Professional Documents
Culture Documents
CFD CONTROLLER
INSTRUCTION MANUAL
START UP
1st edition
・Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text.
・The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course.
・When using this robot, observe the low related with industrial robot and with
safety issues in each country.
・This operating manual must be given without fail to the individual who will be actually
operating the robot.
・Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
Table of Contents
Table of Contents
1
Table of Contents
2
Chapter 1 Installation and connection / 1.1 Basic configuration of robot
Gear Box
Wrist 1
Arm
Wrist 2
Frame
Base
1-1
Chapter 1 Installation and connection / 1.2 Installation of this controller
1.2.1 Environment
Install the robot controller in a location that satisfies all the following conditions.
(1) A location not exposed to direct sunlight, with an ambient temperature of 0 to 45 degrees Celsius
throughout the year.
(2) A location with an ambient relative humidity of 20 to 80% and no condensation.
(3) A location with minimal amounts of dust, dirt, oily vapors, water, etc.
(4) A location with no flammable or corrosive liquids or gases, etc.
(5) A location where the maximum shock or vibration transmitted to the controller by the operation of other
machines in the area is 0.5 G (4.9 m/sec2) or less.
(6) A location with no major sources of electrical noise (plasma, high frequency power sources, etc.).
vent
vent vent
vent
1-2
Chapter 1 Installation and connection / 1.3 Manipulator connection
1-3
Chapter 1 Installation and connection / 1.3 Manipulator connection
ENC2 MOTOR2
CNR01 MOTOR1
CNR04 ENC1
I/Oハーネス
I/O harness
Connection of CNR010
1-4
Chapter 1 Installation and connection / 1.4 Teach pendant (TP) connection
Compact TP
Smart TP
TP shorting plug
1-5
Chapter 1 Installation and connection / 1.5 External equipment connection
I/Oハーネス
I/O harness
外部PLCなど
External PLC etc.
1-6
Chapter 1 Installation and connection / 1.6 Primary power and the grounding connection
The primary power supply specifications of the robot systems are as follows.
For the specifications of other manipulators, refer to each standard specification sheet.
When multiple manipulators or external axes are combined, a power capacity equivalent to
the total power of all the machines is required.
IMPORTANT
1-7
Chapter 1 Installation and connection / 1.6 Primary power and the grounding connection
1. An inverter circuit for controlling the AC servo motor is used in this robot controller.In
order to prevent the earth leakage circuit breaker from being tripped in error by the
high-frequency leakage current generated from the inverter circuit, the earth leakage
CAUTION circuit breaker must be designated for inverter use when one is to be used.
2. When installing the earth leakage circuit breaker, use one with rated current 30A or
more and a medium current sensitivity(100 mA or more).
Turn OFF the power of the controller and connect the power supply cable to the connector AC INPUT.
AC200 – 230V
PRIMARY SIDE
1.6.4 Grounding
To ensure safety, use the grounding method (type D ground)
(The customer is responsible for providing the grounding wires.)
2
Ensure that the robot controller power cable is larger than 1.25 mm , and ground cable is larger than 1.25
2
mm .
1-8
Chapter 1 Installation and connection / 1.7 Safety-related signal connections
This controller comes with safety redundancy circuits as a standard feature. Connect a separate pair of signals
each for the external emergency stop input, safety plug input and enable switch input. The controller will not work
properly if any of the separate pairs of signal inputs are mismatched in the safety redundancy circuits.
A safety plug or enable switch is required to perform the teaching work inside the guard
fence. These connections must be performed without fail. If a safety plug is not going to
be used, install a “switch that permits automatic start” outside the guard fence, ensure that
CAUTION it is constructed in such a way that it cannot easily be set to ON in case operators are
working inside the guard fence, and connect its signal to the safety plug input.
Loosen the screws on the top panel and the front Remove the top panel and the front side cable
side cable drawing panel. drawing panel.
Sequence board
TBEX1 TBEX2
1-9
Chapter 1 Installation and connection / 1.7 Safety-related signal connections
For the signal wire that will be connected to the terminal block, use a bar terminal (end thickness of 1.5 mm
or less) or a PVC wire (thickness 28AWG to 16AWG) with approximately 7 mm of the end peeled off.
1.5 mm or less
Use
先端が a terminal with an end
1.5mm以下の端子を
thickness of 1.5 mm or less.
使用してください。
<棒状端子で接続する場合
<When connecting with a bar>terminal>
1-10
Chapter 1 Installation and connection / 1.7 Safety-related signal connections
TBEX1 TBEX2
When using an external emergency stop button, G-STOP input, safety plug or teach
enable switch, always double-up on connection points.
(E.g.: When an external emergency stop button is used: Pin 1-2 and Pin 3-4)
CAUTION
INFO. “G-STOP” is a function known as a “protective stop” that protects from dangers occurring
in the environment outside of the system when the robot is operating normally.
For details, refer to the section 1.7.6.2.
1-11
Chapter 1 Installation and connection / 1.7 Safety-related signal connections
1-12
Chapter 1 Installation and connection / 1.7 Safety-related signal connections
Do not use the P1 terminal outside the robot controller since this is for the internal use
only.
CAUTION
1-13
Chapter 1 Installation and connection / 1.7 Safety-related signal connections
This table shows the power specifications for 1 input signal point.
CFD
The following shows the power specifications for 1 output signal point.
Prepare the output load that conforms to these specifications.
1-14
Chapter 1 Installation and connection / 1.7 Safety-related signal connections
Connection diagram of external emergency stop Example where the external emergency stop
inputs input cannot be performed
1-15
Chapter 1 Installation and connection / 1.7 Safety-related signal connections
Guarding fence
This picture shows an
image of the guarding
fence. The robot and the
controller differ from that
of actual ones.
Manipulator
In playback mode, the servo power cannot be switched ON unless the safety plug input is
ON. Always connect the safety plug.
CAUTION
[Condition of the safety plug input signals that is required for turning ON the motors power]
TEACH mode: When both in opened and closed, motor ON is available.
(The speed is limited to 250 mm/s.)
(If the opened/closed status changes, the motors are turned OFF for the present.)
PLAYBACK mode: Available only in closed state. (The limit of 250 mm/s is not applied.)
Connection diagram of the safety plug inputs Example where the safety plug input cannot be
connected
1-16
Chapter 1 Installation and connection / 1.7 Safety-related signal connections
1-17
Chapter 1 Installation and connection / 1.7 Safety-related signal connections
The emergency stop output circuit uses internal power supply of the controller, and when the power supply
of the controller becomes OFF, the emergency stop button output signal becomes OFF too. In the case to use
the emergency stop output even when the power supply of the controller is OFF, supply external power supply
from TBEX2, and change the setting of the above jumper (J1)
In case that emergency stop circuit is used by internal DC24 V (Initial setting)
1-18
Chapter 2 For robot beginners / 2.1 Precautions for safety
And, robot beginners must read the "Chapter 1 Introduction" in the "FD ONCTROLLER INSTRUCTION
MANUAL / BASIC OPERATIONS MANUAL" carefully to master the basic knowledge e.g. the outline of the robot
operations and the terminologies etc.
Chapter 1 Introduction
Chapter 2 Names and functions of the operation switches and keys
Chapter 3 Turning the power on/off and manual operation
Chapter 4 Teaching
Chapter 5 Auto operation (playback)
Chapter 6 File operations
Chapter 7 Useful functions
Chapter 8 Basic spot welding operations
Chapter 9 Basic arc welding operations
Manipulator operators must only be those who have completed specified training and are
fully aware of safety and functions of the manipulators. Accidents may occur due to
mishandling of the manipulator during operation by those who do not know the correct
CAUTION procedures well.
2-1
Chapter 2 For robot beginners / 2.2 Two types of teach pendant
The "Compact TP" can perform the basic operation from the teaching to
the playback (automatic operation). However, there are some functions that
are not available on this teach pendant. (e.g. Software PLC edit function
etc.)
And, this teach pendant does not support a part of mandantory operations
like initial setting operations etc. For those operations, please use the PC
software "FD on DESK Light"(for free) instead. If the PC(FD on DESK
Light) is connected to this robot controller, a screen that is the same with
Compact TP that of the Smart TP is displayed on the PC and it becomes possible to
perform the same operations with Smart TP using the PC.
For details of the "FD on DESK Light", refer to its instruction manual.
INFO. To connect a PC to this robot controlller using the Ethernet, it is necessary to make
a setting of TCP/IP. For details, refer to "3.2.2 Ethernet (TCP/IP)".
2-2
Chapter 2 For robot beginners / 2.3 Functions of buttons and switches
2-3
Chapter 2 For robot beginners / 2.3 Functions of buttons and switches
110mm
Sheet keys
Display
Emergency stop
button LED
218.3mm
ENABLE Switch
(Back side)
Operation
keys
Sheet keys
■LEDs
2-4
Chapter 2 For robot beginners / 2.3 Functions of buttons and switches
2-5
Chapter 2 For robot beginners / 2.3 Functions of buttons and switches
2-6
Chapter 2 For robot beginners / 2.3 Functions of buttons and switches
Current work program and various setting contents are displayed on the LCD screen.
U1 UNIT No. = 1
M1 MECHANISM No. = 1
J
Manual operation
coordinate system
LR
J : Joint coordinate system
J
LR: Robot coordinate system LT
LT: Tool coordinate system
Lw: World coordinate system Lw
U*: User coordinate system
U*
2-7
Chapter 2 For robot beginners / 2.3 Functions of buttons and switches
INFO.
For details, refer to "4.2 Teaching".
2-8
Chapter 3 Initial setting with Compact TP / 3.1 Setup of the robot
"Setup operation" is a preparation work to make the teaching operation becomes possible. This is the
mandatory work for the robot (e.g. the settings of the tool length and the tool mass, I/O connections
and assignment operation to connect the peripheral devices etc.). The operations are described in the
"Chapter 4 Setup" in the "FD CONTROLLER INSTRUCTION MANUAL / SETUP MANUAL".
IMPORTANT
The operation differs from each other depending on the teach pendant that is being used.
There are some operations / functions that are not available on the Compact TP. (Those functions
should be used from the "FD on DESK Light" instead of the teach pendant). For operations that are
described only in the "FD CONTROLLER INSTRUCTION MANUAL / SETUP MANUAL", please
consider that those functions are not available on the Compact TP.
3-1
Chapter 3 Initial setting with Compact TP / 3.1 Setup of the robot
For other cases, it is not necessary to execute the encoder reset and the encoder correction. If those
operations are performed carelessly or in wrong way, the work programs in the robot controller may not be
able to run correctly because the each axis's reference position changes.
The encoder reset is an operation to initialize the encoder unit itself. And the encoder correction is an
operation to determine the reference position of each axis. Both of these operations are very important
operations to make the robot work correctly.
(1) This operation must be done with the actual all loads (tools and additional
loads on the arm) must be installed in advance.
(2) This operation must be done before starting the teaching operations
(programming).
IMPORTANT
If the encoder correction is performed after making the teaching programs, it may become
impossible to run the work programs correctly because the reference position of each axis
may shift.
This work includes some jobs that should be conducted with the motors ON. Consequently,
be sure to conduct the work at least by a pair of two persons. One person must stay on
guard to press an Emergency Stop button at any time, while the other person must
promptly finish the work with thorough attention paid to the robot operating area.
WARNING Furthermore, prior to starting the work, check for safe corridors. If this procedure is omitted,
operator may be caught or sandwiched by the robot parts, possibly resulting in death or
serious injury.
3-2
Chapter 3 Initial setting with Compact TP / 3.1Setup of the robot
Encoder reset
1 Select the TEACH mode.
And lock the [EMERGENCY STOP BUTTON].
+(ON) 4 Select the target axis with cursor keys (up/down) and press [Enable] + [+ / 0].
Enable + 0 >> "o" mark is attatched to the selected axis.
* M E N U * E N C R E S E T V 3 . 0 7
J C U R P O S o R E S E T
-(OFF) < 3 0 8 0 0 0 0 > o
Enable + . >
To detach the "o" mark, press [Enable] + [- / .]
After completing the encoder reset, proceed with the encoder correction.
INFO. When executing the encoder reset, the error status bits and the multi rotation number
memory in the encoder will be cleared.
3-3
Chapter 3 Initial setting with Compact TP / 3.1 Setup of the robot
To make the mechanical reference position, zeroing pins and zeroing blocks are necessary.
The mechanical reference positions differ from each other depending on the robot type.
For details, refer to the respective instruction manuals of the robot.
IMPORTANT
3-4
Chapter 3 Initial setting with Compact TP / 3.1Setup of the robot
5 After checking that the axis is in the mechianical reference position (using the
ENTER zeroing pin and the zeroing block), set the cursor to the concerned axis and
↑ ↓ press [ENTER].
>> The encoder correction value is re-calculated so that the current position turns to
the encoder reference position.
* M E N U * E N C C O R R E V 3 . 0 7
J C O R R V A L C U R P O S
< 1 0 7 F 8 9 4 > 0 7 F F 9 C
>
FN 7 Press [FN / 1]. The new encoder correction value will be saved to the internal
1 memory.
>> If the save operation has been finished successfully, the screen will return to prompt
display.
As for the robot using “Zeroing pin and block”, check to be sure that the zeroing pin has
been removed and then operate the robot. Note that operating the robot with the zeroing
pin inserted may bend the pin or deform the hole for this pin, thus disabling proper
CAUTION positioning of the zeroing pin.
- When executing the encoder correction, the current mechanical position is registered as
the encoder reference position (that means the encoder correction value for the axis is
re-calculated so that the position becomes the encoder center position).
INFO. - If the encoder correction is executed at the position except for the mechanical reference
position (that is determined via the zeroing pin or zeroing block), the robot cannot move
correctly. For example, even if the robot tries to move to the following position, it will move to
the incorrect position when the encoder reference position is incorrect.
現在値 現在値
CURRENT POSITION CURRENT POSITION
80000 HEX
7FF9C HEX エンコーダ補正値 7FF9C HEX エンコーダ補正値
ENCODER CORRECTION VALUE ENCODER CORRECTION VALUE
= 7F830 HEX = 7F894 HEX
エンコーダ値 エンコーダ値
ENCODER ENCODER
- 機械基準位置
MECHANICAL
+ VALUE
- 機械基準位置
MECHANICAL
+ VALUE
* M E N U * E N C C O R R E V 3 . 0 7 * M E N U * E N C C O R R E V 3 . 0 7
J C O R R V A L C U R P O S J C O R R V A L C U R P O S
< 1 0 7 F 8 3 0 > 0 7 F F 9 C < 1 0 7 F 8 9 4 > 0 8 0 0 0 0
> >
3-5
Chapter 3 Initial setting with Compact TP / 3.2Setup of the
Ethernet cable
(Cross cable)
When using "FD on DESK Light", make the settings for the TCP/IP.
For details, please refer to "Chapter 8 Connection to Ethernet" in the "FD CONTROLLER INSTRUCTION
MANUAL / SETUP MANUAL".
3-6
Chapter 3 Initial setting with Compact TP / 3.2Setup of the
3 Input the 1st byte of the IP address (0-255) using the numeric keys and press
[ENTER]. (Now, "192" is inputted)
>> "I1 192" is displayed at the prompt.
* M E N U * T C P / I P V 3 . 0 7
< I P A d d r e s > 0 0 0 . 0 0 0 . 0
S u b M a s k 0 0 0 . 0 0 0 . 0
> I 1 1 9 2
4 Press [ENTER].
ENTER >> "I2" is displayed at the prompt.
* M E N U * T C P / I P V 3 . 0 7
< I P A d d r e s > 0 0 0 . 0 0 0 . 0
S u b M a s k 0 0 0 . 0 0 0 . 0
> I 2
6 Set the cursor to the "SubMask(Sub net mask)" and press [ENTER].
ENTER >> "I1" is displayed at the prompt.
↑ ↓ * M E N U * T C P / I P V 3 . 0 7
I P A d d r e s 1 9 2 . 0 3 1 . 0
< S u b M a s k > 0 0 0 . 0 0 0 . 0
> I 1
7 Input the 1st – 4th byte in the same way with the IP address and press [ENTER].
ENTER >> The inputted values are displayed at the "SubMask".
* M E N U * T C P / I P V 3 . 0 7
I P A d d r e s 1 9 2 . 0 3 1 . 0
< S u b M a s k > 2 5 5 . 2 5 5 . 2
> [ 1 ] E X E C U T E [ 2 ] R E T U R N
FN 9 Press [FN / 1]. A message like the following screen will be displayed.
1 * M E N U * T C P / I P V 3 . 0 7
I P A d d r e s 1 9 2 . 0 3 1 . 0
< S u b M a s k > 5 . 2 5 5 . 0 0 0
> P l e a s e P o w e r O f f
To enable the settings, turn OFF the controller main power.
3-7
Chapter 3 Initial setting with Compact TP / 3.2Setup of the
PC side settings
IP Address 192 168 1 1
SubMask 255 255 255 0
INFO.
CFD side settings
Input prompt name I1 I2 I3 I4
IP Address 192 168 1 2
SubMask 255 255 255 0
In this example, both the PC and the CFD belong to the identical network (address =
192.168.1.0).
ENTER >
> C
3 Input the desired contrast using the numeric keys (from 0:Dark to 7:Light) and
press [ENTER]
>> The contrast setting is changed.
* M E N U * T P V 3 . 0 7
< C O N T R A S T > 0 2
>
3-8
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.1 Power ON/OFF and the manual operation
"Basic operation" refers to the basic operations related to the teaching (manual operation and
programming) and the playback (automatic operation). And those operations are described in the Chapter
3, 4, and 5 in the "FD CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS MANUAL".
Chapter 1 Introduction
Chapter 2 Names and functions of the operation switches and keys
Chapter 3 Turning the power on/off and manual operation
Chapter 4 Teaching
Chapter 5 Auto operation (playback)
Chapter 6 File operations
Chapter 7 Useful functions
Chapter 8 Basic spot welding operations
Chapter 9 Basic arc welding operations
IMPORTANT
The operation differs from each other depending on the teach pendant that is being used.
There are some operations / functions that are not available on the Compact TP. (Those functions should
be used from the "FD on DESK Light" instead of the teach pendant). For operations that are described only
in the "FD CONTROLLER INSTRUCTION MANUAL / SETUP MANUAL", please consider that those
functions are not available on the Compact TP.
4-1
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.1 Power ON/OFF and the manual operation
Before turning ON the controller power, do not forget t close the cover of the controller.
When touching the power supply parts and an electric shock occurs, death or serious
injury may occur.
DANGER
Power switch
ON
>> After completing the initial diagnosis, the following screen will be displayed.
(This is an example of TEACH mode.)
P 0 0 0 1 U 1 M 1 J S 1 L N
S 0 0 0 0 [ S T A R T ]
>
TEACH
AUTO lamp : OFF
PLAYBACK
AUTO lamp: ON
Because the explanations for the manual operations and the teaching operation will start from the next page,
please select the TEACH mode now.
POINT If the key in the switch is pulled out, it becomes impossible to change the mode.
4-2
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.1 Power ON/OFF and the manual operation
Before turning ON the MOTORS, please be sure to confirm that there are no persons
around the robot. If the robot moves suddenly and those persons are hit or sandwiched, it
may cause death or serious injury.
DANGER
M.ON
4-3
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.1 Power ON/OFF and the manual operation
M.ON
4-4
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.1 Power ON/OFF and the manual operation
S 1 L N S 2 L N S 5 L N S 1 L N
→ → ..... → →
- Speed 1 is very slow. Please be sure that it is difficult to see the robot is moving.
- Even in case of the fastest speed (5), the TCP speed is limited to 250 mm/s at maximum.
POINT - By this operation, the manual operation speed and the check go/back speed are
changed at the same time. If the robot speed is slow while performing the check go / back
operation, please try to select "5" for the manual operation speed.
U 1 M 1 J U 1 M 1 L R U 1 M 1 L T
[ S T A R T ] [ S T A R T ] [ S T A R T ]
→ → → ....
- When using the "LT", the robot will move based on the current tool number (1- 32). To
change the current tool number, please use the shortcut command R29.
- To use the User coordinate system, it is necessary to define the coordinate system by
POINT making 3 points (movement commands) in a work-program in advance. To define a user
coordinate system, the Smart TP or the FD on DESK Light is necessary. (The menu is
<Service Utilities> - [10 User Coord. Definition]) The Compact TP cannot be used for the
User Coordinate system definition.
4-5
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.1 Power ON/OFF and the manual operation
Z+
Movement direction in the "Machine coordinate system (Robot coordinate system) (LR)"
+X +Y
RZ+
RX-
4-6
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.1 Power ON/OFF and the manual operation
Manual operation
1 Select the TEACH mode.
>
INTERP 4 Press [INTERP / COORD] to change the manual operation coordinate system.
COORD
P 0 0 0 1 U 1 M 1 J S 5 L N
S 0 0 0 0 [ S T A R T ]
>
Z- Z+ RZ- RZ+
2 The [EMERGENCY STOP BUTTON] will be locked. To turn the MOTORS ON,
please release the button. To release the button, please turn it right (arrow
direction).
4-7
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
"Step" is one command. And plural steps will be recorded in a work-program. The steps are managed using
the step number and the step number increases automatically every time a new step is recorded in the program.
There 2 types of the "Step". The 1st one is "Movement command" and the 2nd one is "Function command".
The "Movement command" is a command to move the robot. Not only position information, but also speed,
interpolation type, accuracy, etc. that are necessary to move the robot are recorded in a step.
P 9 9 9 9 U 1 M 1 J S 5 L N
S 0 0 0 1 1 2 0 0 L N A 1 T 1
m m / s
> Step 1 is a movement command with 1200mm/s speed.
The "Function command" is a command to make the robot execute various functions. For example, output
signal can be turned ON/OFF to drive the gripper hand etc. Function commands do not include position data like
the movement command.
P 9 9 9 9 U 1 M 1 L R S 4 L N
S 0 0 1 1 S E T [ O 1 0 0 ]
When running (playing back) a work-program, the robot will execute the steps one by one from the current step.
It is also possible to change the order of steps to be executed freely by using the function commands.
4-8
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
8 9
1: This is the current work-program number.
3: This is the speed of this step. 4 types of units can be selected. (The example is "500mm/sec")
Unit Description
mm/s This is the TCP movement speed.
If the interpolation type is "LN", "C1", or "C2", this unit should be used.
% This is the percentage compared to the robot's maximum performance (100%).
If the interpolation type is "JT", this unit should be used.
The speed of the current step (selected step) can be changed using the shortcut command R12.
(Input range)
In case of [mm/s] 1 to 5000 [mm/s]
In case of [%] 1 to 100 [%]
4: The interpolation type (shape of the TCP motion path) towards this step. There are 3 types.
Interpolation
Display Path of tool tip movement
type
JT
Since each axis moves
Joint
JT independently, the path of the tool JT
interpolation JT
tip is not a straight line.
If the next step (target step) LN
Linear involves linear interpolation, the tool
LN JT
interpolation tip moves in a straight line that TCPは直線で動きます
TCP will move linearly. JT
connects the steps.
JT
If the target step and the step that C2
C2
C1 follows involve circular
Circular
interpolation, the tool tip moves
interpolation C2 along an arc. (The C1 is the middle C2
This refers to the degree to which the path along which 内回り距離 記録点
the tool moves as it passes through the recorded point Shortcut distance Recorded point
of each step describes an arc on the inside of the A1 小
Small
recorded point. A1 to A8 can be specified as this
degree. When A1 is specified, the tool tip will pass :
through the recorded point. When A2 or above is
specified, the time required for playback is reduced
A8 大
depending on how far the tool passes along an arc on Large
the inside of the recorded points. Select a stringent
(lower) accuracy level at the points that requires high
accuracy and a lax (higher) level in the air cutting areas.
The accuracy of the current step (selected step) can be changed using the shortcut command R136.
(Input range) 1 to 8
4-9
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
6: This is the pause ON/OFF switch. " "(Non-display) stands for "Continue(Pause OFF)" and "P" stands for
"Pause(Pause ON)".
With the “Continue” method, the robot tool passes smoothly along the inside of the tool path with no
reduction in its speed.
With the “Pause” method, which is also referred to as “in-position check,” each time the command
position inside the robot reaches a step, the actual robot arrival is awaited before advancing to the next
step. This method is used at steps which require a high level of positioning accuracy.
The Pause ON/OFF setting of the current step (selected step) can be changed using the shortcut
command R135.
(Input range) 0 (= Continue) / 1 (= Pause)
If the interpolation type is LN, C1, or C2, the TCP (Tool Center Point) defined in this tool number draws
linear line or circular line. In case of JT (Joint interpolation), this parameter is not used.
The “Acceleration” is a function which adjusts the acceleration of the robot operation.
The “Smoothness” is a function which adjusts the smoothness of the edge of the acceleration curve
of the robot operation.
When vibration arises due to a factor such as the rigidity of the tool or work, the robot can be moved
gently by using these functions in the movement command concerned. As a result, the amount of
vibration is reduced.
The “Acceleration”and the "Smoothness" can be specified for each movement command
independently, and one of four different settings (0, 1, 2 or 3) can be selected. At a setting of 0 (D0), the
robot accelerates or decelerates at its maximum capacity, and the higher the setting used, the more
smoothly (that is to say, the lower the acceleration) the robot moves.
When these parametrs are set higer, it always takes longer for the robot to move. Since this will
adversely affect the cycle (tact) time, do not record these functions in movement commands
unnecessarily.
Acceleration Smoothness
D0 D1 D2 D3 S0 S1 S2 S3
Speed
Speed
Time Time
In the Compact TP, the comment in a movement command cannot be displayed / edited.
POINT And, if a step which was created in the Smart TP with comment is selected in the Compact
TP and the movement command step was over written, the comment is still held in the step
data.
4-10
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
■ Menu configuration
4-11
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
> P
> P 9 9 9 9
4 Press [ENTER].
ENTER >> A new work-program "9999" will be opened.
P 9 9 9 9 U 1 M 1 L R S 5 L N
S 0 0 0 0 [ N o d a t a ]
>
Now it is ready to start the teaching operation.
POINT When opening an empty work-program that does not contain any steps, "[No data]" is
displayed at the step 0. And when recording a step 1, this display will dissappear.
4-12
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
Step 10 Step 12
Movement command Movement command
P 9 9 9 9 U 1 M 1 L R S 2 L N
R E C 1 0 0 L N A 1 T 1
S T S m m / s
>
(NOTE) The speed unit for the LN, C1, and C2 is [mm/s]. And the speed unit for the
JT is [%].
↑ ↓ ← → 3 Set the recording status to the desired condition.
Number Refer to the descriptions on the next page.
(For the parameters for which numerical input operation are available, set the cursor
ENTER and then enter the desired number using the numeric keys.)
START 4 After setting the recording status, press [START / MENU] to exit.
Now, the recording status is set.
MENU
4-13
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
P 9 9 9 9 U 1 M 1 J S 1 L N
R E C (1) (2) (4) (5) (6)
S T S (3) (7) (8)
>
No. Name How to set Description
The recording speed is changed by changing the manual
operation speed. (5 levels)
INFO.
For details, refer to "4.2.1 Basics of the teaching operation"
4-14
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
1 Move the robot to the desired position using the [AXIS OPERATION KEYS].
(NOTE)
This operation is possible only when selecting the last step of the work
program. Please refer to "How to insert a new movement command"(p4-22) to
insert a new move command to the work program.
3 Then, repeat the operations in the following order to record 2nd step, 3rd
step, ... in the work-program.
- Move the robot with [AXIS OPERATION KEYS]
- Set the recording status
- Reocord a movement command step
If, the following 2 conditions are satisfied, the speed unit for the step should be "%". When
"mm/s" is used, the robot may move very fast and cause unexpected accident even
if the speed value (in mm/sec) is small.
And, to use "%" with the linear interpolation, the Smart TP or the FD on DESK Light is
WARNING necessary. Please open a screen editor and set the cursor to the speed unit and then input
[2][Enter].
4-15
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
ENTER
FN +(ON) 3 Input the output signal number "100" and then press [ENTER].
1 0 >> "F32,100" is displayed at the prompt.
P 9 9 9 9 U 1 M 1 L R S 4 L N
+(ON) S 0 0 1 0 5 0 0 L N A 1 T 1
0 m m / s
> F 3 2 , 1 0 0
ENTER
>
- There are some function commands that use special exclusive input interface (screen).
The Compact TP does not suppot such an interface. For those function commands, please
POINT use the Smart TP or the FD on DESK.
- The function commands can be inputted at any position in a work-program with the same
operation. Although it is ppssible to input a function command at the last step, it is also
possible to insert a new function command at the middle step of the work-program.
(4) How to record FN92 (END function) at the end of the program
1 Then, continue to record the movement command steps (12th, 13th, ...).
4-16
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
CHECK GO
PROG 1 Press [PROG / STEP] to call the step from which the check operation will start.
STEP >> "S" is displayed at the prompt.
3 Press [ENTER].
ENTER >> The cursor moves to the step 0 (="START").
P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 0 0 [ S T A R T ]
>
POINT To check the work-program from the beginning, select the step "0".
This is a special step that does not have any information like position etc.
POINT Select movement command step always. For safety, it is not possible to select a function
command step as the direct check go / back destination.
POINT The manual operation speed 1 and the check operation speed 1 are very slow.
T.SPD 4 To set the speed for the check operation, press [Enable] + [T.SPD / 8]. At this
Enable + 8 time, set "3" for safety.
(And, every time the [T.SPD / 8] is pressed, the manual opertation speed of the robot
will also change in 5 levels. 1 is the slowest and 5 is the fastest.)
5 Press [Check GO] with grasping the [ENABLE SWITCH] on the backside of the
teach pendant.
+ Check
GO
>>While the [Check GO] is held, the robot will move towards the Step 1. And after
reaching the Step 1 position, the robot will stop.
P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 0 1 1 2 When 0 0 reaching
L N the position,
A 1 this Tmark
1 will
^ ^ ^ ^ ^ m m appear.
/ s
>
If the [Check GO] is released while moving, the robot will stop smoothly.
It is also possible to stop the robot forcibly by releasing the [ENABLE SWITCH].
However, in this case, the robot will stop without deceleration control and the servo
power will be shut off immediately, so the large load torque is added to the
mechanism of the robot. Therefore, please be sure to release the [ENABLE SWITCH]
after releasing the [Check GO] key and confirming that the robot stops completely.
6 To move to the Step 2, release the [Check GO] and press it again.
By repeating these operations, check the motion to the last step.
If [Check GO] is pressed after reaching the last step, the check operation will start
from the Step 1 again.
4-17
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
CHECK BACK
It is possible to move the robot step by step in a reversed sequence.
1 Press [Check BACK] with grasping the [ENABLE SWITCH] on the backside of
+ Check
BACK
the teach pendant.
>> The robot will move along reversed way through the steps. When reaching the 1st
step, the robot will stop. Check back operation to the last step is impossible.
2 The operation to change the check speed or the operation when the robot stops at the
step are the same with [Check GO].
It is also possible to stop the robot forcibly by releasing the [ENABLE SWITCH].
However, in this case, the robot will stop without deceleration control and the servo
power will be shut off immediately, so the large load torque is added to the mechanism
of the robot. Therefore, please be sure to release the [ENABLE SWITCH] after
releasing the [Check BACK] key and confirming that the robot stops completely.
1 2 5 6 1 2 5 6
3 4 3 4
+ Check
GO
+ Check
BACK
In case of initiali setting, the function commands are not executed when the Check go /
back operation is beging executed. To execute those functions, please use shortcut
command R8 in advance.
And, while executing the Check BACK operation, only I-signal waiting functions
are executed.
4-18
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
LN A4 LN A4 LN A4 LN A4
連続OFF 連続ON
Continue OFF Continue ON
STOP 3 To disable the continuous check go operation, press [STOP / CONT.] again.
>> The mark of "|" dissapears.
CONT. P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 0 1 1 2 0 0 L N A 1 T 1
^ ^ ^ ^ ^ m m / s
>
4-19
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
2 Just for confirmation, move the robot to the step 1 using the [Check GO]
+ Check
GO
operation. If the robot position is obvious, this operation is not necessary.
3 Move the robot manually to the new position and the posture using the [AXIS
OPERATION KEYS].
4 Press [Enable] + [MOD / 6].
MOD >> A confirmation message will be displayed.
Enable + 6 P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 0 1 1 0 0 0 L N A 1 T 1
m m / s
> [ 1 ] O v e r W r [ R ] C a n c e l
6 Now the robot position recorded in the step 1 has been modified, use [Check
Check Check
GO] and [Check BACK] to confirm the sequential motion around the steps.
GO BACK
4-20
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
2 To change the position, manually move the robot using the [AXIS OPERATION
KEYS].
3 Setup the recording status in the same way with the "How to record a
movement command".
At this time, change the interpolation type from "JT(Joint)" to "LN(Linear)". And the
speed is changed to 1200 mm/s (Manual speed 5).
4-21
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
2 To change the position, manually move the robot using the [AXIS OPERATION
KEYS]. (This position is used for the new step.)
3 Setup the recording status (e.g. the speed or the interpolation type etc.) in the
same way with a new movement command.
INS 4 Press [Enable] + [INS / 9].
Enable + 9 >> A Confirmation screen is displayed.
P 9 9 9 9 U 1 M 1 J S 1 J T
S 0 0 0 2 1 0 0 0 J T A 1 T 1
^ ^ ^ ^ ^ m m / s
> [ 1 ] I n s e r t [ R ] C a n c e l
(NOTE)
To record a new movement command at the end of the work-program, refer to
"(2) How to record a movement command"(p4-15).
6 Now a new step has been inserted, use [Check GO] and [Check BACK] to
Check Check
confirm the sequential motion around the steps.
GO BACK
+1
+1
1 2 3 4
NEW
INS
Enable + 9
4-22
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
DEL
Enable + R
4 5 6 7
-1 -1
4 5 6
4-23
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.3 Playback
4.3 Playback
1 Select the PLAYBACK mode 4.3.2 How to select the playback mode
Select "Step" or "1 Cycle" or "Contionuous" playback mode.
Slow down the playback speed using the 4.3.3 How to slow down the playback
2
"Playback speed override" setting. speed (Playback speed override)
High speed playback from the beginning is dangerous. So, start the playback from the slow
speed. To slow down the speed, please use the "Playback speed override".
3 Select the start step
It is possible to start the work-program from the beginning. And it is also possible to select a
middle step and start the work-program from the step. (But it is not possible to start the playback
from a function command step.)
4.3.4 How to playback a work-program
4 Start the work-program
(Intenal mode)
After checking the present robot position and the condition of the peripheral devices, start the
playback operation. Start the playback with placing your hand on the [EMERGENCY STOP
BUTTON] and if the robot tries to move in an unexpected way (direction, speed, etc.), stop the
robot immediately without hesitation.
5 Increase the playback speed slightly.
If the playback speed override is increased suddenly, unexpected troubles (e.g. the cables swing
too much, etc.) may happen. So, the setting value should be increased carefully.
If something wrong is found, return to the TEACH mode and modify the work-program.
Repeat this several times and check the playback motion at the speed of 100%.
■ 3 playback modes
In the PLAYBACK mode, there are 3 modes. Before starting the playback operation, please select one of them.
And it is also possible to select them while the robot is playing a program.
In an actual production, "1 Cycle" or "Continue" is selected. "Step" is only for a program check.
Playback mode
Mode Display Content
START
Enable
Step 1s The program will be executed (only 1 step) while + MENU is
being pressed. The robot will stop when the key is released. To go
to the next step, press those keys again.
START
Enable
The program will start when + MENU
is pressed. And then
1 Cycle Cy the robot will stop when executing the END function command
(FN92).
To start the program 1 more cycle again, press those keys again.
START
Enable
The program will start when + MENU is pressed. And then
Continue Co STOP
Enable
CONT.
the robot will repeat the program until the + is
pressed.
INFO. The playback operation mode can be switched using the shortcut R7.
How to use the shortcut (R-CODE), please refer to "Chapter 5 Other operations using
Compact TP"
4-24
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.3 Playback
"MOTORS ON"
TP "Program start"
"Program selection"
4-25
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.3 Playback
When playing back a work-program, it is possible to designate the starting step for the playback operation.
(Precautions)
- When selecting a work-program, the Step 0 is automatically selected.
- When restarting the work-program after stopping it in half-way, the work-program will restart from the step
where the stop operation was executed.
- It is also possible to select the next starting step after stopping the program in half-way.
- If a step other than Step 0 is selected, the robot's TCP will move towards the designated starting step with the
slower speed than 250mm/sec and then start to move normally from the next step using the recorded speed.
- In case of the initial settin, the function command steps cannot be selected as a starting step.
If a wrong step is designated, the robot may move with unexpected motion and crash to
the peripheral devices etc. Please pay special attention before starting the operation.
CAUTION
POINT In case of "External mode", the starting step selection is prohibited. (Step 0 is always
selected as the playback starting step)
4-26
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.3 Playback
Before playing back the work-program, please be sure to confirm that there are no persons
around the robot. If persons are hit or sandwiched by the robot, it may cause death or
serious injury.
DANGER
4.3.3 How to slow down the playback speed (Playback speed override)
DEL 1 Slow down the playback speed using the playback speed override setting.
R Press [DEL / R] [UNIT / 4] [INS / 9] [ENTER] at the top screen of the PLAYBACK
mode.
UNIT INS
4 9
ENTER
2 Then the override rate in [%] and press [ENTER].
ENTER If the number is 100, the robot will move based on the recorded speed.
number For safety, please use 20 – 30% at first.
4-27
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.3 Playback
4 When reaching the next step, the robot will stop. To restart the playback, press
[Enable] + [START / MENU] again.
ENTER
4-28
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.3 Playback
ENTER
If the playback operation is completed and it is confirmed that the program can be played back normally and
safely, increase the override rate 10 or 20 % and playback the program again to check.
- "Chapter 5" in the "FD CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS MANUAL".
- "Chapter 9 Example to use" in the "CFD CONTROLLER TECHNICAL DOCUMENT 2"
To control this robot controller using an external PLC unit etc., please make the following
settings in advance.
(1) Set the "MOTORS ON" and the "Program start" to "External (1)" using the shortcut
command R5.
DEL ACC FN
R 5 ENTER 1 ENTER
INFO.
(1) Set the "Program selection" to "External (1)" using the shortcut command R6.
DEL MOD FN
R 6 ENTER 1 ENTER
Both of these 2 modes are set to "Internal (0)" when shipping the controller. It is possible
to change these settings independently. But, normally, please set both of these 2 modes
to the same setting. And, to make the signal number assingnment setting, the Smart TP
or the FD on DESK Light is necessary.
4-29
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.3 Playback
NOTE
4-30
Chapter5 Other operations using Compact TP / 5.1 File operations
Operations which do not included in setup operation and basic operation are described in Chapter 6 and
7 in "FD CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS MANUAL".
Chapter 1 Introduction
Chapter 2 Names and functions of the operation switches and keys
Chapter 3 Turning the power on/off and manual operation
Chapter 4 Teaching
Chapter 5 Auto operation (playback)
Chapter 6 File operations
Chapter 7 Useful functions
Chapter 8 Basic spot welding operations
Chapter 9 Basic arc welding operations
IMPORTANT The operation differs from each other depending on the teach pendant that is being used.
There are some operations / functions that are not available on the Compact TP. For operations that are
described only in the "FD CONTROLLER INSTRUCTION MANUAL / SETUP MANUAL", please
consider that those functions are not available on the Compact TP.
5-1
Chapter5 Other operations using Compact TP / 5.1 File operations
Do not switch the power off when using any of the file operation menus explained in this
chapter, or while the automatic backup function is operating. Switching off the power
while the controller is accessing various files may cause unexpected damage to files in
CAUTION the controller. This may prevent the controller from starting.
ナイフ゛
IN
システムCF
System CF
カ゛イフ゛
EXT
USBメモリ
USB Memory
In case of using Compact TP, 2 drives are selectable.
“IN” (internal) : means internal memory that is system CF card on CPU board.
“EXT” (external) : means USB memory device.
5-2
Chapter5 Other operations using Compact TP / 5.1 File operations
> [ 1 ] E X E C U T E [ R ] R E T U R N
3 Press [ENTER].
ENTER ≫ DRIVE menu is displayed.
<EXT> is USB memory, and <IN> is internal memory.
* M E N U * D R I V E V 3 . 0 7
< E X T > I N
> [ 1 ] E X E C U T E [ R ] R E T U R N
> * * * *
↓
* M E N U * B A C K U P V 3 . 0 7
D R I V E E X T
> C O M P L E T E
バックアップ
BACKUP
NRA2011-2013-07-24-0932
START 6 Press [START / MENU] again to going back to top screen.
MENU
5-3
Chapter5 Other operations using Compact TP / 5.1 File operations
>
If two or more backup folders exist, press up/down cursor key to select one.
8 Press [ENTER].
ENTER ≫ Selected folder name is displayed.
* M E N U * R E S T O R E V 3 . 0 7
D R I V E E X T
< F O L D E R > 2 0 1 3 - 0 7 - 0 2
> [ 1 ] E X E C U T E [ R ] R E T U R N
5-4
Chapter5 Other operations using Compact TP / 5.1 File operations
復元
RESTORE
NRA2011-2013-07-24-0932
5-5
Chapter5 Other operations using Compact TP / 5.2 Useful function
Controller External
7 Playback mode selection
This is to select one playback mode among 3 mode.
(Ref) FD on DESK screen
[0; 1 step, 1; 1r cycle, 2; Continue]
( Refer to “4.3.1 Basic of playback operation”)
5-6
Chapter5 Other operations using Compact TP / 5.2 Useful function
12 Modifying speed This is to modify the speed of the current step (already
recorded step).
29 Selecting tool number This is to modify the tool number of record status.
[1 to 32]
49 Speed Override
(Ref) FD on DESK screen In playback operation, this value can determine the
robot speed by override ratio [%]. At the first time
playback, 20 to 30% is recommended for safety.
[1 to 150]
( Refer to “4.3 Playback”)
123 Machine lock Playback operation can be done while robot is kept
stationary. This utility is convenient to check the program
(Ref) FD on DESK screen flow.
[0; Disabled, 1; Enabled]
314 Changing protection level This is to change the protection level of operator.
Password is necessary.
( Refer to FD controller instruction manual “SETUP”
“4.7 Concerning the qualifications of the operators”)
Program selection and start are executed from the external PLC
R5 Motors-on/Start selection : External
R6 Program selection : External
5-7
Chapter5 Other operations using Compact TP / 5.2 Useful function
3 With numeric keys, input the general output signal number to be assigned to
F1 key. (0 to 2048)
Here, “3” is inputted as sample.
≫ “O3” is display in prompt line.
* M E N U * F - K E Y V 3 . 0 7
< F 1 K E Y > 0 0 0 1 0 0 0 2
F 2 K E Y I C a n c e l
> O 3
4 Press [ENTER].
ENTER ≫ First output signal is changed to “0003”.
* M E N U * F - K E Y V 3 . 0 7
< F 1 K E Y > 0 0 0 3 0 0 0 2
F 2 K E Y I C a n c e l
>
Same signal can be operated manually by [F1] key, unless otherwise setting is
changed in <SETTING> menu.
5-8
Chapter5 Other operations using Compact TP / 5.2 Useful function
1 MOVE
2 WAITI ・・・ Function command to wait for input signal
3 MOVE
Robot makes a brief stop at step 2 to wait for input signal. Then F2 key lamp
illuminates.
5-9
Chapter5 Other operations using Compact TP / 5.2 Useful function
INFO.
5-10
Chapter5 Other operations using Compact TP / 5.2 Useful function
3 Press [ENTER].
ENTER ≫ Cursor is located on left top signal.
* M E N U * O U T P U T V 3 . 0 7
O 0 0 2 1 - - - - - - - o - -
O 0 0 3 1 - - - - o o - - - -
O 0 0 4 1 - - - o - - - o - -
INFO.
5-11
Chapter5 Other operations using Compact TP / 5.2 Useful function
This section is necessary only for the case of “Multi unit” or “Multi mechanism” specification.
Manual operation target UNIT and MECHANISM is needed to be selected. Normally, there is only 1 UNIT
and MECHANISM in controller. So it is not necessary to select them explicitly.
An "UNIT" is a unit to make a work-program. If there are plural UNITs in the controller, it is
INFO. necessary to select one of them before the manual operation and the teaching operation.
A "MECHANISM" refers to a unit such as a “manipulator” or “positioner” that configures a
control group and cannot be broken down any further. And one UNIT consist one or more
mechanisms. If there are plural mechanisms in the UNIT, it is necessary to select which
mechanism will be manually operated.
5-12
Chapter5 Other operations using Compact TP / 5.3 Editing POSE file
ポーズファイル1
POSE FILE 1
P1=(500,-200,300,0,0,-180)
P2=(500,-200,100,0,0,-180)
P3=(500, 200,300,0,0,-180)
P4=(500, 200,100,0,0,-180)
P1 ロボット言語
ROBOT LANGUAGE
P3 USE 1
P2 MOVEX M1X,L,P1,R=10,H=1,MS
MOVEX M1X,L,P2,R=10,H=1,MS
P4 MOVEX M1X,L,P1,R=10,H=1,MS
MOVEX M1X,L,P3,R=10,H=1,MS
MOVEX M1X,L,P4,R=10,H=1,MS
MOVEX M1X,L,P3,R=10,H=1,MS
END
5-13
Chapter5 Other operations using Compact TP / 5.3 Editing POSE file
Following display means the example of “FILE 0001 POSE 0001”, when using Smart TP or
“FDonDESK” software.
INFO.
5-14
Chapter5 Other operations using Compact TP / 5.3 Editing POSE file
3 Press [ENTER].
ENTER ≫ Selected POSE file number is displayed.
Following example shows the example of POSE file number 777.
F I L E 0 7 7 7 P O S E 0 0 0 1
X > r
Y p
>
4 Turn motor power on and operate robot with axis operation keys. Then press
Enable + M.ON [O.W./REC].
≫ One POSE variable is recorded.
F I L E 0 7 7 7 P O S E 0 0 0 2
X > 1 7 3 0 . 0 r 0 . 0
Y 0 . 0 p - 9 0 . 0
>
ENTER
No.
Check Check
GO BACK
7 All POSE variables are recorded, please proceed with the next step
“Finishing POSE record”.
5-15
Chapter5 Other operations using Compact TP / 5.3 Editing POSE file
DEL 1 Pressing [Enable] + [DEL/R] can delete the recorded POSE variable in the
Enable + R middle of file.
But other POSE variable numbers are not renumbered. Deleted POSE
variable number becomes missing number.
MOD 2 Pressing [Enable] + [MOD/6] can modify the position of recorded POSE
Enable + 6 variable.
5-16
Chapter5 Other operations using Compact TP / 5.3 Editing POSE file
USE 1
MOVEX M1X,L,P1,R=10,H=1,MS
・Selected POSE file and POSE variable needs to be recorded in advance. If not existing POSE file
POINT or POSE variable are selected, error is generated.
・Please refer to FD controller instruction manual “Robot Language” for detail of “MOVEX”.
POINT Smart TP or “FD on DESK” software is necessary to record “FN645 MOVEX” command directly.
5-17
Chapter5 Other operations using Compact TP / 5.3 Editing POSE file
NOTE
5-18
CFD CONTROLLER TP-KEYS QUICK REFERENCE
Compact TP Smart TP Function Compact TP Smart TP Function
START OPEN MENU
Enable M.ON MOTORS ON -
+ + MENU (Compact TP)
START
Enable PROGRAM START Enable F1 OUTPUT SIGNAL ON/OFF
+ MENU + + + +
STOP
Enable PROGRAM STOP Enable F2 WAITING SIGNAL RELEASE
+ CONT. + + +
- UNDO
+
- REDO
+
(NOTE1) In Compact TP, the check speed will be changed when the manual speed is changed.
(NOTE2) In Compact TP, the user coordinate system can be displayed from 1 to 9.
http://www.nachi-fujikoshi.co.jp/
Training Office Phone: 248-334-8250 Fax: 248-334-8270 22213 Roethel Drive, Novi, Michigan 48375 U.S.A.