Index
-
PROGRAMMER’S MANUAL I
1
-
PROGRAM DESIGN AND COMMANDS
1
-
(Ver. 1.95)
1
-
Important
3
-
How this book is organized
5
-
PART 2 COMMAND REFERENCE
6
-
1. Introduction
8
-
2. Installation Precautions
8
-
2.8 Setting-up the safety
10
-
2.9 Positioning of rope or
10
-
SAFETY PRECAUTIONS
11
-
3. Precautions
12
-
4. Daily and periodical
15
-
5. Management of
15
-
CONTENTS
17
-
Disables the gravity offset
39
-
ST_SetCompFControl
40
-
ST_ResetCompVMode
40
-
VISREFCAL
48
-
PROGRAM DESIGN
49
-
Chapter 1
51
-
Sample Program
51
-
1.1 Model Case Application
53
-
1.2 Program Flow
54
-
1.3 Program List
55
-
Chapter 1 Sample Program
57
-
Program coding list “PRO2”
58
-
Chapter 2
61
-
Program Flow
61
-
Chapter 2 Program Flow
63
-
2.1.1 Calling a Subroutine
64
-
2.1.2 Calling a Program
65
-
2.1.3 Program Recursive Call
66
-
2.2 Running a Program
67
-
2.3 Multitasking
68
-
2.3.2.2 I/O
69
-
2.4 Serial Communication
70
-
2.4.4 Sample Application
71
-
2.5 Library
76
-
2.5.2 Palletizing Library
77
-
[ 1 ] Palletizing Parameter
78
-
[ 3 ] Palletizing Counter
82
-
Count Rule
82
-
2.5.2.2 Palletizing Program
84
-
Chapter 3
89
-
Robot Motion
89
-
3.1.1 Absolute Motion
91
-
3.1.2 Relative Motion
91
-
MOVEMENT1 motion
92
-
MOVEMENT2 motion
92
-
3.2.1 Pass Motion
93
-
3.2.2 End Motion
93
-
Pass motion
94
-
End motion
94
-
Encoder value check motion
94
-
Servo deviation
94
-
Same pass motion path unde
98
-
Chapter 3 Robot Motion
101
-
3.3 Interpolation Control
102
-
3.3.2 CP Control
103
-
Motion Instruction
104
-
Chapter 4
113
-
Speed, Acceleration
113
-
Designation
113
-
4.2 Speed Designation
115
-
Internal Deceleration
115
-
Acceleration
116
-
4.6.1 Control Set 0
119
-
Positioning time
121
-
Motion range (deg.)
121
-
4.6.2 Control Set 1
122
-
4.6.3 Control Set 2
123
-
4.6.4 Control Set 3
124
-
4.6.6 Notes for Setting
125
-
User Preferences
126
-
[F6 Aux.]
131
-
[F7 Config.]
131
-
4.8 Safety Features
137
-
Chapter 5
139
-
Vision Control
139
-
5.1 Vision Control
141
-
[ 1 ] Area
142
-
[ 2 ] Center of Gravity
142
-
Window Object
143
-
Major axis
143
-
Minor axis
143
-
5.1.1.5 Binarization
144
-
Number of pixels
145
-
5.1.1.7 Edge
147
-
5.1.1.8 Labeling
148
-
Search model Window
149
-
Search model
149
-
Image data
149
-
COMMAND REFERENCE
151
-
Chapter 6
153
-
Guide to Command
153
-
Reference
153
-
Explanations
155
-
6.2 Command List
156
-
Chapter 7
157
-
PAC Language
157
-
Configuration
157
-
Elements
157
-
7.1 New Robot Language PAC
159
-
7.3 Language Element
161
-
7.4 Name
161
-
7.5 Identifier
162
-
[ 1 ] Global Variable
163
-
[ 2 ] Local Variable
165
-
7.5.2 Function
166
-
7.5.3 Label
166
-
7.5.4 Program
167
-
7.6 Data Type
168
-
7.7 Data Type Conversion
169
-
7.8 Constant
170
-
7.8.3 Vector Type Constant
172
-
7.8.4 Pose Constant
172
-
[ 2 ] Joint Type Constant
173
-
7.9 Expression and Operator
174
-
7.9.3 Relational Operator
175
-
7.9.4 Logical Operator
176
-
7.9.6 Vector Operation
177
-
7.9.7 Position Operation
177
-
7.9.8 Joint Operation
178
-
Chapter 8
181
-
8.1 Statement and Line
183
-
8.3 Label
185
-
8.4 Character Set
186
-
8.5 Reserved Word
187
-
8.6 Declaration Statement
188
-
'postposition is used
189
-
[ 3 ] Array Declaration
190
-
8.7 Assignment Statement
192
-
Command Example
194
-
8.8 Flow Control Statement
195
-
8.8.4 Repeat
196
-
*SUBROUTINE:
197
-
[ 2 ] Program
198
-
8.9 Robot Control Statement
199
-
8.9.4 Time Control Statement
200
-
8.12 Time and Date Control
203
-
8.13 Error Control
204
-
8.14 System Information
205
-
8.15 Preprocessor
206
-
8.16.1 Calling with a Value
207
-
8.17 Vision Control
209
-
8.17.3 Draw
210
-
8.17.4 Image Processing
210
-
8.17.5 Code Recognition
211
-
8.17.6 Labeling
211
-
8.17.7 Search Function
211
-
8.17.8 Result Obtaining
212
-
8.17.9 Vision Calibration
212
-
Chapter 9
213
-
Declaration
213
-
Statements
213
-
9.1 Program Name
215
-
AREA (Statement )
216
-
Related Terms
217
-
9.3 User Function
218
-
9.4 Home Coordinates
219
-
9.5 Tool Coordinates
220
-
9.6 Work Coordinates
221
-
9.7 Local Variable
222
-
DEFSNG (Statement)
223
-
DEFDBL (Statement)
224
-
DEFSTR (Statement)
225
-
DEFVEC (Statement)
226
-
DEFPOS (Statement)
227
-
DEFJNT (Statement)
228
-
DEFTRN (Statement)
229
-
9.8 Array
231
-
Chapter 10
233
-
Assignment
233
-
10.1 Variables
235
-
10.2 Vector
236
-
LETO (Statement)
237
-
LETP (Statement)
238
-
10.3 Figure
239
-
10.4 Link Angle
240
-
10.5 Posture
241
-
10.6 Rotation Component
242
-
LETRY (Statement)
243
-
LETRZ (Statement)
244
-
LETT (Statement)
245
-
10.7 Axis Component
246
-
DEFPOS lp1, lp2
247
-
DEFVEC lv1, lv2
247
-
Function
248
-
Explanation
248
-
Chapter 11
249
-
Flow Control
249
-
11.1 Program Stop
251
-
STOPEND (Statement)
253
-
11.2 Call
254
-
11.3 Repeat
259
-
EXIT DO (Statement)
261
-
EXIT FOR (Statement)
264
-
REPEAT-UNTIL (Statement)
265
-
WHILE-WEND (Statement)
266
-
11.4 Conditional Branch
267
-
SELECT CASE (Statement)
269
-
11.5 Unconditional Branch
271
-
11.6 Comment
273
-
Chapter 12
275
-
Robot Control
275
-
12.1 Motion Control
277
-
DEPART (Statement)
280
-
DRAW (Statement)
283
-
DRIVEA (Statement)
287
-
for the specified
288
-
ROTATEH (Statement)
298
-
CURJNT (System Variable)
300
-
'lp1
302
-
'lp2
302
-
CUREXJ (Statement)
303
-
DESTJNT (System Variable)
304
-
DESTPOS (System Variable)
305
-
DESTTRN (System Variable)
306
-
DESTEXJ (Statement)
307
-
POSCLR (Statement)
310
-
12.2 Figure Control
311
-
FIGAPRL (Function)
313
-
FIGAPRP (Function)
315
-
12.3 Stop Control
316
-
INTERRUPT ON/OFF (Statement)
318
-
12.4 Speed Control
320
-
JSPEED (Statement)
322
-
JACCEL 25 (JSPEED*JSPEED÷100)
323
-
JDECEL 25 (JSPEED*JSPEED÷100)
323
-
CURACC (System Variable)
327
-
CURJACC (System Variable)
328
-
CURDEC (System Variable)
329
-
CURJDEC (System Variable)
330
-
CURJSPD (System Variable)
331
-
CURSPD (System Variable)
332
-
CUREXTACC
333
-
ACCEL, DECEL, CUREXTDEC
333
-
CUREXTSPD
335
-
12.5 Time Control
336
-
CHANGETOOL (Statement)
338
-
CHANGEWORK (Statement)
339
-
WORK, CHANGEWORK, WORKPOS
341
-
12.7 Interference Check
342
-
RESETAREA (Statement)
343
-
12.8 Supervisor Task
344
-
12.9 Internal Servo Data
345
-
12.10 Particular Control
347
-
Internal payload condition
348
-
External payload condition
348
-
Chapter 13
381
-
Input/Output
381
-
Control Statements
381
-
13.1 I/O Port
383
-
Sets an I/O port to OFF
389
-
RESET <I/O variable>
389
-
SET, DEFIO
389
-
(Server/Client) Port
390
-
LINEINPUT (Statement)
391
-
WRITE (Statement)
393
-
FLUSH (Statement)
394
-
(RS232C and Ethernet ports)
395
-
(Version 1.5 or later)
396
-
13.4 Pendant
402
-
PRINTDBG (Statement)
403
-
BUZZER (Statement)
404
-
PRINTLBL (Statement)
405
-
TP operation screen sample
408
-
<Parameter
410
-
Type>
410
-
Page caption example
415
-
Chapter 14
423
-
Multitasking
423
-
14.1 Task Control
425
-
KILL (Statement)
426
-
SUSPEND (Statement)
427
-
DEFEND (Statement)
428
-
STATUS (Function)
429
-
14.2 Semaphore
430
-
CREATESEM (Function)
431
-
DELETESEM (Statement)
434
-
FLUSHSEM (Statement)
435
-
GIVESEM (Statement)
436
-
TAKESEM (Statement)
437
-
14.3 Arm Semaphore
438
-
(2) extended-joints
439
-
GIVEARM (Statement)
443
-
TAKEVIS (Statement)
444
-
GIVEVIS (Statement)
445
-
Chapter 15
447
-
Functions
447
-
15.1 Arithmetic Function
449
-
Chapter 15 Functions
451
-
DEFSNG lf1, lf2, lf3, lf4
453
-
DEFSNG lf1, lf2
454
-
DEFINT li1, li2
454
-
RND (Function)
457
-
SGN (Function)
458
-
15.2 Trigonometric Function
460
-
(Function) [Conforms to SLIM]
461
-
'lf5 to lf3
465
-
15.3 Angle Conversion
467
-
RAD (Function)
468
-
15.4 Speed Conversion
470
-
15.5 Time Function
471
-
15.6 Vector
472
-
OVEC (Function)
473
-
PVEC (Function)
474
-
MAGNITUDE (Function)
475
-
J2P (Function)
476
-
J2T (Function)
477
-
P2J (Function)
478
-
P2T (Function)
479
-
T2J (Function)
480
-
T2P (Function)
481
-
TINV (Function)
482
-
15.8 Distance Extraction
483
-
15.9 Figure Component
484
-
15.10 Angle Component
485
-
15.11 Axis Component
486
-
15.12 Rotation Component
489
-
POSRY (Function)
490
-
POSRZ (Function)
491
-
POST (Function)
492
-
15.13 Figure Component
493
-
15.14 Position Function
494
-
AREASIZE (Function)
495
-
TOOLPOS (Function)
496
-
WORKPOS (Function)
497
-
ASC (Function)
498
-
DIM li1 As Integer
499
-
DEFSTR ls1, ls2
499
-
SPRINTF$ (Function)
501
-
Chapter 16
513
-
Constants
513
-
16.1 Built-in Constants
515
-
ON (Built-in constant)
516
-
PI (Built-in constant)
517
-
FALSE (Built-in constant)
518
-
TRUE (Built-in constant)
519
-
Chapter 17
521
-
Time/Date Control
521
-
17.1 Time/Date
523
-
DEFINT li1, li2, li3
525
-
Chapter 18
527
-
Error Controls
527
-
18.1 Error Information
529
-
ERR (System Variable)
530
-
ERRMSG$ (Function)
531
-
18.2 Error Interruption
532
-
RESUME (Statement)
533
-
Chapter 19
535
-
System Information
535
-
19.1 System
537
-
LETENV (Statement)
538
-
VER$ (Function)
539
-
19.2 Log
540
-
CLEARLOG (Statement)
541
-
STOPLOG (Statement)
542
-
Chapter 20
543
-
Preprocessor
543
-
(Preprocessor Statement)
545
-
(Preprocessor Statement)
546
-
20.2 File Fetch
548
-
20.3 Optimization
549
-
Chapter 21
551
-
(Option)
551
-
21.3 Image Input and Output
555
-
CAMMODE (Statement)
556
-
CAMLEVEL (Statement)
558
-
VISCAMOUT (Statement)
559
-
VISPLNOUT (Statement)
560
-
VISOVERLAY (Statement)
561
-
VISDEFTABLE (Statement)
563
-
VISREFTABLE (Function)
565
-
21.4 Window Setting
566
-
(End X coordinate
567
-
WINDCLR (Statement)
571
-
WINDCOPY (Statement)
572
-
WINDREF (Function)
574
-
WINDDISP (Statement)
575
-
21.5 Draw
576
-
VISBRIGHT (Statement)
578
-
VISCLS (Statement)
579
-
( X coordinate, Y coordinate)
581
-
VISLINE (Statement)
582
-
VISPTP (Statement)
583
-
VISRECT (Statement)
584
-
(X coordinate, Y coordinate)
585
-
VISELLIPSE (Statement)
586
-
VISSECT (Statement)
587
-
VISCROSS (Statement)
588
-
VISLOC (Statement)
589
-
VISDEFCHAR (Statement)
591
-
VISPRINT (Statement)
592
-
21.6 Vision Processing
593
-
(X coordinate
594
-
Y coordinate)
594
-
VISHIST (Statement)
595
-
VISREFHIST (Function)
596
-
VISLEVEL (Function)
597
-
VISBINA (Statement)
599
-
VISBINAR (Statement)
601
-
VISFILTER (Statement)
602
-
VISMASK (Statement)
604
-
VISCOPY (Statement)
606
-
VISMEASURE (Statement)
607
-
VISPROJ (Statement)
610
-
VISEDGE (Statement)
612
-
21.7 Code Recognition
616
-
21.8 Labeling
619
-
Center of gravity coordinate
619
-
Filet dia. width
619
-
Filet dia. height
619
-
Filet dia. reference point
619
-
Main axis angle
622
-
Peripheral length
622
-
Label number 2
624
-
Label number 0
624
-
Label number 1
624
-
Label number 3
624
-
Label number2
626
-
Label number3
626
-
SHDEFMODEL (Statement)
628
-
SHREFMODEL (Statement)
630
-
SHCOPYMODEL (Statement)
631
-
SHCLRMODEL (Statement)
632
-
SHDISPMODEL (Statement)
633
-
SHMODEL (Statement)
634
-
Pad height
638
-
Clearance
638
-
Corner position
638
-
SHCORNER (Statement)
639
-
Pad width
641
-
SHCIRCLE (Statement)
642
-
21.10 Obtaining Results
645
-
VISGETSTR (Function)
646
-
VISPOSX (Function)
647
-
VISPOSY (Function)
648
-
VISSTATUS (Function)
649
-
VISREFCAL (Function)
650
-
Chapter 22
651
-
Appendices
651
-
22.1 Character Code Table
653
-
[ 1 ] Available 32 Figures
654
-
Chapter 22 Appendices
655
-
(1) Shoulder figure
655
-
(2) Elbow figure
655
-
(3) Wrist figure
656
-
(4) 6th-axis figure
656
-
(5) 4th-axis figure
657
-
Figure 7. Location of Pw
660
-
≤180° around
664
-
22.4 Configuration List
666
-
(Tool end
672
-
speed in CP motion)
672
-
199 Arc interpolation
672
-
22.5 Reserved Word List
673
-
Correspondence Table (VS)
675
-
22.8 Setting Parameter Table
681
-
Index
685
Comments to this Manuals