Loctite CARTESIAN 400, CARTESIAN 300, CARTESIAN 200, CARTESIAN 500 User Manual
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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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
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FOR YOUR SAFETY
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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
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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
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FOR YOUR SAFETY
A
A
A
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
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t
A
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
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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
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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
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FOR YOUR SAFETY
A
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
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FOR YOUR SAFETY
f
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
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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
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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)
“IP30.” (“IP40” for CE specification)
Features II CARTESIAN Benchtop Robot
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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
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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
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CONTENTS
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
Input variables:#sysIn1 to 15, #genIn1 to 18, #handIn1 to 4__________________________ 14
Output variables: #sysOut1 to 15, #genOut1 to 18, #handOut1 to 4 _____________________ 15
Down timer : #downTimer1 to 10 ______________________________________________ 15
Point job starting height : #jobStartHight _________________________________________ 16
Pallet : #palletflag (1 to 100), #palletCount (1 to 100) _______________________________ 17
Workpiece adjustment: #workAdj_X, #workAdj_Y,
#workAdj_Z, #workAdj_R, #workAdj_Rotation ______________________________________ 19
Point coordinates: #point_X,#point_Y,#point_Z,
#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
Arithmetic functions ________________________________________________________ 25
String functions ____________________________________________________________ 26
Features II CARTESIAN Benchtop Robot
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[ ON/OFF Output Control ] ________________________________________________________ 28
Outputting to I/O: set, reset, pulse, invPulse______________________________________ 28
Outputting after X second: delaySet, delayReset __________________________________ 31
Sounding an alarm buzzer: onoffBZ ____________________________________________ 32
Blinking the LED (Green): onoffGLED __________________________________________ 33
Blinking the LED (Red): onoffRLED ____________________________________________ 34
Outputting values from I/O: dataOut,dataOutBCD _________________________________ 35
[ If Branch, Wait Condition ] _______________________________________________________ 36
if Branch: if, then, else, endIf__________________________________________________ 36
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
Inputting from I/O: dataIn, dataInBCD___________________________________________ 47
[ Pallet Control ] ________________________________________________________________ 48
Pallet Command: loopPallet, resPallet, incPallet __________________________________ 48
[ Execution Flow Control ]_________________________________________________________ 51
Subroutine call of type setting job: callBase ______________________________________ 51
Subroutine call of point job data: callJob_________________________________________ 53
End of point job: returnJob ___________________________________________________ 55
Subroutine call of Program: callProg ___________________________________________ 56
Calling points: callPoints_____________________________________________________ 60
Ending a program: endProg __________________________________________________ 61
Assigning the returned value of a function: returnFunc______________________________ 62
Jumping to a specified point: goPoint, goRPoint, goCRPoint _________________________ 63
Jumping to a specified command line: jump, Label ________________________________ 65
[ For, Do-loop ] _________________________________________________________________ 66
For, Do-loop: for, next, exitFor, do, loop, exitDo ___________________________________ 66
Features II CARTESIAN Benchtop Robot
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[ Controlling Tool Movement ]______________________________________________________ 68
Moving the Z axis: upZ, downZ, movetoZ________________________________________ 68
Moving straight in CP drive: lineMoveSpeed, lineMoveStopIf_________________________ 70
Executing mechanical initialization by a point job: initMec ___________________________ 72
Position error detection: checkPos _____________________________________________ 73
[ 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
[ COM Input/Output ]_____________________________________________________________ 76
COM Input/Output: outCOM, eoutCOM, setCOM, _________________________________ 76
cmpCOM, ecmpCOM, clrCOM, shiftCOM___________________________ 76
PC Communication: stopPC, startPC___________________________________________ 80
[ Variables, Comments, System Control ]_____________________________________________ 81
Declaration and assignment of variable: declear, let________________________________ 81
Comment insertion: rem,crem ________________________________________________ 83
Changing a program number using point job: setProgNo ____________________________ 84
Changing a sequencer program using point job: setSeqNo __________________________ 85
Features II CARTESIAN Benchtop Robot
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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 CRLF 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
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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
num,str
num,str
num,str
Features II CARTESIAN Benchtop Robot
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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
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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
4
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
5
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.
6
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
Expression
Expression
Expression
Expression
Expression
ON input
OFF input
Serial ON input
Serial OFF input
Parallel ON input
Parallel OFF input
Content
Command Parameters
ld
ldi
Condition
and
ani
or
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
7
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
8
Vari able s]
[
Category Type Identifier
coordinates
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
9
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
10
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
11
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
X
+1
Features II CARTESIAN Benchtop Robot
12
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