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Procedure to Turn On / Send to Specified Point (Home) / Check Axes Turn On 1. Release three Emergency Stop buttons (one on the MRC Controller front panel, one on the Teach Pendant, and one on the Safety circuit control panel.) by turning them clockwise. 2. Turn main power switch on 3. On MRC Controller front panel select Mode: TEACH and Cycle: STEP 4. If there is an Axis Alarm message on the Teach Pendant Screen, note which axes are highlighted on the SLURBT display, then press F5 (RESET) Check "Specified Point" (Note: if there is an error in input, press Cancel key) 1. 2. 3. 4. 5. 6. 7. 8. Servo Power On (Hold 3 Seconds) Enable key On Press CUSTOMER Press F3 (SPEC PT) Press F1 (POSN CHG) Set manual coordinate system to JOINT (using COORD key) Set manual speed to MED (using MAN SPD keys) Press and hold the FWD key. The robot will move to its HOME position. When all axes read 0 pulses in the right-hand column, the robot arm will stop moving 9. Press F4 (CHECK) (If this option is not available its not needed just carry on.) 10. Press F5 (QUIT)
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Note: If you need to activate the gripper manually, press the (STAR) button and the TOOL2 ON/OFF button (Number Pad 3) together. Each time you press this combination the gripper cycles open and closed.
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Move your cursor to the desired line and continue. Adding lines at the end of a job 1. 2. 3. 4. Move the cursor to the last existing line Position the robot Make sure you have the desired speed and motion type settings Press Enter to register a new position.
Inserting lines 1. 2. 3. 4. 5. Move the cursor to the line preceding the desired insert point Position the robot Make sure you have the desired speed and motion type settings Press the INSERT key Press Enter to register a new position
Modifying an existing position 1. 2. 3. 4. Move the cursor to the line to be changed Position the robot Press the MODIFY key Press Enter to register a revised location
Changing the motion type of a specific location 1. 2. 3. 4. 5. 6. Move the cursor to the line to be changed Move the cursor to the right to highlight the motion type Press EDIT Press F3(INTRPL) Select the desired motion type Press Enter to register the new motion type Revised on September 10, 2008
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The system will jump to the next similar type of motion and allow you to change it by pressing ENTER, or Skip it by pressing F1 (SKIP), or end the operation with F5 (QUIT). Creating a Time Delay Make sure the Control panel is in TEACH Mode and the current job is displayed on the Teach Pendant. 1. 2. 3. 4. 5. 6. 7. Move the cursor to the point where the time delay is to be inserted Press EDIT F2 (CONTROL) F3 (TIMER) Enter the time in seconds Press ENTER to insert the value into the edit buffer Press ENTER to insert the command into the program
Using Positioning Level for Reduced Accuracy Motions 1. 2. 3. 4. 5. 6. 7. 8. Teach all desired locations Move the cursor to the line you want to change Move the cursor to the right side of the line. A new menu appears. Press F1 (Line Edit) Press the Shift Up key Press F5 (PL) Enter a value for the PL (4 for lowest accuracy, 0 for highest) Press Enter to complete the command.
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Single Step Testing Mode 5. On MRC Controller front panel select Mode: PLAY and Cycle: STEP 6. Step though the program using START button on the front panel. Single Cycle Run Mode 7. On MRC Controller front panel select Mode: PLAY and Cycle: 1 CYCLE 8. Press START to run the program through once Continuous Run (Automatic) Mode 9. On MRC Controller front panel select Mode: PLAY and Cycle: AUTO 10. Press START to run the program through continuously Return to Teach Mode 11. On MRC Controller front panel select HOLD to pause the robot 12. On MRC Controller front panel select Mode: TEACH and Cycle: STEP 13. On Teach Pendant Press DISP key to get to the top menu Testing Locations using the FWD and Manual Speed settings When you are done teaching, use the arrow keys to place the cursor at line 0001, the first MOVJ to Home position. 1. Make sure the Servo and Enable LED's are still on. 2. Set MAN SPD to MED 3. Press FWD and hold. If the robot is at Home position and you are trying to move it to Home position, nothing will happen. 4. Move the cursor to the next line, press and hold FWD until the robot stops moving. 5. Set the MAN SPD to FST, move the cursor to the next line, hold FWD, and notice the difference in speed. Page 7 of 16 Revised on September 10, 2008
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To bring files from your diskette back to the controller 1. 2. 3. 4. 5. 6. 7. Press FUNC Press F1 (FDD) Press F1 (FC1) Place the cursor on CONDITION FILE/UNIVERSAL DATA Press F1 (LOAD) Move the Cursor down to VARIABLE DATA Press F1 (EACH) (This will mark the VAR.DAT file to be loaded back to the controller) 8. Press F5 (EXECUTE) and wait until the download is complete
Deleting Files from the Controller 1. 2. 3. 4. 5. 6. 7. 8. 9. Press DISP F1 (JOB) F1 (DIS CHG) F5 (LIST2) (Programs will be listed in date order) Press EDIT Place the cursor on Job to delete F2 (DELETE) ENTER F5 (EXECUTE)
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Make sure the Control panel is in TEACH Mode and the current job is displayed on the Teach Pendant. This procedure assumes that the sub-program you will call already exists! 1. 2. 3. 4. 5. 6. Press EDIT F2 (CONTROL) F2 (CALL) F1 (NAME) Move the Cursor to the sub-program you want to call Press ENTER to insert the command in your program.
Using the RET instruction (usually at the end of a sub-program) to return to the calling program 1. 2. 3. 4. 5. 6. Press EDIT F2 (CONTROL) Press the Shift Up key F1 (RET) (Optional: F1 (IF) to set conditions for returning) Press ENTER to insert the command in your program.
The Motoman supports a number of unconditional and conditional program flow operations. Each can be based on a numerical condition or an I/O condition.
The JUMP (unconditional) or JUMP IF (conditional) instruction is used to JUMP from one part of a program to another, using a LABEL. The CALL or CALL IF instruction is used to CALL a sub-program. The RET or RET IF instruction is used to RETURN from a sub-program at some point before the END statement is reached. The PAUSE or PAUSE IF instruction is used to cause a programmed HOLD condition; the START button on the controller must be pressed to continue execution of the program.
There are 4 types of variables available for use in numerical conditional operations. They are Page 12 of 16 Revised on September 10, 2008
INTEGERS (variables I000 to I039) DOUBLE PRECISION (variables D000 to D039) REAL (variables R000 to R039) BYTE (variables B000 to B039).
Setting a Label 1. Make sure the Control panel is in TEACH Mode and the current job is displayed on the Teach Pendant. 2. Move the cursor to the correct line of the program. The LABEL will be inserted AFTER the cursor 3. Press EDIT 4. F2 (CONTROL) 5. F4 (LABEL) 6. If you want to use Alphabetic characters, use Menu Shift Up -> F1 (ABC) 7. The system will automatically mark the LABEL with an asterisk. LABELs can have 8 characters. After you have entered the label text, press F5 (QUIT) 8. Press ENTER to insert the text into the edit buffer 9. If you are not appending this instruction to the end of the program, you must activate the INSERT key to insert the instruction or MODIFY key to change the current line. 10. Press ENTER to insert the LABEL into the program Using the JUMP IF Instruction 1. Make sure the Control panel is in TEACH Mode and the current job is displayed on the Teach Pendant. 2. Move the cursor to the correct line of the program 3. Press EDIT 4. F2 (CONTROL) 5. F1 (JUMP) 6. F1 (LABEL) 7. If you want to use Alphabetic characters, use Menu Shift Up -> F1 (ABC) 8. After you have entered the label text, press F5 (QUIT) 9. Press ENTER to insert the text into the edit buffer 10. Menu Shift Up 11. F1 (IF) (Turn the JUMP instruction into a JUMP IF) Using a Condition based on I/O 12. F1 (UNIV IN) 13. At the prompt Input_no= , press 1 or 2 etc., then ENTER (enter the input number attached to the sensor you want to read.) 14. F1 (CONST) 15. F2 (ON) or F5 (OFF) Page 13 of 16 Revised on September 10, 2008
17. Press ENTER to insert the text into the edit buffer 18. If you are not appending this instruction to the end of the program, you must activate the INSERT key to insert the instruction or MODIFY key to change the current line. 19. Press ENTER to insert the JUMP IF instruction into the program Using the SET, INC, and DEC Instructions to manipulate variables 1. Make sure the Control panel is in TEACH Mode and the current job is displayed on the Teach Pendant. 2. Move the cursor to the correct line of the program 3. Press EDIT 4. Menu Shift Up 5. F2 (ARITH) 6. F2 (INC), or F3 (DEC), or F4 (SET) 7. F2 (I) 8. Enter the variable address 9. Press ENTER At this point complete the INC and DEC commands by simply pressing ENTER (remember to set the INSERT or MODIFY key if required). Page 14 of 16 Revised on September 10, 2008
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