Manual Motoman

Motoman, Incorporated 805 Liberty LaneWest Carrollton, OH 45449TEL: (937) 847-6200FAX: (937) 847-627724-Hour Service Hotline: (937) 847-3200

Part Number: 133388-1Release Date: May 13, 1997Document Version: 2Document Status: Final

The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,

Inc.

2003 by MOTOMANAll Rights Reserved

Because we are constantly improving our products, we reserve the right to change specifications without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

Relative Job Function, MRC Page ii MOTOMAN

Section Page4.3 CONFIRMING RELATIVE JOB INFORMATION............................. 26

4.3.1 Coordinate Confirmation.................................................... 264.3.2 Command Position Confirmation ........................................ 274.3.3 Displaying Differences between Command and Current

Position........................................................................ 274.4 EDITING THE RELATIVE JOB ........................................................ 27

5.0 SIMPLIFIED OFF-LINE TEACHING SYSTEM............................................... 29

5.1 JOB DATA FORMAT ...................................................................... 295.2 EXAMPLES OF JOB DATA............................................................. 35

5.2.1 Relative Job With Robot Axes and User Frame 3 ............... 355.2.2 Robot Axes + Base Axes (Base Frame)............................. 365.2.3 Robot Axes + Base Axes + Station Axes (Base Frame,

Synchronous Job) ............................................................. 365.2.4 Robot Axes + Base Axes + Station Axes (Base Frame,

Coordinated Job)............................................................... 375.2.5 Robot Axes + Robot Axes (Base Frame,

Coordinated Job)............................................................... 385.3 CONFIGURATION OF POSITION DATA........................................ 395.4 CONFIGURATION OF THE MANIPULATOR.................................. 41

5.4.1 Specification of Wrist Angle............................................... 415.4.2 Specification of the Base Three Axes................................. 43

5.5 ROBOT FORM CONTROL METHODS ............................................ 455.5.1 Moving the R-and T-Axes to Preserve the Sign

of the B-Axis.................................................................... 455.5.2 Moving R-, B-, and T-Axes to Preserve the Robot's

Form of the Destination Point ........................................... 47

6.0 ALARM AND ERROR MESSAGES................................................................ 51

6.1 ALARM MESSAGES ........................................................................ 516.2 ERROR MESSAGES......................................................................... 51

7.0 INSTRUCTIONS USED IN RELATIVE JOB .................................................. 53

8.0 MRC TOOL CENTER POINT DEFINITION................................................... 55

8.1 MANUAL TCP DEFINITION ........................................................... 558.2 AUTOMATIC TCP DEFINITION ..................................................... 56

INDEX ............................................................................................................ Index

Relative Job Function, MRC Page iii MOTOMAN

LIST OF FIGURESFigure Page

Figure 3-1 Standard Job Pulse Position Data........................................................ 9

Figure 3-2 Relative Job X, Y, and Z Position Data.............................................. 10

Figure 3-3 Base, Robot, and User Coordinates................................................... 11

Figure 3-4 Relative Job Shift Function ............................................................... 12

Figure 3-5 Teaching Job in Standard Position..................................................... 15

Figure 3-6 Teaching X, Y, and Z Points.............................................................. 16

Figure 3-7 User Frame Before and After Modification....................................... 16

Figure 3-8 Example of Searching Out Defined Points Using External Vision Controller..................................................................................... 17

Figure 3-9 After Job is Initially Taught, Job is Shifted to Other Positions........... 18

Figure 3-10 Shift to Multiple Manipulators.......................................................... 20

Figure 5-1 Command Levels Used in Relative Job................................................ 30

Figure 5-2 Base Coordinate System................................................................... 39

Figure 5-3 Robot Coordinate System.................................................................. 40

Figure 5-4 User Coordinate System................................................................... 40

Figure 5-5 Flip and No-Flip Positions of Wrist Angle........................................... 42

Figure 5-6 Angle of R-Axis................................................................................ 42

Figure 5-7 Angle of T-Axis ................................................................................ 43

Figure 5-8 Front and Back Positions of S-Axis Turned at 0 and 180................. 44

Figure 5-9 Upper and Lower Elbow Positions of L- and U- Axes ......................... 44

Figure 5-10 B-Axis "+" and "-" Range ................................................................. 45

Figure 5-11 Actual Motion of the R-Axis............................................................. 46

Figure 5-12 Anticipated Motion of the R-Axis...................................................... 46

Figure 5-13 Flip and No-Flip Positions of the R-Axis............................................ 47

Figure 5-14 Robot Motion During a Job Shift ...................................................... 48

Figure 8-1 Tool Center Point ............................................................................. 55

Figure 8-2 Pointer............................................................................................. 56

Relative Job Function, MRC Page iv MOTOMAN

LIST OF TABLESTable Page

Table 5-1 Parameter and Values Used in Robot Form Control Methods .............. 48

Table 6-1 Alarm Messages ................................................................................ 51

Table 6-2 Error Messages................................................................................. 51

Table 6-3 Messages .......................................................................................... 52

Table 7-1 List of Instructions............................................................................. 53

Relative Job Function, MRC Page 1 MOTOMAN

1.0 INTRODUCTIONThe relative job function is a software option used when programming a robot off-line. It allows a job to be converted from pulse counts to Cartesian coordinates sothat it may be edited off-line with a software package or shifted by a sensor. Thisenables the user to develop robot programs without having an in-depth knowledgeof the robot arm configuration and the complicated mathematics required to convertbetween joint angles and Cartesian coordinates. It also allows users to createprograms that are independent of the robot arm type (e.g., a program that is writtenin Cartesian coordinates for a K10 will also run on a K6 or K30).Relative Job is used with:

Vision systems Sensor systems Off-line programming (Robot Calibration and Tool Calibration should be

performed on robots that are running jobs that have been created off-line.) Touch Sense

Relative job also has the ability of on-line 3-D shift. Jobs can be created based on apart frame. Sensor input can be used to make a new frame, and the program canthen be executed for a new part position. Because the positions are based on theTool Center Point (TCP) position, updates can be made to the tool information andtranslated to the path.

1.1 REFERENCE TO OTHER DOCUMENTATION Motoman MRC Robotic Arc Welding Manual (Part Number 132335-1) Motoman MRC User Functions (Part Number 132331-1) Motoman MRC Operator's Manual for Arc Welding (Part Number 132332-1) Motoman MRC Operator's Manual for Handling (Part Number 132332-2) Motoman MRC Operator's Manual for Jigless (Part Number 132332-3) Motoman MRC Operator's Manual for Spot Welding (Part Number 132332-4) Motoman Manipulator Manual (Part Number 132330-x) (for your robot type)

1.2 CUSTOMER SERVICE INFORMATIONIf you are in need of technical assistance, contact the Motoman service staff at(513) 847-3200. Please have the following information ready before you call: Robot Type (K3, K6, K10, etc.) Robot Serial Number (located on the back side of the robot arm) Application Type (palletizing, welding, handling, etc.) Software version (appears on power-up screen)


NOTES


2.0 SAFETY

It is the purchaser's responsibility to ensure that all local, county,state, and national codes, regulations, rules, or laws relating tosafety and safe operating conditions for each installation are metand followed.

We suggest that you obtain and review a copy of the ANSI/RIA National SafetyStandard for Industrial Robots and Robot Systems. This information can beobtained from the Robotic Industries Association by requesting ANSI/RIA R15.06.The address is as follows:

Robotic Industries Association900 Victors WayP.O. Box 3724

Ann Arbor, Michigan 48106TEL: 313/994-6088FAX: 313/994-3338

Ultimately, the best safeguard is trained personnel. The user is responsible forproviding personnel who are adequately trained to operate, program, and maintainthe robot cell. The robot must not be operated by personnel who have notbeen trained!

We recommend that all personnel who intend to operate, program, repair, or use therobot system be trained in an approved Motoman training course and becomefamiliar with the proper operation of the system.

This safety section addresses the following:

Standard Conventions (Section 2.1) General Safeguarding Tips (Section 2.2) Mechanical Safety Devices (Section 2.3) Installation Safety (Section 2.4) Programming Safety (Section 2.5) Operation Safety (Section 2.6) Maintenance Safety (Section 2.7)


2.1 STANDARD CONVENTIONSThis manual includes information essential to the safety of personnel andequipment. As you read through this manual, be alert to the four signal words: DANGER WARNING CAUTION NOTEPay particular attention to the information provided under these headings which aredefined below (in descending order of severity).

DANGER!Information appearing under the DANGER caption concerns theprotection of personnel from the immediate and imminenthazards that, if not avoided, will result in immediate, seriouspersonal injury or loss of life in addition to equipment damage.

WARNING!Information appearing under the WARNING caption concerns theprotection of personnel and equipment from potential hazardsthat can result in personal injury or loss of life in addition toequipment damage.

CAUTION!Information appearing under the CAUTION caption concerns theprotection of personnel and equipment, software, and data fromhazards that can result in minor personal injury or equipmentdamage.

NOTE: Information appearing in a NOTE caption provides additional information which is helpful inunderstanding the item being explained.


2.2 GENERAL SAFEGUARDING TIPSAll operators, programmers, plant and tooling engineers, maintenance personnel,supervisors, and anyone working near the robot must become familiar with theoperation of this equipment. All personnel involved with the operation of theequipment must understand potential dangers of operation. General safeguardingtips are as follows:

Improper operation can result in personal injury and/or damage to theequipment. Only trained personnel familiar with the operation of this robot, theoperator's manuals, the system equipment, and options and accessories shouldbe permitted to operate this robot system.

Do not enter the robot cell while it is in automatic operation. Programmers musthave the teach pendant when they enter the robot cell.

Improper connections can damage the robot. All connections must be madewithin the standard voltage and current ratings of the robot I/O (Inputs andOutputs).

The robot must be placed in Emergency Stop (E-Stop) mode whenever it is notin use.

In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, uselockout/tagout procedures during equipment maintenance. Refer also to Section1910.147 (29CFR, Part 1910), Occupational Safety and Health Standards forGeneral Industry (OSHA).

2.3 MECHANICAL SAFETY DEVICESThe safe operation of the robot, positioner, auxiliary equipment, and system isultimately the user's responsibility. The conditions under which the equipment willbe operated safely should be reviewed by the user. The user must be aware of thevarious national codes, ANSI/RIA R15.06 safety standards, and other local codesthat may pertain to the installation and use of industrial equipment. Additionalsafety measures for personnel and equipment may be required depending on systeminstallation, operation, and/or location. The following safety measures areavailable:

Safety fences and barriers Light curtains Door interlocks Safety mats Floor markings Warning lights

Check all safety equipment frequently for proper operation. Repair or replace anynon-functioning safety equipment immediately.


2.4 INSTALLATION SAFETYSafe installation is essential for protection of people and equipment. The followingsuggestions are intended to supplement, but not replace, existing federal, local, andstate laws and regulations. Additional safety measures for personnel and equipmentmay be required depending on system installation, operation, and/or location.Installation tips are as follows: Be sure that only qualified personnel familiar with national codes, local codes,

and ANSI/RIA R15.06 safety standards are permitted to install the equipment. Identify the work envelope of each robot with floor markings, signs, and

barriers. Position all controllers outside the robot work envelope. Whenever possible, install safety fences to protect against unauthorized entry

into the work envelope. Eliminate areas where personnel might get trapped between a moving robot and

other equipment (pinch points). Provide sufficient room inside the workcell to permit safe teaching and

maintenance procedures.

2.5 PROGRAMMING SAFETYAll operators, programmers, plant and tooling engineers, maintenance personnel,supervisors, and anyone working near the robot must become familiar with theoperation of this equipment. All personnel involved with the operation of theequipment must understand potential dangers of operation. Programming tips areas follows: Any modifications to PART 1 of the MRC controller PLC can cause severe

personal injury or death, as well as damage to the robot! Do not make anymodifications to PART 1. Making any changes without the written permissionof Motoman will VOID YOUR WARRANTY!

Some operations require standard passwords and some require specialpasswords. Special passwords are for Motoman use only. Y O U RWARRANTY WILL BE VOID if you use these special passwords.

Back up all programs and jobs onto a floppy disk whenever program changesare made. To avoid loss of information, programs, or jobs, a backup mustalways be made before any service procedures are done and before any changesare made to options, accessories, or equipment.

The concurrent I/O (Input and Output) function allows the customer to modifythe internal ladder inputs and outputs for maximum robot performance. Greatcare must be taken when making these modifications. Double-check allmodifications under every mode of robot operation to ensure that you have notcreated hazards or dangerous situations that may damage the robot or other partsof the system.

Improper operation can result in personal injury and/or damage to theequipment. Only trained personnel familiar with the operation, manuals,electrical design, and equipment interconnections of this robot should bepermitted to operate the system.


Inspect the robot and work envelope to be sure no potentially hazardousconditions exist. Be sure the area is clean and free of water, oil, debris, etc.

Be sure that all safeguards are in place. Check the E-STOP button on the teach pendant for proper operation before

programming. Carry the teach pendant with you when you enter the workcell. Be sure that only the person holding the teach pendant enters the workcell. Test any new or modified program at low speed for at least one full cycle.

2.6 OPERATION SAFETYAll operators, programmers, plant and tooling engineers, maintenance personnel,supervisors, and anyone working near the robot must become familiar with theoperation of this equipment. All personnel involved with the operation of theequipment must understand potential dangers of operation. Operation tips are asfollows:

Be sure that only trained personnel familiar with the operation of this robot, theoperator's manuals, the system equipment, and options and accessories arepermitted to operate this robot system.

Check all safety equipment for proper operation. Repair or replace any non-functioning safety equipment immediately.

Inspect the robot and work envelope to ensure no potentially hazardousconditions exist. Be sure the area is clean and free of water, oil, debris, etc.

Ensure that all safeguards are in place. Improper operation can result in personal injury and/or damage to the

equipment. Only trained personnel familiar with the operation, manuals,electrical design, and equipment interconnections of this robot should bepermitted to operate the system.

Do not enter the robot cell while it is in automatic operation. Programmers musthave the teach pendant when they enter the cell.


This equipment has multiple sources of electrical supply. Electricalinterconnections are made between the controller, external servo box, and otherequipment. Disconnect and lockout/tagout all electrical circuits before makingany modifications or connections.

All modifications made to the controller will change the way the robot operatesand can cause severe personal injury or death, as well as damage the robot. Thisincludes controller parameters, ladder parts 1 and 2, and I/O (Input and Output)modifications. Check and test all changes at slow speed.


2.7 MAINTENANCE SAFETYAll operators, programmers, plant and tooling engineers, maintenance personnel,supervisors, and anyone working near the robot must become familiar with theoperation of this equipment. All personnel involved with the operation of theequipment must understand potential dangers of operation. Maintenance tips are asfollows:

Do not perform any maintenance procedures before reading and understandingthe proper procedures in the appropriate manual.

Check all safety equipment for proper operation. Repair or replace any non-functioning safety equipment immediately.

Improper operation can result in personal injury and/or damage to theequipment. Only trained personnel familiar with the operation, manuals,electrical design, and equipment interconnections of this robot should bepermitted to operate the system.

Back up all your programs and jobs onto a floppy disk whenever programchanges are made. A backup must always be made before any servicing orchanges are made to options, accessories, or equipment to avoid loss ofinformation, programs, or jobs.

Do not enter the robot cell while it is in automatic operation. Programmers musthave the teach pendant when they enter the cell.


Be sure all safeguards are in place. Use proper replacement parts. This equipment has multiple sources of electrical supply. Electrical

interconnections are made between the controller, external servo box, and otherequipment. Disconnect and lockout/tagout all electrical circuits before makingany modifications or connections.

All modifications made to the controller will change the way the robot operatesand can cause severe personal injury or death, as well as damage the robot.This includes controller parameters, ladder parts 1 and 2, and I/O (Input andOutput) modifications. Check and test all changes at slow speed.

Improper connections can damage the robot. All connections must be madewithin the standard voltage and current ratings of the robot I/O (Inputs andOutputs).


3.0 RELATIVE JOB USAGEThis section will discuss the differences between relative job and standard job,introduce the three coordinate systems used in relative job, as well as illustrateseveral examples of relative job usage.

3.1 RELATIVE JOB DESCRIPTIONRelative job is distinguished from standard job in that the latter is based on a jointcoordinate system using S-, L-, U-, R-, B-, and T-axes (see Figure 3-1). RelativeJob, however, utilizes a Cartesian coordinate system, using X-, Y-, and Z-axes todefine position data (see Figure 3-2).

B+ T+

T-B-

R+

R-

U+

U-

L+L-

S+S-

Figure 3-1 Standard Job Pulse Position Data


When teaching points with the programming pendant, the actual position values arenot relevant to the operator. They are, however, relevant to the robot's memory,enabling the robot to recognize a particular position in space. Coordinate numbersare also important when any off-line programming is taking place, as the actualcoordinate numbers are defined in the computer before being transferred to theMRC controller (see Section 5.0 ). If desired, the MRC controller can display thecurrent or taught robot position as X, Y, and Z coordinates or as encoder pulsecounts for each axis. Downloaded jobs will display positional information withencoder pulse count values or X, Y, and Z, depending on whether the job isstandard or relative.

Z Axis

Y Axis

X Axis

Figure 3-2 Relative Job X, Y, and Z Position Data

Other software functions will allow individual points or whole programs to betemporarily shifted or permanently moved in X, Y, or Z directions. With relativejob, programs are taught as usual and then converted to X, Y, and Z positionsrelative to a particular coordinate frame. When a new frame position is defined, allpoints in the job are shifted in the X, Y, and Z directions as well as rotated withrespect to the origin.


3.1.1 Coordinate Systems

In relative job, the following three different coordinate systems may be used(see Figure 3-3), which include base coordinates, robot coordinates, and usercoordinates.

Robot Coordinates

Base Coordinates

Tool Coordinates

User Coordinates

User Coordinates

Figure 3-3 Base, Robot, and User Coordinates

Base Coordinate SystemBase coordinates apply when the robot is on a track, otherwise they are thesame as robot coordinates.

Robot Coordinate SystemRobot coordinates are centered on the base rotation with zero elevation evenwith the L- and U- axis motors.

User Coordinate System (24 Frames)User coordinates are defined by three points; an origin, X direction, and Ydirection. Most relative job applications will be based on user coordinates. Theuser coordinate (frame) is defined by an origin point, and X-axis datum, and aY-axis reference. The origin point is used to establish the location of the frame.The XX point establishes the positive X direction. It does not matter how farthe XX point is from the origin. The Z-axis is at a right angle from the XXpoint. The XY point establishes the angle of XY plane and the positive Zdirection. For more information on user coordinates, see the User CoordinateSystem Section in the Operator's Manual for your specific application.


3.1.2 Relative Job Shift Function

WARNING!If the user coordinate number selection is changed carelessly, itis possible that the manipulator may not move in the anticipateddirection when executing the job. Use caution when modifyingcoordinate systems.

CAUTION!If the steps taught in MOVJ are shifted, the motion to theinstructed steps might differ. Use caution so that the fixture orother parts do not interfere with the robot's movement.

If a user coordinate system is being used in the relative job and the ORG, XX, orXY points are modified, creating a different user coordinate (frame), a shift to theprogram will occur. The relative job's programmed positions always remain thesame. Job shifting is accomplished by changing or specifying a new coordinatelocation (see Figure 3-4).

Z AxisZ Axis

X AxisX Axis

Y AxisY Axis

User Coordinate No. 1 Defined Points After User Coordinate Shift

Figure 3-4 Relative Job Shift Function

3.1.3 Tool Center Point

A well-defined Tool Center Point (TCP), also referred to as Tool Control Point (seeSection 8.0 for MRC TCP definition), is necessary for relative job. The robot willmove the TCP to the X, Y, Z position in the relative job. Changing the TCP willaffect the position to which the robot will move. The TCP is also used in thecalculation required to convert a pulse job to a relative job. Refer to the Operator'sManual for your specific application for information on defining a TCP.


3.1.4 Standard Pulse Job Format

An encoder is connected to the motor shaft of each axis. When a point is taught theencoder pulse count value for each axis is stored. The encoder values are an easyreference for the robot because they relate to the angles for each joint of the arm.Encoder information also eliminates redundant position or direction informationwhich can occur with Cartesian coordinates. Redundant positions can be illustratedwith a circle in which 0 degrees and 360 degrees define the same position.

The job header information indicates that the job is in a pulse format. Thepositional information is referenced separately from the move instructions.Separation of the positional information and move instructions allows motion typeof a point to be edited without affecting its position. The position references use thefollowing format:

C0000 = S-axis, L-axis, U-axis, R-axis, B-axis, T-axis

The following represents the standard pulse format of a simple job, ROBCAL:/JOB//NAME ROBCAL//POS///NPOS 5,0,0,0,0,0///TOOL 0///POSTYPE PULSE///PULSEC0000=10837,26902,-37781,3031,5985,-2564C0001=12537,24145,-42521,8902,6556,-6188C0002=8112,37524,-34331,138,1362,-998C0003=14160,30655,-40077,5519,3881,-2961C0004=7555,22735,-39080,-841,8992,-1254//INST///DATE 1995/07/10 09:25///ATTR SC,RW///GROUP1 RB1NOPMOVJ C0000 VJ=0.78MOVJ C0001 VJ=0.78MOVJ C0002 VJ=0.78MOVJ C0003 VJ=0.78MOVJ C0004 VJ=0.78END


3.1.5 Relative Job FormatRelative job positioning is based on Cartesian coordinates. Three dimensionalspace is defined by X-,Y-, and Z-axes. The point located at 0,0,0 is defined as theorigin. Every point also has specified angles about the X-, Y-, and Z-axes to definethe tool orientation (Rx, Ry, Rz). The frames of robot and base coordinates are in afixed position. With user coordinates, however, frames can be programmedanywhere in the robot's envelope in a variety of orientations.The job header information indicates that the job is in a relative job format. Thepositional information is referenced from the robot frame. The position referencesuse the following format:

C0000 = X (0.000 mm), Y (0.000 mm), Z (0.000 mm) Rx (0.00 deg), Ry (0.00 deg), Rz (0.00 deg)The following represents the format of the same job, ROBCALR, in Relative Jobformat:/JOB//NAME ROBCALR//POS///NPOS 5,0,0,0,0,0///TOOL 0///POSTYPE ROBOT///RECTAN///RCONF 0,0,0,0,0C0000=953.401,420.794,31.145,176.00,1.34,4.95///RCONF 1,0,0,0,0C0001=956.305,419.772,30.668,173.42,-26.15,5.55///RCONF 0,0,0,0,0C0002=951.477,420.561,31.288,-179.97,39.83,6.51C0003=953.168,419.189,29.995,145.17,-0.67,6.17C0004=954.199,422.637,33.045,-153.07,-5.73,2.31//INST///DATE 1995/07/10 12:19///ATTR SC,RW,RJ////FRAME ROBOT///GROUP1 RB1NOPMOVJ C0000 VJ=0.78MOVJ C0001 VJ=0.78MOVJ C0002 VJ=0.78MOVJ C0003 VJ=0.78MOVJ C0004 VJ=0.78END


3.2 EXAMPLES OF RELATIVE JOB USAGEThis section will provide examples of several different types of relative job usageincluding shift for a damaged tool, job shift, shift to multiple manipulators, andsimplified off-line teaching.

3.2.1 Shift for Damaged Tool

Relative job moves the Tool Center Point (TCP) to the programmed coordinates. Ifthe tool is bent, it will not be in the proper position. A bent tool can be easilycompensated for by teaching a new TCP (see Section 8.0 for TCP programmingprocedure). With the new TCP defined, the tool will now be aligned in the properposition. All relative jobs that use this tool will be aligned.

3.2.2 Job Shift

After a job is taught as a standard job in the standard position, a user frame is set upand the job is converted to a relative job. If the fixture location is incorrect, duringexecution of the job, the user frame can be recreated in the new position, allowingthe robot to continue executing the job. An example follows:1. Place the work in a standard position and teach the job as usual as usual (see

Figure 3-5). Name the job [STDJOB-1]. (The name of the job should notexceed 8 characters in length.)

Figure 3-5 Teaching Job in Standard Position

2. Create a user frame. Initially teach the frame using the programmingpendant to teach the origin (ORG), X direction (XX), and Y plane (XY).(See Figure 3-6.)


Y Axis

X Axis

Z Axis

Figure 3-6 Teaching X, Y, and Z Points

3. Convert the job to a relative job. The actual operation of the job conversion isas follows: [STDJOB -1] is modified to User Coordinate No. 1, and the relativejob, [RELJOB -1], is created. (See Section 4.0 Relative Job Operation forkeystroke information on converting the standard job.)

4. If the fixture or workpiece is moved, the user frame can be realigned byteaching the ORG, XX, and XY points. The job can then be executed using themodified user frame (see Figure 3-7).

PositionDuringTeaching

User FrameBefore Modification

User FrameAfter Modification

Figure 3-7 User Frame Before and After Modification


5. Teach frames manually for periodic movement. The following is an examplewhere user frames are updated for every part:The vision controller searches out the three defined points of the user frame (seeFigure 3-8) and each subsequent job is executed on that newly establishedcoordinate frame.

External Computer,Vision Controller, etc.

Camera

Position Dataof a, b, and c toMRC Controller

Y Axis

X Axis

Z Axis

YASNACMRC

a

c

b

Figure 3-8 Example of Searching Out Defined Points Using External Vision Controller

An example of a program that would read the three defined points from the visioncontroller and create the frame follows:

FUNCTION COMMENTS NOP LOADV P000 LOADV P001 LOADV P002

MFRAME UF# (1) P000 P001 P002

MOVJ VJ = 50.0

CALL JOB: RELJOB-1

END

} Position data detected by theexternal sensor are received and theposition variable is stored.User coordinate is generated.

Moved to stand-by position.

Execution of User Coordinate #1[RELJOB-1]. (The name of the jobshould not exceed 8 characters inlength.)


3.2.3 Using One Manipulator for Work in Multiple Positions

CAUTION!In some cases, the robot may not be able to reach all points ofthe job. Try to orient the fixture so that the robot can reach allpoints without modification.

NOTE: In the first example, it is possible to adjust individual points of each job since they are separatejobs. The second example, however, is a better use of the robot's memory. Each situation andits usage should be taken into consideration.

Once the manipulator has been taught a job, that job can be shifted to otherpositions (see Figure 3-9).

C

B

A

RobotWork

Figure 3-9 After Job is Initially Taught, Job is Shifted to Other Positions

An example of this follows:

1. Teach a job on the fixture.2. Create user coordinates on the fixture that the above job was taught on; for

example, UF#1.3. Convert the job created in Step 1 using the user coordinate in Step 2 to a relative

job. (See Section 4.0, Relative Job Operation, for keystroke information onconverting the standard job.)


4. Move the workpiece to another position, and in that position, a different usercoordinate (for example, UF#2) is taught.

5. The job header screen of the relative job created in Step 3 displays the usercoordinate (UF#1) which was taught in Step 1. Edit this to be the usercoordinate which was taught in Step 4 (UF#2).

6. Use the relative job function to convert the job in Step 5 back to a pulse-typejob.

7. If another job needs to be created, repeat Steps 4 through 6 can be used.One relative job can also be executed in multiple positions. An example ofthis follows:

1. Teach a job (for example, ABCDEF) on the fixture.2. Create user coordinates on the fixture that the above job was taught on; for

example, UF#1.3. Use the relative job function and convert the job from Step 1 using the user

coordinate frame from Step 2.4. Set up an identical fixture in a new position and create a different user

coordinate on the fixture; for example, UF#2.5. You can specify in the CALL instruction which fixture (user frame) to execute

the job on.EXAMPLE:NOPCALL JOB : ABCDEF UF#(2)END

When the CALL command is executed, relative job ABCDEF, which was taught onUF#1, works on UF#2.

6. If you need to set up additional user fixtures on which the job needs to beexecuted, repeat Steps 4 and 5, creating additional user frames on the additionalfixtures.

3.2.4 Shift to Multiple Manipulators

CAUTION!There is a possibility that the robot will not be able to executethe job in the playback position. Be sure to press FWD/BKWD toconfirm the playback position.

A job that has been taught on one robot can be shifted to other robots on theproduction line (see Figure 3-9). An example of copying a job to the nextmanipulator follows:

1. Teach the job on robot 1.2. Set up a user frame (for example UF#1) around the fixture on which the job

was taught.


3. Convert the job created in Step 1 to a relative job using the user frame in Step 2.4. Save the relative job to a floppy disk, using the FC1/FC2 floppy disk drive.5. Set up a user frame using the same user frame number as was used in Step 2 on

robots 2 and 3 on their fixtures.6. Load the relative job which was saved in Step 4.7. Convert the job back to a standard pulse job in robots 2 and 3 if desired.

No. 1 No. 2 No. 3

Robot

Work

Figure 3-10 Shift to Multiple Manipulators

3.2.5 Simplified Off-Line Teaching

CAUTION!Positions that are taught off-line should be verified in TeachMode before executing a program in play.

Simplified off-line teaching of the relative job can be executed when using aFC1/FC2 floppy disk drive or a computer.

1. Load the following data into the computer:

Manipulator position data (X,Y,Z) Instructions

2. Convert the data into a program (relative job) for the MRC using the computer.3. Transfer the relative job to the MRC controller. The following two methods can

be used for data transfer:

Save job data on a floppy disk and transfer to the MRC via the Yasnac FC1or FC2 floppy disk drive.

Send job data from the computer to the MRC controller with communicationsoftware.


3.3 INSTRUCTIONS USED IN RELATIVE JOBThis section includes an overview of CALL and JUMP instructions used whenexecuting a relative job, as well as MFRAME instructions used when generatingnew user coordinates (frames).

3.3.1 CALL/JUMP

CAUTION!When executing a relative job, the manipulator maintains itscurrent orientation. For this reason, during teaching, the robotshould be oriented similar to how it will be oriented in the firststep of the relative job. If the position of the robot is extremelydifferent from that of the robot in the first step of the relativejob, there is a possibility that the robot will not perform thework as anticipated.

Calling a relative job is executed by using the CALL or JUMP instruction. If thecoordinate number is omitted, the job is automatically executed using thecoordinates on which it was originally converted on, for example:

CALL JOB: JOB -1JUMP JOB: JOB -1 IF IN#(1)= OFF

If the coordinate system used during teaching is a user coordinate, when the CALLor JUMP instruction is called up, another coordinate system other than the one usedduring teaching can be used. The following is an example:

The relative job [JOB-1], which has been converted in user frame No. 1, can be executed using a different frame by specifying it in the call instruction. [JOB-1] is executed with the user coordinate value of No. 2.

CALL JOB : JOB - 1 UF# (2)To enter a CALL or JUMP instruction, follow these steps:

1. While in Teach Mode, move the cursor to Address side of the screen andpress EDIT.

2. Press CONTROL (F2).3. Press JUMP (F1) or press CALL (F2).4. Press NAME (F1).5. Move the cursor to Call or Jump Job and press ENTER.6. Press the ARROW UP soft key.7. Press UF# (F1).8. Enter the coordinate number that job will be run on and press ENTER.9. Press ENTER.


3.3.2 MFRAME

MFRAME is the instruction used to generate or change user coordinates based onthe position data which has been detected by the sensor, etc. The MFRAMEinstruction references points that are stored in position variables. The following isan example:

MFRAME UF#(2) PX(ORG) PX(XX) PX(XY)To enter an MFRAME instruction, follow these steps:

1. Press EDIT.2. Press the ARROW UP soft key.3. Press ARITH (F2).4. Press the ARROW UP soft key.5. Press the ARROW UP soft key.6. Press MFRAME (F5).7. Press CONST (F1) or VAR (F2).

NOTE: Be sure the User Coord No. used is not already in use because it will be overwritten.

8. Enter the User_coord_no. If you need to create a user coordinate frame, referto Creating User Frames.

9. Press ENTER.10. Press PX(F1), LPX (F2), PX [], or LPX[].11. Enter the position variable with the origin (ORG).12. Press ENTER.13. Enter the position variable with the XX coordinate.14. Press ENTER.15. Enter the position variable with the XY coordinate.16. Press ENTER.17. Press INSERT.18. Press ENTER.


3.3.3 CREATING USER FRAMES

A user frame is created by taking an external reference point and defining the origin,xx, and xy direction.

1. Press TEACH on the playback box.2. Press CUSTOMER.3. Press USER (F2).4. Use FILE UP/FILE DOWN keys to find a user frame not currently in use.5. Press SET (F5).6. Press MORE.7. Press TEACH (F5).The LCD will display "Available to User Frame File."8. Enable the programming pendant.9. Press ORG (F1).

10. Move the robot TCP to the desired origin point.

NOTE: Ensure the robot is not in User Coordinates to define these points.

11. Press MODIFY.12. Press ENTER.13. Press XX (F2).14. Move the robot to a point on the X-axis.15. Press MODIFY.16. Press ENTER.17. Press XY (F3).18. Move to a point on the +XY plane.19. Press MODIFY.20. Press ENTER.21. Disable the programming pendant.22. Press EXIT.The user coordinate frame is now defined.23. To return to the job display:

a. Press DISP.

b. Press JOB.

c. Press COORD until the red lamp is lit for User Coordinate.


NOTES


4.0 RELATIVE JOB OPERATIONThis section contains easy-to-follow, step-by-step instructions for converting astandard job to a relative job, converting a relative job back to a standard job,confirming both coordinates and command position, displaying differences betweencommand and current position, and information on editing a relative job.

CAUTION!When executing a relative job, the manipulator maintains itscurrent orientation. For this reason, during teaching, the robotshould be oriented similar to how it will be oriented in the firststep of the relative job. If the position of the robot is extremelydifferent from that of the robot in the first step of the relativejob, there is a possibility that the robot will not perform thework as anticipated.

CAUTION!When teaching points in a pulse-type job created for relative jobconversion, the amount of movement between the S-, R-, and T-axis teaching points must not exceed 180 . If it does exceed180 , the S-, R-, or T-axis will operate in the opposite direction.

4.1 STANDARD JOB TO RELATIVE JOB CONVERSIONTo change from standard job to relative job mode, follow these steps:1. Press FUNC (F5).2. Press MORE.3. Press REL JOB (F2).4. Press SEL JOB (F1) to display the job view screen.5. Move the cursor to the desired job.6. Press ENTER.7. Press XYZ (F4).8. Use soft keys to choose one of the following coordinate systems (frames):

BASE (F1), ROBOT (F2), or USER (F3)NOTE: If ROBOT (F2) was selected, skip step 9. If BASE (F1) or USER (F3) was selected, complete

step 9 before proceeding to step 10.

9. If BASE (F1) or USER (F3) is selected, proceed as follows:a. Enter User_coord no.

b. Press ENTER.


10. Enter the new job name.11. Press ENTER.12. Press EXECUTE (F5) to generate a new job.The relative job is the edited job and the status display area indicates the job name.

4.2 RELATIVE JOB TO STANDARD JOB CONVERSIONTo change from relative job to standard job mode, follow these steps:1. Press FUNC (F5).2. Press MORE.3. Press REL JOB (F2).4. Press SEL JOB (F1) to display the job view screen.5. Move the cursor to the desired job.6. Press ENTER.7. Press PULSE (F3).8. Move the ARROW UP soft key and press ABC to display the alphabet.9. Press CANCEL to erase the old job name.

10. Enter a new job name.11. Press QUIT (F5) to exit the alphabet screen.12. Press ENTER.13. Press EXECUTE (F5) to generate a new job.The standard job is the edited job and the status display area indicates the job name.

4.3 CONFIRMING RELATIVE JOB INFORMATION

4.3.1 Coordinate Confirmation

To confirm coordinates during teaching, follow these steps:

1. Press DISP.2. Press JOB (F1).3. Press MORE.4. Press DIS CHG (F1).5. Press HEADER (F1).6. To change the user coordinate number from this screen, follow these steps:

a. Display the relative job header screen.b. Press EDIT

c. Press MORE.


d. Press COORD (F1).e. Use the number keys to enter the coordinate number.

The job is now a relative job with coordinate numbers that have been changed.

4.3.2 Command Position Confirmation

To confirm command position, follow these steps:

1. Display the relative job command value screen to display the XYZ formcommand value screen.

2. Press DISP (F1).3. Press POSN (F2).4. Press CMD POS (F3) to display command position.

4.3.3 Displaying Differences between Command and Current Position

To display differences between command and current position, follow these steps:

1. Press MORE.2. Press DIFF (F1).

4.4 EDITING THE RELATIVE JOBAs in standard job, the relative job can be edited using the programming pendant.This includes addition, modification, and deletion of positions. However, there aresome differences between editing operations for standard job and relative job.When converting a job from standard to relative, it is not possible to paste and thenreverse. It is also not possible to paste and reverse between relative jobs indifferent coordinate systems.


NOTES


5.0 SIMPLIFIED OFF-LINE TEACHING SYSTEM

5.1 JOB DATA FORMATWhen relative job data is output with the FC1/FC2 floppy disk drive or datatransmission, the output file will appear as follows:

FILE NAME JOB NAME. JBI

/JOB//NAME JOB NAME//POS///NPOS C, BC, EC, PO, BP, EX///TOOL N///POSTYPE t///RECTAN///RECONF l, m, n, o, pCxxxx = X, Y, Z, Rx, Ry, RzBCxxxx = X0, Y0, Z0ECxxxx = 1, 2//INST///DATE YY/MM/DD HH:TT///COMM Command Letter Row///ATTR Attribution 1, Attribution 2,...Attribution 16

///FRAME C///GROUP1 m1, m2, m3///GROUP2 m1, m2, m3NOPMOVJ Cxxx BCxxx ECxxx VJ=xxx.xEND

The pseudo command is distinguished by a single slash. Double, triple, and fourslashes are used to indicate sub-level commands. The levels of commands used areas shown below in Figure 5-1.


POS NPOSUSERTOOLPOSTYPEPULSERECTANRECONF

INST DATECOMM ATTR

FRAMEGROUP1GROUP2

LVARS

JOB NAME

Figure 5-1 Command Levels Used in Relative Job

1. JOB Function: Shows job.Syntax: /JOB

2. NAME Function: Shows job name.Syntax: //NAME NAME

NAME: = Up to 8 small characters, no spaces3. POS Function: Shows position data.

Syntax: //POS NPOS Function: Shows number of position data.

Syntax: //NPOS C, BC, EC, P, BP, EX

C : = Number of robot axis instructed positions.

BC : = Number of base axis instructed positions.

EC : = Number of external (station) axis instructed positions.

P : = Number of robot axis position variables.

BP : = Number of base axis position variables.

EX : = Number of external (station) axis position variables.

USER Function: Shows which user coordinate number is currently selected.

Syntax: ///USER N

N : = User coordinate number (1-24)


TOOL Function: Shows which tool number is currently selected.

Syntax: ///TOOL N

N : = Tool number (0-23) POSTYPE Function: Shows position data type.

Syntax: ///POSTYPE t

t : = PULSE | BASE | ROBOT | TOOL | USER | MTOOL

PULSE : Pulse data

BASE : Rectangular data Base coordinate

ROBOT : Rectangular data Robot coordinate

TOOL : Rectangular data Tool coordinate

USER : Rectangular data User coordinate

MTOOL : Rectangular data Master tool PULSE Function: Shows pulse data.

Syntax: ///PULSE

Pulse Data : = C | BC | EC | P | BP | EX

C : = Cxxxx = S, L, U, R, B, T, E1, E2

BC : = BCxxxx = 1, 2, 3, 4, 5, 6, E1, E2

EC : = ECxxxx = 1, 2, 3, 4, 5, 6, E1, E2

P : = Pxxx = S, L, U, R, B, T, E1, E2

BP : = BPxxx = 1, 2, 3, 4, 5, 6, E1, E2

EX : = EXxxx = 1, 2, 3, 4, 5, 6, E1, E2

Cxxxx : = Robot axis teach position

BCxxxx : = Base axis teach position

ECxxxx : = External (station) axis teach positionPxxx : = Robot axis position variable


BPxxx : = Base axis position variable

EXxxx : = External (station) axis position variableS : = S-axis pulse data

L : = L-axis pulse data

U : = U-axis pulse data

R : = R-axis pulse data

B : = B-axis pulse data

T : = T-axis pulse data

E1 : = Trepan axis 1

E2 : = Trepan axis 2xxxx : = Numbered from 0 up to 999

RECTAN Function: Shows that defined data following the pseudo command are rectangular data.Syntax: ///RECTAN

Rectangular Data : C | BC | P | BP |C : = Cxxxx = X, Y, Z, Rx, Ry,

Rz, E1, E2

BC : = BCxxxx = 1, 2, 3, 4, 5, 6, E1, E2

EC : = ECxxxx = 1, 2, 3, 4, 5, 6, E1, E2

P : = Pxxx = X, Y, Z, Rx, Ry, Rz, E1, E2

BP : = BPxxx = 1, 2, 3, 4, 5, 6, E1, E2

EX : = EXxxx = 1, 2, 3, 4, 5, 6, E1, E2

Cxxxx = Robot axis teach position

BCxxxx = Base axis teach position

Pxxx = Robot axis position variable

BPxxx = Base axis position variable

X = X angular data

Y = Y angular data


Z = Z angular data

Rx = Rx-axis rectangular data

Ry = Ry-axis rectangular data

Rz = Rz-axis rectangular data RCONF Function : Shows configuration of defined rectangular

data that follow the pseudo command.

Syntax : ///RCONF l, m, n, o, p

l : = 0 : Flip Position, 1 : No-Flip

m: = 0 : Upper Elbow Position, 1 : Lower Elbow Position

n : = 0 : Front Position, 1 : Back Position

o : = 0 : R < 180, 1 : R > = 180

p : = 0 : T < 180, 1 : T > = 180

4. INST Function: Shows instructions.Syntax: //INST DATE Function : Shows date and time.

Syntax : ///DATE YYYY/ MM/ DD HH : TT

YYYY : = Year

MM : = Month

DD : = Day

HH : = Hour

TT : = Minute COMM Function : Shows job commentary.

Syntax : ///COMM Comment Line

Comment Line : Displays up to 32 small characters. ATTR Function : Shows job attributes

Syntax : ///ATTR Attribute 1, Attribute2,...Attribute n

n : Up to 16

Attribute : JD | DD | SC | (RO | WO | RW) | RJ | CJ | VJJD : = Job Destroy

DD : = Directory Destroy

SC : = Save Complete


(RO | WO | RW):RO : = Read Only

WO : = Write Only

RW : = Read/Write

RJ : = Relative Job

CJ : = Concurrent Job

VJ : = Vision Job FRAME Function: Shows relative job coordinate (frame).

Syntax: ///FRAME C

C : = BASE | ROBOT | USER | NN : = User coordinate number (1-24)BASE : = Base coordinate (rectangular)ROBOT : = Robot coordinate (rectangular)USER : = User coordinate (rectangular)

GROUP1 Function: First MOVE Control Group (Slave side of coordinated job).

Syntax: ///GROUP1 m1, m2

m = RB1 (Robot 1)= RB2 (Robot 2)= BS1 (Base 1)= BS2 (Base 2)= ST1 (Station 1)= ST2 (Station 2)= ST3 (Station 3)= ST4 (Station 4)= ST5 (Station 5)= ST6 (Station 6)

GROUP2 Function: Second MOVE Control Group (Master side of coordinated job).

Syntax: ///GROUP2 m1, m2

m = RB1 (Robot 1) LVARS Function: Shows number of local variables.

Syntax: ///LVARS LB, LI, LD, LR, LP, LBP, LEX

LB : = Shows number of byte type local variables.

LI : = Shows number of integer type localvariables.


LD : = Shows number of double accuracy type localvariables.

LR : = Shows number of actual number typevariables.

LP : = Shows number of robot axis position typevariables.

LBP : = Shows number of base axis position typevariables.

LEX : = Shows number of station axis position typevariables.

5.2 EXAMPLES OF JOB DATA

5.2.1 Relative Job With Robot Axes and User Frame 3

The following is an example of job data for a job which uses a single robot andUser Frame 3.FILE NAME: SAMPLE 1.JBI Robot Axes and User Frame 3 Relative Job/JOB//NAME SAMPLE1//POS///NPOS 5,0,0,0,0,0///USER 3///TOOL 0///POSTYPE USER///RECTAN///RCONF 0,0,0,0,0C0000 = 171.314, 36.037, 36.032, 179.99, -1.52, 85.23C0001 = 39.290, 36.037, 36.014, 179.99, -1.51, 85.23C0002 = 39.292, -65.965, 36.016, 179.99, -1.51, 85.23C0003 = 39.288, -65.949, -75.987, 179.99, -1.52, 85.24C0004 = 171.314, 36.037, 36.032, 179.99, -1.52, 85.23//INST///DATE 1993/07/23 16:34///ATTR SC, RW, RJ///GROUP1 RB1NOPMOVJ C0000 VJ = 50.00MOVL C0001 V = 46.0MOVL C0002 V = 46.0MOVL C0003 V = 46.0MOVJ C0004 VJ = 50.00END


5.2.2 Robot Axes + Base Axes (Base Frame)The following is an example of job data for a job which uses a single robot on a2-axis track.FILE NAME: SAMPLE 2.JBI Robot Axes + Base Axes (Base Frame)/JOB//NAME SAMPLE2//POS///NPOS 3,3,0,0,0,0///TOOL 0///POSTYPE BASE///RECTAN///RCONF 0,0,0,0,0C0000 = -415.000, 0.000, 770.000, 180.00, -90.00, 0.00C0001 = 874.552, -626.159, 1031.906, 64.76, -37.91, 95.22C0002 = 1344.117, 582.515, 1090.264, 52.72, -37.72, 18.41BC0000 = 0.000, 0.000BC0001 = 1343.952, -531.981BC0002 = 1838.601, 830.637//INST///DATE 1993/07/23 17:36///ATTR SC, RW, RJ///GROUP1 RB1, BS1NOPMOVJ C0000 BC0000 VJ = 25.00MOVJ C0001 BC0001 VJ = 25.00MOVJ C0002 BC0002 VJ = 25.00END

5.2.3 Robot Axes + Base Axes + Station Axes (Base Frame,Synchronous Job)

The following is an example of job data for a synchronous job which uses a singlerobot on a 2 axis track with a 2 axis positioner.

FILE NAME: SAMPLE3.JBI Robot Axes + Base Axes + Station Axes (Base Frame, Synchronous Job)

/JOB//NAME SAMPLE3//POS///NPOS 2,2,2,0,0,0///TOOL 0


///POSTYPE BASE///RECTAN///RCONF 0,0,0,0,0C0000 = -494.484, -248.122, 1090.264, 52.72, -37.2, 118.41C0001 = 157.216, -187.240, 1079.290, 84.07, -35.63, 118.76BC0000 = 0.000, 0.000BC0001 = 550.647, 485.316///POSTYPE PULSE///PULSEEC0000 = 7103, 27536EC0001 = 7230, 27577///INST///DATE 1993/07/23 18:11///ATTR SC, RW, RJ///GROUP1 RB1, BS1, ST1NOPMOVJ C0000 BC0000 EC0000 VJ = 25.00MOVJ C0001 BC0001 EC0001 VJ = 25.00END

5.2.4 Robot Axes + Base Axes + Station Axes (Base Frame,Coordinated Job)The following is an example of job data for a coordinated job which uses a singlerobot on a 2 axis track coordinated with a 2 axis positioner.FILE NAME: SAMPLE4.JBI Robot Axes + Base Axes + Station Axes (Base

Frame, Coordinated Job)/JOB//NAME SAMPLE4//POS///NPOS 2,2,2,0,0///TOOL 0///POSTYPE BASE///RECTAN///RCONF 0,0,0,0,0C0000 = -494.484, -248.122, 1090.264, 52.72, -37.2, 118.41C0001 = 157.216, -187.240, 1079.290, 84.07, -35.63, 118.76BC0000 = 0.000, 0.000BC0001 = 550.674, 485.316///POSTYPE PULSE


///PULSEEC0000 = 7103, 27536EC0001 = 7230, 27577///INST///DATE 1993/07/23 18:11///ATTR SC, RW, RJ///GROUP1 RB1, BS1///GROUP2 ST1NOPMOVJ C000 BC000 VJ = 25.00 +MOVJ EC000 VJ = 25.00MOVJ C001 BC001 VJ = 25.00 +MOVJ EC001 VJ = 25.00END

5.2.5 Robot Axes + Robot Axes (Base Frame, Coordinated Job)The following is an example of job data for a coordinated job which usestwo robots.FILE NAME: SAMPLE5.JBI Robot Axes + Robot Axes (Base Frame,

Coordinated Job)/JOB//NAME SAMPLE5//POS///NPOS 10,0,0,0,0,0///TOOL 0///POSTYPE BASE///RECTAN///RECONF 0,0,0,0,0C0000 = -765.337, 202.936, 1118.673, 0.00, 1.59. 160.42///TOOL 1C0001 = 856.025, -93.532, 1134.850, 1.43, -25.69, 172.39///TOOL 0C0002 = -831.637, 122.110, 1130.506, -0.36, 6.81, 167.30///TOOL 1C0003 = 812.058, -39.516, 1162.852, 1.42, -25.68, 172.39///TOOL 0C0004 = 767.908, 249.592, 1071.301, 0.00, 1.59, 157.08///TOOL 1C0005 = 882.057, -101.531, 10700.875, 1.42, -25.68, 172.40///TOOL 0C0006 = 557.794, 402.473, 1033.164, 0.63, -7.68, 137.99


///TOOL 1C0007 = 920.071, -149.510, 1042.893, 1.41, -25.67, 172.41///TOOL 0C0008 = 765.337, 202.936, 1118.673, 0.00, 1.59, 160.42///TOOL 1C0009 = 856.025, -93.532, 1134.850, 1.43, -25.69, 172.39//INST///DATE 1993/07/23 16:41///ATTR SC, RW, RJ///GROUP1 RB1///GROUP2 RB2NOPMOV C000 VJ = 50.00 +MOVJ C0001 VJ = 50.00SMOVL C0002 V =46.0 +MOVL C0003SMOVL C0004 V = 46.0+MOVL C0005MOVL C0006 V = 46.0 +MOVL C0007 V=11.0MOVJ C0008 VJ = 50.0 +MOVJ C0009 VJ = 50.0END

5.3 CONFIGURATION OF POSITION DATAThis section includes information on the configuration of position data for a robotaxis, robot and station axes, and robot and base axes. The robot axis, base axis,and station axis position data in each of the coordinate systems are as shown below(see Figures 5-2, 5-3, and 5-4).

BaseCoordinate

Base Axis Coordinate Value(Xb, Yb, Zb, RXb, RYb, RZb)

Base Axis Coordinate Value(X0, Y0, Z0)

Station Axis PulseValue (W1, W2)

Yb

Xb

0b

Zb

Figure 5-2 Base Coordinate System


BaseCoordinate

RobotCoordinate



Yb

Xb

Yr

Xr

0b

Zb Zr

Robot Axis Coordinate Value(Xr, Yr, Zr, RXr, RYr, RZr)

Figure 5-3 Robot Coordinate System

BaseCoordinate

UserCoordinate



YuXb

Yb

Xu

0b

ZbZu

User Axis Coordinate Value(Xu, Yu, Zu, RXu, RYu, RZu)

Figure 5-4 User Coordinate System

The configuration of position data for a robot axis, robot and station axes, androbot and base axes is as shown below:

1. ROBOT AXISR1 = X, Y, Z, RX, RY, RZ + TYPE

The position of the specified coordinate system has a coordinate value.

2. ROBOT AXIS + STATION AXISR1 = X, Y, Z, RX, RY, RZ + TYPE


S1 = W1, W2

The robot has the coordinate value of the specified coordinate system. Thestation axis, however, continues to have a pulse value.

3. ROBOT AXIS + BASE AXISR1 = X, Y, Z, RX, RY, RZ + TYPEB1 = X0 , Y0 , Z0 The robot has the coordinate value of the specified coordinate system.

The base axis.

Distance from base coordinate point of origin if base coordinate systemis specified.

Distance from robot coordinate point of origin if robot coordinate systemis specified.

Distance from user coordinate point of origin if user coordinate systemis specified.

5.4 CONFIGURATION OF THE MANIPULATORIn the description of the job position data using X, Y, and Z coordinates, there areseveral configurations of the robot that satisfy data. One configuration must bespecified. Up to five types of configurations are used with the MRC Controller.The number of configurations depends on the type of robot. The five types ofconfigurations used with the MRC Controller are as follows:

5.4.1 Specification of Wrist Angle1. The angle at the R-axis for a three-axis wrist robot can be specified by either of

the following two methods:

The "flip, no-flip" method (as shown in Figure 5-5) The "R < 180 or R > = 180 " method (as shown in Figure 5-6 )

When the R-axis is in range A, it is in the flip position. When it is in range B, it isin the no-flip position (see Figure 5-5).For robots with an R-axis that turns 180 or more, it must be specified that the axishas made a turn from -90 to 90 , 270 to 360 , or -360 to -270 . Similarspecification is also required for position B (see Figure 5-6).


Flip Position No-Flip Position

0

B

0A

90 <


2. The angle at the T-axis for a three-axis wrist robot must be specified as eithergreater or less than 180 (see Figure 5-7).

T < 180 T 180

0

-180 180

360 -360

-180

180


BACK POSITION FRONT POSITION BACK POSITION FRONT POSITION

S-axis Turned at 0 S-axis Turned at 180A B

Figure 5-8 Front and Back Positions of S-Axis Turned at 0 and 180

These specifications are required for K and V type six-axis robots. They are,however, not applicable for Type L robots because they always take the frontposition.

2. Specify the form of the L-and U-axis as seen from the right. The upper elbowposition (A) and lower elbow position (B) are shown below in Figure 5-9.

This specification is required for V type six-axis robots. This is not applicable forL or K type robots because they always take the upper elbow position.

Upper Elbow Position Lower Elbow PositionA B

Figure 5-9 Upper and Lower Elbow Positions of L- and U- Axes


5.5 ROBOT FORM CONTROL METHODSWhen a relative job is executed, because the robot is not being programmed in pulsecounts, the robot is not always able to use the desired form to reach a defined point.The following two methods are ways in which the robot is able to decide on whichform it will use to reach defined points of a particular job:1. Moving the R-and T-axes to preserve the sign of the B-axis.2. Moving R-, B-, and T-axes to preserve the robot's form of the destination

point.

5.5.1 Moving the R-and T-Axes to Preserve the Sign of the B-Axis

This method is used to keep the angle of the B-axis from deviating from the "+"range to the "-" range. It can be used to prevent the B-axis from moving past 0 in ajob (see Figure 5-10). The R-and T-axes move to reach a defined point, preservingthe sign of the B-axis. This method is especially useful in a job shift, howevershould not be used with off-line programming because the form of the robots armwill be changed with the movement of the R-and T-axes.

0

+

-

Figure 5-10 B-Axis "+" and "-" Range


If the angle of the B-axis moves past 0 , this method will control the robot's arm tomove the R-axis 180 in the opposite position so that the B-axis does not deviatefrom "+" or "-" (see Figures 5-11 and 5-12).

0

0

Figure 5-11 Actual Motion of the R-Axis

0

0

Figure 5-12 Anticipated Motion of the R-Axis


5.5.2 Moving R-, B-, and T-Axes to Preserve the Robot's Form of theDestination Point

CAUTION!Use caution when using this method with a job shift. Robotmovement can be unpredictable, resulting in personal injury ordamage to equipment.

CAUTION!When teaching points in a pulse-type job created for relative jobconversion, the amount of movement between the S-, R-, and T-axis teaching points must not exceed 180 . If it does exceed180 , the S-, R-, or T-axis will operate in the opposite direction.

Because the encoder which reads pulse position is not used in relative job, the robotrecognizes the position of a job using X, Y, and Z coordinates. In this method, theB-axis is moved to reach a defined point or changing the sine of the R-axis topreserve the form of all other axes. Because the form of all other axes is preserved,this method is especially useful when used with off-line teaching.

Caution should be used when using this method with a job shift. If the teachingposition is too close to the pole changing point, the robot may move in a directionopposite to that of the anticipated motion. An example follows:

If during teaching, for example, a standard job, the angle of the R-axis is near 90or less and the position is shifted, the angle of the R-axis may exceed 90 . Beforethe shift, the wrist is in a flip position. After shifting it is in a no-flip position (seeFigure 5-13).

R Axis

Flip

No-Flip

0

-90 90

Figure 5-13 Flip and No-Flip Positions of the R-Axis

\


As shown below in Figure 5-14, if the wrist is already in a flip position, whenshifted, the wrist will remain in a flip position. The wrist of the robot will notdeviate between flip and no-flip positions as anticipated. The upper left-hand figureshows the current robot position. The anticipated motion of the robot is as shownin the lower figure, however it is possible that the robot's motion may be as shownin the upper right-hand figure. The tool angle remains the same between theoriginal and shifted positions, however, the motion is different and may causeinterference with the workpiece or other equipment. Be sure to confirm the motionof the robot when using this method.

R Axis0

-90 90

0

-90 90

0

-90 90

ACTUAL ROBOT POSITION ACTUAL ROBOT MOTION

ANTICIPATED ROBOT MOTION

Figure 5-14 Robot Motion During a Job Shift

The parameter and values for the robot form control methods are as shown below inTable 5-1:

Table 5-1 Parameter and Values Used in Robot Form Control Methods

PARAMETER CONTENTS AND SET VALUE INITIAL VALUE

S2C195 0: Moving the R-and T-axes to preserve thesign of the B-axis

0

1: Moving R-, B-, and T-axes to preservethe robot's form of the destination point


To change the parameter to use either of the above mentioned methods, followthese steps:

1. Go to CUST.2. Press MORE.3. Press ORG.4. At the prompt, enter your 8-digit code.5. Press ENTER.6. Press PMTR.7. Choose parameter SC.8. Select S2C.9. Press SEARCH.

10. Enter the numbers 195.11. Press MODIFY.12. Press 0 or 1.13. Press ENTER.

The parameter has now been changed to use the desired method.

14. Cycle power from Off to On.


NOTES


6.0 ALARM AND ERROR MESSAGES

6.1 ALARM MESSAGESTable 6-1 Alarm Messages

ALARM # MESSAGE MEANING

5760 Undefined User Frame Specified Frame NotRegistered When CALLInstruction Executed

5960 MFRAME Error User Frame Could Not BeGenerated Because File IsBroken

5990 Two Steps Same Line(3 Steps)

Frame is Invalid WhenPosition Data for All 3 Pointsare on Same Line

6.2 ERROR MESSAGESTable 6-2 Error Messages

ERROR # MESSAGE MEANING

0300 Undefined User Frame User Frame Specified DuringConversion Has Not BeenRegistered

2460 Specified Job is Already Converted Job Specified During ConversionHas Already Been Converted ToThis Job Type

2470 Wrong Job Type Standard Job Coordinate Cannot BeEstablished

2480 Wrong Job Coordinates Setting Coordinates Other Than UserCoordinate Cannot Be Modified

2490 Execute FWD/BWD Operation Once Before Editing the Relative Job,Press FWD/BWD Operation Once

2500 Cannot Convert the Job A Job Which Only Has a StationAxis and No Group Axes CannotBe Converted to a Relative Job


Table 6-3 Messages

MESSAGE MEANING

Steps Outside of Working RangeHave Been Created

When the Relative Job or Standard Jobis Modified, Steps Outside of theWorking Range are Calculated


7.0 INSTRUCTIONS USED IN RELATIVE JOBTable 7-1 List of Instructions

MFRAME(Make Frame)

FUNCTION

ADDITIONALINFORMATION

EXAMPLE OFUSAGE

Instruction used for creating a user frame after 3defined points of position data have been established.Format: MFRAME UF#(xx) (Data1) (Data2) (Data3)

UF# (User Frame Number)DATA 1 Position Data of Defined Point ORGDATA 2 Position Data of Defined Point XXDATA 3 Position Data of Defined Point XYIF Syntax

MFRAME UF#1 P001 P002 P003

CALL FUNCTION


EXAMPLE OFUSAGE

Instruction used to call specific job to be executed.When relative job is called, if there is a designated userframe number, the job with that frame number will beexecuted.

JOB: (Job Name)IG# (Input Group Number)B (Variable Number)UF# (User Frame Number)IF Syntax

CALL JOB : TEST-1CALL JOB: TEST -1 UF#(2)CALL IG# (02)(The job is called by the input signal pattern. In thiscase, it is not possible to call JOB 0.)


Table 7-1 List Of Instructions (continued)

JUMP FUNCTION


EXAMPLE OFUSAGE

Instruction used to jump to a specified job or label.When JUMP is used during a relative job, if a userframe has been specified, that job number's frame willbe executed.

JOB: (Job Name)IG# (Input Group Number)B (Variable Number)(Label Name)UF# (User Frame Number)IF Syntax

JUMP JOB: TEST1 IF IN# (14) = OFF


8.0 MRC TOOL CENTER POINT DEFINITIONA well-defined Tool Center Point (TCP) is necessary for most applications,especially any type of process work. A well-defined TCP allows easier teachingand a much more accurate travel speed. An accurate TCP definition is a must forwelding, sealing, and cutting.

The MRC is capable of storing up to 24 different TCP's:

The first TCP is called the Standard Tool, or Tool 0. Robots with one tool areconcerned only with the Standard Tool.

The remaining 23 TCP's are called Universal Tools, or Tools 1-23. Robotswith multiple tools (such as two-handed grippers) use Universal Tools alongwith the Standard Tool.

There are two methods for defining the TCP: manual TCP definition and automaticTCP definition.

8.1 MANUAL TCP DEFINITIONManual TCP is used when a tool has definite dimensions and orientation. To definea TCP manually, follow these steps:

1. Press TEACH.1. Press CUSTOMER.2. Press TOOL (F1).3. Move the cursor to the first tool dimension.4. Press MODIFY.5. Using the data keys, input the dimension of the tool relative to the wrist flange.6. Press ENTER.7. Repeat steps 3 through 6 for each tool dimension.

The TCP is now defined. To ensure accuracy of the TCP, use the rotate-about X,Y, and Z keys to roll, bend, and twist the tool around the TCP (see Figure 8-1).The TCP should not move.

FLANGE COORDINATES

TOOL COORDINATES

TOOL CENTER POINT

Xf

Yf

Zf

Zf

Figure 8-1 Tool Center Point


8.2 AUTOMATIC TCP DEFINITIONAutomatic TCP definition is used when a tool has a more complex geometry (forexample, angles or offsets).To define a TCP automatically, follow these steps:

1. Put a pointer (with the sharp end up) on the fixture. Ensure that the pointer isplaced so that it will not move.

2. Press TEACH on the playback box.3. Press CUSTOMER.4. Press TOOL (F1).5. Press CALIB (F4).

NOTE: If calibration points have already been taught, it will be necessary to press DATA CL (F3) andEXECUTE (F5) in order to clear the old values.

6. Press TEACH on the programming pendant.7. Enable the programming pendant by pressing ENABLE.8. Using the axis keys, move the robot towards the pointer until the tip of the wire

touches the tip of the pointer (see Figure 8-2).

TOOL

WIREPOINTER

Figure 8-2 Pointer

9. Press MODIFY.10. Press ENTER. The first TC point is now programmed.11. Press TC down arrow (F1) to select the next point to be programmed.12. Repeat steps 8 through 10 for each TC point.13. After all five TC points have been programmed, press CALC (F5).The tool display screen (which shows the newly calculated XYZ dimensions ofthe tool) appears.

14. Move the cursor to the right side of the screen to input tool angle dimensions.


EXAMPLE OF ENTERING TOOL ANGLE DIMENSIONS FOR ASTANDARD TORCH:

a. Move the cursor to the Ry dimension.

b. Press MODIFY.

c. Using the data keys, manually enter -45 degrees.

d. Press ENTER.


NOTES

INDEX

Relative Job Function, MRC MOTOMAN

AALARM AND ERROR MESSAGES, 51ALARM MESSAGES, 51AUTOMATIC TCP DEFINITION, 56

CCALL/JUMP, 21COMMAND POSITION CONFIRMATION, 27CONFIGURATION OF POSITION DATA, 39CONFIGURATION OF THE MANIPULATOR, 41CONFIRMING RELATIVE JOB INFORMATION, 26COORDINATE CONFIRMATION, 26COORDINATE SYSTEMS, 11CREATING USER FRAMES, 23CUSTOMER SERVICE INFORMATION, 1

DDISPLAYING DIFFERENCES BETWEEN COMMAND AND CURRENT POSITION, 27

EEDITING THE RELATIVE JOB, 27ERROR MESSAGES, 51EXAMPLE OF ENTERING TOOL ANGLE DIMENSIONS FOR A STANDARD TORCH, 57EXAMPLES OF JOB DATA, 35EXAMPLES OF RELATIVE JOB USAGE, 15

GGENERAL SAFEGUARDING TIPS, 5

IINSTALLATION SAFETY, 6INSTRUCTIONS USED IN RELATIVE JOB, 21, 53INTRODUCTION, 1

JJOB DATA FORMAT, 29JOB SHIFT, 15

MMAINTENANCE SAFETY, 8MANUAL TCP DEFINITION, 55MECHANICAL SAFETY DEVICES, 5MFRAME, 22MOVING R-, B-, AND T-AXES TO PRESERVE THE ROBOT'S FORM OF THE DESTINATION POINT, 47MOVING THE R-AND T-AXES TO PRESERVE THE SIGN OF THE B-AXIS, 45MRC TOOL CENTER POINT DEFINITION, 55

OOPERATION SAFETY, 7

PPROGRAMMING SAFETY, 6

RREFERENCE TO OTHER DOCUMENTATION, 1RELATIVE JOB DESCRIPTION, 9RELATIVE JOB FORMAT, 14RELATIVE JOB OPERATION, 25RELATIVE JOB TO STANDARD JOB CONVERSION, 26RELATIVE JOB USAGE, 9RELATIVE JOB WITH ROBOT AXES AND USER FRAME 3 , 35ROBOT AXES + BASE AXES (BASE FRAME), 36ROBOT AXES + BASE AXES + STATION AXES (BASE FRAME, COORDINATED JOB), 37ROBOT AXES + BASE AXES + STATION AXES (BASE FRAME, SYNCHRONOUS JOB), 36ROBOT AXES + ROBOT AXES (BASE FRAME, COORDINATED JOB), 38ROBOT FORM CONTROL METHODS, 45

SSAFETY, 3SHIFT FOR DAMAGED TOOL, 15SHIFT TO MULTIPLE MANIPULATORS, 19SIMPLIFIED OFF-LINE TEACHING SYSTEM, 29SIMPLIFIED OFF-LINE TEACHING, 20SPECIFICATION OF THE BASE THREE AXES, 43SPECIFICATION OF WRIST ANGLE, 41STANDARD CONVENTIONS, 4STANDARD JOB TO RELATIVE JOB CONVERSION, 25STANDARD PULSE JOB FORMAT, 13

TTOOL CENTER POINT, 12

UUSING ONE MANIPULATOR FOR WORK IN MULTIPLE POSITIONS, 18

1.0 INTRODUCTION1.1 REFERENCE TO OTHER DOCUMENTATION1.2 CUSTOMER SERVICE INFORMATION

2.0 SAFETY2.1 STANDARD CONVENTIONS2.2 GENERAL SAFEGUARDING TIPS2.3 MECHANICAL SAFETY DEVICES2.4 INSTALLATION SAFETY2.5 PROGRAMMING SAFETY2.6 OPERATION SAFETY2.7 MAINTENANCE SAFETY

3.0 RELATIVE JOB USAGE3.1 RELATIVE JOB DESCRIPTION3.1.1 Coordinate Systems3.1.2 Relative Job Shift Function3.1.3 Tool Center Point3.1.4 Standard Pulse Job Format3.1.5 Relative Job Format

3.2 EXAMPLES OF RELATIVE JOB USAGE3.2.1 Shift for Damaged Tool3.2.2 Job Shift3.2.3 Using One Manipulator for Work in Multiple Positions3.2.4 Shift to Multiple Manipulators3.2.5 Simplified Off-Line Teaching

3.3 INSTRUCTIONS USED IN RELATIVE JOB3.3.1 CALL/JUMP3.3.2 MFRAME3.3.3 CREATING USER FRAMES

4.0 RELATIVE JOB OPERATION4.1 STANDARD JOB TO RELATIVE JOB CONVERSION4.2 RELATIVE JOB TO STANDARD JOB CONVERSION4.3 CONFIRMING RELATIVE JOB INFORMATION4.3.1 Coordinate Confirmation4.3.2 Command Position Confirmation4.3.3 Displaying Differences between Command and Current Position

4.4 EDITING THE RELATIVE JOB

5.0 SIMPLIFIED OFF-LINE TEACHING SYSTEM5.1 JOB DATA FORMAT5.2 EXAMPLES OF JOB DATA5.2.1 Relative Job With Robot Axes and User Frame 35.2.2 Robot Axes + Base Axes (Base Frame)5.2.3 Robot Axes + Base Axes + Station Axes (Base Frame, Synchronous Job)5.2.4 Robot Axes + Base Axes + Station Axes (Base Frame, Coordinated Job)5.2.5 Robot Axes + Robot Axes (Base Frame, Coordinated Job)

5.3 CONFIGURATION OF POSITION DATA5.4 CONFIGURATION OF THE MANIPULATOR5.4.1 Specification of Wrist Angle5.4.2 Specification of the Base Three Axes

5.5 ROBOT FORM CONTROL METHODS5.5.1 Moving the R-and T-Axes to Preserve the Sign of the B-Axis5.5.2 Moving R-, B-, and T-Axes to Preserve the Robot's Form of the Destination Point

6.0 ALARM AND ERROR MESSAGES6.1 ALARM MESSAGES6.2 ERROR MESSAGES

7.0 INSTRUCTIONS USED IN RELATIVE JOB8.0 MRC TOOL CENTER POINT DEFINITION8.1 MANUAL TCP DEFINITION8.2 AUTOMATIC TCP DEFINITION

INDEX

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