DR Teaching (1L5000D E 4)

Contents
Chapter 1 Quick Instruction Reference
Chapter 2 Instructions for Robot Motions

Positioning (P) - Defining the Position and Attitude -............................................................................................ 2-1 Quick Positioning (Q) - Defining the Position and Attitude for Quick Motion - ........................................................................ 2-4 Overview of Quick Positioning Motion ................................................................................................................ 2-4 Short Cut Types .................................................................................................................................................. 2-6 Setting by Level............................................................................................................................................... 2-6 Setting by Rate................................................................................................................................................ 2-8 Setting by Length ............................................................................................................................................ 2-9 Linear Interpolation (L) - Moving the Robot in a Straight Line -.......................................................................... 2-11 Linear Interpolation Associated with Attitude Rotation (LO) - Rotating the Attitude -....................................... 2-14 High Speed Linear Interpolation (L') - Moving the Robot in a Straight Line Quickly - ........................................ 2-15 Circular Interpolation (C1/C2) - Moving the Robot along an Arc -...................................................................... 2-16 Circular Interpolation Associated with Attitude Rotation (CO1/CO2) - Rotating the Attitude - ......................... 2-18 High Speed Circular Interpolation (C1'/C2') - Moving the Robot along an Arc Quickly -................................ 2-19 Timer Wait (T) - Stopping the Robot for a Period of a Set Time - ...................................................................... 2-20 No Operation (NOP) - Enabling the Robot to Do Nothing -.................................................................................. 2-20 Program End (END) - Ending the Program - ..................................................................................................... 2-21
Chapter 3 Branch Instructions

Internal Jump - Jumping to Any Position in the Program -................................................................................... 3-1 Internal Jump (JP)............................................................................................................................................... 3-1 Point Mark (PM) .................................................................................................................................................. 3-2 Defining and Decrementing the Counter Value.................................................................................................. 3-2 Define Counter Value (DEF)........................................................................................................................... 3-2 Decrement Counter Value (DEC)................................................................................................................... 3-3 Internal Jump Examples ..................................................................................................................................... 3-3 Specifying the State of an External Input Signal as a Condition..................................................................... 3-3 Specifying a Counter as a Condition............................................................................................................... 3-3 Call Program (CL) - Calling Another Program - ................................................................................................... 3-7 Call Operation ..................................................................................................................................................... 3-7 Specifying a Task Program to Be Called............................................................................................................ 3-8 Specifying Directly........................................................................................................................................... 3-8 Specifying by means of an External Input....................................................................................................... 3-8 Specifying by means of an General-Purpose Register .................................................................................. 3-8 Jump to Program (JF) - Jumping to Another Program - .................................................................................... 3-12 Jump Operation ................................................................................................................................................ 3-12 Specifying a Jump Destination Task Program.................................................................................................. 3-13 Specifying Directly......................................................................................................................................... 3-13 Specifying by means of an External Input..................................................................................................... 3-13
Contents
Specifying by means of an General-Purpose Register ................................................................................ 3-13 Skip (SKS/SKE) - Stopping the Execution to Jump to a Specified Position - .................................................... 3-17 Structured Description (IF/EIF/ELS/FI) - Branching in the IF-THEN-ELSE Form -....... 3-20 What Are the Structured Description Instructions?........................................................................................... 3-20 Explanation of the Structured Description Instructions ..................................................................................... 3-21 Task Program Examples Using the Structured Description Instructions.......................................................... 3-23 Description Example 1.................................................................................................................................. 3-23 Description Example 2.................................................................................................................................. 3-23
Chapter 4 Welding Instructions

Outline of Welding Instructions ............................................................................................................................... 4-1 Use of Welding Instructions ................................................................................................................................ 4-1 Basic Knowledge about Arc Start/End Instructions ............................................................................................ 4-2 Welding Conditions ......................................................................................................................................... 4-2 Setting Arc Start Conditions ............................................................................................................................ 4-3 Arc Retry Conditions ........................................................................................................................................... 4-4 Arc Start/End (AS/AE) - Starting/Ending Welding -.............................................................................................. 4-6 Inch/Retract (ICH/RTC) - Inching/Retracting the Wire - ..................................................................................... 4-12 Gas ON/OFF (GS/GE) - Turning the Gas ON/OFF -....................................................................................... 4-13 Continuous Tack Welding (ASS/AES) - Performing Continuous Tack Welding - ........................................... 4-14 Continuous Tack Welding Operation................................................................................................................ 4-15 Differences between Continuous Tack Welding and Normal Welding Operations.......................................... 4-16 Welding User Parameters................................................................................................................................. 4-16 TIG Pulsed Welding (ASP/AEP) - Performing Quality TIG Welding -.............................................................. 4-19 TIG Pulsed Welding.......................................................................................................................................... 4-19 Pulse Control in TIG Pulsed Welding................................................................................................................ 4-20 Pules Waveform............................................................................................................................................ 4-22 Output Timing of the Filler Feed Rate Command......................................................................................... 4-22 Preheating and Slow-Up Stages................................................................................................................... 4-23 Slow-Down and Welding Finishing Stages................................................................................................... 4-24 Delay Time of Filler Feed Start in the Slow-Up Stage .................................................................................. 4-26 Advance Time of Filler Feed End in the Slow-Down Stage.......................................................................... 4-26 Synchronizing Pulses with Weaving [Synchro-TIG]....................................................................................... 4-27 Pulse Waveform in Synchro-TIG.................................................................................................................. 4-27 Pulse-Weaving Phase Adjusting Time ......................................................................................................... 4-30 Controlling the Pulse Output by Welding Power Supply................................................................................... 4-31 Teaching for TIG Pulsed Welding..................................................................................................................... 4-32 Creating Condition Files for TIG Pulsed Welding ............................................................................................. 4-39 The TIG Pulsed Welding Section During Automatic Operation........................................................................ 4-42 Operation at the Time of Emergency Stop ................................................................................................... 4-42 Operation at the Time of Halt........................................................................................................................ 4-42 Operation at the Time of Restart................................................................................................................... 4-42 Operation at the Time of Switching between Weld ON/OFF........................................................................ 4-42 Changing Conditions..................................................................................................................................... 4-43 Online Modification........................................................................................................................................ 4-44 Setting the User Parameters Relating to TIG Pulsed Welding......................................................................... 4-46 Wire Retracting at the Time of Halt............................................................................................................... 4-46 Wire Retracting at the Time of Emergency Stop .......................................................................................... 4-46 Delay Time of Filler Feed Start in the Slow-Up Stage .................................................................................. 4-46 2 Contents
Advance Time of Filler Feed End in the Slow-Down Stage.......................................................................... 4-46 Arc Start/Arc End (ASD/AED) - Welding with the Instructions Specialized for CPDRA-350/-500 - ..................... 4-48 Teaching ASD/AED.......................................................................................................................................... 4-48 Creating Welding Condition Files for CPDRA-350/-500................................................................................... 4-54 Arc Start/Arc End (APS/APE) - Performing Pulsed MIG Welding by CPDACA-200 -........................ 4-56 Relationship of Welding Modes and Welding Characteristic Data............................................................................... 4-56 Setting a Welding Process and Various Conditions ......................................................................................... 4-58 Creating Welding Condition Files for CPDACA-200......................................................................................... 4-68 Welding Section in Automatic Operation .......................................................................................................... 4-70 Operation at the Time of Emergency Stop ................................................................................................... 4-70 Operation at the Time of Halt........................................................................................................................ 4-70 Operation at the Time of Restarting.............................................................................................................. 4-70 Changing Conditions..................................................................................................................................... 4-70 On-line Modification....................................................................................................................................... 4-70 Waveform Control Applied to Welding Processes............................................................................................ 4-72 Waveform Control for DC Pulsed Welding ................................................................................................... 4-72 Waveform Control for AC Pulsed Welding ................................................................................................... 4-73 Waveform Control for DC Wave Pulsed Welding......................................................................................... 4-74 Waveform Control for AC Wave Pulsed Welding......................................................................................... 4-75
Chapter 5 Weaving Instructions

Fixed Pattern Weaving Start (WFP) - Weaving in a Fixed Pattern -.................................................................... 5-1 Axis Weaving Start (WAX) - Weaving by Single Joint Shaking -......................................................................... 5-6 Weaving End (WE) - Ending Weaving -............................................................................................................. 5-9 Taught Weaving (WSF) - Teaching a Weaving Pattern - .................................................................................. 5-10 Taught Weaving................................................................................................................................................ 5-10 Conditions for Taught Weaving......................................................................................................................... 5-12 Operating Conditions for Weaving................................................................................................................ 5-12 Teaching Points ............................................................................................................................................ 5-14 An Overview of the Operational Procedures .................................................................................................... 5-17 Teaching for Taught Weaving by Using Procedure A .................................................................................. 5-18 Teaching for Taught Weaving by Using Procedure B .................................................................................. 5-24 Teaching for Taught Weaving by Using Procedure C.................................................................................. 5-27 Checking and Modifying the Taught Points ...................................................................................................... 5-29
Chapter 6
External Control Input/Output Instructions
External Control Output (S/R) - Outputting a Signal - ............................................................................................. 6-1 External Control Pulse Output (PLS/PLR) - Outputting a Signal for a Fixed Period of Time - ............................... 6-3 External Control Input Wait (N/F) - Waiting for a Signal Input -.......................................................................... 6-5 Quick External Control Input Wait (NQ/FQ) - Checking an External Input in Advance - ..................................... 6-6 Teaching a Set of S, N (or F), and R....................................................................................................................... 6-8 Clear Output Port (CLR) - Turning the Output Port OFF -...................................................................................... 6-9 User Errors (ERR / ALM / INF) - Outputting User-Definable Errors - ........................ 6-10 ERR (User-defined ERROR)............................................................................................................................ 6-10 ALM (User-defined ALARM)............................................................................................................................. 6-11 INF (User-defined INFORMATION) ................................................................................................................. 6-11
Contents
Chapter 7 General-Purpose Registers

Overview ................................................................................................................................................................. 7-1 Types of General-Purpose Registers and the Register Monitor............................................................................. 7-2 Types of General-Purpose Registers ................................................................................................................. 7-2 Displaying the Values of the Registers [Register Monitor]............................................................................... 7-3 Group I/O ................................................................................................................................................................ 7-5 Group I/O GInn / GOnn ................................................................................................................................ 7-5 Local Group I/O LIn / LOn .............................................................................................................................. 7-7 Instructions Relating to General-Purpose Registers............................................................................................. 7-10 Arithmetic Operation Instructions ...................................................................................................................... 7-11 Increment by 1: INC ................................................................................................................................... 7-11 Decrement by 1: DEC ................................................................................................................................ 7-11 ADDition : ADD ............................................................................................................................................. 7-11 SUBtraction : SUB......................................................................................................................................... 7-11 MULtiplication: MUL...................................................................................................................................... 7-11 DIVision : DIV................................................................................................................................................ 7-12 Remainder: MOD.......................................................................................................................................... 7-12 LoaD: LD....................................................................................................................................................... 7-12 CLeaR registers: CLR................................................................................................................................... 7-12 Bit Operation Instructions.................................................................................................................................. 7-16 Logical product: AND .................................................................................................................................... 7-16 Logical sum: OR............................................................................................................................................ 7-16 Logical negation: NOT .................................................................................................................................. 7-16 Exclusive OR: XOR....................................................................................................................................... 7-16 Assign Instruction.............................................................................................................................................. 7-19 General Input/Output Instructions ..................................................................................................................... 7-21 General input instruction: IN.......................................................................................................................... 7-21 General input instruction (INPUT WAIT ON): INW....................................................................................... 7-21 General output instruction: OUT ................................................................................................................... 7-22 General output instruction (INPUT WAIT ON): OTW ................................................................................... 7-22 Clear Output ports Instruction: CLR.............................................................................................................. 7-23 Branch Instructions Using General-Purpose Registers as Branch Conditions ................................................ 7-30 Relational Operators ..................................................................................................................................... 7-30 Logical Operators.......................................................................................................................................... 7-30
Contents
Chapter 1 Quick Instruction Reference Chapter 2 Instructions for Robot Motions Chapter 3 Branch Instructions Chapter 4 Welding Instructions Chapter 5 Weaving Instructions Chapter 6 External Control Input/Output Instructions
Contents
Chapter 1 Quick Instruction Reference

This chapter provides a list of instructions and brief explanations of their functions, including the keystrokes required to select (teach) them.
The instructions you can select are listed below. Note that the instructions marked with "*1" are not available on DR CONTROL. (Available on DR CONTROL 2.) In addition, the instructions marked with "*2" are optional and are not available on the standard robot system. For details about the optional instructions, see the instruction manual "OPTION". Table. 1. 1 List of Instructions Instruction Description Explanation

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

Linear interpolation
Moves the robot to a taught point along a straight line. Moves the robot to move to a taught point along a straight line. Possible to set a speed higher than the L. Rotates the torch to a taught point. The torch tip moves along a straight. Moves the robot to a taught point along an arc.

High speed linear interpolation Linear interpolation with rotation of the attitude Circular interpolation (center point) Circular interpolation (end point) High speed circular interpolation (center point) High speed circular interpolation (end point) Circular interpolation with rotation of the attitude (center point) Circular interpolation with rotation of the attitude (end point)

2

Moves the robot to a taught point along an arc. Moves the robot to a taught point along an arc. Possible to set a speed higher than C1. Moves the robot to a taught point along an arc. Possible to set a speed higher than C2.

2

2

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

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

Quick Instruction Reference
1-1
Instruction
Description
Explanation Starts welding with welding conditions. the set
Key operation

Starting welding

Ending welding
Ends welding with the set crater

conditions.

2 2 2 2

Inching the wire
Inches the wire for the set time.

Retracting the wire
Retracts the wire for the set time

Turning gas ON
Starts the gas output.

Turning gas OFF
Ends the gas output.

Starting Tack welding
Starts tack welding with the set welding conditions and pitch.

Ending Tack welding
Ends tack welding.

*1
Starting TIG pulsed welding

2 3

Starts TIG pulsed welding.

*1
Ending TIG pulsed welding

3
Ends TIG pulsed welding.

1-2
Instruction
Description
Explanation

Key operation 2 3

Starting welding (specialized for CPDRA-350/-500)
Starts welding with welding conditions.
the
set

Ending welding (specialized for CPDRA-350/-500)
Ends welding with the set crater conditions.

3

Starting Pulsed MIG Starts Pulsed MIG welding by welding using CPDACA-200.

Ending Pulsed MIG Ends Pulsed MIG welding by welding using CPDACA-200.

1-3
Instruction
Description
Explanation
Key operation

Starting Fixed pattern weaving
Starts fixed pattern weaving with the set conditions.

*1
Starting Composite Wrist Axis Weaving
Starts composite wrist axis weaving with the set conditions.

Starting Axis weaving
Starts axis weaving with the set weaving conditions.

Taught Weaving
Starts taught weaving with the set conditions.

Ending weaving
Ends weaving.

Setting external control output Resetting external control output Waiting for external control input ON Waiting for external control input OFF
Turns the specified output port ON. Turns the specified output port OFF. Waits the robot for the specified input port to turn ON. Waits the robot for the specified input port to turn OFF.

Setting external control pulse output
Turns the specified output port ON for a given time.

Resetting external control pulse output Quick External Control Input ON Wait Quick External Control Input OFF Wait
Turns the specified output port OFF for a given time. Reads during execution of the sequence prior to its sequence whether the specified signal is ON or not. Reads during execution of the sequence prior to its sequence whether the specified signal is OFF or not.

*1
3

*1
3

1-4
Instruction
Description Inputting I/O port to register Waiting and inputting I/O port to a register Outputting to I/O port Waiting and outputting to a register Clearing output ports
Explanation Inputs the condition of any I/O port to a register. Waits the robot for an input at the specified input port and then outputs a value or register value to any output port. Outputs a value or register value to any I/O port. Waits the robot for an input at the specified input port and then outputs a value or register value to any output port. Clears any output port. general-purpose
Key operation 2

2

2

2

2

Waiting for time
Stops the Task program run for the set time. Causes no operation.

No operation

Point mark
Indicates the jump destination in the Task program.

Internal jump (Unconditional)
Causes a jump to the specified point mark at all time.

N
Internal jump (ON condition)
Causes a jump to the specified point mark if the specified input port is ON. Causes a jump to the specified point mark if the specified input port is OFF. Causes a jump to the specified point mark if the value of the specified counter is 0. Causes a jump to the specified point mark if the result of a comparison operation between registers is true.

F
Internal jump (OFF condition)

C
Internal jump (Counter condition)

Reg
Internal jump (Register condition)

1-5
Instruction
Description External jump (Unconditional) External jump (ON condition) External jump (OFF condition) External jump (Counter condition)
Explanation Causes a jump to the specified Task program at all times. Causes a jump to the specified Task program if the specified input port is ON. Causes a jump to the specified Task program if the specified input port is OFF. Causes a jump to the specified Task program if the value of the specified counter is 0. Causes a jump to the specified Task program if the result of a comparison operation between registers is true. Causes a jump to the specified Task program being externally input in the BCD code if the specified input port is ON. Causes a jump to the specified Task program being externally input in the Binary code if the specified input port is ON. Calls the specified Task program at all times.

Key operation
N

F

C

Reg
External jump (Register condition)

BCD
External jump (BCD entry)

BIN
External jump (Binary entry)

Calling program (Unconditional)

N
Calling program (ON condition)
Calls the specified Task program if the specified input port ON.

F
Calling program (OFF condition)
Calls the specified Task program if the specified input port OFF.

1-6
Instruction C
Description Calling program (Counter condition) Calling program (Register condition)
Explanation Calls the specified Task program if the value of the specified counter is 0. Calls the specified Task program if the result of a comparison operation between registers is true. Calls the Task program being externally input in the BCD code if the specified input port ON. Calls the Task program being externally input in the Binary code if the specified input port ON. Sets the value of the counter used as a branch condition. Decrements the value of the counter used as branch condition by one. Ends the Task program run.

Key operation

Reg

BCD
Calling program (BCD entry)

BIN
Calling program (Binary entry)

Setting counter value Decremental operation of counter value Ending program

1-7
Instruction
Description
Explanation 3
Key operation 2

Increment
Adds one to the value of the specified register.

3 2

Decrement
Subtracts one from the value of the specified register.

3 2

Adding
Adds the value or register value to the register.

3 2

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

3
3
3
3 2 2 2 2

!
Multiplying
Multiplies the specified register value by the value or register value. Divides the specified register value by the value or register value. Calculates a reminder of division of the specified register value by the value or register value.
"
Dividing

Calculating a reminder of division

Loading to the register
Assigns the value of another register to the specified register.

2

Clearing the registers
Clears the value of the specified register.
3
3
2

Calculating the logical product
Calculates the logical product of registers or a register and a value.

1-8
Instruction
Description Calculating the logical sum
Explanation Calculates the logical sum of registers or a register and a value. 3
Key operation 2

3 2

Calculating the logical NOT
Calculates the logical NOT of registers or a register and a value.
3 2

Calculating the exclusive OR
Calculates the exclusive OR of registers or a register and a value.
3 3 3

3 2 2 2 2

Register assignment
Assigns a register to any output port.

Err
Outputs ERROR.

Alarm
Outputs ALARM.

Information
Outputs INFORMATION.
Comment
Adds any comment in a Task program. Replaces a Task instruction with any character string. Necessary to define the user parameter.
3
2

Character
Symbol
3
2

1-9
Instruction
Description Starting the Skip section (Skips when ON)
Explanation Indicates the start of section. Jumps to the skip end the specified skip input ON. Indicates the start of section. Jumps to the skip end the specified skip input OFF. a skip 3 "SKE" if signal is a skip 3 "SKE" if signal is
Key operation 2
N
2
F
Starting the Skip section (Skips when OFF)
3 2

Ending the skip section
Indicates the end of a skip section.

Starting IF block
Indicates the start of an IF block. Defines an IF statement.
4 4
3

3

Else if
Defines an ELSE IF statement.
4 3

Else
Defines an ELSE statement.
4 3

Ending IF block
Indicates the end of an IF block.

1-10
Instruction
Description Positioning (Synchromotion or Simultaneous control) Quick positioning (Synchromotion or Simultaneous control) Linear interpolation (Synchromotion or Simultaneous control) High speed linear interpolation (Synchromotion or Simultaneous control) Linear interpolation with rotation of attitude (Synchromotion or Simultaneous control) Circular interpolation (Synchromotion or Simultaneous control) High speed circular interpolation (Synchromotion or Simultaneous control) Circular interpolation with rotation of attitude (Synchromotion or Simultaneous control)
Explanation Moves multiple mechanisms to a taught point simultaneously.

Key operation
*2
*2
Moves multiple mechanisms to a taught point simultaneously. Moves multiple mechanisms to a taught point simultaneously. The torch tip of the manipulator moves along a straight line. Moves multiple mechanisms to a taught point simultaneously. The torch tip of the manipulator moves along a straight line. Possible to set a speed higher than the HL. Moves multiple mechanisms to a taught point simultaneously. The torch rotates and its moves along a straight line. Moves multiple mechanisms to a taught point simultaneously. The torch tip of the manipulator moves along an arc. Moves multiple mechanisms to a taught point simultaneously. The torch tip of the manipulator moves along an arc. Possible to set a speed higher than the HC. Moves multiple mechanisms to a taught point simultaneously. The torch rotates and its moves along an arc.

*2

*2

*2

*2

*2

*2

*2
Simultaneous Moves multiple mechanisms to a uniform interpolation taught point simultaneously.
Set the external axis as "MAIN MECHANISM". Move the cursor to "MAIN INSTRUCTION".
Uniform interpolation
*2
Moves the external axis with Select the external axis constant velocity.

1-11
Instruction
Description
Explanation Indicates the start of a section where operations associated with multipass welding are repeated. Indicates the start of a section where operations associated with multipass welding are repeated. Possible to set a speed higher than the MPS. Indicates the end of a section where operations associated with multipass welding are repeated. 4

Key operation

*2
Starting Multi-pass section
*2
Starting Multi-pass section
4

*2
Ending Multi-pass section
4

*2
Starting Multi-pass welding
Starts welding for each pass with the set welding conditions.

*2
Ending Multi-pass welding
Ends welding for each pass with the set crater conditions.

4

*2
Specifying executing pass of task instruction
Executes the Task instruction at the specified pass during multipass welding.

*2
Starting Stitch pulse welding
Starts stitch pulse welding with the set welding conditions and pitch.

*2
Ending Stitch pulse welding
Ends stitch pulse welding with the afterflow for the set time.

*2
Calculating rotated position
Updates the positional data without rotating the positioner.

*2
Shifting in relation
Moves the slider from the by a specified distance.

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

1-12
Instruction *2
Description
Explanation
Key operation
Starting Indicates the start of a twin Twin synchromotion synchromotion section. section Ending Indicates the end of a twin Twin synchromotion synchromotion section. section

*2

1-13
Chapter 2 Instructions for Robot Motions

This chapter describes the instructions relating to motions of the robot.
Contents
Positioning (P) - Defining the Position and Attitude -............................................................................................ 2-1 Quick Positioning (Q) - Defining the Position and Attitude for Quick Motion - ........................................................ 2-4 Overview of Quick Positioning Motion ................................................................................................................ 2-4 Short Cut Types .................................................................................................................................................. 2-7 Setting by Level............................................................................................................................................... 2-7 Setting by Rate................................................................................................................................................ 2-9 Setting by Length .......................................................................................................................................... 2-10 Linear Interpolation (L) - Moving the Robot in a Straight Line -.......................................................................... 2-12 Linear Interpolation Associated with Attitude Rotation (LO) - Rotating the Attitude -......................................... 2-15 High Speed Linear Interpolation (L') - Moving the Robot in a Straight Line Quickly - ........................................ 2-16 Circular Interpolation (C1/C2) - Moving the Robot along an Arc -...................................................................... 2-17 Circular Interpolation Associated with Attitude Rotation (CO1/CO2) - Rotating the Attitude - ........................... 2-19 High Speed Circular Interpolation (C1'/C2') - Moving the Robot along an Arc Quickly - ................................... 2-20 Timer Wait (T) - Stopping the Robot for a Period of a Set Time - ...................................................................... 2-21 No Operation (NOP) - Enabling the Robot to Do Nothing - ............................................................................... 2-21 Program End (END) - Ending the Program - ..................................................................................................... 2-22
Positioning (P)
- Defining the Position and Attitude -
This instruction allows the operator to store positions and attitudes of the robot. The robot moves to the taught position/attitude from the immediately preceding stored position/attitude. Because the robot moves in the easiest way that it moves, the locus of the torch tip does not become a straight line. The following conditions need to be set:
Speed
A speed is specified at a speed rate (which is a rate to the maximum speed; 100 is the maximum.) Each axis of the robot starts and stops synchronously with the axis whose motion is the largest.
Overlap ON/OFF
Overlap is a process to move the robot from a taught point to a taught point without reducing the speed. Overlap ON can shorten the tact time. Overlap OFF (The taught path) P
Overlap ON Fig. 2. 1 Overlap ON/OFF CAUTIONIMPORTANT Take care to avoid an interference with the peripheral jigs when the overlap is set to ON. The tact time can be reduced by setting Overlap ON. However, because there is a difference between the path in automatic operation and the path taught, take care to avoid interference with peripheral jigs. Also, because the overlap process is not performed in block operation, the robot may interfere with a jig in automatic operation even if this does not happen in block operation. Set Overlap OFF if interference with the jig is possible. Overlap process may not be effective depending on the setting speed and distance Even if Overlap OFF is set, this setting may not be effective, depending on the between the moving distance and speed.
Speed rate [%] Overlap process
100 not in effect 75 50 25

Travel distance per sequence [mm] Overlap process in effect
200
400
600
800
Fig. 2. 2
The Relation between the Overlap Effective Travel Distance and Travel Speed
Instructions for Robot Motions
2-1
Overlap process is not in effective depending on the taught data. Even if Overlap is set ON, the overlap process is not in effective in the following conditions: - When neither one of two consecutive sequences has Positioning instruction (P, HP, or PM) Example 001 P 002 P 003 P 004 L 005 P : : 002 001 P P P 003 Overlap is in effect. Overlap is not in effect. 004 L Overlap 005 P - When Input Wait instructions (N, F, INW, or OTW), Timer Time Wait instruction (T), or No Operation instruction (NOP) is taught between two sequences Example 001 P 002 P 003 P N 001 004 P is not in
002 001 P Overlap is not in effect. P
Overlap is in effect. 004 003

P, N001
OperationTeaching the Positioning Instruction (P)

Move the robot, by manual manipulation, to the position and attitude you want to teach.
Press

key.

The following conditions will be displayed at the function display area on the teach pendant. F1 ... Speed: 75%, Overlap:ON F2 ... Speed:100%, Overlap:ON F3 ... Speed: 50%, Overlap:OFF F4 ... Speed: 75%, Overlap:OFF F5 ... Speed:100%, Overlap:OFF You can set the conditions by selecting the function key instead of the following procedure.
2-2
If you want change the speed, enter the speed by using numeric keys.
Set overlap ON/OFF, if necessary. The default setting is ON. To change to OFF, (1) Press key.
(2) Press F2 key (OFF).
Press

key.
Now, the Positioning instruction "P" has been stored.
2-3
Quick Positioning (Q)

-
- Defining the Position and Attitude for Quick Motion
Unlike the Positioning instruction (P), the Quick Positioning instruction (Q) is used to move the robot without accelerating and decelerating to reduce the execution time of the positioning. CAUTION Not available on DR CONTROL The Quick Positioning instruction (Q) is not available on DR CONTROL.
Overview of Quick Positioning Motion

It is necessary to specify an amount of shortcut for the motion by the Q instruction (referred to as Q motion in the following) in place of overlap ON/OFF for the motion by the P instruction (referred to as P motion in the following). When an mount of shortcut is specified, the robot will move to a shortcut point before the taught point in a continuous quick positioning motion. (If the shortcut setting is 0, the robot will move to the taught point without taking a shortcut path.)
Taught point 1 A half of path Taught point 2 when lap off (P motion), or when a mount of shortcut is 0 (Q motion)
when lap off (P motion) when a mount of shortcut is small (Q motion) when a mount of shortcut is large (Q motion)
Taught point 3
Fig. 2. 3 Paths with the Overlap (P motion) / Shortcut (Q motion) Settings The user can select "level", "rate", or "length" to set an amount of shortcut. (See the table below.) Table 2. 1 The Ranges and Units of Shortcut Options Shortcut Option Range
Q (level=n) n k%
Level 0 - 10
Rate [%] 0 - 50
Q (rate=k%)
Length [cm] 0 - 99
Q (length=Lcm) k cm
Path A Q (level=0)
Path B Q (level=0)
Path A Q (rate=0%)
Path B Q (rate=0%)
Path A Q (length=0cm)
Path B Q (length=0cm)
2-4
Fig. 2. 4 Level
Fig. 2. 5 Rate
Fig. 2. 6 Length
2-5
The table below shows the features of each shortcut option. Select the option suitable for your application. Table 2. 2 Features of Shortcut Options Feature Shortcut is independent of the programmed coordinate system. Level Option Rate Length
The shortcut path to the setting changes at a ratio of 1:1. If the distance to an interfering object is known, the value can be directly entered. Even if the teach speed is changed, the almost same path is obtainable. : Applicable
: Not applicable
IMPORTANT CAUTION A short cut may cause interference with a jig. Though tact time can be shortened by specifying an amount of shortcut, this setting will cause a difference between the programmed path and the path in automatic operation. Great care is needed to avoid interference with the peripheral jig. In addition, remember that the robot does not take a shortcut path (but it moves to the taught point) in block operation. The robot may interfere with the jig during automatic operation even if it does not during block operation. Changing the speed may cause the path to vary slightly. If the Q motion speed is changed, the shortcut path may slightly change. Teaching order to enable taking a short cut: The shortcut is available only in the sequence of Q and Q, or HQ and HQ. For example, this feature is not available in the sequence of Q and P, Q and HQ, or Q and L. (HQ is used to position multiple mechanisms at the same time, and is available only for the synchromotion or simultaneously controlled system.) Taking a short cut is not possible at the same point or in a short distance. The shortcut is not available if Q instructions are recorded at the same point location or at a too short distance (of approximately 20 cm as a guide.) The maximum amount of shortcut The maximum amount of shortcut is half the path. A selection of short cut options depends on the mechanism configuration. Remember that the shortcut may not be available, depending on the mechanism type. Table 2. 3 Shortcut Options Available for Mechanisms Mechanism Tool-side manipulator Work-side manipulator Simultaneously controlled mechanism Tool-side slider Work-side slider/positioner Level Rate Length
2-6
Short Cut Types

Setting by Level
In the "level" representation, the amount of motion between two taught points (a start point and a target point) is divided into portions and each portion is expressed as an integer. An amount of shortcut is set by entering this integer value. The robot has the shortcut levels shown as below. Level 0 indicates a target point, and the robot takes a shortcut from n before the target point.
n=0 n=1 n=2 n=3 Path A n=4 Q 100%, level=n n=1 n=2 Path B n=3 n=4
100%, level=0
100%, level=0
Fig. 2. 7 Paths by Level
IMPORTANT A guide to setting a level: Though the number of levels depends on the distance and speed to be programmed, as a guide, three to five levels are for large positioning motion, and one to two levels are for small positioning motion to points close to the work point. (The above example is based on five levels.) Changing the level causes the path to vary. The shortcut to the level changes at a ratio of 1:1. (As the level is changed, the shortcut path will change.) However, because the maximum shortcut is half the path, in the case of the above example, the levels 2 and 3 give the same result. The recommended level is 0 or 1. In consideration of interference with the peripheral jig, normally, select level 0 or 1. Setting level 0 causes the robot to move higher than P motion.
2-7
If path B is one-third of path A in Fig. 2. 7, the robot will take the path shown in Fig. 2. 8 because the maximum shortcut is half the path. On the other hand, if path A is one-third of path B, the robot will take the path shown in Fig. 2. 9. This also applies to rate and distance.
002 Q 100%, level=2, Base n=1 Path B n=2 003 Q 100%, level=0, Base Path A
001 Q 100%, level=0, Base
Fig. 2. 8 When Path B is 1/3 of Path A

002 Q 100%, level=2, Base n=1 Path A 001 Q 100%, level=0, Base Path B n=1
003 Q 100%, level=0, Base
Fig. 2. 9 When Path A is 1/3 of Path B When the "level" option is selected for shortcut, and levels of 1, 2, 3, and so on are set at taught points, respectively, the robot will take the following path:
005 Q level=5, Base 001 Q level=1, Base

003 Q level=3, Base
007 Q level=7, Base
Start point
002 Q level=2, Base 004 Q level=4, work

006 Q level=6, Base
(*1) The robot takes a shortcut on sequence 001. (*2) The robot takes a shortcut even if the programmed coordinate system are different between the two sequences. Fig. 2. 10 Path with Level Settings 2-8 Instructions for Robot Motions
Setting by Rate
In the "rate" representation, the amount of motion between two taught points (a start point and a target point) is taken as 100% and the amount of shortcut is defined as a percentage. The robot takes a shortcut from the point of k % before the target point. Note that the rates that the robot has are processed in quantitative units (rounded down) and are converted into shortcut levels described in "Setting by Level". (The robot may not take a shortcut with the 10% setting, or may take the same shortcut path with the 20% and 30% settings.) Fig. 2. 11 shows the path by rate using an example of five shortcut levels.
k=1 - 19 % k=20 - 39 % k=40 - 50 % Path A Q 100%, rate=k% k=20 - 39 % k=40 - 50 % Path B
100%, level=0%
100%, rate=0%
Fig. 2. 11 Rate and Path When the "rate" option is selected for shortcut, and rates of 10%, 20%, and so on are set at taught points, respectively, the robot will take the following path:
005 Q rate=50%, Base 001 Q rate=10%, Base

003 Q rate=30%, Base

Start point

002 Q rate=20%, Base
004 Q rate=40%, Work

(*1) The robot takes a shortcut on sequence 001. (*2) The robot takes a shortcut even if the programmed coordinate Fig. 2. 12 Path with Rate Settings
2-9
Setting by Length
In the "length" representation, the amount of shortcut is defined in centimeters with respect to a line between two taught points (a start point and a target point). If a distance of L cm is specified, the robot takes a shortcut from the point of L cm before the target point. Note that the length settings that the robot has are processed in quantitative units (rounded down) and are converted into shortcut levels described in "Setting by Level". (The robot may not take a shortcut with the 10 cm setting, or may take the same shortcut path with the 20 cm and 30 cm settings. Fig. 2. 13 shows the path by length using an example of five shortcut levels.
L=0 - 19 cm L=20 - 39 cm L=40 - 50 cm Path A Q 100%, length=Lcm L=20 - 39 cm L=40 - 50 cm Path B
100%, length=0cm
100%, length=0cm
Fig. 2. 13 Length and Path

005 Q length=50cm, Base 001 Q length=10cm, Base 003 Q length=30cm, Base 007 Q length=70cm, Base

Start point
002 Q length=20cm, Base 004 Q length=40cm, Work

006 Q length=60cm, Base
(*1) The robot cannot take a shortcut on sequence 001. (*2) The robot cannot take a shortcut if the programmed coordinate Fig. 2. 14 Path with Length Settings
2-10
OperationTeaching the Quick Positioning Instruction (Q)

! Press

key.
'
" Press
key.
(

# Set the speed with the numeric keys or the function keys.
$ To set the shortcut type, press
key.
(
F1 ... Selects the rate option to set an amount of shortcut. F2 ... Selects the level option to set an amount of shortcut. F3 ... Select the length option to set an amount of shortcut.
% Select the shortcut option and enter the shortcut value.
& Press

key.
This completes the storing of the quick positioning instruction "Q".
2-11
Linear Interpolation (L)

Speed
- Moving the Robot in a Straight Line -
The Linear interpolation instruction (L) allow the operator to lineally move the tool tip of the robot to the taught position/attitude from the immediately preceding stored position and attitude. The following conditions need to be set:
A speed to a moving distance of the tool tip (cm/min) is set. The entry range of speed is 1 - 999 cm/min. Note that, if a value over 900 cm/min is set, moving speeds in block operation and automatic operation are limited to 900 cm/min. If the Work-side manipulator (Handling robot) is connected, the speed of the Work-side manipulator are limited to 600 cm/min.
Overlap ON/OFF
Setting the overlap ON/OFF are available. Normally, to perform welding, set Overlap ON. Overlap ON setting causes the robot to stop momentarily at the joint of sequences during automatic operation.
Robot stops momentarily at the joint.
Robot does not stop but takes a small short cut, which causes the path round at the joint.
IMPORTANT The set speed may not be achieved. The set speed may not be achieved depending on the manipulator type. Furthermore, the robot will not move at the set speed in the following cases: - When a change in orientation is too great with respect to the travel distance. - When the travel distance is too short with respect to the set speed. An effect of a difference of overlap ON/OFF to the path: The difference between overlap "ON" and "OFF" appears at a joint but has no affect on any other part of the path. Depending on the speed-distance relationship, the overlap ON setting may be effective. Even if Overlap "ON" is set, the setting may not be effective, depending on the relation between the moving distance and speed.
Speed [cm/min]
200 Overlap is not in effect. 150
Overlap is
100 50
in effect.
10
15
20
Travel distance per sequence[cm/min]
Fig. 2. 15 The Relation between the Overlap Effective Travel Distance and Travel Speed
2-12
Depending on program data, the overlap ON setting may not be effective. Even if Overlap is set ON, the overlap process is not in effect in the following conditions: - When two consecutive sequences are taught with different coordinate systems. - When Input Wait instructions (N, or F), Timer Time Wait instruction (T), or No Operation instruction (NOP) is taught between two sequences. - When two consecutive sequences are synchromotion interpolation instructions (HL, HC) and single interpolation instructions (L, C) respectively. 004 Overlap is not in effect. Example : 003 HP 004 L 005 HL 006 HL : L 005 003 HP 006 HL HL Overlap is in effect.
- When the main mechanism is difference between two consecutive sequences. Example : 002 HL (The main mechanism is set mechanism 1) 003 HL (The main mechanism is set mechanism 1) 004 HL (The main mechanism is set mechanism 1) 005 HL (The main mechanism is set mechanism 2) Overlap is in effect. 003 HL
002 HL
004 HL
Overlap is not in effect. 005 HL
2-13
OperationTeaching the Linear Interpolation Instruction (L)

Press key.

The following conditions will be displayed at the function display area on the teach pendant. F1 ... Speed: 60cm/min, Overlap:ON. F2 ... Speed:100cm/min, Overlap:ON F3 ... Speed:200cm/min, Overlap:ON F4 ... Speed:300cm/min Overlap:ON F5 ... Speed:100cm/min, Overlap:OFF You can set the conditions by selecting the function key instead of the following procedure.
If you want change the speed, enter the speed by using numeric keys.
Set overlap ON/OFF, if necessary. The default setting is ON. To change to OFF, (1) Press key.

(2) Press F2 key (OFF).
Press

key.
Now, the Linear interpolation instruction "L" has been stored.
2-14
Linear Interpolation Associated with Attitude Rotation (LO)

- Rotating the Attitude This instruction causes the attitude of the robot to rotate with linear motion of the tool tip. The following conditions need to be set:
Speed
A speed rate to a moving angle of the tool tip (deg/sec) is set. The entry range of speed is 1 - 99.9 deg/sec. Note that, if a speed over 45.0 deg/sec is set, moving speeds in block operation and automatic operation are limited to 45 deg/sec.
Overlap ON/OFF
Setting the overlap ON/OFF are available. For setting Overlap ON/OFF, refer to the section "Linear Interpolation (L)".
OperationTeaching the Linear Interpolation Associated with Attitude Rotation Instruction (LO)
Press key.

Press
key.
!

F1 ... Speed: 5.0 deg/min, Overlap:ON. F2 ... Speed:10.0 deg/min, Overlap:ON F3 ... Speed:15.0 deg/min, Overlap:ON F4 ... Speed:20.0 deg/min Overlap:ON F5 ... Speed:10.0 deg/min, Overlap:OFF
Set the speed and Overlap ON/OFF as set for Linear interpolation instruction (L).
Press

key.
Now, the Linear interpolation associated with attitude rotation instruction "LO" has been stored.
2-15
High Speed Linear Interpolation (L')

- Moving the Robot in a Straight Line Quickly This instruction is similar to L, except that it provides faster travel. The following conditions need to be set:
Speed
A speed to a moving distance of the tool tip (cm/min) is set. Though you can set the speed in the range 1 to 9999 cm/min, the actual maximum speed is limited to 9000 cm/min. Even if a speed value greater than 9000 cm/min is entered, in automatic operation the speed is limited to 9000 cm/min. The maximum speed in block operation is 1000 cm/min.
Overlap ON/OFF
Setting the overlap ON/OFF are available. For setting Overlap ON/OFF, refer to "Linear Interpolation (L)". IMPORTANT For quick motion, a minimal change in the attitude is desirable. When you use the High speed Linear Interpolation instruction (L') to move the robot quickly, try to change the attitude as little as possible. A large change in the attitude can cause rough movement of the robot. Note on setting conditions including a speed and overlap ON/OFF: There are restrictions affecting the condition settings including a speed and overlap ON/OFF. For details, see the section "Linear Interpolation (L)".
OperationTeaching the High Speed Linear Interpolation Instruction (L')

Move the robot, by manual manipulation, to the position and attitude you want to teach. Press
key.

Press
key twice.
F1 ... Speed: 600cm/min, Overlap:ON. F2 ... Speed: 1000cm/min, Overlap:ON F3 ... Speed: 2000cm/min, Overlap:ON F4 ... Speed: 3000cm/min Overlap:ON F5 ... Speed: 1000cm/min, Overlap:OFF Enter the speed and Overlap ON/OFF as set for Linear interpolation instruction (L).
Press

key.
Now, the High Speed Linear interpolation instruction "L' " has been stored. 2-16 Instructions for Robot Motions
Circular Interpolation (C1/C2)
- Moving the Robot along an Arc -
These instructions allow the operator to circularly move the tool tip of the robot to the taught position/attitude from the immediately preceding stored position and attitude. As shown below, a circular arc is determined by teaching three points (a start point/a middle point/an end point). Be sure to teach three points. - Start point : any one of P or L before C1 - Middle point : C1 - End point : C2 P, or L (start point) P, or L (start point) C2 (end point) C2 (end point) C2 (end point) C1 (middle point) C1 (middle point) Fig. 2. 16 The Parts of Circular Interpolations For setting moving speeds and Overlap ON/OFF, refer to the section "Linear Interpolation (L)". IMPORTANT Teach all three points in the same coordinate system. Teach all of a start, middle and end points to make a circular arc, with the same type of coordinate system. The minimum diameter of an arc along which the robot can move: The diameter of the minimum circular arc varies according to the manipulator type and the speed setting.
[mm] Usable area [mm]
C2 (end point)
100
100
Usable area
Circular diameter
50
50
2 Speed
3 [m/min]
2
Speed
3 [m/min]
(a) When Using G Type Manipulator
(b) When Using V Type Manipulator
Fig. 2. 17 The diameter of the minimum circular arc
2-17
OperationTeaching the Circular Interpolation Instructions (C1/C2)

Press

key.

The following conditions will be displayed at the function display area on the teach pendant. F1 ... Speed: 60cm/min, Overlap:ON. F2 ... Speed:100cm/min, Overlap:ON F3 ... Speed:200cm/min, Overlap:ON F4 ... Speed:300cm/min, Overlap:ON F5 ... Swithces between C1 and C2
Press

key.
Now, the Circular interpolation instruction "C1" or "C2" has been stored.
2-18
Circular Interpolation Associated with Attitude Rotation (CO1/CO2)

- Rotating the Attitude These instructions cause the attitude of the robot to rotate with circular motion of the tool tip. As described in the previous section, a circular arc is determined by teaching three points (a start point/a middle point/an end point). Be sure to teach three points. The setting conditions are the same as "LO". Refer to the section "Linear Interpolation Associated with Attitude Rotation (LO)".
OperationTeaching the Circular Interpolation Associated with Attitude Rotation Instructions (CO1/CO2)
Press key.
!

Press
key.
F1 ... Speed: 5.0 deg/min, Overlap:ON. F2 ... Speed:10.0 deg/min, Overlap:ON F3 ... Speed:15.0 deg/min, Overlap:ON F4 ... Speed:20.0 deg/min Overlap:ON F5 ... Switches between CO1 and CO2
!"

Press

key.
Now, the Circular interpolation associated with attitude rotation instruction "CO1" or "CO2" has been stored.
2-19
High Speed Circular Interpolation (C1'/C2')

- Moving the Robot along an Arc Quickly The C1' and C2' are high speed circular interpolation instructions in addition to C1 and C2, respectively. The setting conditions are the same as "L' ". Refer to the section "High Speed Linear Interpolation (L' )".
OperationTeaching the High Speed Circular Interpolation Instructions (C1'/C2')

Press key.

Press
key twice.

F1 ... Speed: 600cm/min, Overlap:ON. F2 ... Speed: 1000cm/min, Overlap:ON F3 ... Speed: 2000cm/min, Overlap:ON F4 ... Speed: 3000cm/min Overlap:ON F5 ... Speed: 1000cm/min, Overlap:OFF
Set the speed and Overlap ON/OFF.
Press

key.
Now, the High speed Circular interpolation instruction "C1' " or "C2' " has been stored.
2-20
Timer Wait (T)

-
- Stopping the Robot for a Period of a Set Time
This instruction allows the operator to stop execution of the Task program for a specified time. Note that weaving and welding are carried on without being stopped.
OperationTeaching the Timer Wait Instruction (T)

Press

key.

Enter the time with numeric keys.
Press

key.
Now, the Timer Wait instruction "T" has been stored.
No Operation (NOP) - Enabling the Robot to Do Nothing This instruction allows the operator to specify no operation, and is used to synchronize between Motion instructions and Task instructions. Like the case of Timer Wait instruction, weaving and welding are carried on without being stopped. Use this instruction when you want to teach more than 9 instructions continuously or do not want to simultaneously execute a series of external control inputs/outputs.
OperationTeaching the No Operation Instruction (NOP)

Press

key.

Press F2 key (NOP).
Press

key.
Now, the No Operation instruction "NOP" has been stored.
2-21
Program End (END)
- Ending the Program -
The END instruction is used to terminate execution of a Task program. This instruction causes the Job complete process to be executed.
OperationTeaching the Program End Instruction (END)

Press

key.

Press

key.
Now, the END instruction has been stored.
2-22
Chapter 3 Branch Instructions

This chapter describes the branch instructions.
Contents
Internal Jump - Jumping to Any Position in the Program -................................................................................... 3-1 Internal Jump (JP)............................................................................................................................................... 3-1 Point Mark (PM) .................................................................................................................................................. 3-2 Defining and Decrementing the Counter Value.................................................................................................. 3-2 Define Counter Value (DEF)........................................................................................................................... 3-2 Decrement Counter Value (DEC)................................................................................................................... 3-3 Internal Jump Examples ..................................................................................................................................... 3-3 Specifying the State of an External Input Signal as a Condition..................................................................... 3-3 Specifying a Counter as a Condition............................................................................................................... 3-3 Call Program (CL) - Calling Another Program - ................................................................................................... 3-7 Call Operation ..................................................................................................................................................... 3-7 Specifying a Task Program to Be Called............................................................................................................ 3-8 Specifying Directly........................................................................................................................................... 3-8 Specifying by means of an External Input....................................................................................................... 3-8 Specifying by means of an General-Purpose Register .................................................................................. 3-8 Jump to Program (JF) - Jumping to Another Program - .................................................................................... 3-12 Jump Operation ................................................................................................................................................ 3-12 Specifying a Jump Destination Task Program.................................................................................................. 3-13 Specifying Directly......................................................................................................................................... 3-13 Specifying by means of an External Input..................................................................................................... 3-13 Specifying by means of an General-Purpose Register ................................................................................ 3-13 Skip (SKS/SKE) - Stopping the Execution to Jump to a Specified Position - .................................................... 3-17 Structured Description (IF/EIF/ELS/FI) - Branching in the IF-THEN-ELSE Form - ........................................... 3-20 What Are the Structured Description Instructions?........................................................................................... 3-20 Explanation of the Structured Description Instructions ..................................................................................... 3-21 Task Program Examples Using the Structured Description Instructions.......................................................... 3-23 Description Example 1.................................................................................................................................. 3-23 Description Example 2.................................................................................................................................. 3-23
Internal Jump
- Jumping to Any Position in the Program -
Though instructions are sequentially executed in block or automatic operation, the internal program jump functions allows the operator to shift execution (jump) to a desired sequence. Jump conditions include the external control input state, counter, etc. The following instructions are used to execute an internal program jump: - Internal Jump JP (JumP) - Point Mark (jump destination) PM (Point Mark) - Counter conditions for jump DEC (DECrement) and DEF(Define) For example, the following program enables you to repeat automatic operation between sequences 002 to 005: ExampleRepeating automatic operation using the Internal Jump instruction 001 PM1 002 P 003 P AS 004L AE 005 P 006 JP PM1 007 END Point Mark No.1 (Jump destination)
Causes the robot to Jump to point Mark No.1
Internal Jump (JP)

The JP instruction causes execution to jump to a specified point mark (PM) in the Task program. When the JP is executed, it causes the robot to move to the point mark (refer to next section) position you taught. The robot moves to a point mark (PM) in positioning P motion. The speed is defined on the user parameter ([SYSTEM] "SPEED TO PM"). However, in block operation, the robot moves at a block operating speed. The following jump conditions are available: Unconditional jump Always causes a jump to the specified point mark (PM). Conditional jump on the state of an external control input Checks the state of the specified external control input and causes a jump to the specified point mark (PM) if the condition is met. Conditional jump on an internal counter Causes a jump to the specified point mark (PM) when the specified counter reads 0. Conditional jump on a comparison operation between general-purpose registers Causes a jump to the specified point mark (PM) if the result of a comparison operation between general-purpose registers is true.
Branch Instructions
3-1
Point Mark (PM)

The point mark indicates the internal jump destination. Teaching up to 99 point marks (1 99) in one Task program is possible. IMPORTANT The Point Mark has positional data. Like the Positioning instruction (P), the Point Mark instruction has position/attitude data. Therefore, the robot moves the position where the Point Mark was taught, at the time of execution of the Internal Jump instruction (JP). Note that the robot does not move to that point unless the JP instruction is executed.

Example 001 P 002 PM1 003 L 004 L 005 JP PM1 :

The robot moves to the Point Mark position only when the Internal Jump instruction is executed.
In the system having multiple mechanism, the positional data of all mechanisms are recorded. In the system having more than one mechanism, the Point Mark gives an effect similar to the HP instruction that enables storing of the positions of all the mechanisms. Therefore, if your system has more than one mechanism, give attention also to the position(s) of the other mechanism(s) such as a slider and/or a positioner when teaching the Point Mark. If a point mark with the same number is taught: If a point mark with the same number is taught within a Task program, only the point mark taught at the lower sequence number is valid.
Defining and Decrementing the Counter Value

The Define Counter instruction is used to set a counter for a condition of a jump, and the Decrement Counter instruction is used to decrement its value. For example, the use of these instructions allows you to specify the number of times that you want to repeat automatic operation, and terminate the execution when the automatic operation has been carried out the specified number of times. The Define Counter and Decrement Counter instructions can be used as branch conditions of not only an internal jump but also a program call and an external jump.
Define Counter Value (DEF)

The Define Counter instruction (DEF) is used to set a counter value used as a condition for the Internal Jump, Program Call , or External Program Jump instruction to cause a branch. You need to set a counter number (1 - 9) and its value (1 -999) as conditions. Up to 9 counter numbers can be used in one program for automatic operation. One program for automatic operation means a program which is executed throughout the sequences until the job is complete. Therefore, this includes other programs if they are activated by the External Jump or Call instructions.
3-2
Branch Instructions
Decrement Counter Value (DEC)

The Decrement Counter instruction (DEC) is used to decrement the value of a specified counter by 1. When the counter value is 0, the execution is ignored. (The value remains as 0.) You need to set a counter number (1 - 9) as a condition. The counter number changes in the following conditions: - When the robot controller is turned on 0 - When the counter value is 0 and DEF is executed the value specified by DEF - When the counter value is larger than 0 and DEC is executed the value deducted by 1 by DEC.
Internal Jump Examples

Specifying the State of an External Input Signal as a Condition
To make a program, "Check the state of input port 7 before the program is terminated Repeat the operation if there is an input. Terminate the program if no input.", teach: 001 002 003 004 005 006 PM1 P L P JP N007, PM1 END Specify point mark (PM) number 1.
Jump to PM1 (sequence 001) if there is an input at input port 007.
Specifying a Counter as a Condition

To repeat the operation 5 times and terminate the Task program, teach: 001 P 002 003 004 005 DEF #2, 005 PM1 L P DEC #2 JP #2, PM2 PM1 Set counter 2 at 5.
006 JP 007 PM2 008 END
Decrement 1 to the value of counter 2 by 1. Jump to PM2 (sequence 007) if counter 2 is 0, and terminate automatic operation. Jump to PM1 (sequence 001) if counter 2 is not 0. (Repeat sequences 001 - 005 5 times.)
When automatic operation is performed, the operation from sequence 002 through 005 is repeated 5 times.
Branch Instructions
3-3
Operation1Teaching the Internal Program Jump Instruction (JP)

Press

key.

Press F2 key (JP). F1 ... Jumps when a specified input port is ON. F2 ... Jumps when a specified input port is OFF. F3 ... Jumps when the counter value is 0. F4 ... Jumps to a point mark unconditionally F5 ... Jump when a comparison operation between general-purpose registers is true. NOTE

For information about general-purpose registers and the steps following the selection of F5 key, see Chapter 7 "General-Purpose Registers".
Jump according to the external control input state

(1) Press F1 key (JP ON) or F2 key (JP OFF).
(2) Enter a port number as the jump condition with numeric keys.
(3) After pressing
key, enter the point park number
for the destination with numeric keys.
(4) Press

key.
Now, the Internal Program Jump instruction "JP" has been stored.
3-4
Branch Instructions
Jump according to the counter

(1) Press F3 key (JP CNT).
(2) Enter a counter number as the jump condition with numeric keys.
(3) After pressing
key, enter the point park number
for the destination with numeric keys.
(4) Press

key.
Unconditional jump
(1) Press F4 key (UNCOND).
(2) Enter the point park number for the destination with numeric keys.
(3) Press

key.
Operation2Teaching the Point Mark Instruction (PM)

Press

key.

Press F4 key (PM).
Enter the point mark number with numeric keys.
Press

key.
Now, the Point Mark instruction "PM" has been stored.
Branch Instructions
3-5
Operation3Teaching the Counter Define (DEF) and Decrement (DEC) Instructions

Press

key.

Press F5 key (COUNTER).

Teaching DEFine a counter value

(1) Press F1 key (DEF).
(2) Enter a counter number with numeric keys.
(3) After pressing
key, enter the counter value.
(4) Press

key.
Now, the DEFine counter value instruction "DEF" has been stored.
Teaching DECrement a counter value

(1) Press F2 key (DEC).
(2) Enter a counter number with numeric keys.
(3) Press

key.
Now, the DECrement instruction "DEC" has been stored.
3-6
Branch Instructions
Call Program (CL)
- Calling Another Program -
The Call program instruction is used to execute another Task program from within the Task program being currently executed and return control to the original program after the called program is executed. This allows the operator to sequentially run multiple Task programs.
Call Operation
The following examples are given to explain the Call Program instruction. P001

P002

P001 P, END P P L P P P002 P, END
L P
L L P
Fig. 3. 1 The Taught Data and Paths of Task Programs P001 and P002 If P002 is called after executing sequence 5 in P001, the path is shown as below:

Executed P001 P P, END P P P
L P L L L
Fig. 3. 2 Path Made by Calling P002 from within P001 IMPORTANT Call is limited to a maximum of 4 layers It is possible to use CL in a called Task program, but such call is limited to a maximum of 4 layers. If you try to call over that, an error will occur.
Branch Instructions
3-7
Specifying a Task Program to Be Called

There are three ways of specifying a Task program number to be called: - Specifying directly at the time of teaching - Specifying by means of an external input - Specifying by means of a general-purpose register
Specifying Directly
In this method, a Task program is specified during a teaching operation. When CL is executed, execution is shifted to the stored Task program. The following call conditions are available: Unconditional call Always calls the specified Task program. Conditional call on the state of an external control input Checks the state of the specified external control input and calls the specified Task program if the condition is met. Conditional call on an internal counter Calls the specified Task program when the specified counter reads 0. Conditional call on a comparison operation between general-purpose registers Calls the specified Task program if the result of a comparison operation between general-purpose registers is true.
Specifying by means of an External Input

In this method, a Task program number is specified by external signals to specialized logical input ports, instead of being directly entered by the user. When the CL instruction is executed, it causes a branch to the Task program specified at the logical input port or ports. There are two types of inputs; BCD and binary inputs. In both inputs, Task program numbers P001 to P999 can be specified. (For details of input ports, refer to instruction manual "INTERFACE WITH JIG") As the call condition, you must specify a logical input number. If the state of the specified port is ON, the instruction to call the specified Task program is executed. In addition, you can specify ON Input Wait ON/OFF: ON Input Wait ON If the state of the specified port is OFF, a call of the specified Task program is held until it turns ON. ON Input Wait OFF If the state of the specified port is OFF, the next sequence is executed, instead of a call.
Specifying by means of an General-Purpose Register

In this method, a general-purpose register is specified in place of a called Task program number. To call the Task program using the CL instruction, place its number into the register to specify.
3-8
Branch Instructions
OperationTeaching the Call Program Instruction (CL)

Press

key.

Press F1 key (CL).

F1 ... Calls when a specified input port is ON. F2 ... Calls when a specified input port is OFF. F3 ... Calls when a counter value is 0. F4 ... Calls a specified Task program unconditionally F5 ... Calls when a comparison operation between general-purpose registers is true. F1 ... Calls the Task program specified by BCD code inputs. F2 ... Calls the Task program specified by binary code inputs.
NOTE For information about general-purpose registers and the steps following the selection of F5 key, see Chapter 7 "General-Purpose Registers".
Call according to the external control input state

(1) Press F1 key (CL ON) or F2 key (CL OFF).

(2) Enter a port number as the call condition with numeric keys.
(3) After pressing
key, enter the Task program
number to be called with numeric keys.
(4) Press

key.
Now, the Call Program instruction "CL" has been stored.
Branch Instructions
3-9
Call according to the counter

(1) Press F3 key (CL CNT).

(2) Enter a counter number as the call condition with numeric keys.
(3) After pressing
number for to be called with numeric keys.
(4) Press

key.
Unconditional call
(2) Enter the Task program number to be called with numeric keys.
(3) Press

key.
Call a Task program specified by BCD code entry

(1) After pressing key, press F1 key (CL BCD).

(2) Enter the port number as the condition with numeric keys.
(3) Press
key.

3-10
Branch Instructions
Set ON Input Wait ON/OFF with function keys. F1 ... Hold the call instruction until ON if the input port specified is OFF. F2 ... Executes the next instruction if the port specified is OFF.
(4) Press

key.
Call a Task program specified by Binary code entry

(1) After pressing key, press F2 key (CL BIN).

(3) Press
key.

Set ON Input Wait ON/OFF with function keys. F1 ... Hold the call instruction until ON if the input port specified is OFF. F2 ... Executes the next instruction if the port specified is OFF.
(4) Press

key.
Branch Instructions
3-11
Jump to Program (JF)
- Jumping to Another Program -
The Jump To Program instruction (JF) is used to shift execution from the currently running Task program to a specified Task program. The automatic operation terminates when the execution of the jump destination Task Program is complete. (The execution is not returned to the original Task program.) If you want to return the execution to the original Task program, use the Program Call instruction (CL).
Jump Operation
The following examples are given to explain the Jump to Program instruction. P001

P002

P001 P, END P P L P P P002 P, END
L P
L L P
Fig. 3. 3 The Taught Data and Paths of Task Programs P001 and P002 If P002 is executed after executing sequence 5 in P001, the path is shown as below:

Nor executed P001 P P, END P P P
L P
L P
L L P
Fig. 3. 4 Path Made by Jumping to P002 from within P001
3-12
Branch Instructions
Specifying a Jump Destination Task Program

There are three ways of specifying a jump destination Task program: - Specifying directly at the time of teaching - Specifying by means of an external input - Specifying by means of a general-purpose register
Specifying Directly
In this method, a Task program is specified during a teaching operation. When JF is executed, execution is shifted to the stored Task program. The following jump conditions are available: Unconditional jump Always causes a jump to the specified Task program. Conditional jump on the state of an external control input Checks the state of the specified external control input and causes a jump to the specified Task program if the condition is met. Conditional jump on an internal counter Causes a jump to the specified Task program when the specified counter reads 0. Conditional jump on a comparison operation between general-purpose registers Causes a jump to the specified Task program if the result of a comparison operation between general-purpose registers is true.
Specifying by means of an External Input

In this method, a Task program number is specified by external signals to specialized logical input ports, instead of being directly entered by the user. When the JF instruction is executed, it causes a branch to the Task program specified at the logical input port or ports. There are two types of inputs; BCD and binary inputs. In both inputs, Task program numbers P001 to P999 can be specified. (For details of input ports, refer to instruction manual "INTERFACE WITH JIG") As the jump condition, you must specify a logical input number. If the state of the specified port is ON, the instruction to jump to the specified Task program is executed. In addition, you can specify ON Input Wait ON/OFF: ON Input Wait ON If the state of the specified port is OFF, a jump of the specified Task program is held until it turns ON. ON Input Wait OFF If the state of the specified port is OFF, the next sequence is executed, instead of a jump.
Specifying by means of an General-Purpose Register

In this method, a general-purpose register is specified in place of a jump destination Task program number. To jump to the Task program using the JF instruction, place its number into the register to specify.
Branch Instructions
3-13
OperationTeaching the Jump to Program Instruction (JF)

Press

key.

Press F3 key (JF).

F1 ... Jumps when a specified input port is ON. F2 ... Jumps when a specified input port is OFF. F3 ... Jumps when a counter value is 0. F4 ... Jumps to a specified Task program unconditionally F5 ... Jumps when a comparison operation between general-purpose registers is true. F1 ... Jumps to the Task program specified by BCD code inputs. F2 ... Jumps to the Task program specified by binary code inputs.
NOTE For information about general-purpose registers and the steps following the selection of F5 key, see Chapter 7 "General-Purpose Registers".
Jump according to the external control input state

(1) Press F1 key (JF ON) or F2 key (JF OFF).

(2) Enter a port number as the jump condition with numeric keys.
(3) After pressing
number for jump destination with numeric keys.
(4) Press

key.
Now, the Jump to Program instruction "JF" has been stored.
3-14
Branch Instructions
Jump according to the counter

(1) Press F3 key (JF CNT).
(2) Enter a counter number as the jump condition with numeric keys.
(3) After pressing
number for jump destination with numeric keys.
(4) Press

key.
Unconditional jump

(2) Enter the Task program number for jump destination with numeric keys.
(3) Press

key.
Branch Instructions
3-15
Jump to a Task program specified by BCD code entry

(1) After pressing key, press F1 key (JF BCD).

(3) Press
key.
Set ON Input Wait ON/OFF with function keys. F1 ... Hold the jump instruction until ON if the input port specified is OFF. F2 ... Executes the next instruction if the port specified is OFF.

(4) Press

key.
Jump to a Task program specified by Binary code entry

(1) After pressing key, press F2 key (JF BIN).

(3) Press
key.

Set ON Input Wait ON/OFF with function keys. F1 ... Hold the jump instruction until ON if the input port specified is OFF. F2 ... Executes the next instruction if the port specified is OFF.
(4) Press

key.
3-16
Branch Instructions
Skip (SKS/SKE)
-
- Stopping the Execution to Jump to a Specified Position
You can stop the current instruction execution by external signal input to restart the robot from a specified position. (This feature is called the Skip function). This function can be used in handling applications, for example, to transfer plates under suction prior to stamping operation. In practice, the suction hand is moved in linear motion in the downward direction to hold an object, and the linear motion is stopped by an signal input from the vacuum switch to switch to transfer operation.
Manipulator's arm
P P SKS
The robot stops the linear motion and switches to transfer motion. Linear motion
A signal is input when the plates is held. (This signal is called skip signal.)
L SKE
stacked work Teach the end position which can be held the last plate. The robot executes the linear motion until the plate is held (the skip signal is input) even if the height of the stacked work is changed. After holding, the robot stops the linear motion and leaves.
The section in which the external signal is monitored is called a skip section, which you can specified by teaching the Skip Section Start instruction (SKS) and Skip Section End instruction (END).
Skip Section Start
SKS
This instruction is used to indicate the start of a skip section or to change the skip condition. When the specified logical input port (Skip signal) is placed in the specified condition (ON or OFF), the robot aborts the current operation and skips instructions to SKE (SKip Section End). The logical input port number setting range is 0 - 199. The following two signal conditions are available: - SKS N (Skip by ON) - SKS F (Skip by OFF)
Skip Section End
SKE
This instruction indicates the end of a skip section.
Branch Instructions
3-17
Example When the logical input port 100 is switched ON during execution from sequence 4 to sequence 6, the robot aborts the current L and proceeds to P of sequence 8. 001 002 003 004 005 006 007 008 : P 100% L 100 cm SKS N100 L 100 cm L 100 cm L 100 cm SKE P 100%
Skip section
It is possible to change the skip condition as shown below: 001 002 003 004 005 006 007 008 009 : P L SKS L SKS L L SKE P 100% 100 cm N100 100 cm F101 100 cm 100 cm 100%
Changes the condition
Skip section
CAUTION Be careful of the movement of the robot after skipping. After skipping, the robot moves to the position of the instruction (such as P or L) that has positional data, subsequent to the Skip Section End instruction (SKE). Therefore, teach the subsequent instruction at the position where the robot will not interfere with objects such as a workpiece and a jig from wherever in the skip section it may skip. Teaching a skip section: Try not to overlap a skip section and the sections (a) - (e) presented below. If you need, teach the skip instructions so that the (a) - (e) section can be sandwiched between them. In this case, when the signal enters, the current operation of that section will be aborted and the first instruction after SKE will be executed. (a) Welding section (b) Gas section (c) Weaving section (d) Seam tracking section (e) High-speed touch sensing section ExampleTeaching for overlapping a skip section with a welding section (a) (also applicable for welding sections (b) - (e)): ----- SKS ------------ AS ------------------------- AE ------------- SKE ----Welding section Skip section When the Skip signal enters during welding, the robot will stop welding and will execute the first instruction after SKE. Teaching any other branch instructions in the skip section: If a branch instruction (CL, JP, JF, IF, ELF, or ELS) is executed in the skip section, the skip function will be cancelled. Be sure to specify different port numbers for the skip instruction and branch instructions (CL, JP, and JF). The use of the same port numbers will cause malfunction.
3-18
Branch Instructions
OperationTeaching the Skip Instructions (SKS/SKE)

When teaching program data, press get to the screen shown here. key to

Press F5 key (SKIP). F1 ... Starts Skip section. (Skip when the specified port is ON.) F2 ... Start Skip section. (Skip when the specified port is OFF.) F3 ... Ends Skip section.

Select the instruction you want to teach, by pressing the function key. If F1 key (SKS N) or F2 key (SKS F) is selected, enter the port number by using the numeric keys.
Press

key.
Then, the Skip Section Start instruction "SKS" or Skip Section End instruction "SKE" has been stored.
Branch Instructions
3-19
Structured Description (IF/EIF/ELS/FI) - Branching in the IF-THEN-ELSE Form What Are the Structured Description Instructions?
The Structured Description instructions are used to describe a Task program in the IF-THEN-ELSE form to make an advanced conditional branch easy. By using these instructions, you can make blocks of any instruction lines (called an IF Block comprehensively) in the Task program so as to execute the block according a condition. The following four instructions are provided:
Table 3. 1 Structured Description Instructions Corresponding to IF-THEN-ELSE Instruction Description Meaning

Starts an IF block to define a IF sentence. Defines an ELSE IF sentence. Defines a ELSE sentence. Ends an IF block. If xx... If not xx but yy... If neither xx nor yy...
The IF block is used to make an evaluation on the alternatives to execute a Task program.
condition 1 Block 1
Condition 1 of IF is evaluated, and block 1 is executed if it is true (not 0). After the execution of block 1, the IF Block is terminated (by shifting execution to FI). If condition 1 of IF is false (0) and EIF exists, condition 2 is evaluated. If it is true, then block 2 is executed. After the execution of block 2, the IF Block is terminated (by shifting execution to FI). If condition is false, then the next EIF is evaluated. Similarly, EIF is executed. Finally, if ELS exists, block (n + 1) is executed. (ELS has no condition to be evaluated.) In such a way, the evaluation continues until the condition of IF or EIF is found to be true, and when true, the block is executed, and the IF Block is terminated. Note that you can omit EIF and ELS.

condition 2 Block 2 :
condition n Block n Block (n+1)

As shown in the following example, the use of IF statements makes it easy for the user to create a Task program that needs switching from task to task according to the condition. Example The following program example shows switching between the welds [A] and [B] according to the condition of the logical input port I001. Completing [A] or [B], the robot moves to the P position of sequence 012.
3-20
Branch Instructions
: 005 006 007 008 009 010 011 012 :
IF I001 == 1 P AS ASC01 *L AE AEC01 ELS P AS ASC02 *L AE AEC02 FI P
: Weld [A] if I001 is ON. [A] : Otherwise (if I001 is OFF), weld [B]. [B]
Explanation of the Structured Description Instructions

Form
"register | general logical I/O port" "operator" "value | register"
Example
I001 == 1
A[00] >= 200
; If I001 is ON ; If the value of A[00] is greater than or equal to 200
IMPORTANT The meaning of " |" The symbol "|" means "or". Function The IF instruction evaluates the parameter in accordance with the operator and determines the next instruction to be executed according to the result. Six relational operators and three bit-logical operators are available. Whichever is used, if the result is TRUE (not 0), the instruction following the IF instruction is executed. On the other hand, if the result is FALSE (0), the robot skips the rest of lines and moves on to EIF or ELS. If there is no ELF or ELS, FI is executed. The relational operators and logical operators are shown in the following tables: Table 3. 2 Relational Operators Meaning Equal to Not equal to Greater than Less than Greater than or equal to Less than or equal to Form Result TRUE if A is equal to B. TRUE if A is not equal to B. TRUE if A is greater than B. TRUE if A is less than B. TRUE if A is greater than or equal to B. TRUE if A is less than or equal to B.
Table 3. 3 Logical Operators Meaning Logical product Logical sum Exclusive OR Form AND OR XOR Result TRUE if the result is not 0. TRUE if the result is not 0. TRUE if the result is not 0.
Branch Instructions
3-21

Form "register | general logical I/O port" "operator" "value | register"
Function The EIF instruction is used to perform multiple branches with the IF instruction. EIF is similar to IF in form, etc. The instruction following this instruction is executed if the result of the operation of the associated IF or EIF is FALSE.

Form Function The ELS instruction is used to perform the last branch with the IF instruction or IF-ELF instructions. This instruction is executed if the result of every operation of the associated IF or IF-ELF is FALSE.

Form Function The FI instruction is used to define the end of an IF block. It indicates the end of the associated IF block. IMPORTANT The motion during block backward operation During backward block operation, the structured description instructions cause the to perform the following: - IF ... Causes the robot to do nothing. - EIF ... Causes the robot to move to IF. - ELS... Causes the robot to move to IF. - FI ... Causes the robot to move to IF. Nesting is not possible. Nesting in the IF block is not possible. ExampleNesting in the IF block 001 IF A[00] == 0 002 IF A[00] == 0 S 001 003 ELS S 002 004 FI 005 FI In this case, an error will occur. In the case of the system having more than one mechanisms If the system has multiple mechanisms, be sure to select HP or HL when teaching Motion instructions for positional data preceding and following after, and in the IF block. If these Motion instruction are taught in different coordinate systems, there is danger that the robot may not move as taught, depending on the evaluation of the condition.
If block
If block
3-22
Branch Instructions
Task Program Examples Using the Structured Description Instructions

Description Example 1
Executing P200 if the general logical I/O port "I100" is ON, or P201 if OFF
Without using structured description instruction

001 002 003 004 005 006 : JP F100 PM1 CL P200 JP PM2 PM1 CL P201 PM2 ; Jump to PM1 and call P201 if I100 is OFF. ; Call P200 if I100 is ON.
Using structured description instructions

001 IF I100 == 1 002 CL P200 003 ELS 004 CL P201 005 FI : ; Call P2001 if I100 is ON. ;Otherwise (if I100 is OFF), call P201.
Like this example, the use of structure description instructions makes programming simple and easy.
Description Example 2
Branching from task to task according to the number of production runs; "Continue the welding operation" "Clean the torch every two runs" "Complete the job in 20 runs" The following example uses the general-purpose register A[00] for a production counter, A[01] for a torch cleaning counter, P200 for a welding program, and P800 for a torch cleaning program: CLR A[00] - A[01] PM1 IF A[01] == A20 JP PM2 ELF A[01] == 2 CL P800 CLR A[01] CL P200 ELS CL P200 FI INC A[00] INC A[01] JP PM1 PM2 END ; Clear a production counter and a torch cleaning counter ; Is the number of production runs 20? ; Complete the job if 20. ; Cleaning of the torch? ; Execute the torch cleaning program. ; Clear the torch cleaning counter. ; Execute the welding program. ; Execute the welding program. ; Increment the production counter by 1. ; Increment the torch cleaning counter by 1. ; Repeat. ; Complete the job.
001 002 003 004 005 006 007 008 009
010 011 012
Branch Instructions
3-23
OperationTeaching the structured description instructions (IF / ELF / ELS / FI)

Press here. Press F1 key (STRUCT). F1 ... Selects IF. F2 ... Selects EIF. F3 ... Selects ELS. F4 ... Selects FI. key to call up the function shown

Teaching IF or EIF
(1) Press F1 key (IF) or F2 key (EIF). (In this example, F1 key is pressed.) F1 ... Specifies a register. F2 ... Specifies a general logical I/O port. Specifying a register Press F1 key (REGISTR). F1 ... Selects A register. F2 ... Selects B register. F3 ... Selects L register. F1 ... Selects X register. F2 ... Selects Y register. F3 ... Specifies index. F4 ... Specifies index. Select the register type by pressing the function key, and enter the register number by using the numeric keys. Specifying a general I/O port Press F2 key (I/O). F1 ... Selects an input port. F2 ... Selects a group input. F3 ... Selects a local group input. F1 ... Selects an output port. F2 ... Selects a group output. F3 ... Selects a local group output. Select the I/O port type by pressing the function key, and enter the port number by using the numeric keys. 3-24 Branch Instructions

(2) Press F1 ... Selects F2 ... Selects F3 ... Selects F4 ... Selects F5 ... Selects F1 ... Selects F2 ... Selects F3 ... Selects F4 ... Selects
key. ==. <>. >. <. >=. <=. AND. OR. XOR.

Select the relational operator by pressing the function key.
(3) Press
key.
F1 ... Numeric value. F2 ... Register. Select the object to be compared, by pressing the function key. If you pressed F1 key (VALUE), enter the value by using the numeric keys.

If you pressed F2 key (REGISTR), select the register type by pressing the function key, and enter the register number by using the numeric keys.
(4) After setting, press

key.
This completes storing of IF or EIF.
Teaching ELS or FI
(1) Press F3 key (ELS) or F4 key (FI). (In this example, F4 key is pressed.)
(2) Press

key.
This competes storing of ELS or FI.
Branch Instructions
3-25
Chapter 4 Welding Instructions

This chapter describes the welding instructions.
Contents
Outline of Welding Instructions ............................................................................................................................... 4-1 Use of Welding Instructions ................................................................................................................................ 4-1 Basic Knowledge about Arc Start/End Instructions ............................................................................................ 4-2 Welding Conditions ......................................................................................................................................... 4-2 Setting Arc Start Conditions ............................................................................................................................ 4-3 Arc Retry Conditions ........................................................................................................................................... 4-4 Arc Start/End (AS/AE) - Starting/Ending Welding -.............................................................................................. 4-6 Inch/Retract (ICH/RTC) - Inching/Retracting the Wire - ..................................................................................... 4-12 Gas ON/OFF (GS/GE) - Turning the Gas ON/OFF -....................................................................................... 4-13 Continuous Tack Welding (ASS/AES) - Performing Continuous Tack Welding - ........................................... 4-14 Continuous Tack Welding Operation................................................................................................................ 4-15 Differences between Continuous Tack Welding and Normal Welding Operations.......................................... 4-16 Welding User Parameters................................................................................................................................. 4-16 TIG Pulsed Welding (ASP/AEP) - Performing Quality TIG Welding -.............................................................. 4-19 TIG Pulsed Welding.......................................................................................................................................... 4-19 Pulse Control in TIG Pulsed Welding................................................................................................................ 4-20 Pules Waveform............................................................................................................................................ 4-22 Output Timing of the Filler Feed Rate Command......................................................................................... 4-22 Preheating and Slow-Up Stages................................................................................................................... 4-23 Slow-Down and Welding Finishing Stages................................................................................................... 4-24 Delay Time of Filler Feed Start in the Slow-Up Stage .................................................................................. 4-26 Advance Time of Filler Feed End in the Slow-Down Stage.......................................................................... 4-26 Synchronizing Pulses with Weaving [Synchro-TIG]....................................................................................... 4-27 Pulse Waveform in Synchro-TIG.................................................................................................................. 4-27 Pulse-Weaving Phase Adjusting Time ......................................................................................................... 4-31 Controlling the Pulse Output by Welding Power Supply................................................................................... 4-32 Teaching for TIG Pulsed Welding..................................................................................................................... 4-33 Creating Condition Files for TIG Pulsed Welding ............................................................................................. 4-40 The TIG Pulsed Welding Section During Automatic Operation........................................................................ 4-43 Operation at the Time of Emergency Stop ................................................................................................... 4-43
Operation at the Time of Halt........................................................................................................................ 4-43 Operation at the Time of Restart................................................................................................................... 4-43 Operation at the Time of Switching between Weld ON/OFF........................................................................ 4-43 Changing Conditions..................................................................................................................................... 4-45 Online Modification........................................................................................................................................ 4-46 Setting the User Parameters Relating to TIG Pulsed Welding......................................................................... 4-48 Wire Retracting at the Time of Halt............................................................................................................... 4-48 Wire Retracting at the Time of Emergency Stop .......................................................................................... 4-48 Delay Time of Filler Feed Start in the Slow-Up Stage .................................................................................. 4-48 Advance Time of Filler Feed End in the Slow-Down Stage.......................................................................... 4-48 Arc Start/Arc End (ASD/AED) - Welding with the Instructions Specialized for CPDRA-350/-500 - ..................... 4-50 Teaching ASD/AED.......................................................................................................................................... 4-50 Creating Welding Condition Files for CPDRA-350/-500................................................................................... 4-56 Arc Start/Arc End (APS/APE) - Performing Pulsed MIG Welding by CPDACA-200 -........................ 4-58 Relationship of Welding Modes and Welding Characteristic Data............................................................................... 4-58 Setting a Welding Process and Various Conditions ......................................................................................... 4-60 Creating Welding Condition Files for CPDACA-200......................................................................................... 4-71 Welding Section in Automatic Operation .......................................................................................................... 4-73 Operation at the Time of Emergency Stop ................................................................................................... 4-73 Operation at the Time of Halt........................................................................................................................ 4-73 Operation at the Time of Restarting.............................................................................................................. 4-73 Changing Conditions..................................................................................................................................... 4-73 On-line Modification....................................................................................................................................... 4-73 Waveform Control Applied to Welding Processes............................................................................................ 4-75 Waveform Control for DC Pulsed Welding ................................................................................................... 4-75 Waveform Control for AC Pulsed Welding ................................................................................................... 4-76 Waveform Control for DC Wave Pulsed Welding......................................................................................... 4-77 Waveform Control for AC Wave Pulsed Welding......................................................................................... 4-78
Outline of Welding Instructions

Use of Welding Instructions
Some welding instructions are prepared corresponding to the use. Refer to the following table, and select the welding instructions according to your use and system cofigulation. Table 4. 1 Use of Welding Instructions Instructions AS/AE Use Reference
ASD/AED
AS/AE performs the standard CO2/MAG/MIG/TIG welding. Page 4-6 Almost of welding can be performed by these instructions. However, depending on your welding power supply, the welding conditions should be set in detail by using specialized welding instructions. ASD/AED can be used only when the robot dedicated welding power Page 4-50 supply "CPDRA-350/-500" is connected. These instructions allow finer control of welding instructions than AS/AE. APS/APE can be used only when the robot dedicated welding power Page 4-58 supply "CPDACA-200" is connected. These instructions should be used for Pulsed MIG welding. ASP/AEP should be used for TIG pulsed welding. Page 4-19
APS/APE
ASP/AEP
ASS/AES
ASS/ASE can be used when the welding interface or the robot dedicated Page 4-14 welding power supply "CPVAS-350/-500" is connected. These instructions should be used for Tack welding. ASM/AEM should be used for Multipass welding. Instruction manual "OPTION"
ASM/AEM
ICH/RTC
ICH/RTC performs the wire inching/retracting respectively during Page 4-12 automatic operation.
GS/GE
GS/GE performs gas on/off during automatic operation.
Page 4-13
Welding Instructions
4-1
Basic Knowledge about Arc Start/End Instructions

Basic Knowledge about the welding conditions set in Arc Start/End Instructions is described here.
Welding Conditions
Even if the welding conditions vary according to the type of welding instructions, basic conditions such as current, voltage, and speed are the same. Moreover, welding conditions vary according to the type of welding power supply in use, which is set in advance as welding characteristic data. - Individual control type - Synergic control type - TIG : Individually controls the current command and the voltage command. : Automatically outputs an optimum voltage when a current command is given. : Performs TIG welding.
For example, the welding conditions set in AS/AE are as follows: Table 4. 2 Welding Parameters According to the Type of Welding Power Suppy Type Inst. AS Individual Control
- Welding current (1Arated value) - Welding voltage (1Vrated value) - Welding speed (1999 cm) Crater current (1Arated value) Crater voltage (1Vrated value) Crater time (0.09.9 sec) Postflow time (0.09.9 sec)
Synergic Control
- Welding current (1Arated value) - Fine adjustment value (-100+100) - Welding speed (1999 cm) Crater current (1Arated value) Fine adjustment value (-100+100) Crater time (0.09.9 sec) Postflow time (0.09.9 sec)
TIG
- Welding current (1Arated value) - Filler feed speed(1cm/min rated value) - Welding speed (1999 cm) Crater current (1Arated value) Wire retract time (0.09.9 sec) Crater time (0.09.9 sec) Postflow time (099 sec)
AE
IMPORTANT When entering the welding speed Even if the entry range of welding speed is 1 - 999 cm/min, the actual maximum welding speed is about 600 cm/min. However, this maximum value is operational limits and not practical for welding operation. Adjust the settings so that optimum welding can be performed. The amount of a fine voltage adjustment to the synergistic control type welding power supply: Fine adjustment is an amount of adjustment to be made to a voltage output by the power supply. For example, the "+10%" setting slightly increases the output voltage. On the other hand, the "-10%" setting slightly reduces it. Set a fine adjustment to provide an appropriate welding condition. Set the preflow time in the user parameter menu. Set the preflow time in the user parameter ([WELD] "PREFLOW TIME"). However, note that the preflow cannot be executed when using the standard TIG welding power supply. The entry ranges of current, voltage, etc.: The entry ranges of current, voltage, and filler wire feed rate are defined by the ratings set in welding characteristic data. If values larger than rated values are entered, the rated values will be stored. An afterflow cannot be executed when using the standard TIG welding power supply. Note that an afterflow cannot be executed when using the standard TIG welding power supply even if the crater time is set. If using TIG filler If you want to set a wire retracting time to use TIG filler, be sure to set user parameter ([WELD] "WIRE RETRACT SPEED"). If this parameter is not set, the wire retracting cannot be executed.
4-2
Setting Arc Start Conditions

There are three ways of specifying the welding conditions: By entering numeric values You can enter numeric values of the welding conditions when teaching the program data. By specifying a file Store the welding conditions in an Arc Start Condition file beforehand so that you can specify the file number later when teaching program data. By automatically setting using the welding conditions guide If the robot has the stored welding condition database suitable for the welding power supply (of individual control type) and wire diameters, the welding conditions guide feature provides automatic editing of welding conditions. The welding conditions guide feature automatically provides the optimum welding conditions (current, voltage, and speed) by selecting a plate thickness and a joint type when teaching the Arc Start instruction in a Task program or editing a Welding Start Condition file. At present, the standard stored welding conditions database contains the data shown in the following table. If the user's application is suitable for these conditions, the welding guide feature is available. Table 4. 3 Standard Built-in Welding Conditions Database Welding power supply CPVAS-350 CPDRA-350 Gas CO2 MAG CO2 MAG Wire YGW11 YGW12 YGW11 YGW12 Wire diameter 1.2mm 1.2mm 1.2mm 1.2mm Joint type Horizontal Horizontal Horizontal Horizontal
If your use environment is not suited, you cannot use this feature unless you create your own welding conditions database. For details of the Operation for creating a welding conditions database, see " Creating the Welding Conditions Database" in Chapter 1 in the instruction manual "UTILIZING FEATURES and FUNCTIONS". IMPORTANT The environment of the standard stored welding conditions database The values in the standard stored welding conditions database shown in the above table were given by experiment conducted by DAIHEN under the specific conditions. Therefore, these values may not be appropriate to your applications, depending on the use environment. The database was created under the following conditions: - Weaving ... No weaving - Material of wire ... SS - Wire extension 0 130 A ... 10 mm 130 180 A ... 12 mm 180 250 A ... 15 mm 250 A ... 20 mm The welding conditions guide feature provides only welding conditions by AS or ASD. The welding condition guide feature can be used when teaching the Arc Start instruction "AS" or "ASD". The welding condition guide feature cannot be used when teaching the Arc End instructions or in the following feature. - Continuous tack welding - Multi-pass welding (Option) - Stitch pulse welding (Option) - TIG pulsed welding
4-3
Arc Retry Conditions

Arc Retry is an arc starting operation which the robot attempt again when arc starting is unsuccessful. You can set the arc retry conditions by specifying the number of Retry Condition file which describes them. There is an Arc Retry Condition file number which has a specific meaning to be distinguished from the others:
ARC 0
ARC0 is the file stored in the robot to perform the standard arc retry operation. The use of ARC0 causes the robot to perform the arc retry operation on the spot (at the arc start point) without exception, regardless of the contents of ARC0. Specifying ARC0 is the simplest way of setting retry conditions. You can change the following ARC0 default settings in the user parameter menu: Table 4. 4 Effective User Parameters When ARC0 is Specified. Name Setting range Default Contents Determine how many times the robot should retry in the event of an arc start failure. Determine the waiting time until the robots starts retracting the wire to retry. (Generally you do not need to change this parameter.) Determine how long the robot should retract the wire. When the amount of retraction is too much or too short, you can make an adjustment by changing this parameter. Retry times in the event of 0 - 9 times 3 times an arc start failure Waiting time for wire 0.00 - 0.99 sec. 0.05 sec. retracting in the event of an arc start failure Wire retracting time in the 0.00 - 0.99 sec. 0.25 sec. event of an arc start failure
IMPORTANT You can specify an ARC file only when teaching the arc start instruction (AS, ASD, or APS). You can specify a retry condition file only when teaching the Arc Start instruction (AS, ASD or APS). You cannot specify a retry condition file for the following welding processes (in which ARC0 is automatically recorded to make the standard arc retry): Continuous tack welding (option) Stitch pulsed welding (option) Multi-pass welding (optional) TIG pulsed welding (in this case you can specify a retry condition file but that number will be ignored.)
Not necessary to create ARC0. ARC0 is the Retry Condition file stored in the robot to perform the standard arc retry operation. Therefore, you do not need to create it. Changes made to ARC0 cannot be reflected on the arc retry operation. ARC0 must be specified in the following case: If you are using the series 1 (S-1) of welding interface, the robot is not capable of any arc retry operation other than the standard. Therefore, when teaching the Arc Start instruction, be sure to specify ARC0 as an arc retry method. (The correct operation of the robot is not guaranteed if any other than ARC0 is specified.) When teaching the Arc Start instruction (AS) with the one-touch function: When the Arc Start instruction (AS) is taught with the one-touch key, for example, "P, AS", ARC0 is automatically stored.
4-4
ARC1 through ARC9

ARC1 through ARC9 are files to define the arc retry method by the user, which you can create or make changes to as you desired. The use of any one of these files causes the robot to perform the arc retry operation according to the contents of the specified file. This is called a user-defined arc retry. In a retry condition file you can set the following conditions: - Retry times - Wire retracting speed - Wire retracting time - Wire retracting timing - Operation subsequent to an arc start failure - Retry operation For details about the user-defined arc retry method, see "Defining the Arc Retry Method" in Chapter 2 in the instruction manual "UTILIZING FEATURES and FUNCTIONS".
IMPORTANT Condition to use a user-defined arc retry method: A user-defined arc retry method is available only on the robot system using the robot dedicated welding power supply such as CPVAS-350/-500 or the series 2 (S-2) of welding interface. If using the series 1 (S-1) of welding interface, be sure to specify ARC0. Welding user parameters overridden when a file in the ARC1 to ARC9 range is specified: If a file in the range of ARC1 to ARC9 is specified, the following user parameter settings are overridden (by the settings in the Retry Condition file): - Retry times in the event of a arc start failure - Wire retracting time in the event of an arc start failure
4-5
!Arc Start/End (AS/AE)
- Starting/Ending Welding -
Arc Start Instruction (AS) This instruction is used to start welding at specified welding conditions or modify these conditions during a welding operation. Arc End Instruction (AE) This instruction is used to terminate welding with a crater process using the specified arc end conditions. Crater process is a process to make a bead shape at the weld end part neat.
NOTE If your are using CPDRA-350/-500 The welding instructions (ASD/AED) specialized for CPDRA-350/-500 allow finer control of welding conditions. The basic operations of these welding instructions (ASD/AED) are the same as AS/AE. For detailes, see "!Arc Start/Arc End (ASD/AED)" on Page 4-50.
"Operation 1#Teaching the Arc Start Instruction (AS)

This section explains how the welding conditions are set by each of the following methods: - Numerical entry - Welding condition file designation - Setting automatically by using welding condition guide feature
Setting the welding conditions by entering numeric values

$ Press

key.
For individual control type power supply

For synergic control type power supply
For TIG welding power supply

Welding condition differs according to the type of welding power supply in use.
4-6
The following explanation is based on an individual control type power supply. (1) Enter the welding current by using numeric keys at the line of "WELDING CURRENT".

(2) Position the cursor to the item "WELDING VOLTAGE" by using key and enter the
welding voltage by using numeric keys.
(3) Position the cursor to the item "WELDING SPEED" by using key and enter the
welding speed by using numeric keys. Position the cursor to the item "ARC FILE" and enter the Retry condition file number.

CAUTION If you are using a series 1 (S-1) type of welding interface, be sure to specify ARC0.
! After setting, press

key.
Now, the Arc Start instruction "AS" has been stored.
4-7
Setting the welding conditions by specifying a Welding Condition file

# Press

key, and then, press the
function key displayed "AS FILE". $ Enter the previously created Arc Start condition file number.
()
() ()
% Press
key.
& Enter the previously created Retry condition file number.
()
' After setting, press

key.
Using welding condition guide feature

# Press

key and then F5 key
(WELD DB).
(1) Select a plate thickness with
key.

!! !! !! !! !!
(2) Select a joint type with function keys.
IMPORTANT If a message "NO REGISTRATION MODIFY" appears: If a message "NO REGISTRATION " MODIFY" appears following the selection of the F5 key (WELD DB), you cannot use the welding condition guide feature. Create a welding condition data base suited to your environment.
4-8
( When a thickness and a joint type are selected, the optimum welding conditions will be displayed. (1) At this time, you can make a fine adjustment with the function keys: F1 ... Increases the welding speed by 1 cm. F2 ... Decreases the welding speed by 1 cm. F3 ... Increases the leg length by 1 cm. F4 ... Decreases the leg length by 1 cm. F5 ... Enters the welding speed or leg length by numeric value. (2) If you press the F5 key (VALUE), the screen will be displayed as shown right. Enter the welding speed or leg length by numeric keys. keys allows you to switch between the welding speed and leg length. When you finish entering, press F5 key (SETTING).
! " %% "&'$ ! "#%%%
! " "!
! "#%%%

!
) If the conditions shown are good, then press key.

The welding conditions set with the guide feature will be stored.
" "!

! "#%
* Place the cursor to the item "ARC FILE" and enter the previously created Retry Condition file number with numeric keys.
+ When you finish entering the conditions, press key.

4-9
Operation 2Teaching the Arc End Instruction (AE) Setting the arc end conditions by entering numeric values
Press

key. For individual control type power supply Current Voltage Crater time Postflow time For synergic control type power supply Fine Current Adjustment Crater time Postflow time For TIG welding power supply Retract Current time Crater time Postflow time

Arc End conditions differs according to the type of welding power supply in use.
The following explanation is based on an individual control type power supply. (1) Enter the crater current by using numeric keys.
(2) Enter the crater voltage: Press key.
At this time, the voltage is automatically adjusted to the value optimum to the current value, if using the individual control type welding power supply. If you want to change this value, enter by using numeric keys.
4-10
(3) Enter the crater time: After pressing key, enter by numeric keys.

(4) Enter the postflow time: After pressing key, enter by numeric keys.
After setting, press

key.
Now, Arc End instruction "AE" has been stored.
Setting the arc end conditions by specifying an Arc End Condition file
Press

key, and then, press the
function key displayed "AE FILE". Enter the previously created Arc End condition file number.


key.
Now, the Arc End instruction "AE" has been stored.
4-11
Inch/Retract (ICH/RTC)
- Inching/Retracting the Wire -
The ICH/RTC instructions are used to inch/retract the wire during automatic operation. Set an inching time and a retracting time (ranging 0.0 - 99.9 sec. in the unit of 0.1 sec.). The inching/retracting speeds are the settings of user parameters ([WELD] "INCH/RETRACT(LOW)" ).
IMPORTANT During inching/retracting by ICH/RTC, the robot does not stop. During inching/retracting by ICH/RTC, the robot does not stop. Also, if the Arc start instruction (AS) is taught immediately after the Inching or Retracting instruction, welding is not started until inching or retracting is completed. Inching/retracing by ICH/RTC may not be executed. Inching/retracing by ICH/RTC are not executed: - When

key is set OFF,
- In a welding section, or - When the operation is halted during inching/retracting and is restarted. (ICH and RTC are ignored when restarted.)
OperationTeaching the Inch/Retract Instruction (ICH/RTC)

Press

key and then press
key
a few time to display the screen shown right.

Inching
(1) Press F1 key (ICH).

(2) Set an inching time with numeric keys.
Retract
(1) Press F2 key (RTC).

(2) Set a retracting time by numeric keys.
Press

key.
Now, the Inch instruction "ICH" or Retract instruction "RTC" has been stored.
4-12
Gas ON/OFF (GS/GE)
- Turning the Gas ON/OFF -
Generally, before starting the welding operation, the robot performs preflowing for a period of the time setting in the user parameter ([Welding] "PREFLOW TIME"). Teaching the GAS ON/OFF instructions (GS/GE) allows the robot to start preflowing at a required position. Preflowing is performed at the position of the Motion instruction immediately followed by the Gas ON instruction (GS). If the automatic operation is halted during preflowing with the Gas ON instruction (GS), the robot stops preflowing, and resumes when restarted. IMPORTANT Gas ON/OFF by GS/GE may not be executed. Gas ON/OFF by GS/GE are not executed: - When

key is set OFF, or
- In a welding section. Preflow cannot be executed when using standard TIG welding power supply. Even if GS/GE are taught, Gas ON/OFF cannot be executed when using the standard TIG welding power supply.
Operation Teaching the Gas ON/OFF instruction (GS/GE)

Press

key and then press
key
a few time to display the screen shown right.

Gas ON
Press F3 key (GS).

Gas OFF
Press F4 key (GE).

Press

key.
Now, the Gas ON / instruction "GS" or Gas OFF instruction "GE" has been stored.
4-13
Continuous Tack Welding (ASS/AES)

- Performing Continuous Tack Welding To perform continuous tack welding, previously the user needed to repeat the teaching operations of AS and AE. With the continuous tack welding function, continuous tack welding can be accomplished by simply specifying a welding section. A tack welding section is specified with ASS and AES. The ASS and AES are instructions to start and end continuous tack welding, respectively. The section between ASS and AES (referred to as a continuous tack section) is automatically divided by the set weld pitch or travel pitch so that the robot can repeat welding and travel. Also, you can teach a series of straight lines or circular arcs in the continuous tack welding section. This teaching does not cause a change in the continuous tack welding cycle at the joint of straight lines or circular arcs.
Arc start for continuous tack welding : ASS

The ASS instruction is used to start continuous tack welding with the specified welding conditions or to modify the conditions. In addition to the parameters (current, voltage, and speed) for the Arc Start instruction AS, the following conditions must be set: Table 4. 5 Conditions of Continuous Tack Welding Instruction Condition Contents Weld pitch (spot pitch) A weld length (0.0 99.9 mm) per weld. Cooling time A waiting time (0.00 9.99 s) between completion of one tack weld and starting to move to the next weld. Travel pitch A travel distance (0.1 99.9 mm) to the next weld. The travel speed is a welding speed.
Arc end for continuous tack welding : ASS

The AES instruction is used to end continuous tack welding after Afterflow is performed for a set time. Afterflow time is set as a condition. IMPORTANT Condition to use the continuous tack welding function: The continuous tack welding function requires connection with the welding interface or CPVAS-350/-500. This function is not available if CPDACA-200 or CPDRA-350/-500 is used. Instructions that cannot be used in conjunction with the Continuous Tack welding instruction. Never use the instructions shown below in the continuous tack welding section. Otherwise, the robot will not operate properly. Note that the Task program logical check function can detect no teaching errors in the continuous tack welding section. - Timer (T) - Weaving Start/End (WAX, WFP, WSF, and WE) - Input Wait (N/F, INW/OTW, NQ/FQ) - Start/End Tracking (ST/ET) You cannot use the block mode of operation to check the continuous tack welding operation. ASS and AES are not executed in block operation. If you want to check the movement, turn off the

key or set the Check motion function, and run the robot in automatic operation.
4-14
Continuous Tack Welding Operation

The continuous tack welding section is automatically divided by the pitch set with ASS, where the robot repeats tack welding and travel in cycle. Example Weld pitch Y Cooling time T Travel pitch X

mm s mm

Fig. 4. 1 Operations with Weld Pitch Setting In the continuous tack welding section, the robot performs the following: Welding at P1 - P2 with the ASS welding conditions. Stopping at the position P2 for a time of T in the arc OFF condition. Moving at P2 - P3 at the ASS welding speed. Repeating - to AES. Performing afterflow at the position Px and then terminating the continuous tack welding.
IMPORTANT Crater handling process is not performed. Crater handling process (a process to make the bead of the weld end neat) is not performed at P2, P4, - -, and Px. Changes made to the conditions take effect after the welding pitch or travel pitch motion. The user can modify the continuous tack welding conditions by teaching ASS in the continuous tack welding section (ASS - AES). Note that the modification takes effect after the weld pitch or travel pitch operation. Servo failure may occur if the set speed is too fast. If the welding speed setting is greater than 200 cm/min, servo failure may occur, depending on the orientation of the manipulator. In this event, reduce the value. A pitch error may be produced. During automatic operation, the set weld pitch and travel pitch may vary up to about 0.5 mm. Signals may not be output correctly. If the weld time per pitch is too short, the following specialized logical output ports may not function properly: - O290 (Welding State) - O346 (Arc Start Command) If you want the robot to weld at the continuous tack welding end point without fail: If the robot reaches the arc end point for continuous tack welding (the point Px in Fig. 4. 1) when moving at a travel pitch, it performs only afterflow. If welding is desired at this point, use AE instead of AES. In this case, crater handling will be performed.
4-15
Differences between Continuous Tack Welding and Normal Welding Operations

key
During automatic operation in the weld off state, the robot performs only the continuous tack welding movement without welding. If the WELD ON/OFF key is switched from OFF to ON during automatic operation, the robot starts continuous tack welding from the current position as the start point. If the key is switched to OFF during automatic operation, the robot terminates welding, stops the gas output, and then performs only the continuous tack welding movement from the current position as the continuous tack welding start point.
Preflow and afterflow

The robot performs preflow only at the start point of the continuous tack welding section, and afterflow only at the time of execution of AES.
Stop/Restart
Restarting causes the robot to be started from the current position as the continuous tack welding start point. Therefore, continuation of continuous tack welding movement is not guaranteed between before and after stopping/restarting.
On-line modification
On-line modification is not available in the continuous tack welding section.
Gas output
The gas is always output in the continuous tack welding section.
Welding User Parameters

Burnback, hot start, wire-slowdown control are common to continuous tack welding (ASS - AES) and normal welding (AS -AE). Though the Robot control is capable of detecting abnormal welding conditions such as an arc start failure, an arc outage condition, and a wire sticking condition, these user parameters are different from those of normal welding (AS -AE):
Arc start failure detection

A check is always made at the continuous tack welding start point. To enable checking at each tack welding start point on the way, the user must set the user parameter ([WELD] "TACK WELDING CONDITION" "AS FAILURE CHECK") ON. The default is OFF.
Arc outage detection

This detection is not possible if the arc outage detection time is greater than the tack weld time.
Wire Sticking detection
(only when the user parameter is ON)
A check is always made at the continuous tack welding end point. To enable checking at each tack welding end point on the way, the user must set the user parameter ([WELD] "TACK WELDING CONDITION" "WIRE STICK CHECK") ON. The default is OFF.
4-16
#Operation 1$Teaching the Continuous Tack Welding Instructions(ASS/AES)

(with the Easy operation type teach pendant)
Teaching the "ASS" instruction

% Press

key.

& Press F3 key (ASS).
' Move the cursor to each item by pressing key, and enter the value with numeric keys.

! !! " !!
( Press

key.
Then, the Arc Start for Continuous Tack welding instruction "ASS" has been stored.
Teaching the "AES" instruction

% Press
key.
)*
"" )*+"
& Press F3 key (AES).
' Enter the afterflow time with numeric keys.
( Press

key.
Then, the Arc End for Continuous Tack welding instruction "AES" has been stored.
4-17
!Operation 2"Teaching the Continuous Tack Welding Instructions (ASS/AES) (with the Standard type teach pendant)
# Press

key.

$ Press
key once.

F1 ... Selects ASS F2 ... selects AES
Teaching the "ASS" instruction

(1) Press F3 key (ASS).

(2) Move the cursor to each time by pressing key and enter the value with numeric keys.
(3) Press

key.
Then, the Arc Start for Continuous Tack welding instruction "ASS" has been stored.
Teaching the "AES" instruction

(1) Press F4 key (AES). %&'
(2) Enter the afterflow time with numeric keys.
(3) Press

key.
Then, the Arc End for Continuous Tack welding instruction "AES" has been stored.
4-18
TIG Pulsed Welding (ASP/AEP)

- Performing Quality TIG Welding CAUTION DR CONTROL is incapable. DR CONTROL does not have the capability of TIG pulsed welding.
TIG Pulsed Welding

Welding that is achieved by outputting commands in pulse form to the TIG welding power supply as shown in Fig. 4. 2 is referred to as TIG pulsed welding. In this welding method, the current and filler feed are pulse-controlled to perform quality TIG welding of good looking bead.
Welding current command Filler feed command Peak weld Base weld
One cycle of pulsed welding Time
Fig. 4. 2 Current and Filler Feed Controls in TIG Pulsed Welding A TIG pulsed welding section is specified with the following instructions, where the current/filler feed rate commands are pulse-output as shown in Fig. 4. 2: - Arc Start for TIG Pulsed Welding (ASP) - Arc End for TIG Pulsed Welding (AEP) All the conditions necessary for TIG pulsed welding, including a pulse wave-form, a frequency, and welding conditions, can be set with the above instructions (ASP/AEP) and user parameters. These instructions are also used to set the pre-heating and slow-up conditions to stabilize the welding at the start, and the slow-down conditions to prevent cratering at the completion. In addition, the current/filler feed rate for the peak weld can be output in synchronization with the weaving cycle to weave the robot during TIG pulsed welding. This function is called the Synchro-TIG function, which provides the complete penetration at the both weaving ends.
IMPORTANT In order to use the Synchro-TIG function In order to use the Synchro-TIG function, a dedicated cable is required to establish a connection between the main board and the welding interface. Note that the Synchro-TIG function is not available if the cable is not connected.
4-19
Pulse Control in TIG Pulsed Welding

The pulse control during TIG pulsed welding is shown in the following chart: TIG pulsed welding section
Preheating Welding current command Filler feed command Slow-up Main welding Slow-down Crater Retract Peak welding
Base welding
Time
Fig. 4. 3 Pulse Control in TIG Pulsed Welding
Conditions to be set with the instruction Arc Start for TIG pulsed welding (ASP) Welding conditions - Peak current - Base current - Filler feed rate during peak welding - Filler feed rate during base welding - welding speed :1 rated value [A] :1 rated value [V] :0 rated value [cm/min] :0 rated value [cm/min] :1 999 [cm/min] Slow-up conditions - Slow-up setting unit - Slow-up time (If time is selected) - Slow-up distance (If Distance is selected) - Robot stopping time during slow-up Preheating conditions - Preheating time - Preheating current - Filler feed rate during preheating
: 0.0 9.9 [sec] : 0 rated value [A] : 0 rated value [cm/min]
Pulse waveform conditions - Pulse frequency :0.0 20.0 [Hz] - Pulse waveform duty ratio :0 99 [%] - Output timing of the filler feed command with respect to the current command during peak welding (Rise / Fall) :Rise -0.99 0.99 [sec] Fall -0.99 0.99 [sec]
:Time / Distance : 0.0 9.9 [sec] : 0 99 [mm] : 0.0 9.9 [sec]
Other conditions - Welding power pulse command :ON/OFF (Switching between conditions of the robot / the welding power supply) - Arc reference voltage :0.0 99.9 [V] (Set only if the TIG arc sensor is used) - Arc retry condition (Because of being under development, the setting will be ignored.)
Synchro-TIG conditions - Pulse in sync with weaving (Synchro-TIG ON/OFF) :1pluse / 2pulse / OFF - Weaving phase adjusting time :0.00 9.99 [sec]
4-20
Conditions to be set with the instruction Arc End for TIG pulsed welding (AEP) Slow-down conditions - Slow-down setting unit - Slow-down time (if Time is selected) - Slow-down distance (if Distance is selected) - Robot stopping time during slow-down : Time / Distance :0.0 9.9 [sec] :0 99 [mm] Arc End conditions - Crater current - Wire retracting time - Crater time - Afterflow time : 0 rated value [A] : 0.0 9.9 [sec] : 0 99 [sec] : 0 99 [sec]
:0.0 9.9 [sec]
Conditions to be set in the list of User Parameters - Retracting speed in the welding finishing stage - Delay time of filler feed start in the slow-up stage - Advance time of filler feed end in the slow-down stage - Preflow time : 0 999 [cm/min] : 0.0 9.9 [sec] : 0.0 9.9 [sec] : 0.0 9.9 [sec]
IMPORTANT The standard TIG power supply is not capable of controlling the gas. If the standard TIG power supply is used, the gas is not controlled. Therefore, the gas will not be output even if the preflow time / afterflow time are set.
4-21
Pules Waveform
The pulse waveform is established by one cycle of frequency from the peak welding start to the base welding end and the duty ratio of peak welding time to one cycle time. Peak welding
Base welding t1 t2 t1 : Peak welding time t2: Base welding time Fig. 4. 4 Pulse Frequency and Pulse Waveform Duty
Frequency
1 Time of one cycle of pulse (t1 + t2)
[Hz]
Duty
Peak welding time (t1) Time of one cycle of pulse (t1 + t2)
100 [%]
Output Timing of the Filler Feed Rate Command

It is possible to set the output timing of the filler feed rate command with respect the current command during peak welding. (Rise:1, Fall:2)
Current command
1 2
Filler feed rate command 1, 2 (in 0.01 sec.) Fig. 4. 5 The Output Timing of the Current Command and the Filler Feed Rate This condition is set to output the filler feed command prior to the current command when a time required to change the filler feed rate (i.e., a hardware time lag until the rotational speed of the feed motor is changed by the command sent from the welding interface) is longer than a time to change the welding current at the time of switching to the conditions in each stage of Base weld Peak weld, Peak weld Base weld.
4-22
Preheating and Slow-Up Stages

The current command, the failure feed rate command, and the robot motion speed in the preheating and slow-up stages are as follows:
The slope of the current command in the slow-up stage is a straight line connecting the preheating current and each of the peak/base currents. Peak current Base current Preheating current Time The slope of the filler feed command in the slow-up stage is a straight line connecting the feed rate in the preheating and each feed rate in the peak and base. Filler feed rate in Filler feed rate in the peak welding the base welding Filler feed rate in the preheating Time Robot motion speed Weld WCR Start ON ON Preheating time Robot stopping time Slow-up time or distance Filler feed rate command Welding current command
Welding speed
Time
Preheating stage
Slow-up stage
Main welding
Fig. 4. 6 Current Command/Filler Feed Rate Command/Robot Motion Speed in the Preheating and Slow-Up Stages
Preheating stage
While the robot is held in a stop condition, preheating operation is performed to stabilize the welding at the start. It is necessary to set, as conditions, the preheating time/current and the filler feed rate to be applied during preheating.
Slow-up stage
Slow-up operation is performed in the following two steps: After the completion of preheating, while the robot is held in a stop condition at the weld start point, slow-up operation is started. (The pulse output starts from the peak weld.) It is necessary to set the robot stopping time as a condition. Next, while the robot is moved, slow-up operation is carried out. It is necessary to set the slow-up time or distance as a condition. Note that slow-up operation is not performed if the slow-up setting is less than the time of one cycle of pulse. Welding Instructions 4-23
Slow-Down and Welding Finishing Stages

The current command, the filler feed rate command, and the robot motion speed in the slow-down and welding finishing stages are as follows:
The slope of the current command in the slow-down stage is a straight line connecting each of the peak/base currents and the crater current.
Welding current command Filler feed rate command Robot motion speed
Peak current Base current Crater current Time Slow-down time or distance Robot stopping time Crater time
Main welding
Slow-down stage
Arc end stage
Fig. 4. 7 Current Command in the TIG Pulsed Welding Finishing Stage

The slope of the filler feed command in the slow-down stage is a straight line connecting each feed rate in the peak/base and the point of 0 cm/min.
Filler feed rate in the Filler feed rate in peak welding the base welding Time
Retract speed
Slow-down time or distance
Robot stopping time
Retract time
Main welding
Slow-down stage
Arc end stage
Fig. 4. 8 Filler Feed Rate Command in the TIG Pulsed Welding Finishing Stage
Welding speed
Time Slow-down time or distance Robot stopping time
Main welding
Slow-down stage
Arc end stage
Fig. 4. 9 Robot Motion Speed in the TIG Pulsed Welding Finishing Stage
4-24
Slow-down stage
Slow-down operation is performed in the following two steps: Before the robot reaches the weld end point, slow-down operation is performed while it is moved. It is necessary to set the slow-down time or distance as a condition. Next, while the robot is held in a stop condition at the weld end point, slow-down operation is carried out. It is necessary to set the robot stopping time as a condition. Note that slow-down operation is not performed if the slow-down setting is less than the time of one cycle of pulse.
Welding finishing stage

After slow-down operation, crater handling operation and wire retracting operation are performed in the welding finishing stage.
IMPORTANT Not possible to adjust the timing of completion of base welding to the TIG pulsed welding end point. It is not possible to adjust the timing of completion of base welding to the TIG pulsed welding end point. Regardless of whether peak or base welding at the end of the slow-down stage, crater handling operation will be performed. Slow-down operation may not be performed as set. If the slow-down distance or time is longer than the distance or travel time from the Motion instruction immediately before the weld end point to the weld end point, slow-down operation starts from the Motion instruction immediately before the weld end point.
L (Motion instruction immediately before the weld end point) L, AEP (weld end point)
The actual slow-down distance The set slow-down distance
Fig. 4. 10 An Example of Slow-Down Operation Not Performed
4-25
Delay Time of Filler Feed Start in the Slow-Up Stage

The output timing of the filler feed start at the start of TIG pulsed welding can be set in the list of user parameters.
Filler feed rate command Filler feed rate command
Filler feed rate in the peak welding Filler feed rate in the preheating Weld WCR Start ON ON Preheating time
Filler feed rate in the base welding
Delay time of filler feed start Robot stopping time Slow-up time or distance
Time
Preheating stage
Slow-up stage
Main welding
Fig. 4. 11 Delay Time of Filler Feed Start at the Start of TIG Pulsed Welding
IMPORTANT Set the delay time of filler feed start shorter than the slow-up time. The delay time of filler feed start must be shorter than the slow-up time. If it is longer, the filler feed does not start in the slow-up stage, and until the filler feed start delay time is elapsed.
Advance Time of Filler Feed End in the Slow-Down Stage

The output timing of the filler feed stop at the end of TIG pulsed welding can be set in the list of user parameters.
Peak current Base current Time Advance time of filler feed end Slow-down time or distance Robot stopping time Retract speed
Retract time
Main welding
Slow-down stage
Arc end stage
Fig. 4. 12 Advance Time of Filler Feed End at the End of TIG Pulsed Welding IMPORTANT Set the advance time of filler feed end shorter than the slow-down time. The advance time of filler feed end must be shorter than the slow-down time. If it is longer, the filler feed stops at the same time when slow-down operation starts.
4-26
Synchronizing Pulses with Weaving [Synchro-TIG]

The pulses of the current/filler feed commands can be output in synchronization with the weaving cycle. This function is called Synchro-TIG. IMPORTANT A dedicated cable is required. In order to use the Synchro TIG function, a dedicated cable is required to establish a connection between the main board and the welding interface.
Pulse Waveform in Synchro-TIG

In TIG pulsed welding in synchronization with weaving, the pulse output timing is provided at the end of the weaving amplitude. You can set the synchronization method with the instruction Arc Start for TIG Pulsed Welding (ASP). The following options are available: - OFF (default) - One Pulse - Two Pulses
IMPORTANT The pulse frequency set with ASP is ignored. If Synchro TIG is set ON (if you to select One Pulse or Two Pulses), the pulse frequency set with ASP is ignored and TIG pulsed welding is performed at the frequency set with the weaving start instruction (WAX, WFP, or WSF).
If OFF is selected:
The pulse output is not synchronized with the weaving cycle. TIG pulsed welding is performed at the pulse frequency set with the ASP instruction,
If One Pulse is selected:

One pulse is output in one cycle of weaving. The amplitude of peak welding depends on the weaving start phase (the initial weaving direction). For example, if weaving is started from the left amplitude, a pulse is output on the left amplitude. On the other hand, if weaving is started from the right amplitude, a pulse is output on the right amplitude.
Sync
Sync
Current / Feed rate Sync Weaving Forward Sync
Current / Feed rate Weaving Forward
(a) Weaving Started from the Left Amplitude
(b) Weaving Started from the Right Amplitude
4-27
Fig. 4. 13 Weaving Cycle and Current Command Output Timing (One pulse)
If Two Pulses is selected:

Two pluses are output in one cycle of weaving.
Current / Feed rate
Sync
Sync
Sync
Weaving Forward
Fig. 4. 14 Weaving Cycle and Current Command Output Timing (Two Pluses)
NOTE Weaving start instructions to specify the initial weaving direction: Among the weaving start instructions, the fixed pattern weaving (WFP) and taught weaving (WSF) instructions allow you to specify the initial weaving direction. However, the axis weaving instruction (WAX) always starts weaving from the left amplitude. Only base welding if the weaving start instruction was not taught: If you selected One Pulse or Two Pulses for pulse-weaving synchronization without teaching the weaving start instruction (WAX, WFP, or WSF), only base welding will be performed. In the case of the two-pulse output, be sure to set each stopping time at the both weaving ends to the same value. In the case of the two-pulse output, a half of the time of one-cycle weaving (including the stopping time settings) is the time of one-cycle pulse. Therefore, if the 1/4 and 3/4 cycle stopping time settings are different from each other, the pulse output timing varies between the right and left weaving amplitudes.
Half cycle of pulse output One cycle of weaving Current / Feed rate
Sync Shifted
Sync Weaving
If the stopping time on the right amplitude is different from the one on the left, the pulse output is shifted.
Fig. 4. 15 Weaving Cycle and Current Command Output Timing
Pulse output in taught weaving In the case of the taught weaving start instruction (WSF), the pulse output timing is provided at the first weaving pattern point. In the case of the two-pulse output, a half of the time of one-cycle weaving (including the stopping time settings) is the time of one-cycle pulse. Therefore, the timing of the second pulse may not match with the weaving pattern point.
4-28
4-29
Current / Feed rate Sync Shifted Sync Shifted Sync Weaving W2 W1 W2 W3 W1 W2 W3 W1 W2
Synchronized at the first pattern point.
In the case of the two-pulse output, depending on program data, the pulse output is shifted.
W1
W2
W3
Fig. 4. 16 Taught Weaving and Output Timing of Current/Filler Commands The preheating value is output for a period of the robot stopping time in the slow-up stage. If the pulse-weaving synchronization is set ON (if you to select One Pulse or Two Pulses), slow-up operation at the start of TIG pulsed welding is performed only for a period of the slow-up time (or only in the slow-up distance), and the preheating value is output for a period of the robot stopping time.
In synchro-TIG, the preheating value is output, instead of slow-up operation by stopping the robot.
Welding current command
Filler feed rate command
Preheating current Preheating time Robot stopping time Slow-up time or distance time
Preheating stage
Slow-up stage
Fig. 4. 17 Slow-Up Stage in Synch-TIG
4-30
Pulse-Weaving Phase Adjusting Time

In synchro-TIG, the pulse output starts at the weaving amplitude ends. It is possible to delay the pulse phase by adjusting the timing (3).
Current / Feed rate
3
3
Weaving
Fig. 4. 18 Weaving Phase Adjustment in Synchro-TIG
4-31
Controlling the Pulse Output by Welding Power Supply

You can specify control of the pulse output by the welding power supply instead of the robot. In this case, the robot outputs the current and filler feed rate for base welding at all times, and the welding power supply outputs the current and filler feed rate for pulsed welding. The following settings are required: - Change from the welding power pulse command output (O367) to the input to the welding power supply. - Set "WPS PULSE" ON, among the conditions to be set with the instruction Arc Start for TIG Pulsed Welding (ASP).
IMPORTANT Input terminals of the welding power supply: For information about input terminals of the welding power supply, see the instruction manual supplied with the welding power supply. Settings of the robot are ignored when the welding power pulse command is set ON. If the welding power pulse command is set ON, the robot outputs only the base welding conditions at all times while operating at the welding speed. Because the pulse output in the peak welding stage is controlled by the welding power supply, the following condition settings of the robot are ignored: (and welding is performed with the condition settings of the welding power supply.) - Conditions for peak welding (current and filler feed rate) - Pulse waveform (frequency and pulse waveform duty ratio) In addition, the following functions that can be set on the robot side do not work (and their settings are ignored): - Slow-up/-down operations - Synchro-TIG
4-32
,Teaching for TIG Pulsed Welding

This section describes the procedures for teaching the instruction Arc Start for TIG Pulsed Welding (ASP) and the instruction Arc End for TIG Pulsed Welding (AEP). There are two ways of specifying the conditions: - Entering numeric values - Specifying a file
-Operation 1.Teaching the Arc Start for TIG Pulsed Welding Instruction (ASP) (Using the Easy Operation Type Teach Pendant)
/ Press

key.
"$""""
0 Press
key twice.
"$" Screen 1
F1 ... Allows you to enter the numeric values of condition data. F2 ... Allows you to specify a file that contains condition data.
Entering the numeric values of condition data

(1) Press F3 key (ASP NUM) Setting conditions on Page 1 "$!!# "&!" () $!!# &!" () &"() &%# % !!$ Setting conditions on Page 2
$"! $' + $"! $'$#' !##!"* !##* !! !!$ Setting conditions on Page 3 &%" &%"#* &"$" #$!!# #&!"() ###* !!$
(2) Move the cursor to each item and enter the condition with the numeric keys or the function key. Use F4 key (ROLL DN) or F5 key (ROLL UP) to switch to another page.
4-33
Setting conditions on Page 4

(3) When you have finished setting of all conditions, press

key.
This completes storing of the instruction Arc Start for TIG Pulsed Welding "ASP".
IMPORTANT The cursor does not move to the conditions that cannot be set at the same time. The cursor is designed not to move to the conditions that cannot be set at the same time. "WELDING VOLTAGE" is displayed only when the TIG arc sensor is in use. The item "WELDING VOLTAGE" on page one is a condition for the TIG arc sensor. It appears only when the TIG arc sensor is connected. You can set "ARC FILE" but the setting does not take effect. Though "ARC FILE " on page two is provided to set a condition file for an arc retry (a Retry Condition file), an arc retry specified with ARC0 will be made regardless of what file number is specified.
Specifying a file that contains condition data

(1) Press F4 key (ASP FIL) on Screen 1.

(2) Enter the number of the Arc Start Condition file for TIG Pulsed Welding you created.

(3) Press

key.
4-34
Operation 2Teaching the Arc End for TIG Pulsed Welding Instruction (AEP) (Using the Easy Operation Type Teach Pendant)
Press
key.
Screen 2
Press
key.
F3 ... Allows you to enter the numeric values of condition data. F4 ... Allows you to specify a file that contains condition data.
Entering the numeric values of condition data

(1) Press F3 key (AEP NUM) Setting conditions on Page 1



key.
This completes storing of the instruction Arc End for TIG Pulsed Welding "AEP".
IMPORTANT The cursor does not move to the conditions that cannot be set at the same time. The cursor is designed not to move to the conditions that cannot be set at the same time.
4-35
Specifying a file that contains condition data

(1) Press F4 key (AEP FIL) on Screen 2.

(2) Enter the number of the Arc End Condition file for TIG Pulsed Welding you created.

(3) Press

key.
4-36
,Operation 3-Teaching the Arc Start/End for TIG Pulsed Welding Instruction (ASP/AEP) (Using the Standard Type Teach Pendant)
. Press

key.
"$$"
/ Press
key three times.
"$$" Screen 3
F1 ... Allows you to select ASP. (For numerical entry) F2 ... Allows you to select AEP. (For numerical entry) F3 ... Allows you to select ASP. (For specifying a file) F4 ... Allows you to select AEP. (For specifying a file)
Entering the numerical values of arc start condition data for TIG pulsed welding (ASP) (1) Press F1 key (ASP NUM). Setting conditions on Page 1 "$!!# "&!" () $!!# &!" () &"() &%# % !!$ Setting conditions on Page 2
$"! $' + $"! $'$#' !##!"* !##* !! !!$ Setting conditions on Page 3 &%" &%"#* &"$" #$!!# #&!"() ###* !!$ Setting conditions on Page 4 "&$##"# "&$#* "&$"#)) "&$&#* #!!$
4-37

key.
IMPORTANT The cursor does not move to the conditions that cannot be set at the same time. The cursor is designed not to move to the conditions that cannot be set at the same time. "WELDING VOLTAGE" is displayed only when the TIG arc sensor is in use. The item "WELDING VOLTAGE" on page one is a condition for the TIG arc sensor. It appears only when the TIG arc sensor is connected. You can set "ARC FILE" but the setting does not take effect. Though "ARC FILE " on page two is provided to set a condition file for an arc retry (a Retry Condition file), an arc retry specified with ARC0 will be made regardless of what file number is specified.
Specifying an Arc Start Condition file for TIG Pulsed Welding (ASP) (1) Press F3 key (ASP FIL) on Screen 3.

(2) Enter the number of the Arc Start Condition file for TIG Pulsed Welding you created.

(3) Press

key.
4-38
Entering the numerical values of the arc end condition data for TIG pulsed welding (AEP) (1) Press F2 key (AEP NUM) on Screen 3. Setting conditions on Page 1



key.
IMPORTANT The cursor does not move to the conditions that cannot be set at the same time. The cursor is designed not to move to the conditions that cannot be set at the same time.
Specifying an Arc End Condition file for TIG Pulsed Welding (AEP) (1) Press F4 key (AEP FIL) on Screen 3.

(2) Enter the number of the Arc End Condition file for TIG Pulsed Welding you created.

(3) Press

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

You can store the arc start and end conditions for TIG pulsed welding in files. Once the conditions have been stored in a file, you will be able to teach the conditions simply by specifying the file number. This makes condition management easier. Store the arc start conditions for TIG pulsed welding in an ASP file and the arc end conditions in an AEP file.
-Operation 1.Creating an Arc Start Condition File for TIG Pulsed Welding
/ Press F2 key (EDIT) at the top layer of Teach mode. "%!!
0 Press F4 key (AS FILE).
"! $ !'' " #
!! 1 Press F3 key (ASP).
"! $ !'' " #
2 Enter the file number of a file you want to create, with the numeric keys. (You can enter any number in the 00 to 99 range.) When you have entered the number, the welding conditions stored in the file will be displayed. (The default settings will be displayed when you are creating a new file). Setting conditions on Page 1 !# " !% !() # " % !() %! () %$" $ # Setting conditions on Page 2
#! #&+ #! #&#"& "" !* ""* #
4-40

# Move the cursor to each item and enter the condition with the numeric keys or the function key. Use F4 key (ROLL DN) or F5 key (ROLL UP) to switch to another page.
IMPORTANT The cursor does not move to the conditions that cannot be set at the same time. The cursor is designed not to move to the conditions that cannot be set at the same time. "WELDING VOLTAGE" is displayed only when the TIG arc sensor is in use. The item "WELDING VOLTAGE" on page one is a condition for the TIG arc sensor. It appears only when the TIG arc sensor is connected. $ When you have finished setting of all conditions, press

key.
This completes storing of the Arc Start Condition file for TIG pulsed welding.
Operation 2!Creating an Arc End Condition File for TIG Pulsed Welding
" Press F2 key (EDIT) at the top layer of Teach mode.

4-41
Press F5 key (AE FILE).

Press F3 key (ASP).

! Enter the file number of a file you want to create, with the numeric keys. (You can enter any number in the 00 to 99 range.) When you have entered the number, the welding conditions stored in the file will be displayed. (The default settings will be displayed when you are creating a new file). Setting conditions on Page 1 Setting conditions on Page 2
" Move the cursor to each item and enter the condition with the numeric keys or the function key. Use F4 key (ROLL DN) or F5 key (ROLL UP) to switch to another page.
IMPORTANT The cursor does not move to the conditions that cannot be set at the same time. The cursor is designed not to move to the conditions that cannot be set at the same time. # When you have finished setting of all conditions, press

key.
This completes storing of the Arc End Condition file for TIG pulsed welding. 4-42 Welding Instructions
The TIG Pulsed Welding Section During Automatic

Operation
The section between ASP and AEP is automatically divided with a peak-base weld pitch set with ASP, and welding starts from the peak weld. The TIG pulsed welding cycle does not change at the joints of Interpolation instructions taught in this section.
Operation at the Time of Emergency Stop

Welding is immediately stopped at the point when an emergency stop is input. It is not possible to adjust the timing of completion of the base weld to the emergency stop point.
Operation at the Time of Halt

At the point when a halt is input, the robot moves to the welding finishing stage to stop welding. It is not possible to adjust the timing of completion of the base weld to the halt point.
Operation at the Time of Restart

From the restart point, which is assumed to be the start point of the TIG pulsed welding section, preheating operation, slow-up operation, and then main welding are performed. Because halt restart causes TIG pulsed welding to be started from the peak weld, the continuity across the section between the peak weld and the base weld is not provided.
Operation at the Time of Switching between Weld ON/OFF

Weld ON OFF
When switching from Weld ON to OFF takes place in the TIG pulsed welding section, welding is stopped at the position where the state changes to OFF. It is not possible to adjust the timing of completion of the base weld to the weld OFF point. IMPORTANT The robot does not stop in the welding finishing stage involving switching from Weld ON to OFF. During the welding finishing operation involving switching from Weld ON to OFF in the TIG pulsed welding section, the robot continues to operate without stopping the motion.
Weld OFF ON
When switching from Weld OFF to ON takes place in the TIG pulsed welding section, the robot stops at the position where the welding state changes to ON. From that position, which is assumed to be the start point of TIG pulsed welding, preheating operation, slow-up operation, and then main welding are performed. Table 4. 6 Welding Stop Handling in the TIG Pulsed Welding Section Slow-Down Emergency Stop Halt Weld ON OFF Crater Retracting Welding Instructions 4-43
: Performed : Not performed : User parameter setting (See page 4-48)
4-44
Changing Conditions
In the TIG pulsed welding section, you can change TIG pulsed welding conditions by teaching the instruction Arc Start for TIG Pulsed Welding (ASP) again. The new welding condition data takes effect after the completion of the base weld. Then, slow-up operation is performed if the slow-up time/distance has been specified (but preheating operation is not performed). If the weaving condition data is changed in the TIG pulsed welding section specified for pulse-weaving synchronization (during synchro TIG welding), the TIG pulsed welding condition also changes. You can change the following conditions: - Peak welding conditions (current/filler feed rate) - Base welding conditions (current/filler feed rate) - Welding speed - Pulse frequency - Pulse waveform duty - Arc voltage (only when the TIG arc sensor is used) - Pulse-weaving synchronization - Pulse-weaving phase adjusting time - Slow-up conditions
IMPORTANT Slow-up operation by stopping the robot is not performed. If you change conditions, slow-up operation is performed according to the slow-up time or distance set with the new ASP. Slow-up operation by stopping the robot is not performed. Note on changing the setting for weaving synchronization: If the setting for weaving synchronization is changed, for example, from one pulse to two pulses, in the stage of TIG pulsed welding (including Synchro-TIG) during automatic operation, the pulse waveform changes at the weaving end. Therefore, the new pulse cycle may not match with the timing of the end of previous pulse cycle.
Before changing After changing Current, Feed rate
Weaving
Weaving start In the case of a change in the Synchro-TIG condition, the new pulse cycle may not match with the previous one.
Fig. 4. 19 A Change in the Synchro TIG Condition
4-45
Online Modification
In the TIG pulsed welding section, you can change the following conditions online through the teach pendant: - Peak welding condition (current/filler feed rate) - Base welding condition (current/filler feed rate) - Welding speed - Pulse frequency - Pulse waveform duty - Reference voltage of the TIG arc sensor (only when the TIG arc sensor is used)
IMPORTANT The timing of switching to the new condition data: If you change conditions online, the new data takes effect after the completion of the current cycle of pulsed welding (i.e., from the next cycle). Depending on the timing of each welding operation, you may not be able to change conditions online. You cannot change conditions online in the preheating, slow-up/-down, and crater handling stages. However, you can change only the welding speed online when the robot is operating in the slow-up or slow-down stage. If you change the welding speed online: If you change the welding speed online, slow-up/-down operations may not be accomplished according to the time or distance settings. Synchro-TIG: In the case of Synchro-TIG, because the weaving frequency is used, you can not change the pulse frequency online. If the welding power pulse command is set ON: If the welding power pulse command is set ON, the pulse command is controlled by the welding power supply. Therefore, you cannot change the peak current, the peak filler wire rate, the pulse frequency, and the pulse waveform duty online. (Even if you press any function key, the cursor will not move to these items.) When the TIG arc sensor is in use: - You can change the reference voltage of the TIG arc sensor online only in the seam tracking section. - Changing the reference voltage of the TIG arc sensor online requires a correction to the positions of the robot. Therefore, a change depends on the allowable tracking deviation setting. - If the robot halts when you are changing the data of the TIG arc sensor online, the current change is stored in the Task program so as to resume the online change operation. This prevents the manipulator whose position has been corrected due to the online change from returning to the original position abruptly.
4-46
&Operation'Changing TIG Pulsed Welding Conditions during Automatic Operation

( When the currently running program comes to the welding section during automatic operation, the welding condition settings are displayed. !
#$ " #$%
) Press F2 key (AS ONLN). F1 ... Allows you to change the base current. F2 ... Allows you to change the filler feed rate for base welding. F3 ... Allows you to change the speed. F4 ... Allows you to change the reference voltage of the TIG arc sensor. F5 ... Allows you to terminate the online change. F1 ... Allows you to change the peak current. F2 ... Allows you to change the filler feed rate for peak welding. F3 ... Allows you to change the pulse frequency. F4 ... Allows you to change the duty ratio. F5 ... Allows you to terminate the online change.
!

#$ " #$% "
* Select the condition you want to change, with the function key.
+ Use condition.

key to change to the optimum
Pressing
key together with
keys
allows you to increase the increment or decrement.
, To terminate the online change, press F5 key (END). The current welding condition data will be stored and the online change will terminate.
4-47
Setting the User Parameters Relating to TIG Pulsed Welding

You can change the following conditions relating to TIG pulsed welding in the list of user parameter settings ([WELD] "SETTING OF TIG PULSE WELDING COND.").
Wire Retracting at the Time of Halt

Determine whether the wire should be retracted or not at the time of halt and at the time of switching from WELD ON to OFF during TIG pulsed welding. - Setting : ON/OFF - Default : OFF
Wire Retracting at the Time of Emergency Stop

Determine whether the wire should be retracted or not at the time of emergency stop during TIG pulsed welding. - Setting : ON/OFF - Default : OFF
IMPORTANT A special welding interface is required. In order to use the wire retracting function at the time of emergency stop input, a special welding interface is required. If the standard welding interface is in use, the wire is not retracted even if the setting of this parameter is ON.
Delay Time of Filler Feed Start in the Slow-Up Stage

Set the start timing of a filler feed at the time of start of TIG pulsed welding. - Setting range : 0.0 - 9.9 sec. - Default : 0.0 sec.
Advance Time of Filler Feed End in the Slow-Down Stage

Set the stop timing of a filler feed at the time of completion of TIG pulsed welding. - Setting range : 0.0 - 9.9 sec. - Default : 0.0 sec.
4-48
Operation!Setting the User Parameter for TIG Pulsed Welding

" When you are in the user parameter setting mode, press F3 key (WELD) and position the cursor on "SETTING OF TIG PULSE WELDING COND.".

# Press F1 key (SETTING).

$ Move the cursor to each parameter, and set the conditions with the function keys or numeric keys.
% Press

key.
4-49
Arc Start/Arc End (ASD/AED)

- Welding with the Instructions Specialized for CPDRA-350/-500 If you are using CPDRA-350/-500, you can use the following specialized welding instructions: - Arc Start instruction for CPDRA-350/-500 - Arc End instruction for CPDRA-350/-500 : ASD : AED
The basic operations are the same as the normal welding instructions (AS/AE). You can specify a retry condition file to specify a retry method in case of arc start failure. Also you can store welding conditions in files beforehand and specify a file number when teaching.
Teaching ASD/AED
Welding conditions to be set are shown in the Table 4. 7 and Table 4. 8. Table 4. 7 Conditions for Arc Start Instruction (ASD) for CPDRA-350/-500 Setting Range Welding current: : 1 rated current [A] Wire feed rate : 1 9999 [cm/min.] 1.0 rated voltage [V] 1 999 [cm/min.] -100 +100 [%] 0 9 0 9999 [cm/min.] 1 600 [A] 10 990 [msec] 0.0 9.9 [V]
Condition Welding current or Wire feed rate Welding voltage Welding speed Arc characteristic Retry condition file number Wire slow-down speed Start current Hot start time Hot start offset voltage Table 4. 8
Conditions for Arc End Instruction (AED) for CPDRA-350/-500 Setting Range Crater current: : 1 rated current [A] Wire feed rate : 1 9999 [cm/min.] 1.0 rated voltage [V] 0.0 9.9 [sec.] 0.0 9.9 [sec.] -100 +100 [%] 10 990 [msec]
Condition Crater current or Wire feed rate Crater voltage Crater time Afterflow time Arc characteristic Burn back adjustment time
4-50
IMPORTANT Arc characteristic value The arc characteristic value is a setting for arc state (hard or soft). The arc becomes harder and concentrated as the value is increased to the positive, and softer and wider as increased to the negative. A positive setting tends to limit the arc heat and is suitable for overhead and horizontal welding positions. A negative setting tends to reduce sputtering. Note that a too large setting results in unstable welding. An entry of the wire feed rate The actual wire feed rate is limited to a minimum value of about 10cm/min. and a maximum value of about 2255cm/min. Adjust the setting in this range to achieve optimum welding. Note that in reality welding at a large value close to the maximum is impossible. Do not change the following conditions, basically. The optimum values of following conditions are set automatically according to the welding current (or wire feed rate) which you entered. - Wire slow-down speed - Start current - Hot start time - Hot start offset voltage - Burn back adjustment time Do not change these conditions, basically. Making improper changes can cause welding quality degradation.
4-51
OperationTeaching the Arc Start Instruction (ASD) Specialized for CPDRA-350/-500 Setting conditions by entering numeric values
Select the instruction. When using easy operation type teach pendant (1) Press

key.

(2)
Press key several times to get the function key display as shown here. F1 ... Selects ASD (by entering a numeric value). F2 ... Selects ASD (by specifying a file).

When using standard type teach pendant (1) Press

key.

(2) Press key several times to get the function key display as shown here. F1 ... Selects ASD (by entering a numeric value). F3 ... Selects ASD (by specifying a file).
IMPORTANT To select ASD/AED at once If the user parameter "[SWITCH] DEFAULT WELD INST" is set to "ASD/AED", ASD will be selected immediately when

key is pressed.
4-52
$ Set the welding conditions. (1) Place the cursor at the "KIND" and select an option to enter a value of the current or wire feed rate. F1 ... Allows you to set the condition by entering a wire rate. F2 ... Allows you to set the condition by entering a current.
!" !"
(2) Move the cursor to each condition and enter a value with the numeric keys.
(3) When you have finished entering all conditions, press key. This allows you to store the arc start instruction "ASD".
!"
!"
Setting conditions by specifying a file

# Select the instruction. When using easy operation type teach pendant Press F2 key (ASD FIL) at procedure # on page 4-52. &('
When using standard type teach pendant Press F3 key (ASD FIL) after the procedure # on page 4-52. &('
$ Enter the number of each of the created arc start condition file and retry condition file.
&('
% Press

key.
This allows you to store the arc start instruction "ASD".
4-53
OperationTeaching the Arc End Instruction (AED) Specialized for CPDRA-350/-500 Setting conditions by entering numeric values
Select the instruction. When using easy operation type teach pendant (1) Press

key.

(2)
Press key several times to get the function key display as shown here. F1 ... Selects AED (by entering a numeric value). F2 ... Selects AED (by specifying a file).

When using standard type teach pendant (1) Press

key.

(2) Press key several times to get the function key display as shown here. F2 ... Selects AED (by entering a numeric value). F4 ... Selects AED (by specifying a file).
IMPORTANT To select ASD/AED at once If the user parameter "[SWITCH] DEFAULT WELD INST" is set to "ASD/AED", AED will be selected immediately when

key is pressed.
4-54
$ Set the crater conditions. (1) Place the cursor at the "KIND" and select an option to enter a value of the current or wire feed rate. F1 ... Allows you to set the condition by entering a wire rate. F2 ... Allows you to set the condition by entering a current. ! " "
(2) Move the cursor to each condition and enter a value with the numeric keys.
(3) When you have finished entering all conditions, press key. This allows you to store the arc end instruction "AED".
!

" "

# Select the instruction. When using easy operation type teach pendant Press F2 key (AED FIL) at procedure # on page 4-54. When using standard type teach pendant Press F4 key (AED FIL) after the procedure # on page 4-54. &(' &('
$ Enter the number of each of the created arc start condition file and retry condition file.
&('
% Press

key.
This allows you to store the arc end instruction "AED".
4-55
#Creating Welding Condition Files for CPDRA-350/-500

There are two types of welding condition files for CPDRA-350/-500 as follows: - Arc start condition file for CPDRA-350/-500 (ASD file) This is a file to store welding conditions. - Arc end condition file for CPDRA-350/-500 (AED file) This is a file to store arc end conditions (crater conditions). You can create up to 100 files of each type. Once you store your welding conditions in files, what you have to do when teaching ASD/AED is just to specify file numbers, and this facilitates condition management.
$Operation1%Creating Arc Start Condition files for CPDRA-350/-500

& Press F2 key (EDIT) at the top layer of Teach mode.
' Press F4 key (AS FILE).

( Press F4 key (ASD).
) With the numeric keys, enter the number of a file you want to create. (You can enter a number in the 00-to-99 range.) When the number is entered, the welding conditions stored in the file will be displayed. (When creating a new file, the default settings will be displayed.) * Place the cursor at the "KIND" and select an option to enter a value of the current or wire feed rate. + Move the cursor to each condition and enter a value with the numeric keys.

!" !"
4-56
, When you have finished entering all conditions, press key. This allows you to store the conditions you entered into the file.
$Operation2%Creating Arc End Condition files for CPDRA-350/-500

& Press F2 key (EDIT) at the top layer of Teach mode.
' Press F5 key (AE FILE).

( Press F4 key (AED).
!" # #
) With the numeric keys, enter the number of a file you want to create. (You can enter a number in the 00-to-99 range.) When the number is entered, the welding conditions stored in the file will be displayed. (When creating a new file, the default settings will be displayed.) * Place the cursor at the "KIND" and select an option to enter a value of the current or wire feed rate.
+ Move the cursor to each condition and enter a value with the numeric keys. , When you have finished entering all conditions, press key.
This allows you to store the conditions you entered into the file. Welding Instructions 4-57
Arc Start/Arc End (APS/APE)

- Performing Pulsed MIG Welding by CPDACA-200 CPDACA-200 is a welding power supply designed specifically for a robot to perform fine-quality welding of aluminum, stainless steel, or soft steel thin plates. It provides 28 welding modes through a combination of four welding processes (AC pulsed, AC wave-pulsed, DC pulse, and DC wave-pulsed welding processes) and various wire diameters. Because the robot also has these modes as welding characteristic data, you can set all these modes from the robot. In addition, you can register up to four welding modes among 28 modes (welding characteristic data) beforehand, and this allows you to switch between them according to welds. Set welding modes and various welding conditions according to welds with the dedicated welding instructions.
Relationship of Welding Modes and Welding Characteristic Data

To support 28 welding modes which CPDACA-200 has, the robot contains welding characteristic data (user characteristic data numbers 120 through 149) as shown in the table below. First, be sure to select and register welding characteristic data according to your welding process. For information on how to register data, see chapter 6 "Using CPDACA-200" in the "BASIC OPERATIONS" instruction manual. Table 4. 9 User Characteristic Data No. 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 4-58 Relationship of Welding Modes and Welding Characteristic Data (CPDACA-200 for EC) Diameter Welding Method Type of Wire of Wire Welding Method Selector Switch (cm) of CPDACA-200 11 1.0 AL/MG DC WAVE PULSED MIG 12 1.2 13 AL/SI-PURE 1.2 21 1.0 AL/MG AC WAVE PULSED MIG 22 1.2 23 1.2 AL/SI-PURE 31 1.0 AL/MG DC PULSED MIG 32 1.2 33 AL/SI-PURE 1.2 41 1.0 AL/MG AC PULSED MIG 42 1.2 43 AL/SI-PURE 1.2 51 0.8 52 0.9 Stainless Steel DC PULSED MIG 53 1.0 54 1.2 61 0.8 62 0.9 Stainless Steel AC PULSED MIG 63 1.0 64 1.2 71 0.8 72 0.9 Mild Steel DC PULSED MAG 73 1.0 74 1.2 81 0.8 82 0.9 Mild Steel AC PULSED MIG 83 1.0 84 1.2 Spare Spare
Table 4. 10 Relationship of Welding Modes and Welding Characteristic Data (CPDACA-200 for U.S.A.) Welding Method Diameter User Type of Wire of Wire Welding Method Characteristic Selector Switch Data No. of CPDACA-200 (inch) 120 11 0.040 Hard aluminum DC WAVE PULSED MIG 121 12 3/64 122 13 Soft aluminum 3/64 123 21 0.040 Hard aluminum AC WAVE PULSED MIG 124 22 3/64 125 23 3/64 Soft aluminum 126 31 0.040 Hard aluminum DC PULSED MIG 127 32 3/64 128 33 Soft aluminum 3/64 129 41 0.040 Hard aluminum AC PULSED MIG 130 42 3/64 131 43 Soft aluminum 3/64 132 51 0.030 133 52 0.035 Stainless Steel DC PULSED MIG 134 53 0.040 135 54 0.045 136 61 0.030 137 62 0.035 Stainless Steel AC PULSED MIG 138 63 0.040 139 64 0.045 140 71 0.030 141 72 0.035 Mild Steel DC PULSED MIG 142 73 0.040 143 74 0.045 144 81 0.030 145 82 0.035 Mild Steel AC PULSED MIG 146 83 0.040 147 84 0.045 148 Spare 149 Spare
4-59
+Setting a Welding Process and Various Conditions

This section describes the welding processes (DC pulsed, DC wave- pulsed, AC pulsed, and AC wave-pulsed welding processes) which CPDACA-200 has, and various welding conditions to be set for each of these welding processes. You can specify a welding process and various conditions by teaching the following dedicated welding instructions. Alternatively, you can specify the number of a condition file which you created. - Weld start instruction for CPDACA-200 : APS - Weld end instruction for CPDACA-200 : APE To teach program data, follow the steps below: (1) Selecting instructions Select APS to start welding or make changes to the conditions, and APE to finish welding. Note that you cannot select these instructions if you have not registered welding characteristic data for CPDACA-200. First, register welding characteristic data.
* The selected welding process is displayed here.
(2) Specifying a welding process After you have selected the instructions, specify welding characteristic data which defines the welding process to be used. This allows you to set the welding process. You can also select DC control (short arc) other than four welding processes at the weld end with the welding end instruction (APE). DC control should be selected to make the weld end thicker.
!"! $! " $!" $"! #!" !# !!(&% !$!(&% !!"
) Pressing this key allows to select the registered welding characteristic data in order.
You can select DC Control at the weld end.
(3) Setting welding conditions and pulse conditions When you have set the welding process, next set the welding conditions and the pulse conditions to perform pulse control. The conditions to be set vary with welding processes. For details, see Table 4. 11 and Table 4. 12 on the next page. When you enter a welding current (or a wire feed
rate) first, the optimum pulse conditions for the " !! welding process according to the entered value will !!"!
be automatically displayed. Therefore, you do not $$
%'
"! need to enter all conditions though you can set various pulse conditions for welding processes. Basically, when you have entered the welding " conditions such as current, voltage, and speed, store the optimum values of the pulse conditions. The optimum pulse conditions according to the welding Try test welding to check the pulse conditions, and current (or wire feed rate) entered are automatically simply change the " Pulsed arc characteristic", " displayed. The parenthesized values are the optimum. Penetration adjustment", or "Wave frequency" The values on the left side are your settings. Basically, do not change the pulse conditions. Making according to the result. Making careless improper changes can cause welding quality arrangements to the pulse conditions without degradation. If you want to adjust the pulse conditions, sufficient knowledge might rather cause welding try to change the "Pulsed arc attribute", "Penetration adjustment", or "Wave frequency". quality degradation. (4) Recording instructions Finally record the instructions. 4-60 Welding Instructions
Table 4. 11 Welding Condition Settings for Welding Methods

Welding Method , and Waveform Control Sketch Conditions Setting Item Welding current or Wire feed rate Voltage adjusting value Welding speed Retry condition file No. Pulsed arc characteristic Starting current Slowdown speed Base current Pulse peak current Pulse peak time Pulse rise time Pulse fall time Penetration adjustment EN current EN time Wave frequency Welding Cond. Setting Range 1 200 1 9999 -20.0 20.0 1 999 0 9 -10 10 1 600 1 9999 20 200 20 600 0.4 3.0 0.4 3.0 0.4 3.0 -150 150 20 300 0.0 30.0 0.5 32.0 Unit A cm/min. V cm/min. *4 A cm/min. A A m sec. m sec. m sec. *4 A m sec. Hz DC Pulsed Page 4-75 Fig. 4. 20 DC Wave- Pulsed Page 4-77 Fig. 4. 22 *3 *3 *3 *3 AC Pulsed Page 4-76 Fig. 4. 21 AC Wave- Pulsed Page 4-78 Fig. 4. 23 *3 *3 *3 *3 *3 *3
Pulse Conditions
Table 4. 12 Crater Condition Settings for Welding Methods

Welding Method, and Waveform Control Sketch Conditions Setting Item Welding current or Wire feed rate Voltage adjusting value Crater time Afterflow time Pulsed arc characteristic Base current Burnback time Burnback voltage Pulse peak current Pulse peak time Pulse rise time Pulse fall time Penetration adjustment EN current EN time Wave frequency Setting Range 1 200 1 9999 -20.0 20.0 0.0 9.9 0.0 9.9 -10 10 20 200 10 500 0.1 27.0 20 600 0.4 3.0 0.4 3.0 0.4 3.0 -150 150 20 300 0.0 30.0 0.5 32.0 Unit A cm/min. V min. min. *4 A m sec. V A m sec. m sec. m sec. *4 A m sec. Hz Welding Cond. DC Pulsed Page 4-75 Fig. 4. 20 DC WavePulsed Page 4-77 Fig. 4. 22 *3 *3 *3 *3 AC Pulsed Page 4-76 Fig. 4. 21 AC WavePulsed Page 4-78 Fig. 4. 23 *3 *3 *3 *3 *3 *3 DC (Short Arc)

Pulse Conditions
[How to view the table] : Setting item : Non-setting item *1: Recommended to adopt the optimum value (recommended value) displayed. *2: A parameter to adjust the pulse condition. See the next page for details. Pulsed arc characteristic ... Makes the condition of the arc harder or softer. Penetration adjustment ... Adjusts the rate of penetration into the base metal. Wave frequency ... Controls the wavy pitch of scaled bead *3: Set for low pulse and high pulse sections individually. *4: The unit is 0.1 [msec.], which is not displayed.
4-61
IMPORTANT When entering the wire feed rate The actual maximum and minimum wire feed rates are about 130 cm/min. and 2255 cm/min., respectively. The actual maximum welding speed is about 600 cm/min. However, these maximum values are operational limits and not practical for welding operation. Adjust the settings so that optimum welding can be performed. When welding without a crater handling step If you want perform welding without a crater handling step, set the crater time at 0. In this case, note that the setting of welding current or wire feed rate must be the same as that for actual welding. Otherwise, the optimum value of burnback voltage displayed when you perform teaching may not be proper. NOTE Welding current or wire feed rate The welding current (or wire feed rate) which is the first welding condition to be entered is the average current (or wire feed rate) at which pulsed welding is performed. The base current, the peak current, and other pulse conditions for pulsed welding are automatically calculated based on the welding current (or wire feed rate) you entered. Voltage adjusting value Because CPDACA-200 is a synergistically controlled welding power supply, the optimum value of a voltage is automatically output according to the current setting. The "Voltage adjusting value" is an adjusting value to increase or decrease the automatically output voltage value. For example, the setting of +5(V) causes the output voltage to increase by 5V. Pulsed arc characteristic The "Pulsed arc characteristic" is a parameter to adjust the "Pulse rise time" and the "Pulse fall time" internally. The wider and softer arc is produced with a greater value, and the concentrated, harder arc with a smaller value. Slowdown speed The "Slowdown speed" indicates a wire feed rate which is applied until the arc is generated at the arc start point. EN current and EN time The "EN current" and the "EN time" are parameters to control a heat input to a workpiece when AC pulsed welding is performed. "EN" stands is an abbreviation of Electrode Negative. The electrode negative is output to decrease penetration into the base metal so that the amount of melted wire can be increased. If you want to adjust the penetration into the base metal, change the pulse condition "Penetration adjustment" rather than "EN current" and "EN time". Penetration adjustment The "Penetration adjustment" is a parameter to adjust the "EN time". The penetration increases with a greater value and decreases with a smaller value. Wave frequency The "Wave frequency" is a parameter to adjust the wave pitch of the scaled bead for DC and AC wave-pulsed welding processes. The wave pitch can be controlled as desired through a combination of a welding speed and a wave frequency. The pitch width decreases with a greater wave frequency and a fixed welding speed, and increases with a smaller wave frequency. Bead
Magnified view Wave pitch
4-62
4-63
Operation1!Selecting the Arc Start Instruction (APS) for CPDACA-200

When using the easy operation type teach pendant
Press
%& $
key.
F1 ... Selects APS (by manual entries) F2 ... Selects APS (by specifying a file)

Screen 1
When using the standard type teach pendant

Press

"
key.
F1 ... Selects APS (by manual entries) F2 ... Selects APE (by manual entries) F3 ... Selects APS (by specifying a file) F4 ... Selects APE (by specifying a file)

Screen 2
IMPORTANT Register welding characteristic data beforehand. You cannot select APS/APE if you have not registered characteristic data for CPDACA-200 yet. (AS/AE will be displayed). Register the data before you perform teaching. For information on how to register, see chapter 6 "Using CPDACA-200" in the "BASIC OPERATIONS" instruction manual.
Operation2!Setting a Welding Process and Various Conditions (APS)

Setting conditions by manual entries
" On the Screen 1 or 2, press F1 key (APS NUM).
# Position the cursor at the "WELD METHOD" and select the welding process you want by pressing F1 key (EDIT). F1 key (EDIT) allows you to select the registered welding process in order.

4-64
+ Position the cursor at the "WELD CONDITION" and select by pressing the function whether you want to set the condition by entering a current or a wire feed rate. F1 ... Allows you to set the condition by entering a current. F2 ... Allows you to set the condition by entering a wire rate. , Move the cursor to each item and enter a value with the numeric keys.
"#!$# &# $" &#$! &$!!# %#$"#% &"() !! $!!#"!!$
"#!$# &# $" &#$! &$!!#

%#$"#% &" () !! !!$
- Press F4 key (ROLL DN). Conditions you can set vary according to the selected welding process. (1) Move the cursor to each item and enter a value with the numeric keys. When setting the "PULS-ARC ATTRIB.", you can use F1 key (+/-) to change the sign. DC Pulse
$"!##! "#!#$!!# "&&"
()
"$!!# !!$ AC Pulse
$"!##! #!# "#!#$!!# "&&"
()
"$!!# !!$ DC Waved-Pulse
$"!##! &%! $' * "#!#$!!# "&&"
()
"$!!# !!$
4-65
AC Waved-Pulse
#! "" %$ #& 0 " " !" "# " !%%!
',
!# " # (2) Press F4 key (ROLL DN).
DC Pulse or AC Pulse #!" !"" # DC Waved-Pulse or AC Waved-Pulse #!"-/ #!"+)* !"" #
(3) Press F1 key (SETTING). If your welding process is DC wave-pulsed or AC wave-pulsed welding, determine whether you are setting Low or High pulse conditions before you press F1 key (SETTING).
DC Pulse or DC Waved-Pulse #!"-/ #!# "

#!" ,.(' #! !" ,.(' #!" ,.(' AC Pulse or AC Waved-Pulse #!"-/ #!# "

#!" ,.(' #! !" ,.(' #!" ,.(' # " ",.('
(4) Move the cursor to each item and enter a value with the numeric keys. (5) If you want to move one screen back, press key. (6) To store the instruction, press

key.
This completes the setting of the Arc start instruction (APS).
4-66

$ On the screen 1 or 2 on page 4-64, press F2 [F3] (APS File). (*+

% Enter the number of each of the welding start condition file and retry condition file you created.
(*+

& Press

key.
This completes the setting of the Arc start instruction "APS".
"Operation3#Selecting the Arc End Instruction (APE) for CPDACA-200

Press
() '
key.
F1 ... Selects APE (by manual entries) F2 ... Selects APE (by specifying a file)

! !

Screen 3

Press

$
key.
F1 ... Selects APS (by manual entries) F2 ... Selects APE (by manual entries) F3 ... Selects APS (by specifying a file) F4 ... Selects APE (by specifying a file)

! !

Screen 4
IMPORTANT Register welding characteristic data beforehand. You cannot select APS/APE if you have not registered characteristic data for CPDACA-200 yet. (AS/AE will be displayed). Register the data before you perform teaching. For information on how to register, see chapter 6 "Using CPDACA-200" in the "Basic Operations" instruction manual.
4-67
*Operation4+Setting a Welding Process and Various Conditions (APE)

Setting conditions by manual entries
, On the Screen 1 or 2, press F1 [F2] key (APE NUM).
- Position the cursor at the "WELD METHOD" and select the welding process you want by pressing the function key. F1 ... Selects the welding process in order. F3 ... Selects DC control (short arc).
!" #" %" #! %"# %# " $"#!"$ " ")'& !"%")'& " " # !" #" %" #! %"# %# " $"#!"$ " ")'& !"%")'& # "! #
. Position the cursor at the "WELD CONDITION" and determine by pressing the function whether you want to set the condition by entering a value of a current or a wire feed rate.
/ Move the cursor to each of the rest and enter a value with the numeric keypad.
0 If your welding process is DC, press

key to
!" #" %" #! %"# %# "

$"#!"$ " " )'& !"%" )'& #
finish the setting operation. If you selected another welding process, proceed to step 1.
1 Press F4 key (ROLL DN). Condition you can set vary according to the selected welding process. (1) Move the cursor to each item and enter a value with the numeric keys. When setting the "Pulsed arc characteristic", you can use F1 key (+/-) to change the sign.
DC Pulse
#! "" !# " # " ()'& # $" $ #
4-68
AC Pulse
" !! !! "! "! +-'& "#! # " DC Waved-Pulse
" !! $#"% / "! "! +-'& "#! # " AC Waved-Pulse
" !! $#"% / !! "! "! +-'& "#! # " (2) Press F4 key (ROLL DN).
DC Pulse or AC Pulse " ! !!" DC Waved-Pulse or AC Waved-Pulse " !,. " !*() !!" DC Pulse or DC Waved-Pulse " !,. " "!

" ! +-'& " ! +-'& " ! +-'&
(3) Press F1 key (SETTING). If your welding process is DC wave-pulsed or AC wave-pulsed welding, determine whether you are setting Low or High pulse conditions before you press F1 key (SETTING).
4-69
AC Pulse or AC Waved-Pulse

(4) Move the cursor to each item and enter a value with the numeric keys.
(5) If you want to move one screen back, press key.

(6) To store the instruction, press

key.
This completes the setting of the Arc end instruction (APE).

On the screen 3 or 4 on page 4-67, press F2 [F4] (APE File). #%$

! Enter the number of each of the welding end condition file and retry condition file you created.
#%$

" Press

key.
This completes the setting of the Arc end instruction "APE".
4-70
"Creating Welding Condition Files for CPDACA-200

There are two types of welding condition files for CPDACA-200, and you can create up to 100 files of each type. Once you have stored welding conditions in files, you can set them simply by specifying a file number when teaching APS/APE, and this makes it easy to control the conditions. - Welding condition file for CPDACA-200 (APS file) A file to store welding conditions. - Welding end condition file for CPDACA-200 (APS file) A file to store welding end conditions (crater conditions).
#Operation 1$Creating a Welding Condition File for CPDACA-200

% At the top layer of the teach mode, press F2 key (EDIT).

& Press F4 key (AS File).

!
' Press F5 key (APS).
( Enter the number of a file you want to create, with the numerical keys. (Any number in the range 00 to 99). When the number is entered, the welding conditions stored in the file will be displayed (the default settings will be displayed when creating a new file). ) For details on setting each condition, see step & and the following on page 4-64. * When you have finished setting all conditions, press

key.
This allows you to store the conditions you entered in the file.
4-71
#Operation 2$Creating a Welding Condition File for CPDACA-200

% At the top layer of the teach mode, press F2 key (EDIT).

& Press F5 key (AE File).

' Press F5 key (APE).

"! "!
( Enter the number of a file you want to create, with the numerical keys. (Any number in the range 00 to 99). When the number is entered, the welding conditions stored in the file will be displayed (the default settings will be displayed when creating a new file). ) For details on setting each condition, see step & and the following on page 4-68.
* When you have finished setting all conditions, press

key.
This allows you to store the conditions you entered in the file.
4-72
Welding Section in Automatic Operation

Operation at the Time of Emergency Stop
When Emergency Stop is input, welding is immediately stopped.
Operation at the Time of Halt

When Halt is input, welding is stopped following an afterflow.
Operation at the Time of Restarting

The operation is restarted from the restarting point, which is the arc start point. The continued wave pitch of the bead is not guaranteed
Changing Conditions
You can change welding conditions by teaching the weld start instruction (APS) again in the same welding section. Note that switching between the welding processes is not possible. (For example, it is not possible to switch from DC pulsed to AC pulsed welding.)
On-line Modification
When the robot is in the welding section, you can make on-line changes to the conditions by using the teach pendant. On-line changeable conditions vary with welding processes. Table 4. 13 On-line Changeable Conditions DC Pulsed AC Pulsed DC Wave-Pulsed Welding current - Welding current - Welding current Wire feed rate - Wire feed rate - Wire feed rate Voltage - Voltage - Voltage adjusting value adjusting value adjusting value Pulsed arc - Pulsed arc - Pulsed arc characteristic characteristic characteristic - Penetration - Wave frequency adjustment
Welding Process Condition -
DC Wave-Pulsed - Welding current - Wire feed rate - Voltage adjusting value - Pulsed arc characteristic - Wave frequency - Penetration adjustment
Operation Changing Welding Conditions

! When the robot is in the welding section during automatic operation, the welding condition settings are displayed.

4-73
Press F2 key (AS ONLN). The display given during automatic operation varies with welding processes, and on-line changeable conditions also vary. (The conditions which are not on-line changeable are not displayed on the function keys. In the examples shown here, the welding conditions are specified on a welding current basis. If they are specified on a wire feed rate basis, feed rate values are displayed. F1 ... Changes the wire feed rate or welding current. F2 ... Changes the voltage adjusting value. F3 ... Changes the speed. F4 ... Terminates the on-line modification. F1 ... Changes the pulsed arc characteristics. F2 ... Changes the wave frequency. F3 ... Changes the amount of penetration adjustment. F4 ... Terminates the on-line modification. DC Pulsed

AC Pulsed

DC Wave Pulsed

AC Wave Pulsed

Select the condition you want to change by pressing the function key. ! Use condition. key to change to the optimum
" To terminate the online change, press F5 key (END). The current welding condition data will be stored and the online change will terminate.
4-74
Waveform Control Applied to Welding Processes

This section describes the waveform control applied to each of the welding processes.
Waveform Control for DC Pulsed Welding

The waveform control for DC pulsed welding (in the steps of weld start - welding - crater handling) is shown below:
Welding Current
(2) (4) (5) (6)
(1) (7) (8) (3) (8) (9) Fig. 4. 20 Waveform Control for DC Pulsed Welding
Time
Table 4. 14 Pulse Conditions for DC Pulsed Welding Pulse Condition (1) Starting current (2) Starting current time (3) Starting base time (4) Pulse rise time (5) Pulse peak time (6) Pulse fall time (7) Pulse peak current (8) Base current (9) Base time Remarks You can set with the welding instructions (APS/APE). Automatically controlled by CPDACA-200.
You can set with the welding instructions (APS/APE).
Automatically controlled by CPDACA-200.
4-75
Waveform Control for AC Pulsed Welding

The waveform control for AC pulsed welding (in the steps of weld start - welding - crater handling) is shown below:
Welding Current
(2) (4) (5) (6) (11)
(1) (7) (10) (8) (9) (9) Fig. 4. 21 Waveform Control for AC Pulsed Welding (10) (8)
(3)
Time
Table 4. 15 Pulse Conditions for AC Pulsed Welding Pulse Condition (1) Starting current (2) Starting current time (3) Starting base time (4) Pulse rise time (5) Pulse peak time (6) Pulse fall time (7) Pulse peak current (8) EN current (9) EN time (10) Base current (11) Base time Remarks You can set with the welding instructions (APS/APE). Automatically controlled by CPDACA-200.
Automatically controlled by CPDACA-200.
4-76
Waveform Control for DC Wave Pulsed Welding

DC wave-pulsed welding is based on DC pulsed welding. One cycle of wave frequency is made up of a low pulse section and a high pulse section. The number of pulses in each of the low and high pulse sections per cycle varies with the wave frequency and the pulse conditions. The waveform control (in the steps of weld start - welding - crater handling) is shown below: 1 cycle Welding Current Low pulse (10)(11)(12) (2) (4) (5) (6) High pulse
(13) (1) (8) (3) (7) (8) (9) Time Fig. 4. 22 Waveform Control for DC Wave Pulsed Welding
Table 4. 16 Pulse Conditions for DC Wave Pulsed Welding Pulse Condition (1) Starting current (2) Starting current time (3) Starting base time (4) Pulse rise time (Low pulse section) (5) Pulse peak time (Low pulse section) (6) Pulse fall time (Low pulse section) (7) Pulse peak current (Low pulse section) (8) Base current (9) Base time (10) Pulse rise time (High pulse section) (11) Pulse peak time (High pulse section) (12) Pulse fall time (High pulse section) (13) Pulse peak current (High pulse section) Remarks You can set with the welding instructions (APS/APE). Automatically controlled by CPDACA-200.
You can set with the welding instructions (APS/APE). You can set with the welding instructions (APS/APE). Automatically controlled by CPDACA-200. You can set with the welding instructions (APS/APE).
4-77
Waveform Control for AC Wave Pulsed Welding

AC wave-pulsed welding is based on AC pulsed welding. One cycle of wave frequency is made up of a low pulse section and a high pulse section. The number of pulses in each of the low and high pulse sections per cycle varies with the wave frequency and the pulse conditions. The waveform control (in the steps of weld start - welding - crater handling) is shown below: 1 cycle Welding Current Low pulse
(13) (12) (14) (2) (4) (5) (6) (11)
High pulse
(1) (10) (3)
(7)
(10) (8)
(15)
(16) (9) (17)
Time
Fig. 4. 23 Waveform Control for AC Wave Pulsed Welding
Table 4. 17 Pulse Conditions for AC Wave Pulsed Welding Pulse Condition (1) Starting current (2) Starting current time (3) Starting base time (4) Pulse rise time (Low pulse section) (5) Pulse peak time (Low pulse section) (6) Pulse fall time (Low pulse section) (7) Pulse peak current (Low pulse section) (8) EN current (Low pulse section) (9) EN time (Low pulse section) (10) Base current (11) Base time (12) Pulse rise time (High pulse section) (13) Pulse peak time (High pulse section) (14) Pulse fall time (High pulse section) (15) Pulse peak current (High pulse section) (16) EN current (High pulse section) (17) EN time (High pulse section) Remarks You can set with the welding instructions (APS/APE). Automatically controlled by CPDACA-200.
You can set with the welding instructions (APS/APE). Automatically controlled by CPDACA-200.
4-78
Chapter 5 Weaving Instructions

This chapter describes the weaving instructions.
Contents
Fixed Pattern Weaving Start (WFP) - Weaving in a Fixed Pattern - ................................................................ 5-1 Axis Weaving Start (WAX) - Weaving by Single Joint Shaking - ..................................................................... 5-6 Weaving End (WE) - Ending Weaving -............................................................................................................. 5-9 Taught Weaving (WSF) - Teaching a Weaving Pattern - .................................................................................. 5-10 Taught Weaving................................................................................................................................................ 5-10 Conditions for Taught Weaving......................................................................................................................... 5-13 Operating Conditions for Weaving................................................................................................................ 5-13 Teaching Points ............................................................................................................................................ 5-15 An Overview of the Operational Procedures .................................................................................................... 5-18 Teaching for Taught Weaving by Using Procedure A .................................................................................. 5-19 Teaching for Taught Weaving by Using Procedure B .................................................................................. 5-25 Teaching for Taught Weaving by Using Procedure C.................................................................................. 5-28 Checking and Modifying the Taught Points ...................................................................................................... 5-30
Fixed Pattern Weaving Start (WFP)

- Weaving in a Fixed Pattern The WFP instruction is used to start weaving by fixed pattern. The following conditions need to be set: - Function type - Amplitude (Right and Left) - Frequency - Stopping time (1/4 cycle, 3/4 cycle, and center) - Initial weaving direction - Weaving angle (Right and Left) - Push/drag angle (Right and Left) - Forward during a stop Linear function or sine curve 0.0 - 50.0 mm 0.0 - 10.0 Hz 0.0 - 9.9 sec. Right or Left -180 - 180 -180 - 180 ON/OFF
Like welding conditions, there are two ways of setting weaving conditions; by entering numeric values and specifying a file. For details about the procedure for creating Weaving Condition files, see "Creating the Fixed Pattern Weaving Files" in Chapter 4 in the instruction manual "BASIC OPERATIONS".
Function type
Select a function type (weaving waveform) whether Linear function or Sine curve.
Linear function
Sine curve Fig. 5. 1 Weaving Waveform
Amplitude
Set the weaving amplitude. You can set the right (Y1) and left (Y2) amplitude with respect to forward direction.
Frequency
Set the weaving frequency.
Stopping times
Set the Center stopping time, 1/4 cycle stopping time, and 3/4 cycle stopping time.
3/4 cycle stopping time Left amplitude (Y2) forward direction main path Right amplitude (Y1) center stopping time 1/4 cycle stopping time
Fig. 5. 2 Frequency and Stopping Times Weaving Instructions 5-1
Initial weaving direction

Determine the initial weaving direction, whether right or left with respect to the forward direction. The default is right, so that weaving starts from the right with respect to the forward direction. Weaving from the right
Left amplitude Right amplitude start point
Weaving from the left

Left amplitude Right amplitude start point forward direction
forward direction
Fig. 5. 3 Initial Weaving Direction Even if a modification is made to the conditions, the phase direction is maintained.
Change by WFP forward direction
Start by WFP
Fig. 5. 4 Consistency of the Phase Direction Independent of Modification
Weaving angle
Set the weaving angle from the main path. Each angle to the left and right amplitudes can be set. The default is 0 and the weaving plane is perpendicular to the torch.
Left angle Right amplitude Left amplitude 0
(+)
(+) Right amplitude Left amplitude
Right angle 0
(-)
(-)
(a) Weaving when the weaving angles are 0 (b) Weaving when the weaving angles are set. Fig. 5. 5 Weaving Angle Viewing From Forward Direction
Push/Drag angle
Setting a push/drag angle causes the waveform to be changed as follows:
Left push/drag angle 0 (-) Forward direction (+)
(-) 0 Right push/drag angle
(+)
Fig. 5. 6 Weaving at Right and Left Push/Drag Angles of 45. 5-2 Weaving Instructions
Note that, with a push/drag angle, the amplitude is inclined toward the forward direction and becomes shorter. For example, if the angles -45, the amplitude is reduced to about 70% over the angle of 0.
Forward during a halt

If you set the weaving stopping time, select whether the robot should be moved in the forward direction when the weaving operation is a halt condition. The default is OFF.
(a) Waveform by the ON Setting
(b) Waveform by the OFF Setting
Fig. 5. 7 A difference between Forward During a Halt ON/OFF
IMPORTANT Weaving may not be achieved according to the set frequency. Weaving may not be performed according to the set frequency. Refer to the following table for the relationship between the actual weaving frequency and the set frequency. 10.4
Actual frequency [Hz]
5.2 3.5
Set frequency [Hz]
Weaving may not be achieved according to the set weaving angle, push, and drag angles. Weaving may not be achieved according to the set weaving angle and/or push/drag angle, depending on the frequency.
Weaving Instructions
5-3
Weaving using the Timer or Input Wait instruction If an on-spot weaving by Fix Pattern (WFP) is desired by using the Timer instruction (T) or the Input Wait instruction (N or F), select the Linear Interpolation instruction (L) before the Weaving instruction to determine the forward direction. "Example# : 003 L ! Teach the Linear interpolation instruction (L) to determine the forward direction. The distance to the weaving point does not have AS to long. WFP 004 *T WE AE : Stopping time of weaving is set if the weaving is performed by using the Timer instruction If an on-spot weaving by Fixed Pattern (WFP) or Axis (WAX) is desired by using the Timer instruction (T), the weaving time will be "the sum of the stopping time settings specified with the Weaving instruction" + "the time specified with Timer instruction". This means that the weaving time will be longer than the time specified with the Timer instruction if any stopping time is set.
"Operation#Teaching the Fixed Pattern Weaving Start Instruction (WFP)

Press

key.

F1 ... Sets the conditions by entering numeric value. F2 ... Sets the conditions by specifying the file.
Setting the weaving condition by entering numeric value

$ Press F1 key (FP NUM.).
keys and set
% Move the cursor by using the following conditions:
Right amplitude / Left amplitude Enter each side of the weaving amplitude (the right and left amplitudes) with the numeric keys. Frequency Enter a weaving frequency with the numeric keys. Each stopping time Enter each of the center stopping time, 1/4 cycle stopping time, and 3/4 cycle stopping time with the numeric keys. 5-4 Weaving Instructions
Press F4 key (ROLL DN).
! Move the cursor by using the following conditions:
keys and set

Function type (weaving wave form) Select linear function or sine curve as a weaving wave form with the function key. Initial weaving direction To determine whether the weaving is started from the right or left with respect to the forward direction, select with the function key. Right and Left weaving angle Enter the weaving angle (the weaving angle from the main path) with respect to each of the left/right amplitudes. Right and Left push/drag angle Enter the push and drag angle (the angle at which the weaving waveform is changed back and forward) with respect to each of the left/right amplitudes. " Press F4 key (ROLL DN). Forward during a stop When you set each weaving stopping time at , determine whether you want to stop or advance the robot while stopping of weaving. # After setting, press

key.

Now, the Fixed Pattern Weaving Start instruction "WFP" has been stored.
Setting the weaving conditions by specifying the file

Press F2 key (FP FILE). &$%
Enter the previously created Weaving condition file number with the numeric keys. After setting, press

&$%
key.
Now, the Fixed Pattern Weaving Start instruction "WFP" has been stored. Weaving Instructions 5-5
!Axis Weaving Start (WAX)

- Weaving by Single Joint Shaking The WAX instruction is used to start weaving by single vibration of each axis. The following conditions need to be set: - Axis number - Amplitude (Right and Left) - Frequency - Stopping time (1/4 cycle, 3/4 cycle, and center) - Forward during a stop 1-6 0.0 - 9.99 & 0.0 - 10.0 Hz 0.0 - 9.9 sec. ON/OFF
These means are the same as WFP.
It is possible to set up to 3 axis numbers at once time. If more than one axis number is set, the parameter settings except amplitude, which can be set per axis, are common to them. Like welding conditions, there are two ways of setting weaving conditions; by entering numeric values and specifying a file. For details about the procedure for creating Weaving Condition files, see ""Creating the Axis Weaving Files" in Chapter 4 in the instruction manual "BASIC OPERATIONS".
IMPORTANT Weaving may not be achieved according to the set frequency. Depending on the manipulator type or the system configulation, weaving may not be performed according to the set frequency. Stopping time of weaving is set if the weaving is performed by using the Timer instruction If an on-spot weaving by Fixed Pattern (WFP) or Axis (WAX) is desired by using the Timer instruction (T), the weaving time will be "the sum of the stopping time settings specified with the Weaving instruction" + "the time specified with Timer instruction". This means that the weaving time will be longer than the time specified with the Timer instruction if any stopping time is set.
#Operation$Teaching the Axis Weaving Start Instruction (WAX)

Press

key.
F3 ... Sets the conditions by entering numeric value. F4 ... Sets the conditions by specifying the file.

Setting the weaving condition by entering numeric value

% Press F3 key (AX NUM.).

5-6
Move the cursor by using keys, and set the following weaving conditions. Frequency Enter a weaving frequency with the numeric keys. Weaving axis number and amplitude Set a weaving axis number or numbers and each amplitude with the numeric keys. IMPORTANT Set the amplitude of a axis or axes which does not weave to 0.
Center stopping time Enter the center stopping time with the numeric keys.
keys and
Press F4 key (ROLL DN).
Move the cursor by using set the following weaving condition.
1/4 cycle stopping time Enter the 1/4 cycle stopping time with the numeric keys. 3/4 cycle stopping time Enter the 3/4 cycle stopping time with the numeric keys. Forward during a stop When you set each weaving stopping time, determine whether you want to stop or advance the robot while stopping of weaving.

key.
Now, the Axis Weaving Start instruction "WAX" has been stored.
5-7
Setting the weaving conditions by specifying the file

Press F4 key (AX FILE).

Enter the previously created Weaving condition file number.

key.
Now, the Axis Weaving Start instruction "WAX" has been stored.
5-8
Weaving End (WE)
- Ending Weaving -
The WE instruction is used to terminate all weaving operations specified by the Weaving Start instructions.
OperationTeaching the Weaving End Instruction (WE)

Press

F5 key (WE) .

Press

key.
Now, the Weaving End instruction "WE" has been stored.
5-9
Taught Weaving (WSF)

-
- Teaching a Weaving Pattern
CAUTION DR CONTROL is incapable. DR CONTROL does not have the capability of TIG pulsed welding.
Taught Weaving
Taught Weaving is a weaving method that allows teaching weaving points according to the joint type. The Taught Weaving Start instruction (WSF) enables you to create any weaving pattern you want, as illustrated below:
1/2/3 are taught points to form a taught weaving pattern. Fig. 5. 8 A Taught Weaving Example The WSF instruction requires setting the following conditions: Table 5. 1 Conditions for Taught Weaving Condition Control of Weaving speed Weaving frequency (if control by frequency) Operating conditions for Weaving Weaving speed (if control by speed) Weaving motion type Forward at stop points Weaving plane (Necessary to set if teaching two points) Setting Frequency / Speed 0.1 10.0 1 9999 Loop / Repeat ON / OFF Advance / Torch / User - Move the robot to the point by performing manual manipulation and record. Position / Altitude - Enter the positional data in the Seam coordinate system directly. Default Frequency 1.0 600 Loop OFF User Unit Hz cm/min -
Points to be taught (2 - 10 points)
5-10
Stopping time at a point Curvature
0 9.9 -5 5
0.0 0
sec. -
5-11
IMPORTANT The actual weaving waveform may differ from the taught one. The actual position/attitude of the robot are determined by the composite vector of a forward component in the main path and a weaving component produced when the robot moves from a taught point to a taught point sequentially. This means that the actual weaving waveform differs from the taught pattern because its shape is distorted in the forward direction by the Motion instructions (e.g., L and C1) taught in the weaving section. However, the waveform will not be distorted if weaving is performed on the spot during execution of the Timer (T) or Input Wait (N, F, INW, or OTW) instruction.
5-12
Conditions for Taught Weaving

Operating Conditions for Weaving
Control of Weaving speed
While the pattern/axis weaving methods provide the speed control only by frequency, the taught weaving method allows you to specify the weaving speed so that the speed at which the robot is moved between taught points can be set.
Weaving frequency
If frequency is selected as the control of weaving speed, set the weaving frequency.
Weaving speed
If weaving speed is selected as the control of weaving speed, set the speed at which the robot is moved between taught points.
Weaving motion type: Loop / Repeat

Select loop or repeat to determine the weaving motion through the taught points. The loop and repeat motions in the case of three-point teaching are shown below:
3 Plane 3 Indicating the seam 2 1 2 1
Path2 1 2 3 1 2 3 ... One cycle Fig. 5. 9 Loop Motion
3 Plane 3 Indicating the seam 2 1
Path2 1 2 3 2 1 2... One cycle Fig. 5. 10 Repeat Motion Weaving Instructions 5-13
Forward at stop points: ON / OFF

"OFF" ... Stops the robot or all the mechanisms at the specified weaving stop points for a period of the set time. " ON " ... Stops only the weaving component. Because the robot moves in the forward direction, the torch tip moves like a trapezoidal wave with respect to the base metal.
Forward direction Forward direction
Stop point Forward at Stop Points "OFF" Forward at Stop Points "ON"
Fig. 5. 11 A Difference between Forward at Weaving Stop Points ON/OFF
Weaving plane: Forward / Torch / Free

In the case of two-point teaching, specify the weaving plane: - Advance - Torch : : The weaving plane perpendicular to the forwarding direction. The weaving plane perpendicular to the torch direction. The torch direction is the direction which is projected onto the plane perpendicular to the forward direction. : In the case of teaching more than two points, or the curvature of 0, select this option since you do not need to specify the plane.
Torch Indicating the seam
- User
Torch
Indicating the seam
Plane perpendicular to the torch direction Weaving waveform Weaving waveform
Plane perpendicular to the forward direction
Fig.5.12
Perpendicular to the Torch
Fig.5.13
Perpendicular to the Forward Direction
5-14
Teaching Points
You can teach 2 to 10 points to determine the weaving pattern.
Position/attitude
There are two ways of teaching: - Recording by jogging the robot This is the same as the way of recording the Positioning instruction (P). Move the robot to a point by performing manual manipulation and then record that point. - Entering the coordinate values in the Seam coordinate system Enter the coordinate values in the Seam coordinate system determined by the weld seam. When you move the robot by performing manual manipulation to record points, switching to the Seam coordinate system automatically takes place. The moving directions in the Seam coordinate system are shown below:
X+ Z+
L, WE Y+ P, WSF (Origin) Fig. 5. 14 Moving Directions in the Seam Coordinate System
IMPORTANT The G type manipulators are not designed to control the change in their attitudes between points. The V type manipulators are designed to control the change in their attitudes between points, but not the G type manipulators. If your system includes a G type manipulator, do not change its attitude when teaching points. (You can change the attitude during teaching operations, but it will not change during block operation or automatic operation.) When changing the attitude, be careful of the distance between the points and the amount of the change. When teaching points, do not change the attitude greatly. If the distance between the points is short and the change in the attitude is great, the robot has to change its attitude instantaneously when moving between the points. This may overload to the manipulator, causing servo failure. If the change in the attitude is not less than 30 degrees during block operation or automatic operation, the robot will move without changing its attitude.
5-15
In addition, set the following conditions at each point to be taught:
Stopping time
Set the stopping time at each point to be taught.
Curvature
This condition takes effect with two taught points. It determines the curve along which the robot moves. (For example, the curvature of 0 gives a straight line.) If there are more than two taught points, this setting will be ignored because the robot moves in a straight line between the taught points.
Torch Indicating the seam
(Curve to upper direction) -5
Weld seam (direction from this side to interior side)
When viewed from the front...
+5 (Curve to down direction) Taught point
Fig. 5. 15 The Direction of the Curvature Sign in the Plane Perpendicular to the Torch
Torch Indicating the seam Weld seam -5 (Curve to forward direction) Indicating the seam 0
When viewed from the top...
Taught point +5 (Curve to backward direction)
Fig. 5. 16 The Direction of the Curvature Sign in the Plane Perpendicular to the Forward Direction Because two points on the weaving plane can be taught in any positions in the plane, weaving through the weld seam too, as shown below, is possible.
Weld seam
Taught point
Fig. 5. 17 Curvature Where the Positions of Two Points Are Changed (in the case of the plane perpendicular to the direction of the torch)
5-16
Curvature setting examples The curvature setting of a value other than 0 at each of two taught points gives the following waveforms, provided that the setting of the weaving plane is "perpendicular to the torch":
Curveture="-5"
Curveture="-5"
Curveture="-5"
Curveture="+5"
Fig. 5. 18 A Half-Arc Waveform in the Forward Direction
Fig. 5. 19 An Arc Waveform in the Forward Direction
IMPORTANT The settings of -5 and +5 do not give a half-arc waveform in practice. A half-arc waveform given by such settings as +5 and -5 is formed only by the weaving component. In practice, a composite waveform of the weaving and forward components will be given, but not a half-arc waveform.
5-17
An Overview of the Operational Procedures

Unlike the other weaving methods that can be taught simply by entering conditions, the taught weaving method requires more complicated teaching operations. The teaching operations are divided into following three stages: Setting the Seam coordinate system Setting the operating conditions for taught weaving Teaching weaving points The following three teaching procedures are available, and the most common one is procedure A: Procedure AFirst create a Task program excluding weaving data and then add weaving data later. In this procedure, the stage above mentioned can be omitted. This is the simplest procedure. Procedure BFirst create a Taught Weaving file by using the workpiece to be weaved, and then specify the file number when creating a Task program. In this procedure, all the operations from through must be performed. Procedure CEnter numerical values of all the data necessary for taught weaving. This procedure requires a good knowledge of the robot.
Table 5. 2 Operations Involved in Procedures and the Degree of Difficulty Degree Operations Required for Taught Weaving of Procedure A Procedure B Procedure C Difficulty Registration of the Seam Coordinate System Setting of Operating Conditions for Weaving Entry in Manual Manipulation Teaching of Points Numerical Entry Difficult Required Easy Easy Easy Not Required Required Required Required Required Required Not Required Required
5-18
Teaching for Taught Weaving by Using Procedure A

In Procedure A, first create a Task program and then add the Taught Weaving Start instruction (WSF) to it later. In this procedure, because the seam is determined when points are taught, the seam coordinate system will be automatically registered. This means that the operation for its registration can be omitted.
Start
Create a Task program excluding weaving data.
Add the Taught Weaving Start instruction (WSF) to the weaving start point in the Task program you created.
Position the cursor on the Taught Weaving Start instruction (WSF) and teach the weaving pattern. (Create a Taught Weaving Condition file in the Task program.) Set the operating conditions for weaving. Move the robot by performing manual manipulation and then teach each point.
End
IMPORTANT Notes on teaching Motion instructions before and after WSF To automatically register the Seam coordinate system, be sure to follow these instructions for teaching Motion instructions before/after the Taught Weaving Start instruction (WSF): - Be sure to use the same coordinate system. Otherwise, a message "WELD COORDINATE NOT DEFINED." will appear. - The distance between the points must be 20mm or greater. Otherwise, a message "ORG. & DIR. POINTS ARE TOO CLOSE" will appear. Example Linear P coordinate 1 WSF WSF01 L coordinate 1 L WE P
Circular coordinate 2 WSF WSF01 C1 coordinate 2 C2 coordinate 2 WE
Timer or Input Wait P L coordinate 3 coordinate 3 WSF WSF01 T (or N, F, ..) WE
5-19
(Operation)Teaching for Taught Weaving by Using Procedure A

* Create a Task program excluding weaving data.
+ Move the cursor to the position in which you want to insert the Taught Weaving Start instruction.
2 2
.3 1%& 4/ ./ ! $" ' 2 2
.3
, Press
key.
- Select the Taught Weaving Start instruction (WSF).

(1) Press
key.
!$!$ 430#
(2) Press F5 key (SF FILE).

(1) Press

key.
!$!$# 430#
(2) Press
key.
(3) Press F1 key (SF FILE).
5-20
+ Enter the file number with the numeric keys and press

key.
Because the file does not exist, a message "NO FILE EXIST." will appear.
!% # ) % ! 4 4
05 652$ %"!%! 4
05 652$
, Press F1 key (EXECUTE). The taught weaving start instruction (WSF) will be recorded without the file.
- Press
key to terminate the addition.
4
05 652$ 3'( 61 01 " !!!! 4
05 652$ 3'( 61 01 652$ ! !$ # $ ! $#! "&* #! ! !! !"
. Next, set the taught weaving data. Position the cursor on the WSF and press key.
/ Press F1 key (PAT. BL) You can now edit the specified Taught Weaving file.
5-21
Set each of the operating conditions for weaving.
Frequency or Speed
Select the control of weaving speed with the function key, and then enter the value with the numeric keys. F1 ... Frequency F2 ... Speed

Motion
Select the weaving motion with the function key. F1 ... Repeat motion F2 ... Loop motion

Forward during a stop

If you want to set a stopping time at each of the points to be taught later, select ON or OFF to determine whether the robot should be moved in the forward direction during a period of the stopping time or not. F1 ... ON (to move the robot during a stop) F2 ... OFF (not to move the robot during a stop)

Plane
If you intend to teach two points later, then set the weaving plane. F1 ... Free (when teaching more than two points) F2 ... Perpendicular to the forward direction F3 ... Perpendicular to the torch

When you have set the operating conditions, press

key.
The conditions you set will be recorded following the instruction "WSC".
!

5-22
12 Next, teach points.
IMPORTANT Teaching points Teach points in the same procedure for teaching the Positioning instruction (P): Move the robot to the position that you want to record. Select the instruction (WL) to indicate a point. Set the conditions. !Record. "Repeat the above steps to teach the points required.
(1) Move the robot to the position that you want to record by performing manual manipulation. X+ Z+ L, WE Y+ P, WSF (Origin) CAUTION As switching to the Seam coordinate system takes place automatically, be careful of the direction in which the robot moves. Switching to the Seam coordinate system takes place automatically when you enter the Taught Weaving file edit mode. Therefore, be careful of the direction in which the robot moves to a point. Though it is possible to switch to a different coordinate system, you cannot switch back to the Seam coordinate system. (2) Press F1 key (WL). &%# &$
(3) Enter the stopping time with the numeric keys.
(4) If you want to teach two points, press
key
and enter the level (curvature) with the numeric keys.
(5) Press

key.
The taught point ill be recorded with the instruction "WL".
&%# &$ &$

5-23
(6) Repeat the steps of (1) through (5) to teach the points required.
$#! $" $" $" $"

$#! $" $" $"
(7) When you have taught all the points, press key.
(8) Press F1 key (CONFIRM). This completes teaching for weaving.
5-24
Teaching for Taught Weaving by Using Procedure B

In Procedure B, first create a Taught Weaving Condition file by using the workpiece, and then specify the file number when creating a Task program. Start
Create a Weaving Condition file. Set the Seam coordinate system. Set the operating conditions for weaving. Move the robot to teach points by performing manual manipulation.
When teaching the Taught Weaving Start instruction (WSF), specify the number of the file you created.
End
Setting the Seam coordinate system

When you have entered the Taught Weaving Condition file edit mode, first you need to set the Seam coordinate system. You can set the Seam coordinate system simply by specifying a welding direction and a reference point.
WE point X Z Directional point
Y Reference point (WSF point)
First, move the torch tip to any point on the seam to specify a welding directional point. Next, move to the weaving start point to specify a reference point. Specifying the welding directional point and the reference point allows you to set the Seam coordinate system such as the one shown on the left.
Fig. 5. 20 The Seam Coordinate System
IMPORTANT At least 20mm between the welding direction point and the reference point. Leave at least 20mm between the welding direction point and the reference point. Otherwise, the Seam coordinate system cannot be set. (A message "ORG. & DIR. POINTS ARE TOO CLOSE" will appear.)
5-25
OperationTeaching for Taught Weaving by Using Procedure B

Press F2 key (EDIT) at the top layer of Teach mode.
Press F2 key (WS FILE).

Press F3 key (TEACH).

Enter the file number with the numeric keys.
! Press F1 key (MANUAL).

" First, set the Seam coordinate system.
CAUTION As switching to the Seam coordinate system takes place automatically, be careful of the direction in which the robot moves. Switching to the Seam coordinate system takes place automatically when you enter the Taught Weaving file edit mode. Therefore, be careful of the direction in which the robot moves to a point. Though it is possible to switch to a different coordinate system, you cannot switch back to the Seam coordinate system.
5-26
(1) Move the torch tip of the robot to the directional point (any point on the seam) and press key.

(2) Move the torch tip of the robot to the reference point (the weaving start point) and press key. This completes the setting of the Seam coordinate system.

NOTE The rest of the teaching operations: To perform the rest of the teaching operations for taught weaving, follow step in the procedure A on Page 5-22. After you have created a Taught Weaving Condition file: Select the Taught Weaving Start instruction (WSF) at the weaving start point when creating a Task program. (See step on Page 5-20.) Then, specify the number of the condition file you created.
5-27
Teaching for Taught Weaving by Using Procedure C

In Procedure C, enter the numeric values of all the taught weaving data. Start
Create a Weaving Condition file. Set the Seam coordinate system. Set the operating conditions for weaving. Enter the numeric value of each point/attitude in the Seam coordinate system.
When teaching the Taught Weaving Start instruction (WSF), specify the number of the file you created.
End
OperationTeaching for Taught Weaving by Using Procedure C

Press F2 key (EDIT) at the top layer of Teach mode.

! Press F2 key (WS FILE).

" Press F3 key (TEACH).

# Enter the file number with the numeric keys.
5-28
2 Press F2 key (NUMERIC).
! #+
3 Enter the operating conditions for weaving and press

key.
) 65 *'% " ((,

& # ((-& $ ((.& "
4 Next, teach points. (1) Enter the stopping time, the curvature, and the positional data for point 1.
(2) When you have entered, press Then, teach point 2.

key.
) 65 *'% "((,

& #((-& $ ((.& "
(3) Similarly, set the data for the following points. When you have set for all the points, press key.

(4) Press F1 key (CONFIRM). This completes teaching for weaving.
NOTE The rest of the teaching operations: After you have created a Taught Weaving Condition file: / Select the Taught Weaving Start instruction (WSF) at the weaving start point when creating a Task program. (See step 1 on Page 5-20.) 0Then, specify the number of the condition file you created.
5-29
Checking and Modifying the Taught Points

To check the point-to-point robot motion in the taught weaving path or modify, add, or delete points, perform in-pattern block operation. In in-pattern block operation like normal block operation, you can move the robot in the ascending or descending order of taught points. The speed at which the robot moves to the next point can be changed through the use of the teach pendant.
IMPORTANT Perform block operation to check the actual weaving motion. You can check the actual weaving motion in normal block operation. In-pattern block operation is used to check and add or delete taught points. It may not be possible to move the robot from point to point in-pattern operation. Moving the robot from point to point in in-pattern block operation is possible, provided that the weaving points were taught in manual operation. If taught by entering numeric values, the robot cannot be moved from point to point in in-pattern block operation. (You can make modifications to the data.) Robot motion during in-pattern block operation During forward or backward in-pattern block operation, the robot will not stop at each point set with a stopping time. In addition, regardless of the operation type (loop or repeat), the robot will operate in the ascending order (during forward operation) or in the descending order (during backward operation) without exception. Two-point taught weaving in in-pattern block operation The two point taught weaving motion in in-pattern block operation becomes slightly complicated when the curvature setting is other than zero. L, WE (Forward direction) P, WSF Point 1 During in-pattern block operation the robot moves as follows: In forward operation from the start point to Point1 the robot moves in a straight line. In forward operation from Points 1 to 2 the robot moves in a curve according to the curvature. (The same in backward operation from Points 2 to 1.) Point 2 Program data
WSC 1.0Hz, Loop, ON, Advance 001 WL 002 WL 003 END 0.0s. -5 0.0s. -5
5-30
'Operation(In-Pattern Block Operation

) Move the cursor to the Taught Weaving Start instruction (WSF). 2 -3 430!
1"$ 4/ -/ 2 -3 430!
1"$ 4/ -/ 430! 43.& 41% 41%
* Press
key.
+ Press F1 key (PAT. BL)
, If you perform in-pattern block operation in this condition, the robot will move from taught point to taught point in the ascending or descending or order.
Modifying, adding or deleting

The procedures for modifying, adding, and deleting points are exactly the same as the one for making modifications to a Task program. For example, to modify point data: (1) Move the cursor to the point (WL) you want to modify and press key. 43.& 41% 41% 41% 41%#"
(2) Modify the position/attitude or conditions in the same manner that you teach a point.
(3) Press

key.
This completes the modification. Use

key to add, or

key to delete.
5-31
Changing the motion speed

(1) To change the point-to-point motion speed, press F5 key (BLK SPD).

(2) Enter the speed with the numeric keys. The entry range is 1 cm/min. to 9999 cm/min.
(3) Press

key to change to the speed you
entered. Then, you can continue the in-pattern block operation.
5-32
Chapter 6 External Control Input/Output Instructions

This chapter describes the External Control Input/Output instructions required to interlock the robot with the external equipment, and also the User Error instructions that allow you to output user-definable errors.
Contents
External Control Output (S/R) - Outputting a Signal -......................................................................................... 6-1 External Control Pulse Output (PLS/PLR) - Outputting a Signal for a Fixed Period of Time -........................... 6-3 External Control Input Wait (N/F) - Waiting for a Signal Input -.......................................................................... 6-5 Quick External Control Input Wait (NQ/FQ) - Checking an External Input in Advance -.................................... 6-6 Teaching a Set of S, N (or F), and R....................................................................................................................... 6-9 Clear Output Port (CLR) - Turning the Output Port OFF - ............................................................................... 6-10 User Errors (ERR / ALM / INF) - Outputting User-Definable Errors -............................................................... 6-11 ERR (User-defined ERROR)............................................................................................................................ 6-11 ALM (User-defined ALARM)............................................................................................................................. 6-12 INF (User-defined INFORMATION) ................................................................................................................. 6-12
External Control Output (S/R) - Outputting a Signal The external control output instructions turn a specified output port ON or OFF. (Output signals are held.) External Control Output SET (S) ON OFF The following parameters need to be set: - Logical output port number : O000 O199 Specify the number of the logical output port to turn ON/OFF. The signal assigned to the physical output port corresponding to the logical output port is output. The relationship of the logical to physical output ports is defined with the output conversion table in the Sequencer file. - Delay time : 0.0 99.9 sec (unit of 0.1 sec) Setting a delay time allows the output to be held for the set time after the immediately preceding Motion instruction is executed. However, execution of a Task program is not held during the period of this waiting time. External Control Output RESET (R) ON OFF
IMPORTANT The Task instructions between two Motion instructions are executed simultaneously. All Task instructions taught between two Motion instructions are almost simultaneously executed when execution of the Motion instruction followed by them is complete during automatic operation. If outputs are specified to the same port within a sequence, only the last instruction is executed. Especially, care should be taken to teach external control input/output instructions. Example 1 001 P S 001 S 002 S 003 S 004 002 P : Example 2 001 P S 001 S 002 R 001 S 003 002 P :
Output ports 001 - 004 are simultaneously set ON.
Because S001 and R001 are contained in the same sequence and also their port numbers are the same, S001 is not executed. Therefore, R001, S002, and S003 are simultaneously executed. (Only 002 and 003 are simultaneously set ON.) If you want to output 001, add a Timer instruction (T) with about 0.2 sec. immediately before R001.
6-1
Example 3 001 P S 001 N 001 R 001 002 P :
Like Example 2, S001 is not executed. Therefore, the input is waited for at N001. In this case, add No operation instruction (NOP) after N001.
External Control Output instructions may not be executed depending on the taught data. In a Task program like the following examples, External Control Output instructions may not be executed: Example 1 : 004 P S 001 005 P R 001 : the same or almost same point Example 2 : 004 P S 001 005 NOP R 001 :
In such cases, add a Timer instruction (T) with about 0.2 sec. between them.
OperationTeaching the External Control Output Instructions (S/R)

Press
key.

Press F1 key (SET) or F2 key (RESET).

Enter the output port number with numeric keys.

After pressing
key, enter the delay time.
Press

key.
Now, the External Control Output instruction "S" or "R" has been stored.
6-2
External Control Pulse Output (PLS/PLR)

- Outputting a Signal for a Fixed Period of Time The external control pulse output instructions turn a specified output port ON or OFF for a set output time. External Control Pulse Output SET (PLS) ON OFF Output time The following parameters are available: - Output port number - Delay time - Output time : O000 O199 : 0.0 99.9 sec. (unit of 0.1 sec.) : 0.2 99.9 sec (unit of 0.1 sec) Output time External Control Pulse Output RESET (PLR) ON OFF
CAUTION Even if the robot stops during a pulse output, the output stays until the output time is out. Even if block operation or automatic operation is stopped during a pulse output, the output stays until the output time is out. This also applies to when the job is complete during a pulse output. In the above case, remember that immediate starting causes the external output to be changed during the next run of the Task program. Temporally stop or Emergency stop Restarting ON (Starting) OFF During a output by PLS ON OFF Starting a output by PLS
6-3
OperationTeaching the External Control Pulse Output Instructions (PLS/PLR)

Press
key.

Press
key.
Press F3 key (PLS) or F4 key (PLR).
Enter the output port number with the numeric keys.
After pressing the numeric keys.
key, enter the delay time with
After pressing the numeric keys.
key, enter the output time with
Press

key.
Now, the External Control Output Pulse instruction "PLS" or "PLR" has been stored.
6-4
External Control Input Wait (N/F)

- Waiting for a Signal Input These instructions stops the execution of the task program until the specified logical input port is placed in the specified condition (ON or OFF). If the condition is met when the instruction is executed, the next instruction will be executed. The following external control input wait instructions are available: - Wait for an external control input ON - Wait for an external control input OFF The following parameters need to be set: - Logical input port number : I000 I199 Specify the number of the logical input port to wait for an ON/OFF signal. The signal assigned to the physical input port corresponding to the logical input port is input from the external. The relationship of the logical to physical input ports is defined with the input conversion table in the Sequencer file. - Wait time : 0.0 99.9 sec (unit of 0.1 sec), (infinite wait time) Set the wait time. An error will be output if the logical input port is not in the specified condition in the set time. If the setting is (infinite wait time), the input wait time is not monitored and the execution of the Task program is stopped until the input is received. N F
OperationTeaching the External Control Input Wait Instructions (N/F)

Press
key.

Press F3 key (INP ON) or F4 key (INP OFF).
Enter the input port number by numeric keys.
Press time.
key, and then set the input waiting
Press

key.

This setting causes waiting for ON input for the specified time. When a signal of the specified input port is switched ON or F1 key (ACCEPT) is pressed, the "N" or "F"instruction is stored. Then, the NOP instruction is automatically stored following "N" or "F".
6-5
Quick External Control Input Wait (NQ/FQ)

- Checking an External Input in Advance The Quick External Control Input Wait instructions (NQ and FQ) are used to monitor external signal inputs. These wait instructions are similar to the N (Wait for ON Input) and F (Wait for OFF Input) instructions described in the previous section, except that the NQ and FQ instructions enable monitoring of an external control input at the advance timing during execution of the preceding sequence. If the condition of the external input (ON or OFF) is satisfied during advance monitoring, the robot proceeds to the next sequence without stopping at a wait point, which will result in a short time. (If overlap ON is selected, the robot will take a short path.) Example 001 P 100% 002 P 100% NQ 001 WT= 003 P 60% AS 180A, 20.0V, 70cm 004 *L :
The monitoring of the logical input port 001 is initiated at the advance timing while the robot is moving to the point specified with the instruction (P) of sequence 2. If the port 001 is OFF, the Task program execution is stopped until the port is turned ON. If the port 001 is already ON, then the robot proceeds to the point specified with instruction (P) of sequence 3 directly without stopping. If the Overlap setting is "ON", the robot takes a short path.
The following external control input wait instructions are available: - Quick external control input ON wait instruction - Quick external control input OFF wait instruction NQ FQ
The parameters to be set are the same as the ones for N and F, which are a logical I/O port number and a monitoring time.
IMPORTANT Not available on DR CONTROL. The Quick external control input wait instructions (NQ/FQ) are not available on DR CONTROL. Care is needed in teaching NQ and S or R, or FQ and S or R, together in one sequence. If NQ or FQ is programmed along with an external control output instruction (S or R) in one sequence, the logical output will be changed (set or reset) when the input wait condition (ON or OFF) is satisfied even if the sequence before NQ or FQ is not completed. In other words, the logical output port may be changed before the preceding sequence is not completed. If you want to change the logical output port after the completion of the sequence, use N/F instead of NQ/FQ. ExampleWhen S (SET) is programmed following NQ: 001 P 002 P 100% 100% NQ 001 WT= S 010 003 L 100cm 004 L 100cm : Monitoring of the external output is started during execution of P of sequence 002. The logical output port 010 is output immediately when the logical input port 001 is turned ON.
6-6
The advance monitoring of an external input may not be performed. When programming NQ or FQ along with any one of the Task instructions listed below in one sequence, insert NOP between them. Otherwise, advance monitoring of an external input will not be performed. ExampleWhen AS is programmed following NQ: 001 P 002 P 100% 100% NQ 001 WT= AS 180A, 20.0V, 80cm 003 *L 100cm 004 *L 100cm : When NQ and AS are programmed in one sequence, advance monitoring is not performed. In such a case, insert NOP between them.
Table 6. 1 Task Instructions Not Available with NQ/FQ Instruction Group Welding Sensor Weaving External Input Others Instruction AS/AE, ASM/AEM, ASS/AES, GS/GE, INC/RTC ST/ET, SF3, SF5, TSS/TSE, ZT/ZE, ZON/ZOF WFP, WAX, WSF, WE N/F, INW/OTW ERR, ALM, INF
Operation Teaching the Quick External Control Input Wait Instructions

(NQ/FQ)
Press key.

Press
key three times.
Press F1 key (NQ) or F2 key (FQ).
Enter the input port number by numeric keys.
Press time.
key, and then set the input waiting
Press

key.
Now, the Quick External Control Input Wait instruction
6-7
"NQ" or "FQ" has been stored.
6-8
Teaching a Set of S, N (or F), and R

The SNR and SFR instructions allows the user to teach 4 instructions at one time as shown below: SNR SFR S, N, NOP, and R S, F, NOP, and R
OperationTeaching the Set of S, N (or F), and R

Press
key.

Press
key.
Press F1 key (SNR), or F2 key (SFR).
Output port No.
Input port No.
%#$
Enter the port number to be output with the numeric keys.
Press
key, and then enter the port number to
wait for ON in the case of SNR or the port number to wait for OFF in the case of SFR by numeric keys.
%#$

! Press
key, and enter the input waiting time.
%#$
%#$

" Press

key.
This setting causes waiting for ON (in the case of SNR) or for OFF (in the case of SFR) for the specified time. When a signal of the specified input port is entered or F1 key (ACCEPT) is pressed, SNR (or SFR) is stored.
6-9
Clear Output Port (CLR) - Turning the Output Port OFF The CLR instruction clears (turns off) output ports. The range of output ports to be cleared (O000 " O199) must be specified as a parameter, specifying all ports is possible.
OperationTeaching the Clear Output Port Instruction (CLR)

Press
key.

Press
key twice.
Press F5 key (CLR). F1 ... Specifies the range of logical output ports. F4 ... Specifies all outputs.
The default setting is "ALL PORT". If you want to specify the range of output port: (1) Press F1 key (O). ! key
(2) Enter the range of output port with and the numeric keys.
Press

key.
Now, the Clearing Output Port instruction "CLR" has been stored.
6-10
User Errors (ERR / ALM / INF)

- Outputting User-Definable Errors The user error instructions are Task instructions available to output user-defined error information within a Task program. These instructions allow specific errors to be output, depending on the use environment or conditions. The following three user error instructions are available: - ERR (User-defined ERROR) - ALM (User-defined ALARM) - INF (User-defined INFORMATION) If these instructions are taught in a Task program and are executed, arbitrary error information will be output. IMPORTANT A user error instruction is executed in the ON state of external control I/O during forward block operation or automatic operation. No user error instruction is executed during backward block operation.
ERR (User-defined ERROR)

The ERR instruction allows the user to output a desired error value as ERROR, and acts as follows when executed: - In Auto mode, ERR turns the servo power OFF. - In Teach mode, ERR stops the robot. - ERR displays an error code and outputs a signal. Error message
Specify the user error number displayed here as the condition when teaching the Error instruction "ERR". "YY" indicates the mode. (01:Teach mode, 10:Auto mode)
Output signals - Error - User error - Failure code
O211 O265 O370 - O374
- Reset request O209 - Servo on request O281 (only during automatic operation)
Recovery Operations
Auto mode
Press the RESET key on the teach pendant, or supply the Error Reset signal (I220). (The error message and signal will be cleared.) Turn the servo power ON. Press the START button to resume the operation.
Teach mode
Press the RESET key on the teach pendant, or supply the Error Reset signal (I220). (The error message and signal will be cleared.) Then, the operation will be resumed.
6-11
ALM (User-defined ALARM)

The ALM instruction allows the user to output a desired error value as ALARM, and act as follows when executed: - ALM stops the robot. - ALM displays an error code and outputs a signal. Error message
Specify the user error number displayed here as the condition when teaching the Alarm instruction "ALM". "YY" indicates the mode. (01:Teach mode, 10:Auto mode)
Output signals - Alarm - User error
O212 O265
- Reset request - Failure code
O209 O370 - O374
Recovery Operations
Auto mode
Press the RESET key on the teach pendant, or supply the Error Reset signal (I220). (The alarm message and signal will be cleared.) Press the START button to resume the operation.
Teach mode
Press the RESET key on the teach pendant, or supply the Error Reset signal (I220). (The alarm message and signal will be cleared.) Then, the operation will be resumed.
INF (User-defined INFORMATION)

The INF instruction allows the user to output a desired error value as INFORMATION, and act as follows when executed: - INF displays an error code and outputs a signal. - The operation will be resumed. Error message
Specify the user error number displayed here as the condition when teaching the Information instruction "INF". "YY" indicates the mode. (01:Teach mode, 10:Auto mode)
Output signals - Information - User error
O212 O265
- Failure code
O370 - O374
6-12
Recovery Operations Not required. The current operation or movement continues. The INFORMATION message and signal will be cleared in any one of the following cases:
Auto mode
- When another INF is executed. - When the Reset key on the teach pendant is pressed or the Error Reset signal is supplied to reset the user ERROR or INFORMATION. - When Start is entered in a stop condition or after the completion of the job. - When the mode is changed to Teach mode.
Teach mode
- When block operation is performed. - When a sequence jump is performed. - When editing of a Task program is terminated by pressing the RESET key on the teach pendant. IMPORTANT If detection intervals are too short, for example, because of a series of INF instructions in the program, the following user INFORMATION messages and signals may not be output. If you want all these messages and signals to be output, insert a Timer between INF and INF so that the time interval may be about one second.
OperationTeaching User Error Instructions (ERR / ALM / INF)

When creating a program, press key so

that the screen looks like the one shown here.
Press F2 key (USER ERR). F1 ... Selects ERR. F2 ... Selects ALM. F3 ... Selects INF. Select the instruction by pressing the function key. (In this example, ERR is selected.)

Enter the error number with the numeric keys.
Press

key.
Now, the User error instruction has been stored.
6-13

General-purpose registers are variables that you can use in a Task program at will. They take on integers. Operations are performed on the registers and the resultant register values are referenced to by branch instructions or structured description instructions, which makes high-level programming possible. This chapter describes the general-purpose registers that can be used as variables in Task program, the operation instructions, and the I/O instructions and branch instructions that use general-purpose registers.
Contents
Overview ................................................................................................................................................................. 7-1 Types of General-Purpose Registers and the Register Monitor............................................................................. 7-2 Types of General-Purpose Registers ................................................................................................................. 7-2 Displaying the Values of the Registers [Register Monitor]............................................................................... 7-3 Group I/O ................................................................................................................................................................ 7-6 Group I/O GInn / GOnn ................................................................................................................................ 7-6 Local Group I/O LIn / LOn .............................................................................................................................. 7-8 Instructions Relating to General-Purpose Registers............................................................................................. 7-11 Arithmetic Operation Instructions ...................................................................................................................... 7-12 Increment by 1: INC ................................................................................................................................... 7-12 Decrement by 1: DEC ................................................................................................................................ 7-12 ADDition : ADD ............................................................................................................................................. 7-12 SUBtraction : SUB......................................................................................................................................... 7-12 MULtiplication: MUL...................................................................................................................................... 7-12 DIVision : DIV................................................................................................................................................ 7-13 Remainder: MOD.......................................................................................................................................... 7-13 LoaD: LD....................................................................................................................................................... 7-13 CLeaR registers: CLR................................................................................................................................... 7-13 Bit Operation Instructions.................................................................................................................................. 7-17 Logical product: AND .................................................................................................................................... 7-17 Logical sum: OR............................................................................................................................................ 7-17 Logical negation: NOT .................................................................................................................................. 7-17 Exclusive OR: XOR....................................................................................................................................... 7-17 Assign Instruction.............................................................................................................................................. 7-20
General Input/Output Instructions ..................................................................................................................... 7-22 General input instruction: IN.......................................................................................................................... 7-22 General input instruction (INPUT WAIT ON): INW....................................................................................... 7-22 General output instruction: OUT ................................................................................................................... 7-23 General output instruction (INPUT WAIT ON): OTW ................................................................................... 7-23 Clear Output ports Instruction: CLR.............................................................................................................. 7-24 Branch Instructions Using General-Purpose Registers as Branch Conditions ................................................ 7-31 Relational Operators ..................................................................................................................................... 7-31 Logical Operators.......................................................................................................................................... 7-31
Overview
General-purpose registers are variables that you can use in a Task program at will. The general-purpose register instructions are provided to place numeric values into registers or perform various kinds of operations such as a register-and-register operation. The results are held until their values are changed or the power is turned off. The general-purpose registers can be used: - To count the executions of a Task program - As loop counters - To capture data on the input/output state of signals or output signals on registers. - To pass data between the Task programs High-level programming can be achieved in conjunction with the branch instructions such as the structured description instructions (IF, ELSE, etc.) In addition to general-purpose register instructions available to perform operations on general-purpose registers, there are more to handle the state of general logical input/outputs ports. You can specify not only individual ports, but also Group I/O ports that are handled in groups of 8 ports. This chapter describes the general-purpose registers, the group I/O, and the general-purpose register instructions to perform operations using both. Table 7. 1 Features of the General-Purpose Registers Variables that you can use in a Task program at will. There are three types of registers; integral, long integral, and index General-Purpose Registers registers, and the purposes and setting ranges vary with the types. For details, see page 7-2. General logical input/output ports handled in groups of 8 ports. There are two types of group I/Os; the group I/O assigned in the system, and Group I/O the local group I/O that can be used in any combination. The group I/O are used by the general-purpose register instructions. For details, see page 7-6. Perform operations on general-purpose registers. Some perform General-Purpose operations on general-purpose registers, and some handle the state of Register Instructions logical I/O ports. For details, see page 7-11.
General-Purpose Registers
7-1
Types of General-Purpose Registers and the Register Monitor

Types of General-Purpose Registers
As shown in Table 7. 2, there are four types of general-purpose register; integer registers, long integer registers, index registers, and state registers. All these registers handle integer values, but the handling range varies with register types. Table 7. 2 Types of Register Register Name Integer register (A[nn], B[nn] ) Long integer register ( L[nn] ) Description A general-purpose register that holds a 2-byte integer value. Two types of register are available: A register and B register. Setting Range Number
-32,768 32,767
nn : 00 99
A general-purpose register that holds a -2,147,483,648 nn : 00 99 4-byte integer value. 2,147,483,647 A register used as an index of an integer or long integer register. Two types of register are available: X register and Y register. An index register may be used as an integer register.
Index register (Xn, Yn)
-32,768 32,767
n:0 9
State register ( S[nn] )
A register to hold the state of execution Depending on the of the robot. At present, the following types of state is available: registers Execution pass number holding register (A register used in multipass welding, 0 - 99 operational with the substitute instruction "LD".)
nn: 00 - 99 (At present, S[00] register only)
IMPORTANT Note on the use of index registers When an index register is used as an index, the setting range is 00 to 99. If any value outside this range is set, error will result at the time of operation. (General Arithmetic Error) Example When the value of register X0 is 100, the following description results in an error: LD A[X0], 1 (Meaning: Place 1 into A[X0].)
Because the register A[100] does not exist, a general operation error is encounted. (The A register number must be any in the range of A[00] to A[99].) The timing of clearing the registers (resetting to 0) All the general-purpose registers are reset to 0 when the control power is turned on. If the auto resume function is set ON, all the general-purpose registers are hold the stored value because 0 clearing does not execute when the control power is turned on.
7-2
$Displaying the Values of the Registers
[Register Monitor]
The register monitor is provided to check or change the value of a general-purpose register. There are two way of activating it: - Activating through the use of the diagnostic function in Teach mode. - Activating through the use of

key.
IMPORTANT When using the easy operation type teach pendant If you are using the easy operation type teach pendant, which is not equipped with activate the register monitor through the use of the diagnostic function. The register monitor may not be used. Activating the register monitor through the use of following conditions: - When the servo power is OFF. - During automatic operation. - When the external control monitor is being activated. - During the shift procedure.

key,
key is not possible in any one of the
%Operation&Activating the register monitor (through the use of the diagnostic function)
' At the top layer of Teach mode, press F2 key (CHECK). ( Press key. "# "#"#"# !
) Press F1 key (REGISTR). F1 ... Monitors A registers. F2 ... Monitors B registers. F3 ... Monitors L registers. F5 ... Monitors S registers. F1 ... Monitors X registers. F2 ... Monitors Y registers.
* Select the register type by pressing the function key. (In this example, the screen shows that A register was selected.) The content of each A register is displayed. F1 ... Inverts the sign (+/-). F3 ... Designates a register number. F4 ... Moves to the next page.
"# "# "# " # "

#
7-3
F5 ... Moves to the previous page.
7-4
Changing the register value

Select the register by value with the numeric keys. key and enter the
&' &' &' & ' &

' !
Designating a register number

(1) Press F3 key (NO.). &'
(2) Enter the register number by using the numeric keypad, and press F1 key (SETTING). The screen switches to the page that contains the designated register number.

&' &' & ' &' &' !
- If you are storing a new register value, press key. To terminate the monitor, press

key.
(Operation)Activating the register monitor (through the use of

* Press

key)
key when the servo power is ON.

+ Press
key.
"#
, Press F4 key (REGISTR). For the rest, follow the procedure for activating through the use of the diagnostic function.
&'&'&'&' $%
7-5
Group I/O
The group I/O is used to handle a set of general I/O ports as a unit. It is useful to input/output signals in the BCD or binary form. There are two types of group I/O: - Group I/O A set of 8 ports is pre-assigned as a unit. - Local group I/O The user can make any arbitrary combination of general I/O ports.
Group I/O
GInn / GOnn
The group I/O is used to handle a set of 8 general I/O ports as a unit. The group I/O is expressed in the following form and can be specified as a parameter of a general I/O instruction: - Group input - Group output : GInn : GOnn [nn: 01 24] [nn: 01 24]
The I/O port numbers are factory-assigned according to the group I/O group numbers as shown in Table 7. 3. The use of group I/O can be defined in the user parameter ([I/O] "GROUP I/O") as shown in Table 7. 4. Table 7. 3 Group I/O Assignments Group Number General Logical I/O Port Number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Description Binary 1 2 4 8 16 32 64 128 (*) 1 2 4 8 16 32 64 128 (*) BCD One
Ten
(**) One
Ten
24
185 1 (**) 186 2 One 187 4 188 8 189 16 190 32 Ten 191 64 192 128 (*) (*) : Parity bit (binary) for parity checking. (**) : Parity bit (BCD) for parity checking. The 9th bit (the first bit of the next group I/O) is used as a parity bit.
7-6
Table 7. 4 Group I/O Settings (User parameter) Setting BIN/BCD Parity Check ON/OFF Odd/Even Description Define whether the group I/O should be used as a binary or BCD value. The default setting is "binary". Define whether to use parity bits. ON to perform parity checking. The default setting is "OFF". Select odd or even parity.
CAUTION Note when parity is specified to use group I/O in the BCD form If parity is specified to use group I/O in the BCD form, the 9th bit (the first bit of the next group I/O) is used as a parity bit, and this affects the value of the next group I/O. In such a case, avoid the use of consecutive group I/Os. NOTE Parity check Parity checking is to check that data has been transmitted accurately. The transmitting device counts the number of set bits that are ON (1) and turns ON/OFF the parity bit make the total number odd. The receiving device counts the set bits of the received data. If it finds an even number of set bits, then there was no error. If odd, there was an error during transmission. In this way, that an odd number of set bits is recognized as correct transmission is referred to as odd parity checking. On the other hand, an even number is referred to as even parity checking. Example If you use the binary group I/O's, the even parity check setting enables the following output and check: When 2 is output to group I/O GO [01], the general output ports O[002] and 0[008] are turned ON. O[008] is a parity bit. If the general-purpose input instruction (IN) is executed under the condition of (1) to load the value of GO[01], a parity error will not be encountered. However, if this operation is performed after O[001] is turned ON with the external control output instruction (S), a parity error will be encountered because the sum of the bits is odd.
ExampleSetting the Group I/O

When you are in the user parameter setting mode, press F4 key (I/O) and position the cursor on the "GROUP I/O".

7-7
Press F1 key (SETTING).
Select each item by data.
key, and set the


key.
Local Group I/O
LIn / LOn
The local group I/O is used to handle an arbitrary number of general I/O ports as a unit. The local group I/O is expressed in the following form: - Local group input : LInn [n: 0 9] - Local group output : LOnn [n: 0 9] To define the group I/O, the user must create a condition file (called LI file for input and LO file for output). The contents of the file are shown in the table below.
Table 7. 5 Local Group I/O settings (Condition File) Item First port number Last port number BIN/BCD Parity Check ON/OFF Parity type (Odd/Even) Description Define the first general I/O port number in the group. Define the last general I/O port number in the group. Define whether the value should be binary or BCD. Define whether to use parity bits. ON to perform parity checking. Select odd or even parity. If a parity bit is used, set the parity port number. Parity port number Default setting Binary : Highest bit BCD : Highest bit + one bit
NOTE Negative values are not acceptable. The group I/O and local group I/O ports cannot take negative values.
7-8
Operation Creating the Local Group I/O file

! Press F2 key (EDIT) at the top layer of Teach mode.
" Press
key twice.

# Press F4 key (LI/O). F1 ... Edits a LI file. F2 ... Edits a LO file.

$ Select the file type by function key, and enter the file number with the numeric keys.
% Move the cursor by condition.
key, and set the

First port Enter the first port number in the group by using the numeric keys. Last port Enter the last port number in the group by using the numeric keys. BIN/BCD To define whether the value should be binary or BCD, press the relevant function key.

7-9
Parity ON/OFF To define whether parity checking should be performed or not, select ON or OFF by pressing the function key.

Parity type Select the parity type by pressing the function key.

Parity port Enter the parity port number by using the numeric keys.
Press

key.
This completes creating of a local group I/O file.
7-10
Instructions Relating to General-Purpose Registers

The following instructions are available to operate general-purpose registers: - Arithmetic operation instructions - Bit operation instructions - Assign instruction - General I/O instructions - Branch instructions conditional on general-purpose registers Table 7. 6 Instructions Referencing to General-Purpose Registers Category
Instruction
Description Increments the specified register by 1 (+1). Decrements the specified register by 1 (-1). Performs an addition on general-purpose registers. Performs a subtraction on general-purpose registers. Performs a multiplication on general-purpose registers. Performs a division on general-purpose registers. Finds a remainder after division. Loads a value into general-purpose register. Resets general-purpose registers to 0. Calculates the logical product of general-purpose registers. Calculates the logical sum of general-purpose registers. Calculates the logical negation of general-purpose registers. Calculates the logical exclusive OR of general-purpose registers. Assigns a general-purpose register to any output port. The output port changes in synchronization with a change in the register. Inputs the condition of an arbitrary general I/O port. Input the condition of an arbitrary general I/O port. (INPUT WAIT ON) Outputs a value to an arbitrary general output port. Outputs a value to an arbitrary general output port. (INPUT WAIT ON) Reset general output ports. Performs an operation on general-purpose registers and calls a program according to the result. The following six relational operators and three logical operators: [Relational operators] ==, <>, >, <, >=, and <= [Logical operators] AND, OR, and XOR Performs an operation on general-purpose registers and causes a internal program jump according to the result. For the available relational operators and logical operators, see "CL" above. Performs an operation on general-purpose registers and causes a program jump according to the result. For the available relational operators and logical operators, see "CL" above. Performs an operation on general-purpose registers and causes a program branch according to the result. For the available relational operators and logical operators, see "CL" above.
Arithmetic operation instructions (See Page 7-12.)
Bit operation instructions (See Page 7-17.) Assign instruction (See Page 7-20.) General I/O instructions (See Page .7-22)
INC DEC ADD SUB MUL DIV MOD LD CLR AND OR NOT XOR ASN IN INW OUT OTW CLR
CL
Conditional program branch instructions (See Page 7-31.)
JP
JF
IF EIF
7-11
Arithmetic Operation Instructions

Arithmetic operation instructions are used to perform an operation on general-purpose registers.
Increment by 1: INC
Used to increment the specified register by 1. Form INC [register] Example INC A[00]
: Calculates A[00] + 1 and places the result into A[00].
Decrement by 1: DEC
Used to decrement the specified register by 1. Form DEC [register] Example DEC A[00]
: Calculates A[00] - 1 and places the result into A[00].
ADDition : ADD
Used to perform an addition of a register and a value or a register. Form ADD [register], [register or value] Example ADD A[00], 10 ADD A[00], B[00]
: Calculates A[00] + 10 and places the result into A[00]. : Calculates A[00] + B[00] and places the result into A[00].
SUBtraction : SUB
Used to perform a subtraction of a register or a value from a register. Form SUB [register], [register or value] Example SUB A[00],10 SUB A[00], B[00]
: Calculates A[00] - 10 and places the result into A[00]. : Calculates A[00] - B[00] and places the result into A[00].
MULtiplication: MUL
Used to perform a multiplication of a register and a value or a register together. Form MUL [register], [register or value] Example MUL A[00],10 MUL A[00], B[00]
: Calculates A[00] x 10 and places the result into A[00]. : Calculates A[00] x B[00] and places the result into A[00].
7-12
DIVision : DIV
Used to perform a division of a register by a value or a register. Form DIV [register], [register or value] Example DIV A[00], 10 DIV A[00], B[00]
: Calculates A[00] x 10 and places the result into A[00]. : Calculates A[00] x B[00] and places the result into A[00].
Remainder: MOD
Used to find a remainder after division Form MOD [register], [register or value] Example MOD A[00],10 MOD A[00], B[00]
: Calculates A[00] 10 and places the result into A[00]. : Calculates A[00] B[00] and places the remainder into A[00].
LoaD: LD
Used to load a value into a register. Form LD [register], [register or value] Example LD A[00], 10 LD A[00], B[00]
: Loads 10 into A[00]. : Loads B[00] into A[00].
CLeaR registers: CLR

Used to reset the registers in the specified number range to 0. If ALL REG is specified, all the general-purpose registers will be reset to 0. Form CLR [ALLREG or range of register to register] Example CLR A[00] - [99] CLR ALLREG
: Resets A[00] A[99] to 0. : Resets all general-purpose registers to 0.
IMPORTANT Operations on registers will be performed in block operation or automatic operation. Arithmetic operations on registers will be performed in block operation or automatic operation, but not in teaching of these instructions.
7-13
OperationTeaching the Arithmetic Operation Instructions

Press key a few times so that the screen

looks like the one shown here.
Press F1 key (REGISTR).

Press F1 key (ARITHM.). F1 ... Selects INC (Increment by 1). F2 ... Selects DEC (Decrement by 1). F3 ... Selects LD (Load). F4 ... Selects ADD (Addition). F5 ... Selects SUB (Subtraction). F1 ... Selects MUL (Multiplication). F2 ... Selects DIV (Division). F3 ... Selects MOD (Remainder). F4 ... Selects CLR (Clear). Select the instruction by pressing the function key. The operation following the selection depends on the instruction type you selected.
INC or DEC
(1) The screen looks like the one shown here (if INC is selected). F1 ... Selects A register. F2 ... Selects B register. F3 ... Selects L register. F1 ... Selects X register. F2 ... Selects Y register. F3 ... Specifies Index. F4 ... Specifies Index. (2) Select the register type by pressing the function key, and enter the register number by using the numeric keys. "#!
(3) Press

key.
This completes storing of INC or DEC.
7-14
LD, ADD, SUB, MUL, DIV, MOD

(1) The screen looks like the one shown here (if LD is selected). F1 ... Selects A register. F2 ... Selects B register. F3 ... Selects L register. F5 ... Selects S register. F1 ... Selects X register. F2 ... Selects Y register. F3 ... Specifies Index. F4 ... Specifies Index.
(2) Select the register type by pressing the function key, and enter the register number by using the numeric keys.
(3) Press
key.
F1 ... Entering an output value numerically F2 ... Entering an output value with register

Entering an output value numerically Press F1 key (VALUE). Enter the value by using the numeric keys. F1 key (+/-) toggles the sign. Entering an output value with a register Press F2 key (REGISTR). Select the register type by pressing the function key, and enter the register number by using the numeric keys.

(4) Press

key.
This completes storing of the instruction you selected.
7-15
CLR
(1) The screen looks like the one shown here. F1 ... Selects A register. F2 ... Selects B register. F3 ... Selects L register. F4 ... Selects X register. F5 ... Selects Y register. F1 ... Specifies all registers.

(2) Select the register type by pressing the function key.
If you selected any register type except ALL, enter the range of registers to be reset to 0, by using the numeric keys and key.

(3) Press

key.
This completes storing of CLR.
7-16
Bit Operation Instructions

Bit operation instructions are used to perform a bit operation on general-purpose registers.
Logical product: AND

Form AND [register], [register or value] Example AND A[00], 2 AND A[00], B[00] : Calculates A[00] AND 2 and places the result into A[00]. : Calculates A[00] AND B[00] and places the result into A[00]
Logical sum: OR
Form OR [register], [register or value] Example OR A[00], 2 OR A[00], B[00]
: Calculates A[00] OR 2 and places the result into A[00]. : Calculates A[00] OR B[00] and places the result into A[00].
Logical negation: NOT

Form NOT [register], [register or value] Example NOT A[00], 2 NOT A[00], B[00]
: Calculates A[00] NOT 2 and places the result into A[00]. : Calculates A[00] NOT B[00] and places the result into A[00].
Exclusive OR: XOR

Form XOR [register], [register or value] Example XOR A[00], 2 XOR A[00], B[00]
: Calculates A[00] XOR 2 and places the result into A[00]. : Calculates A[00] XOR B[00] and places the result into A[00].
IMPORTANT Operations on registers will be performed in block operation or automatic operation. Bit operations on registers will be performed in block operation or automatic operation, but not in teaching of these instructions.
7-17
Operation!Teaching the Bit Operation Instructions

" To select an instruction, press key so that
the screen looks like the one shown here.
# Press F1 key (REGISTR).

$ Press F2 key (BIT). F1 ... Selects AND (Logical product). F2 ... Selects OR (Logical sum). F3 ... Selects NOT (Logical negation). F4 ... Selects XOR (Exclusive OR).
% Select the instruction by pressing the function key. (The screen looks like the one shown here if AND is selected). F1 ... Selects A register. F2 ... Selects B register. F3 ... Selects L register. F1 ... Selects X register. F2 ... Selects Y register. F3 ... Specifies Index. F4 ... Specifies Index. & Select the register type by pressing the function key, and enter the register number by using the numeric keys.
(*)

' Press
key .
(*)
F1 ... Bit operation on a value. F2 ... Bit operation on a register.
Bit operation on a value (1) Press F1 key (VALUE). (2) Enter the value by using the numeric keypad. F1 key (+/-) toggles the sign.
(*)
7-18
Bit operation on a register (1) Press F2 key (REGISTR). (2) Select the register type by pressing the function key, and enter the register number by using the numeric keys.

Press

key.
This completes storing of the bit operation instruction.
7-19
Assign Instruction
Assignment instruction is used to assign a general-purpose register to a specific output port. The assigned output port will hold the contents of the register in block operation or automatic operation. The value of the output port changes in synchronization with a change in the register value, and also when the register value is changed with the register monitor. Form ASN [output port or NOP], [register] Example ASN O001, A[00] ASN GO01, B[00] ASN NOP A[00]
: Assigns register A[00] to output port 001. : Assigns register B[00] to group output port 01. : Disables the assignment of register A[00].
IMPORTANT Execution of the Assign instruction (ASN): Assign instruction will be performed in block forward operation or automatic operation, but not in teaching of this instruction or in block backward operation. This means that the contents of the register will not be output to the output port in teaching of ASN or in block backward operation. The value of the output port may not match the register value: If output by S/R instruction to the port specified by ASN, the value of the port will not agree with the register value. However, these values will agree with each other if the register value is changed later, for example, by execution of an arithmetic operation instruction, because the value of the output port will change in synchronization with it. When assigning more than one register to the same output port: ASN can be used to assign more than one register to the same output port. When assigning, make sure that the port has not been assigned in any other Task program, or that the assignment causes no problem if there is any. In this case, the value of the register that changes last will be always output to the port.
OperationTeaching the Assign Instruction

Press key a few times so that the screen
looks like the one shown here.
Press F1 key (REGISTR).

Press F3 key (ASSIGN). F1 ... Selects an output port. F2 ... Selects a group output. F3 ... Selects a local group output. F5 ... Selects NOP (Cancel the assignment).

7-20
Select the instruction by pressing the function key. (The screen looks like the one shown here if AND is selected).
Press
key.

F1 ... Selects A register. F2 ... Selects B register. F3 ... Selects L register. F1 ... Selects X register. F2 ... Selects Y register. F3 ... Specifies Index. F4 ... Specifies Index.
Select the register type by pressing the function key, and enter the register number by using the numeric keys.
Press

key.
This completes storing of Assign instruction "ASN".
7-21
General Input/Output Instructions

I/O instructions that use general-purpose registers are the following: - General input instructions : IN and INW - General output instructions: OUT and OTW
General input instruction: IN

Used to check the input condition of any arbitrary general I/O port and load the value of the specified I/O port into a register. Form IN P1, P2 P1 : Register P2 : I/O port A[00] - A[99] / B[00] - B[99] / X[0] - X[9] / Y[0] - Y[9] I000 - I399 / GI00 - GI24 / LI00 - LI09 / O000 - O399 / GO00 - GO24 / LO00 - LO09 In addition, it is possible to set INVERSE INPUT ON/OFF. Example IN A[00], I001 : Places the value of input port 001 into A[00]. IN A[00], O001 : Places the value of output port 001 into A[00]. IN ! A[00], GI01 : Places the inverse value of group input port 01 into A[00]. (! indicates INVERSE INPUT ON.)
General input instruction (INPUT WAIT ON): INW

Used to check the input condition of any arbitrary general I/O port and load the value of the specified I/O port into a register. Unlike "IN" above, INW loads the value of the port only when the waiting condition is met. This instruction stops the execution of Task program when the robot is waiting for an input. If the waiting condition is not met within a waiting time, TIME OUT error will result. Form INW P1, P2, P3, P4, P5 A[00] - A[99] / B[00] - B[99] / X[0] - X[9] / Y[0] - Y[9] I000 - I399 / GI00 - GI24 / LI00 - LI09 / O000 - O399 / GO00 - GO24 / LO00 - LO09 P3 : Waiting condition ON WAIT / OFF WAIT P4 : Waiting port I000 - I399 / GI00 -GI24 / LI00 -LI09 P5 : Waiting time 0.0 - 99.9 sec / (infinite time) In addition, it is possible to set INVERSE INPUT ON/OFF. Example INW A[00], I001, N, I010, P1 : Register P2 : I/O port
: Places the value of input port 001 into A[00] when input port 010 is ON. INW A[00], O001, N, I010, : Places the value of output port 001 into A[00] when input port 010 is ON. INW ! A[00], GI01, N, I010, : Places the inverse value of group input port 01 into A[00] when input port 010 is ON. (! indicates INVERSE INPUT ON.)
7-22
General output instruction: OUT

Used to output a set value to any arbitrary general output port. This instruction outputs the specified value or the data in the specified register to the specified output port. If INVERSE OUTPUT ON is selected, the inverse bit value will be output. Form OUT P1, P2 P1: Output port O000 - O199 / GO00 - GO24 / LO00 - LO09 P2: Output value numeric value / A[00] - A[99] / B[00] - B[99] / X[0] - X[9] / Y[0] - Y[9] In addition, it is possible to set INVERSE OUT ON/OFF. Example OUT O001, A[00] OUT ! GO01, A[00]
: Outputs the value of A[00] to output port 001. : Outputs the inverse value of A[00] to group output port 01. (! indicates INVERSE OUTPUT ON.)
General output instruction (INPUT WAIT ON): OTW

Used to output a set value to any arbitrary general output port. This instruction outputs the specified value or the data in the specified register to the specified output port, but, unlike "OUT" above, it outputs only when the waiting condition is met. It stops the execution of Task program when the robot is waiting for an input. If the waiting condition is not met within a waiting time, TIME OUT error will result. Form OTW
P1, P2, P3, P4, P5
O000 - O199 / GO00 - GO24 / LI00 - LO09 numeric value / A[00] - A[99] / B[00] - B[99] / X[0] - X[9] / Y[0] - Y[9] P3 : Waiting condition ON WAIT / OFF WAIT P4 : Waiting port I000 - I399 / GI00 -GI24 / LI00 -LI09 P5 : Waiting time 0.0 - 99.9 sec / (infinite time) In addition, it is possible to set INVERSE INPUT ON/OFF. Example O001, A[00], N, I001, : Outputs the value of A[00] to output port 001 when input port 001 is ON. OTW ! GO01 A[00], N, I001, : Outputs the inverse value of A[00] to group output port 01 when input port 001 is ON. (! indicates INVERSE OUTPUT ON.) OTW
P1 : Output port P2 : Output value
7-23
Clear Output ports Instruction: CLR

Used to clear any arbitrary general output port. The range of output ports to be cleared must be set as a parameter. It is possible to specify all ports. Form CLR P1 P1: The range of ports to be cleared/all ports Example CLR ALLPORTS CLR O[000] - O[019] CLR GO[00] - GO[04] : Resets all general output ports to 0. : Resets output ports 001 - 019 to 0. : Resets group output ports 00 - 04 to 0.
IMPORTANT When the input value exceeds the significant figures of the target register: If the input value exceeds the number of signification digits of the assigned register at the time of execution of the IN or INW instruction, the bit data of the invalid number will be abandoned. Teaching general input instructions: At the time of teaching of IN or INW instruction, the register value will not be output to the output port even if the ASN instruction has been executed. The output ranges of the general output ports and group I/O's: The output limit of a general output port or group I/O is 1 byte. The higher bits of the value ( 256) than the limit will be abandoned. Negative values are not acceptable. No general output ports and group I/O can take negative values. Though an error does not occur even if a negative value is output with the OUT or OTW instruction, the value loaded from that port with IN or INW instruction will be different from assigned value.
OperationTeaching the General Input/Output Instructions

To select an instruction, press
key.

Press
key twice.
F1 ... Selects IN (general INput). F2 ... Selects INW (general INput with WAIT ON). F3 ... Selects OUT (general OUTput). F4 ... Selects OTW (general Output with WAIT ON). F5 ... Selects CLR (Clear general outputs).
Screen 1
7-24
Teaching the general input instruction IN

(1) At the Screen 1, press F1 key (IN).
(2) Move the cursor by pressing select each item.
key, and
Register It is necessary to set a register number into which the condition of an output port should be loaded. Select the register type by pressing the function key, and enter the register number by using the numeric keys.

Port number It is necessary to set an I/O number whose value should be loaded into the register. Select the I/O port type by pressing the function key, and enter the port number by using the numeric keys.

Inverse input Select ON or OFF by pressing the function key whether the inverse value of the I/O port is loaded must be determined.
(3) Press

key.
This completes storing of the general input instruction "IN".
Teaching the general input (WAIT ON) instruction INW

(1) At the Screen 1, press F2 key (INW).
General-Purpose Registers 7-25
(2) Move the cursor by pressing and select each item.
keys,
Register It is necessary to set a register number into which the condition of an output port should be loaded. Select the register type by pressing the function key, and enter the register number by using the numeric keys. Port number It is necessary to set an output port number whose value should be loaded into the output port. Select the I/O port type by pressing the function key, and enter the port number by using the numeric keys. Inverse input It is necessary to define whether the inverse value of the I/O port should be loaded. Select ON or OFF by pressing the function key.

!
!
!

!
!
Waiting condition A waiting condition must be set. Select ON WAIT or OFF WAIT by pressing the function key.
Waiting port It is necessary to a waiting port number must be set. Select the input port type by pressing the function key, and enter the port number by using the numeric keys. Waiting time It is necessary to set a waiting time. Enter the time by using the numeric keys.
(3) Press

key.
This completes storing of the general input instruction (wait ON) "INW".
7-26
Teaching the general output instruction OUT

(1) At the Screen 1, press F3 key (OUT). (2) Move the cursor by pressing select each item. key, and

Port number It is necessary to set an output port into which a numeric value or a register value should be loaded. Select the output port type by pressing the function key, and enter the port number by the port number by using the numeric keys.
Output value It is necessary to set a numeric value or a register number to be output into the output port. First, select "VALUE" or "REGISTR" by pressing the function key.

Then, enter the output value by using the numeric keys if you selected "VALUE". F1 ... Toggles the sign (+ / -)

If you selected "REGISTR", select the register type by pressing the function key and enter the register number by using the numeric keys.
7-27
Inverse output It is necessary to define whether the inverse value should be output. Select ON or OFF by pressing the function key.
(3) Press

key.

This completes storing of the general output instruction "OUT".
Teaching the general output (WAIT ON) instruction OTW

(1) At the Screen 1, press F4 key (OTW).

(2) Move the cursor by pressing and select each item.
key,
Port number It is necessary to set an output port into which a numeric value or a register value should be loaded. Select the output port type by pressing the function key, and enter the port number by using the numeric keys. Output value It is necessary to set a numeric value or a register number to be output into the output port. First, select "VALUE" or "REGISTR" by pressing the function key.

Then, enter the output value by using the numeric keys if you selected "VALUE". F1 ... Toggles the sign (+/-).
7-28
If you selected "REGISTR", select the register type by pressing the function key and enter the register number by using the numeric keys.

!
!

!
!
Inverse output It is necessary to define whether the inverse value should be output. Select ON or OFF by pressing the function key.
Waiting condition It is necessary to set a waiting condition. Select ON WAIT or OFF WAIT by pressing the function key.
Waiting port It is necessary to set a waiting port number. Select the input port type by pressing the function key, and enter the port number by using the numeric keys. Waiting time It is necessary to set a waiting time. Enter the time by using the numeric keys.
(3) Press

key.
This completes storing of the general output (wait ON) instruction "OTW".
7-29
Teaching the clear general outputs instruction CLR

(1) At the Screen 1, press F5 key (CLR). F1 ... Clears output ports. F2 ... Clears group outputs. F3 ... Clears local group outputs. F4 ... Clears all ports.

(2) Select the output port type by pressing the function key. If you selected any register type except F4 key (ALLPORT), enter the range of registers to be cleared, by using the numeric keys and key.

(3) Press

key.
This completes storing of the clear general outputs instruction "CLR".
7-30
Branch Instructions Using General-Purpose Registers as Branch Conditions

The following branch instructions are used to perform a conditional branch according to the result of an relational operation on general-purpose registers. In addition, these instructions can set the number of a branch destination Task program number with a register. - Program Call - Internal Program Jump - Program Jump - Structured Description CL JP JF IF / EIF
Six relational operators and 3 logical operators are available to perform operations on general-purpose registers.
Relational Operators
Used to perform a relational evaluation on general-purpose registers and branch if the result is TRUE. As shown in the following Table, six relational operators are available. Table 7. 7 Types and Meanings of Relational Operator Type Equal to Not equal to Greater than Less than Greater than or equal to Less than or equal to Symbol == <> > < >= <= Form A == B A <> B A>B A<B A >= B A <= B Meaning If A is equal to B. If A is not equal to B. If A is greater than B. If A is less than B. If A is greater than or equal to B. If A is less than or equal to B.
Example CL A[00] == 100, PRG=P100 JP B[01] >= 5, PM10
; Calls P001 if A[00] is 100. ; Jumps to PM10 if B[01] is greater than or equal to 5.
Logical Operators
Used to perform a relational evaluation on general-purpose registers and branch if the result is not 0. As shown in the following Table, three logical operators are available. Table 7. 8 Types and Meanings of Logical Operator Type Logical product Logical sum Exclusive OR Symbol AND OR XOR Form A AND B A OR B A XOR B Meaning If the result of A AND B is not 0. If A is not equal to B. If A is greater than B.
Example CL A[00] AND 2, PRG=P001
; Calls P001 if A[00] AND B[00] is not 0.
7-31
Operation Teaching the branch instructions conditional on general-purpose registers

To select an instruction, press F1 ... CL (Program Call). F2 ... JP (Internal Jump). F3 ... JF (Program JUMP). Whichever you select, the procedure for setting the condition is the same. In this example, we will select Program Call.

key.

Select the instruction by pressing the function key. (The screen looks like the one shown here if CL is selected).

Press F5 key (CL REG.) F1 ... Selects A register. F2 ... Selects B register. F3 ... Selects L register. F1 ... Selects X register. F2 ... Selects Y register. F3 ... Specifies Index. F4 ... Specifies Index. Select the register type by pressing the function key, and enter the register number by using the numeric keys.
"#
! Press
key.
F1 ... Selects ==. F2 ... Selects <>. F3 ... Selects >. F4 ... Selects <. F5 ... Selects >=. F1 ... Selects <=. F2 ... Selects AND. F3 ... Selects OR. F4 ... Selects XOR. Select the operator by pressing the function key.
"#

7-32
Press
key.

F1 ... Numerical entry. F2 ... Entry with a register.
Numerically entering the object to be compared

(1) Press F1 key (VALUE).
(2) Enter the value by using the numeric keys. F1 key (+/-) toggles the sign.
Entering the object to be compared, with a register

(1) Press F2 key (REGISTR).

(2) Select the register type by pressing the function key, and enter the register number by using the numeric keys.
Press
key.

Enter the Task program number by pressing the using the numeric keys. If you are specifying the number with a register, press F1 key (REGISTR). Select the register type by pressing the function key, and enter the register number by using the numeric keys.
Press

key.
This completes storing of the branch instruction conditional on the result of an operation on general-purpose registers.
7-33

DR Teaching (1L5000D E 4)

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DR Teaching (1L5000D E 4)

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Contents

Chapter 1 Quick Instruction Reference

Chapter 2 Instructions for Robot Motions

Chapter 3 Branch Instructions

Chapter 4 Welding Instructions

Chapter 5 Weaving Instructions

External Control Input/Output Instructions

Chapter 7 General-Purpose Registers

Chapter 7 General-Purpose Registers

Chapter 1 Quick Instruction Reference

Moves the robot to a taught point.

Moves the robot to a taught point.

Quick Instruction Reference

Explanation Starts welding with welding conditions. the set

Ends welding with the set crater    

Inching the wire

Inches the wire for the set time.

Retracting the wire

Retracts the wire for the set time

Starts the gas output.

Turning gas OFF

Ends the gas output.

Starting Tack welding

Ending Tack welding

Ends tack welding.

Starting TIG pulsed welding

Starts TIG pulsed welding.

Ending TIG pulsed welding

Ends TIG pulsed welding.

Quick Instruction Reference

Starting welding (specialized for CPDRA-350/-500)

Starts welding with welding conditions.

Ending welding (specialized for CPDRA-350/-500)

Ends welding with the set crater conditions.

Quick Instruction Reference

Starting Fixed pattern weaving

Starts fixed pattern weaving with the set conditions.

Starting Composite Wrist Axis Weaving

Starts composite wrist axis weaving with the set conditions.

Starting Axis weaving

Starts axis weaving with the set weaving conditions.

Starts taught weaving with the set conditions.

Setting external control pulse output

Turns the specified output port ON for a given time.

Quick Instruction Reference

Key operation 2 

Waiting for time

Indicates the jump destination in the Task program.

Internal jump (Unconditional)

Causes a jump to the specified point mark at all time.

Internal jump (ON condition)

Internal jump (OFF condition)

Internal jump (Counter condition)

Internal jump (Register condition)

Quick Instruction Reference

Key operation  

  

External jump (Register condition)

External jump (BCD entry)

External jump (Binary entry)

Calling program (Unconditional)

Calling program (ON condition)

Calling program (OFF condition)

Ends welding with the set crater

Key operation 2

Key operation

Key operation 2

Explanation Calculates the logical sum of registers or a register and a value. 3

Key operation 2

3 2

3 2

3 3 3

Outputs INFORMATION.

Key operation 2

Key operation

Uniform interpolation

Key operation