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Contents 1

Contents

Chapter 1 Quick Instruction Reference

Chapter 2 Instructions for Robot Motions

Positioning (P) - Defining the Position and Attitude -............................................................................................ 2-1

Quick Positioning (Q) - Defining the Position and Attitude for Quick Motion - ........................................................................2-4

Overview of Quick Positioning Motion................................................................................................................2-4

Short Cut Types..................................................................................................................................................2-6

Setting by Level...............................................................................................................................................2-6

Setting by Rate................................................................................................................................................2-8

Setting by Length............................................................................................................................................2-9Linear Interpolation (L) - Moving the Robot in a Straight Line -..........................................................................2-11

Linear Interpolation Associated with Attitude Rotation (LO) - Rotating the Attitude -.......................................2-14

High Speed Linear Interpolation (L') - Moving the Robot in a Straight Line Quickly -........................................2-15

Circular Interpolation (C1/C2) - Moving the Robot along an Arc -......................................................................2-16

Circular Interpolation Associated with Attitude Rotation (CO1/CO2) - Rotating the Attitude - .........................2-18

High Speed Circular Interpolation (C1'/C2') - Moving the Robot along an Arc Quickly -................................2-19

Timer Wait (T) - Stopping the Robot for a Period of a Set Time -......................................................................2-20

No Operation (NOP) - Enabling the Robot to Do Nothing -..................................................................................2-20

Program End (END) - Ending the Program -.....................................................................................................2-21

Chapter 3 Branch Instructions

Internal J ump - J umping to Any Position in the Program -...................................................................................3-1

Internal J ump (JP)...............................................................................................................................................3-1

Point Mark (PM)..................................................................................................................................................3-2

Defining and Decrementing the Counter Value.................................................................................................. 3-2

Define Counter Value (DEF)...........................................................................................................................3-2

Decrement Counter Value (DEC)...................................................................................................................3-3

Internal J ump Examples.....................................................................................................................................3-3

Specifying the State of an External Input Signal as a Condition.....................................................................3-3

Specifying a Counter as a Condition...............................................................................................................3-3

Call Program (CL) - Calling Another Program - ...................................................................................................3-7

Call Operation.....................................................................................................................................................3-7

Specifying a Task Program to Be Called............................................................................................................3-8

Specifying Directly...........................................................................................................................................3-8

Specifying by means of an External Input.......................................................................................................3-8

Specifying by means of an General-Purpose Register.................................................................................. 3-8

J ump to Program (J F) - J umping to Another Program - ....................................................................................3-12

J ump Operation................................................................................................................................................3-12

Specifying a J ump Destination Task Program..................................................................................................3-13Specifying Directly.........................................................................................................................................3-13

Specifying by means of an External Input.....................................................................................................3-13

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2 Contents

Specifying by means of an General-Purpose Register................................................................................3-13

Skip (SKS/SKE) - Stopping the Execution to J ump to a Specified Position - ....................................................3-17

Structured Description (IF/EIF/ELS/FI) - Branching in the IF-THEN-ELSE Form -.......3-20

What Are the Structured Description Instructions?...........................................................................................3-20

Explanation of the Structured Description Instructions .....................................................................................3-21

Task Program Examples Using the Structured Description Instructions..........................................................3-23

Description Example 1..................................................................................................................................3-23Description Example 2..................................................................................................................................3-23

Chapter 4 Welding Instructions

Outline of Welding Instructions ...............................................................................................................................4-1

Use of Welding Instructions ................................................................................................................................4-1

Basic Knowledge about Arc Start/End Instructions ............................................................................................4-2

Welding Conditions.........................................................................................................................................4-2

Setting Arc Start Conditions............................................................................................................................4-3Arc Retry Conditions...........................................................................................................................................4-4

Arc Start/End (AS/AE) - Starting/Ending Welding -..............................................................................................4-6

Inch/Retract (ICH/RTC) - Inching/Retracting the Wire -.....................................................................................4-12

Gas ON/OFF (GS/GE) - Turning the Gas ON/OFF -.......................................................................................4-13

Continuous Tack Welding (ASS/AES) - Performing Continuous Tack Welding - ...........................................4-14

Continuous Tack Welding Operation................................................................................................................4-15

Differences between Continuous Tack Welding and Normal Welding Operations..........................................4-16

Welding User Parameters.................................................................................................................................4-16

TIG Pulsed Welding (ASP/AEP) - Performing Quality TIG Welding -..............................................................4-19

TIG Pulsed Welding..........................................................................................................................................4-19

Pulse Control in TIG Pulsed Welding................................................................................................................4-20

Pules Waveform............................................................................................................................................4-22

Output Timing of the Filler Feed Rate Command.........................................................................................4-22

Preheating and Slow-Up Stages...................................................................................................................4-23

Slow-Down and Welding Finishing Stages...................................................................................................4-24

Delay Time of Filler Feed Start in the Slow-Up Stage..................................................................................4-26

Advance Time of Filler Feed End in the Slow-Down Stage..........................................................................4-26

Synchronizing Pulses with Weaving [Synchro-TIG].......................................................................................4-27

Pulse Waveform in Synchro-TIG ..................................................................................................................4-27

Pulse-Weaving Phase Adjusting Time.........................................................................................................4-30

Controlling the Pulse Output by Welding Power Supply...................................................................................4-31Teaching for TIG Pulsed Welding.....................................................................................................................4-32

Creating Condition Files for TIG Pulsed Welding.............................................................................................4-39

The TIG Pulsed Welding Section During Automatic Operation........................................................................4-42

Operation at the Time of Emergency Stop...................................................................................................4-42

Operation at the Time of Halt........................................................................................................................4-42

Operation at the Time of Restart...................................................................................................................4-42

Operation at the Time of Switching between Weld ON/OFF........................................................................4-42

Changing Conditions.....................................................................................................................................4-43

Online Modification........................................................................................................................................4-44

Setting the User Parameters Relating to TIG Pulsed Welding.........................................................................4-46

Wire Retracting at the Time of Halt...............................................................................................................4-46

Wire Retracting at the Time of Emergency Stop..........................................................................................4-46

Delay Time of Filler Feed Start in the Slow-Up Stage..................................................................................4-46

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Contents 3

Advance Time of Filler Feed End in the Slow-Down Stage..........................................................................4-46

Arc Start/Arc End (ASD/AED) - Welding with the Instructions Specialized for CPDRA-350/-500 - .....................4-48

Teaching ASD/AED..........................................................................................................................................4-48

Creating Welding Condition Files for CPDRA-350/-500...................................................................................4-54

Arc Start/Arc End (APS/APE) - Performing Pulsed MIG Welding by CPDACA-200 -........................4-56

Relationship of Welding Modes and Welding Characteristic Data...............................................................................4-56

Setting a Welding Process and Various Conditions.........................................................................................4-58Creating Welding Condition Files for CPDACA-200.........................................................................................4-68

Welding Section in Automatic Operation..........................................................................................................4-70

Operation at the Time of Emergency Stop...................................................................................................4-70

Operation at the Time of Halt........................................................................................................................4-70

Operation at the Time of Restarting..............................................................................................................4-70

Changing Conditions.....................................................................................................................................4-70

On-line Modification.......................................................................................................................................4-70

Waveform Control Applied to Welding Processes............................................................................................4-72

Waveform Control for DC Pulsed Welding...................................................................................................4-72

Waveform Control for AC Pulsed Welding...................................................................................................4-73Waveform Control for DC Wave Pulsed Welding.........................................................................................4-74

Waveform Control for AC Wave Pulsed Welding.........................................................................................4-75

Chapter 5 Weaving Instructions

Fixed Pattern Weaving Start (WFP) - Weaving in a Fixed Pattern -....................................................................5-1

Axis Weaving Start (WAX) - Weaving by Single J oint Shaking -.........................................................................5-6

Weaving End (WE) - Ending Weaving -.............................................................................................................5-9

Taught Weaving (WSF) - Teaching a Weaving Pattern -..................................................................................5-10

Taught Weaving................................................................................................................................................5-10

Conditions for Taught Weaving.........................................................................................................................5-12

Operating Conditions for Weaving................................................................................................................5-12

Teaching Points ............................................................................................................................................5-14

An Overview of the Operational Procedures....................................................................................................5-17

Teaching for Taught Weaving by Using Procedure A..................................................................................5-18

Teaching for Taught Weaving by Using Procedure B..................................................................................5-24

Teaching for Taught Weaving by Using Procedure C..................................................................................5-27

Checking and Modifying the Taught Points......................................................................................................5-29

Chapter 6 External Control Input/Output Instructions

External Control Output (S/R) - Outputting a Signal -.............................................................................................6-1

External Control Pulse Output (PLS/PLR) - Outputting a Signal for a Fixed Period of Time - ...............................6-3

External Control Input Wait (N/F) - Waiting for a Signal Input -..........................................................................6-5

Quick External Control Input Wait (NQ/FQ) - Checking an External Input in Advance -.....................................6-6

Teaching a Set of S, N (or F), and R.......................................................................................................................6-8

Clear Output Port (CLR) - Turning the Output Port OFF -......................................................................................6-9

User Errors (ERR / ALM / INF) - Outputting User-Definable Errors - ........................6-10

ERR (User-defined ERROR)............................................................................................................................6-10ALM (User-defined ALARM)............................................................................................................................. 6-11

INF (User-defined INFORMATION) .................................................................................................................6-11

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4 Contents

Chapter 7 General-Purpose Registers

Overview.................................................................................................................................................................7-1

Types of General-Purpose Registers and the Register Monitor.............................................................................7-2

Types of General-Purpose Registers .................................................................................................................7-2

Displaying the Values of the Registers [Register Monitor]...............................................................................7-3

Group I/O ................................................................................................................................................................7-5

Group I/O GInn / GOnn................................................................................................................................7-5

Local Group I/O LIn / LOn ..............................................................................................................................7-7

Instructions Relating to General-Purpose Registers.............................................................................................7-10

Arithmetic Operation Instructions...................................................................................................................... 7-11

Increment by 1: INC ...................................................................................................................................7-11

Decrement by 1: DEC ................................................................................................................................7-11

ADDition : ADD.............................................................................................................................................7-11

SUBtraction : SUB.........................................................................................................................................7-11

MULtiplication: MUL......................................................................................................................................7-11

DIVision : DIV................................................................................................................................................7-12Remainder: MOD..........................................................................................................................................7-12

LoaD: LD.......................................................................................................................................................7-12

CLeaR registers: CLR...................................................................................................................................7-12

Bit Operation Instructions..................................................................................................................................7-16

Logical product: AND....................................................................................................................................7-16

Logical sum: OR............................................................................................................................................7-16

Logical negation: NOT ..................................................................................................................................7-16

Exclusive OR: XOR.......................................................................................................................................7-16

Assign Instruction..............................................................................................................................................7-19

General Input/Output Instructions.....................................................................................................................7-21

General input instruction: IN..........................................................................................................................7-21

General input instruction (INPUT WAIT ON): INW.......................................................................................7-21

General output instruction: OUT ...................................................................................................................7-22

General output instruction (INPUT WAIT ON): OTW...................................................................................7-22

Clear Output ports Instruction: CLR..............................................................................................................7-23

Branch Instructions Using General-Purpose Registers as Branch Conditions................................................7-30

Relational Operators.....................................................................................................................................7-30

Logical Operators..........................................................................................................................................7-30

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Contents 5

Chapter 1 Quick Instruction Reference

Chapter 2 Instructions for Robot Motions

Chapter 3 Branch Instructions

Chapter 4 Welding Instructions

Chapter 5 Weaving Instructions

Chapter 6 External Control Input/Output Instructions

Chapter 7 General-Purpose Registers

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Chapter 1Quick Instruction Reference

This chapter provides a list of instructions and brief explanations of their functions, including the

keystrokes required to select (teach) them.

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Quick Instruction Reference 1-1

The instructions you can select are listed below.

Note that the instructions marked with "*1" are not available on DR CONTROL. (Available on DR CONTROL 2.)

In addition, the instructions marked with "*2" are optional and are not available on the standard robot system. For

details about the optional instructions, see the instruction manual "OPTION".

Table. 1. 1 List of Instructions

Instruction Description Explanation Key operation

Positioning Moves the robot to a taught point.

*1 Quick positioning Moves the robot to a taught point.

Linear interpolation Moves the robot to a taught pointalong a straight line.

High speedlinear interpolation

Moves the robot to move to a taughtpoint along a straight line. Possibleto set a speed higher than the L.

Linear interpolationwith rotation of theattitude

Rotates the torch to a taught point.The torch tip moves along astraight.

Circular

interpolation(center point)

Moves the robot to a taught point

along an arc.

Circularinterpolation(end point)

Moves the robot to a taught pointalong an arc.

High speed circularinterpolation(center point)

Moves the robot to a taught pointalong an arc. Possible to set aspeed higher than C1.

High speed circularinterpolation(end point)

Moves the robot to a taught pointalong an arc. Possible to set aspeed higher than C2.

Circularinterpolation withrotation of theattitude(center point)

Rotates the torch to a taught point.The torch tip moves along an arc.

Circularinterpolation withrotation of theattitude

(end point)

Rotates the torch to a taught point.The torch tip moves along an arc.

2

2

2

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1-2 Quick Instruction Reference


Starting weldingStarts welding with the setwelding conditions.

Ending weldingEnds welding with the set craterconditions.

Inching the wire Inches the wire for the set time.

Retracting the wire Retracts the wire for the set time

Turning gas ON Starts the gas output.

Turning gas OFF Ends the gas output.

Starting

Tack weldingStarts tack welding with the setwelding conditions and pitch.

Ending

Tack weldingEnds tack welding.

*1Starting TIG pulsedwelding Starts TIG pulsed welding.

*1Ending TIG pulsedwelding

Ends TIG pulsed welding.

2

2

2

2

2

3

3

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Starting welding(specialized for

CPDRA-350/-500)

Starts welding with the setwelding conditions.

Ending welding(specialized forCPDRA-350/-500)

Ends welding with the set craterconditions.

Starting Pulsed MIGwelding

Starts Pulsed MIG welding byusing CPDACA-200.

Ending Pulsed MIGwelding

Ends Pulsed MIG welding byusing CPDACA-200.

2

3

3

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Starting Fixedpattern weaving

Starts fixed pattern weaving withthe set conditions.

*1Starting CompositeWrist Axis Weaving

Starts composite wrist axisweaving with the set conditions.

StartingAxis weaving

Starts axis weaving with the setweaving conditions.

Taught Weaving Starts taught weaving with the setconditions.

Ending weaving Ends weaving.

Setting externalcontrol output

Turns the specified output portON.

Resetting externalcontrol output Turns the specified output portOFF.

Waiting for externalcontrol input ON

Waits the robot for the specifiedinput port to turn ON.

Waiting for externalcontrol input OFF

Waits the robot for the specifiedinput port to turn OFF.

Setting externalcontrol pulse output

Turns the specified output portON for a given time.

Resetting externalcontrol pulse output

Turns the specified output portOFF for a given time.

*1Quick ExternalControl Input ONWait

Reads during execution of thesequence prior to its sequencewhether the specified signal isON or not.

*1Quick ExternalControl Input OFF

Wait

Reads during execution of thesequence prior to its sequencewhether the specified signal isOFF or not.

3

3

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Inputting I/O port toregister

Inputs the condition of any I/Oport to a register.

Waiting andinputting I/O port toa register

Waits the robot for an input at thespecified input port and thenoutputs a value or register valueto any output port.

Outputting to I/Oport

Outputs a value or register valueto any I/O port.

Waiting andoutputting to aregister

Waits the robot for an input at thespecified input port and thenoutputs a value or register valueto any output port.

Clearing outputports

Clears any general-purposeoutput port.

Waiting for timeStops the Task program run forthe set time.

No operation Causes no operation.

Point markIndicates the jump destination in

the Task program.

Internal jump(Unconditional)

Causes a jump to the specifiedpoint mark at all time.

NInternal jump(ON condition)

Causes a jump to the specifiedpoint mark if the specified inputport is ON.

F Internal jump(OFF condition)

Causes a jump to the specified

point mark if the specified inputport is OFF.

CInternal jump(Counter condition)

Causes a jump to the specifiedpoint mark if the value of thespecified counter is 0.

RegInternal jump(Register condition)

Causes a jump to the specifiedpoint mark if the result of acomparison operation betweenregisters is true.

2

2

2

2

2

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External jump(Unconditional)

Causes a jump to the specifiedTask program at all times.

NExternal jump(ON condition)

Causes a jump to the specifiedTask program if the specifiedinput port is ON.

FExternal jump(OFF condition)

Causes a jump to the specifiedTask program if the specifiedinput port is OFF.

CExternal jump(Counter condition)

Causes a jump to the specifiedTask program if the value of thespecified counter is 0.

RegExternal jump(Register condition)

Causes a jump to the specifiedTask program if the result of acomparison operation betweenregisters is true.

BCDExternal jump(BCD entry)

Causes a jump to the specifiedTask program being externallyinput in the BCD code if thespecified input port is ON.

BINExternal jump(Binary entry)

Causes a jump to the specifiedTask program being externallyinput in the Binary code if the

specified input port is ON.

Calling program(Unconditional)

Calls the specified Task programat all times.

NCalling program(ON condition)

Calls the specified Task programif the specified input port ON.

FCalling program(OFF condition)

Calls the specified Task programif the specified input port OFF.

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CCalling program(Counter condition)

Calls the specified Task programif the value of the specifiedcounter is 0.

RegCalling program(Register condition)

Calls the specified Task programif the result of a comparisonoperation between registers istrue.

BCDCalling program(BCD entry)

Calls the Task program beingexternally input in the BCD code ifthe specified input port ON.

BINCalling program(Binary entry)

Calls the Task program beingexternally input in the Binary codeif the specified input port ON.

Setting countervalue

Sets the value of the counterused as a branch condition.

Decrementaloperation of countervalue

Decrements the value of thecounter used as branch conditionby one.

Ending program Ends the Task program run.

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IncrementAdds one to the value of thespecified register.

DecrementSubtracts one from the value ofthe specified register.

AddingAdds the value or register valueto the register.

! Subtracting Subtracts the value or registervalue to the specified register.

! MultiplyingMultiplies the specified registervalue by the value or registervalue.

" DividingDivides the specified registervalue by the value or registervalue.

Calculating areminder of division

Calculates a reminder of divisionof the specified register value bythe value or register value.

Loading to theregister

Assigns the value of anotherregister to the specified register.

Clearing the

registers

Clears the value of the specified

register.

Calculating thelogical product

Calculates the logical product ofregisters or a register and a value.

3 2

3 2

3 2

3 2

3 2

3 2

3 2

3 2

3 2

3 2

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Calculatingthe logical sum

Calculates the logical sum ofregisters or a register and a value.

Calculatingthe logical NOT

Calculates the logical NOT ofregisters or a register and a value.

Calculatingthe exclusive OR

Calculates the exclusive OR ofregisters or a register and a value.

Register

assignment

Assigns a register to any output

port.

Err Outputs ERROR.

Alarm Outputs ALARM.

Information Outputs INFORMATION.

CommentAdds any comment in a Taskprogram.

Character Symbol

Replaces a Task instruction withany character string.Necessary to define the userparameter.

3 2

3 2

3 2

3 2

3 2

3 2

3 2

3 2

3 2

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NStartingthe Skip section(Skips when ON)

Indicates the start of a skipsection.

J umps to the skip end "SKE" ifthe specified skip input signal isON.

FStartingthe Skip section(Skips when OFF)

Indicates the start of a skipsection.

J umps to the skip end "SKE" ifthe specified skip input signal isOFF.

Endingthe skip section

Indicates the end of a skipsection.

Starting IF blockIndicates the start of an IF block.Defines an IF statement.

Else if Defines an ELSE IF statement.

Else Defines an ELSE statement.

Ending IF block Indicates the end of an IF block.

3 2

3 2

3 2

4

3

4 3

4 3

4 3

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*2

Positioning(Synchromotion orSimultaneouscontrol)

Moves multiple mechanisms to ataught point simultaneously.

*2

Quick positioning(Synchromotion orSimultaneouscontrol)


*2

Linear interpolation(Synchromotion orSimultaneouscontrol)

Moves multiple mechanisms to ataught point simultaneously. Thetorch tip of the manipulator movesalong a straight line.

*2

High speedlinear interpolation(Synchromotion or

Simultaneouscontrol)

Moves multiple mechanisms to ataught point simultaneously. Thetorch tip of the manipulator moves

along a straight line. Possible toset a speed higher than the HL.

*2

Linear interpolationwith rotation ofattitude(Synchromotion orSimultaneouscontrol)


The torch rotates and its movesalong a straight line.

*2

Circularinterpolation(Synchromotion orSimultaneous

control)

Moves multiple mechanisms to ataught point simultaneously. Thetorch tip of the manipulator movesalong an arc.

*2

High speedcircular interpolation(Synchromotion orSimultaneouscontrol)

Moves multiple mechanisms to ataught point simultaneously. Thetorch tip of the manipulator movesalong an arc. Possible to set aspeed higher than the HC.

*2

Circularinterpolation withrotation of attitude(Synchromotion orSimultaneouscontrol)


The torch rotates and its movesalong an arc.

*2Simultaneousuniform interpolation


*2Uniforminterpolation

Moves the external axis withconstant velocity.

Select the external axis

2

2

Set the external axis as "MAIN MECHANISM".Move the cursor to "MAIN INSTRUCTION".

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*2StartingMulti-pass section

Indicates the start of a sectionwhere operations associated withmultipass welding are repeated.

*2StartingMulti-pass section

Indicates the start of a sectionwhere operations associated withmultipass welding are repeated.Possible to set a speed higherthan the MPS.

*2EndingMulti-pass section

Indicates the end of a sectionwhere operations associated withmultipass welding are repeated.

*2StartingMulti-pass welding

Starts welding for each pass withthe set welding conditions.

*2EndingMulti-pass welding

Ends welding for each pass withthe set crater conditions.

*2

Specifying

executing pass oftask instruction

Executes the Task instruction at

the specified pass duringmultipass welding.

*2StartingStitch pulse welding

Starts stitch pulse welding withthe set welding conditions andpitch.

*2EndingStitch pulse welding

Ends stitch pulse welding with theafterflow for the set time.

*2Calculatingrotated position

Updates the positional datawithout rotating the positioner.

*2 Shifting in relationMoves the slider from the by aspecified distance.

*2 Setting the origin Sets the origin of the slider.

4

4

4

4

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*2Starting

Twin synchromotionsection

Indicates the start of a twinsynchromotion section.

*2Ending

Twin synchromotionsection

Indicates the end of a twinsynchromotion section.

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Chapter 2Instructions for Robot Motions

This chapter describes the instructions relating to motions of the robot.

Contents

Positioning (P) - Defining the Position and Attitude -............................................................................................ 2-1

Quick Positioning (Q) - Defining the Position and Attitude for Quick Motion -........................................................2-4

Overview of Quick Positioning Motion................................................................................................................2-4

Short Cut Types..................................................................................................................................................2-7

Setting by Level...............................................................................................................................................2-7

Setting by Rate................................................................................................................................................2-9

Setting by Length..........................................................................................................................................2-10

Linear Interpolation (L) - Moving the Robot in a Straight Line -..........................................................................2-12

Linear Interpolation Associated with Attitude Rotation (LO) - Rotating the Attitude -.........................................2-15

High Speed Linear Interpolation (L') - Moving the Robot in a Straight Line Quickly -........................................2-16

Circular Interpolation (C1/C2) - Moving the Robot along an Arc -......................................................................2-17

Circular Interpolation Associated with Attitude Rotation (CO1/CO2) - Rotating the Attitude -...........................2-19

High Speed Circular Interpolation (C1'/C2') - Moving the Robot along an Arc Quickly -...................................2-20

Timer Wait (T) - Stopping the Robot for a Period of a Set Time -......................................................................2-21

No Operation (NOP) - Enabling the Robot to Do Nothing - ...............................................................................2-21

Program End (END) - Ending the Program -.....................................................................................................2-22

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Instructions for Robot Motions 2-1

Positioning (P) - Defining the Position and Attitude -This instruction allows the operator to store positions and attitudes of the robot. The robot moves to the taught

position/attitude from the immediately preceding stored position/attitude. Because the robot moves in the

easiest way that it moves, the locus of the torch tip does not become a straight line.

The following conditions need to be set:

Speed

A speed is specified at a speed rate (which is a rate to the maximum speed; 100 is the maximum.)

Each axis of the robot starts and stops synchronously with the axis whose motion is the largest.

Overlap ON/OFF

Overlap is a process to move the robot from a taught point to a taught point without reducing the speed.Overlap ON can shorten the tact time.

Fig. 2. 1 Overlap ON/OFF

CAUTIONIMPORTANTTake care to avoid an interference with the peripheral jigs when the overlap is set to ON.The tact time can be reduced by setting Overlap ON. However, because there is a differencebetween the path in automatic operation and the path taught, take care to avoid interference withperipheral jigs.Also, because the overlap process is not performed in block operation, the robot may interfere witha jig in automatic operation even if this does not happen in block operation.Set Overlap OFF if interference with the jig is possible.

Overlap process may not be effective depending on the setting speed and distance

Even if Overlap OFF is set, this setting may not be effective, depending on the between the movingdistance and speed.

The Relation between the Overlap Effective Travel Distance and Travel Speed

Overlap process

not in effect100

75

50

25

200 400 600 8000

Overlap process

in effect

Speed rate [%]

Travel distance per sequence [mm]

Fig. 2. 2

P

Overlap OFF (The taught path)

Overlap ON

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2-2 Instructions for Robot Motions

Overlap process is not in effective depending on the taught data.

Even if Overlap is set ON, the overlap process is not in effective in the following conditions:

- When neither one of two consecutive sequences has Positioning instruction (P, HP, or PM)

Example

001 P

002 P003 P004 L005 P: :

- When Input Wait instructions (N, F, INW, or OTW), Timer Time Wait instruction (T), or NoOperation instruction (NOP) is taught between two sequences

Example

001 P002 P003 P

N 001004 P

OperationTeaching the Positioning Instruction (P) Move the robot, by manual manipulation, to the

position and attitude you want to teach.

Press key.

The following conditions will be displayed at

the function display area on the teach pendant.

F1 ... Speed: 75%, Overlap:ON

F2 ... Speed:100%, Overlap:ON

F3 ... Speed: 50%, Overlap:OFF

F4 ... Speed: 75%, Overlap:OFF

F5 ... Speed:100%, Overlap:OFF

You can set the conditions by selecting the function

key instead of the following procedure.

P

P

P

P

L

Overlap is in effect.

Overlap is not in effect.

Overlap is not in

P

P

P, N001

P



001

002

003

004

005

001

002

003

004

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If you want change the speed, enter the speed

by using numeric keys.

Set overlap ON/OFF, if necessary.

The default setting is ON. To change to OFF,

(1) Press key.

(2) Press F2 key (OFF).

Press key.

Now, the Positioning instruction "P" has been

stored.

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Quick Positioning (Q) - Defining the Position and Attitude for Quick Motion

-

Unlike the Positioning instruction (P), the Quick Positioning instruction (Q) is used to move the robot without

accelerating and decelerating to reduce the execution time of the positioning.

CAUTION

Not available on DR CONTROL

The Quick Positioning instruction (Q) is not available on DR CONTROL.

Overview of Quick Positioning MotionIt is necessary to specify an amount of shortcut for the motion by the Q instruction (referred to as Q motion in

the following) in place of overlap ON/OFF for the motion by the P instruction (referred to as P motion in the

following).When an mount of shortcut is specified, the robot will move to a shortcut point before the taught point in a

continuous quick positioning motion. (If the shortcut setting is 0, the robot will move to the taught point

without taking a shortcut path.)

Fig. 2. 3 Paths with the Overlap (P motion) / Shortcut (Q motion) Settings

The user can select "level", "rate", or "length" to set an amount of shortcut. (See the table below.)

Table 2. 1 The Ranges and Units of Shortcut Options

Shortcut Option Level Rate [%] Length [cm]

Range 0 - 10 0 - 50 0 - 99

when lap off (P motion), orwhen a mount of shortcut is 0 (Q motion)

when lap off (P motion)

when a mount of shortcut is small (Q motion)

Taught point 3

Taught point 2A half of pathTaught point 1

when a mount of shortcut is large (Q motion)

nQ (level=n)

Q (level=0) Q (level=0)

Path A Path B

k %Q (rate=k%)

Q (rate=0%) Q (rate=0%)

Path BPath A

Q (length=Lcm)

k cm

Path A Path B

Q (length=0cm) Q (length=0cm)

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Fig. 2. 4 Level Fig. 2. 5 Rate Fig. 2. 6 Length

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The table below shows the features of each shortcut option. Select the option suitable for your application.

Table 2. 2 Features of Shortcut Options

OptionFeature

Level Rate Length

Shortcut is independent of the programmed coordinate system.

The shortcut path to the setting changes at a ratio of 1:1.

If the distance to an interfering object is known, the value canbe directly entered.

Even if the teach speed is changed, the almost same path isobtainable.

: Applicable : Not applicable

CAUTIONIMPORTANTA short cut may cause interference with a jig.

Though tact time can be shortened by specifying an amount of shortcut, this setting will cause adifference between the programmed path and the path in automatic operation. Great care isneeded to avoid interference with the peripheral jig. In addition, remember that the robot does nottake a shortcut path (but it moves to the taught point) in block operation. The robot may interferewith the jig during automatic operation even if it does not during block operation.

Changing the speed may cause the path to vary slightly.If the Q motion speed is changed, the shortcut path may slightly change.

Teaching order to enable taking a short cut:

The shortcut is available only in the sequence of Q and Q, or HQ and HQ. For example, this featureis not available in the sequence of Q and P, Q and HQ, or Q and L.

(HQ is used to position multiple mechanisms at the same time, and is available only for thesynchromotion or simultaneously controlled system.)

Taking a short cut is not possible at the same point or in a short distance.

The shortcut is not available if Q instructions are recorded at the same point location or at a too shortdistance (of approximately 20 cm as a guide.)

The maximum amount of shortcut

The maximum amount of shortcut is half the path.

A selection of short cut options depends on the mechanism configuration.

Remember that the shortcut may not be available, depending on the mechanism type.

Table 2. 3 Shortcut Options Available for Mechanisms

Mechanism Level Rate Length

Tool-side manipulator

Work-side manipulator

Simultaneously controlledmechanism

Tool-side slider

Work-side slider/positioner

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Short Cut Types

Setting by Level

In the "level" representation, the amount of motion between two taught points (a start point and a target

point) is divided into portions and each portion is expressed as an integer. An amount of shortcut is set by

entering this integer value.

The robot has the shortcut levels shown as below. Level 0 indicates a target point, and the robot takes a

shortcut from n before the target point.

Fig. 2. 7 Paths by Level

IMPORTANT

A guide to setting a level:

Though the number of levels depends on the distance and speed to be programmed, as a guide,

three to five levels are for large positioning motion, and one to two levels are for small positioningmotion to points close to the work point. (The above example is based on five levels.)

Changing the level causes the path to vary.The shortcut to the level changes at a ratio of 1:1. (As the level is changed, the shortcut path willchange.) However, because the maximum shortcut is half the path, in the case of the aboveexample, the levels 2 and 3 give the same result.

The recommended level is 0 or 1.In consideration of interference with the peripheral jig, normally, select level 0 or 1. Setting level 0causes the robot to move higher than P motion.

Q 100%, level=n

Path A Path B

Q 100%, level=0 Q 100%, level=0

n=1 n=1

n=2

n=3

n=4

n=2

n=3

n=4

n=0

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If path B is one-third of path A in Fig. 2. 7, the robot will take the path shown in Fig. 2. 8 because the

maximum shortcut is half the path. On the other hand, if path A is one-third of path B, the robot will take the

path shown in Fig. 2. 9. This also applies to rate and distance.

Fig. 2. 8 When Path B is 1/3 of Path A

Fig. 2. 9 When Path A is 1/3 of Path B

When the "level" option is selected for shortcut, and levels of 1, 2, 3, and so on are set at taught points,

respectively, the robot will take the following path:

(*1) The robot takes a shortcut on sequence 001.

(*2) The robot takes a shortcut even if the programmed coordinate

system are different between the two sequences.

Fig. 2. 10 Path with Level Settings

002 Q 100%, level=2, Base



Path A

Path Bn=1

n=2




Path A

Path B

n=1 n=1

001 Q level=1, Base

003 Q level=3, Base

002 Q level=2, Base

004 Q level=4, work

005 Q level=5, Base

006 Q level=6, Base

007 Q level=7, Base

Start point

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Setting by Rate

In the "rate" representation, the amount of motion between two taught points (a start point and a target point)

is taken as 100% and the amount of shortcut is defined as a percentage. The robot takes a shortcut from

the point of k % before the target point.

Note that the rates that the robot has are processed in quantitative units (rounded down) and are converted

into shortcut levels described in "Setting by Level". (The robot may not take a shortcut with the 10%setting, or may take the same shortcut path with the 20% and 30% settings.)

Fig. 2. 11 shows the path by rate using an example of five shortcut levels.

Fig. 2. 11 Rate and Path

When the "rate" option is selected for shortcut, and rates of 10%, 20%, and so on are set at taught points,

respectively, the robot will take the following path:

(*1) The robot takes a shortcut on sequence 001.

(*2) The robot takes a shortcut even if the programmed coordinate

Fig. 2. 12 Path with Rate Settings

Q 100%, rate=k%

Path A Path B

Q 100%, level=0% Q 100%, rate=0%

k=1 - 19 %

k=20 - 39 %

k=40 - 50 %

k=20 - 39 %

k=40 - 50 %

001 Q rate=10%, Base

Start point



004 Q rate=40%, Work


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Setting by Length

In the "length" representation, the amount of shortcut is defined in centimeters with respect to a line between

two taught points (a start point and a target point). If a distance of L cm is specified, the robot takes a

shortcut from the point of L cm before the target point.

Note that the length settings that the robot has are processed in quantitative units (rounded down) and are

converted into shortcut levels described in "Setting by Level". (The robot may not take a shortcut with the10 cm setting, or may take the same shortcut path with the 20 cm and 30 cm settings.

Fig. 2. 13 shows the path by length using an example of five shortcut levels.

Fig. 2. 13 Length and Path

(*1) The robot cannot take a shortcut on sequence 001.

(*2) The robot cannot take a shortcut if the programmed coordinate

Fig. 2. 14 Path with Length Settings

Q 100%, length=Lcm

Path A Path B

L=0 - 19 cm

L=20 - 39 cm

L=40 - 50 cm

L=20 - 39 cm

L=40 - 50 cm

Q 100%, length=0cm Q 100%, length=0cm

Start point

001 Q length=10cm, Base





004 Q length=40cm, Work


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OperationTeaching the Quick Positioning Instruction (Q)

Move the robot, by manual manipulation, to the


! Press key.

" Press key.

#Set the speed with the numeric keys or the functionkeys.

$ To set the shortcut type, press key.

F1 ... Selects the rate option to set an amount

of shortcut.

F2 ... Selects the level option to set an amount

of shortcut.

F3 ... Select the length option to set an amount

of shortcut.

% Select the shortcut option and enter the shortcut

value.

& Press key.

This completes the storing of the quick positioning

instruction "Q".

'

(

(

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Linear Interpolation (L) - Moving the Robot in a Straight Line -The Linear interpolation instruction (L) allow the operator to lineally move the tool tip of the robot to the taught

position/attitude from the immediately preceding stored position and attitude.


Speed

A speed to a moving distance of the tool tip (cm/min) is set.

The entry range of speed is 1 - 999 cm/min. Note that, if a value over 900 cm/min is set, moving speeds in

block operation and automatic operation are limited to 900 cm/min.

If the Work-side manipulator (Handling robot) is connected, the speed of the Work-side manipulator are

limited to 600 cm/min.

Overlap ON/OFF

Setting the overlap ON/OFF are available.Normally, to perform welding, set Overlap ON. Overlap ON setting causes the robot to stop momentarily at

the joint of sequences during automatic operation.

IMPORTANT

The set speed may not be achieved.The set speed may not be achieved depending on the manipulator type.Furthermore, the robot will not move at the set speed in the following cases:- When a change in orientation is too great with respect to the travel distance.- When the travel distance is too short with respect to the set speed.

An effect of a difference of overlap ON/OFF to the path:The difference between overlap "ON" and "OFF" appears at a joint but has no affect on any otherpart of the path.

Depending on the speed-distance relationship, the overlap ON setting may be effective.

Even if Overlap "ON" is set, the setting may not be effective, depending on the relation between the

moving distance and speed.

Overlap is not

in effect.

Robot stopsmomentarilyat the joint.

Robot does not stop buttakes a small short cut,which causes the pathround at the oint.

0 5 10 15 20

50

100

150

200

Speed [cm/min]

Travel distance per sequence[cm/min]

Overlap is

in effect.

Fig. 2. 15 The Relation between the Overlap Effective Travel Distance and Travel Speed

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Depending on program data, the overlap ON setting may not be effective.Even if Overlap is set ON, the overlap process is not in effect in the following conditions:

- When two consecutive sequences are taught with different coordinate systems.

- When Input Wait instructions (N, or F), Timer Time Wait instruction (T), or No Operation instruction

(NOP) is taught between two sequences.

- When two consecutive sequences are synchromotion interpolation instructions (HL, HC) andsingle

interpolation instructions (L, C) respectively.

Example

:003 HP004 L005 HL006 HL

:

- When the main mechanism is difference between two consecutive sequences.

Example

:002 HL (The main mechanism is set mechanism 1)003 HL (The main mechanism is set mechanism 1)004 HL (The main mechanism is set mechanism 1)005 HL (The main mechanism is set mechanism 2)





003

HP

004

005

006

L

HL

HL

002

HL

003 HL

004 HL

005 HL

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OperationTeaching the Linear Interpolation Instruction (L)



Press key.



F1 ... Speed: 60cm/min, Overlap:ON.

F2 ... Speed:100cm/min, Overlap:ON


F4 ... Speed:300cm/min Overlap:ON

F5 ... Speed:100cm/min, Overlap:OFF

You can set the conditions by selecting the function

key instead of the following procedure.

If you want change the speed, enter the speed

by using numeric keys.

Set overlap ON/OFF, if necessary.

The default setting is ON. To change to OFF,

(1) Press key.

(2) Press F2 key (OFF).

Press key.

Now, the Linear interpolation instruction "L" has

been stored.

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Linear Interpolation Associated with Attitude Rotation (LO)- Rotating the Attitude -

This instruction causes the attitude of the robot to rotate with linear motion of the tool tip.


Speed

A speed rate to a moving angle of the tool tip (deg/sec) is set. The entry range of speed is 1 - 99.9 deg/sec.

Note that, if a speed over 45.0 deg/sec is set, moving speeds in block operation and automatic operation are

limited to 45 deg/sec.

Overlap ON/OFF

Setting the overlap ON/OFF are available.

For setting Overlap ON/OFF, refer to the section "Linear Interpolation (L)".

OperationTeaching the Linear Interpolation Associated with Attitude Rotation Instruction (LO)



Press key.

Press key.

F1 ... Speed: 5.0 deg/min, Overlap:ON.

F2 ... Speed:10.0 deg/min, Overlap:ON


F4 ... Speed:20.0 deg/min Overlap:ON

F5 ... Speed:10.0 deg/min, Overlap:OFF

Set the speed and Overlap ON/OFF as set for

Linear interpolation instruction (L).

Press key.

Now, the Linear interpolation associated with attitude

rotation instruction "LO" has been stored.

!

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High Speed Linear Interpolation (L')- Moving the Robot in a Straight Line Quickly -

This instruction is similar to L, except that it provides faster travel.


Speed

A speed to a moving distance of the tool tip (cm/min) is set.

Though you can set the speed in the range 1 to 9999 cm/min, the actual maximum speed is limited to 9000

cm/min. Even if a speed value greater than 9000 cm/min is entered, in automatic operation the speed is

limited to 9000 cm/min. The maximum speed in block operation is 1000 cm/min.

Overlap ON/OFF

Setting the overlap ON/OFF are available. For setting Overlap ON/OFF, refer to "Linear Interpolation (L)".

IMPORTANT

For quick motion, a minimal change in the attitude is desirable.When you use the High speed Linear Interpolation instruction (L') to move the robot quickly, try tochange the attitude as little as possible. A large change in the attitude can cause rough movementof the robot.

Note on setting conditions including a speed and overlap ON/OFF:

There are restrictions affecting the condition settings including a speed and overlap ON/OFF. For

details, see the section "Linear Interpolation (L)".

OperationTeaching the High Speed Linear Interpolation Instruction (L') Move the robot, by manual manipulation, to the


Press key.

Press key twice.

F1 ... Speed: 600cm/min, Overlap:ON.F2 ... Speed: 1000cm/min, Overlap:ON

F3 ... Speed: 2000cm/min, Overlap:ON

F4 ... Speed: 3000cm/min Overlap:ON

F5 ... Speed: 1000cm/min, Overlap:OFF

Enter the speed and Overlap ON/OFF as set for


Press key.

Now, the High Speed Linear interpolation instruction

"L' " has been stored.

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Circular Interpolation (C1/C2) - Moving the Robot along an Arc -These instructions allow the operator to circularly move the tool tip of the robot to the taught position/attitude

from the immediately preceding stored position and attitude.

As shown below, a circular arc is determined by teaching three points (a start point/a middle point/an end point).

Be sure to teach three points.

- Start point : any one of P or L before C1

- Middle point : C1

- End point : C2

Fig. 2. 16 The Parts of Circular Interpolations

For setting moving speeds and Overlap ON/OFF, refer to the section "Linear Interpolation (L)".

IMPORTANT

Teach all three points in the same coordinate system.Teach all of a start, middle and end points to make a circular arc, with the same type of coordinate

system.

The minimum diameter of an arc along which the robot can move:The diameter of the minimum circular arc varies according to the manipulator type and the speedsetting.

P, or L (start point)

C1 (middle point)

C2 (end point)

P, or L (start point)

C1 (middle point)

C2 (end point)

C2 (end point)

C2 (end point)

100

50

0 1 2 3

Speed

Usable area

Circulardiameter

[m/min]

[mm]

100

50

0 1 2 3

Speed

Usable area

[m/min]

[mm]

(a) When Using G Type Manipulator (b) When Using V Type Manipulator

Fig. 2. 17 The diameter of the minimum circular arc

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OperationTeaching the Circular Interpolation Instructions (C1/C2)



Press key.







F5 ... Swithces between C1 and C2



Press key.

Now, the Circular interpolation instruction "C1"

or "C2" has been stored.

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Circular Interpolation Associated with Attitude Rotation (CO1/CO2)- Rotating the Attitude -

These instructions cause the attitude of the robot to rotate with circular motion of the tool tip.

As described in the previous section, a circular arc is determined by teaching three points (a start point/a middle

point/an end point). Be sure to teach three points.

The setting conditions are the same as "LO". Refer to the section "Linear Interpolation Associated with

Attitude Rotation (LO)".

OperationTeaching the Circular Interpolation Associated with Attitude Rotation Instructions (CO1/CO2)



Press key.

Press key.

F1 ... Speed: 5.0 deg/min, Overlap:ON.



F4 ... Speed:20.0 deg/min Overlap:ONF5 ... Switches between CO1 and CO2



Press key.

Now, the Circular interpolation associated with attitude

rotation instruction "CO1" or "CO2" has been stored.

!"

!

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High Speed Circular Interpolation (C1'/C2')- Moving the Robot along an Arc Quickly -

The C1' and C2' are high speed circular interpolation instructions in addition to C1 and C2, respectively.

The setting conditions are the same as "L' ". Refer to the section "High Speed Linear Interpolation (L' )".

OperationTeaching the High Speed Circular Interpolation Instructions (C1'/C2')



Press key.

Press key twice.




F4 ... Speed: 3000cm/min Overlap:ON

F5 ... Speed: 1000cm/min, Overlap:OFF

Set the speed and Overlap ON/OFF.

Press key.

Now, the High speed Circular interpolation instruction

"C1' " or "C2' " has been stored.

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Timer Wait (T) - Stopping the Robot for a Period of a Set Time

-This instruction allows the operator to stop execution of the Task program for a specified time. Note that

weaving and welding are carried on without being stopped.

OperationTeaching the Timer Wait Instruction (T)

Press key.

Enter the time with numeric keys.

Press key.

Now, the Timer Wait instruction "T" has

been stored.

No Operation (NOP) - Enabling the Robot to Do Nothing -This instruction allows the operator to specify no operation, and is used to synchronize between Motion

instructions and Task instructions.

Like the case of Timer Wait instruction, weaving and welding are carried on without being stopped.

Use this instruction when you want to teach more than 9 instructions continuously or do not want to

simultaneously execute a series of external control inputs/outputs.

OperationTeaching the No Operation Instruction (NOP)

Press key.

Press F2 key (NOP).

Press key.

Now, the No Operation instruction "NOP" has

been stored.

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Program End (END) - Ending the Program -The END instruction is used to terminate execution of a Task program. This instruction causes the J ob

complete process to be executed.

OperationTeaching the Program End Instruction (END)

Press key.

Press key.

Now, the END instruction has been stored.

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Chapter 3Branch Instructions

This chapter describes the branch instructions.

Contents

Internal J ump - J umping to Any Position in the Program -...................................................................................3-1

Internal J ump (JP)...............................................................................................................................................3-1

Point Mark (PM)..................................................................................................................................................3-2

Defining and Decrementing the Counter Value.................................................................................................. 3-2

Define Counter Value (DEF)...........................................................................................................................3-2

Decrement Counter Value (DEC)...................................................................................................................3-3

Internal J ump Examples.....................................................................................................................................3-3

Specifying the State of an External Input Signal as a Condition.....................................................................3-3

Specifying a Counter as a Condition...............................................................................................................3-3

Call Program (CL) - Calling Another Program - ...................................................................................................3-7

Call Operation.....................................................................................................................................................3-7

Specifying a Task Program to Be Called............................................................................................................3-8

Specifying Directly...........................................................................................................................................3-8

Specifying by means of an External Input.......................................................................................................3-8

Specifying by means of an General-Purpose Register.................................................................................. 3-8

J ump to Program (J F) - J umping to Another Program - ....................................................................................3-12

J ump Operation................................................................................................................................................3-12Specifying a J ump Destination Task Program..................................................................................................3-13

Specifying Directly.........................................................................................................................................3-13

Specifying by means of an External Input.....................................................................................................3-13

Specifying by means of an General-Purpose Register................................................................................3-13

Skip (SKS/SKE) - Stopping the Execution to J ump to a Specified Position - ....................................................3-17

Structured Description (IF/EIF/ELS/FI) - Branching in the IF-THEN-ELSE Form - ...........................................3-20

What Are the Structured Description Instructions?...........................................................................................3-20

Explanation of the Structured Description Instructions .....................................................................................3-21

Task Program Examples Using the Structured Description Instructions..........................................................3-23

Description Example 1..................................................................................................................................3-23

Description Example 2..................................................................................................................................3-23

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Branch Instructions 3-1

Internal J ump - J umping to Any Position in the Program -Though instructions are sequentially executed in block or automatic operation, the internal program jump

functions allows the operator to shift execution (jump) to a desired sequence.

J ump conditions include the external control input state, counter, etc.

The following instructions are used to execute an internal program jump:

- Internal J ump J P (JumP)

- Point Mark (jump destination) PM (Point Mark)

- Counter conditions for jump DEC (DECrement) and DEF(Define)

For example, the following program enables you to repeat automatic operation between sequences 002 to 005:

ExampleRepeating automatic operation using the Internal J ump instruction

001 PM1 Point Mark No.1 (J ump destination)

002 P

003 P

AS

004L

AE

005 P

006 J P PM1 Causes the robot to Jump to point Mark No.1

007 END

Internal J ump (J P)The J P instruction causes execution to jump to a specified point mark (PM) in the Task program.

When the J P is executed, it causes the robot to move to the point mark (refer to next section) position you

taught. The robot moves to a point mark (PM) in positioning P motion. The speed is defined on the user

parameter ([SYSTEM] "SPEED TO PM"). However, in block operation, the robot moves at a block

operating speed.

The following jump conditions are available:

Unconditional jump

Always causes a jump to the specified point mark (PM).

Conditional jump on the state of an external control input

Checks the state of the specified external control input and causes a jump to the specified point mark

(PM) if the condition is met.

Conditional jump on an internal counter

Causes a jump to the specified point mark (PM) when the specified counter reads 0.

Conditional jump on a comparison operation between general-purpose registersCauses a jump to the specified point mark (PM) if the result of a comparison operation between

general-purpose registers is true.

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3-2 Branch Instructions

Point Mark (PM)The point mark indicates the internal jump destination.

Teaching up to 99 point marks (1 99) in one Task program is possible.

IMPORTANT

The Point Mark has positional data.

Like the Positioning instruction (P), the Point Mark instruction has position/attitude data. Therefore,the robot moves the position where the Point Mark was taught, at the time of execution of the Internal

J ump instruction (J P). Note that the robot does not move to that point unless the JP instruction isexecuted.

Example

001 P002 PM1003 L004 L005 J P PM1

:

In the system having multiple mechanism, the positional data of all mechanisms are recorded.In the system having more than one mechanism, the Point Mark gives an effect similar to the HPinstruction that enables storing of the positions of all the mechanisms. Therefore, if your system hasmore than one mechanism, give attention also to the position(s) of the other mechanism(s) such as aslider and/or a positioner when teaching the Point Mark.

If a point mark with the same number is taught:If a point mark with the same number is taught within a Task program, only the point mark taught at

the lower sequence number is valid.

Defining and Decrementing the Counter ValueThe Define Counter instruction is used to set a counter for a condition of a jump, and the Decrement Counter

instruction is used to decrement its value.

For example, the use of these instructions allows you to specify the number of times that you want to repeat

automatic operation, and terminate the execution when the automatic operation has been carried out the

specified number of times.

The Define Counter and Decrement Counter instructions can be used as branch conditions of not only aninternal jump but also a program call and an external jump.

Define Counter Value (DEF)The Define Counter instruction (DEF) is used to set a counter value used as a condition for the Internal

J ump, Program Call , or External Program J ump instruction to cause a branch. You need to set a counter

number (1 - 9) and its value (1 -999) as conditions.

Up to 9 counter numbers can be used in one program for automatic operation. One program for automatic

operation means a program which is executed throughout the sequences until the job is complete.

Therefore, this includes other programs if they are activated by the External J ump or Call instructions.

The robot moves to the Point Mark position onlywhen the Internal Jump instruction is executed.

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Decrement Counter Value (DEC)

The Decrement Counter instruction (DEC) is used to decrement the value of a specified counter by 1.

When the counter value is 0, the execution is ignored. (The value remains as 0.) You need to set a

counter number (1 - 9) as a condition.

The counter number changes in the following conditions:

- When the robot controller is turned on 0

- When the counter value is 0 and DEF is executed the value specified by DEF

- When the counter value is larger than 0 and DEC is executed the value deducted by 1 by DEC.

Internal J ump Examples

Specifying the State of an External Input Signal as a Condition

To make a program, "Check the state of input port 7 before the program is terminated Repeat theoperation if there is an input. Terminate the program if no input.", teach:

001 PM1 Specify point mark (PM) number 1.

002 P

003 L

004 P

005 J P N007, PM1 J ump to PM1 (sequence 001) if there is an input at input port 007.

006 END

Specifying a Counter as a ConditionTo repeat the operation 5 times and terminate the Task program, teach:

001 P

DEF #2, 005 Set counter 2 at 5.

002 PM1

003 L

004 P

DEC #2 Decrement 1 to the value of counter 2 by 1.

005 JP #2, PM2 J ump to PM2 (sequence 007) if counter 2 is 0, and terminate

automatic operation.

006 J P PM1 J ump to PM1 (sequence 001) if counter 2 is not 0.

(Repeat sequences 001 - 005 5 times.)

007 PM2

008 END

When automatic operation is performed, the operation from sequence 002 through 005 is repeated 5 times.

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Operation1Teaching the Internal Program J ump Instruction (J P)

Press key.

Press F2 key (J P).

F1 ... J umps when a specified input port is ON.

F2 ... J umps when a specified input port is OFF.

F3 ... J umps when the counter value is 0.

F4 ... J umps to a point mark unconditionally

F5 ... J ump when a comparison operation

between general-purpose registers is true.

NOTE

For information about general-purpose registers and the steps following the selection of F5 key, seeChapter 7 "General-Purpose Registers".

J ump according to the external control input state

(1) Press F1 key (JP ON) or F2 key (J P OFF).

(2) Enter a port number as the jump condition with

numeric keys.

(3) After pressing key, enter the point park number

for the destination with numeric keys.

(4) Press key.

Now, the Internal Program J ump instruction "J P"

has been stored.

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J ump according to the counter

(1) Press F3 key (J P CNT).

(2) Enter a counter number as the jump condition with

numeric keys.

(3) After pressing key, enter the point park number

for the destination with numeric keys.

(4) Press key.

Now, the Internal Program J ump instruction "J P" hasbeen stored.

Unconditional jump

(1) Press F4 key (UNCOND).

(2) Enter the point park number for the destination

with numeric keys.

(3) Press key.

Now, the Internal Program J ump instruction "J P"

has been stored.

Operation2Teaching the Point Mark Instruction (PM)

Press key.

Press F4 key (PM).

Enter the point mark number with numeric keys.

Press key.

Now, the Point Mark instruction "PM" has been stored.

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Operation3Teaching the Counter Define (DEF) and Decrement (DEC) Instructions

Press key.

Press F5 key (COUNTER).

Teaching DEFine a counter value

(1) Press F1 key (DEF).

(2) Enter a counter number with numeric keys.

(3) After pressing key, enter the counter value.

(4) Press key.

Now, the DEFine counter value instruction "DEF"

has been stored.

Teaching DECrement a counter value

(1) Press F2 key (DEC).

(2) Enter a counter number with numeric keys.

(3) Press key.

Now, the DECrement instruction "DEC" has

been stored.

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Call Program (CL) - Calling Another Program -The Call program instruction is used to execute another Task program from within the Task program being

currently executed and return control to the original program after the called program is executed. This allows the

operator to sequentially run multiple Task programs.

Call OperationThe following examples are given to explain the Call Program instruction.

P001

P002

Fig. 3. 1 The Taught Data and Paths of Task Programs P001 and P002

If P002 is called after executing sequence 5 in P001, the path is shown as below:

Executed

Fig. 3. 2 Path Made by Calling P002 from within P001

IMPORTANT

Call is limited to a maximum of 4 layers

It is possible to use CL in a called Task program, but such call is limited to a maximum of 4 layers.If you try to call over that, an error will occur.

PP, END

P

L L

L

P

P

L

L P

P

P, END

P001 P002

P001

P

P

L L

L

P

PL

LP

PP

P, END

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Specifying a Task Program to Be CalledThere are three ways of specifying a Task program number to be called:

- Specifying directly at the time of teaching

- Specifying by means of an external input

- Specifying by means of a general-purpose register

Specifying Directly

In this method, a Task program is specified during a teaching operation. When CL is executed, execution

is shifted to the stored Task program.

The following call conditions are available:

Unconditional call

Always calls the specified Task program.

Conditional call on the state of an external control inputChecks the state of the specified external control input and calls the specified Task program if the

condition is met.

Conditional call on an internal counter

Calls the specified Task program when the specified counter reads 0.

Conditional call on a comparison operation between general-purpose registers

Calls the specified Task program if the result of a comparison operation between general-purpose

registers is true.

Specifying by means of an External Input

In this method, a Task program number is specified by external signals to specialized logical input ports,

instead of be

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DR Teaching (1L5000D E 4)