i,,r,,,i,,,1,,1,' ' ,;. :l;,: ;i;,,,,,1ji ,,, ,i,lj'1,;:l

,,,,,,i,,r,,,i,,,1,,1,' ' ,;. :l;,: ;i;,,,,,1JI ,,, ,i,lJ'1,;:l;:;,1':,,ilili ilJ il:, :J::il',:'il:cot t l tgurat to t l o l the ob jcc t for ease in p ickup. Thesc las t three mot ions are o f tencal led pitch, s'aw, and rol l . Hence, for a six- jointed robot, the arm subassembly isthe pos i t ion ing mechanism, whi le the wr is t subassembly rs the or ienta t ion mechan-ism' These concepts are i l lus t ra ted by the Cinc innat i Mi lacron P ,oUo, and theUninrat ion PUMA robot arm shown in F ig . L l .

Basc -"---

\ tr 'aisl rorat ion 320o

Elbow ro tu l io r r 270o

l v l a r r y c o r r t t t t c t c i a l l y r r v a i l l r b l c t t t d u s t t t l l t o l r u l , , u e r r r r l r ' l \ l t , e t l r n n r , r n \ r r l u ling and asscrnbly lasks, such as rrratcr ia l handl ing, spot/ i l rc rvcldrtrg, l ) . t l ts . r \5clrrbly, p111_sp-raying, loqlrrrg_.e1-{-.unloading numerically controlled nrachines, spaccand unOeiseir- exploratdil]prosthetic' arm research, and in handling hazrtrdousmaterials. These robots fall into one of the fbur basic motion-defining categories(Fig. l .2) :

Cartesian coordinates (three l inear axes) (e.9., IBM's RS-l robot and the Sigrttarobot from Olivetti) r

Cylindrical coordinates (two linear and one rotary axes) (e.9.,Versatran 60(i robotfrom Prab)

,spherical coordinates (one linear and two rotary axes) (e.g.,Uninrate 2000L] frornUnimation Inc.)

Revolute or articulated coordinates (three rotary axes) (e.g., f ' frottt CincinnatiMilacron and PUMA from Unimation Inc.)

Most of today's lndustrial robots, though controlledcomputers, are basically simple positional machines. They e

by mini- and rnicro-xecute a given rask by

(leI

1 7 . 0 i n d r\\)v\

| 7 . 0 i n

Wrist bend 2000

Flangcro tu t ion ?70o

Gr ippcr rnour r t ing

Sphcricd

l.igure 1.2 Various robot arm cotegories.

[ ' ] lbowc x (cns ion

Shorrldcr rotat ion . l(X)o

Cartesian or r/z

Figure l . l (a) Cincinnati Milacron 13 robot arnr. (D) PUMA 560 series robot arrn..

Rc' , r - l lu tc

x1. SPECIFICATIONS

2. SYSTEM OFCONSTBUCTION

2.1 Overal l of Construction

\\.--./

Motor-operatedhand*( H M - 0 1 )

* inci icates an option.

@The equipment indicated

Motor power cabre( M P - M 1 l 5 m

Motor s igna l cab le(MS-M1) 5m

Drive uni t(D/U-M' l l

Teaching box*(T/B-M1)Cable leng lh 3m

by should be prepared by the customer.

computer caote-

OPersonal computer(MULTI l6M }

Fig. 12.1 Overall of Construction

Power cord(POW-M 1)

2.5m

sPEGlFlcAloNS

MAINSPECIFICATIONS

i Robot

1.1 Nomenclature

. ' . ' rs t ro l l

- i ax is)

- "no

instal lat ion: - 4ace

Fore arm

Wrist Pitch (J4 axis)

BodY

UpPer a rm

Waist (Ji axis) :

Shoulder(upPer)

cover

Base s ide

Shoulder cover(lower)

Curl cable

Motor signal cal le

(to the uPPerconnector)

Motor Power cab

(to the lor'r 'er

connector)

cover (R )

* (L) Left s l oe

Fig. 1-3.1 Nomenclature (External View)

axis)

Shoulder{J2 axis)

,b

1. SPECIFICATIONS

3.1 .4 OPera t ion space

Fig. 1-3.4 OPeration SPace

Note 1 : The operat ion space ind icated in F ig. 1 .3-4 assume that the

hand is not instaf led to the robot. (Trace of point P)

. t

Note 2: The wrist pitch operation may be restricted in some area

depending the upper arm and fore arn'! posit ions. For' deta i ls , see Fig. 5 '11 '1 in the appendix '

t

Note 3: Jog operation must be performed with special care as the

wrist may interfere with the robot base and floor surface'

Jog operation indicates a manual operation using the

teaching box.

REMARKS

i SPECIFICATICNS

: i . 5 B a s i c o p e r a t i o n s F iS . i . 3 .5 shows ax is opera t ions in the ar t i cu la ted svs tem.

. J

Op6rations in Articulated System

Note 1: The posi t ive d i rect ion of the J1 and J5 ax is operat ions isclockwise as viewed from arrows A and B, respectively.

Nofe 2: The posit ive direct ion of the J2, J3 and J4 axis operationsis the upward direct ion of the arm and wrist.

F ig. 1 .3.6 shows operat ions in the car tes ian coord inate system.

Iti ruore s

Fig. 1.3.5

1.3.6 Operations in Cartesian Coordinate

Note 3: The'TCP moves straioht in the Cartesian coordinatesystem.

Note 4: The tool length is set by a parameter. (See the TLcommand. )

f l ind icates the robot at t i tude changing operat ion wi thoutmoving the TCP.-

p ind icates the forward and backward mot ions in the toolleng th d i rec t ion .

)

Fig. System

Note 5 :

No te 6 :

Symbolsbox.

l n

' !-z lI?./I roor II lengttr I

, 4

REMARKS

"n" ind icate the contro l keys of the teaching

1. SPECIFICATIONS

M o v e m a s t e r l n f o r m a t i o n ( 1 )

The robot ar t icurat ion names correspond to the human body as i i lust rated

below.

_r:o:'_r,,.n Fore arm

I Ax is names i

1 .

2.

2 .1

= -

CONTENTS (DESCRIPTION OF THE COMMANDS}

cOMMAND OVERVIEW """ ' 3-1

DESCRIPTION OF EACH COMMAND" "" ' 3.2

Posit ion/Motion Control lnstruct ions"" :""" "" 3-3' DP (Decrement Posi t ion) " " 'Moving to a posi t ion number one smal ler" " 3-3r DW (Draw) " 'Moving a distance specif ied in the cartesian coordinate

system '3-4

I HE (Here) - . - - - Teaching the current posi t ion ' - - ' " " " 3-5

HO {Home)". ' "" 'Sett ing the cartesian coordinate system reference posi-

t ion "" " " " " ' 3-6

lP ( lncrenient Posit ion)' Moving to a posit ion number one greater " ' 3-7

MA (Move Approach) ' ' Moving to a specif ied incremenral dimension "" ' 3-8

MC (Move Continuous) Moving through intermediate points continuously""""" 3-9

MJ (Move Joint ) - - 'Turn ing each jo int a speci f ied angle " " " ' 3-1 1r MO (Move) " Moving to a specif ied posit ion by art iculated interpola-

t ion ' " ' 3-12

. MP (Move Posi t ion) . - ' " Moving to a posi t ion whosecoordinates are speci f ied" ' 3-13

MS (Move Straight) "-" """ Moving to a specif ied posit ion by l inear interpolat ion"" 3-14

MT(MoveTool) " 'Moving an incremental distance specif ied in the tooldirect ion " :"" ' - """ . . ' i ' 3-1e

r NT (Nest) - Returning the robbt to origin """""" 3-17OG (Origin) " " 'Moving to the cartesian coordinate system reference

posi t ion ' - - ' . - ' - . ' - 3-1tPA (Pallet Assign) "" ' Defining the number of column and row grid points for a

specified pallet """ 3-1sPC (Position Clear)""""""" Clearing a specif ied posit ion """"' 3-2(PD (Position Define)"" Defining tlre coordinates of a specified position ' 3-2'PL (Position Load) "-" Assigning the position data of a specified position to

another specified position " 3-2PT (Pallet) "" "" 'Calculating the coordinates of a grid point on a specif ied

pa l l e t - - - - . . - . . . - - . : . - - - - - . 3 -2

PX (Position Exchange)"""'Exchanging the coordinates of a posit ion for those ofanother ' ' - ' . - - '_- """"" 3-2

SF (Shift)""" "" 'Shift ing the coordinates of a specif ied posit ion""" """ ' 3-,f, SP (Speed) " Setting the operating velocity and acceleration/decel-

era t ion t ime. - - - - - - . - ; . - - - 3 - :a Tl f f imer)" " 'Hal t ing the mot ion for a speci f ied per iod of t ime""""" ' 3- :

TL (Too l ) . . . . .sen ing the too l length . . . . . . . . . . 3 -Program Cont ro l Ins t ruc t ions. - - - . . . - . . ' - -3-

CP (Compare Counter) """" Loading counter data into the comparison register """ ' 3DA (Disab le Act ) . - .D isab l ing the in ter rupt by an externa ls igna l . . . . . . . . . 3DC (Decrement counter ) . . . . .subt rac t ing 1 f rom a va lue in a spec i f ied counter . . . . . . . . . . 3DL (Dele te L ine) " 'De le t ing a spec i f ied par t o f a program. - - - . - - ' . " 3

= n

: D:o

( E n a b l e A c t )/ t r ^ d 1 . . . . .\ L r r u /

( l f E q u a l ) '

3 S ( G o S u b ) " 'I c r ( G o T o ) . . - - -

lC ( lnc rement Coun te r ) " " " "' -G ( l f Larger)

^ (E ( l f No t Equa l ) '

' l W ( N e w )' ( X ( N e x t ) - . - .:C (Repea t Cyc le )i N ( R u n ) " ': T ( R e t u r n ) "

S C ( S e t C o u n t e r ) " " '

S l ' \4 ( l f Smal ler ) '

Enab l ing the in te r rup t by an ex te rna l s igna l '

End ing the p rogram '

Caus ing a jump to occur i f t he con ten ts o f the compar i -

son reg is te r equa l a spec i f i ed va lue

Execut ing a speci f ied subrout ine

Caus ing a jump to occur to a spec i f i ed l i ne number '

Adding 1 to the value in a speci f ied counter

Causing a jump to occur i f the contents of the compar i -

son register are greater than a specif ied value


son regis ter do not equal a speci f ied value

Delet ing a l l programs and posi t ion data

Speci fy ing the range of a loop in a program '

Specifying the number of repeated cycles of a loop

Executing a specif ied part of program "'

Return ing to the main program af ter complet ing a

subrout ine " '

Loading a va lue in a speci f ied counter " " '


son regis ter are smal ler than a speci f ied velue" '

3-363-38

? - ? q

3-403-41342

3-43

3-M3-453-46

3-473-48

3-493-50

J - 3 |

J . J L

3-523-533-54

' : and Con t ro l Ins t ruc t ions ' " " - : '' 3C (Gr ip C lose) C los ing the hand g r ip - -

l ; (Gr ip F lag) ' : : ' : " Def in ing the openic lose state of the hand. l C ( G r i p O p e n ) " " " O p e n i n g t h e h a n d g r i p '

3e (Gr ip Pressure ) . - . . - . - 'De f in ing the g r ipp ing fo rce / t ime when the hand i s' c losed and opened " ' 3-55

3 Contro l Inst ruct ions "" 3-56( I ( lnput Direct) Fetching an external signal "" ' " 3-56

' . { lnput) . . Fetching an external s ignal synchronously " " 3-57

l3 (Ou tpu t B i t )I I D (Output Direct) " Outputt ing specif ied data ' 3-59

] r ( o u t p U t ) . . . . o u t p u t t i n g s p e c i f i e d d a t a s y n c h r o n o u s | y . 'r

-3 (Test Bi t ) - . - .Causing a iump to occur depending on the condi t ion of

a speci f ied external s ignal b i t " " " " " " " " ' : ' " " ' 3-61:S232C Read Inst ruct ions ' " " 3-62 '^ ;

lCoun te r Read)l ; (Data Read) - . . . - . Reading the data in the external input por t 3-63

: : ( E r r o r R e a d ) - - -

. : . r - i n e R e a d ) - - - -: ' : = o s j t i o n B e a d ) . . R e a d i n g t h e c o o r d i n a t e s o f a s p e c i f i e d p o s i t i o n . . . .

" . ' , /here) ' " ' Reading the coordinates of the current posit fon " "" 3-69. = i l a n e o u s . ' 3 - 7 0: cse t ) ' Rese t t i ng the p rogram and e r ro r cond i t i on " " - - - . . . ' 3 -70-3ns fe r ) " 'T rans fe r r ing EPROM da ta to RAM " " 3 -71' . ' t . e ) " " ' " " " W r i t i n q R A M d a t a i n t o E P R O M ' 3 - 7 2' -en t ) " Wr i t i n i a comment " ' 3 -73

3. DESCRIPTION OF THE COMMANDS

2.1 Posit ion/Motion Control

lnstructions

DP (Decrement

IFunction ]

Moves the robotcurrent one.

Itnput Formatl

, , . \ i ; ' ' r " t t 1 . " , - i I ' uF t lrostTton,

to a predef ined posi t ion wi th a posi t ion number smal ler than the

(sample lnput l

DP

IExplanation I

(1) This command causesnumber smal ler than,

the robot to move to a predefinedand ctosest to, the current one.

position with a(See command

posrtrontP . )

current(21_ smal ler than theone, error mode II is caused

(sample ProgramJ

10 LPRINT -MO 3"20 LPRINT ' 'MO 4'30 LPRINT "MO 5"40 LPRINT "DP" . i

Move toMove toMove toMove to' , : r

, l

' t i ) _

position 3.posit ion 4.posit ion 5.posit ion 4.

' r f i i ' r '

3. .DESCRIPTION OF THE COMMANDS

DW (Draw) : '

IFunc t ion ]

Moves the end ofd is tance speci f ied

I lnput Format ]

the hand to ain the X-, Y-,

posi t ion away f rom theand Z-ax is d i rect ions.

^ . ,J t / I

n . i , r . r i ' l - - r^ - ! rn , ' n ti t v L l / c t t . / t \ , t ) nt

cur ren t one cover inq the

DW [ (Travel distance X) l , [ (Travel d is tance l, [ (Travel distance inZ) 1

Isamp le Inpu t ]

DW 10.5, 20.5, -30.5 ; '

l 'Explanat ion J

( i ) The least input increment for the d is tance of t ravel is 0.1mm. (e.g.speci fyZQJ_lg. t

2 0 . 1 m m . )

(2) The at t i tude of the hand, inc luding open/c lose state of the gr ipper , do not changebefore and after the rnovement. frror mode TI is cau -trcvel_e"cctrds the robot'

T

Since the mot ion is based on ar t icu{ated ' in te ipolat ion, the combined mot ion of theend of the hand generates an arc when a longer d is tance of t ravel is involved.

The posi t ion of the end of hand is determined by the tool length current lyestabl ished. (See command TL.)

(3)

(4)

(5 )

. Sample Program l

1 0 LPRINT 2o,O,O-20 LPRINT "DW O,2O,O''30 LPRINT "DW _2O,O,O*40 LPRINT "DW O,_20,A"

X In the above example, thesquare to reach the start

p i

Start point

end of the handpoint f ina l ly .

r l , ,

t i ) 20mm G)

r 20mm

20mm

u)

moves through the four corners

20mm

o f a


(Here)

I Function ]

Def ines the coord inates of the current posi t ion by ass igning a posi t ion number to i t .

I tnput FormatJ

HE (Posi t ion number)

W h e r e , 1 < P o s i t i o n n u m b e r

Isample tnPut) -

H E 5

IExplanation I

(1) The coordinates of the current posit ion is calculated based on the currentlyestabl ished tool length (see command TL). In the init ial condit ion, the tool length is107 mm, a point 107 mm away from the center of the hand mounting surfacetoward the end of the hand.

(21 lf a single number is assigned to two different positions, the gne defined last takesprecedence with the former cleared.

The open/close position of the hand is also stored as the position data. .

Execution of this command when any of the axes*qfth-ero-bolisppsjtionedlear:hq_boundary o.f its operatlonalspacamay_caus,e-.effor-mode II. tn such cases, avoidsuch attitude of the robot.

(51 Frrnr mnrte IL is causcrl if this cnmmand is e-ecrrtert hefnrp thc rnhot retrrrns to theorigin.

[sampte Programl - ,, (10 LpRf NT -Mo ' . r 'o ' , , ' ' ' " ' ' t r ' " r ;1 :

Mouu to posi t ion 10.20 LPRINT "DW 10,0,0' ; Move 10mm in *X direction

. 30 LPRINT "HE 11' , I ldentify above posit ion as posit ion 11.\ r \ l

' - : '

r

) " , r i , , , l l . i ( r i , ' " , t i , , ; . , . : ) l

(3)

(41

3. ;DESCRIPTION OF THE COMMANDS

I r ' . i , r I t

(Home)

I F u n c t i o n )

E s t a b i i s h e s t h e

I Input Format )

;efere,ncp nnsil ion . in the-Car:teSian .g'oor.djnate system.

HO

I S a m p l e l n p u t ]

H O

[Exp lana t ion ) ] t '

(1) This command establ ishes the reference posi t ion i in X- , Y- , andZ-axis and p i tch/ ro l iangles) in the car tes ian coord inate system. Al i subsequent mot ions are based onthis reference coordinates. (For detai ls, see CHAPTER 4 CARTESIAN COORDINATESYSTEM REFERENCE POSIT ION SETTING. APPENDIX. )

(2) This command must be executed to repeat the robot ic mot ion through a ser iespoints prev iously taught af ter the robot has been d isassembled and reassembtedfor mechanical ad justments.

(3) This command cannot be executed when b i t 4 of SWi located ins i ie the s ide doorof the drive unit is in the )ower position IOFF)

Isamp le Program )

1 O L P R I N T ' ' H O "

D5SCRIPTION OF THE COMMANDS

r,1A (nnove Approach)

I Func t ion )

Moves the end o f the hand f rom the cu r ren t pos i t i on to a pos i t i on away f rom a spec i f i edpos i t i on in inc rements as spec i f i ed fo r ano ther pos i t i on .

i l npu t Format l .

(Pos i t i on number (a ) ) ( P o s i t i o n n u m b e r ( b ) ) [ , ( O o r C ) ]

W h e r e , 1 s

,samp le lnpu tJ

Pos i t i on number (a ) , (b ) 5 629

l,/1A 2, 3, Ci

i xp lana t ion l

(1 ) Th is command causes the end o f the hand to move f rom the cu r ren t pos i t i on to aposi t ion away f rom posi t ion {a) in increments as speci f ied for posi t ion (b) . l t doesnot change the coord inates of posi t ions (a) and (b) . (See command SF.)(Each coord inate of posi t ion (b) is temporary added to the correspondingcoord inate of posi t ion (a) . )

2) l t the open/c lose state of the hand has been speci f ied (O: open; C: c losed) , the robotmovtis after executing the hand control instruct ion. l f i t has not been specif ied, thehand s ta te in pos i t i on (a ) rema ins va l id .

l f the calcu lated incrementa l d imensions exceed the robot 's operat ional space,error mode II is caused before the robot moves.

Error mode I ] is a lso caused i f pos i t ions (a) and (b) have not been def ined yet .

The pcs i t ion of the end of the hand is determined by the tool length current lyestabl ished. (See command TL.)

t r * r - : ie Program)

. - p R l N T - H E

1 , i P i , , , , . r 1 - ' , 1 ' : " r ' ) i I ( ' t :

" " " ' I

, '* P R I N T " P D l _ 5 , 0 , 0 , 3 0 , 0 , 0 " ' ) i r , . . r \ . r

I/ : . - : ^ , , ' . . . ; , , - ; i , i 1 . , r , , , . . r . . i

r ) \' ,

I r ! r _ 1

- the above exarnple, the end of the hano is moved wi th the hand opened f rom: :s i t i on 1 to a pos i t i on in 30 -mm inc i ' ements on ty in the Z -ax is d i rec t ion . The va lues

coord ina tes o f pos i t i ons i and 5 do no t change .

. l i . . "

3 )


(Move Continuous)

IFunct ion ]

Moves the robot cont inuously through

two speci f ied Posi t ion numbers 'the predef ined in termediate points between the

- l t lnput Formatl! i l . . , ' i '

MC (Pos i t i on number (a ) ) (Pos i t i on number (b ) )

Where , 1 < Pos i t i on number (a ) , (b )

i Pos i t i on number (a ) Pos i t i on number (b ) |

Isample tnPut]

MC 101 , 200

IExplanation ]

(1) This command causes the robot to move at a g iven speed f rom the current posi t ion

v ia posi t ion (a) to posi t ion (b) , moving cont inuously past the predef ined in termedi-

ate points between posit ions (a) and (b).

(21 Depending on whether posi t ion number (a) is greater than posi t ion number (b) , or

vice versa, the robot moves through the intermediate points in descending or

ascending order of the posit ion number. The robot decelerates as i t reaches the end

posit ion

(3) The open/close state of the hand before the robot starts moving remains val id

throughout the entire movement and the open/close definit ions at intermediate

points have no bearing on i t .

(4) Since the robot does not decelerate during i ts moving through the intermediatepoints, avoid movement path that involves a great change in orientat ion of any of

the axes of motion; otherwise, the resultant oscillations adversely affect the robot

mechanical. (The maximum speed of travel using command MC is equivalent to

SP4.}

(5) Error mode II is caused i f the specif ied posit ions (a) and (b) have not been defined,

the path connecting the predefined intermediate points defies physical movement

of the robot, or i f the dif ference between the posit ion numbers (a) and (b) exceedsqoJ J .

. Sample Program I

i O L P R I N T " M O 1 ' '20 LPRINT "MO 2"3 0 L P R I N T , : : S P 3 "4 0 L P R I N T T " M C 5 , 1 5 "

. r , . i , i J , . ,

u

Posi t ion 2\-' r /

: /ruror \ / uoz

\ . /X

Pos i t i on 6

Posi t ion 1

MC5 . 15Posi t ion 8 pos i t ion 10

3. DESCRIPTION OF THE

MJ X (Move Joint)

IFunct ion J

Turns each jo int the speci f ied angle f rom the current posi t ion.

I lnput Format ]

MJ [ (Wa is t tu rn ing ang le ) ] , [ (Shou lder tu rn ing ang le ) ] , [ (E lbow tu rn ing ang te )l , [ (P i t ch ang le ) J , [ (Ro l l ang le ) I

r i - ; - , i i ' ' r t t ' " ' , . ' , '

. t . , , . , "

l s a m p l e t n p u t ] . , . ' ' ' f ' " ' "

MJ 10; 20, -30, 40, -50tru > . 1

IExplanat ion ]

(1) The least input increment of the turn ing angle is 0.1" .

(21 The open/close state of the hand does not change before and after the movement.Error move II is caused before the axis motion i f the turning angle entry exceedsthe robot 's operational space.

The defaul t turn ing angle is 0.

The posit ive and negative direct ions of each

Shoulder E lbow Wrist pitch?

\ -

/

Isample Program]

10 LPRINT "MJ20 LPRINT "MJ30 LPRINT "MJ

X In the abovedi rect ion, l inel i n e n u m b e r

l t '

*90, 0, 0, a, o"0, -30, 0, 0 , 0 .0, 0,. , '0, +20, O"

{v _ . {, i / . . / . / ' / ; ,

- , * { ' " - r , L ' /

example , l i ne numbernumber 20 causes the

30 causes the wr is t to

10 causes the waist to sweep 90" in the -shoulder to swivel 30" in the - d i rect ion, arbend 20" in the * d i rect ion.

13)

(4) axis of motion are as follows.

COMMANDS

3 DESCRIPTION OF THE COMMANDS

i / lo (Move)

IFunct ion J

Moves the end o f the hand to a spec i f ied pos i t ion .

I tnput Format ]

M O ( P o s i t i o n n u m b e r ) [ , ( O o r C ) ]

W h e r e . 1 5 P o s i t i o n n u m b e r

I samp le Inpu t ]

M O 2 , C n + " r ' t

I Explanat ion ]

(1 ) Th is command causes the end o f the hand to move to the coord ina tes o f thespeci f ied posi t ion by ar t icu lated in terpolat ion. The posi t ion of the end of the hand isdetermined by the tool length current ly establ ished. (See command TL.)

(21 l f the open/c lose state of the hand has been speci f ied (O: open; C: c losed) , the endof the' ir ind moves after executing the hand control instruct ion. l f i t has not beenspeci f ied, the def in i t ion of the speci f ied posi t ion is executed.

(3) Error mode II is caused i f the specif ied posit ion has not been predefined or themovement exceeds the robot 's operat ional space.

l sample Program J

10 LPRINT "SP 5 "20 LPRINT "MO 20,30 LPRINT 'MO 30,

C "o"

; Set speed at 5.; Move to posi t ion 20 wi th hand c losed.; Move to posi t ion 30 wi th hand open.

3. DESCRIPTION OF THE COIVIMANDS

PX (Move Posit ion)

IFunction I

Moves the end of the hand to a posi t ion whose coordinates (posi t ion and angle) aresPecified-

Ilnput Formatl

MP [ (X-axis coordinate) J, [ (Y-axis coordinate) ] , [ (Z-axis coordinate) ] , [ (Pitch

a n g l e ) l , [ { R o l l a n g l e ) ]

(sample input)

MP 0, 380, 300, -70, -40

IExplanationl

(1) The least input increment of the coord inate va lues is 0.1rnm or 0.1" . (e .g.speci fy20.1 for 2o.1rnm.)

(2) Error qo.de II is caused if the specified coordinates exceed the robot's operationalspace.

(3) The default coordinate value is 0.

.t*r(4) The open/close state of the hand does not change before- b - . 4l - l

- (51 The posit ion of the end of the hand is determined by

and after the movement.

the tool length currentlyestablished. (See command TL)

lsample Program l .,i -

10 LPRINT .PD 1, 0,390, 300, -7A, --40', . 20 LPRINT "MO 1'

..30 LPRINT "MP 0, 390, 2go, -70, -40-

X In the above example, the end of the hand is first moved to position 1 and thenmoved 20mm down in Z-axis direction by line number 30, the operVclose state of thehand remaining unchanged.

a 1 a

tI


(Nest)

IFunct ion J

Returns the robot to mechanica l or ig in '

I tnput Format ]

I Sample InPut ]

NT

IExp lana t ion )

(1) This cornmand causes the robot to return to origin, which rnust be performed

immediately after the power is turned ON. Execution of this command is necessary

before any move command can be executed. Oftggl setting is performed

aqleCIatical ly by the l imit switches and phase-Z of encoders provided in each axis.

(21 Qrigin.sett ing of J2, J3, and J4 axes is f i rst executed, whlgh is fol lowed by origin

setting-of J1 and J5 axes. lf the arm can interfere with the objects surrounding therobot, use the teaching box to move it to a safe location before attempting to return

the robot to oriqin.

(3) Care must be taken to prevent personal injury i f the hand holds a workpiece, as thehand opens as soon as the crigin sett ing operation is ini t iated.

(4) Do not touch the

Isample ProgramJ

10 LPRINT "NT"20 LPRINT "MO 10 '

l imit switches and robot body unti l or igin sett ing completes.

; Execute origin sett ing.

; Move to position 10.

3. DESCRIPTION OF THE COMMAT.IDS

OG (Origin)

IFunct ion J

Mgves the robot to the reference posi t ion in the cartesian coordinate system.

I lnput FormatJ

OG

I Samp le Inpu t )

O G

[Exp lana t ion ] ,:,

(1) This ccmmand causes the robot to move to the car tes ian coord in?te sygle.n ire ference posi t ion establ ished by the !_Q_comma4d or by keying in I p . S land l !on ,the teaching box. (See CHAPTER 4 CARTESIAN COORDINATE SYSTEM REFER-; 'ENCE POSITION SETTING, APPENDIX.) , . *

]|-l

-t i:j

d :

.:I i

:$!F

t)t :I:

1O LPRINT "NT '20 LPR]NT ' 'OG"

; t,l

I

(2) l f the reference posi t ion is yet to be def ined, th is command causes the robot toposi t ion as determined by tentat ive data s tored in the system ROM.

a

(3) Execut ion of th is command pr ior to or ig in set t ing resut ts in €rror mode I I .

ISamp le Program ]

; Return the robot to or ig in.; Move to reference posit ion in the

coordinate system.

Iav

carteslat}'i!=:.

: i !t:4t

ts

. C

J . .L r t r 'D \ r f l | r I l l J lY \ ' ' l I I l l - t - r i , r l Y t l Y t A ; V t r D

P C ( P o s i t i o n n u m b e r ( a ) ) [ , ( P o s i t i o n n u m b e r ( b ) ) ]

W h e r e , 1 < P o s i t i o n n u m b e r ( a ) , ( b )

I S a m p l e I n p u t

P C 5 , B

IExp tana t ion ]

( i ) Th is command c lea rs a l l pos i t i on da ta f rom pos i t i on (a ) up to and inc lud ing pos i t i on( b )

l f pos i t ion (b) is omi t ted, the posi t ion data of only posi t ion (a) is c leared.

Be carefu l , the car tes ian coord inate system reference posi t ion data is c leared i f theposit ion number is omitted or 0 (zero) is defined, except when bit 4 of SW1 locatedins ide the s ide door of the dr ive uni t is in the lower posi t ion (OFF).(See CHAPTER 4 CARTESIAN COORDINATE SYSTEM REFERENCE POSITIONSETTING, APPENDIX. )

X (Posit ion Clear)

IFunc t ion )

C lears the pos i t i on da ta o f spec i f i ed pos i t i on

I lnpu t Format ]

n u m b e r o r n u m b e r s .

Move to posi t ion 10.Move to posi t ion 12.Move to posi t ion 15.Clear posi t ion 12.Move to posit ion i 0.

(21

' (3)

I Sample Program l

i O L P R I N T " M O 1 A "20 LPRINT "MO 12 ' '3 0 L P R I N T " M O 1 5 "40 LPRINT "PC 12"50 LPRINT ' 'DP' '

3. DESCRIPTIONOFTHE COMMANDS

D X (Posit ion Define)

(Func t ion )

Def ines the coord inates (posi t ion and angle) of a speci f ied posi t ion number.

I lnput Format l

pD (Posi t ion number) , [ (X-ax is coord inate) ] , [ (Y-ax is coord inate) ] , [ (Z-ax is

coord inate) l , [ (P i tch angle) J , [ (Rol l angle) ]

Where, 1 5 Posi t ion number

Isamp le InPu tJ '

PD 10, 0, 380, 300 -70, -40

IExplanation ]

(1) The least input increment of the coord inates is 0.1mm or 0.1" . (e .g.speci fy 20.1 for2 0 . 1 m m . )

l i ' ^ ,(2) No error occurs even when the defined coordinates exceed the robot 's operational

space. This al lows you to define a posit ion representing an incremental movementwhen the command is used in combination with the other command. (Seecommand SF. MA)

T[e default coordinate is 0.

The open/close state of the hand is defined by the grip f lag command. (Seecommand GF.)

(5) This command can define a robot posit ion only when the coordinates of the end ofthe hand as determined by the tool command are located ahead Z-axis ( i .e., thedirection the robot faces).

lsampte Programl

lOO LPRINT "GF ] "i 10 LPRINT "PD 10 ,0 ,390 ,300 , - 7Q , - 40 ,120 LPRINT "PD 20, 0, 0, 20, o, a-130 LPRINT "SF 10, 20-_.51 40 LPRINT - M0 .l 0-

-v' 1 ,

X In the above example, l ine number 1 10 def ines posi t ion 10, at which hand is c losed,whi le l ine number 120 def ines posi t ion 20. L ine number 130 then redef ines posi t ioni0 as posi t ion 10 being shi f ted 20mm in Z-ax is as determined by posi t ion 20. L inenumber 140 moves the robot to the new posi t ion 10.

(3)

(4)


PL (Posit ion Load)

IFunc t ion )

As ilg1_i q n s th_e, -c o er d i n a tc*s- _o f .Q- n u m b e r .

I l npu t Format ]

*ecl :"d posi t ion number ro another speci f ied posi t ior

rit

II

iII

iIIIIIIIIIIIIIIIIIIIIIiIiI

II

P L ( P o s i t i o n n u m b e r ( a ) ) (Pos i t i on number (b ) )

W h e r e , 1 < P o s i t i o n n u m b e r ( a ) , ( b )

[Sample Inpu t ) ' ' '

P L 5 , 7

I Exptanat ion J

(1) Af ter th is command has been executed, the coord inates of posi t ion (a) becomesequ iva len t to those o f pos i t i on (b ) , the o ld pos i t i on (a ) coord ina tes be ing c lea red .

(2) Af ter the command has been executed, the posi t ion of the hand at posi t ion (b) isadsigned to that at posi t ion (a) .

(31 Error mode I is caused i f pos i t ion (b] i i yet to be def ined.

I samp le Program J

1 0 L P R I N T " H E 2 "20 LPRTNT "PL 3J 2"

X In the above examp le ,def ined as posi t ion 2,

rf 'lr , r,-- -2 , " ' ? / . "

after the current coordinates and hand posi t ion have beenthe posit ion data gf posit ion 2 is copied t. ' r,osit ion 3.

) l l r l l lrr ' !1 ' A ' i ' .,r i, , ,4 .I r l ir,,) ' , t ,,[,., ' ] lnl!,.n.r


sF (snift)IFunc t ion )

Srtits tfre coorOinates of a specified-position numbe-r-in--tnc.rements repl€s€lttr-og-t|1ecoord inates of another s f ' 'ec i f ied posi t ion number- agd redef ines the ne_W coord inates.

I lnput Format J

Where , 1 5 Pos i t i on number (a ) , (b )

[ S a m p l e I n p u t ) r

s F 1 0 , 1 0 0

i Explanat ion J

( i ) Each coord inate of posi t ion (b) is added to the corresponding coord inate of posi t ion( a ) .

12) Error *o-d: I I is caused i f pos i t ions (a) and/or (b) have not been predef ined.

(3) i-on---

. Samp le Program l

i0 LPRINT "PD ! , 0 , 0 , 30 , 0 , 0 "2 0 L P R I N T " H E 1 "3 0 L P R I N T " S F 1 , 5 "4 0 L P R I N T " M O 1 ' '

J

X f n the above example,Z-coordinate 30mm is added to the corresponding coordinateof posi t ion 1 and the new coord inates.are def ined as posi t ion 1.Th,en, l ine number10 causes the robot to move to. that point .

SF (Pos i t i on number (a ) ) , (Pos i t i on number (b ) )


P (Speed)

IFunction ]

Sets the operat ing veloc i ty and accelerat ion/decelerat ion t ime for the robot .

Itnput Format]

SP (Speed level ) , [ (H or L) I

Where. 0

Isample InputJ

SP7 ,H

(Explanat ion l

(1) This command sets the operating velocity and the accelerat ion/decelerat ion t imeupon star t ing and stopping. The veloc i ty is var iab le in 10 steps,9 being themaximum speed and 0 the min imum. Accelerat ion/decelerat ion t ime may beselected-from among H or L. T@timq is 0.35 se-c_ond:.for I gn.d__9r_ssecondsjor !, while deceleration time is--q.+ sgc s for L.When H is selected, the accelerat ion and decelerat ion are constant from SP0 to SPg.When L is selected, the accelerat ion and decelerat ion t imes are constant from SPOto SP9. (See Appendix 8.1 "Relat ion between Speed Parameters and Velocit ies'.)

(21 When two or more axes of motion arb in,roiudO, this command sets the operatingvelocity of the ioi l t having the greatest number of motor pulses.

(3) When the velocity and acceleration/deceler'ation time are set, the acceleration anddeceleration distance required for movement is predetermined. This means that theset speed may not be reached if the distance of travel is small.

(4) Error modeitv is large. In such cases, set a low sFee-d

and L t ime.

(5) A speed and accelerat ion/decelerat ion t ime, once set, remain val id unti l new onesare set. In the init ial condit ion, sett ieg is,"SP 4, L]. (T@deceleration t ime remains val id when i t is omitted.)

(6) l f the speed

isample Program l

1 O L P R I N T " S P

20 LPRINT "MO

30 LPRINT "SP

40 LPRINT "MO

50 LPRINT "MO

parameter is omitted, i t defaults to 0.

3 '10 "

6, L"12 "i f '

Set speed at 3.- Move to pos i t i on 10 .

Set speed at 6 and IJ.re_!.Move to posi t ion 12.Move to pos i t i on 15 .

3-29

5. UtrbUriIP I IUN OF THE COMTVIANDS

Tl (Timer)

IFunc t ion ]

. Ha l t s the fo t ion fo r a_s t ime .

I Input Format )

(T imer counter)

Where, 0 5 Timer counter J 32767

Isample Input )

Tt 20

IExptanat ion ]

(1) This command causes the robot to hal t i ts mot ion for the fo l lowing per iod of t ime:spec i f i ed t imer coun te r va lue X 0 .1 seconds t

(2) The command can be used to in t roduce a t ime delay before and af ter the hand isopened and c losed for gr ipp ing a workpiece.

(3) The detault_value iS 0,.

I Sample Program )

10 LPRINT "MO 1 , O"20 LPRINT "TI 5-30 LPRINT , ,GC"

40 LPRINT "TI 5 '50 LPRINT ' 'MO 2, C''

Move to posi t ion 1 (wi th hand open) .Set t imer at 0 .5 sec.Close hand ( to gr ip workpiece) .Set t imer at 0 .5 sec.Move to posi t ion 2 (wi th hand c losed) .

J. i .r tr ,Dtrf t l l - I l \ r l t l LJf I f lE \r\r lvl lYlA;VLri,

I

ED (End)

IFunc t ion )

E n d s t h e p r o g r a m .

I lnpu t Format )

E D

I samp le Inpu t )

ED

[Explanat ion ) .

( 1 ) Th i s command marks the end o f a p rogram.

(2 ) l t i s requ i red a t the end o f a p rogram un less the p rogram commands a re d i rec t l y

executec j f rom the personal computer . (The command is not requi red, however ,when the Droqram fo rms a c losed loop . )

ISamp le Program )

1 O L P R I N T " 1 O O2 0 L P R I N T " 1 1 0

30 LPRINT " 12040 LPRINT " 130

SP 3 "MO 3 "MO 5"ED"

Set speed at 3.Move to posi t ion 3.Move to posit ion 5.End the p rogram.

3, DESCRIPTICN OF THI COI\IMANDS

GT (Go To)

IFunct ion ]

Permits the program seguence

I lnput Format]

to jump to a speci f ied l ine number uncondi t ional lv .

GT (L ine number )

Where, 1 5 L ine number S 2O4g

ISample tnpu t ]

GT 1024

IExptanation ]' (1)

This command causes the program sequence to jump to a

(21 l t the snecif ier l l ine n.umber is not avai lable, the f irst l inespestTi6d one is executed.

speci f ied l ine number.

1-qnb€L lo ll _o_V{r1r g t b _e

(sampld ProgramJ

10 LPRINT ' 20 MO 1 '20 LPRINT "30 GT 1OO"

200 LPR| NT "100 Mo 12-210 LPRINT "110 MO 15 -

Move to posi t ion 1.Jump to l ine number 100 uncondi t ional ly ,

Move to posit ion 12.Move to posi t ion 15.

3. DESCRIPTION OF THE COMMAND.S

' (Comment)' IFunc t ion ]

Al lows the programmer

I lnput Format ]

to wr i te a comment .

' [St r ing of in format ion consis t ing of up to 7 a lphanumer ic characters]

ISamp le Inpu t ]

, MELCO

IExp lana t ion ]

( i ) This command a l lows the programmer to wr i te a comment consis t ing of up to 7alphanumer ic characters fo l lowing the ' (apostrophe) .

(21 Use th i s command to wr i te the name and da te on the genera ted p rogram or to marka subrout ine. Comments are helpfu l in la ter understanding the program as thecomffaryd LR is used.

13) The system ignores cornments as processes its instructions.

7, the whole excess is ignored.(4) l f the number of characters exceeds

I Sample Program ]

10 LPRINT "1 :DATE"20 LPRINT "2 '.870821"

30 LPRINT "3 NT '40 LPRINT "4 MO 1 ' '

X In the above example, l ine numbers 1writ ten (21 August 1987).

and 2 write the date when the program was

2 3 Hand Con t ro lInst ruct ions

GC (Grip Close)

I F u n c t i o n )

C l o s e s t h e g r i p o f t h e h a n d .

I l npu t Format ]

I s a m p l e I n p u t J

/- /\\J \-

f t | . - 'l

I L X p r a n a t t o n J

Isample Program ]

10 LPRINT "100 Mo 10 , o , '20 LPRINT "110 T I 5 "30 LPRINT -120 GC-40 LPRINT " i3O TI 5"50 LPRINT "140 MO . t5 , C-

Move to posi t ion 10 (wi th hand open) .Set 0.5-sec. t imer.Close hand (to hold workpiece).Set 0.5-sec. t imer.Move to posi t ion i5 (wi th hand c losed) .

( i ) Mo to r -opera ted hand :The command causes the g r ip o f the hand to be c losed by the g r ipp ing fo rcewave fo rm de f ined by the command GP. "Re ta ined g r ipp ing fo rce ' ; i s on ly ' a l i damong the command GP paramete rs i f t he command GC is used repea ted iy .

(21 Pneumat i ca l l y -opera ted hand :{he command causes the solenoid va lve to be energ ized to c lose the hand (or to

. attract the workpiece).

(3) A certain period of t ime is required before the motion of the robot becomesstabi l ized as i ts hand closes to hold the workpiece. This may make i t necessary toint roduce a t ime delay us ing the command Tl before and af ter th is command. Theexecut ion t ime of th is command is determined by the parameter "s tar t ing gr ipp ingforce retent ion t ime" for the GP command. (See comrnand Gp.)

352

3.. DESCRIPflON OF TI.IE COMMANDS

GO (Grip Open)

I Funct ion ]

Opens the g r iP o f

I l npu t Format )

t h e h a n d .

ISamp le Inpu t )

G O

[Explanation ) '

' ,

(1 ) Moto r -oPera ted hand :The command causes the g r ip o f the hand to be opened by the g r ipp ing f

waveform def ined by the command GP. "Reta ined gr ipp ing force" is only v

among the command GP paramete rs i f t he command GO is used repea ted

(21 Pneumat ica l ly-oPerated hand:The command causes the solenoid va lve to be energ ized to open the hand (or

?elease the workpiece-)

A certain period of t ime is required. before the motion of the robot be(gt

ISamp le Program )

10 LPRINT "100 I \4O 10 , C"

2 0 L P R I N T " i i O T I 5 "30 LPRINT "120 GO"40 LPRINT "130 T l 5 "5 0 L P R I N T " 1 4 0 M O 1 5 , O "

Move to posi t ion 10 (wi th hand c losed) .

Set 0.5-sec. t imer.Open hand ( to re lease workPiece) .Set 0.5-sec. t imer.Move to posi t lcn 15 (wi th hand open) .

stabi l ized as i ts hand opens to release the workpiecE. This may make i t necessary

int roduce a t ime delay us ing the command Tl before and af ter th is cornmand.

execut ion t ime of th is command is determined by the parameter "s tar t ing gr ipp i

force retent ion t ime" for the GP command. (See command qP' )tJ

t' lt f"cst * r

3. DESCRIPTION :OF THE COMMANDS

2 .4 l /O Con t ro l Ins t ruc t ions

lD ( ln put Direct)

IFunc t ion J

Fetches an external

I l npu t Format ]

s igna l uncond i t i ona l l y f rom the inpu t po r t

I S a m p l e l n p u t ]

I D

IExp lana t ion )

( i ) T h i s c o m m a n d c a u s e s a s i g n a l ( p a r a l l e lp rogrammab le con t ro l l e r to be fe tched

data) l f rom external equipment such as auncondi t ional ly f rom the input por t .

Fetch data from external input por1.Jump to l i ne number i 30 i f t he inpu t da ta equa ls1 00.End the program i f above condi t ion is not met .Mo.ve to posit ion 7.

i \ i d o ! ^ L : n ! i - \. : t ' . , - r . l i I ! l ? '/ )

(2) The data fe tched is loaded in to the in ternal compar ison regis ter and is subsequent-ly used for compar ison and b i t test . (See commands EO, NE, LG, SM, and TB.)

(3) Fc i r 'deta i led descr ip t ion of connect ions, see CHAPTER 3 INTERFACE WITHEXTERNAL I /O EOUIPMENT, APPENDIX.

ISample Program)

1 O L P R I N T " 1 O O2 0 L P R I N T " i 1 O

30 LPRINT " 12040 LPRINT "130

lD "EO 100 , 130"

ED"MO 7 "

-i r,


OD (Output

IFunc t ion ]

Direct)

Outputs speci f ied data uncondi t ional ly

I lnput Format ]

through the output por t .

; Set al l external output por-t bits (8 bits) to ON.

Where, 0 (-327671 < Output data (decimal) < 255 (+327671

&0 (&800i) < Output data (hexadecimal) 5 &FF (&7FFF)

f i g u r e i n ( ) i s f o r t y p e 4 1 6 o r 8 1 6 l / O c a r d .

I samp le tnpu t ]

o D 7

IExp lana t ion ]

(1) This command causes a s ignal (para l le l data) to be output uncondi t ional ly throughthe output port to el i ternal equipment such as a prcgrammable control ler. The data

, output to external equipment is reta ined.

(2) The output data is defined either in decimal or hexadecimal. For data defined inhexadecimal , be sure to append "& ' a t the beginning.

(3) For deta i led descr ip t ion of connect ions, see CHAPTER 3INTERFACE WITHEXTERNAL I /O EQUIPMENT, APPENDIX.

Isample Program ]

1O LPRINT "OD &FF"

OD (Outpu t da ta )

3 5 9

3. DEScRIPTIoN oF THE coruMAlvosl Yt-

TB (Test Bit)

IFunc t ion ]

Causes a jumP (o r no jump) to occur by means o f the con ten ts o f a spec i l i ec b i ri n te rna l reg is te r .

I tnpu t Format )

rn th i r

TB (+ or ( B i t n u m b e r ) (Ju rnp ing number )

W h e r e , 0 5 B i t n u m b e ri < J u m p i n g l i n e n u m b e rF i g u r e i n { ) i s f o r r y p e 4 1 6 o r 8 1 6 l / O c a r d .

I samp le Inpu t ]

TB *7 , 1A24

IExp tana t ion ]

t1 ) Th is command causes a jump to occur cond i t i ona l l y by means o f an e r te rna l i nou tdata or -the contents of the internal counter.

(21 The program jumps to the specif ied l ine number i f the specif ied bit in the internalcomparison register is ON when the parameter * has beerl defined or is OFF whenparameter - has been defined. Otherwise ( i .e., i f the condit ion is not met), theprogram cont inues in sequence.

(3) A value can be loaded in to the in ternal compar ison regis ter by execut ing the inpuiinst ruct ion (see lD and lN) for an external input data or by execut ing the comparecounter instruct ion (see Cp) for the counter data. l t is therefore necessary to executeprev iously e i ther of these commands so that a condi t ional jump can occur .

lsample Program 7 .,1O LPRINT " 1OO ID"20 LPRfNT "1 i0 TB *1 , 130"

30 LPRINT " . I20 ED"40 LPRINT " i3O MO 7"

Fetch data from e>cernal input port.Jump to l ine number 130 i f the f i rs t b i t o f theinput data is iOtrtjEnd the program if above condit ion is not met.Move to posit ion 7.

J - O I

i,,r,,,i,,,1,,1,' ' ,;. :l;,: ;i;,,,,,1ji ,,, ,i,lj'1,;:l

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