Manuale d’uso / di manutenzione del prodotto HI4 del fabbricante Hyundai
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HYUNDAI Robot Hi4 Hi40402JO1E Robot Operation Manual HR100P Hi4 CONTROLLER HR120S/150S HR015 HR006 HR010L HX130/165 수동출력 CMD 취소 Ry- Rz- Rx- 원호 OFF 직선 명령수정 정지 LCD f4 + 0 ? 교시 / 재생 f2 f3 ARCON ARCOF 1 f1 7 * - .
The information presented in the manual is the property of HHI. Any copy or even partial is not allowed without prior written authorization from HHI. HHI reserves the right to modify without prior notification. Printed in Korea - April/2002. 1st Edition Copyright 2002 by Hyundai Heavy Industries Co.
■ H E A D O F F I C E ■ 본 사 1 , J E O N H A - D O N G , D O N G - G U , 울산광역시 동구 전하동 1번지 U L S A N , K O R E A T E L : 8 2 - 5 2 - 230-7901~11 T E L : 052-230-7901~11 F.
--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 1 - Contents Chapter 1. Safety, Operation panel, Teach Pendant 1.
--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 2 - 2.2 Basic things for step ...............................
--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 3 - 3.4.5 Step r everse copy ............................... .
--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 4 - Chapter 5. Application condition 5.1 Conveyor operation .
--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 5 - 10: Setting the fie ld bus ........................... ..
--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 6 - 6.4.2 Arc ........................................... ...
--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 7 - 7.18 (18) R123 Robot lo ck ............................. .
--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 8 - 9.5 Welding aux. con. - re try ..........................
--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 9 - 1 1.4 F UNC TIO N .......................................
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 Chapter 1.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 2 Chapter 1. Safety, Operation panel, Teach Pendant 1.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 3 Maintenance Manual.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 5 1.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 6 1.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 7 1.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 8 1.1.6. Installation of Robot 1.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 9 tightly fixed to the floor and have the relevant structure not to easily get over the safety fence.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 10 (4) In case of installation of operation stand, attach emergenc y stop button on it.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 1 1.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 3 - Connect Grounding line into the grounding bus-bar inside the controller.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 14 1.1.6.4 Space for robot installation Install robot manipulator, controller, other peripheral equipment.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 5 1.1.7. Safety Working Procedures Safety working procedures must b e observed to prevent from any accidents.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 7 first the stop status of the robot and further investigate the cause to execute relevant measure.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 9 the safety fence during try-out.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 20 and make the necessary action to the abnormal situations.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 2 1 position.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 22 (2) Proceed with all the work according to the maintenance an d repair procedures.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 2 3 can be safe from any possible accidents caused by falling down or unexpected moving of robot arm.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 24 1.1.10. Safety Functions 1.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 26 1.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 2 7 1.1.10.3. Operating Speed To program the robot, the operating mode switch must be turned to MANUAL position.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 28 1.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 2 9 1.1.11.2. Tools and Workpiece (1) It must be possible to replace tools, such as milling cutte rs, etc.
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------.
1. Safety, Operation Panel, Teach Pendant (2) OP Panel ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 31 1.2 Operation Panel 1.
1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 32 [STOP] Button for stopp ing opera tion.
1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 33 1.
1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 34 1.
1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 35 1.
1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 36 right position of Title Frame.
1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ -------------------------------------------.
1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 38 edit t he factor.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 1 Chapter 2.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 2 Chapter 2.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 3 2.1.2 How to initiate the system 1. At manual mode , select “ System” [ PF2] → 5: System format → 1.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 4 2.1.4 Step and Function The position which is remembered by [REC] key or de fined by a v ariable position data is n amed "STEP".
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 5 2.2 Basic things for step Step is a word indicating robot's certain position (or tool's end position).
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 6 2.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 8 2.2.1.3 Speed Designate t he speed of tool end.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 9 2.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 10 2.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 11 2.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 12 If the robot composition style is not set, the screen will be displayed as follow.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 13 2.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 14 2.3.2 Axis coordinate On the state o f M otor ON a t m anual mode, please c heck the JOG O N LED is lighted or not.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 15 2.3.3 Robot coordinate On the state o f M otor ON a t m anual mode, please c heck the JOG O N LED is lighted or not.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 16 Reference The following f igure shows tha t how to determi ne the robot coor dinate system.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 17 2.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 18 2.3.5 Tool coordinate On the state of Motor ON at manual mode, please check the JOG ON LED is lighted or not.
2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 19 2.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 1 Chapter 3.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 2 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 3 Chapter 3 Service Menu When you press the "Se rvice [PF1]" on the Manual or Aut o Mode.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 4 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ----------------------.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 6 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 7 Screen display 3.1.3 Private Output Outline It displays t he stat us of the fixed outpu t sign al.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 8 Screen display The following screen displays when you select "4;DIO( 1 - 24 )".
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 9 3.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 10 Operation method Input the number of slip count by number key and press the [SET].
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 11 Operation method When you select the page you want, the following screen displ ays the DIO name monitoring.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 12 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 13 3.1.21 Palletize Register Outline It displays th e status of palle tizing oper ation.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 14 Screen display 14:39:38 *** M A N U A L *** A:0 S:4 T0 G1 PN:100[*]__ S/F=4/0 Sp:100.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 15 3.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 16 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ----------------------.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 18 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ----------------------.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 20 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 21 Reference If set the on-line shift register clear as <ENBL>, from "Cond Set[PF5] - AppliCnd[PF1] - 7.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 22 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 23 Screen description Palletize Shift Data : Input shift data for palletizing.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 24 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 25 3.2.5 Frequency condition register Outline It sets freely the content of frequency condition register.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 26 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 27 Screen Description Register(CR) : Input the number of conveyor register.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 28 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 29 3.4 Edit Program Select the "Program modify" and then displays as follows.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 30 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 31 3.4.2 Modify speed in record totally Outline You modify the speed in record of many steps in one program.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 32 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 33 14:39:38 ** Position modif y ** A:0 S:4 Program: [ 99 ] Step:[ 1] ~ [ 9] Coord.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 34 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 35 Reference ⑴ The end step No. of the program to copy is bigger than the start step No.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 36 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 37 Reference ⑴ The end step No. of the program to copy is bigger than the start step No.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 38 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 39 Screen display 3.4.3.2 Edit type Outline It i s same as the manual mode, but the fol lowing fun ctions ar e not used.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 40 ORIGINAL PROGRAM is cop ied to the TEMP1 file a nd be modified by user.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 41 3.4.3.4 Confirm, Accept, Cancel Outline There are 3 types of Confirm, Accept, Cancel in PF menu in Hot Edit.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 42 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 43 3.5 File Management When you select File management, the following display occurs.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 44 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 45 3.5.2 Program first data Outline It disp lays the remark of step 0.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 46 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 47 3.5.4 Rename Outline You can use this function to change the fil e number.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 48 Input new no.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 49 When you select " All file"[PF1], you can select all files.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 50 When you select " Separate"[PF4], you can select '1) select' select.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 51 3.5.5 Copy Outline File can be copied from storage de vice to the othe rs or to itself .
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 52 Select either internal memory or SRAM card, Press [SET]key.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 53 3.5.6 Delete Outline Function to delete selected file.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 54 The sele cted file is del eted as pr essing (YES) key or cancelled b y pressing (NO)key.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 55 3.5.7 Protect Outline Important program can b e protect ed from modificatio n or deletion.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 56 Sele ct file and press "Exec ute"[PF5].
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 57 Reference ⑴ Constant file is in full protection mode e ven though partial protection is set.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 58 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 59 3.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 60 Enter the name of directory with a rrow keys and press : "C omplete" [PF5].
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 61 3.6 Program Conversion Outline Program transformation is creating new program out of current existing program.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 62 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 63 It calculates the transfer data from the 3 reference step of Program A and B.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 64 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 65 Screen display Contents of window Source Program : Enter the program number which has teaching points.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ ------------------------------------------.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 67 3.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ ------------------------------------------.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 69 3.7 System Checking Following is displayed in system checking menu.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 70 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 71 3.7.2 Run time Outline It displays operating time of robot.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 72 (2) Cycle time : Number of t he cycle played during the operation time.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 73 cycle count, 6: Clear gun data, 7: Clear I wait data, 8: Clear Timer wait data.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 74 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 75 or "No"[PF2] key.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 76 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 77 Reference Following is displayed in guide frame as selecting “ Refresh?” [PF1]key.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 78 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 79 Input/Output, state condition of each signals or data at the stop occurrence.
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 80 3.
3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 81 3.8 Date setting (Date, Time) Outline Date setting (Date, Time) can change date/time of controller.
4 . Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ----------------.
4. Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 2 Chapter 4 Condition Setting Press "Cond Set"[PF5] key in either playback mode or manual mode.
4 . Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 3 4.1 Cycle type Outline Decide method of playback for the program.
4. Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 4 4.3 Function in step go/back Outline Decide activation of function at step go/back in manual mode.
4 . Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 5 4.5 Robot lock Outline Program is only exe cuted without robot move ment.
4. Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 6 4.7 Interpolation base Outline Recording s tep, Interpo lation refer ence change Interpolation selected au tomatically.
4 . Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ----------------.
5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- -------------.
5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 2 Chapter 5 Application condition In “ Cond Set” [PF5], Press “ AppliCnd” [PF1].
5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 3 5.
5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 4 5.2 Search Range Outline Define the range to be searched when you use search function.
5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 5 5.
5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 6 5.
5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 7 5.6 Output(DO) signal clear Outline In executing step 0, initialization for c urrent general I/O and welding signal has to be set.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 2 6.2.2 Ser ial por t ...................
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 3 3: Spot welding data(cond ition,sequ ence) .
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 4 Chapter 6 System setting The fol lowing is displayed a s selecti ng “ System” [P F2] of in itial menu in Manual mode.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 5 6.1 User configuration The following condition c an be set in the window below as selecting user parameter.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 6 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 7 6.1.3 Start type Outline Define starting method of robot system.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 8 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 9 6.1.7 Dettachment of Teach Pendant Outline It playbacks the teaching pro gram after de ttaching the teach pendent to protect th e program.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 11 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 12 6.1.13 Using the collision sensor Outline It se lects one of the meth od that c an stop the robot if the collision s ensor acti ve.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 13 6.2 Controller Parameter It displa ys the foll owing massage on the s creen if you se lect "SYS TEM[PF5] → 2.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 14 6.2.1 Input/Output signal selection Outline It sets up when you need to change the attribution of the input/output signal.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 15 6.2.1.1 Input signal logic Outline It sets up the positive, negative of the general input signal.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 16 6.2.1.2 Output signal Logic Outline It sets up the positive, negative logic of the general output signal.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 17 6.2.1.3 The attribution of Output signal Outline It decides the attribution of output signal .
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 18 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 19 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 20 6.2.1.6 Output signal Assignment Outline It uses the signal after output signal assign in special DO signal.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 21 ⑵ On e ini tialize: Presently selecte d ou tput assignment signal v alue return to the initialize status.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 22 Reference ⑴ All Init ialize: It initializ es all of output assi gnment signa l.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 23 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 24 6.2.1.9 DIO Name Edit Outline The user names in each in/out signal.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 25 Reference ⑴ The following massage is displa yed if the highlight bar move to the positi on in the [ ] part.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 26 6.2.1.10 Setting the field bus Outline It sets the Fieldbus parameter.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 27 6.2.1.10.1 Application of the field bus adapter Outline It select whether Fieldbus will use or not.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 28 6.2.1.10.2 Input source selection Outline It sets up from which of the hard wired or field bus the input receives.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 30 6.2.1.10.4 Output signal assignment Outline It sets each signal group unit how you will map each output.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 31 6.2.2 Serial port Outline It sets up the use purpose of the serial port, and sets up the RS232C parameter 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 32 Screen display Reference If you press “ Complete” [PF 5] key, Save the changed information.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 33 S ens ...... You can use this function to receive th e s hift value from the vision .
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 34 6.2.3 Robot Ready Outline The robot outputs robot ready end signal if the robot is ready.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 35 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 36 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 37 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 38 6.2.7 Interlock error time Outline It sets up the maximum waiting time of input signal.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 39 6.2.8 External error output Outline This is the function that outputs the detected error no.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 40 ① Type 1 (8bit output) It outputs after dividing by 2 group.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 41 ② Type 2 (16bit output) It outputs 16bit data after the error number transfers the binary.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 42 6.2.9 Power Saving : PWM OFF Outline It sets up the wai ting time until the p ower saving functio n start from the last oper ation time.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 43 6.2.10 Shift Limit Outline It sets up the limit value of the volume to be shifted.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 44 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 45 Screen display Reference ⑴ If you press “ Complete” [PF 5]key, Save the changed information .
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 46 6.2.12 Coordination system registration Outline It sets up the User coordination system or pedestal tool coordination system.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 47 Screen display Screen description User coordination system No.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 48 6.2.12.2 Pedestal tool coordination system Outline It selects the position of tool end of pedestal tool in the outer of the robot.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 49 6.3 Machine Parameter The following screen is displayed if you select the robot parameter.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 50 Z축 Y축 X축 R 1 축중심 Z n Y n Y축 X축 Z n Y n Z축 T n: 툴 각 도 (+방 향 ) R 1 축중심 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 51 Screen description Weight : Record the weight of tool.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 53 Tool no. to be set : Input the tool number that you want to set again.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 54 6.3.2 Axis Constant Outline It register the reference position of each axis.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 55 6.3.3 Soft Limit Outline It sets to restrict the working range for each axis.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 56 6.3.4 Arm Interference Angle Outline It sets the working limit between the ARM.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 57 6.3.5 Encoder Offset Calibration Outline It calibrates the original point of encoder.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 59 6.3.6 Acceleration/Deceleration Speed Parameter Outline It sets acceleration/deceleration time.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 60 6.3.7 B axis Dead Zone It sets the B axis Dead Zone.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 61 6.3.8 Accuracy Outline It sets the extent of coincidence with a destination position at the playback.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 62 ⑵ Discontinuous step / Continuous step ① Discontinuous step : It means a step to move off on the aimed step.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 64 6.3.9 Speed Outline It decides the record speed in making a program.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 65 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 66 The coordinate system's origin on the each axis refers to the following figure.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 67 6.4 Application parameter If you select the application parameter, the following screen is displayed.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 68 6.4.1 Spot & Stud Outline It is set to perform the spot & stud welding work.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 69 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 71 6.4.1.2 Servo gun parameter Outline It is set to do the spot welding by using the servo gun.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 73 check the abnormality of abrasion quantity.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 74 after outpu tting the error message such as "E0156 The fixed electro de exceeded t he maximum abrasion quantity".
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 75 pressurizatio n table can set the curren t value on the p ressurization of 5 uni t choosed freely.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 76 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 77 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 78 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 79 6.4.1.3.3 Welding sequence Outline It is a data that decides the welding seque nce of controller in the playback of the spot welding.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 80 welding completion wait is also come to an end.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 81 6.4.1.4 Equalizing parameter Outline It is set to do the spot welding by using the equalizerless air gun.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 83 6.4.2 Arc Outline It sets a function to do the arc welding.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 84 Contents of the screen 1: High step forward/backward setting It sets th e speed in c ase of using the high sp eed movable function.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 85 6.4.3 Palletizing Outline It sets the information that is necessary to use the palletizing function.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 86 6.4.3.1 Palletizing pattern register Outline It saves the information that is necessary to use the palletizing function.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 87 1: If the pattern register 1 is selected, the next screen is displayed.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 88 It is possible fo r even number stag e to rotate 0 , 90 and 180 on the basis of the basic pattern.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 89 Last letter-pa per existence y es or no : I t decides the e xistence yes or no of letter - paper at the end.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 90 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 91 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 92 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 95 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 96 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 97 Screen display Reference (1) In case of selecting the " SERVICE"[PF1] → 1.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 98 6.5 System format If selecting the initialization, the following screen is displayed.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 99 6.5.1 System format Outline It sets the cont rol constant file (ROBOT.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 100 6.5.2 Robot type selection Outline It sets the machine constan t file (RO BOT.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 102 ⑸ If the error history file(ROBOT.E0 1), stop history file(ROBOT .
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 103 6.5.4 Use setting Outline It is a function that sets the work use.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 104 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 106 6.6 Automatic constant setting If selecting the constant setting, the following screen is displayed.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 107 6.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 109 6.6.4 Positioner calibration Outline Please refer to the "User manual on the positioner synchronous function".
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- --------------------.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 111 ⑤ It recor ds the fifth point after rotating only the 1 a xis at the position of ④ nearly 30 more and then finishes.
6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 112 If pressing the "Ex ecute"[PF5] key, the message of upside is displayed.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 1 Chapter 7.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 2 7.29 (29) R219 Equalizerless gun number se lecti on .
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 3 CHAPTER 7. R CODE Outline It manages general programs without recording in steps.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 4 ▶ When you select, [NEXT] the follow ing next message wi ll be di splayed on the screen.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 5 7.1 (1) R0 STEP COUNTER RESET Outline It resets the step counter (step 0) and returns to the step 0 at any step.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 6 7.3 (3) R6 EXTERNAL PROGRAM SELECTION (ENABLE/DISABLE) Outline It sets whether the external program selection setting is enable or disable.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 7 7.4 (4) R10 RUN TIME DISPLAY Outline It is the function to display Robot's run time.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 8 Cycle Counter means the cycle number playback during run time.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 9 (3) Cycle count clear ..... Reset the total cycle counter.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 10 7.5 (5) R17 FILE NAME DISPLAY IN INTERNAL MEMORY Outline It displays the fil e name (Robot type, Program No.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 11 7.6 (6) R18 FREQUENCY CONDITION REGISTER DISPLAY/SETTING Outline It displays, sets the content of a frequency condition register.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 12 7.7 (7) R29 TOOL NUMBER SETTING Outline It changes the selected tool number.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 13 7.8 (8) R44 CONVEYOR DATA CLEAR Outline It clears Conveyor data ; CP, CR, CS.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 14 7.9 (9) R45 CONVEYOR REGISTER MANUAL INPUT Outline It sets Conveyor Register (CR) value as a manual inputted value.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 15 7.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 16 7.11 (11) R49 SPEED VARIATION SETTING Outline It sets the value of speed variation during the play back.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 17 7.12 (12) R55 PALLETIZE COUNTER RESET Outline It can be used when you use the palletizing function.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 18 7.13 (13) R71 RECORDED SPEED SPECIFICATION METHOD SELECTION Outline It selects speed specification method in step recording.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 19 7.14 (14) R107 PROGRAM HEAD DATA DISPLAY Outline It displays the content of the program head data (step 0).
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 20 7.16 (16) R116 PROGRAM NUMBER MODIFICATION Outline It changes the program number in the internal memory.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 21 7.17 (17) R117 PROGRAM DELETE Outline It deletes the program stored in the internal memory.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 22 7.18 (18) R123 ROBOT LOCK Outline It sets the robot lock to ON/OFF.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 23 7.19 (19) R136 MODIFY ACCURACY IN STEPS Outline It changes the accuracy of the selected step.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 24 7.20 (20) R137 MODIFY MX IN STEP Outline It changes/adds MX of the currently selected step.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 25 7.21 (21) R138 MODIFY GUN IN STEP Outline It changes/adds the GUN of the currently selected step.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 26 7.22 (22) R162 SHIFT REGISTER VALUE CHANGE Outline It displays/sets the on-line shift buffer's contents.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 27 7.24 (24) R204 SPOT WELDING CONDITION MANUAL OUTPUT Outline It outputs spot welding condition manually.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 28 7.25 (25) R210 SERVO GUN NUMBER SELECTION Outline It is a code for selection of gun , in case o f using multi-servo guns.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 29 7.27 (27) R212 MOVING-TIP CONSUMPTION PRESET Outline It sets wear amount of servo gun's moving welder tip.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 30 7.29 (29) R219 EQUALIZERLESS GUN NUMBER SELECTION Outline It selects gun, in case of equalizerless multi-air guns are using.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 31 7.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 32 7.32 (32) R269 MEMORY PROTECTION SETTING Outline It sets the program protection in the internal memory.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 33 7.33 (33) R286 SOFTWARE VERSION DISPLAY Outline It displays the system environment (Software Version) of HR Controller.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 34 7.34 (34) R310 MANUAL OUTPUT OF GO-SIGNAL Outline It outputs 8 signals as 1 group at the same time.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 35 7.35 (35) R320 SET MAX. SPEED OF STEP GO/BACK Outline It sets the Max.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 36 7.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 -.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 38 Example Operation method After inputting [1], i f press [SET] ke y, it will be appeared on the screen as foll owings After inputti ng Port No.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 39 After inputting the No. of reference X-value with a nu meric key, if press [SET] key, it will be appeared on the screen as followings.
7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 40 7.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 1 Chapter 8.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 2 Chapter 8. PROGRAM MING Outline Program can be divided into 2 parts, Step and Function.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 3 8.1 EDIT STEP It is a Command to move manipulator of robot, and most fundamental Command.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 4 8.2 SUMMARY OF OPERATION KEYS Command Address Area Statement Cursor Status Word Cursor Status Command Modif y - As word cursor status.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 5 Factor menu (PF1~PF5) Not display Not display Input/Modify of factor command.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 6 8.3 EDIT COMMAND 8.3.1 Edition Screen Address Area It means the area which displays line number (1~9999) and step number(S1~S999).
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 7 8.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- -----------------------.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 9 To move cursor to the next factor, use cursor keys.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 10 ※ If there are 5 more menus, at the end of final menu ' * ' mar k will be appe ared.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 11 [1] [SET] [ Ö ] [ Ö ] - Inputting accuracy.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 12 ※ To change contents in Edit frame with contents in Input frame, press [SET] key.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 13 8.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 14 ※ If you input it on the input frame, it as added just in front front of cursor.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 15 < Numerical formula > - Entry into numerical formula input state.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 16 “ ‘ ABCDEFGHIJKLMNOP Q RSTUVWXYZ “ ‘ _abc d ef g hk j klmno pq rstuvwx y z “ ‘ +-*/^=<>&|~() , []%!$?{}:;`.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 17 8.6 Line number edit Step number is create d at the same time when MOVE stat ement (step) is input.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 18 8.7 Block edit Is is a function that cop ying and moving to other pl ace or de leting after copying whole lines of program.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 19 < Selection > [ Ø ][ Ø ][ Ø ][ Ø ][ Ø ] - Pr ess <Selection> key at the b eginning line of bl ock to sele ct.
8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 20 [ × ] [ × ] - It moves to front line of the line where co pied area will be pasted by usi ng a cursor key.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 1 Chapter 9.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 2 9.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 3 In each instruction statement, when [QuickOpen] is pressed, the contents are as followings.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 4 9.2 MOVE - step position Outline Press (QuickOpen) key at move instruction.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 5 9.3 WELDING START CONDITION - EXE.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 6 forward after retractin g i n certai n a mount of dista nce, the voltage/current condition follows the welding start condition.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 7 9.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 8 which is conditi on of current an d vol tage value from in ste ady st ate to in end state.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 9 9.5 WELDING AUXILIARY CONDITION - RETRY Outline If yo u press "aux.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 10 0,it starts with the current value of welding start condition.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 11 9.6 WELDING AUXILIARY CONDITION - RESTART Outline If you select “ aux.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ---------------.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 13 (2) Gas Off : It i s a pr ocessing method when “ Gas status(en able/disable)” input signal is input.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 14 9.7 WELDING AUXILIARY CONDITION - AUTO.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 15 9.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 16 Moving angle : moving angle can be set within -90.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 17 9.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 18 9.
9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 19 9.10.2 welding sequence If you select welding sequen ce, following scree n is di splayed.
10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 10 - 1 Chapter 10.
10. Menu Tree --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 10 - 2 CHAP. 10 MENU TREE 10.1 MENU LIST This picture displays grou ps that each instruction is located a t initial menu and instruction input.
10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 10 - 3 10.
10. Menu Tree --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------.
10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 10 - 5 10.
10. Menu Tree --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 10 - 6 GOTO <address> ON <number> GOTO <address> [,<address>,.
10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 10 - 7 10.
10. Menu Tree --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 10 - 8 10.
10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------.
10. Menu Tree --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 10 - 10 10.6 substitutional Statement It is a form of “ v ariable=expre ssion” .
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 1 Chapter.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 2 CHAP. 11 ROBOT LANG. EXPLANATION There are two ways to teach an industrial robot greatly.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 3 11.1 basic elements 11.1.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 4 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 5 11.1.5 Robot type information Reference (1) 0 bit : It is a n au to.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 6 11.1.6 Variable 11.1.6.1 Global variable It can be shared and used in whole program.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 7 11.1.6.2 Local variable It exists separately in each main program and auxiliary program called.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 8 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 9 _RN1~16 or _RN[1]~_RN[16] It’ s relevant to number of times register No.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 10 11.1.7 Operator example V10! = (V1!^2 + V2!^2 + V3!^2)*2.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 11 11.2 Command line 11.2.1 Substitution Description Substitute the value to the variable.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 12 11.2.2 Robot Control 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 13 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 14 11.2.3 I/O 11.2.3.1 I/O Substitution 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 15 11.2.3.3 INPUT Command Description I nputs the informati on to variable fr om the Teach P e ndant s creen or seria l port.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 16 11.2.4 Program Flow Control 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 17 11.2.4.4 CALL Command 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 18 11.2.4.7 STOP Command 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 19 11.2.4.10 IF∼ELSEIF∼ELSE∼ENDIF Command 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- -------.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 21 11.2.5 Comments 11.2.6 ARC Welding 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 22 11.2.6.2 ARCOF Command 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 23 11.2.6.5 ARCDC Command 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 24 11.2.6.9 REFP Command Note (1) REFP Command belongs to the step as the MOVE command.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 25 11.3 Others ※ All the factor values can be used in the Arithmetic Equation.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 26 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 27 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 28 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 29 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 30 11.3.8 SREQT Command Introduction SREQT is same function as Shif t Requirement (M51).
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 31 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- -------.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 33 2 dimension sear ch uses search func tion twice and re cords the shift amo unts of point P,Q.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 34 Introduction It is a function to measure the abrasion amount of tip.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 35 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 36 Introduction It ma kes shif t am ount to palletize by using the data that rec orded i n pallet izing p attern register.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 37 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 38 11.3.20 SELCRD Command Introduction It is a functi on to select a base coordina tion to s hift.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 39 11.3.21 MIT Code Description All kinds of M.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 40 11.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 41 11.4.2 String Function The functions that have the string returned, are called the string functions.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 42 M I T Function Code Example of corresponding HR - BASIC syntax.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 43 M I T Function Code Example of corresponding HR - BASIC syntax.
11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 44 M I T Function Code Example of corresponding HR - BASIC syntax.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 2 CHAPTER 12 SIGNAL CONNECTION 12.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 4 12.1.2 CNIN2 Input Signal Pin No.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 5 1) General DI Signal DI1 ∼ DI18 signal connect as followings.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 6 Connect Discrete/Binary input signal as followings.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 7 12.2 External Output Signal (BD430, BD431) 12.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 9 12.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 10 1) General DO Signal Connect DO 1∼ DO 8, DO 11 ∼ DO 18 output signal as followings.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 12 4) PROGRAM END It is output when program is ended in playback.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 13 6) EMERGENCY STOP It is output when emergency stop is pressed.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 15 10) ROBOT RUNNING It is out the confirming signal that robot is running.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 16 12) ROBOT READY SIGNAL It is output when automatic operation is enable.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 17 12.
12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------.
Un punto importante, dopo l’acquisto del dispositivo (o anche prima di acquisto) è quello di leggere il manuale. Dobbiamo farlo per diversi motivi semplici:
Se non hai ancora comprato il Hyundai HI4 è un buon momento per familiarizzare con i dati di base del prodotto. Prime consultare le pagine iniziali del manuale d’uso, che si trova al di sopra. Dovresti trovare lì i dati tecnici più importanti del Hyundai HI4 - in questo modo è possibile verificare se l’apparecchio soddisfa le tue esigenze. Esplorando le pagine segenti del manuali d’uso Hyundai HI4 imparerai tutte le caratteristiche del prodotto e le informazioni sul suo funzionamento. Le informazioni sul Hyundai HI4 ti aiuteranno sicuramente a prendere una decisione relativa all’acquisto.
In una situazione in cui hai già il Hyundai HI4, ma non hai ancora letto il manuale d’uso, dovresti farlo per le ragioni sopra descritte. Saprai quindi se hai correttamente usato le funzioni disponibili, e se hai commesso errori che possono ridurre la durata di vita del Hyundai HI4.
Tuttavia, uno dei ruoli più importanti per l’utente svolti dal manuale d’uso è quello di aiutare a risolvere i problemi con il Hyundai HI4. Quasi sempre, ci troverai Troubleshooting, cioè i guasti più frequenti e malfunzionamenti del dispositivo Hyundai HI4 insieme con le istruzioni su come risolverli. Anche se non si riesci a risolvere il problema, il manuale d’uso ti mostrerà il percorso di ulteriori procedimenti – il contatto con il centro servizio clienti o il servizio più vicino.
