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Chapter 1
Sample Pr
ogr
am
This chapt
er utilizes a simp
le applicati
on exam-
ple to provid
e usage of each co
mmand.
1
2
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46
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691
692
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
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