Denso RC5 Dokumentacja

ROBOTVertical articulatedV*-D/-E SERIESHorizontal articulatedH*-D/-E SERIESCartesian coordinateXYC-4D SERIESVision deviceµµµµVision-21 SERIESPROGRAMM

42.8 Setting-up the safetyfence or enclosureA safety fence or enclosure should be set up so that no one caneasily enter the robot's restricted sp

3-10Therefore, when X>S2, the pass motion never changes even if you change X.And when X>S2, the “Set path start displacement distance again” war

Chapter 3 Robot Motion3-113.2.10 Arch Motion Control [Version 1.9 or later, only for 4-Axis Robot]The arch motion control facilitates an effective

3-123.3 Interpolation ControlWhen the robot arm moves, there is not just one path. You can create variouspaths together with the operation of each a

Chapter 3 Robot Motion3-133.3.2 CP ControlCP control manages interpolation so that the path to reach the motiondestination position will be a straig

3-143.4 If Output Command Is Present afterMotion InstructionThe current position of the robot normally experiences delay in moving to theposition com

Chapter 3 Robot Motion3-153.5 Compliance Control Function3.5.1 OverviewThe compliance control function provides compliance for a robot by software.

3-16Though you can also use SetGravity and ResetGravity to enable/disablethe gravity offset, your robot may present a slight movement whileswitching b

Chapter 3 Robot Motion3-173.5.3 Tip Compliance Control Function [V1.4 or later]This function sets compliance for the individual elements of the coor

3-183.5.3.2 How to Use Tip Compliance Control FunctionYou can use the library function and execute the compliance control libraries(SetCompControl, R

Chapter 3 Robot Motion3-19(SetCompControl = SerGrvOffset + SetCompFControl)While your robot is stationary without contacts (interference) with extern

SAFETY PRECAUTIONS52.10 Setting the robot'smotion spaceThe area required for the robot to work is called the robot'soperating space.If the r

3-20(2) Current Limiting Setting under Compliance ControlUnder the compliance control condition, providing motors with torqueaccording to the positio

Chapter 3 Robot Motion3-213) Exceeded speed limiting reference under the compliance control (60FC)A high speed motion is not available under the comp

3-221) Decide an I type variable for teaching number. We assume I10 here.2) Prepare the following program.When you use P type variable for teaching:P

Chapter 4Speed, Accelerationand DecelerationDesignationThe maximum rates of speed, acceleration anddeceleration must be set.This chapter provides expl

Chapter 4 Speed, Acceleration and Deceleration Designation4-14.1 External Speed and Internal SpeedThere are external speed and internal speed for VS

4-24.4 Setting Acceleration and DecelerationThe product of external acceleration and internal acceleration determinesactual acceleration and decelera

Chapter 4 Speed, Acceleration and Deceleration Designation4-3The internal speed is set in the program in Fig. 4-2.If you execute a similar program at

4-4The program shown in Fig. 4-3 sets internal acceleration and deceleration.If you execute this program at 80% external speed, the following results

Chapter 4 Speed, Acceleration and Deceleration Designation4-54.6 Control Sets of Motion OptimizationThis function is to set proper speed and acceler

63. Precautionswhile robot isrunningWarningTouching the robot while it isin operation can lead toserious injury. Please ensurethe following conditions

4-6Fig. 4-5 1st- and 2nd-Axis Positioning Time in PTP Motion (VS-D)Fig. 4-6 3rd, 4th, and 5th-Axis Positioning Time in PTP Motion (VS-D)Positioning

Chapter 4 Speed, Acceleration and Deceleration Designation4-7Fig. 4-7 6th-Axis Positioning Time in PTP Motion (VS-D)Positioning time5 kg4 kgMotion r

4-84.6.2 Control Set 1Set the maximum speed and acceleration for the 1st, 2nd and 3rd axes in PTPmotion according to the load condition value of the

Chapter 4 Speed, Acceleration and Deceleration Designation4-94.6.3 Control Set 2Set the maximum speed and acceleration in CP motion according to the

4-104.6.3.2 Precautions for Using Control Set 2• In this control set, an overload error may occur during the robot motion.When you adjust the speed,

Chapter 4 Speed, Acceleration and Deceleration Designation4-114.6.6 Notes for SettingThere are external load condition values (mass of payload, cent

4-124.7 Setting the Master Control Parameters inUser Preferences4.7.1 Setting Master Control Parameters of the Mass of Payload,Center of Gravity, an

Chapter 4 Speed, Acceleration and Deceleration Designation4-13The entry range of "Control set of motion optimization" is from 0 to 3. If y

4-14nnnn Setting with WINCAPSIIThis section explains the methods used to set the external load conditionvalues (Mass of payload and center of gravity

Chapter 4 Speed, Acceleration and Deceleration Designation4-15After each parameter value is set, transmit the data to the robot controller.First, tur

SAFETY PRECAUTIONS74) Implementation of measures for noise prevention5) Signaling methods for workers of related equipment6) Types of malfunctions and

4-16Fig. 4-9 Payload Center of GravityFig. 4-10 Right-Hand Coordinate System4.7.2 Setting Internal Load Condition Values (Mass of Payloadand Center

Chapter 4 Speed, Acceleration and Deceleration Designation4-174.7.2.2 Setting Internal ModeSet this mode by executing the conventional language libr

4-18Note: Transmit the installation condition set using the teach pendant toWINCAPSII.For information on the transmission procedure, refer to Note (1)

Chapter 4 Speed, Acceleration and Deceleration Designation4-19If the Set value box of [floor or gantry] on the [Using condition (parameternumber:) ]

4-204.7.4 How to Set Optimal Load Capacity Initializing [V1.4 orlater]This section describes how to set the optimal load capacity initializing mode t

Chapter 4 Speed, Acceleration and Deceleration Designation4-21You can provide only 0 or 1 to set the optimal load capacity initializing,otherwise you

4-22nnnn Setting with WINCAPS IIThis section describes how to use the WINCAPS II, a PC-based teachingsystem, to set the optimal load capacity initiali

Chapter 4 Speed, Acceleration and Deceleration Designation4-234.8 Safety Features4.8.1 ndTc (Statement) [V1.2 or later]Function Sets the TC time le

Chapter 5Vision ControlThis chapter provides an explanation of visionrelated terms required for creating programs.

83.4 Inspections beforecommencing worksuch as teachingBefore starting work such as teaching, inspect the followingitems, carry out any repairs immedia

Chapter 5 Vision Control5-15.1 Vision ControlThis section explains commands to use the µVision board, which is optionallybuilt in the robot controll

5-25.1.1.4 Area, Center of Gravity and Major Axis Angle[ 1 ] AreaThe board binarizes image data taken from the camera and counts each pixelof white

Chapter 5 Vision Control5-3[ 3 ] Major Axis AngleImage data taken from the camera displays the object as a plane. When theobject on this plane is r

5-45.1.1.5 Binarization[ 1 ] BinarizationImage data taken in the µVision board from the camera has 256 levels ofbrightness for each pixel. Binariza

Chapter 5 Vision Control5-5[ 3 ] Binarization Level Detection Mode MethodIf the histogram of an image forms a double-humped distri

5-6 P Tile MethodThis method detects the binarization level where the object area coincides withSx, by the use of a histogram when t

Chapter 5 Vision Control5-75.1.1.6 Brightness Integral ValueThe total of all pixel brightness values in the range designated with the windowfor the

5-85.1.1.8 LabelingLabeling is a process to binarize the obtained image data from the camera andattach a sequence number to the link areas of white (

Chapter 5 Vision Control5-95.1.1.9 SearchSearch moves the standard image data (search model) previously stored in thesearching range (within the win

SAFETY PRECAUTIONS93.8 Precautions in repairs(1) Do not perform repairs outside of the designated range.(2) Under no circumstances should the interloc

PART 2COMMAND REFERENCE

Chapter 6Guide to CommandReferenceThis chapter provides command descriptions anda command list for the PAC robot.Use the command list to quickly searc

Chapter 6 Guide to Command Reference6-16.1 Description Format of CommandExplanationsChapter 9 and the following chapters provide descriptions of eac

6-26.2 Command List6.2.1 Commands Listed in Alphabetical OrderRefer to Commands Listed in Alphabetical Order that follows the Contents.6.2.2 Comman

Chapter 7PAC LanguageConfigurationElementsThis chapter provides an explanation of theelements that configure the PAC language.

Chapter 7 PAC Language Configuration Elements7-17.1 New Robot Language PACA programming language used to describe robot motion and work is called ar

10

7-27.2 Relation between PAC Robot Languageand Conventional LanguagesConventionally there are many problems with robot languages such asincompatibilit

Chapter 7 PAC Language Configuration Elements7-37.3 Language ElementThe following elements are used to construct the PAC language.• Identifier ...

7-47.5 Identifier7.5.1 VariableA variable is used to temporarily store data used in a program. There areglobal variables, local variables and syste

Chapter 7 PAC Language Configuration Elements7-5[ 1 ] Global VariableA global variable name is expressed with an alphabet letter (I, F, D, S, V, P,

7-6 Global Variable Indirect ReferenceWhen a global variable is designated, the variable number is designated usingan expre

Chapter 7 PAC Language Configuration Elements7-7[ 2 ] Local VariableThe following variable types can be used for local variables in the samemanner a

7-8[ 3 ] System VariableA system variable is used to check the system status. Since the variable nameuses words reserved by the system, the variable

Chapter 7 PAC Language Configuration Elements7-97.5.4 ProgramA program can be designated using the program name and calling otherprograms from the p

7-107.6 Data TypeThe following data types are handled in the PAC language; character string,numeric value, position, vector and I/O. These data type

Chapter 7 PAC Language Configuration Elements7-117.7 Data Type ConversionChanging the data type among different data types is also possible.7.7.1 N

CONTENTSPreface...

7-127.8 ConstantA constant is an expression with a fixed value.Constants in the PAC language are classified into the following.1 Numeric value data T

Chapter 7 PAC Language Configuration Elements7-13 Hexadecimal FormatThis is an integer type constant expressed using hexadecimal n

7-147.8.2 Character String ConstantThe character string type constant is a constant used to express a charactersting.Express a character string by pu

Chapter 7 PAC Language Configuration Elements7-15[ 2 ] Joint Type ConstantA joint type constant is constructed of each axis value from the 1st to 6t

7-167.9 Expression and OperatorAn expression is used to return a value. There are expressions that have anindependent value and expressions that are

Chapter 7 PAC Language Configuration Elements7-17Note (3): An error occurs if a digit overflow occurs in addition ormultiplication of real or if an a

7-187.9.4 Logical OperatorThe logical operator executes bit operations.An operation is executed after values other than integer type are converted to

Chapter 7 PAC Language Configuration Elements7-197.9.6 Vector OperationIn a vector operation, use the operators shown in below Table .An operation i

7-207.9.8 Joint OperationThis is the operation executed for joint type data.Only “+” can be used for operations of parallel deviation.Example: Calcul

Chapter 7 PAC Language Configuration Elements7-21Example of operator precedence1. if IO128 = ON and IO129 = OFF then(1)(2)(3)2. if (IO128 = ON) and (

3.2 Confirming Reach Position ...

7-227.10 Units for the PAC LanguageBelow Table shows the units of expression for each physical value in the PAClanguage. Units of Expression for Eac

Chapter 8PAC LanguageSyntaxThis chapter provides an explanation of theregulations for writing a program using the PAClanguage.

Chapter 8 PAC Language Syntax8-18.1 Statement and LineA PAC language program is configured with multiple lines.One statement can be described on an

8-28.2 Program Name and DeclarationDeclare the items required for program execution such as the program nameand variables prior to execution.Especial

Chapter 8 PAC Language Syntax8-38.3 LabelA label can be used to indicate a branch destination and the position of astatement in a program.The follow

8-48.4 Character SetThe characters which can be used in the PAC language include alphabetletters, numerals, and symbols. For the alphabet letters, n

Chapter 8 PAC Language Syntax8-58.5 Reserved WordA word which has fixed usage for PAC language processing such as commandnames or operators are call

8-68.6 Declaration StatementDeclare definitions in a declaration statement before using variables,constants, functions and so on that are required to

Chapter 8 PAC Language Syntax8-7[ 2 ] Type Declaration InstructionThe following type declaration commands can be used to declare the variabletype.

Chapter 7 PAC Language Configuration Elements7.1 New Robot Language PAC...

8-8[ 3 ] Array DeclarationThis is a declaration statement for an array. An array can be created for alltypes except for an I/O variable by adding a

Chapter 8 PAC Language Syntax8-98.6.2 Function/program DeclarationCommands used to declare a function or a program name are as follows. Function/Pr

8-108.7 Assignment StatementAn assignment statement sets a value for a variable of each type.There are 4 assignment statements for numeric values; as

Chapter 8 PAC Language Syntax8-118.7.4 Pose Assignment StatementThere are 4 types of pose assignment statements: position assignmentstatement, join

8-12[ 3 ] Homogeneous Transformation Assignment StatementA homogeneous transformation assignment statement assigns a value to ahomogeneous transforma

Chapter 8 PAC Language Syntax8-138.8 Flow Control StatementUse a flow control statement to control the execution sequence of eachstatement in a prog

8-148.8.4 RepeatThis controls repetition according to a designated condition. There are 4commands for this.In FOR ~ NEXT statements, place a repetit

Chapter 8 PAC Language Syntax8-158.8.5 Calling Defined ProcessIf a part of a program that repeats a particular motion is separated, the part canbe c

8-16[ 2 ] ProgramIf a program is called, designate the program name in a CALL statement andexecute it. A recursive call can also be executed.For det

Chapter 8 PAC Language Syntax8-178.9 Robot Control StatementRobot control statements can be roughly classified into a motion controlstatement, a fig

Copyright © DENSO WAVE INCORPORATED, 2002All rights reserved. No part of this publication may be reproduced in any form or by any means withoutpermiss

8.8 Flow Control Statement...

8-188.9.3 Speed Control StatementA speed control statement can be used to set the movement speed, as well asthe acceleration and deceleration of the

Chapter 8 PAC Language Syntax8-198.10 Input/output Control StatementThere are 3 types of input/output control statements; DI/DO statement,RS232C cont

8-208.11 Multitasking Control StatementMultitasking control statements include a task control statement and asemaphore control statement.8.11.1 Task

Chapter 8 PAC Language Syntax8-218.12 Time and Date ControlTime and data control statements obtain the current time and date, the elapsedtime, and th

8-228.13 Error ControlAn error control statement controls interruption due to an error. Error Control CommandsType of motion CommandError interruptio

Chapter 8 PAC Language Syntax8-238.14 System InformationSystem information can be obtained using the following commands. System Information Commands

8-248.15 PreprocessorA preprocessor statement controls character string replacement or file fetchwhen a program is converted (compiled) into execution

Chapter 8 PAC Language Syntax8-258.16 Calling with a Value and with ReferenceIt may be desired to pass data to a program when another program is call

8-268.16.2 Calling with ReferenceA local variable can be passed as an argument.To designate an entire array as an argument, put the array name inpare

Chapter 8 PAC Language Syntax8-278.17 Vision Control8.17.1 Image Input/outputThe commands below control camera images and image data in memory. Ima

Chapter 11 Flow Control Statements11.1 Program Stop...

8-288.17.3 DrawThe commands below are used to control the draw motion in storage memory(processing screen) and overlay memory (draw only screen) .

Chapter 8 PAC Language Syntax8-298.17.5 Code RecognitionThe command below executes QR code reading. Code Recognition CommandType of motion CommandQ

8-308.17.8 Result ObtainingThe commands below are used to obtain information related to the contents ofresults after image processing. Result Obtain

Chapter 9DeclarationStatementsWhen variables or functions are used in aprogram they must be defined with a declarationstatement. The declaration state

Chapter 9 Declaration Statements9-19.1 Program NamePROGRAM (Statement)FunctionDeclares a program name.FormatPROGRAM <Program name> [(<Argum

9-29.2 Interference Area CoordinatesAREA (Statement )FunctionDeclares the area where an interference check is performed.FormatAREA <Area number>

Chapter 9 Declaration Statements9-3NotesThe center position of an area is always based on WORK0.Even if the user coordinate system is changed, the po

9-49.3 User FunctionDEF FN (Statement) [Conforms to SLIM]FunctionDeclares a user-defined function.FormatDEF FN <Function name>[<Postposition

Chapter 9 Declaration Statements9-59.4 Home CoordinatesHOME (Statement)[Conforms to SLIM]FunctionDeclares arbitrary coordinates as a home position.F

Chapter 17 Time/Date Control17.1 Time/Date ...

9-69.5 Tool CoordinatesTOOL (Statement)FunctionDeclares a tool coordinate system.FormatTOOL <Tool coordinate system number>, <Position type&

Chapter 9 Declaration Statements9-79.6 Work CoordinatesWORK (Statement)FunctionDeclares a user coordinate system.FormatWORK <User coordinate syst

9-89.7 Local VariableDEFINT (Statement)FunctionDeclares an integer type variable. The range of the integer is from−2147483648 to 2147483647.FormatDE

Chapter 9 Declaration Statements9-9DEFSNG (Statement)FunctionDeclares a single precision real type variable. The range of single precisionreal varia

9-10DEFDBL (Statement)FunctionDeclares a double precision real type variable. The range of double precisionreal type variables is from -1.797693134862

Chapter 9 Declaration Statements9-11DEFSTR (Statement)FunctionDeclares a character string type variable. You can enter 247 characters or lessas a cha

9-12DEFVEC (Statement)FunctionDeclares a vector type variable.FormatDEFVEC <Variable name>[=<Vector type constant>][,<Variable name>

Chapter 9 Declaration Statements9-13DEFPOS (Statement)FunctionDeclares a position type variable.FormatDEFPOS <Variable name>[=<Position type

9-14DEFJNT (Statement)FunctionDeclares a joint type variable.FormatDEFJNT <Variable name>[=<Joint type constant>][,<Variable name>[=

Chapter 9 Declaration Statements9-15DEFTRN (Statement)FunctionDeclares a homogeneous transformation type variable.FormatDEFTRN <Variable name>[

Commands Listed in Alphabetical Order4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of

9-16DEFIO (Statement) [Conforms to SLIM]FunctionDeclares an I/O variable corresponding to the input/output port.FormatDEFIO <Variable name> = &l

Chapter 9 Declaration Statements9-179.8 ArrayDIM (Statement) [Conforms to SLIM]FunctionDeclares an array.FormatDIM <Variable name>[<Postpos

9-18ExampleDIM samp1(5) 'Declares samp1 as an array variable of a single precision'real type with size (5).DIM samp2(10, 10) 'Declares

Chapter 10AssignmentStatementsUse an assignment statement command whenassigning a value to variables. Use commandsproperly according to the type or c

Chapter 10 Assignment Statements10-110.1 VariablesLET (Statement) [Conforms to SLIM]FunctionAssigns a value to a variable.Format[LET] <Variable na

10-210.2 VectorLETA (Statement)FunctionAssigns a value to an approach vector of the homogeneous transformationtype.FormatLETA <Homogeneous transfor

Chapter 10 Assignment Statements10-3LETO (Statement)FunctionAssigns a value to an orientation vector of the homogeneous transformationtype.FormatLETO

10-4LETP (Statement)FunctionAssigns a value to a position vector of the position type or homogenoustransformation type.FormatLETP {<Position type v

Chapter 10 Assignment Statements10-510.3 FigureLETF (Statement)FunctionAssigns a value to a figure component of the position type or homogenoustransf

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

10-610.4 Link AngleLETJ (Statement)FunctionAssigns a value to a designated link angle of the joint type.FormatLETJ <Axis number>, <Joint type

Chapter 10 Assignment Statements10-710.5 PostureLETR (Statement)FunctionAssigns a value to three rotation components of the position type.FormatLETR

10-810.6 Rotation ComponentLETRX (Statement)FunctionAssigns a value to the X axis rotation component of the position type.FormatLETRX <Position typ

Chapter 10 Assignment Statements10-9LETRY (Statement)FunctionAssigns a value to the Y axis rotation component of the position type.FormatLETRY <Po

10-10LETRZ (Statement)FunctionAssigns a value to the Z axis rotation component of the position type.FormatLETRZ <Position type variable> = <Z

Chapter 10 Assignment Statements10-11LETT (Statement)FunctionAssigns a value to the T axis component of the position type.FormatLETT <Position typ

10-1210.7 Axis ComponentLETX (Statement) [Conforms to SLIM]FunctionAssigns a value to the X axis component of the Vector type/ Position type/Homogenou

Chapter 10 Assignment Statements10-13LETY (Statement) [Conforms to SLIM]FunctionAssigns a value to the Y axis component of the Vector type/ Position

10-14LETZ (Statement)[Conforms to SLIM]FunctionAssigns a value to the Z axis component of the vector type/ position type/homogeneous transformation ty

Chapter 11Flow ControlStatementsA flow control statement is used to change theprogram flow depending on the situation. Thereare many ways to have the

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

Chapter 11 Flow Control Statements11-111.1 Program StopEND (Statement) [Conforms to SLIM]FunctionDeclares the motion end by a program.FormatENDExplan

11-2STOP (Statement) [Conforms to SLIM]FunctionEnds program execution.FormatSTOPExplanationDuring program execution, if the system executes a STOP sta

Chapter 11 Flow Control Statements11-3STOPEND (Statement)FunctionThis statement stops a continuously executed program or stops a program witha cycle

11-411.2 CallCALL (Statement)FunctionCalls a program and executes it.FormatCALL <Program name> [(<Argument>[,<Argument>…])]Explanati

Chapter 11 Flow Control Statements11-52. Calling with referenceIn calling with reference, a variable can be sent as an argument.When you wish to desi

11-6GOSUB (Statement) [Conforms to SLIM]FunctionCalls a subroutine.FormatGOSUB <Label name>ExplanationCalls a subroutine specified by the design

Chapter 11 Flow Control Statements11-7ON-GOSUB (Statement) [Conforms to SLIM]FunctionCalls a corresponding subroutine to the value of an expression.F

11-8RETURN (Statement) [Conforms to SLIM]FunctionReturns from a subroutine.FormatRETURNExplanationThis statement ends the execution of a subroutine to

Chapter 11 Flow Control Statements11-911.3 RepeatDO-LOOP (Statement)FunctionExecutes a decision iteration (repetition).FormatDO [{WHILE|UNTIL}[<Co

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

11-10ExampleDEFINT li1, li2, li3, li4, li5, li6, li7, li8, li9DO WHILE li1 > li2 'Executes a head decision iteration.IF li1 = 4 THEN EXIT DO &

Chapter 11 Flow Control Statements11-11EXIT DO (Statement)FunctionForcibly exits from DO-LOOP.FormatEXIT DOExplanationThis statement forcibly exits f

11-12FOR-NEXT (Statement) [Conforms to SLIM]FunctionRepeatedly executes a series of instructions between FOR-NEXT sections.FormatFOR <Variable name

Chapter 11 Flow Control Statements11-13ExampleDEFINT li1, li2, li3, li4, li5, li6, li7, li8, li9DO WHILE li1 > li2 'Executes a head decision

11-14EXIT FOR (Statement)FunctionForcibly exits from FOR-NEXT.FormatEXIT FORExplanationThis statement forcibly exits from FOR-NEXT and proceeds to the

Chapter 11 Flow Control Statements11-15REPEAT-UNTIL (Statement)FunctionExecutes a tail decision iteration.FormatREPEAT :UNTIL [<Conditional expr

11-16WHILE-WEND (Statement)FunctionExecutes a head decision iteration.FormatWHILE [<Conditional expression>] :WENDExplanationThis statement rep

Chapter 11 Flow Control Statements11-1711.4 Conditional BranchIF-END IF (Statement)FunctionConditionally decides a conditional expression between IF-

11-18IF-THEN-ELSE (Statement)[Conforms to SLIM]FunctionExecutes a conditional decision of a logical expression.FormatIF <Conditional expression>

Chapter 11 Flow Control Statements11-19SELECT CASE (Statement)FunctionExecutes a plural condition decision.FormatSELECT CASE <Expression> CAS

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

11-20ExampleREM Executes a plural condition decision.SELECT CASE Index'The command is executed if the index value matches the CASE'statement

Chapter 11 Flow Control Statements11-2111.5 Unconditional BranchGOTO (Statement) [Conforms to SLIM]FunctionUnconditionally branches a program.Format{

11-22ON-GOTO (Statement) [Conforms to SLIM]FunctionExecutes an unconditional branch due to the value of an expression.FormatON <Expression> GOTO

Chapter 11 Flow Control Statements11-2311.6 CommentREM (Statement)[Conforms to SLIM]FunctionDescribes a comment.Format{REM|'}[<Comment>]Ex

Chapter 12Robot ControlStatementsThis chapter provides an explanation of thecommands and robot control statements used forrobot motion control.

Chapter 12 Robot Control Statements12-112.1 Motion ControlAPPROACH (Statement)FunctionExecutes the absolute movement designated in the tool coordinat

12-2If <NEXT option> is added, the robot proceeds to the next no-movementinstruction without waiting for movement to finish. However, the follo

Chapter 12 Robot Control Statements12-34-axis APPROACH P, (100, 200, 300, 45, 1), 70'Moves to a position 70mm far form a point (100,200,'30

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

12-4DEPART (Statement)FunctionExecutes the relative motion in the tool coordinate system.FormatDEPART <Interpolation method>,[<Pass start dis

Chapter 12 Robot Control Statements12-5If <NEXT option> is added, the robot proceeds to the next no-movementinstruction without waiting for mov

12-6Related TermsAPPROACH, SPEEDExampleDEFSNG lf1, lf26-axis DEPART P, 70 'The robot moves (PTP control) to a position 70 mm'away from the c

Chapter 12 Robot Control Statements12-7DRAW (Statement)FunctionExecutes the relative movement designated in the work coordinate system.FormatDRAW <

12-8If <NEXT option> is added, the robot proceeds to the next no-movementinstruction without waiting for movement to finish. However, the follo

Chapter 12 Robot Control Statements12-9DRIVE (Statement) [Conforms to SLIM]FunctionExecutes the relative motion of each axis.FormatDRIVE[<Pass st

12-10If <NEXT option> is added, the robot proceeds to the next no-movementinstruction without waiting for movement to finish. However, the foll

Chapter 12 Robot Control Statements12-11DRIVEA (Statement)FunctionExecutes the absolute motion of each axis.FormatDRIVEA[<Pass start displacement&

12-12If <NEXT option> is added, the robot proceeds to the next no-movementinstruction without waiting for movement to finish. However, the foll

Chapter 12 Robot Control Statements12-13GOHOME (Statement) [Conforms to SLIM]FunctionMoves to the position (home position) defined by the HOME statem

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

12-14MOVE (Statement) [Conforms to SLIM]FunctionMoves the robot flange to the specified coordinates.If specified with an EX option (relative motion of

Chapter 12 Robot Control Statements12-15The value of <Path start displacement> is expressed using the radius of theglobe with the designated co

12-16(The left expressions have higher priority in processing.)Therefore,(1) If these expressions are present between IOBLOCK ON and OFF, the nextnon-

Chapter 12 Robot Control Statements12-17Ex2PROGRAM PRO1TAKEARM 2 'Get Arm Group 2 involving both robot'joints and extended-joints.MOVE P, P

12-18Notes(1) If a pose is designated in the position type and the homogeneoustransformation type, the designated pose goes beyond the robot motionspa

Chapter 12 Robot Control Statements12-19ROTATE (Statement) [Conforms to SLIM]FunctionExecutes a rotation movement around the designated axis.FormatRO

12-206-axis For <Rotation center point>, designate a work coordinate point if the rotationplane is of {XY|YZ|ZX} and(Vector type, Vector type, V

Chapter 12 Robot Control Statements12-21Related TermsROTATEHExampleROTATE XY,45,V1 'The robot rotates by 45 degrees at a constantposture'ar

12-22ROTATEH (Statement)FunctionExecutes rotary motion by taking an approach vector as an axis.FormatROTATEH [@<Pass start displacement> ]<Re

Chapter 12 Robot Control Statements12-23For <Motion option> there are SPEED, ACCEL, and DECEL options.Motion option MeaningSPEED (or S) Designa

iPrefaceThank you for purchasing this high-speed, high-accuracy assembly robot.Before operating your robot, read this manual carefully to safely get t

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

12-24CURJNT (System Variable)FunctionObtains the current angle of the robot using type J.Format{CURJNT | *}ExplanationThe Joint angles detected by eac

Chapter 12 Robot Control Statements12-25CURPOS (System Variable)[Conforms to SLIM]FunctionObtains the current position in the tool coordinate system

12-26CURTRN (System Variable) [Conforms to SLIM]FunctionObtains the current position in the tool coordinate system using type T.Format{CURTRN | *}Expl

Chapter 12 Robot Control Statements12-27CUREXJ (Statement)FunctionGets the current angle of an extended-joint into a floating-point variable.FormatCU

12-28DESTJNT (System Variable)FunctionObtains the current movement instruction destination position using type J.The current position (instruction val

Chapter 12 Robot Control Statements12-29DESTPOS (System Variable)FunctionObtains the current movement instruction destination position with type P.Wh

12-30DESTTRN (System Variable)FunctionObtains the current movement instruction destination position with type T.When the robot stops, the current posi

Chapter 12 Robot Control Statements12-31DESTEXJ (Statement)FunctionGets the target position of an extended-joint invoked by the current motioncommand

12-32ARRIVE (Statement) [Ver.1.2 or later]FunctionDefines the motion ratio relative to the programmed full travel distance to thetarget point in order

Chapter 12 Robot Control Statements12-33NotesAn ARRIVE command defines the motion ratio for the immediately precedingmotion command in a TAKEARMed ta

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

12-34POSCLR (Statement)FunctionForcibly restores the current position of a joint to 0 mm or 0 degree.FormatPOSCLR<JntNumber>ExplanationPOSCLR fo

Chapter 12 Robot Control Statements12-3512.2 Figure ControlCURFIG (System variable)FunctionObtains the current value of the robot figure.FormatCURFIG

12-3622DOUBLE4SINGLE6NONFLIPBELOWRIGHTY23DOUBLE4SINGLE6NONFLIPBELOWLEFTY24DOUBLE4DOUBLE6FLIPABOVERIGHTY25DOUBLE4DOUBLE6FLIPABOVELEFTY2

Chapter 12 Robot Control Statements12-37FIGAPRL (Function)FunctionCalculates figures at an approach position and a standard position available tomove

12-38Related TermsFIGAPRP, APPROACHExample6-/4-axis I1=FIGAPRL(P1, 100.0)LETF P1, I1APPROACH P, P1, 100.0MOVE L, P16-axis I1=FIGAPRL(P1 + (100.200, 0,

Chapter 12 Robot Control Statements12-39FIGAPRP (Function)FunctionCalculates an approach position where the PTP motion is available, and areference p

12-4012.3 Stop ControlHOLD (Statement) [Conforms to SLIM]FunctionHolds program processing for a time.FormatHOLD <Message>ExplanationThis stateme

Chapter 12 Robot Control Statements12-41HALT (Statement) [Conforms to SLIM]FunctionStops executing a program.FormatHALT <Message>ExplanationThi

12-42INTERRUPT ON/OFF (Statement)FunctionInterrupts a robot motion.FormatINTERRUPT {ON|OFF}ExplanationINTERRUPT ON and INTERRUPT OFF are used as a p

Chapter 12 Robot Control Statements12-43Notes(1) If the controller executes any relative motion command immediatelyfollowing an interrupt skip, then

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

12-4412.4 Speed ControlSPEED (Statement) [Conforms to SLIM]FunctionSpecifies the internal composite speed of joints included in a currently held armgr

Chapter 12 Robot Control Statements12-45ExampleEx1 DIM li1 As IntegerSPEED 100 'Sets the movement speed of the hand to 100.SPEED li1/100 'S

12-46JSPEED (Statement)FunctionSpecifies the internal speed of individual joints included in a currently held armgroup.FormatJSPEED <Movement speed

Chapter 12 Robot Control Statements12-47ACCEL (Statement) [Conforms to SLIM]FunctionDesignates internal acceleration and internal deceleration.Format

12-48JACCEL (Statement) [Conforms to SLIM]FunctionSpecifies the internal acceleration and deceleration of individual joints includedin a currently hel

Chapter 12 Robot Control Statements12-49DECEL (Statement) [Conforms to SLIM]FunctionSpecifies the internal composite deceleration of joints involved

12-50JDECEL (Statement) [Conforms to SLIM]FunctionSpecifies the internal deceleration ratio of individual joints included in acurrently held arm group

Chapter 12 Robot Control Statements12-51CURACC (System Variable)FunctionGets the current internal composite acceleration of joints included in a curr

12-52CURJACC (System Variable)FunctionGets the current internal acceleration of individual joints included in a currentlyheld arm group.FormatCURJACCE

Chapter 12 Robot Control Statements12-53CURDEC (System Variable)FunctionGets the current internal composite deceleration of joints included in acurre

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

12-54CURJDEC (System Variable)FunctionGets the current internal deceleration of individual joints included in a currentlyheld arm group.FormatCURJDECE

Chapter 12 Robot Control Statements12-55CURJSPD (System Variable)FunctionGets the current internal speed of individual joints included in a currently

12-56CURSPD (System Variable)FunctionGets the current internal composite speed of joints included in a currently heldarm group.FormatCURSPDExplanation

Chapter 12 Robot Control Statements12-57CUREXTACC (System Variable) [Ver.1.4 or later]FunctionObtains the current value of the external accelerationF

12-58CUREXTDEC (System Variable) [Ver.1.4 or later]FunctionObtains the current value of the external decelerationFormatCUREXTDECExplanationStores the

Chapter 12 Robot Control Statements12-59CUREXTSPD (System Variable) [Ver.1.4 or later]FunctionObtains the current value of the external speedFormatCU

12-6012.5 Time ControlDELAY (Statement) [Conforms to SLIM]FunctionSuspends program processing for a designated period time.FormatDELAY <Delay time&

Chapter 12 Robot Control Statements12-61WAIT (Statement) [Conforms to SLIM]FunctionStops program processing based on a condition.FormatWAIT <Condi

12-6212.6 Coordinate TransformationCHANGETOOL (Statement)FunctionChanges the tool coordinate system.FormatCHANGETOOL <Tool coordinate system number

Chapter 12 Robot Control Statements12-63CHANGEWORK (Statement)FunctionChanges the user coordinate system.FormatCHANGEWORK <User coordinate system

Commands Listed According to Functions4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series o

12-64CURTOOL (System Variable) [Ver.1.4 or later]FunctionObtains the TOOL number currently set.FormatCURTOOLExplanationStores the TOOL number currentl

Chapter 12 Robot Control Statements12-65CURWORK (System Variable) [Ver.1.4 or later]FunctionObtains the WORK number currently set.FormatCURWORKExplan

12-6612.7 Interference CheckSETAREA (Statement)FunctionSelects the area where an interference check is performed.FormatSETAREA <Interference check

Chapter 12 Robot Control Statements12-67RESETAREA (Statement)FunctionInitializes an interference check.FormatRESETAREA <Initializing area number&g

12-6812.8 Supervisor TaskINIT [Ver.1.7 or later]FunctionTurns on motors, carrier out CAL, and sets the speed according to the presetsupervisor task pa

Chapter 12 Robot Control Statements12-6912.9 Internal Servo DataGetSrvData (System Variable) [Ver.1.5 or later]FunctionGets the internal servo data o

12-70GetJntData (System Variable) [Ver.1.5 or later]FunctionGets the internal servo data of a specified joint.Format<JntInternalServoData> = Get

Chapter 12 Robot Control Statements12-7112.10 Particular ControlThis section describes newly added commands (statements) that have been used asserv

12-72Notes(1) For the mass of payload, designate it with a numerical value of the specifiedrange for each robot type. If you designate a value out of

Chapter 12 Robot Control Statements12-73ST_SetGravity (Statement) [Ver.1.9 or later]FunctionCompensates for the static load (gravity torque) applied

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

12-74ST_ResetGravity (Statement) [Ver.1.9 or later]FunctionDisables the balance setting between the limited motor torque and gravity torque,which is

Chapter 12 Robot Control Statements12-75ST_SetGrvOffset (Statement) [Ver.1.9 or later]FunctionCompensates the torque of each joint programmed with S

12-76ST_ResetGrvOffset (Statement) [Ver.1.9 or later]FunctionDisables the gravity offset function.FormatST_ResetGrvOffsetExplanationDisables the grav

Chapter 12 Robot Control Statements12-77ST_SetCurLmt (Statement) [Ver.1.9 or later]FunctionSets the limit of motor current to be applied to the spec

12-786-axis (7) Set the mass of payload and the payload center of gravity accurately.Otherwise, the robot may move down due to gravity if you set a lo

Chapter 12 Robot Control Statements12-79ST_ResetCurLmt (Statement) [Ver.1.9 or later]FunctionResets the motor current limit of the specified axis.Fo

12-80ST_SetEralw (Statement) [Ver.1.9 or later]FunctionModifies the allowable deviation of the specified axis.FormatST_SetEralw <AxisNumber>, &

Chapter 12 Robot Control Statements12-81ST_ResetEralw (Statement) [Ver.1.9 or later]FunctionResets the allowable deviation value of the specified ax

12-82ST_OnSrvLock (Statement) [Ver.1.9 or later]FunctionServo-locks a specified axis (exclusively designed for four-axis robots).FormatST_OnSrvLock &

Chapter 12 Robot Control Statements12-83ST_OffSrvLock (Statement) [Ver.1.9 or later]FunctionReleases servo lock for the specified axis. (Exclusively

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

12-84ST_SetCompControl (Statement) [Ver.1.9 or later]FunctionEnables the compliance function (exclusively designed for 6-axis robots)FormatST_SetComp

Chapter 12 Robot Control Statements12-85ExampleST_SetFrcCoord 1 'Set the compliance control coordinate system.ST_SetFrcLimit 100, 0, 100, 100, 1

12-86ST_SetCompFControl (Statement) [Ver.1.9 or later]FunctionEnables the compliance control function (exclusively designed for 6-axis robots).Format

Chapter 12 Robot Control Statements12-87ST_ResetCompControl (Statement) [Ver.1.9 or later]FunctionDisables the compliance control function (exclusiv

12-88ST_SetFrcCoord (Statement) [Ver.1.9 or later]FunctionSelects a force limiting coordinate system (exclusively designed for 6-axis robots).FormatS

Chapter 12 Robot Control Statements12-89ST_SetFrcLimit (Statement) [Ver.1.9 or later]FunctionSets the force limiting rates (exclusively designed for

12-90ST_ResetFrcLimit (Statement) [Ver.1.9 or later]FunctionInitializes the force limiting rates (exclusively designed for 6-axis robots).FormatST_Re

Chapter 12 Robot Control Statements12-91ST_SetCompRate (Statement) [Ver.1.9 or later]FunctionSets the compliance rates under the compliance control

12-92ST_ResetCompRate (Statement) [Ver.1.9 or later]FunctionInitializes the compliance rates (exclusively designed for 6-axis robots).FormatST_ResetC

Chapter 12 Robot Control Statements12-93ST_SetFrcAssist (Statement) [Ver.1.9 or later]FunctionSets the force assistance under the compliance control

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

12-94ST_ResetFrcAssist (Statement) [Ver.1.9 or later]FunctionInitializes the force assistance (special compliance control function statement)(exclusi

Chapter 12 Robot Control Statements12-95ST_SetCompJLimit (Statement) [Ver. 1.9 or later]FunctionSets the current limit under the compliance control

12-96ST_ResetCompJLimit (Statement) [Ver.1.9 or later]FunctionInitializes the current limit under the compliance control (special compliance controlf

Chapter 12 Robot Control Statements12-97ST_SetCompVMode (Statement) [Version 1.9 or later]FunctionSets the velocity control mode under the complianc

12-98ST_ResetCompVMode (Statement) [Ver.1.9 or later]FunctionDisables the velocity control mode under the compliance control (special compliancecontr

Chapter 12 Robot Control Statements12-99ST_SetCompEralw (Statement) [Ver.1.9 or later]FunctionSets the allowable deviation values of the position an

12-100ST_ResetCompEralw (Statement) [Ver.1.9 or later]FunctionInitializes the allowable deviation values of the position and the posture of the toole

Chapter 12 Robot Control Statements12-101ST_SetDampRate (Statement) [Ver.1.9 or later]FunctionSets the damping rates under the compliance control (e

12-102ST_ResetDampRate (Statement) [Ver.1.9 or later]FunctionInitializes the damping rates under the compliance control (exclusively designed for6-ax

Chapter 12 Robot Control Statements12-103ST_SetZBalance (Statement) [Ver.1.9 or later]FunctionSets the gravity compensation value of the Z and T axe

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

12-104ST_ResetZBalance (Statement) [Ver.1.9 or later]FunctionDisables the gravity compensation function (exclusively designed for 4-axis robots).Forma

Chapter 13Input/OutputControl StatementsThis chapter provides an explanation of thecommands used to control various I/Os.

Chapter 13 Input/Output Control Statements13-113.1 I/O PortIN (Statement)[Conforms to SLIM]FunctionReads data from the I/O port designated by an I/O

13-2OUT (Statement) [Conforms to SLIM]FunctionOutputs data to the I/O port designated by an I/O variable.FormatOUT <I/O variable> = <Output d

Chapter 13 Input/Output Control Statements13-3IOBLOCK ON/OFF (Statement) [Conforms to SLIM]FunctionConcurrently executes a non-motion instruction suc

13-4Notes(1) Concurrent processing is not executed in the following cases.i) If a motion option is added to a motion instructionii) If you execute CHA

Chapter 13 Input/Output Control Statements13-5SET (Statement) [Conforms to SLIM]FunctionSets an I/O port to ON.FormatSET <I/O variable>[,<Ou

13-6Notes(1) If output time is designated, it may be extended due to factors such as thepresence of another program during movement, pendant operation

Chapter 13 Input/Output Control Statements13-7RESET (Statement) [Conforms to SLIM]FunctionSets an I/O port to OFF.FormatRESET <I/O variable>Exp

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

13-813.2 Command for RS232C and Ethernet(Server/Client) PortINPUT (Statement)[Conforms to SLIM]FunctionObtains data from the RS232C or Ethernet port.F

Chapter 13 Input/Output Control Statements13-9LINEINPUT (Statement)FunctionReads data to a delimiter through the RS232C or Ethernet port and assigns

13-10PRINT (Statement)[Conforms to SLIM]FunctionOutputs data from the RS232C or Ethernet port.FormatPRINT [#<Circuit number>,] <Message> [

Chapter 13 Input/Output Control Statements13-11WRITE (Statement)FunctionOutputs data from the RS232C or Ethernet port.FormatWRITE [#<Circuit numbe

13-12FLUSH (Statement)FunctionClears the input buffer.FormatFLUSH [#<Circuit number>]ExplanationThis statement clears the input buffer of the RS

Chapter 13 Input/Output Control Statements13-1313.3 Serial Binary Transmission Commands(RS232C and Ethernet ports)printb (Version 1.5 or later)Functi

13-14inputb (Version 1.5 or later)FunctionInputs a single byte of data from the RS-232C or Ethernet port.Formatinputb #<portnumber>,<integerv

Chapter 13 Input/Output Control Statements13-15lprintb (Version 1.5 or later)FunctionOutputs multiple bytes of data to the RS-232C or Ethernet port.F

13-16linputb (Version 1.5 or later)FunctionInputs multiple bytes of data from the RS-232C or Ethernet port.Formatlinputb #<portnumber>,<array

Chapter 13 Input/Output Control Statements13-17com_encom (Version 1.5 or later)FunctionEnables the RS-232C port only for binary transmission. (Occupi

iiHow the documentation set is organizedThe documentation set consists of the following books. If you are unfamiliar with this robot andoption(s), ple

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

13-18com_discom (Version 1.5 or later)FunctionReleases the RS-232C port from binary transmission. (Releases the COM port.)If the Ethernet client port

Chapter 13 Input/Output Control Statements13-19com_state (Version 1.5 or later)FunctionGets the status of RS-232C or Ethernet port.Formatcom_state #&

13-2013.4 PendantPRINTMSG (Statement)FunctionDisplays a message with a caption and icon on the color LCD of the teachpendant.FormatPRINTMSG <Messag

Chapter 13 Input/Output Control Statements13-21PRINTDBG (Statement)FunctionOutputs data to the debug window.FormatPRINTDBG <Message>[<Separa

13-22BUZZER (Statement)FunctionSounds a buzzer.FormatBUZZER <Sound time>ExplanationThis statement sounds the buzzer on the pendant for the time

Chapter 13 Input/Output Control Statements13-23PRINTLBL (Statement)FunctionSets a label (caption) for a user definition button.FormatPRINTLBL <Pan

13-2413.5 Customizing TP Operation ScreensMain software version 1.5 or later allows you to easily customize your own operationscreens on the teach pen

Chapter 13 Input/Output Control Statements13-2513.5.1 Programming a TP operation screenProgram a TP operation screen as follows:(1) Setting button p

13-26(6) Displaying a programmed TP operation screenFrom the top screen of the teach pendant, choose [F9: Panel] to display a TPoperation screen you h

Chapter 13 Input/Output Control Statements13-27set_button (Version 1.5 or later)FunctionSets button parameters.Formatset_button <ButtonNumber>,

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

13-28<ParameterType>Explanation<NewValue>8 Text color 0: Black1: Blue2: Green3: Cyan4: Red5: Magenta6: Brown7: Light gray8: Gray9: Light b

Chapter 13 Input/Output Control Statements13-29Explanationset_button changes the current value of a parameter specified by<ParameterType> to &l

13-30set_page (Version 1.5 or later)FunctionSets page parameters.Formatset_page <PageNumber>,<ParameterType>,<NewValue><PageNumbe

Chapter 13 Input/Output Control Statements13-31Explanationset_page changes the current value of a parameter specified by<ParameterType> to <

13-32change_bCap (Version 1.5 or later)FunctionEdits a caption for a specified button.Formatchange_bCap <ButtonNumber>,<Caption><Button

Chapter 13 Input/Output Control Statements13-33change_pCap (Version 1.5 or later)FunctionEdits a caption for a specified page.Formatchange_pCap <P

13-34disp_page (Version 1.5 or later)FunctionDisplays a specified page of a TP operation screen.Formatdisp_page <PageNumber><PageNumber> N

Chapter 13 Input/Output Control Statements13-35Sample Program: Creating a TP Operation PanelShown below is a sample program for creating a TP operat

13-36'Button status#define ON 1 'ON#define OFF 0 'OFF#define I_VAL 1 'Integer'Button address#define IO_PB_ADRS 170 'I/O

Chapter 13 Input/Output Control Statements13-37'Label displayselect case loopcntcase 0set_button btn_no,B_KIND,LABEL 'Set button type.set_b

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

13-38'Display in the lower rowloopcnt = 0while loopcnt < 6 'Loop 6 times.btn_no = btn_adrs + 10 + loopcntminx = 10 + ((loopcnt mod 6)*100

Chapter 13 Input/Output Control Statements13-39case 4' set_button btn_no,B_KIND,3DBUTTON_V 'Set button type.set_button btn_no,B_KIND,3DBUTT

13-40TP Operation Panel Sample: Result of the above sample program

Chapter 14MultitaskingControl StatementsMultitasking control is one of the features of PAC.This chapter provides explanations of thecommands used for

Chapter 14 Multitasking Control Statements14-114.1 Task ControlRUN (Statement)FunctionConcurrently runs another program.FormatRUN <Program name>

14-2 Notes(1) When a task for which motion is being suspended is run again with aSUSPEND instruction, execute RUN after the motion completely stops.

Chapter 14 Multitasking Control Statements14-3SUSPEND (Statement)FunctionSuspends a task.FormatSUSPEND <Program name>ExplanationThis statement

14-4DEFEND (Statement)FunctionDefends a task.FormatDEFEND {ON|OFF}ExplanationA program task usually releases execution priority to another program tas

Chapter 14 Multitasking Control Statements14-5STATUS (Function)FunctionObtains the program status.FormatSTATUS (<Program name>)ExplanationThis

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

14-614.2 SemaphoreA semaphore can be used to communicate (connect a signal) among taskswhen multiple tasks are synchronized (synchronized control) or

Chapter 14 Multitasking Control Statements14-7CREATESEM (Function)FunctionCreates a semaphore.FormatCREATESEM (<Arithmetic expression>)Explanat

14-8ExampleDEFINT Li1Li2Li3=1Li1 = CREATESEM(Li3)'Creates a semaphore with the queuing system designated in Li3'and the semaphore ID obtai

Chapter 14 Multitasking Control Statements14-9PROGRAM PRO1i1 = CREATESEM(0)RUN PRO2RUN PRO3ENDPROGRAM PRO2TAKESEM i1...GIVESEM i1ENDPROGRAM PRO3TAKES

14-10DELETESEM (Statement)FunctionDeletes a semaphore.FormatDELETESEM <Semaphore ID>ExplanationThis statement deletes a semaphore with the semap

Chapter 14 Multitasking Control Statements14-11FLUSHSEM (Statement)FunctionReleases tasks from waiting for a semaphore.FormatFLUSHSEM <Semaphore I

14-12GIVESEM (Statement)FunctionReleases a task from waiting for a semaphore.FormatGIVESEM <Semaphore ID>ExplanationThis statement releases the

Chapter 14 Multitasking Control Statements14-13TAKESEM (Statement)FunctionObtains a semaphore with a designated semaphore ID.FormatTAKESEM <Semaph

14-1414.3 Arm SemaphoreTAKEARM (Statement)FunctionGets an arm group. Upon execution of this statement, the programmed speed,acceleration and decelerat

Chapter 14 Multitasking Control Statements14-15Note 1: Robot control priority is automatically released in thefollowing cases.•••• If an END command

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

14-16Related TermsGIVEARM, TAKEVIS, GIVEVISExampleExample 1:PROGRAM PRO1 'TAKEARM 'Executes TAKEARM on the first line of the program which&a

Chapter 14 Multitasking Control Statements14-17Example 5:PROGRAM PRO6 'TAKEARM 'RUN PRO7 'MOVE P, P7 'END 'PROGRAM PRO7 &apo

14-18Notes(1) One program cannot hold more than one different arm group. However, itcan get the same arm group again in one program.Example: TAKEARM 0

Chapter 14 Multitasking Control Statements14-19GIVEARM (Statement)FunctionReleases robot control priority.FormatGIVEARMExplanationThis statement rele

14-20TAKEVIS (Statement)FunctionObtains visual process priority.FormatTAKEVISExplanationThis statement obtains visual process priority on the µVISION

Chapter 14 Multitasking Control Statements14-21GIVEVIS (Statement)FunctionReleases visual process priority.FormatGIVEVISExplanationThis statement rel

Chapter 15FunctionsThis chapter provides an explanation of variousfunctions prepared in PAC.

Chapter 15 Functions15-115.1 Arithmetic FunctionABS (Function) [Conforms to SLIM]FunctionObtains the absolute value of an expression value.FormatABS

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

15-2EXP (Function) [Conforms to SLIM]FunctionObtains an exponential function with a natural logarithm taken as a base.FormatEXP (<Expression>)Ex

Chapter 15 Functions15-3INT (Function) [Conforms to SLIM]FunctionObtains the maximum integer value possible from a designated value.FormatINT (<Ex

15-4LOG (Function) [Conforms to SLIM]FunctionObtains a natural logarithm.FormatLOG (<Expression>)ExplanationThis statement obtains the natural l

Chapter 15 Functions15-5LOG10 (Function) [Conforms to SLIM]FunctionObtains a common logarithm.FormatLOG10 (<Expression>)ExplanationThis stateme

15-6POW (Function) [Conforms to SLIM]FunctionObtains an exponent.FormatPOW (<Base>,<Exponent>)ExplanationThis statement obtains the expone

Chapter 15 Functions15-7MAX (Function) [Conforms to SLIM]FunctionExtracts the maximum value.FormatMAX (<Expression>,<Expression>[,<Exp

15-8MIN (Function) [Conforms to SLIM]FunctionExtracts the minimum value.FormatMIN (<Expression>,<Expression>[,<Expression>…])Explana

Chapter 15 Functions15-9RND (Function)FunctionGenerates random numbers from 0 to 1.FormatRND (<Expression>)ExplanationAccording to the value in

15-10SGN (Function)FunctionChecks a sign.FormatSGN (<Expression>)ExplanationThis statement checks the sign of <Expression> and returns the

Chapter 15 Functions15-11SQR (Function) [Conforms to SLIM]FunctionObtains the square root.FormatSQR (<Expression>)ExplanationThis statement obt

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

15-1215.2 Trigonometric FunctionACOS (Function) [Conforms to SLIM]FunctionObtains an arc cosine.FormatACOS (<Expression>)ExplanationThis stateme

Chapter 15 Functions15-13ASIN (Function) [Conforms to SLIM]FunctionObtains an arc sine.FormatASIN (<Expression>)ExplanationThis statement obtai

15-14ATN (Function) [Conforms to SLIM]FunctionObtains an arc tangent.FormatATN (<Expression>)ExplanationThis statement obtains the arc tangent o

Chapter 15 Functions15-15ATN2 (Function) [Conforms to SLIM]FunctionObtains the arc tangent of expression 1 divided by expression 2.FormatATN2 (<Ex

15-16COS (Function) [Conforms to SLIM]FunctionObtains a cosine.FormatCOS (<Expression>)ExplanationThis statement obtains the cosine value of the

Chapter 15 Functions15-17SIN (Function) [Conforms to SLIM]FunctionObtains a sine.FormatSIN (<Expression>)ExplanationObtains the sine value of t

15-18TAN (Function) [Conforms to SLIM]FunctionObtains a tangent.FormatTAN (<Expression>)ExplanationThis statement obtains the tangent value of t

Chapter 15 Functions15-1915.3 Angle ConversionDEGRAD (Function) [Conforms to SLIM]FunctionConverts the unit to a radian.FormatDEGRAD (<Expression&

15-20RAD (Function)FunctionConverts a value set in radians to degrees.Format<Numeric value> RADExplanationThis statement converts a <Numeric

Chapter 15 Functions15-21RADDEG (Function) [Conforms to SLIM]FunctionConverts the unit to degrees.FormatRADDEG (<Expression>)ExplanationThis st

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

15-22 15.4 Speed Conversion MPS (Function) Function Converts an expression of speed. Format MPS (<Expression>) Explanation This statement c

Chapter 15 Functions15-2315.5 Time FunctionSEC (Function)FunctionConverts a value expressed in seconds to milliseconds.Format<Numeric value> SE

15-2415.6 VectorAVEC (Function)FunctionExtracts an approach vector.FormatAVEC (<Homogeneous transformation type>)ExplanationThis statement extra

Chapter 15 Functions15-25OVEC (Function)FunctionExtracts an orient vector.FormatOVEC (<Homogeneous transformation type>)ExplanationThis stateme

15-26PVEC (Function)FunctionExtracts a position vector.FormatPVEC ({<Homogeneous transformation type>|<Position type>})ExplanationThis sta

Chapter 15 Functions15-27MAGNITUDE (Function)FunctionObtains the vector size.FormatMAGNITUDE (<Vector type>)ExplanationThis statement obtains t

15-2815.7 Pose Data Type TransformationJ2P (Function)FunctionTransforms joint type data to position type data.FormatJ2P (<Joint type>)Explanatio

Chapter 15 Functions15-29J2T (Function)FunctionTransforms joint type data to homogeneous transformation type data.FormatJ2T (<Joint type>)Expla

15-30P2J (Function)FunctionTransforms position type data to joint type data.FormatP2J (<Position type>)ExplanationThis statement transforms the

Chapter 15 Functions15-31P2T (Function)FunctionTransforms position type data to homogeneous transformation type data.FormatP2T (<Position type>

4-axis 6-axisVisiondevice¤¤¤Available with all series of robots and vision device.¡¡¡Available with all series of robots. The commandspecifications d

15-32T2J (Function)FunctionTransforms homogeneous transformation type data to joint type data.FormatT2J (<homogeneous transformation type>)Expla

Chapter 15 Functions15-33T2P (Function)FunctionTransforms homogeneous transformation type data to position type data.FormatT2P (<homogeneous trans

15-34TINV (Function)FunctionCalculates an inverse matrix of homogeneous transformation type data.FormatTINV (<homogeneous transformation type>)E

Chapter 15 Functions15-3515.8 Distance ExtractionDIST (Function) [Conforms to SLIM]FunctionReturns the distance between two points.FormatDIST (<Po

15-3615.9 Figure ComponentFIG (Function)FunctionExtracts a figure.FormatFIG ({<Position type>|<homogeneous transformation type>})Explanati

Chapter 15 Functions15-3715.10 Angle ComponentJOINT (Function)FunctionExtracts an angle from joint type coordinates.FormatJOINT (<Axis number>,

15-3815.11 Axis ComponentPOSX (Function) [Conforms to SLIM]FunctionExtracts the X-component.FormatPOSX ({<Position type>|<Vector type>})Ex

Chapter 15 Functions15-39POSY (Function) [Conforms to SLIM]FunctionExtracts the Y-component.FormatPOSY ({<Position type>|<Vector type>})E

15-40POSZ (Function) [Conforms to SLIM]FunctionExtracts the Z-component.FormatPOSZ ({<Position type>|<Vector type>})ExplanationThis statem

Chapter 15 Functions15-4115.12 Rotation ComponentPOSRX (Function)FunctionExtracts the X-axis rotation component.FormatPOSRX (<Position type>)Ex

PART 1PROGRAM DESIGN

15-42POSRY (Function)FunctionExtracts the Y-axis rotation component.FormatPOSRY (<Position type>)ExplanationThis component extracts the Y-axis r

Chapter 15 Functions15-43POSRZ (Function)FunctionExtracts the Z-axis rotation component.FormatPOSRZ (<Position type>)ExplanationThis statement

15-44POST (Function)FunctionExtracts the T-axis rotation component.FormatPOST (<Position type>)ExplanationThis statement extracts the T-axis rot

Chapter 15 Functions15-4515.13 Figure ComponentRVEC (Function)FunctionExtracts a figure.FormatRVEC (<Position type>)ExplanationThis statement e

15-4615.14 Position FunctionAREAPOS (Function)FunctionReturns the center position and direction of a rectangular parallelepiped withthe position type

Chapter 15 Functions15-47AREASIZE (Function)FunctionReturns the size (each side length) of a rectangular parallelepiped whichdefines the interference

15-48TOOLPOS (Function)FunctionReturns a tool coordinate system as the position type.FormatTOOLPOS (<Tool coordinate system number>)ExplanationD

Chapter 15 Functions15-49WORKPOS (Function)FunctionReturns the user coordinate system as the position type.FormatWORKPOS (<user coordinate system

15-5015.15 Character String FunctionASC (Function)FunctionConverts to a character code.FormatASC (<Character string >)ExplanationThis statement

Chapter 15 Functions15-51BIN$ (Function) [Conforms to SLIM]FunctionConverts the value of an expression to a binary character string.FormatBIN$ (<E

iiiHow this book is organizedThis book is just one part of the documentation set. This book consists of SAFETY PRECAUTIONSand chapters one through fi

15-52CHR$ (Function) [Conforms to SLIM]FunctionConverts an ASCII code to a character.FormatCHR$ (<Expression>)ExplanationThis statement obtains

Chapter 15 Functions15-53SPRINTF$ (Function)FunctionConverts an expression to a designated format and returns it as a characterstring.FormatSPRINTF$

15-54<space>: If <space> and a + flag at the head of the result are designated whenthe first character is not a sign in conversion with a

Chapter 15 Functions15-55f : Converts a real type argument to a character string of decimalsdisplayed in a “[-] ddd.ddd” format. The number of di

15-56HEX$ (Function) [Conforms to SLIM]FunctionObtains a value converted from a decimal to a hexadecimal number as acharacter string.FormatHEX$ (<E

Chapter 15 Functions15-57LEFT$ (Function) [Conforms to SLIM]FunctionExtracts the left part of a character string.FormatLEFT$ (<Character string &g

15-58LEN (Function) [Conforms to SLIM]FunctionObtains the length of a character string in bytes.FormatLEN (<Character string >)ExplanationThis s

Chapter 15 Functions15-59MID$ (Function) [Conforms to SLIM]FunctionExtracts a character string for the designated number of characters from acharacte

15-60ORD (Function) [Conforms to SLIM]FunctionConverts to a character code.FormatORD (<Character string >)ExplanationThis statement converts the

Chapter 15 Functions15-61RIGHT$ (Function) [Conforms to SLIM]FunctionExtracts the right part of a character string.FormatRIGHT$ (<Character string

Chapter 1 Sample ProgramThis chapter utilizes a simple application exam-ple to provide usage of each command.

15-62STRPOS (Function) [Conforms to SLIM]FunctionObtains the position of a character string.FormatSTRPOS (<Character string 1>, <Character st

Chapter 15 Functions15-63STR$ (Function) [Conforms to SLIM]FunctionConverts a value to a character string.FormatSTR$ (<Expression>)ExplanationT

15-64VAL (Function) [Conforms to SLIM]FunctionConverts a character string to a numeric value.FormatVAL (<Character string >)ExplanationThis stat

Chapter 16ConstantsThis chapter provides an explanation about PACprepared constants.

Chapter 16 Constants16-116.1 Built-in ConstantsOFF (Built-in Constant)FunctionSets an OFF (0) value.FormatOFFExplanationThis statement sets an OFF (0

16-2ON (Built-in constant)FunctionSets an ON (1) value.FormatONExplanationThis statement sets an ON (1) value in an expression.Related TermsOFFExample

Chapter 16 Constants16-3PI (Built-in constant)FunctionSets a π value.FormatPIExplanationThis statement returns a double-precision type value of π.Exa

16-4FALSE (Built-in constant)FunctionSets a value of false (0) to a Boolean value.FormatFALSEExplanationThis statement sets a value of false (0) to a

Chapter 16 Constants16-5TRUE (Built-in constant)FunctionSets a value of true (1) to a Boolean value.FormatTRUEExplanationThis statement sets a value

Chapter 17Time/Date ControlThis chapter provides an explanation ofcommands necessary to understand time, dateor elapsed time and other commands to con

Chapter 17 Time/Date Control17-117.1 Time/DateDATE$ (System Variable) [Conforms to SLIM]FunctionObtains the current date.FormatDATE$ExplanationThis s

17-2TIME$ (System Variable) [Conforms to SLIM]FunctionObtains the current time.FormatTIME$ExplanationThis statement stores the current time in the fol

Chapter 17 Time/Date Control17-3TIMER (System Variable) [Conforms to SLIM]FunctionObtains the elapsed time.FormatTIMERExplanationThis statement obtai

Chapter 18Error ControlsWhen an error occurs, you can check thecontents of the error, or program a procedure torecover. This chapter provides an expl

Chapter 18 Error Controls18-118.1 Error InformationERL (System Variable)FunctionObtains the line number where an error occurred.FormatERLExplanationT

Chapter 1 Sample Program1-11.1 Model Case ApplicationThis section describes a sample program by using an application as a modelcase as shown in Fig.

18-2ERR (System Variable)FunctionObtains an error number that occurred.FormatERRExplanationThis program stores an error number that occurred.The ERR d

Chapter 18 Error Controls18-3ERRMSG$ (Function)FunctionSets an error message.FormatERRMSG$ (<Arithmetic expression>)ExplanationThis statement s

18-418.2 Error InterruptionON ERROR GOTO (Statement)FunctionInterrupts when an error occurs.FormatON ERROR {GOTO|GO TO}<Label name>ExplanationTh

Chapter 18 Error Controls18-5RESUME (Statement)FunctionReturns from an interruption process routine.FormatRESUME [NEXT|<Label name>]Explanation

Chapter 19System InformationThis chapter provides an explanation ofcommands necessary to obtain robot systeminformation.

Chapter 19 System Information19-119.1 SystemGETENV (Function)FunctionObtains the environment setting values of the system.FormatGETENV (<Table num

19-2LETENV (Statement)FunctionSets the environment setting values of the system.FormatLETENV <Table number>, <Element number>, <Setting

Chapter 19 System Information19-3VER$ (Function)FunctionObtains the version of each module.FormatVER$ (<Expression>)ExplanationThis statement s

1-21.2 Program FlowFig. 1-2 shows the program flow of the model case.Fig. 1-2 Model Case Program Flow****Macro Definition*****#define pHome 10 &apo

19-419.2 LogNOTE: Control log is greatly enhanced in Ver. 1.20 or later. If you use Ver.1.20 or later, refer to “WINCAPSII Guide”, Section 10.7, &

Chapter 19 System Information19-5Related TermsCLEARLOG, STOPLOGExampleSTARTLOG 'Starts recording of the servo control log.CLEARLOG (Statement)NO

19-6STOPLOG (Statement)NOTE: Control log is greatly enhanced in Ver. 1.20 or later. If you use Ver.1.20 or later, refer to “WINCAPSII Guide”, Secti

Chapter 20PreprocessorIf you create a program with the PAC manager,you can use the preprocessor commandsdescribed in this chapter.The PAC manager auto

Chapter 20 Preprocessor20-120.1 Symbol Constants · Macro Definitions#define (Preprocessor Statement)FunctionReplaces a designated constant or macro n

20-2#undef (Preprocessor Statement)FunctionMakes a symbol constant defined with #define or macro definition invalid.Format#undef {<Symbol constant

Chapter 20 Preprocessor20-3#error (Preprocessor Statement)FunctionForcibly generates a compiling error if the #error command is executed.Format#error

20-420.2 File Fetch#include (Preprocessor Statement)FunctionFetches the preprocessor program.Format#include “[Path] file name”#include <[Path] file

Chapter 20 Preprocessor20-520.3 Optimization#pragma optimize (Preprocessor Statement)FunctionDesignates optimization to be executed for each program.

Chapter 1 Sample Program1-31.3 Program ListBelow is a program list for the model case.There are 4 programs: “PRO1,” “PRO2,” “dioSetAndWait,” and“dio

Chapter 21Vision Control(Option)This chapter lists all the commands available foruse with the µVision board and µVision-21.

Chapter 21 Vision Control (Option)21-121.1 Precautions for using vision commands.(1) To use vision commands, an optional µVision board is required.(2

21-2µVision-15 µVision board Description PageCROSSCRSALNVISCROSS Draws cross symbols. 14-36LOC VISLOCLocates character display positions.14-37VISDEFCH

Chapter 21 Vision Control (Option)21-321.3 Image Input and OutputCAMIN (Statement)FunctionStores an image from the camera in the image memory (proces

21-4CAMMODE (Statement)FunctionSets the function used to store a camera image.FormatCAMMODE <Camera number>, <Function>, <Storage metho

Chapter 21 Vision Control (Option)21-5Related TermsCAMIN, VISSTATUSExampleCAMMODE 1, 0, 0 'Sets the function of camera 1 to normal and sets the

21-6CAMLEVEL (Statement)FunctionSets the camera image input level.FormatCAMLEVEL <Camera number>, <Lower limit level>, <Upper limit lev

Chapter 21 Vision Control (Option)21-7VISCAMOUT (Statement)FunctionDisplays an image from the camera on the monitor.FormatVISCAMOUT <Camera number

1-4Program coding list “PRO1”(Continued)' ===== Chucking a part =====*ChuckItem: *Specifies a label with ¡¡:. Will be called later by CALL*ChuckI

21-8VISPLNOUT (Statement)FunctionDisplays an image in the storage memory on the monitor.FormatVISPLNOUT <Storage memory number>[, <Table numb

Chapter 21 Vision Control (Option)21-9VISOVERLAY (Statement)FunctionDisplays draw screen information on the monitor.FormatVISOVERLAY <Number>Ex

21-10ExampleVISOVERLAY 3 'Sets the destination screen to draw.VISSCREEN 1, 0'VISCLS 0 'VISLOC 10, 10 'Sets the position to display

Chapter 21 Vision Control (Option)21-11VISDEFTABLE (Statement)FunctionReads images on the camera and sets the look-up table data for image output.For

21-12ExampleVISSCREEN 1, 0, 1'VISCLS 0 'VISCAMOUT 1, 1 'Converts an image (dynamic image) from camera 1 with table'1 (0~175, 75%

Chapter 21 Vision Control (Option)21-13VISREFTABLE (Function)FunctionRefers to data on the look-up table.FormatVISREFTABLE (<Table number>, <

21-1421.4 Window SettingWINDMAKE (Statement)FunctionDesignates an area for image processing.FormatWINDMAKE <Window shape>, <Window number>

Chapter 21 Vision Control (Option)21-15Line window (2 point designation)<Start point X coordinate> Designates the line start point X coordinat

21-16Ellipse window:<Width> Designates the width of an ellipse (1 to 256).<Height> Designates the height of an ellipse (1 to 240).axisX

Chapter 21 Vision Control (Option)21-17Rectangle window:<Width> Designates the width of a rectangle (1 to 512).<Height> Designates the he

Chapter 1 Sample Program1-5Program coding list “PRO1”(Continued)' ===== Parts B and C processing =====*PlacePartsBC:Label name (declares a subro

21-18ExampleVISSCREEN 1, 0, 1'VISCLS 0 'VISCAMOUT 1 'CAMIN 1 'VISPLNOUT 0 'WINDMAKE P, 1, 50, 100, 100, 150 'Creates a l

Chapter 21 Vision Control (Option)21-19WINDCLR (Statement)FunctionDeletes set window information.FormatWINDCLR <Window number>Explanation<Wi

21-20WINDCOPY (Statement)FunctionCopies window data.FormatWINDCOPY <Copy source window number>, <Copy destination windownumber>Explanation

Chapter 21 Vision Control (Option)21-21ExampleVISSCREEN 1, 0, 1'VISCLS 0 'VISCAMOUT 1 'WINDCLR 2 'WINDMAKE R, 1, 50, 100, 0, 2&ap

21-22WINDREF (Function)FunctionObtains window information.FormatWINDREF (<window number>, <Item>)ExplanationThis statement designates the

Chapter 21 Vision Control (Option)21-23WINDDISP (Statement)FunctionDraws a designated window.FormatWINDDISP <Window number>ExplanationThis stat

21-2421.5 DrawVISSCREEN (Statement)FunctionDesignates a drawing screen.FormatVISSCREEN <Draw object>, <Screen number>[, <Draw mode>]

Chapter 21 Vision Control (Option)21-25ExampleVISSCREEN 1,0,1 'Instantaneously draws the drawing screen 0.VISCLS 0 'FORI1=100TO200STEP2 &ap

21-26VISBRIGHT (Statement)FunctionDesignates a drawing brightness value.FormatVISBRIGHT <Brightness value>Explanation<Brightness value> D

Chapter 21 Vision Control (Option)21-27VISCLS (Statement)FunctionFills (clears) a designated screen, set in a mode with a designated brightness.Forma

1-6Program coding list “PRO2”'!TITLE “Reading QR code”#INCLUDE “var_tab.h” 'Reads the variable macro definition file.'Store a parts num

21-28ExampleVISSCREEN 1,0,1 'VISCLS 0 'VISSCREEN 1,1,1 'VISCLS 0 'VISPLNOUT 0 'Displays storage memory 0 (processing screen).

Chapter 21 Vision Control (Option)21-29VISPUTP (Statement)FunctionDraws a point on the screen.FormatVISPUTP <X coordinate >, <Y coordinate &

21-30VISLINE (Statement)FunctionDraws a line on the screen.FormatVISLINE<X coordinate >, <Y coordinate >, <Length> [, <Angle>]

Chapter 21 Vision Control (Option)21-31VISPTP (Statement)FunctionDraws a line connecting two points on the screen.FormatVISPTP <Start point X coor

21-32VISRECT (Statement)FunctionDraws a rectangle on the screen.FormatVISRECT <X coordinate >, <Y coordinate >, <Width>, <Height&

Chapter 21 Vision Control (Option)21-33VISCIRCLE (Statement)FunctionDraws a circle on the screen.FormatVISCIRCLE <X coordinate >, <Y coordin

21-34VISELLIPSE (Statement)FunctionDraws an ellipse on the screen.FormatVISELLIPSE <X coordinate >, <Y coordinate >, <Width>, <He

Chapter 21 Vision Control (Option)21-35VISSECT (Statement)FunctionDraws a sector on the screen.FormatVISSECT <X coordinate>, <Y coordinate&g

21-36VISCROSS (Statement)FunctionDraws a cross symbol on the screen.FormatVISCROSS <X coordinate>, <Y coordinate>[, <Axis length 1>

Chapter 21 Vision Control (Option)21-37VISLOC (Statement)FunctionDesignates the display position of characters.FormatVISLOC <X position>, <Y

Chapter 1 Sample Program1-7Program coding list "WAIT →→→→ SET" (Library)'!TITLE “WAIT  SET”PROGRAM dioWaitAndSet(waitIndex%, ackIndex

21-38Related TermsVISPRINTExampleVISPLNOUT 0 'Displays storage memory 0 (processing screen).VISSCREEN 0,0,1 'Instantaneously draws on proces

Chapter 21 Vision Control (Option)21-39VISDEFCHAR (Statement)FunctionDesignates the size of characters and the display method.FormatVISDEFCHAR <La

21-40VISPRINT (Statement)FunctionDisplays characters and figures on the screen.FormatVISPRINT <Message>[<Separator><Message> …]Expla

Chapter 21 Vision Control (Option)21-4121.6 Vision ProcessingVISWORKPLN (Statement)FunctionDesignates the storage memory (process screen) to process.

21-42VISGETP (Function)FunctionObtains designated coordinate brightness from the storage memory(processing screen).FormatVISGETP (<Coordinate X>

Chapter 21 Vision Control (Option)21-43VISHIST (Statement)FunctionObtains the histogram (brightness distribution) of the screen.FormatVISHIST <Win

21-44VISREFHIST (Function)FunctionReads histogram results.FormatVISREFHIST (<Brightness value >)Explanation<Brightness value> Designates t

Chapter 21 Vision Control (Option)21-45VISLEVEL (Function)FunctionObtains a binarization level based on the histogram result.FormatVISLEVEL (<Mode

21-46ExampleVISCLS 0 'WINDMAKE R,1,100,100,0,2 'Sets window 1 to rectangle.CAMIN 1 'Obtains a camera image from the storage memory.VISW

Chapter 21 Vision Control (Option)21-47VISBINA (Statement)FunctionBinarizes the screen.FormatVISBINA <Window number>, <Coordinate X>, <

ivPART 2 COMMAND REFERENCEChapter 6 Guide to Command ReferenceThis chapter provides command descriptions and a command list for the PAC robot.Use th

21-48ExampleVISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0.WINDMAKE R,1,100,100,0,2 'Sets window 1 to rectangle.CAMIN 1 'Ob

Chapter 21 Vision Control (Option)21-49VISBINAR (Statement)FunctionDisplays a binarized screen.FormatVISBINAR <Mode>[, <Binary lower limit&g

21-50VISFILTER (Statement)FunctionExecutes filtering on the screen.FormatVISFILTER <Window number>, <Coordinate X>, <Coordinate Y>,

Chapter 21 Vision Control (Option)21-51Note (1): If the process screen and the storage screen have the samenumber, an error will result.Note (2): Des

21-52VISMASK (Statement)FunctionExecutes calculations between images.FormatVISMASK <Window number>, <Coordinate X>, <Coordinate Y>,&

Chapter 21 Vision Control (Option)21-53Note (1): If the process screen and the storage screen have the samenumber, an error will result.Note (2): Des

21-54VISCOPY (Statement)FunctionCopies the screen.FormatVISCOPY <Copy source screen>, <Copy destination screen>Explanation<Copy source

Chapter 21 Vision Control (Option)21-55VISMEASURE (Statement)FunctionMeasures features in the window (area, center of gravity, main axis angle).Forma

21-56Note (1): Designate the process area with a window. (Only the sectorwindow cannot measure the main axis angle.)Note (2): If the designated window

Chapter 21 Vision Control (Option)21-57ExampleVISSCREEN 0,0,1 'Instantaneously draws on storage memory 0.WINDMAKE R,1,512,480,0,2 'Sets win

Chapter 2Program FlowThis chapter provides an explanation of the flowregulation required for creating programs usingthe PAC language.

21-58VISPROJ (Statement)FunctionMeasures the projected data in the window.FormatVISPROJ <Window number>, <Coordinate X>, <Coordinate Y&

Chapter 21 Vision Control (Option)21-59Note (3): The following data can be obtained with the processingresult obtaining function.Note (4): When this

21-60VISEDGE (Statement)FunctionMeasures the edge in a window.FormatVISEDGE<Window number>,<Coordinate X>,<Coordinate Y>, <Step&g

Chapter 21 Vision Control (Option)21-61<Level> Designates the level to detect the edge (0 to 512).<Mode> Designates the method for detect

21-62Note (1): Designate the processing range with a window.Note (2): If the specified window is larger than the screen, an error willresult.Note (3):

Chapter 21 Vision Control (Option)21-63ExampleVISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0.VISPLNOUT 0 'VISCLS 0 'WINDMA

21-6421.7 Code RecognitionVISREADQR (Statement)FunctionReads the QR code.FormatVISREADQR <Window number>, <Coordinate X>, <Coordinate Y

Chapter 21 Vision Control (Option)21-65Note (1): Designate the process range with a window.Note (2): The only window shape that can be designeted is

21-66ExampleVISSCREEN 1,0,1 'VISCLS 'WINDMAKE R,1,512,480,0,2 'Sets window 1 to a rectangle.CAMIN 1 'Obtains a camera image from s

Chapter 21 Vision Control (Option)21-6721.8 LabelingBLOB (Statement)FunctionExecutes labeling.FormatBLOB <Widow number>, <Coordinate X>,

21-68Note (1): Designate the process range with a window.Note (2): If the designated window position is out of screen, theexecution will result in an

Chapter 21 Vision Control (Option)21-69ExampleVISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0.VISCLS 0 'WINDMAKE R,1,512,480,0,2

21-70BLOBMEASURE (Statement)FunctionExecutes feature measurement of the object label number.FormatBLOBMEASURE <Label number>, <Feature>Exp

Chapter 21 Vision Control (Option)21-71Note (1): Before executing this function, you need to execute labelingwith BLOB.Note (2): When you obtain the

21-72BLOBLABEL (Function)FunctionObtains the label number for designated coordinates.FormatBLOBLABEL(<Coordinate X>, <Coordinate Y>)Explan

Chapter 21 Vision Control (Option)21-73ExampleVISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0.WINDMAKE R,1,512,480,0,2 'Sets win

21-74BLOBCOPY (Statement)FunctionCopies an object label number.FormatBLOBCOPY <Label number>, <Copy destination screen>, <Coordinate X&

Chapter 21 Vision Control (Option)21-75ExampleVISSCREEN 0,1, 'Instantaneously draws on storage memory 1.VISCLS 128 'Clears the screen.VISSC

21-7621.9 Search FunctionSHDEFMODEL (Statement)FunctionRegisters the search model.FormatSHDEFMODEL <Model number>, <Coordinate X>, <Coo

Chapter 21 Vision Control (Option)21-77Note (1): If the model to be registered is not more than 16 pixels insidefrom the edge of the screen, it canno

Chapter 2 Program Flow2-12.1 Calling a Program and SubroutineA section of a program that repeats a specific motion can be put out of theprogram and

21-78SHREFMODEL (Statement)FunctionRefers to registered model data.FormatSHREFMODEL (<Model number>,<Item>)Explanation<Model number>

Chapter 21 Vision Control (Option)21-79SHCOPYMODEL (Statement)FunctionCopies a registered model.FormatSHCOPYMODEL <Copy source model number>,&l

21-80SHCLRMODEL (Statement)FunctionDeletes a registered model.FormatSHCLRMODEL <Model number>Explanation<Model number> Designates the mod

Chapter 21 Vision Control (Option)21-81SHDISPMODEL (Statement)FunctionDisplays a registered model on the screen.FormatSHDISPMODEL <Model number>

21-82SHMODEL (Statement)FunctionSearches for a model.FormatSHMODEL <Window number>, <Coordinate X>, <Coordinate Y>, <Modelnumber&

Chapter 21 Vision Control (Option)21-83Measures an angle of an object whose angle from the angular origin exists in an area ranging from[Start Angle]

21-84Note (7): The shape of the window available to designate is a rectanglewith 0 degrees. If you designate any shape other than this, anerror occur

Chapter 21 Vision Control (Option)21-85Related TermsWINDMAKE, VISWORKPLN, VISGETNUM, VISSTATUS, SHDEFMODELExampleVISSCREEN 1,0,1 'Instantaneousl

21-86SHDEFCORNER (Statement)FunctionSets the conditions for a corner search.FormatSHDEFCORNER <Distance>, <Clearance>, <Width>, <

Chapter 21 Vision Control (Option)21-87SHCORNER (Statement)FunctionSearches for a corner.FormatSHCORNER <Window number>, <Coordinate X>,

2-22.1.1 Calling a SubroutineTo use the same program at different positions in one program describe theprocess as a subroutine. The subroutine can b

21-88Note (1): Designate the process range with a window.Note (2): If the designated window is not positioned on the screen, anexecution error will re

Chapter 21 Vision Control (Option)21-89SHDEFCIRCLE (Statement)FunctionSets the condition for searching a circle.FormatSHDEFCIRCLE <Clearance>,

21-90SHCIRCLE (Statement)FunctionSearches for a circle.FormatSHCIRCLE <Window number>, <Coordinate X>, <Coordinate Y>, <Radius&g

Chapter 21 Vision Control (Option)21-91Note (1): Designate the process range with the window.Note (2): If the position of the designated window is no

21-92ExampleVISSCREEN 1,0,1 'Instantaneously draws on drawing screen 0.VISCLS 0 'WINDMAKE R,1,512,480,0,2 'Sets window 1 to rectangle.C

Chapter 21 Vision Control (Option)21-9321.10 Obtaining ResultsVISGETNUM (Function)FunctionObtains an image process result from the storage memory.Fo

21-94VISGETSTR (Function)FunctionObtains code recognition result.FormatVISGETSTR(<Leading character number>, <Number of characters>)Explan

Chapter 21 Vision Control (Option)21-95VISPOSX (Function)FunctionObtains an image process result (Coordinate X) from the storage memory.FormatVISPOSX

21-96VISPOSY (Function)FunctionObtains an image process result (Coordinate Y) from the storage memory.FormatVISPOSY (<Parameter>)Explanation<

Chapter 21 Vision Control (Option)21-97VISSTATUS (Function)FunctionMonitors the process result of each instruction.FormatVISSTATUS (<Parameter>

Chapter 2 Program Flow2-32.1.2 Calling a ProgramIf a program is created separately from the one that is mainly executed, theprogram can be used by c

21-98VISREFCAL (Function)FunctionObtains calibration data (Vision-robot coordinate transformation).FormatVISREFCAL (<Set number>, <Data numbe

Chapter 22Appendices

Chapter 22 Appendices22-122.1 Character Code TableTable 1. Character Code Table+0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F001020 ! ” #$~& ’

22-222.2 Figures of the Shoulder, Elbow, and Wrist[ 1 ] Available 32 FiguresA 6-axis robot can take different figures for its shoulder, elbow, wrist,

Chapter 22 Appendices22-3(1) Shoulder figureA shoulder figure is defined by a set of the values of the 1st-, 2nd-, and 3rd-axiscomponents.The robot

22-4(3) Wrist figureA wrist figure is defined by a set of the values of the 4th- and 5th-axis components.The robot can take two different shoulder fi

Chapter 22 Appendices22-5(5) 4th-axis figureThe 4th-axis figure is defined by a value of the 4th-axis component.The robot can take two different 4th

22-6Figure-1LEFTY, ABOVE, and NONFLIPFigure-2LEFTY, ABOVE, and FLIPFigure-3LEFTY, BELOW, and NONFLIPFigure-4LEFTY, BELOW, and FLIPFigure-5RIGHTY, ABOV

Chapter 22 Appendices22-7CAUTION: When carrying out a command with CP control, if the robot figures atthe start point differ from those saved in prog

2-42.1.3 Program Recursive CallWhen a program is called, the calling program itself can be designated as aprogram name using a CALL statement. This

22-8[ 2 ] Boundaries of Robot FiguresThis section describes the boundary of each of the robot shoulder, elbow, wrist, and6th-axis figures.When judging

Chapter 22 Appendices22-9(1) LEFTY/RIGHTY (Shoulder figure)The rotary axis of the 1st axis is defined as the boundary between LEFTY andRIGHTY.When v

22-10(2) ABOVE/BELOW (Elbow figure)The centerline of the arm link (connecting the shoulder with elbow) is defined as theboundary between ABOVE and BE

Chapter 22 Appendices22-11(3) FLIP/NONFLIP (Wrist figure)The rotary axis of the 4th axis is defined as the boundary between FLIP andNONFLIP.If the n

22-12(4) SINGLE/DOUBLE (6th-axis figure)If the rotation angle (θ6) of the 6th axis is within the range of -180°<θ6≤180° aroundthe Z axis in mechan

Chapter 22 Appendices22-1322.3 Environment Setting ValuesTable number Macro name Description WINCAPSII1 cnfSYSSystem parameter table 2cnfARMPath cre

22-1422.4 Configuration ListThe table below lists the items displayed in the User Preferences window of the teachpendant (Access: [F2 Arm]—[F6 Aux.]—[

Chapter 22 Appendices22-15No. ItemsFactorydefaultPowering-ondefaultDescription Comments23 Control log samplingintervals8 Last value atpowering-offSam

22-16No. ItemsFactorydefaultPowering-ondefaultDescription Comments53to60Gain reduce rate(J1 to J8)Valueproperto eachrobotLast value atpowering-offGain

Chapter 22 Appendices22-17No. ItemsFactorydefaultPowering-ondefaultDescription Comments81 Damper setting rate(RX)(For 6-axis robot)10000 10000 Dampin

Chapter 2 Program Flow2-52.2 Running a ProgramThe following 3 methods are available for running a program.• Start using teach pendant operation.• St

22-18No. ItemsFactorydefaultPowering-ondefaultDescription Comments92 Force limit rate (+RX)(For 6-axis robot)10000 10000 Force control rate around the

Chapter 22 Appendices22-19No. ItemsFactorydefaultPowering-ondefaultDescription Comments110 Compliance/positionalerror allowance (RX)(For 6-axis robot

22-20196J4 brake lock setting(For VM-6083D/VM-60B1D and VS-Eseries)00If the J4 overrides its software motionlimit when the brake is released:0: Will l

Chapter 22 Appendices22-2122.5 Reserved Word ListYou cannot use these reserved words as variable names or label names.AABOVE ABS ACCEL ACOS ADDCO

22-22SS SEC SELECT SENDKEY SET SETAREA SETVALVE SGNSHADDGROUP SHCIRCLE SHCLRGROUP SHCLRMODELSHCOPYMODEL SHCORNER SHDEFCIRCLE SHDEFCORNERS

Chapter 22 Appendices22-2322.6 Conventional Language CommandCorrespondence Table (VS)nnnn Motion Command Correspondence TableConventional language co

22-24Conventional language command PAC COMMAND RemarkLABL n *labeln.LABL n *labeln.IPCLR n CALL pltResetAll (n)INTRPT INTERRUPT ONAfter the next comma

Chapter 22 Appendices22-25nnnn Operation Command Correspondence TableConventional language command PAC COMMAND Remark+ + Addition- - Subtraction* * M

22-26Functions to move the coordinate systemAlthough the PAC language does not support coordinate system moving functions (TRANScommand) of convention

Chapter 22 Appendices22-27(Note) The TRANS command is a coordinate system movement command which uses the toolcoordinate system as the reference; how

2-62.3 MultitaskingA PAC language program can concurrently execute progress management ofmultiple programs. Each program forms its own motion proces

22-2822.7 Version Correspondence TableExpression values used with the VER$ function and the corresponding modules are listedon the table below.For the

Chapter 22 Appendices22-2922.8 Setting Parameter Tablennnn Pac Manager - ProgramParameter name Macro name DescriptionNumber of Type I variables PC_NO

22-30nnnn Arm Manager - Path creationParameter name Macro name DescriptionPositive direction software motion limit (J1,deg*10^3) AM_JPRM_PLIM1 1st axi

Chapter 22 Appendices22-31nnnn Vision Manager - General SettingParameter name Macro name DescriptionCamera 1 - shutter system CA_SHUT1 Camera 1 shutt

22-32Parameter name Macro name DescriptionRS232C(2). Communication priority COM_RS2_ACCESSCommunication priority setting of RS232C channel 2 of thecon

Index

AAbsolute Motion ...3-1Acceleration Setting...4-2An

HHexadecimal Format ...7-13Histogram(vision control) ...5-4Home Posi

RRectangle window...21-17Relation between level and edge...21-61Relational Opera

Chapter 2 Program Flow2-7The following two programs “MOTION1” and “TIMING” are examples ofsynchronization control that use semaphores.If the program

Vertical articulated V*-D/-E SERIESHorizontal articulated H*-D SERIESCartesian coordinate XYC-4D SERIESVision device µVision-21 SERIESPROGRAMMER’S

SAFETY PRECAUTIONS1SAFETY PRECAUTIONSBe sure to observe all of the following safety precautions.Strict observance of these warning and caution indicat

2-82.4 Serial Communication2.4.1 Circuit NumberThe table below lists the relationship between the circuit numbers and channelnumbers assigned in the

Chapter 2 Program Flow2-92.4.4 Sample ApplicationIn this section, a practical program sample is illustrated as a simple applicationthat uses serial

2-10'!TITLE ”Sending”PROGRAM PRO2DOPRINT #2,I1DELAY 2000LOOPENDFig. 2-8 Program “PRO2” “Sending” of the Robot Controller2.4.4.2 Personal Comput

Chapter 2 Program Flow2-11PDQComm1.PortOpen = TrueEnd Sub'' Closes the communication port.''Private Sub CommClose()'--------

2-12'----------------------------------------'Reading received data.'----------------------------------------If PDQComm1.InBufferCount

Chapter 2 Program Flow2-132.4.5 Serial Binary Transmission (Version 1.5 or later)In Version 1.4 or earlier, the robot controller can transmit only A

2-142.5 LibraryThe program library is used to collect all-purpose programs like parts and usethem accordingly. In the PAC language, since other prog

Chapter 2 Program Flow2-152.5.2 Palletizing LibraryThere is no special instruction for palletizing in the PAC language. Butpalletizing operation ca

2-16[ 1 ] Palletizing ParameterFigs. 2-13 to 2-15 and Table 2-3 show the required parameters for palletizing.The PAC language stores these parameters

Chapter 2 Program Flow2-17Table 2-3 Parameters Required for PalletizingSymbol Name Meaning UnitPalletizingnumberPalletizing index numberNone(Integer

21. IntroductionThis section provides safety precautions to be observed duringinstallation, teaching, inspection, adjustment, and maintenanceof the ro

2-18Note: H1 and H2 must satisfy the following conditions.H1 > {H3 ×××× (K-1)} + 5H2 > {H3×(K-1)} + 5If these conditions are not satisfied, an e

Chapter 2 Program Flow2-19[ 2 ] Parameter Value SettingSet the parameter values such as the numbers of side and lengthwisepartitions and the layers

2-20[ 3 ] Palletizing CounterIn palletizing the robot counts the number of partitions and stores the countvalues as variables.There are 4 types of co

Chapter 2 Program Flow2-21 When N=3, m=5, and K=3,Point a is N=1, m=1, K=1Point b is N=2, m=2, K=2Point c is N=3, m=4, K=3Fig. 2-20 Relation between

2-222.5.2.2 Palletizing ProgramA practical palletizing program varies in special situations depending on theapplication. However, the standard proce

Chapter 2 Program Flow2-23[ 1 ] Palletizing Program CustomizationQ. How do you change a palletizing program to execute to 1?A. Change the value of “

2-24Q. How do you chAnge N1, M1 and K1?A. Add the program libraries “pltLetK1”, “pltLetM1”, “pltLetN1”.* call pltLetK1(Index, iValue)* call pltLetM1(I

Chapter 2 Program Flow2-25Q. How do you change the total counter?A. Add the program library “pltIncCnt.”* callpltLetCnt(Index, iValue)'Index...P

Chapter 3Robot MotionThere are various robot motions according toreference point settings or how to determinewhether the robot reaches the destination

SAFETY PRECAUTIONS32.3 Control devicesoutside the robot'srestricted spaceThe robot controller, teach pendant, and operating panel shouldbe instal

Chapter 3 Robot Motion3-13.1 Absolute Motion and Relative Motion3.1.1 Absolute MotionAn absolute motion is a motion to move a taught position.An ab

3-2MOVEMENT1 motionMOVEMENT2 motionFig. 3-3 Motion Examples of Two ProgramsIf you delete the first motion instruction “MOVE P, P1” from “MOVEMENT1”an

Chapter 3 Robot Motion3-33.2 Confirming Reach PositionThere are three methods of determining the first motion finish when the robotarm changes from

3-43.2.4 Motion Examples of Pass, End and Encoder Value CheckThese examples show three programs to move the robot from the currentposition P1 to poin

Chapter 3 Robot Motion3-53.2.5 Execution Time Difference among Pass Motion, EndMotion and Encoder Value Check MotionAmong the three motions, the pas

3-63.2.6 If Pass Motion Does Not ExecuteIn the following cases, even if a pass motion is designated, the robot moveswith end motion.3.2.6.1 If Pass

Chapter 3 Robot Motion3-73.2.7 If Pass Motion Effect Reduces3.2.7.1 If Non-Motion Command Is Present after Pass MotionIf a non-motion command is pr

3-83.2.8 If Acceleration Affects Pass Motion PathThe VS-D series robot automatically sets the square of speed divided by onehundred for acceleration

Chapter 3 Robot Motion3-93.2.9 Pass Start DisplacementIf you designate pass start displacement with “@P,” the next motion startstogether at the star