Loctite CARTESIAN 400, CARTESIAN 300, CARTESIAN 200, CARTESIAN 500 User Manual

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EQUIPMENT OPERATION MANUAL

Cartesian 200, 300, 400 and 500 Series

Features II

Variables/ Commands/ Functions

Thank you for purchasing the Loctite® Robot.

*Read this manual thoroughly in order to properly use this robot.

Be sure to read “For Your Safety” before you use the robot. It will protect you from possible dangers during operation.

*After having read this manual, keep it in a handy place so that you or

the operator can refer to it whenever necessary.

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plug p

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FOR YOUR SAFETY

Safety Precautions

The precautions stated in this manual are provided for the customer to make the best use of this product safely, and to provide preventive measures against injury to the customer or damage to property.

Various symbols are used in this manual. Please read the following explanations to understand

what each symbol stands for.

 Symbols indicating the Degree of Damage or Danger

The following symbols indicate the degree of damage or danger which may be incurred if you

neglect the safety notes.

Warnings

Cautions

 Symbols indicating the type of Danger and Preventive Measures

The following symbols indicate the type of safety measure that should be taken.

Indicates the type of safety measure that should be taken.

Take care.

Indicates prohibition.

Never do this.

Do not disassemble, modif

Do not touch.

Indicates necessit

Be sure to follow instructions.

Be sure to un

Be sure to check grounding.



Be sure to foll o w the instruct ions

General caution

eneral prohibition

contact prohibition



These “Warnings” indicate the possibility of death or serious

injury.

These “Cautions” indicate the possibility of accidental injury o

damage to property.

or repair.

ower supply from wall outlet.

Features II CARTESIAN Benchtop Robot

FOR YOUR SAFETY

CARTESIAN Series



W a rnings

Operators who are involved in the programming, inspection and/o

maintenance of this robot must take the “special training course” for industrial

robots spec ified in Article 59 of the Occupational Health an d Safety La

and relevant ministry ordinances.

Do not leave the unit plugged in (power cord and connectors) when it is not in

use for long periods of time. Dust can cause fire.

Be sure to shut off the power supply before removing t he power cor d.

Change the robot’s battery periodically (approximately every three years)

to prevent malfunction or breakdown.

Keep the emergency stop switch within reach of an ope rator while teaching and running the robot.

Failure to do so may cause danger since the robot cannot be stopped

immediately and safely.

Regularly check that the I/O-S circuits and emergency stop switch wor properly.

Failure to do so may cause danger since the robot cannot be stopped

immediately and safely.

Features II CARTESIAN Benchtop Robot

FOR YOUR SAFETY

W a rnings

Check the mounting screws regularly so that they are always firmly tightened.

Loose screws may cause injury or defect.

Power the unit only with the rated voltage.

Excessive voltage can cause fire or malfunction of the unit.

Do not sprinkle water or oil on the unit, control box, or its cable.

Contact with water can cause electric shock, fire, or malfunction of the unit. IP Protection Rating is IP40.

Features II CARTESIAN Benchtop Robot

iii

FOR YOUR SAFETY

INSTALLATION

W a rnings

Always use a safety barrier .

person entering the robot’s restricted area may be injured.

t the entry/exit gate of the safety barrier, install an interlock that triggers

an emergency stop when the gate is opene d. Ensure there is no other

of entering the restricted area. Furthermore, put up a “No Entry” or

way

“No Operating” warning sign in a clearly visible position.

Example

Install a safety barrier of adequate strength so as to protect the operator from moving tools and flying objects.

lways use protective wear (helmet, protective gloves, protective glasses,

and protective footwear) when going inside the safety barrier.

T ake a dequate precaut ions against objects the robot is gripping flying or falling off t aking into account the object’s size, weight, temperature and

chemical composition.

Features II CARTESIAN Benchtop Robot

FOR YOUR SAFETY

W a rnings

Confirm that the unit is properly grounded.

Power supply earth should be connected complying with Type D installation.

(under 100

Insufficient grounding can cause electric shock, fire, or malfunction of the unit.

Plug the power cord into the wall outlet firmly.

Incomplete insertion into the wall outlet makes the plug hot and can cause fire.

Check that the plug is not covered with dust.

Be sure to shut off the power supply before connecting the power cord to the

control box.

Place the unit on a suitable flat surface that can support its weight.

Be sure to leave a space greater than 30cm between the back of the robo (equipped with a cooling fan) and the wall.

n insufficient or unstable area can cause the unit to fall, overturn, breakdown,

or overheat.

Do not attempt to disassemble or modify the machine.

Disassembly or modification may cause electric shocks, fire or malfunction.

Be sure to use within the voltage range indicated on the unit.

Failure to do so may cause electric shock or fire.

Do not use the unit near inflammable or corrosive gas.

If leaked gas accumulates around the unit, it can cause fire.

IP Protection Rating is IP40.

Place the unit in a well-ventilated area for the health and safety of the operator .

T urn off the unit before inse rting a nd removing cables.

Failure to do so may result in electric shock, fire, or malfunction of the unit.

IP Protection Rating is

Ω of resistance.)

“IP40.”

Features II CARTESIAN Benchtop Robot

FOR YOUR SAFETY

W a rnings

Be sure to confirm that all the air tubes are connected correctly and firmly.

Use the robot in an environment between 0 to 40 degrees centigrade with a humidity of 20 to 95 percent without condensation.

Failure to do so may result in malfunction. IP Protection Rating is

Use the robot in an environment where no electric noise is present.

Failure to do so may result in malfunction or defect.

Be sure to secure the movable parts of the robot before transportation.

Failure to do so may result in defect or injury.

Do not bump or jar the mac hine while it is being transpor ted or in st a lled.

This can cause defects.

Use the machine in an environment where it is not exposed to direct sunlight.

Failure to do so may result in malfunction or defect.

Be sure to confirm that tools such as the electric screwdriver unit, etc. are properly connected.

Failure to do so may result in injury or defect.

Be sure to check the wiring to the main unit.

Improper wiring may cause malfunction or defect.

Keep the emergency stop switch within reach of an ope rator while teaching and running the robot.

Failure to do so may cause danger since the robot cannot be stopped

immediately and safely.

Be sure to shut off the power supply before plugging the power cord.

“IP40.”

Features II CARTESIAN Benchtop Robot

FOR YOUR SAFETY

W a rnings

Be sure to remove the eye bolt after installing the robot so that it does not hit the arm.

Failure to do so may result in injury or breakdown of the unit.

Features II CARTESIAN Benchtop Robot

vii

FOR YOUR SAFETY

WORKING ENVIRONMENT

When you lubricate or inspect the unit, unplug the power cord from the control box.

Failure to do so may result in electric shock or injury.

Be sure to shut off the power supply before removing the power cord

from the control box.

When going inside the safety barrier, place a “Do Not Operate” sign on

the start switch.

During operation, always have t he e mergency stop switch within the operator’s reach.

For the operator

quick and safe stop.

Install a safety barrier of ade quate st rength so as to protect operators from moving tools and flying objects.

lways use protective wear (helmet, gloves, glasses, and footwear) when

going inside the safety barrier.

Be sure to confirm that all the air tubes are connected correctly and firmly.

Always watch out for robot's movement, even in the teaching mode.

Special attention will protect the operator from injury.

W a rnings

’s safety, the emergency stop switch is necessary to make a

Features II CARTESIAN Benchtop Robot

viii

FOR YOUR SAFETY

DURING OPERATION

When operations are taking place within the safety barrier, ensure no one enters the robot’s restricted area.

If you must go inside the safety barrier, be certain to push the emergency stop switch and put a “Do Not Operate” sign on the start switch.

When starting the robot, check that, no one is within the safety barrier and no object will interfere with the robot ope rating.

Under no circumsta nces sho uld y ou go inside the safety barrie r or place your hands or hea d ins ide t he safety barr ier while t he r obot is operating.

If anything unusual (e.g. a burning s mell) occ urs, stop opera tion and unplug the cable immediately. Contact your dealer or the office listed on the last page of this manual.

Continuous use without repair can cause electric shock, fire, or breakdown o the unit.

During teaching, tests, and actual operat ion, al ways have the Emergency stop switch within the operator’s reach.

For the operator

a quick and safe stop.

W a rnings

’s safety, the emergency stop switch is necessary to make

Features II CARTESIAN Benchtop Robot

FOR YOUR SAFETY

CARTESIAN Series



W a rnings

Be sure to check grounding.

Improper grounding can cause electric shock or fire.

Be sure to use within the voltage range indicated on the unit.

Failure to do so may cause electric shock or fire.

Plug the power cord into the wall outlet firmly.

Failure to do so can cause the input to heat up and may result in 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.

Failure to do so may cause electric shock or fire.

Stop operation and unplug imme diately whenever y ou sense any abnormalities, such as a pungent odor . Immediate ly cont act the dealer from which you purchased the pr oduct.

Continued operation may result in electric shock, fire or malfunction.

Install the product in a place which can endure it’s weight and conditions while running.

Be sure to leave a space greater than 30cm between the back of the robot

(equipped with a cooling fan) and the wall. Installation in an insufficient or

unstable place can cause the unit to fall, overturn, breakdown, or overheat.

Be sure to take protective measures such as installing an area sensor or

enclosure to avoid injury.

Entering the robot

Do not attempt to disassemble or modify the machine.

Disassembly or modification may cause electric shocks, fire or malfunction.

’s work range during operation could lead to injury.

Features II CARTESIAN Benchtop Robot

FOR YOUR SAFETY

W a rnings

Use the machine indoors where no flammable or corrosive gas is present.

Emission and accumulation of such gasses could lead to fire.

IP Protection Rating is

Be sure to unplug the power cord from the wall outlet if the robot will remain

unused for long periods of time.

Gathered dust could lead to fire.

Be sure to use power in the proper voltage range.

Failure to do so may result in fire or malfunction.

Keep the unit and the power cables away from water and oil.

Failure to do so may result in electric shock or fire.

T urn off the unit before inse rting a nd removing cables.

Failure to do so may result in electric shock, fire, or malfunction of the unit.

IP Protection Rating is

Keep the emergency stop switch within reach of an ope rator while teaching and running the robot.

Failure to do so may lead to danger since the robot cannot be stopped

immediately and safely.

Regularly check that the emergency stop switch works properly. For models with I/O-S circuits, also check that they work properly.

Failure to do so may lead to danger since the robot cannot be stopped

immediately and safely.

“IP30.” (“IP40” for CE specification)

Features II CARTESIAN Benchtop Robot

FOR YOUR SAFETY

Cautions

Be sure to check grounding.

Improper grounding may cause malfunction or defect.

Use the Benchtop Robot in an environment between 0 to 40 degrees centigrade with a humidity of 20 to 95 percent without condensation.

Failure to do so may result in malfunction.

IP Protection Rating is

Use the machine in an environment where no electric noise is present.

Failure to do so may result in malfunction or defect.

Use the machine in an environment where it is not exposed to direct sunlight. Failure to do so may result in malfunction or defect.

Be sure to confirm that tools such as the electric screwdriver unit, etc. are properly connected.

Failure to do so may result in injury or defect.

Check the mounting screws regularly so that they are always firmly tightened.

Loose screws may cause injury or defect.

Be sure to check the wiring to the main unit.

Improper wiring may cause malfunction or defect.

Be sure to secure the movable parts of the robot before transportation.

Failure to do so may result in defect or injury.

Do not bump or jar the machine while it is being transported or installed.

This can cause defects.

“IP30.” (“IP40” for CE specification)

Features II CARTESIAN Benchtop Robot

xii

PREFACE

The Loctite

have succeeded in reducing price while maintaining functionality. Energy and space saving is made

possible through the combined use of stepping motors and special micro step driving circuits.

The Loctite

precision, and can accommodate a wide variety of requirements.

The operation manual consists of the following volumes.

Setup

Maintenance

Basic Instructions

Dispensing This volume explains dispensing applications for the Benchtop Series robot.

Quick Start

Teaching Pendant Operation PC Operation

Features I Features II

Specifications

Note) The contents of this volume may be modified without prior notice to improve its quality.

® Benchtop Robot CARTESIAN Series is a new low cost, high performance robot. We

® Robot CARTESIAN Series features diverse applications, high speed, rigidity and

This volume explains how to set up the robot.

Therefore, it may not consistent with the specifications of the delivered series.

* For people who receive safety and installation instructions regarding the



robot.

This volume explains how to maintain the robot.

* For people who receive safety and installation instructions regarding the



robot. This volume provides safety precautions, part names, and the basic knowledge necessary to operate the Benchtop robot.

This volume explains the actual operation of the Benchtop robot with simple running samples.

This volume explains how to operate the robot via the teaching pendant.

This volume explains how to operate the robot from a computer (JR C-Points.) This volume explains point teaching. This volume explains commands, variables, and functions. This volume provides comprehensive specifications, including mechanical or electrical requirements.

Features II CARTESIAN Benchtop Robot

xiii

Please be sure to follow the instructions described in these volumes. Proper use of the robot will

ensure continued functionality and high performance.

The contents described in this volume are based on the standard application. Menu items may

vary depending on models.

Be sure to shut off the power supply before plugging in the power cord.

BE SURE TO MAKE A PROPER GROUNDING WHEN YOU IN STALL THE ROBOT

Be sure to save data whenever it is added or modified. Otherwise, chang es will not be saved if the power to the robot is cut off.

Features II CARTESIAN Benchtop Robot

xiv

Features II

FOR YOUR SAFETY ______________________________________________________________ i

PREFACE ____________________________________________________________________ xiii

CONTENTS ____________________________________________________________________xv

EXPRESSION STRUCTURE_______________________________________________________ 1

COMMAND LIST ________________________________________________________________ 3

VARIABLE LIST _________________________________________________________________ 8

FUNCTION LIST _______________________________________________________________ 10

[ Variables ]____________________________________________________________________ 13

Free variables: #mv, #mkv, #nv, #nkv, #sv, #skv __________________________________ 13

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Input variables:#sysIn1 to 15, #genIn1 to 18, #handIn1 to 4__________________________ 14

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Output variables: #sysOut1 to 15, #genOut1 to 18, #handOut1 to 4 _____________________ 15

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Down timer : #downTimer1 to 10 ______________________________________________ 15

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Point job starting height : #jobStartHight _________________________________________ 16

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Pallet : #palletflag (1 to 100), #palletCount (1 to 100) _______________________________ 17

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Workpiece adjustment: #workAdj_X, #workAdj_Y,



#workAdj_Z, #workAdj_R, #workAdj_Rotation ______________________________________ 19

Point coordinates: #point_X,#point_Y,#point_Z,

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#point_R,#point_TagCode _____________________________________________________ 21

Given point coordinates: #P_X, #P_Y, #P_Z, #P_R, #P_TagCode ____________________ 22



Given point coordinates in given programs: #prog_P_X,



#prog_P_Y, #prog_P_Z, #prog_P_R, #prog_P_TagCode _____________________________ 23

[ Functions ] ___________________________________________________________________ 24

Robot functions____________________________________________________________ 24

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Arithmetic functions ________________________________________________________ 25

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String functions ____________________________________________________________ 26

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Features II CARTESIAN Benchtop Robot

[ ON/OFF Output Control ] ________________________________________________________ 28

Outputting to I/O: set, reset, pulse, invPulse______________________________________ 28

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Outputting after X second: delaySet, delayReset __________________________________ 31

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Sounding an alarm buzzer: onoffBZ ____________________________________________ 32

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Blinking the LED (Green): onoffGLED __________________________________________ 33

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Blinking the LED (Red): onoffRLED ____________________________________________ 34

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Outputting values from I/O: dataOut,dataOutBCD _________________________________ 35

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[ If Branch, Wait Condition ] _______________________________________________________ 36

if Branch: if, then, else, endIf__________________________________________________ 36

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Wait Condition: waitCond,waitCondTime,timeUp,endWait ___________________________ 38



[ Condition ] ___________________________________________________________________ 40

Condition Settings: ld, ldi, and, ani, or, ori, anb, orb ________________________________ 40



[ Delay, Data In, Wait Start ] _______________________________________________________ 43

Time Delay: delay__________________________________________________________ 43



Waiting for a start instruction: waitStart, waitStartBZ _______________________________ 45

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Inputting from I/O: dataIn, dataInBCD___________________________________________ 47

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[ Pallet Control ] ________________________________________________________________ 48

Pallet Command: loopPallet, resPallet, incPallet __________________________________ 48

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[ Execution Flow Control ]_________________________________________________________ 51

Subroutine call of type setting job: callBase ______________________________________ 51

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Subroutine call of point job data: callJob_________________________________________ 53

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End of point job: returnJob ___________________________________________________ 55

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Subroutine call of Program: callProg ___________________________________________ 56

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Calling points: callPoints_____________________________________________________ 60

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Ending a program: endProg __________________________________________________ 61

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Assigning the returned value of a function: returnFunc______________________________ 62

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Jumping to a specified point: goPoint, goRPoint, goCRPoint _________________________ 63

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Jumping to a specified command line: jump, Label ________________________________ 65

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[ For, Do-loop ] _________________________________________________________________ 66

For, Do-loop: for, next, exitFor, do, loop, exitDo ___________________________________ 66

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Features II CARTESIAN Benchtop Robot

xvi

[ Controlling Tool Movement ]______________________________________________________ 68

Moving the Z axis: upZ, downZ, movetoZ________________________________________ 68

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Moving straight in CP drive: lineMoveSpeed, lineMoveStopIf_________________________ 70

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Executing mechanical initialization by a point job: initMec ___________________________ 72

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Position error detection: checkPos _____________________________________________ 73

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[ LCD, 7SLED ]_________________________________________________________________ 74

Displaying the specified strings on the teaching pendant:



clrLCD, clrLineLCD, outLCD, eoutLCD ______________________ 74

Displaying arbitrary numbers on the 7SLED: sys7SLED, out7SLED ___________________ 75

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[ COM Input/Output ]_____________________________________________________________ 76

COM Input/Output: outCOM, eoutCOM, setCOM, _________________________________ 76

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cmpCOM, ecmpCOM, clrCOM, shiftCOM___________________________ 76

PC Communication: stopPC, startPC___________________________________________ 80

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[ Variables, Comments, System Control ]_____________________________________________ 81

Declaration and assignment of variable: declear, let________________________________ 81

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Comment insertion: rem,crem ________________________________________________ 83

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Changing a program number using point job: setProgNo ____________________________ 84



Changing a sequencer program using point job: setSeqNo __________________________ 85



Features II CARTESIAN Benchtop Robot

xvii

EXPRESSION STRUCTURE

Expression

An expression is fixed numbers, variables, functions (both of String type and Numeric type) and

operators combined.

Fixed Number

There are 2 types of fixed numbers, Numeric type (e.g.: 125, 2.0,2e15) and String type (e.g.: "ABC".)

String type fixed numbers, characters can be specified in hexadecimal code by using “%.” If you

want to display “%” on the screen, enter “%%.”

e.g.: eoutCOM port2,"%0D%0A"

 If there is any character other than 0 to 9, A to F or % after “%”, “%” is dealt with as a

eoutCOM port2,"%%300"

character.

outputs CRLF code.



outputs %300.



Variable

A “variable” is a container into which a value such as numeric values or strings are placed.

Built-in variables, which are built-in as robot features, and user definition variables, which can be

freely defined, can be used with this robot.

User definition variables, other than local variables (variables effective only in defined point job data

defined by the “declear” command), are defined in the customizing mode. (Refer to the operation

manual “Features IV” for a description of the customizing mode.)

Boolean type: 1 bit variable. Keeps a value which is 1 (true)/0 (false) only.

Numeric type: Double type variable

String type: 255 byte variable

Features II CARTESIAN Benchtop Robot

Function

Function returns a converted value if values or strings are given.

Both built-in functions, which are built-in as robot features, and user definition functions, which can

be freely defined, can be used with this robot.

User definition functions are defined in the customizing mode.

Whether they are Numeric functions or String functions depends on the type of returned values.

Operator

Operator Description Value

>=,=>

<=､=<

<>,>< Returns 1 if the left value is not equal to the right value. 0 if they are equal. num,str

<Operator’s Priority>

+ Adds the left and right values. num

- Deducts the right value from the left value. num * Multiplys the left and right values. num

/ Divides the left value by the right value. num & Combines the left and right values. "A" & "B"  "AB" str = Assigns the right value to a left value. num,str

== Returns 1 if the left value is equal to the right value. 0 if they are not equal. num,str

1. Expression in brackets

2. Function, Variable

3. Independent “+”, “-“

4. “*”, “/”

5. “+”, “-“, “&”

6. Relational Operator (“>”, “>=”, “=>”, “=<”, “<=”, “<”, “<>”, “><”)

7. Assignment Operator (“=”)

Returns 1 if the left value is larger than the right value. 0 if the left value is smaller or the same. Returns 1 if the left value is smaller than the right value. 0 if the left value is larger or the same. Returns 1 if the left value is larger than the right value or the same. 0 if the left value is smaller. Returns 1 if the left value is smaller than the right value or the same. 0 if the left value is larger.

num,str

Features II CARTESIAN Benchtop Robot

COMMAND LIST

Point Job Commands

Category

Command Parameters Content

set Output Destination ON output reset Output Destination OFF output

pulse

invPulse

ON/OFF Output Control

delaySet

delayReset

onoffBZ ON Time, OFF Time Sounds an alarm buzzer off and on.

onoffGLED ON Time, OFF Time

onoffRLED ON Time, OFF Time

dataOut

dataOutBCD

if - if Branch

Wait Condition

then - Execute if true.

if Branch,

else - Execute if false. endIf - End of if Branch

waitCondTime Period for Time Out Wait for conditions for a certain period timeUp - Execute when time is up. endWait - End of WAIT command

waitCond - Wait conditions.

If you assign point job data including one of the highlighted ( ) commands to

a CP Passing Point, this command will be ignored.

Output Destination, Pulse Length Output Destination, Pulse Length Output Destination, Delay Time Output Destination, Delay Time

Output Value, Output Destination, Pulse Length Output Value, Output Destination, Pulse Length

ON pulse output of specified pulse length

OFF pulse output of specified pulse length

ON output after specified delay time

OFF output after specified delay time

The LED (Green) on the front body blinks. (for CARTESIAN only) The LED (Red) on the front body blinks. (for CARTESIAN only)

Outputs a tag code assigned to numeric data or a point to I/O.

Outputs numeric data or a tag code assigned to a point to I/O in BCD.

Features II CARTESIAN Benchtop Robot

Category

Command Parameters Content

ld Boolean Variable or

Expression

ldi Boolean Variable or

Expression

and Boolean Variable or

Condition

Expression

ani Boolean Variable or

Expression

or Boolean Variable or

Expression

ori Boolean Variable or

Expression

ON input

OFF input

Serial ON input

Serial OFF input

Parallel ON input

Parallel OFF input

anb - Blocks serial connection orb - Blocks parallel connection delay Wait Time Stops for the specified time.

Read Out Source, Read Out Width Read Out Source, Read Out Width

Reads out numeric data from I/O.

Reads numeric data in BCD from I/O.

Delay

dataIn

dataInBCD

waitStart - Waits for a start signal.

waitStartBZ -

Pallet

loopPalette

resPalette Pallet Number Resets pallet counter. incPalette

Pallet Number, Destination Number

Pallet Number

Increases pallet counter number. (+1)

Waits for a start signal while acknowledging an error with an alarm buzzer.

Repetition loop of Pallet

Calls a point job defined by type at the user

callBase -

definition type point to which a Point Job Number is set.

callJob Point Job Number

callPoints Point String Identifier

Execute Flow Control

returnJob -

Calls a subroutine of point job data specified by number. Executes a specified point string (defined in Customising mode). Point job end

Assigns a value of the specified expression as a

returnFunc Expression

callProg Program Number

endProg -

goPoint

goRPoint

Drive Condition Number, Pont Number Drive Condition Number, Relative Point Number Drive Condition Number,

goCRPoint

Destination Point Selection

returned value and ends the function. (Valid in functions only)

Calls a subroutine of a program specified by number. Program end.

Jumps to a specified point.

Jumps to a point specified relatively.

Jumps to a selected destination point during CP drive.

Features II CARTESIAN Benchtop Robot

Category

for

for, do-loop

next - exitFor - do - loop - exitDo - upZ Distance, Speed Up Z Axis. donwZ Distance, Speed Down Z Axis. movetoZ Distance, Speed Move Z Axis.

lineMoveSpeed

Move

lineMoveX X Distance Relative move command in the X direction lineMoveY Y Distance Relative move command in the Y direction lineMoveZ Z Distance Relative move command in the Z direction lineMoveR R Rotation Relative move command in the R direction

initMec Axis

checkPos - Position error detection (for CARTESIAN only) clrLCD - Clears the LCD display. clrLineLCD Rows (1-13) Clears a specified line on the LCD display.

outLCD

LCD, 7SLED

eoutLCD

sys7SLED -

out7SLED

clrCOM Port Clears a buffer received from the COM.

shiftCOM Port, Shift Number

stopPC - Stops PC communication of COM1. startPC - Starts PC communication of COM1.

Command Parameters Content

Control Variable, Initial Value, End Value, Step Value

Repeats commands from “for” to “next” until the specified variable changes from Initial Value to End value.

Exits “for” sentence.

Repeats commands from “do” to “loop.”

Exits from “do” sentence.

Speed, Distance or Roatation

Shifts the specified distance (relative distance) at the specified speed in CP line drive. (Relative move command)

Mechanical initialization of a specified axis (for CARTESIAN only)

Rows (1-13), Columns (1-40), Character String

Displays character strings on the LCD display.

Rows (1-13), Columns (1-40), Character String Expression

Displays the result of a character string expression on the LCD display.

Returns the display of the 7 segment LED changed by ”out7SLED” to the previous program

Display Type, Display Value

number. (for CARTESIAN only)

7 segment LED output (for CARTESIAN only)

Shifts data received from the COM. Deletes data from the top to the Shift Number.

Features II CARTESIAN Benchtop Robot

Category

Command Parameters Content

outCOM Port, Character String Outputs a character string from the COM.

eoutCOM

setWTCOM Port, Wait Time

COM Input/Output

InCom

cmpCOM Port, Character String

ecmpCOM

clrCOM Port Clears a buffer received from the COM.

shiftCOM Port, Shift Number

stopPC - Stops PC communication of COM1. startPC - Starts PC communication of COM1. declear Type, Identifier Declare a local variable.

Variable, Comment,

let

System Control

rem Character String One line comment crem Character String Comment at the end of a command line

setProgNo Program Number

setSeqNo Sequencer Number

Z Sensor

Port, Character String Expression

Variable Name, Port, Wait Time

Port, Character String Expression

Character String of a assignment expression

Outputs the result of an expression from the COM.

Sets Wait Time (Period for Time Out) for receiving from the COM. Assigns data received from the COM to the specified variable. Compares received data with a character string. The result is entered into System Flag (sysFlag(1) to (20).) Compares received data with a character string expression. The result is entered into System Flag (sysFlag(1) to (20).)

Shifts data received from the COM. Deletes data from the top to the Shift Number.

Assigns data calculated in the left-hand expression to a variable in the right-hand expression. +, -, *, /, =, (, ), & can be used.

Changes the Program number. * Do not execute this command while running.

use the command “callProg.” Changes the Sequencer program number of “system data.”

If you want to run another program while running,

takeZWadj

Features II CARTESIAN Benchtop Robot

Work Adjustment Number

Calculates the adjusting amount in the Z direction with data gained from the Distance sensor/Touch sensor using the [Workpiece Adjustment] setting.

Execute Condition

Category

Command Parameters

ld Boolean Variable or

ldi Boolean Variable or

and Boolean Variable or

Condition

ani Boolean Variable or

or Boolean Variable or

ori Boolean Variable or

anb - Blocks serial connection orb - Blocks parallel connection

Sequencer

Category

Expression

ON input

OFF input

Serial ON input

Serial OFF input

Parallel ON input

Parallel OFF input

Content

Command Parameters

ldi

Condition

and

ani

ori

out Output Destination set Output Destination

Coil

reset Output Destination pls Output Destination plf Output Destination anb

Cnnection

orb mps

mrd mpp

Other

nop

Boolean Variable or Expression Boolean Variable or Expression Boolean Variable or Expression Boolean Variable or Expression Boolean Variable or Expression Boolean Variable or Expression

  

 



ON input

Content

OFF input

Serial ON input

Serial OFF input

Parallel ON input

Parallel OFF input

Coil drive Movement Holding Set Movement Holding Reset Output of the Leading Edge of Pulse Output of the Trailing Edge of Pulse Parallel Connection of Serial Circuit Blocks

Serial Connection of Parallel Circuit Blocks Stores data in process of calculation

Reads out data in process of calculation Reads out and resetting data in process of calculation

No process

Features II CARTESIAN Benchtop Robot

VARIABLE LIST

Built-in variables, which are built-in as robot functions, and user definition variables, which can be

freely defined, can be used with this robot.

User definition variables, except local variables (variables effective only in defined point job data

which are defined by the “declear” command), are defined in the customizing mode. (Refer to the

operation manual “Features IV” for a description of the customizing mode.)

Boolean type 1 bit variable (Holds only a value of 1 (true) or 0 (false).)

Numeric type 8 bytes real type (double type) variable.

String type 255 bytes variable

Category

Free Variable

Input Variable

Output Variable

System Flag

Special Variable

Pallet

Workpiece Adjustment

 “Keeping variable” is a variable which holds its value even when the robot power is turned off.

Type Identifier Description boo #mv(1 to 99) Boolean variable boo #mkv(1 to 99) Boolean variable (keeping variable) num #nv(1 to 99) Numeric variable num #nkv(1 to 99) Numeric variable (keeping variable) str #sv(1 to 99) String variable str #skv(1 to 99) String variable (keeping variable) boo #sysIn1 to 15 I/O-SYS boo #genIn1 to 18 I/O-1 boo #handIn1 to 4 I/O-H boo #sysOut1 to 14 I/O-SYS boo #genOut1 to 22 I/O-1 boo #handOut1 to 4 I/O-H

boo #sysFlag(1) to #sysFlag(999) Refer to the system flag table.

boo #FBZ

num #downTimer1 to 10

num #jobStartHight

boo #palletFlag(1 to 100) Pallet flag (corresponds to pallet 1 to 100) num #palletCount(1 to 100) Pallet counter (corresponds to pallet 1 to 100)

#workAdj_X(1 to 100) #workAdj_Y(1 to 100)

num

#workAdj_Z(1 to 100) #workAdj_R(1 to 100) #workAdj_Rotation(1 to 100)

set #FBZ : Sound buzzer. reset #FBZ : Stop buzzer. Buzzer (onoffBZ : Sound buzzer intermittently.) When a value is assigned, it counts down automatically. (msec units) Start a point job from an assigned value above the set point Z coordinate. (Disabled in CP drive)

Workpiece adjustment amount of each axis (Corresponds to workpiece adjustment 1 to

100)

Features II CARTESIAN Benchtop Robot

Vari able s]

[

Category Type Identifier

coordinates

Given point coordinates

Sequencer program

boo #seqT(1 to 99)

num

boo #seqC (1 to 99)

num #seqCCount (1 to 99)

Current point

num #point_X X coordinate value of current point

num #point_Y Y coordinate value of current point

num #point_Z Z coordinate value of current point num #point_R R coordinate value of current point num #point_TagCode Tag code value of current point

num #P_X(1 to last point count) X coordinate value of given point

Given point

num #P_Y(1 to last point count) Y coordinate value of given point

num #P_Z(1 to last point count) Z coordinate value of given point

num #P_R(1 to last point count) R coordinate value of given point

num #P_TagCode(1 to last point count) Tag code value of given point

num #prog_P_X (1 to 255, 1 to last point count)

Given program

num #prog_P_Y (1 to 255, 1 to last point count)

num #prog_P_Z (1 to 255, 1 to last point count)

num #prog_P_R (1 to 255, 1 to last point count)

num

#seqTCount (1 to 50): Integrating Timer #seqTCount (51 to 99): Unintegrating Timer

#prog_P_TagCode (1 to 255, 1 to last point count)

Description Set to 1 when #seqTCount reaches the given value or greater. One counter can count from 0.001 to 2,147,483,647 seconds. (0.001 sec increment) 1 when #seqCCount reaches the given value or greater. One counter can count from 1 to 2,147,483,657.

X coordinate value of given program and given point. Y coordinate value of given program and given point. Z coordinate value of given program and given point. R coordinate value of given program and given point. Tag code value of given program and given point

Features II CARTESIAN Benchtop Robot

FUNCTION LIST

Built-in functions, which are built in as robot functions, and user definition functions, which can be

freely defined, can be used with this robot.

User definition functions are defined in the customizing mode. (Refer to the operation manual

“Features IV” for a description of the customizing mode.)

x, y: Numeric value or numeric variable

n, m: Numeric value made a certain digit or greater by rounding or truncation

a, b: String or string variable

Category

Robot system

Arithmetic system

Type Identifier Description num currentMainProgNumber() Main program No. currently running num currentSubProgNumber() Subprogram No. currently running num currentPointNumber() Point No. currently running num currentArmX() Current arm coordinate X, [mm] units num currentArmY() Current arm coordinate Y, [mm] units num currentArmZ() Current arm coordinate Z, [mm] units num currentArmR() Current arm coordinate R, [degree] units

num

num abs(x) Absolute value num max(x,y) Maximum value num min(x,y) Minimum value

num degrad(x) num raddeg(x)

num sqrt(x) Square root num sin(x) Sine num cos(x) Cosine num tan(x) Tangent num atan(x) Arc tangent num atan2(x,y) Arc tangent

num int(x)

num ip(x)

num fp(x)

num mod(x,y) Value of x which makes y modulo x-y*int (x/y) num remainder(x,y) Remainder of dividing x by y x-y*ip (x/y) num pow(x,y) x to the power of y

NumCOM (COM Port Number)

Data byte count of COM receiving port

Conversion from degree to radian (x* π/180) Conversion from radian to degree (x*180/π)

Large integer that does not exceed x. Ex: int (1.3)=1, int (-1.3)=-2 Integer part of x. sgn (x)*int (abs(x)) (When x is a negative number, sgn (x) becomes -1 and when x is a positive number, sgn (x) becomes +1.) Ex: ip (1.3)=1, ip (-1.3)=-1 Decimal part of x x-ip (x) Ex: fp (1.3)=0.3, fp (-1.3)=-0.3

Features II CARTESIAN Benchtop Robot

x, y: Numeric value or numeric variable

n, m: Numeric value made a certain digit or greater by rounding or truncation

a, b: String or string variable

Category Type Identifier Description

str chr(x) Returns a string (1 character) with the given character code. num ord(a) Returns the top string code. Other codes are ignored.

num len(a)

num strPos(a,b) Returns the first part string position matching b in a.

str strMid(a,n,m)

str str(x) Converts a numeric value to a decimal string.

str strBin(n,m)

str strHex(n,m)

str str1SI(x)

str str2SIBE(x)

str str2SILE(x)

String system

str str4SIBE(x)

str str4SILE(x)

str str4FBE(x)

str str4FLE(x)

str str8DBE(x)

str str8DLE(x)

num val(a)

num valBin(a)

num valHex(a)

num val1SI(a)

num val2SIBE(a)

Returns the string length (byte length). Does not handle multiple byte codes.

Returns a character string from the n th to the m th characters, counting from the top of character string a.

Converts a numeric value to a binary string. m: Number of binary string digits Converts a numeric value to a hexadecimal string. m: Number of hexadecimal string digits Rounds a numeric value to a 1 byte signed integer, and converts it to a 1 byte string. (1 byte Signed Integer) Rounds a numeric value to a 2 byte signed integer and converts it to a 2 byte string big endian. (2 byte Signed Integer Big Endian) Rounds a numeric value to a 2 byte signed integer and converts it to a 2 byte string little endian. (2 byte Signed Integer Little Endian) Rounds a numeric value to a 4 byte signed integer and converts it to a 4 byte string big endian. (4 byte Signed Integer Big Endian) Rounds a numeric value to a 4 byte signed integer and converts it to a 4 byte string little endian. (4 byte Signed Integer Little Endian) Regards a numeric value as a floating decimal and converts it to 4 byte string big endian. (4 byte Float Big Endian) Regards a numeric value as a floating decimal and converts it to 4 byte string little endian. (4 byte Float Little Endian) Regards a numeric value as a double floating decimal and converts it to 8 byte string big endian. (8 byte Double Big Endian) Regards a numeric value as a double floating decimal and converts it to 8 byte string little endian. (8 byte Double Little Endian) Regards a string as a decimal string and converts it to a numeric value. Regards a string as a binary string (list of “0” and “1”) and converts it to a numeric value. Regards a string as a hexadecimal string (list of “0” to “1”, “A” to “F”,, or “a” to “f”) and converts it to a numeric value. Regards the top character as a 1 byte signed integer and converts it. (1 byte Signed Integer ) Regards the top 2 characters as a 2 byte signed integer big endian and converts it. (2 byte Signed Integer Big Endian )

Features II CARTESIAN Benchtop Robot

x, y: Numeric value or numeric variable

n, m: Numeric value made a certain digit or greater by rounding or truncation

a, b: String or string variable

Category Type Identifier Description

Regards the top 2 characters as a 2 byte signed integer little

num val2SILE(a)

num val4SIBE(a)

num val4SILE(a)

num val4FBE(a)

String system

num val4FLE(a)

num val8DBE(a)

num val8DLE(a)

endian and converts it. (2 byte Signed Integer Little Endian) Regards the top 4 characters as a 4 byte signed integer big endian and converts it. (4 byte Signed Integer Big Endian ) Regards the top 4 characters as a 4 byte signed integer little endian and converts it. (4 byte Signed Integer Little Endian ) Regards the top 4 characters as a floating decimal big endian and converts it. (4 byte Float Big Endian ) Regards the top 4 characters as a floating decimal little endian and converts it. (4 byte Float Little Endian ) Regards the top 8 characters as a double floating decimal big endian and converts it. (8 byte Double Big Endian ) Regards the top 8 characters as a double floating decimal little endian and converts it. (8 byte Double Little Endian )

num valSum(a) Returns the sum of a string code added from top to bottom.

Remainder of dividing a character string as a bit string by

num valCRC(a)

str bitNot(a) Bit inversion str bitAnd(a,b) Bit logical multiple str bitOr(a,b) Bit logical add str bitXor(a,b) Bit exclusive logical add

generation polynomial

16+X12+X5

Features II CARTESIAN Benchtop Robot

[ Variables ]

Free variables: #mv, #mkv, #nv, #nkv, #sv, #skv



A “variable” is a container into which a value is placed. This robot has the following variables which

can be used freely. When using the following variables, variable declaration is unnecessary.

#mv(1 to 99) Boolean variable #mkv(1 to 99) Boolean variable (keeping variable)

Free

variables

 “Keeping variable” is a variable that retains its value even when the robot power is turned off.

#mv(1 to 99), #mkv(1 to 99)

Boolean variable. “Boolean variable” is a variable that can hold a 1-bit value of 0 or 1. It can be used

as a condition operation expression (ld, ldi) or assignment expression (let) parameter.

 A sequencer program can also use Boolean type free variables (#mv (1 to 99), #mkv (1 to 99)).

#nv (1 to 99),#nkv (1 to 99)

Double type numeric variable that can be used as an assignment expression (let) parameter.

#sv (1 to 99),#skv (1 to 99)

String variable that can hold up to 255 bytes. When used as an assignment expression (let)

parameter, assignment by “=” and connection by “&” are possible.

#nv(1 to 99) Numeric variable #nkv(1 to 99) Numeric variable (keeping variable) #sv(1 to 99) String variable #skv(1 to 99) String variable (keeping variable)

Identifier

Features II CARTESIAN Benchtop Robot

Input variables:#sysIn1 to 15, #genIn1 to 18, #handIn1 to 4



An input variable is a Boolean variable that can be referenced only. A value cannot be written.

The input variables correspond to the I/O-SYS, I/O-1, and I/O-H input pins. When an ON signal is

received, the input variable becomes “1” (true).

Category

Input

variable

#sysIn1 to 16 (I/O-SYS) are assigned a function in advance.

e.g.)#sysIn1: Start signal (When ON signal received, operation starts.)

If you want to use #sysIn1 to 16 (I/O-SYS) for a function other than the one to which it has been

assigned, switch the run mode parameter setting to free. (I/O-SYS function assignment)

Identifier

(JS Series)

#sysIn1 to 15 #sysIn1 to 16 I/O-SYS Reference only Boolean variable

#genIn1 to 18 #genIn1 to 8 I/O-1 Reference only Boolean variable

#handIn1 to 4

Identifier

(Cartesian)



Connector Description

I/O-H Reference only Boolean variable

Features II CARTESIAN Benchtop Robot

Output variables:



#sysOut1 to 15, #genOut1 to 18, #handOut1 to 4

Output variables are Boolean variables.

Output variables corresponds to the I/O-SYS, I/O-1, and I/O-H output pins. When an ON signal is

output, the output variables become “1” (true).

Category Connector Description

Output

variable

#sysOut1 to 16 (I/O-SYS) are assigned a function in advance.

Ex) #sysOut1: Ready for Start (ON signal: Operation can be started)

If you want to use #sysIn1 to 16 (I/O-SYS) for a function other than the one to which it has been

assigned, switch the run mode parameter setting to free. (I/O-SYS function assignment)

Identifier

(JS Series)

#sysOut1 to 14 #sysOut1 to 16 I/O-SYS Boolean variable

#genOut1 to 18 #genOut1 to 8 I/O-1 Boolean variable

#handOut1 to 4

Identifier

(Cartesian)



I/O-H Boolean variable

Down timer : #downT imer1 to 10



Numeric variable. When assigned (let) a value, counting down in msec units starts automatically. A

value can also be assigned during countdown.

The maximum value that can be assigned is 2,147,483,647 (msec).

Category

Special

variable

Features II CARTESIAN Benchtop Robot

Identifier

#downTimer1 to 10

When a value is assigned, counting down (in msec units) starts automatically.

Description

2.5mm

Point job starting height : #jobStartHight



When a value is assigned (let) to the variable “#jobStartHight” before movement or during movement,

the point job starts from an assigned value above the set point Z coordinate.

Setting point job data that includes “#jobStartHight” at “point job” is meaningless because the robot

has already arrived at the point job start position. Also, since this variable acts only on the set point,

the point job start position of the next point does not change.

e.g.)

P01

Type: CP start point

Job before moving: Point job data 3

Point job: Point job data 12

Category

Special

variable

Identifier

#jobStartHight

”Point Job” execution start

Point job starts from a given value above the Z coordinate of the point. (Invalid in CP drive)

Point Job Data 3

#jobStartHight 25

Description

Features II CARTESIAN Benchtop Robot

(

)

Pallet : #palletflag (1 to 100), #p alletCount (1 to 100)



#palletCount(1 to 100) is a numeric variable and #palletflag(1 to 100) is a Boolean variable.

These variables retain the value of the pallet counter and pallet flag of the “Pallet Routine” under

Additional function data (1 (true) when the pallet counter is full).

By using this variable, a pallet can be moved to the next point, etc. midway or a given pallet can be

skipped.

 #palletFlag (1 to 100) does not become “1” (true) even if a value which fills the counter is

e.g.) Perform a pallet job by skipping a given pallet.

Pick up a workpiece at P1, places it on the pallet (set at P2) and advances to the next point (P3) where the

pallet becomes full. However, there are 2 points (P2-5, P2-11) on the pallet where a workpiece is not

placed.

The pallet becomes pallet number 3, and the tool is connected using the following settings.

“Pick up workpiece” (pick up): #handOut1=ON

Category

Pallet

”Place workpiece” (place): #handOut1=OFF

assigned to #palletcount (1 to 100).

Identifier

#palletflag

(1 to 100)

#palletCount

(1 to 100)

Points where work is not performed

Pallet flag (corresponds to pallet 1 to 100)

Pallet counter (corresponds to pallet 1 to 100)

P2-5

P2-1(P0) P2-2

●

Description

Omitted

●

P2-11

To P3

P2-12

Features II CARTESIAN Benchtop Robot

Point job data set on P1

set #handOut1

Point job data set on P2



if ld #palletCount(3) = 5 or #palletCount(3) = 11 else reset #handOut1 endIf loopPalette 3,1

Pick up workpiece.

If #palletCount (3) is other than 5 (P2-5), 11 (P2-11),

Place (release) workpiece.

Increase the pallet 3 counter by 1. If the counter becomes full, advance to the next command. (In this case, the point job ends because there is no next command.) If the counter is not full, move to P1.

Features II CARTESIAN Benchtop Robot

Workpiece adjustment: #workAdj_X, #workAdj_Y,



#workAdj_Z, #workAdj_R, #workAdj_Rotation

Numeric variables. These variables hold the adjustment amount and rotation adjustment amount of

each axis of the [Workpiece Adjustment] under Additional function data.

Category

Workpiece

adjustment

e.g.) Line dispense between P2-P3.

At P1, workpiece adjustment amount (workpiece offset value) is received from the sensor connected to

COM.

The workpiece adjustment No. is made “6” and the tool is connected by the following setting.

“Dispensing end” : #handOut1=OFF

#workAdj_X (1 to 100)

#workAdj_Y (1 to 100)

#workAdj_Z (1 to 100)

#workAdj_R (1 to 100)

#workAdj_Rotation (1 to 100)

“Dispensing start” : #handOut1=ON

CP Start Point

Identifier

CP End Poin

Workpiece adjustment amount in the X direction (Corresponds to workpiece adjustment 1 to 100) Workpiece adjustment amount in the Y direction (Corresponds to workpiece adjustment 1 to 100) Workpiece adjustment amount in the Z direction (Corresponds to workpiece adjustment 1 to 100) Workpiece adjustment amount in the R direction (Corresponds to workpiece adjustment 1 to 100) Workpiece adjustment amount by rotating angle (Corresponds to workpiece adjustment 1=100)

CP Start Point

Workpiece Adjustment Amount

Description

CP End Poin

Features II CARTESIAN Benchtop Robot

Point job data set in P1



declear str hosei inCom hosei,port1,10 #workAdj_X(6) = hosei

Point job data set in P2 (Setting point of [Workpiece Adjustment])



set #handOut1

Point job data set in P3



reset #handOut1

 When [Workpiece Adjustment] is set at the CP start point, it is valid until the tool unit reaches

the CP end point.

String type local variable “hosei” declaration. Receive workpiece adjustment from COM1 at “hosei”.

The “hosei” value is assigned to #workAdj_X (6) (#workAdj_X(6)=X direction adjustment amount of workpiece adjustment 6)

Dispensing start

Dispensing end

Features II CARTESIAN Benchtop Robot

Point coordinates: #point_X,#point_Y,#point_Z,



#point_R,#point_TagCode

These variables hold the coordinates and tag code value of the running point. “Running point” is the

point with point job data containing this variable set. When point job data containing this variable is

set to a job before moving, job while moving, or job while CP moving, the current position of the tool

center point and the value of this variable are different.

In the figure below, a job before moving set in P2 runs at point P1, but when the point job data set at

job before moving includes this variable, the P2 coordinates are retained.

Also, this variable holds the original coordinates of the point. This value does not change even when

[Workpiece Adjustment] and “#jogStartHight” are used.

Category

Current point coordinates

Execute “Job before Moving (P2)”

Identifier #point_X #point_Y #point_Z #point_R #point_TagCode

CP Start Poin

Execute “Job while

Moving (P2)” repeatedly

Running point X coordinate value Running point Y coordinate value Running point Z coordinate value Running point R coordinate value Running point tag code value

CP Passing Point

Execute “Point Job (P2)”

Passes P3

Moving (P2)” repeatedly

Execute “Job while C

Description

rrive at P4

Features II CARTESIAN Benchtop Robot

Given point coordinates:



#P_X, #P_Y, #P_Z, #P_R, #P_T agCode

These variables hold the coordinates and tag code value of a given point in the current program.

This variable holds the original coordinates of the point. This value does not change even when

[Workpiece Adjustment] and “#jogStartHight” are used.

Category

Given point coordinate

#P_X (1 to last point count)

#P_Y (1 to last point count)

#P_Z (1 to last point count)

#P_R (1 to last point count)

#P_TagCode (1 to last point count)

Identifier

Description X coordinate value of given point in current program Y coordinate value of given point in current program Z coordinate value of given point in current program R coordinate value of given point in current program

Tag code value of given point in current program

Features II CARTESIAN Benchtop Robot

Given point coordinates i n given programs:



#prog_P_X, #prog_P_Y, #prog_P_Z,

#prog_P_R, #prog_P_TagCode

These variables hold the coordinates and tag code value of a given point in a given program.

This variable retains the original coordinates of the point. This value does not change even when

[Workpiece Adjustment] and “#jogStartHight” are used.

Category

Coordinates of given point of given program

#prog_P_X (1 to 255, 1 to last point count)

#prog_P_Y (1 to 255, 1 to last point count)

#prog_P_Z (1 to 255, 1 to last point count)

#prog_P_R (1 to 255, 1 to last point count)

#prog_P_TagCode (1 to 255, 1 to last point count)

Identifier

Description X coordinate value of given point in given program Y coordinate value of given point in given program Z coordinate value of given point in given program R coordinate value of given point in given program Tag code value of given point in given program

Features II CARTESIAN Benchtop Robot

[ Functions ]

Robot functions



Built-in functions, that are built-in as robot functions, and user definition functions, which can be

freely defined, can be used with this robot.

User definition functions are defined in the customizing mode. (Refer to operation manual “Features

IV” for a description of the customizing mode.)

The following can be used as robot system built-in functions.

Category Identifier Description num currentMainProgNumber() Currently running main program No. num currentSubProgNumber() Currently running subprogram No. num currentPointNumber() Currently running point No. num currentArmX() Current arm coordinate X, “mm” units num currentArmY() Current arm coordinate Y, “mm” units num currentArmZ() Current arm coordinate Z, “mm” units num currentArmR() Current arm coordinate R, “degree” units num numCOM(port#) COM receive port data byte count

currentMainProgNumber()



Holds the main program number currently running.

currentSubProgNumber()



Holds the subprogram number currently running. When a subprogram is not run, this variable

holds the main program number currently running.

currentPointNumber()



Holds the point number currently running. For work home, this variable is “0”.

currentArmX(),currentArmY(),currentArmZ()



Holds the current arm position (coordinate). (Absolute coordinate, “mm” units)

currentArmR()



Holds the number of rotations of the current R-axis (R-axis coordinate). (Absolute coordinate,

“degree” units)

Features II CARTESIAN Benchtop Robot

Arithmetic functions



The following can be used as arithmetic built-in functions.

x, y : Numeric value

n, m : Rounded integer value

Category Identifier Description

num max(x,y) Maximum value num min(x,y) Minimum value

num degrad(x) num raddeg(x)

num sqrt(x) Square root num sin(x) Sine num cos(x) Cosine num tan(x) Tangent num atan(x) Arc tangent num atan2(x,y) Arc tangent

num int(x)

num ip(x)

num fp(x)

num mod(x,y) Value of x which makes y modulo. x-y*int (x/y) num remainder(x,y) Remainder of dividing x by y. x-y*ip (x/y) num pow(x,y) x to the power of y

Absolute value num abs(x)

Conversion from degree to radian (x*π/180) Conversion from radian to degree (x*180/π)

Maximum integer which does not exceed x Ex: int (1.3)=1, int (-1.3)=-2 Integer part of x. sgn (x)*int (abs (x)) (When x is a negative number, sgn(x) becomes -1 and when x is a positive number, sgn(x) becomes +1.) Ex: ip (1.3)=1, ip (-1.3)=-1 Decimal part of x. x-ip (x) Ex: fp (1.3)=0.3, fp (-1.3)=-0.3

Features II CARTESIAN Benchtop Robot

String functions



The following can be used as string built-in functions.

x, y: Numeric value or Numeric variable

n, m: Numeric value made a certain digit or greater by rounding or truncation

a, b: String or string variable

Category

String system

Type Identifier Description

str chr(x) Returns a string (1 character) with the given character code.

num ord(a)

num len(a)

num strPos(a,b) Returns the first part string position that matches b in a.

str strMid(a,n,m)

str str(x) Converts a numeric value to a decimal string.

str strBin(n,m)

str strHex(n,m)

str str1SI(x)

str str2SIBE(x)

str str2SILE(x)

str str4SIBE(x)

str str4SILE(x)

str str4FBE(x)

str str4FLE(x)

str str8DBE(x)

str str8DLE(x)

num val(a)

Returns the value of the top character code. Other characters are ignored. Returns the string length (byte length). Does not handle multi byte codes.

Returns a character string from the n th to the m th characters, counting from the top of character string a.

Converts a numeric value to a binary string. m: Number of binary string digits Converts a numeric value to a hexadecimal string. m: Number of hexadecimal string digits Rounds a numeric value to a 1 byte signed integer and converts it to a 1 byte string. (1 byte Signed Integer) Rounds a numeric value to a 2 byte signed integer and converts it to a 2 byte string big endian. (2 byte Signed Integer Big Endian ) Rounds a numeric value to a 2 byte signed integer and converts it to a 2 byte string little endian. (2 byte Signed Integer Little Endian ) Rounds a numeric value to a 4 byte signed integer and converts it to a 4 byte string big endian. (4 byte Signed Integer Big Endian ) Rounds a numeric value to a 4 byte signed integer and converts it to a 4 byte string little endian. (4 byte Signed Integer Little Endian ) Regards a numeric value as a floating decimal and converts it to a 4 byte string big endian. (4 byte Float Big Endian) Regards a numeric value as a floating decimal and converts it to a 4 byte string little endian. (4 byte Float Little Endian) Regards a numeric value as a double floating decimal and converts it to an 8 byte string big endian. (8 byte Double Big Endian ) Regards a numeric value as a double floating decimal and converts it to 8 byte string little endian. (8 byte Double Little Endian ) Regards a string as a decimal string and converts it to a numeric value.

Features II CARTESIAN Benchtop Robot

x, y: Numeric value or Numeric variable

n, m: Numeric value made a certain digit or greater by rounding or truncation

a, b: String or string variable

Category

Type Identifier Description

num valBin(a)

Regards a string as a binary string (list of “0” and “1”) and converts it to a numeric value. Regards a string as a hexadecimal string (list of “0” to

num valHex(a)

num val1SI(a)

“1”, “A” to “F”, or “a” to “f”) and converts it to a numeric value. Regards the top character as a 1 byte signed integer and converts it. (1 byte Signed Integer ) Regards the top 2 characters as a 2 byte signed

num val2SIBE(a)

integer big endian and converts it. (2 byte Signed Integer Big Endian ) Regards the top 2 characters as a 2 byte signed

num val2SILE(a)

integer little endian and converts it. (2 byte Signed Integer Little Endian ) Regards the top 4 characters as a 4 byte signed

num val4SIBE(a)

String system

num val4SILE(a)

num val4FBE(a)

num val4FLE(a)

integer big endian and converts it. (4 byte Signed Integer Big Endian ) Regards the top 4 characters as a 4 byte signed integer little endian and converts it. (4 byte Signed Integer Little Endian ) Regards the top 4 characters as a floating decimal big endian and converts it. (4 byte Float Big Endian ) Regards the top 4 characters as a floating decimal little endian and converts it. (4 byte Float Little Endian ) Regards the top 8 characters as a double floating

num

val8DBE(a)

decimal big endian and converts it. (8 byte Double Big Endian ) Regards the top 8 characters as a double floating

num val8DLE(a)

num valSum(a)

decimal little endian and converts it. (8 byte Double Little Endian ) Returns the sum of the string code added from top to bottom. Remainder of division of string assumed to be a bit

num valCRC(a)

str bitNot(a) Bit NOT str bitAnd(a,b) Bit logical AND str bitOr(a,b) Bit logical OR str bitXor(a,b) Bit exclusive logical OR

string divided by generation polynomial

16+X12+X5

Features II CARTESIAN Benchtop Robot

[ ON/OFF Output Control ]

Outputting to I/O: set, reset, pulse, invPulse



This section explains commands to be output to a tool (output to the I/O.) These commands belong

to the category [ON/OFF Output Control.]

Command Category Command

set

reset

ON/OFF Output

Control

pulse

invPulse

Parameter

Output Destination

Output

Destination

Output

Destination

Pulse Width

Job ON output to a specified output destination OFF output to a specified output destination ON pulse output with a specified width to a specified output destination OFF pulse (inverting pulse) output with a specified width to a specified output destination

Example)

In this example, a hand tool is connected to the robot as shown in the following figure.

- Hand Tool OPEN  Air 1 CLOSE & Air 2 OPEN

- Hand Tool CLOSE  Air 1 OPEN & Air 2 CLOSE

- Air 1 OPEN  Solenoid Valve 1 ON

- Air 2 OPEN  Solenoid Valve 2 ON

- Air 1 CLOSE

- Air 2 CLOSE  Solenoid Valve 2 OFF

- Solenoid Valve 1 ON  #sysOut15 ON

- Solenoid Valve 2 ON  #sysOut16 ON

- Solenoid Valve 1 OFF  #sysOut15 OFF

- Solenoid Valve 2 OFF  #sysOut16 OFF

 Solenoid Valve 1 OFF

Hand Tool

Solenoid Valve 2

Solenoid Valve 1

ir 1

ir 2

I/O-SYS

Features II CARTESIAN Benchtop Robot

Therefore,

Hand Tool OPEN ← #sysOut15 OFF & #sysOut16 ON

Hand Tool CLOSE ← #sysOut15 ON & #sysOut16 OFF

Below are the output commands to open/close the hand tool.



set #sysOut15 reset #sysOut16

 The command [set] continues to output an ON signal unless the command [reset] is received.

Below are the output commands to open/close the hand tool using the pulse.



pulse #sysOut15 100 #sysOut15  0.1sec 

invPulse #sysOut16 100 #sysOut16  0.1sec 

pulse #sysOut15 100 #sysOut15  0.1sec 

pulse #sysOut16 100 #sysOut16  0.1sec 

#sysOut16 ON output

#sysOut15 OFF output

#sysOut16 ON output

#sysOut15 OFF output

ON OFF

Open hand tool.

Close hand tool.

Open hand tool.

Close hand tool.

Features II CARTESIAN Benchtop Robot

 The commands [pulse] and [invPulse] move on to the next command before the pulse stops.

In the following example 2 point job data have different results:

pulse #genOut1 100

pulse #genOut2 200

set #genOut3

↓  ↓

#genOut1

#genOut2

#genOut3

delay 100 = Stand by for 0.1 second in place.

 You can set the pulse width for the commands [pulse] and [invPulse] using variables or

expressions.

0.1 sec 0.1 sec

set #genOut1

delay 100 reset #genOut1 set #genOut2 delay 200 reset #genOut2 set #genOut3

#genOut1

#genOut2

#genOut3

0.2 sec

Features II CARTESIAN Benchtop Robot

Outputting after X second: delaySet, delayReset



The commands “delaySet” and “delayReset” are used to output ON/OFF signals to a specified

output destination after a specified period of time.

The delay time can be set from 0.001 sec to 9999.999 sec.

Command Category

ON/OFF Output

Control

The commands “delaySet” and “delayReset” move on to the next command before the pulse stops.

Timing of the next command execution differs from the case where signals are output by set/reset

after “waitCondTime.”

Example) delaySet

1) delaySet #sysOut2 100

2) set #sysOut1

3) ٠ ٠ ٠ ٠ ٠ ٠

 Delay Time can be set using variables or expressions.

0.1 sec

Command Parameter

delaySet

delayReset

Output

Destination

Output

Destination

Delay

Time

Delay

Time

Example) waitCondTime/set

1) waitCondTime 100

2) set #sysOut1

3) set #sysOut2

4) ٠ ٠ ٠ ٠ ٠ ٠

ON output after specified delay

OFF output after specified

0.1 sec

Job

time

delay time

Features II CARTESIAN Benchtop Robot

Sounding an alarm buzzer: onoffBZ



A point job sounds an alarm buzzer.

Command Category Command Parameter Job

ON/OFF Output Control

If these commands “set/onoffBZ” are executed, an alarm buzzer continues to sound until the

“reset”command is executed.

 ON Time and OFF Time for the command “onoffBZ” can be set using variables or expressions.

set

reset

onoffBZ ON Time, OFF Time

Output Destination

(BZ)

Output Destination

(BZ)

Sounds an alarm buzzer.

Stops an alarm buzzer.

Sounds an alarm buzzer off and on.

Features II CARTESIAN Benchtop Robot

Blinking the LED (Green): onoffGLED



 The following commands are valid for the CARTESIAN series only.

The following explains how to turn ON or blink the LED light on the front body using point job

commands.

After the onoffGLED command, which turns ON or blinks the LED (Green), is executed, the LED

(Green) stays ON or keeps blinking until the reset command, which turns the LED (Green) OFF, is

executed.

 ON Time and OFF Time for “onoffGLED” command can be set using variables or expressions.

Command Category

ON/OFF Output

Control

Command

set

reset

onoffGLED

Parameter

Output Destination

ON Time, OFF Time

(GLED)

Job

Turns the LED (Green) ON.

Turns the LED (Green)

OFF.

Blinks the LED (Green.)

Features II CARTESIAN Benchtop Robot

Blinking the LED (Red): onoffRLED



 The following commands are valid for the CARTESIAN series only.

The following explains how to turn ON or blink the LED light on the front body using point job

commands.

After the onoffRLED command, which turns ON or blinks the LED (Red), is executed, the LED (Red)

stays ON or keeps blinking until the reset command, which turns the LED (Red) OFF, is executed.

 ON Time and OFF Time for “onoffRLED” command can be set using variables or expressions.

Command Category

ON/OFF Output

Control

Command Parameter

set

reset

onoffRLED ON Time, OFF Time

Output Destination

(RLED)

Output Destination

(RLED)

Job

Turns the LED (Red) ON.

Turns the LED (Red) OFF.

Blinks the LED (Red.)

Features II CARTESIAN Benchtop Robot

Outputting values from I/O: dataOut,dataOutBCD



The optional numeric values “0 to 999,999,999” or tag codes can be output to the I/O or the Boolean

free variables (#mv(1~99), #mkv(1~99).)

Command Category Command

ON/OFF Output

Control

 Using tag code output, you can output different values using the same point job data if you set

different values as tag codes to multiple points.

 Output Values and Output Width can be set using variables or expressions.

You need to set the following 2 parameters in addition to Output Value for the commands “dataOut”

and “dataOutBCD”.

- Output Width: The number of I/Os to be used for output

- Output Destination: The smallest number between I/Os to be used for output

 The serial I/Os are used for the commands “dataOut” and “dataOutBCD”. You cannot use I/Os

that are not serial I/Os.

Example:

<Setting> Output Value: 6 Output Width: 3 Output Destination: #genOut8

dataOut

dataOutBCD

e.g) If you use #genOut8 to 10, the Output Destination is “8.”

Output

Value

Output

Value

dataOut 6,3,#genOut8

Parameter

Output

Destination

Output

Destination

Output

Width

Output

Width

<Output> 6=110 (binary) #genOut8: 0 (OFF) #genOut9: 1 (ON) #genOut10: 1 (ON)

Outputs values from the I/O. Outputs values in BCD from the I/O.

Job

 If an Output Value does not match a specific Output Width, the upper digit will be truncated.

Example:

<Setting> Output Value: 14 Output Width: 3 Output Destination: #genOut8

 Output Width can be set up to “31.” However, the two I/O’s cannot be combined.

dataOut 14,3,#genOut8

Features II CARTESIAN Benchtop Robot

<Output> 14=1110 (binary) #genOut8: 0 (OFF) #genOut9: 1 (ON) #genOut10: 1 (ON) : 1 (truncation)

[ If Branch, W ait Condition ]

if Branch: if, then, else, endIf



This section explains point job data commands for executing different jobs according to certain

conditions. These commands belong to the category [if Branch, Wait Condition.]

Command Category

if Branch, Wait

Condition

 Be sure to put the commands for the Condition after “if.”

Examples of if, then, else and endIf



Example 1: If #genIn2 is ON, raise the Z

axis by 10 mm and output a pulse to

#genOut1.

If #genIn2 is not ON, descend the Z axis

10 mm and output a pulse to #genOut2.

The Commands for Example 1 are shown below.

if ld #genIn2 then upZ 10,20 pulse #genOut1,200 else downZ 10,20 pulse #genOut2,200 endIf

Command

then

else

endIf

If the following condition is true, advance to then. If false, advance to

else. #genIn2 = ON (Condition) If the Condition is true, execute the following commands. Raise the Z axis by 10 mm at the speed of 20 mm/sec, And output ON pulse to #genOut1. (The pulse width is 0.2 seconds.) If the Condition is false, execute the following commands. Descend the Z axis by 10 mm at the speed of 20 mm/sec, and output ON pulse to #genOut2 (The pulse width is 0.2 seconds. End of if Branch

Parameter

#genIn2=ON

Raise by 10 mm. Output to #genOut1.

if Branch Executes the following commands if true.

Executes the following commands if false.

End of if Branch

Job

Descend by 10 mm. Output to #genOut2.

Features II CARTESIAN Benchtop Robot

Example 2: If #genIn1 and #genIn2 are both

ON, sound an alarm buzzer and stand by until

Label 1

a start instruction is received.

If either #genIn1 or #genIn2 are not ON,

advance to the next job.

#genIn1 #genIn2

Sound Alarm

nd Wait Star

The commands for Example 2 are shown

below.

Label 1

if ld #genIn1 and #genIn2 then waitStartBZ jump L1 endIf

(A destination mark for jump command) If the following condition is true, advance to then. If false, advance to the next of endIf. #genIn1=ON (Condition 1) And #genIn2=ON (Condition 2) If the Conditions are true, execute the following commands. Sound an alarm buzzer and stand by in place until a start instruction is received. Jump to [Label 1] when a start instruction is received. End of If Branch

 It is not necessary that both “then …” and “else …” exist at the same time. However, an IF

command without a corresponding “endIf” command is recognized as an error.

 The command lines for “waitCondTime” “timeUp” … ”endWait”, “if” … “endIf” are indented.

(See below.)

waitCondTime 200 ld #genIn2 timeUp set genOut2 if ld #genIn1 then downZ 20,20 waitCondTime 200 ld #genIn4 timeUp waitStartBZ endWait endIf

Be sure not to exceed the 9

level of the

indent.

If point job data including a line with the

indent exceeding 9

level, it will recognize an error in running and the message “Error on point job” will be displayed.

If “timeUp” or “endWait” precedes “waitCondTime” or if “then”, “else” or “endIf” proceeds “if”, it will be also recognized as an error and the message “Error on point job” will be displayed.

endWait

level

3rd level

level

Features II CARTESIAN Benchtop Robot

Wait Condition: waitCond,waitCondT ime,timeUp,endWait



This section explains the point job data commands for waiting until the sensor (connected to

#genIn2) comes ON. These commands belong to the category [Wait Condition.]

Command

Category

Wait Condition

 Wait Condition commands are invalid at the CP Passing Point or a point whose Base Type is

CP Passing Point.

 Be sure to put condition commands after “waitCond” or “waitCondTime.”

waitCond … endWait



e.g.: A workpiece exists. → Sensor (#genIn2) ON

A workpiece does not exist. → Sensor (#genIn2) OFF

waitCond ld #genIn2 endWait

waitCondtime … timeUp … endWait: Wait for the specified period of time until conditions are met.

e.g.: If workpieces do not come within 30 seconds, it is recognized as an error, an external lamp

(connected to #genOut2) comes ON, and the robot stands by until a start instruction comes.

To re-start running the robot, resolve the problem and press the start button.

waitCondTime 3000 ld #genIn2 timeUp set #genOut2 waitStartBZ reset #genOut2 endWait

Command Parameter

waitCondTime Period for Time Out Waits for conditions for a certain period. timeUp - Executes when time is up. endWait - End of WAIT command waitCond - Waits for conditions.

: Wait until conditions are met.

Stand by in place until the following conditions are met. #genIn2=ON (Condition) End of the condition line.

Wait for 3 seconds until the following conditions are met. #genIn2=ON (Condition) If the conditions are not met within 3 seconds, Output ON signal to #genOut2, Stand by in place until a start instruction comes. Output OFF signal to #genOut2 when a start instructionis received. End of the line for commands if conditions are not met after 3 seconds.

Job

Condition

Features II CARTESIAN Benchtop Robot

 [endWait] and [timeUp] cannot be used alone.

 A period for Time Out of “waitCondTime” can be set using variable and expressions.

Example)

declear num wtime if ld #genIn3 then wtime = 3000 else wtime = 1000 endIf waitCondTime wtime ld #genIn2 timeUp set #genOut2 waitStartBZ reset #genOut2 endWait

Declare the local variable “wtime.” If #genIn3=ON then Assign 3000 to”wtime.” if Assign 1000 to “wtime.”

Wait for 3 seconds/1 second until the following conditions are met.

#genIn2=ON (Condition) If the conditions are not met within 3 seconds/1 second, Output ON signal to #genOut2, Stand by in place until a start instruction comes. When a start instruction comes, output OFF signal to #genOut2.

End of the command line if the conditions are not met within 3

seconds/1 second.

Features II CARTESIAN Benchtop Robot

[ Condition ]

Condition Settings: ld, ldi, and, ani, or , ori, anb, orb



The following describes the condition commands placed after the If Branch, Wait Condition (if,

waitCond, waitCondTime) commans. The command category it belongs to is [Condition.]

Command

Category

Condition

I/O-SYS output (#sysOut), I/O-1 output (#genOut), I/O-H output (#handOut), system flag (#sysFlag),

internal relay (#mv), keep relay (#mkv), and pallet flag, as well as I/O-SYS input (#sysIn), I/O-1 input

(#genin), and I/O-H input (#handIn), can be given as command parameters.

Comparison operation expressions can also be used. Variables and functions other than the above

parameters can also be used in comparison operation expressions.

Comparison

operation expression

○ = □

○ < □

○ > □

A comparison operation expression must always start from an Id or Idi command line. If it is only an

independent ON (true) or OFF (false) condition, it is a 1 line command, but when multiple conditions

are connected with and, or, etc., it becomes a multi-line command string.

Expressions can also be used in conditional operations. In this case, the result of the expression is

judged as 0 (flag) or nonzero (true).

Command

ldi

and

ani

ori

anb

orb

Equal

□ greater than ○

□ less than ○

Parameter

 

operation expression

Comparison

○ <= □ ○

=< □

○ >= □ ○ => □ ○ <> □ ○ >< □

ON input

Block serial connection Block parallel connection

□ greater than or equal

○

□ less than or equal to ○

Not equal

Boolean variable or expression ld Boolean variable or expression OFF input Boolean variable or expression Serial ON input Boolean variable or expression Serial Off input Boolean variable or expression Parallel ON input Boolean variable or expression Parallel OFF input

Meaning

□ to ○

Job

Meaning

Features II CARTESIAN Benchtop Robot

ld: ON input

waitCond ld #genIn2 endWait

ldi: OFF input

waitCond ldi #genIn2 endWait

and: Series ON input

waitCond ld #genIn1 and count>=10 endWait

 “count” is a variable.

ani: Series OFF input

waitCond ldi #genIn1 ani count<=10 endWait

or: Parallel ON input

waitCond ld #genIn1 or #genIn2 endWait

ori: Parallel OFF input

waitCond ldi #genIn1 ori #genIn2 endWait

Waits in place until the following condition is met. #genIn2=ON (condition) End of condition line

Waits in place until the following condition is met. #genIn2=OFF (condition) End of condition line

Waits in place until the following conditions are met. #genIn1 is ON (condition 1) and count value is 10 or greater (condition 2) End of condition line

Waits in place until the following conditions are met. #genIn1 is OFF (condition 1)

and count value is 10 or less (condition 2)

End of condition line

Waits in place until the following condition is met. #genIn1 is ON (condition 1)

or #genIn2 is ON (condition 2).

End of condition line

Waits in place until the following condition is met. #genIn1 is OFF (condition 1)

or #genIn2 is OFF (condition 2)

End of condition line

Features II CARTESIAN Benchtop Robot

anb: Block series connection

waitCond Waits in place until the following conditions are met. ld count>=10

or flag ldi #genIn1

ani #genIn2

anb Condition 1 is true and condition 2 is also true

endWait End of condition line

orb: Block parallel connection

waitCond Waits in place until the following conditions are met. ld count>=10

or flag ldi #genIn1

ani #genIn2

orb Condition 1 or condition 2 is true.

endWait End of condition line

 When there is “anb” and “orb” but no corresponding “Id” or “Idi”, “Error on point job” is displayed

and an error is recognized.

count is 10 or greater or flag is ON

#genIn1 is OFF and #genIn2 is OFF

Count is 10 or greater or flag is ON

#genIn2 is OFF and #genIn2 is also OFF

Condition 1

Condition 2

Condition 1

Condition 2

Features II CARTESIAN Benchtop Robot

[ Delay, Data In, Wait Start ]

Time Delay: delay



This section explains the point job data command for controlling time delay.

Command Category

Delay, Data In, Stand by in place for a specified period of Wait Start

 The command “delay” is invalid at a CP Passing Point and at a point whose Base Type is CP

delay

Example)

set #genOut1 delay 100 reset #genOut1 set #genOut2 delay 200 reset #genOut2

#genOut1

#genOut2

Passing Point.

Delay for the specified period of time.

ON OFF ON

OFF

Command Parameter

Delay Time

delay

Output ON signal to #genOut1, Delay for 0.1 sec. Output OFF signal to #genOut1. Output ON signal to #genOut2. Delay for 0.2 sec. Output OFF signal to #genOut2.

0.1sec

 0.2sec 

delay time.

Job

Features II CARTESIAN Benchtop Robot

Delay Time can be set using variable or expression instead of values.

Example)

declear num wtime if ld #genIn1 then wtime = 100 else wtime = 200 endIf set #genOut1 delay wtime reset #genOut1

Declare the local variable “wtime.” If #genIn1=ON then Assign 100 to “wtime.” If not Assign 200 to “wtime.”

Output ON signal to #genOut1. Delay for 0.1 sec/0.2 sec. Output OFF signal to #genOut1.

Features II CARTESIAN Benchtop Robot

Waiting for a st art instruction: waitStart, waitStartBZ



This section explains the point job data commands to stop running until a start instruction is received.

Command Category

Delay, Data In, Wait Start

 The commands “waitStart” and “waitStartBZ” are invalid at the CP Passing Point or a point

waitStart: Wait for start.

Example)

set #genOut1 waitStart reset #genOut1

waitStartBZ: Wait for start (alarm buzzer)

For Example: If #genIn1 does not come ON within 2 seconds, it is recognized as an error, genOut2

(connected to an external alarm/error lamp) comes ON and the robot “stands by for start while

sounding an alarm buzzer.”

waitCondTime 2000 ld #genIn1

timeUp upZ 50,20 set #genOut2 waitStartBZ reset #genOut2 goPoint PTP3,5 endWait

whose Base Type is CP Passing Point.

When an operator resolves the problem and sends a start instruction, the OFF signal will be

output to #genOut2 and the operation will start from Point 05.

Command Parameter

waitStart -

waitStartBZ

Outputs an ON signal to #genOut1. Stands by in place until a start instruction comes. Outputs an OFF signal to #genOut1 (when a start instruction is received.)

Wait for #genIn1 to go ON for 2 seconds.

If #genIn1 does not come ON within 20 seconds, Raise the Z axis 50 mm (at the speed of 20 mm/sec), Output ON signal to #genOut2, Sound an alarm buzzer and stand by in place until a start instruction is

received. Output OFF signal to #genOut2 (when a start instruction comes), Go to Point 05. End of the comannd which will be executed if #genIn1 does not come ON within 20 seconds.

Stands by in place until a start instruction is received.

Stands by in place while sounding an alarm buzzer until a start instruction is received.

Job

Features II CARTESIAN Benchtop Robot

 If using “waitCondTime” “timeUp” … “endWait” or “if” … ”endIf”, command lines are indented.

(See below.)

waitCondTime 200 ld #genIn2 timeUp set genOut2 if ld #genIn1 then downZ 20,20 waitCondTime 200 ld #genIn4 timeUp waitStartBZ endWait endIf

Be sure not to exceed the 9

level of the

indent.

If point job data including a line with an indent

exceeding the 9

level, it will recognize a running error and the message “Error on point job” will be displayed.

If “timeUp” or “endWait” precedes “waitCondTime” or if “then”, “elese” or “endIf” precedes “if”, it will be also recognized as an error and the message “Error on point job” will be displayed.

endWait

level

Features II CARTESIAN Benchtop Robot

Inputting from I/O: dataIn, dat aInBCD



Read out a value from the I/O or Boolean variable (#mv (1 to 99), #mkv (1 to 99)) and assign it to the

specified variable.

Command Category Command

Delay, Data In,

Wait Start

 BCD = Binary-Coded Decimal

 Read out width can be set using variables or expressions.

For the commands “dataIn” and “dataInBCD”, you need to set the following 2 parameters in addition

to a variable to which an input value is assigned.

- Input Width: The number of I/Os to be used to input

- Input Destination: The smallest number between I/Os to be used to input

 The serial I/Os from Input Destination to Input Width are used. You cannot use I/Os that are not

serial I/O’s.

Example)

declear numeric code dataIn code,#genIn3,8

declear numeric code dataInBCD code,#genIn3,8

Status of I/O-1

#genIn3 #genIn4 #genIn5 #genIn6 #genIn7 #genIn8 #genIn9 #genIn10

In the above case, the values of “code” are as below.

For the command “dataIn”, the value of “code” is 18.

For the command “dataInBCD”, the value of “code” is 12

Input Width can be set up to “31.” However, it cannot be extended to different I/O.

 Input Width can be set up to “31.” However, the two I/Os cannot be combined.

OFF OFF OFF ON OFF OFF ON OFF

Input Width 8

dataIn

dataInBCD

e.g.) If you use #genIn3 to 10, the Read Out Source is “3.”

Variable t o assign to Variable t o assign to

Parameter

Input Destination Input Destination

Declare the local variable “code.” Read out data from #genIn3 (I/O-1) to #genIn10 as a value and assign it to “code.”

Declare the local variable of “code.” Read out data from #genIn3 (I/O-1) to #genIn10 as BCD value and assign it to “code.”

Input Width Input Width

Read out numeric data from I/O. Read numeric data in BCD from I/O.

Job

Features II CARTESIAN Benchtop Robot

)

(

)

[ Pallet Control ]

Pallet Command: loopPallet, resPallet, incPallet



There are two methods for updating the pallet counter. One is [Auto Increment], which increases

the counter automatically (the arm will proceed to the next position on the pallet), and the other is

[Increment by Point Job], which will not increase the counter (that is, the tool unit will not move to the

next position on the pallet) unless the point job specifies it.

[Auto Increment] does not need a point job command to control the pallet operation. The tool unit

will automatically move to the next point and update the pallet counter. However, on the [Auto

Increment] pallette, the tool unit can only move in order of P2-1, P2-2, P2-3 and so on as shown

below.

Example) Pallet of Auto Increment

[Plane Pallet]

Auto Increment

4 rows, 4 columns

Example) Pallet of Increment by Point Job

[Plane Pallet]

Increment by Point Job

4 rows, 3 columns

Features II CARTESIAN Benchtop Robot

P2(P2-1

P2-5

P2-9

P2-13

To P3

P2-4

P2-8

To P3

P2-1

P2-2

P2-

P2-4

P2-12

During the pallet operation [Increment by Point Job], the tool unit can move as shown in the figure on

the previous page.

The tool unit returns to P1 before it moves to the next position each time. (P1 → P2 (P2-1) → P1 →

P2-2 → P1 → P2-3, and so on.)

Below are the pallet commands used for [Increment by Point Job.]

Command

Category

Pallet

The following 2 variables are unique to pallet control.

[paletteFlag(n)]: Boolean variable which has the following contents.

[palletCount(n)]: Numeric type variable which has the counter value of Pallet (Number n)

In the following example of point job data, the robot picks the workpiece up from P1 (set #genout1)

and places it at P2 (reset #genOut1) on the pallet of [Increment by Point Job] as shown in the figure.

Command Parameter

loopPallet

resPallet Pallet Number Reset the counter to “0.” incPallet Pallet Number

The counter of Pallet (Number n) is at the maximum=ON (true)

The counter of Pallet (Number n) is not at the maximum=OFF (false)

Pallet Number, go Point Number

Increase the counter one by one. Unless the counter has reached the maximum number, the arm will move to the specified point.

Job

Increase the counter by one.

Point Job Data (for P1 setting)



set #genOut1 Holds (picks up) the workpiece.

Point Job Data (for P2 setting)



reset #genOut1 loopPallet 10,1

 Shifting by “loopPallet” (shift to P1 in case of point job data for the above P2 setting) is complied

with “PTP Condition” in the program data.

Releases (places) the workpiece. Increases the counter of Pallet 10 by one. If the counter reaches the maximum, it goes on to the next command. In this case, the point job ends because there is no next command. If the counter is not at maximum, it moves to P1.

Features II CARTESIAN Benchtop Robot

Below are the pallet commands for using the command “incPallet (Increase the specified pallet

counter by one)” instead of “loopPallet.”

reset #genOut1 incPallet 10 if ld #palletFlag(10) else goPoint PTP3,1 endif

 If you use the command “loopPallet”, the arm shifts to a specified point complying with PTP

Condition (Program data.) If you use the command “incPallet”, you can use the command

“goPoint” or “goRPoint” and select PTP Condition (Additional Function Data.)

If you use the command “incPallet”, a pulse can also be output everytime the arm shifts to P1.

reset #genOut1 incPallet 10 if ld #paletteFlag(10) else pulse #genOut5,200 goPoint PTP0,1 endif

Pallet Number (also go Point Number in case of “loopPallet”) can be set using expressions.

Example)

declear num pal if ld #genIn3 then pal = 5 else pal = 6 endIf reset #genOut1 loopPallet pal,1

Hold (pick up) the workpiece. Increase the counter of Pallet 10 by one. if

The counter of Pallet 10 does not reach the maximum,

Go to P1 (comply with PTP Condition03.)

Hold (pick up) the workpiece. Increase the counter of Pallet 10 by one. If The counter of Pallet 10 does not reachthe maximum, Output a pulse, Shift to P1.

Declare the local variable “pal.” If #genIn3=ON then Assign 5 to “pal.” If not Assign 6 to “pal.”

Hold (pick up) the workpiece.

Increase the counter of Pallet 5/6 by one, go on to the next command if the counter reaches the maximum. (In this case, the point job ends because there is no next command.)

Shift to P1 if the counter does not reach the maximum.

Features II CARTESIAN Benchtop Robot

[ Execution Flow Control ]

Subroutine call of type setting job: callBase



When a point job, etc. is set at a user definition type point created in the customizing mode, the point

job, etc. added to the type is not executed.

Also, when an additional function is set at user definition type, and a function of the same type but

different number is set at the point, the function data number of the function set at the point has

priority.

e.g.) Assume there is the user definition type showed

to the right.

executed at operation at P1 and P2 in the below

figure becomes:

P1) Job before moving : Point job data 5

Job while moving : Point job data 6

Point job : Point job data 7

Additional function : PTP condition 9

Execute condition 1

Point 01 Type: Pick-up point Job before moving No.: 5 Job while moving No.: 6 Point job No.: 7

At this time, the point job data which is

P2) Job before moving : “Job before moving” added to user definition type

Job while moving : “Job while moving” added to user definition type

Point job : “Point job” added to user definition type

Additional function : PTP condition 1

Execute condition 1

dditional function: PTP condition 9

Title : Pick-up point

Base type : PTP drive point

Job before moving : Yes

Job while moving : Yes

Point job : Yes

dditional function : PTP condition 1

Point 02 Type: Pick-up point Job before moving No. : 0 (none) Job while moving No. : 0 (none) Point job No. : 0 (none)

dditional function : None

Features II CARTESIAN Benchtop Robot

In these cases, when the “callBase” command is used in the point job data set at a user definition

type point, a subroutine of the point job, etc. added to the type can be called. When the “callBase”

command is used in point job data 7 of the example, a subroutine of the command string for the

“point job” added to the user definition type of point job data 7 is called when a point job of P1 is

executed.

Command

Execution flow control

 The “callBase” command is invalid at the CP Passing Point or a point whose Base Type is CP

The “callBase” command calls a subroutine of the job command string added to the type. Therefore,

when the “callBase” command is executed in a job before moving, job while moving, and job while

CP moving, a subroutine command string for the job before moving, job while moving, and job while

CP moving added to each type is called.

In the case of the example, when the “callBase” command is used at point job data 5, a subroutine

of the command string for the job before moving added to the type at point job data 5 is called when

P1 job before moving job is executed.

(Point job data 7) (“Point job” added to user definition type)

Parameters



Calls and executes the job command string added to the type at the user definition type point.

callBase

goPoint, goRPoint, goCRPoint

The following explains how to jump to a specified point after carring out a point job instead of going

to the next point.

Command

Category

Execute Flow Control

 The commands “goPoint”, “goRPoint” and “goCRPoint” are invalid at the CP Passing Point or a

point whose Base Type is CP Passing Point.

 Point Number or Relative Point Number of “goPoint” and “goRPoint” can be set using variables

or expressions.

A destination for “goCRPoint” can also be set using variables or expressions. In this case, the

value must be either “0” or “1,”

Example: Below: is the Point Job Data for the

operation shown in the chart to the right.

waitCondTime 500

ld #genIn2

timeUp

waitStartBZ

goRPoint PTP3,8

endWait

The above commands carry out the following

operation:

When #genIn2 does not turn ON within 0.5 sec, the alarm buzzer will sound and the robot will wait

until a start signal is received. After a start signal is received, operation will restart at the current

reference point, plus 8.

Command Parameter

PTP Condition Number, Point Number

goRPoint

goCRPoint

PTP Condition Number, Relative Point Number PTP Condition Number, Destination selection

Jumps to a specified point. goPoint

Jumps to a specified relative point.

Jumps to a specified destination while running in CP drive.

#genIn2=ON

Job

waitStartBZ

goRPoint PTP3,8

Features II CARTESIAN Benchtop Robot

[goPoint PTP3,25]: Jump to Point 25. (Comply with PTP Condition 03.)

If you set “0” as the PTP Condition Number, the movement will comply with the

PTP Conditions setting in the program data.

If you set “o” as the point number, the arm will go to the Work Home position.

(Jump to a point specified by number.)

[goRPoint PTP3,-4: Subtract four from the current reference point number and

jump to the point with that number. (Comply with PTP Condition 03.)

If you set “0” as the PTP Condition Number, the movement will comply with the

PTP Conditions setting in the program data.

If you set “0” as the Relative point number, the robot will restart at the current

point.

(Jump to a relative point specified by number.)

[goCRPoint PTP3,1: This command is used to jump to a specified point while running in CP drive.

The movement from a CP Start Point to a CP End Point is regarded as one action.

If you set 0 as the destination, the arm will return to the point where it started the

operation in CP drive (CP Start Point.) (PTP Condition is 03.) If you set 1 as the

destination, the arm will jump to the next point of a CP End Point. (PTP

Condition is 03.)

If you set 0 as the PTP Condidtion Number, the robot will comply with the PTP

Condition setting in the program data.

Example: If this command is executed between P1 and P5, the arm will shift as

shown below

Destination 0: Shift to P1.

Destination 1: Shift to P6.

P1 P2 P3 P4 P5

CP Start Point

CP Sto

Point

CP Sto

Point

CP Sto

Point

CP End Point

CP Start Point

Features II CARTESIAN Benchtop Robot

Jumping to a specified command line: jump, Label



Command Category

Execute Flow Control

Example: If #genIn2 is ON, the alarm buzzer sounds and stands by until a start signal comes.

If #genIn2 is not ON, go to the next job.

Label 1

if ld #genIn2 then waitStartBZ

jump L1

endIf

 The command “Label” cannot be set between “if” and “endIf”, or “waitCond” and “endWait.”

 Label can be set from “Label 1” up to “Label 99.”

Command jump Label Number Jumps to a “Label” specified by number. Label

Label Number Destination mark to “jump” to.

(Destination mark) If the following condition is true, go to then. If not, go to the next of endIf. genIn2=ON If the condition is true, execute the following commands. Sound a buzzer and stand by in place until a start signal is received. Jump to [Label 1.] (when a start signal is received.) End of if Branch

Parameter

Job

Features II CARTESIAN Benchtop Robot

[ For, Do-loop ]

For , Do-loop: for, next, exitFor, do, loop, exitDo



Command

Category

for, do-loop

for ~ exitFor ~ next

“for” is a command to specify the number of repetitions.

declear num ival for ival=1 to 8 step 1 (contents of repetition) next

declear num ival for ival=1 to 8 step 1 (contents of repetition) if ld #genIn1 then exitFor endIf next

Command Parameter

Control Variable,

for

next - exitFor - Exits from “for” sentence.

do - loop - exitDo - Exits from “do” sentence.

Initial Value, End Value, Step Value

Repeats commands from “for” to “next” until the specified variable changes from Initial

Declare the local variable “ival.” The initial value of the variable “ival” is 1. Add to the variable by one for every looping and repeat the commands from “for” to “next” until “ival” becomes 8.

Declare the local variable “ival.” “exitFor” is a command to exit from the repetition of “for

next” and go to the next command of “next.”



Condition: If #genIn1=1, exit from the repetiion of “ next” even if “ival” does not become 8 and go to the next command of “next.”

Value to End value.

Repeats commands from “do” to “loop.”

Job

Features II CARTESIAN Benchtop Robot

Parameters (the initial value, end value and step value) of the command “for” can be set using

variables or expressions.

declear num loop declear num ival if ld #genIn1 then loop = 5 else loop = 10 endIf for ival=1 to loop step 1 (contents of repetition) next

do ~ exitDo ~ loop

Repeat an operation from “do” to “loop” until it exits by “exitDo.”

do (contents of repetition) loop

do (contents of repetition) if ld #genIn1 then exitDo endIf (contents of repetition) loop

 In case of the looping commands, an error will occur if the nest level exceeds 10.

 If you set the looping commands at CP Passing Point or a point whose Base Type is CP

Passing Point as a point job, the robot may stop because of too many loops.

Declare the local variable “loop.” Declare the local variable “ival.” If #genIn1=ON then Assign 5 to “loop.” If not Assign 10 to “loop.”

The initial value of the variable “ival” is 1. Add to the variable by one for every looping and repeat “for  next” until the value of the “ival” become the same as the variable “loop (5/6).”

If there is no condition to exit from repetition, repeat looping endlessly.

 (contents of repetition) can be put before or after

Condition.

Condition: If #genIn1=1, exit from the repetition of “do ~ loop” and go to the next command of “loop.”

Features II CARTESIAN Benchtop Robot

[ Controlling Tool Movement ]

Moving the Z axis: upZ, downZ, movetoZ



The following explains how to raise/lower the Z axis only by setting a point job. These commands

belong to the category [Move.]

Command Category Command

Move

 Move commands are invalid at the CP passing point and points whose Base Type is CP

Passing Point the base type.

Example:

1. The current movement condition is PTP movement.

2. The arm stops descending before holding the workpiece.

3. The sensor detects the workpiece.

4. The hand tool descends slowly to hold the workpiece.

waitCond ld #genIn2 endWait downZ 10,20

Parameter

downZ

movetoZ Distance, Speed

Distance, Speed upZ

Distance, Speed

Wait in place until the following conditions are met. #genIn2=ON (Condition) End of conditions. Descend only the Z axis at the speed of 20 mm/sec.

Sensor

Job

Raises only the Z axis by the specified distance. Lowers only the Z axis by the specified distance. Raises or lower the Z axis to the specified Z coordinates (Absolute coordinates.)

Workpiece

Hand Tool

Conveyor Belt

Features II CARTESIAN Benchtop Robot

2.5 mm

The distance or speed can be set using variable or expressions.

waitCond ld #genIn2 endWait downZ #P_Z(1)-#point_Z,20

Wait in place until the following conditions are met. #genIn2=ON (Condition) End of conditions

Lower or raise only the Z axis at the speed of 20 mm/sec by a distance calculated by deducting the Z coordinates of the current point from the Z coordinates of P1.

#P_Z(1): Variable which has the Z coordinates of P1 as a value in the current program.

#point_Z: Variable which has the Z coordinates of the current point as a value.

 If you assign a value to the variable “#jobStartHight” for a “Job before Moving” or a “Job while

Moving” (let), the robot starts a point job from an assigned value above the set point Z

coordinate.

Example)

P01

Type: CP Start Point

Job before Moving: Point Job Data 3

Point Job: Point Job Data 12

Point Job Data 3

#jobStartHight 25

Start of “Point Job”

Features II CARTESIAN Benchtop Robot

Moving straight in CP drive:



lineMoveSpeed, lineMoveStopIf

The following explains how to move straight in CP drive using point job data commands.

The speed of CP drive and the moving amount of each axis coordinates can be set. You also can

end shifting by setting conditions.

Command Category

Move

 Move commands are invalid at the CP Passing Point or a point whose Base Type is CP

Passing Point.

Enter not the coordinates but the distance from the current point to the destination point where you

want to shift as Distance. Enter “0” for the direction in which you do not want to shift.

The distance can be entered using a variable or an expression instead of a value.

Shown to the right are the parameters of these command, lines from “lineMoveSpeed” to “endLineMove”.

Each command is displayed for each coordinate axis,

but the movements of the axes are executed at once.

lineMoveSpeed

Command

Parameter Speed (CP speed) X Distance

Y Distance Z Distance R Rotate Angle

lineMoveSpeed 20 X:25 Y:-20 Z:5 R:0 endLineMove

-20 mm

Job

Moves by the entered distance in CP drive.

Current Position

+25 mm

Features II CARTESIAN Benchtop Robot

Stopping the arm shift due to setting conditions while running.

lineMoveSpeed 3 X:20 Y:0 Z:0 R:0 lineMoveStopIf ld #sysIn1 endLineMove callJob11

In this case, you can check with the system flag (#sysFlag34) to find out whether it stopped before or

after shifting to the specified distance was complete.

0: Shifting to the specified distance is complete.

1: Shifting to the specified distance is not complete due to conditions.

Exceeding the “Move Area Limit” of “lineMoveSpeed”



If the arm exceeds the move area limit, it will stop shifting at the position where it reaches the move

area limit and advance the next command.

In this case, you can check with the system flag (#sysFlag33) to find out whether it stopped before or after shifting to the specified distance was complete.

Complete: 0, Not complete: 1

If the arm achieves the move area limit before the shifting is complete, sound a buzzer and stop. (Wait Start)

Condition to stop shifting

If #sysIn1 comes ON, the tool unit stops shifting and goes the next command (callJob11) even before the movement in the Z direction does not reach +20.

lineMoveSpeed 3 X:20 Y:0 Z:0 R:0 endLineMove if ld #sysFlag33 then waitStartBZ endIf

Features II CARTESIAN Benchtop Robot

Executing mechanical initialization by a point job: initMec



 The following commands are valid for the CARTESIAN Series only.

The following explains how to execute mechanical initialization (executed when the power of the

robot is turned ON) using point job commands. Even if a position error occurs, the tool unit returns

to the absolute coordinates (x:0, y:0, z:0, r:0) by executing mechanical initialization.

Command Category

 Move command is invalid at the CP Passing Point or a point whose Base Type is CP Passing

Point.

Axis specification All x y z r

 Mechanical initialization is executed at low speed.

Command

initMec

Execute mechanical initialization for all the axes. Execute mechanical initialization for the x axis. Execute mechanical initialization for the y axis. Execute mechanical initialization for the z axis. Execute mechanical initialization for the r axis.

Parameter

Axis specification Move

Execute mechanical initialization for a specified axis.

Contents

Job

Features II CARTESIAN Benchtop Robot

Position error detection: checkPos



 The following commands are valid for the CARTESIAN Series only.

The following explains how to detect a position error using a point job command.

If the checkPos command is executed, the tool unit goes to the absolute coordinates (x:0, y:0, z:0,

r:0) regardless of where the tool unit is. After position error detection, it goes to the next point.

Command Category

Move

 The Move command is invalid at the CP Passing Point or a point whose Base Type is a CP

Passing Point.

For the results of position error detection, refer to the system flag (#sysFlag(35).)

Normal: 0, Position Error: 1

Example)

checkPos if ld #sysFlag(35) then waitStartBZ endIf

If a position error is detected, the #sysOut8 (position error) signal also comes ON.

Command

checkPos

Parameter



If position error detection is executed and a position error is found, a buzzer sounds and the robot waits for start.

Detects position errors.

Job

Features II CARTESIAN Benchtop Robot

[ LCD, 7SLED ]

Displaying the specified strings on the teaching pendant:



clrLCD, clrLineLCD, outLCD, eoutLCD

The following explains how to display/ not display entered items on the teaching pendant LCD.

Command Category Command Parameter

clrLCD None

clrLineLCD Rows

LCD Control

 Rows or columns can be specified using variables or expressions. Also, a string can be

specified using string expressions for the command “outLCD.”

outLCD 7,4,"PULSE": Display the string “PULSE” on the teaching pendant LCD.

outLCD 7,4,#sv(24) + #sv(25): Display the combined value of the string expressions #sv(24) and

There are 13 rows and

40 columns on the

teaching pendant LCD.

A maximum of 40

characters in single byte,

20 characters in double

byte can be displayed in

one line.

outLCD

eoutLCD Character String

13th Row



Row, Column, Character String

Row, Column,

Expression

#sv(25) on the teaching pendant LCD.

Row

Run Mode Program Number 1

Stopping Start Enable Cycle Top Point Number 1

Job Clears the LCD display. Clears only the specified line on the

LCD display. Displays strings or string variables enterd at a specified position on the LCD display. Displays the result of a character string expression entered a specified position on the LCD display.

Test Program

40th Column

Features II CARTESIAN Benchtop Robot

Displaying arbitrary numbers on the 7SLED:



sys7SLED, out7SLED

 The following commands are valid for the CARTESIAN Series only.

The following explains how to display arbitrary numbers on the 7SLED on the front body using

“out7SLED” command.

When executing “sys7SLED” command or switching programs, the program number will be

displayed again.

Command Category

LCD, 7SLED

Parameter display type of “out7SLED” can be selected from the following 4 items. Display value

can also be specified using variables or expressions.

Num Displays a specified number on the 7 SLED. Er Displays one after the other between “Er” and a specified number. St Displays one after the other between “St” and a specified number. Ur Displays one after the other between “Ur” and a specified number.

Example: out7SLED Num,10: Display numeric value “10.”

out7SLED Er,20: Display one after the other between “Er” and “20.”

out7SLED St,nMyNum: Display “St” and a value of the variable “nMyNum.”

Command Parameter

sys7SLED -

out7SLED

Display Type Description

Display Type

Display value

Display the previous program number before changed by “out7SLED” command.

Outputs number to 7SLED.

Job

Features II CARTESIAN Benchtop Robot

[ COM Input/Output ]

COM Input/Output: outCOM, eoutCOM, setCOM,



cmpCOM, ecmpCOM, clrCOM, shiftCOM

Data can be output or input from the COM.

Command

Category

COM Input/Output

COM Output: outCOM, eoutCOM



A character string with up to 255 characters can be output from the COM.

Select a port (COM No.) under [outCOM]/[eoutCOM] to display the Character Entry screen. Select

the desired character string and press ESC . (For key operation on Character Entry screen, see

“Character Entry”.)

For [eoutCOM] command, characters can be specified in hexadecimal code by using “%.” If you

want to display “%” on the screen, enter “%%.”

e.g.: eoutCOM port2,"%0D%0A" : Outputs CR • LF code.

eoutCOM port2,"%%300" : Outputs %300.

eoutCOM port2,#sv(24) & #sv(25) : Outputs the value combined character string

 If there is any character other than 0 to 9, A to F or % after “%”, “%” is dealt with as a character.

Command Parameter

outCOM Port, Character String Outputs a character string from the COM.

eoutCOM

inCOM

setWTCOM Port, Wait Time

cmpCOM Port, Character String

ecmpCOM

clrCOM Port

shiftCOM Port, Shift Number

Port, Character String Expression Variable Name, Port, Wait Time

Port, Character String Expression

Outputs the result of an expression from the

variables #sv(24) and #sv(25.)

COM. Assigns data received from the COM to the specified variable. Sets Wait Time (Period for Time Out) for

receiving from the COM. Compares received data with a character string. The result is entered into System Flag (sysFlag(1) to (20).) Compares received data with a character string expression. The result is entered into System Flag (sysFlag(1) to (20).) Clears a buffer received from the COM. Shifts data received from the COM. Deletes data from the top to the Shift Number.

Job

Features II CARTESIAN Benchtop Robot

COM Input: inCOM

A specified number of characters out of data received from the COM is assigned to a variable. If

received data exceeds the specified number of characters, characters counted from the top by the

specified number are assigned.

If received data is less than the specified number of characters, the robot stands by for a time

specified in [setWTCOM] and data which has been received is assigned to a variable. If

[setWTCOM] is not used, the tool unit stands by for 0.1 sec.

 If point job data including the COM Input command is set at a CP Passing Point, the robot

stands by for 0 sec to receive data.

Comparison of Data received from the COM: cmpCOM, ecmpCOM

Compares COM receive buffer (which is a place where received data is stored) and a specified

character string one by one from the top character. The comparison results will be reflected by a

system flag.

A system flag indicates the condition. e.g. not equal, comparing a specified number of characters is

finished or data has not been received after the robot stands by for the set wait time.

You can set a wait time for receiving data using [setWTCOM.] If [setWTCOM] is not used, the robot

stands by for 0.1 sec as a wait time.

When using [ecmpCOM] command, character strings compared to a receive buffer can be specified

using a character string expression.

System Flag

COM1 COM2 COM3

Specified Character > Receive Buffer sysFiag(2) sysFiag(7) sysFiag(12) sysFiag(17) Specified Character = Receive Buffer sysFiag(3) sysFiag(8) sysFiag(13) sysFiag(18) Specified Character < Receive Buffer sysFiag(4) sysFiag(9) sysFiag(14) sysFiag(19) Time Out sysFiag(5) sysFiag(10) sysFiag(15) sysFiag(20)

COM4

(TPU)

Features II CARTESIAN Benchtop Robot

ified

Go to th

e Out

cmpCOM(1)

X = 1

Wait Time for

Reciving

Received

pec

Character Buffer

Xth Character : Xth Character

Receive

X = X+1

Specified Numbe

of Character

Turns sysFlag(3) ON.

e nex

command

 If point job data including this receive

comparison command is set at a CP

Passing Point, the robot stands by for 0 se

to receive data.

Tim

Turns sysFlag(5) ON.

≠

>: Turns sysFlag(2) ON.

<: Turns sysFlag(4) ON.

Features II CARTESIAN Benchtop Robot

Setting Wait Time for receiving data from the COM: setWTCOM

You can set Wait Time for receiving data using “inCOM” or “cmpCOM” command. If no data is

received after a specified time goes by, it will be recognized as Time out. (Turns a system flag ON.)

0.1 sec is set for the defalt wait time.

Clearing COM Receive Buffer: clrCOM

Receive buffer is a place where received data is stored. Each port has a receive buffer (8 kbyte.)

New received data will not replace the existing receive data but will be written after the existing data.

A receive buffer will be cleared by turning the power OFF or executing “clrCOM” command.

Shifting COM Receive Data: shiftCOM

A specified data byte of the receive buffer is deleted.

e.g.: 2-byte Shift

Receive Buffer

A B C D E F G H C D E F G H

 You can tell whether the data is stored in each receive buffer by its system flag.

If a receive buffer has received data, a corresponding system flag comes ON.

With received data sysFiag(1) sysFiag(6) sysFiag(11) sysFiag(16)

COM1 COM2 COM3

COM4

(TPU)

Features II CARTESIAN Benchtop Robot

PC Communication: stopPC, startPC



Stopping/Starting COM1 communication stopPC, startPC

COM1 is normally used to communicate with the PC. If you use COM1 not to communicate with

PC (for sending/receiving C&T data) but to connect to devices to control the robot by point job

commands, it is necessary to stop PC communication transaction operated by the system.

If stopPC command is executed, PC communication does not work until the power is turned OFF or

startPC command is executed.

 After executing “stopPC” command, C&T data cannot be sent/received. Please preferably use

a connector other than COM1 to connect devices.

Features II CARTESIAN Benchtop Robot

[ Variables, Comments, System Control ]

Declaration and assignment of variable: declear, let



A variable that is valid only in point job data containing a declaration command and a user function

(customizing mode) is known as a “local variable”.

A local variable sets the type and identifier at declaration time. The identifier is the name of the

variable and type can be selected from either “numeric type” or “string type”.

Also, a local variable can be declared as an array of up to 3 dimensions.

The “let” command assigns a right side numeric value, the value of a variable, or the result of

calculation of an expression to the left side variable. When this command is input, only an

expression is displayed.

Command category Command Set parameters Job

Variable, comment, system control

e.g.) declear command

declear numeric abc declear string def

e.g.) let command

count = 0 count = count + 1 count = in - out

total = nin * 365

tsuki = total / 12

fullname=name1 & name2

declear Type, identifier Local variable declaration

Assignment expression

let

Assigns the result of calculation of the right side expression to the left side variable

Numeric variable “abc” declaration String variable “def” declaration

Assigns 0 to variable “count” Loads 1 in variable “count” Assigns the difference of the out value subtracted from the in value into variable “count” Assigns the product of 365 multiplied by the value of nin to variable “total” Assigns the quotient of the value of total divided by 12 to variable “tsuki” Assigns the string connecting name1 and name2 to variable “fullname”

Features II CARTESIAN Benchtop Robot

Both of the following point job data use the local variable “count”, but since a local variable is a

function which is valid only in point job data containing a declaration command, they do not interfere.

For example, 0 is assigned to “count” at point job data 24, but the value of “count” used by point job

data 05 does not change. The opposite also applies.

e.g.) Joint job data 05

declear numeric count count=0 do count=count+1 callJob 24 if ld count>=10 then exitDo endIf loop

e.g.) Point job data 24

declear count count=0 Label 1 pulse #genOut11,250 count=count+1 if ld count<=3 then jump L1 endIf

“count” local variable declaration (numeric type) Sets initial value 0 into “count.” Repeats up to the loop command. Loads 1 into “count”. Executes point job data 24. If

the value of “count” was 10 or greater,

Jumps to the command after the loop command.

Returns to the do command.

“count” local variable declaration Sets initial value 0 into “count”. Label 1 (jump destination mark) ON pulse output to #genOut1”. Loads 1 into “count”. If

the value of “count” was 3 or less,

jumps to label 1.

Features II CARTESIAN Benchtop Robot

Loctite CARTESIAN 400, CARTESIAN 300, CARTESIAN 200, CARTESIAN 500 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

FOR YOUR SAFETY

PREFACE

CONTENTS

EXPRESSION STRUCTURE

Operator

COMMAND LIST

VARIABLE LIST

FUNCTION LIST

[ Variables ]

#sysOut1 to 15, #genOut1 to 18, #handOut1 to 4

#workAdj_Z, #workAdj_R, #workAdj_Rotation

#point_R,#point_TagCode

#P_X, #P_Y, #P_Z, #P_R, #P_T agCode

#prog_P_X, #prog_P_Y, #prog_P_Z,

#prog_P_R, #prog_P_TagCode

[ Functions ]

[ ON/OFF Output Control ]

[ If Branch, W ait Condition ]

[ Condition ]

[ Delay, Data In, Wait Start ]

[ Pallet Control ]

[ Execution Flow Control ]

goPoint, goRPoint, goCRPoint

[ For, Do-loop ]

[ Controlling Tool Movement ]

lineMoveSpeed, lineMoveStopIf

[ LCD, 7SLED ]

clrLCD, clrLineLCD, outLCD, eoutLCD

sys7SLED, out7SLED

[ COM Input/Output ]

cmpCOM, ecmpCOM, clrCOM, shiftCOM

[ Variables, Comments, System Control ]