Multi-Axis Controller (MAC) User`s Manual (Ver 2.3)

Transcription

Multi-Axis Controller (FARACON-MAC Series)
Multi-Axis Controller (MAC)
User’s Manual (Ver 2.3)
Production Engineering Center
Samsung Electronics Co., Ltd.
Multi-Axis Controller (FARACON-MAC Series)
Multi-Axis Controller
User’s Manual
Version 2.3
CONTENTS
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 9
Chapter 10
Chapter 11
Chapter 12
Chapter 13
Product Description
Installation and Wiring (Servo, I/O, Limit)
Connector Pin Specification and External Control
Working with Menu
Zero Return and Step/Auto Run
System Parameter and Axis Parameter Setting
Location Data Setting
Pallet and Spline Operation
User Commands
Program Languages and Examples
PC Communication
Error Messages
Communication Protocol
CHAPTER 1
PRODUCT DESCRIPTION
1-1. Features of the FARA-MAC Controller
1-2. Controller Specification
1-3. Preparations for Controller Operation
1-4. Product Appearance
1-5. Basic Items
1-6. Optional Items
1-7. Controller Assembly Diagram
Chapter 1
1-1. Features of the Product
FARA-MAC is a full digital 2/3/4-axis controller that allows high-speed high-precision control using the 32-bit
high-speed DSP chip. In addition, the controller I/O can be applied to a variety of areas such as gripper control,
cylinder control, sensor sensing and communication with external devices.
Features of FARA-MAC controller are outlined below:
- Implements high-speed, high-precision control algorithm using the 32-bit high-speed DSP chip.
- It is possible to process I/O in parallel, independently of the controller motion, which makes programming
easy and allows free I/O control even during motion.
- Provides 16 system input points and 8 system output points for external control, and 16 user input points and
24 output points.
- MAC-02 (OPTION), the programming device of FARA-MAC, is configured as an interactive system for the
user’s convenience.
- Allows easy programming with 70 program commands.
- Provides user commands for motion setting, external I/O signal manipulation and parameter setting, so that
users can operate the system easily without running the program.
- Designed to generate pulse and analog voltage so as to cope with any type of motor.
- Provides GUI software for PC communication with which the user can store or prepare programs, location
data and parameters, run the program, and perform zero return and I/O test with ease.
- Provides such program languages as “READ” and “WRITE” that allow exchanging the location data with the
PC using RS232C serial communication while running the program.
1-1
Chapter 1
1-2. Controller Specification
Items
CPU
Operation Method
Number of Control Axes
Location Detection Method
Location Feedback
Speed Profile
Analog Output
Pulse Output
Other
Functions
Edit &
Teaching
System
Us
er
I/O Function
Performance
Precision of Stop/Repeat
Speed Setting and
Acceleration/Deceleration
Setting
Max. Location Setting
Gain Tuning
Input (16 Points)
Output (8 Points)
Input
Output
Program
Location
Teaching Method
Languages Available
Memory Backup
External Communication
Brake ON/OFF
Emergency Stop
Limit Sensor Input
Protection Function
PC Communication
Mounting Method
Case Size (mm)
Weight
Specification
TMS320C31 DSP Chip
PTP, Arch Interpolation, Linear Interpolation, Spline Interpolation, I/O
Parallel Processing
2 ~ 4 Axes
Incremental Encoder
Max. 2.5 MHz, Digital Noise Filter
S_Curve, Asymmetric S_Curve Acceleration/Deceleration
± 10v, @12-bit Resolution
Max. Frequency (3.75 MHz), 50% Duty Cycle, Frequency Resolution
(60 ns)
± 1 Pulse
1 ~ 100%, 0 ~ 200 (0~2sec)
-21470000~+21470000 Pulse
On-line Manual Adjustment according to Load
16 Points [External Emergency Stop, Zero Return, Run, Pause, Error
Reset, External Control, Servo ON/OFF, User Interrupts (3), Program
Selection (5)]
8 Points [Error, External Control, Servo ON, System Ready, Program
Running, In Pause, In Emergency Stop, Zero Return Completed]
16 Points
24 Points
32 Programs, 0 ~ 255 Lines/Program
1000 Locations, 100 Shift Locations
MDI (Coordinate Value Input), Manual Input, Jog Input
70 Languages (MVE, CALL, JMP, DLY, PWR, SIGO, SET, ADD, SFT,
SUB, RET, IF, SPD, ACC, SIGI, OR, AND, INT, FREG, OFF, etc.)
S-RAM Battery Backup
RS232C 1CH (for Teach Pendant)
Relay Output (for 24V, 300Ma)
Normal Open
Three Limit Sensor Inputs/Axis
Servo Error, Low-voltage, Battery Fault, Limit (Overrun) Detection
RS232C 1CH
Base Mounted (Vertical)
135 * 155 * 137 (mm)
1.15 kg
1-2
Chapter 1
1-3. Preparations for Controller Operation
The following block description shows the basic steps to be taken before operating your controller. Install the
controller in the following sequence. For further details, refer to the corresponding section.
AC Power Connection
Motor Power Connection
Encoder Cable Connection (AX12, AX3)
Limit, I/O Cable Connection (LMT, OUT, IN)
Parameter Readjustment
Program and Location Setting
Operation
1-3
Chapter 1
1-4. Product Appearance
1-4-1. Multi-Axis Controller
① System Ready (RDY)
This LED turns on when all preparations necessary for system operation are made inside the controller, and
the controller is waiting for external command input. This signal can be useful for checking the preparations
of the controller at the time of external control.
② Servo Power ON/OFF Signal (PWR)
This LED turns on when the servo power is on, and turns off when the servo power is off.
③ External Mode Signal (EXT)
This LED turns on during external control, and turns off during internal control mode.
④ Error Occurrence Signal (ERR)
This LED turns on upon when a system error occurs, and turns off when the error is cleared.
⑤ COMM Connector
9-pin connector used for communication with the PC, ordinary RS-232C communication cable.
⑥ T/P Connector
9-pin connector connected to MAC-01 T/P (Teach Pendant).
⑦ LMT Connector
36-pin connector for connecting the limit sensor (overrun sensor) of the unit.
⑧ AX12 Connector
36-pin connector connected to 1/2-axis servo.
⑨ AX34 Connector
36-pin connector connected to 3/4-axis servo.
⑩ OUT Connector
36-pin connector used for connecting 32 output points.
⑪ IN Connector
36-pin connector for connecting 32 input points.
⑫ AC Power Input Terminal
AC 220V single-phase power is connected to this terminal.
1-4
Chapter 1
◇ External Dimension of MAC
1-5
Chapter 1
1-4-2. MAC-TP01 (Teach Pendant)
① LCD (Liquid Crystal Display)
16-character 4-line LCD that provides the user screen
② Function Keys
These four keys perform different functions depending upon the situation. Each function is indicated on the
fourth line of the LCD screen, in one-to-one correspondence.
③ Power ON/OFF Signal
This LED turns on red when +5V power is normally supplied to MAC-01, otherwise turns off.
④ Emergency Stop Key
Whenever this key is pressed, the MAC interrupts the power supply to the motor and displays the error
message.
⑤ Numeric and Command Group Keys
Keys 1 ~ 6 are general numeric and command group keys, which are recognized as program command keys
in programming mode and as numerical keys in all the other cases.
⑥ Cursor Movement Keys
These four keys are used for moving the cursor on the screen, except when the system moves in "JOG
MODE"
⑦ Numeric and User Command Keys
Keys 7 ~ 0 are general numeric and user command group keys, which are recognized as user command keys
in "[MAIN MENU]" mode and as numerical keys in all the other cases.
⑧ ESC KEY: Used to return to the top screen, escaping from the current edit screen.
⑨ ENT KEY: Use to confirm the entered content.
⑩ Connector to the Controller: This connector is connected to 'T/P' port of the controller.
★ The maximum distance of the cable connected between the MAC and the T/P is 5M.
1-6
Chapter 1
◇ External Dimension of MAC-TP01 T/P
1-7
Chapter 1
1-4-3. MAC-TP02 (Panel)
MAC-TP02 is the panel mounting type.
The location value of each axis during operation is indicated, and input and output through the I/O port are
indicated in real time with I/O LEDs. The panel is fixed with bolts.
① Numeric Keys
Used to enter numbers from 0 to 9, decimal points and ‘-’ symbol.
1
2
3
4
5
6
MOT
PRG
I/O
PARA
FUNC
DEF
7
8
9
0
.
-
DO
SIG
MSPD
JSPD
SVON
LMT
7
② DO Key
DO
Used to modify the value of the existing program or of the location data.
③ SIG Key
8
SIG
Used to turn ON/OFF 24 output points of user I/O, and monitor 16 input points.
9
④ Movement Speed Key
MSPD
Used to set the movement speed of each axis in the range from 1 to 1000.
0
⑤ Jog Speed Key
JSPD
Used to set the movement speed of each axis in jog mode in the range from 1 to 1000.
⑥ Servo Power ON/OFF Key
.
SVON
Used to turn ON/OFF the servo power, as a toggling switch.
-
⑦ Limit Sensor Monitor Key
LMT
This key displays the limit sensor status of each axis in real time.
⑧ Function Keys
F1
F2
F3
F4
These four keys perform different functions depending upon the situation. Each function is indicated on the
fourth line of the LCD screen, in one-to-one correspondence.
1-8
Chapter 1
EMG
⑨ Emergency Stop Key
Press the emergency stop key in an emergency. The servo power turns off, and the error message is
displayed on the LCD.
⑩ Cursor Movement Keys
These four keys are used to move the cursor on the screen, except when the system is in the "JOG MODE".
+
-
⑪ Mode Change Key
MODE
Used to change between the "PANEL MENU" mode and the "MAIN MENU" mode.
RUN
⑫ Run and Stop Keys
STOP
Run Key = Used to run the program.
Stop Key = Used to stop the program. Stop the program with the "STOP KEY" and run it with the "RUN
KEY" again, and then the program is executed from the line next to the stopped one.
⑬ ZR/Reset Key
ZR
RESET
ZR/Reset key performs two functions.
If zero return is not completed, this key works as the "ZR (Zero Return) Key", otherwise, it works as the
"Program Reset Key".
⑭ ESC, ENT KEY
ESC
ENT
ESC KEY: Used to move to the top screen, escaping from the current edit screen.
ENT KEY ENT KEY: Used to confirm the entered content.
⑮ PWR, SRV, ERR LED Signals
PWR = This LED turns on when DC 24V power is applied to the panel.
SRV = This LED turns on when the servo power is ON, and turns off when it is OFF.
ERR = This LED turns on when an error occurs, and turns off when the error is cleared or when there is no
error.
1-9
Chapter 1
◇ External View of MAC-TP02 Panel
203 mm
SAMSUNG
MAC02
*
F1
*
②
①
F2
F3
1
2
3
4
5
6
MOT
PRG
I/O
PARA
FUNC
DEF
7
8
9
0
.
-
DO
SIG
MSPD
JSPD
SVON
LMT
모드
기동
정지
ZR
MODE
RUN
STOP
RESET
ESC
200 mm
F4
ENT
EMG
+
+
*
③
OUT
IN
1-10
Chapter 1
1-5. Basic Items
The following three basic items are provided upon purchase of the controller.
① Multi-Axis Controller (MAC)
2-axis Controller (PART NO. = MAC-201 (Position Type))
(PART NO. = MAC-211 (Position +Velocity Type))
② One 3.5" Diskette for PC Communication Software
③ MAC User’s Manual
1-6. Optional Items
Operational items should be separately purchased when you purchase the controller. They are not provided if
you purchase only the controller.
① 2-axis Cable (AX12 & AX34)
Cable that connects to the Samsung Servo Drive (2 Axes/Cable)
No.
1-11
Chapter 1
② 1-axis Cable (AX12 & AX34)
Cable that connects to the Samsung Servo Drive (1 Axis/Cable)
No
.
Cable Name
Length
(m/m, ± 10%)
1-12
Chapter 1
⑤ MAC-TP01
Teach Pendant (Part No. = MAC-TP01)
그림 삽입
⑥ MAC-TP02
Teach Panel (Part No. = MAC-TP02)
⑦ Base Panel
The base on which the MAC and the servo are to be installed
No.
1-13
Chapter 1
1-7. Controller Assembly Diagram
1-7-1. 2-axis Controller Assembly Diagram (MAC-201)
1-7-2. 3-axis Controller Assembly Diagram (MAC-301)
* The above pictures illustrate the controller assembly with the small capacity (400W or less) servo.
1-14
CHAPTER 2
INSTALLATION AND WIRING
2-1. Controller Installation
2-2. Wiring
2-3. AC Power Cable Wiring
2-4. Axis (AX12 & AX34) Cable Wiring
2-5. I/O (In/Out) Cable Wiring
2-6. Limit (LMT) Cable Wiring
2-7. Motor Brake Cable Wiring
2-8. Controller Connector
2-9. Description of External Terminal Board of the Controller
2-10. Controller Wiring Diagram
2-11. Controller and Servo Wiring Diagram
2-12. Connector Pin Specification
2-13. COMM Connector Wiring Diagram (9-pin Connector)
Chapter 2
2-1. Controller Installation
2-1-1. Inspection upon Product Arrival
When the product arrives, check the following items.
A. Does the product agree with what you ordered?
B. Is there any damage during transportation?
C. Check the capacity and the drive type when purchasing the servo and the motor.
D. Doesn’t the joint part come loose?
If there is any problem, contact immediately the sales division of our company or the sales agent where you
bought the product. In addition, check if screws come loose, the lead wire is short-circuited, or the insulation is
damaged.
2-1-2. MAC Installation
The MAC is a base-mounting type controller. When installing the controller on the rack or the panel, install the
cooling fan in consideration to the mechanical state of the surrounding area so that the controller can operate
within the allowable temperature limit (55℃). When the MAC is subject to vibration, remove the vibration
using the damping material. Corrosive gas may cause NFB and the wiring terminal to be corroded, which might
lead to an accident.
In particular, do not install the controller in a hot, humid or dusty place or in a place where a ferrous material or
explosive gas exists.
Generally, the controller is installed by attaching it to the wall. In this case, keep the mounting direction
specified on the controller unit as the controller uses natural convection.
<Figure 2-1. MAC Mounting Method (Front View)>
2-1
Chapter 2
2-1-3. Environment for MAC Installation
- The MAC should be installed indoors, free from corrosive or explosive gas.
- Ambient Temperature:
0 ∼ +55℃
- Storage Temperature: -20 ∼ +80℃
- Humidity :
20 ∼ 90% (no Condensation)
- Vibration: 0.5G(4.9m/s2)
- Well-ventilated place free of dust and humidity
- Places easily accessible for inspection and cleaning
If there exists much water or grease, take necessary measures such as attaching a cover.
2-1-4. Other Precautions
- Mount the controller vertically on the wall using the screw holes for attaching the base of the controller.
- MAC uses cooling by natural convection, so a sufficient space should be secured around the controller.
- If you install MACs successively inside the panel, the distribution of temperature in the panel may be
uneven and accordingly the temperature may rise. In this case, install the blower on the upper side to
decrease the temperature of the MAC, as shown in Figure 2-2.
<Figure 2-2. Blower Installation>
2-2
Chapter 2
2-2. Wiring
The wiring should be made referring to the connector specification, the cable specification and the wiring
diagram.
The MAC is a high-precision location controller that processes signals below several mV. Consider the
following mattes when you wire the controller.
1) For the encoder line and the location command signal line (AX12 and AX34 cables), use the twisted
shielded pair or the multi-core twisted pair shield wire of AWG28 thickness or more.
2) For the ground line (B.G) of the external control board of the controller, use a thick cable if possible. Be sure
to make 1-point grounding of Class 3 grounding or higher. When you insulate between the motor and the
mechanical parts, ground the motor.
3) For wiring distance, make the axis (AX12 and AX3) cable length 1.5M, I/O cable 20M and limit (LMT)
cable 10M in maximum. Wire the cable as short as possible and cut off the remaining cable.
4) Observe the following instructions to prevent mal-functioning due to noises:
- Install the line filter, MAC, servo motor and input device in adjacent places if possible.
- Attach the surge absorber to the relay, molded-case circuit breaker (MCCB) and magnetic contactor.
- Do not use the same duct for the power and motor cable as that of the signal line.
- It is recommended to install the noise filter for the power input.
- For installation within a box, provide proper cooling so that the ambient temperature of the MAC may not
exceed +50℃(cooling fan, air-cooler, etc.)
- The MAC temperature may rise up to about 40℃. Thus, arrange the equipment or wiring subject to heat
away from the robot controller.
- When the equipment that generates noises such as the electric welder and the discharging processor is
located nearby, attach the noise filter to the power input circuit.
- Be sure to open the signals and terminals that are not in use.
- When the wire is subject to bending or tension, remove the causes of such problems or use a special wire.
2-3. AC Power Cable Wiring
The AC power cable is composed of three strands. The wire the cable, distinguishing between the grounding
wire (F.G) and the AC power cable. The grounded is indispensable for preventing electric shock and for
increasing the yield strength for the noise applied to the MAC. The cable thickness should not be less than
AWG18.
2-3
Chapter 2
2-4. Axis (AX12 & AX34) Cable Wiring
The axis cable processes encoder signals and pulse command signals, so it should be wired using the twisted
wire or multi-core twisted pair shielded wire. The cable thickness should not be less than AWG28.
For the encoder, analog command output, GND, step pulse +, step pulse -, direction + and direction -, the
twisted pair wire should be used.
★ The maximum wiring length of the axis (AX12,AX34) cable is 1.5M.
2-5. I/O(OUT/IN) Cable Wiring
The I/O cable thickness should not be less than AWG28.
★ The maximum wiring length of I/O cable is 20M.
2-6. Limit (LMT) Cable Wiring
The thickness of the limit cable should not be less than AWG28. The limit sensor output of the MAC is
maximum 24V,20㎃. The maximum wiring length of the limit (LMT) cable is 10M.
▶ Types of Available Sensors
Photo Sensor, Limit Switch, AdjacentSensor
▶ Internal Circuit of the Controller
+24V
※ 5V Output, PIN 1,6,19,24
1K
※ 24V Output, PIN 11,12,29,30
Photo Coupler
TLP120
TLP120
TLP120
4.7K
HOME
4.7K
+LIMIT PIN 3,8,21,26
4.7K
-LIMIT PIN 4,9,22,27
GND
PIN 2,7,20,25
PIN 5,10,23,28
▶ Cautions for Wiring
For the photo sensor, wire the sensor after verifying the voltage level and current of the diode side.
Wire the adjacent sensor after verifying the operating power source.
2-4
Chapter 2
2-7. Motor Brake Cable Wiring
Connect the motor brake cable to the Limit Connector Pin 35 (+ Terminal) and Pin 36 (- Terminal) of the MAC.
The internal wire of each pin is composed of two strands, and the pin specification and the internal circuit are
shown below.
PIN NO
Limit Connector Pin 35
Multi-Axis Controller
+24V
+5V
RELAY
FUNCTION
BRAKE +
BRAKE -
[Internal Circuit for MAC Brake Control]
2-8. Controller Connector
Recommended Connector (Receptacle) Type
Connector
Connector Used in
Name
the Controller
Connect
or
(Solderin
Case
Manufacturer
Current
Cable Specification
Capacity
g)
LIMIT,
AX12,
10136-52A2VC
AX34, I/O
101363000VE
· AWG 24, 26 and 23 2-wire Twisted
1033652A0-
3M
008
DC Max
100mA
Shield Cable
· The entire thickness of the cable is
maximum 16mm.
★ We sell the above cables as optional items.
2-9 Description of External Terminal Board of the Controller
Terminal Board
Marking
AC
EARTH
Name
Description
Main Power Input
Frame Ground
Single-phase 220V +10%, -15% 50/60Hz
2-5
Chapter 2
2-10. Controller Wiring Diagram
2-6
Chapter 2
2-11. Controller and Servo Wiring Diagram
2-11-1. Samsung Position Type Servo
MAC
36-PIN
SIGNAL NAME
NO.
SERVO#1
MAC
36-PIN
36-PIN
NO.
NO.
SERVO #2
SIGNAL NAME
36-PIN
NO.
1
“ X” Signal Input
7
19
“X” Signal Input
7
2
± 10V ANALOG OUTPUT
X
20
X
3
5V GND
17,33
21
5V GND
17,33
4
ENCODER A+
16
22
ENCODER A+
16
5
ENCODER A-
20
23
ENCODER A-
20
6
ENCODER B+
21
24
ENCODER B+
21
7
ENCODER B-
22
25
ENCODER B-
22
8
ENCODER Z+
23
26
ENCODER Z+
23
9
ENCODER Z-
24
27
ENCODER Z-
24
10
STEP PULSE + (CW+)
1
28
STEP PULSE + (CW+)
1
11
STEP PULSE - (CW-)
2
29
STEP PULSE - (CW-)
2
12
STEP SIGN + (CCW+)
3
30
STEP SIGN + (CCW+)
3
13
STEP SIGN - (CCW-)
4
31
STEP SIGN - (CCW-)
4
14
Servo Alarm Input
31
32
Servo Alarm Input
31
15
24V Output
12
33
24V Output
12
16
Servo Power ON Output
9
34
9
17
Servo Alarm Reset Output
10
35
10
18
24V GND
32
36
24V GND
32
SHIELD
36
SHIELD
36
2-7
Chapter 2
● Wiring between Samsung Small-volume Position Type (CSD) Servo Drive and the MAC
MACMAC
제어기
Location위치형
Type SERVO
Servo
CW +
10
CW -
Location
Plus
Input
위치
PLUS
입력->>>
1
PULS
11
2
PULS
CCW +
12
3
SIGN
CCW -
13
4
SIGN
150 Ω
150 Ω
36
<F.G>
MC 3486
ENC
A
4
19
5
20
ENC
Ａ
ENC
B
6
21
ENC
B
7
22
ENC
Z
8
23
ENC
Z
9
24
Servo
Output
SERVO PG
PG출력
LineDRIVER
Driver
LINE
15
+24V
출력Output
+24V
16
Servo Power On/Off
17
Servo Alarm Reset
10
ALM RST
14
Servo Alarm
31
ALM OUT
18
(24V GND)
12
9
SV-ON
+24V
32
※ "
" mark indicates the twisted pair.
2-8
Chapter 2
2-11-2. Samsung Velocity Type Servo
MAC
36-PIN
SIGNAL NAME
NO.
SERVO#1
MAC
36-PIN
36-PIN
NO.
NO.
SERVO #2
SIGNAL NAME
36-PIN
NO.
1
7
19
7
2
1, 3
20
1, 3
3
5V GND
2, 4, 33
21
5V GND
2, 4, 33
4
ENCODER A+
19
22
ENCODER A+
19
5
ENCODER A-
20
23
ENCODER A-
20
6
ENCODER B+
21
24
ENCODER B+
21
7
ENCODER B-
22
25
ENCODER B-
22
8
ENCODER Z+
23
26
ENCODER Z+
23
9
ENCODER Z-
24
27
ENCODER Z-
24
10
STEP PULSE + (CW+)
X
28
STEP PULSE + (CW+)
X
11
STEP PULSE - (CW-)
X
29
STEP PULSE - (CW-)
X
12
STEP SIGN + (CCW+)
X
30
STEP SIGN + (CCW+)
X
13
STEP SIGN - (CCW-)
X
31
STEP SIGN - (CCW-)
X
14
Servo Alarm Input
31
32
Servo Alarm Input
31
15
24V Output
12
33
24V Output
12
16
9
34
9
17
10
35
10
18
24V GND
32
36
24V GND
32
SHIELD
36
SHIELD
36
2-9
Chapter 2
● Wiring Between the Samsung Small-volume Velocity Type (CSD) Servo Drive and the MAC
MACMAC
제어기
Velocity
Type Servo
속도형 SERVO
1
V/T-REF
D /A
2
2
3
3
V-REF
T-REF
4
36
MC 3486
ENC
ENC
A
Ａ
4
19
5
20
ENC
B
6
21
ENC
B
7
22
ENC
Z
8
23
ENC
Z
9
24
15
+24V
Output
+24V
출력
16
Servo Power On/Off
17
Servo Alarm Reset
14
Servo Alarm
31
18
(24V GND)
32
<F.G>
Servo
Output
SERVOPG
PG출력
LINE
Line DRIVER
Driver
12
9
10
SV-ON
ALM RST
+24V
※ "
2-10
ALM OUT
Chapter 2
2-11-3. Wiring between the Samsung Large-volume (CSDP) and the Small-volume (CSDJ) Servo Drives and the
MAC
MAC
36-PIN
SIGNAL NAME
NO.
SERVO#1
MAC
36-PIN
36-PIN
NO.
NO.
SERVO #2
SIGNAL NAME
36-PIN
NO.
1
41
19
41
2
19, 21
20
19, 21
3
5V GND
20,22,27,42
21
5V GND
20,22,27,42
4
ENCODER A+
29
22
ENCODER A+
29
5
ENCODER A-
30
23
ENCODER A-
30
6
ENCODER B+
31
24
ENCODER B+
31
7
ENCODER B-
32
25
ENCODER B-
32
8
ENCODER Z+
33
26
ENCODER Z+
33
9
ENCODER Z-
34
27
ENCODER Z-
34
10
STEP PULSE + (CW+)
11
28
STEP PULSE + (CW+)
11
11
STEP PULSE - (CW-)
12
29
STEP PULSE - (CW-)
12
12
STEP SIGN + (CCW+)
13
30
STEP SIGN + (CCW+)
13
13
STEP SIGN - (CCW-)
14
31
STEP SIGN - (CCW-)
14
14
Servo Alarm Input
45
32
Servo Alarm Input
45
15
24V Output
1
33
24V Output
1
16
3
34
3
17
7
35
7
18
24V GND
46
36
24V GND
46
SHIELD
50
SHIELD
50
2-11
Chapter 2
● Wiring between the Samsung Integrated Large-volume (CSDP) and the CSDJ Servo Drive and the MAC
MAC
제어기
MAC
CSDP, CSDJ TYPE SERVO
19
2
V/T-REF
D/ A
Analog
Command
Output
ANALOG
지령 출력
V-REF
20
3
21
T-REF
22
27,4
2
Pulse 출력
Output
PLUSE
11
PULS
11
12
PULS
CCW +
12
13
SIGN
CCW -
13
14
SIGN
CW +
10
CW -
150Ω
150Ω
50
<F.G>
MC 3486
A
4
29 EA
ENC
Ａ
5
30 EA
ENC
B
6
31 EB
ENC
B
7
32 EB
ENC
Z
8
33 EZ
ENC
Z
9
34 EZ
ENC
15
+24V
출력
+24V
Output
1
16
Servo Power On/Off
3
SV-ON
17
Servo Alarm Reset
7
ALM RST
14
Servo Alarm
45
ALM OUT
18
(24V GND)
46
+24V
※ "
2-12
SERVO
Servo
PG PG출력
Output
LINE DRIVER
Line Driver
Chapter 2
2-12. COMM Connector Wiring Diagram
The COMM connector is a 9-pin connector used for the communication with the PC, whose wiring method is
shown below.
MAC
PC Side
Rx. PIN 2
Rx. PIN 2
Tx. PIN 3
Tx. PIN 3
GND PIN 5
GND PIN 5
Shield
Shield
* If the shield is not connected, the communication port on PC side may be damaged. Thus, take heed of it.
2-13
CHAPTER 3
CONNECTOR PIN SPECIFICATION AND
EXTERNAL CONTROL
3-1.
3-2.
3-3.
3-4.
3-5.
3-6.
3-7.
3-8.
MAC I/O Wiring Diagram
Axis Connector (AX12 & AX34) Pin Specification
Limit (LMT) Connector Pin Specification
I/O (OUT/IN) Connector Pin Specification
I/O Circuit Configuration
External Control
System I/O Timing Chart
Jog I/O Control
Chapter 3
3-1. MAC I/O Wiring Diagram
(Note) The I/O port capacity is 24V, 20mA for input and 24V, 150mA for output.
3-1
Chapter 3
3-2. Axis Connector (AX12 & AX34) Pin Specification
The axis connector connected to the motor driver is a standard 36-pin connector of which pin numbers and
specifications are given below. Two axes are connected to each axis connector.
◇ Axis Connector Pin Specification
PIN NO
PIN SPECIFICATION
AXIS
PIN NO
PIN SPECIFICATION
AXIS
1
“X”
1st
19
“X”
2nd
2
D/A OUT
1st
20
D/A OUT
2nd
3
GND
1st
21
GND
2nd
4
ENCODER A+
1st
22
ENCODER A+
2nd
5
ENCODER A-
1st
23
ENCODER A-
2nd
6
ENCODER B+
1st
24
ENCODER B+
2nd
7
ENCODER B-
1st
25
ENCODER B-
2nd
8
ENCODER Z+
1st
26
ENCODER Z+
2nd
9
ENCODER Z-
1st
27
ENCODER Z-
2nd
10
STEP PULSE +
1st
28
STEP PULSE +
2nd
11
STEP PULSE -
1st
29
STEP PULSE -
2nd
12
STEP DIRECTION +
1st
30
STEP DIRECTION +
2nd
13
STEP DIRECTION -
1st
31
STEP DIRECTION -
2nd
14
SERVO ALARM
1st
32
SERVO ALARM
2nd
15
+24V OUTPUT
1st
33
+24V OUTPUT
2nd
16
SERVO POWER ON
1st
34
SERVO POWER ON
2nd
17
SERVO ALARM RESET
1st
35
SERVO ALARM RESET
2nd
18
24V GND
1st
36
24V GND
2nd
3-2
Chapter 3
3-3. Limit (LMT) Connector Pin Specification
The limit connector is a standard 36-pin connector of which pin numbers and specifications are given below.
The limit sensor input is three per axis, and it can connect up to the four axes.
BRAKE+ and BRAKE- (the motor brake control signals) pins control the motor brake as a pair.
In the MAC, 'BRAKE+' pin outputs 24V and 'BRAKE-' pin outputs 0V.
The internal circuit of the limit connector inside the controller is illustrated in Section 2-6.
◇ Limit Connector Pin Specification
PIN NO
PIN SPECIFICATION
PIN NO
PIN SPECIFICATION
1
+5V OUTPUT
19
+5V OUTPUT
2
1-AXIS HOME SENSOR
20
3-Axis HOME SENSOR
3
1-AXIS + LIMIT SENSOR
21
3-Axia LIMIT SENSOR
4
1-AXIS - LIMIT SENSOR
22
3-Axis LIMIT SENSOR
5
GND
23
GND
6
+5V OUTPUT
24
+5V OUTPUT
7
2-AXIS HOME SENSOR
25
4-Axis HOME SENSOR
8
2-AXIS + LIMIT SENSOR
26
4-Axis LIMIT SENSOR
9
2-AXIS - LIMIT SENSOR
27
4-Axis LIMIT SENSOR
10
GND
28
GND
11
1-AXIS +24V OUTPUT
29
3-AXIS +24V OUTPUT
12
2-AXIS +24V OUTPUT
30
4-AXIS +24V OUTPUT
13
X
31
X
14
X
32
X
15
X
33
X
16
X
34
X
17
X
35
BREAK + (+24V)
18
X
36
BREAK – (24GND)
(Note) For the GND for +24V output, use the GND (PIN 5,10, 23, 28) for +5V output in common.
3-3
Chapter 3
3-4. I/O Connector (OUT/IN) Pin Specification
The external I/O is driven by 24V power (supplied by the user). There are total 64 input and output points
among which 16 are system input points, 8 system output points, 16 user input points and 24 user output points.
The external I/O connector is a standard 36-pin connector and each pin has its unique function.
The following table shows pin numbers and specifications. For more details about each signal, see Section 3-6.
◇ I/O Input (IN) Connector Pin Specification
PIN NO
SIGNAL
NAME
PIN SPECIFICATION
PIN NO
SIGNAL
NAME
PIN SPECIFICATION
1
E_STOP
External Emergency
Stop(+)
19
SIGIN 1
External Signal Input 1
2
E_STOP
External Emergency
Stop(-)
20
SIGIN 2
3
ZR
Zero Return
21
SIGIN 3
4
RUN/STOP
Program Run/Stop
22
SIGIN 4
5
PAUSE
Pause
23
SIGIN 5
6
ERR_RST
Error Reset
24
SIGIN 6
7
EXT
External Control Selection
25
SIGIN 7
8
SVON/OFF
Servo Power ON/OFF
26
SIGIN 8
COM 1 (PIN3 ~ PIN8)
27
9
COM 3 (PIN19 ~ PIN26)
10
INT 1
User Interrupt #1
28
SIGIN 9
11
INT 2
User Interrupt #1
29
SIGIN 10
12
INT 3
User Interrupt #1
30
SIGIN 11
13
PSEL 1
Program Selection Bit 0
31
SIGIN 12
14
PSEL 2
32
SIGIN 13
15
PSEL 4
33
SIGIN 14
16
PSEL 8
34
SIGIN 15
17
PSEL 16
35
SIGIN 16
36
18
3-4
Chapter 3
◇ I/O Output (OUT) Connector Pin Specification
PIN NO
SIGNAL
NAME
PIN SPECIFICATION
PIN NO
SIGNAL
NAME
PIN SPECIFICATION
1
ERR
Error Occurrence
19
SIGOUT 9
External Signal Output 9
2
ON-EXT
External Control
20
SIGOUT 10
3
SVON
Servo Power ON
21
SIGOUT 11
4
READY
System Ready
22
SIGOUT 12
5
RUN
Program Run
23
SIGOUT 13
6
P_STOP
Pause
24
SIGOUT 14
7
E_STOP
Emergency Stop
25
SIGOUT 15
8
ZRC
Zero Return Completed
26
SIGOUT 16
COM 1
27
9
COM 3
10
SIGOUT 1
28
SIGOUT 17
11
SIGOUT 2
29
SIGOUT 18
12
SIGOUT 3
30
SIGOUT 19
13
SIGOUT 4
31
SIGOUT 20
14
SIGOUT 5
32
SIGOUT 21
15
SIGOUT 6
33
SIGOUT 22
16
SIGOUT 7
34
SIGOUT 23
17
SIGOUT 8
35
SIGOUT 24
COM 2
36
18
COM 4
★ The phrases ‘The signal is inputted’ and ‘The signal is turned on’ used in the input circuit section refer to
the situation where the conditions for the photo coupler to be turned on is met, while the phrases ‘The
signal is outputted’ and ‘The signal is turned on’ in the output circuit section refer to the situation where the
conditions for transistor to be turned on is met.
3-5
Chapter 3
★ Input Common Terminals
There are four input common terminals of COM 1∼4, and the pin number assigned to each input common
terminal is shown below. As the input circuit uses the bi-directional photo coupler, +24V or 0V can be
connected to these four pins.
Input Common Terminal No.
COM 1
COM 2
COM 3
COM 4
Pin No. Assigned to Each Input
Common Terminal
PIN 3 ~ 8
PIM 10 ~ 17
PIN 19 ~ 26
PIN 28 ~ 35
★ Output Common Terminals
There are four output common terminals of COM 1∼4, and the pin number assigned to each output
common terminal is shown below. +24V GND should be connected to these four pins.
Output Common Terminal No.
COM 1
COM 2
COM 3
COM 4
Pin No. Assigned to Each Output
Common Terminal
PIN 1 ~ 8
PIM 10 ~ 17
PIN 19 ~ 26
PIN 28 ~ 35
3-6
Chapter 3
3-5. I/O Circuit Configuration
This section describes in detail the external input and output circuits used in the MAC, and also describes how
to connect to the external equipment.
3-5-1. I/O Input Circuit
3-5-2. I/O Output Circuit
3-7
Chapter 3
3-5-3. Input Control Circuit by External Switch
3-5-4. Input Control Circuit by External Relay
3-5-5. Input Control Circuit by I/O input (TR Sink Output)
3-8
Chapter 3
3-5-6. Relay Control Circuit by I/O Output
3-9
Chapter 3
3-6. External Control
MAC can operate either by internal control or by external control. Selection of internal/external control is made
by the setting of the System Input Pin 7. If the System Input Pin 7 is on, external control is selected and if OFF,
internal control is selected.
Internal control refers to controlling the robot system not by the external signals but by the user using the
Teach Pendant attached to the MAC.
External control refers to controlling the robot system by the external controller (mainly PLC) through the I/O
port. The controller transfers the current system status to the external controller through the system output port,
and the external controller gets the current system status from the signal received from the controller. Then, it
sends the signal to the robot system so that the controller can operate according to the signal.
★ External control is recognized only in such menu screens as [MAIN MENU], [RUN],
[RUN/AUTO], [RUN/STEP] and [PRG] in the T/P!
3-6-1. Menu Screen for External Control
[EXT]
<00>
PRG DON I/O OFF
Set the input of the System Input Pin 7 to ON, and the above screen appears on the LCD of the T/P.
F1
F2
F3
F4
Press
keys in the above screen, and the following four display modes appear.
※ Each display mode is available only in the stop state.
1). Mode Indicating the Program Being Executed
key, and the content of the program being executed is indicated in the real time.
Press F1
[EXT]
<00>
000 MVS P100
PRG DON I/O OFF
The program number being executed is highlighted
with yellow.
The content of the program being executed is
indicated
3-10
Chapter 3
Current Position Value Indication Mode
F2
Press
key, and the current location values of Axes 1, 2 and 3 are indicated in real time.
[EXT]
< 00>
AX1= 123.45
AX2= - 345.67
PRG DON I/O OFF
The program number being executed is indicated.
The current position value of Axis 1 is indicated.
The current position value of Axis 2 is indicated.
< Application of 2-Axis MAC
[EXT]
AX1= 123.45
AX2= - 345.67
< 00>
AX3= 213.00
The program number being executed is indicated.
The current position value of AXis 1 is indicated.
The current position value of AXis 2 is indicated.
2축의
현재위치값이
표시됨.
The current
position value
of AXis 3 is indicated.
< Application of 3-Axis/4-Axis MAC >
(Note) To return to the top screen in the current location value display mode for 3-Axis or 4-Axis MAC,
ESC
press
key.
3). I/O Indication Mode
Press
F3
[EXT]
IN
key, and 32 I/O input and output points each are displayed in real time.
<00>
= 00000000h
OUT = 00000000h
PRG DON I/O OFF
Indicates 32 I/O input points.
(16 higher bits = external input, 16 lower bits = system
input)
Indicates 32 I/O output points.
(24 higher bits = external output, 8 lower bist = system
output)
4). OFF Mode
Press F4 key, and the T/P escapes from the program display, current location(Position) value display, or
I/O display mode and the initial screen for external control appears.
If F4 key is pressed, the initial screen of external I/O control is displayed after escaping from program
current position(Location) value or I/O display mode.
3-11
Chapter 3
3-6-2. System Input Signals Related to External Control
◇ External Emergency Stop (E_STOP)
▶ PIN 1,2
▶ Connect the e-stop switch. (See Section 3-1, I/O Wiring Diagram)
▶ Operates as the level signal.
Emergency Stop Input
Emergecy Stop Output
3 0
~
4 0
m s e c
◇ Zero Return (ZR)
▶ PIN 3
▶ Selected to return all axes of the robot to the zero point.
▶ Operates as the rising edge. That is, this signal is recognized when it changes from low to high.
Zero Return Input
원점복귀 입력
Zero Return
원점복귀
수행
Zero Return Completion Output
원점복귀 완료 출력
Zero Return
Completed
원점복귀
완료
30 ~ 40 msec
◇ Program Run/Stop
▶ PIN 4
▶ Selected to run/stop the selected program.
Program Run/Stop
Input
프로그램
기동/정지
입력
Program
Run Output
프로그램
기동
출력
Stop
정지
Run
30 ~ 40 msec
3-12
기동
Stop
정지
30 ~ 40 msec
Chapter 3
◇ Pause
▶ PIN 5
▶ Selected to put pause to the program being executed.
▶ Operates as the level signal. That is, the robot system pauses when the input signal is high and is released
from pause when it is low.
Pause
Input 입력
일시정지
일시정지중
On Pause
일시정지
Pause
Output출력
Pause Release
일시정지
해
제
30 ~ 40 msec
30 ~ 40 msec
◇ Error Reset (ERR_RST)
▶ PIN 6
▶ Selected to reset the servo error .
▶Operates as the rising edge. That is, this signal is recognized when it changes from low to high.
Error Occurrence (Output)
ERROR 발생(출력)
ERROR
입력
Error RESET
Reset Input
30 ~ 40 msec
◇ External Control Selection (EXT)
▶ PIN 7
▶ Selected to control the robot with external signals.
▶ Operates as the level. That is, the robot is under external control when the input signal is high and under
internal control when the signal is low.
External Control
Selection입력
Input
외부제어선택
외부제어
모드
External
Control
Mode
출력
External 외부제어
Control Output
30 ~ 40 msec
3-13
Internal Control
내부제어
모드 Mode
30 ~ 40 msec
Chapter 3
◇ Servo Power ON/OFF (SVON/OFF)
▶ PIN 8
▶ Selected to turn ON/OFF the servo power.
SERVO POWER ON/OFF 입력
Servo Power ON/OFF Input
Servo
Power
ON ON
Output
SERVO
POWER
출력
ON
OFF
30 ~ 40 msec
OFF
30 ~ 40 msec
◇ User Interrupt (INT 1 ~ INT 3)
▶ PIN 10,11,12
▶ Used to generate the user interrupt using the system I/O.
▶ The user interrupt operates only when the program command (INT) is defined in the program. Therefore,
if the INT command is defined as OFF in the program, the interrupt is not executed even when the user
interrupt signal is generated. (See Chapter 10, Programming Language.)
◇ Program Selection (PSEL1 ~ PSEL16)
▶ PIN 12 ∼ 16
12 : Program Selection Bit 0 (PSEL 1)
▶ Select a program to be executed, from the outside. It is possible to select from 0 to 31 programs.
▶ Operates as the level. That is, this bit is set as 1 when the input signal is high and 0 (zero) when it is low.
3-14
Chapter 3
3-6-3. System Output Signals related to External Control
◇ Error Occurrence (ERR)
▶ PIN 1
▶ Indicates that an error occurs.
◇ External Control (ON_EXT)
▶ PIN 2
▶ Indicates that the robot is being operated by external control.
◇ Servo Power ON (SVON)
▶ PIN 3
▶ Indicates that the motor driver power is ON.
◇ System Ready (READY)
▶ PIN 4
▶ Indicates that the system is booted and gets ready for command input. If this signal is OFF, the
controller does not operate.
◇ Program Run (RUN)
▶ PIN 5
▶ Indicates that the program is running.
◇On Pause (P_STOP)
▶ PIN 6
▶ Indicates that the program being executed is paused.
◇ Emergency Stop (E_STOP)
▶ PIN 7
▶ Indicates that the system stops on emergency.
◇ Zero Return Completed (ZRC)
▶ PIN 8
▶ Indicates that zero return is completed.
3-15
Chapter 3
3-7. System I/O Timing Chart
◇ Chart 1
Input
Contact
입력
접점
Sequence
시이퀸스
External Control
1)외부제어
Selection 선택
ServoPOWER
PowerON/OFF
ON/OFF
2)서보
Zero 복귀
Return
3)원점
Program Run
4)프로그램
기동
Pause Request
5)일시정지
요구
Output
출력 Contact
접점
External Control
1)외부제어
(ON-EXT)
30~40ms
ServoPOWER
PowerONON
2)서보
(SVON)
100~110ms
Zero Return
3)원점복귀
완료
Completed
(ZRC)
Zero
Return
원점복귀실
시
Program Run
4)프로그램
기동
(RUN)
30~ 40ms
Pause
5)일시정지
(P-STOP)
30~40ms
3-16
30~ 40ms
Chapter 3
◇ CHART 2
Input
Contact
입력
접점
Sequence
시이퀸스
External Control
1)외부제어
Selection 선택
Servo POWER
Power ON/OFF
ON/OFF
2)서보
Zero Return
3)원점
복귀
Program Run/Stop
4)프로그램
기동/정지
Request
5) Pause
일시정지
요구
An error occurs.
ERROR 발생
Error Reset
6) ERROR RESET
Output
출력Contact
접점
External Control
1)외부제어
(ON-EXT)
30~40ms
ServoPOWER
PowerON
ON
2)서보
(SVON)
100 ~110ms
Zero Return
Completed
3)원점복귀
완료
(ZRC)
Zero Return
원점복
귀실시
Program Run
4)프로그램
기동
(RUN)
30~ 40ms
Pause
5)일시정지
(P-STOP)
30~ 40ms
30~ 40ms
Error Occurrence
6)ERROR
발생
(ERR)
3-17
Chapter 3
3-7-1. Explanation about System I/O Timing Chart
◇ Explanation about Chart 1
1. Turn on the "External Control" input contact when the “System Ready” signal is outputted.
Then, the "External Control" output contact turns on.
To release the external control, turn off the "External Control" input contact.
2. If there is an error, turn on the "Error Reset" input contact to clear the error.
When the error is cleared, the "Error Occurrence” output contact turns off.
3. Turn on the "Servo Power ON/OFF" input contact.
Then, the "Servo Power ON" output contact turns on.
4. When the servo power is turned on, turn on the "Zero Return" input contact.
When the zero return is completed, the "Zero Return Completed" output contact turns on.
5. Select "Program Selection" input contact, and then turn on the "Program Run/Stop" input contact.
Then, the "Program Run" output contact turns on.
To release the program run, turn off the "Program Run/Stop" input contact.
6. Turn on the "Pause" input contact during program execution, and the program execution is put to a pause
and the "Pause" output contact turns on.
To release the pause, turn off the "Pause" input contact.
7. To turn off the servo power, stop the program execution and turn off the "Servo Power ON/OFF" input
contact.
Then, the "Servo Power ON" output contact turns off.
3-18
Chapter 3
◇ Explanation about Chart 2
1. Turn on the "External Control" input contact when the “System Ready” signal is outputted.
Then, the "External Control" output contact turns on.
To release the external control, turn off the "External Control" input contact.
2. If there is an error, turn on the "Error Reset" input contact to clear the error.
When the error is cleared, the "Error Occurrence” output contact turns off.
3. If the "Emergency Stop" input contact turns on or a servo error occurs, the servo power turns off and the
"Servo Power ON" output contact turns off.
4. If an error occurs while the program is running, the program execution stops and such output contacts as the
"Zero Return Completed", the "Program Run" and the "Pause" all turn off.
3-19
Chapter 3
3-8. JOG I/O Control
The MAC has the jog operation mode in which the controller jogs the robot using external input signals. The
external input signal for each jog I/O control function is listed below.
External Input Signal No.
Function
External Input Signal No. 16 ON
Select the jog function.
Move toward ‘+’ coordinate direction.
Move toward ‘-’ coordinate direction.
Select Axis 1.
Select Axis 2.
Select Axis 3.
Select Axis 4.
◈ Cautions for using Jog I/O Function
1. The jog I/O function operates only when the system parameter JGIO is "ON".
2. The jog I/O function is shown only in the”[ main menu]” screen in the internal control mode.
3. If the jog function is not selected, other external input signals (No. 10 through No.15) are all ignored.
4. It is impossible to select two axes at the same time. Therefore, if the External Input Signal No. 13 and the
No. 12 are on, the Axis 1 is selected.
5. During the jog operation, the speed can be controlled only with the Teach Pendant.
3-20
CHAPTER 4
Operation of Controller
(Using by T/P)
4-1. Overall Menu Structure
4-2. Main Menu
4-3. Changing Execution Programs
4-4. Editing and Modifying the Program
4-5. Deleting the Program
4-6. Copying the Program
4-7. System Reset
4-8. Error Content Display
4-9. ROM Version Display
4-10. Changing the System Coordinate Values
4-11. PCOM (PC Communication)
4-12. Setting the Password
4-13. REG (Register)
4-14. DRY (DRY-RUN)
Chapter 4
4-1. Overall Menu Structure
RUN (Run Mode)
ZR (Zero Return Execution)
STE (Step Run)
AUT (Auto Run)
PCHG (Select the program.)
PRG (Program Edit Mode)
EDT (Edit the program.)
DEL (Delete the program.)
COPY (Copy the program.)
SET (Parameter Setting Mode)
SYS (Edit the system parameter.)
EDT (Edit the parameters for each
axis.)
REST (Reset the parameter for each
axis)
EDT (Edit the location data.)
DEL (Delete the location data.)
COPY (Copy the location data.)
LOC (Location Edit Mode)
SFT (Shift Location Edit Mode)
EDT (Edit the shift location data.)
DEL (Delete the shift location data)
COPY (Copy the shift location data.)
MEN (Manual Teach Mode)
AX+ (Axis selection)
ON (Servo Power ON)
OFF (Servo Power OFF)
STR (Set the location.)
JOG (Jog Movement Mode)
AX+ (Select the axis.)
STR (Set the location)
CSPD (Change the jog speed.)
I/O (Indicate and display the I/O.)
SYS (System)
RST (Error Reset)
EHIS (Error History)
VER (ROM Version)
CCLR (Reset the coordinate value.)
PCOM (PC Communication)
PAL (Palette)
SAV (Save the palette parameter.)
CLR (Clear the palette parameter.)
SAL (Spline)
SAV (Save the spline parameter.)
CLR (Clear the palette parameter.)
USER (User Mode)
ZR (Test mode zero return)
PWD (Set the password.)
REG (Register Setting)
JMP (Jump to the designated register
number.)
DEL (Delete the content of the
designated register.)
SET (Set the register value.)
ADEL (Delete all registers.)
DRY (DRY-RUN)
4-1
RUN (Step Run)
JMP (Line Jump)
RST (Restart the program.)
CRUN (Cyclic Auto Run)
RUN (Auto Run)
SUB (Indicate the parallel
processing program.)
Chapter 4
4-2. Main Menu
Connect the T/P to the T/P port of the MAC and supply the power. The following characters are displayed on
the T/P LCD. Whenever
F4
key is pressed, different menus appear. The main menu provides 13
submenus.
[MAIN MENU]
F4
RUN PRG SET
F4
>>
ESC
[MAIN MENU]
[MAIN MENU]
REG
DRY
LOC SFT
..... >|
F4
ESC
JOG >>
ESC
F4
[MAIN MENU]
F4
[MAIN MENU]
PAL
ESC
MEN SYS PCOM >>
SPL USER >>
4-2
Chapter 4
4-3. Changing the Execution Program
To change the current program with another program, take the following steps:
① Press
F1
key in the main menu screen.
[MAIN MENU]
RUN PRG SET
② When the screen as shown on the right appears,
press F4
key.
F1
[RUN]
>>
ESC
<00>
ZR STE AUT PCHG
③ In the screen as shown on the right, move
“◀” to the desired number using
and
J-
keys, and press
F4
ENT
J+
ENT
key to
select the program. At this time, press
ESC
ESC
[PRG]
[PROG NO 00]
key, and the screen returns to the
[PROG NO 01]
PROG NO 02
higher screen without any change. Here,
“【】” mark indicates the presence of the
program corresponding to the desired number
and if this mark does not exist, it means that the
designated program does not exist.
4-3
<00>
◀
Chapter 4
4-4. Editing and Modifying the Program
This section describes how to edit and modify the user program. The length of one program is 255 lines (0 ~
254lines maximum). The program with "【】" mark is the one already edited, and the program without,
"【】" mark is the one without contents.
Move "◀" to the program you want to edit or modify, using
by pressing
ENT
① Press
J+
or
J-
key, and select the program
key.
F2
key in the main menu screen
[MAIN MENU]
shown on the right.
RUN PRG SET
F2
② Press
F1
key in the screen as shown on the right
>>
ESC
[PRG]
<01>
[PROG NO 01]
◀
PROG NO 02
EDT DEL COPY ....
F4
③ Scroll the screen as shown on the right using
key and select the desired command using
F3
F1
F1
ESC
F2
and
F1
KEY (Jump),
F2
[PRG/EDT]
000 MVE P001
KEY (Line Deletion),
001 DLY 500
F3
KEY (Line Insertion),
JMP DEL
F4
― F1
KEY (Line Modify),
F4
― F2
KEY (Start Point for Block Copy),
F4
― F3
KEY (End Point for Block Copy),
F4
― F4
― F1
F4
― F4
― F1
001 DLY 500
KEY (Command Search), and MDFY CP1 CP2 >>
F4
― F4
― F1
KEY
keys.
INS
[PRG/EDT]
000 MVE P001
<01>
◀
>>
<01>
◀
KEY (Block Copy),
[PRG/EDT]
(Repetition of Command Search
000 MVE P001
<01>
◀
001 DLY 500
PST SER CONT >|
4-4
Chapter 4
4-5. Deleting the Program
This section describes how to delete an edited program. The sequence is described below:
① Press
F2
key in the main menu screen as shown
[MAIN MENU]
on the right.
RUN PRG SET
F2
move "◀" to the program to be deleted and press
F2
key.
[PRG]
[PROG NO 01]
③ When the screen as shown on the right appears, press
key to delete the program.
(Press F2
ESC
<01>
◀
PROG NO 02
EDT DEL COPY ....
F2
F1
>>
key, and the designated program is not
deleted.)
4-5
[PRG/DEL]
PROGRAM 01
DELETE OK !
YES NO ...
ESC
<01>
....
Chapter 4
4-6. Copying the Program
This section describes how to copy a program under the other name. The sequence is described below:
① Press
F2
key in the Main Menu screen as shown
[MAIN MENU]
on the right.
RUN PRG SET
move "◀" to the program to be copied and press
F3
key (to designate the source program).
F2
>>
ESC
[PRG]
<01>
[PROG NO 01]
◀
PROG NO 02
EDT DEL COPY ....
F3
③ When the screen as shown on the right appears, designate
the program number and press ENT
key.
(to designate the destination program. If the program
already exists, the message asking whether
ESC
[PRG/CPY]
<01>
COPY PRG01 TO
PRG_
(PRG00 ∼ PRG31)
to or not to overwrite the program pops up.)
ENT
④ When the screen as shown on the right appears, press
F1
key (to copy), or
COPY PRG01>PRG05
F2
key (not to copy).
NOT EMPTY !
OVERWRITE ?
YES NO
...
4-6
....
Chapter 4
4-7. System Reset
If one of the following three types of errors occurs, the error message is generated regardless of the current
system situation (See Chapter 12).
- SERVO ERROR
- SYSTEM ERROR
- EMERGENCY STOP
At this time, if you escape from the error message screen without resetting the error, you have to reset the error
as described below.
① Press
F2
[MAIN MENU]
on the right.
MEN SYS PCOM 》
F2
② When the screen shown on the right appears, press
F1
ESC
[SYSTEM]
key.
RST
F 1 ERR VER CCLR
F1
③ The error is reset as the screen shown on the right appears.
When the error reset is completed, the screen returns to the
upper screen.
[SYSTEM/RST]
WAITING !
ERR Reset ....
F1
4-7
Chapter 4
4-8. Error Content Display
This mode preserves and displays the content of three latest errors. The smaller the number in the screen, the
more recent the error is.
See below how to use this mode:
① Press
F2
[MAIN MENU]
on the right.
MEN SYS PCOM 》
F2
F2
ESC
[SYSTEM]
key.
RST ERR VER CCLR
F2
[SYSTEM/EHIS]
1 SYSTEM ERR 10
③ For error content, see Chapter 12.
2 SYSTEM ERR 12
3 NO ERROR
4-8
ESC
Chapter 4
4-9. ROM Version Display
This mode displays the ROM version of the controller. See below how to use this mode:
① Press
F2
key in the Main Menu screen as shown on
[MAIN MENU]
the right.
MEN SYS PCOM 》
F2
F2
ESC
[SYSTEM]
key.
RST ERR VER CCLR
F3
[SYSTEM/VER]
MAC CONTROLLER
ROM-VER 3.30A
③ The ROM version screen appears as shown on the right.
To move to the upper screen, press ESC
key.
4-9
ESC
Chapter 4
4-10. Changing the System Coordinate Values
This mode allows the user to change the coordinate values of the system. See below how to use this mode:
① Press
F2
key in the Main Menu screen as shown on
[MAIN MENU]
the right.
MEN SYS PCOM 》
F2
ESC
[SYSTEM]
F4
key.
RST ERR VER CCLR
F4
③ When the screen shown on the right appears, execute the
"CCLR" command. When the command is completed,
the screen automatically returns to the upper screen.
4-10
[SYSTEM/CCLR]
WAITING !
CCLR Processing
Chapter 4
4-11. PCOM (PC Communication)
This mode is used for the communication with the PC. See below how to use this mode:
① Press
F3
[MAIN MENU]
on the right.
MEN SYS PCOM 》
F3
② When the screen as shown on the right appears, it gets
ready for the communication with the PC.
4-11
PC COM READY
ESC
Chapter 4
4-12. Setting the Password
This mode allows testing the system or using the password without performing zero return. See below how to
use this mode:
① Press
F3
[MAIN MENU]
on the right.
PAL
SPL
USER 》
F3
[USER]
F3
key.
ZR
F1
ESC
PWD ....
....
[USER]
key, and the message "ZERO RETURN
OLD PWD=_
NEW PWD=_
OK!" is displayed. When zero return is completed,
the screen as shown on the right reappears.
ZR
③ When the screen shown above in ② appears, press F2
PWD ....
....
key, and the message "OLD PWD = _"
is displayed. When you enter the right password, you are prompted to enter a new message, with the
message "NEW PWD = _".
④ The password works only when the system parameter “LOCK” is set as "PWD" or "ALL". The
default value of the password is "0", and the password should be set with 4 digits of Arabic
numerals (0 ~ 9). If you enter the password for the first time, for example, you have to set the
password in the following sequence.
1). Set the “LOC” parameter among system parameters to the "PWD" or the "ALL"
2). Select the “PWD” from the [USER] mode.
3). Enter “0” to "OLD PWD = _" and press
ENT
key.
4). Enter 4 digits of desired Arabic numerals to the "NEW PWD = _" and pressENT
4-12
key.
Chapter 4
4-13. REG
REG mode is used for displaying or editing the content of the register (R00 ~ R99). See below how to use this
mode:
① Press
F1
[MAIN MENU]
on the right.
REG
.....
F1
..... >|
ESC
F1
key (to jump to a certain register number),
[REG]
F2
key (to delete the content of a register),
R00 = 0000(000h) <
F3
key (to enter a register),
F4
key (to delete the content of all registers
R01 = 0000(000h)
JMP DEL SET ADEL
<R00>
(R00~R99)),
J+
key (to move one line above), or
J-
key (to move one line below).
F3
ESC
③ When the screen as shown above in ② appears, press
F3
key. Then the message "Rxx=_" is displayed to
[REG]
<R00>
received the register entry, and you can enter 4 digits of
R00 = _
decimal numbers. (000h) displayed on the right is the
R01 = 0000(000h)
JMP DEL SET ADEL
decimal value expressed in the hexadecimal value.
4-13
CHAPTER 5
ZERO RETURN AND STEP/AUTO RUN
5-1. Zero Return
5-2. Step Run
5-3. Auto Run
Chapter 5
5-1. Zero Return
In order to search the zero point of the system after applying power to the system, you have to perform zero
return first. See below how to perform zero return with the T/P :
① Press F1
[MAIN MENU]
on the right.
RUN PRG SET
>>
F1
ESC
F1
[RUN]
key.
<00>
Program No.
ZR STE AUT PCHG
③ As the screen shown on the right appears, zero
return starts. When the zero return is completed
F1
[RUN/ZR]
normally, the screen automatically returns to the
WAIT !
upper screen.
ZERO RETURNING...
But, if the zero return is not completed normally,
the error message is displayed on the screen.
At this time, press
ESC
key to return to the upper
screen.
④ Zero return for each axis is performed according to the method and sequence specified in the
"ZRAX" and the "ZRIN" among system parameters.
5-1
Chapter 5
5-2. Step Run
In this mode, it is possible to examine the operation of the user program by executing the program step by
step.
[MAIN MENU]
① Press
F1
key in the Main Menu screen as
shown on the right.
RUN PRG SET
>>
F1
② When the screen shown on the right appears,
press F2
ESC
[RUN/STEP]
<00>
key.
ZR STE AUT PCHG
F2
ESC
[RUN/STEP]
<00>
③ When the screen shown on the right appears, press
F1
000 SPD 100
key (to execute the marked line)
RUN JMP
F2
key (to jump to the desired line)
F3
key (to indicate and display the I/O),
F4
key (to select jog operation), or
↑
―↓
I/O JOG
F1
key (to skip up or down one line).
[RUN/STEP]
<00>
STEP RUNNING....
④ As the screen shown on the right appears, step run is
000 SPD 100
HLD PAU ...
....
executed. When the step run is normally completed, the
screen automatically returns to the upper screen. Press
F1
and
F2
keys while the system runs, to stop the system and return to the upper
screen.
Functions of HLD (Hold) and PAU (Pause) are described below:
HLD = Hold the robot at the designated deceleration rate when the robot is running, and execute
the next line.
PAU = Hold the robot at the designated deceleration rate when the robot is running, and execute
the line that was being executed again.
5-2
Chapter 5
5-2-1. Input/Output in Step Run Mode
This mode is used to display the I/O state when the user program being executed step by step in the step run
mode described earlier stops. See below how to use this mode:
① Press
F1
key in the main menu screen as
[MAIN MENU]
shown on the right.
RUN PRG SET
>>
F1
F2
ESC
[RUN]
<00>
key.
F4
ZR STE AUT PCHG
F2
F3
key.
ESC
[RUN/STEP]
<00>
000 SPD 100
RUN JMP
I/O JOG
F3
ESC
④ The screen shown on the right displays the status of 32
[SIG/IO/OUT]
output signal points in real time.
Press F1
key, and you can turn on or off the
external output signal points one by one.
Press F2
0000000000000000
SIG ON OFF MONI
key, and you can turn on all of 24
external output signal points.
Press F3
0001000000000000
F4
ESC
key, and you can turn off all of 24
[SIG/IO/IN]
Press F4
0100000000000000
key, and the screen displays the status
0000000000000000
of 32 input signal points in real time.
1 ---------->32
* 0 = Input/Output OFF
* 1 = Input/Output ON
5-3
Chapter 5
5-3. Auto Run
In this mode, the user program is executed automatically. See below how to use the auto run mode:
② Press
F1
[MAIN MENU]
shown on the right.
RUN PRG SET
>>
F1
[RUN]
ESC
<00>
F3
key.
ZR STE AUT PCHG
F3
[RUN/AUTO]
ESC
<00>
F1
or F2
(If you press
F3
000 SPD 100
key.
key here, It can be displayed
current step of sub-program executing through by “RUN”
CRUN RUN SUB I/O
F1
command.)
[RUN/AUTO]
④ When the screen shown on the right appears, auto run is
executed. To stop the program execution, press
F3
Press
AUTO RUNNING....
000 SPD 100
STOP
DON
key, and the program being executed stops after all linesHLD
of thePAU
program
are executed.
F4
key during auto run, and the current location of each axis is displayed. For 3-axis
or 4-axis controller, press ESC
or
<00>
F2
key and you can return to the previous screen. Press
F1
key during auto run, and the robot stops running and the screen returns to the upper
screen. Functions of the HLD (Hold) and the PAU (Pause) are described below:
HLD = Hold the robot at the designated deceleration rate when the robot is running, and execute
the next line.
PAU = Hold the robot at the designated deceleration rate when the robot is running, and execute
the line that was being executed again.
5-3-1. I/O Input/Output in Auto Run Mode
5-4
Chapter 5
This mode is used to display the I/O state when the user program step by step executed in the auto run mode
as described in the earlier steps. See below how to use this mode:
① Press
F1
[MAIN MENU]
shown on the right.
RUN PRG
SET
>>
F1
F3
ESC
[RUN]
<00>
key.
ZR STE AUT PCHG
F3
F4
ESC
[RUN/AUTO]
<00>
key.
000 SPD 100
CRUN RUN
④ The screen shown on the right displays the status of 32
SUB I/O
ESC
F4
output signal points in real time.
Press F1
key, and you can turn on or off the
external output signal points one by one.
Press F2
key, and you can turn on all of 24
L
.-V
D
O
G
IN
M
R
A
]P
T
E
[S
[SIG/IO/OUT]
0001000000000000
0000000000000000
SIG ON OFF MONI
Press F3
key, and you can turn off all of 24
F4
ESC
Press F4
key, and the screen displays the status
[SIG/IO/IN]
0100000000000000
of 32 input signal points in real time.
0000000000000000
1 ---------->32
* 0 = Input/Output OFF
* 1 = Input/Output ON
5-5
CHAPTER 6
SYSTEM PARAMETER AND AXIS
PARAMETER SETTING
6-1.
6-2.
6-3.
6-4.
6-5.
6-6.
System Parameters
Axis Parameter
GA (Gain) Axis Parameters
AX (Axis) Axis Parameters
SW (Software) Axis Parameters
LMT (Limit) Axis Parameters
Chapter 6
6-1. System Parameters
6-1-1. Setting Method
This section describes how to set the system parameters among all parameters required for the controller
operation. How to use this function is described below:
① Press
F3
[MAIN MENU]
shown on the right.
RUN PRG SET
>>
F3
F1
key.
ESC
[SET]
L
.-V
D
O
G
IN
M
R
A
]P
T
E
[S
PARAMETER
SETTING MODE
SYS EDT
REST
F1
....
ESC
③ When the screen shown on the right appears, move
J+
“◀” to the desired parameter using
J-
key and press
ENT
or
key, and the
ESC
◀
ARCH= 2AXIS
system enters the parameter setting mode.
If you press
[SET/SYS] [S
L
.-V
D
O
G
IN
M
R
A
]P
T
E
AXES= 2AXES
...
...
...
....
key, the system escapes from
the parameter setting mode without any change.
※ The values of the system parameters set at the time of delivery from the factory are given below.
No.
Parameter
Set Value
Remarks
1
AXES
2AXES
2
SPIN
OFF
3
ARCH
2AXIS
Sets the arch axis.
4
UPAX
2AXIS
Sets the up-motion axis.
5
ZRAX
1
6
ZRIN
Z+HOM
7
CSPD
2
Sets the number of control axes.
Uses the spindle axis.
Sets the order of zero return.
Sets the method of completing zero return (using
Encoder Z-phase)
Sets the arch, circular and spline speed.
6-1
Chapter 6
No.
Parameter
Set Value
Remarks
8
JGIO
OFF
Sets whether to or not to use the Jog I/O.
9
PSGF
OFF
Sets whether to or not to use the PSIG.
10
ESGF
OFF
Sets whether to or not to use the ESIG.
11
LOCK
OFF
Sets whether to or not to use the zero return lock
and the password.
12
BRKF
OFF
Sets whether to or not to use the brake motor.
13
BRAX
1AX
Sets the axis to be used as the brake motor.
14
PSIG
000000h
User I/O output value upon system booting and
upon zero return completion
15
ESIG
000000h
User I/O output value upon system error
16
ZRNO
000000h
Sets whether to or not to zero return by each axis
17
BRON
000000ms
Delay time until the brake turns on after the servo
power is off.
18
BROF
000000ms
Delay time until the brake turns on after the servo
power is off.
6-1-2. Definition of System Parameters
1) AXES : Parameter that decides the number of control axes, which is set according to the controller type at
the time of delivery from the factory. It should be set as “2AXES” for the 2-axis controller,
"3AXES" for the 3-axis controller, and “4AXES” for the 4-axis controller.
(Note) When you reset the AXES parameter, be sure to use the controller after confirming all
parameter values. Otherwise, the system might be damaged seriously.
2) SPIN
: Parameter that decides whether to use or not to use the spindle axis, which is set as “OFF” at the
time of delivery from the factory. The last axis of each controller is automatically set as the spindle
axis.
Two values of "ON" and "OFF" are available:
"ON"
=> Use the spindle axis.
Axis 2 of MAC-201/211 controller is automatically designated as the spindle axis.
"OFF" => Do not use the spindle axis.
6-2
Chapter 6
(Note) If any multi-axis movement command other than “VMP” and “VMN” commands is used
with PIN parameter "ON", the axis designated as the spindle axis does not move.
"VMP" and "VMN" commands are applied only to the axis designated as the spindle axis, which
are used not for location control but for velocity control.
(For more details about "VMP" and "VMN" commands, see Chapter 10.)
3) ARCH
: Parameter to set the axis to execute arch motion.
It should be set as “2AXES” for the 2-axis controller, "3AXES" for the 3-axis controller, and
“4AXES” for the 4-axis controller.
There are four values available: "1AX","2AX","3AX" and "4AX".
4) UPAX
: Parameter to set the axis to execute up motion.
It should be set as “2AXES” for the 2-axis controller, "3AXES" for the 3-axis controller, and
“4AXES” for the 4-axis controller.
There are four values available: "1AX","2AX","3AX" and "4AX".
5) ZRAX
: Parameter to set the order of zero return of each axis, which is set as “1” at the time of delivery
from the factory.
There are ten values available: "0 ~ 9".
"0" => Do not perform zero return.
"1" => 3-12-4
=> Zero return is performed in the order of Axis 3->Axes 1 and 2 -> Axis 4.
"2" => 34-12
=> Zero return is performed in the order of Axes 2 and 3->Axes 1 and 2.
"3" => 4-3-2-1
=> Zero return is performed in the order of Axis 4 -> Axis 3 -> Axis 2-> Axis 1.
"4" => 4321
=> Zero return is performed for Axes 4, 3, 2 and 1 at the same time.
"5" => 12-34
=> Zero return is performed in the order of Axis 1 -> Axis 2 -> Axes 3 and 4.
"6" => 1-2-3-4
=> Zero return is performed in the order of Axis 1 -> Axis 2 -> Axis 3 -> Axis 4.
"7" => 1-2-4-3
"8" => 2-1-3-4
"9" => 2-1-4-3
But, if there are no Axis 3 and Axis 4, zero return of these axes is ignored.
When this parameter is set as "0", the zero return completion signal output turns on when the
system booting is completed.
6) ZRIN
: Parameter to set whether to use the home sensor or to use the home sensor and the Encoder Zphase to complete zero return of each axis, which is set as “Z+HOME” at the time of delivery from
the factory.
There are four values available: "Z+HOME","HOME1","HOME2" and "Z-P".
"Z+HOME" => Complete zero return using the home sensor and the encoder Z-phase.
"HOME1"
=> Complete zero return using the home sensor.
"HOME2"
=> Complete zero return using the home sensor.
"Z-P"
=> Complete zero return using the encoder Z-phase only (without the home sensor).
Details about each zero return method are described in the following pages.
6-3
Chapter 6
【Zero Return Method】
HOME
SENSOR
INPUT
Home
Sensor
Input
ENCODER Z-phase
Z-PHASE INPUT
Encoder
Input
①
1. ZRIN = Z+HOME, CDIR = -, ZDIR = + CASE
②
①
2. ZRIN = Z+HOME, CDIR = -, ZDIR = - CASE
②
①
3. ZRIN = Z-P, ZDIR = +,- CASE
①
①
4. ZRIN = HOME1, CDIR = - CASE
②
③
①
5. ZRIN = HOME2, CDIR = - CASE
7) CSPD : Parameter to set the velocity for circular, arc and spline operations.
There are four values available: "1", "2", "3" and "4".
"1" => The range of operation velocity is set as 0.01mm ~ 1mm/sec.
"2" => The range of operation velocity is set as 1mm ~ 100mm/sec.
For example, the relation of the CSPD with the SPD, when the CSPD parameter is set as "2", is
shown below:
SPD 1
=> 1 mm/sec
SPD 100 => 100 mm/sec
8) JGIO
: Parameter that determines whether to or not to use the jog I/O.
This parameter can be set as either "OFF" or "ON".
"OFF" => Use the jog I/O function.
"ON" => Do not use the jog I/O function. For the jog I/O function, refer to the description in
Section 3-8.
6-4
Chapter 6
9) PSGF
: Parameter that determines whether to or not to use the value set in the PSIG.
The PSIG is used to initialize the user output I/O status when power is applied to the controller.
This parameter can be set as either "OFF" or "ON".
When the PSGF is set as "OFF", the user output I/O status is all 1 (high) and when it is set as
"ON", the user output I/O is initialized with the value set in the PSIG.
10) ESGF : Parameter that determines whether to or not to use the value set in the ESIG.
The ESIG is used to initialize the user output I/O status when a system error occurs.
This parameter can be set as either “OFF” or “ON.
When the or is set as "OFF", the user output I/O status is kept as it is even when a system error
occurs. On the other hand, if it is set as "ON", the user output I/O is initialized with the value set in
the ESIG.
11) LOCK : Parameter that determines whether to or not to use the zero return lock signal and the password,
which is set as “OFF” at the time of delivery from the factory. Available values are "OFF", "ZR",
"PWD" and "ALL".
"OFF" => Do not use the zero return lock signal and the password.
"ZR " => Use the zero return lock signal and the password. The zero return lock signal is External
Input Signal No. 9. That is, the zero return operation is executed only when External
Input Signal No. 9 is set as ON.
"PWD" => Use the password. The password set in [USER] mode operates.
The password operates in one of "PRG mode", "LOC mode", "SFT mode" and "SET
mode". The password default is "0".
"ALL" => Use both the zero return lock signal and the password.
The operations described in "ZR" and "PWD" are all available.
12) BRKF : Parameter that determines whether to or not to control the brake motor, which is set as “OFF” at
the time of delivery from the factory. This parameter can be set as either "OFF" or "ON".
"OFF" => Indicates that there is no axis to execute the brake control.
"ON " => Indicates that there is an axis to execute the brake control.
★ When the location is set as MEN (Manual Teaching) mode, the BRKF parameter should be set
as "OFF". This is because it is impossible to operate the brake axis with hands as the brake
operates when the servo power is off.
13) BRAX : Parameter to set the axis to use the brake motor, which is set as "1AX" at the time of delivery from
the factory. There are four values available: "1AX", "2AX", "3AX" and "4AX".
This parameter does not operate if the BRKF parameter is set as "OFF".
6-5
Chapter 6
14) PSIG
: Parameter used to initialize the user output I/O status when power is applied to the controller and
when zero return is completed. The input parameter is 000000H ∼ FFFFFFH.
It operates only when the PSGF parameter is "ON".
15) ESIG
: Parameter used to initialize the user output I/O status when a system error occurs. The input
parameter is 000000H ∼ FFFFFFH.
It operates only when the ESGF parameter is "ON”
16) ZRNO : Parameter to set whether to or not to zero return.
Set range are 000000H ∼ 00000FH. The default value set 000000H at factory.
BIT 0 -> 1-axis (0 : to zero return , 1 : not to zero return)
17) BRON : Parameter to set the delay time until the brake turns on after the servo power turns off, which is set
as "000000ms" at the time of delivery from the factory. The unit is ‘msec’.
The input parameter is 000000ms ∼ 999999ms.
It does not operate when the BRKF parameter is "OFF".
18) BROF : Parameter to set the delay time until the brake turns off when the servo power turns on, which is
set as "000000ms" at the time of delivery from the factory. The unit is ‘msec’.
The input parameter is 000000ms ∼ 999999ms.
It does not operate when the BRKF parameter is "OFF".
6-6
Chapter 6
6-2. Axis Parameters
This section describes how to set the axis parameter required for the controller operation. How to use this
function is described below:
① Press F3
[MAIN MENU]
on the right.
RUN PRG SET
F2
F3
key to set the axis parameter, or press
key to reset the axis parameters to the
>>
F3
[SET]
ESC
L
.-V
D
O
G
IN
M
R
A
]P
T
E
[S
PARAMETER
default values. In the latter case, the parameters set
SETTING MODE
by the user are ignored.
SYS EDT
REST ....
③ The explanation about the screen on the right is given below:
Press
F1
Press
F2
key to set the gain parameters.
key to set the axis configuration
[SET/EDT]
parameters.
Press
F3
key to set the upper and the lower
software limits for each axis.
Press
F4
ESC
F2
L
.-V
D
O
G
IN
M
R
A
]P
T
E
[S
PARAMETER
SETTING MODE
GA AX S/W LMT
key to set the active level of every
limit sensor.
6-7
Chapter 6
*. Default Values of Parameters
◇ GA (Gain): All axes are set with the same value.
No.
Parameter
Set Value
No.
Parameter
Set Value
1
P_p
50
6
V_p
2000
2
P_i
0
7
V_i
0
3
P_d
0
8
V_d
0
4
P_f
0
9
V_f
0
5
P_l
0
10
V_l
0
Note ) GAIN parameter is not applicable to position type MAC Controllers (MAC-201/301/401).
Also it is not applicable to MAC Controller connected with Samsung FARA robot as well.
If you try GAIN adjust, please do adjust on servo driver directly
◇ AX (Axis): All axes are set with the same value.
No.
Parameter
Set Value
No.
Parameter
Set Value
1
MOTOR
MICRO
6
CDIR
-
2
LOOP
SEMI
7
ZDIR
+
3
CONT
VELO
8
CDRD
CW
4
VOLT
BI-PO
9
ENDIR
+
5
STEP
TWO
10
LMTCK
YES
◇ S/W: All axes are set with the same value.
No.
Parameter
Set Value
No.
Parameter
Set Value
1
CR
0
10
DCC
20
2
LL
-1000.00
11
INP
100
3
UL
1000.00
12
PUL
0
4
OFF
0.00
13
C_VEL
100
5
ERR
100.00
14
F_VEL
20
6
VEL
3000.00
15
Z_ACC
10
7
GEB
20.00
16
P_ACC
20
8
GEA
2048
17
RATIO
1
9
ACC
20
18
JLOCK
0
◇ LMT (Limit): All axes are set with the same value.
No.
Parameter
Set Value
No.
Parameter
Set Value
1
POSI
HIGH
4
SVERR
HIGH
2
NEGA
HIGH
5
SVRST
LOW
3
HOME
HIGH
6
SVON
LOW
6-8
Chapter 6
6-3. GA (Gain) Axis Parameter
1) P_p
: Proportional gain used for position control, set within the range of 0 ∼ 50000.
2) P_i
: Integral gain used for position control, set within the range of 0 ∼ 50000.
3) P_d
: Derivative gain used for position control, set within the range of 0 ∼ 50000.
4) P_f
: Feed forward gain used for position control, set within the range of 0 ∼ 50000.
5) P_l
: Integral upper limit used for position control, set within the range of 0 ∼ 50000.
6) V_p
: Proportional gain used for velocity control, set within the range of 0 ∼ 50000.
7) V_i
: Integral gain used for velocity control, set within the range of 0 ∼ 50000.
8) V_d
: Derivative gain used for velocity control, set within the range of 0 ∼ 50000.
9) V_f
: Feed forward gain used for velocity control, set within the range of 0 ∼ 50000.
10) V_l
: Integral upper limit used for velocity control, set within the range of 0 ∼ 50000.
Gain values applied according to the applied servo driver types are listed below:
● Position-type Servo Driver ==> Gain parameter values are ignored. That is, the gain is not needed.
● Velocity-type Servo Driver ==> Only the gain (P_p ∼ P_l ) parameters used for position control are
applied, and the gain (V_p ∼ V_l) parameters used for velocity control
are ignored.
● Torque-type Servo Driver
==> Both position and velocity gain parameters are all applied.
The gain parameters are important elements that affect the system performance, which should be set with care.
They are closely related with "MOTOR" and "CONT" parameters among the axis parameters. The relation
between "MOTOR" and "CONT" parameter and the gain parameters is summarized below:
“MOTOR” Parameter
“CONT” Parameter
Applicable Gain Parameter
“MICRO”
“STEP”
“SERVO”
“VELO"
Position Gain ( P_p ~ P_l)
“TORQ”
Position Gain + Velocity Gain (P_p ~ V_l)
Each control loop consists of PID algorithm, velocity, acceleration and feed-forward. The PID algorithm applied
to the MAC is expressed in the following formula. The PID algorithms for the position control loop and that for
the velocity control loop are the same. The analog voltage output from the MAC is calculated as follows
according to the velocity control mode or the torque control mode.
6-9
Chapter 6
Yv (Velocity Control)
= KR [( P_p * PEn
+ P_i * PSn + P_d * (PEn - PEn-1) + P_f * Vn)]
Yt (Torque Control)
= KR [( P_p * PEn
+ P_i * PSn + P_d * (PEn - PEn-1) + P_f * Vn) + ( V_p * VEn
+ V_i * VSn + V_d * (VEn - VEn-1) + V_f * An)]
PSn = PSn-1 + PEn
[ if ( -P_l < PSn < P_l ) ]
P_l
[ if ( PSn > P_l ) ]
-P_l
[ if ( PSn < -P_l ) ]
VSn = VSn-1 + VEn [ if ( -V_l < VSn < V_l ) ]
V_l
[ if ( VSn > V_l ) ]
-V_l
[ if ( VSn < -V_l ) ]
Where,
Y
= PID and feed-forward control output, Sample Period ‘n’
KR
= Scale factor (1/512)
P_p,V_p = Proportional gain of position and velocity
P_i,V_i
= Integral gain of position and velocity
P_d,V_d = Derivative gain of position and velocity
P_f,V_f
= Feed-forward gain
PEn,Ven = position and velocity error of Sample Period n
Vn
= Velocity command of Sample Period ‘n’
An
= Acceleration command of Sample Period ‘n’
PSn,VSn = Sum of location errors (PEn) and velocity errors (VEn)
P_l,V_l
= Maximum value of sum of position errors (PEn) and velocity errors (VEn)
Characteristics of each gain are briefed below:
◆ Proportional Gain
The proportional gain affects the analog command voltage, based on the error. If the proportional gain is high,
the response becomes "Stiffer" and if it is low, the response becomes "Mushy" and accordingly the error
becomes larger. If the proportional gain is too high, the motor might vibrate, or buzzes when it runs or stops.
◆ Integral Gain
The integral gain adds the static state error, which is used to reduce or get rid of the position and velocity errors
in stop. The sum of errors has I LIMIT as the maximum value, and thus it is possible to prevent "WINDUP"
phenomenon.
◆ Derivative Gain
The derivative gain affects the analog command voltage, based on the changed amount of errors. It works as the
damping element and reduces overshoot. If the derivative gain is large, noises might occur.
6-10
Chapter 6
◆ Feed-forward Gain
The feed-forward gain works with the changed amount of position and velocity command as its input, and adds
the result to the PID output. It reduces the errors that occur while the robot moves.
◆ Integral Limit
The integral limit is the absolute value that determines the upper limit and the lower limit of the error sum. It is
also used to prevent "WINDUP" phenomenon.
6-11
Chapter 6
6-4. AX (Axis) Parameters
1) MOTOR : Parameter to set the type of the motor driver you are using.
This parameter can be set as one of "MICRO", "SERVO" and "STEP", and the relation between
each parameter and the motor driver is briefed below:
Parameter Set Value
Applicable Motor Driver
Remarks
Position-type Servo, Micro Stepper,
“MICRO”
Motor driver equipped with its own distribution
function with the pulse string as its input.
Velocity-type Servo,
“SERVO”
Motor drive with analog input
General Stepper,
“STEP”
Motor driver without its own distribution
function, with the pulse string as its input
2) LOOP :
Parameter to set the method by which the user controls the system.
This parameter can be set as one of "SEMI","OPEN" and "CLOSE".
"SEMI" loop means to set the location upon in-position completion and in the manual teaching
mode, with the feedback of the encoder data from the motor driver. Select this parameter when
you use the position-type servo.
"CLOSE" loop means to control the system with the feedback of the encoder data from the motor
driver. Select this parameter when you use the velocity type servo.
"OPEN" loop means that there is no feedback of the encoder data from the motor driver. Select
this parameter when you use the micro-stepper without the encoder or general stepper.
(Note) If you set “CLOSE” when you use the lposition-type servo, the position control is
executed both in the MAC and the position-type servo and thus, it is impossible to control
the position normally.
(Note) If you set “OPEN” when you use the position-type servo, there is no feedback of the
encoder from the motor driver and it is impossible to set the location using “MNU
(manual teaching mode)”.
3) CONT :
Parameter used when you use the velocity-type servo.
This parameter can be set as either "VELO" or "TORQ".
Set "VELO" when you use the velocity-type servo in the velocity control mode.
Set "TORQ" when you use the velocity-type servo in the torque control mode..
Before setting the CONT parameter, be sure to check the motor driver control mode.
6-12
Chapter 6
4) VOLT : Parameter to set the directionality of analog voltage output from the controller.
This parameter can be set as either "BI-PO" or "UNI-PO".
When it is set as "BI-PO", ±10V voltage is output from the controller.
When it is set as "UNI-PO", 0 ∼ 10V voltage is output from the controller.
5) ST-EP
: Parameter to set the mode of pulse strings output from the controller.
This parameter can be set as either "TWO" or "ONE".
If the external device receives CW+CCW pulse string as its input, set "TWO".
If the external device receives the sign+ pulse string as its input, set "ONE".
6) CDIR
: Parameter to set the initial move direction at the time of zero return.
This parameter can be set as either "-" or "+".
When it is set as "-", the robot body moves to ‘-’ coordinate system direction at the time of zero
return.
When it is set as "+", the robot body moves to ‘+’ coordinate system direction at the time of zero
return.
7) ZDIR
: Parameter to set the move direction when the robot searches the Z-phase on the encoder after
encountering the home sensor at the time of zero return.
This parameter can be set as either "-" or "+".
When it is set as "-", the robot body moves to ‘-’ coordinate system direction at the time of zero
return.
When it is set as "+", the robot body moves to ‘+’ coordinate system direction at the time of zero
return.
The ZDIR is available only when the ZRIN system parameter is set as "Z+HOME" or "Z-P".
8) CORD
: Parameter to set the coordinate system direction (which changes the direction of motor revolution)
This parameter can be set as either "CW" or "CCW".
-
Coordinate System
Direction
+
+
Motor
Coordinate System
Direction
-
Motor
CORD Paramete r "CW"
CORD Paramete r "CCW"
9) ENDIR : Parameter to set the direction of the encoder signal from the servo driver
This parameter can be set as either "+","-".
If System Error No.15 occurs when the robot moves with maintaining the coordinate system
direction, set the ENDIR parameter as opposite. This is because the coordinate system direction is
right but the encoder direction is wrong.
10) LMTCK : Parameter to set whether to or not to apply the LL (Lower Limit) or UL (Upper Limit) specified
in the "S/W" parameter
When this parameter is set as "YES", the LL and the UL are applied when the robot moves.
When this parameter is set as "NO", the robot moves regardless of the LL or the UL.
6-13
Chapter 6
6-5. SW (Software) Axis Parameters
1) CR
: Parameter to set the values of the coordinate system.
The input range is -21470000.00 ∼ +21470000.00 (pulse or step).
Using the CCLR command, it is possible to change Encoder-Counter values to those specified in
the CR parameter, to change the position of the coordinate system.
If the value is so large, the work area is limited by the LL and UL parameters. Therefore, the value
should be set in consideration to those limits.
In addition, the input value is automatically scaled according to the gear ratio (GEA and GEB).
2) LL
: Parameter to set the maximum amount that the system can move to – direction of the coordinate
system. The input range is -21470000.00 ∼ +21470000.00 (pulse or step).
The LL parameter should be set less than the UL parameter. In addition, the input value is
automatically scaled according to the gear ratio (GEA and GEB).
3) UL
: Parameter to set the maximum amount that the system can move to + direction of the coordinate
system. The input range is -21470000.00 ∼ +21470000.00 (pulse or step).
The UL parameter should be set larger than the LL parameter. In addition, the input value is
automatically scaled according to the gear ratio (GEA and GEB).
4) OFF
: Parameter used to reset the zero point of the coordinate system.
The input range is -21470000.00 ∼ +21470000.00 (pulse or step).
This parameter allows to perform process several works with the same location data, by moving
the zero point of the coordinate system to the OFF parameter when there are several works with
the same relative movement distance.
The input value is automatically scaled according to the gear ratio (GEA and GEB).
5) ERR
: Parameter to set the maximum size of the position error that occur while the system operates.
The input range is 0 ∼ +100000.00 (pulse or step). This parameter is useful for controlling the
path that has to pass through an obstacle.
The input value is automatically scaled according to the gear ratio (GEA and GEB).
6) VEL
: Parameter to set the maximum revolution velocity of the motor in RPM unit. The figure next to the
SPD command is recognized as percentage to the value set here as 100%. The input range is 0 ∼
30000.00 RPM.
7) GEB
: Parameter to set the value required for calculating the gear ratio of the system.
The input range is 0 ∼ 900000. The unit varies with the input value. That is, if 0 is input, the unit
is pulse. Otherwise, the unit is ‘mm’ or ‘deg’.
The GEA and GEB parameters should be entered according to the system as shown in the
following example.
(Ex) For Motor Resolving Power = 2048 pulse/rev, Lead = 20mm
GEA = 2048, GEB = 20.00
6-14
Chapter 6
8) GEA
: Parameter to set the motor resolving power (pulse/rev). The input range is 1 ∼ 900000
(pulse/rev). As the GEA parameter value is closely related to the zero return velocity, it should be
set according to the motor specification.
(Note) When the parameters are set as MOTOR = "SERVO", LOOP = "CLOSE" and FEED =
"ENCO", the position data feed-back from the motor driver becomes 4 times. Thus, the
value calculated from ‘Motor Resolution x 4’ should be entered at the time of setting the
GEA.
9) ACC
: Parameter to set the acceleration time required for the motor to reach the designated velocity from
the zero (0) velocity. If the acceleration time is not define in the user program, the motor
accelerates at the velocity designated by the ACC parameter.
The input range is 0 ∼ 200, and the unit is ‘10ms’.
10) DCC : Parameter to set the deceleration time required for the motor to reach the zero (0) velocity from the
designated the velocity. If the deceleration time is not define in the user program, the motor
decelerates at the velocity designated by the DCC parameter.
The input range is 0 ∼ 200, and the unit is ‘10ms’.
11) INP
: Parameter to set the In-position pulse value that checks the degree of convergence to the goal
position. The input range is 0 ∼ 900000 (pulse or step), and the unit is pulse.
It takes 5 seconds to check the degree of convergence and, if the deviation value does not converge
the designated INP parameter value within this time, the program execution stops and an error
occurs.
12) PUL
: Parameter to set the pulse de-multiplication ratio. The input range is 0 ∼ 100.
The PUL parameter is available only when the MOTOR parameter is set as "STEP".
(Note) As the PUL parameter is the dividing ratio, the distance and velocity of actual movement
are also reduced to 1/20 when this parameter is set as 20. Therefore, the movement distance
and velocity should be set by multiplying as much as the pulse dividing ratio.
13) C_VEL : Parameter to set the velocity at which the system moves until it meets the home sensor at the time
of zero return. The input range is 1 ∼ 5000, and the unit is RPM.
14) F_VEL : Parameter to set the velocity at which the system moves until it meets the second home sensor
after it meets the home sensor at the time of zero return. The input range is 1 ∼ 5000, and the
unit is RPM.
15) Z_ACC : Parameter to set the acceleration/deceleration time required for the motor to reach the velocity
specified by the C_VEL and F_VEL parameters from zero (0) velocity.
The input range is 0 ∼ 200, and the unit is 10ms.
16) P_ACC : Parameter to set the deceleration time in which the system reaches the zero velocity (0) stops
during movement upon Input of the Pause while executing the program.
The input range is 0 ∼ 200, and the unit is 10ms.
17) RATIO : Parameter to set the multiplication ratio of the Encoder data feed-back from the motor driver.
6-15
Chapter 6
The input range is 1 ∼ 100.
This parameter might be useful in combination with the electronic gear ratio of the servo.
18) JLOCK : Parameter to set the jog mode lock signal. The input range is 1∼16 (External Signal ON) and 21
~ 36 (External Input Signal OFF).
For example, if this parameter is set as "JLOCK=5", the External Input Signal 5 is “ON and the jog
mode operation at the corresponding axis is not moving.
In addition, if it is set as "JLOCK=25", the External Input Signal 5 is "OFF" and the jog mode
operation at the corresponding axis is not moving.
6-6. LMT (Limit) Axis Parameters
1) POSI
: Parameter to set the active level of ‘+ Limit’ sensor.
This parameter can be set as either "HIGH" or "LOW".
2) NEGA : Parameter to set the active level of ‘- Limit’ sensor.
This parameter can be set as either "HIGH" or "LOW".
3) HOME : Parameter to set the active level of the home sensor.
This parameter can be set as either “HIGH" or "LOW".
4) SVERR
:
Parameter to set the active level of the error signal output from the motor driver. This
parameter can be set as either “HIGH" or "LOW".
5) SVRST : Parameter to set the active level of ‘Error Reset’. This parameter can be set as either “HIGH" or
"LOW".
6) SVON : Parameter to set the active level of ‘Servo Power ON’. This
parameter can be set as either “HIGH" or "LOW".
6-16
CHAPTER 7
LOCATION DATA SETTING
7-1.
7-2.
7-3.
7-4.
7-5.
Location Data Setting
Absolute Location Data Setting
Relative Location Data Setting
Jog Data Setting
Manual Data Setting
Chapter 7
7-1. Location Data Setting
There are following three ways to set the location data at the MAC:
① Numerical value input
② Location data setting in the jog mode
③ Location data setting in the manual mode
Location data is classified into the absolute location data and the relative location data, each of which is stored
to separate parameter.
Absolute Location Data Storage Parameter : P000 ~ P999
Relative Location Data Storage Parameter : S00
~ S99
The absolute location data can be entered in any of the above three methods, but the relative location data can
be entered only by the numerical value input.
The location data are global parameters that can be used by several programs.
7-1
Chapter 7
7-2. Absolute Location Data Setting
This section describes how to enter the location data required for operating the robot, directly in numerical
values (Manual Data Input: MDI). This location data indicates the absolute location. See below how to use this
mode.
① Press
F1
key in the main menu as
[MAIN MENU]
shown on the right.
LOC SFT JOG
>>
ESC
F1
F1
key (to jump to a specified LOC number)
[LOC]
F2
key (to delete a location),
F3
F4
key (to enter a location),
P000
◀
[P001]
JMP DEL EDT COPY
J+
J-
key (to move up one line), or
key (to copy a location)
key (to move down one line).
The LOC marked with "【】" means that the
location data is stored.
key and enter the location data in
numerical values, and enter
Otherwise, enter
ESC
ENT
ESC
F3
ENT
<P000>
to save the data.
key, and the entered data is
[LOC/EDT]
AX1=0.00
<P000>
◀
AX2=0.00
AX3=0.00
3축일 경우에 표시됨
ignored and the original value is kept.
AX1=0.00
AX2=0.00
AX3=0.00
◀
AX4=0.00
For
the 4-axis
controller
4축제어기
일경우
7-2
Chapter 7
7-3. Relative Location Data Setting
This section describes how to enter the location data required for operating the robot, directly in numerical
values (Manual Data Input: MDI). This location data indicates the relative location. See below how to use this
mode.
① Press
F2
key in the main
[MAIN MENU]
menu as shown on the right.
LOC SFT JOG
F1
key (to jump to a SPECIFIED SFT number)
F2
key (to delete a shift location),
F3
F4
key (to enter a shift location),
J+
J-
key (to skip up one line), or
ESC
F1
[SFT]
key (to copy a shift location)
>>
[ <S00>
L
.-V
D
O
G
IN
M
R
A
]P
T
E
S
S00
◀
[S01]
JMP DEL EDT COPY
key (to skip down one line).
The SFT marked with "【】" means that the
location data is stored.
ESC
F3
③ When the screen shown on the right appears,
press
ENT
key and enter the location data in
numerical values, and enter
ESC
ENT to save the
key, and the entered data is ignored and the
original value is kept.
[SFT/EDT]
AX1=0.00
AX2=0.00
L
.-V
D
O
G
IN
M
R
A
]P
T
E
[S
<S00>
◀
AX3=0.00
For
the 3-axis
3축일
경우에controller
표시됨
AX1=0.00
AX2=0.00
L
.-V
D
O
G
IN
M
R
A
]P
T
E
[S
◀
AX3=0.00
AX4=0.00
For4축제어기
the 4-axis일경우
controller
7-3
Chapter 7
7-4. Jog Data Setting
This refers to one of the methods for entering the absolute location data required for operating the system.
In this mode, you can freely move the system by manipulating the T/P keys. Place the system on a desired
location by moving it as described below, and enter the corresponding location data.
① Press F3
[MAIN MENU]
shown on the right.
LOC SFT JOG
② When the screen shown on the right appears, move
J+
the robot to the desired location using
W+
and
keys (+ coordinate direction) or
JWand
keys (- coordinate
F2
direction). Then, press
key to store the
F1
location data. To select an axis, press
key. Press
F4
F3
>>
ESC
[JOG] <SPD=010>
CURRENT POSITION
AX1 = 100.00
AX+ STR CSPD I/O
key, and you can display the
I/O monitor input or output status.
F2
ESC
③ When the screen shown on the right appears, set
the desired location by using
J+
key (to move up one line),
Jkey (to move down one line),
F1
key (to jump to the desired location),
F2
key (to delete a location), or
F3
key (to set a location).
* Difference between
J+
Jand
J+
and
J-
keys and
[JOG/STR] <P000>
[P000]
◀
P001
JMP DEL SET ....
W+
and
keys are used for quick movement while the
WW+
keys is that the
Wand
keys for
fine movement by 0.01mm.
* In the jog movement, the robot can move inside the whole areas of the work regardless of the + or the
– limit sensor before zero return. But, after the zero return is completed, the robot stops when it meets
the + or the – limit sensor.
In other words, after the zero return is completed, the robot can move only within the area where the +
or the – limit sensor is installed.
7-4
Chapter 7
7-4-1. Jog Speed Change
This section describes how to change the jog speed, in detail.
① Press
F3
[MAIN MENU]
on the right.
LOC SFT JOG
>>
F3
② Press
F4
key in the screen shown on the right.
ESC
[JOG] <SPD=010>
CURRENT POSITION
AX1 = 123.32
AX+ STR CSPD
I/O
F3
ESC
③ When the screen shown on the right appears, enter the
ESC
key (to cancel the changed speed) or
[JOG/CSPD]
OLD SPEED = 010
ENT
key (to save the changed speed).
NEW SPEED = _
speed to be changed, and press
◆ The speed changed in the JOG/CSPD mode is valid only in the jog mode.
When you escape from the jog mode, an press
value.
7-5
JSPD
key in the teach pendant to restore the set
Chapter 7
7-5. Manual Data Setting
This mode allows entering the absolute location data required for operating the system. In this mode, you can
move the robot freely with hands to set the location, after turning off the motor power (free state). Move the
system as described below and place it on the desired location, and then enter the data about the location.
① Press
F1
key in the main menu screen as shown on
[MAIN MENU]
the right.
MEN SYS PCOM >|
ESC
F1
② When the screen shown on the right appears, the robot is
in free state. Thus, move the robot to the desired location
F4
with hands, and press
key to store the
corresponding location data.
F1
To select an axis, press
key.
F2
Press
key, and the servo power turns on.
F3
Press
key, and the servo power turns off.
③ When the screen shown on the right appears,
set the location using the following key:
J1
J2
F1
F2
F3
key (to move up one line),
[MEN]
CURRENT POSITION
AX1 = 67.12
AX+ ON
OFF STR
ESC
F4
[MEN/STR] <P000>
[P000]
◀
P001
JMP DEL SET ....
key (to move down one line),
key (to jump),
key (to delete), or
key (to set).
7-6
Chapter 7
★ Notice
① The manual teaching (MAN mode) is available only when the axis parameter LOOP is set as “SEMI” or
"CLOSE". If it is set as "OPEN", the encoder signal is not feed-back from the motor driver and thus it is
impossible to set the location. Thus, when the LOOP parameter is set as “OPEN”, it is possible to set the
location only in the jog mode.
② To set the location of the brake axis in the MEN mode, the system parameter BRKF should be set as
"OFF". This is because the brake axis does not move when the servo power is off.
7-7
CHAPTER 8
PALLET AND SPLINE OPERATION
8-1.
8-2.
8-3.
8-4.
Pallet Operation
Pallet Setting
Spline Operation
Spline Setting
Chapter 8
8-1. Pallet Operation
Pallet operation is a very useful operation for the following three works, by which the location of an object is
automatically calculated to perform the required works without the need of setting individual locations on the
pallet but only by designating four angular points of the pallet.
① Loading the object on the conveyor or a certain location on to the pallet. (Loading)
② Placing the object loaded on the pallet on to the conveyor or a certain location. (Unloading)
③ Moving the object between pallets
The commands related to the pallet operation are PS and PM commands. (See Chapter 10 Program
Languages.)
Y
for ②
for ①
X
Y
Y
X
X
8-1
Chapter 8
8-2. Pallet Setting
This mode allows creating the location on the pallet of the matrix structure. For how to use this mode, see
below.
F1
① Press
[MAIN MENU]
key in the main menu
screen as shown on the right.
PAL
SPL
USER 》
F1
②When the screen shown on the right appears
[PAL]
PAL# = 001
move "◀" to the desired parameter using J+
and
J-
keys, and press
ENT
key
ESC
<
TPNT1 =P000
to enter the setting mode.
Press
ESC
SAV CLR ...
....
key to escape from the setting mode
without making any change.
Press
F1
key to save the entry, or press
F2
key to delete the stored setting.
③ Items specified in the PAL mode are as follows:
-. PAL#
=>
Sets the pallet number, within the range of 1 ~ 100.
-. TPNT1
=>
Sets the location number of Teaching Point #1.
-. TPNT2
=>
-. TPNT3
=>
-. TPNT4
=>
-. LINES
=>
Sets the number of lines in the designated pallet, within the range of 1 ~ 100.
-. COL
=>
Sets the number of columns in the designated pallet, within the range of 1 ~ 100.
-. ZIGZAG
=>
Sets the order of creating the pallet locations.
8-2
Chapter 8
◈ When setting TPNT1 ~ TPNT4, be sure to observe the following rules.
Y
Y
TPNT4
TPNT3
TPNT2
TPNT2
TPNT1
TPNT3
TPNT4
TPNT1
X
X
◈ Order of Pallet Location Creation
① When the Zigzag mode is 1(ON),
TPNT4
TPNT3
TPNT2
TPNT3
4
9
14
19
24
20
21
22
23
24
3
8
13
18
23
15
16
17
18
19
2
7
12
17
22
10
11
12
13
14
1
6
11
16
21
5
6
7
8
9
0
5
10
15
20
0
1
2
3
4
TPNT2
TPNT1
TPNT4
TPNT1
② When the Zigzag mode is 0(OFF),
TPNT4
TPNT3
TPNT2
TPNT3
4
5
14
15
24
20
21
22
23
24
3
6
13
16
23
19
18
17
16
15
2
7
12
17
22
10
11
12
13
14
1
8
11
18
21
9
8
7
6
5
0
9
10
19
20
0
1
2
3
4
TPNT1
TPNT2
TPNT1
8-3
TPNT4
Chapter 8
8-3. Spline Operation
As being the movement along with a random curve using the location teaching by the user, the spline operation
is very useful for such equipment that must move successively along with a random curve as dispenser
equipment, bonding equipment and coating equipment.
In the MAC, the spline operation is implemented to move along with the location taught on a random curve as
shown in the following figure.
The command related to the spline operation is SPL. (See Chapter 10, Program Languages)
P051
P050, P075
X
X P074
X
P052
X P073
X
X P072
P053
X
P054
X P071
동작방 향
Direction of Operation
X
X P070
P055
X
X P069
P056 X
X P068
P057 X
P058
X P067
X
P059
X P066
X
P060
X P065
X
X
X P064
P061
P062
X
X P063
8-4
Chapter 8
8-4. Spline Setting
The spline is the mode to move along with a random curve using the location taught by the user. For how to use
this mode, see below.
① Press
F2
[MAIN MENU]
key in the main menu
screen as shown on the right.
PAL SPL
USER >|
F2
ESC
② When the screen shown on the right appears
J+
move "◀" to the desired parameter using
and
J-
keys, and press
ENT
[SPL]
SPL# = 001
key
<
START =P000
to enter the setting mode.
Press ESC
SAV
key to escape from the setting mode without making
any CLR
change....
Press F1
key to save the entry, or press
F2
....
key to delete the stored setting.
③ Items specified in the SPL mode are as follows:
-. SPL#
=>
Sets the spline number, within the range of 1 ~ 100.
-. START
=>
Sets the start location number of the spline operation.
-. END
=>
Sets the last location number of the spline operation.
◈ When setting the location for the spline operation, be sure to observe the following rules.
-. Start Location Number < Last Location Number
-. The location number should increase by 1.
8-5
Chapter 8
◈ How to Set the Spline Location
-. P050 =>
Start Location Number
-. P075 =>
Last Location Number
P051
P050, P075
X
X P074
X
P052
X P073
X
X P072
P053
X
P054
X P071
동작방
향 of Operation
Direction
X
X P070
P055
X
X P069
P056 X
X P068
P057 X
P058
X P067
X
P059
X P066
X
P060
X P065
X
X
X P064
P061
P062
X
X P063
◈ How to Set the Spline Operation
[SPL]
SPL# = 001
<
START =P000
SAV CLR ...
....
In the T/P screen, enter
.SPL#
= 001
.START = P050
.END
= P075 and press the SAV key, and the Spline Operation No.1 model is registered. When
the program executes the command SPL 1 after the model registration is completed, the
robot moves from P050 to P075 at the designated speed.
8-6
CHAPTER 9
USER COMMANDS
9-1.
9-2.
9-3.
9-4.
9-5.
9-6.
Operation Commands (DO Commands)
Input/Output (I/O) Commands
Movement Speed Designation Command
Jog Movement Speed Designation Command
Servo Power ON/OFF Command
Limit Sensor Indication Command
Chapter 9
The user commands consist of the following six commands:
1. Operation Commands (DO Commands)
2. Input/Output (I/O) Command
3. Movement Speed Designation Command
4. Jog Movement Speed Designation Command
5. Servo Power ON/OFF Command
6. Limit Sensor Indication Command
The composition of each command screen and how to operate the commands are given below.
9-1. Operation Commands (DO Commands)
The operation commands are those that can execute operations using the designated location data, without
executing any program. They are useful for the system debugging. Available commands are six movement
commands such as MVE, MVS, MVC, CIR, MVA and SFT.
See below for how to operate the commands.
① Press
DO
command in the main menu screen,
and the screen shown on the right appears.
F1
, F2
and F3
for selecting the command and
keys are used
F4
key is
[DO/MOT MENU]
DO _
MVE MVS MVC >>
used for scrolling.
② The content displayed on the screen when each command is selected is shown below. The location data
and the arch ratio following the command should be entered using the numeric keys.
MVE
=>
"DO MVE P0"
MVS
=>
"DO MVS P2"
MVC
=>
"DO MC P200,P201"
CIR
=>
"DO CR P31,P32"
MVA
=>
"DO MA P222,50"
SFT
=>
"DO SFT P10"
MVF
=>
"DO MF P10,1"
MFB
=>
"DO MB P10,-1"
SFF
=>
"DO SF P01,5"
SFB
=>
"DO SB P01,-5"
[DO/MOT MENU]
DO MVE P0
MVE MVS MVC >>
ENTand the corresponding command is executed.
③ When the screen as shown above in ② appears, press key,
Or, press key, and theESC
entered content is ignored and the screen returns to the main menu screen.
8-1
Chapter 9
9-2. Input/Output (I/O) Commands
The I/O commands allow monitoring all of 32 input and output points including the system I/O and the user I/O
points, and sending the user I/O output signals.
As letting the user know the every I/O status connected between the controller and the external device, the I/O
commands are very useful for the system debugging.
The I/O commands consist of the following four commands, which let the user know the current status of 32
I/O output points.
1). “Output by User I/O Bit” Command
2). “User I/O All ON” Command
3). “User I/O All OFF” Command
4). “Real-time Monitoring Command for 32 I/O Input Points” Command
The composition of each command screen and how to operate the commands are given below.
① Press SIG
[SIG/IO/OUT]
key in the main menu screen, and the
0000000000000000
0000000000000000
I/O Command menu screen as shown on the right
appears.
F1
With
11 ~∼1616점
Points
17 ~∼3232점
Points
SIG
F 1 ON OFF MONI
key, it is possible to turn ON/OF 1 ~
24 user output points by each bit.
F2
Press
key, and all of 24 user output points turn ON. Or, press
F3
key, and all of 24 user
output points turn OFF.
F4
Press
key, and the status of 32 I/O input points is monitored in real-time.
ESC key, and the screen returns to the main menu screen.
Press
② Press
F1
key in the I/O menu screen as shown above in
[SIG/IO/OUT]
① appears.
The range of the SIG NO is -24 ∼ 24 except 0.
ENT
For example, enter "SIG NO = -1" and press
0000000000000000
0000000000000000
key,
and the External Output Signal 1 turns OFF. Enter "SIG NO =
ENT key, and the External Output Signal
10" and press
10 turns ON.
8-2
SIG NO = _
Chapter 9
9-3. Movement Speed Designation Command
The movement speed designation command is an element to decide the actual operation speed, which is
expressed in percentage. This command is the value calculated by converting the value set in the VEL
parameter among the Axis S/W parameters into 100%.
The composition of each command screen and how to operate the command are given below.
① Press
MSPD
Movement Speed Designation Command menu
[MOVE_SPEED]
OLD SPEED = 010
screen as shown on the right appears.
NEW SPEED = _
Enter the desired value using the numeric keys and press
ENT
key, and entered value is saved.
Press
ESC
key, and the entered content is ignored
and the original value is restored.
9-4. Jog Movement Speed Designation Command
The jog movement speed designation command is the value applied at the time of movement in the jog mode,
which is expressed in percentage. This command is the value calculated by converting 50% of the value set
in the VEL parameter among the Axis S/W parameters into 100%.
① Press
JSPD
Movement Speed Designation Command menu
[JOG_SPEED]
OLD SPEED = 010
NEW SPEED = _
screen as shown on the right appears.
Enter the desired value using the numeric keys and
ENT
press
key, and entered value is saved.
ESC
Press
key, and the entered content is
ignored and the original value is restored.
8-3
Chapter 9
9-5. Servo Power ON/OFF Command
SVON key is pressed in the main menu.
The servo power ON/OFF command is executed when
SVON key operates as a toggle key and whenever it is pressed, the servo power is turned on or off.
9-6. Limit Sensor Monitor Command
The limit sensor monitor command is executed when
LMT
key is pressed in the main menu, and displays
the status of the limit sensor of each axis in real time.
① The limit sensor monitor command screen appears when
LMT
key is pressed in the main menu screen.
"H+-" in the third line of the T/P LCD means "HOME,+
Limit and - Limit".
8-4
[LIMIT SENSOR]
111 111 111
111
H+- H+- H+- H+1AX
F1
2AX
3AX
4AX
ESC
CHAPTER 10
PROGRAM LANGUAGES AND EXAMPLES
10-1. Summary of Program Languages
10-2. Details of Motion Commands
10-3. Details of Program Control Commands
10-4. Details of I/O Control Commands
10-5. Details of Parameter Commands
10-6. Details of Function Commands
10-7. Details of Define Commands
10-8. Program Examples
1
Chapter 10
10-1. Summary of Program Languages
The MAC program languages are classified into six groups, and composed of total 70 program languages.
Using the designated keys and the function keys (F1 ∼ F4) on the Teach Pendant, you can select any group and
command you want.
The program languages of each group are listed below.
1. Motion Command Group => Selected with the MOT key.
No.
1
Command
MVE
Function
Asynchronous Absolute Location
Movement
No.
11
Command
SFB (SB)
2
MVS
Synchronous Absolute Location
Movement
12
PMV (PM)
3
MVA (MA)
Arch Movement
13
PMS (PS)
4
MVC (MC)
Circular Arc Movement
(0° < Movement Angle < 360°)
14
DRP
5
CIR (CR)
Circular Movement
15
DRS
6
ARC (AR)
Arc Movement
(0° < Movement Angle < 999°)
16
SPL
7
SFT
Shift Location Movement
17
UP
8
MVF (MF)
18
MVL
9
10
Moves forward the absolute location
until the designated signal turns ON or
OFF, and executes the next command.
MVB (MB) Moves backward the absolute location
until the designated signal turns ON or
OFF, and executes the corresponding
command again.
SFF (SF) Shifts forward the location until the
designated signal turns ON or OFF,
and executes the next command.
2. Program Control Command Group
Function
Shifts backward the location until the
designated signal turns ON or OFF,
and executes the corresponding
command again.
Asynchronous absolute location
movement to the designated LOC #
on the designated Pallet #.
Synchronous absolute location
movement to the designated LOC #
on the designated Pallet #.
Absolute location movement of
only the designated axis on the
designated LOC #
Shift movement of only the
designated axis on the designated
SFT #
Continuously moves on a random
curve along with the input from the
designated spline model.
Moves the axis designated in the
UPAX system parameter to the
coordinate zero point.
Linear Movement
19
VMP
Revolves to the clockwise direction
at the specified velocity when the
SPIN parameter is ON.
20
VMN
Revolves to the counter-clockwise
direction at the specified velocity
when the SPIN parameter is ON.
=> Selected with the PRG key.
No.
Command
Function
No.
Command
Function
1
IF
Sets the conditional sentence.
6
STOP
Stops program execution.
2
GOT
Goes to at the designated level
7
CALL
Calls the program.
3
DLY
Delays running.
8
RET
Returns to the program.
4
JMP
Jumps at the designated level.
9
RETC
Returns to the program.
5
HOME
Zero Return
10-1
2
Chapter 10
3. I/O Control Command Group => Selected with the I/O key.
No.
Command
Function
No.
Command
Function
1
SIGB
Signal output by bits
6
TMS
Waits until the designated signal turns
ON and then OFF.
2
SIGI
Signal input by ports
7
PWR
Servo Power ON/OFF
3
SIGO
Signal output by ports
8
SMV
Outputs the designated signal at the
designated location
4
JB
Jumps according to the signal.
9
RUN
Runs the parallel-processing program.
5
WAIT
Waits until the designated signal turns
ON and then OFF.
10
SAR
Output signals at the designated % of
the circle or of the circular arc.
4. Parameter Command Group => Selected with the PARA key.
No.
Command
1
ACC
2
DCC
3
SPD
4
INP
Function
No.
Command
Function
Sets the acceleration time.
5
READ
Reads data through RS232
communication.
Sets the deceleration time.
6
WRITE
Writes data through RS232
communication.
Resets the movement speed of each axis
7
TSPD
Sets the movement speed
Sets the in-position value
5. Function Command Group => Selected with the FUNC key.
No.
Command
Function
No.
Command
Function
1
ADD
Adds the variable value.
6
DEC
Decreases the variable value by 1.
2
SUB
Subtracts the variable value.
7
MUL
Multiples the variable value.
3
OR
Logical (OR) Operation for Variable
Value
8
ADF
Adds the real-type variable value.
4
AND
Logical (AND) Operation for Variable
Value
9
SUF
Subtracts the real-type variable value
5
INC
Increases the variable value by 1.
10
MUF
Multiplies the real-type variable value
6. Define Command Group => Selected with the DEF key.
No.
Command
Function
No.
Command
Function
1
SET
Sets the variable value.
8
LS
Sets the location data with the relative
deviation.
2
L
Designate the label number.
9
FREG
Sets the real-type register value.
3
INT
Sets the interrupt.
10
LAP
Sets the location data with the absolute
designation value.
4
HERC
Sets the location data.
11
LAS
Sets the location data with the relative
designation value.
5
HERA
Sets the location data.
12
OFF
Sets the offset value of the coordinate
system.
6
CCLR
Sets the coordinate value with the
designated value.
13
LEP
Reads the data of absolute position of
designated axis
7
LP
Sets the location data with the absolute
deviation.
14
LES
Reads the data of relative position of
designated axis
10-2
3
Chapter 10
10-2. Details of Motion Commands
MVE
Grammar
MVE [LOCATION]
MVE Pxxx
MVE P(Rxx)
MVE P(*xx)
Function
Moves the robot to the designated location (Pxxx, P(Rxx), P(*xx)).
At this time, the movement is PTP operation that each axis moves asynchronously.
*xx refers to R (Rxx), which means the register indicated by the Rxx. For example,
if R10 = 5, the following left and right commands are equal.
"MVE
Example
Reference
P(*10)" => "MVE
P(R05)"
000
SET
R20,200
001
L00:
; Designates the label.
002
MVE P035
; Moves to P035.
003
MVE P(R20)
; Moves to P200.
004
JMP
; Branching to L00
L00,20
No. 20 .
Input Range of Pxxx
=>
P000~P999 (Axis 2), P339 (Axis 3), P255 (Axis 4)
Input Range of Rxx
=>
R00 ~ R99
10-3
4
Chapter 10
MVS
Grammar
MVS
[LOCATION]
MVS Pxxx
MVS P(Rxx)
MVS P(*xx)
Function
At this time, the movement is PTP operation that each axis moves synchronously.
"MVS P(*10)" => "MVS
Example
Reference
P(R05)"
000
SET
R20,200
001
L00:
002
MVS P035
; Moves to P035.
003
MVS P(R20)
; Moves to P200.
004
JMP
; Branching to L00
L00,20
No. 20.
Input Range of Pxxx
=>
Input Range of Rxx
=>
R00 ~ R99
10-4
5
Chapter 10
MVA (MA)
Grammar
Function
MA [LOCATION], [ARCH-PERCENT]
MA Pxxx,xxx
MA Pxxx,Rxx
MA Pxxx,*xx
MA Rxx,xxx
MA Rxx,Rxx
MA Rxx,*xx
MA *xx,xxx
MA *xx,Rxx
MA *xx,*xx
The axis designated by the system parameter ARCH moves, with drawing a shape
of arch. During movement, the arch axis position varies with the register R97 value.
When R97 = 0, the arch axis position during movement is 0.0.
When R97 ≠ 0, the arch axis position goes up as much as the value
designated by the R97.
[ARCH-PERCENT] is the value that decides the time at which the axes other than
the arch axis move. The other axes move after the arch axis moves as much as the
ARCH-PERCENT of the UP movement. When the ARCH-PERCENT is set to
100, the arch axis and the other axes move at the same time and when the ARCHPERCENT is set to 1, the arch axis moves up fist and then the other axes start
moving. It is the same for the down movement. The available input range of the
ARCH-PERCENT is 1 ∼ 100.
"MA
P003,*10" => "MA
P003,R05"
30mm
30mm
P000
P000
현재위치
Current Position
P001
P001
목표위치
Goal
Position
P001
P001
목표위치
Goal
Position
P000
P000
현재위치
Current
Position
# When
the current position목표위치보다
(P000) is higher
than the goal
# 현재위치(P000)가
높은경우
position,
ARCH거리 = 현재위치 - 30mm
Arch Distance = Current Position – 30mm
## When
the goal position현재위치보다
(P001) is higher높은경우
than the
목표위치(P001)가
current position,
ARCH거리 = 목표위치 - 30mm
Arch Distance = Current Position – 30mm
[ P000 = Current Location, P001 = Goal Location, R97=30 ]
10-5
6
Chapter 10
MVA (MA)
Example
000
SET
R11,0
001
SET
R12,50
002
L00:
003
MVE P000
; Moves to P000.
004
SET
R97,0
; Sets the arch axis to move to the zero point..
004
MA
P001,50
; Moves the arch axis to P001 at the ARCHPERCENT 50.
Reference
004
SET
R97,50
; Sets the arch axis to move from 50mm-up position.
005
MA
R11,R12
; The same as MA
006
GOT L00
P(R11), R12.
; Runs with going to L00.
Input Range of Pxxx =>
Input Range of Rxx
R00 ~ R99
=>
10-6
7
Chapter 10
MVC (MC)
Grammar
Function
MC [LOCATION1], [LOCATION2]
MC Pxxx,xxx
MC Pxxx,Rxx
MC Pxxx,*xx
MC Rxx,xxx
MC Rxx,Rxx
MC Rxx,*xx
MC *xx,xxx
MC *xx,Rxx
MC *xx,*xx
The end-effector of the robot moves along with the arc that LOCATION1] and
[LOCATION2] make starting from the current location. The [LOCATION1] is a gothrough-location and the [LOCATION2] is the goal location.
For the 3-axis controller, the three-dimensional arc movement in the X, Y and Z
directions are achieved according to the Z-axis location data set by the
[LOCATION2].
"MC
Example
Reference
P003,*10" => "MC
P003,R05"
000
SET R10,200
001
SET R11,201
002
SET R12,202
003
L00:
004
MVE P000
; Moves to P000.
005
MC
; The same as MC
006
MVE P(R10)
; Moves to P200.
007
MC
; The same as MC
008
MVE P(R10)
; Moves to P200.
009
MC
; The same as MC
010
MVE P(R10)
; Moves to P200.
011
MC
; The same as MC
012
GOT L00
P001,002
P201,R12
R11,202
R11,R12
P001,P002.
P201,P(R12).
P(R11),P202.
P(R11),P(R12).
;
Input Range of Rxx
R00 ~ R99
=>
◆ The range of the movement speed is decided according to the system parameter
CSPD, which is subdivided by the SPD command.
The minimum circumferential movement speed is 0.01mm/sec, and the
maximum speed is 300mm/sec.
10-7
8
Chapter 10
CIR (CR)
Grammar
Function
CR [LOCATION1], [LOCATION2]
CR Pxxx,xxx
CR Pxxx,Rxx
CR Pxxx,*xx
CR Rxx,xxx
CR Rxx,Rxx
CR Rxx,*xx
CR *xx,xxx
CR *xx,Rxx
CR *xx,*xx
The end-effector moves along with the circle on the XY plane that [LOCATION1]
and [LOCATION2] make starting from the current location of the robot.
The [LOCATION1] and the [LOCATION2] are go-through locations, and the goal
location is the current location as the operation is circular movement.
"CR
Example
Reference
P003,*10" => "CR
P003,R05"
000
SET
R10,200
001
SET
R11,201
002
SET
R12,202
003
L00:
004
MVE P000
; Moves to P000.
005
CR
; The same as CR
006
MVE P(R10)
; Moves to P200.
007
CR
; The same as CR
008
MVE P(R10)
; Moves to P200.
009
CR
; The same as CR
010
MVE P(R10)
; Moves to P200.
011
CR
R11,R12
; The same as CR
012
JMP
L00,0
; Branching to L00 indefinitely.
P001,002
P201,R12
R11,202
P001,P002.
P201,P(R12).
P(R11),P202.
P(R11),P(R12).
P000~P999 (Axis 2), P339 (Axis 3), p255 (Axis 4)
Input Range of Rxx
R00 ~ R99
=>
◆ The range of the circumferential movement speed is decided according to the
system parameter CSPD, which is subdivided by the SPD command.
10-8
9
Chapter 10
ARC (AR)
Grammar
AR [LOCATION], [ANGLE]
AR Pxxx,xxx
Function
Decides the circular radius on the basis of the current location of the robot and the X
and Y coordinate values set in the [LOCATION], and performs arc movement on the
XY plane as much as the designated movement angle.
The range of the movement angle is 1　~ 999　and the [LOCATION] is the center
of the circle.
Example
000
MVE P000
; Moves to P000.(X=0.0,Y=0.0)
000
L00:
001
MVE P001
; Moves to P001.
002
AR
; Decides the circular radius using the X- and the
P100,720
; Y-axis location data of the P100, and performs arc
; movement as much as 720　.
003
JMP
L00,0
; Branching to L00.
Direction of
Revolution
● P100
P001
P001 = Start Point of Arc Movement
P100 = Center of the Circle
●
●
P000
Reference
Input Range of Pxxx => P000~P999
◆ The range of the circumferential movement speed is decided according to the
system parameter CSPD, which is subdivided by the SPD command.
10-9
10
Chapter 10
SFT
Grammar
SFT
[SHIFT-LOCATION]
SFT Sxx
Function
SFT S(Rxx)
SFT S(*xx)
Shifts the robot to the designated shift location (Sxx, S(Rxx), S(*xx)).
At this time, the movement operation is the PTP operation that each axis operates
asynchronously.
"SFT
Example
Reference
S(*10)"
=> "SFT
S(R05)"
000
SET
R20,001
001
L00:
002
SFT
S35
; Shift from the current location to S35.
003
SFT
S(R20)
; Shift from the current location to S01.
004
JMP
L00,20
; Branching to L00
Input Range of Sxx
=>
S00 ~ S99
Input Range of Rxx
=>
R00 ~ R99
10-10
No. 20 .
11
Chapter 10
MVF (MF)
Grammar
MF [LOCATION], [EXTERNAL INPUT SIGNAL #]
MF
Function
Pxxx, xx
MF
Pxxx, -xx
MF Rxx, xx
MF Rxx, -xx
MF *xx, xx
MF *xx, -xx
Performs absolute location movement until the external input signal designated with
the designated location (Pxxx, P(Rxx), P(*xx)) meets the set conditions. The robot
stops when the designated external input signal meets the set condition during
movement, and executes the next command.
*xx refers to R (Rxx), which means the register indicated by the Rxx. For example, if
R10 = 5, the following left and right commands are equal.
"MF *10,03" => "MF R05,03"
Example
000
SET
001
L00:
002
MF
R20,001
; Sets the register R20 value.
P035,2
; Absolute movement from the current location to
; P035 until the External Input Signal No. 2 turns ON.
003
MF
R20,-3
; Absolute movement from the current location to
; P001 until the External Input Signal No. 3 turns OFF.
004
Notice
JMP
L00,20
; Branching to L00
No. 20.
The MVF (MF) command operates in connection with the external input signal.
If the External Input Signal No.1 is ON before the controller executes the command
MF
P001, 1, the robot does not move to P001 but executes the next line.
Therefore, when using the commands related to the external input signal such as MVF
(MF), MFB (MB), SFF (SF) and SFB (SB), pay attention to the external input signal
status.
The input signal is recognized only when it is kept for 10msec at the least.
Reference
P000~P999
Input Range of Rxx
R00 ~ R99
=>
10-11
12
Chapter 10
MFB (MB)
Grammar
Function
MB
[LOCATION],[EXTERNAL INPUT SIGNAL #]
MB Pxxx, xx
MB Pxxx, -xx
MB Rxx, xx
MB Rxx, -xx
MB *xx, xx
MB *xx, -xx
Performs absolute location movement until the external input signal designated with
the designated location (Pxxx, P(Rxx), P(*xx)) meets the set conditions. The robot
stops when the designated external input signal meets the set condition during
movement, waits until the external input signal does not meet the set conditions, and
then moves to the goal location.
"MB *10,03" => "MB R05,03"
Example
000
SET
001
L00:
002
MB
R20,001
P035,2
; Absolute movement from the current location to the
; P035 location until the External Input Signal No.2
; turns ON, waits until the External Input Signal No.2
; turns OFF, and then moves to the P035 location.
003
MB
R20,-3
; Absolute movement from the current location to the
; P001 location until the External Input Signal No.3
; turns OFF, waits until the External Input Signal No.3
; turns ON, and then moves to the P001 location.
004
Notice
JMP
L00,20
; Branching to L00
No.20.
The MFB (MB) command operates in connection with the external input signal.
If the External Input Signal No. 1 is ON before the controller executes the command
MB
P001, 1, the robot does not move to P001 but waits until the external input
signal turns OFF.
status.
Reference
P000~P999
Input Range of Rxx
R00 ~ R99
=>
10-12
13
Chapter 10
SFF (SF)
Grammar
Function
SF [SHIFT_LOCATION],[EXTERNAL INPUT SIGNAL #]
SF Sxx, xx
SF Sxx, -xx
SF Rxx, xx
SF Rxx, -xx
SF *xx, xx
SF *xx, -xx
Performs shift location movement until the external input signal designated with the
designated location (Sxx, S(Rxx), S(*xx)) meets the set conditions. The robot stops
when the designated external input signal meets the set condition during movement,
and executes the next command.
"SF *10,-10" => "SF R05,-10"
Example
000
SET
001
L00:
002
SF
R20,001
S35,2
; Shift movement from the current location to the
; S35 location until the External Input Signal
; No.2 turns ON.
003
SF
S(R20),-3
; Shift movement from the current location to the
; S01 location until the External Input Signal
; No.3 turns OFF.
004
Notice
JMP
L00,20
; Branching to L00
No.20.
The SFF (SF) command operates in connection with the external input signal.
SF
S01, 1, the robot does not move to S01 but executes the next line.
Therefore, when using the commands related to the external input signal such as
MVF (MF), MFB (MB), SFF (SF) and SFB (SB), pay attention to the external input
signal status.
Reference
Input Range of Sxx
=>
S00 ~ S99
Input Range of Rxx
=>
R00 ~ R99
10-13
14
Chapter 10
SFB (SB)
Grammar
Function
SB
[SHIFT_LOCATION],[EXTERNAL SIGNAL #]
SB Sxx, xx
SB Sxx, -xx
SB Rxx, xx
SB Rxx, -xx
SB *xx, xx
SB *xx, -xx
Performs shift location movement until the external input signal designated with the
designated location (Sxxx, S(Rxx), S(*xx)) meets the set conditions. The robot stops
when the designated external input signal meets the set condition during movement,
waits until the external input signal does not meet the set conditions, and then returns
to the goal location.
"SB *10,-10"
Example
000
SET
001
L00:
002
SB
R20,001
=> "SB R05,-10"
S35,2
; Shift movement from the current location to the S35
; location until the External Input Signal No.2 turns
; ON, waits until the External Input Signal No.2
; turns OFF, and then returns to the S35 location.
003
SB
S(R20),-3
; Shift movement from the current location to the S01
; location until the External Input Signal No.3 turns
; OFF, waits until the External Input Signal No.3
; turns ON, and then returns to the S01 location.
004
Notice
JMP
L00,20
; Branching to L00 No.20.
The SFB (SB) command operates in connection with the external input signal.
SB
S01, 1, the robot does not move to S01 but waits until the external signal turns
OFF.
status.
Reference
Input Range of Sxx =>
S00 ~ S99
Input Range of Rxx =>
R00 ~ R99
10-14
15
Chapter 10
PMV (PM)
Grammar
PM [PALLET #],[PALLET LOCATION #]
PM xxx, xxx
Function
PM xxx, Rxx
PM xxx, *xx
Performs absolute location movement to the location (xxx, Rxx, *xx) of the designated
pallet number. At this time, the movement is PTP operation that each axis moves
asynchronously.
For how to create the pallet location, see section 8-2.
"PM 1,*10"
Example
=> "PM
1,R05"
000
SET
R00,000
001
PM
1,000
; Moves to the location “000” created on the Pallet No.1.
002
L00:
003
PM
2,R00
; Moves to the location “R00” created on the Pallet No.2.
; (The number of pallet locations that can be created
; is assumed to be 50.)
Notice
004
INC
R00
; Increases the register R00 value by 1.
005
JMP
L00,50
; Runs with jumping to No.50 L00.
006
STOP
; Stops program execution.
To execute the PMV (PM) command, be sure to create the pallet location in the PAL
mode of the Main Menu in advance.
The location created in the PAL mode is treated differently from the absolute location
(Pxxx), and the number of pallet locations also has nothing to do with the number of
absolute locations (Pxxx).
Reference
Input Range of Pallet Number
=> 1 ~ 100
Input Range of Pallet Location
=> Number of locations created in the PAL
mode.
10-15
16
Chapter 10
PMS (PS)
Grammar
PS [PALLET #],[PALLET LOCATION #]
PS xxx, xxx
Function
PS xxx, Rxx
PS xxx, *xx
Performs shift location movement to the location (xxx, Rxx, *xx) of the designated
pallet number. At this time, the movement is PTP operation that each axis moves
asynchronously.
For how to create the pallet location, see section 8-2.
"PS 1,*10" => "PS 1,R05"
Example
000
SET
R00,000
001
PS
1,002
; Moves to the location “002” created on the Pallet 1.
002
L00:
003
PS
2,R00
; Moves to the location “R00” created on the Pallet 2.
; (The number of pallet locations that can be created
; is assumed to be 70.)
Notice
004
INC
R00
; Increases the register R00 value by 1.
005
JMP
L00,70
006
STOP
To execute the PMS (PS) command, be sure to create the pallet location in the PAL
mode of the Main Menu in advance.
The location created in the PAL mode is treated differently from the absolute
location (Pxxx), and the number of pallet locations also has nothing to do with the
number of absolute locations (Pxxx).
Reference
Input Range of Pallet Number
=> 1 ~ 100
Input Range of Pallet Location
=> Number of locations created in the
PAL mode.
10-16
17
Chapter 10
DRP
Grammar
Function
DRP
[LOCATION #],[AXIS SET]
DRP
Pxxx, #h
DRP
Rxx, #h
DRP *xx, #h
Performs absolute location movement only for the designated axis as much as the
location data of each axis on the designated location (xxx, Rxx, *xx).
Each axis is assigned by each bit, as shown below.
BIT7
BIT6
BIT5
BIT4
BIT3
BIT2
BIT1
BIT0
X
X
X
X
Axis 4
Axis 3
Axis 2
Axis 1
"DRP *10,2h" => "DRP R05,2h"
Example
000
SET
001
L00:
002
DRP
R00,001
P000,1h
; Moves only the X-axis (Axis 1) to the X-axis
; absolute location designated by P000.
003
DRP
R00,2h
; Moves only the Y-axis (Axis 2) to the Y-axis
; absolute location designated by P001.
004
DRP
P002,3h
; Moves X- and Y-axis to the X- and Y axis
; absolute locations designated by P002.
Reference
005
MVE P003
; Moves the absolute location to P003.
006
JMP
; Runs with jumping to No.20 L00
007
STOP
L00,20
P000~P999
Input Range of Rxx
R00 ~ R99
=>
10-17
18
Chapter 10
DRS
Grammar
DRS [SFT LOCATION ##],[AXIS SET]
DRS
Function
Sxx, #h
DRS Rxx, #h
DRS *xx, #h
Performs shift location movement only for the designated axis as much as the
location data of each axis on the designated location (xxx, Rxx, *xx).
BIT7
BIT6
BIT5
BIT4
BIT3
BIT2
BIT1
BIT0
X
X
X
X
Axis 4
Axis 3
Axis 2
Axis 1
"DRS *10,2h" => "DRS R05,2h"
Example
000
SET
001
L00:
002
DRS
R00,001
S000,1h
; Moves only the X-axis (Axis 1) to the X-axis
; shift location designated by S00.
003
DRS
R00,2h
; Moves only the Y-axis (Axis 2) to the Y-axis
; shift location designated by S01.
Reference
004
MVE P002
; Absolute movement to P002.
005
JMP
; Runs with jumping to No.20 L00
L00,20
Input Range of Sxx
=>
S00 ~ S99
Input Range of Rxx
=>
R00 ~ R99
10-18
19
Chapter 10
SPL
Grammar
SPL [SPLINE #]
SPL ##
Function
SPL Rxx
SPL *xx
Moves a random curve continuously with the spline model number set in the SPL
mode of the main menu.
For how to create the spline model, see Section 8-4.
"SPL *10" => "SPL R05"
Example
000
SET
R00,002
001
MVE P100
; Moves to the start point of the Spline 1 Model
; operation.
002
SPL
1
; Continuously moves the curve of the Spline 1
; Model.
003
MVE P200
; Moves to the start point of the Spline 2 Model
; operation.
004
SPL
R00
; Continuously moves the curve of the Spline 2
; Model.
005
Notice
STOP
To use the SPL command, be sure to enter the spline location in the SPL mode of
the Main Menu in advance. (See 8-4).
When the SPL command is used, the operation start point should be the same as the
location data designated as the start point in the SPL mode of the Main Menu.
Reference
Input Range of Spline Number
=>
1 ~ 10
Input Range of Rxx
=>
R00 ~ R99
10-19
20
Chapter 10
UP
Grammar
Function
UP
[LOCATION ###]
UP
Pxxx
Moves the axis designated by the system parameter UPAX as much as the value
designated by the absolute location (Pxxx).
Example
000
SET
R20,200
001
L00:
002
MVS P100
; Absolute movement to the P100 location.
003
L01:
004
SFT
S35
; Shift to S35.
005
UP
P101
; When the UPAX is "3AXIS", Axis 3 moves
; according to the Axis-3 location data of P101.
006
JMP
L01,10
; Branching
007
GOT L00
; Goes to L00.
008
STOP
10-20
to L01 No.10.
21
Chapter 10
MVL
Grammar
MVL [LOCATION]
MVL Pxxx
Function
MVL P(Rxx)
MVL P(*xx)
At this time, the movement is the linear movement operation.
"MVL
Example
Reference
P(*10)" => "MVL
P(R05)"
000
SET
R20,200
001
L00:
002
MVE P035
; Moves to P035.
003
MVL P(R20)
; Move to P200 linearly.
004
JMP
; Branching to L00 No.20 .
L00,20
P000~P511 (Axis 2), P339 (Axis 3), P255 (Aix 4)
Input Range of Rxx
R00 ~ R99
=>
◆ The range of the linear movement speed is decided by the system parameter
CSPD, which is subdivided by the SPD command.
The minimum linear movement speed is 0.01mm/sec, and the maximum speed is
300mm/sec.
10-21
22
Chapter 10
VMP, VMN
Grammar
VMP(VMN) [VARIABLE VALUE, REGISTER VARIABLE]
Function
VMP xxx
VMP Rxx
VMP *xx
VMN xxx
VMN Rxx
VMN *xx
Performs speed control at the designated speed.
The VMP performs speed control with revolving to the clockwise direction and the
VMN does so with revolving to the counter-clockwise direction.
The range of variable value input is 1 ∼ 100, and the unit is the percentage (%) to
the VEL setting in the axis software parameter.
"VMP *10" => "VMP R05"
Example
000
L00:
; Designates the label as “VEL"=3000 RPM.
001
VMP 10
; Revolves at 300 RPM.
002
DLY 500
; Delays for 500msec.
003
VMP 50
004
DLY 1000
005
VMP 100
006
DLY 500
007
VMP 20
008
DLY 1000
009
VMP 0
; Stops with decelerating to the DCC value.
010
GOT L00
; Runs with jumping to L00.
3000 RPM
Speed
1500 RPM
300 RPM
300 RPM
Time
0.5sec.
1.0sec.
0.5sec.
10-22
1.0sec.
23
Chapter 10
Reference
The VMP and the VMN commands are available for the parallel processing (the
RUN command) program, which are proper for processing the work using the X and
Y tables with moving the spindle axis, or for the feeding machine.
The VMP and the VMN commands are applied to the last axis of each controller.
MAC-201,211 => Applied to Axis 2.
10-23
24
Chapter 10
10-3 Details of Program Control Commands
IF
Grammar
IF Rxx > Rxx,
IF Rxx >
xxx,
IF
IF *xx >
*xx,
IF *xx >
Rxx, IF
*xx >
IF *xx >
xxh
IF Rxx = Rxx,
IF Rxx =
xxx,
Rxx = xxh
IF *xx =
*xx,
IF *xx =
Rxx, IF
*xx =
IF *xx =
xxh
IF Rxx < Rxx,
IF Rxx <
xxx,
Rxx < xxh
IF *xx <
*xx,
IF *xx <
Rxx, IF
IF *xx <
xxh
IF
IF
Rxx > xxh
*xx <
xxx,
xxx,
xxx,
IF Rxx != Rxx,
IF Rxx != xxx,
IF
Rxx != xxh
IF *xx != *xx,
IF *xx != Rxx, IF
*xx != xxx,
IF *xx != xxh
Function
If the condition in the conditional sentence is true, the controller executes the
immediately following line but if it is false, it executes the next following line.
"IF *10>3h" => "IF R(R10)>3h" => "IF R05>3h"
Example
000
IF
R12 > R13
001
SIGB -1
; Turns OFF the External Output Signal No. 1.
002
SIGB
; Turns ON the External Output Signal No. 1.
★
If R12 >
1
; Executes the conditional sentence.
R13, the controller executes Line 001, "SIGB -1", and
if R12 <= R13, it executes Line 002, "SIGB 1".
Reference
Input Range of Rxx
=>
R00 ~ R99
Input Range of xxx =>
0 ∼ 255
Input Range of xxh
00 ∼ FFh (Hexa Decimal)
=>
10-24
(Decimal)
25
Chapter 10
GOT
Grammar
Function
Example
Reference
GOT
Lxx
The program unconditionally goes to the designated label number (Lxx).
000
SET
R20,001
001
L00:
002
SFT
S35
; Shifts from the current location to S35 location.
003
SFT
S(R20)
004
GOT L00
Input Range of Lxx
; Goes to L00.
=>
L00 ∼ L50
10-25
26
Chapter 10
DLY
Grammar
Function
DLY
[TIME]
DLY
xxxxxx
Stops executing the robot program and delays for the designated time.
[TIME] should be set using the integer within the input range of 1 ∼ 999999, and
the unit is [ms].
Example
000
MVE P000
; Moves to P000.
001
DLY 500
002
MVE P001
; Moves to P001.
003
STOP
10-26
27
Chapter 10
JMP
Grammar
Function
JMP
Lxx,xxx
JMP
Lxx,Rxx
JMP
Lxx,*xx
The program jumps to the designated label number (Lxx), and is executed cycling
the repetitive loop as many times as the repetition count (xxx,Rxx).
"JMP
L10,*10" => "JMP
L10,R05"
★ If the repetition count is designated as ‘0’, the program circles the infinite loop
until it is stopped by an external factor, and if it is designated to have the value
between 1 ∼ 255, the program circles the repetitive loop.
Example
Reference
000
SET
R20,001
001
L00:
002
SFT
S35
003
SFT
S(R20)
; Shifts from the current location to S01location.
004
JMP
L00,20
005
STOP
Input Range of Lxx
=>
L00 ∼ L50
Input Range of xxx
=>
000 ∼ 255
Input Range of Rxx
=>
R00 ∼ R99
10-27
28
Chapter 10
HOME
Grammar
HOME [AXIS SET]
HOME ##h
Function
Zero return command for each axis.
Example
BIT7
BIT6
BIT5
BIT4
BIT3
BIT2
BIT1
BIT0
X
X
X
X
Axis 4
Axis 3
Axis 2
Axis 1
HOME 01h
: Returns Axis 1 to its home.
HOME 02h
HOME 04h
HOME 08h
HOME 03h
: Returns Axes 1 and 2 to their homes at the same time.
HOME 07h
: Returns Axes 1, 2 and 3 to their homes at the same time.
HOME 0Fh
: Returns Axes 1, 2, 3 and 4 to their homes at the same time.
000
HOME 3h
; Returns Axes 1 and 2 to their homes at the same time.
001
L00:
; Sets the label.
002
MVE P012
; Moves to P012.
003
MVS P013
; Moves to P013.
004
HOME 02h
; Returns Axis 2 to its home.
005
GOT L00
; Goes to the label L00.
10-28
29
Chapter 10
STOP
Grammar
Function
Example
STOP
Stops program execution.
000
SET
R20,001
001
L00:
002
MVE P000
; Moves to P000.
003
MVE P(R20)
; Moves to P001.
004
JMP
; Executes the next operation, as already executed
L00,1
; the loop.
005
STOP
10-29
30
Chapter 10
CALL
Grammar
CALL
Function
PRGxx
Calls another program.
Example
Reference
001
L00:
002
MVE P000
; Moves to P000.
003
CALL PRG05
; Calls the Program No.05.
004
MVE P001
; Moves to P001.
005
GOT L00
006
STOP
1. The program should not call itself.
To return from the called program to the calling program, be sure to use the RET
command.
2. By repeating the CALL command (by using the CALL command again and again
within the called program), it is possible to call up to 31 programs. But, if more
than 31 programs are called, the CALL Stack Full error occurs.
<Program #0>
.
.
<Program #1>
.
<Program #2>
.
.
CALL PRG01
CALL PRG02
.
Other Command
Other Command
.
.
.
.
.
.
.
.
RET
[ When the CALL command is used more than once ]
10-30
RET
31
Chapter 10
RET
Grammar
Function
RET
1. Return to the original program from the program called by the program command
CALL.
2. Function to return to the line next to the line in the subroutine, which was been
executed before being called by the program command INT.
Example
1. Program No.0
000 L00:
001 MVE
P012
; Moves to P012.
002 SIGB
1
; Turns the External Output Signal No. 1 ON.
003 CALL PRG02
; Calls the Program No.2
004 SIGB
-1
; Turns the External Output Signal No. 1 OFF.
005 GOT
L00
2. Program No.2
000 MVE
P001
; Moves to P001.
001 SIGB
10
002 RET
Reference
; Returns to Line 4 of the Program No.0.
If you use the RET command only, without using the CALL or INT command, the
RET Stack Empty error occurs.
10-31
32
Chapter 10
RETC
Grammar
Function
RETC
Returns the line that was being executed before being called in the subroutine
called by the program command INT.
Example
1. Program No.0
000
INT
1,PRG02
; Sets Interrupt 1 and jumps to the Program No.2.
; If the robot is moving, the program stops and then
; jumps.
001
L00:
; Sets the label.
002
MVE P012
; Moves to P012.
003
MVS P013
; Moves to P013
004
SFT
; Shifts from the current location to S10.
005
GOT L00
S10
2. Program No.2
000
MVE P001
; Moves to the P001 location.
001
SIGB 10
; Turns the External Input Signal No. 10 ON.
002
RETC
★ If an interrupt occurs while the above program is executing Line 3 of the
Program No.0, the program jumps to the Program No.2 and if the RETC
command is issued, the program returns to Line 3 of the Program No.0 because
the movement command was executed before the interrupt occurs.
Reference
If you use the RETC command only, without using the CALL or INT command,
the RET Stack Empty error occurs.
10-32
33
Chapter 10
Reference
* Differences between the RET and the RETC
1. Program No.0
000
INT
1,PRG02
; Sets Interrupt 1, and jumps to the Program No.2.
; jumps.
001
L00:
; Sets the label.
002
MVE P012
; Moves to P012.
003
MVS P013
; Moves to P013.
004
SFT
S10
005
GOT
L00
2. Program No.2
000
MVE P001
; Moves to P001.
001
SIGB 10
; Turns the External Output Signal No.10 ON.
002
RET
Program No.0, the program jumps to the Program No.2 and if the RET command
is issued, the program returns to Line 4 of the Program No. 0 because the
movement command before the interrupt is ignored.
1. Program No. 0
000
INT
1,PRG02
; Sets Interrupt 1, and jumps to the Program No.2.
; jumps.
001
L00:
; Sets the label.
002
MVE P012
; Moves to P012.
003
MVS P013
; Moves to P013.
004
SFT
005
GOT L00
S10
2. Program No. 2
000
MVE P001
; Moves to P001.
001
SIGB 10
002
RETC
Program No.0, the program jumps to the Program No.2 and if the RETC
command is issued, the program returns to Line 3 of the Program No.0 because
the movement command was executed before the interrupt occurs.
10-33
34
Chapter 10
10-4. Details of I/O Control Commands
SIGB
Grammar
SIGB
[EXTERNAL OUTPUT SIGNAL #]
SIGB
Function
##
SIGB
-##
Tuns ON/OFF the designated external output signal.
The range of external output is -24 ∼ -1 and 1 ∼ 24.
Example
Reference
SIGB -1
=> Turns the External Output Signal No.1 OFF.
SIGB
=> Turns the External Output Signal No.3 ON.
3
000
MVE P010
; Moves to P010.
001
SIGB -10
; Turns the External Output Signal No.10 OFF.
002
SIGB 15
003
STOP
The designated signal keeps its status.
10-34
35
Chapter 10
SIGI
Grammar
Function
SIGI
[INPUT SIGNAL STORAGE VARIABLE],[INPUT PORT]
SIGI
Rxx,#
Reads the signals from the designated input port and stores them to the register
variable (Rxx). One input port consists of eight signals.
The range of input ports (#) is 1 ∼ 2.
Example
000
MVE P000
; Moves to P000.
001
DLY 500
002
SIGI
; Reads the signal from Input Port 1 and stores them
R00,1
; to R00.
003
Reference
STOP
The input port numbers and the corresponding signals are listed below.
Input Port
External Input Signal
Port 1
1~8
Port 2
9 ~ 16
10-35
36
Chapter 10
SIGO
Grammar
Function
SIGO
[OUTPUT PORT],[EXTERNAL OUTPUT VALUE]
SIGO
#,Rxx
SIGO
#,xxh
SIGO
#,xxx
SIGO
AON
SIGO
AOFF
Sends the external output to the designated output port.
One output port consists of eight signals.
The range of output ports (#) is 1 ∼ 3 and for the external output value, register
variables, decimal values and hexadecimal values are available.
The range of external output values (xxh,xxx) is 00h ∼ FFh.
AON is the command that turns all 24 external output signal points ON, and
AOFF is the command that turns all 24 external output signal points OFF.
Example
Reference
000
MVE P000
; Moves to P000.
001
DLY 500
002
SIGO 1,0Fh
; Sends 0Fh to Output Port 1.
003
STOP
The output port numbers and the corresponding signals are listed below.
Output Port
Port 1
Port 2
Port 3
External Input Signal
1~8
9 ~ 16
17 ~ 24
10-36
37
Chapter 10
JB
Grammar
JB
[EXTERNAL INPUT SIGNAL #],[LABEL, PROGRAM, EXTERNAL
OUTPUT SIGNAL #]
Function
JB
##,Lxx
JB -##,Lxx
JB
##,PRGxx
JB -##,PRGxx
JB
##,xx
JB -##,xx
JB
-##,xx
JB -##,-xx
Jumps to the designated label depending on whether the designated input signal is ON or
OFF, calls the designated program, and turns ON/OFF the designated external output
signal. If the condition is not matched, the program executes the next line.
The range of external input signals is -16 ∼ -1 and 1 ∼ 16.
The range of external output signals is -24 ∼ -1 and 1 ∼ 24.
Example
000
L00:
001
MVE P010
; Moves to P010.
002
JB
; Jumps to L00 if the External Input Signal No.1 is OFF
-01,L00
No.2 is ON.
003
JB
02,PRG03
; Calls the Program No.3 if the External Input Signal
004
JB
03,10
; Turns the External Output Signal No.10 ON if the
External Input Signal 3 is ON.
005
JB
-03,-10
; Turns the External Output Signal No.10 OFF if the
External Input Signal No.3 is OFF.
006
STOP
10-37
38
Chapter 10
WAIT
Grammar
WAIT
WAIT
Function
[EXTERNAL INPUT SIGNAL #]
##
WAIT
-##
Holds program execution and waits until the designated external input signal meets
the designated condition.
The range of external input signals is -16 ∼ -1 and 1 ∼ 16.
Example
000
L00:
001
MVE P010
; Moves to P010.
002
WAIT 10
; Holds program execution and waits until the External
; Input Signal No.10 is turned ON.
003
MVE P011
; Moves to P011.
004
GOT L00
005
STOP
Reference
MVE P010
WAIT 10
MVE P011
External Input Signal No.
Waits until the External Input Signal No. 10 turns on.
10-38
39
Chapter 10
TMS
Grammar
TMS
TMS
Function
[INPUT SIGNAL #],[TIME]
##, ####
TMS
-##, ####
Holds program execution for the designated time until the designated external input
signal meets the designated state.
If the input conditions are not met within the designated time, the variables of the
register R99 and R98 are entered as follows. When the conditions are met, 0 is set.
@ When the input conditions are met,
Content of R99
=>
0
(Main Program)
Content of R98
=>
0
(Sub-program)
@ When the input conditions are not met,
Content of R99
=>
1 ~16 (When the external input signal is 1 ~ 16)
Content of R99
=>
21~36 (When the external input signal is -1 ~ -16)
Content of R98
=>
1 ~16 (When the external input signal is 1 ~ 16)
Content of R98
=>
21~36 (When the external input signal is -1 ~ -16)
◆ When not running the parallel processing program (using the RUN command),
Only the register R99 is used.
◆ When running the parallel processing program (using the RUN command),
The main program uses the register R99, and
The sub-program uses the register R98.
Range of the External Input Signal
: -16 ~ -1, 1 ~ 16
Range of the Time Input
: 1 ~ 9999 [Unit: 10msec]
10-39
40
Chapter 10
TMS
Example
000
MVE P00
001
TMS 1,100
; Holds program execution for up to 1 second until the
; External Input Signal No. 1 turns ON.
; If the External Input Signal No.1 turns ON within
; 1 second, R99 = 0.
; If the External Input Signal No.1 does not turn
; ON within one second, R99 = 1.
002
TMS -5,200
; Holds program execution for up to 2 seconds until the
; External Input Signal No. 5 turns OFF.
; If the External Input Signal No.5 turns OFF
; within 2 seconds, R99 = 0.
; If the External Input Signal No.2 does not turn ON
; within 2 seconds, R99 = 25.
003
IF
R99 != 0
004
CALL PRG02
; Errored program execution
005
MVE P001
006
STOP
10-40
41
Chapter 10
PWR
Grammar
Function
Example
PWR
ON
PWR
OFF
Turns ON or OFF the servo power.
000
PWR ON
; Turns the servo power ON.
001
L00:
; Sets the label.
002
MVE P010
; Moves to P010.
003
JB
; Jumps to L00 when the External Input Signal No.1
-1,L00
; is OFF.
004
PWR OFF
; Turns the servo power OFF.
005
STOP
10-41
42
Chapter 10
SMV (SM)
Grammar
Function
SM
[LOC #],[AXIS #],[EXTERNAL OUTPUT SIGNAL #]
SM
xx,xx,xx
[Rxx,Rxx,Rxx]
Turns on the designated output signal when the designated axis reaches the
designated location.
The input range of the location number is P000~P999.
That of the axis number is 1 ∼ 2 for the 2-axis controller, 1 ∼ 3 for the 3-axis
controller, and 1 ~ 4 for the 4-axis controller, and that of the external output signal is
1 ∼ 24.
Example
000
SET
R00,20
001
SET
R01,1
002
SET
R02,2
003
SET
R03,10
004
SET
R04,11
005
L00:
006
SM
; P020 : X=55.00, Y=100.00
; Defines the label.
00,01,03
; Sets to turn ON the External Output Signal No.10
; when the Axis-1 passes through the X-axis location
; (55.00mm) of P020.
007
SM
00,02,04
; Sets to turn ON the External Output Signal No.11
; when the Axis-2 passes through the Y-axis location
; (100.00mm) of P020..
008
MVS P000
; P000 : X=0.0, Y=0.0
009
MVS P001
; P001 : X=250.00, Y=300.00
; The External Output Signal No.10 turns ON when
; the X-axis goes through 55.00 mm while the robot
; moves to P001 and the External Output Signal No.11
; turns ON when the Y-axis goes through 100.00mm
; while the robot moves to P001.
010
Notice
GOT L00
; Goes to L00.
Once executed, the SM command is ignored. Therefore, in order to keep sending the
output until the robot reaches the corresponding location, set the SM command value
whenever the robot moves to the designated location, as shown in the above
example.
10-42
43
Chapter 10
SAR (SA)
Grammar
Function
SA
±[EXTERNAL OUTPUT SIGNAL],[PERCENT]
SA
XXXXh,###
(External Output Signal ON)
SA
-XXXXh,###
(External Output Signal OFF)
Outputs the designated output signals set in the designated PERCENT (%) when the
CIR or the ARC command is used.
The input range of XXXX is 0 ~ FFFFh values., and that of the external output
signal is 1~16.
### sets the percent within the range of 1~100%.
Example
000
MVE P000
; Moves to P000. (X=0.0,Y=0.0)
001
L00:
002
MVE P001
; Moves to P001.
003
SA
; Turns on all of External Output Signals 1 ~ 8 at 75%
00FFh,75
; location of the distance of 720　arc movement to
; be executed in Line 004.
004
AR
P100,720
; Decides the radius using the location data of the
; X-axis and the Y-axis of P100, and performs the arc
; movement by 720　.
005
SIGO AOFF
; Turns all external output signals OFF.
006
GOT L00
; Runs with going to L00.
= 원호동작
시작점.
P001 P001
= Start
Point of
Arc Movement
P100
=
원의
중심.
P100 = Center of the Circle
◎
Direction
회전방향
of Rotation
● P100
P001
Turns720。이동의
on all of 75%지점
External즉 Output
Signals
540。위치에서
1 ~ 8까지를of모두
시킴.
1 ~ 외부출력신호
8 at 75% location
theON720°
movement, namely, 540° location.
●
●
P000
Notice
Once executed, the SA command is ignored. Therefore, in order to keep sending the
output until the robot reaches the corresponding location, set the SA command value
whenever the robot moves to the designated location, as shown in the above
example.
10-43
44
Chapter 10
RUN (RUN)
Grammar
RUN
[ Program No.]
RUN
Function
[Task No.]
PRGxx
x
Executes the parallel process program.
*Task input range is from 1
Example
to 4.
< Content of Program No. 0 >
000
SET
R01,0
; Resets the register R01.
001
SET
R02,0
002
RUN PRG10, 1
; Shifts the Program No.10 to Task # 1
003
L00:
004
MVE P000
; Moves to P000.
005
SET
; Sets the register R01 to ‘1’.
006
MVE P001
; Moves to P001.
007
SET
; Sets the register R02 to ‘1’.
008
GOT L00
009
STOP
R01,1
R02,1
< Content of the Program No. 10 >
000
L00:
001
IF
R01 == 1
; Check if the movement to P000 is completed.
002 GOT
L10
; YES
003
R02 == 1
; Check if the movement to P001 is completed.
L20
; YES
IF
004 GOT
005
GOT L00
006
L10:
007
SET
008
SIGB 1
009
SIGB -2
010
GOT L00
010
L20:
; The movement to P001 is completed.
011
SET
; The movement to P000 is completed.
R01,0
R02,0
012 SIGB 2
013
SIGB -1
014
GOT L00
10-44
45
Chapter 10
RUN (RUN)
<프로그램#10>
#10>
<Program
Run Program
프로그램
10번#10
기동
<프로그램#0>
#0>
<Program
000
001
002
003
004
005
006
007
008
009
SET
SET
RUN
L00:
MVE
SET
MVE
SET
GOT
STOP
R01,0
R02,0
PRG10,1
P000
R01,1
P001
R02,1
L00
CYCLE
RUN
프로그램
10번 #10
정지
Stops Program
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
L00:
IF
GOT
IF
GOT
GOT
L10:
SET
SIGB
SIGB
GOT
L20:
SET
SIGB
SIGB
GOT
R01 == 1
L10
R02 == 1
L20
L00
R01,0
1
-2
L00
R02,0
2
-1
L00
X
P000
External
Output
#1 ON
외부출력신호
1번Signal
ON
External
Output
외부출력신호
2번Signal
OFF #2 OFF
P001
External
Output
외부출력신호
1번Signal
OFF #1 OFF
External
Output
#2 ON
외부출력신호
2번Signal
ON
Y
CAUTION ;
1. Do not excute self-Run
2. Enable to excute parallel program no.of 4
3. the following commands MA.MC.CR.SPL.PM.PS which are relate Arch motion,Linear
motion,Circular motion, are not able to execute parallel process on parallel program.
10-45
46
Chapter 10
10-5. Details of Parameter Commands
ACC
Grammar
Function
ACC
[AXIS#],[VARIABLE VALUE]
ACC
#,xxx
Resets the acceleration section of the designated axis.
The range of axis number input is 1∼2
for the 2-axis controller, 1∼3 for the 3-
axis controller and 1 ~ 4 for the 4-axis controller.
The range of variable values is 0 ∼ 200, and the unit is 10msec.
Example
000
MVE P010
; Moves to P010. ACC=20 is set.
001
ACC 1,30
; Resets the acceleration section of Axis 1 to 30.
002
ACC 2,50
; Resets the acceleration section of Axis 2 to 50.
003
MVE P011
; Moves to P011.
004
STOP
; The ACC of Axes 1 and 2 is restored to 20.
Notice
As the ACC data is related to the system performance, pay special care when resetting the ACC data.
If the ACC is set to 0, the STEP speed waveform is output and thus the system
might be damaged. Thus, it is recommended to set the ACC data as 10 or more.
Reference
To make the start operation smooth at the time of system run, set the ACC data as
large.
The ACC data re-set in the program is applicable only to the corresponding
program, and restored to the original ACC parameter value when the program
execution stops.
10-46
47
Chapter 10
DCC
Grammar
Function
DCC
[AXIS #],[VARIABLE VALUE]
DCC
#,xxx
Resets the deceleration section of the designated axis.
The range of axis number input is 1∼2
for the 2-axis controller, 1∼3 for the 3-
axis controller and 1 ~ 4 for the 4-axis controller.
The range of variable values is 0 ∼ 200, and the unit is 10msec.
Example
000
MVE P010
; Moves to P010. DCC=20 is set.
001
DCC 1,30
; Resets the deceleration section of Axis 1 to 30.
002
DCC 2,50
003
MVE P011
; Moves to P011.
004
STOP
; Stops program execution
; The DCC of Axes 1 and 2 are restored to 20.
Notice
As the DCC data is related to the system performance, pay special care when resetting the DCC data.
If the DCC is set to 0, the STEP speed waveform is output and thus the system
might be damaged. Thus, it is recommended to set the DCC data as 10 or more.
Reference
To make the stop operation smooth at the time of system run, set the DCC data as
large.
The DCC data re-set in the program is applicable only to the corresponding
program, and restored to the original DCC parameter value when the program
execution stops.
10-47
48
Chapter 10
SPD
Grammar
Function
SPD
[AXIS NUMBER][VARIABLE VALUE, REGISTER VARIABLE]
SPD
x , xxx
SPD x, Rxx
SPD x, *xx
Re-sets the movement speed.
The input range of axis number is 1 ∼ 2 for 2 axis module, and 1 ∼ 3 for 3 axis
module, 1 ∼4 for 4
axis module.
The range of variable values is 1 ∼ 100, unit is the percent (%) with the VEL
setting in the axis S/W parameter as 100%.
"SPD *10" => "SPD R05"
Example
000 TSPD 50
001
MVE P010
; Moves to P010.
; SPD=50 and DCC=20 are set.
002
DCC 1,30
003
SPD
; Resets the movement speed of Axis 1 to 100%.
004
MVE P011
; Moves to P 011.
005
STOP
1,100
; SPD=50 and DCC=20 are restored.
Reference
The SPD data re-set in the program is applicable only to the corresponding program,
and restored to the original MSPD parameter value after the program execution
stops.
The Speed which is set by SPD command is not able to linear motion,circular
motion, Spline motion, Pallet motion.
10-48
MA.MC.CR.MVL.SPL.PM
49
Chapter 10
TSPD
Grammar
Function
TSPD
[AXIS NUMBER][VARIABLE VALUE, REGISTER VARIABLE]
TSPD
x , xxx
TSPD x, Rxx
TSPD x, *xx
Re-sets the movement speed.
The range of variable values is 1 ∼ 100, unit is the percent (%) with the VEL
setting in the axis S/W parameter as 100%.
"TSPD
Example
000 TSPD
001
*10" => "TSPD R05"
50
MVE P010
; Set all axis movement speed to 50%
; Moves to P 010.
; SPD=50 and DCC=20 are set.
002
DCC 1,30
003
SPD
; Resets the movement speed of Axis 1 to 100%.
004
MVE P011
; Moves to P 011.
005
STOP
1,100
; SPD=50 and DCC=20 are restored.
Reference
The TSPD data re-set in the program is applicable only to the corresponding
program, and restored to the original MSPD parameter value after the program
execution stops.
The Speed which is set by SPD command is not able to linear motion,circular
motion, Spline motion, Pallet motion.
10-49
MA.MC.CR.MVL.SPL.PM
50
Chapter 10
INP
Grammar
Function
INP
[VARIABLE VALUE]
INP
xxxxxx
Re-set the in-position value, within the range of 0 ∼ 900000.
The variable value is applied to all axes, and the unit is pulse (step).
Example
000
MVE P010
; Moves to P010. INP=100 is set.
001
INP
20
; Re-set the in-position value to 20 pulse.
002
SPD
100
; Re-set the movement speed to 100%.
003
MVE P011
; Moves to P011.
004
STOP
; INP=100 is restored.
Reference
The INP data re-set in the program is applicable only to the corresponding program,
and restored to the original INP parameter value when the program execution stops.
10-50
51
Chapter 10
READ
Grammar
Function
READ
P###
[LOCATION]
READ
S##
[SHIFT LOCATION]
Reads the location data and the shift location data of the PC to the controller,
through RS232 serial communication, while the program is running.
Example
000
L00:
; Sets L00P.
001
MVE P001
; Moves to P001.
002
MVE P002
; Moves to P002.
003
READ P001
; Reads the location data of P001 from the PC.
004
READ P002
; Reads the location data of P002 from the PC.
005
JMP
; Jumps to the label L00. The location data of P001
L00,2
; and P002 are changed with the location data
; received from the PC.
006
Reference
STOP
Inter face
RS-232C Serial
Speed
9600 baud
Mode
Half Duplex
Synchronization
Asynchronization
Transmission Code
8 Data Bits, 1 Stop Bit, No Parity
[ Requirements for Communication System ]
10-51
52
Chapter 10
Reference
MAC
PC
ENQ
ACK
TOKEN
ECHO TOKEN
Location Data Number
(Low Byte)
(High Byte)
STX
SYN
Data Transfer
(Location Data)
CHKSUM 1 byte
(Complement of 2)
ETX
EOT (Normal)
DLE (Checksum Error)
◇ Location Data
The location data should be “the LONG-type location data (4 bytes)”.
It should be transferred as much as (4 bytes × 2) for the 2-axis controller, (4 bytes × 3) for the 3-axis
controller and (4 bytes × 4) for the 4-axis controller.
The decimal point data should be stored as the LONG variable by "Location Data × 100".
Even for the 2-axis controller, the 3-axis location data should be made with the Z-axis location data as 0 (zero).
<Example> AX1 = 300.67
AX3 = 0.00
=>
30067,
=>
0
AX2 = 111.45 =>
11145
◇ Checksum
The checksum value should be transferred in the form of a complement of 2 by performing ADD checksum for
the data with 1 byte.
◇ Order of Data Reception of LONG Variable
Of 4 byte data of the LONG variable, the low byte is received first. The order of reception is listed below.
Byte
High byte
Middle byte #1
Middle byte #2
Low byte
Order of Reception
4
3
2
1
◇ Token Transmission Value
LOCATION RED
4
SHIFT LOCATION RED
6
10-52
53
Chapter 10
WRITE
Grammar
Function
WRITE
Pxxx
[LOCATION]
WRITE
APOS
[CURRENT LOCATION]
WRITE
IN
[I/O INPUT 32 POINTS]
WRITE
OUT
[I/O OUTPUT 32 POINTS]
Writes the location, current location, and I/O status on the PC, through RS232C
serial communication, when the program is running.
Example
000
L00:
; Sets L00P.
001
MVE
P001
; Moves to P001.
002
MVE
P002
; Moves to P002.
003
WRITE P001
; Writes the location data of P001 on the PC.
004
WRITE P002
; Writes the location data of P002 on the PC.
004
WRITE IN
; Writes the current status of 32 I/O input points on
; the PC.
005
JMP
L00,2
006
STOP
; Jumps to the label L00.
Reference
Inter face
RS-232C Serial
Speed
9600 baud
Mode
Half Duplex
Synchronization
Asynchronization
Transmission Code
[ Requirements for Communication System]
10-53
54
Chapter 10
Reference
MAC
PC
ENQ
ACK
TOKEN
ECHO TOKEN
(Low Byte)
(High Byte)
Only 4 bytes are used for
transferring the I/O input
and output data.
STX
SYN
Data Transfer
(Location Data, I/O)
CHSUM 1 byte
ETX
EOT (Normal)
DLE (Checksum Error)
◇ Transfer of Location Data and Current Location Data
The location data should be “the LONG-type location data (4 bytes)”.
It should be transferred as much as (4 bytes × 2) for the 2-axis controller, (4 bytes × 3) for the 3-axis
controller and (4 bytes × 4) for the 4-axis controller.
The decimal point data should be stored as the LONG variable by "Location Data × 100".
Even for the 2-axis controller, the 3-axis location data should be made with the Z-axis location data as 0 (zero).
<Example> AX1 = 300.67
AX3 = 0.00
=>
30067,
=>
0
AX2 = 111.45 =>
11145
◇ Checksum
The checksum value should be transferred in the form of a complement of 2 by performing ADD checksum for
the data with 1 byte.
◇ Order of Data Transmission of LONG Variable
Of 4 byte data of the LONG variable, the low byte is transmitted first. The order of transmission is listed below.
Byte
Transmission Order
High byte
4
Middle byte #1
3
◇ Token Transmission Value
Location Write
APCS (Current Location
IN (I/O Input 32 Points)
OUT (I/O Output 32 Points)
3
17
18
19
10-54
Middle byte #2
2
Low byte
1
55
Chapter 10
10-6. Details of Function Commands
ADD
Grammar
Function
ADD
[STORAGE VARIABLE], [OPERATION VALUE]
ADD
Rxx,Rxx
ADD
Rxx,xxxh
ADD
Rxx,*xx
ADD
Rxx,Fxx
ADD
*xx,Rxx
ADD
*xx,xxxh
ADD
*xx,*xx
ADD
*xx,Fxx
ADD Rxx,xxxx
ADD *xx,xxxx
Executes the ADD operation, in the following manner:
[Storage Variable] = [Content of Storage Variable] + [Operation Value].
The [Storage Value] must be a register variable (R00 ∼ R99).
For the [Operation Value], a register variable or a hexadecimal or decimal value
can be used directly. The range of the [Operation Value] is 0 ∼ 4095 (000h ∼
FFFh).
"ADD
Example
Reference
*10, 3" => "ADD R05, 3"
000
SET R00,0
; Resets the register R00 variable.
001
MVE P010
; Moves to P010.
002
ADD R00,5
; R00 = R00 + 5.
003
MVE P(R00)
; Moves to P005.
004
STOP
Input Range of Constants
=>
0 ~ 4095 (000h ∼ FFFh)
Input Range of Rxx
=>
R00 ~ R99
Input Range of Fxx
=>
F00 ~ F15
10-55
56
Chapter 10
SUB
Grammar
Function
SUB
[STORAGE VARIABLE],[OPERATION VALUE]
SUB
Rxx,Rxx
SUB
Rxx,xxxh
SUB
Rxx,*xx
SUB
Rxx,Fxx
SUB
*xx,Rxx
SUB
*xx,xxxh
SUB
*xx,*xx
SUB
*xx,Fxx
SUB
Rxx,xxxx
SUB
*xx,xxxx
Executes the SUBTRACT operation, in the following manner:
[Storage Variable] = [Content of Storage Variable] - [Operation Value].
FFFh).
"SUB *10, 3" => "SUB R05, 3"
Example
Reference
000
SET
R00,10
001
MVE P010
; Moves to P010.
002
SUB
; R00 = R00 - 5.
003
MVE P(R00)
; Moves to P005.
004
STOP
R00,5
; Resets the register R00 value to 10.
Input Range of Constant Values
=> 0 ~ 4095 (000h ∼ FFFh)
Input Range of Rxx
=> R00 ~ R99
Input Range of Fxx
=> F00 ~ F15
10-56
57
Chapter 10
OR
Grammar
Function
OR
[STORAGE VARIABLE],[LOGICAL OPERATION VALUE]
OR
Rxx,Rxx
OR Rxx,xxxh
OR
Rxx,*xx
OR Rxx,Fxx
OR
*xx,Rxx
OR *xx,xxxh
OR
*xx,*xx
OR *xx,Fxx
OR
Rxx,xxxx
OR
*xx,xxxx
Executes the BIT OR operation, a logical operation, in the following manner:
[Storage Variable] = [Content of Storage Variable] | [Operation Value].
FFFh).
Example
Reference
"OR
*10, 3h" => "OR R05, 3h"
000
SET
R00,0
001
MVE P010
; Moves to P010.
002
OR
; R00 = R00 | 06h.
003
SIGO 1,R00
; Turns the External Output No.2 and 3 ON.
004
STOP
R00,06h
Input Range of Constant Values =>
0 ~ 4095 (000h ∼ FFFh)
Input Range of Rxx
=>
R00 ~ R99
Input Range of Fxx
=>
F00 ~ F15
10-57
58
Chapter 10
AND
Grammar
Function
AND
[STORAGE VARIABLE],[LOGICAL OPERATION VALUE]
AND
Rxx,Rxx
AND Rxx,xxxh
AND
Rxx,*xx
AND Rxx,Fxx
AND
*xx,Rxx
AND *xx,xxxh
AND
*xx,*xx
AND *xx,Fxx
AND
Rxx,xxxx
AND
*xx,xxxx
Executes the BIT AND operation, a logical operation, in the following manner:
[Storage Variable] = [Content of Storage Variable] & [Operation Value].
FFFh).
"AND
Example
Reference
*10, 3h" => "AND R05, 3h"
000
SET
R00,FFh
; Resets the register R00 variable to 255.
001
MVE
P010
; Moves to P010.
002
AND
R00,06h
; R00 = R00 & 06h.
003
SIGO
1,R00
; Turns the External Output No. 2 and 3 ON.
004
STOP
0 ~ 4095 (000h ∼ FFFh)
Input Range of Rxx
=> R00 ~ R99
Input Range of Fxx
=> F00 ~ F15
10-58
59
Chapter 10
INC
Grammar
Function
INC
[REGISTER VARIABLE]
INC
Rxx
INC
*xx
Increases the [Register Variable] by 1, in the following manner.
Rxx = the Content of Rxx + 1,
*xx = the Content of R (Rxx) + 1.
The maximum value that can be increased with the INC command is 4095 (FFFh).
"INC *10" => "INC R05"
Example
Reference
000
SET
R01,0
001
L00:
; Sets the label.
002
MVE P(R01)
; Moves from P000 to P009 in sequential order.
003
INC
R01
; R01 = R01 + 1.
004
JMP
L00,10
; Jumps to the label L00 ten times repeatedly.
005
STOP
Input Range of Rxx
=>
R00 ~ R99
In order to increase the register value beyond the maximum value 4095 (FFFh) that
can be increased by the INC command, use the ADD command.
10-59
60
Chapter 10
DEC
Grammar
Function
DEC
[REGISTER VARIABLE]
DEC
Rxx
DEC
*xx
Decreases the [Register Variable] by 1, in the following manner.
Rxx = the Content of Rxx - 1,
*xx = the Content of R (Rxx) - 1.
The minimum value that can be decreased to with the DEC command is 0.
"DEC *10" => "DEC R05"
Example
Reference
000
SET
R01,10
001
L00:
; Sets the label.
002
MVE P(R01)
003
DEC R01
; R01 = R01 - 1.
004
JMP
005
STOP
L00,10
Input Range of Rxx
=>
10-60
R00 ~ R99
61
Chapter 10
MUL
Grammar
Function
MUL
[STORAGE VARIABLE],[OPERATION VALUE]
MUL
Rxx,Rxx
MUL Rxx,xxxh
MUL
Rxx,*xx
MUL Rxx,Fxx
MUL
*xx,Rxx
MUL *xx,xxxh
MUL
*xx,*xx
MUL *xx,Fxx
MUL
Rxx,xxxx
MUL
*xx,xxxx
Executes the Multiply operation, in the following manner:
[Storage Variable] = [Content of Storage Variable] x [Operation Value].
FFFh).
"MUL *10, 5" =>
Example
Reference
R00,10
"MUL R05, 5"
000
SET
001
MVE P010
; Moves to P010.
002
MUL R00,2
; R00 = R00 × 2.
003
MVE P(R00)
; Moves to P020.
002
MUL R00,2
; R00 = R00 × 2.
003
MVE P(R00)
; Moves to P040.
004
STOP
0 ~ 4095 (000h ∼ FFFh)
Input Range of Rxx
=> R00 ~ R99
Input Range of Fxx
=> F00 ~ F15
10-61
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Chapter 10
ADF
Grammar
Function
ADF
[REAL-TYPE STORAGE VARIABLE],[OPERATION VALUE]
ADF
Fxx,Fxx
ADF Fxx,*xx
ADF Fxx,Rxx
ADF
*xx,Fxx
ADF *xx,*xx
ADF *xx,Rxx
Executes the Real-type Add Operation, in the following manner.
[Real-type Storage Variable] = [Content of Real-type Storage Variable] +
[Operation Value].
The [Real-type Storage Variable] must be the real-type register variable (F00 ∼
F15).
For the [Operation Value], a register variable or a real-type register variable can be
used.
*xx refers to F (Rxx), which means the real-type register indicated by the Rxx. For
example, if R10 = 5, the following left and right commands are equal.
"ADF *10, F03"=> "ADF
Example
F05, F03"
000
SET
R20,50
; Sets the register R20 variable to 50.
001
F00
25.56
; Resets the real-type register F00 variable to 25.56.
002
F01
0.00
003
L00:
004
LAP
; Sets the label.
F01,1,20
; Resets the location data of Axis 1 of P050 to the real; type register F01 value.
Reference
005
MVE P(R20)
; Moves to P050.
006
ADF F01,F00
; F01 = F01 + F00.
007
JMP L00,10
008
STOP
Input Range of Real Numbers
=>
-2200.00 ~ +2200.00
Input Range of Rxx
=>
R00 ~ R99
Input Range of Fxx
=>
F00 ~ F15
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63
Chapter 10
SUF
Grammar
Function
SUF
SUF
Fxx,Fxx
SUF Fxx,*xx
SUF Fxx,Rxx
SUF
*xx,Fxx
SUF *xx,*xx
SUF *xx,Rxx
Executes the Real-type Subtract Operation, in the following manner.
[Real-type Storage Variable] = [Content of Real-type Storage Variable] [Operation Value].
F15).
used.
"SUF *10, F1"=> "SUF F05, F1"
Example
000
SET
R20,50
001
F00
25.56
002
F01
300.00
003
L00:
004
LAP
; Sets the label.
F01,1,20
Reference
005
MVE P(R20)
; Moves to P050.
006
SUF
F01,F00
; F01 = F01 - F00.
007
JMP
L00,10
008
STOP
=>
-2200.00 ~ +2200.00
Input Range of Rxx
=>
R00 ~ R99
Input Range of Fxx
=>
F00 ~ F15
10-63
64
Chapter 10
MUF
Grammar
Function
MUF
MUF
Fxx,Fxx
MUF Fxx,*xx
MUF Fxx,Rxx
MUF
*xx,Fxx
MUF *xx,*xx
MUF
*xx,Rxx
Executes the Real-type Multiply Operation, in the following manner.
[Real-type Storage Variable] = [Content of Real-type Storage Variable] x
[Operation Value].
F15).
used.
"MUF *10, F1"=> "MUF F05, F1"
Example
000
SET
R20,0
001
SET
R20,50
002
F00
25.56
003
F01
0.00
004
L00:
005
LAP
; Sets the label.
F01,2,20
Reference
006
MVE P(R20)
; Moves to P050.
007
INC
008
MUF F01,R00
; F01 = F01 × R00.
009
JMP L00,10
010
STOP
R00
=>
-2200.00 ~ +2200.00
Input Range of Rxx
=>
R00 ~ R99
Input Range of Fxx
=>
F00 ~ F15
10-64
65
Chapter 10
10-7. Details of Define Commands
SET
Grammar
Function
SET
[REGISTER VARIABLE],[SET VALUE]
SET
Rxx,Rxx
SET
Rxx,xxxh
SET
Rxx,*xx
SET
Rxx,Fxx
SET
*xx,Rxx
SET
*xx,xxxh
SET
*xx,*xx
SET
*xx,Fxx
SET
Rxx,xxxx
SET
*xx,xxxx
Sets [Register Variable] to [Set Value].
The [Register Variable] must be a value from R00 ∼ R99.
For the [Set Value], a register variable or a hexadecimal or decimal value can be
used directly. The range of the [Set Value] is 0 ∼ 4095 (000h ∼ FFFh).
"SET *10, 3" => "SET R05, 3"
Example
Reference
000
SET
R00,0
; Re-sets the register R00 variable.
001
MVE P010
; Moves to P010.
002
ADD R00,5
; R00 = R00 + 5.
003
MVE P(R00)
; Moves to P005.
004
STOP
0 ~ 4095 (000h ∼ FFFh)
Input Range of Rxx
=> R00 ~ R99
Input Range of Fxx
=> F00 ~ F15
10-65
66
Chapter 10
L
Grammar
Function
L
[LABEL #]
L
xx
Designates the label number. The label sentence is used for jumping the program in
the GOT, JMP or INT command.
For the label number, a decimal value should be used within the range of 0 ∼ 50.
Example
Reference
000
SET
R01,10
001
L00:
; Sets the Label No.0.
002
MVE P(R01)
003
INC
R01
; R01 = R01 + 1.
004
JMP
L00,10
005
STOP
Do not repeat the label number in one program.
If the same label number exist at the time of program editing, the label number set
previously is ignored.
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67
Chapter 10
INT
Grammar
Function
INT
[INT #],[LABEL,PROGRAM]
INT
#,Lxx
INT
#,PRGxx
INT
#,OFF
Sets the user interrupt. Once set, the user interrupt is released when it is executed
or turned off by force.
In addition, if an interrupt occurs, the interrupt jumps to a label or program
depending on the interrupt setting.
The input range of [INT #] is 1∼3 (System Input 8∼10).
The priority of the user interrupt is given in the order of 1 > 2 > 3. When an
interrupt occurs, the user interrupt is released before the corresponding interrupt
routine is executed, and the released status is kept until the user interrupt is reset.
When the interrupt execution is completed and the interrupt is jumped during
movement, re-execute the movement to move to the original goal position.
Example
1. Program No.0
000
INT
1,PRG02
; Sets the Interrupt No.1, and jumps to the Program
; No.2.
; jumps.
001
L00:
; Sets the label.
002
MVE
P012
; Moves to P012.
003
MVS P013
; Moves to P013.
004
SFT
S10
005
GOT
L00
2. Program 2
000
MVE P001
; Moves to P001.
001
SIGB 10
002
RET
10-67
68
Chapter 10
INT
Reference
The system I/O input number for each user interrupt is listed below, and if the input
is set to OFF, no interrupt occurs even though an interrupt is set.
User Interrupt No.
System I/O Input No.
INT 1
System I/O Input No. 8
INT 2
INT 3
10-68
69
Chapter 10
HERC
Grammar
HERC
[LOCATION]
HERC
Function
Pxxx
HERC
P(Rxx)
HERC
P(*xx)
Saves the current command position of the system to the designated [LOCATION].
The input range of the [LOCATION] is P000~P999
"HERC
Example
000
HERC P000
; Saves the current command position to P000.
001
MVE
P002
; Moves to P002.
002
SFT
S10
003
HERC P003
; Saves the current command position to P003.
004
MVE
P000
; Moves to P000
005
DLY
100
; Delays program execution for 100msec.
006
MVE
P003
; Moves to P003.
007 STOP
Reference
P(*10)" => "HERC P(R05)"
With the HERC and the HERA commands, it is possible to know the POSItion
error of each axis when the robot stops.
For example, if you set the robot position in the program after moving as much as
such commands as “HERC P001, HERA P002”, the command position is set to the
P001 and the actual position to the P002. Thus, the value subtracting the P002 from
the P001 (P001 - P002) is the position error.
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Chapter 10
HEAR
Grammar
Function
HERA
[LOCATION]
HERA
Pxxx
HERA
P(Rxx)
HERA
P(*xx)
Saves the actual position of the system to the designated [LOCATION].
The input range of the [LOCATION] is P000~P999.
"HERA
Example
P(*10)" => "HERA P(R05)"
000
HERA P000
; Saves the actual position to P000.
001
MVE
P002
; Moves to P002.
002
SFT
S10
003
HERA P003
; Saves the actualposition to P003.
004
MVE
P000
; Moves to P000
005
DLY
100
006
MVE
P003
; Moves to P003.
007 STOP
Reference
With the HERC and the HERA commands, it is possible to know the position error
of each axis when the robot stops.
For example, if you set the robot position in the program after moving as much as
such commands as “HERC P001, HERA P002”, the command position is set to
the P001 and the actual position to the P002. Thus, the value subtracting the P002
from the P001 (P001 - P002) is the position error.
10-70
71
Chapter 10
CCLR
Grammar
Function
CCLR
[AXIS #]
CCLR
x
Changes the coordinate value of the system to the value set in the axis S/W
parameter (CR). Namely, the CCLR is the function to change the coordinate value
in the coordinate system.
For example, when the CR parameter value for Axis-1 and Axis-2 is 0, the
execution of such commands as "CCLR 1" and "CCLR
2" re-set the zero point
of the XY-coordinate system.
Example
000
MVE
P002
001
CCLR 1
; Moves to P002.
; Changes the coordinate value of Axis-1 to the value
set
; to the CR parameter.
002
MVE
P002
; Moves to P002 on the basis of the changed location
; value.
Notice
003
DLY
100
004
MVE
P003
; Moves to P003.
005
STOP
The use of the CCLR command changes the absolute coordinate value of the
system. Thus, when you move the system using the MOTION command, it is better
to run the system after confirming the location data.
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72
Chapter 10
LP
Grammar
Function
LP
[LOC1. #],[LOC2. #],[LOC3. #]
LP
xx,xx,xx [Rxx,Rxx,Rxx]
Sets the value resulted from subtracting the location data value of LOC1 from that of
LOC2, as the location data value of LOC3.
Here, the Rxx is the register, which indicates the location number.
For example, the command "LP 10,11,12" is interpreted as follows:
* R10 = 100, R11 = 101 and R12 = 102,
P100 => X = 50.00, Y = 30.00, and
P101 => X = 150.00, Y = 230.00 are set,
P102 => X = P101 - P100 = 150.00 - 50.00 = 100.00
Y = P101 - P100 = 230.00 - 30.00 = 200.00
Example
000
SET
R50,11
001
SET
R51,12
002
SET
R52,13
003
L00:
004
MF
P011,5
; Absolute movement to the P011 location until the
; External Input Signal No. 5 turns on.
Notice
005
HERC P012
; Saves the command position to the P012 location.
006
LP
; P013 = P011 - P012
007
MVE P013
; Moves to P013.
008
JMP
51,50,52
L00,00
To use the LP command, the LOC1 and the LOC2 location data should be set in
advance.
◆ Difference between the LP and the LS commands:
LP
=>
Creates the Location (Pxxx).
LS
=>
Creates the Shift Location (S00 ~ S99).
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Chapter 10
LS
Grammar
Function
LS
[SFT1. #],[SFT2. #],[SFT3. #]
LS
xx,xx,xx [Rxx,Rxx,Rxx]
Sets the value resulted from subtracting the shift location data value of SFT1 from
that of SFT2, as the shift location data value of SFT3.
Here, the Rxx is the register, which indicates the shift location number (0 ~ 99).
For example, the command "LS 10,11,12" is interpreted as follows:
* R10 = 10, R11 = 11 and R12 = 12,
S10 => X = 50.00, Y = 30.00, and
S11 => X = 150.00 and Y = 230.00 are set,
S12 => X = S11 - S10 = 150.00 - 50.00 = 100.00
Y = S11 - S10 = 230.00 - 30.00 = 200.00
Example
000
SET
R50,11
001
SET
R51,12
002
SET
R52,13
003
L00:
004
SF
S11,5
; Relative movement to the S 11 location until the
; External Input Signal No. 5 turns ON.
Notice
006
SP
51,50,52
; S13 = S11 – S12
007
SFT
S 13
; Relative Moves to S13.
008
JMP
L00,00
To use the LS command, the SFT1 and the SFT2 shift location data should be set in
advance.
◆ Difference between the LP and the LS commands:
LS
=>
Creates the Shift Location (S00 ~ S99).
LP
=>
Creates the Location (Pxxx).
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Chapter 10
FREG (F)
Grammar
F[FREG. #] ±xxxx.xx
F0
Function
123.45
Set [Real-type Register Variable] to [Set Value].
The real-type register variable should be a value from F00 ∼ F15.
For the [Set Value], it is possible to a real number or an integer value directly,
within the range of ±0.00 ∼ 2200.00.
The real-type register variable is used for the LAS and the LAP commands.
Example
000
SET
R10,10
001
SET
R00,50
002
SET
R01,51
003
SET
R02,52
004
SET
R03,53
005
F00
0.00
; Sets the real-type register F00 value.
006
LAS
F0,2,00
; Sets the shift location value of S50(Y) = F00, Axis 2.
007
F01
200.00
008
LAS
F1,2,01
009
F02
20.00
010
LAS
F2,2,02
011
L00:
012
LS
02,01,01
; Sets S51 = S51 - S52, + Shift Value.
013
LS
01,00,03
; Sets S53 = S50 - S51, - Shift Value.
014
SFT
S(R01)
; Moves to the S51 shift location.
015
SFT
S(R03)
016
JMP
L00,10
017
STOP
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Chapter 10
LAP
Grammar
Function
LAP
[FREG.#],[AXIS #],[REGISTER #]
LAP
Fxx,x,xx
Creates the absolute location (Pxxx), with the real-type register (F00 ~ F15) value
as the location data of the designated axis.
Here, the Rxx is the register, which indicates the shift location number.
For example, the command "LAP F00,1,20" is interpreted as follows:
* R20 = 20, F00 = 321.45 and
P020 => X = 50.00, Y = 30.00 are set,
The location value of Axis 1 is changed to P020 => X = 321.45, Y = 30.00.
Example
000
SET
R10,10
001
SET
R00,50
002
SET
R01,51
003
SET
R02,52
004
SET
R03,53
005
F00
0.00
006
LAP
F00,2,00
; Sets the location value of P050(Y) = F00, Axis 2.
007
F01
200.00
008
LAP
F01,2,01
009
F02
20.00
010
LAP
F02,2,02
011
L00:
012
LP
02,01,01
; Sets P51 = P51 - P52, + Coordinate Movement
; Value.
013
LP
01,00,03
; Sets P53 = P50 - P51, - Coordinate Movement
; Value.
Notice
014
MVS
P(R01)
015
MVS
P(R03)
016
JMP
017
STOP
L00,10
◆ Difference between the LAS and the LAP Commands
LAS
=>
Changes the location data value of Shift Location (S00 ~ S99).
LAP
=>
Changes the location data value of Absolute Location (Pxxx).
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Chapter 10
LAS
Grammar
Function
LAS
[FREG.#],[AXIS #],[REGISTER #]
LAS
Fxx,x,xx
Creates the shift location (S00 ~ S99), with the real-type register (F00 ~ F15) value
as the location data of the designated axis.
Here, the Rxx is the register, which indicates the shift location number (S00 ~ S99).
For example, the command "LAS F00,1,20" is interpreted as follows:
* R20 = 20, F00 = 145.11 and
S020 => X = 50.00, Y = 0.00 are set,
The location value of Axis 1 is changed to S20 => X = 145.11, Y = 0.00.
Example
000
SET
R10,10
001
SET
R00,50
002
SET
R01,51
003
SET
R02,52
004
SET
R03,53
005
F00
0.00
006
LAS
F00,2,00
; Sets the location value of S50(Y) = F00, Axis 2.
007
F1
200.00
008
LAS
F01,2,01
009
F2
20.00
010
LAS
F02,2,02
011
L00:
012
LS
02,01,01
; Sets S51 = S51 - S52, + Coordinate Movement
; Value.
013
LS
01,00,03
; Sets S53 = S50 - S51, - Coordinate Movement
; Value.
Notice
014
SFT
S(R01)
015
SFT
S(R03)
016
JMP
L00,10
017
STOP
◆ Difference between the LAS and the LAP Commands
LAS
=>
Changes the location data value of Shift Location (S00 ~ S99).
LAP
=>
Changes the location data value of Absolute Location (Pxxx).
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77
Chapter 10
OFF (OF)
Grammar
OF[AXIS #] ±xxxx.xx
0F#
Function
123.45
This command is used to set the coordinate offset value of each axis.
For the [Set Value], it is possible to use a real number or an integer number value
directly, within the range of ±0.00 ∼ 2200.00.
Example
000
MVE
P001
; Moves to P001.
; OF1=0.00, OF2=0.00
001
SFT
S10
; Shifts to the S10 location.
002
SFT
S50
003
SFT
S51
004
SFT
S52
005
SFT
S53
006
OF1
20.10
; Sets the offset value of Axis 1.
007
OF2
10.00
; Sets the offset value of Axis 2.
008
MVE
P001
; Moves to P001+OFFSET location
; OF1=20.00, OF2=10.00
Notice
009
SFT
S10
010
SFT
S50
011
SFT
S51
012
SFT
S52
013
SFT
S53
014
STOP
; Restored to OF1=0.00, OF2=0.00.
The offset value set in the program is applicable only to the corresponding program
and, when the program ends, it is restored the value designated by the axis S/W
parameter OFF.
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78
Chapter 10
LEP
Grammar
Function
LEP
[FREG.No. #], [AXIS No. #],[REGISTER No. #]
LEP
Fxx,x,xx
Saves the designated axis location data to the real-type register (F00 ~ F15)
Rxx is the register, which indicates the location number.
For example, the command “LEP F00, 1,20” is interpreted as follows:
* R20 = 20,
F00 = 0.00 and
P020 =>X = 50.00,
Y=30.00
are set
The register value F00 is changed from 0.00 to 50.00
Example
Notice
000
SET
R10,10
; Sets the Register R10 value.
001
SET
R00,50
002
SET
R01,51
; Sets the Register R01 value .
003
SET
R02,52
004
SET
R03,53
005
F00
10.00
; Sets the Real-Type Register F00 value
006
LEP
F00,2,00
; Reads the locatopn value of Axis2 P050(Y)=>F00.
007
LEP
F01,2,01
; Reads the location value of Axis 2 P051(Y)=>F01
008
ADF
F00,F02
; F00=F00+F02
009 ADF
F01,F02
; F01=F01+F02
010
LAP
F00,2,01
; Sets the location value of Axis 2 P051(Y) <=F00
011
LAP
F01,2,02
; Sets the location value of Axis 2 P052(Y) <=F01
012
MVS
P(R01)
; Moves to the position P 051
013
MVS
P(R03)
; Moves to the position P 053
014
STOP
;
◆ Difference between the LES and the LEP Commands
LES =>
Read the location data value of Shift Location (S00 ~ S99).
LEP =>
Reads the location data value of Absolute Location (Pxxx).
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Chapter 10
LES
Grammar
Function
LES
[FREG.No. #], [AXIS No. #],[REGISTER No. #]
LES
Fxx,x,xx
Saves the relative location data of designated Axis to the real-type register
(F00 ~ F15). Rxx is the register, which indicates the location number.
For example, the command “LES F00, 1,20” is interpreted as follows:
* R20 = 20,
F00 = 0.00 and
S020 =>X = 12.00,
Y=0.00 are set
The register value F00 is changed from 0.00 to 12.00
Example
Notice
000
SET
R10,10
001
SET
R00,50
002
SET
R01,51
; Sets the Register R01 value .
003
SET
R02,52
004
SET
R03,53
005
F02
10.00
; Sets the Real-Type Register F00 value
006
LES
F00,2,00
; Reads the locatopn value of Axis2 S050(Y)=>F00.
007
LES
F01,2,01
; Reads the location value of Axis 2 S051(Y)=>F01
008
ADF
F00,F02
; F00=F00+F02
009 ADF
F01,F02
; F01=F01+F02
010
LAS
F00,2,01
; Sets the location value of Axis 2 S051(Y) <=F00
011
LAS
F01,2,02
; Sets the location value of Axis 2 S052(Y) <=F01
012
SFT
S(R01)
; Moves to the position S 051
013
SFT
S(R03)
; Moves to the position S 053
014
STOP
;
◆ Difference between the LES and the LEP Commands
LES =>
Read the location data value of Shift Location (S00 ~ S99).
LEP =>
Reads the location data value of Absolute Location (Pxxx).
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Chapter 10
10-8. Program Examples
[Example 1] Simple Location Movement
P000
P001
P002
<Program>
000 L00:
001
MVE P000
; Moves to P000.
002
MVE P001
; Moves to P001.
003
MVE P002
; Moves to P002.
004 GOT L00
; Jumps to L00.
005 [EOF]
[Example 2] Location Movement using Variable
P010
P011
P012
P049
P050
<Program>
000 L01:
001 SET
R00,10
; Sets the register R00 value to 10(0Ah).
002 L02:
003
; Moves to P(R00).
MVE P(R00)
004 INC R00
; Increases the register R00 value by 01h (decimal number1).
005 IF
; Is the register R00 value equal to 51(33h)?
R00=051
006 GOT L01
; Goes to L01, if the answer is true.
007 GOT L02
; Goes to L02, if the answer is false.
008 〔EOF〕
10-80
81
Chapter 10
[Example 3] Location Movement on X-Axis at an Equivalent Interval
P100
P100+20
P100+40
P100+380
P100+400
<Memory Status > : P100 = Start Position
S00
VEL
= 20.00, 0.00 mm
= 3000.00
<Program>
000 L00:
001 SPD
002
100
MVE
; Sets the speed to 3000rpm.
P100
; Moves to P100.
003 DLY
001000
; Delays for 1 second.
004 SET
R01,00h
; Sets the register R01 value to 0.
005 TSPD
50
006 L01:
; Sets the speed to 1500rpm.
007 ADD
R01,001
; Adds 1 to the register R01 value.
008 GOT
L00
; Goes to L00, if the answer to the conditional sentence is true.
009 SFT
S00
010 DLY
001000
; Delays for 1 second.
011 JMP
L01,19
; Jumps to L01 twenty times repeatedly.
012 〔EOF〕
10-81
82
Chapter 10
[Example 4] User Input and Output Control
P000
P001
<Program>
000 L02:
001
MVE
P000
; Moves to P000.
002 WAIT 1
; Waits until the External Input Signal No. 1 turns ON.
003 SIGB 1
004 DLY
000500
; Delays for 0.5 second.
005
P001
; Moves to P001.
MVE
006 WAIT 2
; Waits until the External Input Signal No.2 turns ON.
007 SIGB 2
008 DLY
; Delays for 0.5 second.
000500
009 SIGO AOFF
; Turns 24 External Output Signals all OFF.
015 GOT
; Goes to L02.
L02
016 〔EOF〕
10-82
83
Chapter 10
[Example 5] Transferring an Article using the Cylinder and the Gripper
실린더
Cylinder
글리퍼
Gripper
Using the sensor, the cylinder and the gripper, the robot transfers an article between two locations.
<Installation>
1.
Connect the sensor signal to the External Input Signal No.1.
2.
Connect the sensor signal to the External Output Signal No.1.
3.
Connect the gripper control terminal to the External Output Signal No.2.
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Chapter 10
<Program No. 0>
000 SET
R02,00h
001 SIGO AOFF
; Clears the register R02.
; Clears the external output signal.
002 L20:
003
MVE P001
; Moves to P001.
005 WAIT 1
; Waits until the external Input signal No.1 turns on.
009
CALL PRG01
; Lifts the article.
010
MVE
; Moves to P002.
011
CALL PRG02
012 GOT
P002
; Places the article.
L20
013 〔EOF〕
<Program No. 1>
000 SIGB 1
; Descends the cylinder.
001 SIGB 2
; Closes the gripper (holding the article).
002 SIGB -1
; Ascends the cylinder.
003
; Returns to the called program.
RET
004 [EOF]
<Program No. 2>
000 SIGB 1
; Descends the cylinder.
001 SIGB -2
; Opens the gripper (placing the article).
002 SIGB -1
; Ascends the cylinder.
003
RET
; Returns to the called program.
04
[EOF]
10-84
85
Chapter 10
[Example 6] Program to Load Parts using the Pallet
000 JB
1,L00
001 SET R00,000
; Checks whether to or not to redo the work or not.
; Clears the register R00 value (Pallet Location Counter)
002 L00:
003 SET
R01,018
; Set the register R01 value (Pallet Location Number)
004 L01:
005
MVE P000
; Moves the pickup point.
006 PM
1,R00
; Moves the location created on the Pallet No. 1 in sequential order.
007 IF
R00 > R01
; Checks whether the pallet loading is completed.
008
GOT L02
; Goes to the label L02, if the answer is YES.
009
INC R00
; Increase the pallet location counter by 1, if the answer is NO.
010
GOT L01
011
L02:
012
SET R00,000
; Clears the pallet location counter.
013
GOT L01
# Register Variables R00~R99 are the backup variables. #
Y
TPNT3(P013)
TPNT4(P014)
PICKUP POINT
(P000)
4
9
14
19
3
8
13
18
2
7
12
17
1
6
11
16
0
5
10
15
TPNT1(P011)
TPNT2(P012)
X
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Chapter 10
[Example 7] Program using the OFFSET Command
Y
'P013
'P014
'P012
'P015
'P011
P013
P012
P011
P014
P015
P016
'P016
23.0
-140.0
X
000
L00:
001
WAIT 1
; Waits for the work signal.
002
SIGB -1
; Turns the work completion signal OFF.
003
OF1,
0.0
; Clear the Axis 1 offset value.
004
OF2,
0.0
; Clear the Axis 2 offset value.
005
SET
R00,11
; Sets the position counter.
006
L01:
; Sets the label.
007
MVS P(R00)
; SFT S(R00)
008
IF
R00 > 16
009
GOT
L02
010
INC
R00
011
GOT
L01
012
L02:
013
OF1,
-140.0
; Sets the Axis 1 offset value.
014
OF2,
23.0
; Sets the Axis 1 offset value.
015
SET
R00,11
016
L03:
017
MVS P(R00)
018
IF
R00 > 16
019
GOT
L04
020
INC
R00
021
GOT
L03
022
L04:
023
SIGB 1
024
GOT
; SFT S(R00)
; Turns the work completion signal ON.
L00
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Chapter 10
[Example 8] Location Movement using the I/O Input
10-87
CHAPTER 11
PC COMMUNICATION
11-1. Overview
11-2. Controller Selection Screen
11-3. Main Menu Screen
11-4. FILE Menu Screen
11-5. LOC Menu Screen
11-6. SFT Menu Screen
11-7. SYS Menu Screen
11-8. GAIN Menu Screen
11-9. AXIS Menu Screen
11-10. S/W Menu Screen
11-11. LIMIT Menu Screen
11-12. RUN/ZR Menu Screen
Chapter 11
11-1. Overview
The controller can communicate with the PC through the GUI screen when "MAC.EXE" file contained in the
3.5" diskette provided with the controller is executed. Main role of the GUI is to store files, location data and
all parameters and to transfer the saved or newly edited data to the MAC.
For the MAC.EXE file to be executed, the MAC should be in [MAIN MENU] status or in the PCOM mode,
one of the Main Menu items. Otherwise, the GUI screen is not executed and no data transmission from the PC
is processed.
The communication starts when the sending party (the party that launches or takes the lead in the communication)
sends the ENQ (0x05) to the receiving party (the servicing party or the non-leading party) and the sending party
receives the XON (0x11). It ends when the receiving party receives the EOT (0x04) after servicing the
requirement of the party that has launched the communication. If the XON answer is not received from the MAC
after the PC sent the ENQ, the GUI screen is not executed.
The requirements for the communication between the MAC and the PC are listed in Table 1, and the GUI
screen consists of the following nine menus.
● FILE TRANS/RECEIVE Menu
● LOC TRANS/RECEIVE Menu
● SFT TRANS/RECEIVE Menu
● SYSTEM PARAMETER TRANS/RECEIVE/SET Menu
● GAIN PARAMETER TRANS/RECEIVE/SET Menu
● AXIS PARAMETER TRANS/RECEIVE/SET Menu
● S/W PARAMETER TRANS/RECEIVE/SET Menu
● LIMIT PARAMETER TRANS/RECEIVE/SET Menu
Inter face
Speed
Mode
Synchronization
Transmission Code
RS-232C Serial
9600 baud
Half Duplex
Asynchronization
Table 11-1.Requirement for Communication System
11-1
Chapter 11
11-2. Controller Selection Screen
SELECT
CONTROLLER
2-AXES
3-AXES
4-AXES
EXIT
The Select Controller Screen appears when the MAC.EXE file is executed, which is used to set the controller
type being used.
- MAC-201 (2-axis Controller)
=>
Select the "2-AXES" button.
=>
=>
(Note) If the controller type being used does not match with the controller type selected in the Select
Controller Screen, normal operation is not performed. Thus, the controller type should be
selected properly.
When the MAC.EXE file is executed, the communication between the MAC and the PC is established and the
above Controller Selection Screen appears. If the communication with the controller is not established
properly, the following "WAIT" screen appears and the PC waits until there is a reply from the controller.
.......
WAIT FOR READY ........
To escape from the WAIT state, press ESC
key.
11-2
Chapter 11
11-3. Main Menu Screen
WELCOME
TO
SAMSUNG FARA MAC-202
COMM.
S/W
F1
FILE
F2
LOC
F3
SFT
F4
SYS PARA
F5
GAIN PARA
F6
AXIS PARA
F7
S/W PARA
F8
LMT PARA
F9
RUN/ZR
EXIT
When you select the controller type in the Select Controller Screen, the above Main Menu screen appears.
If you want to select a function from the Main Menu screen, you can select the function using the mouse or
button.
11-3
Chapter 11
11-4. FILE Menu Screen
FILE TRANS/RECEIVE
SERVICE
SOURCE PRG#
0
DEST
0
PRG#
TRANS
RECEIVE
ALL_TRANS
ALL_RECEIVE
EXIT
The FILE Menu Screen appears when you press
F1
key or click the FILE button with the mouse in the
Main Menu screen. This menu allows you to receive the program from the MAC or to transmit the one edited
in the PC to the MAC. In this menu, each button functions as follows:
SOURCE PRG#
=> Designates the file to transmit/receive, using the keyboard, within the range of “ 0 ~
31” .
DEST
PRG#
=> Designates the file to be transmitted/received, using the keyboard, within the range of
“ 0 ~ 31” .
<Example> When SOURCE PRG# "0" and DEST PRG# "1" are designated,
Press the TRANS button, and the program "PROG00" in the PC is saved to the MAC as "PROG01".
Press the RECEIVE button, and the program "PROG00" in the MAC is saved to the PC as "PROG01".
TRANS Button
=> Transmits a program from the PC to the MAC. (PC -> MAC)
RECEIVE Button
=> Receives a program from the MAC to the PC. (MAC -> PC)
ALL_TRANS Button
=> Transmits all of 32 programs from the PC to the MAC. (PC -> MAC)
ALL_RECEIVE Button => Receives all of 32 programs from the MAC to the PC. (MAC -> PC)
11-4
Chapter 11
11-4-1. Program Transmission
When you transmit a program to the MAC using the TRANS/ALL_TRANS button, transmit an empty
program that is not edited to the MAC, if there is no designated file in the PC.
Be careful when you transmit the program, because the program stored in the MAC is overwritten with the file
transmitted from the PC.
11-4-2. Program Storage
The program transmitted from the MAC using the RECEIVE/ALL_RECEIVE button is stored in the
directory where the MAC.EXE file is executed.
Press the ALL_RECEIVE button, and 32 files under the names of PROG00 ~ PROG31 are created in the
directory where the MAX.EXE file is executed, in one to one correspondence to those in the MAC.
11-4-3. Programming
When you edit the program in the PC, be sure to follow the following rules. Otherwise, the program would not
be transmitted normally.
Rule 1. The comment statement must start with ";".
Rule 2. The program must end with "[EOF]".
<Example>
PC Program
MAC Program
000
001
002
003
004
005
006
007
SET R20,200
L00:
MVS P035
MVS P(R20)
CR P001, 002
MA P001, 50
JMP L00, 005
[EOF]
000
001
002
003
004
005
006
007
Method 1
SET R20 200
L00:
MVS P035
MVS P(R20)
CR P001 002
MA P001 50
JMP L00 005
[EOF]
★ When you edit the program, you can use any editor in the PC.
11-5
Method 2
SET R20,200
L0:
MVS P35
MVS P(R20)
CR P1, 2
MA P1, 50
JMP L0, 5
[EOF]
Chapter 11
11-5. LOC Menu Screen
LOC TRANS/RECEIVE SERVICE
SOURCE(Start) LOC#
0
DEST(End) LOC#
0
TRANS
RECEIVE
BLOCK TRANS
BLOCK RECEIVE
ALL_TRANS
ALL_RECEIVE
EXIT
The LOC Menu Screen appears when you press
F2
key or click the LOC button with the mouse in the
Main Menu screen. This menu allows you to receive the location data from the MAC or to transmit the one
edited in the PC to the MAC. In this menu, each button functions as follows:
SOURCE(Start) LOC# => Designates the location data to transmit/receive, using the keyboard, within the
range of “ 0 ~ 999” .
DEST(End)
LOC# => Designates the location data to be transmitted/received, using the keyboard, within
the range of “ 0 ~ 999” .
<Example> When SOURCE LOC# "0" and DEST LOC# "1" are designated,
Press the TRANS button, and the location data "P000" in the PC is saved to the MAC as "P001".
Press the RECEIVE button, and the location data "P000" in the MAC is saved to the PC as "P001".
TRANS Button
=> Transmits a location data from the PC to the MAC. (PC -> MAC)
RECEIVE Button
=> Receives a location data from the MAC to the PC. (MAC -> PC)
ALL_TRANS Button
=> Transmits all location data from the PC to the MAC. (PC -> MAC)
ALL_RECEIVE Button => Receives all location data from the MAC to the PC. (MAC -> PC)
11-6
Chapter 11
11-5-1. Location Data Transmission
When you transmit the location data to the MAC using the TRANS/ALL_TRANS button, transmit the
location data specified as ‘0’ to the MAC if there is no designated location data in the PC.
Be careful when you transmit the location data, because the location data stored in the MAC is updated with the
location data transmitted from the PC.
11-5-2. Location Data Storage
The location data transmitted from the MAC using the RECEIVE/ALL_RECEIVE button is stored as
‘MACLOC.DAT” file in the directory where the "MAC.EXE" file is executed.
The "MACLOC.DAT" file contains all location data from P000 ∼ P999
11-5-3. MACLOC.DAT (Location Data File) Editing
When you edit the location data file in the PC, be sure to follow the following rules. Otherwise, the location
data would not be transmitted normally.
Rule 1. All lines must start with "P### = ".
Rule 2. The location data of each axis must be separated with space.
<Example>
Location Data in the MAC
P000
AX1 = 350.00
AX2 = 300.00
P200
AX1 = 150.55
AX2 = 0.00
Location Data in the PC
Method 1
Method 2
P000 = 350.00 300.00
P0 = 350.00 300.00
P200 = 150.55 0
P200 = 150.55 0
11-7
Chapter 11
11-6. SFT Menu Screen
SFT
TRANS/RECEIVE
SERVICE
SOURCE SFT#
0
DEST
0
SFT#
TRANS
RECEIVE
ALL_TRANS
ALL_RECEIVE
EXIT
The SFT Menu Screen appears when you press
F3
key or click the SFT button in the Main Menu screen.
This menu allows you to receive the shift location data from the MAC or to transmit the one edited in the PC to
the MAC. In this menu, each button functions as follows:
SOURCE SFT#
=> Designates the shift location data to transmit/receive, using the keyboard, within the
range of “ 0 ~ 99” .
DEST
SFT#
=> Designates the shift location data to be transmitted/received, using the keyboard, within
the range of “ 0 ~ 99” .
<Example> When SOURCE SFT# "0" and DEST SFT# "1" are designated,
Press the TRANS button, and the shift location data "S00" in the PC is saved to the MAC as "S01".
Press the RECEIVE button, and the shift location data "S00" in the MAC is saved to the PC as "S01".
TRANS Button
=> Transmits a shift location data from the PC to the MAC. (PC -> MAC)
RECEIVE Button
=>Receives a shift location data from the MAC to the PC. (MAC -> PC)
ALL_TRANS Button
=> Transmits all of data from the PC to the MAC. (PC -> MAC)
ALL_RECEIVE Button => Receives all of data from the MAC to the PC. (MAC -> PC)
11-8
Chapter 11
11-6-1. Transmission of Shift Location Data
When transmitting the shift location data to the MAC using the TRANS/ALL_TRANS button, transmit the
shift location data specified as ‘0’ to the MAC if there is no designated shift location data in the PC.
Be careful when you transmit the shift location data, because the shift location data stored in the MAC is
updated with the shift location data transmitted from the PC.
11-6-2. Storage of Shift Location Data
The shift location data transmitted from the MAC using the RECEIVE/ALL_RECEIVE button is stored as
“MACSFT.DAT” file in the directory where the "MAC.EXE" file is executed.
The "MACSFT.DAT" file contains all location data from S00 to S99.
11-6-3. MACSFT.DAT (Shift Location Data File) Editing
When you edit the shift location data file in the PC, be sure to follow the following rules. Otherwise, the shift
location data would not be transmitted normally.
Rule 1. All lines must start with "S### = ".
Rule 2. The shift location data of each axis must be separated with space.
<Example>
Shift Location Data in the
MAC
S00
AX1 = 50.00
AX2 = 10.00
S50
AX1 = 10.55
AX2 = 1.23
Shift Location Data in the PC
Method 1
Method 2
S00 = 50.00 10.00
S0 = 50.00 10.00
P50 = 10.55 1.23
S50 = 10.55 1.23
11-9
Chapter 11
11-7. SYS Menu Screen
SYSTEM PARA TRANS/RECEIVE
SERVICE
TRANS
RECEIVE
SET
EXIT
The SYS Menu Screen appears when you press
F4
key or click the SYS button in the Main Menu
screen. This menu allows you to receive the system parameter from the MAC or to transmit the one set in the
PC to the MAC. In this menu, each button functions as follows:
TRANS Button
=> Transmits the system parameter from the PC to the MAC. (PC Æ MAC)
RECEIVE Button
=> Transmits the system parameter from the MAC to the PC. (MAC Æ PC)
SET Button
=> Sets the system parameter.
11-7-1. Creation of MACSYS.DAT File
When you press the RECEIVE button or the SET button, the “MACSYS.DAT” file is automatically created in
the directory where the “MAC.EXE” file is executed. Note that, if the “MACSYS.DAT” file does not exist,
each system parameter value is adjusted to the default value when the SET button is pressed.
★ The AXES parameters set in the SYS menu are directly connected with the number of axes set in such
axis parameter setting menus as GAIN menu, AXIS menu, S/W menu and LMT menu, so it is
recommended to confirm whether the AXES parameter is correctly set in the SYS menu before using
the axis parameter setting menu.
11-10
Chapter 11
11-7-2. System Parameter Setting (The SET button is pressed.)
SYSTEM PARA SET SERVICE
AXES
2AXES
3AXES
4AXES
EXIT
ARCH
1AXIS
2AXIS
3AXIS
4AXIS
UPAX
1AXIS
2AXIS
3AXIS
4AXIS
ZRAX
1
ZRIN
Z+HOME
HOME1
CSPD
1
2
2
3
4
5
6
HOME2
3
ON
PSGF
OFF
ON
ESGF
OFF
ON
BRKF
OFF
ON
2AX
3AX
PSIG
0 HEX
ESIG
0 HEX
ZRNO
0 HEX
BRON
0 msec
BROF
0 msec
MSPD
10 %
JSPD
10 %
9
4
OFF
1AX
8
Z-P
JGIO
BRAX
7
4AX
The System Parameter Set menu consists of 16 parameters, and you can move between parameters and set the
parameter using either the keyboard or the mouse.
TAB
↑
↓
keys => Used to move among 17 parameters.
The selected parameters are indicated with the red boxes.
→
←
keys => Used to move from the selected parameter to the set button.
The selected set button is indicated with the blue box.
Alphanumeric Keys => Used to enter the values for such parameters as PSIG, ESIG,ZRNO,BRON, BROF,
MSPD and JSPD.
11-11
Chapter 11
11-8. GAIN Menu Screen
GAIN PARA TRANS/RECEIVE
SERVICE
TRANS
RECEIVE
SET
EXIT
The GAIN Menu Screen appears when you press
F5
key or click the GAIN PARA button in the Main
Menu Screen. This menu allows you to receive the gain parameter from the MAC or transmits the one set in
the PC to the MAC. In this menu, each button functions as follows:
TRANS Button
=> Transmits the gain parameter from the PC to the MAC. (PC Æ MAC)
RECEIVE Button
=> Transmits the gain parameter from the MAC to the PC. (MAC Æ PC)
SET Button
=> Sets the gain parameter.
EXIT Button
=> Exits from the GAIN menu.
11-8-1. Creation of MACGAIN.DAT File
When you press the RECEIVE button or the SET button, the “MACGAIN.DAT” file is automatically created
in the directory where the “MAC.EXE” file is executed. Note that, if the “MACGAIN.DAT” file does not
exist, each gain parameter value is adjusted to the default value when the SET button is pressed.
★ The values set in the GAIN menu directly affect the system control, so it is safe to set the gain values
sequentially starting from small values, with monitoring the controlled situation.
11-12
Chapter 11
11-8-2. Gain Parameter Setting (The SET button is pressed.)
GAIN PARA SET SERVICE
AXIS
1
Pos P Gain (P_p)
50
Pos I Gain (P_i)
0
Pos D Gain (P_d)
0
Pos F Gain (P_f)
0
Pos I Limit (P_l)
0
Vel P Gain (V_p)
2000
Vel I Gain (V_i)
0
Vel D Gain (V_d)
0
Vel F Gain (V_f)
0
Vel I Limit (V_l)
0
NEXT
PREV
EXIT
The Gain Parameter Set menu consists of 10 parameters, and you can move between parameters and set the
Number Keys => Used to enter the parameter value.
TAB
↑
↓
The selected parameters are indicated with the blue boxes.
NEXT
EXIT
PREV
buttons => Scrolls up and down the axis.
button and
ESC
key => Exit from the Gain Parameter Set menu.
11-13
Chapter 11
11-9. AXIS Menu Screen
AXIS PARA TRANS/RECEIVE
SERVICE
TRANS
RECEIVE
SET
EXIT
The AXIS Menu Screen appears when you press
F6
key or click the AXIS PARA button in the Main
Menu Screen. This menu allows you to receive the axis parameter from the MAC or transmits the one set in
TRANS Button
=> Transmits the axis parameter from the PC to the MAC. (PC Æ MAC)
RECEIVE Button
=> Transmits the axis parameter from the MAC to the PC. (MAC Æ PC)
SET Button
=> Sets the axis parameter.
EXIT Button
=> Exits from the AXIS menu.
11-9-1. Creation of MACAXIS.DAT File
When you press the RECEIVE button or the SET button, the “MACAXIS.DAT” file is automatically created
in the directory where the “MAC.EXE” file is executed. Note that, if the “MACAXIS.DAT” file does not
exist, each axis parameter value is adjusted to the default value when the SET button is pressed.
★ The values set in the AXIS menu are closely related to the system configuration, so the parameter
setting should be adjusted according to the servo driver type connected to the MAC. If the value set in
the AXIS parameter does not match with the servo driver actually connected to the MAC, the system
mal-operates or does not operate.
11-14
Chapter 11
11-9-2. Axis Parameter Setting (The SET button is pressed.)
AXIS PARA SET SERVICE
AXIS
1
MOTOR
MICRO
SERVO
STEP
LOOP
SEMI
CLOSE
OPEN
CONT
VELO
TORQ
VOLT
BI-P
UNI-P
STEP
TWO
ONE
CDIR
＋
－
ZDIR
＋
－
CORD
CW
CCW
NEXT
PREV
EXIT
The Axis Parameter Set menu consists of 8 parameters, and you can move between parameters and set the
TAB
↑
↓
→
←
keys => Used to move from the selected parameter to each set button.
NEXT
EXIT
PREV
button and
ESC
key => Exit from the Axis Parameter Set menu.
11-15
Chapter 11
11-10. S/W Menu Screen
S/W PARA TRANS/RECEIVE
SERVICE
TRANS
RECEIVE
SET
EXIT
The S/W Menu Screen appears when you press
F7
key or click the S/W PARA button in the Main
Menu Screen. This menu allows you to receive the S/W parameter from the MAC or transmits the one set in
TRANS Button
=> Transmits the S/W parameter from the PC to the MAC. (PC Æ MAC)
RECEIVE Button
=> Transmits the S/W parameter from the MAC to the PC. (MAC Æ PC)
SET Button
=> Sets the S/W parameter.
EXIT Button
=> Exits from the S/W menu.
11-10-1. Creation of MACSW.DAT File
When you press the RECEIVE button or the SET button, the “MACSW.DAT” file is automatically created in
the directory where the “MAC.EXE” file is executed. Note that, if the “MACSW.DAT” file does not exist,
each S/W parameter value is adjusted to the default value when the SET button is pressed.
★ The values set in the S/W menu are closely related to the mechanical specification of the system. As the
ACC and the DCC parameters are the values that decide the acceleration and the deceleration sections
of the motor, the system might be damaged if small parameter values are used.
11-16
Chapter 11
11-10-2. S/W Parameter Setting (The SET button is pressed.)
S/W PARA SET SERVICE
AXIS
1
CR
0.00
LL
-1000.00
UL
1000.00
OFF
0.00
ERR
100.00
VEL
3000.00
GEB
20.00
GEA
2048
ACC
20
DCC
20
INP
100
PUL
0
C_VEL
100
F_VEL
20
Z_ACC
10
P_DCC
20
PREV
RATIO
1
EXIT
NEXT
The S/W parameter setting menu consists of 17 parameters, and you can move between parameters and set the
Number Keys
TAB
↑
=> Used to enter the parameter value.
↓
The selected parameters are indicated with the blue boxes.
NEXT
EXIT
PREV
button and
ESC
key => Exit from the S/W Parameter Set menu.
11-17
Chapter 11
11-11. LIMIT Menu Screen
LIMIT PARA TRANS/RECEIVE
SERVICE
TRANS
RECEIVE
SET
EXIT
The LIMIT Menu Screen appears when you press
F8
key or click the LMT PARA button in the Main
Menu Screen. This menu allows you to receive the limit parameter from the MAC or transmits the one set in
TRANS Button
=> Transmits the limit parameter from the PC to the MAC. (PC Æ MAC)
RECEIVE Button
=> Transmits the limit parameter from the MAC to the PC. (MAC Æ PC)
SET Button
=> Sets the limit parameter.
EXIT Button
=> Exits from the LIMIT menu.
11-11-1. Creation of MACLMT.DAT File
When you press the RECEIVE button or the SET button, the “MACLMT.DAT” file is automatically created
in the directory where the “MAC.EXE” file is executed. Note that, if the “MACLMT.DAT” file does not
exist, each limit parameter value is adjusted to the default value when the SET button is pressed.
★ The values set in the LIMIT menu are closely related to the active level including that of the sensor
used for detecting the mechanical limit of the system and that for Servo ON/OFF and alarm reset.
Therefore, the limit parameters should be set appropriately according to the limit sensor specification
and the servo driver specification.
11-18
Chapter 11
11-11-2. Limit Parameter Setting (The SET button is pressed.)
LIMIT PARA SET SERVICE
AXIS
1
POSI
LOW
HIGH
NEGA
LOW
HIGH
HOME
LOW
HIGH
SVERR
LOW
HIGH
SVRST
LOW
HIGH
SVON
LOW
HIGH
NEXT
PREV
EXIT
The Limit Parameter Set menu consists of 6 parameters, and you can move between parameters and set the
TAB
↑
↓
→
←
keys => Used to move from the selected parameter to each set button.
NEXT
EXIT
PREV
button and
ESC
key => Exit from the Limit Parameter Set menu.
11-19
Chapter 11
11-12. RUN/ZR Menu Screen
RUN/ZR SERVICE
RUN
PRG#
0
RUN
HOLD
STOP
ZR
SERVO ON
SERVO OFF
I/O ALL ON
I/O ALL OFF
EXIT
F9
The RUN/ZR Menu Screen appears when you press
key or click the RUN/ZR button in the Main
Menu screen. The RUN/ZR menu allows executing such functions as Program Run/Stop, Zero Return and
Servo Power ON/OFF through RS232C communication. In this menu, each button functions as follows:
RUN PRG#
=> Designates the program number to be run, using the keyboard, within the range of “0 ~ 31”.
RUN Button
=> Runs the program designated with the RUN PRG# button.
HOLD Button
=> Holds the program being running. When you press the RUN button again after the
HOLD is pressed, the program execution resumes from the line next to the one being
executed.
STOP Button
=> Stops program execution. When you press the RUN button again after the STOP button
is pressed, the program execution resumes from its very beginning.
ZR Button
=> Executes zero return.
SERVO ON Button
=> Turns the servo power ON.
SERVO OFF Button => Turns the servo power OFF.
I/O ALL ON
=>Turns all of 32 I/O output points ON.
I/O ALL OFF
=> Turns all of 32 I/O output points OFF.
(Note) At the time of I/O ALL ON or I/O ALL OFF, both the system output signals and the external output
signals are turned ON/OFF at the same time. So, check the current system status before executing such
commands.
11-20
CHAPTER 12
ERROR MESSAGE
12-1.
12-2.
12-3.
12-4.
Checksum Errors
System Errors
Parameter Errors
Edit Errors
Chapter 12
There are following four types of error messages:
- CHECKSUM ERROR
- PARAMETER ERROR
- SYSTEM ERROR
- EDIT ERROR
When an error occurs, the error content is displayed on the Teach Pendant LCD.
12-1. Checksum Errors (Memory Crash)
The checksum error occurs when the backup data is crashed, which is displayed only when the controller is
powered up. There are total 10 checksum errors. When a checksum error occurs, the following screen is
displayed on the Teach Pendant.
ERROR CODE
CODE
ERROR
[ERR/CHKSUM]
<01>
PRG00 Crashed
ERROR
ERROR DESCRIPTION
내용
A-S A-R SKP REST
When the 'CHKSUM ERROR' message is displayed as shown above, each function key works as follows:
A-S (All-Skip)
=>
F1
key skips all of the memory crash error description, and loads the
current memory content as it is.
A-R (All-Reset)
=>
F2
key resets all crashed memory blocks created after the checksum
error is displayed, and does not display the error description.
SKP (Skip)
=>
F3
key just skips the crashed memory, and loads the current memory
content as it is and checks whether the next memory block is crashed or not.
REST (Reset)
=>
F4
key resets the crashed memory block, and checks whether the next
memory block is crashed or not.
12-1
Chapter 12
12-1-1. Description of Checksum Errors
CODE
01
DESCRIPTION
CAUSE
There is an error in the file data.
ACTION
Reset or re-create the file.
CODE
02
DESCRIPTION
PRGxx Crashed (xx = 0 ~ 31)
Pxxx LOC Crash (xxx = 0 ~ 999)
CAUSE
There is an error in the location data.
ACTION
Reset or re-create the location data.
CODE
03
DESCRIPTION
Sxx SFT Crash (xx = 0 ~ 99)
CAUSE
There is an error in the shift location data.
ACTION
Reset or re-create the shift location data.
CODE
04
DESCRIPTION
System parameter Crash
CAUSE
There is an error in the system parameter data.
ACTION
Reset or re-create the system parameter data.
CODE
05
DESCRIPTION
#ax Axis parameter Crash (# 1 ~ 4 )
CAUSE
There is an error in the axis parameter data.
ACTION
Reset or re-create the axis parameter data.
CODE
06
DESCRIPTION
#ax Software Parameter Crash (# 1 ~ 4 )
CAUSE
There is an error in the software parameter data.
ACTION
Reset or re-create the software parameter data.
CODE
07
DESCRIPTION
#ax Limit Parameter Crash (# 1 ~ 4 )
CAUSE
There is an error in the limit parameter data.
ACTION
Reset or re-create the limit parameter data.
CODE
08
DESCRIPTION
#ax Gain Parameter Crash (# 1 ~ 4 )
CAUSE
There is an error in the gain parameter data.
ACTION
Reset or re-create the gain parameter data.
12-2
Chapter 12
CODE
09
DESCRIPTION
MATRIX Info. Parameter Crash.
CAUSE
There is an error in the matrix information data.
ACTION
Reset the matrix information data and then re-enter the data.
CODE
10
DESCRIPTION
SPLINE Info. Parameter Crash.
CAUSE
There is an error in the spline information data.
ACTION
Reset the spline information data and then re-enter the data.
12-3
Chapter 12
12-2. System Errors
There are 29 types of system errors. When a system error occurs, the following screen is displayed on the
Teach Pendant LCD.
ERROR CODE
CODE
ERROR
[ERR/SYS]
<02>
P001 LOC does
not exist
CLR ...
....
ERROR DESCRIPTION
내용
ERROR
EXIT
When the system error message is displayed as shown above, each function key works as follows:
CLR (CLEAR)
=>
EXIT
=>
F1
F4
key clears the error and exits to the previous screen.
key exits to the previous screen without resetting the error.
12-2-1. Description of System Errors
CODE
01
DESCRIPTION
Backup Battery Low Voltage
CAUSE
There is an error in the backup battery attached to the main board.
ACTION
Check the backup battery connection part, and check whether the battery life is over.
CODE
02
DESCRIPTION
Pxxx Loc does not exist (xxx = 0 ~ 999)
CAUSE
The location does not exist.
ACTION
Enter the location information under the corresponding location name, or rename the location.
12-4
Chapter 12
CODE
03
DESCRIPTION
Sxxx SFT does not exist (xxx = 0 ~ 99)
CAUSE
The shift location does not exist.
ACTION
Enter the location information under the corresponding shift location name, or rename the shift
location.
CODE
04
DESCRIPTION
Pxxx Loc data S/W Limit Over (xxx = 0 ~ 999)
CAUSE
The location data exceeds the upper or the lower movement limit.
ACTION
Modify the corresponding location data properly.
CODE
05
DESCRIPTION
Sxxx SFT data S/W Limit Over (xxx = 0 ~ 999)
CAUSE
The shift location data exceeds the upper or the lower limit.
ACTION
Modify the corresponding shift location data properly.
CODE
06
DESCRIPTION
Circle Radius Limit Over
CAUSE
It is impossible to draw a circle using the specified location data.
ACTION
Modify the location data.
CODE
07
DESCRIPTION
CAUSE
The file does not exist.
ACTION
Create the corresponding file.
CODE
08
DESCRIPTION
CAUSE
Zero return is not completed.
ACTION
Perform zero return.
CODE
09
DESCRIPTION
PRGxx File does not exist
ZERO RETRRN is not done
#axis Curr-Pos Lower Limit Over (# = 1 ~ 4 )
CAUSE
The current position (feedback position) exceeds the lower limit.
ACTION
Check the current position, and then modify the work area, the lower limit and the location data.
CODE
10
DESCRIPTION
#axis Curr-Pos Upper Limit Over (# = 1 ~ 4 )
CAUSE
The current position (feedback position) exceeds the upper limit.
ACTION
Check the current position, and then modify the work area, the upper limit and the location data.
12-5
Chapter 12
CODE
11
DESCRIPTION
#axis Tracking Error (# = 1 ~ 4 )
CAUSE
The robot does not reach the command position.
ACTION
Adjust the gain value of the motor driver or that of the controller, or check the wiring and the
connector.
CODE
12
DESCRIPTION
#axis Servo Err (# = 1 ~ 4 )
CAUSE
An error in the motor driver of the corresponding axis.
ACTION
Check the error code in the motor driver and remove the cause of the error, or check the SVERR
value of the LIMIT parameter.
When this error occurs, zero return should be redone.
CODE
13
DESCRIPTION
#axis Positive Limit ON (# = 1 ~ 4 )
CAUSE
The ‘+’ limit sensor on the corresponding axis turns ON.
ACTION
Check the work area, and check the sensor status or the POSI value of the LIMIT parameter.
CODE
14
DESCRIPTION
#axis Negative Limit ON (# = 1 ~ 4 )
CAUSE
The ‘-’ limit sensor on the corresponding axis turns ON.
ACTION
Check the work area, and check the sensor status or the NEGA value of the LIMIT parameter.
CODE
15
DESCRIPTION
#axis Goal-Pos Move Error (# = 1 ~ 4 )
CAUSE
The robot does not reach the command position.
ACTION
Adjust the gain value of the motor driver or that of the controller, or check the wiring or the
connector.
Check the INP value of the S/W parameter. When this error occurs, zero return should be redone.
CODE
16
DESCRIPTION
Lxxx Not Found (xxx = 0 ~ 50)
CAUSE
The label does not exist.
ACTION
Insert the corresponding label to the program, or edit the program.
12-6
Chapter 12
CODE
17
DESCRIPTION
CALL Stack Full
CAUSE
More than 31 call statements are executed.
ACTION
Edit the program. The number of call statements in the program being executed should not
exceed 31.
CODE
18
DESCRIPTION
CALL Current File
CAUSE
The program calls the current file.
ACTION
Edit the program. The program being executed cannot call the current file.
CODE
19
DESCRIPTION
RET Stack Empty
CAUSE
The RET command is used wrongly.
ACTION
Edit the program. It is impossible to the RET command for the programs other than those
executed by the CALL or the INT command.
CODE
CAUSE
20
DESCRIPTION
#axis Invalid Positive Sensor (# = 1 ~ 4 )
The ‘+’ limit sensor turns on when the corresponding axis moves to ‘-’ direction during zero
return.
ACTION
Check the sensor. As this error occurs during zero return, zero return should be redone after the
cause of this error is cleared.
CODE
CAUSE
21
DESCRIPTION
#axis Invalid Negative Sensor (# = 1 ~ 4 )
The ‘-’ limit sensor turns on when the corresponding axis moves to ‘+’ direction during zero
return.
ACTION
Check the sensor. As this error occurs during zero return, zero return should be redone after the
cause of this error is cleared.
CODE
22
DESCRIPTION
#axis PWM OFF (# = 1 ~ 4 )
CAUSE
The servo power of the corresponding axis turns OFF.
ACTION
Check the motor driver status. When this error occurs, zero return should be redone.
CODE
23
DESCRIPTION
IF FUNC. Max File Line Over
CAUSE
The IF command is placed on Line 253 or 254 of the program.
ACTION
The IF command uses following two lines in its characteristics. Therefore, it should be used
before Line 252 of the program.
12-7
Chapter 12
CODE
CAUSE
24
DESCRIPTION
PC Communication Time Over
The connector or the PC communication connector is faulty, or the communication program does
not run.
ACTION
Check the communication connector connection status and the connector wiring status, and check
whether the communication program runs normally.
CODE
25
DESCRIPTION
PC Communication Checksum Error
CAUSE
An error in the data received/transmitted through serial communication
ACTION
Check the communication connector connection status and the connector wiring status, and check
whether the communication program runs normally.
CODE
26
DESCRIPTION
Emergency Switch ON!
CAUSE
This error occurs when the emergency input signal is kept ON in the external control mode.
ACTION
Check the system input wiring and the emergency switch.
CODE
CAUSE
27
DESCRIPTION
PAL ### not define (### = 1 ~ 100)
This error occurs when the robot system is used without entering the information about No. ###
Pallet.
ACTION
CODE
Enter the information about No. ### Pallet in the PAL menu.
28
DESCRIPTION
PAL ### LOC does not exist.
CAUSE
The Pallet Location ### does not exist.
ACTION
Check the line and the location number entered in the PAL menu.
CODE
CAUSE
29
DESCRIPTION
SPL ## not define (## = 1 ~ 10)
This error occurs when the robot system is used without entering the information about No. ##
Spline.
ACTION
CODE
Enter the information about No. ## Spline in the SPL menu.
31
DESCRIPTION
# Axis Invalid Home Sensor (## = 1 ~ 4 )
CAUSE
When do zero return, Home sensor does not work ON/OFF, within the motor 10 revolution
ACTION
Check Home Sensor
and Connection wire, connector
12-8
Chapter 12
12-9
Chapter 12
12-3. Parameter Errors
There are 17 types of parameter errors. When the parameter error occurs, the following screen is displayed on
the Teach Pendent LCD.
ERROR CODE
CODE
ERROR
[ERR/PARA]
<01>
GAIN VALUR ERROR
ERROR DESCRIPTION
내용
ERROR
GAIN = 0∼50000
... ...
.... EXIT
Press
F4
key when the parameter error message is displayed as shown above, and the screen returns to
the main menu screen. The parameter error occurs when a parameter value is set larger or smaller than the
prescribed limit. When a parameter error occurs, the parameter value should be reset within the limit.
◇ Description of Parameter Errors
NO
CODE
DESCRIPTION
1
01
GAIN VALUE ERROR, GAIN = 0 ~ 50000
2
02
COUNTER LIMIT OVER
3
03
LOWER LIMIT OVER, LL = -21470000.00
4
04
UPPER LIMIT OVER, UL = +21470000.00
5
05
ERROR LIMIT OVER, ERR = 100000.00
6
06
VELO LIMIT OVER, VEL = 30000.00
7
07
ACC LIMIT OVER, ACC = 200
8
08
DCC LIMIT OVER, DCC = 200
9
09
INPOS LIMIT OVER, INP = 900000
10
10
GEAR LIMIT OVER, GEA = 1 ~ 900000
11
11
GEAR LIMT OVER, GEB = 1 ~ 900000
12
12
PULSE LIMIT OVER, PUL = 100
13
13
C_VEL LIMIT OVER, C_VEL = 5000
14
14
F_VEL LIMIT OVER, F_VEL = 5000
15
15
ZRACC LIMIT OVER, ZACC = 200
16
16
PACC LIMIT OVER, PACC = 200
17
17
RATIO LIMIT OVER, RATIO = 100
12-10
Chapter 12
12-4. Edit Errors
There are 34 types of edit errors. When the edit error occurs, the following screen is displayed on the Teach
Pendant LCD.
ERROR CODE
[ERR/EDIT]
<02>
LOC. NUM ERROR
ERROR DESCRIPTION
LOC. = 0∼511
...
Press
F4
...
....
EXIT
key when the edit error message is displayed as shown above, and the screen returns to the
main menu screen. The edit error occurs during programming or program edition when the program exceeds
the predefined syntax or limit. When an edit error occurs, the parameter value should be reset within the
predefined syntax or limit.
◇ Description of Edit Errors
NO
CODE
DESCRIPTION
1
01
REG. NUM ERROR, REG. = 0 ~ 99
2
02
POS. NUM ERROR, POS. = 0 ~ 999
3
03
SFT. NUM ERROR, SFT. = 0 ~ 99
4
04
P(001~999) Location is Not Define
5
05
S(00~99) Shift is Not Define
6
06
DLY. VALUE ERROR, DLY. = 1 ~ 999999
7
07
PRG. NUM ERROR, PRG. = 0 ~ 31
8
08
SPD. VALUE ERRO, SPD. = 1 ~ 100
9
09
ACC. VALUE ERRO, AC. = 0 ~ 200
10
10
DCC. VALUE ERRO, DCC. = 0 ~ 200
11
11
INP. VALUE ERRO, INP. = 0 ~ 900000
12
12
LABEL NUM ERROR, LABEL = 0 ~ 99
13
13
I/O NUM ERROR, I/O = 1 ~ 32
14
14
I/O NUM ERROR, INPUT I/O = 1 ~ 16
15
15
I/O NUM ERROR, OUTPUT I/O = 1 ~ 24
16
16
ARCH RATIO ERROR, RATIO = 1 ~ 100
12-11
Chapter 12
NO
CODE
17
17
VAL. NUM ERROR, VAL = 0 ~ 255
DESCRIPTION
18
18
I/O POR NOM ERR, IN PORT = 1 ~ 2
19
19
I/O POR NOM ERR, OUT PORT = 1 ~ 3
22
22
AXIS NUM ERROR, AXIS = 1 ~ 2(3)
21
21
LOOP NUM ERROR, LOOP = 0 ~ 255
22
22
INT NUM ERROR, INT NUM = 1 ~ 3
23
23
MAX EDIT LINE ERR, LINE = 0 ~ 255
24
24
COPY BLOCK OVER
25
25
PAL RANGE OVER, RANGE = 1 ~ 100
26
26
PAL ZIGZAG OVER, 0 = OFF 1 = ON
27
27
TIMER VAL ERROR, VAL.= 1 ~ 9999
28
28
HOME VALUE ERROR, VAL. = 1 ~ 0x07h
29
29
SPL RANGE OVER, SPL#. = 1 ~ 10
30
30
ARC RANGE OVER, DEG#. = 1 ~ 999
31
31
FREG. NUM ERROR, FREG. = 0 ~ 15
32
32
IF VAL. NUM ERR, VAL = 0 ~ 255
33
33
FLOAT VALUE ERR, VAL = 0 ~ 2200.00
34
34
PALLET LOC. ERR, LOC# = 0 ~ 9999
12-12
Supplement 1 for MAC
MAC Communication Protocol
○ : Valid
× : Invalid
TOKEN Value
NO
Command
TOKEN
Value
While
pause or
stop
While
Run
1
FILE READ
1
O
X
2
FILE WRITE
2
O
X
3
LOC READ
3
O
X
4
LOC WRITE
4
O
X
5
SFT READ
5
O
X
6
SFT WRITE
6
O
X
7
RUN
21
O
X
8
ZR
22
O
X
9
SERVO ON
23
O
X
10
SERVO OFF
24
O
X
11
I/O ALL ON
25
O
X
12
I/O ALL OFF
26
O
X
13
I/O Input 32points READ
27
O
O
14
I/O Output 32points READ
28
O
O
15
Objective Location READ
29
O
O
16
Current Location READ
30
O
O
17
ERROR READ
31
O
O
18
ERROR RESET
32
O
O
19
IO BIT ON/OFF
33
O
O
20
REGISTER READ
34
O
O
21
REGISTER WRITE
35
O
O
22
Connection OFF
36
O
O
Supplement Page 2
c.f
FILE READ
PC
MAC
c,f
SOH
ACK
1 (TOKEN)
1 (ECHO)
Program No (LOW BYTE)
Program No (HIGH BYTE)
STX
SYN
DATA
(1024 BYTES)
CHKSUM(1 BYTE)
CHKSUM is 2 Complement
ETX
EOT (CHKSUM Value OK)
DLE (CHKSUM Value not OK)
* If PC send the signal DLE then,
MAC controller make CHKSUM Error and the output of error
(=SYS I/O No 1) is ON.
* CHKSUM Method
CHKSUM transfer 1 byte with 2 compliment adding data with the CHAR variable .
* the sequence of data send for LONG variables
BYTE
HIGH BYTE
MIDDLE BYTE #1
MIDDLE BYTE #2
LOW BYTE
Sending Sequence
4
3
2
1
Supplement Page 3
FILE WRITE
PC
MAC
c.f
SOH
ACK
2 (TOKEN)
2 (ECHO)
STX
SYN
DATA
(1024 BYTES)
CHKSUM(1 BYTE)
ETX
EOT (CHKSUM Value is OK)
DLE (CHKSUM not OK)
* CHKSUM Method
BYTE
HIGH BYTE
Sending Sequence
4
Supplement Page 4
MIDDLE BYTE #1 MIDDLE BYTE #2
3
2
LOW BYTE
1
LOC READ
PC
MAC
c.f
SOH
ACK
3 (TOKEN)
3 (ECHO)
LOC
No (LOW BYTE)
LOC No (HIGH BYTE)
STX
SYN
DATA
(12 BYTES)
CHKSUM(1 BYTE)
ETX
DLE (CHKSUM Value not OK)
* CHKSUM Method
BYTE
HIGH BYTE
Sending Sequence
4
3
2
LOW BYTE
1
- LOCATION DATA should be the LONG variable.
Example>
X = 123.45
==>
123.45 X 100 ==> 12345
Y = 234.57
==>
234.57 X 100 ==> 23457
Ie, X axis
= 12345, Y axis = 23457 -> sending after changing with the data LONG variable.
Supplement Page 5
LOC WRITE
PC
MAC
c.f
SOH
ACK
4 (TOKEN)
4 (ECHO)
LOC No (LOW BYTE)
LOC No (HIGH BYTE)
STX
SYN
DATA
(12 BYTES)
CHKSUM(1 BYTE)
ETX
DLE (CHKSUM is not OK)
* CHKSUM Method
BYTE
HIGH BYTE
Sending Sequence
4
3
2
LOW BYTE
1
Example>
X = 123.45
==>
123.45 X 100 ==> 12345
Y = 234.57
==>
234.57 X 100 ==> 23457
Ie, X axis
Supplement Page 6
SFT READ
PC
MAC
c.f
SOH
ACK
5 (TOKEN)
5 (ECHO)
SFT No (LOW BYTE)
SFT No (HIGH BYTE)
STX
SYN
DATA
(12 BYTES)
CHKSUM(1 BYTE)
ETX
* CHKSUM Method
BYTE
HIGH BYTE
Sending Sequence
4
3
2
LOW BYTE
1
Example>
X = 123.45
==>
123.45 X 100 ==> 12345
Y = 234.57
==>
234.57 X 100 ==> 23457
Ie, X axis
Supplement Page 7
SFT WRITE
PC
MAC
c.f
SOH
ACK
6 (TOKEN)
6 (ECHO)
SFT No (LOW BYTE)
SFT No (HIGH BYTE)
STX
SYN
DATA
(12 BYTES)
CHKSUM(1 BYTE)
ETX
EOT (CHKSUM is OK)
* CHKSUM Method
BYTE
HIGH BYTE
Sending Sequence
4
3
2
LOW BYTE
1
Example>
X = 123.45
==>
123.45 X 100 ==> 12345
Y = 234.57
==>
234.57 X 100 ==> 23457
Ie, X axis
Supplement Page 8
RUN
PC
MAC
c.f
SOH
ACK
21 (TOKEN)
21 (ECHO)
If MAC receive DLE, MAC do not
STX (ECHO Value is OK)
send SYN signal to PC, ignoring
DLE (ECHO is not OK)
commands from PC.
SYN
* If the command "RUN" is executed successfully, the output of RUN (SYS I/O No 5) is ON.
ZR
PC
MAC
비 고
SOH
ACK
22 (TOKEN)
22 (ECHO)
0(ZERO)
0(ZERO)
commands from PC.
SYN
* If the command "ZR" is executed successfully, the output of RUN, PAUSE (SYS I/O No 5,6) is Off.
And If ZR is completed successfully, the output of ZRC, READY, SVON (SYS I/O 8,4,3) is ON.
Supplement Page 9
SERVO ON
PC
MAC
비 고
SOH
ACK
23 (TOKEN)
23 (ECHO)
0(ZERO)
0(ZERO)
commands from PC.
SYN
* If "SERVO ON" is executed successfully, the output of SVON/OFF (SYS I/O No 3) is ON.
SERVO OFF
PC
MAC
비 고
SOH
ACK
24 (TOKEN)
24 (ECHO)
0(ZERO)
0(ZERO)
commands from PC.
SYN
* If "SERVO Off" is executed successfully, the output of SVON/OFF (SYS I/O No 3) is Off.
Supplement Page 10
I/O ALL ON
PC
MAC
비 고
SOH
ACK
25 (TOKEN)
25 (ECHO)
0(ZERO)
0(ZERO)
commands from PC.
SYN
I/O ALL OFF
PC
MAC
비 고
SOH
ACK
26 (TOKEN)
26 (ECHO)
0(ZERO)
0(ZERO)
commands from PC.
SYN
Supplement Page 11
I/O Input 32 points READ
PC
비 고
MAC
SOH
ACK
27 (TOKEN)
27 (ECHO)
DATA(4 BYTES)
CHKSUM(1 BYTE)
ETX
* CHKSUM Method
BYTE
HIGH BYTE
Sending Sequence
4
Supplement Page 12
3
2
LOW BYTE
1
I/O Output 32 points READ
PC
비 고
MAC
SOH
ACK
28 (TOKEN)
28 (ECHO)
DATA(4 BYTES)
CHKSUM(1 BYTE)
ETX
* CHKSUM Method
BYTE
HIGH BYTE
Sending Sequence
4
Supplement Page 13
3
2
LOW BYTE
1
Objective Location READ
PC
비 고
MAC
SOH
ACK
29 (TOKEN)
29 (ECHO)
DATA(12 BYTES)
CHKSUM(1 BYTE)
ETX
* CHKSUM Method
BYTE
HIGH BYTE
Sending Sequence
4
3
2
LOW BYTE
1
* Sending Location data
Location Data are LONG variables and transferred with 12 bytes of location data for 3 axes.
Data for decimal points : transferred with LONG variables changing "location data × 100"
Supplement Page 14
Current Location READ
PC
MAC
c.f.
SOH
ACK
30 (TOKEN)
30 (ECHO)
DATA(12 BYTES)
CHKSUM(1 BYTE)
ETX
* CHKSUM Method
BYTE
HIGH BYTE
Sending Sequence
4
3
2
LOW BYTE
1
* Sending Location data
Location Data are LONG variables and transferred with 12 bytes of location data for 3 axes.
Data for decimal points : transferred with LONG variables changing "location data × 100"
Supplement Page 15
ERROR READ
PC
MAC
c.f.
SOH
ACK
31 (TOKEN)
31 (ECHO)
DATA(4 BYTES)
CHKSUM(1 BYTE)
ETX
MAC controller make CHKSUM Error and
the output of error (=SYS I/O No 1) is ON.
* CHKSUM Method
BYTE
HIGH BYTE
Sending Sequence
4
* ERROR Data Structure
3
LOW BYTE
2
1
(ERROR data are LONG variables)
ERROR Data is composited with data required for explaining the contents below. ↙
the highest rank 2-bytes explains "Error_Code" and the highest rank 2-bytes explains "Error_Code" to come under.
BYTE
HIGH BYTE
Data Structure
ERROR_VAL
LOW BYTE
ERROR_CODE
<EX>
ERROR Contents
: There is not P010 LOCATION.
ERROR CODE
: 72 (SYSTEM ERROR CODE = 2)
=>
Codes for ERROR Contents
ERROR VAL
: 010
=>
LOCATION No
<EX>
ERROR Contents
: 1 axis + LIMIT SENSOR perception.
ERROR CODE
: 83 (SYSTEM ERROR CODE = 13)
=>
Codes for ERROR Contents
ERROR VAL
: 0
=>
Axis No
*** The number for axes starts with "0".
Supplement Page 16
ERROR RESET
PC
MAC
c.f.
SOH
ACK
32 (TOKEN)
32 (ECHO)
0(ZERO)
0(ZERO)
commands from PC.
SYN
* This should be used in order to CLEAR errors in case of errors.
The duration for ERROR RESET command is about 25 msec.
If this command is executed with success, then the output for ERROR (SYS I/O No 1) is Off.
Supplement Page 17
IO BIT ON/OFF
PC
MAC
c.f.
SOH
ACK
33 (TOKEN)
33 (ECHO)
BIT NO(1~16)
1(ON),0(OFF)
commands from PC.
SYN
REGISTER READ
PC
MAC
c.f.
SOH
ACK
34 (TOKEN)
34 (ECHO)
REGISER NO(0~99)
0(ZERO)
commands from PC.
SYN
REGISTER Contents (1 BYTE)
CHKSUM(1 BYTE)
ETX
Supplement Page 18
REGISTER WRITE
PC
MAC
c.f.
SOH
ACK
35 (TOKEN)
35 (ECHO)
REGISER NO(0~99)
WRITE DATA(0~255)
commands from PC.
SYN
Connection OFF
PC
MAC
c.f.
SOH
ACK
36 (TOKEN)
36 (ECHO)
DATA ERASE
PC
SOH(0x01)
NAK(0x15)
Supplement Page 19
MAC
c.f.
HOLD
PC
MAC
DLE
* On execution of HOLD command, the output PAUSE (SYS I/O No 6) is ON.
On execution of RUN command after HOLD, the program starts from the next line of current execution.
If you want to start from the beginning of program, do RUN command after execute STOP command.
STOP
PC
MAC
CAN
* On execution of STOP command, the output of "PAUSE","RUN" (SYS I/O No5,6) is Off.
on connection
PC
MAC
ENQ
XON
* This is used in order to connect from MAC to PC communication.
When the program is running on MAC controller,
MAC sends "XON" signal to PC after the end of running-command.
Supplement Page 20
SOH
0x01
STX
0x02
ETX
0x03
EOT
0x04
ENQ
0x05
ACK
0x06
DLE
0x10
SYN
0x16
CAN
0x18
XON
0x11
ERROR CODE for MAC controller
* refer to the manual chapter 12 about contents of errors.
NO
ERR CODE
ERR VAL
Classification
c.f.
1
1
0 ~ 99
EDIT ERROR 1
ERROR VAL = REG. No
2
2
0 ~ 255
EDIT ERROR 2
ERROR VAL = LOC. No
3
3
0 ~ 99
EDIT ERROR 3
ERROR VAL = SFT LOC. No
4
4
0 ~ 255
EDIT ERROR 4
ERROR VAL = LOC. No
5
5
0 ~ 99
EDIT ERROR 5
6
6
×
EDIT ERROR 6
7
7
×
EDIT ERROR 7
8
8
×
EDIT ERROR 8
9
9
×
EDIT ERROR 9
10
10
×
EDIT ERROR 10
11
11
×
EDIT ERROR 11
12
12
×
EDIT ERROR 12
13
13
×
EDIT ERROR 13
14
14
×
EDIT ERROR 14
15
15
×
EDIT ERROR 15
16
16
×
EDIT ERROR 16
17
17
×
EDIT ERROR 17
18
18
×
EDIT ERROR 18
19
19
×
EDIT ERROR 19
20
20
2 ~ 3
EDIT ERROR 20
21
21
×
EDIT ERROR 21
22
22
×
EDIT ERROR 22
23
23
×
EDIT ERROR 23
24
24
×
EDIT ERROR 24
25
25
×
EDIT ERROR 25
26
26
×
EDIT ERROR 26
*27
27
×
EDIT ERROR 27
*28
28
×
EDIT ERROR 28
*29
29
×
EDIT ERROR 29
*30
30
×
EDIT ERROR 30
Supplement Page 21
ERROR VAL = Axis No
NO
ERR CODE
ERR VAL
Classification
31
41
×
Parameter ERROR 1
32
42
×
Parameter ERROR 2
33
43
×
Parameter ERROR 3
34
44
×
Parameter ERROR 4
35
45
×
Parameter ERROR 5
36
46
×
Parameter ERROR 6
37
47
×
Parameter ERROR 7
38
48
×
Parameter ERROR 8
39
49
×
Parameter ERROR 9
40
50
×
Parameter ERROR 10
41
51
×
Parameter ERROR 11
42
52
×
Parameter ERROR 12
43
53
×
Parameter ERROR 13
44
54
×
Parameter ERROR 14
45
55
×
Parameter ERROR 15
46
56
×
Parameter ERROR 16
Supplement Page 22
c.f.
NO
ERR CODE
ERR VAL
Classification
47
71
×
SYSTEM ERROR 1
48
72
0 ~ 255
SYSTEM ERROR 2
ERROR VAL = LOC. No
49
73
0 ~ 99
SYSTEM ERROR 3
50
74
0 ~ 255
SYSTEM ERROR 4
ERROR VAL = LOC. No
51
75
0 ~ 99
SYSTEM ERROR 5
52
76
×
SYSTEM ERROR 6
53
77
0 ~ 31
SYSTEM ERROR 7
54
78
×
SYSTEM ERROR 8
55
79
0 ~ 3
SYSTEM ERROR 9
ERROR VAL = Axis No
56
80
0 ~ 3
SYSTEM ERROR 10
ERROR VAL = Axis No
57
81
0 ~ 3
SYSTEM ERROR 11
ERROR VAL = Axis No
58
82
0 ~ 3
SYSTEM ERROR 12
ERROR VAL = Axis No
59
83
0 ~ 3
SYSTEM ERROR 13
ERROR VAL = Axis No
60
84
0 ~ 3
SYSTEM ERROR 14
ERROR VAL = Axis No
61
85
0 ~ 3
SYSTEM ERROR 15
ERROR VAL = Axis No
62
86
0 ~ 99
SYSTEM ERROR 16
ERROR VAL = LABEL No
63
87
×
SYSTEM ERROR 17
64
88
×
SYSTEM ERROR 18
65
89
×
SYSTEM ERROR 19
66
90
0 ~ 3
SYSTEM ERROR 20
ERROR VAL = Axis No
67
91
0 ~ 3
SYSTEM ERROR 21
ERROR VAL = Axis No
68
92
0 ~ 3
SYSTEM ERROR 22
ERROR VAL = Axis No
69
93
×
SYSTEM ERROR 23
70
94
×
SYSTEM ERROR 24
71
95
×
SYSTEM ERROR 25
72
96
×
SYSTEM ERROR 26
73
97
1 ~ 100
SYSTEM ERROR 27
ERROR VAL = PAL No
74
98
0 ~ 9999
SYSTEM ERROR 28
ERROR VAL = PAL LOC. No
*75
99
1~10
SYSTEM ERROR 29
ERROR VAL = SPL. No
Supplement Page 23
c.f.
ERROR VAL = PROG. No
NO
ERR CODE
ERR VAL
Classification
c.f.
76
111
0 ~ 31
CHKSUM ERROR 1
ERROR VAL = PROG. No
77
112
0 ~ 255
CHKSUM ERROR 2
ERROR VAL = LOC. No
78
113
0 ~ 99
CHKSUM ERROR 3
79
114
×
CHKSUM ERROR 4
80
115
0 ~ 3
CHKSUM ERROR 5
ERROR VAL = Axis No
81
116
0 ~ 3
CHKSUM ERROR 6
ERROR VAL = Axis No
82
117
0 ~ 3
CHKSUM ERROR 7
ERROR VAL = Axis No
83
118
0 ~ 3
CHKSUM ERROR 8
ERROR VAL = Axis No
84
119
×
CHKSUM ERROR 9
*85
120
×
CHKSUM ERROR 10
Supplement Page 24

Multi-Axis Controller (MAC) User`s Manual (Ver 2.3)

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