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EQUIPMENT OPERATION MANUAL
Loctite S440 Series SCARA Robots
Book 1 of 4: Basic Concepts
A Company
Basic Concepts i
Never do this.
Be sure to unplug the power cord from the wall outlet.
Do not disassemble, modify or repair.
Indicates obligation.
indicates the content of the safety measures you should take.
General Caution
FOR SAFE USE
Safety Notes
Read the following Warnings and Cautions thoroughly for the safe use of the SCARA Robot. Keep them in mind during use in order to prevent injuries and damage to property.
Be sure to heed the following Warnings and Cautions faithfully.
Various symbols are used to indicate the matters to be attended to. Please read the following explanations to understand what each symbol means.
Symbols for the Degree of Damage and Danger The following symbols indicate the degree of damage and danger which may result if you neglect the safety notes.
The Warnings are mainly concerned with incorrect and dangerous uses which could lead to serious damage, such as death or serious injuries. The Cautions are mainly concerned with improper operation which could lead to minor damage, such as injuries or damage to properties.
Symbols for the Content of the Danger and Preventive Measures The following symbols indicate the types of the safety measures you should take.
Indicates prohibition.
Warnings
Do not touch.
Be sure to follow these directions.
Be sure to check grounding.
Cautions
Basic Concepts ii
Warnings
FOR SAFE USE continued from the previous page
Be sure to check grounding. Improper grounding can cause electric shocks or fire.
Be sure to use power in the range indicated on the unit . Otherwise electric shocks or fire may ensue.
Plug the power cord into the wall outlet firmly. Otherwise the input can become hot and may lead to fire. Make sure that the power plug is clean.
Be sure to unplug the power cord from the wall outlet when you examine or grease the machine. Otherwise electric shocks or fire may ensue.
Stop operation and unplug immediately whenever you sense any abnormalities, such as pungent odor. Immediately contact the dealer from which you purchased the product. If you continue operation, electric shock, fire or malfunction may ensue.
Install the product in a place which can endure the weight and running conditions. If the machine falls down or turns over due to improper installation, injuries or defects may ensue.
Be sure to prepare protective measures such as an area sensor or enclosure to avoid injury when you install the product. Entering the robot’s work range during operation could lead to injury.
Do not attempt to disassemble or modify the machine. Disassembly or modification could lead to electric shocks, fire or malfunction.
Use the machine indoors where no flammable gas nor corrosive gas is present. Emission and accumulation of corrosive gas could lead to fire.
Basic Concepts iii
Cautions
Warnings
FOR SAFE USE continued from the previous page
Be sure to unplug the power cord from the wall outlet if the robot will be left unused for a long time. Otherwise gathered dust could lead to fire.
Be sure to use power in the proper range. Otherwise fire or malfunction may ensue.
When you use an extension cord, keep it off from water or oil. Otherwise electric shocks or fire may ensue.
Be sure to check grounding. Improper grounding could lead to malfunction or defects.
Use the SCARA Robot in an environment of 0 to 40 degrees centigrade and humidity of 20 to 95 percent without condensation.Otherwise malfunction may ensue.
Use the machine where no electric noise is present. Otherwise malfunction or defects may ensue.
Use the machine where it is not exposed to direct sunlight. Otherwise malfunction or defects may ensue.
Be sure to confirm that the tools such as an electric screwdriver unit, etc. are connected properly. Otherwise injuries or defects may ensue.
Check the mounting screws regularly so that they are always firmly tightened.Loosened screws may lead to injuries or defects.
Basic Concepts iv
CautionsFOR SAFE USE continued from the previous page
Be sure to confirm the wiring to the main unit. Improper wiring may lead to malfunctions or defects.
Be sure to secure the movable parts of the robot before transportation. Otherwise injuries or defects may ensue.
Do not bump or jar the machine while it is being transported or installed.Otherwise defects may ensue.
Basic Concepts v
PREFACE
The Loctite SCARA Robot S440 Series is a new type of robot with high performance for
low cost. We succeeded in reducing the price while maintaining its functionality. Energy
and space saving is made possible through the combined use of stepping motors and
special micro step driving circuits.
This manual describes basic operation of the S440 Series.
In addition to this Basic Concepts section, there are Quick Start, Functions and
Specifications sections. Also refer to them in actual operation of the machine.
Basic Concepts
Information necessary for basic operation of the robot, including safety information and part names.
Be sure to read it. QuickStart
Describes how to operate the SCARA Robot S440 Series by making and running a simple program.
Functions Gives various examples of applications and explains the functions and operations necessary to perform them.
Specifications Gives complete specifications for the SCARA Robot S440 Series, including dimensions, weight, and I/O specifications.
Please be sure to follow the procedures described in this manual. Proper use of the robot
will ensure fine and precise production for a reasonably long time.
BE SURE TO MAKE A PROPER GROUNDING WHEN YOU INSTALL THE ROBOT.
Note: The product may be modified without prior notification, so there may be
discrepancies between your SCARA Robot and the product described in this
manual.
Program data stored in the robot will only be maintained for about 72 hours when the power is turned off. Therefore, you should save the data to a flash memory card, which can keep the data indefinitely. The data in a memory card can be used as backup data in case of a breakdown, power failure, etc. Be sure to save your data in a memory card after any addition or modification to the taught data. Please refer to “Saving Backup Data” on p. A-22 of the Functions section.
Basic Concepts
CONTENTS
BASIC CONCEPTS
For Safe Use........................................................................................................... i Preface ................................................................................................................... v Contents ................................................................................................................. vi
Part Names............................................................................................................. 1 Body............................................................................................................. 1 Back View .................................................................................................... 1 Teaching Pendant........................................................................................ 2 Operation Box.............................................................................................. 2 Teaching Pendant Keys .............................................................................. 3
Composition of Equipment ..................................................................................... 4
Installation............................................................................................................... 5 Transportation.............................................................................................. 6 Mounting a Dispenser (Example of the Three-Axis Model)......................... 8 Wiring and Piping......................................................................................... 9
Coordinate System................................................................................................. 10
PTP Movement and CP Movement ....................................................................... 11 PTP Movement............................................................................................ 11 CP Movement .............................................................................................. 11
Basic Concepts
Teaching Data ........................................................................................................ 12 What is Teaching? ....................................................................................... 12 Types of Teaching Data............................................................................... 12 Programs ........................................................................................... 12 Program Data......................................................................... 13 Point Data .............................................................................. 18 Point Job Data ................................................................................... 21 Additional Function Data ................................................................... 21 Sequencer Programs ........................................................................ 22 System Data ...................................................................................... 22 Saving the Taught Data............................................................................... 23 Relationship Between Teaching Data ......................................................... 24
Basic Key Operations............................................................................................. 25 Base Condition............................................................................................. 25 Key Functions .............................................................................................. 26 Selection Notes............................................................................................ 28 Entering Numeric Values............................................................................. 30 Entering a Position....................................................................................... 32 Using the Function Switch Key.......................................................... 33 Jog Mode........................................................................................... 34 MDI (Manual Data Input) Mode......................................................... 37 Direct Mode ....................................................................................... 40 Entering Names ........................................................................................... 42
Basic Concepts 1
PART NAMES
Body
Air nipples, tool connector
(Z unit)
Z base
J1 arm
J2 arm
Base
Back View
Power outlets
Safety guard (I/O-S)
connector
Air nipples
Tool, I/O connector
I/O - 1
I/O - 2
Teaching pendant connector
Main power switch
Power lamp
Power inlet
Card slot
COM1 (RS232C)
COM2 (RS233C)
Operation box
connector
Power outlet fuse
R Axis
(4 axis model)
Basic Concepts 2
Teaching Pendant
Operation Box (Optional)
Emergency stop button
Mode switch
Motor power switch
(Main power switch is
on backside of the robot)
Initialization switch
Program number display
Program selection keys
Green (ready) light
Start button
Red (error) light
Operation panel
Display screen
Emergency stop button
“Dead-man” switch
Basic Concepts 3
Teaching Pendant Keys
F.1
F.2 Function keys
F.3
MENU ......... Menu key
ALT ........... Alternation key
GO .............. Go key
Numeric entry keys:
0 9 ....... Number keys
................. Plus/minus key
. ................... Decimal key
DEL ............. Delete key
CLEAR ........ Clear key
FUNC ......... Function switch key
PROG.NO .. Program number key
SAVE .......... Save key
EDIT ............. Edit key
DISP ....... Display - left arrow key
DISP ....... Display - right arrow key
SEL .......... Select - up arrow key
SEL .......... Select – down arrow key
Jog keys:
X/J1 ......... X left key
X/J1 ......... X right key
Y/J2 ......... Y left key
Y/J2 ......... Y right key
Z .............. Z up key
Z .............. Z down key
R ............. R left key
R ............. R right key
ESC ............ Escape key
ENTER ....... Enter key
Basic Concepts 4
Dispenser
Sequencer
(programmable controller), etc.
Area sensor
Interlocking equipment
RS – 232C cableA personal computer (PC) with
Windows 95/98 operating
system
Software for Windows 95/98
Operation Box
Windows 95/98 is a registered trademark
of Microsoft.
COMPOSITION OF EQUIPMENT
System Composition Robot body Teaching pendant
Basic Concepts 5
Be sure to check grounding. Improper grounding can cause electric shocks or fire.
Be sure to use power in the range indicated on the unit . Otherwise electric shocks or fire may ensue.
Plug the power cord into the wall outlet firmly. Otherwise the input can become hot and may lead to fire.
Make sure that the power plug is clean.
Install the product in a place which can endure the weight and running conditions.If the machine falls down or turns over due to improper installation, injuries
or defects may ensue.
Be sure to prepare protective measures such as an area sensor or enclosure to avoid injury when you install the product. Entering the robot’s work range during operation could lead to injury.
Do not attempt to disassemble or modify the machine. Disassembly or modification could lead to electric shocks, fire or
malfunction.
Use the machine indoors where no flammable gas nor corrosive gas is present.Emission and accumulation of such gas could lead to fire.
Keep off the unit and the power cables from water or oil. Otherwise electric shocks or fire may ensue.
Warnings
INSTALLATION
Basic Concepts 6
If you cannot use any such lifting equipment as
a crane and have to lift the robot by hand, first
fix the arm with metal shipping supports and
then hold the parts indicated by the arrows in
the left figure.
To attach and remove the metal supports,
please refer to “Attaching and Removing the
Metal Shipping Supports” below.
Transportation (When lifting equipment cannot be used)
Attaching and Removing Metal Shipping Supports *An arrow indicates a set screw fixing the metal shipping support.
Four axis-model Three-axis model
Metal shipping supports Metal shipping supports
Basic Concepts 7
RemovingRemove the metal parts (indicated by the arrows) which fix the Z unit and J2 arm to the
base unit.
Securing the Robot’s Body Use four M8 bolts to attach the shipping supports to the robot.
✦ For external dimensions, please refer to the Specifications section.
Basic Concepts 8
Mounting a Dispenser (Example of the Three-Axis Model)
(1) Mount the cylinder on the robot’s J2 arm.
(2) Connect the air tube to the tool nipple and the cylinder.
✦ Do not use the tool piping with materials other than air. If you use materials such as an
adhesive agent, the tube inside the robot’s body may be stuffed and cause trouble.
(3) Connect the air tube to the tool nipple on the back side of the robot’s body and the
controller of the dispenser.
(4) Connect the I/-2 cable to the controller of the dispenser controller and the robot’s body.
Tool nipples
Tool nipples
Air tube
Cylinder
Air tube
I/O-2 cable Dispenser controller
Air tube
Dispenser controller
I/O-2 cable
Cylinder
Basic Concepts 9
Wiring and Piping
AC power outlet (Varies according to the specifications)
Piping to tool (4 air pipes)
Wiring to tool (15 wires for signals)
I/O-1
I/O-2COM 1
COM 2
Operation box*
Teaching pendant*
PC
For RS-232C extension
Area sensor*
Power inlet
When peripheral equipment marked with an asterisk (*) is not used, be
sure to connect a shorting plug to the connector. (The robot will not start
if nothing is connected to these points.)
Cover other unused connectors with dust covers to prevent dust collecting
due to static electricity.
Basic Concepts 10
COORDINATE SYSTEM
The same X/Y position can be reached in either a “righty” (right-handed) or “lefty”
(left-handed) arm position, as the following diagrams show.
Lefty (left-handed) Righty (right-handed)
The robot uses the following two methods to
express the arm position.
J1-J2 expression The arm position is described in terms of rotation
angles of the two arm joints.
Both joint angles equal zero (0) when the robot’s
arms are extended straight forward.
+J1/+J2 direction is the counterclockwise
direction (viewed from above).
X-Y expression The arm position is described in terms of
rectangular (two-dimensional) coordinates.
The center of the joint where the J1 arm attaches
to the base is the theoretical X/Y origin point.
Basic Concepts 11
PTP MOVEMENT AND CP MOVEMENT
PTP (Point to Point) Movement
The arm rises vertically from one point, moves on the X-Y plane, and then descends
vertically to the next point. During the X-Y movement, the arm does not trace a straight
line. Instead, it follows a path with the smallest movement of J1 and J2 axes.
CP (Continuous Path) Movement
The arm draws a straight line or an arc to the specified next point. It moves at the same
speed throughout the movement.
The arm cannot move in CP movement to a position where the angle made
by the J1 and J2 arms is 5 degrees or less.
You cannot change the arm shape between a Start of Line Dispense/CP
Start point and an End of Line Dispense/CP End point.
Basic Concepts 12
TEACHING DATA
What is Teaching?
“Teaching,” in this case, means programming the robot to perform a desired operation
and saving those instructions in the robot. The information stored in the robot is called
teaching data.
Types of Teaching Data
There are five types of teaching data: Programs, point job data, additional function data,
sequencer programs and system data.
Programs
A program is a set of commands in which a series of actions and movements performed
by the robot and positions where dispensing is carried out are registered in order.
The SCARA robot can store up to 100 programs from program number 1 to 100.
A program consists of two parts. One is program data, which controls the program itself,
and the other is point data (or a series of point data when there is more than one point),
which contains information such as the coordinates of the point where the robot may
perform a job.
Program Data A Series of Point Data Program data Point data Point data Program name 01 02 Work home position RX: RX: Dispense condition Cycle mode setting RY: RY: PTP condition Z: Z: … Tool data
Positioncoordinates
R:
Positioncoordinates
R: Move area limit Type Type
Rotate speed limit (CP) Line speed Line speed Point job number Point job number
Basic Concepts 13
Program Data Program data consists of the following seven items:
1. Program name The name of the program. You can use up to ten English
letters or numbers.
2. Work home position The position the arm returns to and waits for the next start
after performing the last point job in one cycle of operation.
The position is expressed in coordinates.
3. Dispense condition Conditions which are necessary to perform a dispensing
operation. The Dispense condition consists of the following
7 items.
(1) Dispenser signals
No Busy Signal Operation:
The robot ignores the busy signal returned from the
dispenser.
Busy Signal Operation:
The robot confirms the busy signal returned from the
dispenser while dispensing.
Finish Signal:
The robot confirms the finish signal from the dispenser
when the dispensing operation completes.
(2) Device mode
Steady
The dispensing time is controlled by the robot.
Timer
The dispensing time is controlled by the timer on the
dispenser.
However, the Timer setting is ignored in line dispensing
or when the dispenser signal setting is set to No Busy
Signal Operation. In such cases, the operation is carried
out in Steady mode even if the Device Mode is set to
Timer mode.
Basic Concepts 14
(3) Wait Time at Start
After the dispenser signal is turned on, the robot stands
by for the specified Wait Time at Start before it starts
moving the arm for line dispensing.
Standby position: Start of Line Dispense
(4) Wait Time at Stop
After the dispenser signal is turned off, the robot stands
by for the specified Wait Time at Stop before raising the
Z axis.
Standby position: Point Dispense
End of Line Dispense
(5) Up Amount
The rising distance of the Z axis. After standing by for the
specified Wait Time at Stop, the robot raises the Z axis
by the specified Up amount
(6) Up Speed
The rising speed of the Z axis. After standing by for the
specified Wait Time at Stop, the robot raises the Z axis at
the specified Up Speed.
(7) Wait Time at Up
The Wait time after the Z-axis rising. After the arm rises
by the specified Up Amount at the specified UP Speed,
the robot stands by for the specified Wait Time before it
starts raising the Z axis at the normal speed.
Standby position: Point Dispense + Up Amount
End of Line Dispense + Up Amount
Basic Concepts 15
3. Cycle mode Mode of operation. There are the following two cycle modes:
(1) One-cycle operation
The arm returns to the work home position and waits for
the next start after performing the last point job.
(2) Continuous operation
The arm returns to the first point after performing the
last point job and repeats the program continuously.
4. PTP condition Consists of the following six items:
(1) PTP speed
The speed limit of X, Y and Z axes in PTP movement. Is
specified as a percentage of the maximum speed.
(2) R-axis rotate speed
The speed limit of R axis rotation in PTP movement. Is
specified as a percentage of the maximum speed.
(3) Relative mode/Absolute mode
Methods of setting an arch motion in PTP movement. In
Relative mode, the Z movement height is specified in
terms of the distance from the start or end point (the
reset point). In Absolute mode, the Z movement height is
specified in terms of the absolute position coordinates of
the Z axis height.
Up Amount
Standby position for
Wait Time at Up
Standby position for
Wait Time at Stop
End of Line Dispense Start of Line Dispense
Standby position for
Wait Time at Start
Basic Concepts 16
✦ If you select Relative mode, you will be prompted to enter “Z move height,” “Z Up
distance” and “Z down distance.” If you select Absolute mode, you will be prompted to
enter “Horizontal move position,” “Start horizontal” and “Start down position.”
(4) Z move height/Horizontal move position
Z move height is the distance to the horizontal move
height from the higher PTP point, whether it is a start
point or an end point. In Absolute mode, the horizontal
move position is specified in terms of the Z-axis
coordinate (that is, the distance measured from the Z
axis origin).
(5) Z up distance/Start horizontal
The Z up distance is the ascending distance of the Z axis
from the start point while there is no movement in the X-Y
direction. The Start horizontal position is the Z-axis
coordinate of the position where this vertical movement
completes and the robot starts to move the X and Y axes
as well as Z axis.
Z=0
Start
Horizontal
Z Up Distance
Point 1
Horizontal Move
Pos’n
Start Down Pos’n
Point 2
Z Move Height Z Down Distance
Arch Motion in PTP Movement
Basic Concepts 17
(6) Z down distance/Start down position
The Z down distance is the descending distance of the Z
axis to the end point while there is no movement in the
X-Y direction. The Start down position is the Z axis
coordinate of the position where the arm completes the
three-axis movement and starts this vertical descent.
5. Tool data The tool weight and the distance from the standard tool
position to the tool center point (TCP). See the picture below.
The maximum length settings of L1 and L2 are both 60 mm.
6. Move area limit Possible range of X-Y coordinates and the rotation angles of
the two arm joints. Can be specified for each axis.
If these limits are exceeded during operation, the robot
recognizes an error and stops.
However, the values entered in direct mode and MDI mode
during teaching are not restricted by these limits.
Standard Tool
Position R axis center
Three-Axis Model Four-Axis Model
Basic Concepts 18
Point Data 1. Coordinates X (R, L), Y (R, L), Z, R
Indicates the arm shape and point coordinates in X-Y
coordinate expression.
2. Point type Types of points based on features such as the manner of
movement to the next point. There are the following thirteen
point types:
(1) Point Dispense The point where a point dispensing operation
is carried out. The arm will then move to the
next point in PTP movement.
(2) Start of Line Dispense The point where the arm switches from PTP to
CP movement. The dispenser ON/OFF setting
and Line speed can be set for this point. This
point is also the standby position for the Wait
Time at Start specified in the Dispense
condition.
(3) Line Passing The point where the arm changes the direction
or the speed of CP movement without
stopping. The dispenser ON/OFF setting and
Line speed can be set for this point.
Work Home
position
Basic Concepts 19
(4) Arc Point When the arm draws an arc while dispensing,
this point is needed to specify the path. No
point job can be associated with this point.
(5) End of Line Dispense The arm completes the line dispensing in CP
movement and moves to the next point in PTP
movement. This is the point where the arm
raising specified in the Dispense condition is
performed.
(6) PTP Evasion Point This point is used to avoid obstacles. No point
job can be associated with this point.
(7) Wait Start Point The arm stands by at the point until the start
button is pressed or the start signal comes on.
The arm will move to the next point in PTP
movement.
(8) PTP (Point to Point) point The arm moves in PTP movement to the next
point.
(9) CP (Continuous Path) start point The point where the arm switches from PTP to
CP movement.
(10) CP passing point The point where the arm changes the direction
during CP movement. The moving speed from
the previous point is maintained.
(11) CP stop point The point where the arm changes the direction
or performs a point job. The speed is reduced
to 0 mm/s at this point.
(12) CP end point The arm completes the CP movement and
goes to the next point in PTP movement.
Basic Concepts 20
(13) CP arc point When the arm draws an arc in CP movement,
this point is needed to specify it. No point job
can be associated with this point.
✦ The points (8) to (13) are classified as General Job Points.
3. Line speed The speed of CP movement from the current point to the
next point. This item can only be set for Start of Line
Dispense, Line Passing and Arc points.
4. Point job number The number for the point job which is performed at the point.
When you do not need any point job at this point, you can
assign the special point job number “0,” which means that
no point job is associated with this point.
5. CP speed The speed of CP movement from the current point to the
next point. This item can be only set for CP Start, CP
Passing, and CP Arc points.
6. Additional function number
The number assigned to the additional function associated
with the point. You can add some functions to the point
besides the point job.
More than one additional function can be associated with a
single point. However, one point cannot have two or more
functions of the same type.
You do not have to assign an additional function to a point if
not necessary.
Basic Concepts 21
Point Job Data Point job data is a set of commands and logical calculations which is executed at a point.
One set of point job data can contain up to 999 commands (from command number 1 to
command number 999 at maximum). The robot can store up to 100 sets of point job
data (from point job number 1 to point job number 100 at maximum).
You can call the point job data from point data by specifying the point job number.
However, point job data cannot be associated with certain types of points. On the other
hand, there are some point types that can have two point jobs; a “point job at start” and
a “point job at end.” The point job at start is carried out prior to the operation unique to
that point type (ex. Dispense ON, etc.). The point job at end follows the operation
unique to that point type. For details, see the table below.
(“ ” indicates “The item can be registered at start and end.” “ ” indicates “The item can
be registered [only once].” A blank indicates the item cannot be associated with the
point type.)
Additional Function Data There are the following six types of additional function data. These are called from each
point by means of their numbers. However, some types of additional functions cannot
be assigned to certain types of points. Please see the table below.
Additional function data
Point type
Pointjob
dataPTP
condition Tool Palletroutine
Stopcondition
Outputwhile
moving
Executecondition
Point Dispense Start of Line DispenseLine Passing Arc Point End of Line Dispense
PTP Evasion Point Wait Start Point PTP PointCP Start PointCP Passing Point CP Stop Point CP End Point CP Arc Point
Basic Concepts 22
1. PTP condition data Basic PTP conditions are registered in the program data.
However, you can also specify PTP conditions for each
point. Use this function to change the settings between
certain points.
2. Tool data The number of tool data. The point refers to the tool data of
the specified number. Use this function when you would like
to use a tool which is not registered in the program data or
when you would like to use more than one tool in a program.
3. Pallet routine A pallet routine consists of the coordinates of the origin point
and its offsets with counters. Up to 100 from number 1 to
100 pallet routines can be registered. The point data refers
to the pallet routine number within the additional function
data.
4. Stop condition data (in CP movement)
Stop conditions (logical calculation) and point job number.
When stop conditions are met during CP movement, the
robot stops at the spot and carries out the specified point
job.
5. Output while moving Output address. Output signals are sent to the specified
external I/Os or internal relays during operation.
6. Execute condition Judges whether to go to a certain point. If the condition is
not met, the arm will not move to this point.
Sequencer ProgramsA sequencer program is a set of commands for logical calculation to control the I/O
signals to I/O-1 and I/O-2 ports, the internal relays, the timer and the counter.
Input and output signals to I/O-1 and I/O-2 ports can also be controlled by point job
data, but you can control them independently if you use a sequencer program.
A sequencer program can be executed in continuous run mode if the system data is set
to allow it.
A sequencer program can contain up to 100 commands (from command number 1 to
100). Up to 50 sequencer programs can be stored in the robot.
Basic Concepts 23
System DataSystem data is information registered in system settings. System data controls the
overall system of the SCARA Robot, including parameters for running and teaching,
teaching pendant screen settings and so on.
Saving the Taught Data
When you save the data you taught in a memory card, not only the program data but
all the taught data including system data will be saved in the card.
The data stored in the robot will only be maintained for about 72 hours when the power
is turned off. Therefore, you should save the data to a flash memory card, which can
keep the data indefinitely.
The data in a memory card can be used as backup data in case of a breakdown,
power failure, etc. Be sure to save your data in a memory card after any addition or
modification to the taught data.
Basic Concepts 24
Relationship Between Teaching Data
Teaching Data
Program No.1
Point data
Program
data
Point number 1
Point job number 2
Additional function
Tool 3
Point job
data
Sequencer
program
System
data
Function
PTP
condition
Function
Tool
Function
Pallet
Function
Stop
condition
FunctionOutput while
moving
Function
Execute
condition
Point number 2
Start of Line Dispense
Dispense ON
Line speed
Basic Concepts 25
BASIC KEY OPERATIONS
The following pages show the basic key operation on the teaching pendant in teaching mode.
Base Condition
Turn the mode switch to TEACH. The screen on the teaching pendant displays the existing values of the point data in the selected program; that is, the program which was registered, edited or executed the last time the power was on. Let us call this type of screen the Point Setting Screen. Then, pressing the DISP key brings up the Point Setting Screen for the next point. Press DISP several times until the screen is ready for entering a new point which comes after the last point. We call this type of screen the New Point Screen. When the screen displays a list of existing point values or no values (when a new point can be entered), we say the robot is in “base condition.”
Base-Condition Screens No. 1 0001 No. 1 0025 LX+23 LY+324 Z+25 R+12 RX 0.00 mm Type Start of Line Dispense RY 440.00 mm Dispense ON Z 0.00 mm Line Speed 20 mm/s R 0.0 deg Low
JOG MDI DIRECT Point Setting Screen New Point Entry Screen
Basic Concepts 26
Key Functions
Key Functions Common to All Screens:
MENU Displays a menu of commands.
PROG.NO Displays the Program Number Entry Screen. Press this key to choose a different program or to select an empty program address for a new program.
SAVE Used to display the confirmation screen to save teaching data to a memory card .
EDIT To edit point data. You can edit each point individually.
Key Functions for Point Setting Screens:
GO Press this key while holding the dead-man switch. The arm will move to the point coordinates displayed on the screen.
DISP Displays the settings for the preceding point. If you press this key while holding the dead-man switch, the arm will also move to the position displayed on the screen.
DISP Displays the settings for the next point. If the next point has not been registered, the entry screen for a new point will appear. If you press this key while holding the dead-man switch, the arm will also move to the position displayed on the screen.
Do not enter the robot’s work range during operation.Warning
Basic Concepts 27
SHIFT + DISP Displays the first point (No. 0001).
SHIFT + DISP Displays the New Point Entry Screen for the point after the last point.
SEL To move the selection highlight upward.
SEL To move the selection highlight downward. If the current highlight is on the last line, it will move to the first line on the next page.
SHIFT + SEL Jumps to the preceding page.
SHIFT + SEL Jumps to the next page.
ENTER Displays the entry or selection screen of the highlighted item. If the point number is highlighted, pressing ENTER will bring up the Point Number Entry Screen. Enter the point number to see the settings for that point.
✦ The Point Setting Screen sometimes covers more than one page/screen.
✦ For entering a position on the New Point Entry Screen, please refer to “Entering a Position” on p. 33.
Basic Concepts 28
Selection Notes
Selection Screens include the Menus and Confirmation screens. To select an option, highlight it and press ENTER . Besides using the selection keys listed above, there are a few other shortcuts you may find convenient:
Selection Screens: Select Item 1/2 Select Item 2/2Program > Output while moving >Point Job Data > Execute Condition Data >PTP Condition Data > Sequencer Data >Tool Data > Delete All Teaching Data Pallet Data > Reset System Data Stop Condition Data >
Page 1 Page 2
1 to 0 Press “1” to highlight the first option in a list, “2” to select the second line, and so on. In the above screens, pressing “7” would highlight the first line on page 2. (“0” equals “10,” here.)
. (decimal) Highlights the last line on the page. (If the menu covers more than one page, the last line on the last page will be highlighted.)
ENTER Confirms the highlighted option or the value you have input or displays the entry or selection screen related to the highlighted item.If you are entering a new point, the screen will jump to the entry or selection screen for the next item in the point data. When all the items in the point data have been entered, the screen will jump to the entry screen for the next point.
✦ “>” to the right of an option indicates a submenu will appear, if chosen.
✦ When one screen extends more than one page, the current and total page numbers will be shown on the upper right corner of the screen. for example, “1/2” indicates that the current page is the second page of the total 2 pages.
ESC Returns to the preceding screen or to the base condiiton.
SHIFT + ESC Returns to the base condition.
Basic Concepts 29
Example of Confirmation Screen All Teaching Data Save OK?
YES NO
DISP Moves the cursor leftward by one space. This key is disabled if the leftmost item is highlighted.
DISP Moves the cursor rightward by one space. This key is disabled if the rightmost item is highlighted.
Basic Concepts 30
Entering Numeric Values
Sample Numeric Value Entry Screen Note: Enter a number. If the cursor is not visible, press DISP or DISP .
X Offset 3 . 00 mm
✦ The cursor highlights one character and blinks.
✦ The following instructions do not apply to entering X, Y and Z coordinate values. In this case, refer to “MDI (Manual Data Input) Mode” on p. 38.
SEL Increases the value. If you release the key within 0.5 seconds, the value will increase by the minimum increment. Hold the key to increase the value quickly.
SEL Decreases the value. If you release the key within 0.5 seconds, the value will decrease by the minimum increment . Hold the key to decrease the value quickly.
SHIFT + SEL Increases the value by ten times the minimum increment.
SHIFT + SEL Decreases the value by tem times the minimum increment.
DISP Moves the cursor leftward by one space .
DISP Moves the cursor rightward by one space.
1 to 0 The number keys replace the highlighted figure.
. To enter a decimal point.
(plus/minus) Changes the value from positive to negative and vice versa. This key is disabled if the item cannot be negative.
Basic Concepts 31
CLEAR Clears the entire numeric value.
DEL Deletes the current digit (or decimal point). Figures to the left of the cursor will move right. (Note that the decimal point cannot be deleted if deletion will cause the value to fall out of the possible setting range for the item.) If there is no cursor on the screen, the rightmost figure will be deleted and the other figures will be moved rightward by one place.
ENTER Confirms the value and returns to the preceding screen or to the base condition.
ESC Returns to the preceding menu or to the base condition without confirming the value.
SHIFT + ESC Returns to the base condition without confirming the value.
Basic Concepts 32
Entering a Position
The following will explain how to enter the arm position coordinates.
No. 1 0001 RX 0.00 mm RY 440.00 mm Z 0.00 mm R 0.00 deg Low
JOG MDI DIRECT The current position entry mode is F. 1 F. 2 F. 3 highlighted.
There are three methods (or “modes”) for setting the position of the arms. These are described in detail on the following pages.
1. Jog mode In this mode, you can move the arms and set the coordinates by pressing the jog keys on the teaching pendant.
Position entry mode switch: F. 1 , jog keys Jog keys: X/J1 X/J1 Y/J2 Y/J2 R R Z Z
2. MDI (Manual Data Input) mode In this mode, you can set the coordinates by pressing the number keys on the teaching pendant.
Position entry mode switch: F. 2
3. Direct mode In this mode, you can set the coordinates by moving the arms to the desired position by hand.
Position entry mode switch: F. 3
✦ Note that if you change from MDI mode to Jog mode or Direct mode, the coordinates on the screen will change to those of the current arm position.
Basic Concepts 33
Using the Function Switch Key
If you press the FUNC key while displaying the Position Entry Screen, the function ofthe F. 1 , F. 2 , and F. 3 keys will change as follows:
No.1 0001 RX 0.00 mm RY 440.00 mm Z 0.00 mm R 0.0 deg Low
JOG MDI DIRECT
F. 1 key : Switches to Jog mode.
F. 2 key: Switches to MDI mode.
F. 3 key: Switches to Direct mode.
When no point job is associated with the FUNC key FUNC key F. 1 , F. 2 or F. 3 key.
No.1 0001 RX 0.00 mm RY 440.00 mm Z 0.00 mm R 0.0 deg Low Dispense
F.3 key: The dispenser is kept on while you hold the key. It is turned off when the key is released.
When a point job is associated with any of the FUNC key F. 1 , F. 2 or F. 3 key.
No.1 0001 RX 0.00 mm RY 440.00 mm Z 0.00 mm R 0.0 deg Low J01 J07 J12 J01 refers to Point Job Data 01.
The robot will carry out the point job which isassociated with the F. 1 , F. 2 or F. 3 key.If no point job is associated with any of these keys, the point job numbers on the bottom line will not be displayed.
✦ For the procedures to associate point jobs with F. 1 , F. 2 and F. 3 keys, please refer to “Carrying Out a Point Job in Teaching” on p. A-75.
Basic Concepts 34
Jog Mode
In Jog mode, you can move the arms and set the coordinates by pressing the jog keys on the teaching pendant. Press the following keys while holding the dead-man switch. The screen will display the coordinates of the current arm position.
Effect of Jog Keys:
X/J1 The arm will move in X direction (to left when standing behind base).
X/J1 The arm will move in X direction (to right when standing behind base).
Y/J2 The arm will move in Y direction (arm will contract).
Y/J2 The arm will move in + Y direction (arm will extend).
Z The arm will move in Z direction (up).
Z The arm will move in + Z direction (down).
R The arm will revolve in R direction (clockwise, from above).
R The arm will revolve in + R direction (counterclockwise, from above).
✦ Each time you press one of the above keys, the arm will move in 0.05 mm increments in Low speed setting, 0.2 mm increments in Middle speed setting, and 0.5 mm in High speed setting.
✦ Refer to the coordinate system diagrams on p. 12 to see the “righty” ( right-handed) or “lefty” ( left-handed) arm shapes.
Do not enter the robot’s work range during operation.Warning
Basic Concepts 35
SEL Increases the moving speed of the arm while you hold a jog key. Press this key when you want to shift from Low speed to Middle speed or from Middle speed to High speed.
SEL Reduces the moving speed of the arm while you hold a jog key. Press this key when you want to shift from High speed to Middle speed or from Middle speed to Low speed.
ENTER Confirms the coordinates. If it is a new point, the screen will advance to the Point Type Selection Screen. When editing an existing point, the screen will return to the Point Setting Screen (base condition).
ESC Disabled when you are entering a new point. When you are editing an existing point, the screen will return to the Point Setting Screen (base condition).
F.2 The position entry mode will change to MDI mode.
F.3 The position entry mode will change to Direct mode.
ALT Goes to the Arm Shape/Coordinate Expression Selection Screen.
Basic Concepts 36
Changing the Arm Shape/Coordinate Expression (when the current setting is “Lefty” in “X–Y expression”)
Select Item Change to Righty (RX,RY) The arm shape will change to “Righty.”
Change to J1-J2 Expression The position will change to J1-J2 expression.
✦ If the current arm shape is righty, the screen will display “Change to Lefty” instead of “Change to Righty.”
Changing the Arm Shape/Coordinate Expression (when the current setting is in “J1–J2 expression”)
Select Item Change to X-Y Expression The coordinates will change to X-Y
expression. The shape of the arm will be determined as righty or lefty depending on the angles made by the two arms (J1 & J2).
✦ For the key operation to change the arm shape and coordinate expression, please refer to “Selection Notes” on p. 29.
✦ The arm movement in Jog mode is restricted by the move area limits. If the J1 or J2 axis of the arm will not rotate over a certain angle, check the move area limits. For detailed information, please refer to “Restricting Arm Rotation” on p. B-39 of the Functions section.
✦ The jog speed while a jog key is held can be changed. Please refer to “Increasing or Decreasing the Jog Speed in Teaching” on p. A-8 of the Functions section.
Basic Concepts 37
MDI (Manual Data Input) Mode
In MDI mode, the coordinates are entered with the number keys. The arm will not move to the entered position unless you press the GO key while holding the dead-man switch on the side of the teaching pendant.
No. 0001 > RX 0.00 mm The symbol “>” indicates the item
RY 440.00 mm being registered. Z 0.00 mm R 0.0 deg
JOG MDI DIRECT The current position entry mode is F. 1 F. 2 F. 3 highlighted.
1 to 0 The number keys overwrite the figure highlighted with the cursor. If there is no cursor on the screen, the numbers will be moved leftward by one space and the number of the key will be entered in the last place.
. Enters a decimal point.
(plus/minus) Changes the value from positive to negative and vice versa. This key is disabled if the item does not have any negative numbers.
CLEAR Clears the entire numeric value.
DEL Deletes the digit (or decimal point) highlighted with the cursor. Figures to the left of the cursor will move right. (Note that the decimal point cannot be deleted if deletion will cause the value to fall out of the possible setting range of the item.) If there is no cursor on the screen , the rightmost figure will be deleted and the other figures will be moved rightward by one place.
✦ The keys listed above are called “numeric entry keys.”
Basic Concepts 38
F.2 Each time you press this key, the “>” mark which indicates the item to be registered will move to the next item in the order of X Y Z R X, etc.
DISP Moves the cursor leftward by one space. If the cursor is not currently visible, press this key to show the cursor in the last place.
DISP Moves the cursor rightward by one space. This key has no effect if the cursor is not visible.
GO Press this key while holding the dead-man switch. The arm will move to the position expressed by the coordinates on the screen.
ENTER Confirms the coordinates. If it is a new point, the screen will advance to the Point Type Selection Screen. When editing an existing point, the screen will return to the Point Setting Screen (base condition).
ESC This key has no effect if you are entering a new point. If you are editing an existing point, the screen will return to the Point Setting Screen (base condition).
F.1 The position entry mode will change to Jog mode. The coordinates displayed on the screen will be replaced with those of the current arm position. You can have the same effect by pressing one of the jog keys.
F.3 The position entry mode will change to Direct mode. The coordinates displayed on the screen will be replaced with those of the current arm position.
ALT Goes to the Arm Shape/Coordinate Expression Selection Screen.
Do not enter the robot’s work range during operation.Warning
Basic Concepts 39
Changing the Arm Shape/Coordinate Expression (when the current setting is “lefty” in “X-Y expression”)
Select Item Change to Righty (RX,RY) The arm shape will change to “Righty.”
Change to J1-J2 Expression The position will change to J1-J2 expression
✦ If the current arm shape is righty, the screen will display “Change to Lefty” instead of “Change to Righty.”
Changing the Arm Shape/Coordinate Expression (when the current setting is in “J1–J2 expression”)
Select Item Change to X-Y Expression The coordinates will change to X-Y
expression. The shape of the arm will be determined as righty or lefty depending on the angles made by the two arms (J1 & J2).
✦ For the key operation for changing the arm shape and coordinate expression, please refer to “Selection Notes” on p. 29.
✦ Position entering in MDI mode is not restricted by the move area limits. If the position has to fall within the move area limits, change to jog mode to enter the position or check the coordinates so that they do not exceed the limits. For detailed information on move area limits, please refer to “Restricting Arm Rotation” on p. B-39 of the Functions section
Basic Concepts 40
Direct Mode
In Direct mode, the point position is entered by moving the arms of the robot by hand. The screen on the teaching pendant will display the coordinates of the current arm position.
No. 1 0001 RX 0.00 mm The mark “ ” indicates that the arm is RY 440.00 mm “Free,” that is, it can be freely moved in
Z 0.00 mm the direction of this axis. R 0.0 deg
JOG MDI DIRECT The current position entry mode is highlighted.
ENTER Confirms the current coordinates. If you are entering a new point, the screen will advance to the Point Type Selection Screen. When editing an existing point, the screen will return to the Point Setting Screen.
F.1 The position entry mode will change to Jog mode. The coordinates displayed on the screen will be replaced with those of the current arm position. You can have the same effect by pressing one of the jog keys.
F.2 The position entry mode will change to MDI mode.
ESC This key has no effect if you are entering a new point. When editing an existing point, the screen will return to the Point Setting Screen (base condition).
ALT Goes to the Arm Shape/Coordinate Expression Selection Screen.
Basic Concepts 41
Changing the Arm Shape/Coordinate Expression in Direct Mode (when the current setting is not in “J1-J2 expression”)
Select Item Change to J1-J2 Expression The coordinates will change to J1-J2
Hold J1J2 Axis expression. Free Z Axis Toggles between Hold and Free. Free R Axis If the current setting is Free, the screen will display Hold and vice versa.
Changing the Coordinate Expression in Direct Mode (when the current setting is in “J1-J2 expression”)
Select Item Change to X-Y Expression The coordinates will change to X-Y
expression. The shape of the arm will be determined as righty or lefty depending on the angles made by the two arms (J1 & J2).
✦ For selecting the arm shape or the coordinate expression, please refer to “Selection Notes” on p. 29.
✦ Direct mode is not restricted by the move area limits. If the position has to fall within the move area limits, change to jog mode to enter the position or check the coordinates so that they do not exceed the limits. For detailed information on move area limits, please refer to “Restricting Arm Rotation” on p. B-39 of the Functions section.
Basic Concepts 42
Entering Names (Under Development)
The following will explain how to register a name for each program or point job you have taught.
Name Editing Screen The letters which have been registered will
A B C D E a b c d e 7 8 9 be displayed on the top line. ( The cursor F G H I J f g h i j 4 5 6 cannot be moved to this line.) KLMNO k l m n o 1 2 3 P Q R S T p q r s t 0 .UVWXY u v w x y ( + ) Z ! # $ % z & ’ ̀ E N D
SEL Moves the cursor to the line above. (not counting the line with the already entered letters on the top of the screen).
SEL Moves the cursor to the line below.
DISP Moves the cursor leftward one place skipping blanks.
DISP Moves the cursor rightward one place skipping blanks.
ENTER Confirms the highlighted letter. The letter will be added to those on the first line in the rightmost place.
If the cursor highlights END, the name on the top line will be registered. Then the screen will return to the preceding menu.
DEL Deletes the rightmost letter on the top line. The remaining letters will be moved rightward by one place.
ESC Returns to the preceding menu
SHIFT + ESC Returns to the Point Setting Screen. The name will not be registered.
✦ The cursor cannot be moved to a blank. It cannot be moved to the first line with the already registered letters, either.
P/N 987508