Nachi Manual Condensat

Second edition
The following Manuals listed are all the

documentation covering this robot system.
SPOT
52169'.&+0)2TKOCT[ HANDLING
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4'('4'0%'/#07#.

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AR9802-07-002
Applicable to Robot Models:-
This Operating manual applies to Robot systems containing an AR series control unit
System software version:

This Operational manual is applicable to version R22.098 system software.
[Constant setting : Group 1]

IMPORTANT

For SC50F, SC15F, SC35F, SR15A, SA series, and PV series the following settings need to be made.
When settings are not performed correctly the robot can not be properly controlled, and the life span of the
robot may be shortened.
(Settings mentioned above can only be performed when <Unbalance, interfere 1, or interfere 2 >is preset
in [50 Accel-control by torque] )
Establish the Tool load center and Tool pay load using [Service]
[42 Auto tool load center setting]
Enter the Wrist inertia rate of at least 2 tools in [Constant setting : Group 1]
[1 Tool constant] .
Load center, Weight, and Self inertia of Swing base loads in

[Constant setting : Group 1] [63 Pay load and load center ]
(only when < interfere 2> is selected)
Enter the value of Pay load on arm in [Constant setting : Group 1] [18 Gain control]

NACHI-FUJIKOSHI CORP.
JAPAN MAIN OFFICE Phone:(03)3435-5031 Fax:(03)3435-5145 World Trade Center 2-4-1 Hamamatsu-cho, Minato-ku, TOKYO, 105 JAPAN
NACHI ROBOTIC SYSTEMS INC.

Phone:(810)305-6545 Fax:(810)305-6542 22285 Roethel Drive, Novi, Michigan 48375, U.S.A.
TORONTO OFFICE Phone:(416)665-0071 Fax:(416)660-3198 41 Courtland Ave., Unit #4 Concord, Ontario, L4K3T3, CANADA
Copy by NACHI-FUJIKOSHI CORP.

Robot division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY,
JAPAN 930
Tel (0764)23-5137
Fax (0764)93-5252
There is author's rights of this book on NACHI-FUJIKOSHI CORP.

No part of this manual may be photocopied or reproduced in any from without prior written consent from
NACHI-FUJIKOSHI CORP.
Contents of this book are sometimes modified without a previous notice.
A missing page, an erratic pagination book are replaced.
AR9802-07-002

1. Introduction
This chapter explains the use of this manual, terminology, and points on safety
Contents
1.1 USING THIS DOCUMENT 1-2
1
Error! Reference source not found. Error! Reference source not found.
A. Using this document

Use of this manual
The following is all the documentation covering this robot system : [Spot Welding Primary manual]
[Spot Welding Advanced manual] [AR Controller Reference manual]
[Spot Welding Primary manual] :
Intended for those who have never operated a robot for spot welding. Features ;
Installation, Basic setting up, and fundamental teaching(programming).
[Spot Welding Advanced manual] :

This is a more detailed description of input /output signals and functions related to spot
welding that were not covered by the Spot welding Primary manual. Used to further
enhance robot operation and master the robot system in relation to spot welding.
[AR Controller Reference manual] :

This manual features Functions, Services, and Constant Settings available for the robot
system. It serves as a reference document that supersedes the AR Controller Operating
instructions Manual.
2
Introduction
z
Symbols Contained In Operation Manual.
To provide clear explanation/instruction this manual uses the following symbols:-
This symbol indicates a key.
This symbol illustrates a key to be pressed.
This symbol illustrates a Key Switch.
This symbol indicates the Operation Panel. This indicates the position of a key
or switch being explained/used.
This symbol depicts the Teach Pendant. This indicates the position of a key
being explained/used on the Teach Pendant.
This symbol depicts the arrow keys.
z Throughout the manual the following symbols are used.
z this indicates the robot be actually operated.
signifies a comment or an explanation.
If operated in order from the beginning, the operational item(s) that must be set up is shown. However
it is unnecessary if it has already been done. Please operate when seen.
A key split into an upper and lower section, as shown for example, can be used for
both functions indicated. This means that or can be input.
3
0Introduction
z A line in the center of the page, depicted below, indicates a Comment line
The section below the line depicted above is a Comment section. This section contains
comments and suggestions for robot operation. For those wishing in depth detail it is
necessary to read this section.
4
Introduction
2. M Functions
This chapter explains M functions and their use.
Contents
2.1 M0 M Signal Reset(18) 2-3

2.2 M1M8 M Signals ON/OFF 2-4
2.3 M9 2-5
2.4 M10 M Signal reset(1118) 2-6
2.5 M11M18 M Signal ON/OFF 2-7
2.6 M19 2-8
2.7 M20 Step jump ( no condition ) 2-9
2.8 M21 Step Call ( no condition ) 2-10
2.9 M22 Step Return ( no condition ) 2-11
2.10 M23 Step jump ( I. condition ) 2-12
2.11 M24 Step Call ( I. condition ) 2-14
2.12 M25 Step Return ( I. Condition ) 2-16
2.13 M26 Step Jump ( freq. condition ) 2-18
2.14 M27 Step Call ( freq. condition ) 2-20
2.15 M28 Step Return ( freq. condition ) 2-22
2.16 M29 Robot interrupt( condition) 2-24
2.17 M30 Robot interrupt(analog input) 2-26
2.18 M31 Robot interrupt( Weld stick ) 2-28
2.19 M32 Output signal Setting 2-29
2.20 M33 Spot weld condition 2-30
2.21 M34 Output Signal Reset 2-32
2.22 M35M40 2-33
2.23 M41 Robot Stop( no condition ) 2-34
2.24 M42 Robot Stop( I. condition ) 2-35
2.25 M43 M Signal Discrete Output 2-36
2.26 M44 M Signal Binary Output 2-37
2.27 M45 M56 2-38
2.28 M57 Hot Edit Disable 2-39
2.29 M58 Shift 2-40
2.30 M59M61 2-43
2.31 M62 Step Jump with Function ( no condition ) 2-44
2.32 M63 Step Jump with Function( I. condition ) 2-46
2.33 M64 Step Jump with Function( freq. condition ) 2-48
2.34 M65M66 2-49
2.35 M67 Select stationary tool. 2-50
2.36 M68M69 2-50
2.37 M70 Set Frequency Register 2-51
2.38 M71M79 2-52
2.39 M80 Program Call ( no condition ) 2-53
2.40 M81 Program Call ( I. condition ) 2-55
1
2.41 M82 Program Call ( freq. condition ) 2-57
2.42 M83 Program jump ( no condition )2-59
2.43 M84 Program jump ( I. condition ) 2-61
2.44 M85 Program jump ( freq. condition ) 2-63
2.45 M86 Function Case Jump (freq. Condition) 2-65
2.46 M87 Function Case Jump( I condition )2-68
2.47 M88 Function Case Jump End2-71
2.48 M89M91 2-72
2.49 M92 END2-73
2.50 M93M98 2-74
2.51 M99 Comment Function 2-75
2.52 M100 2-76
2.53 M101 Strings Output2-77
2.54 M102 Relative Program Call( no condition )2-79
2.55 M103 Relative Program Call( I. Condition ) 2-81
2.56 M104 Relative Program Call( freq. condition ) 2-83
2.57 M105 M Signal( ON/OFF ) 2-85
2.58 M106M112 2-86
2.59 M113 Change Coordinate for Shift 2-87
2.60 M114M118 2-88
2.61 M119 Spot welding function 2-89
2.62 M163 Elbow system configuration(above)2-90
2.63 M164 Elbow system configuration(below) 2-91
2.64 M165 Wrist system configuration(flip) 2-92
2.65 M166 Wrist system configuration(nonflip)2-93
2.66 M233 Acceleration override2-94
2
2 M Functions
2.1 M0 M Signal Reset(18)
2.1 M0 M Signal Reset(18)

[ M Signal reset(18)] function outline
This function resets all of the output signals, (M1M8Output terminal signal
No.) to [OFF].
Parameters of [ M Signal reset(18)] function

For parameter details refer to the table below.
Function[ M Signal reset(18)]
Parameter Brief explanation
Function code M0
1st parameter none
When an M-signal is assigned to a special signal, eg. Home position, MX,

Gun(squeeze),etc., that M-signal can not be controlled by this function.
Signals assigned as special signals appear on the [Screen monitor] with a
lower case m [m**] and can not be controlled by this function, where as the
normal signals are displayed with a capital M [M**] and can be controlled by
this function.
Note : Refer to [Constant setting] [12 signal attributes]
[2 M signal logic] : M1(0) usually means the M1 terminal signal is in an
[OFF] state, however [negative M signal logic] can create an [ON] state
at terminal M1 when the M signal is M1(0).
[3 Output signal attribute] : When a signal is set as a pulse signal this
function does not effect(reset) it.
[3 Output signal attribute] : When the signal is set with an on-delay then
this function will cancel the signal in the on-delay period or reset the
signal if it is ON(unless in the off-delay period).
[3 Output signal attribute] : When the signal is set with an off-delay this
function will not reset the signal in the off-delay period.
[2 M signal logic] & [3 Output signal attribute] may be functioning at the
same time.
3
2 M Functions
2.2 M1M8 M Signals ON/OFF
2.2 M1M8 M Signals ON/OFF

[ M Signals ON/OFF ] function outline
This function turns an individual M-signal output (M1M8) either [ ON] or [OFF ].
Parameters of [ M Signals ON/OFF ] function

Function[ M Signals ON/OFF ]
Function code M1M8
1st parameter ON/OFF Signal[ON] when [1] is set
(1/0) Signal [OFF] when [0] is set

this function.
[2 M signal logic] &[3 Output signal attribute] may be functioning at the
same time.
4
2 M Functions
2.3 M9
2.3 M9
This Function code is not used.
5
2 M Functions
2.4 M10 M Signal reset(1118)
2.4 M10 M Signal reset(1118)

[ M Signal reset(1118)] function outline
This function resets all of the M-signals (M11M18) to [OFF].
Parameters of [ M Signal reset(1118)] function

Function[ M Signal reset(1118)]
Function code M10
1st parameter none

this function.
same time.
6
2 M Functions
2.5 M11M18 M Signal ON/OFF
2.5 M11M18 M Signal ON/OFF

[ M Signal ON/OFF ] function outline
This function turns an individual M-signal output (M11M18) either [ ON] or
[OFF ].
Parameters of [ M Signal ON/OFF ] function

Function[ M Signal ON/OFF ]
Function code M11M18
1st parameter ON/OFF Signal[ON] when [1] is set

normal signals are displayed with a capital M [M**] and can be controlled by the
function.
[2 M signal logic] : M1(0) usually means the M1 terminal signal is in an [OFF] state,
however [negative M signal logic] can create an [ON] state at terminal M1
when the M signal is M1(0).
same time.
7
2 M Functions
2.6 M19
2.6 M19
This Function code is not used.
8
2 M Functions
2.7 M20 Step jump ( no condition )
2.7 M20 Step jump ( no condition )

[Step jump ( no condition )] function outline
This function performs a Jump to a designated step in a program.
No condition is applied.
Example of [Step jump ( no condition )] function

When the function M20(designated jump step No.=6) is executed in step 3 the
program jumps to step 6.

Jump step No.
Parameters of [Step jump ( no condition )] function

Function[Step jump ( no condition )]
Function code M20
1st parameter Jump step No.= Designates the step to which the
program jumps to.
9
2 M Functions
/ 5VGR%CNN
PQEQPFKVKQP
2.8 M21 Step Call ( no condition )

[Step Call ( no condition )] function outline
This function makes a jump to a designated step, of the current program, when it is
executed. A [Step return ] function (M22M25M28) must be used in conjunction
with a [Call ] function to return the program to the step following the last [call]
function used, while also executing the functions recorded after the [call] function.
(see [Step return])
Example of [Step Call ( no condition )] function
When the function M21(Designated call step No.6), recorded in step 3, is
executed the program jumps to step 6.
After the step call has been made and a step containing a Step return function
M22(step return ( no condition )) is reached, the program returns to the step
following the step containing the [call] function.
[Call ] and [return ] functions are used in conjunction with one another.
Step Call ( no condition )

Call step No.
Step return (no condition)
Parameters of [Step Call ( no condition )] function

Function[Step Call ( no condition )]
Function code M21
1st parameter Call step No. Designates the call step to
which the program jumps to.
A call can be made within a call(multiple call) 8 times.
10
2 M Functions
2.9 M22 Step Return ( no condition )
2.9 M22 Step Return ( no condition )

[Step return ( no condition )] function outline
This function is used in conjunction with the [Step Call ] functions.
When this function is executed the program returns to the step following the [call]
function last used, while also executing the functions immediately recorded after
the [call] function.
Example of [Step return ( no condition )] function

When M21(Designated call step No.6), recorded in step 3, is executed the
After the step call has been made and a step containing a Step return function
M22(Step return ( no condition )) is reached, the program returns to step 4.

Call step No.
Parameters of [Step return ( no condition )] function

Function[Step return ( no condition )]
Function code M22
1st parameter none
11
2 M Functions
2.10 M23 Step jump (+. condition )
2.10 M23 Step jump ( I. condition )

[Step jump ( I. condition )] function outline
This function makes a jump to a designated step if a condition is met.

A jump is made if the designatedsignal is being input(received).
A jump is not made, and the program continues without jump, if the designated
signal is not being input.
Example of [Step jump ( I. condition )] function

M23(designated jump step No.6andsignal1), recorded in step 3, is
executed.
A jump is made to step 6 when the 1 signal is being input.
No jump is made and the program continues onto step 4 when no 1 signal is
being input.

jump step No
signal
signal is
signal is no
being input.
being input
12
2 M Functions
2.10 M23 Step jump (+. condition )
Parameters of [Step jump ( I. condition )] function

Function[Step jump ( I. condition )]
Function code M23
1st parameter Jump step No. Designates the step to which the
jump is made.
2nd parameter signal Designates the I signal No. to be
the condition.
Two or more I-signals can be the
condition by using
I501-564(multi input signal).
Set a multiple input condition using [Service] [38 Multi input signal condition]
13
2 M Functions
2.11 M24 Step Call (+. condition )
2.11 M24 Step Call ( I. condition )

[Step Call ( I. condition)] function outline
This function makes a call jump to a designated step, of the current program, when
a designated input signal is being received. If no I signal is being input then the
program continues without executing the called step(s). A [Step return ] function
(M22M25M28) must be used in conjunction with a [Call ] function to return to the
step following the last [call] function used, while also executing the functions
recorded after the [call] function. (see [Step return])
Example of [Step Call ( I. condition)] function

M24 (designated Call step No.=6 & I signal =I1) is executed in step 3.
Call jump is made to step 6 when 1 signal is being input.
Call jump is not made and program continues to step 4 when no 1 signal is
being input.
When M22 (Step return(no condition)) is executed in step 9, return is made to
step 4.
Step Call ( +. condition)

Call step No.
signal
signal is
being input
signal is not
Step return(no condition) being input
14
2 M Functions
2.11 M24 Step Call (+. condition )
Parameters of [Step Call ( I. condition )] function

FunctionStep Call ( I. condition )]
Function code M24
1st parameter Call step No. Designates the step to which the
call jump is made.
2nd parameter signal Designates the I signal No. to be
the condition.
condition by using
It is possible to make a call within a call 8 times.
Return is always made to the step following the step containing the [step call] function used.
However any functions remaining after the [step call], in the [call] step, are executed at the
step position of the return step before actual robot motion.
15
2 M Functions
2.12 M25 Step Return (+. Condition )
2.12 M25 Step Return ( I. Condition )

[Step return ( I. Condition )] function outline
Return is made to the step following the [call] function last used( while also
executing the functions recorded after the [call] function) when a designated I signal
is being input. If no I signal is not being input the program continues without
returning.
Example of [Step return( I. condition )] function

M25(signal1 ) in step 9 is executed after the Step call function.
Return is made to step 4 when the 1signal is being received.
Return is not made and the program continues onto step 10 when the 1
signal is not being received.
Return is made to step 4 when M22 (step return(no condition)) in step 11 is
executed if M25 fails to make a return to step 4.
Step call(no condition)

Call step No.
Step return( I condition)

signal No.

signal is
Step return( no condition) being input
signal is not
being input

Whenever a [call] function is executed a [return] function must also be used. An

error occurs if the program reaches the end without using a [return] function
after a [call] function was used.
16
2 M Functions
2.12 M25 Step Return ( +. Condition )
Parameters of [Step return ( I. condition )] function

Function[Step return ( I. condition )]
Function code M25
1st parameter signal Designates the I signal No. to be
the condition.
condition by using
17
2 M Functions
2.13 M26 Step Jump ( freq. condition )

[Step jump ( freq. condition )] function outline
This function performs a Jump to a designated step in a program depending on the
number of times the M26 function was passed. [Step jump] is done when the
cycle( frequency + 1) is reached. (If frequency = 2 then the program will pass the
function twice and jump on the third cycle)
Example of [Step jump ( freq. condition )] function

M26( designated jump step No.6register No.1 & Frequency 2) is
executed in step 3.
A jump is made to step 6 on the 3rd cycle(freq.+1).
No jump is made on the 1st and 2nd cycles and the program continues onto
step 4.
Step jump(frequency condition

Jump step No.
Register No. Frequency
rd
3 cycle st nd
1 & 2 cycles
18
2 M Functions
Parameters of [Step jump ( freq. condition )] function

Function[Step jump ( freq. condition )]
Function code M26
st
1 parameter Jump step No. Designates the step to which the
jump is made.
nd
2 parameter Register No. Designates the register to be
used for counting.
Select from registers 1-8
rd
3 parameter Frequency Designates the No. of cycles
before executing a jump.
No. of cycles = frequency + 1
The register can be changed or checked using [Service] [3 Register]

[6 Frequency conditional], or R18.
19
2 M Functions
2.14 M27 Step Call ( freq. condition )

[Step Call ( freq. condition )] function outline
This function makes a call jump to a designated step, of the current program,
depending on the number of times the M27 function was passed. [Step call] is done
when the cycle( frequency + 1) is reached. (If frequency = 2 then the program will
pass the function twice and jump on the third cycle)
A [Step return ] function (M22M25M28) must be used in conjunction with a [Call ]
function to return to the step following the last [call] function used, while also
executing the functions recorded after the [call] function. (see [Step return])
Example of [Step Call ( freq. condition )] function
M27( designated call step No.6register No.1 & Frequency 2) is
executed in step 3.
A jump is made to step 6 on the 3rd cycle(freq. + 1).
No jump is made on the 1st and 2nd cycles and the program continues onto step
4.
Return is made to step 4 using M22(step return ( no condition ))
27Step call(frequency condition
Call step No.
Register No. Frequency

rd
3
l
st nd
1 & 2 cycle

20
2 M Functions
Parameters of [Step Call ( freq. condition )] function

Function[Step Call ( freq. condition )]
Function code M27
st
1 parameter Call step No. Designates the step to which the
call jump is made.
nd
2 parameter Register No. Designates the register to be
used for counting.
rd
before executing a call jump.

It is possible to make a call within a call 8 times.
Return is always made to the step following the step containing the [step call]
function used. However any functions remaining after the [step call], in the [call]
step, are executed at the step position of the return step before actual robot
motion.
21
2 M Functions
2.15 M28 Step Return ( freq. condition )

[Step return ( freq. condition )] function outline
A returns is made to the step following the [call] function last used( also executing
the functions recorded after the [call] function) depending on the number of times
the M28 function was passed.
[Return] is done when the cycle( frequency + 1) is reached. (If frequency = 2 then
the program will pass the function twice and jump on the third cycle)
Example of [Step return ( freq. condition )] function

M28(Register =1 and Frequency = 2 ) in step 9 is executed after the Step call
function.
Return is made to step 4 on the 3rd cycle(freq.+1).
No return is made on the 1st and 2nd cycles and the program continues onto
step 10.
Return is made to step 4 when M22 (step return(no condition)) in step 11 is
executed if M28 fails to make a return to step 4.

Call step No.
28Step returnfrequency condition

Register Frequency

rd

3 cycle
Step return (no condition) st nd

1 & 2 cycle
Whenever a [call] function is executed a [return] function must also be used. An

error occurs if the program reaches the end without using a [return] function
after a [call] function was used.
Parameters of [Step return ( freq. condition )] function
22
2 M Functions

Function[Step return ( freq. condition )]
Function code M28
1st parameter Register No. Designates the register to be
used for counting.
nd
before executing a return.

Return is always made to the step following the step containing the [step call]
function used. However any functions remaining after the [step call], in the [call]
step, are executed at the step position of the return step before actual robot
motion.
23
2 M Functions
2.16 M29 Robot interrupt( condition)

[ Robot interrupt(I condition)] function outline (Option)
Once this function is activated an input I signal is designated. If the designated I
signal is input at any time the robot is moving between the step point M29 is
recorded(eg.S5) and the next step point position(eg.S6), the [Robot interrupt]
function is executed. The robot interrupt executes the functions contained in the
next step(ie.S6) on the spot and moves on to the step following this (ie.S7). Kind of
like bringing the step(S6) up to the position the robot is at the time the I signal is
input.
Example of [ Robot interrupt(I condition)] function

(Note : This is a complex example utilizing the [Step jump(I condition)] Function)
M29 (I signal = I1) is activated in step 5.
When an I1 signal is input(received) any time(A,B,C, or D) between step 5 and
step 6, the [robot interrupt] function executes.
The robot stops motion towards step 6 and
The functions of step 6 are executed on the spot(A,B,C, or D). For this example
T=0.5(Time delay =0.5s) and then M23(Step jump( jump step = 10 & I signal =
I1)) forces a jump to step 10.
If an 1 signal is not received , the robot goes through step 6 and moves on to
step 7 as taught.
Note: If no functions( or those not affecting motion) were contained in step 6,
robot motion would cease toward step 6 and the robot would move to step 7
when the I signal was input.
Motion until an
+signal is received 5VGRLWOR
LWORUVGR
+UKIPCN

Robot interruptcondition
signal

Motion when an
+ signal is received
24
2 M Functions
Parameters of [ Robot interrupt( condition)] function

Function[ Robot interrupt( condition)]
Function code M29
st
1 parameter signal Designates the I signal No. to be
the condition.
2nd parameter Search position = To use the search function.

(1/0) Normally set to zero (0)
rd
3 parameter
4th parameter Refer to Option Manual
th
5 parameter
25
2 M Functions
2.17 M30 Robot interrupt(analog input)

[ Robot interrupt(analog input)] function outline (Option)
Once this function is activated an analog input signal is designated. If the
designated analog input signal goes within the designated voltage range at any
time the robot is moving between the step point M30 is recorded(eg.S5) and the
next step point position(eg.S6), the [Robot interrupt] function is executed. The robot
interrupt executes the functions contained in the next step(ie.S6) on the spot and
moves on to the step following this (ie.S7). Kind of like bringing the step(S6) up to
the position the robot is at the time the I signal is input.
Example of [ Robot interrupt(analog input)] function
(Note : This is a complex example utilizing the [Step jump(no condition)] Function)
M30 (port No. = 1, ) is activated in step 5.
When the analog signal being input(received) goes within the designated voltage
range any time(A,B,C, or D) between step 5 and step 6, the [robot interrupt]
function executes.
The robot stops motion towards step 6 and
The functions of step 6 are executed on the spot(A,B,C, or D). For this example
T=0.5(Time delay =0.5s) and then M20(Step jump(no condition)) forces a jump to
step 10.
If the analog signal does not go within the voltage range set , the robot goes
through step 6 and moves on to step 10 due to the [step jump] recorded in step 6.
Note: If no functions( or those not affecting motion) were contained in step 6,
robot motion would cease toward step 6 and the robot would move to step 7 when
the analog input signal went within the voltage range.
Signal not within
range, 2-3 volt 5VGRLWOR

PQEQPFKVKQP

LWORUVGR0Q

Robot interrupt (analog input)
port No.
minimum voltage
maximum voltage

Signal within range
2-3 volt
26
2 M Functions
Parameters of [ Robot interrupt(analog input)] function

Function Robot interrupt(analog input)(option )
Function code M30
st
1 parameter Port No. Refer to the Option manual.
2nd parameter mini. volt. Sets the voltage range in which
rd
3 parameter max. Volt. the [robot interrupt] will execute.
Units are in volts.
Refer to Option Manual

4th parameter search position (1: To use the search function.
written)= Normally set to zero (0)
5th parameter Refer to Option Manual

6th parameter
th
7 parameter
27
2 M Functions
2.18 M31 Robot interrupt( Weld stick )
2.18 M31 Robot interrupt( Weld stick )

[ Robot interrupt( Weld stick )] function outline (Option)
This function is used to detect work-piece positions using the welding wire tip
when arc welding. Please refer to the option Manual for details.
28
2 M Functions
2.19 M32 Output signal Setting
2.19 M32 Output signal Setting

[Output signal setting ] function outline
This function turns an individual M-signal output (M1M148) to [ ON].
Parameters of [Output signal setting ] function

Function[Parameters of [Output signal setting ] function]
Function code M32
1st parameter M Signal Designates the M-signal to be
turned [ON].

this function.
[3 Output signal attribute] : When the signal is set with an on-delay then this
function will cancel the signal in the on-delay period or reset the signal if it is
ON(unless in the off-delay period).
same time.
29
2 M Functions
2.20 M33 Spot weld condition

[Spot weld condition ] function outline
This function outputs a weld condition(schedule) signal as the M-signal set in
[ Constant setting; Group 1][12 Signal attribute][6 Setting of output signals][2
Resistance welding outputs] (Weld schedule 1:).
The signal output is either in Binary (0255) or Discrete(07).
To set signal to Discrete/Binary use [Constant setting; Group 1 ][24 Spot stud
welding parameters] (Weld cond. signal type <discrete/ binary).
[Resistance welding Outputs] Screen
CONSTANT SETTING (Group1)

Setting of output signals
GUN(squeeze)
Open gun fully(MX)
Weld warning
WI alarm
Weld schedule G1

Weld schedule G2

Weld schedule G3

all init. value Prev Page Next Page init. value over write
Signals are output as the M-signal Nos. set in

for the M33 function.
Using a one gun system only.
Manual operation (forced output) can be performed by [R204].
30
2 M Functions
Parameters of [Spot weld condition ] function

Function[ Spot weld condition ]
Function code M33
1st parameter Condition No. Sets the Weld condition (binary
or discrete) to be output
Meaning of [discrete]
Discrete; one signal is output corresponding to a selected weld condition. If the
[weld condition = 6] is selected as in the table shown below, a signal is output as
the M-signal [M17].
Weld cnd.
Related output
Meaning of [binary]
Binary; a selected weld condition is converted to a binary digit and output. Take
the following setting for example, if [weld condition =6] is selected ([6] is
expressed as (00000110) in binary), a signals are output as the M-signals [M12]
and [M13].
Weld cnd.
Binary

Related output
31
2 M Functions
2.21 M34 Output Signal Reset
2.21 M34 Output Signal Reset

[Output signal reset] function outline
This function resets an individual M-signal output (M1M148) to [OFF].
Parameters of [Output signal reset] function

Function[Output signal reset]
Function code M34
1st parameter M SIGNAL Designates the M-signal to be
turned [OFF].

function.
[3 Output signal attribute] : When a signal is set as a pulse signal this function
does not effect(reset) it.
this function will cancel the signal in the on-delay period or reset the signal if
it is ON(unless in the off-delay period).
same time.
32
2 M Functions
2.22 M35M40
2.22 M35M40
This Function code refers to functions that are either not used or optional,
therefore explanation has been omitted. Refer to the Option documentation.
33
2 M Functions
2.23 M41 Robot Stop( no condition )
2.23 M41 Robot Stop( no condition )

[Robot stop ( no condition )] function outline
This function stops the robot.
Parameters of [Robot stop( no condition )] function

Function[Robot stop( no condition )]
Function code M41
1st parameter none
34
2 M Functions
2.24 / 4QDQV5VQR
+EQPFKVKQP
2.24 M42 Robot Stop( I. condition )

[Robot stop( I. condition )] function outline
This function stops the robot if the designated I signal is being input.
Parameters of [Robot stop( I. condition )] function

Function[Robot stop( I. condition )]
Function code M42
1st parameter signal Designates the I signal No. to be
the condition.
condition by using
35
2 M Functions
2.25 M43 M Signal Discrete Output
2.25 M43 M Signal Discrete Output

[M Signal Discrete Output] function outline
This function outputs a discrete signal from a designated Port No.
The relationship between M-signals and Ports is shown in the table below.
(Group No. Port(Port))
Port
Port
Port
Port
Port
Port
Port
Option Port
Port
Port
Port
Port
Port
Port
Option Port
Parameters of [M Signal Discrete Output] function

Function[M Signal Discrete Output]
Function code M43
st
1 parameter Port No. Designates the port to be used
to output the discrete signal.
nd
2 parameter Value Designates the value to be
output . 18 can be used.
Discrete; one signal is output corresponding to a selected weld condition. If the
[weld condition = 7] is selected as in the table shown below, a signal is output as
the M-signal [M17].
Value. 8
Related output
36
2 M Functions
/ /5KIPCN$KPCT[1WVRWV
2.26 M44 M Signal Binary Output

[M Signal Binary Output] function outline
This function outputs a binary signal from a designated Port No.
The relationship between M-signals and Ports is shown in the table below.
(Group No. Port(Port))
Port
Port
Port
Port
Port
Port
Port
Option Port
Port
Port
Port
Port
Port
Port
Option Port
Parameters of [M Signal Binary Output] function

Function[M Signal Binary Output]
Function code M44
1st parameter Port No. Designates the port to be used
to output the binary signal.
2nd parameter Value Designates the value to be
output . 0250 can be used.

Meaning of [binary]
expressed as (00000110) in binary), a signals are output as the M-signals [M12]
and [M13].
Weld cnd.
Binary

Related output
Manual operation (forced output) can be performed using [R310].
37
2 M Functions
/ /5KIPCN$KPCT[1WVRWV

function.
[3 Output signal attribute] : When a signal is set as a pulse signal this function
does not effect(reset) it.
this function will cancel the signal in the on-delay period or reset the signal if
it is ON(unless in the off-delay period).
same time.
This function can be assigned to an f-key for easy use.
2.27 M45 M56

38
2 M Functions
2.28 / *QV'FKV&KUCDNG
2.28 M57 Hot Edit Disable

[Hot edit disable] function outline
This function inhibits the Hot Edit facility, [Service] [9 Hot edit], while executing
steps between M57<disable> and M57<enable>(or program end).
Executing the Hot Edit facility causes the manipulator to momentarily hesitate(slow
down) in playback. This may be detrimental, during sealing for example. This
function was introduced so that hesitation would not occur during execution of
specified steps.
[Hot edit disable] function Operation
Once M57<disable> is executed Hot edit can not be used.
Hot edit remains unusable until M57<enable> or program END is executed.
Parameters of [Hot edit disable] function
Function[Hot edit disable]
Function code M57
st
1 parameter Disable/enable 0 ; renders the Hot Edit facility inoperative
(0/1) = 1 ; enables the use of Hot Edit facility
39
2 M Functions
2.29 M58 Shift
2.29 M58 Shift

[Shift] function outline
[Shift] function relocates all the point positions, following the function in a
Program, a designated distance in the X, Y, and Z directions. The shifted path runs
parallel to the original taught path.
Example of [Shift] function

M58 (XYZ shift) is executed in step 3 and a shift in point positions of those
steps following step 3 is made.
Shown below, M58 (Z direction = 100) in step 3 move the point positions 100
mm in the Z direction .
A shift is usually made based on standard Ground(robot) coordinates however
a shift based on Tool coordinates can be made. (refer to the next page)
To cancel a shift another M58(shift function) is used with(X=0, Y=0, Z=0). As in
the example below M58(Z direction = 0) is executed in step 6 and the robot
returns to the original taught path at step 7.
Path with shift function
Teaching path
When the program is played back from step 0 the shift register ,and any shift
made, is reset. When using [Program Call] the shift register, and any shift made,
is not reset by step 0 of the called program.
A shift is retained until it is reset(changed). The M58 shift function does not
need to be recorded in every step a shift is required.
In the example above, if playback is not done from step 3, for example from
step 5, a shift is not made.
40
2 M Functions
2.29 M58 Shift
[Ground(robot) coordinates] and [Tool coordinates]

Shift in the Y direction is illustrated below for both the [ground coordinate] and
[tool coordinate] systems.
[Ground(robot) coordinates] shift direction

Robot coord.

Shift in the Y direction
of ground coordinate.
[Tool coordinates] shift direction
tool coordinate
Shift in the Y direction Shift in the Y direction of

of Tool coordinate. Tool coordinate.
Refer to M113[Change coordinate for shift] which is used to select the

coordinate system.
41
2 M Functions
2.29 M58 Shift
Parameters of [Shift] function

FunctionShift
Function code M58
st
1 parameter Ground 0 Sets the coordinates system the
Tool1 shift is to be made in.
[0] : selects the Ground(robot)
coordinates
[1] : selects the Tool coordinates
nd
2 parameter shift value Enters the value(mm) of
3rd parameter shift value distances for the point positions
th
4 parameter shift value to shift in the coordinate set.
42
2 M Functions
2.30//
2.30 M59M61
43
2 M Functions
2.31 M62 Step Jump with Function ( no condition )

[Step jump with function( no condition )] function outline
This function performs a jump to a designated function of a designated step in a
program. It is used to avoid functions that are not required.
Example of [Step jump with function( no condition ) ] function

When M62(Jump step No. =0, Jump function No. = 3), in step 4, is executed a
jump is made to the 3rd function of step 0.
However the robot does not move to the point position of the designated step,
step 0 in this example. ie. the functions F3 and F4, in step 0, are executed at
the point position of step 4.
After executing functions F3 and F4, in step 0, the robot(program) moves on to
step 1.
In this example, this means that F1 and F2 in step 0 are only executed when
the program first starts.
Functions in step 0
reset

Count register preset

Robot motion

Step jump with function( no condition)

Jump step No.
Jump function No.

44
2 M Functions
Parameters of [Step jump with function( no condition )] function

Function Step jump with function( no condition )
Function code M62
st
1 parameter Jump step No. Designates the step No.
containing the function to be
jumped to.
nd
2 parameter Jump function No.= Designates the function, in the
designated step, to which a
jump is made.
45
2 M Functions
/ 5VGR,WORYKVJ(WPEVKQP
+EQPFKVKQP
2.32 M63 Step Jump with Function( I. condition )

[Step jump with function( I. condition )] function outline
program provided an I signal is being input.
A Jump to the designated function is made when the designated I signal is being
input.
A Jump is not made to the designated function when the designated I signal is not
being input, and program continues as taught.
Example of [Step jump with function( I. condition ) ] function

M63(Jump step No. =0, Jump function No. = 3, I signal = 1), recorded in step 4,
is executed.
If the designated I signal is being input a jump is made to the 3rd function of step
0.
After executing the functions F3 and F4, in step 0, the robot moves on to step 1.
If the designated I signal is not being input then the program continues onto
step 5.
Functions in step 0
reset


Robot motion when +

is being input

63Step jump with function( no condition)

Jump step No.
Jump function No.

+ signal = 1

Robot motion when

+ signal is not being

46
2 M Functions
/ 5VGR,WORYKVJ(WPEVKQP
+EQPFKVKQP
Parameter of [Step jump with function( I. condition )] function

Function[Step jump with function( I. condition )]
Function code M63
st
jumped to.
nd
2 parameter Jump function Designates the function, in the
No. designated step, to which a
jump is made.
3rd parameter signal Designates the I signal No. to be
the condition.
condition by using
47
2 M Functions
2.33 M64 Step Jump with Function( freq. condition )

[Step jump with function( freq. condition )] function outline
program depending on the number of times the M64 function was passed. [Step
jump] is done when the cycle( frequency + 1) is reached. (If frequency = 2 then the
program will pass the function twice and jump on the third cycle)
Example of [Step jump with function( freq. condition ) ] function

M64(Jump step No. =0, Jump function No. = 3, Register No. =1, & Frequency =
2), recorded in step 4, is executed.
On the 3rd cycle(freq. + 1) a jump is made to the 3rd function of step 0.
No jump is made on the 1st and 2nd cycles and the program continues onto step
4. Therefore F1 and F2 in step 0 are not executed every 3rd cycle.
Functions in step 0
reset


Robot motion
rd
for 3 cycle

64Step jump with function( no condition)
Jump step No.
Jump function No.

Register No. = 1
Frequency = 2

Robot motion for

st nd
1 and 2 cycle

48
2 M Functions
Parameter of [Step jump with function( freq. condition )] function

Function[Step jump with function( freq. condition )]
Function code M64
st
jumped to.
nd
2 parameter Jump function No. Designates the function, in the
= designated step, to which a
jump is made.
3rd parameter Register No. Designates the frequency
register to be used.
Registers 18 are usable.
4th parameter Frequency Designates the No. of cycles
before jump is made.

2.34 M65M66
49
2 M Functions
2.35 /5GNGEVUVCVKQPCT[VQQN
2.35 M67 Select stationary tool.

[Select stationary tool] function outline
This function sets the Stationary tool to be used for every stationary tool
interpolation move in playback(and Step go/back) following, irrespective of the
program, until changed by another M67 function.
Note: The stationary tool selected for manual axis-key operation([Condition] [14
base of interpolation<S-tool>; Stationary tool # for manual [ ] ) is not related to the
Stationary tool selected for Playback and Step Go/Back(M67).
Parameters of [Select stationary tool] function

Function[Select stationary tool]
Function code M67
st
1 parameter Tool No. = Selects the stationary tool No. to be used
(03) in Playback & Step go/back.
Turning the controller Off and On does not change the stationary tool No. to a
default selection. Therefore the last M67 designated S-tool No. is in effect a
constant and is retained even after controller power is lost and returned.
Refer to [Condition][14 Base of interpolation]< standard, S-tool> for Stationary
tool coordinate motion using the Manual axis key operation
At time of robot delivery Stationary tool [0] is selected.
2.36 M68M69
50
2 M Functions
2.37 M70 Set Frequency Register
2.37 M70 Set Frequency Register

[Set frequency register ] function outline
This function can independently set the contents of a designated [frequency
register ].
Functions with (freq. condition), such as [Program call(freq. condition)],etc., use
these frequency registers.
8 frequency registers,1 to 8, can be used.
Parameters of [Set frequency register] function

Function[Set frequency register]
Function code M29
st
1 parameter Register No. Designates the frequency
register to which a change in
value is made.
Functions with (freq. condition)
use these frequency registers.
1- 8 freq. registers can be used.
nd
2 parameter Value Sets the value contained in the
frequency register.

51
2 M Functions
2.38//
2.38 M71M79
52
2 M Functions
2.39 M80 Program Call ( no condition )

[Program Call ( no condition )] function outline
This function jumps to and executes a designated program. After completing the
designated program, return is made to the step following the step the [program call]
was made.( the functions remaining in the [call] step are also executed at the step
position of the last step of the call program.)
Example of [Program Call ( no condition )] function

When M80(Call program No.2) in step 3 is executed, jump is made to step 0
of Program 2. (Note step 0 contains no position data, only functions, therefore
robot motion is to step 1)
When Program 2 finishes, return is made to step 4(executing any remaining
functions, following M80 in step 3, at the point position of the last step in
program 2).
Program program call( no condition)

call program No.
Program

53
2 M Functions
Parameters of [Program Call ( no condition )] function

Function[Program Call ( no condition )]
Function code M80
st
1 parameter Call program No. = Designates the program to
which the call jump is made.
A Called Program is always executed from step 0 and return is made after
executing M92[END].
It is possible to make a [program call] from within a called program (multiple
call). However this is limited to 8 times.
Return is always made to the step following the step containing the [program
call] function used. However any functions remaining after the [program call], in
the [call] step, are executed at the step position of the last step of the call
program before actual robot motion.
54
2 M Functions
2.40 M81 Program Call
+. condition )
2.40 M81 Program Call ( I. condition )

[Program Call ( I. condition )] function outline
This function jumps to and executes a designated program if a designated I signal
is being input. After completing the designated program, return is made to the step
following the step the [program call] was made. The functions remaining in the [call]
step are also executed at the step position of the last step of the call program.
If no I signal is being input when the function executes no jump is made the program
simply continues.
Example of [Program Call ( I. condition )] function

M81(Call program No.2, & I signal = 1) is executed in step 3.
If the designated I signal is being input a jump is made to step 0 of Program 2.
(Note step 0 contains no position data, only functions, therefore robot motion is
to step 1)
program 2).
If the designated I signal is not being input at the time the M81 executes the
program simply continues on to step 4 in program 1.
Program call (I signal)

Motion when +
Call program No.
signal No. signal is not being
Program
Motion when
+ signal is being input

Program
55
2 M Functions
2.40 M81 Program Call (+. condition )
Parameters of [Program Call ( I. condition )] function

Function[Program Call ( I. condition )]
Function code M81
st
1 parameter Call program No.= Designates the program to
which the call jump is made.
nd
the condition.
condition by using I501-564.
executing M92[END].
56
2 M Functions
2.41 M82 Program Call ( freq. condition )

[Program Call ( freq. condition )] function outline
This function jumps to and executes a designated program depending on the
number of times the M82 function was passed. [Program call] is made when the
cycle( frequency + 1) is reached. (If frequency = 2 then the program will pass the
After completing the designated program return is made to the step following the
step the [program call] was made. The functions remaining in the [call] step are also
executed at the step position of the last step of the call program.
Example of [Program Call ( freq. condition )] function

M82(Call program No.2, Register No. = 1 & Frequency = 2) is executed in
step 3.
On the 3rd cycle(freq. + 1) a jump is made to step 0 of Program 2. (Note step 0
contains no position data, only functions, therefore robot motion is to step 1)
program 2).
No jump is made on the 1st and 2nd cycles and the program simply continues
onto step 4. Therefore [program call] executes every 3rd cycle.
Program call (frequency condition)

Call program No.
Register No. Motion for the
Frequency st nd
Program 1 and 2 cycles.
Motion for the

rd
3 cycle.

Program
57
2 M Functions
Parameters of [Program Call ( freq. condition )] function

Function[Program Call ( freq. condition )]
Function code M82
st
1 parameter Call Program No. Designates a program to which
the call jump is made.
nd
rd
executing M92[END].
58
2 M Functions
2.42 M83 Program jump ( no condition )

[Program jump ( no condition )] function outline
This function jumps to and executes a designated program. After completing the
designated program no return is made and program 2 starts again.
Example of [Program jump ( no condition )] function

When M83(Jump program No.2) in step 3 is executed, jump is made to step
0 of Program 2. (Note step 0 contains no position data, only functions, therefore
robot motion is to step 1)
When Program 2 finishes no return is made and program 2 starts again.
Program Program jump( no condition)

Jump program No.
Program

The Jump Program is always executed from step 0.
59
2 M Functions
Parameters of [Program jump ( no condition )] function

Function[Program jump ( no condition )]
Function code M83
st
1 parameter Jump program Designates the program to
No. which the jump is made.
60
2 M Functions
2.43 M84 Program jump (+. condition )
2.43 M84 Program jump ( I. condition )

[Program jump ( I. condition )] function outline
This function jumps to and executes a designated program when the designated
I signal is being input. After completing the assigned program, no return is made
and program 2 starts again.
If the designated I signal is not being input the program simply continues.
Example of [Program jump ( I. condition )] function

M84(Junp program No.2, & I signal = 1) is executed in step 3.
If the designated I signal is being input a jump is made to step 0 of Program 2.
(Note step 0 contains no position data, only functions, therefore robot motion is
to step 1 )
If the designated I signal is not being input at the time the M84 executes the
program simply continues on to step 4 in program 1.
Program jump( + signal)

Jump program No. Motion when I signal
Program signal
is not being input
Motion when +
signal is being input

Program
61
2 M Functions
2.43 M84 Program jump (+. condition )
Parameters of [Program jump ( I. condition )] function

Function[Program jump ( I. condition )]
Function code M84
st
1 parameter Jump program Designates the program to
No. which the jump is made.
nd
the condition.
condition by using
62
2 M Functions
2.44 M85 Program jump ( freq. condition )

[Program jump ( freq. condition )] function outline
This function jumps to and executes a designated program depending on the
number of times the M85 function was passed. [Program jump] is made when the
cycle( frequency + 1) is reached.(If frequency = 2 then the program will pass the
After completing the assigned program, no return is made and program 2 starts
again.
Example of [Program jump ( freq. condition )] function

M85(Jump program No.2, Register No. = 1 & Frequency = 2) is executed in
step 3.
On the 3rd cycle(freq. + 1) a jump is made to step 0 of Program 2. (Note step 0
contains no position data, only functions, therefore robot motion is to step 1)
No jump is made on the 1st and 2nd cycles and the program simply continues
onto step 4 in program 1.
Program jump( frequency condition)

Jump program No.
Register No. Motion on the
Frequency st nd
1 and 2 cycles
Program
Motion on the
rd
3 cycle

Program
63
2 M Functions
Parameters of [Program jump ( freq. condition )] function

Function[Program jump ( freq. condition )]
Function code M85
st
1 parameter Call Program No. Designates a program to which
the jump is made.
nd
rd

64
2 M Functions
2.45 M86 Function Case Jump (freq. Condition)

[Function Case Jump (freq. Condition)] function outline
This is used to select and execute a function from a list of functions depending on
the number of times the M86 function was passed.
Explanation/Example of [Function Case Jump (freq. Condition)] function

Shown below are the functions recorded in a step.

Function case jump(freq. condition)
selected with condition 0
selected with condition 2 Function jump is always used
Function case jump end. in conjunction with
M88 [Function jump end].
The condition is chosen by the following rule.

[Function case jump (frequency condition)] requires designation of a divisor
[n]. This function divides the value in the frequency register by the divisor [n] to give
two values(i) the integer value of the quotient and (ii) the remainder.
Selecting the [Quotient] The integer value of the (Freq. Reg. value )
becomes the condition. Below illustrates how the
condition is 0 every three cycles, when n=3,
therefore the corresponding function is executed
three times. Then the next condition is 1 three more
cycles and the corresponding function is executed
three times.
Selecting the [Remainder]The remainder of the (Freq. Reg. value ) becomes
the condition. Below illustrates how
0,1,2,0,1,2,...becomes the condition(when n=3).
Case when ,[frequency condition]

Freq. Reg. value 0 1 2 3 4 5 6 7 8 9 10 11
Quotient 0 0 0 1 1 1 2 2 2 3 3 3
Remainder 0 1 2 0 1 2 0 1 2 0 1 2
65
2 M Functions
Record the functions as shown on the previous page, designate the divisor ()
and [remainder] as the condition. For this example on the 5th cycle the frequency
register is 4;remainder=1; so the [condition] =.
[corresponding to condition 1] is executed and the flow of execution
is as following.

Function case jumpfreq. count reg.

Function case jump end
7
Note : When using this function with 1: quotient selected, the Frequency register
should be reset before the value of (frequency reg. n) becomes greater than
the largest condition value contained between the M86 and M88. Otherwise
Error 361 will occur and playback will stop.
The Number of steps and functions in one program can not exceed 999
(i.e. 999 lines is the maximum length of a program).
The number of functions in a step is only restricted by the program size limit
above.
The number of functions recorded between M86 or M87(Function case jump)
and M88(Function case jump end) is also only restricted by the program size
limit.
Only one M86 or M87( Function case jump) can be recorded in a single step.
66
2 M Functions
Parameters of [Function Case Jump (freq. Condition)] function

Function[Function Case Jump (freq. Condition)]
Function code M86
st
1 parameter Register No. = Designates register to use as
the frequency register.
8 registers (1 to 8) can be used.
nd
2 parameter Mode 1: Quotient of the (freq. Register
1:Quotient/ valuedivisor(n)) is used.
2:Surplus 2: Remainder of the (freq.
register valuedivisor(n))
is used.
rd
3 parameter Divisor (n) Value to divide the register value
by.
67
2 M Functions
2.46 M87 Function Case Jump(+ condition )
2.46 M87 Function Case Jump( I condition )

[Function Case Jump ( I condition )] function outline
This is used to select and execute a function from a list of functions depending on
input (I) signals being received.
Explanation/Example of [Function Case Jump ( I condition )] function
Record functions as shown below (note: for the case of three input signals 8
functions are contained between the function jump and function jump end.)

87 Function case jump(freq. condition)
Function jump is always used
selected with condition 6 in conjunction with
selected with condition 7 M88 [Function jump end].
88 Function case jump end.

Conditions are determined as follows,

[Function jump(with condition)M87] uses input [I] signals to choose the condition. The
condition is designated by a maximum of 8 signals (8 bits) either turned ON or OFF. When less
than signals (bits) are used the bits (signals) not being used are read as OFF zero(0). Shown
below is how a condition is chosen by the M87function.
Input signal 1 BIT 0+ 1
Input signal 2 BIT 1+ 2
Input signal 3 BIT 2 + 3 Example shows BIT 0 -> BIT 2 being
Input signal 4 BIT 3 + 0
Input signal 5 BIT 4 + 0 used.
When [] and [] are On the bit data gives a value as below.
This is essentially a 3 BIT binary system.

The condition in the example is therefore 2+ 2= 3 and
[4 ] is selected.
68
2 M Functions
From the example on the previous page, using BIT 0 to BIT 2, when the input
signals I1 and I2 are on(ie. BIT 0 and BIT 1 are on) the condition is 3 and the
corresponding function [F6 = M4 ] is selected. The following shows the actual
execution sequence.

87Function case jump (I condition

88 Function case jump end

Note: The number of functions between the Function jump and function jump end
= 2+ 2+...+2 n=2 (where
n+1
n = the number of input signals minus 1).
(ie. 3 inputs = 8 conditions(0 to7) = 8 function selections ; 4 inputs = 16
conditions = 16 functions; etc.)
The Number of steps and functions in one program can not exceed 999
(i.e. 999 lines is the maximum length of a program).
The number of functions in a step is only restricted by the program size limit
above.
The number of functions recorded between M86 or M87(Function case jump)
and M88(Function case jump end) is also only restricted by the program size
limit.
Only one M86 or M87( Function case jump) can be recorded in a single step.
69
2 M Functions
Parameters of [Function Case Jump ( I condition)] function

Function Function Case Jump ( I condition )

Function code M87
st
1 parameter Input signal Set the I-signal for BIT 0.
BIT 0 When it is [0] it is read as OFF.
(BIT 0=OFF)
2nd parameter Input signal Set the I-signal for BIT 1.
(BIT 1=OFF)
rd
(BIT 2=OFF)
th
(BIT 3=OFF)
5th parameter Input signal Set the I-signal for BIT 4.
(BIT 4=OFF)
th
(BIT 5=OFF)
th
(BIT 6=OFF)
8th parameter Input signal Set the I-signal for BIT 7.
(BIT 7=OFF)
70
2 M Functions
2.47 M88 Function Case Jump End
2.47 M88 Function Case Jump End

[Function Case Jump End] function outline
The function is used in conjunction with [M86 Function case jump (frequency
condition)] or [M87 Function case jump (I condition)].
The set of functions, corresponding to the conditions, for the function case jump are
contained between[M86], or [M87], and [M88 Function case jump End].
[M86] and [M87] are always used in conjunction with[M88].
Parameters of [Function Case Jump End] function

Function Function Case Jump End

Function code M88
st
1 parameter none
71
2 M Functions
2.50 M89M91
2.48 M89M91
72
2 M Functions
2.49 M92 END
2.49 M92 END

[END] function outline
This function indicates a program end. However this does not indicate the end of the
program file(listing).
More programming(step data and functions) can be recorded after an END function
and more than one END function can be recorded in a program.
Parameters of [END] function

Function[END]
Function code M92
st
1 parameter none
73
2 M Functions
2.50 M93M98
2.50 M93M98
74
2 M Functions
2.51 M99 Comment Function
[Comment function ] function outline

This function is used to display a comment in the program. It is primarily used for
program maintenance(management).
It is possible to read a [comment function] message recorded in step 0 of existing
programs using [Service] [2 Program first data display].
Recording the [Comment function ]

z Assume the related program already exists.
z Select teach mode with

z

Set the related program No.
To record an M99 comment function into step 3.
z Press
to display step 3.

z Key in to display the screen below

SET

Location of keys
** Character input **
M99 Comment function
ABCDEFGHIJKLMNOPQRSTUVWXYZ
abcdefghijklmnopqrstuvwxyz
,.?!@#$%^&*+-/<=>:;(){}[]
==>
over write
z Choose a letter with the arrow keys and press . And repeat to make up the
comment.
75
2 M Functions
z Select [END] with after entering the whole comment and the following

screen is displayed

Parameters of [Comment function ] function

Function[Comment function ]
Function code M99
1st parameter Comment message
Recording and modification of this function can not be performed in Screen Edit
mode. Teach mode is used to handle this function.
Refer to [62 Recording, modification and deletion of functions] in the Spot
Welding Primary manual.
Reference can be also made to the following table for the recording,
modification and deletion in teach mode.
1 Deletion of functions
2 Addition of functions
3 Replacement of functions
4 Modification of functions
2.52 M100
76
2 M Functions
2.53 /5VTKPIU1WVRWV
2.53 M101 Strings Output

[Strings output ] function outline
This function executed during playback sends a character string to either the
display screen or the serial port 1.
Recording the [Strings output]

z Assume the program is at the desired step in teach.
z 1 0 1
Key in SET to display the screen below
Please enter Device No. ( 0 1 )
Device # 0 : Display screen.

Location of keys Device # 1 : Serial port 1.
z After entering the Device No. the following screen is displayed.
** Character input **
M99 Comment function
ABCDEFGHIJKLMNOPQRSTUVWXYZ
abcdefghijklmnopqrstuvwxyz
,.?!@#$%^&*+-/<=>:;(){}[]
==>
over write
z Choose a letter with the arrow keys and press . And repeat to make up the
charter string.
z Select [END] with after entering the whole charter string and the following
screen is displayed

PRINT #1 , ABCDEFG
Device for the string output is [# 0 or # 1 ] .
77
2 M Functions
2.53 /5VTKPIU1WVRWV
Parameters of [Strings output] function

Function[Strings output]
Function code M101
1st parameter Device # = Designates which device the
(0,1) character string is output to.
#0 : Display screen.
#1 : Serial port 1.
2nd parameter Character string
78
2 M Functions
2.54 M102 Relative Program Call( no condition )

[Relative Program Call ( no condition )] function outline
[Relative Program Call] calls a subprogram and makes the first step position and
orientation the same as the current step in the main(base) program and all point
positions in the subprogram become relative to that step position. Refer to the
illustration below
This is a very convenient function for spot welding, weld gun sticking, grinding,
cutting and other frequently repeated simple task actions.
Explanation /Example of [Relative Program Call ( no condition )] function

Below shows a task(program 1) to be repeated numerous times.

program
subprogram to be called
tool
M102 : Relative program call( no cond.)

Call program =
(The function above is

program recorded in steps
Main(base) program
3,4,5&6)

When M102 is recorded in program
2 as above the robot will operate as
shown here.
79
2 M Functions
Parameters of [Relative Program Call ( no condition )] function

Function[Relative Program Call ( no condition )]
Function code M102
st
1 parameter Call program Designates the program to
No. which the relative call is made.
80
2 M Functions
2.55 M103 Relative Program Call( I. Condition )
2.55 M103 Relative Program Call( I. Condition )

[Relative Program Call ( I. condition )] function outline
If the designated I signal is being input, [Relative Program Call] calls a subprogram and
makes the first step position and orientation the same as the current step in the main(base)
program. Then all point positions in the subprogram become relative to that step position.
Refer to the illustration below
If the I signal is not being input the main program simply continues on.
This is a very convenient function for spot welding, weld gun sticking, grinding, cutting and
other frequently repeated simple task actions.
Explanation/Example of [Relative Program Call ( I. condition )] function


Program
Tool
M103 : Relative program call(+ condition)
Call program =
+ signal = 1
Program (The function above is

Main(base) Program
recorded in steps
3,4,5&6)

When M103 is executed and the

designated + signal is being input
program 2 is played and robot will
operate as shown here.

81
2 M Functions
2.55 M103 Relative Program Call(+. Condition )
[Relative Program Call ( I. condition )]Parameters of function

Function[Relative Program Call ( I. condition )]
Function code M103
st
nd
the condition.
condition by using I501-564.
82
2 M Functions
2.56 M104 Relative Program Call( freq. condition )

[Relative Program Call ( freq. condition )] function outline
Depending on the number of times M104 has been passed, [Relative Program Call] calls
a subprogram and makes the first step position and orientation the same as the current
step in the main(base) program. Then all point positions in the subprogram become relative
to that step position. Refer to the illustration below
This is a very convenient function for spot welding, weld gun sticking, grinding, cutting
and other frequently repeated simple task actions.
When the cycle (Freq. + 1) is reached, [Relative Program Call] calls a subprogram, if the
cycle is not (frequency + 1) the main program will simply continue on.
Explanation/Example of [Relative Program Call ( freq. condition )] function


Program
Tool
M104 : Relative program call( no cond.)
Call program No. =
Register No. = 1
Frequency = 2
Program The function above is

Main(base) Program
recorded in step 6)
When M104 is being passed on the

3rd(Freq. + 1) cycle program 2 will
operate, as shown here.
83
2 M Functions
Parameters of [Relative Program Call ( freq. condition )] function

Function[Relative Program Call ( freq. condition )]
Function code M104
st
nd
rd
before relative call is made.

84
2 M Functions
2.57 M105 M Signal( ON/OFF )
2.57 M105 M Signal( ON/OFF )

[M signal( ON/OFF )] function outline
This function turns an individual signal output (M1M148) either [ ON] or [OFF ].
Parameters of [M signal ON/OFF ] function

Function[M signal ON/OFF]
Function code M105
st
1 parameter M Signal Designates the [Output M-signal
No.] to be turned [ ON/OFF ].
nd
2 parameter ON/OFF Signal[ON] when [1] is set

function.
[3 Output signal attribute] : When a signal is set as a pulse signal this function does
not effect(reset) it.
[3 Output signal attribute] : When the signal is set with a delay then this
function will cancel the signal in the delay period or reset the signal if it is ON.
(unless in the off-delay period).
same time.
85
2 M Functions
2.58 M106M112
2.58 M106M112
86
2 M Functions
2.59 M113 Change Coordinate for Shift
2.59 M113 Change Coordinate for Shift

[Change coordinate for shift ] function outline
This function selects coordinates to be the basis for an XYZ shift.
User coordinates can be used instead of the Ground(robot) coordinates.
The change in coordinate system takes effect in the step following the step in which
an M113 function is recorded. Therefore if a shift function (M58) has been used
before this function an actual shift motion will occur, if not the point positions remain
as originally taught until a Shift (M58) function is used.
Selection and use of the Tool coordinate shift (refer to M58) is not effected by this
function.
Parameters of [Change coordinate for shift] function

Function[Change coordinate for shift]
Function code M113
1st parameter User coordinate Designates the user coordinate to
No. be used when a Shift is made.
(Not in Tool coordinate shift)
Refer to [2.9 User coordinates] in the Spot Welding Advanced manual.

With [Power failure detection] ON this function, once executed, becomes valid
until it is changed.
To return to the Robot coordinate system execute this function entering [User
coordinate No. = 0].
The robot coordinates are defaulted to if the designated User coordinate
system has not been defined.
[134input data is invalid] is displayed if the designated user coordinate
system has not been registered. This may be the case only when designating
user coordinates 11 to 99.
87
2 M Functions
//
2.60 M114M118
88
2 M Functions
/5RQVYGNFKPIHWPEVKQP
2.61 M119 Spot welding function
Refer to the Spot Welding Advanced manual [Chapter 3 Spot welding function].
89
2 M Functions
2.62 /'NDQYU[UVGOEQPHKIWTCVKQP
CDQXG
2.62 M163 Elbow system configuration(above)
[Elbow system configuration(above)] function outline

For motion in a shift facility, such as palletizing, the arm angle configuration
(posture) of the robot is determined by its tip position. In some instances two
postures can be determined for a desired point(Figure below). In this case the
resulting posture is automatically selected by the controller.
Executing this function will force the robot posture to be an overhead arc, as shown
below as the solid line arm configuration.
V-axis
Elbow above
H-axis
below
This function is reset when Step 0 is executed in playback.

In the case of a Program call function, M163 is not reset in step 0.
90
2 M Functions
2.63 /'NDQYU[UVGOEQPHKIWTCVKQP
DGNQY
2.63 M164 Elbow system configuration(below)

[Elbow system configuration(below)] function outline
Executing this function will force the robot posture to be as shown below as the
solid line arm configuration.
(This applies to machines that can achieve the posture. Ex. MA)
above
V-axis
below
Elbow
H-axis

91
2 M Functions
2.64 /9TKUVU[UVGOEQPHKIWTCVKQP
HNKR
2.64 M165 Wrist system configuration(flip)

[Wrist system configuration(flip)] function outline
Executing this function will force the robot posture where the B-axis angle is
positive, as shown below as the solid line configuration.
End effector
attachment face R2 axis
+0q
B axis
+30q
R2 axis
+180q

B axis
-30q

92
2 M Functions
PQPHNKR
2.65 M166 Wrist system configuration(nonflip)
[Wrist system configuration] function outline

Executing this function will force the robot posture where the B-axis angle is
negative, as shown below as the solid line configuration.
End effector
R2 axis
attachment face
+0q
B axis

+30q
R2 axis
+180q

B axis
-30q

93
2 M Functions
HNKR
2.66 M233 Acceleration override
[Acceleration override] function outline

This function reduces the normal robot acceleration rate as desired (by 0 100%).
All steps following an M233 function will exhibit a reduced acceleration(set %) until
acceleration is returned to a normal level with an M233(100%) or Step 0 (not
returned to normal in step 0 of a called program).
Use this function only where necessary as total cycle time will increase due to less
responsive motion caused by decreased acceleration. When cycle time is an
important factor use this function as little as possible.
Parameters of [Acceleration override] function

Function[Acceleration override]
Function code M233
st
1 parameter Level % = Sets the percentage of reduction
in acceleration.
(10% - 100%)
M233 only applies to systems with software version R022 and after.
94
2 M Functions
M Signals ON/OFF........................................................ 2-4

M-signal reset ............................................................... 2-3
Acceleration override ...................................................2-94 Multiple call ................................................................. 2-10
Multiple call ................................................................. 2-56

Binary ..........................................................................2-31
Binary Output...............................................................2-37 nonflip ......................................................................... 2-93

Change coordinate for shift..........................................2-87 Output signal reset...................................................... 2-32
Comment function .......................................................2-75 Output signal setting ................................................... 2-29

Discrete .......................................................................2-36 Program Call ( freq. condition ) ................................... 2-57
Discrete .......................................................................2-31 Program Call ( I. condition ) ........................................ 2-55
Discrete Output............................................................2-36 Program Call ( no condition ) ...................................... 2-53
Program jump ( freq. condition ).................................. 2-63

Program jump ( I. condition )....................................... 2-61
Elbow system configuration ................................2-90, 2-91 Program jump ( no condition )..................................... 2-59
END.............................................................................2-73

Register ...................................................................... 2-49
flip................................................................................2-92 Register .................................................... 2-64, 2-67, 2-84
Function Case Jump ( I condition ) ..............................2-68 Register ...................................................................... 2-19
Function Case Jump (freq. Condition) .........................2-65 Register .................................................... 2-23, 2-51, 2-58
Function Case Jump End ............................................2-71 Relative Program Call ( freq. condition ) ..................... 2-83
Relative Program Call ( I. condition) ........................... 2-81

Relative Program Call ( no condition ) ........................ 2-79
Ground(robot) coordinates...........................................2-41 Resistance welding Outputs........................................ 2-30
Robot interrupt( Weld stick ) ....................................... 2-28

Robot interrupt(analog input) ...................................... 2-26
Hot Edit........................................................................2-39 Robot interrupt(I condition) ......................................... 2-24
Robot stop ( no condition ) .......................................... 2-34

Robot stop( I. condition )............................................. 2-35
M Signal ON/OFF ..........................................................2-7

M Signal reset................................................................2-6
M signal( ON/OFF ) .....................................................2-85 Set frequency register................................................. 2-51
95
2 M Functions
HNKR
Shift............................................................................. 2-40 Step jump with function(no condition )......................... 2-44
Spot weld condition ..................................................... 2-30 Step return ( freq. condition )....................................... 2-22
Spot welding function .................................................. 2-89 Step return ( I. Condition ) ........................................... 2-16
Stationary tool ............................................................. 2-50 Step return ( no condition ).......................................... 2-11
Step Call ( freq. condition )......................................... 2-20 Strings Output ............................................................. 2-77
Step Call ( I. condition)................................................ 2-14

Step Call ( no condition )............................................. 2-10
Step jump ( freq. condition ) ........................................ 2-18 Tool coordinates.......................................................... 2-41

Step jump ( I. condition ) ............................................ 2-12

Step jump ( no condition ) ............................................. 2-9
Step jump with function( freq. condition) ..................... 2-48 Wrist system configuration ................................. 2-92, 2-93
Step jump with function( I. condition) .......................... 2-46
96
2 M Functions
3. I Functions
This chapter describes I functions and there use.
Contents
3.1 I signal wait 3-2

3.2 Wait I condition 3-3
3.3 Wait not I condition 3-4
3.4 3-5
3.5 Wait I Condition with Timer 3-6
3.6 Wait IB AND condition with timer 3-7
3.7 Wait IB OR condition with timer 3-9
3.8 Wait IB condition with timer 3-11
3.9 3-13
3.10 Wait IBCD AND condition with timer 3-14
3.11 Wait IBCD OR condition with timer 3-16
3.12 Wait IBCD condition with timer 3-18

Error! Reference source not found. + signal wait
A. I signal wait
Outline of [I signal wait] function
Executing this function puts the robot in a wait status until the respective
I signal (I1~I24) is input(ON).
Parameters of [I signal wait] function

Function : [I signal wait]
Parameter Contents
Function No. I1~I24
st
1 parameter None
When an I-signal is assigned to a special signal, eg. Weld completed signal

(WI) etc., that I-signal can not be controlled by this function.
lower case i [i**] and can not be controlled by this function, where as signals
displayed with a capital I [I**] can be controlled by this function.
[1 I signal logic] : I 1(0) usually means the I 1 terminal signal is in an [OFF]
state, however [negative I signal logic] can create an [ON] state for signal I 1
when the I signal is I 1(0).
3-2
3+ Functions
Error! Reference source not found. Wait+ condition
A. Wait I condition
Outline of [Wait I condition]
[Wait I condition] allows the use of I-signal numbers I 1~256 or I 501~564(Multi input
signals) to be set as the I-condition signal. Either a single normal [I signal] wait(1~256)
or a [Multi input signal] wait (501~564) can be set.
Set [Multi input signals] using [Service] [38 Multi input signal condition].
Parameters of [I signal (Setting of input signal)]

Function: [Wait I-condition]
Parameter Contents
Function No. I25
* Set [1~256] for normal [I-signal] wait.
st
1 parameter I signal = * or [501~564] for a [Multi input signal]
wait.
Release an I-signal wait by selecting [I release] with [PF key].

3+ Functions
Error! Reference source not found. Wait not+ condition
A. Wait not I condition

Outline of [Wait not I cond] function
Executing this function puts the robot in a wait status until the designated
I signal (I1~I118) is OFF.
Parameters of [Wait not I cond.] function

Function : [I signal (Neg. logic)]
Parameter Contents
Function No. I26
st
1 parameter I signal = Designates the I signal to be
the wait condition.

3-4
3+ Functions
3.4
A.
These functions are considered as options or are not used.
Refer to the Option manual.

3+ Functions
Error! Reference source not found. Wait+ Condition with Timer
A. Wait I Condition with Timer

Outline of [Wait I condition with timer] function
I-signal (I1~I118) is ON.
If the signal is not input before a specified time elapses the program jumps to a
specified step in the program.
Parameters of [Wait I condition with timer] function

Function : [Wait I condition with timer]
Parameter Contents
Function No. I52
st
1 parameter I signal = Designates the I signal to be the
wait condition
nd
2 parameter Timer (sec)= Designates the Wait time
period. (s)
rd
3 parameter Shelter step = Designates the step to jump to
after the specified time period
passes.

3-6
3+ Functions
3.6 Wait +B AND condition with timer
A. Wait IB AND condition with timer

Outline of [Wait IB AND condition with timer] function
Executing this function puts the robot in a wait status until the designated bits in
the set port are all ON.
If the signal(s) is not input before a specified time elapses the program jumps to
a specified step in the program.
Setting of ports
The I signals are set to each port as following.
Example of [Wait IB AND condition with timer] function

Suppose the desired AND condition in Port 2 = 00001001. For this example
the condition is satisfied(ON) if I9 and I12 are both ON. As shown by below.
I signals indicated by have no affect on the condition. They can be either

ON/OFF.

3+ Functions
Error! Reference source not found. Wait +B AND condition with timer
Parameters of [Wait IB AND condition with timer] function

Function : [Wait IB AND condition with timer]
Parameter Contents
Function No. I53
st
1 parameter IB signal = Designates the Port No.
nd
2 parameter AND condition = Designates the I signals to be
the conditions in the set port.
1 designates a condition bit .
0 designates an unrelated bit.
[00001001] is displayed.
rd
period. (s)
th
passes.

3-8
3+ Functions
Error! Reference source not found. Wait+B OR condition with timer
A. Wait IB OR condition with timer

Outline of [Wait IB OR condition with timer] function
Executing this function puts the robot in a wait status until at least one of the
designated bits in the set port is ON.
Setting of ports
Example of [Wait IB OR condition with timer] function

Suppose the desired OR condition in Port 2 = 00001001. For this example the
condition is satisfied(ON) if I9 or I1 is ON(or both are on). As shown by
below.
I signals indicated by have no affect on the condition. They can be either

ON/OFF.

3+ Functions
Error! Reference source not found. Wait+B OR condition with timer
Parameters of [Wait IB OR condition with timer] function

Function : [Wait IB OR condition with timer]
Parameter Contents
Function No. I54
st
1 parameter IB signal = Designates the Port No.
2nd parameter OR condition = Designates the I signals to be
the conditions in the set port.
1 designates a condition bit .
0 designates an unrelated bit.
3rd parameter Timer (sec)= Designates the Wait time
period. (s)
4th parameter Shelter step = Designates the step to jump to
passes.

3-10
3+ Functions
Error! Reference source not found. Wait+B condition with timer
A. Wait IB condition with timer

Outline of [Wait IB condition with timer] function
Executing this function puts the robot in a wait status until the I signal pattern
for the designated port matches the designated pattern.
If the signals are not input before a specified time elapses the program jumps to
Setting of ports
Example of [Wait IB condition with timer] function

Suppose the desired condition in Port 2 = 00001001. For this example the
condition is satisfied(ON) if I9 and I12 are On, and I10, I11, I13, I14, I15, and
I16 are all OFF

3+ Functions
Error! Reference source not found. Wait+B condition with timer
Parameters of [Wait IB condition with timer ]function

Function : [Wait IB condition with timer]
Parameter Contents
Function No. I55
st
1 parameter IB signal = Designates Port No.
2nd parameter Condition = Designates the I signal pattern
to be the condition in the set
port.
rd
period. (s)
th
passes.

3-12
3+ Functions
Error! Reference source not found.
A.
These functions are considered as options or are not used.
Refer to the Option manual.

3+ Functions
9CKV+$%&#0&EQPFKVKQPYKVJVKOGT
A. Wait IBCD AND condition with timer

Outline of [Wait IBCD AND condition with timer] function
Executing this function puts the robot in a wait status until the appointed I-
signals for the designated port are being input.
If the signals are not input before a specified time elapses the program jumps to
Setting of ports
Example of [Wait IBCD AND condition with timer] function

Suppose the desired AND condition in Port 2 = 10100011(binary for 63). For
this example the condition is satisfied(ON) if I9, I10, I14 and I16 are On.
Signals indicated by [ X ] can either be ON or OFF, as they have no influence.
3-14
3+ Functions
9CKV+$%&#0&EQPFKVKQPYKVJVKOGT
Parameters of [Wait IBCD AND condition with timer]function

Function : [Wait IBCD AND condition with timer]
Parameter Contents
Function No. I58
st
1 parameter IBCD signal = Designates the Port No.
2nd parameter AND condition = Designates the I signals(bits) to
be the condition in the set port.
0 - 99 can be designated.
rd
period. (s)
passes.


3+ Functions
9CKV+$%&14EQPFKVKQPYKVJVKOGT
A. Wait IBCD OR condition with timer

Outline of [Wait IBCD OR condition with timer] function
Executing this function puts the robot in a wait status until the one of the
appointed I-signals for the designated port is being input.
Setting of ports
Example of [Wait IBCD OR condition with timer] function

Suppose the desired OR condition in Port 2 = 10100011(binary for 63). For
this example the condition is satisfied(ON) if either I9, I10, I14 and/or I16 is
On.
Signals indicated by [ X ] can either be ON or OFF, as they have no influence.
3-16
3+ Functions
9CKV+$%&14EQPFKVKQPYKVJVKOGT
Parameters of [Wait IBCD OR condition with timer]function

Function : [Wait IBCD OR condition with timer]
Parameter Contents
Function No. I59
st
2nd parameter OR condition = Designates the I signals(bits) to
be the condition in the set port.
rd
period. (s)
passes.


3+ Functions
9CKV+$%&EQPFKVKQPYKVJVKOGT
A. Wait IBCD condition with timer

Outline of [Wait IBCD condition with timer] function
I-signal(bit) pattern, in the appointed port, matches the pattern being input.
If the correct signal pattern is not input before a specified time elapses the
program jumps to a specified step in the program.
Setting of ports
Example of [Wait IBCD condition with timer] function

Suppose the desired the condition in Port 2 = 10100011(binary for 63). For
this example the condition is satisfied(ON) if I9, I10, I14 and I16 are On, and
I10, I11, I13, and I15are all OFF.
3-18
3+ Functions
Parameters of [Wait IBCD condition with timer]function

Function : [Wait IBCD condition with timer]
Parameter Contents
Function No. I60
st
2nd parameter I condition = Designates the I signals(bits)
pattern to be the condition in the
set port.
rd
period. (s)
th
passes.


3+ Functions

I signal wait 3-2 Wait I condition 3-3
Wait I condition with timer 3-6

Wait IB AND condition with timer 3-7
Multi input signals 3-3 Wait IB condition with timer 3-11
Wait IB OR condition with timer 3-9

Wait IBCD AND condition with timer 3-14
Port 3-7, 3-9, 3-11, 3-14, 3-16, 3-18 Wait IBCD condition with timer 3-18
Wait IBCD OR condition with timer 3-16

Wait not I cond 3-4
Shelter step 3-6, 3-8, 3-10, 3-12, 3-15, 3-17, 3-19
3-20
3+ Functions
6KOGT(WPEVKQP
This chapter explains the use of the T (Timer) function.
Contents
6KOGT 4-2

1
.1 Timer
.1 6KOGT
Outline of [Timer] function
This function puts the robot in a wait status for a designated time.
Parameter of [Timer] function

For details on each parameter refer to the following table..
Function: [Timer]
Parameter Contents
Function No. T
1st parameter Delay time = Designates the wait time.
0.1~60 sec. can be set.
0s can be set for system software versions R20.70 and after. When 0s is
designated the robot passes through a point position more accurately than
normal accuracy. Refer to section 8.8 (9) Accuracy in this manual.
2
4 Timer Function

3
5. R Code
This chapter explains the use of the main R codes used.
Contents
5.1 Reset step counter5-3

5.2 Function delete 5-4
5.3 Function added 5-5
5.4 Function modified5-6
5.5 Function individual edit5-7
5.6 External start selection 5-8
5.7 External program selection5-9
5.8 5-10
5.9 Work time display5-11
5.10 5-13
5.11 FIFO selection5-14
5.12 5-15
5.13 Name of file in the memory 5-16
5.14 Frequency condition register display5-17
5.15 Name of file in floppy 5-18
5.16 5-19
5.17 Selection of tool No.5-20
5.18 5-21
5.19 Variable speed setting 5-22
5.20 5-23
5.21 Recorded speed definition 5-24
5.22 5-25
5.23 First data display 5-26
5.24 Name of file in the IC card 5-27
5.25 5-28
5.26 Program copy5-29
5.27 Program number change 5-30
5.28 Program delete5-31
5.29 5-32
5.30 Machine lock 5-33
5.31 5-34
5.32 Modify accuracy in step data 5-35
5.33 Modify MX in step data5-36
5.34 Modify GUN in step data 5-37
5.35 5-38
5.36 Manual output of weld condition 5-39
5.37 5-40
5.38 Monitor mode selection 5-41
5.39 5-42
1
5.40 Memory protect setting 5-43
5.41 5-44
5.42 Software version display 5-45
5.43 5-46
5.44 Manual output of M byte signal 5-47
5.45 5-49
5.46 Spot-gun selection 5-49
5.47 Abnormal signal reset 5-49
5.48 5-49
5.49 Spot condition file edit screen 5-50
5.50 5-50
5.51 Remote function 5-51
2
5.1 Reset step counter
5.1 Reset step counter

Outline of [R0] code
The Step counter is reset using [R] [0] [SET] or [R] [SET].
The following is executed when using [R0].
Error reset
Screen cleared
Warning signal OFF
WI wait released
Operation
z Select [TEACH] or [1 step playback] mode.
z Key in
or
.

Location of
buttons
This function does not work when the robot is in auto-operation.

This function can be canceled with
or
.

When step 0 is called and playback started, the robot goes directly to step 1
&CPIGT
from a present position. Due to this collisions may occur. Start playback only
after confirming that no obstructions exist for the robot and no people are within
the safety fence area.
3
5 R Code
5.2 Function delete
5.2 Function delete

DISPLAY
When is pressed numerous times, functions recorded in a designated step are
displayed in order. The last function displayed (the function that appears
after last pressing ) can be deleted by using [R1].
Display
Operation z Select [Teach] mode or [1 step playback] mode.

z Call up the step in which the function to be deleted is recorded by
using .

z Press Display until the function to be deleted is displayed last.
z Input .
z Then operate keys following the guide messages.
Location of
buttons
In the [Screen edit mode] it is possible to modify, add and delete entries where
the cursor indicates. However, please note that R1 has nothing to do with the
cursor location.
or
.

4
5 R Code
5.3 Function added
5.3 Function added

When DISPLAY is pressed numerous times, functions recorded in a designated step are
displayed in order. A function can be added before the last function displayed (the
function that appears after last pressing ) by using [R2].
&+52.#;
z Select [Teach] mode or [1 step playback] mode.

Operation
z Call up the step in which the added function is to be recorded by operating
[ .
z Press &+52.#; until the function before the one to be added is displayed. The
new function will be added before this function. The number of functions
previously existing after the added function are carried down, becoming one
function number higher than they were.
z Input .
z

Then operate keys following the guide messages.
Location of
buttons
cursor location.
It is possible to add a functions to steps where no functions exist by keying in the
function, not inputting the [R2 code].
or
.

5
5 R Code
5.4 Function modified
5.4 Function modified

When &+52.#; is pressed numerous times, functions recorded in a designated step
are displayed in order. A new function can replace the last function displayed
(the function that appears after last pressing &+52.#; ) by using [R3].
Operation z Select [TEACH] mode or [1 step playback] mode.
z Call up the step in which the function to be replaced is recorded by operating
No. in order.
z Press &+52.#; until the function to be replaced is displayed last.
z Input .
z Then operate keys following the guide messages.
Location of
buttons
cursor location.
or
.

6
5 R Code
5.5 Function individual edit
5.5 Function individual edit

When &+52.#; is pressed numerous times, functions recorded in a designated step
are displayed in order. Function parameters can be changed (also comment
functions) in the last function displayed(the function that appears after last
pressing )by&+52.#;
using [R4].
Operation z Select [Teach] mode or [1 step playback] mode.

z Call up the step in which the function to be modified is recorded by operating
[ in order.

z Press &+52.#; until the function to be modified is displayed.
z Input .
z

Then the pendant message asks for the parameters of function to be modified to
be input. Input the new data and press to change the parameters or press

without
changing the parameter data if modification is not required.
Location of
buttons
cursor location.
This function can be canceled with or
.
It is not possible to edit the comment functions (M99) in Screen edit mode. Use
R4 to edit the comments.
7
5 R Code
'ZVGTPCNUVCTVUGNGEVKQP
5.6 External start selection

[R5] selects either Ext. start signal and Ext. motors signal or START button and
MOTORS button of the operation panel.
<disable> [Ext. start] [Ext. motors] invalid
[START button] [MOTORS button] valid
<enable> [Ext. start] [Ext. motors] valid
[START button] [MOTORS button] invalid
The same thing can be done using [Condition setting] [2 External

start<disabled,enabled>].
This R code is not usable when robot is in auto operation.
Cancel the use of this R code with
or
.

The entry the cursor is positioned over(as a negative image) is the current
selection. Press
to set the current selection in the controller.
When the robot system is centralized(externally controlled), it is dangerous to

work within the safety fence as the program number may be suddenly changed.
&CPIGT

Select <disabled> in [Constant setting : Group 2] [89 External program select].
8
5 R Code
5.7 External program selection
5.7 External program selection

Select programs either by Ext. program select signal or by keys of Teach
pendant.
<disable> [Ext. program select signal] invalid
[Keys of Teach pendant] valid
<enable> [Ext. program select signal] valid
[Keys of Teach pendant] invalid
The same thing can be done using [Condition setting] [3 External Program
select<disabled,enabled>].
or
.

selection. Press
When the robot system is centralized(externally controlled), it is dangerous to

&CPIGT

work within the safety fence as the program number may be suddenly changed.
Select <disabled> in [Constant setting : Group 2] [89 External program select].
9
5 R Code
5.8
5.8
This R code refers to R code that is either not used or optional, therefore
explanation has been omitted. Refer to the Option documentation.
10
5 R Code
5.9 Work time display

This R code displays the [work time screen] as in [service] [4 Work time
display][1 Work time display] to view or set the various time parameters.
Work time screen
Latest run time 0: 0 : 38.32

Cycle time 0: 0 : 16.16 Cycle count
Gun1 time 0: 0 : 0.00 Gun count
Robot move time 0: 0 : 14.16
Welding time 0: 0 : 0.00
I-sig. wait time 0: 0 : 0.00
Timer wait time 0: 0 : 2.00
The same thing can be done using [service] [4 Work time display][1 Work time
display].
11
5 R Code
Contents of the [Work time display] screen.
Latest run time This is the time from the Start lamp ON to lamp OFF.
Total run time is given of a number of cycles played back
continuously.
The latest time data is recorded.
Work time is reset by pressing the START button or after
exceeding 24 hours.
Cycle time 1 cycle time from [Step 0 or Start lamp ON] to [END or
Stop signal received].
The latest data is recorded.
Work time is reset either by pressing the START button or
after exceeding 24 hours.
Cycle count No. of times Step 0 was passed from Start lamp ON to
lamp OFF, not including cycles the program was called.
Cycles stopped halfway are counted.
Work time is reset either by pressing the START button or
after exceeding 255 cycles.
Guns 1~4 time The total gun signal output time of Guns 1~4 during a
cycle.
Gun count The total No. of gun signals output during a cycle
recorded.
Robot move time The total robot move time during a cycle.
Welding time The total gun signal output time during a cycle.
I-sig. wait time The total I signal wait time during a cycle.
Timer wait time The total I timer wait time during a cycle.
12
5 R Code
5.10
5.10
13
5 R Code
5.11 FIFO selection
5.11 FIFO selection

[R15] selects disable /enable of FIFO function.
FIFO stands for First in First Out, that is, the order work-pieces go in is the same as
the order they come out. This concept is used for program selection.
It is convenient to use this concept when an interval between the program selection
device and the robot exists.
The following example shows work pieces that have gone in the order A,B" "C" "D"
"E" on a conveyer. Respective program numbers are input in the order "A" "B" "C" "D"
"E" into the FIFO register. The robot retrieves the programs in the order "A" "B" "C"
"D" "E".
Program selection unit

FIFO register
<disable, enable> can also be set using [Condition setting] [12 FIFO function
<disabled, enabled>].
Related to the FIFO function are the follows;
[Constant setting mode : Group 1] [29 FIFO function]
[Service] [3 Register] [1 FIFO]
[Condition setting] [12 FIFO function]
selection. Press
to set the current selection in the controller..
14
5 R Code
5.12
5.12
This R code is unused.
15
5 R Code
5.13 Name of file in the memory
5.13 Name of file in the memory

Program list recorded in the Controller is displayed.
Teach

Program EX
Step Speed 4.00 Interp.off Acc. Tool

Robot type
Data is displayed
Prog. No. in this area.

Files byte free
Prog. size
Service Condition
Prog. created date
Operation of [R17] code

z Select TEACH or PLAYBACK mode.
z Input .

Location of
buttons
The same thing can be done using [Service] [1 Directory].
16
5 R Code
5.14 Frequency condition register display
5.14 Frequency condition register display

Contents of the [Freq. condition register] used for [Prog. call (freq. condition)] are
displayed and can be set by using this R code.

z Input .

z Please follow the guide messages next.
Location of
buttons
The same thing can be done using [Service] [3 Register] [6 Frequency

conditional].
selection. Press
17
5 R Code
5.15 Name of file in floppy
5.15 Name of file in floppy

[R19] displays the program list recorded in a floppy.
Teach

Program EX

Robot type
Data is displayed


Files byte free
Prog. size
Service Condition
Prog. created date

z Input .

Location of
buttons

or
.

18
5 R Code
5.16
5.16
19
5 R Code
5.17 Selection of tool No.
5.17 Selection of tool No.

[R29] allows the selection of the tool No.

z Input

[tool No. 0~3]
.

Location of
buttons
selection. Press
20
5 R Code
5.18
5.18
21
5 R Code
5.19 Variable speed setting
5.19 Variable speed setting

This R code sets speed variables in playback. It is possible to set the speed recorded
in each step within the range of 1~150%.

z Input .

Location of
buttons
The same thing can be done using [Condition setting] [9 Playback speed
rate[100] Gun ON, Search step<disabled,enabled>].
Change comes into effect at the next step if this setting is performed during
robot auto operation.
or
.

selection. Press
22
5 R Code
5.20
5.20
23
5 R Code
5.21 Recorded speed definition
5.21 Recorded speed definition

This R code selects the speed recording method. Selection can be made from the
following methods.
0 = Normal Interpolation off Time designation
Linear interpolation on Speed designation
Circular interpolation Speed designation
1 = Time designation Time designation regardless of interpolation
on/off
2 = Speed designation Speed designation regardless of interpolation
on/off

z Input .

Location of
buttons

or
.

selection. Press
The same can be done using [Condition setting] [13 Speed record type]
24
5 R Code
5.22
5.22
25
5 R Code
5.23 First data display
5.23 First data display

Outline of [R 107] code
This displays the data in the first step of a program in the internal memory. It is used to
display any comments or functions recorded at the top of each program. If a comment
does not exist, step data such as speed, accuracy etc., are displayed.
Operation
z Input in the Teach mode or the Playback
mode.
M99 Comment Functions recorded in the first step of programs are shown on the
screen as illustrated below.
PNo. : First data

55 : Welding A
56 : Welding B
111 : Main Program
112 : Sub Program

Location of
buttons
Good program management (house keeping) can be performed simply by

naming programs using the M99(Comment function).
The same thing can be done using [Service function] [2 Program first data
display].
26
5 R Code
5.24 Name of file in the IC card
5.24 Name of file in the IC card

A list of programs recorded in IC card is displayed.
Teach

Program EX

Robot type
Data is displayed

Files byte free
Prog. size
Service Condition
Prog. created date

z Input
.

Location of
buttons

or
.

27
5 R Code
5.25
5.25
28
5 R Code
5.26 Program copy
5.26 Program copy

This copies a program in internal memory of the Controller to another program. If the
No. of the copy destination program exists, a message confirming replacement by
copying is displayed. Simply press [YES] or [NO]. This R code does not execute
during robot operation.
z
Operation
Input in the Teach mode or the Playback

mode.
z Input the program No. of a copy source and then press .

z Input the program No. of the copy destination and then press .

Location of
buttons
The same thing can be done using [Edit mode] [2 Copy].

or
.

29
5 R Code
5.27 Program number change
5.27 Program number change

Program numbers in the internal memory of the Controller can be changed.
But it is not possible to change program numbers if the new designated number is an
existing program number.

z Input
in Teach mode or Playback

mode.
z Enter an original program No. and press
.
z Enter a program No. in an changing destination and press
.
The following guide message is displayed.
Are you sure to execute? : Yes/No
Location of
z
buttons
Press
for change and
not to change the number.

or
.

30
5 R Code
5.28 Program delete
5.28 Program delete

Program numbers(programs) in internal memory of the Controller can be deleted.

z Input

mode.
z Enter the program No. To be deleted and press .
The following guide message
is displayed.
Are you sure to execute? : Yes/No
Location of
z
buttons
Press
for delete and
not to delete program.
The same thing can be done using [Edit mode] [3 Program delete].
or
.

31
5 R Code
5.29
5.29
32
5 R Code
5.30 Machine lock
5.30 Machine lock

With Machine lock set to <enabled> the robot does not move, although power is fed to
motors. The robot does not move when using manual operation, playback, or step
go/back with Machine lock applied. This function is used to confirm I/O signals without
the robot moving.

z Input


mode. Then the following guide message is displayed.
Enter machine lock <disabled = 0, enabled = 1>.
z Input 0 for disabled and 1 for enabled.

Location of
buttons

selection. Press
This setting is also possible using [Condition Setting] [4 Machine lock].
33
5 R Code
5.31
5.31
34
5 R Code
5.32 Modify accuracy in step data
5.32 Modify accuracy in step data

The accuracy of the currently selected step can be modified.

z Input

in
Teach mode or Playback
Enter accuracy (0~3).
Location of z Enter modification data.
buttons

selection. Press
The use of accuracy A0A7 is possible by selecting <8> in [Constant setting :
group 2] [ 121 Select of accuracy num.] for software versions following
R21.069.
35
5 R Code
5.33 Modify MX in step data
5.33 Modify MX in step data

MX of the currently selected step can be modified.

z Input


Enter MX signal (OFF = 0, ON = 1).
Location of z Enter modification data.
buttons

The entry the cursor is positioned over (as a negative image) is the current
selection. Press
36
5 R Code
5.34 Modify GUN in step data
5.34 Modify GUN in step data

GUN of the currently selected step can be modified.

z Input

Enter Gun No. (0~1).
Location of z Enter Gun No. Then the following guide message is displayed.
buttons
Enter OFF = 0, ON = 1. (0~1)
z Enter 0 or 1.

A value displayed at the cursor position at the time of entry is the presently set
value. With key pressed as it is, the present value becomes a set data.

This can not be used when utilizing the Spot welding functions. It is effective
when using <step> record method.
Record method for [Spot Welding Primary Step recording

manual] Basic Spot welding
Record method using the [Spot welding Function recording
function]
37
5 R Code
5.35
5.35
38
5 R Code
5.36 Manual output of weld condition
5.36 Manual output of weld condition

Spot welding conditions are manually(forcibly) output.

z Input in
Teach mode or Playback

Enter weld conditions.
Location of z Enter the weld conditions to be output.

buttons

selection. Press

or
.

This can not be used when utilizing the Spot welding functions. It is effective
when using <step> record method.
Record method for [Spot Welding Primary Step recording

manual] Basic Spot welding
Record method using the [Spot welding Function recording
function]
39
5 R Code
5.37
5.37
40
5 R Code
5.38 Monitor mode selection
5.38 Monitor mode selection

One of the various Monitor screens can be displayed by using this function.

z Input


mode. Then the following screen is displayed.
Monitor
0 Monitor off 27 +/O Name monitor
1 Axis data 1 28 Cycle time monitor
3 input signal 30 Weld schedule auto modify monitor
4 output signal 31 Built in PC monitor
5 +1-I24, M1-M28 36 input2 signal
6 +25-I48, M31-M58
Location of 7 +49-I72, M61-M88
buttons 8 +73-I96, M91-M108
9 +97-+120, M111-M148
15 Option +/O
18 V Register monitor
21 SPOT welding input/output monitor
22 SPOT welding output monitor
23 SPOT welding input monitor
24 Monitor out
Select with cursor keys or enter a number and press SET key.
z Select the monitor screen to be displayed.
The same thing can be done using [Service] [16 Monitor].

or
.

41
5 R Code
5.39
5.39
42
5 R Code
5.40 Memory protect setting
5.40 Memory protect setting

Memory protection can be set to protect programs from unwanted editing.

z Input


Enter Program No. to protect.
z Enter Program No. to display the following guide message.
Location of Protect release = 0, All = 1, Part = 2, Playback = 3

buttons
z Enter the Protect No. desired.
The same thing can be done using [Edit mode] [4 Protect].

Type of protect
There are 3 types of protection available ; [All protect], [Part protect] and
[Playback protect]. The following table indicates program protection types.
All protect Part protect Playback protect

Position data modification
Modification other than
position data
Deletion
[Playback] [Step go]
from Step 0
Protect mark 1 2 P
Possible Not possible

It is possible to execute [Playback] and [Step go/back] of the playback protected
programs if steps other than Step 1 are designated.
43
5 R Code
5.41
5.41
44
5 R Code
5.42 Software version display
5.42 Software version display

This R code displays the Software versions.

z Input


mode to display the following screen.
Teach
*Machine type1 SA130 -01 (ROBOT-axis=6,TOTAL-axis=6)

*System version R19.059 1997-05-30 13:46:41
*Op. panel version T01.023 1997-05-30 13:46:41
*T/P version T01.-26
Location of *+/O version M03.025 S04.023
*Servo master version
buttons 1:V03.00 3axes
2:V03.00 3axes
*Servo slave version
1:V02.03 2: V02.03 3: V02.03
4:V02.03 5: V02.03 6: V02.03
The same thing can be done using [Service] [11 System environment(version
etc.)].
45
5 R Code
5.43
5.43
46
5 R Code
5.44 Manual output of M byte signal

M signals can be manually output as byte data in the same manner as using the (M44:
M signal binary output) function.

The relation between [M signals] and ports is shown below.
ports
ports
ports
ports
ports
ports
ports
Option
ports
ports
ports
ports
ports
ports
ports
Option ports
Note the that Port = MB port = Group No.
Meaning of [binary]
expressed as (00000110) in binary), a signal is output from the output terminals
[M12] and [M13].
Weld cnd.
Binary

Related output
47
5 R Code
z Input


mode to display the following guide message.
Enter Manual M signal byte output: port No.
z Enter the desired port No.
Location of
Enter Manual M signal byte output: data (0~255).
buttons
z Enter the data.

selection. Press

or
.

48
5 R Code
5RQVIWPUGNGEVKQP
#DPQTOCNUKIPCNTGUGV
5.45
5.46 Spot-gun selection

This R code is used when utilizing the [Spot welding function].
Refer to [Spot Welding Advanced manual] [Chapter 3. Spot welding function].
5.47 Abnormal signal reset

Resets Abnormal signals, [Operator error].
Pressing the [Reset key] twice is a quick way to perform the same reset.
5.48
49
5 R Code
5RQVEQPFKVKQPHKNGGFKVUETGGP
5.49 Spot condition file edit screen

Used when utilizing the Spot welding function. This can be done directly on the
display screen by selecting <Process select> using [Service] [29 Spot welding data]
[1 Setting of weld schedules].
5.50
50
5 R Code
4GOQVGHWPEVKQP
5.51 Remote function

This R code enables or disables the remote function in order to change various
modes and conveyor mode through external I/O signal.
Modes : For changing Constant setting, Edit, Teach and Playback
Conveyor mode : For changing Playback, Simulation and Test

z Input

mode to display the following guide message.
Enter Remote function (disabled = 0, enabled = 1).
z Enter 0 or 1.
Location of
buttons
The same thing can be done using [Constant setting : Group 2] [56 Remote
function].
Please refer to [Constant setting : Group 2] [56 Remote function] in this Manual
for details.
Constant Edit Teach Playback

setting
Remote mode output 1
51
5 R Code

IC card 5-27
Abnormal signal reset 5-49
Accuracy modification 5-35
M byte signal(forced output) 5-47
Machine lock 5-33

Binary 5-47
Memory protect 5-43
Monitor mode 5-41

MX modification 5-36
Comment function 5-26
Copy 5-29
Cycle time 5-11
Program copy 5-29
Program delete 5-31
Program first data 5-26

Directory 5-27
Program renumbering 5-30
Directory 5-16, 5-18, 5-26

Register 5-17
External motors select 5-8
Remote function 5-51
External program selection 5-9
Reset set 5-3
External start select 5-8

Signal reset 5-49
FIFO 5-14
Software version display 5-45
File display 5-16, 5-18, 5-26, 5-27
Speed definition(recorded) 5-24
First data display 5-26
Speed variation 5-22
Floppy disk 5-18
Spot-gun selection 5-49
Forced output(M byte signal) 5-47
Step 0 data display 5-26
Forced output(weld condition) 5-39
Step counter reset 5-3
Frequency condition register 5-17
System environment 5-45
Function added 5-5
Function delete 5-4
Function individual edit 5-7
Tool selection 5-20
Function modified 5-6

Version display 5-45
GUN modification 5-37
52
5 R Code
4GOQVGHWPEVKQP
Welding condition 5-50

Welding condition file 5-50
Weld condition(forced output) 5-39
Work time display 5-11
Welding condition 5-50
Welding condition file 5-50
Weld condition(forced output) 5-39
Work time display 5-11
53
5 R Code
6. Service Menu
This chapter explains the use and contents of the service menu.
Contents
6.1 Directory 6-2

6.2 Program first data display 6-3
6.3 Register setting 6-4
6.4 Register - FIFO 6-5
6.5 Freq. condition register 6-7
6.6 Work time display 6-8
6.7 6-11
6.8 Stop logging 6-12
6.9 Error logging 6-15
6.10 History of operation 6-19
6.11 Hot edit 6-21
6.12 0 Printer 6-28
6.13 1 System environment (version etc.) 6-33
6.14 Setting of date 6-34
6.15 Modify record condition 6-35
6.16 Modify record position 6-36
6.17 Modify record speed 6-37
6.18 Monitor 6-38
6.19 Slip counter 6-39
6.20 Failure observation 6-40
6.21 6-41
6.22 User coordinate set 6-42
6.23 Spot Welding Data 6-45
6.24 6-45
6.25 Multi input signal condition 6-46
6.26 Auto tool load center setting 6-48
The number indicated between ( ) refers to the relative screen No.
6-1
6.1 Directory
6.1 Directory
Outline of [Directory] service
Selecting [directory] displays the list of program files recorded in the Controller.
TEACH

Program EX
Step Speed4.00 Interp.off Acc. Tool

Robot type
Data is displayed

byte free
Prog. size Files
Service Condition
Prog. created date
Operation of [Directory] service

z Select Teach or Playback mode.
z Select [Service] menu with

.
z Select [1 Directory].
The same facility can be utilized using [R17: Name of file in the memory].
A maximum of 120 files can be displayed.
Use [Edit mode] [1 Directory] when the No. of files exceeds 120.

6 Service Menu
6.2 Program first data display
6.2 Program first data display

Outline of [Program first data display] service
This service displays step 0 of the operation programs. Step 0 will appear in the
upper right section of the screen. If M99 comment functions are used in step 0 the
program comments are also shown.
Operation of [Program first data display] service

z Select [Service] with

.
z Select [2 Program first data display] to display the following screen.
Example
PNo. : First data

55 : Welding A
56 : Welding B
111 : Main Program
112 : Sub Program
The same facility can be utilized using [R107 First data display].
Good program management (house keeping) can be performed simply by
naming programs using the M99(Comment function).
This can be done using [Edit mode] [1 Directory ]
6-3
6 Service Menu
6.3 Register setting
6.3 Register setting

Outline of [Register setting] service
To display and reset various register data.
Example; The Step Jump with frequency (Register) can be displayed or changed.
Operation of [Register setting] service


.
z Select [3 Register setting] to display the following screen.
** Register **
1 FIFO
2 XYZ shift register
3 On-line XYZ shift register
4 On-line XYZ shift register group
5 Palletize register
6 Freq. condition register
7 Conveyor
8 Internal IO
9 Integer variable
10 Real number variable
11 Letter string variable
Select the desired service with and

.
Please refer to (6.4) and (6.5) for [1 FIFO] and [6 Freq. condition register].
Refer to the Options Manual for other registers not described here.

6 Service Menu
6.4 Register - FIFO
6.4 Register - FIFO

Outline of [Register- FIFO] service
By using this service, contents of the FIFO register can be checked and modified.
[FIFO] stands for [First In First Out], that is, the order work-pieces go in is the same
as the order they come out. This service applies to the program currently selected.
It is convenient to use this concept in case an interval between the program
selection device and the robot exists.
The following example shows work pieces that have gone in the order A,B" "C"
"D" "E" on a conveyer. Respective program numbers are input in the order "A" "B"
"C" "D" "E" into the FIFO register. The robot retrieves the programs in the order "A"
"B" "C" "D" "E".

FIFO register
Related to the FIFO service are the following :

[Constant setting mode ; Group1] [29 FIFO function]
[R15]
6-5
6 Service Menu
6.4 Register - FIFO
Operation of [(Register) FIFO] service

.
z Select [3 Register setting].
z Select [1 FIFO] to display the following screen.
1 FIFO
FIFO Register
1[001] 2[010] 3[031] 4[025] 5[010]
6[001] 7[055] 8[037]
Modification
z Move the cursor to the register requiring alteration with .
z Set the program No. with the numeric keys and

.
Insertion
z Move the cursor to the point of insertion with .
z Select [Insert] with
.
z Set the program No. with the numeric keys and press
. A new program
No. is inserted where the cursor was positioned.
Deletion
z Move the cursor to the point of deletion with .
z Select [Delete] with
and the program No. where the cursor was
positioned is deleted.
All data delete

z Select [All data delete] with
to delete all data in the FIFO register.
End
z Select [Complete] with
after finishing the above editing to save
changes.

6 Service Menu
6.5 Freq. condition register
6.5 Freq. condition register

Outline of [(Register) Freq. condition register] service
Using this service, the contents of the Freq. condition register used for Program call
(freq. condition) can be displayed and altered.
Operation of [Freq. condition register] service

.
z Select [3 Register setting].
z Select [6 Freq. condition register] to display the following screen.
Register
Frequency counters
1 [ 001]
2 [010]
3 [031]
4 [025]
5 [010]
6 [001]
7 [055]
8 [037]
Enter numeric data and press SET key.

==>[0 - 127]
Complete
z Move the cursor to the register requiring changes with .
z Set the numerical value with numeric keys and press

.
z Select [Complete] with

after finishing setting.
The same facility can be utilized using [ R18 ].
6-7
6 Service Menu

Outline of [Work time] service
With this service work time can be checked and the counter reset.
1. Work time screen
Latest run time 0: 0 : 38.32

Cycle time 0: 0 : 16.16 Cycle count
Robot move time 0: 0 : 14.16 87.6%
Welding time 0: 0 : 0.00 00.0%
I-sig. wait time 0: 0 : 0.00 00.0%
Timer wait time 0: 0 : 2.00 12.4%
Latest run time This is the time from the Start lamp ON to lamp OFF.
Total run time is given of a number of cycles played back
continuously.
The latest time data is recorded.
Work time is reset by pressing the START button or after
exceeding 24 hours.
Cycle time 1 cycle time from [Step 0 or Start lamp ON] to [END or
Stop signal received].
Work time is reset either by pressing the START button
or after exceeding 24 hours.
Cycle count No. of times Step 0 was passed from Start lamp ON to
lamp OFF, not including cycles the program was called.
Work time is reset either by pressing the START button
or after exceeding 255 cycles.
Guns 1~4 time The total gun signal output time of Guns 1~4 during a
cycle.
Gun count The total No. of gun signals output during a cycle
recorded.
Robot move time The total robot move time during a cycle.
Welding time The total gun signal output time during a cycle.
I-sig. wait time The total I signal wait time during a cycle.
Timer wait time The total I timer wait time during a cycle.

6 Service Menu
2. Total work time screen
Total work time 0: 0 : 38.32

Total Cycle count 2
Gun1 time 0: 0: 0.00 Gun count
Robot move time 0: 0: 0.00 87.6%
Welding time 0: 0: 0.00 00.0%
I-sig. wait time 0: 0: 0.00 00.0%
Timer wait time 0: 0: 2.00 12.4%
Total work time The total time the Start lamp has been ON since memory
was last initialized, or data cleared, to the present time.
Total cycle count No. of times Step 0 was passed for the Total work time,
not including cycles the program was called.
Guns 1~4 time The total gun signal output time of Guns 1~4 for the Total
work time.
Gun count The total No. of gun signals output for the Total work
time.
Robot move time The total robot move time for the Total work time.
Welding time The total gun signal output time for the Total work time.
I-sig. wait time The total I signal wait time for the Total work time.
Timer wait time The total I timer wait time for the Total work time.
6-9
6 Service Menu
Operation of [Work time] service

.
z Select [4 Work time] to display the following screen.
Service
1 Work time display

2 Total work time display
3 (clear all)
4 (clear work time)
5 (clear cycle)
6 (clear gun data)
Selecting 1 Work time displays the [Work time screen].

Selecting 2 Total work time displays [Total work time screen].
Selecting 3 (All data clear) resets all data in the total work time screen.
Selecting 4 (Work time clear) resets Total work time, Robot operating time,
Weld time, I signal wait time and Timer wait time in the Total work time screen.
Selecting 5 (Cycle clear) resets Total cycle count in the Total work time
screen.
Selecting 6 (Gun data clear) resets Guns 1~4 time and Gun count.

6 Service Menu
6.7
6.7
This service No is not used.
6-11
6 Service Menu
6.8 Stop logging
6.8 Stop logging

Outline of [Stop logging] service
This service displays the data(stop source, program No. and time) related to the last
10 stops.
[Stop logging] is useful when the reason the robot stopped during operation is not
clear.
Operation of [Stop logging] service

z Select [Service] [6 Stop logging] to display the following screen.
Stop Logging
1 F-01 06 20:27
2 F-03 06 19:31
3 F-20 06 15:42
4 F-02 06 13:22
5 F-01 06 11:15
6 F-20 06 10:18
7 F-30 06 10:15
8 F-30 06 09:36
9 F-10 06 09:35
10 F-20 06 08:51
Description of display

Time
Date

Logging No.
Stop signal
-0: Stop signal was not input.
-1: Stop button of Controller was pressed.
-2: Ext. stop signal was input.
-3: Function stop command
(M41, M42: robot stop) was executed.
Emergency stop, Motors off
-0: Motors off signal was not input.
-1: MOTORS OFF button of Controller was pressed.
-2: Ext. motors off signal was input.
-3: Emergency stop signal was input. Or Emergency
stop button of robot was pressed.

6 Service Menu
6.8 Stop logging
z Move the cursor to the stop entry requiring further investigation to view details
of input/output signal conditions.
z Press
to display the status of the input signals at the time of the stop.
Stop logging
STOP-SW. was pressed.

1997-05-21 11:52:42
Program No.010 Step No.001
manual/auto Deadman switch Overtravel Arm interference
Overload circuit Motor thermostat Memory protect External motors-ON
MSHP ON end Remote mode Emergency stop Encoder battery
Motors-ON Motors-OFF Start Stop
Overvoltage error1 Servo over heat 1 overvoltage error2 Power error
WI Temperature error ----- Servo over heat 2
External start External stop External motors-OFF Safety plug
i97 i98 i99 i100 i101 i102 i103 i104 i105 i106 i107 i108 I109
I110 I111 I112 i113 i114 I115 i116 i117 i118 I119 I120
Select PF key.
I signal M signal Input Output
z Select [Input signal] with

to display the condition of the input signals at
the time of the stop.
Stop logging

1997-05-21 11:52:42
+01 +02 +03 +04 +05 +06 +7 +08 +09 +10
+11 +12 +13 +14 +15 +16 + +18 +19 +20
+21 +22 +23 +24 +25 +26 + +28 +29 +30
+31 +32 +33 +34 +35 +36 +37 +38 +39 +40
+41 +42 +43 +44 +45 +46 +47 +48 +49 +50
+51 +52 +53 +54 +55 +56 +57 +58 +59 +60
+61 +62 +63 +64 +65 +66 +67 +68 +69 +70
+71 +72 +73 +74 +75 +76 +77 +78 +79 +80
+81 +82 +83 +84 +85 +86 +87 +88 +89 +90
+91 +92 +93 +94 +95 +96
Select PF key.
6-13
6 Service Menu
6.8 Stop logging
z Select [Output signal] with

to display condition of the output signals
at the time of the stop.
Stop logging

1997-05-21 11:52:42
Motors-ON Ext. Motors-ON sel. Brake control Weld interlock
Motors-ON display Motors-OFF display Start display Stop display
Total error display Playbk mode Cons mode CPU error display
BCON1 BCON2 BCON3 BCON4
----- ----- ----- -----
----- ----- ----- HOLD
m111 m112 m113 m114 m115 m116 m117 m118
m121 m122 m123 m124 m125 m126 m127 m128
m131 m132 m133 m134 m135 m136 m137 m138
m141 m142 m143 m144 m145 M146 M147 M148
Select PF key.
+ signal M signal Input Output
Stop logging is cleared when the mains power is turned OFF.

Maximum number of Stop logging entries is 10. New data replaces the Old
data every time a stop is made.
When the robot stops due to an Error, an entry is not recorded in Stop
logging.

6 Service Menu
6.9 Error logging
6.9 Error logging

Outline of [Error logging] service
When this service is activated data related to Errors(Error code, time of error, I/O
status, etc.) at the time an error occurred is recorded into a file. This service is
useful for investigating the cause of trouble to solve problems and help bring the
robot back on line quickly.
Setup
z Create an Error logging file in advance using [Constant setting mode
;Group1] [19 Error logging] so that the following screen can be displayed.
Operation of [Error logging] service

z Select [Service] [7 Error logging] to display the following screen.
Error logging
Description of displayed contents

Error No. Error date Error time
6-15
6 Service Menu
6.9 Error logging
z Move the cursor to the Error entry requiring further investigation to view details
of input/output signal conditions.
z Press
to display the status of the input signals at the time of the Error.
Error logging
E0082 Media is not ready.

1997-05-21 11:35:13
Please enter port number(1 -- 32)

==>
+ signal M signal Input Output Axis data
z Select [I signal] with

to display the condition of the input signals at the
time of the error.
Error logging
1997-05-21 11:35:13
+09 +10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20
+21 +22 +23 +24 +25 +26 +27 +28 +29 +30 +31 +32
+33 +34 +35 +36 +37 +38 +39 +40 +41 +42 +43 +44
+45 +46 +47 +48 +49 +50 +51 +52 +53 +54 +55 +56
+57 +58 +59 +60 +61 +62 +63 +64 +65 +66 +67 +68
+69 +70 +71 +72 +73 +74 +75 +76 +77 +78 +79 +80
+81 +82 +83 +84 +85 +86 +87 +88 +89 +90 +91 +92
+93 +94 +95 +96 i97 i98 i99 i100 i101 i102 i103 i104
Select PF key
+signal M signal Input Output Axis data

6 Service Menu
6.9 Error logging
z Select [Axis data] with

to display the condition of the axes at the time
of the error.
Error logging

1997-05-21 11:35:13
S = 043567
H = 056785
V = 034567
R2 = 045637
B = 032120
R1 = 043435
Select PF key
z Select [Input signal] with

to display the condition of input signals at the
time of the error.
Error logging

1997-05-21 11:35:13
manual/auto Deadman switch Overtravel Arm interference
Overload circuit Motor thermostat Memory protect External motors-ON
MSHP ON end Remote mode Emergency stop Encoder battery
Motors-ON Motors-OFF Start Stop
Overvoltage error1 Servo over heat 1 overvoltage error2 Power error
WI Temperature error ----- Servo over heat 2
External start External stop External motors-OFF Safety plug
i97 i98 i99 i100 i101 i102 i103 i104 i105 i106 i107 i108
+109 +110 +111 +112 i113 i114 +115 i116 i117 i118 +119 +120
Select PF key
6-17
6 Service Menu
6.9 Error logging
z Select [Output signal] with

to display the condition of output signals at
the time of the error.
Error logging

1997-05-21 11:35:13
Motors-ON Ext. Motors-ON sel. Brake control Weld interlock
Motors-ON display Motors-OFF display Start display Stop display
Total error display Playbk mode Cons mode CPU error display
BCON1 BCON2 BCON3 BCON4
----- ----- ----- -----
----- ----- ----- HOLD
m111 m112 m113 m114 m115 m116 m117 m118
m121 m122 m123 m124 m125 m126 m127 m128
m131 m132 m133 m134 m135 m136 m137 m138
m141 m142 m143 m144 m145 M146 M147 M148
Select PF key
I signal M signal Input Output Axis data
This service records Errors in a file which is not deleted when the mains
power is turned OFF.
If an Error logging file exists in both an IC card and in the Inner memory(due
to copying), use the Error logging file in the inner memory.
Create the file again if you want to renew the Error logging file.

6 Service Menu
6.10 History of operation

Outline of [History of operation] service
When activated this service displays the last 100 operations.
(ie. Use of key, button, switch, or error)
It is useful when some trouble occurs, as knowing the operating steps leading up to
a troublesome event can give clues as to what happened and how to prevent the
problem reoccurring.
Setup
z Create History of operation in advance using [Constant setting mode : Group1]
[20 History of operation].
Operation of [History of operation] service

z Select [Service] [8 History of operation] to display the following screen.
History of operation
1 SET KEY 16
2 PF1 KEY 17
3 TEACH KEY
4
Key/button/switch operation and error No. are displayed in order of latest to oldest.
30 pieces of [History of operation] are displayed on the screen. If you want see
older entries select [Next page] with
.
6-19
6 Service Menu
Description of contents displayed

Indication Contents Example
** key Shows key operation on Teach [ key]
pendant or operation panel [PF1] key
** button Shows Push button, key SW, safety Motors ON button
** switch plug operation on the operation panel
E*** Shows the error No. that occurred. E0104
A warning message W1013 History of operation file is not available is

displayed if the IC card is pulled out after setting the [History of operation] to
IC card.
Recording data destination then changes to temporary memory.

6 Service Menu
6.11*QVGFKV
6.11 Hot edit

Outline of [Hot edit] service
This service allows the modification of a program even while it is running in
Playback. Step point position, speed, accuracy, Tool No. gun signal, MX signal
can be changed. Functions can also be deleted, added, replaced, inserted or
modified using this facility.
Danger
Ensure no people are near the robot during Hot editing in playback or starting playback
immediately after Hot edit has been done. Data incorrectly input in Hot edit may cause
unexpected robot motion which may lead to serious injury.
Operation of [Hot edit] service

1. Modifying position
z Select [Service] [9 Hot edit] to display the following screen.
** Hot edit ** ROBOT1

1 Position
2 Condition and function
3 Position & Tool-angle
z Select [1. Position ] to display the following screen.

Program No. [2]
Start step No. [15]
end step No. [30]
Coordinate No. [0]
Shift value X = [ 10.00]
Y=[ 0.00]
Z = [ 10.00]
Shift angle X = [ 5.00]
Y=[ 0.00]
Z=[ 0.00]

=>[-180.0-180.0] Execute
z Designate the desired Program No., Step No., coordinate No. and shift data.
z Select[Execute] using PF after entering the desired data. The following
is displayed at the bottom of the display screen.
Completed
Hit any key
6-21
6 Service Menu
6.11*QVGFKV
Coordinate No. set to [ 0]

Shift in point position(in mm) is made in the robot coordinate system. Arrows
in the figure below indicate the positive direction.
Angular shift of the tool is made in terms of X, Y, Z (in degrees).
The center of the robot coordinate system is at the intersection of the S and V
axes.

Robot
coordinate

Coordinate No. set to [ 0]
Shift in point position(in mm) is made in the user coordinate system. Arrows in
the figure below indicate the positive direction.
User coordinates are defined in [Service][28 User coordinate register].
Z axis
direction direction
X axis

S2
Y axis

direction
S1
S1 : Defines Origin of User coordinate system.
S2 : Defines X-axis direction of User coordinate system.
S3 : Defines XY plane of User coordinate system.

6 Service Menu
6.11*QVGFKV
2. Modifying point attributes


1 Position
z Select [2. Condition and function ] to display the following screen.
Modify condition:P002 S001 ROBOT1

Accuracy [0]
Tool [ 0]
Gun 1 <OFF, ON >
MX <OFF, ON >
Time (sec) [1.00]

==>[0 - 7]
Complete
z Designate the desired Program No. and Step No. and the attributes of the step
are displayed as in the example screen above.
z Move the cursor to an attribute and enter numeric data.
Or use or + ENABLE to select OFF or ON.
z Select[Complete] using PF after entering the desired data. The data
changes are made to the program step after [complete] is used.
If Hot edit is performed on a program which is running the following message

will result. Answer accordingly.
Now playback going. Will you modify? : Yes / No
When Hot edit is performed on a step currently being executed the modification
takes effect the next time it is played back.
Use function M57(Refer to Section 2. M codes) if modification is not desired
during the playback of a certain step.
6-23
6 Service Menu
6.11*QVGFKV
3. Adding functions
Functions are added to the end of a group of functions in a step.

1 Position

Accuracy [0]
Tool [ 0]
Gun 1 <OFF, ON >
MX <OFF, ON >
Time (sec) [1.00]

==>[0 - 7]
Complete
z Press M or or T to being function addition.
z
+
Input the function parameters following the guide messages on the screen.
z Select[Complete] using PF after entering the desired data. The data
changes are made to the program step after [complete] is used.


6 Service Menu
6.11*QVGFKV
4. Modifying function parameters


1 Position

Accuracy [0]
Tool [ 0]
Gun 1 <OFF, ON >
MX <OFF, ON >
Time (sec) [1.00]

==>[0 - 7]
Complete
z Press Display repeatedly until the desired function is displayed .
z Move the cursor to the parameter requiring alteration and change the value.
Function Number
Modify condition:P002 S001 F2 ROBOT1

M82 Program call (freq. condition)
Call program No. [5] (5)

Register No. [4] (3)
Frequency. [2] (2)
Parameter settings written to the Original parameter settings

program when complete is selected.
z Select[Complete] using PF after entering the desired data. The

parameter changes are made to the program step after [Complete] is used.

6-25
6 Service Menu
6.11*QVGFKV
4. Inserting, Deleting and Replacing functions


1 Position

Accuracy [0]
Tool [ 0]
Gun 1 <OFF, ON >
MX <OFF, ON >
Time (sec) [1.00]

==>[0 - 7]
Complete
z Press Display repeatedly until the desired function is displayed .
Function Number
Modify condition:P002 S004 F2 ROBOT1

M82 Program call (freq. condition)
Call program No. [5] (5) Use PF to select either of

Register No. [4] (4) these Function editor facilities.
Frequency. [2] (2)
Delete Insert Replace Complete
z Select [Delete], [Insert], or [Replace] using PF and follow the guide

messages.
[Delete]
z Deletion of the currently displayed function is performed.
z After selecting [Delete] the following message will result. Answer accordingly.
Are you sure to delete? : Yes / No
z If deletion is desired press YES .

z Deletion of the function is made in the program after selecting [Complete] with
PF .

6 Service Menu
6.11*QVGFKV
[Insert]
z Insertion is made between the currently displayed function and the previous
function.
z After selecting [Insert], key in M , + or T .
z Input the required function parameters as prompted by the guide messages.
z Insertion of the function is made in the program after selecting [Complete] with
PF
[Replace]
z Replacement is made to the function currently being displayed.
z After selecting [Replace], key in M , + or T .
z Input the required function parameters as prompted by the guide messages.
z Replacment of the function is made in the program after selecting [Complete]
with
PF

Use function M57(Refer to Section 2. M codes) if modification is not desired
during the playback of a certain step.
6-27
6 Service Menu
6.12 2TKPVGT
6.12 10Printer
Outline of [Printer] service
This service allows the contents of a file to be printed out to either a printer or to
a floppy disk as a text file.
Either a printer interface(optional device), a floppy disk drive(optional device),
or a centronics interface(optional device) is required to use the Printer facility.
Operation of [Printer] service

1. Output to an RS232C compatible printer.
1-1 Preparation.
z Connect an RS232C compatible printer as shown in the diagram below.
AR controller
UM870 CNRS(2) Printer

CNRS(2)
CNRS01
B1
A2 RXD
TXD
2 TXD
A2 TXD
T
RXD 3 RXD
B1
B9 SG
SG
7 SG
B9
B10 FG
SG 1 FG
B10
CTS
CTS 4 RS232C straight cable (NACHI option)
A7
J8
RTS A10 5 (Short-circuited as default setting. )
Recommended printer:
Epson : VP-550, SP-500, RP80, RP-80II
. Epson manufactured Serial interface #8143 or #8148(optional) is
required for the use of the above printers.
. Set dip switches SW1 8 of the printer to OFF when using VP-550.
Recommended connection cable:
. RS232C straight cable(NACHI option) connected as shown in the
diagram above.

6 Service Menu
6.12 2TKPVGT
z Perform the following board jumper and constant settings.

. Jumper(short-circuit) J8 of the CPU board(UM870).
. Refer to [Constant setting : Group1][13 Serial port] and make settings for Port
#1. Enter Baud rate, etc. according to the printers specifications and set
Flow control to <XON/XOFF> .
. Set [Condition][27 Serial port # 1 for] <printer>.
1-2 Operation.
z Select [Service][10 Printer] to display the following screen.
** Printer ** ROBOT1
Input device File ext.# File sort Output device
Internal memory Program [0] Printer

IC Card Position data Floppy1
Floppy1 Constant Floppy2
Floppy2 Failure observation Floppy3
Ext.PC file Floppy4
Arc file
Spot weld file
Spot counter file
Spot result file
Shift file
Select item with cursor keys or enter numeric data and press [Execute].
==>
Prev Page Next Page Terminate Execute
z Select the Input device(source file medium), File ext.# (File type), and
File sort [ file No.].
z Select Printer for the Output device(Destination file medium).
z Select [Execute] with PF to start file printing operation.
z Select [Terminate] with if printing is suspended.
PF
6-29
6 Service Menu
6.12 2TKPVGT
Do not change or delete programs or constant settings during printing,

otherwise printed information may become corrupted.
For and older Epson model, #8145, connect as shown in the diagram below.
AR controller
Printer
UM870
CNRS(2)
CNRS01
B1
A2
TXD
2 TXD
A2 TXD
T
RXD 3 RXD
B1
B9 SG
SG
7 SG
B9
B10 FG
SG 1 FG
B10
CTS 4
A7 11 REV
J8
5 RTS
RTS 20 DTR
A10
Short-circuited as default setting RS232C Epson straight cable

spec.
NACHI option

6 Service Menu
6.12 2TKPVGT
2. Output to a floppy disk.

Output to the floppy disk is in the form of a text file.
2-1 Preparation.
z Perform the following constant settings.
. Refer to [Constant setting : Group2][15 Floppy disk type]
<640K,1.2M,720K,1.44M> and select the correct floppy disk format type.
1-2 Operation.

Ext.PC file Floppy4
Arc file
Spot weld file
Spot counter file
Spot result file
Shift file
==>
z Select Floppy # for the Output device(Destination file medium).
z Select [Execute] with PF to start file writing operation.
[Terminate] is rendered inoperable during writing to floppy disk.

Approximately 30seconds is needed for writing a Constant file and 1.5min to
write a Position data file.
Floppy 1 Drive 1 of Controller Built-in FDD option or Portable FDD option

Floppy 2 Drive 2 of Controller Built-in FDD option or Portable FDD option
Floppy 3 Drive 1 of Portable FDD-S option
Floppy 4 Drive 2 of Portable FDD-S option
6-31
6 Service Menu
6.12 2TKPVGT
3. Output to a Centronics compatible printer.

2-1 Preparation.
z Confirm UM815(option), with software version 1.9 and after, is mounted in the
controller cabinet.
z Connect a printer as shown below.
AR controller Printer
UM815(option)
CNPT
Centronics cable
(option)
Recommended printer:
Epson : VP-550
. Remove any Serial interface connected to the printer.
. Connect printer using a NACHI centronics cable as shown above.
1-2 Operation.
Ext.PC file Floppy4
Arc file Centronics
Spot weld file
Spot counter file
Spot result file
Shift file
==>
z Select Centronics for the Output device(Destination file medium).
z Select [Execute] with PF to start file printing operation.
z Select [Terminate] with if printing is suspended.
PF
Do not change or delete programs or constant settings during printing,

otherwise printed information may become corrupted.
Centronics is not on the menu for UM815 software versions before V1.8.

6 Service Menu
6.13 5[UVGOGPXKTQPOGPV
XGTUKQPGVE
6.13 11 System environment (version etc.)

Outline of [System environment] service
Version, etc. of the system software is displayed.
The following are displayed :
1 Version No. and creation date of system software
2 Version No. of operation panel software
3 Version No. of teach pendant software
4 Version No. of I/O master software
5 Version No. of I/O slave software
6 Version No. of servo amp software
Operation of [System environment] service

* Select [Service] [11 System environment (version etc.)] to display the following
screen.
Teach
*Machine type1 SA130 -01 (ROBOT-axis=6,TOTAL-axis=6)

*System version R19.059 1997-05-30 13:46:41
*Op. panel version T01.023 1997-05-30 13:46:41
*T/P version T01.-26
*+/O version M03.025 S04.023
*Servo msater version
1:V03.00 3axes
2:V03.00 3axes
*Servo slave version
1:V02.03 2: V02.03 3: V02.03
4:V02.03 5: V02.03 6: V02.03
[R286] can be used to do the same.
6-33
6 Service Menu
6.14 5GVVKPIQHFCVG
6.14 Setting of date

Outline of [Setting of date] service
This service sets the date and time in the Controller.
Operation of [Setting of date] service

* Select [Service] [12 Setting of date] to display the following screen.
Setting of Date & Time
Date 1997-05-20
Time 16:06:54
* Move the cursor to the position requiring alteration with .

* Enter numeric data and press
.
* Select [Execute] with
after setting to save the change.

6 Service Menu
6.15 /QFKH[TGEQTFEQPFKVKQP
6.15 Modify record condition

Outline of [Modify record condition] service
This service modifies data in a number of steps of one program simultaneously. The
following can be modified :
1 Accuracy
2 Tool No.
3 Gun signal
4 MX signal
Operation of [Modify record condition] service

* Select [Service] [13 Modify record condition] to display the following screen.
Teach
Modify record condition

Program No. = [10]
Start step No. = [ 5]
End step No. = [15]
Accuracy < -- , 0 , 1 , 2 , 3 >
Tool < -- , 0 , 1 , 2 , 3 >
Gun1 < -- , 0 , 1 , 2 , 3 >
Gun2 < -- , 0 , 1 , 2 , 3 >
MX < -- , 0 , 1 , 2 , 3 >
-- not modify
* Move the cursor to the position requiring modification with .

* Enter numeric data.
after setting to save changes.
6-35
6 Service Menu
6.16 /QFKH[TGEQTFRQUKVKQP
6.16 Modify record position

Outline of [Modify record position] service
This service modifies position data in a number of steps of one program
simultaneously. The angle of each axis can be modified to within 20.
Operation of [Modify record position] service

* Select [Service] [14 Modify record position] to display the following screen.
Teach
Modify axis data

Program No. = [10]
End step No. = [15]
S (DEG) [ 10.5]
H (DEG) [ 0.0]
V (DEG) [ 15.1]
R2(DEG) [ 0.0]
B (DEG) [ 0.0]
R1(DEG) [ 3.0]
* Move the cursor to the position requiring modification with .

* Enter numeric data.
after setting.
Direction(With robot in Basic Position) Alterable angle

axis Anti-clockwise from top view is +ve
H axis(arm2) Clockwise from left side view is +ve
V axis(arm1) Clockwise from left side view is +ve
axis Anti-clockwise viewed down arm 1 from
the front of the robot is +ve
axis (Inline wrist) : Clockwise from left side
view is +ve
(Offset wrist) : Anti-clockwise from top
view is +ve
axis Anti-clockwise viewed from the front of the
robot (looking at the tool flange) is +ve .

6 Service Menu
6.17 /QFKH[TGEQTFURGGF
6.17 Modify record speed

Outline of [Modify record speed] service
This service modifies speed data in a number of steps of one program
simultaneously. The speed can be modified by 1~150%.
Operation of [Modify record speed] service

z Select [Service] [15 Modify record speed] to display the following screen.
Teach
Modify speed
Program No. = [10]
End step No. = [15]
Speed rate(%) = [100]
Modify GUN-ON step <OFF,ON>
Execute
z Move the cursor to the position requiring modification with .

z Enter numeric data.
z Select [Execute] with
after setting.
When using [Spot welding function], speed is modified regardless of the setting
of [Gun ON, Arc ON, Step modify execute <OFF, ON>]
6-37
6 Service Menu
6.18 /QPKVQT
6.18 Monitor
Outline of [Monitor] service
This service makes it possible to monitor information, such as encoder
values of each axis, I/O signal status, etc., constantly in the lower half of the
screen.
Operation of [Monitor] service

z Select [Service] [16 Monitor] to display the following screen.
Monitor
0 Monitor off 27 +/O Name monitor
1 Axis data 1 28 Cycle time monitor
3 input signal 30 Weld schedule auto modify monitor
4 output signal 31 Built in PC monitor
5 +1-+24, M1-M28 36 input2 signal
6 +25-+48, M31-M58
7 +49-+72, M61-M88
8 +73-+96, M91-M108
9 +97-+120, M111-M148
15 Option +/O
18 V Register monitor
21 SPOT welding input/output monitor
22 SPOT welding output monitor
23 SPOT welding input monitor
24 Monitor out
==>
z Move the cursor to the entry requiring investigation.

z Press
and the respective monitor screen is displayed.
Select [0 Monitor OFF] to cancel the monitor display the monitor display.
The Monitor is also canceled by turning the mains power off.
[R245] can also be used to utilize the Monitor.

6 Service Menu
6.19 5NKREQWPVGT
6.19 Slip counter

Outline of [Slip counter] service
This service makes it possible to check and reset the brake slip counter
when the robot is being used for stud welding (with brake in use).
Operation of [Slip counter] service

z Select [Service] [17 Slip counter] to display the following screen.
(see comments section if #17 is not displayed in the service menu)
Slip counter
1 Display & setting of slip counter

2 Reset slip counter
z Select [2 Reset slip counter] for resetting and press

.
z Select [1 Display and setting of slip counter] for display or change and
press
to display the following screen.
Slip counter
z Select [complete] with

after setting to register the change.
Set stud welding by selecting <stud> in [Constant setting : Group1]

[11 Format] [4 Gun mode set].
Set the value of the movement regarded as slip using [Constant setting mode :
Group1] [24 Spot & stud welding parameter] [Slip detect limit (mm)].
Set error detection count using [Constant setting mode : Group1]
[24 Spot & stud welding parameter] [Slip detect times].
Reset this counter when brake is replaced.
6-39
6 Service Menu
6.20 (CKNWTGQDUGTXCVKQP
6.20 Failure observation

Outline of [Failure observation] service
This service makes measurements of the average or maximum values of
torque during program playback and records up to 50 measurements.
Keeping track of fluctuation of average or maximum torque values of each
axis can aid in forecasting possible trouble(breakdown or excessive wear) of
the robot. Periodic torque measurements are recommended and action
taken if a sharp change in torque is observed.
Operation of [Failure observation] service
z Select [Service] [18 Failure observation] to display the following screen.
Failure observation
S H
Date AVR. MAX AVR. MAX
970610 [ 8] [ 12] [ 8] [ 12]
Monitor start
z Move the cursor to a data collecting item and select [Monitor Start]
with
.
z Program is played back.
z Select [Monitor End] with
after finishing program playback to display
the following screen.
AVR.[ 10.2] MAX.[ 21.0]

Get this data? Yes / No
z Select [YES] if data is to be recorded.
Use the same program in playback to compare with the previously recorded
data.
This facility is available for versions R22.085 and after, that is SA Fast series.

6 Service Menu
6.21
6.21
These Service numbers are either not used or are options. Refer to Option
manual.
6-41
6 Service Menu
6.22 User coordinate set

[User coordinate set] can be used by the user to freely create a set of
coordinates that are separate from the robot coordinate and the tool coordinate.
[User coordinate] is defined using 3 taught reference points (S1, S2 and S3)
as illustrated below.
axis
S1: Defines the origin of the user coordinate

S2: Defines the X-axis of user coordinate
S3: Defines the XY-plane of user coordinate
Setting
z Create a 3-point program as illustrated above using [Teach mode].
z Select the [Service] menu with
.
z Select [28 user coordinate set] with and press

to display
Teach
User coordinate set

User coordinate No. [ ]
Prog. No. for Coordinate set [ ]

== >[ ]
add delete Execute

6 Service Menu
z Select [add] with

when defining 10 or more user coordinates. If, for
example, 17 user coordinates exist the next user coordinates added will
automatically become # 18.
z Select [delete] with
to delete when numerous coordinates are not
necessary. If 17 user coordinates exist [delete] will delete #17 and 16
coordinates will remain. Numbers 1 to 10 can not be deleted.
z Designate [User coordinate] No.
z Designate [Prog. No.] to be used for coordinate setting. This should be the
3-point program created as previously shown.
z Select [Execute] with
after entering the required numbers.
Use of the user coordinate

z Select [Teach mode] or [Playback mode].
z Select the [Condition] menu with
.
z Move the cursor to [21 User coordinate #] with .
z Enter [User coordinate #] to be used.
z The robot moves in the selected [User coordinate] when [axis] of
is selected and the [UP/DOWN, FWRD/ BACK, LEFT/ RIGHT keys]
%114&+0#6'
5;56'/
are pressed.
up
up
up
right right
up front
front
right front
right
front
6-43
6 Service Menu
The 3 reference points can not be(must not be) in a straight line.
Distance the 3 reference points as far apart as possible.
More than 4 steps in the program is permissible.
Once set the [User coordinate] hold no relation to the program used to create
it. This means the may be deleted or modified without effecting the [user
coordinate].
Modify the [User coordinate], if necessary, by resetting it.
1~99 [User coordinates] can be set.
Motion using [User coordinate] is canceled, reverting back to motion using
normal [Robot coordinate] if [0] or an undefined [User coordinate] is set for
[Condition screen] [21 User coordinate set].

6 Service Menu
6.23 5RQV9GNFKPI&CVC
6.23 Spot Welding Data
Used to enter Spot welding condition data when for the Spot welding
function method
Refer to Chapter 3 Spot Welding Function of the Spot welding Advanced
manual.
6.24
These Service numbers are either not used or are options. Refer to Option manual.
6-45
6 Service Menu
6.25 Multi input signal condition

Outline of [Multi input signal condition]
A group of [I signals], with AND or OR, can be used for an I condition.
[Multi input signals] can be used for [I25 Wait-I condition] and [M81 Program
call (I condition)], and other functions using I conditions.
Setting procedures of [Multi input signal condition ]
Select [Service] [38 Multi input signal condition] and press to display
** Multi input signal condition ** ROBOT1
1 Multi input condition edit

2 Multi input condition add.
Condition
Select [1 Multi input condition edit] to display the following screen.
** Multi input signal condition ** ROBOT1

No.501
CND <AND,OR>
[ 0] [ 0] [ 0] [ 0]
[ 0] [ 0] [ 0] [ 0]
[ 0] [ 0] [ 0] [ 0]
[ 0] [ 0] [ 0] [ 0]
Select item with ENABLE + cursor key.

==>
Prev page Next page Complete
Eight [Condition Numbers], from 501 to 508, can normally be set. However, 56
more condition numbers, 509 to 564 can be added using [2 Multi input condition
add.] if 8 is insufficient.
Select [CND] to AND or OR.
Set the required [I-signal] numbers to be the condition.
1~256 : Normal I-signal numbers.
501~564 : Other set multi input signals. (It is not permissible to
set the [Multi input signals] currently being defined.)
-1~-256 :The condition is met when the I-signal is [OFF].
0 : Ignored.

6 Service Menu
Functions in which [Multi input signals] can be used are as follows:

I25 Input (I signal)
I52 Input with timer condition (I signal)
M23 Step jump (I condition)
M24 Step call (I condition)
M25 Step return (I condition)
M42 Robot stop (I condition)
M63 F designated step jump (I condition)
M81 Program call (I condition)
M84 Program jump (I condition)
M103 Relative program call (I condition)
6-47
6 Service Menu
6.26 Auto tool load center setting

ForSoftware version R21.63,UM860 amp master V2.00,
UM860 amp Slave V1.03and after.
When all versions (UM883/884 motion control) match.
Outline of [Auto tool load center setting] service
Automatically calculates the Pay load and Center of Gravity by robot motion.
Enter R314 to be able to display the [Auto tool load center setting] screen.
[Auto tool load center setting] screen is accessible if [Constant setting :
Group 1] [50 Accel-control by torque] is not set to <disabled>. Check this.
Pay load and Center of gravity is incorrect the Reduction gear life is greatly
Caution
reduced. Therefore it is vital that Pay load and Center of gravity are correct.
Operation of [Auto tool load center setting] service
z When a load(i.e. bracket) is attached to the first arm(rotating about the V axis)
it is registered before using [Auto tool load center setting] in [Constant
setting : Group 1] [18 Gain control]. The approx. Value of this load is
adequate when entering it for [Auto tool load center setting].
z Put the robot in such a posture that the load(momentum) on all the axes is
large( When the Break release switch is switched the axis arm released
should move briskly).
z S and H axes are not so important for [Auto tool load center setting].
The posture when performing [Auto tool load center setting] should resemble the
following illustration
Component of load
on the V axis
Component of load
on B axis
Component of load
on R1 axis

6 Service Menu
Side view
10 50
z Create a 2 point program to be used by [Auto tool load center setting].

Operating the B-axis only, move the B-axis +10-50 from the posture(set up
on the previous page) and record the point, then move -10-50 from the
posture and record the second point( with ENABLE + END) . ( A 14 step
program is made automatically based on these A
2 points
z Select [Service] [42 Auto tool load center setting] to display the following
screen. If it is unavailable key in R314 in Teach mode.
** Auto tool load center setting ** ROBOT1
Program No. = [0]

Tool No. = [0]
Load calculation = <enable,disable>
Data collection= <enable,disable,done>
Initial value Result value
X (mm) = [ 187.0] [ 0.0]
Y (mm) = [ 487.0] [ 0.0]
Z (mm) = [ 0.0] [ 0.0]
M (kg) = [ 134.5] [ 0.0]

==>[1 - 999]
Create prog. Monitor Start Execute
6-49
6 Service Menu
Parameters of [Auto tool load center setting] service

Enter the 2 point program created for the [Auto tool load
Program No.
setting].
Enters the tool No. with which to calculate.
Tool No.
enableCalculates both the C of G and the weight.
Load calculation
disableOnly the C of G (center of gravity)is calculated.
This is used when the exact weight is known.
This is an indicator only and does not need setting!
Data collection
enable This is set after creating program with[Create
prog.].
This is set before selecting [Monitor start] with PF key
disableThis is indicated when the playback was stopped
part way. Therefore [Monitor start] should be selected
again and program played back once more.
doneThis indicates that the data collected is complete.
It is not essential to input values.
XYZ(mm) Initial value
These are calculated values and can not be changed.
XYZ(mm) Result
value
The load is calculated when load calculation was <enable>.
M(kg)
Creates a 14 point program, overwrites the 2 point program and
Create prog.
automatically protects it. Used before data collection using
[monitor start] and playback.
It is used to collect data for [Auto tool load setting]. Program is
Monitor Start
to be played back in Playback mode to collect data.
z Enter the number of program of the 2 point program(step 2 containing the
END function) and the tool number with which calculation is to be made.
z Enter the value of weight in the [M(kg) row, initial value column, if the [Load
calculation] has been set to <disable> because the correct weight is known.
When <enable> is set in [Load calculation] the weight of a load is also
calculated.
z Select [Create prog.] with the PF key to automatically create the following
program points.(to be used for data collection)
The 1st point of the original two point program.

Point after moving the R1 axis 10
The 1st point of the original two point program
Point after moving the B axis 10
Point after moving the V axis 10
The 2nd point of the original two point program
Point after moving the R1 axis 10
Point after moving the B axis 10
Point after moving the V axis 10

6 Service Menu
z Escape out of the screen to check the 14 step program with Step go/step
back in Teach mode. Remake the 2 point program(another prog. No.) if the
14 step program interferes with anything. A
z Re-enter the [Auto tool load setting] screen. [Data collection] should be
indicate <enable>.
B z Select [Monitor start] with .

z Select [1 cycle mode] then Playback mode and step 0. Playback the program
from step 0 in 1 cycle mode.
z Re-enter the [Auto tool load setting] screen after reaching the end of the
program.
z If [Data collection] indicates <done> see the next point. If it indicates<disable>
return to B .
z Select [Execute] with to display the following guide message.
Save the data as constants? Yes / No
z Press [YES] to save the constants or [ON] not to save them. This completes
the constant setting.
Data of a [Pay load] and [Center of gravity] are used for the modification of
Caution acceleration control on the SA series and SCfast series. When accurate
values are not registered, modification of acceleration may give such
performance that reduction gear life span is decreased markedly. Determine
the Pay load and Center of gravity as accurately as possible.
[Pay load] and [Center of gravity] can be set using [ Constant setting : Group
1] [1 Tool constant] if [Auto tool load setting] is not performed.
The automatically created program is fully protected.
Make sure that the program is played back from step 0.
Do not stop the automatically created program during playback. However
should this occur start the constant setting from B after entering
[Auto tool load setting]screen again.
6-51
6 Service Menu
"Tool load center" can be directly entered using [Constant setting : Group 1]
[1 Tool constants].
Tool pay load" can not be directly entered for robots in which <unbalance> is
preset in [Constant setting : Group 1] [50 Accel-control by torque],
However, For Software system versions from R21.079 inclusiveinputting the
Maintenance code [R350954] allows the Tool pay load" to be directly entered
using [Constant setting : Group 1] [18 Gain control]. This is used when [Auto
tool load center setting] can not be performed due to space restrictions.
This facility is available for versions R22.096 and after, that is SC Fast series.

6 Service Menu

Cycle time......................................................................6-8 Register ........................................................................ 6-7
Register- FIFO .............................................................. 6-5

Register setting ............................................................. 6-4
Directory .................................................................6-2, 6-3

Setting of date............................................................. 6-34
Error logging ................................................................6-15 Slip counter ................................................................. 6-39
Software version display ............................................. 6-33

Spot welding data........................................................ 6-45
Failure observation ......................................................6-40 Step 0 data display ....................................................... 6-3
FIFO register .................................................................6-5 Stop logging ................................................................ 6-12

File display..............................................................6-2, 6-3 System environment ................................................... 6-33
First data display ...........................................................6-3

Freq. condition register ..................................................6-7
Total work time.............................................................. 6-9

History of operation......................................................6-19
Hot edit ........................................................................6-21 User coordinate set..................................................... 6-42

Modify record condition................................................6-35 Version display............................................................ 6-33
Modify record position..................................................6-36

Modify record speed ....................................................6-37
Monitor.........................................................................6-38 Work time display.......................................................... 6-8
Multi input signal condition...........................................6-46

Printer ..........................................................................6-28
Program first data ..........................................................6-3

6-53
6 Service Menu
7. Condition Setting
Screen
This chapter explains the contents of the Condition setting screen.
Contents
7.1 Selection of Condition Screen 7-2

7.2 Playback mode7-3
7.3 External start 7-3
7.4 External Program select7-4
7.5 Machine lock 7-4
7.6 7-5
7.7 Playback speed rate 7-5
7.8 7-6
7.9 FIFO function 7-6
7.10 Speed record type7-7
7.11 Base of interpolation 7-7
7.12 7-8
7.13 Curve interpolation 7-8
7.14 User coordinate #7-9
7.15 Output for spot weld 7-9
7.16 Step go /back max. speed rate 7-9
7.17 7-10
7.18 Serial port7-10
7.19 7-11
7.20 Display type 7-11

5GNGEVKQPQH%QPFKVKQP5ETGGP
7.1 Selection of Condition Screen
Selection of Condition screen(s) is shown below.
** Selection of condition ** ROBOT1
1 Playback mode< 1step,1cycle,continue>

2 External start<disabled,enabled>
3 External Program select<disabled,enabled>
4 Machine lock<disabled,enabled>
9 Playback speed rate[100] Gun ON, Search step<disabled,enabled>
12 FIFO function<disabled,enabled>
13 Speed record type<standard,time,speed>
14 Base of interpolation<standard.,S-tool> Stational tool# for manual[0]
20 Curve interpolation<circular,spline>
21 User coordinate#[ 0]
23 Step go/back max.speed rate[ 250]
27 Serial port#1 for<Transfer,Printer,Terminal,Save&Load>
32 Display type<standard,doubled>
Enter data or select item with ENABLE + cursor key.

==>
Service Prev Page Next Page End
Values between [ ] are initial settings at the time of delivery.
Selection of condition screen can be displayed when in Teach mode or

Playback mode.
Move the cursor by pressing ENABLE to alter the
condition settings.
Use to select [Next page] or [Prev. Page] if a desired screen entry

is not being displayed.
[Services] appearing on the [Service] screen differ depending on options
requested by the customer.
[Services] that are not usually used or that are optional are not covered by
this manual.
Other [Service] menu entries that are options may appear on the [Service
DO NOT screen] at the time of delivery. Do not alter settings of these unless they have
been explained. Refer to Option manual, or a related manual for those service
entries not explained in this manual.
2
7 Condition Setting Screen
7.2 Playback mode
7.3 External start
7.2 Playback mode

Outline of [Playback mode] condition
z This sets the [mode] used in Playback mode. Each mode is described below.
<1 step> Robot moves(plays back) to the next step while
the START button is being pressed(held down).
Robot stops after reaching a recorded point, and
moves to the next record point when the START
button is let up and pressed again.
<1 cycle> Robot plays back up to the program END when
the START button is pressed once. The Robot
stops when reaching the program END and starts
playback again from the beginning of program
when the START button is pressed again.
<continuous> Robot repeats playback continuously once the
START button is pressed until a stop signal is
detected(input).
7.3 External start

Outline of [External start] condition
This sets where the [Start signal] and [Motors signal] can be input from.
<disabled> [Ext. start signal] [Ext. motors signal] are invalid.

START button and MOTORS ON button of the
operation panel are valid.
<enabled> Ext. start signal] [Ext. motors signal] are valid.
START button and MOTORS ON button of the
operation panel are invalid.
[Ext. start signal] uses Pin 12 of the connector CNIN2.

[Ext. motors on signal] is connected to the terminal unit as E.MON.
[R5] can also be used to perform this setting.
Working within the safety fence when the robot is being centrally controlled is
DANGER

dangerous as the robot may start suddenly. Set [External start] to <disabled>
when working within the robot operating area.

7.4 External Program select
7.5 Machine lock
7.4 External Program select

Outline of [External program select] condition
Where to input [External program select] should be decided.
<disabled> [Ext. program select signal] is invalid.

Program select by Teach pendant is valid.
<enabled> [Ext. program select signal] is valid.
Program select by Teach pendant is invalid.
[Ext. program select signal] is used by setting [Constant setting : Group 1]

[12 Signal attribute] [Setting of input signal] [1 Common input signal].
Working within the safety fence when the robot is being centrally controlled is
DANGER

dangerous as the program No. may suddenly change. Set [External program
select] to <disabled> when working within the robot operating area.
7.5 Machine lock

Outline of [Machine lock] condition
With Machine lock set to <enabled>, the robot does not move (although motors are
energized).
Under such a condition the robot cannot move using manual operation, playback or
step go/back.
This function is used for confirming I/O signals without the robot moving.
<disabled> Normal status

<enabled> Machine locked status
4
7.7 Playback speed rate
7.6
These Condition numbers are either not used or are Optional. For details refer
to the Option manual..
7.7 Playback speed rate

Outline of [Playback speed rate] condition
This makes it possible to change the speed and run playback at 1~150% of the
recorded program speed.
Note that weld point positions may change in steps with Gun ON recorded if the
speed is changed.
It is also possible to not alter the speed of weld point steps.
Speed variable Sets what % of recorded speed should be

played back.
It is possible to set 1~150%.
GUN ON, <disabled Speed change for a step with Gun ON
search step > invalid.
<enabled> Speed change for a step with Gun ON
valid.

7.9 FIFO function
7.8
These Condition numbers are not used or used for robot language. For details
refer to the Robot Language manual.
7.9 FIFO function

Outline of [FIFO function] condition
This turns the [FIFO function] ON or OFF.
The same setting is also possible using R15.
Please refer to [R code: R15] of this Manual for details.
Relating to the [FIFO function] are :
[Constant setting : Group 1] [29 FIFO function]
[Service] [3 Register] [1 FIFO]
[R15]
<OFF> FIFO function is not used.

<ON> FIFO function is used.
6
7.10 Speed record type
7.11 Base of interpolation
7.10 Speed record type

Outline of [Speed record type] condition
This designates the units to be used for Automatic speed record.
The same setting is also possible using R71.
<standard> Linear interpolation off: Time designation

Linear interpolation on: Speed designation
Circular interpolation on: Speed designation
<time> Time designation regardless of interpolation key
being on or off
<speed> Speed designation regardless of interpolation key
being on or off
7.11 Base of interpolation

Outline of [Base of interpolation] condition
[Base of interpolation] is set to <S-tool> when the Stationary tool interpolation
(option) is activated.
Normally set to <standard>.
<standard> Linear interpolation is executed for the robot

tool tip.
<S-tool> Linear interpolation is executed for the tool tip
fixed on the floor.
Stational tool# for manual[0] Selects the stationary tool # to be used for
operation in Teach mode.
Setting of the fixed tool tip constants is performed in [Constant setting : Group 1]
[31 Stationary tool setting].

Error! Reference source not found.Error! Reference source not found.
8
7.15 1WVRWVHQTURQVYGNF
7.16 Step go /back max. speed rate
7.12
These Constant numbers are either not used or are Optional. For details refer
7.13 Curve interpolation

Outline of [Curve interpolation] condition
This selects <circular> or <spline> (recording) for use when recording with the
2 .%
Interpolation key set to [C].
INTER-
POLATION
<circular> Recorded as [circular interpolation]
<spline> Recorded as [spline interpolation]
7.14 User coordinate #

Outline of [User coordinate] condition
Selects one of the User coordinates registered using [Service] [28 User coordinate
set].
User coordinate Sets User coordinate No.

select Robot coordinate is selected when [ 0 ] is set.
Robot coordinate is also selected if an
unregistered No. is set.
User coordinates are registered using [Service] [28 User coordinate set].

7.13 %WTXGKPVGTRQNCVKQP
7.14 User coordinate #
7.15 Output for spot weld
[Output for spot weld] is effective when using Spot welding functions. It controls the
issuing of [GUN(squeeze)] and [Weld command signal]. It is used when checking the
taught program. (Note : This service entry is only displayed when <function> is selected
in [Constant setting : Group 2] [26 Spot welding selection])
weld When set, [GUN(squeeze)] and [Weld command signal]
are output when a Spot welding function is executed.
squeeze When set, a [GUN(squeeze)] signal is output when a Spot
welding function is executed. No [Weld command signal]
is output.
none Neither [GUN(squeeze)] and [Weld command signal] are
output.
7.16 Step go /back max. speed rate

Outline of [Step go/back max. speed rate] condition
This designates the Max. speed in Teach mode when ENABLE is held during Step
go/back operation.
Max. speed at Step go /back Sets the max speed during Step back/ Step go
operation with ENABLE held.
1~250 can be set.(mm/s at tip)
The Max. speed at Step go /back set here is effective only when
ENABLE and STEP GO / STEP BACK are pressed simultaneously.
Without the ENABLE key the normal Step Go/Back max speed is
maintained(250mm/s).
10
7.17
7.18 Serial port

Outline of [Serial port] condition
This selects the purpose of the serial ports. Refer to the table below for the relation
between functions for use and ports.
Data Save Available port
Purpose Printer Terminal
transfer load Port1 Port2 Port3
M51 shift data request
Receive
1
M101 comment output
2
Print out
3
Robot language edit
4
Hot save/load
5
Error code output from
6
serial port
Arc master I/F
7
Hi spd. rotation arc I/F
8
Spot welder I/F type 1
9
Spot welder I/F type 2
10
Characteristics such as baud rate etc. are set using [Constant setting : Group1]
[13 Serial port].
Files can be sent via the serial port to external devices using [Service][10 Printer].
Port 1 : Connector RS232C-1 on the controller front door or Operation panel box.
Port 2 : Connector CNRS2 on board UM815 (corresponding to RS232C)
Port 3 : Connector CNRS3 on board UM815 (corresponding to RS422)

7.19
7.20 Display type

Outline of [Display type] condition
Allows the screen Display size to double in height and width in Teach mode and
Playback mode.
<standard> Standard display

<doubled> Double height and width display
12
&KURNC[V[RG

Base of interpolation 7-7 Machine lock 7-4

Curve interpolation 7-8 Output for spot weld 7-9

Display type 7-11 Playback mode 7-3
Playback speed rate 7-5

External Motors signal 7-3
External program select 7-4 Serial port 7-10

External start 7-3 Speed record type 7-7
Step go/back 7-9

FIFO function 7-6

8. Constant Setting:
Group 1
This chapter explains the use of the functions contained in the constant setting
screen.
Contents
8.1 Tool constant8-3

8.2 Axis constant8-8
8.3 Software limit8-10
8.4 Arm interference angle 8-12
8.5 Encoder correction 8-14
8.6 8-17
8.7 B-axis dead zone 8-18
8.8 Accuracy 8-19
8.9 Speed 8-24
8.10 Format8-25
8.11 Signal attribute 8-28
8.12 Signal attribute screens8-47
8.13 Serial port 8-63
8.14 Robot ready signal 8-64
8.15 Zero position8-70
8.16 8-77
8.17 Power save function8-78
8.18 Gain control 8-79
8.19 Error logging8-81
8.20 History of operation 8-82
8.21 8-84
8.22 Shift limit and evaluation value8-85
8.23 Auto constant setting 8-86
8.24 Spot & stud welding parameter 8-88
8.25 f-key setting 8-95
8.26 8-99
8.27 FIFO function 8-100
8.28 Original position return8-103
8.29 Stationary tool setting8-105
8.30 End relay time (etc.) 8-106
8.31 FDD auto loading8-107
8.32 Interlock timer8-109
8.33 8-110
8.34 Cycle time keeper 8-111
8.35 8-113
8.36 Accel-control by torque 8-114
8.37 8-114
8.38 Pay load and load center 8-115
1
8.39 Safety speed control 8-117

8 Constant Setting: Group 1
8.1 Tool constant
8.1 Tool constant

Outline of [ Tool constant]
It is mandatory to define the length and load center of a tool (gun) when it is mounted onto the
robot. [Tool angle and length] is one way to perform this.
Setting procedures of [Tool angle and length]

For Software versions up to and including R 20.063
z Select [Constant setting : Group 1] [1 Tool constant] to display the following
screen.
** CONSTANT SETTING (Group1) ** ROBOT1

Tool angle & length
TOOL
deg

TOOL
deg

TOOL
deg
mm
TOOL
deg
mm
z X, Y & Z Values are measured as shown below.
3
8.1 Tool constant
z Select [Next page] with to display the following screen. (For Software
versions up to and including R 20.063)

Tool angle & length
TOOL 0 X Y Z
Angle [ 0.0][ 0.0][ 0.0]deg
Length [ 0.0][ 225.0][ 0.0]mm
TOOL 1 X Y Z
Angle [ 0.0][ 0.0][ 0.0]deg
Length [ 0.0][ 225.0][ 0.0]mm
TOOL 2 X Y Z
Angle [ 0.0][ 0.0][ 0.0]deg
Length [ 0.0][ 225.0][ 0.0]mm
TOOL 3 X Y Z
Angle [ 0.0][ 0.0][ 0.0]deg
Length [ 0.0][ 225.0][ 0.0]mm

==>[-180.0 - 180.0]
Prev.Page Next Page Auto ang. set over write
z Set [Tool load center] based on the figure below.
Load center
z Select [over write] with after changes are all completed to save the
settings.
Refer to AR Controller Operating Manual: Spot Welding Primary for setting

procedures.

8.1 Tool constant
For Software versions between R20.064 and R21.075

z Select [Constant setting : Group 1] [1 Tool angle & length] to display the
following screen.

Tool load center
TOOL 0 X Y Z
Load center [ 0.0][ 577.0][ 0.0]mm
TOOL 1 X Y Z
Load center [ 0.0][ 577.0][ 0.0]mm
TOOL 2 X Y Z
Load center [ 0.0][ 577.0][ 0.0]mm
TOOL 3 X Y Z
Load center [ 0.0][ 577.0][ 0.0]mm

==>[-2000.0 - 2000.0]
Prev.Page Next Page over write
z Unlike previous software versions, the Tool angles are entered in addition to
the lengths X, Y, & Z.
z Set the following angles.
Viewed from the side .
Angle + X
Angle + Z
Viewed from the top.
Angle + Y
Viewed from the front .
5
8.1 Tool constant
For Software version R21.076 and after

z Select [Constant setting : Group 1] [1 Tool angle & length] to display the
following screen.

Tool constant
--- TOOL 0 --- --- TOOL 1 --- --- TOOL 2 --- --- TOOL 3 ---
Tool length X[ 0.0]mm X[ 0.0]mm X[ 0.0]mm X[ 0.0]mm
Y[ 225.0]mm Y[ 225.0]mm Y[ 225.0]mm Y[ 225.0]mm
Z[ 0.0]mm Z[ 0.0]mm Z[ 0.0]mm Z[ 0.0]mm
Tool angle SX[ 0.0]deg SX[ 0.0]deg SX[ 0.0]deg SX[ 0.0]deg
SY[ 0.0]deg SY[ 0.0]deg SY[ 0.0]deg SY[ 0.0]deg
SZ[ 0.0]deg SZ[ 0.0]deg SZ[ 0.0]deg SZ[ 0.0]deg
Tool load center X[ 0.0]mm X[ 0.0]mm X[ 0.0]mm X[ 0.0]mm
Y[ 577.0]mm Y[ 577.0]mm Y[ 577.0]mm Y[ 577.0]mm
Z[ 0.0]mm Z[ 0.0]mm Z[ 0.0]mm Z[ 0.0]mm
Tool pay load [130.0]kg [130.0]kg [130.0]kg [130.0]kg
Wrist inertia rate [1.0] [1.0] [1.0] [1.0]
Tool rotate radius [ 0.0]mm [ 0.0]mm [ 0.0]mm [ 0.0]mm

==>[-2000.0 - 2000.0]
Auto ang. set over write
z Unlike previous software versions, the Tool pay load, wrist inertia rate and tool
rotating radius are also entered.
* Set the total pay load weight mounted to the robot wrist.
Tool pay load * Setting the load lighter than it actually is, considerably
reduces the life of gear reduction units.
* Make sure this rate is set if a load inertia exceeds the
[Permissible Wrist-axis inertia]. (Refer to Robot Maintenance
Wrist inertia rate Service Manual.)
* Setting the load lighter than it actually is, considerably
reduces the life of gear reduction units.
Wrist inertia rate = Inertia / Permissible Wrist-axis inertia
* Determine the rate as above and set it to the tool No.

having the maximum value.
* This setting is for the purpose of safety during manual
Tool rotating radius operation.
(up to and including * Set the distance from the tool tip position designated with
R21.077) XYZ to the tool end.

8.1 Tool constant
Auto ang. set Align the Tool coordinates with the Robot coordinates.
Move the cursor on the screen to the TOOL# being used.
The tool angle is automatically calculated when [Auto ang.
Set] is selected.
Auto angle set

Select [Auto angle set] when coordinates are matched as shown below right. The
Tool angle is then automatically calculated.

Robot
Basic posture coordinates
Up tool
direction
Right tool
direction
Forward tool
direction
Measure the tool angle and length when the robot is in the Basic position.
"Pay load" and "Wrist inertia rate" in [Constant setting : Group 1] [18 Gain
control] is common data. These values can be entered in either constant
setting facility.
For robots with software system versions after R21.063; the "Pay load " can
not be entered in this constant setting when <unbalance> is preset in
[Constant setting : Group 1] [50 Accel-control by torque]. In this case [Service]
[42 Auto tool load center setting] must be used to determine the Pay load
weight.
7

8.2 Axis constant

Outline of [Axis constant]
The 0-deg. position for each axis should be set to meet user requirements.
This position is set precisely to the basic position at the time of delivery,
however the S-axis and R1-axis constants may need to be changed
depending on the particular robot installation and tool (gun) mounting.
Posture of 0-deg
A few Basic positions (0-deg. positions) are shown below. Please refer to
robot postures described in [External dimensions and operating range] of
the Maintenance Manual of each robot. (The robot is in its Basic position
with reference pins inserted.)
When manually operating the robot in Constant setting mode it moves in accordance
,.6
with [Axis : Interpolation off] regardless of J, L, T setting of the Coordinate system key.
COORDI-
NATE
SYSTEM


Resetting the axis constant

z Select [Constant setting mode : Group 1] [2 Axis constant] to display the
following screen.

Axis constant
S [080000] S [07F978] [ 2.1]
H [080000] H [07CD08] [ 75.1]

V [080000] V [07FC60] [ 13.7]
R2 [080000] R2[07FB20] [ 1.6]

B [080000] B [0804E0] [ 1.5]
R1 [080000] R1[07FBF0] [ 2.3]
==>
over write
Encoder data at 0-deg.

location Present encoder data Arm angle
z Move each axis of the robot manually so that the angle of each arm is as
shown(A) on the right of the chart above. Setting each angle as in column
A will put the robot in its basic position.
(When 0-deg. position of R1-axis changed)
z Alternatively, put the robot in its basic position by using the reference pins.
(When setting S, H, V, R2, B, R1 axes precisely at the 0-deg. position )
(The robot posture has nothing to do with the 0-deg. position of S- axis.)
z Move the cursor on the screen with to indicate an axis requiring

a position change.
z Press to display the following guide message.
Press axis key to move the axis into position, press REC key
z Move the axis requiring alteration to the desired position.

z Press REC to save the current encoder data into the 0-deg. position
Encoder data.
z Make other desired 0-deg. positions changes, if any, in the same manner.
z Select [over write] with PF after finishing to save all of the changes.
The 0 deg. position occasionally changes with respect to the R1 and S axes at the
time of installation or tool change. Usually a change in the other axes is not
necessary.
The 0 deg. position of the R1 axis can only be set if the R2 and B axes are also in
their basic positions. The 0 deg. position of the S axis does not influence other axes,
however, when setting the 0 deg. position of the other axes use the basic position
9

since the position of other axes sometimes influence the position setting.

8.3 Software limit
8.3 Software limit

Outline of [Software limit] constant
The [Software limit] restricts the operating range of each axis by means of
software. The software limit has been set to achieve the maximum operating
range at the time of delivery. Therefore, the software limit requires changing if it
is necessary to change the locations of a Stopper, a Limit SW or the operating
range for the purpose of operational convenience.
Procedures for changing Software limit

z Select [Constant setting : Group 1] [3 Software limit] to display the following
screen.

Software limit
S left [062D56] S [07F978] [ 2.1]
Right [09D2AA]
H forward [06FF98] H [07CD08] [ 75.1]
Backward [08BC08]
V up [06E800] V [07FC60] [ 13.7 ]
Down [08BAAA]
R2 ccw [0394F7] R2 [07FB20] [ 1.6]
Cw [0C6B09]
B ccw [067748] B [0804E0] [ 1.5]
Cw [0988B8]
R1 cw [057801] R1 [07FBF0] [ 2.3]
Ccw [0A87FF]
==>
over write
Encoder data at
software limit location Present encoder data Arm angle
z Move the cursor to an axis requiring a software limit change.
up,down,ccw,cw indicated on the Software limit screen differ between

machine types. The screen depicted above is an example of a typical screen.
11
8.3 Software limit
z Move the respective arm to the desired position of the software limit.
z Press REC to save the current encoder data into the software limit
position Encoder data.
z Make other desired software limit positions changes, if any, in the same
manner.
The Software limit should not be used for safety purposes. Safety should be
ensured by the Stoppers and Limit switches. Change the locations of
Stoppers and Limit switches to restrict the operating range for the purpose of
,.6
safety.

COORDI-
NATE When manually operating the robot in Constant setting mode it moves in
SYSTEM
accordance with [Axis : Interpolation off] regardless of J, L, T setting of the
Coordinate system key.
Manual operation beyond the Software limit is possible in Constant setting
mode.

8.4 Arm interference angle

Outline of [Arm interference angle] constant
Angle limits between the V-axis and H-axis, depending on the robot structure,
exist. [Arm interference angle] limits the angle between the V-axis and H-axis
by means of software. The [Arm interference angle] has been set to achieve the
maximum operating range at the time of delivery, hence no change is normally
required.
Procedures for Changing [Arm interference angle]

z Select [Constant setting : Group 1] [4 Arm interference angle] to display the
following screen.
Arm interference angle

Min
Max
over write
Recorded arm interference Present angle between V-axis

angle (deg.) and H-axis
z Move the cursor to an entry in which a change is desired.
13
z Move the respective arm to the desired position of the Arm interference angle.
z Press REC to save the current angle between the V-axis and H-axis into
the arm interference angle (deg.) constant.
z Make other desired changes, if any, in the same manner.
In Constant setting mode the robot moves in accordance with Axis motion
regardless of J, L, T of Coordinate system.
Manual operation beyond the Software limit is possible in Constant setting
mode.

8.5 Encoder correction

Outline of [Encoder correction] constant
Encoders should be set according to the reference position of each robot axis
(when the reference pins are inserted). Encoder correction is used to correct an
encoder after replacement of a motor, etc.
Procedures for correcting the Encoder

z Select [Constant setting : Group 1] [5 Encoder correction] to display the
following screen.

Encoder correction
1 Encoder correction(position)
2 Encoder correction(setting value)
Encoder correction (position)
z Select [1 Encoder correction(position)] to display the following screen.
Encoder correction (position)

==>
over write
Encoder correction value Present encoder data Arm angle
Encoder data is displayed in sexadecimal
15
z Move the cursor to an axis requiring encoder alteration.

z Move the robot so that the reference pins can be inserted. Insert the pins so
that they are not clamped in the reference holes.
z Press REC to save the current encoder data as the Encoder correction
value, defining encoder value for the reference position.
z Make other Encoder changes, if any, in the same manner.
z Select [over write] with PF after finishing to save all of the changes
made.
2 Encoder correction (setting value)
z Select [2 Encoder correction (setting value)] to display the following screen.
Encoder correction (setting value)

0 0 0 4 5 6 0 0 0 2 9 4 9 1 2
0 0 0 4 3 2 1 0 0 3 9 4 9 2 1
0 0 5 3 3 4 5 0 0 4 5 4 9 1 5
0 0 1 2 1 2 3 0 0 5 5 4 9 3 7
0 0 0 7 6 8 0 0 0 7 9 4 9 1 2
0 0 0 4 3 3 2 0 0 5 7 4 9 4 4
==>
over write
Encoder correction value Present encoder data Arm angle
Encoder data is displayed decimally.

z Move the cursor to an axis requiring encoder alteration.

z Enter decimal values for Encoder correction.
z Press to save the encoder data as the Encoder correction value
defining encoder value for the reference position.
z Make other Encoder changes, if any, in the same manner.
made.
Robot position at the time of encoder data input using [Encoder correction
(setting value)] has no relation to Data input.
17
8.6
These constant numbers are either not used or are optional. Refer to the
Option manual for details.


8.7 B-axis dead zone

Outline of [B-axis dead zone] constant
The center of rotation of the R-1 and R-2 axes become almost parallel when the
B-axis is around 0 degrees. Because of this aligning, the R-1 and R-2 axes
move wildly. [B-axis dead zone] is set to reduce such unexpected wild motion.
Within the dead zone the wrist motion is automatically adjusted so that it is
smooth. With the dead zone area set wide the tool inclination may slightly
change.
With narrow width setting the wrist may move rapidly or stagger.
Procedures for changing B-axis dead zone

z Select [Constant setting : Group 1] [8 B-axis dead zone] to display the following
screen.

B-axis dead zone
[10]
Dead zone warning display = <Disable, Enable>
z Enter numeric data and press .

made.
[Dead zone Warning display] applies to versions R19034 and after.
19
8.8 Accuracy
8.8 Accuracy
Outline of [Accuracy ] constant
Four levels of accuracy; [0], [1], [2], and [3] can be selected when programming.
Setting the accuracy, when programming, of each step, depending on the accuracy
desired in the motion of the robot, can produce either quicker robot cycle times or
more accurate operation as desired. The value of the accuracy settings, the
accuracy constants, can be changed as desired.
What and how to change the accuracy constant is described herein.

#EE
Accuracy 0
Accuracy 1
Accuracy 2
Accuracy 3
By changing the accuracy
constant number,
performance, in terms of
accuracy, is changed.
All programs are influenced by changing the accuracy constant, e.g. an inner
CAUTION
passing locus exhibited in all existing programs with A2, will increase or
decrease when the accuracy constant for A2 is changed. This makes way for
collisions to occur and may change cycle times. Therefore, the accuracy
constants should only be changed to desired values when the robot is
installed and not changed again.

8.8 Accuracy
z Select [Constant setting mode] with .

%1056#06
Setting the 5'66+0)
accuracy constant z Select [Group1] with . (Not necessary if already selected)
z Select [9. Accuracy] in the screen with .
z Press and to display the following screen.
CONSTANT SETTING(Group1)
Accuracy
level bit distance

Bit range <standard , expanded>

over write
z Move the cursor to the desired place to change with .
z Key in [Data] and press .
z After the data is set select [Over write] with . and the accuracy
constants are stored in the internal memory, thus ending accuracy constants
setting.
Settings at the time of delivery

The following are set:
level bit distance

Bit range Note that robots exist in which distance per bit differs depending on the type of
Controller used( The AR Controller described in this Operating Manual or the
AP Controller).
With < expanded > selected on an AP Controller, accuracy is based on
distance per bit. (<expanded > is used when an AP Controller program is
used).
A different increase ratio is automatically selected depending on the robot
type.
21
8.8 Accuracy
Meaning of data in [Bit]

[Bit data], which actually makes the accuracy effective, can be determined by
the following formula from numerical values set on the screen.
Formula Min. Max.

Accuracy 0 bits
Accuracy 1 bits
Accuracy 2 bits
Accuracy 3 bits
can be set to 0~9.
In the case of [Bit designated accuracy], the inner passing motion(locus) starts
when the position reaches the accuracy range in playback as illustrated below.
The bit data above designates a radius of the inner passing circle. One bit
equals about 0.1 mm.
Range of accuracy
Robot starts towards the

next step position at this
point.
When moving with [L of Interpolation] between recorded points(even those

Accuracy
with no recorded functions), [Distance designation accuracy] is automatically
change in
selected.
playback
Other than the above, [Bit designation accuracy] is selected.

8.8 Accuracy
Meaning of data in [Distance data] set on the screen represents the distance from the corner
[Distance] illustrated in the figure below.
This is the specified distance.
The arc of motion starts

from here.
The speed of the robot affects the accuracy. When the [Accuracy] level is set
Accuracy
very close to the point, the robot moves close to recorded points when
difference in
executing playback at a slow speed. But as the speed increases, the inner
playback speed
passing distance increases. Once the speed reaches a particular value
however, the inner passing distance remains unchanged even as the speed
increases.
23
8.8 Accuracy
For (Software versions R21.069 or after)

* Eight levels of accuracy, A0~A7, are available for Software versions R 21.069 or after.
* 4-levels of accuracy are usable when<4> is selected in [Constant setting mode : Group 2]
[121 Select of accuracy num.],this is the usual setting. however 8-levels of accuracy are
usable when<4> is selected.
* When 8 levels of accuracy are being used, press ENABLE ACC to use the
upper four accuracy levels(A4, A5, A6,& A7) and to change back to the lower four levels(A0 to
A3). When the upper four levels are being used the LED for the accuracy key blinks. The
Accuracy level No. is shown on the screen.
# Calculation formulae and values at the time of delivery are listed below.
Calculation Min. ~ Max. Bit set No. at Distance set at
formula (bit) delivery (bit) delivery (mm)
Acc. 0 16X+16 16~160 2 (48) 5
Acc. 1 16X+16 16~160 2 (48) 10
Acc. 2 40X+16 16~376 2 (96) 25
Acc. 3 80X+16 16~736 2 (176) 50
Acc. 4 160X+16 16~1456 2 (336) 100
Acc. 5 240X+16 16~2176 2 (496) 100
Acc. 6 320X+16 16~2896 2 (656) 100
Acc. 7 400X+16 16~3616 2 (816) 100
0~10 can be set to [X].


8.9 Speed
Outline of [Speed] constant
This constant setting sets the [Speed] values which are automatically
recorded depending on the status of the Speed keys when a program

step is recorded.
Speed
#EE
Procedures for changing [Speed ]constant

z Select [Constant setting : Group 1] [10 Speed] to display the following screen.
Default speed for record

Manual speed Interpolation ON Interpolation OFF
Low speed 1 [ 10]mm/sec [30.00]sec/span
2 [ 50]mm/sec [25.00]sec/span
High speed1 [ 300]mm/sec [10.00]sec/span
2 [ 500]mm/sec [ 8.00]sec/span
3 [ 800]mm/sec [ 6.00]sec/span
4 [1200]mm/sec [ 4.00]sec/span

over write
z Move the cursor to the speed requiring alteration.

z Enter the speed with the numeric keys.
made.
Values when initialized are as below.

Low speed 1 10 mm/s 30 S
High speed 1 300 mm/s 10 S
High speed 2 500 mm/s 8S
25
8.10 Format
8.10 Format
Outline of [Format] constant
The following can be performed using the Format screen;
Memory format
Selection of Constant file
Addition of Constant file
Selection of Gun mode
Formatting procedures
z Select [Constant setting : Group 1] [11 Format] to display the following screen.
Format
1 Memory format
2 Selection of Constant file
3 Addition of Constant file
4 Selection of Gun mode
6 Axis parameter list of
1 Memory format
z Select [1 Memory format] to display the following guide message.
Are you sure to format?: Yes/No
z Press YES to format and display the following guide message.
Please enter spec. Code(0:standard)(0-200)
z normally [0] [SET] is input. Formatting is then complete.
Caution! All files, including Constant files, are deleted using [1 Memory format].

8.10 Format

z Select [2 Selection of Constant file] to display the following guide message.
** Format ** ROBOT1
1 Memory format
6 Axis parameter list of
z Select the appropriate robot type and press to display the following
guide message.
Format
Selection of Constant file
Aux. axis number = [ 0]

Conveyor synchronize = <OFF,ON>
Execute
z Set the No. of auxiliary axes, if any.

z Select <enabled> when using conveyor sync.
z Select [Execute] with PF after completing the settings and the following
guide message is displayed.
Make the robot file?: Yes/No
z Press YES to continue and the following guide message is displayed.
Please enter spec. Code(0:standard)(0-200)
z Normally [0] [Set] is input. Formatting is then complete.
27
8.10 Format

Not described here. Please refer to the Option manual.

z Select [4 Selection of Gun mode] to display the following screen.
Gun mode
GUN1 <Spot,Arc,Spray,Stud,Stud2,Laser>
GUN2 <Spot,Spray,Stud,Stud2>
Execute
z Select the gun type to be used.

z Select [Execute] with PF to save the change.
Memory format All files in Controller are cleared

Selection of Constant file Constant files are created. If Constant files
already exist they are written over.
Addition of Constant file This is used for multi robot systems. Not
normally used.
Selection of Gun mode Sets the Gun type to be used.
Stud This actuates the brake to stabilize the robot

arms during gun squeeze.
Stud 2 This stabilizes the robot arms during gun
squeeze using motor power.

Signal attribute
8.11 Signal attribute

Introduction 1
[Signal attribute] allows special signals, such as Program end, gun squeeze, etc.,
to be set to M signals and I signals(shown below). These I signals and M signals
can also be used as individual I/O signals.
Setting special signals to M or I signals and changing M signals to pulse output are
described in this section.

option option

option
The M and I signals above are set to the following connector pins. Refer to
Chapter 10 of this manual.
(The Pin layout above is CNIN3 shown from its soldering face.)
Please note that confusion often occurs between M & I signals and M & I
functions. For example [M21: Step call], [I52: I signal (timer condition)] are
functions and the same symbols used for I/O signals are (M signal) [M21] and
(I signal) [I52].
Input signal [+ 52] Function (+ 52)
However, the Function M1 coincidentally controls the M signal No. M1.

This occurs for M functions M1 to 8, M11 to 18, etc.
29
8.11 Signal attribute
Introduction 2
I/O signals are roughly divided as follows in this Reference Manual.
Signal Contents Screen

group
Spot Signals relating to spot welding Setting is made using Spot welding
welding
such as Gun squeeze signal, Weld output signal and Spot welding
signal
finish signal (WI), etc. input signal screens.
General I/O Specific signals used for the same Setting is made using General
signal commands regardless of the robot
output signal and General input
usage, such as [program select
signal] etc. signal screens.
Program Signals used in programs for [jig Setting is not required. However
I/O signal clamp/unclamp], [hand open/
attributes such as positive/negative
close ], etc., meaning those signals
controlled by I/O functions such as logic, etc. can be set.
I1, M1, etc.
Screen location diagram

12 Signal attribute
1 + signal logic
2 M signal logic 1 General outputs
3 Output signal attribute 2 Resistance welding outputs
4 Setting of pulse table 3 Arc/laser outputs
5 Setting of delay table 4 Flex panel outputs
6 Setting of output signal 5 Waiting-I indicators
7 Setting of input signal

1 General inputs
8 Previous output
2 Resistance welding inputs
9 Setting of waiting signals
3 Arc/laser inputs
10 Input function select
4 Net work inputs
11 Setting of preferred input

Signal attribute
Setting procedures of I/O signal attributes

z Select [Constant setting : Group 1] [12 Signal attribute] to display the
following screen.

Signal attribute
1.+ signal logic
2. M signal logic
3. Output signal attribute
4. Setting of pulse table
5. Setting of delay table
6. Setting of output signal
7. Setting of input signal
8. Previous output
9. Setting of waiting signals
10. Input of function select
11. Setting of preferred input
z Move the cursor to a desired selection and press .
31

1 + signal logic
Outline of [I signal logic]

This facility allows the setting of Input signals (I signals) to be either Positive or
negative logic. Signals normally use positive logic.
Setting procedures of I signal logic

z Select [Constant setting : Group 1] [12 Signal attribute]
[1 I signal logic] to display the following screen.

Setting of I-signal logic
+1 [Posi, Nega] +2 [Posi, Nega] +3 [Posi, Nega] +4 [Posi, Nega]
+5 [Posi, Nega] +6 [Posi, Nega] +7 [Posi, Nega] +8 [Posi, Nega]

Prev page Next page over write
z Move the cursor, by pressing ENABLE , to select either

positive or negative logic.
z Select [over write] with PF after completing the settings to save them
as constants.
It is not possible to change the attribute settings on the [Input signal logic]
Note:
screen of signals assigned for [exclusive use] such as [program select signal],
[weld finish signal] etc.
Signals assigned for [exclusive use] such as [spot welding signals], [general
I/O signals], etc. are displayed in [lower case letters] on the monitor screen.
Signals which can be used as program I/Os are displayed in [capital letters].
Positive logic and negative logic of input signals
Positive logic: With input signal applied the signal is regarded as ON.
Negative logic: With no input signal applied the signal is regarded as ON.

Positive logic

Negative logic


2 M signal logic
Outline of [M signal logic]

This facility allows the setting of Output signals (M signals) to be either Positive
or negative logic. Signals normally use positive logic.
Setting procedures of M signal logic
z Select [Constant setting : Group 1] [12 Signal attribute] [2 M signal logic] to
display the following screen.

Setting of M-signal logic
M1 [Posi, Nega] M2 [Posi, Nega] M3 [Posi, Nega] M4 [Posi, Nega]
M5 [Posi, Nega] M6 [Posi, Nega] M7 [Posi, Nega] M8 [Posi, Nega]

z Move the cursor, by pressing ENABLE , to select either

positive or negative logic.
z Select [over write] with PF after completing the settings to save them
as constants.
Positive logic and negative logic of output signals

Positive logic: With input signal applied the signal is regarded as ON.
Negative logic: With no input signal applied the signal is regarded as ON.

Positive logic

Negative logic
It is not possible to change the attribute settings on the [Input signal logic]
Note:
screen of signals assigned for [exclusive use] such as [program select signal],
[weld finish signal] etc.
33
Signal attribute
3 Output signal attribute 4 Setting of pulse table 5 Setting of delay table
Positive logic and negative logic of input signals
3 Output signal attribute

4 Setting of pulse table
5 Setting of delay table
Outline
[3 Output signal attribute] screen is used in conjunction with [4 Setting of
pulse table] screen and [5 Setting of delay table] screen. Output signals (M
signals) can be designated as pulse signals and/or delay signals.
Setting procedures
z Select [Constant setting : Group 1] [12 Signal attribute] [3 Output signal
attribute] to display the following screen.
Setting of M-signal attribute (1-15:pulse,16-30:delay)

[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
z Move the cursor to an output(M signal) entry with .

z Set a numeric figure (1~15) to [ ] to be pulse output and (16~30) to be
delay output. These figures correspond to Pulse table No.: 1~15 in Pulse
setting screen and Delay table No. 16~30 in Delay setting screen.
z Select [over write] with PF after finishing to save the settings.
It is not possible to change the attribute settings on the [Output signal

Note:
attribute] screen of signals assigned for [exclusive use] such as [Robot ready
signal], [Gun squeeze signal] etc.

Signal attribute
Procedures of Setting of pulse table

When pulse is designated(1~15) in the [2 Output signal attribute] screen, pulse
width, etc., need be set in the relative entry of [4 Setting of the pulse table] screen.
z Select [Constant setting : Group 1] [12 Signal attribute] [4 Setting of pulse

table] to display the following screen.
Setting of pulse table

1 repeats[ 0] high(sec)[ 0.00] low(sec)[ 0.00]
over write
z Move the cursor with and enter values of [Count] [ON time] and
[OFF time] of each entry with the numeric keys. For example, by setting
[Count : 3] [ON time : 1 sec.] [OFF time: 0.5 sec] the signal as shown below
will result.
sec sec
sec sec sec
It is possible to set [Positive logic/ negative logic] and [Pulse output, delay
output] to the same signal, hence [Pulse output of negative logic] etc. can be
created.
35
Signal attribute
Procedures of Setting delay table

When delay is designated(16~30) in the [2 Output signal attribute] screen, delay
ON and OFF need be set in the relative entry of [5 Setting of delay table] screen.
z Select [Constant setting : Group 1] [12 Signal attribute] [5 Setting of delay

table] to display the following screen.
Setting of delay table

16 on-delay(sec)[ 0.00 ] off-delay(sec)[ 0.00 ]
over write
z Move the cursor with and enter values of [ON delay] and [OFF
delay] of each entry with the numeric keys. For example, by setting [ON
delay : 1 sec.] [OFF delay: 0.5 sec] the signal as shown below will result.
ON command OFF command
1 sec 0.5 sec
Output

Signal attribute
6 Setting of output signal
Outline of [Setting of output signal]

The following M signals in the [6 Setting of output signal] screen can be used for
exclusive output signals such as [Program end], [Gun squeeze], etc.

option

option
Procedures of [Setting of output signal]

z Select [Constant setting : Group 1] [12 Signal attribute] [6 Setting of output
signal] to display the following screen.
Outputs attribute
1 General outputs
2 Resistance welding outputs
3 Arc/laser outputs
5 Waiting-I indicators
The method of setting each screen is described below.
37
Signal attribute

z Select [Constant setting : Group 1] [12 Signal attribute] [6 Setting of
output signals] [1 General outputs].
1 General outputs
Program ended :R1[116]
Total error : [117]
Emergency stopped : [118]

all init.value Prev Page Next Page init.value over write
z Move the cursor with and designate an M signal No. for each
exclusive output signal with the numeric keys and .
z

2 Resistance
welding outputs
12 Signal attribute
1 + signal logic

1 General inputs
8 Previous output
3 Arc/laser inputs
4 Net work inputs

Signal attribute
3 Arc/ laser outputs
Not described here. Refer to Option manual.

4 Softw are operation
panel output signal
39
Signal attribute

output signal] [5 Waiting-I indicators].
5 Waiting-+ indicators CONSTANT SETTING (Group1)

+-waiting outputs : 1[ 0] 2[ 0] 3[ 0] 4[ 0]
5[ 0] 6[ 0] 7[ 0] 8[ 0]
9[ 0] 10[ 0] 11[ 0] 12[ 0]
13[ 0] 14[ 0] 15[ 0] 16[ 0]

all init.value init.value over write
z Move the cursor with and designate an M signal No. for

each Label No. with the numeric keys and .
The Label No. is used to designate the M signal to be output when robot is
waiting to receive a respective I signal. Refer to [Constant setting : Group 1]
[12 Signal attribute] [9 Setting of wait signal] for details.
12 Signal attribute
1 + signal logic

1 General inputs
8 Previous output
3 Arc/laser inputs
4 Net work inputs

Signal attribute
Outline of [Setting of input signal]

The following I signals in the [7 Setting of input signal] screen can be used for
exclusive input signals such as [Program select]signal, [Weld finish (WI)], etc.

option

Procedures of [Setting of input signal]

z Select [Constant setting : Group 1] [12 Signal attribute] [7 Setting of input
signal] to display the following screen.
Inputs attribute
1 General Inputs
2 Resistance welding Inputs
3 Arc/laser Inputs
The method of setting each screen is described below.
41
Signal attribute
1 General inputs z Select [Constant setting : Group 1] [12 Signal attribute] [7 Setting of input
signal] [1 General inputs].

Setting of input signal
Program sel. bits :1[ 97] 2[ 98] 3[ 99] 4[100] 5[101]
6[102] 7[103] 8[104] 9[ 0] 10[ 0]
Program strobe : R1[113]
Binary/discrete sel : [114]

z Move the cursor with and designate an I signal No. for each
exclusive input signal with the numeric keys and .

z Not described here. Please refer to Spot Welding Advanced manual
2 Resistance
welding inputs
12 Signal attribute
1 + signal logic

1 General inputs
8 Previous output
3 Arc/laser inputs
4 Net work inputs

Signal attribute
3 Arc/laser outputs
Not described here. Please refer to Arc or laser manual.
4 Network
input signal
Not described here. Please refer to Options manuals, etc.
43
Signal attribute
8 setting of previous output
8 Setting of previous output
Outline of [Setting of previous output]

This sets pre-output of M signals.
Procedures of [Setting of previous output]

z Select [Constant setting : Group 1] [12 Signal attribute] [8 Setting of previous
output] to display the following screen.

Previous output
time(sec) M low M high
M signal [ 0.00] [ 0] [ 0]
time(sec) M-byte low M-byte high
M-byte signal [ 0.00] [ 0] [ 0]
z Select the following items.

[M signal low No.] First No. of pre-output M signal
[M signal high No.] Last No. of pre-output M signal
[M byte low No.] First No. of pre-output port
[M byte high No.] Last No. of pre-output port
Port is also called [Port = MB port = Group No.].

A signal is output forcibly the designated time period, set on the previous
output screen, before the point position, in the step containing the M-signal
function, is reached.
Even though a large time is appointed for previous output, the M-signal can
not be output any earlier than the travel time to the step in which the
M-function is recorded from the step before.
Appointed previous output
Practical output
Output
Step 3 Step 4 Step 5

Signal attribute
8 setting of previous output
The relation between [Output signal No.] and ports is shown below.
Port
Port
Port
Port
Port
Port
Option Port
Port
Port
Port
Port
Port
Port
Port
Option Port
z Select [over write] with PF after finishing the changes to save the
settings as constants..
12 Signal attribute
1 + signal logic

1 General inputs
8 Previous output
3 Arc/laser inputs
4 Net work inputs
45
Signal attribute
Outline of [Setting of waiting signals]

An M signal can be output to inform the peripheral equipment that the robot is
waiting to receive an I signal. [9 Setting of waiting signals] designates which
Label No.(M signal) is to be used for each I signal. M signals are set to Label
Nos. in [Constant setting : Group 1] [12 Signal attribute] [6 Setting of output
signal]
[5 I signal waiting output signal].
Procedures of Setting of waiting signals
z Select [Constant setting : Group 1] [12 Signal attribute] [9 Setting of waiting
signals] to display the following screen.
CONSTANT SETTING (Group 1)

Setting of WAIT indicators
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [] [] []
[] [] [] []
Label No. [] [] [] []
[] [] [] []
[] [] [] []
[] [] [] []
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
z Enter the Label No. in [Const. : Group 1] [6 Setting of output signals]

[5 Waiting I-indicators] screen into[ ].

I-waiting outputs : 1[ 21] 2[ 0] 3[ 0] 4[ 0] 5[ 0] 6[ 0] 7[ 0] 8[ 0]
:9[ 0]10[ 0]11[ 0]12[ 0]13[ 0]14[ 0]15[ 0]16[ 0]
:17[ 0]18[ 0]19[ 0]20[ 0]21[ 0]22[ 0]23[ 0]24[ 0
]
:25[ 0]26[ 0]27[ 0]28[ 0]29[ 0]30[ 0]31[ 0]32[ 0
]
M-signal No. Select item with cursor keys, enter data and press SET key.
==>[0 - 318]
For the screen shown above, signal M21 is output when the robot is waiting for I 5 signal.

Signal attribute
10 Setting of Input function select
Not described here. Refer to Option manual.
Improving the response to the search function is achieved by shortening input

signal processing. This is done by receiving specific input signals on a shorter
cycle(50 ms to 10 ms).
Select one of the following (Not 2 or more).

Conveyor pulse
Analog input 1
Procedures of Setting of preferred input
preferred input] to display the following screen.

Setting of preferred input
0: OFF
1: +1 +4
2: +5 +8
3: +9 +12
4: +13 +16
5: +17 +20
6: +21 +24

over write
z Move the cursor with to select signals to be preferred inputs.

z Select [over write] with after finishing to save the settings as
PF
constants..
Note that I signals are subject to noise, etc.
47
8.12 Signal attribute screens
General output screen

This section explains the contents of the signal attribute setting screens.
[6-1 General outputs] screen

Program ended : R1[116]
Total error : [117]
Emergency stopped : [118]
In teach mode : [121]
Collision happened : R1[122]
Step-set alarm : [124]
Interlock alarm : [125]
Operator error : [126]
Program selected : 1[127] 2[ 0] 3[ 0] 4[ 0]
External reset ack. : [128]
Robot running : R1[131]
Ext.prg.sel enabled : [132]
Ext.start enabled : [133]
Speed reduced : [134]
In playbk mode : [135]

Motors energized : [136]
Robot ready : R1[137]
Home position : 1[138] 2[ 0] 3[ 0] 4[ 0] 5[ 0] 6[ 0] 7[ 0] 8[ 0]
9[ 0] 10[ 0] 11[ 0] 12[ 0] 13[ 0] 14[ 0] 15[ 0] 16[ 0]
Ext.error-out bits : 1[ 0] 2[ 0] 3[ 0] 4[ 0] 5[ 0] 6[ 0] 7[ 0] 8[ 0]
9[ 0] 10[ 0] 11[ 0] 12[ 0] 13[ 0] 14[ 0] 15[ 0] 16[ 0]
Ext. error selector : [ 0]
Ext. error strobe : [ 0]
Prog.echo back bits : 1[ 0] 2[ 0] 3[ 0] 4[ 0] 5[ 0] 6[ 0] 7[ 0] 8[ 0]
: 9[ 0] 10[ 0]
In remote mode : [ 0]
Running in AUTO : R1[ 0]
Holding : R1[ 0]
Machine disabled : [ 0]
Continuous cycles : [ 0]


Single cycle : [ 0]
Single step : [ 0]
Step backward : [ 0]
Current program# : 1[ 0] 2[ 0] 3[ 0] 4[ 0] 5[ 0] 6[ 0] 7[ 0] 8[ 0]
9[ 0] 10[ 0]
Current step# 1 : 1[ 0] 2[ 0] 3[ 0] 4[ 0] 5[ 0] 6[ 0] 7[ 0] 8[ 0]
9[ 0] 10[ 0]
Current step# 2 : 1[ 0] 2[ 0] 3[ 0] 4[ 0] 5[ 0] 6[ 0] 7[ 0] 8[ 0]
9[ 0] 10[ 0]
Current step# 3 : 1[ 0] 2[ 0] 3[ 0] 4[ 0] 5[ 0] 6[ 0] 7[ 0] 8[ 0]
9[ 0] 10[ 0]
Current step# 4 : 1[ 0] 2[ 0] 3[ 0] 4[ 0] 5[ 0] 6[ 0] 7[ 0] 8[ 0]
9[ 0] 10[ 0]
Robot status sig. : 1[ 0] 2[ 0] 3[ 0] 4[ 0] 5[ 0] 6[ 0] 7[ 0] 8[ 0]
On searching : [ 0]

Weld on : [ 0]
Extra home position : 1[ 0] 2[ 0] 3[ 0] 4[ 0]
Sealing gun open : G1[ 0]G2[ 0]
Sealing purge : G1[ 0]G2[ 0]
Sealing dispense : G1[ 0] G2[ 0]
In constant mode : [ 0]
In edit mode : [ 0]
Cnv. Normal : [ 0]
Cnv. Simulation : [ 0]
Cnv. Test : [ 0]
Remote function : [ 0]
Motors on external : [ 0]
Warning output : [ 0]
49
[6-2 Resistance welding outputs] screen
Resistance welding outputs screen
(Refer to Spot Welding Advanced manual)

Resistance welding outputs screen
[7-1 General inputs] screen
Program sel. Bits : 1[ 97] 2[ 98] 3[ 99] 4[100] 5[101]
: 6[102] 7[103] 8[104] 9[ 0] 10[ 0]
Program strobe : R1[113]
Binary/discrete sel : [114]
External reset : [107]
Reduce speed : [116]
FIFO reset : R1[108]
Collision sensor in : R1[106]
Conveyer running : [ 0]
Weld ON/OFF : [118]
Abnormal sig. Reset : [ 0]
Interruption input : [ 0]
Extra home position : 1[ 0] 2[ 0] 3[ 0] 4[ 0]
Seal.On/Off : [ 0]
Seal.unit ready : G1[ 0] G2[ 0]
Select item with cursor keys, enter data and press SET key.
==>[0 - 256]
[7-1 General inputs] screen

Seal.unit error : G1[ 0] G2[ 0]
Seal.material empty : G1[ 0] G2[ 0]
Seal.press. detect : G1[ 0] G2[ 0]
Seal.manual purge : G1[ 0] G2[ 0]
Cnv.normal : [ 0]
Cnv.simulation : [ 0]
Cnv.test : [ 0]
Ext.soft.LS release : [ 0]
Ext. Machine Lock : [ 0]
Remote : 1[ 0] 2[ 0]
Select item with cursor keys, enter data and press SET key.
==>[0 - 256]
51
General input screen
[7-2 Resistance welding inputs] screen
Resistance welding inputs screen

Parameters of General output
Parameters of General Outputs

Designating the General Outputs to M signals is performed using the [1 General Outputs]
screen. Parameters displayed on the screen are listed and explained below.
Parameters of General Output screen
Program ended A [Program end] signal is output as the M-signal
[116] designated between [ ] at the program end during
playback.
Set output duration time using: [Constant setting :
Group1] [32 End relay time]
This is a level signal reset at the program start.
If [Constant setting : Group 2] [49 End signal reset] is
set to <enabled>, the [Program end] signal is reset
when a program No. or a step No. is SET.
Total error A [Total error] signal is output as a designated
[117] M-signal while the [System error lamp] on the
operation panel is ON(lit).
This is a level signal. Reset by pressing Reset key
twice or pressing the Reset key then the SET key.
Emergency stopped An [Emergency stop] signal is output from a
[118] designated M-signal terminal when the [Emergency
stop button] on the operator panel or teach pendant is
actuated, or an [Emergency stop] signal is received
from an External source.
This is a level signal.
In teach mode The M-signal designated between [ ] is output while the
[121] teach mode is selected.
Collision happened The M-signal designated between [ ] is output when the
[122] (Option) collision sensor is activated.
Step-set alarm A 200 ms pulse signal is output as a designated
[124] M-signal when designating a step separated by more
than 2 steps from the present step.
Output method is selected using [Constant setting :
Group 2] [10 Step-set alarm].
53

Interlock alarm The M-signal designated between [ ] is output when
[125] the I signal wait status exceeds the set time.

Time is set using [Constant setting : Group1]
[34 Interlock abn. timer].
This is a level signal.The signal is turned off when
an I signal is released.
Operator error The M-signal designated between [ ] is output
[126] when an operator error occurs.

This is a level signal. The signal is turned off when
the Reset key is pressed twice or the Reset key
and Set key are pressed simultaneously.
Program ack A 200 ms pulse signal is output as a designated
1 [127] M-signal when a program is selected using Ext.

program select. Signal is output when the Strobe
2[ 0]
signal is input or the Start signal is input.
3[ 0]
4[ 0] Program
Strobe signal
Start signal

Program
Ack signal

2~4 are used for multi robot.
External reset ack A 200 ms pulse signal is output as a designated
[128] M-signal when the mode is 1 cycle or Continuous

and also when Ext. reset signal is input.
Robot running The M-signal designated between [ ] is output when the

[131] robot is running and when Step go/back is being used.
Start lamp turns on at the same time.
Ext. prog. sel. The M-signal designated between[ ] is output when

enabled [132] [Condition setting] [3 External program select] is set
to <enabled>
Ext. start enabled The M-signal designated between[ ] is output when
[133] [Condition setting] [2 Ext. start] is <enabled>.
With [Ext. start] <enabled>, [Ext. start] signal and
[Ext. motors on] signal are accepted.


Speed reduced The M-signal designated between[ ] is output when
[134] a reduced speed command is input(with the safety
plug removed), or when [Teach mode] or [Constant
setting mode] is selected.
In playback mode The M-signal designated between[ ] is output while
[135] [Playback mode] is selected.
Motors energized The M-signal designated between[ ] is output while
[136] power is being given to the motors.
Robot ready The M-signal designated between[ ] is output when
[137] the conditions set using [Constant setting : Group 1]
[14 Robot ready signal] [1 Setting of Robot ready
signal] are satisfied.
Zero position The M-signal designated between[ ] is output when
1 [ 138] the robot is in the position set using [Constant
2[ 0] setting : Group 1] [15 Zero position] [1 Setting of
3[ 0] home position]
4[ 0] This is a level signal.
Ext. error-out bits The M-signal designated between[ ] is output by
1[ 0] ~ 16 [ 0] setting [Constant setting : Group 2] [32 Error code
output].
Ext. error selector Refer to Section 9.24 (32) Error code output" in this
[ 0] manual.
Ext. error strobe

[ 0]
Prog. echo back A received program No. is output as designated

bits M-signals when the FIFO function is in use.
1[ 0] ~ 10 [ 0] Functional when [Constant setting : Group 1] [29
FIFO] [Prog. echo back] is <enabled>.
55

In remote mode The M-signal designated between[ ] is output
[ 0] when the following conditions are set.
# [Constant setting : Group 2] [56 Remote function]
is <enabled>
# [Condition setting] [2 Ext. start] is <enabled>
# [Condition setting] [3 Ext. program select] is
<enabled>
Running in auto The M-signal designated between[ ] is output while
[ 0] the robot is running.
Signal is not output when using Step go /back.
Holding The M-signal designated between [ ] is output

[ 0] when the robot is not running and not in Step
go/back mode.
This is essentially the opposite of Running in auto.
Machine disabled The M-signal designated between [ ] is output
[ 0] when [Condition setting] [4 Machine lock] is set
to<enabled>.
Continuous cycles The M-signal designated between [ ] is output
[ 0] when [Continuous] is selected in [Condition
setting].
Signal cycle The M-signal designated between [ ] is output

[ 0] when [1 cycle] is selected in [Condition setting].
Signal step The M-signal designated between [ ] is output

[ 0] when [1 step] is selected in [Condition setting].
Step backward The M-signal designated between [ ] is output while
[ 0] [Step back] is being used in [Teach mode].


Current program # The presently selected program No. is output in
1[ 0] ~ 10 [ 0] binary as M-signals designated between [ ].
Current step #1 The presently selected step No. is output in binary

1[ 0] ~ 10 [ 0] as M-signals designated between [ ].
(Option) as M-signals designated between [ ].
1[ 0] ~ 10 [ 0] This is used for multi robot systems.
Robot Status Signal The M-signal designated between [ ] is output
1[ 0] ~ 8 [ 0] when the conditions set using [Constant setting :
Group 1] [14 Robot ready signal] [2 Setting of
Robot status signals] are satisfied.
On searching Not described here. Refer to Option Manual.
(Option) [ 0]
Weld on Referring to [Constant setting : Group 2] [50 Spot
[ 0] welding ON/OFF] ;
For <signal preferred> setting :
The M-signal designated between [ ] is output
when the [Weld on/off] signal being input.
For <condition preferred> setting:
The M-signal designated between [ ] is output
when [Condition setting] [22 Spot welding sig.
57
output method] is set to <Weld on>.

Extra home position The M-signal designated between [ ] is output
1[ 0] ~ 4 [ 0] when the robot enters an area set using [Constant
setting : Group 1] [15 Zero position] [2 Setting of
extra home position].
Refer to [2.7 Setting of home position] in Spot
Welding Advanced manual, or AR Controller
Operating Manual.
Sealing gun open Not described here
G1 [ 0] G2 [ 0]
Sealing purge Not described here
G1 [ 0] G2 [ 0]
Sealing dispense Not described here
G1 [ 0] G2 [ 0]
In constant mode The M-signal designated between [ ] is output while
[Constant setting mode] is selected.
In edit mode The M-signal designated between [ ] is output while

[ 0] [Edit mode] is selected.
Conv. normal Not described here. Refer to Option manual.
[ 0] (Option)
Conv. simulation Not described here. Refer to Option manual.

[ 0] (Option)
Conv. test Not described here. Refer to Option manual.
[ 0] (Option)
Remote function The M-signal designated between [ ] is output
[ 0] when [Constant setting : Group 2] [56 Remote
function] is set to <enabled>.
Motors on external This is used for multi robot. Not described here.
[ 0] (Option)

59
Parameters of Resistance welding output
Parameters of [6-2 Resistance welding outputs] screen
Parameters of Resistance welding outputs screen

Parameters of General input
Parameters of [7-1 General input] screen

Designating the General inputs to M signals is performed using the [1 General inputs] screen.
Parameters displayed on the screen are listed and explained below.
Parameters of General input screen
Program sel. bits Sets the I-signals used for [Ext. program select].
1 [ 97] 2 [ 98] Programs 1 ~ 10 can be selected using
3 [ 99] 4 [100] [Discrete] signals.
5 [101] 6 [102] Programs 1 ~ 999 can be selected using
7 [103] [Binary].
8 [104] [Binary] and [Discrete] can be set using
9[ 0] [Binary/discrete select] signal.
10 [ 0] Refer to [Cautions for Ext. prog. selection signal]
described later.
Program strobe Sets the I-signals used for [Binary] of [Ext. prog.
[113] select] or [FIFO function].
Refer to [Cautions for Ext. prog. selection signal]
described later.
Binary/ discrete sel. Sets the I-signal used to select a [Binary] or
[114] [Discrete] [Ext. prog. select] input.
[Discrete] is selected when the I-signal is ON.
External reset Designates the I-signal to clear the Step when
[107] signal is input in [1 cycle mode], [Continuous
mode] and also in [Holding].
The same effect can be obtained by pressing
the [Reset key] and [Set key] simultaneously.
Reduced speed Designates the I-signal to execute Playback at a
[116] reduced speed from the next step when the
signal is input during playback.
FIFO reset Designate the I-signal to clear [FIFO register].
[108] Items related to FIFO function are:
# [Constant setting : Group 1] [29 FIFO function]
# [Service] [3 Register] [1 FIFO]
# [Condition setting] [12 FIFO function]
Collision sensor in Not described here. Refer to Option Manual.

[106] (Option)
61

Conveyor running Not described here. Refer to Option Manual.
[0] (Option)
Weld ON/OFF It is possible to turn the weld on/off with this
[ 0] designated I-signal, when[Constant setting :
Group 2] [50 Spot weld on/off] is set to <signal
preferred>, while a [Spot welding function] is
being used. In addition, an output signal is
turned on/off during [Weld on].
In case of [Basic spot welding], this signal
makes it possible to turn an output signal on or
off during [Weld on].
Abnormal sig. reset Designates the I-signal to reset the [Operator
[ 0] error] and [Total error].
Interruption input Not described here. Refer to Option Manual.

(Option)
Extra home position Designates the I-signal used by [Constant
1[ 0] ~ 4 [ 0] setting : Group 1] [15 Home position] [2 Setting
of extra home position].
Refer to Section 8.15 (15) Zero position " in this
manual.
Seal. On/Off [ 0] Not described here.
Seal. unit ready Not described here.

G1 [ 0] G2 [ 0]
Seal. unit error Not described here.
G1 [ 0] G2 [ 0]
Seal.material empty Not described here.
G1 [ 0] G2 [ 0]
Seal. press detect Not described here.
Seal. manual purge Not described here.

G1[ 0] G2 [ 0]


Cnv. normal [ 0] Not described here. Refer to Option Manual.
(Option)
Cnv. simulation Not described here. Refer to Option Manual.
[ 0] (Option)
Cnv. test Designates the I-signal to disable the software
[ 0] (Option) limit.
Ext.soft LS release Designates the I-signal to disable the software
[ 0] limit.
Ext. machine lock Designates the I-signal used to lock the
[ 0] machine.
Remote Designates the I-Signal used to select a
1[ 0] 2 [ 0] mode(Constant setting, Edit, Teach, or
Playback ) using an external signal.
Usable when [Constant setting : Group 2] [56
Remote function] is set to <enabled>.
Refer to Section 9.41(56) Remote function in
this manual.
For more detail on [Program selection bits] and [Program strobe] refer to Spot
Welding Advanced Manual, Section 2.3 Setting of General input/output
signals.
63
Parameters of [7-2 Resistance welding inputs] screen
Parameters of Resistance welding inputs screen

8.13 Serial port
8.13 Serial port

Outline of [Serial port]
The following parameters need to be for serial port setting.
Baud rate Data transfer speed
Character length Bit value per one character data
Stop bit Bit value for data segment
Parity bit Type of parity check
Echo Availability of data echo back
Flow control Type of communication handshake
(Only for port1)
Timeout detect Data wait time for hot save load
Station No. Station No. of RS422
(Only for port3)
Procedure of Serial port
z Select [Constant setting :Group1][13 Serial port] to display the following
screen.

Serial port
Port#1
Baude rate < 19200, 9600, 4800, 2400, 1200, 600>
Character length < 7 , 8>
Stop bit < 1 , 2>
Parity bit < none, odd, even>
Echo <Disabled, Enabled>
Flow control <none, XON/XOFF, RTS/CTS>
Timeout detect [ 0]sec
Data format <type1,type2>
Portable FDD-S <disable,enable>

==> over write
z Select settings with the cursor by pressing ENABLE and

simultaneously.
z Select over write with PF after finishing to save the settings as
constants.
Set the role of the serial port using [Condition setting] [27 Serial port #1for <Transfer,
Printer, Terminal, Save&Load>].
Files can be sent via the serial port to external devices using [Service][10 Printer].
65
8.14 Robot ready signal

Robot ready signals
When a robot is under centralized control it is necessary to know whether it is
safe(OK) to output a [start signal] to the robot or not. The robot controller includes
a function to output a [robot ready signal] when a certain condition is satisfied. This
signal can be used as a condition for the [start signal] on the line side.
When an output signal is assigned to the [robot ready] or [robot status
signals](additional ready signals) on the [setting of output signals]
screen([Constant Setting : group 1 ] [12 signal att.][6 setting of output sign.][1
general outputs]) the output signal must be set to the desired conditions as shown
in this section.
One [robot ready] signal and 8 [robot status signals] are available for use.
Setting of robot status 1

Setting of robot ready signal
z Select [CONSTANT SETTING : Group1].
z Select [14 Robot ready signal] to display the following screen.
Setting of robot status

1 Setting of robot ready signal
2 Setting of robot status signals
Set [1 Setting of robot ready signal] when an M signal is

designated in the (robot ready [ ]) in [Constant setting, Group 1] [12
signal attributes][6 Setting of output signal][1 General output].
Set [2 Setting of robot status signal] when an M signal is
designated in the (Robot status signal[ ] )in [Constant setting, Group
1] [12 signal attributes][6 Setting of output signal][1 General
output]).

z Select [1 Setting of robot ready signal] to display the following screen.
Setting of robot ready signal

0 Motors-ON & playback mode(Single cycle)
1 Motors-ON,,ext.start sel.,ext.pro.mode & playback mode(Single cycle)
2 Motors-ON
3 Motors-ON & in operation
4 Motors-ON,in operation & interlock
5 Motors-ON & playback mode(Single cycle or Single step)
6 Motors-ON & playback mode(continuous)
7 Motors-ON & playback mode
8Ext.start sel.,ext.pro.mode,playback mode(Single cycle)
9 Motors-ON,int.start sel.,ext.pro.mode,playback mode(cont.) & in operation
10 Motors-ON,int.start sel.,ext.pro.mode & playback mode(continuous)
11 Motors-ON,ext.start sel.,ext.pro.mode & playback mode
Current selection[0]
==>[0 - 11]
over write
z Enter the [Condition No.] referring to the Condition No. Table below.
z Select [over write] with
to save the settings.
Condition No. table of [robot ready signal]

Condition # Condition state for ready signal output
Motors ON Playb.mode 1 cycle
Motors ON Playb.mode 1 cycle Ext. Ext .pro. sel
start
Motors ON
Motors ON In operation
Motors ON In operation Interlock
Motors ON Playb.mode 1 cycle/
cont.
Motors ON Playb.mode Continuous
Motors ON Playb.mode
Playb.mode 1 cycle Ext. Ext .pro. sel
start
Motors ON Playb.mode Continuous Int. In operation Ext .pro. sel
start
Motors ON Playb.mode Continuous Int. Ext .pro. sel
start
Motors ON Playb.mode Ext. Ext .pro. sel
start
67
Setting of robot status 2(when additional ready signals are required)

Setting of robot status signals
z Select the [CONSTANT SETTING : Group1].
z Select [14 Robot ready signal] to display the following screen.
Setting of robot status

1 Setting of robot ready signal
2 Setting of robot status signals
z Select [2 Setting of robot status signals] to display the following screen.
Setting of robot status signals

Status signal#[1]
Ext.start selection <Any, Internal, External>
Ext.program selection <Any, Internal, External>
Constant mode <Enabled, Disabled>
Edit mode <Enabled, Disabled>
Teach mode <Enabled, Disabled>
Playback mode <Enabled, Disabled>
1 Step mode <Enabled, Disabled>
1 Cycle mode <Enabled, Disabled>
Cont. Mode <Enabled, Disabled>
Motors status <Any, Energized, De-energized>
Automatic <Any, Running, Holding>
Interlock status <Any, Waiting>
==>
Robot ready cnd# Prev page Next page Status signal# over write

z Select the status of the 12 conditions on the robot status signal screen. When
all conditions are met a [robot status signal], corresponding to [Signal No.]
shown in the upper left corner of the screen, is output.
Signal No. = 1
When all conditions are being
robot status signal [1] ON
satisfied.
Signal No. = 8
When all conditions set on the
robot status signal [8] ON
are being satisfied.
Condition table of [Robot status signal]

Ext. start selection
<any> : [Ext. start] is not included as a condition.
<Any,Internal,External >
<internal>: Condition met when [Ext. start]
<disabled> is set on the [Condition
setting] screen.
<external>: Condition met when [Ext. start]
<enabled> is set on the [Condition
setting] screen.
Ext. program selection

<any> : [Ext. prog sel] is not included as a
< Any,Internal,External>
condition.
<internal>: Condition met when [Ext. prog sel]
<disabled> is set on the [Condition
setting] screen.
<external>: Condition met when [Ext. prog sel]
<enabled> is set on the [Condition
setting] screen.
69
Constant mode
enabled the respective mode is not included as
< Enabled, Disabled >
a condition.
Edit mode
disabled condition met when not in the
Teach mode
respective mode.
Playback mode
1 Step mode
1 Cycle mode
Cont. Mode
Motors status
<any>:[Motors status] is not included as a condition.
< Any, Energized,
De-energized > <energized>: Condition met when motors are
receiving power
<de-energized>: Condition met when motors are not
receiving power
Automatics
<any>: [In operation] is not included as a condition.
< Any,Running,Holding>
<running>: Condition met when start lamp is ON
<holding>: Condition met when start lamp is OFF
Interlock status
<any>: [Interlock] is not included as a condition.
<Any , Waiting >
<waiting>: Condition met when interlock is waiting.

The use of the PF keys for [2 Setting of the robot status signals] screen
Robot ready cnd# * This basically sets the condition status
for a condition # (011), of [1 Setting of
robot ready] screen, as the condition
status for the current [robot status signal]
screen.
* It creates the same condition status
settings as contained on the [1 Setting of
robot ready] screen but using the [2
Setting of robot status signals] screen.
Prev page *This displays the robot status signal
screen for the signal number one less than
the current signal number displayed.
(ie.3 2 1 8)
Robot status signal nos. 1-8 can be set.
Next page * This displays the robot status signal
screen for the signal number one more
than the current signal number displayed.
(ie. 6 7 8 1)
Robot status signal nos. 1-8 can be set.
status signal # * This allows the operator to select a
[robot status signals] screen directly,
without scrolling through the screens.
* It is used to select the [robot status
signals] screens quickly.
* Robot status signal nos. 1-8 can be set.
over write * Saves changes as constants when
selected.
71
8.15 Zero position
8.15 Zero position

Outline of Home(zero) position
In general, it is necessary to confirm that the robot is in home position when
centralized control is used to bring the robot on line. Until now the home position of
a robot has been confirmed by a limit switch, but it is possible to use this function
without the limit switch.
The posture of the robot in home position is registered in the controller as the
[Home position]. When the posture of the robot coincides with the registered
[home position] a [home position signal] is output. In addition, interference
between robots can be avoided by using [Setting of extra home positions].
# Setting of the home(zero) position

A [Home position signal] is output when the robot posture coincides with
the designated specific step of a specific program. Coincidence range of
each axis can be designated with encoder bits.
The [Home position signal] is output in the home position posture when
mains power is ON. It is independent of the mode.
A maximum of 16 [Home positions] can be set.
# Setting of the extra home position
An [Extra home position signal] is output when a sphere, having a
designated radius with the geometrical center of the tool(not tip point) as
the center, coincides with a designated rectangular prism.
When the sphere and rectangular prism coincide in playback the robot
stops in wait status while a designated I signal is ON.
The robot starts motion when the designated I signal turns to OFF.
A maximum of 4 [extra home positions] are usable.
sphere surrounding Tool

designated rectangular
prism

Extra home position
point

8.15 Zero position
Setting of home (zero position)

z Select [Teach mode].
z Create a program including the [home position]. It is not necessary that the
[home position] is Step 1.
z Select [Constant setting : Group1].
z Select [15 Zero position] and press
to display the following
screen.
Home position
1 Setting of home position

2 Setting of extra home position
z Select [1 Setting of home position] and press

to display the
following screen. (This screen is only displayed when controller has multi
robot specifications.)
Constant SettingGroup
Zero position
Zero position Robot No. [ ]
.
.
.
z Set the [Robot No.]
The [Home position] signal is designated using [Constant setting :Group1]

[12 Signal attribute][6 Setting of output signal][1 General outputs] Home
position .
[Home position] signal 1 is set to m138 at time of delivery. All other Home
position signals( 2 - 16) must be set as required at time of installation .
73
8.15 Zero position

after setting the [Robot No.] and to display
the following screen. (This screen is displayed as soon as [1. Setting of home
position] is selected for robots other than Multi robot systems)

Zero position
Zero position 1 robot number 1
Program no.=[ 0] Step no.=[ 1]
Range
S= [ 0]
H= [ 0]
V= [ 0]
R2= [ 0]
B= [ 0]
R1= [ 0]
==>[0 - 999]
Prev Page Next Page over write
z Enter the [Program No.] and [Step No.], of the program created, to be the
[Home position].
z Set the range in [encoder bits ] for each axis. The range set applies for both
the +ve and -ve directions from the home position. Therefore, if 100 is set the
range becomes 200 bits due to 100 bits. Calculation of distances is made by
using 0.1mm/ bit. (This differs slightly depending on the robot type, axis, and
posture.)
z Display another home position screen by selecting [Prev. page] or [Next page]
with
and enter data in the same manner as described above. 1~16
settings can be used for [Home positions].
after finishing all settings to save changes.
Enter zero(0) for the [Program No.] on [zero position] screen to cancel it.
Home position setting is automatically canceled if the program or step set as
the [Home position] is deleted.
If the No. of the step which is set as [Home position] changes due to the
deletion or insertion of another Step the new number of the designated step is
automatically changed on the home position screen.

8.15 Zero position
Setting of extra home position

z Create a program including the [extra home position]. It is not necessary
that the [extra home position] is Step 1.
z Select [CONSTANT SETTING : Group1].
z Select [15 Zero position] and press
to display the following screen.
Home position
1 Setting of home position

2 Setting of extra home position
z Select [2 Setting of extra home position] and press

to display the
following screen. (This screen is only displayed when controller has multi
robot specifications.)
Constant SettingGroup
Extra home position
Extra home position Robot No. [ ]
z Set the [Robot No.].
75
8.15 Zero position

after setting the [Robot No.] and to display
the following screen. (This screen is displayed as soon as [1. Setting of extra
home position] is selected for robots other than Multi robot systems)
Extra home position
Status signal#[1]
Program no.=[ 0 ] Step no.=[ 1]

X[ 0.0]mm Y[ 0.0]mm Z[ 0.0]mm
Input signal check timing <Any,invasion>

==>[0 - 999]
Setting of tool Prev page Next page Status signal# over write
z Enter the [Program No.] and [Step No.], of the program created, to be the
[ Extra Home position].
z Set a rectangular prism area in mm for each axis. The rectangular prism
range is designated by [XYZ lengths] and is positioned with one corner on the
[extra home position]. The setting range is -5000mm ~+5000mm.
sphere surrounding Tool

designated rectangular
prism

Extra home position
point

8.15 Zero position
z Set the [Input signal check]. (See comments section below.)

z Display another screen after setting one screen by selecting [Prev. page] or
[Next page] with
and then enter data as explained above. 1~4
[Extra Home positions] can be set.
[Input signal check]

<Any> The robot adopts a wait status when an input signal turns ON
while the robot is moving to the [Extra Home position] or when
its within the [designated rectangular prism area]. The robot
resumes operation when the input signal goes OFF.
<invasion> The robot adopts a wait status when an input signal turns ON
while the robot is moving to the [Extra Home position],
however does not stop when within the [Designated rect. prism
area]. The robot resumes operation when the input signal turns
OFF.
The [Extra home position] output signal is assigned using Extra home
position in [Constant setting : Group 1] [12 Signal attribute] [6 Setting of
output signal] [1 General outputs].
The [Extra home position] input signal is assigned using Extra home position
in [Constant setting : Group 1] [12 Signal attribute] [7 Setting of input signal]
[1 General inputs].
77
8.15 Zero position
z Select [Tool set] with

to display to display the following screen.
Setting of extra home position tool

TOOL0 Tool radius=[ 0.0]mm
Center X[ 0.0]mm Y[ 115.0]mm Z[ 0.0]mm

==>[0.0 - 2000.0]
over write
z Set the [Tool radius].

z Set the tool [center]. Measurements for XYZ values are made from the
intersection of the [B axis] and [R1 axis] (point A).
Radius of tool sphere
Tool
geometrical
center (X,Y,Z)
after finishing all settings to save the
changes.
Enter zero(0) for the [Program No.] on [extra home position] screen to cancel
it.
Extra home position setting is automatically canceled if the program or step
set as the [Extra home position] is deleted.
If the No. of the step which is set as the [Extra home position] changes due to
the deletion or insertion of another Step, the new number of the designated
step is automatically changed on the extra home position screen.

8.16
8.16
This Constant No. is not used.
79
8.17 Power save function
8.17 Power save function

Outline of [Power save function]
Power save function is to save power consumption while the robot is waiting for
I signal, for example, by shutting down power to motors. A wait time for
starting [Energy saving function] and its <disabled, enabled> are set here.
Procedures for changing [Power save function] constant

z Select [Constant setting : Group 1] [17 Power save function] to display the
following screen.

Power save function
Power save mode = <disabled,enabled>

Waiting time (min) = [0.2]

==>
over write
z Make settings.
z Select [over write] with PF after finishing to save the settings made.

8.18 Gain control
8.18 Gain control

Outline of [Gain control]
The load to be mounted to the robot should be defined in the controller. Make
sure that a correct values are set before using the robot as this setting greatly
influences the life-span of the robot and its motion speed.
Setting procedures of [Gain control]

z Select [Constant setting : Group 1] [18 Gain control] to display the following
screen.

Gain control
Pay load (kg) Wrist inertia rate

T0= [130.0] [1.0]
T1= [130.0] [1.0]
T2= [130.0] [1.0]
T3= [130.0] [1.0]
Pay load on arm [ 0.0](kg)

z Enter the load values.

z Select [over write] with PF after completing all changes to save the
changes as constants.
81
8.18 Gain control
Parameters of Gain control

Parameter Brief Description
Pay load Sets the total pay load to be mounted to the wrist.
This value need not be keyed in(reentered) if [Constant
setting : Group 1] [50 Accel-control by torque] has
been set to either <unbalance, interfere 1, interfere 2 >
(for version R 21.063 and after), or [Service] [42 Auto
tool load center setting] has been used.
* Sets the Wrist inertial rate
Wrist inertia rate = Inertia / Permissible inertia
(Only for SA * Be sure to set this coefficient to protect the reduction
series) gear unit when moment of inertia exceeds the
permissible value.
* Calculate each of 3 wrist axes and use the max.
inertia rate.
* Make settings for each tool.
Payload on arm * Sets the weight of load mounted on arm.
Other * These should remain unchanged from time of
parameters delivery
[Pay load] and [Permissible inertia coefficient for wrist axis] can also be set
using [Constant setting : Group 1] [1 Tool angle and length]. The setting of
Gain control can be made in either way.

8.19 Error logging
8.19 Error logging

Outline of [Error logging]
[Error logging] makes it possible to record Errors that occur in memory various
memory devices.
The contents of the recorded file can be seen using [Service] [7 Error logging].
Setting procedures of [Error logging]

z Select [Constant setting : Group 1] [19 Error logging] to display the following
screen.

Error logging
Logging file = <disabled,CMOS,IC-card>

Number = [50]
Axis data = <disabled,enabled>
I/O data = <disabled,enabled>

==>
over write
z Set the parameters on the screen.

Memory is consumed when Error logging is used so check how much memory
is left using [Service] [1 Directory] after setting this constant.
For example, 3416 bytes of memory is required for a 6-axis robot for 50 times
error records, [Axis data enabled] and [I/O data enabled].
For further details on Error logging refer to Section 6.9 (7) Error logging" of
this manual.
83

Outline of [History of operation]
[History of operations selects the type of memory to be used, if any, for recording
and storing up to 100 operator operations.
The contents of the history file can be seen using [Service] [8 History of operation].
Setting procedures of [History of operation]

z Select [Constant setting : Group 1] [20 History of operation] to display the
following screen.

History of operation
History file = <Tempo.,CMOS,IC-card>

Error data = <disabled,enabled>

==>
over write


Parameters of [History of operation]
<Tempo. >
Data is deleted by turning power off.
<CMOS>
History file Data is recorded in file [ROBOT1.TR0] in
<Tempo., CMOS, the Controller memory. Turning power off
IC card> does not delete File.
<IC card>
Data is recorded in file [ROBOT1.TR0] in
an IC card.
<disabled>
Error data Errors are not recorded.
<disabled, <enabled>
enabled> Errors are included in the recorded data.
85

8.21
These numbers are used for option. Refer to Option manual.


8.22 Shift limit and evaluation value

Outline of [Shift limit and evaluation value]
[Shift limit and evaluation value] limits the amount of shift when performing an
on-line XYZ shift.
Setting procedures of [History of operation]

z Select [Constant setting : Group 1] [ 22 Shift limit and evaluation value ] to
display the following screen.

Shift limit & evaluation value
X shift limit [ 200.0]mm
Y shift limit [ 200.0]mm
Z shift limit [ 200.0]mm
X angle shift limit [ 20.0]deg
Y angle shift limit [ 20.0]deg
Z angle shift limit [ 20.0]deg
Evaluation value [ 2.00]

==>[0 - 9999.9]
over write
z Enter the required shift limits.

z Select [over write] with PF after finishing to save the settings as
constants.
Parameters of [History of operation]

Parameter Brief Description Standard
settings
X shift limit Designates value of shift limit in the X direction 200mm

Y shift limit Designates value of shift limit in the Y direction (0.0
Z shift limit Designates value of shift limit in the Z direction 9999.9)
X angle shift limit Designates. value of angle shift limit in the X direction 20deg
Y angle shift limit Designates. value of angle shift limit in the Y direction (0.0
Z angle shift limit Designates. value of angle shift limit in the Z direction 180.0)
Evaluation value Designates the accuracy of the wrist before and after 5mm
a shift is made. (0.01
A small Evaluation value requires a large amount of 5.00)
computations and the robot may stop momentarily.
87
8.23 Auto constant setting

Outline of [Auto constant setting]
[Auto constant setting] correctly determines [Tool constant: tool (gun) length] and
[0-deg. position] which are the basis for calculation of linear interpolation of the
robot. Constants of [tool constant: tool (gun) length], [0-deg. position], etc. are
created based on a program in which one point is recorded in a number of various
postures.
Operating procedure 1 for [Auto constant setting]

Creating programs
z Attach something like a needle to the tool tip so that the gun squeeze point
location can be clearly seen.
z Select the program No. to be used for [Auto constant setting].
z Record the same point in a number of various postures. Make the robot
postures as different as possible.
z Record more than 4 points if only [Gun :tool (gun) length] is to be automatically
calculated. And record more than 10 points if [Constant: 0-deg. position] is
desired and as well as the [Gun :tool (gun) length]
Operating procedure 2 for [Auto constant setting]
Execution
z Select [Constant setting : Group 1] [23 Auto constant setting] to display the
following screen.

Automatic constant setting
Setting = <const&gun,gun>
Program No. = [0]
Tool No. = [0]
Permissible range = [ 0.0]
Correction for gravity = <off,on>
Pay load = [ 15.0] kg
Load center X = [ 0.0] mm
Load center Y = [ 0.0] mm
Load center Z = [ 0.0] mm
==>
z Select [Execute] with PF after the parameters have been set.

z Select [over write] with after [Execute] is completed to save the
PF
settings as [Constants].

[Auto constant setting] parameters

Parameter Brief Description
<constant & gun>
*Constant for [Constant setting : Group 1]
[2 Axis constant] is determined.
*Constant for [Constant setting : Group 1]
Setting = [1 tool angle and length] is determined.
<constant & gun, <gun>
gun> * Only constant for [Constant setting : Group 1]
[1 tool angle and length] is determined.
Note: For robots with a number of tools(guns),
select <gun> to set tool (gun) #2.
If <constant & gun> is selected, the [axis
constant] is renewed.
Program No. = Sets the program No. Created for [Auto constant
setting].
Sets the tool No. being used.
Tool No. = This corresponds to each tool No. in [Constant
setting : Group 1] [1 Tool angle & length].
Sets the permissible distance the points in the
program used can be from the point the [Automatic
Permissible constant setting] calculates as the Tool tip position.
range = If the points in the program used are beyond the
permissible a WARNING is given on the screen
(however constants calculated are still saved).
Executes [Automatic constant setting] taking into
Correction for account the [Arm deflection] due to [gravity]. With
gravity = <on> set, the following parameters must be set.
<off, on> This is displayed only for the robot provided with the
[Correction for gravity] function.
Pay load = Enters a pay load.
Load center X = Enters the X load center.
Load center Y = Enters the Y load center.
Load center Z = Enters the Z load center.
89
8.24 Spot & stud welding parameter

Outline of [Spot & stud welding parameter]
Sets the parameters for [basic spot welding] and [stud welding].
Setting procedures of [Spot & stud welding parameter]
z
CONSTANT
Select [Constant setting] with SETTING .
z Select [Group 1] with PF .
z And select [24 Spot & stud welding parameters] with and press
SET to display the following screen.

Spot & Stud welding parameter
<gun1> <gun2>
Gun wait delay (sec) [0.00] [0.00]
Robot wait delay (sec) [0.00] [0.00]
Brake wait delay (sec) [0.00] [0.00]
Tip stick detection(sec) [0.00] [0.00]
Reweld times [ 0] [ 0]
Reweld delay (sec) [0.00] [0.00]
Slip detect limit (mm) [ 0] [ 0]
Slip detect times [ 0] [ 0]
Pulse width(sec,0=level) [0.00] [0.00]
Pre. output time of gun [0.00] [0.00]
Weld cond. signal sync. <Disabled, Enabled>
Weld cond. signal type. <Discrete, Binary>
Pre. output time of cnd. [0.00]
W+ common use mode <Disabled, Enabled>
==>[0.0 - 1.0]
z Set parameters referring to Parameters of [Spot & stud welding parameter]

screen described later in this section.
z Select [over write] with PF after changes are all completed to save the
settings as Constants.
The [24 Spot & stud welding parameter] screen is displayed when <step
record> is set in [Constant setting : Group 2] [26 Spot welding function select].

[Spot & stud welding parameter] screen

<gun1> <gun2>
Gun wait delay (sec) [0.00] [0.00]
Robot wait delay (sec) [0.00] [0.00]
Brake wait delay (sec) [0.00] [0.00]
Tip stick detection(sec) [0.00] [0.00]
Reweld times [ 0] [ 0]
Reweld delay (sec) [0.00] [0.00]
Slip detect limit (mm) [ 0] [ 0]
Slip detect times [ 0] [ 0]
Pulse width(sec,0=level) [0.00] [0.00]
Pre. output time of gun [0.00] [0.00]
Weld cond. signal sync. <Disabled, Enabled>
Weld cond. signal type. <Discrete, Binary>
Pre. output time of cnd. [0.00]
W+ common use mode <Disabled, Enabled>
==>[0.0 - 1.0]

W+ OFF check <Disabled, After-WELD, After-GUN>
GUN process interval [0.00]
Pre-output timing < command , encoder >

==>
Settings displayed between [ ] on the screen above are the preset

values at the time of delivery.
91
Parameters of [Spot & stud welding parameter]
Parameter Brief description

Gun wait delay (sec) Sets the time(delay) between the arrival of the robot at
Gun1 a desired step position and outputting the gun signal.
Gun2 It delays the gun signal if it is being output too early.
Time delay permissible : 0.00~1.00 sec
Arrival
Gun signal
Set time delay
Robot wait delay Sets the time delay between receiving the weld finish
(sec) signal (WI) and motion of the robot to the next position.
Gun1 Time delay permissible: 0.00~1.00 sec
Gun2
Start of robot motion

Motion
Set time delay
Brake wait delay The brakes are ON(applied) when pressurizing the gun
(sec)stud weld for stud welding. This parameter compensates for the
Gun1 delay caused by that braking action.
Gun2 The entire weld sequence can be delayed by the delay
in braking action.
Useful in the following situations.
Gun signal is too early relative to brake ON.
Motion to next step is too early relative to brake
OFF.


Tip stick detection This is usable if a stick detection circuit is added.
(sec) Sets the delay from the time between receiving the WI
sig. and motion to the next step.
If [weld stick detection signal] has is detected the [WI
alarm] signal is output and the robot stops.
Reweld times This is to set the number of times a reweld is made

Gun1 before the robot move to the next position. It is
Gun2 effective only if 1 or greater is set. Another Weld signal
is output and a weld is performed again when a weld
complete (WI) signal is not received within the [Reweld
delay] time after weld signal was output.
Number of rewelds : 0~3 times
Reweld delay (sec) This sets the [reweld delay] time.

WARNING 1012 is displayed on the screen and a
welder warning is given if the WI signal has not been
received after all of the rewelds are made.
Delay time : 1.00~5.00 sec
R.W. signal
Gun signal
Welder warning
Reweld delay
Reweld delay
( reweld times = 1 in this example )
Slip detect limit Sets the maximum distance the position data of each
(mm)stud weld axis is allowed to be from the recorded position data.
Gun1 If larger it is treated as error..
Gun2 Area value (length) : 0~50 mm

Slip detect times This sets the number of times a may slip occur before it
Gun1 is treated as an error.
Gun2 Error Count permissible : 0~50 times
93

Pulse width(sec) This sets the time the gun signal is output.
Gun1 0 s set; the output becomes a level signal and is reset
Gun2 when the WI signal is input.
0.01~10.00s set; The output becomes a pulse signal for
the set time period.
Pre. output time of Normally the gun signal is output after the gun gets
gunsec within the points accuracy area. However this
Gun1 parameter sets the gun output signal so that it is
Gun2 triggered before the robot reaches the recorded point.
Pre-output time : 0.00~10.00 sec.
Weld cond. signal <disabled> :The weld condition signal is output as a

sync. normal function. Note the weld condition
<Disabled, Enabled> signal should be output in the step before
weld point.
<enabled>: The weld condition signal is output
synchronized with the gun signal.
Weld cond. signal <discrete>: The weld condition signal is output as a

type. discrete signal.
Discrete, Binary <binary> : The weld condition signal is output as a binary
signal.
Pre. output time of Sets how many seconds earlier the weld condition
cnd.sec signal is output before the weld signal.
Pre-output time : 0.00~10.00 sec.
WI common use When set to <enabled>, one input WI signal is used for
mode all guns. WI designated for Gun 1 becomes the common
Disabled, signal.
Enabled A WI signal is usually set for each gun, i.e. Gun 1 and
Gun 2.


<disabled> : WI check starts 0.2 sec. after gun signal
WI OFF check turns ON, and the robot starts to the next step
<Disabled, if WI is ON. This is the normal setting.
After-WELD, <after weld>: [WI OFF check] moves the robot to next
After-GUN> step after confirming that WI changed from ON
to OFF after the gun signal turned ON.
Weld signal

W+ signal
Robot
movement
Robot starts to move to the next step
<after-GUN>: [WI OFF check] moves the robot to next

step when the WI signal turns ON after
confirming that WI is OFF after the gun signal
turned ON.
Weld signal

W+ signal
Robot
movement
W+ OFF check
Robot starts to move to the next step
GUN process This setting is used when an interval between welds is

interval so short a signal cannot be processed properly. In this
sec case a time period must be forcibly set between the last
finished gun signal and next signal to be started.
Time between signals : 0.00~0.50 sec.
95
Pre-output timing Selects whether the [Pre-output time of gun(sec)] is

<command, based on the Command or Encoder signal. The
encoder > [Encoder] setting is more accurate.
It is indicated only when a motion control board
(UM883, UM884) is mounted.
For software versions R21.063 and after.
Discrete; one signal is output corresponding to a selected weld condition. If
the [weld condition = 6] is selected as in the table shown below, a signal is
output from the output terminal [M17].
Weld cnd.
Related
output
Meaning of [binary]
Binary; a selected weld condition is converted to a binary digit and output.
Take the following setting for example, if [weld condition =6] is selected ([6] is
expressed as (00000110) in binary), a signal is output from the output terminals
[M12] and [M13].
Weld cnd.
Binary

Related output

8.25 f-key setting
8.25 f-key setting

Outline of [f-key setting]
[f1~f5] keys of the Teach pendant can be designated specific functions depending
on purpose required. Setting procedures and possible settings of the [f-keys]are
described in this section.
Procedures of [f-key setting]

z Select [Constant setting : Group 1] [25 f-key setting] to display the following
screen.

Setting of [fkey]s
0 Not assigned 518 Cancel WI-waiting
1 - 318 Output(M) 519 Change stroke
501 Gun2 520 Spot welding condition sel.
502 MX 521 Spot sequence sel.
503 Tool selection 522 Pressure control
504 Current/Voltage 523 MX2
505 Inching/Retract 527 ARC weld on/off
509 Speed+5per 543 Gun3
510 Speed-5per 544 Gun4
511 Add/remove block mark 547 Gun select
512 M-signal out(byte)
513 Spot Weld condition
514 Change speed by time
517 Cancel I-waiting
f1[ 0] f2[ 0] f3[ 0] f4[ 0] f5[ 0]
==>[0 - 547]
over write
z A list of usable functions can be seen by selecting [f-key setting] with PF .

(The list may or may not be displayed depending on system software version.)
z Select [f1[ ]] using the .
z Enter the desired [Function No.] with the numeric keys.
z Select [over write] with PF after all changes are complete.
97
8.25 f-key setting
Possible settings of[ f-keys]
* Outputs the M-signal corresponding to the No. Set

in the f-key
1~318 * [f keys only] : Function M105 is recorded.
Output signal M * [Enable key + f key] : A designated M-signal can
be manually (forcibly) output with
[Enable key + ON], or [Enable key +
OFF key] after [Enable key + f -key]
has been used once.
* [f keys only] : The status of Gun 2 turns ON/OFF.

501 Gun2 * [Enable key + f key] : Gun 2 signal is manually
(forcibly) output.
* [f keys only] : MX status is turned ON/OFF.

502 MX * [Enable key + f key] : MX is manually (forcibly)
output.
* [f keys only] : The Tool is selected in numerical

503 order (0,1,2,3.)
Tool selection * [Enable key + f key] : Not usable
* [f keys only] : Speed of all of the presently

selected programs is increased by
509 5%. If a block marked step exists, the
Speed+5per speed of the adjacent steps is not
changed.
* [Enable key + f key] : Not usable
* [f keys only] : Speed of all of the presently

selected programs is reduced by 5%.
510 If a block marked step exists, the
Speed-5per speed of the adjacent steps is not
changed.
* [Enable key + f key] : Not usable

8.25 f-key setting
* The Block status is controlled. A Block mark is

511 recorded with Block status ON.
Add/remove * [f keys only] : Turns Block status ON/OFF.
block * [Enable key + f key] : Not usable
mark
512 * [f keys only] : M44 function is recorded.
M-signal out * [Enable key + f key] : M byte is output manually
(byte) (forcibly).
* [f keys only] : M33 function is recorded.

513 * [Enable key + f key] : Weld condition is output
Spot weld manually (forcibly).
condition
517 * [f keys only] : I-signal wait status is released.
Cancel I-waiting * [Enable key + f key] : Not usable
518 * [f keys only] : WI-signal wait status is released.

Cancel WI- * [Enable key + f key] : Not usable
waiting
* [f keys only] : Not usable
519 * [Enable key + f key] : Full/half open signal is
Change stroke alternately switched manually
(forcibly).
* [f keys only] : [Weld condition file] No. is selected.

520 Spot welding * [Enable key + f key] : Weld condition set in the
condition sel. [Weld condition file] selected is
manually (forcibly) output.
* [f keys only] : A [Weld sequence file] No. is

521 Spot selected.
sequence sel. * [Enable key + f key] : Not usable
522 * [f keys only] : Not usable

Pressure control * [Enable key + f key] : A [Press. control signal] is
99
8.25 f-key setting
manually (forcibly) output.
540 Manual Not described here.

seal gun1
541 Manual Not described here.
seal gun2
Sealing ON/OFF Not described here.

8.25 f-key setting
8.26
These numbers are used for options. Refer to Option Manual.
101
8.27 FIFO function
8.27 FIFO function

Outline of [FIFO function]
[Type] and [Program No. echo back] of [FIFO function] are to be set here.
FIFO stands for First In First Out, that is, an item entered first goes out first.
This concept is used for program selection. It is convenient to use this concept
in case that there exists an interval between the program selection device and
the robot.
The example below shows work pieces are flowing in order of A, B, C, D and E
on the conveyor. Program number is input in the FIFO register in the same
order as the above. The robot plays back the program in order of A, B, C, D
and E.

FIFO register
Setting procedures of [FIFO function]

z Select [Constant setting : Group 1] [29 FIFO function] to display the following
screen.

FIFO function
FIFO type = <type1,type2>

Program no. echo = <disabled,enabled>

==>
over write

Constants.

8.27 FIFO function
Parameters of [FIFO function]
<type 1>
* 60 FIFO registers are available.
* If the number of input programs exceed 60
an error is displayed.
* Confirm the contents of FIFO registers and
FIFO type modify them, if required, using [Service]
<type 1, type 2> [3 Register] [1 FIFO].
<type 2>
* Only one FIFO register is available.
* Once the program is registered, this
program is played back until it is modified.
* Contents of FIFO registers cannot be either
displayed or edited.
Program echo back <disabled>
<disabled, * Program echo back is not used.
enabled> <enabled>
* Program echo back can be used.
* Set output using [Constant setting mode :
Group 1] [12 Signal attribute]
[6 Setting of I/O signals].
103
8.27 FIFO function
Program echo back Timing chart
Program select
signalinput
Program strobe
input
Program echo back

output
Program acknowledge
output
approx. 0.2 s
greater than approx. 0.1 s greater than approx. 0.2 s greater than approx. 0.1 s
Input the Program strobe signal more than 0.1 second after the Program selection
signal stabilizes
# Items relating to FIFO function

[Constant setting : Group 1] [12 Signal attribute] [6 Setting of I/O signals]
[1 General outputs] [Prog. echo bit] [Program ack]
[Constant setting : Group 1] [12 Signal attribute] [7 Setting of Input signals]
[1 General inputs] [Prog. select bit] [Program strobe] [Binary/discrete].
[Condition setting] [12 FIFO function]
[R 15] [FIFO function]
[Constant setting : Group 1] [32 End relay time(etc.)

8.28 Original position return

Outline of [Original position return]
The robot arm may be lowered a little due to its own weight if the motors-on
status is shut down, by [Emergency stop] for example. The arm returns to its
original position automatically after restoring power when this function is used.
In addition, a warning or error can be issued if the difference between the
position at motors off and on is large. This parameter is used to prevent
interference with peripheral equipment due to careless starts.
Setting procedures of [Original position return]

z Select [Constant setting : Group 1] [30 Original position return] to display the
following screen.

Original position return
Original position return = <OFF,ON>

Return limit (mm) =[ 30]
Error limit (mm) = [ 2000]

==>
over write

z Select [over write] with PF after changes are made to save the settings
as constants.
105
Parameters of [Original position return]
<disabled>
Original position [Original position return] function is not used.
return function <enabled>
<disabled, enabled> [Original position return] function is usable
* If the difference in position between motors on
and off is within the [Return limit] the robot
Return limit (mm) returns to its original position. However if the
difference exceeds the limit the robot will not
return to the original position and issue a
warning.
* The setting is 30 mm at the time of delivery.
* If the difference in position between motors on
and off exceeds the [Error limit], an Error is
Error limit (mm) issued. The robot will not move until step setting
is made.
* The setting is 2000 mm at the time of
delivery.

8.29 Stationary tool setting
8.29 Stationary tool setting

Outline of [Stationary tool setting]
[Stationary tool setting] defines the position of the stationary tool tip.
In normal robot use the robot rotates about the tool tip position. When using a
stationary tool however, the work-piece rotates about the Stationary tool tip point.
The robot moves the work-piece in a linear fashion between two taught points.
When using a stationary tool set <S-tool> and designate the tool No. in [Condition
setting] [14 Base of interpolation] for manual axis key operation.
For stationary tool use in playback and Step-go/back, define the stationary tool No.
using the function M67(Select stationary tool).
Setting procedures of [Stationary tool setting]
z Select [Constant setting : Group1] [31 Stationary tool setting] to display the
following screen.

Stationary tool position
Stationary tool0
X0[ 0.0]mm Y0[ 0.0]mm
Z0[ 0.0]mm
Stationary tool1
X1[ 0.0]mm Y1[ 0.0]mm
Z1[ 0.0]mm
Stationary tool2
X2[ 0.0]mm Y2[ 0.0]mm
Z2[ 0.0]mm
Stationary tool3
X3[ 0.0]mm Y3[ 0.0]mm
Z3[ 0.0]mm

==>[-5000.0 - 5000.0] over write
z Enter the desired settings.

z Select [Over write] with PF after finishing to save the settings.
Parameters of [Stationary tool setting]
Stationary tool ## Designates the Tool No. (0 - 3)
X[ ] The Stationary tool tip position is defined in robot
Y[ ]
Z[ ] coordinates.

Work-piece
i
Robot coordinate
Stationary tool

107
8.30 End relay time (etc.)
8.30 End relay time (etc.)

Outline of [End relay time (etc.)]
This parameter sets the output time of the [Program end signal] and [Program
acknowledge signal].
[Program end signal] is a signal output at a program end.
[Program acknowledge (ack) signal] is a signal to show that the robot received
a program number using [Ext. program select].
Setting procedures of [End relay time (etc.)]

z Select [Constant setting : Group1] [32 End relay time (etc.)] to display the
following screen.

End relay time (etc.)
End relay time [0.0]sec
Program acknowledge time [0.2]sec

==>[0.0 - 10.0]
over write

constants.
The minimum time for a [Program end signal] and also the minimum time
period to start the next program is set.
The [Program end signal] is output on as a level signal until the next start is
activated.

8.31 FDD auto loading

Outline of [FDD auto loading]
When a program does not exist in the controller internal memory the controller
reads(or copies) automatically from the Floppy Disk Drive.
[FDD auto loading] is used when the controller internal memory is insufficient .
Setting procedures of [FDD auto loading]

z Select [Constant setting : Group1] [33 FDD auto loading] to display the
following screen.

FDD auto loading
Auto loading = <disabled,enabled>

The number of FDD = [0]
Treatment of CMOS memory = [0]
Deleted program No. (lower) = [ 0]
Deleted program No. (upper) = [ 0]

==> over write
z Enter the setting as desired.

constants.
109
Parameters of [FDD auto loading]
Auto loading = Auto loading is either <disabled or enabled> by this parameter.

<disabled,enabled>
The number of FDD Designates the FDD the controller will search for.
= [0]
Treatment of CMOS Define the treatment of the CMOS memory.
memory [0] Auto delete is not performed(robot stops, no auto loading)
= [0] [1] When insufficient space is available, all programs are deleted.
[2] When insufficient space is available, specified programs are
deleted
[3] When insufficient space is available, unspecified programs are
deleted.
[4] All programs are deleted regardless of the space remaining.
[5] In playback, programs are read directly from Floppy disk. No
loading is done to the CMOS.
Deleted program Specifies the lower program No. of the group of programs to be deleted.
No. (lower)
=[ 0]
Deleted program Specifies the upper program No. of the group of programs to be
No. (upper) deleted.
= [100]
The programs below are not automatically deleted.

Program with Memory protect.
Programs that are the source of a program call.
Programs that do not exist in the designated FDD.
Programs with identical program numbers (multi robot systems)

8.32 Interlock timer
8.32 Interlock timer

Outline of [Interlock timer]
The Interlock error signal is output(if enabled) when the I-signal wait time
exceeds the designated time when in a wait status during playback.
Setting procedures of [Interlock timer]

z Select [Constant setting : Group 1] [34 Interlock timer] to display the following
screen.

Interlock abn. timer
[ 60]sec

==>[0 - 255]
over write

constants.
Set [Interlock timer] using [Constant setting : Group 1] [12 Signal attribute]
[6 Setting of output signal] [1 General outputs].
Signal is turned off at the time of an interlock release.
111
8.33
8.33
This Constant No. is an option. Refer to Option manual.

8.34 Cycle time keeper

Outline of [Cycle time keeper]
It is possible to have a cycle time from a certain program step to a certain
program step measured and the result shown on the monitor screen.
Setting procedures of [Cycle time keeper]

z Select [Constant setting : Group 1] [42 Cycle time keeper] to display the
following screen.

Cycle timekeeper
No. Prog. Step Prog. Step
1 [ 0] [ 0] -> [ 0] [ 0]
2 [ 0] [ 0] -> [ 0] [ 0]
3 [ 0] [ 0] -> [ 0] [ 0]
4 [ 0] [ 0] -> [ 0] [ 0]
5 [ 0] [ 0] -> [ 0] [ 0]
6 [ 0] [ 0] -> [ 0] [ 0]

==>[0 - 999]
over write

constants.
Maximum time measurable is 9999.99 sec. (in units of 1/100 sec). The gun
time and I-signal wait time rate is also displayed.
113
Display on the monitor screen

z Select [Service] [16 Monitor] [28 Cycle time monitor] to display the following
screen.
12:06:40 ** Teach ** Coord0 ROBOT1
Program=010EX
AmpReleased
Step= 0 Speed 30.00 Interp.off Acc.0 Tool0
Cnd.No. Prog Step Prog Step Time(sec) Gun(%) I(%) Status

1 10 1 11 5 10.33 0 0 measure
2 100 10 100 25 9.87 5 10 complete
3 1 1 2 10 25.12 0 20 stop
4 --- --- --- --- ---.-- --- --- -----
5 --- --- --- --- ---.-- --- --- -----
6 --- --- --- --- ---.-- --- --- -----
OK
==>
Service I release WI release Condition
Description of display contents
Time(sec) Time measurement is displayed in real time during

cycle measurement.
Gun (%) The Gun ON time /measured time is displayed
as a %.
I (%) The I-signal wait time / measured time is displayed as
a %.
Checking This shows that measurement is under way.
Completed This shows that measurement is complete.
Interrupt This shows that measurement is suspended due to a
stop, etc. before completing measurement to the
designated step.

8.35
8.35
This constant No. is an option. Refer to Option manual.
115
#EEGNEQPVTQND[VQTSWG
8.36 Accel-control by torque

Outline of [Accel-control by torque] constant
Designated values have been pre-set. They can only be checked with this constant and cannot
be changed.
Any one of <disabled, unbalance, interfere1, interfere2> has been set.
8.37
These Constant No. are options. Refer to Option manual.

2C[NQCFCPFNQCFEGPVGT
8.38 Pay load and load center

Outline of [Pay load and load center]
[Pay load], [load center] and [inertia] are registered when a load such as a spot
weld transformer is mounted on the robot swivel axis. These parameters only
apply to machines in which [Interference 2] is set using [Constant setting :
Group1] [50 Acc-control by torque].
Setting [Pay load and load center] ensures proper acceleration /deceleration
control by determining the correct inertia of a swivel axis. The life span of a
reduction gear unit may be shortened considerably if this setting is neglected. It
is possible to register up to 2 loads, but no problems exist if there is only one
load.
Setting procedures of [Pay load and load center]

Select [Constant setting : Group 1] [63 Pay load and load center] to display the
following screen.
Pay load and Load center

Swing base Swing base
pay load1 pay load2
Load center X [ 0.0] [ 0.0]
Load center Y [ 0.0] [ 0.0]
Load center Z [ 0.0] [ 0.0]
Weight [ 0.0] [ 0.0]
Self inertia [ 0.0] [ 0.0]

==>[-9999.9 - 9999.9]
over write

constants.
Parameters of [Pay load and load center]
Position X, Y, Z * Sets the load center in the robot coordinate
system with a swivel base attached.
Weight * Sets the pay load with a swivel base attached.
Self-inertia * Sets the value of Self-inertia.
117
2C[NQCFCPFNQCFEGPVGT
Example of self-inertia calculation
mass
mass

self-inertia self-inertia

5CHGV[URGGFEQPVTQN
8.39 Safety speed control

Outline of [Safety speed control] For software versions R 21.077and after
[Safety speed control] defines the way the speed is limited to a safe level when the
safety plug(on the safety fence) is disconnected.
<type 1>; Each axis is limited to a speed that produces the set safety speed (usually
250mm/s) when the robot is in a posture of greatest reach (extension). Because the
limited speed on each axis does not alter, the motion is very slow when the tool tip is
moving close to the robot base.
<type 2>; The set safety speed limit is maintained irrespective of the position of the
tool tip. The slow motion phenomenon of <type 1> is not experienced.
When using <type 2> enter a value for Tool rotate radius in [Constant setting :
Group 1] [1 Tool constant].
CAUTION
Operators must be made very familiar with [Safety speed control] when changing from <type 1>
to <type 2> or both types exist in your factory. Robot in a line should be set to the same type.
Manual axis key operation can result in injury due to unfamiliar speed changes.
Setting procedures of [Safety speed control]

Select [Constant setting : Group 1] [72 Safety speed control] to display the
following screen.
** CONSTANT SETTING (Group 1)**

Safety speed control

Safety speed control < type 1, type 2 >

constants.
119
5CHGV[URGGFEQPVTQN
Parameters of [Safety speed control]

Safety speed control <type 1> Axis speeds producing the set safety
< type 1, type 2 > speed, when in maximum reach, are the axis
safety speed limits, irrespective of tool tip
position. Slow speeds in close to the robot
base are experienced.
<type 2>The tool tip can reach speeds up to the set
safety speed irrespective of tool tip position.
Slow speed The slow motion phenomenon of
<type 1> is not experienced.
Switching from <type1> to <type 2> affects the speed in (1)Manual axis-key
operation, (2)Step Go/Step Back, and (3)Reduced(%) speed playback.

Ext. prog. sel. enabled 8-53

Ext. start enabled 8-53
Abnormal sig. reset 8-60 External reset 8-59
Accel-control by torque 8-114 External reset ack 8-53
Accuracy 8-19 Extra home position 8-57, 8-60, 8-70
Arm interference angle 8-12

Auto angle set 8-7
Auto constant setting 8-86 FDD auto loading 8-107
Axis constant 8-8 FIFO function 8-100
FIFO reset 8-59

f-key setting 8-95
B-axis dead zone 8-18 Format 8-25

Binary/ discrete sel. 8-59

Brake wait delay 8-90
Gain control 8-79

General input screen parameters 8-59
Constant file 8-25 General input signals 8-50, 8-59
Continuous cycles 8-55 General output signals 8-52

Current program # 8-56 General output signals 8-47
Current step #1 8-56 Gun mode 8-25
Cycle time keeper 8-111 GUN process interval 8-93

Gun wait delay 8-90

Delay signal 8-33
Delay signal 8-35 History of operation 8-82
Holding 8-55

Home position 8-70
Emergency stopped 8-52

Encoder correction 8-14
End relay time (etc.) 8-106 I signal logic 8-31
Error logging 8-81 In constant mode 8-57
Ext. error selector 8-54 In edit mode 8-57
Ext. error strobe 8-54 In playback mode 8-54
Ext. error-out bits 8-54 In remote mode 8-55

Ext. machine lock 8-61 In teach mode 8-52
121

Input signal setting 8-40 Program ended 8-52
Interlock alarm 8-53 Program sel. bits 8-59
Interlock timer 8-109 Program strobe 8-59

Pulse signal 8-33, 8-34

Pulse width 8-92
Load center 8-5

Reduced speed 8-59
M signal logic 8-32 Remote 8-61
Machine disabled 8-55 Remote function 8-57
Motors energized 8-54 Resistance(spot) welding inputs 8-51, 8-62
Motors on external 8-57 Resistance(spot) welding output signals 8-58
Resistance(spot) welding outputs 8-49

Resistance(spot) welding signal 8-37
Negative logic 8-31, 8-32 Reweld delay 8-91
Reweld times 8-91

Robot ready 8-54
Operator error 8-53 Robot ready signal 8-64
Original position return 8-103 Robot running 8-53
Output signal setting 8-36 Robot status signal 8-66

Robot Status Signal 8-56

Robot wait delay 8-90
Pay load 8-80 Running in auto 8-55
Pay load and load center 8-115

Payload on arm 8-80
Positive logic 8-31, 8-32 Safety speed control 8-117
Power save function 8-78 Self-inertia 8-115
Pre. output time of cnd. 8-92 Serial port 8-63
Pre. output time of gun 8-92 Shift limit and evaluation value 8-85
Preferred input setting 8-46 Signal attribute 8-28
Pre-output timing 8-94 Signal cycle 8-55
Previous output setting 8-43 Signal step 8-55
Prog. echo back 8-54 Slip detect limit 8-91
Program ack 8-53 Slip detect times 8-91
Program acknowledge signal 8-106 Software limit 8-10
Program echo back 8-102 Speed 8-24
Program end signal 8-106 Speed reduced 8-54

Spot & stud welding parameters 8-88, 8-89, 8-90
Stationary tool setting 8-105
Waiting signal setting 8-45
Step backward 8-55
Weld cond. signal sync 8-92
Step-set alarm 8-52
Weld cond. signal type 8-92
Swivel base 8-115
Weld on 8-56
Weld ON/OFF 8-60
WI common use mode 8-92

Tip stick detection 8-91
WI OFF check 8-93
Tool angle and length 8-3
Wrist inertia rate 8-6, 8-80
Tool constant 8-3
Tool pay load 8-6

Tool rotating radius 8-6
Zero position 8-54, 8-70
Total error 8-52
123
9. Constant Setting:
Group 2
This chapter explains the contents of the Constant setting : Group 2 screen
Contents
9.1 Constant Setting : Group 2 screen 9-3
9.2 Program display method 9-5
9.3 Display posi. data in step 9-5
9.4 Function record method 9-6
9.5 Step go /back w/func9-6
9.6 Ignore T/P errors9-7
9.7 Power detection9-7
9.8 Program selection method 9-8
9.9 Unit module9-8
9.10 IC-card playback9-9
9.11 Step set alarm method 9-9
9.12 Max speed regulation 9-10
9.13 M signals at step 0 9-10
9.14 On-line shift at step 0 9-11
9.15 9-11
9.16 Floppy disc type 9-12
9.17 9-12
9.18 Change coordinates 9-13
9.19 9-13
9.20 Spot welding selection9-14
9.21 9-14
9.22 AM compatible function 9-15
9.23 9-15
9.24 Error code output 9-16
9.25 9-19
9.26 WI/I release w/ENABLE 9-19
9.27 Teach mode output9-20
9.28 9-20
9.29 Advanced I-sign. check9-21
9.30 Shift cancel9-21
9.31 9-22
9.32 Singularity point9-22
9.33 9-22
9.34 Safety-plug error9-23
9.35 End signal reset 9-23
9.36 Spot weld on/off 9-23
9.37 9-24
9.38 Printer message select9-24
9.39 9-24

9.40 I/O name display 9-25
9.41 Remote function 9-25
9.42 Directory number (Dir. num.) 9-26
9.43 Memory card 2 format 9-26
9.44 9-26
9.45 Tool vector interpolation 9-27
9.46 9-27
9.47 Current posi. on MC-LOCK 9-27
9.48 9-28
9.49 Execution of Jump function when step go 9-28
9.50 9-29
9.51 External program select 9-29
9.52 9-29
9.53 Mode selection 9-30
9.54 9-30
9.55 Select of accuracy num. 9-31
Numbers shown between ( ) are entry numbers on the Constant Group 2 screen.
2
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9.1 Constant Setting : Group 2 screen

The [Constant setting : Group 2] screen is shown below.
[Constant setting : Group 2] - screen 1
1 Program display method=< type1, type2 >

2 Display posi. data in step=< off, on >
3 Function record method=< type1, type2 >
4 Step go/back w/func=< disabled, enabled, I-enabled >
5 Ignore T/P errors=< disabled, enabled >
6 Power detection=< disabled, enabled >
7 Program selectiion method=< type1, type2>
8 Unit module=< mm, inch >
9 IC-card playback=< disabled, enabled >
10 Step set alarm method=< type1, type2 >
11 Max speed regulation=< disabled, enabled >
12 M signals at step 0=< unlatched, latched >
13 On-line shift at step 0=< unlatched, latched >
15 Floppy disk type=< 640K, 1.2M, 720K, 1.44M >
18 Change coordinates < disabled, enabled >
==>
Prev Page Next Page group1 group2
Signifies setting at time of delivery.
z [Constant setting : Group 2] screen above is displayed by selecting [Constant

setting mode] and displaying [Group 2] with [PF key].
Move the cursor with arrow keys and ENABLE simultaneously to change
parameter settings. Up and Down arrow keys are used to select the
parameter.
Use PF keys to select [Next page] or [Previous page] to display constant
setting entries of higher, or lower, numbers.
Other entries, not displayed here, appearing on the screen are options.
Optional constant entries do not appear in this manual.
Other [Constant] menu entries that are options may appear on the [Constant
DO NOT screen] at the time of delivery. Do not alter settings of these unless they have
been explained. Refer to Option manual, or a related manual for those service
entries not explained in this manual.

9 Constant Setting : Group 2
%QPUVCPV5GVVKPI)TQWRUETGGP
26 Spot welding selection=< step, function >

30 AM compatible function=< disabled, enabled >
32 Error code output=< none, M-type1, M-type2, serial >
40 WI/I release w/ ENABLE=< disabled, enabled >
41 Teach mode output =< Teach, Teach/const >
43 Advanced I-sign. check=< disabled, enabled >
44 Shift cancel=< disabled, enabled >
46 Singularity point =< ignor, interp. off,error >
48 Safety-plug error=< system error, operator error >
49 End signal reset=< disabled, enabled >
50 Spot weld on/off=< cond-setting, signal >
53 Printer message select< English, Japanese >
55 I/O name disp =< disabled, enabled >
56 Remote function=< disabled, enabled >
57 Dir. num.=< 272, 512, 1024 >
==>
58 Memory card2 format=< type1, type2 >

64 Tool vector interpolation=< type1, type2 >
67 Current posi. on MC-LOCK =< Com., Enc. >
76 Excution of Jump function when step go =< No cond., Operator Selectable >
89 External program sel.=< enabled, disabled >
100 Mode selection =< Operation-panel, T/P >
121 Select of accuracy num. =< 4, 8>

==>
Signifies setting at time of delivery.
4
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&KURNC[RQUKFCVCKPUVGR
9.2 Program display method

Outline of [Program display method]
This selects the method by which a program is displayed. Either normal type or
robot language type screen display can be used.
<type 1> Program is displayed by normal method.

<type 2> Program is displayed by robot language method.
9.3 Display posi. data in step

Outline of [Display posi. data in step]
Encoder data recorded for each step can be either displayed or not displayed.
<off> Encoder data for each step is not displayed.

<on> Encoder data for each step is displayed.
5
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9.4 Function record method

Outline of [Function record method]
One of the two types of Function recording(modification) methods in [Teach mode]
can be selected.
<type 1> This method is usually used. Guide messages at

the bottom of the screen ask for each function
parameter to be input in turn.
<type 2> All of the parameters are displayed on the
screen when a function No. is designated. The
cursor is then used to move to each parameter
and the parameters are input with the numeric
keys between [ ].
For operation with < type 2 > follow guide messages.
9.5 Step go /back w/func

Outline of [Step go /back w/func]
Functions can either be executed or not executed when Step go/back is used. Refer
to [Constant setting: Group 2] [76 Execution of jump function when step go] in the
case jump call functions are used.
<disabled> Functions are not executed when Step

go/back is used.
<enabled> All functions are executed when Step Go is
used. Only I-functions are executed when
Step back is used.
<I-enabled> Only I-functions are executed when Step
go/back is used.
The [M119 :Spot welding function] is always executed irrespective of the

setting of [Step go /back w/function].
I-functions I1 ~ I25 are only enabled when performing step back, other
I-functions are disabled.
6
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9.6 Ignore T/P errors

Outline of [Ignore T/P errors]
Usually an error is given when the teach pendant is removed however playback
is possible with the teach pendant removed by using [Ignore T/P errors].
<disabled> E116 T/P connect error occurs if Teach pendant is

disconnected.
<enabled> Playback is possible even if Teach pendant is
disconnected.
Be sure to set [Constant setting mode : Group 2] [6 Power detection] to

<enabled> when using [Ignore T/P errors]. If not, the robot cannot be used
when power is turned on again.
When using [Ignore T/P errors], it is necessary to short circuit pin 14 and
pin15 of the teach pendant connector.
This capacity can not be used with teach pendant type (ROP500).
9.7 Power detection

Outline of [Power detection]
[Power detection] stores the status when power is off so that it is possible to remain
in that status when power is on again.
<disabled> Power detection becomes <disabled>.

<enabled> Power detection becomes <enabled>.
7
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9.8 Program selection method

Outline of [Program selection method]
There are two methods for selecting programs via an external signal. Either with or
without a program strobe.
A strobe signal tells the controller when to read the program No. being externally
input. Without the use of the program strobe, the program No. is read when the
external start signal is received
<type 1> [Ext. Program Select signal] is read when the

[Program strobe] signal is input.
<type 2> [Ext. Program Select signal] is read when the
external [Start] signal is input.
Program strobe signal terminal needs to be
short-circuited.
Settings related to External selection of programs.

[Condition setting] [3 External program select] <disabled, enabled>
[Constant setting : Group 1] [12 Signal attribute] [7 Setting of input
signals] [1 General input](Program sel. Bits ; Program strobe ;&
Binary/discrete sel)
For details of External program selection refer to Spot Welding Advanced
manual, section 2.3 Setting of General input/output signals.
9.9 Unit module

Outline of [Unit module]
[Unit module] switches the speed unit displayed from (mm/sec) to (inch/min) and
vice versa.
mm Displayed in mm /sec
inch Displayed in inch /min
8
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9.10 IC-card playback

Outline of [IC-card playback]
When the Controller internal memory is not sufficient external memory units (IC
cards) can be used. [IC card playback] can enable the controller to directly play
back a program recorded in an IC card.
<disabled> Only programs recorded in the Controller

internal memory can be played back.
<enabled> Programs recorded in both the Controller internal
memory and an IC card can be played back.
9.11 Step set alarm method

Outline of [Step set alarm method]
To prevent mishandling or danger the controller outputs a signal when a step is
designated to move the robot to a step position two steps away from the
current(displayed) step.
Parameters of [Step set alarm method]
type 1 A 200 msec pulse signal is output when designating a step

separated by more than 2 steps from the present step in [1
step mode] in [Teach mode].
type 2 A 200 msec pulse M signal is output in [Teach
mode] or [Playback] mode when:
* designating a step separated more than
2 steps from the present step
* designating a step other than step 0 in another program
* reentering the same program with the designated step 2 or
more steps away.
Set M signal using [Constant setting : Group 1] [12 Signal attribute] [6 Setting
of output signal] [1 General outputs] ( Step set alarm).
9
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9.12 Max speed regulation

Outline of [Max speed regulation]
This is set to <enabled> at the time of delivery. Do not change this setting.
9.13 M signals at step 0

Outline of [M signal at step 0]
M-signals can either be reset or not reset at the beginning of a program. Normally M
signals are reset at the start of a program
<unlatched> M-signals are reset at the beginning of a program.

<latched> M-signals are not reset at the beginning of a
program.
10
1PNKPGUJKHVCVUVGR
9.14 On-line shift at step 0

Outline of [On-line shift at step 0]
The Shift register can be either reset or not reset at the beginning of a program.
<unlatched> [Shift register] is reset at the beginning of

a program.
<latched> [Shift register] is not reset at the beginning
of a program.
9.15
This number is either not used or are optional. Refer to Option manual..
11
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9.16 Floppy disc type

Outline of [Floppy disc type]
This makes the disk drive compatible with the format on the floppy disk being used .
Select one of the following <640K, 1.2M, 720K, 1.44M>
9.17
These numbers are either not used or are optional. Refer to Option manual.
12
%JCPIGEQQTFKPCVGU
9.18 Change coordinates

Outline of [Change coordinates]
The [Coordinate system] and [Interpolation] keys can operate independently or the
setting of the [Interpolation] key can automatically set the Coordinate system as
2 .% follows :
Interpolation [off](P) Coordinate system [Axis](J)
INTER-
POLATION Interpolation [on](L) Coordinate system [Linear](L)
Interpolation [circ](C) Coordinate system [Linear](L)
<disabled> The Interpolation and Coordinate system

,.6
keys operate independently.
COORDI-
NATE
SYSTEM <enabled> Interpolation key automatically selects the
Coordinate system key setting.
9.19
13
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9.20 Spot welding selection

Outline of [Spot welding selection]
Two methods exist for handling a spot welding command, the first, Step record
(basic) spot welding, performs basic spot welding tasks and the second, Function
record spot welding, is used to perform more complex welding.
[Spot welding selection] allows the selection of either of these two methods of
handling weld tasks, <step> or <function>.
step Used for basic spot welding.

Method used in Spot welding Primary
manual.
function Used for the spot welding function
method.
Described in Spot welding Advanced
manual.
Note : When a servo gun is designated as an auxiliary axis this constant setting is invalid
and therefore not shown.
Spot welding <step> uses [Constant setting : Group 1][24 Spot and stud welding
parameter] to define general welding conditions.
Spot welding <function> uses [Service menu][29 Spot welding data] to define
welding conditions for each point.
9.21
14
#/EQORCVKDNGHWPEVKQP
9.22 AM compatible function

Outline of [AM compatible function]
[AM compatible function] selects the method the GUN status and MX status are
altered.
disabled GUN status & status are changed

using GUN key & key (f-key)
respectively.
enabled GUN status & status are changed
using ENABLE key simultaneously with
the GUN key & MX key (f-key)
respectively.
9.23
15
'TTQTEQFGQWVRWV
9.24 Error code output

Outline of [Error code output]
Error code that occurs in the robot controller can be output to an external unit.
Three methods are available: one(serial) is output via serial data communication
and the others(M-types) through discrete output signals.
Outline of [M-type 1]
Selecting [M-type 1] uses designated M signals to output a 16 bit error code
signal from the controller using two 8 bit output signals one after the other.
Signal used ; [Error output bits], [Error output state]& [Error output Strobe].
Set the M signals through [Constant setting : Group1], [12 Signal attribute ],
[6 Setting of output signals], [1 General output signals].
[Error output state] is used to indicate lower data state or upper data state bit
data. [Error output Strobe] is used to indicate when to read the bit data signal.
The timing chart for the error output signal when Error 0506 occurs is shown
below.
Timing chart for [M-type 1] output signal when Error 0506 occurs
lower data upper data

Error output bits

Error output state
Error output Strobe
100ms 200ms 50ms 100ms 200ms 100ms
16
'TTQTEQFGQWVRWV
Outline of [M-type 2]
Selecting [M-type 2] uses designated M signals to output an error code signal
from the controller once as a 16-bit data output signal.
Signals used ; [Error output bits], [Total error], [Operator error].
Set the output M signals using [Constant setting : Group1], [12 Signal
attribute], [6 Setting of output signals], [1 General output signals].
The [Operator error] signal is used as an indicator for an [Operator error]. The
[Total error] signal is used as an indicator for a [System error].
Timing chart for [M-type 2] output signal when Error 506 occurs

Error output bits

Operator error
Total error
Outline of [Serial]
Error No. is output in ASCII code from RS232C-1.
Format
1st bite $
2nd ~ 6th byte ERROR
th
7 byte Space (20 H)
8th byte :
th
9 byte Robot No. 1 ~ 4. Normally 1
th
10 byte :
11th ~ 14th byte Error No. XXXX
th
15 byte Carriage return (0DH)
16th byte Line feed (0AH)
17
'TTQTEQFGQWVRWV
Parameter table
Parameters of [32 Error code output]
Error code output <none>:
noneM-type1 Error codes are not output.
M-type2serial < M-type1>:
Error codes are converted to 16 bit binary split in
two and output once as lower 8 bit data
and once as upper 8 bit data.
< M-type 2>:
Error codes are converted to binary and are
output as lower 16-bit data.
<serial>:
Error code is output using serial Communication
from RS232C-1.
Details are not given here.
18
9++TGNGCUGY'0#$.'
9.25
9.26 WI/I release w/ENABLE

Outline of [WI/I release w/ENABLE]
[WI release] and [I release] using [PF key] can be executed either with or without
simultaneously pressing the ENABLE key.
<disabled> [PF key] is used without simultaneously

pressing the ENABLE key.
<enabled> The ENABLE key needs to be
simultaneously pressed with [PF key].
19
6GCEJOQFGQWVRWV
9.27 Teach mode output

Outline of [Teach mode output]
[Teach mode output] controls when the [In teach mode] signal is output.
Designate M-signal to be the [In teach mode] signal using [Constant setting : Group
1] [12 Signal attribute] [6 Setting of output signal] [1 General outputs].
<Teach> Signal is output when [Teach mode] is

selected.
<Teach/ constant> Signal is output when [Teach mode] or
[Constant setting mode] is selected.
9.28
20
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5JKHVECPEGN
9.29 Advanced I-sign. check

Outline of [Advanced I-sign. check]
[Advanced I-sign. check] makes it possible to start processing I signals, or functions
containing an input(I) condition, prior to reaching the recorded point position of the
step in which they are recorded. This reduces the cycle time.
<disabled> Processing starts after reaching the point position

of a step containing functions regarding I signals.
Speed reduces once the robot reaches this
recorded point position.
<enabled> Processing starts before reaching the point
position of a step containing functions regarding
I signals. The robot moves to the next point
without reducing the speed if I-signal has been
input.
If <enabled> is selected the path of motion(locus) may change in playback. In
CAUTION
addition the cycle time may also change.
When changing this setting check the program and check whether the cycle time is
acceptable.
9.30 Shift cancel

Outline of [Shift cancel]
Accurate positional correction([Constant setting : Group 1] [23 Auto constant
setting]) is not normally possible if it is done during a [shift] with the robot stopped.
[Shift cancel] temporarily cancels a [shift] so that positional correction can be
performed precisely.
<disabled> Since the position the robot is presently located

includes shift data, the recorded position cannot be
corrected accurately.
<enabled> The position can be corrected accurately by
subtracting the shift data from the present robot
location when the current position is recorded.
21
5KPIWNCTKV[RQKPV
9.31
9.32 Singularity point

Outline of [Singularity point]
Linear motion may not be executed correctly when Arm-1(rotating about the V-axis)
and Arm-2(rotating about the H-axis) are positioned in a straight line or the wrist axis
moves through the line of the S-axis(ie. Directly above the robot base). [Singularity
point] selects the action to be taken under such circumstances.
<ignore> Playback is executed forcibly with no additional

action.
<interp. off> Warning is displayed during playback and operation
is performed with interpolation off between 2 points.
<error> An Error is displayed during playback and the robot
stops.
9.33
22
5CHGV[RNWIGTTQT
'PFUKIPCNTGUGV 5RQVYGNFQPQHH
9.34 Safety-plug error
Outline of [Safety-plug error]
Because of the combination of the [safety plug] and [Key switch] an emergency stop
status is adopted by the robot system. [Safety-plug error] dictates whether a
system error or anoperator error is output for the controller.
Designate M-signals to be the [Total error] & [Operator error] signals using
[Constant setting : Group 1] [12 Signal attribute] [6 Setting of output signal]
[1 General outputs].
system error A system error is output.

operator error An operator error is output.
9.35 End signal reset

Outline of [End signal reset]
[End signal reset] controls whether the [Program end] signal is reset or not reset
when a program or step number is Set.
disabled The [Program end] signal is not reset

when a program or step number is Set.
enabled The [Program end] signal is reset when a
program or step number is Set.
9.36 Spot weld on/off

Outline of [Spot weld on/off]
The [Weld ON] output signal, designated in [Constant setting : Group 1] [12 Signal
attribute] [6 Setting of output signal] [1 General outputs], can be controlled by one of
two methods. See the table below.
cond-setting When a Spot welding function is being

used and [Condition setting] [22 Output
for spot weld<weld, squeeze, none>]is
set to <weld>, then the [Weld ON] signal
is output.
signal When the [Weld ON/OFF] input signal,
designated by [Constant : Group 1] [12
Signal attribute] [7 Setting of input signal]
[1 General inputs], is ON then the [Weld
ON] signal is output.
23
2TKPVGTOGUUCIGUGNGEV
9.37
9.38 Printer message select

Outline of [Printer message select]
Either [Japanese] or [English] can be output to the printer.
<English> Outputs <English> to the printer.

<Japanese> Outputs <Japanese> to the printer.
9.39
24
+1PCOGFKURNC[
4GOQVGHWPEVKQP
9.40 I/O name display

Outline of [I/O name display]
[I/O name display] displays the I/O name on the screen during playback when a
function, in which the I/O name is registered, is executed.
<disabled> Registered names are not displayed.

<enabled> Registered names are displayed.
9.41 Remote function

Outline of [Remote function]
[Remote function] is used to nominate [Mode selection], or [Conveyor mode
selection(option)], from either the operation panel push buttons or with a signal from
an external source.
Designate M-signals to be the [Remote] signal using [Constant setting : Group 1] [12
Signal attribute] [7 Setting of input signal] [1 General outputs].
<disabled> [Mode selection] is performed with the push

buttons on the operation panel.
<enabled> [Mode selection] is made using a signal from
external source.
[R337] can be used to perform the same constant setting.
Constant Edit Teach Playback

setting mode mode
25
&KTGEVQT[PWODGT
&KTPWO
/GOQT[ECTFHQTOCV
9.42 Directory number (Dir. num.)

Outline of [Dir. num.]
272 directories exits for software versions older than (R14).
The number of directories can be increased for versions R14 and later.
Execute memory formatting after changing the number of directories, otherwise the
number of directories remains unchanged.
[Dir. num.] is valid only when the CPU board UM870 is installed.
<272, 512, 1024> Number of desired directories.
Files cannot be read if the software version is switched to an older version

than R14 after setting the number of directory to 512 or 1024.
9.43 Memory card 2 format

Outline of [Memory card 2 format.]
[Memory card 2 format.] selects between the two types of memory chips existing
on the control memory boards.
The type of card used depends on the type of printed circuit board installed.
<type 1> Selected to use UM850 board type. This is

an old board type.
< type 2> Selected to use UM870 board type. This
is a newer board type.
9.44
26
6QQNXGEVQTKPVGTRQNCVKQP
%WTTGPVRQUKQP/%.1%-
9.45 Tool vector interpolation

Outline of [Tool vector interpolation]
[Tool vector interpolation] designates the calculation method of [Linear interpolation]
during playback.
type 1 Calculation is made based on the robot

tool flange. Tool direction control may be
slightly inaccurate during playback.
type 2 Calculation is made based on the robot
tool tip. Tool direction is accurately
controlled during playback.
9.46
9.47 Current posi. on MC-LOCK

Outline of [Current posi. on MC-LOCK]
This selects whether the current value, displayed on the screen when in
[Machine lock], is the command position value(given by the program being
executed) or the encoder value(given by the stable encoders). Since the [Home
position] is based on the current value, [Home position] output is affected when
<command value> is used.
<Command value> The command value is displayed as the

current value.
<Encoder data> The value given by the encoders on the
stationary robot are displayed as the
current position. Values do not change.
27
'ZGEWVKQPQH,WORHWPEVKQPYJGPUVGRIQ
9.48
9.49 Execution of Jump function when step go

Outline of [Execution of Jump function when step go]
The condition of setting [Constant setting : Group 2] [4 Step go/back w/func] to
<enabled> is further enhanced by [Execution of Jump function when step go].
Related functions shown below.
M20 Step jump(no condition) M80 Program call(no condition)

M21 Step call(no condition) M81 Program call(I cond.)
M22 Step return(no condition) M82 Program call(Freq.cond.)
M23 Step jump(I.cond.) M83 Program jump(no condition)
M24 Step call(I.cond.) M84 Program jump(I cond.)
M25 Step return(I.cond.) M85 Program jump(freq.cond.)
M26 Step jump(freq.cond.) M86 Function case jump(freq.cond.)
M27 Step call(freq.cond.) M87 Function case jump(I cond.)
M28 Step return(freq.cond.) M88 Function case jump end
M62 Step jump with function(no cond.) M102 Relative program call(no condition)
M63 Step jump with function(I.cond) M103 Relative program call(I cond.)
M64 Step jump with function(Freq.cond) M104 Relative program call(Freq.cond.)
<no condition> Jump call functions are all executed.

<operator selectable> The operator is informed every time a
jump call function is executed.
28
'ZVGTPCNRTQITCOUGNGEV
9.50
9.51 External program select

Outline of [External program select]
When [Condition] [3 External Program select] is set to <enabled>it is possible
programs can either be selected or not be selected in [teach] mode.
enabled When [Condition] [3 External Program select] is

<enabled>programs can be selected from an
external source in teach mode.
disabled When [Condition] [3 External Program select] is
<enabled> programs can not be selected from
an external source in teach mode.
9.52
29
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9.53 Mode selection

Outline of [Mode selection]
[Mode selection] determines whether the modes( Teach mode, Playback mode,
etc.) are selected from either the push buttons on the operation panel or the Teach
pendant.
<operation panel> Modes are selected using the push buttons of

the operation panel.
<T/P> Modes are selected using the Teach pendant.
Press the [Next menu] key once the [Mode selection] has been set to <T/P>
to display the modes(Constant, Edit, Teach, and Playback) at the bottom of
the display screen.
To select a mode, simultaneously press ENABLE key and PF key below the
mode to be selected,.
9.54
30
5GNGEVQHCEEWTCE[PWO
9.55 Select of accuracy num.

Outline of [Select of accuracy num.]
For Software versions R21.069 and after
The number of levels of Accuracy can be set at 4 or 8.
Refer to [Constant setting : Group 1] [9 Accuracy]
<4> 4 Accuracy levels(A0,A1,A2,A3) exist for

use. This is the usual setting.
<8> 8 Accuracy levels(A0 to A7) exist for use.
When 8 levels of accuracy are being used, press ENABLE and the accuracy
key simultaneously to use the upper four accuracy levels(A4, A5, A6,& A7) and
to change back to the lower four levels(A0 to A3). When the upper four levels
are being used the LED for the accuracy key blinks. The Accuracy level No. is
shown on the screen.
31
Mode selection 9-30

Advanced I-sign. check 9-21
AM compatible function 9-15 On-line shift at step 0 9-11

Change coordinates 9-13 Power detection 9-7
Current posi. on MC-LOCK 9-27 Printer message select 9-24
Program display method 9-5

Program selection method 9-8
Directory number(Dir, num.) 9-26

Display posi. data in step 9-5
Remote function 9-25

End signal reset 9-23
Error code output 9-16 Safety-plug error 9-23
Execution of Jump function when step go 9-28 Select of accuracy num. 9-31
External program select 9-29 Shift cancel 9-21
Singularity point 9-22

Spot weld on/off 9-23
Floppy disc type 9-12 Spot welding selection 9-14
Function record method 9-14 Step go /back w/function 9-6
Function record method 9-6 Step record method 9-14

I/O name display 9-25 Teach mode output 9-20
IC card playback 9-9 Tool vector interpolation 9-27
Ignore T/P errors 9-7

Unit module 9-8
M signal at step 0 9-10

M signal reset 9-10
Max speed regulation 9-10 WI/I release w/ENABLE 9-19
Memory card 2 format 9-26
32

33
11. Reference Table
This chapter contains reference data.
Contents
11.1 Operation-Setting-Viewing 11-2
11.2 Edition update history 11-7
1
1RGTCVKQP5GVVKPI8KGYKPI
11.1 Operation-Setting-Viewing
No. Task Performed by
Constant setting :
Constant setting :
Edit mode
Condition
R code
Group 1
Group 2
Service
C
D
B
F
A A : 1 Tool constant
1 Register a Tool
A : 2 Axis constant
2 Establish 0position
A : 3 Software limit
3 Set software limit
A : 4 Arm interference angle
4 Set arm interference angle
A : 5 Encoder correction
5 Correct encoder
A : 8 B-axis dead zone
6 Set B-axis dead zone
A : 9 Accuracy
7 Accuracy key settings
A : 10 Speed
8 Speed key settings
A : 11 Format
9 Format internal memory
A : 12 Signal attribute
10 Designate I/O signals and
set signal attributes
A: 13 Serial port
11 Designate Serial ports D: 27 Serial port#1 for< ... >
A: 14 Robot ready signal
12 Set robot ready signal A: 12 Signal attribute
A: 15 Zero position
13 Set zero position A: 12 Signal attribute
A: 17 Power save function
14 Enable power save
function
C : 6 Stop logging
15 Enable history of Stops
A: 19 Error logging
16 Enable history of Errors C: 7 Error Logging
A: 20 History of operation
17 Enable history of operation C: 8 History of operation
A: 23 Auto constant setting
18 Set the tool constants A: 1 Tool constant
A: 2 Axis constant
(Automatically)
A : 11 Format
19 Setting of spot welding A : 12 Signal attribute
A : 24 Spot & Stud welding
parameters parameter
B : 26 Spot welding selection
A : 11 Format
20 Spot welding A : 12 Signal attribute
A : 24 Spot & Stud welding
parameter
B : 26 Spot welding selection
C : 17 Slip counter
A : 25 f-key setting
21 Set the f-key
2
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Constant setting :
Constant setting :
Edit mode
Condition
R code
Group 1
Group 2
Service
C
D
B
F
A
A: 29 FIFO function
22 Enabling FIFO A: 12 Signal attribute
C: 3 Register setting
D: 12 FIFO function
E: R15 FIFO selection
A: 30 Original position return
23 Set original position return
A: 31 Stationary tool setting
24 Use a stationary tool D: 14 Base of interpolation
A: 32 End relay time (etc.)
25 Set program END signal A: 12 Signal attribute
A: 34 Interlock Timer
26 Set interlock timer signal A: 12 Signal attribute
A: 42 Cycle timekeeper
27 Check the cycle and work C: 4 Work time display
C: 16 Monitor
times
E: R19 Name of file in the floppy
A: 63 Pay Load and Load center
28 Designate pay load and
load center
A : 71 High speed interference
29 detection
B : 1 Program display method
30 Select method of display
B : 2 Display posi. data in step
31 View the encoder data at
each step point position.
B : 3 Function record method
32 Change the method of
recording functions
B : 4 Step go/back w/func
33 Define function execution
during Step go/back
B : 5 Ignore T/P errors
34 Remove teach pendant
B : 6 Power detection
35 Store data before power
failure
A: 12 Signal attribute
36 Select a program from an B: 7 Program selection method
B: 89 External program sel.
external source.
D: 3 External Program select
E: R6 External prog. selection
B: 8 Unit module
37 Measurement - inch or mm
B : 9 IC-card playback
38 Playback from IC card
B : 10 Step set alarm method
39 Use step set alarm
B : 12 M signals at step 0
40 Reset M-signals at the
beginning of a program.
B : 13 On-line shift at step 0
41 Reset an on-line shift
register at the beginning of
a program .
3
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Constant setting :
Constant setting :
Edit mode
Condition
R code
Group 1
Group 2
Service
C
D
B
F
A
B : 15 Floppy disk type
42 Define the type of floppy
disk being used
B : 18 Change coordinates
43 Alter use of Interpolation
and Coord. system. keys
A: 12 Signal attribute
44 Output an error code signal A: 13 Serial port
B: 32 Error code output
D: 27 Serial port#1 for< ... >
B: 40 WI/I release w/ ENABLE
45 WI/I (PF key) use with
ENABLE key.
B : 41 Teach mode output
46 Control [teach mode] signal
B : 43 Advanced I-sign. check
47 Check I-sig. in advance
B : 44 Shift cancel
48 Temporarily cancel a shift
B : 46 Singularity point
49 Handle peculiar positions
B : 53 Printer message select
50 Print Japanese or English
B : 55 I/O name disp
51 Display I/O being used F : 16 I/O Name
during playback
52 Alter method of Mode B : 56 Remote function
E : R337 Remote function
selection
B : 57 Dir. num.
53 Change No. of directories
B : 64 Tool vector interpolation
54 Designate method of tool
linear interp. in playback
B : 67 Current posi. on
55 Check program with no MC-LOCK
D : 4 Machine lock
robot motion. E : R123 Machine lock
B : 76 Execution of Jump
56 Jump action using Step go. function when step go
B : 100 Mode selection
57 Use teach pedant to select
modes.
C : 1 Directory
58 Display the contents of a C : 2 Program first data display
E : R17 Name of file in the
directory. memory
E : R19 Name of file in the floppy
E : R107 First data display
E : R108 Name of file in the
IC-CARD
F : 1 Directory
4
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Constant setting :
Constant setting :
Edit mode
Condition
R code
Group 1
Group 2
Service
C
D
B
F
A
C : 3 Register setting
59 Check or change a register E : R18 Frequency condition
register disp.
C : 11 System environment
60 Display software version (version etc.)
E : R286 Software version
display
C : 12 Setting of date
61 Set the date and/or time
C : 13 Modify record condition
62 Globally alter recorded E : R136 Modify acc. in step data
E : R137 Modify MX in step data
step data E : R138 Modify GUN in step
data
C : 14 Modify record position
63 Alter recorded step data
C : 15 Modify record speed
64 Alter recorded step data
C : 16 Monitor
65 Display various monitors E : R245 Monitor mode selection
C : 18 Failure observation
66 Predict failure and wear
C : 28 User coordinate set
67 Use [user coordinates] D : 21 User coordinate #
D : 1 Playback mode
68 Change playback method
D : 2 External start
69 Start playback from an E : R 5 External start selection
212 pin
external source
D : 2 External start
70 Turn motors on from an E : R 5 External start selection
terminal
external source
D : 9 Playback speed rate
71 Alter playback speed E : R49 Variable speed setting
D : 13 Speed record type
72 Alter the auto recorded E : R71 Recorded speed
definition
speeds
D : 20 Curve interpolation
73 Select Circular or Spline
recording on Interp. key
D : 23 Step go/back max. speed
74 Set the max. speed in Step rate
go/ Step back.

D : 32 Display type
75 Magnify display screen x 2
E : R 0 Reset step counter
76 Reset the step counter
E : R1 Function delete
77 Delete a function
E : R2 Function added
78 Add a function
E : R3 Function modified
79 Replace a function
E : R4 Function individual edit
80 Modify function parameters
5
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Constant setting :
Constant setting :
Edit mode
Condition
R code
Group 1
Group 2
Service
C
D
B
F
A
E : R29 Selection of tool No.
81 Alter method of tool select.
E : R115 Program copy
82 Copy a program F : 2 Copy
E : R116 Program number
83 Change a program No. change
E : R117 Program delete
84 Delete a program F : 3 Delete
A : 25 f-key setting
85 Manually output spot weld E : R204 Manual output of weld
condition
signal (<Step> record
E : R269 Memory protect setting
86 Protect programs F : 4 Protect
E : R 310 Manual output of M
87 Manually output M-byte byte signal
signal
C : 29 Spot welding data
88 Alter a spot welding file E : R334 Spot condition file edit
screen
Select a spot weld Gun E : R315 Spot-gun selection
89
(spot welding function)
90 Output a signal early 8 Previous output
6
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11.2'FKVKQPWRFCVGJKUVQT[
11.2 Edition update history

Updates indicating software versions are recently added controller features. Updates indicating
no software versions are additions of existing controller features.
Edition # # Previous information Sect. # Updated information

to edition
1st to 2nd 1 none 2-28. M57 (Hot edit disable) description added.
2 none 2-35. M67 (Select stationary tool) description added.

3 none 2-53. M101 (Strings output) description added.
4 none 2-63. M163 (Elbow system configuration(above))
description added.
5 none 2-64. M164 (Elbow system configuration(below))

description added.
6 none 2-65. M165 (Wrist system configuration(flip))
description added.
7 none 2-66. M166 (Wrist system configuration(nonflip))
description added.
8 none 2-68. M233 (Acceleration override) description added.
Software version R022 and after.
7 none 6-11. [Service][9 Hot edit] description added.
10 none 6-12. [Service][10 Printer] description added.
11 SA Fast series 6-20. [Service][18 Failure observation] info addition.
cannot use Software version R022-085 and after. SA Fast
[18 Failure observation] series.
12 SA Fast series 6-26. [Service][42 Auto tool load center setting] info
cannot use addition.
[42 Auto tool load center Software version R022-096 and after. SC Fast
setting] series.
13 none 10-4. Ext. Motors ON signal. Timing and error resetting.
14 none 10-4. Output signal timing.
15 none 11-2 Edition update history section added
7
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11.2'FKVKQPWRFCVGJKUVQT[
8
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Second edition

The following Manuals listed are all the

System software version:

Load center, Weight, and Self inertia of Swing base loads in

NACHI ROBOTIC SYSTEMS INC.

Copy by NACHI-FUJIKOSHI CORP.

There is author's rights of this book on NACHI-FUJIKOSHI CORP.

1.1 USING THIS DOCUMENT 1-2

A. Using this document

[Spot Welding Advanced manual] :

[AR Controller Reference manual] :

This symbol indicates a key.

This symbol illustrates a key to be pressed.

This symbol illustrates a Key Switch.

or switch being explained/used.

being explained/used on the Teach Pendant.

This symbol depicts the arrow keys.

z Throughout the manual the following symbols are used.

z this indicates the robot be actually operated.

signifies a comment or an explanation.

necessary to read this section.

2.1 M0 M Signal Reset(18) 2-3

2.1 M0 M Signal Reset(18)

Parameters of [ M Signal reset(18)] function

When an M-signal is assigned to a special signal, eg. Home position, MX,

2.2 M1M8 M Signals ON/OFF

Parameters of [ M Signals ON/OFF ] function

When an M-signal is assigned to a special signal, eg. Home position, MX,

2.4 M10 M Signal reset(1118)

Parameters of [ M Signal reset(1118)] function

When an M-signal is assigned to a special signal, eg. Home position, MX,

2.5 M11M18 M Signal ON/OFF

Parameters of [ M Signal ON/OFF ] function

When an M-signal is assigned to a special signal, eg. Home position, MX,

2.7 M20 Step jump ( no condition )

Example of [Step jump ( no condition )] function

Parameters of [Step jump ( no condition )] function

2.8 M21 Step Call ( no condition )

Step Call ( no condition )

Step return (no condition)

Parameters of [Step Call ( no condition )] function

A call can be made within a call(multiple call) 8 times.

2.9 M22 Step Return ( no condition )

Example of [Step return ( no condition )] function

Step Call ( no condition )

Step return (no condition)

Parameters of [Step return ( no condition )] function

2.10 M23 Step jump ( I. condition )

This function makes a jump to a designated step if a condition is met.

Example of [Step jump ( I. condition )] function

Parameters of [Step jump ( I. condition )] function

For parameter details refer to the table below.

2.11 M24 Step Call ( I. condition )

Example of [Step Call ( I. condition)] function

Step Call ( +. condition)

Parameters of [Step Call ( I. condition )] function

For parameter details refer to the table below.

2.12 M25 Step Return ( I. Condition )

Example of [Step return( I. condition )] function

Step call(no condition)

Step return( I condition)

Whenever a [call] function is executed a [return] function must also be used. An

Parameters of [Step return ( I. condition )] function