last value at powering-off Last value at powering-off

Can be set with aspACLD.

10

Payload center of gravity X (mm)

11

Payload center of gravity Y (mm)

80

Last value at powering-off

Can be set with aspACLD.

12

Payload center of gravity Z (mm) For 4-axes robot in Ver.1.9 or later: inertia of payload 2 (kgcm )

100

Last value at powering-off

13 to 20 21

Encoder pulse count for positioning allowance (J1 to J8) Positioning completion timeout (ms) Control log mode

20

20

Can be set with mvSetPulseWidth (). Can be set with mvSetTimeOut ().

5600

5600

22

Last value at powering-off

If many programs and/or variables are used, setting many control logs may cause an error at poweringon time. If such occurs, decrease the number of control logs.

22-14

Chapter 22 Appendices
No. 23 Items Control log sampling intervals Factory default 8 Powering-on default Last value at powering-off Description Sampling intervals of control log. Entry range: 8, 16, 24, or 32 ms Comments
If a value other than a multiple of 8 is set, the controller automatically modifies it to a multiple of 8.

24

Efficiency of gravity effect (For 6-axis robot)

Last value at powering-off

0: Gravity compensation feature disabled 1: Gravity compensation feature enabled If lowest bit is 0: Resets the current limit setting when the motor is turned on If 2nd lowest bit is 0: Unlocks the servo loop when the motor is turned on If 3rd lowest bit is 0: Resets the cancellation of the PWM switching when the motor is turned on

Can be set with SetGravity or ResetGravity.

25

Curlmt function cancellation switch

Last value at powering-off

The release of the servo lock and cancellation of the PWM switching are exclusively designed for 4axis robots.

26

Servo-lock configuration (For 4-axis robot) Control method (For HM/HS-D series)

Last value at powering-off Last value at powering-off

1: Servo lock released

Can be set with OffSrvLock or OnSrvLock. Make sure that the "Changing accel mode" is set to 0. Make sure that the "Changing accel mode" is set to 0 and the "Mass of payload (g)" is 10000. The initial setting is 0 or 1 for 4-axis or 6axis robots, respectively. Do not change the initial setting.

27

1: P-control

28

High-inertia configuration (For HM/HS-D series)

Last value at powering-off

1: Loop gain set to high-inertia

29

Changing accel mode

0 or 1

Last value at powering-off

0: Gain change function enabled 1: Gain change function disabled

34

Motor power holding function

Last value at powering-off

Sets the motor power state when the Auto Enable switch is switched. 0: Turns the motor power OFF if it was ON 1: Keeps the current state of the motor power

35

Cycloid motion setting

Last value at powering-off

0: Cycloid motion disabled 1: Cycloid motion enabled

Can be set with Setcycloid or Resetcycloid.

22-15

No. 53 to 60

Items Gain reduce rate (J1 to J8)

Factory default Value proper to each robot

Powering-on default Last value at powering-off

Description Gain reduction rate for one of J1 to J8

Comments
Takes effect when the "Changing accel mode," "Control method" and "High-inertia configuration" are set to 0. Do not change the initial value. Takes effect when the "Changing accel mode" and "Control method" are set to 0 and "High-inertia configuration" is set to 1. Do not change the initial value.

61 to 68

High-inertia load operation gain reduce rate (J1 to J8) (For HM/HS-D series)

Last value at powering-off

Gain reduction rate for one of J1 to J8 when the high-inertia load operation is selected

69

New type robot or old type robot (For 4-axis robot)

Last value at powering-off

0: New type (D series) 1: Old type (C series)

If you purchase the controller alone to connect it to the HM/HS/HC-C series, set this item to 1.

70

Pass motion setting

Last value at powering-off

When restarted after any stop operation during pass motion, the robot will make motion towards: 0: Target position specified after the pass motion (Default) 1: Target position specified before the pass motion

71

Positioning allowance of pass end

Last value at powering-off

Condition for preventing the robot from taking motion towards the target position specified before pass motion, when the robot is restarted The condition should be set as a distance from the target position.

The condition refers to a distance from the target position at the command level, not the actual distance from the current robot end position.
Can be set with SetDampRate or ResetDampRate. Cannot be modified with the teach pendant. (Ver. 1.4 or later)

78

Damper setting rate (X) (For 6-axis robot) Damper setting rate (Y) (For 6-axis robot) Damper setting rate (Z) (For 6-axis robot)

10000

10000

Damping ratio along the X-axis under compliance control Damping ratio along the Y-axis under compliance control Damping ratio along the Z-axis under compliance control

79

10000

10000

80

10000

10000

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Chapter 22 Appendices
No. 81 Items Damper setting rate (RX) (For 6-axis robot) Damper setting rate (RY) (For 6-axis robot) Damper setting rate (RZ) (For 6-axis robot) Compliance control mode (For 6-axis robot) Factory default 10000 Powering-on default 10000 Description Damping ratio around the X-axis under compliance control Damping ratio around the Y-axis under compliance control Damping ratio around the Z-axis under compliance control If lowest bit is 0: Compliance speed control mode If 2nd lowest bit is 1: Disables the gravity compensation feature under compliance control Comments
Can be set with SetDampRate or ResetDampRate. Cannot be modified with the teach pendant. (Ver. 1.4 or later)

82

10000

10000

83

10000

10000

84

Can be set with SetCompVMode, ResetCompV Mode, SetCompControl, or SetCompF Control. Cannot be modified with the teach pendant. (Ver. 1.4 or later)

86

Antivibration setting (For 6-axis robot)

Last value at powering-off

1: Residual vibration reduction control mode

Can be set with SetVibControl or ResetVibControl.

Can be set with SetCompControl, SetCompF Control, or ResetComp Control. Cannot be modified with the teach pendant. (Ver. 1.4 or later)

87

Compliance control ON/OFF (For 6-axis robot)

1: Under compliance control

88

Coordinates for compliance control (For 6-axis robot)

0: Base coordinates 1: Tool coordinates 2: Work coordinates

Can be set with SetFrcCoord. Cannot be modified with the teach pendant. (Ver. 1.4 or later)

89 90 91

Force limit rate (+X) (For 6-axis robot) Force limit rate (+Y) (For 6-axis robot) Force limit rate (+Z) (For 6-axis robot)

10000 10000 10000

10000 10000 10000

Force control rate along the +X axis under compliance control Force control rate along the +Y axis under compliance control Force control rate along the +Z axis under compliance control

Can be set with SetFrcCoord. Cannot be modified with the teach pendant. (Ver. 1.4 or later)

22-17

No. 92 93 94 95 96 97 98 99 100 101

Items Force limit rate (+RX) (For 6-axis robot) Force limit rate (+RY) (For 6-axis robot) Force limit rate (+RZ) (For 6-axis robot) Force limit rate (-X) (For 6-axis robot) Force limit rate (-Y) (For 6-axis robot) Force limit rate (-Z) (For 6-axis robot) Force limit rate (-RX) (For 6-axis robot) Force limit rate (-RY) (For 6-axis robot) Force limit rate (-RZ) (For 6-axis robot) Compliance setting rate (X) (For 6-axis robot) Compliance setting rate (Y) (For 6-axis robot) Compliance setting rate (Z) (For 6-axis robot) Compliance setting rate (RX) (For 6-axis robot) Compliance setting rate (RY) (For 6-axis robot) Compliance setting rate (RZ) (For 6-axis robot) Compliance/positional error allowance (X) (For 6-axis robot) Compliance/positional error allowance (Y) (For 6-axis robot) Compliance/positional error allowance (Z) (For 6-axis robot)

Factory default 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000

Powering-on default 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000

Description Force control rate around the +X axis under compliance control Force control rate around the +Y axis under compliance control Force control rate around the +Z axis under compliance control Force control rate along the -X axis under compliance control Force control rate along the -Y axis under compliance control Force control rate along the -Z axis under compliance control Force control rate around the -X axis under compliance control Force control rate around the -Y axis under compliance control Force control rate around the -Z axis under compliance control Compliance rate along the X-axis under compliance control Compliance rate along the Y-axis under compliance control Compliance rate along the Z-axis under compliance control Compliance rate around the X-axis under compliance control Compliance rate around the Y-axis under compliance control Compliance rate around the Z-axis under compliance control Allowable deviation along the X-axis under compliance control Allowable deviation along the Y-axis under compliance control Allowable deviation along the Z-axis under compliance control

Comments Can be set with SetFrcCoord. Cannot be modified with the teach pendant. (Ver. 1.4 or later) Can be set with SetFrcCoord. Cannot be modified with the teach pendant. (Ver. 1.4 or later) Can be set with SetFrcCoord. Cannot be modified with the teach pendant. (Ver. 1.4 or later)

Can be set with SetCompRate. Cannot be modified with the teach pendant. (Ver. 1.4 or later)

102

10000

10000

103

10000

10000

104

10000

10000

Can be set with SetCompRate. Cannot be modified with the teach pendant. (Ver. 1.4 or later)

105

10000

10000

106

10000

10000

107

100

100

Can be set with SetCompEralw. Cannot be modified with the teach pendant. (Ver. 1.4 or later)

108

100

100

109

100

100

22-18

Chapter 22 Appendices
No. 110 Items Compliance/positional error allowance (RX) (For 6-axis robot) Compliance/positional error allowance (RY) (For 6-axis robot) Compliance/positional error allowance (RZ) (For 6-axis robot) Force offset (X) (For 6-axis robot) Force offset (Y) (For 6-axis robot) Force offset (Z) (For 6-axis robot) Force offset (RX) (For 6-axis robot) Force offset (RY) (For 6-axis robot) Force offset (RZ) (For 6-axis robot) Optimization initialize Factory default 300 Powering-on default 300 Description Allowable deviation around the X-axis under compliance control Allowable deviation around the Y-axis under compliance control Allowable deviation around the Z-axis under compliance control Force offset along the X-axis under compliance control Force offset along the Y-axis under compliance control Force offset along the Z-axis under compliance control Offset moment around the X-axis under compliance control Offset moment around the Y-axis under compliance control Offset moment around the Z-axis under compliance control 0: Will reset the control set of motion optimization to 0 when the power is turned OFF and ON (Default) 1: Will not reset the control set of motion optimization when the power is turned OFF and ON 121 to 128 Torque limit for compliance control (J1 to J8) (For 6-axis robot) 0 0 Current limit value for one of J1 to J8 under compliance control Can be set with SetCompJLimit or ResetCompJ Limit. Cannot be modified with the teach pendant. (Ver. 1.4 or later) Comments

Can be set with SetCompEralw. Cannot be modified with the teach pendant. (Ver. 1.4 or later)

111

300

300

112

300

300

113 114 115 116 117 118 120

0 0 0 0 0 0 0

0 0 0 0 0 0 Last value at powering-off

Can be set with SetFrcAssist. Cannot be modified with the teach pendant. (Ver. 1.4 or later) Can be set with SetFrcAssist. Cannot be modified with the teach pendant. (Ver. 1.4 or later) (Ver. 1.4 or later)

22-19

196

J4 brake lock setting (For VM-6083D/ VM-60B1D and VS-E series) Setting of TCP speed pattern (Note 1) Restoration of TOOL/WORK data (Note 2)

If the J4 overrides its software motion limit when the brake is released: 0: Will lock the J4 brake 1: Will not lock the J4 brake

(Ver. 1.7 or later)

197

Last value at powering-off Last value at powering-off

0: Conventional speed control 1: Constant TCP speed (Tool end

(Ver. 1.8 or later)

speed in CP motion)
0 0: No resume 1: Resume (Ver. 1.8 or later)

198

199

Arc interpolation approved value of easy teaching

100

100

Positional error allowance for arc motion in easy teaching

Do not change this setting if not necessary. (Ver. 1.8 or later)

Note 1: If you specify a CP motion involving the rotation of the robot hand, then the system will automatically decrease the TCP speed (Tool end speed in CP motion) according to the rotation angle by default. This causes some problems that the robot does not run in the specified speed or at constant speed. In Version 1.8 or later, it is possible to keep the TCP speed constant by setting Parameter No. 197 to 1. If you specify such a motion that will exceed the rotation speed limit, then the system will issue a warning message and run the robot while increasing/decreasing the TCP speed. Note 2: In earlier versions, the system will not retain TOOL/WORK coordinates declared or defined in programs if the power is turned off. Accordingly, to make a same job, you need to set up the same operation environments every time when restarting the robot. Setting Parameter No. 198 to 1 will make the system retain those operation environments. When the power is on, they will be resumed.

22-20

Chapter 22 Appendices

22.5 Reserved Word List

You cannot use these reserved words as variable names or label names.
ABOVE ABS ACCEL ACOS ADDCOMLOG ADDERRLOG ALL AND APPROACH AREA AREAPOS AREASIZE ARRIVE AS ASC ASIN ATN ATN2 AVEC B BELOW BIN BIT BLOB BLOBCOPY BLOBLABEL BLOBMEASURE BREAK BUZZER BYTE C CALCWORKPOS CALL CAMASPECT CAMIN CAMLEVEL CAMMODE CAMTIN CAMTOFF CAMTON CASE CHANGE_BCAP CHANGE_PCAP CHANGECOORD CHANGETOOL CHANGEWORK CHGEXTMODE CHGINTMODE CHR CLEARLOG CLOSECOMLOG CLOSEERRLOG CLRERR CODE COM_DISCOM COM_ENCOM COM_STATE CONTINUERUN CONT COS CREATESEM CURACC CURDEC CUREJNT CUREXJ CUREXTACC CUREXTDEC CUREXTSPD CURFIG CURJACC CURJDEC CURJNT CURJSPD CUROPTMODE CURPOS CURSPD CURTOOL CURTRACKPOS CURTRACKPOSEX CURTRACKSPD CURTRN CURWORK CYCLE D DATE DECEL DEF DEFDBL DEFEND DEFINT DEFIO DEFJNT DEFPOS DEFSNG DEFSTR DEFTRN DEFVEC DEG DEGRAD DELAY DELETESEM DEPART DESTEXJ DESTJNT DESTPOS DESTTRN DETECT DIM DISP_PAGE DIST DO DOUBLE DRAW DRIVE DRIVEA E EJ ELSE ELSEIF EMGSTOP END ENDIF EQJ EQP EQS EQT EQU EQV ERL ERR ERRMSG ERROR EX EXA EXECAL EXIT EXP EXTSPEED F FALSE FIG FIGAPRL FIGAPRP FLIP FLOAT FLUSH FLUSHSEM FOR FORMAT FREE GETCOMLOG GETENV GETERR GETERRLOG GETERRLVL GETJNTDATA GETSRVDATA GETSRVSTATE GIVEARM GIVEARMNOWAIT GIVESEM GIVEVIS GO GOHOME GOSUB GOTO GRASP H HALT HAND HEX HMOVE HOLD HOME I IF IN INIT INPUT INPUTB INPUTB$ INT INTEGER INTERRUPT IO IOBLOCK IS J J2P J2T JOINT JSPEED JACCEL JDECEL KEEP KILL KILLALL L LEFT LEFTY LEN LET LETA LETENV LETF LETJ LETJ1 LETJ2 LETJ3 LETJ4 LETJ5 LETJ6 LETO LETP LETR LETRX LETRY LETRZ LETT LETX LETY LETZ LINEINPUT LINPUTB LOG LOG10 LOOP LPRINTB MAGNITUDE MAX MID MIN MIRROR MOD MOTOR MOVE MPS NEJ NEP NEQ NES NET NEV NEXT NONFLIP NORMTRN NOT OFF ON OR ORD OUT OVEC P P2J P2T PI POSCLR POSE POSITION POSRX POSRY POSRZ POST POSX POSY POSZ POW PRINT PRINTB PRINTDBG PRINTLBL PRINTMSG PRIORITY PROGRAM PTP PVEC R RAD RADDEG RELEASE REM REPEAT RESET RESETAREA RESETVALVE RESULT RESUME RETURN RIGHT RIGHTY RND ROB ROBOT ROTATE ROTATEH RUN RVEC

H I J K L M N O P

22-21

S SEC SELECT SENDKEY SET SETAREA SETVALVE SGN SHADDGROUP SHCIRCLE SHCLRGROUP SHCLRMODEL SHCOPYMODEL SHCORNER SHDEFCIRCLE SHDEFCORNER SHDEFMODEL SHDISPMODEL SHDROPGROUP SHGROUP SHLOADMODEL SHMODEL SHREFGROUP SHREFMODEL SHSAVEMODEL SIN SINGLE SPEED SPRINTF SQR SQRT ST_ASPACLD ST_ASPCHANGE ST_OFFSRVLOCK ST_ONSRVLOCK ST_RESETCOMPCONTROL ST_RESETCOMPERALW ST_RESETCOMPRATE ST_RESETCOMPJLIMIT ST_RESETCOMPVMODE ST_RESETCURLMT ST_RESETDAMPRATE ST_RESETERALW ST_RESETFRCASSIST ST_RESETFRCLIMIT ST_RESETGRAVITY ST_RESETGRVOFFSET ST_RESETZBALANCE ST_SETCOMPCONTROL ST_SETCOMPERALW ST_SETCOMPFCONTROL ST_SETCOMPJLIMIT ST_SETCOMPRATE ST_SETCURLMT ST_SETDAMPRATE ST_SETCOMPVMODE ST_SETERALW ST_SETFRCASSIST ST_SETFRCCOORD ST_SETGRAVITY ST_SETGRVOFFSET ST_SETFRCLIMIT ST_SETZBALANCE STARTDATA STARTLOG STATUS STEP STOP STOPEND STOPLOG STARTTRI STR STRING STRPOS SUB SUSPEND SUSPENDALL SYSSTATE

W X Y Z

T T2J T2P TACCEL TAKEARM TAKESEM TAKEVIS TAN TDECEL THEN TIME TIMER TINV TLSPEED TO TOOL TOOLPOS TRACKDATAGET TRACKDATAINFO TRACKDATAINITIALIZE TRACKDATANUM TRACKDATASET TRADIUS TRANS TRAVELD TRAVELG TRNS TRUE TS TSMOVE TSPEED TSPIN TSRSTATE TTURN UNTIL V VAL VECTOR VER VISBINA VISBINAR VISBRIGHT VISCAL VISCAMOUT VISCIRCLE VISCLS VISCOPY VISCROSS VISDEFCHAR VISDEFTABLE VISEDGE VISELLIPSE VISFILTER VISGETNUM VISGETP VISGETSTR VISHIST VISLEVEL VISLINE VISLOC VISMASK VISMEASURE VISOVERLAY VISPLNOUT VISPOSX VISPOSY VISPRINT VISPROJ VISPTP VISPUTP VISREADBAR VISREADQR VISRECT VISREFCAL VISREFHIST VISREFTABLE VISSCREEN VISSECT VISSTATUS VISWORKPLN WAIT WAITTRACKMOVE WAITTRACKMOVEEX WEND WHILE WINDCLR WINDCOPY WINDDISP WINDMAKE WINDREF WORD WORK WORKPOS WRITE X XOR XY XYH YZ YZH ZX ZXH

22-22

Chapter 22 Appendices

22.6 Conventional Language Command Correspondence Table (VS)

n Motion Command Correspondence Table
Conventional language command MVE Jn MVP Jn MVSE Pn MVSP Pn DRVE ( j 1 j 2 j 3 j 4 j 5 j 6 ) DRVE Jn DRVP ( j 1 j 2 j 3 j 4 j 5 j 6 ) DRVP Jn DRWE (x, y, z) DRWE Pn DRWP (x, y, z) DRWP Pn DEPE n DEPP n APRE n APRP n APRJE n APRJP n ROTE n ROTP n MVRE Pn2, Pn3 MVPR Pn2, Pn3 PAC COMMAND MOVE P, Jn MOVE P, @P Jn MOVE L, Tn MOVE L, @P Tn DRIVE (1j1), DRIVE (1, JOINT (1, Jn)), DRIVE @P (1 j 1), DRIVE @P (1, JOINT (1j1)), DRAW L, (x, y, z) DRAW L, PVEC (Tn) DRAW L, @P (x, y, z) DRAW L, @P PVEC (Tn) DEPART L, n DEPART L, @P n APPROACH L, Px, n APPROACH L, @P Px, n APPROACH P, Px, n APPROACH P, @P Px, n ROTATEH n ROTATEH @P n MOVE C, Tn2, Tn3 MOVE C, Tn2, @P Tn3 MOVE Macro Jn = Jc + ( j 1 j 2 j 3 j 4 j 5 j 6 ) MOVE P, Jn

j j = Jc + (JOINT (1, Jn)),, JOINT (6, Jn)

MOVE P, @P Jn Jn = Jc + ( j 1 j 2 j 3 j 4 j 5 j 6 ) MOVE P, @P Jn

j j = Jc + (JOINT (1, Jn)),, JOINT (6, Jn) MOVE P, @P j j MOVE L, Pc + (x, y, z)

MOVE L, Pc + (POSX (Pn), POSY (Pn), POSZ (Pn)) MOVE L, @P Pc + (x, y, z) MOVE L, @P Pc + (POSX (Pn), POSY (Pn), POSZ (Pn)) MOVE L, Pc + (0, 0, -n) H MOVE L, @P Pc + (0, 0, -n) H MOVE L, Px + (0, 0, -n) H MOVE L, @P Px + (0, 0, -n) H MOVE P, Px + (0, 0, -n) H MOVE P, @P Px + (0, 0, -n) H MOVE L, Pc + (0, 0, 0, 0, 0, n) H MOVE L, @P Pc + (0, 0, 0, 0, 0, n) H

(!) Pc/Jc is a current position, and Px/Jx is a destination position. (!) Add DRVE to an argument in the DRIVE Library specification is under consideration. (!) j j is a temporary local variable.

n Speed Designation Command Correspondence Table

Conventional language command ISP n ACC n AACC n RACC n PAC COMMAND SPEED n ACCEL n, n ACCEL n DECEL n Remark

n Jump Command Correspondence Table

Conventional language command JI m-n JZ m-n JMP n CMP l s m PAC COMMAND IF IO [m]=1 THEN *labeln IF IO [m]=0 THEN *labeln GOTO *labeln IF l s m THEN *labeln s is a comparison symbol. Remark

22-23

Conventional language command LABL n LABL n IPCLR n INTRPT REM ON n ON n-m OFF n OFF n-m ONT n-m TIME=t VON n VON n-m VOFF n VOFF n-m ON PLT1END OFF PLT1END ON PLTEND OFF PLTEND INB L m-n ONB L m-n ONB lx m-n

PAC COMMAND *labeln. *labeln. CALL pltResetAll (n) INTERRUPT ON REM| SET IO [n] SET IO [n TO m] RESET IO [n] RESET IO [n TO m] SET IO [n TO m], t*10 SET IO [n] SET IO [n TO m] RESET IO [n] RESET IO [n TO m] SET IO [n] RESET IO [n] SET IO [n] RESET IO [n] CALL ndlnb (L, m, n) CALL ndOnb (L, m, n) CALL ndOnbl (x, m, n)

Remark

After the next command, this changes to INTERRUPT OFF.

The unit is msec. (Note) In case of PAC, a control does not proceed to the next process.

Refer to the DIO assignment table. Refer to the DIO assignment table. Refer to the DIO assignment table. Refer to the DIO assignment table. Library call Library call Library call

n Stop Command Correspondence Table

Conventional language command END STOP STOPEND TIM n END HOLD STOPEND DELAY n* 10 PAC COMMAND Remark

n SETI Command Correspondence Table

Conventional language command Variable 6 axes Pn Indirect reference In. P $ \ ISP AACC RACC SETI lx = N_n SETI lx = M_n SETI lx = K_n SETI lx = N1_n SETI lx = M1_n SETI lx = K1_n PAC COMMAND T [n] P [n] CURPOS|* CURJNT|* CURSPD CURACC CURDEC CALL pltGetN (n, x) CALL pltGetM (n, x) CALL pltGetK (n, x) CALL pltGetN1 (n, x) CALL pltGetM1 (n, x) CALL pltGetK1 (n, x) Library call Library call Library call Library call Library call Library call Remark

22-24

Chapter 22 Appendices n Operation Command Correspondence Table

Conventional language command + * / % . x ABS (n) SIN (n) COS (n) TAN (n) ATAN (n) ATN2 (y, x) SQRT (n) FWRD (Jn) REV2 (Pn) TRNS (Pm, Jk) TINV (Pn) DATE TIME (0) TIME (1) + * / MOD * x ABS (n) SIN (n) COS (n) TAN (n) ATAN (n) ATN2 (y, x) SQRT (n) J2P (J [n]) P2J (P [n]) Pm + ( x, y, z, , , ) H TINV (Tn) CALL ndDate CALL ndTime TIMER Library specification is under consideration. Library specification is under consideration. Refer to the next page. PAC COMMAND Addition Subtraction Multiplication Division Remainder Inner product (for vectors) Outer product (for vectors) Remark

n Communication Command Correspondence Table

Conventional language command VIS n JF n-m VSET n VDT VPUT $ VPUT Pn VRST PAC COMMAND CALL ndVis (n) CALL ndJf (n, k) IF I [k] = 0 THEN *label CALL ndVset () CALL ndVdt CALL ndVput () CALL ndVrst Library call Library call Library call Library call Library call Library call Remark

n Defined Command Correspondence Table

Conventional language command SUB n PALT n TOOL n PAC COMMAND CALL SUBn CALL pltMove (n) CHANGETOOL n Remark SUBn is a program name. Library call

22-25

Functions to move the coordinate system

Although the PAC language does not support coordinate system moving functions (TRANS command) of conventional language commands, you can move the coordinate system with the position operation. For details refer to Part 1 Chapter 1, subsection 1.9.7 Position Operation. For the coordinate system, there are methods to use Type P variables and Type T variables, and they can change the work coordinate references and the tool coordinate system references. If you move the coordinate system to the Type J variable, it is converted to a Type P or a Type T variable with JP2 or J2T. (1) If Type P variables are used 1. Designate the relative movement distance with the work coordinate system as the reference. Pn = Pm + ( X, Y, Z, Rx, Ry, Rz) Obtain the position Pn: from the reference position Pm, the position moves in millimeters (mm) by X, Y, and Z in the directions of the X, Y and Z axes of the respective work coordinate systems. The posture rotates in degrees of Rx, Ry, and Rz around the X, Y and Z axes of the respective work coordinates. The robot assumes the Pm figure. 2. Designate the relative movement distance with the tool coordinate system as the reference. Pn = Pm + ( X, Y, Z, Rx, Ry, Rz) H Obtain the position Pn: from the reference position Pm, the position moves in millimeters (mm) by X, Y, and Z in the directions of the X (normal vector), Y (orient vector) and Z (approach vector) axes of the respective work coordinate systems. The posture rotates in degrees of Rx, Ry, and Rz around the X (normal vector), Y (orient vector) and Z (approach vector) axes of the respective work coordinates. The robot assumes the Pm figure. (2) If Type T variables are used 1. Designate the relative movement distance with the work coordinate system as the reference. DEFTRN LT1, LT2 DEFPOS LP1 LP1= (0, 0, 0, Rx, Ry, Rz) LT1=P2T(LP1) LT2=Tm LETP LT2 = (0, 0, 0) Tn=LT1*LT2 LETP Tn = PVEC(Tm) + (X, Y, Z) LETF Tn = FIG(Tm) Obtain a position Tn: from the reference position Pm, the position moves in millimeters (mm) by X, Y, and Z in the directions of the X, Y and Z axes of the respective work coordinate systems. The posture rotates in degrees of Rx, Ry, and Rz around the X, Y and Z axes of the respective work coordinates. The robot becomes the Tm figure. 2. Designate the relative movement distance with the tool coordinate system as the reference. DEFTRN LT1 DEFPOS LP1 LP1=(X, Y, Z, Rx, Ry, Rz) LT1=P2T(LP1) Tn=LT1*LT2 LETF Tn=FIG(Tm) Obtain the position Pn: from the reference position Pm, the position moves in millimeters (mm) by X, Y, and Z in the directions of the X (normal vector), Y (orient vector) and Z (approach vector) axes of the respective work coordinate systems. The posture rotates in degrees of Rx, Ry, and Rz around the X (normal vector), Y (orient vector) and Z (approach vector) axes of the respective work coordinates. The robot becomes the Tm figure.

22-26

Chapter 22 Appendices
(Note) The TRANS command is a coordinate system movement command which uses the tool
coordinate system as the reference; however, the posture rotation method is different from the tool coordinate system movement command for Type P variable and a Type T variable as follows.
Posture rotation method of the coordinate system Js = (X, Y, Z, Rx, Ry, Rz) Pn = TRANS (Pm, Js) From the posture at the reference position Pm, it rotates by Rx (degrees) around the X axis (normal vector) of the tool coordinate system, and rotates by Ry (degrees) around the Y axis of the rotated tool axis. It also rotates by Rz (degrees) around the Z axis of the rotated tool coordinate system. From the posture at the reference position Pm, it rotates by Rx (degrees) around the X axis (normal vector) of the tool coordinate system, and rotates by Ry (degree) around the Y axis of the tool axis before rotation. It also rotates by Rz (degrees) around the Z axis of the tool coordinate system prior to rotation.

Pn=Pm + (X, Y, Z, Rx, Ry, Rz) H

For posture rotation similar to the TRANS command of conventional language, designate as follows. (1) If Type P variables are used Pn = Pm + (X, Y, Z, 0, 0, 0) H Pn = Pn + (0, 0, 0, Rx, 0, 0) H Pn = Pn + (0, 0, 0, 0, Ry, 0) H Pn = Pn + (0, 0, 0, 0, 0, Rz) H (2) If Type T variables are used DEFTRN LT DEFPOS LP LP = (X, Y, Z, 0, 0, 0) LT = P2T (LP) Tn = Tm*LT LP = (0, 0, 0, Rx, 0, 0) LT = P2T (LP) Tn = Tn*LT LP = (0, 0, 0, 0, Ry, 0) LT = P2T (LP) Tn = Tn*LT LP = (0, 0, 0, 0, 0, Rz) LT = P2T (LP) Tn = Tn*LT LETF Tn = FIG (Tm)

22-27

22.7 Version Correspondence Table

Expression values used with the VER$ function and the corresponding modules are listed on the table below. For the VER$ function, refer to Part 2 Chapter 12, subsection 12.1.3 VER$ (Function).
Expression value 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 Module name ROM Main board DIO board Vision board Device net board Teach pendant Operation panel PAC language process module Intermediate code process module Path process module Servo process module Communication process module Pendant process module Vision process module Vision communication process module Device net process module PAC language specification Intermediate code specification Servo communication specification Vision communication specification ROBO Talk communication specification Pendant communication specification Device Net communication specification

22-28

Chapter 22 Appendices

22.8 Setting Parameter Table

n Pac Manager - Program
Parameter name Number of Type I variables Number of Type F variables Number of Type D variables Number of Type V variables Number of Type P variables Number of Type J variables Number of Type T variables Number of Type S variables Approximation comparison precision (*10^6) Trace code deletion Cycle time calculation code deletion Array range check code deletion Error interruption process code deletion Macro name PC_NO_INT PC_NO_SNG PC_NO_DBL PC_NO_VEC PC_NO_POS PC_NO_JNT PC_NO_TRN PC_NO_STR PC_EPSILON PC_NO_TRACE PC_NO_CYC_TIME PC_NO_CHK_INDEX PC_NO_ERR_TRAP Description The number of numbered long integer type variables. The number of numbered single precision real type variables. The number of numbered double precision real type variables. The number of numbered vector type variables. The number of numbered position type variables. The number of numbered joint type variables. The number of numbered homogeneous transformation type variables. The number of numbered character string type variables. Approximation comparison operator (=) permissible deviation amount (1000000) Deletes the debug code from the compile code. (0: do not delete. 2: delete all.) Deletes cycle time calculation code from the compile code (0: do not delete, 1: partly delete, 2: delete all) Deletes array range check code from the compile code. (0: do not delete, 1: partly delete, 2: delete all) Deletes interruption process code from the compile code. (0: do not delete, 1: delete)

n Dio Manager - Hardware

Parameter name Assignment mode (0: compatible, 1: standard) Parity bit (0: invalid, 1: valid) Hand IO. Interruption setting (0: invalid, 1: valid) DeviceNet. Input slot number DeviceNet. Output slot number DeviceNet. Preparation failure detection (0: invalid, 1: valid) Dedicated I/O Output Mode (0: invalid, 1: valid) M-Dnet Error Indication (0: Every time, 1: First time) PROFIBUS node address (1 to 125) PROFIBUS Input Setting (0:8, 1:12, 2:16, 3:20, 4:32) Macro name IO_ASSIGN IO_PARITY IO_HD_ENABLED IO_DN_IN_SLOT IO_DN_OUT_SLOT IO_DN_EXERRCHK IO_DEDICTDIO IO_MDN_ERRDISP IO_SPRFI_ADRS IO_SPRFI_INTYPE Description I/O assignment mode setting (0: compatible mode, 1: standard mode) Setting of program No. selection parity in program start Parity bit (0: invalid, 1: valid) -------PROFIBUS input setting 0: 8 bytes Output con 1: 12 bytes Output con 2: 16 bytes Output con 3: 20 bytes Output con 4: 32 bytes Output con PROFIBUS output setting 0: 8 bytes Input con 1: 12 bytes Input con 2: 16 bytes Input con 3: 20 bytes Input con 4: 32 bytes Input con

PROFIBUS Output Setting (0:8, 1:12, 2:16, 3:20, 4:32)

IO_SPRFI_OUTTYPE

22-29

n Arm Manager - Path creation

Parameter name Positive direction software motion limit (J1,deg*10^3) Positive direction software motion limit (J2,deg*10^3) Positive direction software motion limit (J3,deg*10^3) Positive direction software motion limit (J4,deg*10^3) Positive direction software motion limit (J5,deg*10^3) Positive direction software motion limit (J6,deg*10^3) Positive direction software motion limit (J7,deg*10^3) Positive direction software motion limit (J8,deg*10^3) Negative direction software motion limit (J1,deg*10^3) Negative direction software motion limit (J2,deg*10^3) Negative direction software motion limit (J3,deg*10^3) Negative direction software motion limit (J4,deg*10^3) Negative direction software motion limit (J5,deg*10^3) Negative direction software motion limit (J6,deg*10^3) Negative direction software motion limit (J7,deg*10^3) Negative direction software motion limit (J8,deg*10^3) RANG (J1,deg*10^5) Macro name AM_JPRM_PLIM1 AM_JPRM_PLIM2 AM_JPRM_PLIM3 AM_JPRM_PLIM4 AM_JPRM_PLIM5 AM_JPRM_PLIM6 AM_JPRM_PLIM7 AM_JPRM_PLIM8 AM_JPRM_NLIM1 AM_JPRM_NLIM2 AM_JPRM_NLIM3 AM_JPRM_NLIM4 AM_JPRM_NLIM5 AM_JPRM_NLIM6 AM_JPRM_NLIM7 AM_JPRM_NLIM8 AM_JPRM_RANG1 Description 1st axis positive direction software motion limit (1000, unit: degree) 2nd axis positive direction software motion limit (1000, unit: degree) 3rd axis positive direction software motion limit (1000, unit: degree) 4th axis positive direction software motion limit (1000, unit: degree) 5th axis positive direction software motion limit (1000, unit: degree) 6th axis positive direction software motion limit (1000, unit: degree) 7th axis positive direction software motion limit (1000, unit: degree) 8th axis positive direction software motion limit (1000, unit: degree) 1st axis negative direction software motion limit (1000, unit: degree) 2nd axis negative direction software motion limit (1000, unit: degree) 3rd axis negative direction software motion limit (1000, unit: degree) 4th axis negative direction software motion limit (1000, unit: degree) 5th axis negative direction software motion limit (1000, unit: degree) 6th axis negative direction software motion limit (1000, unit: degree) 7th axis negative direction software motion limit (1000, unit: degree) 8 axis negative direction software motion limit (1000, unit: degree) 1st axis RANG value (100000, unit: degree)

n Arm Manager - Using Condition

Parameter name Control set of motion optimization Floor, ceiling, or wall-hanging setting Mass of payload (g) Payload center of gravity X6 (mm) Payload center of gravity Y6 (mm) Payload center of gravity Z6 (mm) Permissible pulse width in stop (J1) Permissible pulse width in stop (J2) Permissible pulse width in stop (J3) Permissible pulse width in stop (J4) Permissible pulse width in stop (J5) Permissible pulse width in stop (J6) Permissible pulse width in stop (J7) Permissible pulse width in stop (J8) Motion finish timeout (msec) Macro name CND_ASPACC CND_SPACE CND_LOAD CND_LDPOSGX CND_LDPOSGY CND_LDPOSGZ CND_PLSWDTH1 CND_PLSWDTH2 CND_PLSWDTH3 CND_PLSWDTH4 CND_PLSWDTH5 CND_PLSWDTH6 CND_PLSWDTH7 CND_PLSWDTH8 CND_MVTIMOUT Description Control set of motion optimization (0: normal, 1: only PTP is valid, 2: only CP is valid, 3: both PTP and CP are valid) Floor-, ceiling-, or wall-hanging setting (0: Floor, 1: Ceiling, 2: Wall) Mass of payload (unit: g) Component X of payload center of gravity (unit : mm) Component Y of payload center of gravity (unit : mm) Component Z of payload center of gravity (unit : mm) 1st axis permissible pulse width in stop (unit: pulse) 2nd axis permissible pulse width in stop (unit: pulse) 3rd axis permissible pulse width in stop (unit: pulse) 4th axis permissible pulse width in stop (unit: pulse) 5th axis permissible pulse width in stop (unit: pulse) 6th axis permissible pulse width in stop (unit: pulse) 7th axis permissible pulse width in stop (unit: pulse) 8th axis permissible pulse width in stop (unit: pulse) Motion finish timeout time when @E is designated (unit: msec)

22-30

Chapter 22 Appendices n Vision Manager - General Setting

Parameter name Camera 1 - shutter system Camera 1 - input lower limit level Camera 1 - input upper limit level Camera 1 - Camera availability Camera 2 - shutter system Camera 2 - input lower limit level Camera 2 - input upper limit level Camera 2 - Camera availability Camera synchronization system ShCorn - distance ShCorn - pitch ShCorn - width ShCorn - height ShCirc - pitch ShCirc - width Search timeout time (ms) Vision monitor display position Macro name CA_SHUT1 CA_LEVEL_L1 CA_LEVEL_H1 CA_CONNECT1 CA_SHUT2 CA_LEVEL_L2 CA_LEVEL_H2 CA_CONNECT2 CA_SYNC SH_CORN_DIST1 SH_CORN_DIST2 SH_CORN_WIDTH SH_CORN_HEIGHT SH_CIRC_DIST SH_CIRC_WIDTH SH_TIMEOUT VS_DISP_LOC Description Camera 1 shutter system (0: field, 1: frame) Camera 1 input lower limit level Camera 1 input upper limit level Camera 1 availability to use (0: avaialble to use, 1: not connected, 2: option, 3: none) Camera 2 shutter system (0: field, 1: frame) Camera 2 input lower limit level Camera 2 input upper limit level Camera 2 availability to use (0: avaialble to use, 1: not connected, 2: option, 3: none) Camera synchronization system (0: camera internal synchronization, 1: camera external synchronization) ShCorner command measurement condition (distance between pad and corner) 1 to 10 ShCorner command measurement condition (Pitch between two pads) 1 to 10 ShCorner command measurement condition (Pad width) 1 to 10 ShCorner command measurement condition (Pad height) 1 to 10 ShCircle command measurement condition (Pitch between two pads) 1 to 10 ShCircle command measurement condition (Pad width) 1 to 10 Search measurement timeout time A position to display the process screen on the vision monitor (0: center, 1: left, 2: right)

n Log Manager - Communication Specification

Parameter name Timeout time (msec) The number of retries when atimeout occurs. The number of retries when an NAK occurs. Macro name COM_RTK_TOUT COM_RTK_TRETRY COM_RTK_RETRY Description Timeout time in communication (unit: msec) The number of retry when communication timeout occurs. The number of retry when NAK (packet failure) occurs.

22-31

Parameter name RS232C(2). Communication priority RS232C(2). Baud rate RS232C(2). Parity (0: even, 1: non, 2: odd) RS232C(2). Data length RS232C(2). Stop bit (0: 1bit, 1: 1.5bit, 2: 2bit) RS232C(2). Delimiter (0: CR, 1: CR + LF) RS232C(3). Communication priority RS232C(3). Baud rate RS232C(3). Parity (0: even, 1: non, 2: odd) RS232C(3). Data length RS232C(3). Stop bit (0: 1bit, 2: 1.5bit, 3: 2bit) RS232C(3). Delimiter (0: CR, 1: CR + LF) RS232C(4). Communication priority

Macro name COM_RS2_ACCESS COM_RS2_SPEED COM_RS2_PARITY COM_RS2_DATELEN COM_RS2_STOPBIT COM_RS2_DELIMITER COM_RS3_ACCESS COM_RS3_SPEED COM_RS3_PARITY COM_RS3_DATELEN COM_RS3_STOPBIT COM_RS3_DELIMITER COM_RS4_ACCESS

Description Communication priority setting of RS232C channel 2 of the controller (0: not available, 1: only reading, 2: read/write available) Baud rate setting of RS232C channel 2 of the controller (unit: bps) Parity setting of RS232C channel 2 of the controller (0: even, 1: non, 2: odd) Data length setting of RS232C channel 2 of the controller (unit: bit) Stop bit setting of RS232C channel 2 of the controller (0: 1bit, 1: 1.5bit, 2: 2bit) Delimiter setting of RS232C channel 2 of the controller (0: CR, 1: CR + LF) Communication priority setting of RS232C channel 3 of the controller (0: not available, 1: only reading, 2: read/write available) Baud rate setting of RS232C channel 3 of the controller (unit: bps) Parity setting of RS232C channel 3 of the controller (0: even, 1: non, 2: odd) Data length setting of RS232C channel 3 of the controller (unit: bit) Stop bit setting of RS232C channel 3 of the controller (0: 1bit, 1: 1.5bit, 2: 2bit) Delimiter setting of RS232C channel 3 of the controller (0: CR, 1: CR + LF) Communication priority setting of RS232C channel 4 of the controller (0: not available, 1: only reading, 2: read/write available) Baud rate setting of RS232C channel 4 of the controller (unit: bps) Parity setting of RS232C channel 4 of the controller (0: even, 1: non, 2: odd) Data length setting of RS232C channel 4 of the controller (unit: bit) Stop bit setting of RS232C channel 4 of the controller (0: 1bit, 1: 1.5bit, 2: 2bit) Delimiter setting of RS232C channel 4 of the controller (0: CR, 1: CR + LF) Controller Ethernet communication setting (0: not available, 1: only reading, 2: read/write available) Controller Ethernet IP address setting Connection destination of the controller Ethernet 1.local port setting Connection destination of the controller Ethernet 2.local port setting Connection destination of the controller Ethernet 3.local port setting Connection destination of the controller Ethernet 4.local port setting Connection destination of the controller Ethernet 5.local port setting

RS232C(4). Baud rate RS232C(4). Parity (0: even, 1: non, 2: odd) RS232C(4). Data length RS232C(4). Stop bit (0: 1bit, 1: 1.5bit, 2: 2bit) RS232C(4). Delimiter (0: CR, 1: CR + LF) Ethernet. Communication priority Ethernet. IP address Ethernet. Sub net mask Ethernet. connection destination 1. local port Ethernet. connection destination 2. local port Ethernet. connection destination 3. local port Ethernet. connection destination 4. local port Ethernet. connection destination 5. local port

COM_RS4_SPEED COM_RS4_PARITY COM_RS4_DATELEN COM_RS4_STOPBIT COM_RS4_DELIMITER COM_ET_ACCESS COM_ET_IP_ADDR COM_ET_LPORT1 COM_ET_LPORT2 COM_ET_LPORT3 COM_ET_LPORT4 COM_ET_LPORT5

COM_ET_SUBNET_MASK Controller Ethernet sub net mask setting

22-32

Index

A
Absolute Motion .......................................................3-1 Acceleration Setting ..................................................4-2 Angle Component .................................................15-37 Angle Conversion .................................................15-19 Approach vector assignment ...................................8-12 Arc Interpolation Control........................................3-13 Area(vision control) ..................................................5-2 Arithmetic Function ................................................15-1 Arithmetic Operator ................................................7-16 Arm Semaphore ....................................................14-14 Array declaration.....................................................9-17 Array Declaration......................................................8-8 Array Operation ......................................................7-20 Assignment Operator ..............................................7-16 Assignment Statement................................... 8-10, 10-1 Asterisk .....................................................................8-4 Axis Component ...................................................15-38 Axis component assignment.........................8-11, 10-11 Constant..................................................7-3, 7-12, 16-1 control set of motion optimization ....................... 22-14 Control Statement................................................... 8-20 Control/Set 0 ............................................................ 4-5 Control/Set 1 ............................................................ 4-8 Control/Set 2 ............................................................ 4-9 Control/Set 3 .......................................................... 4-10 Coordinate Transformation Statement.................... 8-18 correspondence degree(vision control)..................... 5-9 Correspondence Table (VS) ................................. 22-23 CP Control.............................................................. 3-13 cross symbol......................................................... 21-36

D
Data Type ............................................................... 7-10 Data Type Conversion .............................................7-11 Decimal Format...................................................... 7-12 Declaration Statement ....................................... 8-6, 9-1 DI/DO Control Statement....................................... 8-19 Discrimination Analysis Method(vision control) ..... 5-5 Distance Extraction .............................................. 15-35 Double Precision Real Type Constant .................... 7-13 Double quotation ...................................................... 8-4 Draw..................................................................... 21-23 Draw Commands.................................................... 8-28

B
Binarization(vision control) ......................................5-4 Binary Format .........................................................7-12 Blank .........................................................................8-4 Brightness .................................................................5-1 Brightness average value.......................................21-61 Brightness Integral Value(vision control)..................5-7 Built-in Constants ...................................................16-1

E
Edge(vision control) ................................................. 5-7 Ellipse window..................................................... 21-16 Encoder Value Check Motion................................... 3-3 End Motion............................................................... 3-3 End Signal of Palletizing Program ......................... 2-21 Environment Setting Values ................................. 22-13 Error control ........................................................... 18-1 Error Control .......................................................... 8-22 Error Information ................................................... 18-1 Error Interruption ................................................... 18-4 Expression ....................................................... 7-3, 7-16 External Acceleration/Deceleration.......................... 4-1 External Speed.......................................................... 4-1

C
Calling a program....................................................11-4 Calling a Program ............................................. 2-1, 2-3 Calling a Subroutine.......................................... 2-1, 2-2 Calling Defined Process..........................................8-15 Calling with a Reference.........................................11-4 Calling with a value ................................................11-4 Calling with a Value ................................................8-25 Calling with Reference............................................8-26 center of gravity ....................................................22-14 Center of Gravity.......................................................5-2 Channel number ........................................................2-8 Character Code Table ..............................................22-1 Character Set .............................................................8-4 Character String ......................................................7-10 Character String Assignment Statement..................8-10 Character String Constant .......................................7-14 Character String Function .....................................15-50 Character String Operator .......................................7-18 Circle window .......................................................21-14 Circuit Number .........................................................2-8 Clearing the Communication Buffer .........................2-8 Code Recognition..................................................21-64 Code Recognition Command ..................................8-29 Comma......................................................................8-4 Command ..................................................................7-3 commands ...............................................................21-1 Comment...............................................................11-23 Communication among Tasks ...................................2-6 Communication Command .......................................2-8 Conditional Branch ..................................... 8-13, 11-17 Confirming Reach Position .......................................3-3

F
Figure Component................................................ 15-36 Figure component assignment.............. 8-11, 8-12, 10-5 Figure Control ...................................................... 12-35 Figure Function .................................................... 15-45 File Fetch................................................................ 20-4 Filet Shape................................................................ 5-8 Flow control statement ............................................11-1 Flow Control Statement.......................................... 8-13 Function........................................................... 7-8, 15-1 Function Declaration ................................................ 8-9

G
Global Variable.................................................. 7-4, 7-5 Global Variable Indirect Reference .......................... 7-6

H
Hexadecimal Format ...............................................7-13 Histogram(vision control) .........................................5-4 Home Position Assignment Statement ....................8-12 Homogeneous Transformation Assignment Statement... ............................................................................8-12 Homogeneous transformation type assignment.......8-12

N
Name ........................................................................ 7-3 Numeric Value........................................................ 7-10 Numeric Value Assignment Statement ................... 8-10 Numeric Value Constant......................................... 7-12

O
Operator........................................................... 7-3, 7-16 Optimization........................................................... 20-5 Orientation vector assignment................................ 8-12

I
I/O (ON/OFF) .........................................................7-10 I/O Port ...................................................................13-1 I/O Variable Declaration............................................8-8 Identifier............................................................ 7-3, 7-4 Image Input/output ..................................................21-1 Image Input/Output Control Commands.................8-27 Image Processing Commands .................................8-28 Indirect Reference .....................................................7-6 Input/output Control Statement ...............................8-19 Integer Type Constant .............................................7-12 Interference Area Coordinates...................................9-2 Interference area declaration .....................................8-9 interference check .....................................................9-2 interference check area..............................................9-2 Internal Acceleration/Deceleration............................4-1 Internal Acceleration/Deceleration Setting ...............4-2 Internal Speed ...........................................................4-1 Interpolation Control...............................................3-12

P
P Tile Method(vision control)................................... 5-6 PAC (Programming language for Assembly Cell).... 7-1 Palletizing............................................................... 2-15 Palletizing Counter ................................................. 2-20 Palletizing Library.................................................. 2-15 Palletizing Program ................................................ 2-22 Palletizing Program Customization ........................ 2-23 Pass Motion .............................................................. 3-3 Pass Start Displacement ........................................... 3-9 Pass Start Position .................................................... 3-9 payload ...................................................... 22-14, 22-15 Payload Center of Gravity .................................... 22-14 Pendant control statement .................................... 13-20 Pendant Control Statement ..................................... 8-19 Pixel.......................................................................... 5-1 Pose ........................................................................ 7-10 Pose Assignment Statement.....................................8-11 Pose Data Type Transformation ........................... 15-28 Position Assignment Statement ...............................8-11 Position Operation.................................................. 7-19 Position type assignment .........................................8-11 Position Type Constant........................................... 7-14 Position vector assignment ..................................... 8-12 Postposition .............................................................. 8-6 Posture.................................................................... 10-7 Preprocessor .................................................. 8-24, 20-1 Priority...................................................................... 2-6 Program .................................................................... 7-9 Program Bank......................................................... 2-14 program Declaration................................................. 8-9 Program Library ..................................................... 2-14 program name........................................................... 7-9 Program Name and declaration ................................ 9-1 Program Name and Declaration ............................... 8-2 Program Recursive Call............................................ 2-4 Program Stop...........................................................11-1 PTP Control............................................................ 3-12

J
Joint Assignment Statement ....................................8-11 Joint Operation........................................................7-20 Joint type assignment ..............................................8-11 Joint Type Constant.................................................7-15

K
kind of edge...........................................................21-60

L
Label ................................................................. 7-8, 8-3 Labeling ........................................................ 5-8, 21-67 Labeling Commands ...............................................8-29 Language Element.....................................................7-3 Library.....................................................................2-14 Line ...........................................................................8-1 Line window .........................................................21-15 Link Angle...............................................................10-6 Local Variable ............................................ 7-4, 7-7, 9-8 Log ..........................................................................19-4 Logical Operator .....................................................7-18

M
Macro Definitions ...................................................20-1 Major Axis Angle(vision control) .............................5-3 Mode Method(vision control) ...................................5-5 motion control statement...........................................5-1 Motion Control Statement.......................................8-17 Multitasking ..............................................................2-6 Multitasking control statement................................14-1

Q
QR code................................................................ 21-64

R
Rectangle window.................................................21-17 Relation between level and edge...........................21-61 Relational Operator .................................................7-17 Repeat ........................................................... 8-14, 11-9 Reserved Word ..........................................................8-5 Reserved Word List...............................................22-21 Result Obtaining Commands ..................................8-30 Robot Arm Control..................................................8-17 robot control statement..............................................5-1 Robot control statement ..........................................12-1 Robot Control Statement.........................................8-17 Robot Language PAC................................................7-1 Rotation Component ................................... 10-8, 15-41 Rotation vector assignment .....................................8-11 RS232C Control Statement .....................................8-19 Running a Program ...................................................2-5 RX component assignment .....................................8-11 RY component assignment......................................8-11 RZ component assignment ......................................8-11

T
Task Control ........................................................... 14-1 Time and date control............................................. 17-1 Time and Date Control ........................................... 8-21 Time Control Statement.......................................... 8-18 Time Function ...................................................... 15-23 Tool coordinate system declaration .......................... 8-9 Tool coordinate system number declaration ............. 9-6 Trigonometric Function........................................ 15-12 Type Constant......................................................... 7-15 Type Declaration ...................................................... 8-6 Type Declaration Character (Postposition)............... 8-6 Type Declaration Instruction .................................... 8-7

U
Unconditional Branch............................................11-21 Units for the PAC Language................................... 7-22 User Coordinate System Declaration ....................... 8-9 Using Condition Parameters................................. 22-14

S
Search Function Commands....................................8-29 Search Model(vision control)....................................5-9 Search(vision control) ...............................................5-9 Sector window.......................................................21-16 Selection..................................................................8-13 Semaphore....................................................... 2-6, 14-6 Semaphore Control Statement.................................8-20 semaphore ID ..........................................................14-6 Semicolon..................................................................8-4 Serial Communication...............................................2-8 Setting Parameter Table ........................................22-29 Setting Robot Installation Condition.......................4-17 Single Precision Real Type Constant ......................7-13 Single quotation ........................................................8-4 SLIM .........................................................................7-2 Speed control statement ........................................12-42 Speed Control Statement.........................................8-18 Speed Conversion .................................................15-22 Speed Designation.....................................................4-1 Statement......................................................... 8-1, 13-1 Stop Control Statement ...........................................8-17 Subroutine ....................................................... 2-1, 8-15 Symbol Constants ...................................................20-1 System.....................................................................19-1 System information .................................................19-1 System Information.................................................8-23 System Variable.........................................................7-8

V
Variable ............................................................. 7-3, 7-4 Variables................................................................. 10-1 Vector .......................................................... 7-10, 15-24 Vector assignment statement .................................. 10-2 Vector Assignment Statement................................. 8-10 Vector Operation .................................................... 7-19 Vector Type Constant ............................................. 7-14 Version Correspondence Table ............................. 22-28 Vision Calibration Command ................................. 8-30 Vision control ......................................................... 21-1 Vision Control ................................................. 5-1, 8-27 Vision Processing ................................................. 21-41

W
Window Setting .................................................... 21-14 Window Setting Commands................................... 8-27 Window(vision control)............................................ 5-1 Work coordinate system declaration......................... 8-9 Work Coordinate system declaration........................ 9-7 Wrist ....................................................................... 22-2

X
X component assignment ........................................8-11

Y
Y component assignment.........................................8-11

Z
Z component assignment.........................................8-11

Vertical articulated V* -D/-E SERIES Horizontal articulated H* SERIES -D Cartesian coordinate XYC-4D SERIES Vision device Vision-21 SERIES
PROGRAMMERS MANUAL I PROGRAM DESIGN AND CAMMANDS (Ver. 1.95)
First Edition Second Edition Third Edition Fourth Edition Fifth Edition Sixth Edition April 2000 June 2000 May 2001 November 2001 May 2002 September 2002

DENSO WAVE INCORPORATED Factory Automation Division

9D50C

The purpose of this manual is to provide accurate information in the handling and operating of the robot. Please feed free to send your comments regarding any errors or omissions you may have found, or any suggestions you may have for generally improving the manual. In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages resulting from the application of the information in this manual.