MELFA

Industrial Robot

Instruction Manual

CR1 Controller

133798

BFP-A8056-A

MITSUBISHI ELECTRIC

Art.No.:

2000 05 10

MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION

All teaching work must be carried out by an operator who has received special training. All teaching work must be carried out by an operator who has received special training. All teaching work must be carried out by an operator who has received special training. All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)→ Enforcement of safety training→ Enforcement of safety training→ Enforcement of safety training→ Enforcement of safety training

For teaching work, prepare a work plan related to the methods and procedures of For teaching work, prepare a work plan related to the methods and procedures of For teaching work, prepare a work plan related to the methods and procedures of For teaching work, prepare a work plan related to the methods and procedures of operating the robot, and to the measures to be taken when an error occurs or when operating the robot, and to the measures to be taken when an error occurs or when operating the robot, and to the measures to be taken when an error occurs or when operating the robot, and to the measures to be taken when an error occurs or when restarting. Carry out work following this plan. (This also applies to maintenance work restarting. Carry out work following this plan. (This also applies to maintenance work restarting. Carry out work following this plan. (This also applies to maintenance work restarting. Carry out work following this plan. (This also applies to maintenance work with the power source turned ON.)with the power source turned ON.)with the power source turned ON.)with the power source turned ON.)→ Preparation of work plan→ Preparation of work plan→ Preparation of work plan→ Preparation of work plan

Prepare a device that allows operation to be stopped immediately during teaching work. Prepare a device that allows operation to be stopped immediately during teaching work. Prepare a device that allows operation to be stopped immediately during teaching work. Prepare a device that allows operation to be stopped immediately during teaching work. (This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)→ Setting of emergency stop switch→ Setting of emergency stop switch→ Setting of emergency stop switch→ Setting of emergency stop switch

During teaching work, place a sign indicating that teaching work is in progress on the During teaching work, place a sign indicating that teaching work is in progress on the During teaching work, place a sign indicating that teaching work is in progress on the During teaching work, place a sign indicating that teaching work is in progress on the start switch, etc. (This also applies to maintenance work with the power source turned start switch, etc. (This also applies to maintenance work with the power source turned start switch, etc. (This also applies to maintenance work with the power source turned start switch, etc. (This also applies to maintenance work with the power source turned ON.)ON.)ON.)ON.)→ Indication of teaching work in progress→ Indication of teaching work in progress→ Indication of teaching work in progress→ Indication of teaching work in progress

Provide a fence or enclosure during operation to prevent contact of the operator and Provide a fence or enclosure during operation to prevent contact of the operator and Provide a fence or enclosure during operation to prevent contact of the operator and Provide a fence or enclosure during operation to prevent contact of the operator and robot.robot.robot.robot.→ Installation of safety fence→ Installation of safety fence→ Installation of safety fence→ Installation of safety fence

Establish a set signaling method to the related operators for starting work, and follow Establish a set signaling method to the related operators for starting work, and follow Establish a set signaling method to the related operators for starting work, and follow Establish a set signaling method to the related operators for starting work, and follow this method.this method.this method.this method.

→ Signaling of operation start→ Signaling of operation start→ Signaling of operation start→ Signaling of operation start

As a principle turn the power OFF during maintenance work. Place a sign indicating that As a principle turn the power OFF during maintenance work. Place a sign indicating that As a principle turn the power OFF during maintenance work. Place a sign indicating that As a principle turn the power OFF during maintenance work. Place a sign indicating that maintenance work is in progress on the start switch, etc.maintenance work is in progress on the start switch, etc.maintenance work is in progress on the start switch, etc.maintenance work is in progress on the start switch, etc.

→ Indication of maintenance work in progress→ Indication of maintenance work in progress→ Indication of maintenance work in progress→ Indication of maintenance work in progress

Before starting work, inspect the robot, emergency stop switch and other related Before starting work, inspect the robot, emergency stop switch and other related Before starting work, inspect the robot, emergency stop switch and other related Before starting work, inspect the robot, emergency stop switch and other related devices, etc., and confirm that there are no errors.devices, etc., and confirm that there are no errors.devices, etc., and confirm that there are no errors.devices, etc., and confirm that there are no errors.

→ Inspection before starting work→ Inspection before starting work→ Inspection before starting work→ Inspection before starting work

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Always read the following precautions and the separate Always read the following precautions and the separate Always read the following precautions and the separate Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the "Safety Manual" before starting use of the robot to learn the "Safety Manual" before starting use of the robot to learn the "Safety Manual" before starting use of the robot to learn the required measures to be taken.required measures to be taken.required measures to be taken.required measures to be taken.

Safety PrecautionsSafety PrecautionsSafety PrecautionsSafety Precautions

The points of the precautions given in the separate "Safety Manual" are given below.The points of the precautions given in the separate "Safety Manual" are given below.The points of the precautions given in the separate "Safety Manual" are given below.The points of the precautions given in the separate "Safety Manual" are given below.Refer to the actual "Safety Manual" for details.Refer to the actual "Safety Manual" for details.Refer to the actual "Safety Manual" for details.Refer to the actual "Safety Manual" for details.

Use the robot within the environment given in the specifications. Failure to do so Use the robot within the environment given in the specifications. Failure to do so Use the robot within the environment given in the specifications. Failure to do so Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.)environment, etc.)environment, etc.)environment, etc.)

Transport the robot with the designated transportation posture. Transporting the Transport the robot with the designated transportation posture. Transporting the Transport the robot with the designated transportation posture. Transporting the Transport the robot with the designated transportation posture. Transporting the robot in a non-designated posture could lead to personal injuries or faults from robot in a non-designated posture could lead to personal injuries or faults from robot in a non-designated posture could lead to personal injuries or faults from robot in a non-designated posture could lead to personal injuries or faults from dropping.dropping.dropping.dropping.

Always use the robot installed on a secure table. Use in an instable posture could lead Always use the robot installed on a secure table. Use in an instable posture could lead Always use the robot installed on a secure table. Use in an instable posture could lead Always use the robot installed on a secure table. Use in an instable posture could lead to positional deviation and vibration.to positional deviation and vibration.to positional deviation and vibration.to positional deviation and vibration.

Wire the cable as far away from noise sources as possible. If placed near a noise Wire the cable as far away from noise sources as possible. If placed near a noise Wire the cable as far away from noise sources as possible. If placed near a noise Wire the cable as far away from noise sources as possible. If placed near a noise source, positional deviation or malfunction could occur.source, positional deviation or malfunction could occur.source, positional deviation or malfunction could occur.source, positional deviation or malfunction could occur.

Do not apply excessive force on the connector or excessively bend the cable. Failure Do not apply excessive force on the connector or excessively bend the cable. Failure Do not apply excessive force on the connector or excessively bend the cable. Failure Do not apply excessive force on the connector or excessively bend the cable. Failure to observe this could lead to contact defects or wire breakage.to observe this could lead to contact defects or wire breakage.to observe this could lead to contact defects or wire breakage.to observe this could lead to contact defects or wire breakage.

Make sure that the workpiece weight, including the hand, does not exceed the rated Make sure that the workpiece weight, including the hand, does not exceed the rated Make sure that the workpiece weight, including the hand, does not exceed the rated Make sure that the workpiece weight, including the hand, does not exceed the rated load or tolerable torque. Exceeding these values could lead to alarms or faults.load or tolerable torque. Exceeding these values could lead to alarms or faults.load or tolerable torque. Exceeding these values could lead to alarms or faults.load or tolerable torque. Exceeding these values could lead to alarms or faults.

Securely install the hand and tool, and securely grasp the workpiece. Failure to Securely install the hand and tool, and securely grasp the workpiece. Failure to Securely install the hand and tool, and securely grasp the workpiece. Failure to Securely install the hand and tool, and securely grasp the workpiece. Failure to observe this could lead to personal injuries or damage if the object comes off or flies observe this could lead to personal injuries or damage if the object comes off or flies observe this could lead to personal injuries or damage if the object comes off or flies observe this could lead to personal injuries or damage if the object comes off or flies off during operation.off during operation.off during operation.off during operation.

Securely ground the robot and controller. Failure to observe this could lead to Securely ground the robot and controller. Failure to observe this could lead to Securely ground the robot and controller. Failure to observe this could lead to Securely ground the robot and controller. Failure to observe this could lead to malfunctioning by noise or to electric shock accidents.malfunctioning by noise or to electric shock accidents.malfunctioning by noise or to electric shock accidents.malfunctioning by noise or to electric shock accidents.

Indicate the operation state during robot operation. Failure to indicate the state could Indicate the operation state during robot operation. Failure to indicate the state could Indicate the operation state during robot operation. Failure to indicate the state could Indicate the operation state during robot operation. Failure to indicate the state could lead to operators approaching the robot or to incorrect operation.lead to operators approaching the robot or to incorrect operation.lead to operators approaching the robot or to incorrect operation.lead to operators approaching the robot or to incorrect operation.

When carrying out teaching work in the robot's movement range, always secure the When carrying out teaching work in the robot's movement range, always secure the When carrying out teaching work in the robot's movement range, always secure the When carrying out teaching work in the robot's movement range, always secure the priority right for the robot control. Failure to observe this could lead to personal priority right for the robot control. Failure to observe this could lead to personal priority right for the robot control. Failure to observe this could lead to personal priority right for the robot control. Failure to observe this could lead to personal injuries or damage if the robot is started with external commands.injuries or damage if the robot is started with external commands.injuries or damage if the robot is started with external commands.injuries or damage if the robot is started with external commands.

Keep the jog speed as low as possible, and always watch the robot. Failure to do so Keep the jog speed as low as possible, and always watch the robot. Failure to do so Keep the jog speed as low as possible, and always watch the robot. Failure to do so Keep the jog speed as low as possible, and always watch the robot. Failure to do so could lead to interference with the workpiece or peripheral devices.could lead to interference with the workpiece or peripheral devices.could lead to interference with the workpiece or peripheral devices.could lead to interference with the workpiece or peripheral devices.

After editing the program, always confirm the operation with step operation before After editing the program, always confirm the operation with step operation before After editing the program, always confirm the operation with step operation before After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with starting automatic operation. Failure to do so could lead to interference with starting automatic operation. Failure to do so could lead to interference with starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc.peripheral devices because of programming mistakes, etc.peripheral devices because of programming mistakes, etc.peripheral devices because of programming mistakes, etc.

Make sure that if the safety fence entrance door is opened during automatic Make sure that if the safety fence entrance door is opened during automatic Make sure that if the safety fence entrance door is opened during automatic Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop. Failure to do so operation, the door is locked or that the robot will automatically stop. Failure to do so operation, the door is locked or that the robot will automatically stop. Failure to do so operation, the door is locked or that the robot will automatically stop. Failure to do so could lead to personal injuries.could lead to personal injuries.could lead to personal injuries.could lead to personal injuries.

Never carry out modifications based on personal judgments, or use non-designated Never carry out modifications based on personal judgments, or use non-designated Never carry out modifications based on personal judgments, or use non-designated Never carry out modifications based on personal judgments, or use non-designated maintenance parts. maintenance parts. maintenance parts. maintenance parts. Failure to observe this could lead to faults or failures.Failure to observe this could lead to faults or failures.Failure to observe this could lead to faults or failures.Failure to observe this could lead to faults or failures.

When the robot arm has to be moved by hand from an external area, do not place When the robot arm has to be moved by hand from an external area, do not place When the robot arm has to be moved by hand from an external area, do not place When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers hands or fingers in the openings. Failure to observe this could lead to hands or fingers hands or fingers in the openings. Failure to observe this could lead to hands or fingers hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture.catching depending on the posture.catching depending on the posture.catching depending on the posture.

Do not stop the robot or apply emergency stop by turning the robot controller's main Do not stop the robot or apply emergency stop by turning the robot controller's main Do not stop the robot or apply emergency stop by turning the robot controller's main Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF.power OFF.power OFF.power OFF.If the robot controller main power is turned OFF during automatic operation, the robot If the robot controller main power is turned OFF during automatic operation, the robot If the robot controller main power is turned OFF during automatic operation, the robot If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected.accuracy could be adversely affected.accuracy could be adversely affected.accuracy could be adversely affected.

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Precautions for the basic configuration are shown below.Precautions for the basic configuration are shown below.Precautions for the basic configuration are shown below.Precautions for the basic configuration are shown below.((((When CR1-571 is used for the controller.)When CR1-571 is used for the controller.)When CR1-571 is used for the controller.)When CR1-571 is used for the controller.)

Provide an earth leakage breaker that packed together on the primary power Provide an earth leakage breaker that packed together on the primary power Provide an earth leakage breaker that packed together on the primary power Provide an earth leakage breaker that packed together on the primary power supply of the controller as protection against electric leakage.supply of the controller as protection against electric leakage.supply of the controller as protection against electric leakage.supply of the controller as protection against electric leakage.

Failure to do so could lead to electric shock accidents.Failure to do so could lead to electric shock accidents.Failure to do so could lead to electric shock accidents.Failure to do so could lead to electric shock accidents.

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CoverCoverCoverCover

Terminal coverTerminal coverTerminal coverTerminal cover

Power supplyPower supplyPower supplyPower supply(Single phase 85 to 132VAC,(Single phase 85 to 132VAC,(Single phase 85 to 132VAC,(Single phase 85 to 132VAC, or 170 to 253VAC) or 170 to 253VAC) or 170 to 253VAC) or 170 to 253VAC)

Rear side of controllerRear side of controllerRear side of controllerRear side of controller

Earth leakageEarth leakageEarth leakageEarth leakagebreakerbreakerbreakerbreaker(NV)(NV)(NV)(NV)

Protective earthProtective earthProtective earthProtective earthterminalterminalterminalterminal(PE)(PE)(PE)(PE)

CoverCoverCoverCover

TerminalTerminalTerminalTerminal

Revision historyRevision historyRevision historyRevision history

Date of printDate of printDate of printDate of print Specifications No.Specifications No.Specifications No.Specifications No. Details of revisionsDetails of revisionsDetails of revisionsDetails of revisions

1999-11-021999-11-021999-11-021999-11-02 BFP-A8056ZBFP-A8056ZBFP-A8056ZBFP-A8056Z First print.First print.First print.First print.

1999-12-281999-12-281999-12-281999-12-28 BFP-A8056Z-ABFP-A8056Z-ABFP-A8056Z-ABFP-A8056Z-A Error in writing correction.Error in writing correction.Error in writing correction.Error in writing correction.

2000-04-052000-04-052000-04-052000-04-05 BFP-A8056Z-BBFP-A8056Z-BBFP-A8056Z-BBFP-A8056Z-B Error in writing correction.Error in writing correction.Error in writing correction.Error in writing correction.

2000-05-112000-05-112000-05-112000-05-11 BFP-A8056BFP-A8056BFP-A8056BFP-A8056 Formal style.Formal style.Formal style.Formal style.

■ Introduction■ Introduction■ Introduction■ Introduction

Thank you for purchasing the Mitsubishi industrial robot.Thank you for purchasing the Mitsubishi industrial robot.Thank you for purchasing the Mitsubishi industrial robot.Thank you for purchasing the Mitsubishi industrial robot.

This instruction manual explains the commands and describes sample programs for the "MOVEMASTER COMThis instruction manual explains the commands and describes sample programs for the "MOVEMASTER COMThis instruction manual explains the commands and describes sample programs for the "MOVEMASTER COMThis instruction manual explains the commands and describes sample programs for the "MOVEMASTER COM-MANDS".MANDS".MANDS".MANDS".

Always read through this manual before starting use to ensure correct usage of the robot.Always read through this manual before starting use to ensure correct usage of the robot.Always read through this manual before starting use to ensure correct usage of the robot.Always read through this manual before starting use to ensure correct usage of the robot.

Note that there may be cases when these MOVEMASTER Note that there may be cases when these MOVEMASTER Note that there may be cases when these MOVEMASTER Note that there may be cases when these MOVEMASTER COMMANDSCOMMANDSCOMMANDSCOMMANDS cannot be used because of the model. cannot be used because of the model. cannot be used because of the model. cannot be used because of the model. Refer to the standard specifications of the corresponding product and check whether these commands can be Refer to the standard specifications of the corresponding product and check whether these commands can be Refer to the standard specifications of the corresponding product and check whether these commands can be Refer to the standard specifications of the corresponding product and check whether these commands can be used.used.used.used.

AAAApplicable model listpplicable model listpplicable model listpplicable model list. (Jan. 2000). (Jan. 2000). (Jan. 2000). (Jan. 2000)

・ No part of this manual may be reproduced by any means or in any form, without prior consent from ・ No part of this manual may be reproduced by any means or in any form, without prior consent from ・ No part of this manual may be reproduced by any means or in any form, without prior consent from ・ No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi.Mitsubishi.Mitsubishi.Mitsubishi.

・ The details of this manual are subject to change without notice.・ The details of this manual are subject to change without notice.・ The details of this manual are subject to change without notice.・ The details of this manual are subject to change without notice.・ An effort has been made to make full descriptions in this manual. However, if any discrepancies or ・ An effort has been made to make full descriptions in this manual. However, if any discrepancies or ・ An effort has been made to make full descriptions in this manual. However, if any discrepancies or ・ An effort has been made to make full descriptions in this manual. However, if any discrepancies or

unclear points are found, please contact your dealer.unclear points are found, please contact your dealer.unclear points are found, please contact your dealer.unclear points are found, please contact your dealer.

Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION

*RV-1A*RV-1A*RV-1A*RV-1A

*RV-2AJ*RV-2AJ*RV-2AJ*RV-2AJ

CONTENTSCONTENTSCONTENTSCONTENTS

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1 1 1 1 Before starting use Before starting use Before starting use Before starting use ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 1-1 1-1 1-1 1-1

1.1 1.1 1.1 1.1 Using the instruction manuals Using the instruction manuals Using the instruction manuals Using the instruction manuals ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 1-1 1-1 1-1 1-11.1.1 1.1.1 1.1.1 1.1.1 The details of each instruction manuals The details of each instruction manuals The details of each instruction manuals The details of each instruction manuals ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 1-1 1-1 1-1 1-11.1.2 1.1.2 1.1.2 1.1.2 Symbols used in instruction manual Symbols used in instruction manual Symbols used in instruction manual Symbols used in instruction manual ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 1-2 1-2 1-2 1-2

1.2 1.2 1.2 1.2 Safety Precautions Safety Precautions Safety Precautions Safety Precautions ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 1-3 1-3 1-3 1-31.2.1 1.2.1 1.2.1 1.2.1 Precautions given in the separate Safety Manual Precautions given in the separate Safety Manual Precautions given in the separate Safety Manual Precautions given in the separate Safety Manual ................................................................................................................................................................................................................................................................................................................................................................................................................ 1-4 1-4 1-4 1-4

2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands .................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2-5 2-5 2-5 2-5

2.1 2.1 2.1 2.1 Setting the parameters Setting the parameters Setting the parameters Setting the parameters ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-5 2-5 2-5 2-5

2.2 2.2 2.2 2.2 Setting of RS-232C Setting of RS-232C Setting of RS-232C Setting of RS-232C ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-5 2-5 2-5 2-5(1) (1) (1) (1) Communication specification Communication specification Communication specification Communication specification ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-5 2-5 2-5 2-5(2) (2) (2) (2) DTR control DTR control DTR control DTR control ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-5 2-5 2-5 2-5

2.3 2.3 2.3 2.3 Overview of commands Overview of commands Overview of commands Overview of commands ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-6 2-6 2-6 2-6(1) (1) (1) (1) Position and motion control commands Position and motion control commands Position and motion control commands Position and motion control commands .................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2-6 2-6 2-6 2-6(2) (2) (2) (2) Program control commands Program control commands Program control commands Program control commands ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-6 2-6 2-6 2-6(3) (3) (3) (3) Hand control command Hand control command Hand control command Hand control command ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-6 2-6 2-6 2-6(4) (4) (4) (4) I/O control command I/O control command I/O control command I/O control command ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-6 2-6 2-6 2-6(5) (5) (5) (5) Communication command (Using RS-232C) Communication command (Using RS-232C) Communication command (Using RS-232C) Communication command (Using RS-232C) ........................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-6 2-6 2-6 2-6(6) (6) (6) (6) Other command Other command Other command Other command ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-6 2-6 2-6 2-6

2.4 2.4 2.4 2.4 Explanation of command Explanation of command Explanation of command Explanation of command .................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2-6 2-6 2-6 2-6(1) (1) (1) (1) A viewpoint of command explanation A viewpoint of command explanation A viewpoint of command explanation A viewpoint of command explanation ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-6 2-6 2-6 2-6(2) (2) (2) (2) Line Line Line Line ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-6 2-6 2-6 2-6(3) (3) (3) (3) Position number Position number Position number Position number .................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2-6 2-6 2-6 2-6(4) (4) (4) (4) Counter number Counter number Counter number Counter number .................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2-7 2-7 2-7 2-7(5) (5) (5) (5) Character string numbers Character string numbers Character string numbers Character string numbers ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-7 2-7 2-7 2-7(6) (6) (6) (6) About the operation data and the comparison value About the operation data and the comparison value About the operation data and the comparison value About the operation data and the comparison value .................................................................................................................................................................................................................................................................................................................................................................... 2-7 2-7 2-7 2-7(7) (7) (7) (7) Direct execution Direct execution Direct execution Direct execution .................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2-7 2-7 2-7 2-7(8) (8) (8) (8) Internal register Internal register Internal register Internal register ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-7 2-7 2-7 2-7(9) (9) (9) (9) Character string register Character string register Character string register Character string register ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-7 2-7 2-7 2-7(10) (10) (10) (10) Internal resister and related command. (Reference) Internal resister and related command. (Reference) Internal resister and related command. (Reference) Internal resister and related command. (Reference) ................................................................................................................................................................................................................................................................................................................................................................ 2-8 2-8 2-8 2-8(11) (11) (11) (11) Character string register and related commands (Reference) Character string register and related commands (Reference) Character string register and related commands (Reference) Character string register and related commands (Reference) ................................................................................................................................................................................................................................................................................ 2-8 2-8 2-8 2-8

2.5 2.5 2.5 2.5 Explanation of each command Explanation of each command Explanation of each command Explanation of each command ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2-9 2-9 2-9 2-9ADD (Add) ADD (Add) ADD (Add) ADD (Add) .................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2-92-92-92-9AN (And) AN (And) AN (And) AN (And) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-102-102-102-10Ｃ Ｆ (Change figure) Ｃ Ｆ (Change figure) Ｃ Ｆ (Change figure) Ｃ Ｆ (Change figure) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-112-112-112-11CL (Counter Load) CL (Counter Load) CL (Counter Load) CL (Counter Load) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-122-122-122-12CP (Compare Counter) CP (Compare Counter) CP (Compare Counter) CP (Compare Counter) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-132-132-132-13CR (Counter Read) CR (Counter Read) CR (Counter Read) CR (Counter Read) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-142-142-142-14DA (Disable Act) DA (Disable Act) DA (Disable Act) DA (Disable Act) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-152-152-152-15DC (Decreement counter) DC (Decreement counter) DC (Decreement counter) DC (Decreement counter) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-152-152-152-15DIV (Div) DIV (Div) DIV (Div) DIV (Div) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-162-162-162-16DJ (Draw Joint) DJ (Draw Joint) DJ (Draw Joint) DJ (Draw Joint) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-172-172-172-17DL* (Delete Line) DL* (Delete Line) DL* (Delete Line) DL* (Delete Line) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-182-182-182-18DP (Decrement Position) DP (Decrement Position) DP (Decrement Position) DP (Decrement Position) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-182-182-182-18DR (Data Read) DR (Data Read) DR (Data Read) DR (Data Read) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-192-192-192-19DS (Draw Straight) DS (Draw Straight) DS (Draw Straight) DS (Draw Straight) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-202-202-202-20DW (Draw) DW (Draw) DW (Draw) DW (Draw) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-212-212-212-21EA (Enable Act) EA (Enable Act) EA (Enable Act) EA (Enable Act) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-222-222-222-22ED (End) ED (End) ED (End) ED (End) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-242-242-242-24EQ (Equal) EQ (Equal) EQ (Equal) EQ (Equal) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-252-252-252-25ER* (Error Read) ER* (Error Read) ER* (Error Read) ER* (Error Read) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-262-262-262-26GC (Grip Close) GC (Grip Close) GC (Grip Close) GC (Grip Close) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-272-272-272-27GF (Grip Flag) GF (Grip Flag) GF (Grip Flag) GF (Grip Flag) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-282-282-282-28GO (Grip Open) GO (Grip Open) GO (Grip Open) GO (Grip Open) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-292-292-292-29GP (Grip Pressure GP (Grip Pressure GP (Grip Pressure GP (Grip Pressure ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-302-302-302-30GS (Go Sub) GS (Go Sub) GS (Go Sub) GS (Go Sub) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-312-312-312-31GT (Go To) GT (Go To) GT (Go To) GT (Go To) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-322-322-322-32

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HE (Here) HE (Here) HE (Here) HE (Here) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-332-332-332-33HLT (Halt) HLT (Halt) HLT (Halt) HLT (Halt) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-332-332-332-33HO (Home) HO (Home) HO (Home) HO (Home) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-342-342-342-34IC (Increment Counter) IC (Increment Counter) IC (Increment Counter) IC (Increment Counter) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-342-342-342-34ID (Input Direct) ID (Input Direct) ID (Input Direct) ID (Input Direct) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-352-352-352-35INP (Input) INP (Input) INP (Input) INP (Input) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-362-362-362-36IP (Increment Position) IP (Increment Position) IP (Increment Position) IP (Increment Position) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-372-372-372-37LG (If Larger) LG (If Larger) LG (If Larger) LG (If Larger) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-382-382-382-38LR* (Line Read) LR* (Line Read) LR* (Line Read) LR* (Line Read) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-392-392-392-39MA (Move Approach) MA (Move Approach) MA (Move Approach) MA (Move Approach) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-402-402-402-40MC (Move Continuous) MC (Move Continuous) MC (Move Continuous) MC (Move Continuous) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-412-412-412-41MJ (Move Joint) MJ (Move Joint) MJ (Move Joint) MJ (Move Joint) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-422-422-422-42MO (Move) MO (Move) MO (Move) MO (Move) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-432-432-432-43MP (Move Position) MP (Move Position) MP (Move Position) MP (Move Position) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-442-442-442-44MR (Move R) MR (Move R) MR (Move R) MR (Move R) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-452-452-452-45MRA (Move RA) MRA (Move RA) MRA (Move RA) MRA (Move RA) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-472-472-472-47MS (Move Staight) MS (Move Staight) MS (Move Staight) MS (Move Staight) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-482-482-482-48MT (Move Tool) MT (Move Tool) MT (Move Tool) MT (Move Tool) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-492-492-492-49MTS (Move Straight) MTS (Move Straight) MTS (Move Straight) MTS (Move Straight) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-502-502-502-50MUL MUL MUL MUL ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-512-512-512-51N * (Number) N * (Number) N * (Number) N * (Number) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-522-522-522-52ＮE (If Not Equal) ＮE (If Not Equal) ＮE (If Not Equal) ＮE (If Not Equal) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-532-532-532-53NT (Nest) NT (Nest) NT (Nest) NT (Nest) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-542-542-542-54NW * (New) NW * (New) NW * (New) NW * (New) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-542-542-542-54NX (Next) NX (Next) NX (Next) NX (Next) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-542-542-542-54OB (Output Bit) OB (Output Bit) OB (Output Bit) OB (Output Bit) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-552-552-552-55OC (Output Counter) OC (Output Counter) OC (Output Counter) OC (Output Counter) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-562-562-562-56OD (Output Direct) OD (Output Direct) OD (Output Direct) OD (Output Direct) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-572-572-572-57OG (Origin) OG (Origin) OG (Origin) OG (Origin) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-572-572-572-57OPN (Open) OPN (Open) OPN (Open) OPN (Open) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-582-582-582-58OR (Or) OR (Or) OR (Or) OR (Or) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-592-592-592-59OVR (Override) OVR (Override) OVR (Override) OVR (Override) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-602-602-602-60PA (Pallet Assign) PA (Pallet Assign) PA (Pallet Assign) PA (Pallet Assign) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-612-612-612-61PC * (Position Clear) PC * (Position Clear) PC * (Position Clear) PC * (Position Clear) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-612-612-612-61PD (Position Define)Ｐ Ｄ PD (Position Define)Ｐ Ｄ PD (Position Define)Ｐ Ｄ PD (Position Define)Ｐ Ｄ ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-622-622-622-62PL (Position Road) PL (Position Road) PL (Position Road) PL (Position Road) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-632-632-632-63PR (Position Read) PR (Position Read) PR (Position Read) PR (Position Read) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-642-642-642-64PRN * (Print) PRN * (Print) PRN * (Print) PRN * (Print) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-652-652-652-65PT (Pallet) PT (Pallet) PT (Pallet) PT (Pallet) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-662-662-662-66PW (Pulse Wait) PW (Pulse Wait) PW (Pulse Wait) PW (Pulse Wait) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-672-672-672-67PX (Position Exchange) PX (Position Exchange) PX (Position Exchange) PX (Position Exchange) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-682-682-682-68QN (Question Number) QN (Question Number) QN (Question Number) QN (Question Number) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-692-692-692-69RC (Repeat Cycle) RC (Repeat Cycle) RC (Repeat Cycle) RC (Repeat Cycle) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-702-702-702-70RN * (Run) RN * (Run) RN * (Run) RN * (Run) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-712-712-712-71RS * (Reset) RS * (Reset) RS * (Reset) RS * (Reset) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-722-722-722-72RT (Return) RT (Return) RT (Return) RT (Return) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-722-722-722-72SC (Set Counter) SC (Set Counter) SC (Set Counter) SC (Set Counter) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-732-732-732-73SD (Speed Define) SD (Speed Define) SD (Speed Define) SD (Speed Define) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-742-742-742-74SF (Shift) SF (Shift) SF (Shift) SF (Shift) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-752-752-752-75SM (If Smaller) SM (If Smaller) SM (If Smaller) SM (If Smaller) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-762-762-762-76SP (Speed) SP (Speed) SP (Speed) SP (Speed) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-772-772-772-77STR * (Step Read) STR * (Step Read) STR * (Step Read) STR * (Step Read) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-792-792-792-79SUB SUB SUB SUB ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-802-802-802-80TB (Test Bit) TB (Test Bit) TB (Test Bit) TB (Test Bit) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-812-812-812-81TBD (Test Bit Dirct) TBD (Test Bit Dirct) TBD (Test Bit Dirct) TBD (Test Bit Dirct) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-822-822-822-82TI (Timer) TI (Timer) TI (Timer) TI (Timer) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-822-822-822-82TL (Tool) TL (Tool) TL (Tool) TL (Tool) ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-832-832-832-83TLM (Tool Matrix) TLM (Tool Matrix) TLM (Tool Matrix) TLM (Tool Matrix) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-842-842-842-84

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VR (Version Read) VR (Version Read) VR (Version Read) VR (Version Read) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-852-852-852-85WH (Where) WH (Where) WH (Where) WH (Where) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-862-862-862-86WT (What Tool) WT (What Tool) WT (What Tool) WT (What Tool) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-872-872-872-87WTM (What Tool Matrix) WTM (What Tool Matrix) WTM (What Tool Matrix) WTM (What Tool Matrix) ............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-872-872-872-87XO (Exclusive Or) XO (Exclusive Or) XO (Exclusive Or) XO (Exclusive Or) ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-882-882-882-88’ (Comment) ’ (Comment) ’ (Comment) ’ (Comment) ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................2-882-882-882-88

3 3 3 3 Command List Command List Command List Command List ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 3-89 3-89 3-89 3-89■ Position motion control commands ■ Position motion control commands ■ Position motion control commands ■ Position motion control commands .................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 3-893-893-893-89■ Program control commands ■ Program control commands ■ Program control commands ■ Program control commands ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................3-913-913-913-91■ Hand control commands ■ Hand control commands ■ Hand control commands ■ Hand control commands ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................3-923-923-923-92■ I/O control commands ■ I/O control commands ■ I/O control commands ■ I/O control commands ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................3-923-923-923-92■ Operation, subsiture, exchange commands ■ Operation, subsiture, exchange commands ■ Operation, subsiture, exchange commands ■ Operation, subsiture, exchange commands ........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 3-933-933-933-93■ RS-232C communication commands ■ RS-232C communication commands ■ RS-232C communication commands ■ RS-232C communication commands .................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 3-933-933-933-93■ Other commands ■ Other commands ■ Other commands ■ Other commands ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................3-943-943-943-94

4444Appendix Appendix Appendix Appendix ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................Appendix-95Appendix-95Appendix-95Appendix-95Appendix 1 ： Appendix 1 ： Appendix 1 ： Appendix 1 ： RS-232C signal conductor's timing chart (DTR control) RS-232C signal conductor's timing chart (DTR control) RS-232C signal conductor's timing chart (DTR control) RS-232C signal conductor's timing chart (DTR control) .................................................................................................................................................................................................................... Appendix-95 Appendix-95 Appendix-95 Appendix-95

(1) (1) (1) (1) The timing of data transmissions from the personal computer to the robot. The timing of data transmissions from the personal computer to the robot. The timing of data transmissions from the personal computer to the robot. The timing of data transmissions from the personal computer to the robot. ............................................................................................ Appendix-95 Appendix-95 Appendix-95 Appendix-95(2) (2) (2) (2) The timing of data transmissions from the robot to the personal computer The timing of data transmissions from the robot to the personal computer The timing of data transmissions from the robot to the personal computer The timing of data transmissions from the robot to the personal computer ................................................................................................ Appendix-95 Appendix-95 Appendix-95 Appendix-95

Appendix 2 ： Appendix 2 ： Appendix 2 ： Appendix 2 ： Sample program Sample program Sample program Sample program .................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... Appendix-97 Appendix-97 Appendix-97 Appendix-97(1) (1) (1) (1) Pick and place operation Pick and place operation Pick and place operation Pick and place operation .................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... Appendix-98 Appendix-98 Appendix-98 Appendix-98(2) (2) (2) (2) Application of interrupt motion Application of interrupt motion Application of interrupt motion Application of interrupt motion ............................................................................................................................................................................................................................................................................................................................................................................................................................................................ Appendix-100 Appendix-100 Appendix-100 Appendix-100(3) (3) (3) (3) Application of palletizing Application of palletizing Application of palletizing Application of palletizing ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ Appendix-102 Appendix-102 Appendix-102 Appendix-102(4) (4) (4) (4) Example of connection with external I/O equipment Example of connection with external I/O equipment Example of connection with external I/O equipment Example of connection with external I/O equipment ................................................................................................................................................................................................................................................................................ Appendix-107 Appendix-107 Appendix-107 Appendix-107

1111Before starting useBefore starting useBefore starting useBefore starting use

Using the instruction manualsUsing the instruction manualsUsing the instruction manualsUsing the instruction manuals 1- 1- 1- 1-1111

1 Before starting use1 Before starting use1 Before starting use1 Before starting use

This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the safety precautions.safety precautions.safety precautions.safety precautions.

1.1 Using the instruction manuals1.1 Using the instruction manuals1.1 Using the instruction manuals1.1 Using the instruction manuals

1.1.1 The details of each instruction manuals1.1.1 The details of each instruction manuals1.1.1 The details of each instruction manuals1.1.1 The details of each instruction manualsThe contents and purposes of the documents enclosed with this product are shown below. Use these documents The contents and purposes of the documents enclosed with this product are shown below. Use these documents The contents and purposes of the documents enclosed with this product are shown below. Use these documents The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application.according to the application.according to the application.according to the application.

For special specifications, a separate instruction manual describing the special section may be enclosed.For special specifications, a separate instruction manual describing the special section may be enclosed.For special specifications, a separate instruction manual describing the special section may be enclosed.For special specifications, a separate instruction manual describing the special section may be enclosed.

Explains the common precautions and safety measures to be taken for robot handling, Explains the common precautions and safety measures to be taken for robot handling, Explains the common precautions and safety measures to be taken for robot handling, Explains the common precautions and safety measures to be taken for robot handling, system design and manufacture to ensure safety of the operators involved with the robot. system design and manufacture to ensure safety of the operators involved with the robot. system design and manufacture to ensure safety of the operators involved with the robot. system design and manufacture to ensure safety of the operators involved with the robot.

Explains the product's standard specifications, factory-set special specifications, option Explains the product's standard specifications, factory-set special specifications, option Explains the product's standard specifications, factory-set special specifications, option Explains the product's standard specifications, factory-set special specifications, option configuration and maintenance parts, etc. Precautions for safety and technology, when configuration and maintenance parts, etc. Precautions for safety and technology, when configuration and maintenance parts, etc. Precautions for safety and technology, when configuration and maintenance parts, etc. Precautions for safety and technology, when incorporating the robot, are also explained. incorporating the robot, are also explained. incorporating the robot, are also explained. incorporating the robot, are also explained.

Explains the procedures required to operate the robot arm (unpacking, transportation, Explains the procedures required to operate the robot arm (unpacking, transportation, Explains the procedures required to operate the robot arm (unpacking, transportation, Explains the procedures required to operate the robot arm (unpacking, transportation, installation, confirmation of operation), and the maintenance and inspection procedures.installation, confirmation of operation), and the maintenance and inspection procedures.installation, confirmation of operation), and the maintenance and inspection procedures.installation, confirmation of operation), and the maintenance and inspection procedures.

Explains the procedures required to operate the controller (unpacking, transportation, Explains the procedures required to operate the controller (unpacking, transportation, Explains the procedures required to operate the controller (unpacking, transportation, Explains the procedures required to operate the controller (unpacking, transportation, installation, confirmation of operation), basic operation from creating the program to installation, confirmation of operation), basic operation from creating the program to installation, confirmation of operation), basic operation from creating the program to installation, confirmation of operation), basic operation from creating the program to automatic operation, and the maintenance and inspection procedures.automatic operation, and the maintenance and inspection procedures.automatic operation, and the maintenance and inspection procedures.automatic operation, and the maintenance and inspection procedures.

Explains details on the functions and operations such as each function and operation, Explains details on the functions and operations such as each function and operation, Explains details on the functions and operations such as each function and operation, Explains details on the functions and operations such as each function and operation, commands used in the program, connection with the external input/output device, and commands used in the program, connection with the external input/output device, and commands used in the program, connection with the external input/output device, and commands used in the program, connection with the external input/output device, and parameters, etc.parameters, etc.parameters, etc.parameters, etc.

Explains details on the MOVEMASTER commands used in the program.Explains details on the MOVEMASTER commands used in the program.Explains details on the MOVEMASTER commands used in the program.Explains details on the MOVEMASTER commands used in the program.(For RV-1A/2AJ series)(For RV-1A/2AJ series)(For RV-1A/2AJ series)(For RV-1A/2AJ series)

Explains the causes and remedies to be taken when an error occurs. Explanations are given Explains the causes and remedies to be taken when an error occurs. Explanations are given Explains the causes and remedies to be taken when an error occurs. Explanations are given Explains the causes and remedies to be taken when an error occurs. Explanations are given for each error No.for each error No.for each error No.for each error No.

Safety ManualSafety ManualSafety ManualSafety Manual

Standard Standard Standard Standard SpecificationsSpecificationsSpecificationsSpecifications

Robot Arm Robot Arm Robot Arm Robot Arm Setup to MainSetup to MainSetup to MainSetup to Main-tenancetenancetenancetenance

Controller Controller Controller Controller Setup, Basic Setup, Basic Setup, Basic Setup, Basic Operation to Operation to Operation to Operation to MaintenanceMaintenanceMaintenanceMaintenance

Explanation of Explanation of Explanation of Explanation of Functions and Functions and Functions and Functions and OperationsOperationsOperationsOperations

Explanations of Explanations of Explanations of Explanations of MOVEMASTER MOVEMASTER MOVEMASTER MOVEMASTER COMMANDSCOMMANDSCOMMANDSCOMMANDS

TroubleshootTroubleshootTroubleshootTroubleshoot-inginginging

1-2 1-2 1-2 1-2 Using the instruction manualsUsing the instruction manualsUsing the instruction manualsUsing the instruction manuals

1111Before starting useBefore starting useBefore starting useBefore starting use

1.1.2 Symbols used in instruction manual1.1.2 Symbols used in instruction manual1.1.2 Symbols used in instruction manual1.1.2 Symbols used in instruction manualThe symbols and expressions shown in Table 1-1 are used throughout this User's Manual. Learn the meaning of The symbols and expressions shown in Table 1-1 are used throughout this User's Manual. Learn the meaning of The symbols and expressions shown in Table 1-1 are used throughout this User's Manual. Learn the meaning of The symbols and expressions shown in Table 1-1 are used throughout this User's Manual. Learn the meaning of these symbols before reading this instruction manual.these symbols before reading this instruction manual.these symbols before reading this instruction manual.these symbols before reading this instruction manual.

Table 1-1 ： Symbols in instruction manualTable 1-1 ： Symbols in instruction manualTable 1-1 ： Symbols in instruction manualTable 1-1 ： Symbols in instruction manual

SymbolSymbolSymbolSymbol MeaningMeaningMeaningMeaning

Precaution indicating cases where there is a risk of operator fatality or seriPrecaution indicating cases where there is a risk of operator fatality or seriPrecaution indicating cases where there is a risk of operator fatality or seriPrecaution indicating cases where there is a risk of operator fatality or seri-ous injury if handling is mistaken. Always observe these precautions to safely ous injury if handling is mistaken. Always observe these precautions to safely ous injury if handling is mistaken. Always observe these precautions to safely ous injury if handling is mistaken. Always observe these precautions to safely

use the robot.use the robot.use the robot.use the robot.

Precaution indicating cases where the operator could be subject to fatalities Precaution indicating cases where the operator could be subject to fatalities Precaution indicating cases where the operator could be subject to fatalities Precaution indicating cases where the operator could be subject to fatalities

or serious injuries if handling is mistaken. Always observe these precautions or serious injuries if handling is mistaken. Always observe these precautions or serious injuries if handling is mistaken. Always observe these precautions or serious injuries if handling is mistaken. Always observe these precautions

to safely use the robot.to safely use the robot.to safely use the robot.to safely use the robot.

Precaution indicating cases where operator could be subject to injury or Precaution indicating cases where operator could be subject to injury or Precaution indicating cases where operator could be subject to injury or Precaution indicating cases where operator could be subject to injury or

physical damage could occur if handling is mistaken. Always observe these physical damage could occur if handling is mistaken. Always observe these physical damage could occur if handling is mistaken. Always observe these physical damage could occur if handling is mistaken. Always observe these

precautions to safely use the robot.precautions to safely use the robot.precautions to safely use the robot.precautions to safely use the robot.

［ JOINT ］［ JOINT ］［ JOINT ］［ JOINT ］If a word is enclosed in brackets or a box in the text, this refers to a key on If a word is enclosed in brackets or a box in the text, this refers to a key on If a word is enclosed in brackets or a box in the text, this refers to a key on If a word is enclosed in brackets or a box in the text, this refers to a key on

the teaching pendant.the teaching pendant.the teaching pendant.the teaching pendant.

［＋／ Ｆ ＯＲＷＤ］ ＋ ［＋ Ｘ］［＋／ Ｆ ＯＲＷＤ］ ＋ ［＋ Ｘ］［＋／ Ｆ ＯＲＷＤ］ ＋ ［＋ Ｘ］［＋／ Ｆ ＯＲＷＤ］ ＋ ［＋ Ｘ］

（Ａ） （Ｂ） （Ａ） （Ｂ） （Ａ） （Ｂ） （Ａ） （Ｂ）

This indicates to press the (B) key while holding down the (A) key. This indicates to press the (B) key while holding down the (A) key. This indicates to press the (B) key while holding down the (A) key. This indicates to press the (B) key while holding down the (A) key.

In this example, the [+/Forward] key is pressed while holding down the [+X/In this example, the [+/Forward] key is pressed while holding down the [+X/In this example, the [+/Forward] key is pressed while holding down the [+X/In this example, the [+/Forward] key is pressed while holding down the [+X/

+Y] key.+Y] key.+Y] key.+Y] key.

［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([Ｃ ＯＮ Ｄ ] → [Ｒ Ｐ Ｌ ↓ ]）［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([Ｃ ＯＮ Ｄ ] → [Ｒ Ｐ Ｌ ↓ ]）［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([Ｃ ＯＮ Ｄ ] → [Ｒ Ｐ Ｌ ↓ ]）［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([Ｃ ＯＮ Ｄ ] → [Ｒ Ｐ Ｌ ↓ ]）

（Ａ） （Ｂ） （Ｃ） （Ａ） （Ｂ） （Ｃ） （Ａ） （Ｂ） （Ｃ） （Ａ） （Ｂ） （Ｃ）

This indicates to hold down the (A) key, press and release the (B) key, and This indicates to hold down the (A) key, press and release the (B) key, and This indicates to hold down the (A) key, press and release the (B) key, and This indicates to hold down the (A) key, press and release the (B) key, and

then press the (C) key. In this example, the [Step/Move] key is held down, the then press the (C) key. In this example, the [Step/Move] key is held down, the then press the (C) key. In this example, the [Step/Move] key is held down, the then press the (C) key. In this example, the [Step/Move] key is held down, the

[Condition] key is pressed and released, and the [Replace ↓ key is pressed.[Condition] key is pressed and released, and the [Replace ↓ key is pressed.[Condition] key is pressed and released, and the [Replace ↓ key is pressed.[Condition] key is pressed and released, and the [Replace ↓ key is pressed.

Ｔ ／ ＢＴ ／ ＢＴ ／ ＢＴ ／ Ｂ This indicates the teaching pendant.This indicates the teaching pendant.This indicates the teaching pendant.This indicates the teaching pendant.

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1111Before starting useBefore starting useBefore starting useBefore starting use

Safety PrecautionsSafety PrecautionsSafety PrecautionsSafety Precautions 1- 1- 1- 1-3333

1.2 Safety Precautions1.2 Safety Precautions1.2 Safety Precautions1.2 Safety Precautions

Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken.the required measures to be taken.the required measures to be taken.the required measures to be taken.

All teaching work must be carried out by an operator who has received special training. All teaching work must be carried out by an operator who has received special training. All teaching work must be carried out by an operator who has received special training. All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)→ Enforcement of safety training→ Enforcement of safety training→ Enforcement of safety training→ Enforcement of safety training

For teaching work, prepare a work plan related to the methods and procedures of operFor teaching work, prepare a work plan related to the methods and procedures of operFor teaching work, prepare a work plan related to the methods and procedures of operFor teaching work, prepare a work plan related to the methods and procedures of oper-ating the robot, and to the measures to be taken when an error occurs or when restartating the robot, and to the measures to be taken when an error occurs or when restartating the robot, and to the measures to be taken when an error occurs or when restartating the robot, and to the measures to be taken when an error occurs or when restart-ing. Carry out work following this plan. (This also applies to maintenance work with the ing. Carry out work following this plan. (This also applies to maintenance work with the ing. Carry out work following this plan. (This also applies to maintenance work with the ing. Carry out work following this plan. (This also applies to maintenance work with the power source turned ON.)power source turned ON.)power source turned ON.)power source turned ON.)→ Preparation of work plan→ Preparation of work plan→ Preparation of work plan→ Preparation of work plan

Prepare a device that allows operation to be stopped immediately during teaching work. Prepare a device that allows operation to be stopped immediately during teaching work. Prepare a device that allows operation to be stopped immediately during teaching work. Prepare a device that allows operation to be stopped immediately during teaching work. (This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)→ Setting of emergency stop switch→ Setting of emergency stop switch→ Setting of emergency stop switch→ Setting of emergency stop switch

During teaching work, place a sign indicating that teaching work is in progress on the During teaching work, place a sign indicating that teaching work is in progress on the During teaching work, place a sign indicating that teaching work is in progress on the During teaching work, place a sign indicating that teaching work is in progress on the start switch, etc. (This also applies to maintenance work with the power source turned start switch, etc. (This also applies to maintenance work with the power source turned start switch, etc. (This also applies to maintenance work with the power source turned start switch, etc. (This also applies to maintenance work with the power source turned ON.)ON.)ON.)ON.)→ Indication of teaching work in progress→ Indication of teaching work in progress→ Indication of teaching work in progress→ Indication of teaching work in progress

Provide a fence or enclosure during operation to prevent contact of the operator and Provide a fence or enclosure during operation to prevent contact of the operator and Provide a fence or enclosure during operation to prevent contact of the operator and Provide a fence or enclosure during operation to prevent contact of the operator and robot.robot.robot.robot.→ Installation of safety fence→ Installation of safety fence→ Installation of safety fence→ Installation of safety fence

Establish a set signaling method to the related operators for starting work, and follow Establish a set signaling method to the related operators for starting work, and follow Establish a set signaling method to the related operators for starting work, and follow Establish a set signaling method to the related operators for starting work, and follow this method.this method.this method.this method.→ Signaling of operation start→ Signaling of operation start→ Signaling of operation start→ Signaling of operation start

As a principle turn the power OFF during maintenance work. Place a sign indicating that As a principle turn the power OFF during maintenance work. Place a sign indicating that As a principle turn the power OFF during maintenance work. Place a sign indicating that As a principle turn the power OFF during maintenance work. Place a sign indicating that maintenance work is in progress on the start switch, etc.maintenance work is in progress on the start switch, etc.maintenance work is in progress on the start switch, etc.maintenance work is in progress on the start switch, etc.→ Indication of maintenance work in progress→ Indication of maintenance work in progress→ Indication of maintenance work in progress→ Indication of maintenance work in progress

Before starting work, inspect the robot, emergency stop switch and other related Before starting work, inspect the robot, emergency stop switch and other related Before starting work, inspect the robot, emergency stop switch and other related Before starting work, inspect the robot, emergency stop switch and other related devices, etc., and confirm that there are no errors.devices, etc., and confirm that there are no errors.devices, etc., and confirm that there are no errors.devices, etc., and confirm that there are no errors.→ Inspection before starting work→ Inspection before starting work→ Inspection before starting work→ Inspection before starting work

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1-4 1-4 1-4 1-4 Safety PrecautionsSafety PrecautionsSafety PrecautionsSafety Precautions

1111Before starting useBefore starting useBefore starting useBefore starting use

1.2.1 Precautions given in the separate Safety Manual1.2.1 Precautions given in the separate Safety Manual1.2.1 Precautions given in the separate Safety Manual1.2.1 Precautions given in the separate Safety ManualThe points of the precautions given in the separate "Safety Manual" are given below.The points of the precautions given in the separate "Safety Manual" are given below.The points of the precautions given in the separate "Safety Manual" are given below.The points of the precautions given in the separate "Safety Manual" are given below.Refer to the actual "Safety Manual" for details.Refer to the actual "Safety Manual" for details.Refer to the actual "Safety Manual" for details.Refer to the actual "Safety Manual" for details.

Use the robot within the environment given in the specifications. Failure to do so Use the robot within the environment given in the specifications. Failure to do so Use the robot within the environment given in the specifications. Failure to do so Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.)environment, etc.)environment, etc.)environment, etc.)

Transport the robot with the designated transportation posture. Transporting the Transport the robot with the designated transportation posture. Transporting the Transport the robot with the designated transportation posture. Transporting the Transport the robot with the designated transportation posture. Transporting the robot in a non-designated posture could lead to personal injuries or faults from droprobot in a non-designated posture could lead to personal injuries or faults from droprobot in a non-designated posture could lead to personal injuries or faults from droprobot in a non-designated posture could lead to personal injuries or faults from drop-ping.ping.ping.ping.

Always use the robot installed on a secure table. Use in an instable posture could lead Always use the robot installed on a secure table. Use in an instable posture could lead Always use the robot installed on a secure table. Use in an instable posture could lead Always use the robot installed on a secure table. Use in an instable posture could lead to positional deviation and vibration.to positional deviation and vibration.to positional deviation and vibration.to positional deviation and vibration.

Wire the cable as far away from noise sources as possible. If placed near a noise Wire the cable as far away from noise sources as possible. If placed near a noise Wire the cable as far away from noise sources as possible. If placed near a noise Wire the cable as far away from noise sources as possible. If placed near a noise source, positional deviation or malfunction could occur.source, positional deviation or malfunction could occur.source, positional deviation or malfunction could occur.source, positional deviation or malfunction could occur.

Do not apply excessive force on the connector or excessively bend the cable. Failure Do not apply excessive force on the connector or excessively bend the cable. Failure Do not apply excessive force on the connector or excessively bend the cable. Failure Do not apply excessive force on the connector or excessively bend the cable. Failure to observe this could lead to contact defects or wire breakage.to observe this could lead to contact defects or wire breakage.to observe this could lead to contact defects or wire breakage.to observe this could lead to contact defects or wire breakage.

Make sure that the workpiece weight, including the hand, does not exceed the rated Make sure that the workpiece weight, including the hand, does not exceed the rated Make sure that the workpiece weight, including the hand, does not exceed the rated Make sure that the workpiece weight, including the hand, does not exceed the rated load or tolerable torque. Exceeding these values could lead to alarms or faults.load or tolerable torque. Exceeding these values could lead to alarms or faults.load or tolerable torque. Exceeding these values could lead to alarms or faults.load or tolerable torque. Exceeding these values could lead to alarms or faults.

Securely install the hand and tool, and securely grasp the workpiece. Failure to Securely install the hand and tool, and securely grasp the workpiece. Failure to Securely install the hand and tool, and securely grasp the workpiece. Failure to Securely install the hand and tool, and securely grasp the workpiece. Failure to observe this could lead to personal injuries or damage if the object comes off or flies observe this could lead to personal injuries or damage if the object comes off or flies observe this could lead to personal injuries or damage if the object comes off or flies observe this could lead to personal injuries or damage if the object comes off or flies off during operation.off during operation.off during operation.off during operation.

Securely ground the robot and controller. Failure to observe this could lead to malSecurely ground the robot and controller. Failure to observe this could lead to malSecurely ground the robot and controller. Failure to observe this could lead to malSecurely ground the robot and controller. Failure to observe this could lead to mal-functioning by noise or to electric shock accidents.functioning by noise or to electric shock accidents.functioning by noise or to electric shock accidents.functioning by noise or to electric shock accidents.

Indicate the operation state during robot operation. Failure to indicate the state could Indicate the operation state during robot operation. Failure to indicate the state could Indicate the operation state during robot operation. Failure to indicate the state could Indicate the operation state during robot operation. Failure to indicate the state could lead to operators approaching the robot or to incorrect operation.lead to operators approaching the robot or to incorrect operation.lead to operators approaching the robot or to incorrect operation.lead to operators approaching the robot or to incorrect operation.

When carrying out teaching work in the robot's movement range, always secure the When carrying out teaching work in the robot's movement range, always secure the When carrying out teaching work in the robot's movement range, always secure the When carrying out teaching work in the robot's movement range, always secure the priority right for the robot control. Failure to observe this could lead to personal injupriority right for the robot control. Failure to observe this could lead to personal injupriority right for the robot control. Failure to observe this could lead to personal injupriority right for the robot control. Failure to observe this could lead to personal inju-ries or damage if the robot is started with external commands.ries or damage if the robot is started with external commands.ries or damage if the robot is started with external commands.ries or damage if the robot is started with external commands.

Keep the jog speed as low as possible, and always watch the robot. Failure to do so Keep the jog speed as low as possible, and always watch the robot. Failure to do so Keep the jog speed as low as possible, and always watch the robot. Failure to do so Keep the jog speed as low as possible, and always watch the robot. Failure to do so could lead to interference with the workpiece or peripheral devices.could lead to interference with the workpiece or peripheral devices.could lead to interference with the workpiece or peripheral devices.could lead to interference with the workpiece or peripheral devices.

After editing the program, always confirm the operation with step operation before After editing the program, always confirm the operation with step operation before After editing the program, always confirm the operation with step operation before After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with periphstarting automatic operation. Failure to do so could lead to interference with periphstarting automatic operation. Failure to do so could lead to interference with periphstarting automatic operation. Failure to do so could lead to interference with periph-eral devices because of programming mistakes, etc.eral devices because of programming mistakes, etc.eral devices because of programming mistakes, etc.eral devices because of programming mistakes, etc.

Make sure that if the safety fence entrance door is opened during automatic operaMake sure that if the safety fence entrance door is opened during automatic operaMake sure that if the safety fence entrance door is opened during automatic operaMake sure that if the safety fence entrance door is opened during automatic opera-tion, the door is locked or that the robot will automatically stop. Failure to do so could tion, the door is locked or that the robot will automatically stop. Failure to do so could tion, the door is locked or that the robot will automatically stop. Failure to do so could tion, the door is locked or that the robot will automatically stop. Failure to do so could lead to personal injuries.lead to personal injuries.lead to personal injuries.lead to personal injuries.

Never carry out modifications based on personal judgments, or use non-designated Never carry out modifications based on personal judgments, or use non-designated Never carry out modifications based on personal judgments, or use non-designated Never carry out modifications based on personal judgments, or use non-designated maintenance parts. maintenance parts. maintenance parts. maintenance parts. Failure to observe this could lead to faults or failures.Failure to observe this could lead to faults or failures.Failure to observe this could lead to faults or failures.Failure to observe this could lead to faults or failures.

When the robot arm has to be moved by hand from an external area, do not place When the robot arm has to be moved by hand from an external area, do not place When the robot arm has to be moved by hand from an external area, do not place When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers hands or fingers in the openings. Failure to observe this could lead to hands or fingers hands or fingers in the openings. Failure to observe this could lead to hands or fingers hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture.catching depending on the posture.catching depending on the posture.catching depending on the posture.

Do not stop the robot or apply emergency stop by turning the robot controller's main Do not stop the robot or apply emergency stop by turning the robot controller's main Do not stop the robot or apply emergency stop by turning the robot controller's main Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF.power OFF.power OFF.power OFF.If the robot controller main power is turned OFF during automatic operation, the robot If the robot controller main power is turned OFF during automatic operation, the robot If the robot controller main power is turned OFF during automatic operation, the robot If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected.accuracy could be adversely affected.accuracy could be adversely affected.accuracy could be adversely affected.

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2222Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

Setting the parametersSetting the parametersSetting the parametersSetting the parameters 2222-5-5-5-5

2 Explanation of Commands2 Explanation of Commands2 Explanation of Commands2 Explanation of Commands

2.1 Setting the parameters2.1 Setting the parameters2.1 Setting the parameters2.1 Setting the parameters

The parameters must be set before using the MOVEMASTER commands.The parameters must be set before using the MOVEMASTER commands.The parameters must be set before using the MOVEMASTER commands.The parameters must be set before using the MOVEMASTER commands.

Change the working language parameter: RLNG value to "0" as shown in Table 2-1, and then turn the controller Change the working language parameter: RLNG value to "0" as shown in Table 2-1, and then turn the controller Change the working language parameter: RLNG value to "0" as shown in Table 2-1, and then turn the controller Change the working language parameter: RLNG value to "0" as shown in Table 2-1, and then turn the controller power ON and OFF before starting use.power ON and OFF before starting use.power ON and OFF before starting use.power ON and OFF before starting use.

Refer to the separate Refer to the separate Refer to the separate Refer to the separate manualmanualmanualmanual "Detailed Explanation "Detailed Explanation "Detailed Explanation "Detailed Explanationssss of Functions and Operations" for details on changing the of Functions and Operations" for details on changing the of Functions and Operations" for details on changing the of Functions and Operations" for details on changing the parameters.parameters.parameters.parameters.

Table 2-1 ： Parameter: RLNG settingTable 2-1 ： Parameter: RLNG settingTable 2-1 ： Parameter: RLNG settingTable 2-1 ： Parameter: RLNG setting

Note) When the MOVEMASTER COMMANDS is selected, the multitask function cannot be used. Note) When the MOVEMASTER COMMANDS is selected, the multitask function cannot be used. Note) When the MOVEMASTER COMMANDS is selected, the multitask function cannot be used. Note) When the MOVEMASTER COMMANDS is selected, the multitask function cannot be used.

2.2 Setting of RS-232C2.2 Setting of RS-232C2.2 Setting of RS-232C2.2 Setting of RS-232C

(1) Communication specification(1) Communication specification(1) Communication specification(1) Communication specificationWhen RS-232C is used, it is necessary to set setting the communication shown in Table 2-2 in the same value on When RS-232C is used, it is necessary to set setting the communication shown in Table 2-2 in the same value on When RS-232C is used, it is necessary to set setting the communication shown in Table 2-2 in the same value on When RS-232C is used, it is necessary to set setting the communication shown in Table 2-2 in the same value on the robot controller side and the personal computer side. When this is not the same, it is not possible to the robot controller side and the personal computer side. When this is not the same, it is not possible to the robot controller side and the personal computer side. When this is not the same, it is not possible to the robot controller side and the personal computer side. When this is not the same, it is not possible to communicate normally.communicate normally.communicate normally.communicate normally.

Table 2-2 ： Communication specificationTable 2-2 ： Communication specificationTable 2-2 ： Communication specificationTable 2-2 ： Communication specification

The set value shown in Table 2-2 can be changed with the value set when shipping by robot controller's The set value shown in Table 2-2 can be changed with the value set when shipping by robot controller's The set value shown in Table 2-2 can be changed with the value set when shipping by robot controller's The set value shown in Table 2-2 can be changed with the value set when shipping by robot controller's "Communication setting" parameter. "Communication setting" parameter. "Communication setting" parameter. "Communication setting" parameter. Refer to separate manual "Detailed ExplanationRefer to separate manual "Detailed ExplanationRefer to separate manual "Detailed ExplanationRefer to separate manual "Detailed Explanationssss of Functions and Operations" for details. of Functions and Operations" for details. of Functions and Operations" for details. of Functions and Operations" for details.

(2) DTR control(2) DTR control(2) DTR control(2) DTR controlTo do the DTR control effectively, robot controller's "CDTR232" parameter is set in "1". To do the DTR control effectively, robot controller's "CDTR232" parameter is set in "1". To do the DTR control effectively, robot controller's "CDTR232" parameter is set in "1". To do the DTR control effectively, robot controller's "CDTR232" parameter is set in "1".

Table 2-3 ： Parameter:CDTR232 settingTable 2-3 ： Parameter:CDTR232 settingTable 2-3 ： Parameter:CDTR232 settingTable 2-3 ： Parameter:CDTR232 setting

Refer to separate manual "Detailed ExplanationRefer to separate manual "Detailed ExplanationRefer to separate manual "Detailed ExplanationRefer to separate manual "Detailed Explanationssss of Functions and Operations" for modification method of the of Functions and Operations" for modification method of the of Functions and Operations" for modification method of the of Functions and Operations" for modification method of the parameter. parameter. parameter. parameter.

Refer to Refer to Refer to Refer to page 95, "Appendix 1 ： RS-232C signal conductor's timing chart (DTR control)" , because the timing page 95, "Appendix 1 ： RS-232C signal conductor's timing chart (DTR control)" , because the timing page 95, "Appendix 1 ： RS-232C signal conductor's timing chart (DTR control)" , because the timing page 95, "Appendix 1 ： RS-232C signal conductor's timing chart (DTR control)" , because the timing chart of the controll signal line is specified.chart of the controll signal line is specified.chart of the controll signal line is specified.chart of the controll signal line is specified.

Setting valueSetting valueSetting valueSetting value Working languageWorking languageWorking languageWorking language RemarksRemarksRemarksRemarks

1111 MELFA-BASIC ⅣMELFA-BASIC ⅣMELFA-BASIC ⅣMELFA-BASIC Ⅳ Default settingDefault settingDefault settingDefault setting

0000 MOVEMASTER COMMANDSMOVEMASTER COMMANDSMOVEMASTER COMMANDSMOVEMASTER COMMANDS

ItemItemItemItem Set valueSet valueSet valueSet value

Baud rateBaud rateBaud rateBaud rate 9600 9600 9600 9600 BPSBPSBPSBPS

Data bit lengthData bit lengthData bit lengthData bit length 8 bit8 bit8 bit8 bit

Parity bitParity bitParity bitParity bit Even parityEven parityEven parityEven parity

Stop bit lengthStop bit lengthStop bit lengthStop bit length 2 bit2 bit2 bit2 bit

Changing line codeChanging line codeChanging line codeChanging line code CRCRCRCR

Set valueSet valueSet valueSet value ContentContentContentContent RemarksRemarksRemarksRemarks

１１１１ DTR control effectiveDTR control effectiveDTR control effectiveDTR control effective

００００ DTR control invalidityDTR control invalidityDTR control invalidityDTR control invalidity Setting when shippingSetting when shippingSetting when shippingSetting when shipping

2222----6 6 6 6 Overview of commandsOverview of commandsOverview of commandsOverview of commands

2222Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

2.3 Overview of commands2.3 Overview of commands2.3 Overview of commands2.3 Overview of commands

This section gives an overview of a wealth of commands provided for the MOVEMASTER command This section gives an overview of a wealth of commands provided for the MOVEMASTER command This section gives an overview of a wealth of commands provided for the MOVEMASTER command This section gives an overview of a wealth of commands provided for the MOVEMASTER command method.Commands are classified mainly into six types to the following. You should use appropriate commands method.Commands are classified mainly into six types to the following. You should use appropriate commands method.Commands are classified mainly into six types to the following. You should use appropriate commands method.Commands are classified mainly into six types to the following. You should use appropriate commands according to your application. (according to your application. (according to your application. (according to your application. (Refer Refer Refer Refer page 89, "3Command List")page 89, "3Command List")page 89, "3Command List")page 89, "3Command List")

(1) Position and motion control commands(1) Position and motion control commands(1) Position and motion control commands(1) Position and motion control commandsThese commands are concerned with definition of position and coordinates as well as assignment of interpolation, These commands are concerned with definition of position and coordinates as well as assignment of interpolation, These commands are concerned with definition of position and coordinates as well as assignment of interpolation, These commands are concerned with definition of position and coordinates as well as assignment of interpolation, speed, timer, tool, palette, etc.speed, timer, tool, palette, etc.speed, timer, tool, palette, etc.speed, timer, tool, palette, etc.

(2) Program control commands(2) Program control commands(2) Program control commands(2) Program control commandsThese commands are concerned with conditional branching, repetitive operation, interrupting of signals, starting These commands are concerned with conditional branching, repetitive operation, interrupting of signals, starting These commands are concerned with conditional branching, repetitive operation, interrupting of signals, starting These commands are concerned with conditional branching, repetitive operation, interrupting of signals, starting and stopping, counter operation, etc.and stopping, counter operation, etc.and stopping, counter operation, etc.and stopping, counter operation, etc.

(3) Hand control command(3) Hand control command(3) Hand control command(3) Hand control commandThese commands are concerned with opening/closing action of hand. For the optional motor-operated hand, you These commands are concerned with opening/closing action of hand. For the optional motor-operated hand, you These commands are concerned with opening/closing action of hand. For the optional motor-operated hand, you These commands are concerned with opening/closing action of hand. For the optional motor-operated hand, you can control gripping force by parameter setting.can control gripping force by parameter setting.can control gripping force by parameter setting.can control gripping force by parameter setting.

(4) I/O control command(4) I/O control command(4) I/O control command(4) I/O control commandThese commands are concerned with input/output control of external I/O. Both single and parallel bits can be These commands are concerned with input/output control of external I/O. Both single and parallel bits can be These commands are concerned with input/output control of external I/O. Both single and parallel bits can be These commands are concerned with input/output control of external I/O. Both single and parallel bits can be handled enabling the logical operation in the internal register.handled enabling the logical operation in the internal register.handled enabling the logical operation in the internal register.handled enabling the logical operation in the internal register.

(5) Communication command (Using RS-232C)(5) Communication command (Using RS-232C)(5) Communication command (Using RS-232C)(5) Communication command (Using RS-232C)These commands transfer internal information of the robot such as counters, positions, program list, input/output These commands transfer internal information of the robot such as counters, positions, program list, input/output These commands transfer internal information of the robot such as counters, positions, program list, input/output These commands transfer internal information of the robot such as counters, positions, program list, input/output signal status, parameters to personal computer. signal status, parameters to personal computer. signal status, parameters to personal computer. signal status, parameters to personal computer.

(6) Other command(6) Other command(6) Other command(6) Other commandThese commands are concerned with setting of parameters, selecting of programs, resetting of errors, and These commands are concerned with setting of parameters, selecting of programs, resetting of errors, and These commands are concerned with setting of parameters, selecting of programs, resetting of errors, and These commands are concerned with setting of parameters, selecting of programs, resetting of errors, and describing of comments.describing of comments.describing of comments.describing of comments.

2.4 Explanation of command2.4 Explanation of command2.4 Explanation of command2.4 Explanation of command

All commands are explained in alphabetical order to the followingAll commands are explained in alphabetical order to the followingAll commands are explained in alphabetical order to the followingAll commands are explained in alphabetical order to the following

(1) A viewpoint of command explanation(1) A viewpoint of command explanation(1) A viewpoint of command explanation(1) A viewpoint of command explanationThis shows the meaning of title described in the explanation of each command.This shows the meaning of title described in the explanation of each command.This shows the meaning of title described in the explanation of each command.This shows the meaning of title described in the explanation of each command.

1) ＊ Symbol1) ＊ Symbol1) ＊ Symbol1) ＊ Symbol :The command that has ＊ mark can not be described in the program with line:The command that has ＊ mark can not be described in the program with line:The command that has ＊ mark can not be described in the program with line:The command that has ＊ mark can not be described in the program with linenumber. (If done, it will become error.) You should execute the commandsnumber. (If done, it will become error.) You should execute the commandsnumber. (If done, it will become error.) You should execute the commandsnumber. (If done, it will become error.) You should execute the commandsdirectly by personal computer or teaching box.directly by personal computer or teaching box.directly by personal computer or teaching box.directly by personal computer or teaching box.

2) 【 Function 】2) 【 Function 】2) 【 Function 】2) 【 Function 】 :Shows the brief Function of command.:Shows the brief Function of command.:Shows the brief Function of command.:Shows the brief Function of command.3) 【 Input Format 】3) 【 Input Format 】3) 【 Input Format 】3) 【 Input Format 】 :Shows the argument of the command entry.:Shows the argument of the command entry.:Shows the argument of the command entry.:Shows the argument of the command entry.

< > indicates the command parameter.[ ] indicates the parameter that can be< > indicates the command parameter.[ ] indicates the parameter that can be< > indicates the command parameter.[ ] indicates the parameter that can be< > indicates the command parameter.[ ] indicates the parameter that can beomitted.omitted.omitted.omitted.

4) 【Term】4) 【Term】4) 【Term】4) 【Term】 :Shows the meaning and limited range of command argument.:Shows the meaning and limited range of command argument.:Shows the meaning and limited range of command argument.:Shows the meaning and limited range of command argument.5) 【 Explanation 】5) 【 Explanation 】5) 【 Explanation 】5) 【 Explanation 】 :Explains detailed Function and precautions.:Explains detailed Function and precautions.:Explains detailed Function and precautions.:Explains detailed Function and precautions.6) 【 Relating Parameters 】6) 【 Relating Parameters 】6) 【 Relating Parameters 】6) 【 Relating Parameters 】 :Shows the parameters that have relationship with the command.:Shows the parameters that have relationship with the command.:Shows the parameters that have relationship with the command.:Shows the parameters that have relationship with the command.7) 【 Sample program 】7) 【 Sample program 】7) 【 Sample program 】7) 【 Sample program 】 :Gives a typical program using MOVEMASTER command and BASIC language.:Gives a typical program using MOVEMASTER command and BASIC language.:Gives a typical program using MOVEMASTER command and BASIC language.:Gives a typical program using MOVEMASTER command and BASIC language.

(2) Line(2) Line(2) Line(2) LineLine consists of line number and a command sentence. The length of one line contains 120 characters in Line consists of line number and a command sentence. The length of one line contains 120 characters in Line consists of line number and a command sentence. The length of one line contains 120 characters in Line consists of line number and a command sentence. The length of one line contains 120 characters in maximum.maximum.maximum.maximum.

(3) Position number(3) Position number(3) Position number(3) Position numberThe range of position number is 1-999. When program is different from each other, positions from 1-900 are The range of position number is 1-999. When program is different from each other, positions from 1-900 are The range of position number is 1-999. When program is different from each other, positions from 1-900 are The range of position number is 1-999. When program is different from each other, positions from 1-900 are memorized as individual data even if they have the same number. On the other hand, positions from 901-999 are memorized as individual data even if they have the same number. On the other hand, positions from 901-999 are memorized as individual data even if they have the same number. On the other hand, positions from 901-999 are memorized as individual data even if they have the same number. On the other hand, positions from 901-999 are memorized as common.memorized as common.memorized as common.memorized as common.Further, you can appoint position number indirectly by the value of counter.Further, you can appoint position number indirectly by the value of counter.Further, you can appoint position number indirectly by the value of counter.Further, you can appoint position number indirectly by the value of counter.

An exampleAn exampleAn exampleAn example 10 SC 21 ,1010 SC 21 ,1010 SC 21 ,1010 SC 21 ,10 :Sets value 10 in counter 21.:Sets value 10 in counter 21.:Sets value 10 in counter 21.:Sets value 10 in counter 21.20 MO ＠ 2120 MO ＠ 2120 MO ＠ 2120 MO ＠ 21 :Moves to position 10, the value of counter 21.:Moves to position 10, the value of counter 21.:Moves to position 10, the value of counter 21.:Moves to position 10, the value of counter 21.

【 Relating Commands 】 CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF【 Relating Commands 】 CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF【 Relating Commands 】 CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF【 Relating Commands 】 CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF

2222Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

Explanation of commandExplanation of commandExplanation of commandExplanation of command 2222-7-7-7-7

(4) Counter number(4) Counter number(4) Counter number(4) Counter numberThe range of counter number is 1-99. When program is different from each other, counters from 1-90 are The range of counter number is 1-99. When program is different from each other, counters from 1-90 are The range of counter number is 1-99. When program is different from each other, counters from 1-90 are The range of counter number is 1-99. When program is different from each other, counters from 1-90 are memorized as individual data even if they have the same number. On the other hand, counters from 91-99 are memorized as individual data even if they have the same number. On the other hand, counters from 91-99 are memorized as individual data even if they have the same number. On the other hand, counters from 91-99 are memorized as individual data even if they have the same number. On the other hand, counters from 91-99 are memorized as common. Further, you can appoint counter number indirectly by the value of counter.memorized as common. Further, you can appoint counter number indirectly by the value of counter.memorized as common. Further, you can appoint counter number indirectly by the value of counter.memorized as common. Further, you can appoint counter number indirectly by the value of counter.

An exampleAn exampleAn exampleAn example 10 SC 21 ,1010 SC 21 ,1010 SC 21 ,1010 SC 21 ,10 :Sets value10 in counter 21.:Sets value10 in counter 21.:Sets value10 in counter 21.:Sets value10 in counter 21.20 IC ＠ 2120 IC ＠ 2120 IC ＠ 2120 IC ＠ 21 :Adds one to counter 10, the value of counter 21.:Adds one to counter 10, the value of counter 21.:Adds one to counter 10, the value of counter 21.:Adds one to counter 10, the value of counter 21.

【 Relating Commands 】 CL,CP,CR,DC,IC,OC,SC【 Relating Commands 】 CL,CP,CR,DC,IC,OC,SC【 Relating Commands 】 CL,CP,CR,DC,IC,OC,SC【 Relating Commands 】 CL,CP,CR,DC,IC,OC,SC

(5) Character string numbers(5) Character string numbers(5) Character string numbers(5) Character string numbersBy using a character string number, character strings (max. 120 alphanumeric or symbol characters) can be By using a character string number, character strings (max. 120 alphanumeric or symbol characters) can be By using a character string number, character strings (max. 120 alphanumeric or symbol characters) can be By using a character string number, character strings (max. 120 alphanumeric or symbol characters) can be communicated to the external device over the serial channel.communicated to the external device over the serial channel.communicated to the external device over the serial channel.communicated to the external device over the serial channel.The character string number can be specified from $1 to $99. If the program differs between $1 and $90, these will The character string number can be specified from $1 to $99. If the program differs between $1 and $90, these will The character string number can be specified from $1 to $99. If the program differs between $1 and $90, these will The character string number can be specified from $1 to $99. If the program differs between $1 and $90, these will be registered as separate data even if the number is the same. On the other hand, $91 to $99 are common for all be registered as separate data even if the number is the same. On the other hand, $91 to $99 are common for all be registered as separate data even if the number is the same. On the other hand, $91 to $99 are common for all be registered as separate data even if the number is the same. On the other hand, $91 to $99 are common for all programs. Depending on the counter number value (details), the character string number cannot be specified programs. Depending on the counter number value (details), the character string number cannot be specified programs. Depending on the counter number value (details), the character string number cannot be specified programs. Depending on the counter number value (details), the character string number cannot be specified indirectly.indirectly.indirectly.indirectly.

An exampleAn exampleAn exampleAn example 10 SC $1, "ABC"10 SC $1, "ABC"10 SC $1, "ABC"10 SC $1, "ABC" :Character string "ABC" is set in character string number 1:Character string "ABC" is set in character string number 1:Character string "ABC" is set in character string number 1:Character string "ABC" is set in character string number 1

20 CP $120 CP $120 CP $120 CP $1 :The details of character string number 1 are set in the character string :The details of character string number 1 are set in the character string :The details of character string number 1 are set in the character string :The details of character string number 1 are set in the character string registerregisterregisterregister

30 CL $230 CL $230 CL $230 CL $2 :The details of the character string register are set in character string :The details of the character string register are set in character string :The details of the character string register are set in character string :The details of the character string register are set in character string number 2.number 2.number 2.number 2.

【 Relating commands 】 CL, CP, CR, INP, LG, NE, EQ, SM, SC【 Relating commands 】 CL, CP, CR, INP, LG, NE, EQ, SM, SC【 Relating commands 】 CL, CP, CR, INP, LG, NE, EQ, SM, SC【 Relating commands 】 CL, CP, CR, INP, LG, NE, EQ, SM, SC

(6) About the operation data and the comparison value (6) About the operation data and the comparison value (6) About the operation data and the comparison value (6) About the operation data and the comparison value The operation data and the comparison value have the method of specifying the content of the method of directly The operation data and the comparison value have the method of specifying the content of the method of directly The operation data and the comparison value have the method of specifying the content of the method of directly The operation data and the comparison value have the method of specifying the content of the method of directly specifying the numerical value (Specification by the decimal number and the hexadecimal number is possible) and specifying the numerical value (Specification by the decimal number and the hexadecimal number is possible) and specifying the numerical value (Specification by the decimal number and the hexadecimal number is possible) and specifying the numerical value (Specification by the decimal number and the hexadecimal number is possible) and the counter number. the counter number. the counter number. the counter number. When the numerical value is directly specified by the decimal number.When the numerical value is specifiedby the When the numerical value is directly specified by the decimal number.When the numerical value is specifiedby the When the numerical value is directly specified by the decimal number.When the numerical value is specifiedby the When the numerical value is directly specified by the decimal number.When the numerical value is specifiedby the hexadecimal number, "&" is input to the head of the hexadecimal number. hexadecimal number, "&" is input to the head of the hexadecimal number. hexadecimal number, "&" is input to the head of the hexadecimal number. hexadecimal number, "&" is input to the head of the hexadecimal number. When the content of the counter number is specified, "@" is input to the head of the counter number. When the content of the counter number is specified, "@" is input to the head of the counter number. When the content of the counter number is specified, "@" is input to the head of the counter number. When the content of the counter number is specified, "@" is input to the head of the counter number.

An An An An xample)xample)xample)xample) 10 ADD 1010 ADD 1010 ADD 1010 ADD 10 ;10 is added to internal register.;10 is added to internal register.;10 is added to internal register.;10 is added to internal register.　 　　 　　 　　 　 20 ADD &000A20 ADD &000A20 ADD &000A20 ADD &000A ;A;A;A;A(hexadecimal number)(hexadecimal number)(hexadecimal number)(hexadecimal number) is added to internal register. is added to internal register. is added to internal register. is added to internal register.　 　　 　　 　　 　 30 SC 1, 1030 SC 1, 1030 SC 1, 1030 SC 1, 10 ;;;;10 is setted to counter number 1.10 is setted to counter number 1.10 is setted to counter number 1.10 is setted to counter number 1.　 　　 　　 　　 　 40 ADD @140 ADD @140 ADD @140 ADD @1 ;;;;The value of counter number 1(10) is added to internal register.The value of counter number 1(10) is added to internal register.The value of counter number 1(10) is added to internal register.The value of counter number 1(10) is added to internal register.

【Relating commands】 ： ADD, AN, DIV, EQ, LG, MUL, NE OR, SM, SUB, XO【Relating commands】 ： ADD, AN, DIV, EQ, LG, MUL, NE OR, SM, SUB, XO【Relating commands】 ： ADD, AN, DIV, EQ, LG, MUL, NE OR, SM, SUB, XO【Relating commands】 ： ADD, AN, DIV, EQ, LG, MUL, NE OR, SM, SUB, XO

(7) Direct execution(7) Direct execution(7) Direct execution(7) Direct executionIf you transfer command to the controller without line number by personal computer or teaching box, it will be If you transfer command to the controller without line number by personal computer or teaching box, it will be If you transfer command to the controller without line number by personal computer or teaching box, it will be If you transfer command to the controller without line number by personal computer or teaching box, it will be executed instantaneously. (Not be programed.) Especially hold with care in case executing moving command. You executed instantaneously. (Not be programed.) Especially hold with care in case executing moving command. You executed instantaneously. (Not be programed.) Especially hold with care in case executing moving command. You executed instantaneously. (Not be programed.) Especially hold with care in case executing moving command. You can execute PRN and RS-232C communication command even if the program is running.can execute PRN and RS-232C communication command even if the program is running.can execute PRN and RS-232C communication command even if the program is running.can execute PRN and RS-232C communication command even if the program is running.

Note:Make the DTR control shown in the previous item "2.2 Setting of RS-232C" effective when you do direct Note:Make the DTR control shown in the previous item "2.2 Setting of RS-232C" effective when you do direct Note:Make the DTR control shown in the previous item "2.2 Setting of RS-232C" effective when you do direct Note:Make the DTR control shown in the previous item "2.2 Setting of RS-232C" effective when you do direct execution with RS-232C.execution with RS-232C.execution with RS-232C.execution with RS-232C.A direct execution is to make the MODE changeover switch of the controller control panel AUTO (Ext.), and A direct execution is to make the MODE changeover switch of the controller control panel AUTO (Ext.), and A direct execution is to make the MODE changeover switch of the controller control panel AUTO (Ext.), and A direct execution is to make the MODE changeover switch of the controller control panel AUTO (Ext.), and do it.do it.do it.do it.

(8) Internal register(8) Internal register(8) Internal register(8) Internal registerThe data taken from external I/O are memorized in so called "internal register", then used for conditional The data taken from external I/O are memorized in so called "internal register", then used for conditional The data taken from external I/O are memorized in so called "internal register", then used for conditional The data taken from external I/O are memorized in so called "internal register", then used for conditional branching, comparison, logical bit operation, counter setting, and etc. When you carry out conditional branching on branching, comparison, logical bit operation, counter setting, and etc. When you carry out conditional branching on branching, comparison, logical bit operation, counter setting, and etc. When you carry out conditional branching on branching, comparison, logical bit operation, counter setting, and etc. When you carry out conditional branching on the basis of counter value, you use this internal register too.the basis of counter value, you use this internal register too.the basis of counter value, you use this internal register too.the basis of counter value, you use this internal register too.

【 Relating Commands 】 AN,CL,CP,DR,EQ,ID,INP,NE,OR,SM,TB,XO【 Relating Commands 】 AN,CL,CP,DR,EQ,ID,INP,NE,OR,SM,TB,XO【 Relating Commands 】 AN,CL,CP,DR,EQ,ID,INP,NE,OR,SM,TB,XO【 Relating Commands 】 AN,CL,CP,DR,EQ,ID,INP,NE,OR,SM,TB,XO

(9) Character string register(9) Character string register(9) Character string register(9) Character string registerThe character string led in to the external device over the serial channel is stored in the memory called the The character string led in to the external device over the serial channel is stored in the memory called the The character string led in to the external device over the serial channel is stored in the memory called the The character string led in to the external device over the serial channel is stored in the memory called the "character string register". It is then used for making settings of the character string comparison or character "character string register". It is then used for making settings of the character string comparison or character "character string register". It is then used for making settings of the character string comparison or character "character string register". It is then used for making settings of the character string comparison or character string number to jump conditions.string number to jump conditions.string number to jump conditions.string number to jump conditions.

【 Relating commands】 CL, CP, INP, LG, NE, EQ, SM【 Relating commands】 CL, CP, INP, LG, NE, EQ, SM【 Relating commands】 CL, CP, INP, LG, NE, EQ, SM【 Relating commands】 CL, CP, INP, LG, NE, EQ, SM

2222----8 8 8 8 Explanation of commandExplanation of commandExplanation of commandExplanation of command

2222Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

(10) Internal resister and related command. (Reference)(10) Internal resister and related command. (Reference)(10) Internal resister and related command. (Reference)(10) Internal resister and related command. (Reference)It shows it as follows about interior resister, counter, input port and flow of treatment of command concerned.It shows it as follows about interior resister, counter, input port and flow of treatment of command concerned.It shows it as follows about interior resister, counter, input port and flow of treatment of command concerned.It shows it as follows about interior resister, counter, input port and flow of treatment of command concerned.

(11) Character string register and related commands (Reference)(11) Character string register and related commands (Reference)(11) Character string register and related commands (Reference)(11) Character string register and related commands (Reference)The flow of the character string register, character string and related command process is shown below.The flow of the character string register, character string and related command process is shown below.The flow of the character string register, character string and related command process is shown below.The flow of the character string register, character string and related command process is shown below.

TBDTBDTBDTBDEAEAEAEA

TBTBTBTBEQEQEQEQLGLGLGLGSMSMSMSMNENENENE

DRDRDRDR

CRCRCRCR

INPINPINPINP(PRN)(PRN)(PRN)(PRN)

SCSCSCSCICICICICDCDCDCDC

ODODODODOBOBOBOB

(16bit)(16bit)(16bit)(16bit)

9898989899999999

CounterCounterCounterCounter

111122223333

CLCLCLCL CPCPCPCP

OCOCOCOC

(1bit)(1bit)(1bit)(1bit)

900900900900

32767327673276732767

0000

(1bit)(1bit)(1bit)(1bit)32767327673276732767

900900900900

0000

IDIDIDID

Internal Internal Internal Internal resister resister resister resister (16bit) (16bit) (16bit) (16bit)

General I/OGeneral I/OGeneral I/OGeneral I/O

Counter Counter Counter Counter /internal /internal /internal /internal resister resister resister resister transmission.transmission.transmission.transmission.

NoteNoteNoteNote1111

Counter/output port Counter/output port Counter/output port Counter/output port transmissiontransmissiontransmissiontransmission

Input portInput portInput portInput port

Output portOutput portOutput portOutput port

INPINPINPINP(RS232Capplication)(RS232Capplication)(RS232Capplication)(RS232Capplication)

(RS232Capplication)(RS232Capplication)(RS232Capplication)(RS232Capplication)

NoteNoteNoteNote2222

Conditio

n ju

mp

Conditio

n ju

mp

Conditio

n ju

mp

Conditio

n ju

mp

Logio

operatio

nLogio

operatio

nLogio

operatio

nLogio

operatio

nG

etting d

ataG

etting d

ataG

etting d

ataG

etting d

ata fro

m R

S-232C

from

RS-232C

from

RS-232C

from

RS-232C

Coun

ter o

peratio

nC

oun

ter o

peratio

nC

oun

ter o

peratio

nC

oun

ter o

peratio

nG

eneral I/O

General I/O

General I/O

General I/O

ADD ADD ADD ADD SUB SUB SUB SUB MUL MUL MUL MUL DIV DIV DIV DIV AN AN AN AN OR OR OR OR XOXOXOXO

Note 1) Address 900 is the hand input/output.Note 1) Address 900 is the hand input/output.Note 1) Address 900 is the hand input/output.Note 1) Address 900 is the hand input/output.

Note 2) If the counter number is omitted, it will be set in the internal resister.Note 2) If the counter number is omitted, it will be set in the internal resister.Note 2) If the counter number is omitted, it will be set in the internal resister.Note 2) If the counter number is omitted, it will be set in the internal resister.

CL $1CL $1CL $1CL $1 CP $1CP $1CP $1CP $1

Condition jumpCondition jumpCondition jumpCondition jump

Character string Character string Character string Character string registerregisterregisterregister

$1$1$1$1

$2$2$2$2

$3$3$3$3

$99$99$99$99

INP 1, ,2INP 1, ,2INP 1, ,2INP 1, ,2

INP 1,$1,2INP 1,$1,2INP 1,$1,2INP 1,$1,2

CR $2CR $2CR $2CR $2

InputInputInputInput

OutputOutputOutputOutput

SetSetSetSet

InputInputInputInput

SC $99,"RUN"SC $99,"RUN"SC $99,"RUN"SC $99,"RUN"

EQ/NE $1,100 EQ/NE $1,100 EQ/NE $1,100 EQ/NE $1,100 LG/SM $2,200LG/SM $2,200LG/SM $2,200LG/SM $2,200

; When character ; When character ; When character ; When character ; number is omitted; number is omitted; number is omitted; number is omitted

RS-232CinputRS-232CinputRS-232CinputRS-232Cinput

RS-232CoutputRS-232CoutputRS-232CoutputRS-232Coutput

Character string Character string Character string Character string (120 character max.)(120 character max.)(120 character max.)(120 character max.)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

ADD (Add)ADD (Add)ADD (Add)ADD (Add) 2222-9-9-9-9

2.5 Explanation of each command2.5 Explanation of each command2.5 Explanation of each command2.5 Explanation of each command

Hereafter, each command (instruction) is explained in alphabetical order. Hereafter, each command (instruction) is explained in alphabetical order. Hereafter, each command (instruction) is explained in alphabetical order. Hereafter, each command (instruction) is explained in alphabetical order.

ADD (Add)ADD (Add)ADD (Add)ADD (Add)

【 Function 】【 Function 】【 Function 】【 Function 】Multiples the internal register value, and stores the result in the internal register.Multiples the internal register value, and stores the result in the internal register.Multiples the internal register value, and stores the result in the internal register.Multiples the internal register value, and stores the result in the internal register.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Operation data>　Describes the data to be operated as a numeric value or counter No. with @.<Operation data>　Describes the data to be operated as a numeric value or counter No. with @.<Operation data>　Describes the data to be operated as a numeric value or counter No. with @.<Operation data>　Describes the data to be operated as a numeric value or counter No. with @.

-32768 ≦ numeric value (decimal) ≦ 32767-32768 ≦ numeric value (decimal) ≦ 32767-32768 ≦ numeric value (decimal) ≦ 32767-32768 ≦ numeric value (decimal) ≦ 32767 &8000 ≦ numeric value (hexadecimal) ≦ &7FFF &8000 ≦ numeric value (hexadecimal) ≦ &7FFF &8000 ≦ numeric value (hexadecimal) ≦ &7FFF &8000 ≦ numeric value (hexadecimal) ≦ &7FFF @1 ≦ Counter No. ≦ @99 @1 ≦ Counter No. ≦ @99 @1 ≦ Counter No. ≦ @99 @1 ≦ Counter No. ≦ @99

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1)Designate the operation datasetting as a numeric value or counter No.(1)Designate the operation datasetting as a numeric value or counter No.(1)Designate the operation datasetting as a numeric value or counter No.(1)Designate the operation datasetting as a numeric value or counter No.

When designating eith a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" When designating eith a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" When designating eith a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" When designating eith a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" to the head of the operation data.to the head of the operation data.to the head of the operation data.to the head of the operation data.When setting with a counter No. will be used as the operation data.When setting with a counter No. will be used as the operation data.When setting with a counter No. will be used as the operation data.When setting with a counter No. will be used as the operation data.

(2)The operation results are stored in the internal register, so operation, comparison and reading, etc., of the (2)The operation results are stored in the internal register, so operation, comparison and reading, etc., of the (2)The operation results are stored in the internal register, so operation, comparison and reading, etc., of the (2)The operation results are stored in the internal register, so operation, comparison and reading, etc., of the operation results can be carried out with the related commands.operation results can be carried out with the related commands.operation results can be carried out with the related commands.operation results can be carried out with the related commands.(Refer to SUB, MUL, DIV. EQ, NE, LG, SM, CL, DR, OR(Refer to SUB, MUL, DIV. EQ, NE, LG, SM, CL, DR, OR(Refer to SUB, MUL, DIV. EQ, NE, LG, SM, CL, DR, OR(Refer to SUB, MUL, DIV. EQ, NE, LG, SM, CL, DR, OR, AN, XO, AN, XO, AN, XO, AN, XO commands) commands) commands) commands)

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 CP110 CP110 CP110 CP1 ; Stores counter No.1 value in internaal register; Stores counter No.1 value in internaal register; Stores counter No.1 value in internaal register; Stores counter No.1 value in internaal register20 ADD @220 ADD @220 ADD @220 ADD @2 ; Counter No.2 to the contents of multiplies internal register value.; Counter No.2 to the contents of multiplies internal register value.; Counter No.2 to the contents of multiplies internal register value.; Counter No.2 to the contents of multiplies internal register value.30 CL330 CL330 CL330 CL3 ; Sets internal register value in counter No.3; Sets internal register value in counter No.3; Sets internal register value in counter No.3; Sets internal register value in counter No.3

(Counter No.3 = counter No.1 + counter No.2) (Counter No.3 = counter No.1 + counter No.2) (Counter No.3 = counter No.1 + counter No.2) (Counter No.3 = counter No.1 + counter No.2)40 CP140 CP140 CP140 CP1 ; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register50 ADD 1550 ADD 1550 ADD 1550 ADD 15 ; Add 15 to the contents of multiplies internal register value.; Add 15 to the contents of multiplies internal register value.; Add 15 to the contents of multiplies internal register value.; Add 15 to the contents of multiplies internal register value.60 CL460 CL460 CL460 CL4 ; Sets internal register value in counter No.4; Sets internal register value in counter No.4; Sets internal register value in counter No.4; Sets internal register value in counter No.4

(Counter No.4 = counter No.1 + 15) (Counter No.4 = counter No.1 + 15) (Counter No.4 = counter No.1 + 15) (Counter No.4 = counter No.1 + 15)

ADD　 <Operation data>ADD　 <Operation data>ADD　 <Operation data>ADD　 <Operation data>

2222----10 10 10 10 AN (And)AN (And)AN (And)AN (And)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

AN (And)AN (And)AN (And)AN (And)

【 Function 】【 Function 】【 Function 】【 Function 】ANDs the specified value with the internal register, then stores the result to the internal register.ANDs the specified value with the internal register, then stores the result to the internal register.ANDs the specified value with the internal register, then stores the result to the internal register.ANDs the specified value with the internal register, then stores the result to the internal register.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<operation data><operation data><operation data><operation data> Specify the data to be operated Specify the data to be operated Specify the data to be operated Specify the data to be operated or counter No. with @or counter No. with @or counter No. with @or counter No. with @....

-32768 ≦ operation data (decimal) ≦ 32767-32768 ≦ operation data (decimal) ≦ 32767-32768 ≦ operation data (decimal) ≦ 32767-32768 ≦ operation data (decimal) ≦ 32767 &8000 ≦ operation data (hexadecimal) ≦ &7FFF &8000 ≦ operation data (hexadecimal) ≦ &7FFF &8000 ≦ operation data (hexadecimal) ≦ &7FFF &8000 ≦ operation data (hexadecimal) ≦ &7FFF @1@1@1@1 ≦ ≦ ≦ ≦ counter No.counter No.counter No.counter No. ≦ ≦ ≦ ≦ @99@99@99@99

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Specify the data to be operated in decimal or hexadecimal.(1) Specify the data to be operated in decimal or hexadecimal.(1) Specify the data to be operated in decimal or hexadecimal.(1) Specify the data to be operated in decimal or hexadecimal.

Any hexadecimal value must be headed by "&".Any hexadecimal value must be headed by "&".Any hexadecimal value must be headed by "&".Any hexadecimal value must be headed by "&".(2) The operation result is stored into the internal register and can be changed, compared or read by relevant (2) The operation result is stored into the internal register and can be changed, compared or read by relevant (2) The operation result is stored into the internal register and can be changed, compared or read by relevant (2) The operation result is stored into the internal register and can be changed, compared or read by relevant

commands. (See the EQ, NE, LG, SM, CL, DR, OR commands)commands. (See the EQ, NE, LG, SM, CL, DR, OR commands)commands. (See the EQ, NE, LG, SM, CL, DR, OR commands)commands. (See the EQ, NE, LG, SM, CL, DR, OR commands)(3) Execution of the AN command after the input commands (ID) allows receiving of only the required bits of the input (3) Execution of the AN command after the input commands (ID) allows receiving of only the required bits of the input (3) Execution of the AN command after the input commands (ID) allows receiving of only the required bits of the input (3) Execution of the AN command after the input commands (ID) allows receiving of only the required bits of the input

data fetched from the external device.data fetched from the external device.data fetched from the external device.data fetched from the external device.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 ID10 ID10 ID10 ID ; Fetches data from external input port.; Fetches data from external input port.; Fetches data from external input port.; Fetches data from external input port.20 AN &000F20 AN &000F20 AN &000F20 AN &000F ; Receives four lower bits only; Receives four lower bits only; Receives four lower bits only; Receives four lower bits only30 CL 1230 CL 1230 CL 1230 CL 12 ; Loads above data into counter 12; Loads above data into counter 12; Loads above data into counter 12; Loads above data into counter 1240 EQ 8,20040 EQ 8,20040 EQ 8,20040 EQ 8,200 ; Jumps to line 200 if above data is equal to 8.; Jumps to line 200 if above data is equal to 8.; Jumps to line 200 if above data is equal to 8.; Jumps to line 200 if above data is equal to 8.50 ED50 ED50 ED50 ED ; Ends program.; Ends program.; Ends program.; Ends program.200 MO 99200 MO 99200 MO 99200 MO 99 ; Moves to position 99.; Moves to position 99.; Moves to position 99.; Moves to position 99.

AN　 <operation data>AN　 <operation data>AN　 <operation data>AN　 <operation data>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

Ｃ Ｆ (Change figure)Ｃ Ｆ (Change figure)Ｃ Ｆ (Change figure)Ｃ Ｆ (Change figure) 2222-11-11-11-11

Ｃ Ｆ (Change figure)Ｃ Ｆ (Change figure)Ｃ Ｆ (Change figure)Ｃ Ｆ (Change figure)

【 Function 】【 Function 】【 Function 】【 Function 】Changes the attitude data of the robot at the specified position.Changes the attitude data of the robot at the specified position.Changes the attitude data of the robot at the specified position.Changes the attitude data of the robot at the specified position.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】(1) 6-axis type(1) 6-axis type(1) 6-axis type(1) 6-axis type

(2) 5-axis type(2) 5-axis type(2) 5-axis type(2) 5-axis type

【 Term 】【 Term 】【 Term 】【 Term 】<Position number><Position number><Position number><Position number> Specify position number changing attitude data in integer value.Specify position number changing attitude data in integer value.Specify position number changing attitude data in integer value.Specify position number changing attitude data in integer value.

1 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 999<R/L><R/L><R/L><R/L> Appoint structure flag of the robot to Right or Left.Appoint structure flag of the robot to Right or Left.Appoint structure flag of the robot to Right or Left.Appoint structure flag of the robot to Right or Left.

R : Right (Default)R : Right (Default)R : Right (Default)R : Right (Default)L : LeftL : LeftL : LeftL : Left

<A/B><A/B><A/B><A/B> Appoint structure flag of the robot to Above or Below.Appoint structure flag of the robot to Above or Below.Appoint structure flag of the robot to Above or Below.Appoint structure flag of the robot to Above or Below.A : Above (Default)A : Above (Default)A : Above (Default)A : Above (Default)B : BelowB : BelowB : BelowB : Below

<N/F><N/F><N/F><N/F> Appoint structure flag of the robot to Non flip or Flip. (6-axis type only)Appoint structure flag of the robot to Non flip or Flip. (6-axis type only)Appoint structure flag of the robot to Non flip or Flip. (6-axis type only)Appoint structure flag of the robot to Non flip or Flip. (6-axis type only)N : Nonflip (Default)N : Nonflip (Default)N : Nonflip (Default)N : Nonflip (Default)F : Flip F : Flip F : Flip F : Flip

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Changes the attitude data of the robot at the specified position.(1) Changes the attitude data of the robot at the specified position.(1) Changes the attitude data of the robot at the specified position.(1) Changes the attitude data of the robot at the specified position.(2) Does not effect the coordinate data of the specified position and the open/close state of the hand.(2) Does not effect the coordinate data of the specified position and the open/close state of the hand.(2) Does not effect the coordinate data of the specified position and the open/close state of the hand.(2) Does not effect the coordinate data of the specified position and the open/close state of the hand.(3) Even if the position is reachable before executing this command, there is case becoming not reachable in the (3) Even if the position is reachable before executing this command, there is case becoming not reachable in the (3) Even if the position is reachable before executing this command, there is case becoming not reachable in the (3) Even if the position is reachable before executing this command, there is case becoming not reachable in the

waist and shoulder joint after execution.waist and shoulder joint after execution.waist and shoulder joint after execution.waist and shoulder joint after execution.(4) You can confirm the attitude of the specified position by PR command.(4) You can confirm the attitude of the specified position by PR command.(4) You can confirm the attitude of the specified position by PR command.(4) You can confirm the attitude of the specified position by PR command.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)(1)6-axis type(1)6-axis type(1)6-axis type(1)6-axis type10 PD 1,530,0,470,10,135,-10,R,A,N10 PD 1,530,0,470,10,135,-10,R,A,N10 PD 1,530,0,470,10,135,-10,R,A,N10 PD 1,530,0,470,10,135,-10,R,A,N ; Defines the position 1. (Right、 Above、 Non Flip); Defines the position 1. (Right、 Above、 Non Flip); Defines the position 1. (Right、 Above、 Non Flip); Defines the position 1. (Right、 Above、 Non Flip)20 MO 120 MO 120 MO 120 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.30 CF 1,R,A,F 30 CF 1,R,A,F 30 CF 1,R,A,F 30 CF 1,R,A,F ; Changes the attitude of position 1. (Right、 Above、 Flip); Changes the attitude of position 1. (Right、 Above、 Flip); Changes the attitude of position 1. (Right、 Above、 Flip); Changes the attitude of position 1. (Right、 Above、 Flip)40 MO 140 MO 140 MO 140 MO 1 ; Defines the position 1.; Defines the position 1.; Defines the position 1.; Defines the position 1.(2)5-axis type(2)5-axis type(2)5-axis type(2)5-axis type10 PD 1,-280,-50,970,-10,-20,L,A10 PD 1,-280,-50,970,-10,-20,L,A10 PD 1,-280,-50,970,-10,-20,L,A10 PD 1,-280,-50,970,-10,-20,L,A ; Defines the position 1. (Left、 Above); Defines the position 1. (Left、 Above); Defines the position 1. (Left、 Above); Defines the position 1. (Left、 Above)20 MO 120 MO 120 MO 120 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.30 CF 1,R,A30 CF 1,R,A30 CF 1,R,A30 CF 1,R,A ; Changes the attitude of position 1. (Right、 Above); Changes the attitude of position 1. (Right、 Above); Changes the attitude of position 1. (Right、 Above); Changes the attitude of position 1. (Right、 Above)40 MO 140 MO 140 MO 140 MO 1 ; Defines the position 1.; Defines the position 1.; Defines the position 1.; Defines the position 1.

CF　 <position number> ［， ［<R/L>］ ［， ［<A/B>］ ［， ［<N/F>］］］］CF　 <position number> ［， ［<R/L>］ ［， ［<A/B>］ ［， ［<N/F>］］］］CF　 <position number> ［， ［<R/L>］ ［， ［<A/B>］ ［， ［<N/F>］］］］CF　 <position number> ［， ［<R/L>］ ［， ［<A/B>］ ［， ［<N/F>］］］］

CF　 <position number> ［， ［<R/L>］ ［， ［<A/B>］］］CF　 <position number> ［， ［<R/L>］ ［， ［<A/B>］］］CF　 <position number> ［， ［<R/L>］ ［， ［<A/B>］］］CF　 <position number> ［， ［<R/L>］ ［， ［<A/B>］］］

2222----12 12 12 12 CL (Counter Load)CL (Counter Load)CL (Counter Load)CL (Counter Load)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

CL (Counter Load)CL (Counter Load)CL (Counter Load)CL (Counter Load)

【 Function 】【 Function 】【 Function 】【 Function 】The internal register value is set in the counter with the specified number.The internal register value is set in the counter with the specified number.The internal register value is set in the counter with the specified number.The internal register value is set in the counter with the specified number.The character string register details are set in the character string with the specified value.The character string register details are set in the character string with the specified value.The character string register details are set in the character string with the specified value.The character string register details are set in the character string with the specified value.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Counter number><Counter number><Counter number><Counter number> Specify Specify Specify Specify counter No.counter No.counter No.counter No. in numeric value in numeric value in numeric value in numeric value or counter No. with @or counter No. with @or counter No. with @or counter No. with @....

1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ 99 ≦ 99 ≦ 99 ≦ 99@@@@1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ ≦ ≦ ≦ @@@@99999999

<Character string number><Character string number><Character string number><Character string number> Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】<When counter number is specified><When counter number is specified><When counter number is specified><When counter number is specified>(1) Sets the data fetched from the input port to the specified counter. Hence, the CL commands must be executed (1) Sets the data fetched from the input port to the specified counter. Hence, the CL commands must be executed (1) Sets the data fetched from the input port to the specified counter. Hence, the CL commands must be executed (1) Sets the data fetched from the input port to the specified counter. Hence, the CL commands must be executed

after the input command. (See ID)after the input command. (See ID)after the input command. (See ID)after the input command. (See ID)(2) Since the data from the input port is treated as signed, the data set to the counter is signed. (Take value (2) Since the data from the input port is treated as signed, the data set to the counter is signed. (Take value (2) Since the data from the input port is treated as signed, the data set to the counter is signed. (Take value (2) Since the data from the input port is treated as signed, the data set to the counter is signed. (Take value

between -32768 and 32767.)between -32768 and 32767.)between -32768 and 32767.)between -32768 and 32767.)(3) Used to specify the number of job sequences and the counter value at palletizing from an external device, such as (3) Used to specify the number of job sequences and the counter value at palletizing from an external device, such as (3) Used to specify the number of job sequences and the counter value at palletizing from an external device, such as (3) Used to specify the number of job sequences and the counter value at palletizing from an external device, such as

a programmable controller. At this case, any of the logical operation commands (see AN,OR,XO) may be used as a programmable controller. At this case, any of the logical operation commands (see AN,OR,XO) may be used as a programmable controller. At this case, any of the logical operation commands (see AN,OR,XO) may be used as a programmable controller. At this case, any of the logical operation commands (see AN,OR,XO) may be used as necessary.necessary.necessary.necessary.

(4) Execution of the CL command after the CP command allows the counter data to be transferred.(4) Execution of the CL command after the CP command allows the counter data to be transferred.(4) Execution of the CL command after the CP command allows the counter data to be transferred.(4) Execution of the CL command after the CP command allows the counter data to be transferred.(5) The counter value can be changed, compared or read by the relevant commands.(5) The counter value can be changed, compared or read by the relevant commands.(5) The counter value can be changed, compared or read by the relevant commands.(5) The counter value can be changed, compared or read by the relevant commands.

(See (See (See (See IC, DC, SC, CP, CRIC, DC, SC, CP, CRIC, DC, SC, CP, CRIC, DC, SC, CP, CR commands.) commands.) commands.) commands.)

<When character string number is specified><When character string number is specified><When character string number is specified><When character string number is specified>(1) The data lead in from the character string register is set in the specified character string. Thus, this command (1) The data lead in from the character string register is set in the specified character string. Thus, this command (1) The data lead in from the character string register is set in the specified character string. Thus, this command (1) The data lead in from the character string register is set in the specified character string. Thus, this command

must be executed after the character string register setting command (refer to CP, INP commands) is executed.must be executed after the character string register setting command (refer to CP, INP commands) is executed.must be executed after the character string register setting command (refer to CP, INP commands) is executed.must be executed after the character string register setting command (refer to CP, INP commands) is executed.(2) This is used to set and confirm the work details or work results from an external device such as a sequencer. Use (2) This is used to set and confirm the work details or work results from an external device such as a sequencer. Use (2) This is used to set and confirm the work details or work results from an external device such as a sequencer. Use (2) This is used to set and confirm the work details or work results from an external device such as a sequencer. Use

the compare command are required at this time. (Refer to EQ, LG, NE, SM commands.)the compare command are required at this time. (Refer to EQ, LG, NE, SM commands.)the compare command are required at this time. (Refer to EQ, LG, NE, SM commands.)the compare command are required at this time. (Refer to EQ, LG, NE, SM commands.)(3) The character string register value is set in the specified character string by this command, so if this command is (3) The character string register value is set in the specified character string by this command, so if this command is (3) The character string register value is set in the specified character string by this command, so if this command is (3) The character string register value is set in the specified character string by this command, so if this command is

executed after the CP command, the data can be copied between character strings.executed after the CP command, the data can be copied between character strings.executed after the CP command, the data can be copied between character strings.executed after the CP command, the data can be copied between character strings.(4) Operation, comparison and reading of the character string are possible by using the related commands.(4) Operation, comparison and reading of the character string are possible by using the related commands.(4) Operation, comparison and reading of the character string are possible by using the related commands.(4) Operation, comparison and reading of the character string are possible by using the related commands.

(See CP, CR, EQ, INP, LG, NE, SC, SM commands.)(See CP, CR, EQ, INP, LG, NE, SC, SM commands.)(See CP, CR, EQ, INP, LG, NE, SC, SM commands.)(See CP, CR, EQ, INP, LG, NE, SC, SM commands.)

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 10 10 10 IIIIDDDD ; Fetches data from external input port.; Fetches data from external input port.; Fetches data from external input port.; Fetches data from external input port.20 CL 2520 CL 2520 CL 2520 CL 25 ; Sets above data to counter 25.; Sets above data to counter 25.; Sets above data to counter 25.; Sets above data to counter 25.30 CP 1130 CP 1130 CP 1130 CP 11 ; Sets data of counter 11 to internal register.; Sets data of counter 11 to internal register.; Sets data of counter 11 to internal register.; Sets data of counter 11 to internal register.40 CL 2140 CL 2140 CL 2140 CL 21 ; Sets data of internal register to counter 21.; Sets data of internal register to counter 21.; Sets data of internal register to counter 21.; Sets data of internal register to counter 21.50 SC $5,"ABC"50 SC $5,"ABC"50 SC $5,"ABC"50 SC $5,"ABC" ; Set character string "ABC" in character string number 5; Set character string "ABC" in character string number 5; Set character string "ABC" in character string number 5; Set character string "ABC" in character string number 560 CP $560 CP $560 CP $560 CP $5 ; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register70 CL $1070 CL $1070 CL $1070 CL $10 ; Set the details of the character string register in character string number 10; Set the details of the character string register in character string number 10; Set the details of the character string register in character string number 10; Set the details of the character string register in character string number 10

CL　 <counter number/character string number>CL　 <counter number/character string number>CL　 <counter number/character string number>CL　 <counter number/character string number>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

CP (Compare Counter)CP (Compare Counter)CP (Compare Counter)CP (Compare Counter) 2222-13-13-13-13

CP (Compare Counter)CP (Compare Counter)CP (Compare Counter)CP (Compare Counter)

【 Function 】【 Function 】【 Function 】【 Function 】The value of the specified counter is set in the internal register. The details of the specified character string are set The value of the specified counter is set in the internal register. The details of the specified character string are set The value of the specified counter is set in the internal register. The details of the specified character string are set The value of the specified counter is set in the internal register. The details of the specified character string are set in the character string register.in the character string register.in the character string register.in the character string register.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Counter number><Counter number><Counter number><Counter number> Specify Specify Specify Specify counter No.counter No.counter No.counter No. in numeric value in numeric value in numeric value in numeric value or counter No. with @or counter No. with @or counter No. with @or counter No. with @....

1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ 99 ≦ 99 ≦ 99 ≦ 99@@@@1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ ≦ ≦ ≦ @@@@99999999

<Character string number> <Character string number> <Character string number> <Character string number> Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】<When counter number is specified><When counter number is specified><When counter number is specified><When counter number is specified>(1) To be executed before a conditional jump command (see EQ,NE,LG,SM commands) is executed if the value in the (1) To be executed before a conditional jump command (see EQ,NE,LG,SM commands) is executed if the value in the (1) To be executed before a conditional jump command (see EQ,NE,LG,SM commands) is executed if the value in the (1) To be executed before a conditional jump command (see EQ,NE,LG,SM commands) is executed if the value in the

specified counter is used for the jump. Conditional branching command carries out jump on the basis of value of specified counter is used for the jump. Conditional branching command carries out jump on the basis of value of specified counter is used for the jump. Conditional branching command carries out jump on the basis of value of specified counter is used for the jump. Conditional branching command carries out jump on the basis of value of internal register set by the CP command.internal register set by the CP command.internal register set by the CP command.internal register set by the CP command.

(2) Even if the value of the specified counter has changed after execution of the CP command, the value of internal (2) Even if the value of the specified counter has changed after execution of the CP command, the value of internal (2) Even if the value of the specified counter has changed after execution of the CP command, the value of internal (2) Even if the value of the specified counter has changed after execution of the CP command, the value of internal register remains intact. Accordingly when you carry out conditional branching by value of counter, need to carry register remains intact. Accordingly when you carry out conditional branching by value of counter, need to carry register remains intact. Accordingly when you carry out conditional branching by value of counter, need to carry register remains intact. Accordingly when you carry out conditional branching by value of counter, need to carry out this command after the counter value has changed.out this command after the counter value has changed.out this command after the counter value has changed.out this command after the counter value has changed.

(3) The input instruction (see ID) uses the same internal register, meaning that the old contents of the internal (3) The input instruction (see ID) uses the same internal register, meaning that the old contents of the internal (3) The input instruction (see ID) uses the same internal register, meaning that the old contents of the internal (3) The input instruction (see ID) uses the same internal register, meaning that the old contents of the internal register are lost when any input command is executed.register are lost when any input command is executed.register are lost when any input command is executed.register are lost when any input command is executed.

(4) The contents of the counter can be changed or read by the relevant commands. (4) The contents of the counter can be changed or read by the relevant commands. (4) The contents of the counter can be changed or read by the relevant commands. (4) The contents of the counter can be changed or read by the relevant commands. (See (See (See (See SC, IC, INP, DC, CR, CL, AN, OR, XO, EQ, LG, NE, SMSC, IC, INP, DC, CR, CL, AN, OR, XO, EQ, LG, NE, SMSC, IC, INP, DC, CR, CL, AN, OR, XO, EQ, LG, NE, SMSC, IC, INP, DC, CR, CL, AN, OR, XO, EQ, LG, NE, SM commands.) commands.) commands.) commands.)

<When character string number is specified><When character string number is specified><When character string number is specified><When character string number is specified>(1) When jumping the conditions due to the details of the specified character string, this command must be executed (1) When jumping the conditions due to the details of the specified character string, this command must be executed (1) When jumping the conditions due to the details of the specified character string, this command must be executed (1) When jumping the conditions due to the details of the specified character string, this command must be executed

before the conditions jump command (refer to EQ, NE, LG, SM commands). The conditions jump command will before the conditions jump command (refer to EQ, NE, LG, SM commands). The conditions jump command will before the conditions jump command (refer to EQ, NE, LG, SM commands). The conditions jump command will before the conditions jump command (refer to EQ, NE, LG, SM commands). The conditions jump command will execute comparison jumping based on the value of the character string register set by the CP command.execute comparison jumping based on the value of the character string register set by the CP command.execute comparison jumping based on the value of the character string register set by the CP command.execute comparison jumping based on the value of the character string register set by the CP command.

(2) Even if the details of the specified character string change after this command is executed, the character string (2) Even if the details of the specified character string change after this command is executed, the character string (2) Even if the details of the specified character string change after this command is executed, the character string (2) Even if the details of the specified character string change after this command is executed, the character string register value will not be affected. Thus, when executing condition jump according to the details of the character register value will not be affected. Thus, when executing condition jump according to the details of the character register value will not be affected. Thus, when executing condition jump according to the details of the character register value will not be affected. Thus, when executing condition jump according to the details of the character string, this command must be executed after the details of the character string change.string, this command must be executed after the details of the character string change.string, this command must be executed after the details of the character string change.string, this command must be executed after the details of the character string change.

(3) Operation, comparison and reading of the character string are possible by using the related commands.(3) Operation, comparison and reading of the character string are possible by using the related commands.(3) Operation, comparison and reading of the character string are possible by using the related commands.(3) Operation, comparison and reading of the character string are possible by using the related commands. (Refer to CP, CR, EQ, INP, LG, NE, SC, SM commands.) (Refer to CP, CR, EQ, INP, LG, NE, SC, SM commands.) (Refer to CP, CR, EQ, INP, LG, NE, SC, SM commands.) (Refer to CP, CR, EQ, INP, LG, NE, SC, SM commands.)

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)100 IC 21100 IC 21100 IC 21100 IC 21 ; Add 1 to the contents of counter 21; Add 1 to the contents of counter 21; Add 1 to the contents of counter 21; Add 1 to the contents of counter 21110 CP 21110 CP 21110 CP 21110 CP 21 ; Sets the value of counter 21 to the internal register.; Sets the value of counter 21 to the internal register.; Sets the value of counter 21 to the internal register.; Sets the value of counter 21 to the internal register.120 EQ 255,500120 EQ 255,500120 EQ 255,500120 EQ 255,500 ; If the contents of the internal register equal 255, the program jumps to line number 500.; If the contents of the internal register equal 255, the program jumps to line number 500.; If the contents of the internal register equal 255, the program jumps to line number 500.; If the contents of the internal register equal 255, the program jumps to line number 500.130 GT 100130 GT 100130 GT 100130 GT 100 ; The program jumps to line number 100.; The program jumps to line number 100.; The program jumps to line number 100.; The program jumps to line number 100.500 SC 21,0500 SC 21,0500 SC 21,0500 SC 21,0 ; Sets value 0 to counter 21.; Sets value 0 to counter 21.; Sets value 0 to counter 21.; Sets value 0 to counter 21.600 SC $5,"OK"600 SC $5,"OK"600 SC $5,"OK"600 SC $5,"OK" ; Set character string "OK" in character string number 5; Set character string "OK" in character string number 5; Set character string "OK" in character string number 5; Set character string "OK" in character string number 5610 CP $5 610 CP $5 610 CP $5 610 CP $5 ; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register620 EQ $10,800620 EQ $10,800620 EQ $10,800620 EQ $10,800 ; If the contents of the character string register equal character string number 10, the ; If the contents of the character string register equal character string number 10, the ; If the contents of the character string register equal character string number 10, the ; If the contents of the character string register equal character string number 10, the

program jumps to line number 800.program jumps to line number 800.program jumps to line number 800.program jumps to line number 800. : : : :800 GT 100800 GT 100800 GT 100800 GT 100 ; The program jumps to line number 100.; The program jumps to line number 100.; The program jumps to line number 100.; The program jumps to line number 100.

CP　 <counter number/character string number>CP　 <counter number/character string number>CP　 <counter number/character string number>CP　 <counter number/character string number>

2222----14 14 14 14 CR (Counter Read)CR (Counter Read)CR (Counter Read)CR (Counter Read)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

CR (Counter Read)CR (Counter Read)CR (Counter Read)CR (Counter Read)

【 Function 】【 Function 】【 Function 】【 Function 】The details of the specified counter or character string are read out. (Using RS-232-C)The details of the specified counter or character string are read out. (Using RS-232-C)The details of the specified counter or character string are read out. (Using RS-232-C)The details of the specified counter or character string are read out. (Using RS-232-C)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Counter number><Counter number><Counter number><Counter number> Specify Specify Specify Specify counter No.counter No.counter No.counter No. in numeric value in numeric value in numeric value in numeric value or counter No. with @or counter No. with @or counter No. with @or counter No. with @....

1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ 99 ≦ 99 ≦ 99 ≦ 99@@@@1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ ≦ ≦ ≦ @@@@99999999

<Character string number><Character string number><Character string number><Character string number> Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Outputs the contents of the specified counter from RS-232C port.(1) Outputs the contents of the specified counter from RS-232C port.(1) Outputs the contents of the specified counter from RS-232C port.(1) Outputs the contents of the specified counter from RS-232C port.(2) The output format is in ASCII coded decimal.(2) The output format is in ASCII coded decimal.(2) The output format is in ASCII coded decimal.(2) The output format is in ASCII coded decimal.(3) Because the terminator of the output data is carriage return (Hex. 0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex. 0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex. 0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex. 0D), it is necessary to handle serial data strings

up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to this in BASIC.this in BASIC.this in BASIC.this in BASIC.

(4) If an undefined counter is read, the initial value of 0 is returned. (+0 is returned in the case of "0")(4) If an undefined counter is read, the initial value of 0 is returned. (+0 is returned in the case of "0")(4) If an undefined counter is read, the initial value of 0 is returned. (+0 is returned in the case of "0")(4) If an undefined counter is read, the initial value of 0 is returned. (+0 is returned in the case of "0")(5) If a non-set character string is read, the final code's carriage return (CR: hexadecimal 0D) will be returned.(5) If a non-set character string is read, the final code's carriage return (CR: hexadecimal 0D) will be returned.(5) If a non-set character string is read, the final code's carriage return (CR: hexadecimal 0D) will be returned.(5) If a non-set character string is read, the final code's carriage return (CR: hexadecimal 0D) will be returned.(6) The contents of the counter are battery backed after the power is switched off.(6) The contents of the counter are battery backed after the power is switched off.(6) The contents of the counter are battery backed after the power is switched off.(6) The contents of the counter are battery backed after the power is switched off.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)<When counter number is specified><When counter number is specified><When counter number is specified><When counter number is specified>10 OPEN” COM1;E83” AS #110 OPEN” COM1;E83” AS #110 OPEN” COM1;E83” AS #110 OPEN” COM1;E83” AS #1 ; Opens the RS-232C communication file by the BASIC.; Opens the RS-232C communication file by the BASIC.; Opens the RS-232C communication file by the BASIC.; Opens the RS-232C communication file by the BASIC.20 INPUT "Counter number";N20 INPUT "Counter number";N20 INPUT "Counter number";N20 INPUT "Counter number";N ; Enter the counter number.; Enter the counter number.; Enter the counter number.; Enter the counter number.30 INPUT "Counter data "; D30 INPUT "Counter data "; D30 INPUT "Counter data "; D30 INPUT "Counter data "; D ; Enter the counter data.; Enter the counter data.; Enter the counter data.; Enter the counter data.40 PRINT #1, "SC "+STR$(N)+","+STR$(D)40 PRINT #1, "SC "+STR$(N)+","+STR$(D)40 PRINT #1, "SC "+STR$(N)+","+STR$(D)40 PRINT #1, "SC "+STR$(N)+","+STR$(D) ; Specified data is input into the counter.; Specified data is input into the counter.; Specified data is input into the counter.; Specified data is input into the counter.50 PRINT #1,"CR"+STR$(N50 PRINT #1,"CR"+STR$(N50 PRINT #1,"CR"+STR$(N50 PRINT #1,"CR"+STR$(N ; Transfers the data to the personal computer.; Transfers the data to the personal computer.; Transfers the data to the personal computer.; Transfers the data to the personal computer.60 LINE INPUT #1,A$60 LINE INPUT #1,A$60 LINE INPUT #1,A$60 LINE INPUT #1,A$ ; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.70 PRINT A$70 PRINT A$70 PRINT A$70 PRINT A$ ; Displays the data to the screen.; Displays the data to the screen.; Displays the data to the screen.; Displays the data to the screen.80 ED80 ED80 ED80 ED ; Program ends.; Program ends.; Program ends.; Program ends.

RUNRUNRUNRUN ; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.Counter number 1Counter number 1Counter number 1Counter number 1Counter data 100Counter data 100Counter data 100Counter data 100+100+100+100+100

<When character string number is specified><When character string number is specified><When character string number is specified><When character string number is specified>10 OPEN” COM1;E83” AS #110 OPEN” COM1;E83” AS #110 OPEN” COM1;E83” AS #110 OPEN” COM1;E83” AS #1 ; Opens the RS-232C communication file by the BASIC.; Opens the RS-232C communication file by the BASIC.; Opens the RS-232C communication file by the BASIC.; Opens the RS-232C communication file by the BASIC.20 INPUT "Character string number";N20 INPUT "Character string number";N20 INPUT "Character string number";N20 INPUT "Character string number";N ; Enter the character string number.; Enter the character string number.; Enter the character string number.; Enter the character string number.30 INPUT "Character string data ";J$30 INPUT "Character string data ";J$30 INPUT "Character string data ";J$30 INPUT "Character string data ";J$ ; Enter the character string data.; Enter the character string data.; Enter the character string data.; Enter the character string data.40 PRINT #1, "SC $"+STR$(N)+","+CHR$(&H22)+J$+CHR$(&H22)40 PRINT #1, "SC $"+STR$(N)+","+CHR$(&H22)+J$+CHR$(&H22)40 PRINT #1, "SC $"+STR$(N)+","+CHR$(&H22)+J$+CHR$(&H22)40 PRINT #1, "SC $"+STR$(N)+","+CHR$(&H22)+J$+CHR$(&H22)

; Specified data is input into the counter.; Specified data is input into the counter.; Specified data is input into the counter.; Specified data is input into the counter.50 PRINT #1,"CR $"+STR$(N)50 PRINT #1,"CR $"+STR$(N)50 PRINT #1,"CR $"+STR$(N)50 PRINT #1,"CR $"+STR$(N) ; Transfers the data to the personal computer.; Transfers the data to the personal computer.; Transfers the data to the personal computer.; Transfers the data to the personal computer.60 LINE INPUT #1,A$60 LINE INPUT #1,A$60 LINE INPUT #1,A$60 LINE INPUT #1,A$ ; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.70 PRINT A$70 PRINT A$70 PRINT A$70 PRINT A$ ; Displays the data to the screen.; Displays the data to the screen.; Displays the data to the screen.; Displays the data to the screen.80 ED80 ED80 ED80 ED ; Program ends.; Program ends.; Program ends.; Program ends.

RUNRUNRUNRUN ; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.Character string number Character string number Character string number Character string number $$$$1111Character string data Character string data Character string data Character string data ABCABCABCABCABCABCABCABC

CR　 <counter number/character string number>CR　 <counter number/character string number>CR　 <counter number/character string number>CR　 <counter number/character string number>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

DA (Disable Act)DA (Disable Act)DA (Disable Act)DA (Disable Act) 2222-15-15-15-15

DA (Disable Act)DA (Disable Act)DA (Disable Act)DA (Disable Act)

【 Function 】【 Function 】【 Function 】【 Function 】Disables an interrupt of the specified bit through the external input port.Disables an interrupt of the specified bit through the external input port.Disables an interrupt of the specified bit through the external input port.Disables an interrupt of the specified bit through the external input port.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Input bit number><Input bit number><Input bit number><Input bit number> Specify the bit number to be disabled.Specify the bit number to be disabled.Specify the bit number to be disabled.Specify the bit number to be disabled.

0 ≦ input bit number ≦ 327670 ≦ input bit number ≦ 327670 ≦ input bit number ≦ 327670 ≦ input bit number ≦ 327670 ～ 89990 ～ 89990 ～ 89990 ～ 8999 ： Input signal interrupt (0-299: general input, 900-903: hand input)： Input signal interrupt (0-299: general input, 900-903: hand input)： Input signal interrupt (0-299: general input, 900-903: hand input)： Input signal interrupt (0-299: general input, 900-903: hand input)9003 ～ 327679003 ～ 327679003 ～ 327679003 ～ 32767 ： Input signal interrupt： Input signal interrupt： Input signal interrupt： Input signal interrupt9002900290029002 ： Communication interrupt： Communication interrupt： Communication interrupt： Communication interrupt

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Clears the interruptible state of the bit defined by the interrupt enable commands (see the EA commands).(1) Clears the interruptible state of the bit defined by the interrupt enable commands (see the EA commands).(1) Clears the interruptible state of the bit defined by the interrupt enable commands (see the EA commands).(1) Clears the interruptible state of the bit defined by the interrupt enable commands (see the EA commands).(2) After the DA command has been executed, no interrupt is executed by the specified bit during program execution. (2) After the DA command has been executed, no interrupt is executed by the specified bit during program execution. (2) After the DA command has been executed, no interrupt is executed by the specified bit during program execution. (2) After the DA command has been executed, no interrupt is executed by the specified bit during program execution.

Note that execution of the DA command dose not affect the interruptible states of the other bits.Note that execution of the DA command dose not affect the interruptible states of the other bits.Note that execution of the DA command dose not affect the interruptible states of the other bits.Note that execution of the DA command dose not affect the interruptible states of the other bits.(3) To inhibit repeated interrupts by a level signal, the DA command must be executed at the beginning line to which (3) To inhibit repeated interrupts by a level signal, the DA command must be executed at the beginning line to which (3) To inhibit repeated interrupts by a level signal, the DA command must be executed at the beginning line to which (3) To inhibit repeated interrupts by a level signal, the DA command must be executed at the beginning line to which

the program jumps after the interrupt has taken place.the program jumps after the interrupt has taken place.the program jumps after the interrupt has taken place.the program jumps after the interrupt has taken place.

【 Sample program 】【 Sample program 】【 Sample program 】【 Sample program 】See EA commands.See EA commands.See EA commands.See EA commands.

DC (Decreement counter)DC (Decreement counter)DC (Decreement counter)DC (Decreement counter)

【 Function 】【 Function 】【 Function 】【 Function 】Subtracts 1 from the value in the specified counter.Subtracts 1 from the value in the specified counter.Subtracts 1 from the value in the specified counter.Subtracts 1 from the value in the specified counter.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Counter number><Counter number><Counter number><Counter number> Specify Specify Specify Specify counter No.counter No.counter No.counter No. in numeric value in numeric value in numeric value in numeric value or counter No. with @or counter No. with @or counter No. with @or counter No. with @....

1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ 99 ≦ 99 ≦ 99 ≦ 99@@@@1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ ≦ ≦ ≦ @@@@99999999

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Error occurs if the counter value becomes smaller than -32768.(1) Error occurs if the counter value becomes smaller than -32768.(1) Error occurs if the counter value becomes smaller than -32768.(1) Error occurs if the counter value becomes smaller than -32768.(2) Used to count the number of workpieces and job sequences and to set the number of grid points in pallet.(2) Used to count the number of workpieces and job sequences and to set the number of grid points in pallet.(2) Used to count the number of workpieces and job sequences and to set the number of grid points in pallet.(2) Used to count the number of workpieces and job sequences and to set the number of grid points in pallet.(3) The contents of the counter can be changed, compared or read by the relevant command. (3) The contents of the counter can be changed, compared or read by the relevant command. (3) The contents of the counter can be changed, compared or read by the relevant command. (3) The contents of the counter can be changed, compared or read by the relevant command.

(See SC, IC, CP, CR, CL, AN, OR, XO commands.)(See SC, IC, CP, CR, CL, AN, OR, XO commands.)(See SC, IC, CP, CR, CL, AN, OR, XO commands.)(See SC, IC, CP, CR, CL, AN, OR, XO commands.)

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 SC 21,1510 SC 21,1510 SC 21,1510 SC 21,15 ;Sets value 15 to the counter 21.;Sets value 15 to the counter 21.;Sets value 15 to the counter 21.;Sets value 15 to the counter 21.20 DC 2120 DC 2120 DC 2120 DC 21 ;Subtracts 1 from the value in the counter 21.;Subtracts 1 from the value in the counter 21.;Subtracts 1 from the value in the counter 21.;Subtracts 1 from the value in the counter 21.

DA　 <input bit number>DA　 <input bit number>DA　 <input bit number>DA　 <input bit number>

DC　 <counter number>DC　 <counter number>DC　 <counter number>DC　 <counter number>

2222----16 16 16 16 DIV (Div)DIV (Div)DIV (Div)DIV (Div)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

DIV (Div)DIV (Div)DIV (Div)DIV (Div)

【 Function 】【 Function 】【 Function 】【 Function 】Multiples the internal register value and operation value, and stores the result in the internal register.Multiples the internal register value and operation value, and stores the result in the internal register.Multiples the internal register value and operation value, and stores the result in the internal register.Multiples the internal register value and operation value, and stores the result in the internal register.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Operation data><Operation data><Operation data><Operation data> Describes the data to be operated as a numeric value or counter No. with @.Describes the data to be operated as a numeric value or counter No. with @.Describes the data to be operated as a numeric value or counter No. with @.Describes the data to be operated as a numeric value or counter No. with @.

-32768 ≦ Numeric value (decimal) ≦ 32767-32768 ≦ Numeric value (decimal) ≦ 32767-32768 ≦ Numeric value (decimal) ≦ 32767-32768 ≦ Numeric value (decimal) ≦ 32767&8000 ≦ Numeric value (hexadecimal) ≦ &7FFF&8000 ≦ Numeric value (hexadecimal) ≦ &7FFF&8000 ≦ Numeric value (hexadecimal) ≦ &7FFF&8000 ≦ Numeric value (hexadecimal) ≦ &7FFF @1 ≦ Counter ≦ @99 @1 ≦ Counter ≦ @99 @1 ≦ Counter ≦ @99 @1 ≦ Counter ≦ @99

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Designate the operation data setting as a numeric value or counter No.(1) Designate the operation data setting as a numeric value or counter No.(1) Designate the operation data setting as a numeric value or counter No.(1) Designate the operation data setting as a numeric value or counter No.

When designating with a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" When designating with a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" When designating with a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" When designating with a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" to the head of the operation data.to the head of the operation data.to the head of the operation data.to the head of the operation data.When setting with a ciunter No. add a "@" to the head of the counter No.When setting with a ciunter No. add a "@" to the head of the counter No.When setting with a ciunter No. add a "@" to the head of the counter No.When setting with a ciunter No. add a "@" to the head of the counter No.The contents of the set counter No. will be used as the operation data.The contents of the set counter No. will be used as the operation data.The contents of the set counter No. will be used as the operation data.The contents of the set counter No. will be used as the operation data.

(2) The operation results are stored in the internal register, so operation, comparison and reading, etc., of the (2) The operation results are stored in the internal register, so operation, comparison and reading, etc., of the (2) The operation results are stored in the internal register, so operation, comparison and reading, etc., of the (2) The operation results are stored in the internal register, so operation, comparison and reading, etc., of the operation results can be carried out will the related commands.operation results can be carried out will the related commands.operation results can be carried out will the related commands.operation results can be carried out will the related commands.(Refer to ADD, SUB, MUL, EQ, NE, LG, SM, CL, DR, OR commands)(Refer to ADD, SUB, MUL, EQ, NE, LG, SM, CL, DR, OR commands)(Refer to ADD, SUB, MUL, EQ, NE, LG, SM, CL, DR, OR commands)(Refer to ADD, SUB, MUL, EQ, NE, LG, SM, CL, DR, OR commands)

(3)When result is a real number, the decimal part is rounded down. (3)When result is a real number, the decimal part is rounded down. (3)When result is a real number, the decimal part is rounded down. (3)When result is a real number, the decimal part is rounded down.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 CP 110 CP 110 CP 110 CP 1 ; Stores counter No.1 value in internal register.; Stores counter No.1 value in internal register.; Stores counter No.1 value in internal register.; Stores counter No.1 value in internal register.20 DIV @220 DIV @220 DIV @220 DIV @2 ; Multiplies internal register value by counter No.2 value; Multiplies internal register value by counter No.2 value; Multiplies internal register value by counter No.2 value; Multiplies internal register value by counter No.2 value30 CL 330 CL 330 CL 330 CL 3 ; Sets internal register value in counter No.3; Sets internal register value in counter No.3; Sets internal register value in counter No.3; Sets internal register value in counter No.3

(Counter No.3 = counter No.1 = counter No.2) (Counter No.3 = counter No.1 = counter No.2) (Counter No.3 = counter No.1 = counter No.2) (Counter No.3 = counter No.1 = counter No.2)40 CP 140 CP 140 CP 140 CP 1 ; Stores counter No.1 value in internal register.; Stores counter No.1 value in internal register.; Stores counter No.1 value in internal register.; Stores counter No.1 value in internal register.50 DIV 550 DIV 550 DIV 550 DIV 5 ; Multiplies internal register value by 5; Multiplies internal register value by 5; Multiplies internal register value by 5; Multiplies internal register value by 560 CL 460 CL 460 CL 460 CL 4 ; Sets internal register value in counter No.4; Sets internal register value in counter No.4; Sets internal register value in counter No.4; Sets internal register value in counter No.4

(Counter No.4 = counter No.1/5) (Counter No.4 = counter No.1/5) (Counter No.4 = counter No.1/5) (Counter No.4 = counter No.1/5)

DIV　 <operation data>DIV　 <operation data>DIV　 <operation data>DIV　 <operation data>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

DJ (Draw Joint)DJ (Draw Joint)DJ (Draw Joint)DJ (Draw Joint) 2222-17-17-17-17

DJ (Draw Joint)DJ (Draw Joint)DJ (Draw Joint)DJ (Draw Joint)

【 Function 】【 Function 】【 Function 】【 Function 】Rotates the specified joint by the specified angle from the current position. (Joint interpolation)Rotates the specified joint by the specified angle from the current position. (Joint interpolation)Rotates the specified joint by the specified angle from the current position. (Joint interpolation)Rotates the specified joint by the specified angle from the current position. (Joint interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Joint number><Joint number><Joint number><Joint number> Specify joint number that you want to move.Specify joint number that you want to move.Specify joint number that you want to move.Specify joint number that you want to move.

1) 6-axis type1) 6-axis type1) 6-axis type1) 6-axis type1:J1 axis1:J1 axis1:J1 axis1:J1 axis2:J2 axis2:J2 axis2:J2 axis2:J2 axis3:J3 axis3:J3 axis3:J3 axis3:J3 axis4:J4 axis4:J4 axis4:J4 axis4:J4 axis5:J5 axis5:J5 axis5:J5 axis5:J5 axis6:J6 axis6:J6 axis6:J6 axis6:J6 axis

2) 5-axis type2) 5-axis type2) 5-axis type2) 5-axis type1:J1 axis1:J1 axis1:J1 axis1:J1 axis2:J2 axis2:J2 axis2:J2 axis2:J2 axis3:J3 axis3:J3 axis3:J3 axis3:J3 axis4:J5 axis4:J5 axis4:J5 axis4:J5 axis5:J6 axis5:J6 axis5:J6 axis5:J6 axis

<Rotating angle><Rotating angle><Rotating angle><Rotating angle> Specify joint angle that you want to turn.Specify joint angle that you want to turn.Specify joint angle that you want to turn.Specify joint angle that you want to turn.

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The least input increment of the turning angle is 0.01 degree, e.g., specify 15.02 for 15.02 degree.(1) The least input increment of the turning angle is 0.01 degree, e.g., specify 15.02 for 15.02 degree.(1) The least input increment of the turning angle is 0.01 degree, e.g., specify 15.02 for 15.02 degree.(1) The least input increment of the turning angle is 0.01 degree, e.g., specify 15.02 for 15.02 degree.(2) The open/close state of the hand does not change before and after the movement. Error occurs before the joint (2) The open/close state of the hand does not change before and after the movement. Error occurs before the joint (2) The open/close state of the hand does not change before and after the movement. Error occurs before the joint (2) The open/close state of the hand does not change before and after the movement. Error occurs before the joint

motion if any turning angle entry exceeds the robot's operational space.motion if any turning angle entry exceeds the robot's operational space.motion if any turning angle entry exceeds the robot's operational space.motion if any turning angle entry exceeds the robot's operational space.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MO 110 MO 110 MO 110 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.20 DJ 1,1020 DJ 1,1020 DJ 1,1020 DJ 1,10 ; Turns the J1 axis 10 degrees in the positive direction.; Turns the J1 axis 10 degrees in the positive direction.; Turns the J1 axis 10 degrees in the positive direction.; Turns the J1 axis 10 degrees in the positive direction.

DJ <joint number>, <turning angle>DJ <joint number>, <turning angle>DJ <joint number>, <turning angle>DJ <joint number>, <turning angle>

2222----18 18 18 18 DL* (Delete Line)DL* (Delete Line)DL* (Delete Line)DL* (Delete Line)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

DL* (Delete Line)DL* (Delete Line)DL* (Delete Line)DL* (Delete Line)

【 Function 】【 Function 】【 Function 】【 Function 】Deletes commands of the specified line or step in the program.Deletes commands of the specified line or step in the program.Deletes commands of the specified line or step in the program.Deletes commands of the specified line or step in the program.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<<Line number(a)><<Line number(a)><<Line number(a)><<Line number(a)> Specify the top line number that you want to delete in the program.Specify the top line number that you want to delete in the program.Specify the top line number that you want to delete in the program.Specify the top line number that you want to delete in the program.<Line number(b)><Line number(b)><Line number(b)><Line number(b)> Specify the last line number that you want to delete in the program.Specify the last line number that you want to delete in the program.Specify the last line number that you want to delete in the program.Specify the last line number that you want to delete in the program.<step(a)><step(a)><step(a)><step(a)> Specify the top step number that you want to delete in the program.Specify the top step number that you want to delete in the program.Specify the top step number that you want to delete in the program.Specify the top step number that you want to delete in the program.<step(b)><step(b)><step(b)><step(b)> Specify the last step number that you want to delete in the program.Specify the last step number that you want to delete in the program.Specify the last step number that you want to delete in the program.Specify the last step number that you want to delete in the program.

　 　 1 ≦ line number (a), (b) step (a), (b) ≦ 32767　 　 1 ≦ line number (a), (b) step (a), (b) ≦ 32767　 　 1 ≦ line number (a), (b) step (a), (b) ≦ 32767　 　 1 ≦ line number (a), (b) step (a), (b) ≦ 32767　 　 Line number (a) ≦ line number (b), step (a) ≦ step (b)　 　 Line number (a) ≦ line number (b), step (a) ≦ step (b)　 　 Line number (a) ≦ line number (b), step (a) ≦ step (b)　 　 Line number (a) ≦ line number (b), step (a) ≦ step (b)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Deletes commands from step (a) to step (b), then deletes commands from line (a) to line (b). (Step (b) and line (b) (1) Deletes commands from step (a) to step (b), then deletes commands from line (a) to line (b). (Step (b) and line (b) (1) Deletes commands from step (a) to step (b), then deletes commands from line (a) to line (b). (Step (b) and line (b) (1) Deletes commands from step (a) to step (b), then deletes commands from line (a) to line (b). (Step (b) and line (b)

are included too.)are included too.)are included too.)are included too.)(2) When you omitted line (b), only line (a) is deleted.(2) When you omitted line (b), only line (a) is deleted.(2) When you omitted line (b), only line (a) is deleted.(2) When you omitted line (b), only line (a) is deleted.(3) When you omitted step (b), only step (a) is deleted.(3) When you omitted step (b), only step (a) is deleted.(3) When you omitted step (b), only step (a) is deleted.(3) When you omitted step (b), only step (a) is deleted.(4) An error will occur if the size relation of (a) and (b) is incorrect.(4) An error will occur if the size relation of (a) and (b) is incorrect.(4) An error will occur if the size relation of (a) and (b) is incorrect.(4) An error will occur if the size relation of (a) and (b) is incorrect.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)100 MO 10100 MO 10100 MO 10100 MO 10 ; Moves to position 10.; Moves to position 10.; Moves to position 10.; Moves to position 10.110 MO 12110 MO 12110 MO 12110 MO 12 ; Moves to position 12.; Moves to position 12.; Moves to position 12.; Moves to position 12.120 MO 15120 MO 15120 MO 15120 MO 15 ; Moves to position 15.; Moves to position 15.; Moves to position 15.; Moves to position 15.130 MO 17130 MO 17130 MO 17130 MO 17 ; Moves to position 17.; Moves to position 17.; Moves to position 17.; Moves to position 17.140 MO 20140 MO 20140 MO 20140 MO 20 ; Moves to position 20.; Moves to position 20.; Moves to position 20.; Moves to position 20.DL 110DL 110DL 110DL 110 ; Deletes line number 110.; Deletes line number 110.; Deletes line number 110.; Deletes line number 110.DL 120,140DL 120,140DL 120,140DL 120,140 ; Deletes line number from 120 to 140.; Deletes line number from 120 to 140.; Deletes line number from 120 to 140.; Deletes line number from 120 to 140.

DP (Decrement Position)DP (Decrement Position)DP (Decrement Position)DP (Decrement Position)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the robot to a predefined position with a position number smaller than the current one. (Joint interpolation)Moves the robot to a predefined position with a position number smaller than the current one. (Joint interpolation)Moves the robot to a predefined position with a position number smaller than the current one. (Joint interpolation)Moves the robot to a predefined position with a position number smaller than the current one. (Joint interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Moves the robot to a predefined position with a position number smaller than, and closest to, the current one. (1) Moves the robot to a predefined position with a position number smaller than, and closest to, the current one. (1) Moves the robot to a predefined position with a position number smaller than, and closest to, the current one. (1) Moves the robot to a predefined position with a position number smaller than, and closest to, the current one.

(See command IP)(See command IP)(See command IP)(See command IP)(2) Error takes place if there is no predefined position which is smaller in position number than the current position. (2) Error takes place if there is no predefined position which is smaller in position number than the current position. (2) Error takes place if there is no predefined position which is smaller in position number than the current position. (2) Error takes place if there is no predefined position which is smaller in position number than the current position. (3) Even if an error occurs, current position number is still maintained.(3) Even if an error occurs, current position number is still maintained.(3) Even if an error occurs, current position number is still maintained.(3) Even if an error occurs, current position number is still maintained.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)100 MO 3100 MO 3100 MO 3100 MO 3 ; Moves to position 3.; Moves to position 3.; Moves to position 3.; Moves to position 3.110 MO 4110 MO 4110 MO 4110 MO 4 ; Moves to position 4.; Moves to position 4.; Moves to position 4.; Moves to position 4.120 MO 5120 MO 5120 MO 5120 MO 5 ; Moves to position 5.; Moves to position 5.; Moves to position 5.; Moves to position 5.130 DP130 DP130 DP130 DP ; Moves to position 4.; Moves to position 4.; Moves to position 4.; Moves to position 4.

DL <line number (a)> [, [<line number (b)> [, [<step(a)> [,[<step(b)>]]]]]]DL <line number (a)> [, [<line number (b)> [, [<step(a)> [,[<step(b)>]]]]]]DL <line number (a)> [, [<line number (b)> [, [<step(a)> [,[<step(b)>]]]]]]DL <line number (a)> [, [<line number (b)> [, [<step(a)> [,[<step(b)>]]]]]]

DPDPDPDP

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

DR (Data Read)DR (Data Read)DR (Data Read)DR (Data Read) 2222-19-19-19-19

DR (Data Read)DR (Data Read)DR (Data Read)DR (Data Read)

【 Function 】【 Function 】【 Function 】【 Function 】Reads the values of the internal register, hand check state, and general output state. (Using RS-232C )Reads the values of the internal register, hand check state, and general output state. (Using RS-232C )Reads the values of the internal register, hand check state, and general output state. (Using RS-232C )Reads the values of the internal register, hand check state, and general output state. (Using RS-232C )

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Output bit number><Output bit number><Output bit number><Output bit number> 0 ≦ output bit number ≦ 32767 (0 for default)0 ≦ output bit number ≦ 32767 (0 for default)0 ≦ output bit number ≦ 32767 (0 for default)0 ≦ output bit number ≦ 32767 (0 for default)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Outputs the values of the internal register, hand check state, and general output state through the RS-232C. (1) Outputs the values of the internal register, hand check state, and general output state through the RS-232C. (1) Outputs the values of the internal register, hand check state, and general output state through the RS-232C. (1) Outputs the values of the internal register, hand check state, and general output state through the RS-232C.

Allows the external input data and hand open/close state to be read when executed after the input command (ID).Allows the external input data and hand open/close state to be read when executed after the input command (ID).Allows the external input data and hand open/close state to be read when executed after the input command (ID).Allows the external input data and hand open/close state to be read when executed after the input command (ID).(2) Hand check state read by the DR command corresponds to the current state.(2) Hand check state read by the DR command corresponds to the current state.(2) Hand check state read by the DR command corresponds to the current state.(2) Hand check state read by the DR command corresponds to the current state.(3) When you specify the output bit number, you can read the general output state of 16 bits-width beginning from (3) When you specify the output bit number, you can read the general output state of 16 bits-width beginning from (3) When you specify the output bit number, you can read the general output state of 16 bits-width beginning from (3) When you specify the output bit number, you can read the general output state of 16 bits-width beginning from

the specified bit number.the specified bit number.the specified bit number.the specified bit number.(4) The output format is in ASCII coded hexadecimal, which is headed by "&H" and delimited by "," (Hex. 2C).(4) The output format is in ASCII coded hexadecimal, which is headed by "&H" and delimited by "," (Hex. 2C).(4) The output format is in ASCII coded hexadecimal, which is headed by "&H" and delimited by "," (Hex. 2C).(4) The output format is in ASCII coded hexadecimal, which is headed by "&H" and delimited by "," (Hex. 2C).

The output format: Value of hand check state and the internal register, general outputThe output format: Value of hand check state and the internal register, general outputThe output format: Value of hand check state and the internal register, general outputThe output format: Value of hand check state and the internal register, general outputThe first column next to "& H" responds to the hand check input and the following 4 columns responds to the The first column next to "& H" responds to the hand check input and the following 4 columns responds to the The first column next to "& H" responds to the hand check input and the following 4 columns responds to the The first column next to "& H" responds to the hand check input and the following 4 columns responds to the value of internal register, and the remaining 4 columns headed by "&H" responds to the current general output.value of internal register, and the remaining 4 columns headed by "&H" responds to the current general output.value of internal register, and the remaining 4 columns headed by "&H" responds to the current general output.value of internal register, and the remaining 4 columns headed by "&H" responds to the current general output.

(5) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (5) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (5) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (5) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to this in BASIC.this in BASIC.this in BASIC.this in BASIC.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN "COM1;E83"AS#110 OPEN "COM1;E83"AS#110 OPEN "COM1;E83"AS#110 OPEN "COM1;E83"AS#1 ; Opens the RS-232C communication file by the personal computer.; Opens the RS-232C communication file by the personal computer.; Opens the RS-232C communication file by the personal computer.; Opens the RS-232C communication file by the personal computer.20 PRINT #1,"ID"20 PRINT #1,"ID"20 PRINT #1,"ID"20 PRINT #1,"ID" ; Sets the value of input port to the internal register.; Sets the value of input port to the internal register.; Sets the value of input port to the internal register.; Sets the value of input port to the internal register.30 PRINT #1,"DR"30 PRINT #1,"DR"30 PRINT #1,"DR"30 PRINT #1,"DR" ; Reads the value of internal register and hand check input.; Reads the value of internal register and hand check input.; Reads the value of internal register and hand check input.; Reads the value of internal register and hand check input.40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$ ; Saves the data to A$.; Saves the data to A$.; Saves the data to A$.; Saves the data to A$.50 PRINT "Data is";A$50 PRINT "Data is";A$50 PRINT "Data is";A$50 PRINT "Data is";A$ ; Displays the value of A$.; Displays the value of A$.; Displays the value of A$.; Displays the value of A$.60 ED60 ED60 ED60 ED ; Ends; Ends; Ends; Ends

RUNRUNRUNRUN ; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.Data is &H10FB2, &H30BAData is &H10FB2, &H30BAData is &H10FB2, &H30BAData is &H10FB2, &H30BA ; Displays data.; Displays data.; Displays data.; Displays data.

; Value of hand check input; Value of hand check input; Value of hand check input; Value of hand check input : 1 (Hexadecimal): 1 (Hexadecimal): 1 (Hexadecimal): 1 (Hexadecimal); Value of the internal register; Value of the internal register; Value of the internal register; Value of the internal register : 0FB2 (Hexadecimal): 0FB2 (Hexadecimal): 0FB2 (Hexadecimal): 0FB2 (Hexadecimal); Value of general output; Value of general output; Value of general output; Value of general output : 30BA (Hexadecimal): 30BA (Hexadecimal): 30BA (Hexadecimal): 30BA (Hexadecimal)

DR　 [<output bit number>]DR　 [<output bit number>]DR　 [<output bit number>]DR　 [<output bit number>]

2222----20 20 20 20 DS (Draw Straight)DS (Draw Straight)DS (Draw Straight)DS (Draw Straight)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

DS (Draw Straight)DS (Draw Straight)DS (Draw Straight)DS (Draw Straight)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the end of the hand to a position away from the current position by the distance specified in X,Y and Z Moves the end of the hand to a position away from the current position by the distance specified in X,Y and Z Moves the end of the hand to a position away from the current position by the distance specified in X,Y and Z Moves the end of the hand to a position away from the current position by the distance specified in X,Y and Z directions. (Linear interpolation)directions. (Linear interpolation)directions. (Linear interpolation)directions. (Linear interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Travel distance in X><Travel distance in X><Travel distance in X><Travel distance in X> Specify the amount that you want to move in X direction from the current position.Specify the amount that you want to move in X direction from the current position.Specify the amount that you want to move in X direction from the current position.Specify the amount that you want to move in X direction from the current position.<Travel distance in Y> <Travel distance in Y> <Travel distance in Y> <Travel distance in Y> Specify the amount that you want to move in Y direction from the current position.Specify the amount that you want to move in Y direction from the current position.Specify the amount that you want to move in Y direction from the current position.Specify the amount that you want to move in Y direction from the current position.<Travel distance in Z><Travel distance in Z><Travel distance in Z><Travel distance in Z> Specify the amount that you want to move in Z direction from the current position.Specify the amount that you want to move in Z direction from the current position.Specify the amount that you want to move in Z direction from the current position.Specify the amount that you want to move in Z direction from the current position.

(Zero travelling for default of each axis.)(Zero travelling for default of each axis.)(Zero travelling for default of each axis.)(Zero travelling for default of each axis.)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The least input increment for the distance is 0.01mm (e.g., specify 20.01 for 20.01mm)(1) The least input increment for the distance is 0.01mm (e.g., specify 20.01 for 20.01mm)(1) The least input increment for the distance is 0.01mm (e.g., specify 20.01 for 20.01mm)(1) The least input increment for the distance is 0.01mm (e.g., specify 20.01 for 20.01mm)(2) The attitude of the hand, including the open/close status of the gripper, remains the same before and after the (2) The attitude of the hand, including the open/close status of the gripper, remains the same before and after the (2) The attitude of the hand, including the open/close status of the gripper, remains the same before and after the (2) The attitude of the hand, including the open/close status of the gripper, remains the same before and after the

movement.movement.movement.movement.(3) Error occurs before or during movement if the destination or travel path exceeds the operating space of the (3) Error occurs before or during movement if the destination or travel path exceeds the operating space of the (3) Error occurs before or during movement if the destination or travel path exceeds the operating space of the (3) Error occurs before or during movement if the destination or travel path exceeds the operating space of the

robot. Especially the roll joint tends to exceed the operating space since it is controlled to remain the same robot. Especially the roll joint tends to exceed the operating space since it is controlled to remain the same robot. Especially the roll joint tends to exceed the operating space since it is controlled to remain the same robot. Especially the roll joint tends to exceed the operating space since it is controlled to remain the same orientation during the movement. orientation during the movement. orientation during the movement. orientation during the movement.

(4) Moving speed during linear interpolation is decided by the SP or SD commands. (Hand tip at constant speed.)(4) Moving speed during linear interpolation is decided by the SP or SD commands. (Hand tip at constant speed.)(4) Moving speed during linear interpolation is decided by the SP or SD commands. (Hand tip at constant speed.)(4) Moving speed during linear interpolation is decided by the SP or SD commands. (Hand tip at constant speed.)(5) The hand tip is decided by the tool length at that time.(5) The hand tip is decided by the tool length at that time.(5) The hand tip is decided by the tool length at that time.(5) The hand tip is decided by the tool length at that time.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 DS 100,0,010 DS 100,0,010 DS 100,0,010 DS 100,0,0 ; Moves to X axis direction by 100 mm.; Moves to X axis direction by 100 mm.; Moves to X axis direction by 100 mm.; Moves to X axis direction by 100 mm.20 DS 0,100,020 DS 0,100,020 DS 0,100,020 DS 0,100,0 ; Moves to Y axis direction by 100 mm.; Moves to Y axis direction by 100 mm.; Moves to Y axis direction by 100 mm.; Moves to Y axis direction by 100 mm.30 DS -100,0,030 DS -100,0,030 DS -100,0,030 DS -100,0,0 ; Moves to X axis direction by -100 mm.; Moves to X axis direction by -100 mm.; Moves to X axis direction by -100 mm.; Moves to X axis direction by -100 mm.40 DS 0,-100,040 DS 0,-100,040 DS 0,-100,040 DS 0,-100,0 ; Moves to Y axis direction by -100 mm.; Moves to Y axis direction by -100 mm.; Moves to Y axis direction by -100 mm.; Moves to Y axis direction by -100 mm.

* In the above example, the hand tip moves through the four corners of a square by linear interpolation and returns * In the above example, the hand tip moves through the four corners of a square by linear interpolation and returns * In the above example, the hand tip moves through the four corners of a square by linear interpolation and returns * In the above example, the hand tip moves through the four corners of a square by linear interpolation and returns the start point finally.the start point finally.the start point finally.the start point finally.

DS ［<travel distance in X>], [<travel distance in Y>], [<travel distance in Z>]DS ［<travel distance in X>], [<travel distance in Y>], [<travel distance in Z>]DS ［<travel distance in X>], [<travel distance in Y>], [<travel distance in Z>]DS ［<travel distance in X>], [<travel distance in Y>], [<travel distance in Z>]

Start pointStart pointStart pointStart point

YYYY

XXXX

100100100100mmmmmmmm

100100100100mmmmmmmm

100100100100mmmmmmmm

100mm100mm100mm100mm

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

DW (Draw)DW (Draw)DW (Draw)DW (Draw) 2222-21-21-21-21

DW (Draw)DW (Draw)DW (Draw)DW (Draw)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the end of the hand to a position away from the current position by the distance specified in X, Y and Z Moves the end of the hand to a position away from the current position by the distance specified in X, Y and Z Moves the end of the hand to a position away from the current position by the distance specified in X, Y and Z Moves the end of the hand to a position away from the current position by the distance specified in X, Y and Z directions. (Joint interpolation)directions. (Joint interpolation)directions. (Joint interpolation)directions. (Joint interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Travel distance in X> <Travel distance in X> <Travel distance in X> <Travel distance in X> Specify the amount that you want to move in X direction from the current position.Specify the amount that you want to move in X direction from the current position.Specify the amount that you want to move in X direction from the current position.Specify the amount that you want to move in X direction from the current position.<Travel distance in Y><Travel distance in Y><Travel distance in Y><Travel distance in Y> Specify the amount that you want to move in Y direction from the current position.Specify the amount that you want to move in Y direction from the current position.Specify the amount that you want to move in Y direction from the current position.Specify the amount that you want to move in Y direction from the current position.<Travel distance in Z> <Travel distance in Z> <Travel distance in Z> <Travel distance in Z> Specify the amount that you want to move in Z direction from the current position.Specify the amount that you want to move in Z direction from the current position.Specify the amount that you want to move in Z direction from the current position.Specify the amount that you want to move in Z direction from the current position.

(Zero travelling for default of each axis.)(Zero travelling for default of each axis.)(Zero travelling for default of each axis.)(Zero travelling for default of each axis.)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The least input increment for the distance is 0.01mm (e.g., specify 20.01 for 20.01mm )(1) The least input increment for the distance is 0.01mm (e.g., specify 20.01 for 20.01mm )(1) The least input increment for the distance is 0.01mm (e.g., specify 20.01 for 20.01mm )(1) The least input increment for the distance is 0.01mm (e.g., specify 20.01 for 20.01mm )(2) The attitude of the hand, including the open/close status of the gripper, remains the same before and after the (2) The attitude of the hand, including the open/close status of the gripper, remains the same before and after the (2) The attitude of the hand, including the open/close status of the gripper, remains the same before and after the (2) The attitude of the hand, including the open/close status of the gripper, remains the same before and after the

movement. Error occurs before the movement if the destination exceeds the operating space of the robot.movement. Error occurs before the movement if the destination exceeds the operating space of the robot.movement. Error occurs before the movement if the destination exceeds the operating space of the robot.movement. Error occurs before the movement if the destination exceeds the operating space of the robot.(3) The moving path draws a curve in the case of large travelling path because of the linear interpolation.(3) The moving path draws a curve in the case of large travelling path because of the linear interpolation.(3) The moving path draws a curve in the case of large travelling path because of the linear interpolation.(3) The moving path draws a curve in the case of large travelling path because of the linear interpolation.(4) The hand tip is decided by the tool length at that time. (See TL command.)(4) The hand tip is decided by the tool length at that time. (See TL command.)(4) The hand tip is decided by the tool length at that time. (See TL command.)(4) The hand tip is decided by the tool length at that time. (See TL command.)

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 DW 200,0,010 DW 200,0,010 DW 200,0,010 DW 200,0,0 ; Moves to X axis direction by 200 mm; Moves to X axis direction by 200 mm; Moves to X axis direction by 200 mm; Moves to X axis direction by 200 mm20 DW 0,200,020 DW 0,200,020 DW 0,200,020 DW 0,200,0 ; Moves to Y axis direction by 200 mm; Moves to Y axis direction by 200 mm; Moves to Y axis direction by 200 mm; Moves to Y axis direction by 200 mm30 DW -200,0,030 DW -200,0,030 DW -200,0,030 DW -200,0,0 ; Moves to X axis direction by -200 mm; Moves to X axis direction by -200 mm; Moves to X axis direction by -200 mm; Moves to X axis direction by -200 mm40 DW 0,-200,040 DW 0,-200,040 DW 0,-200,040 DW 0,-200,0 ; Moves to Y axis direction by -200 mm; Moves to Y axis direction by -200 mm; Moves to Y axis direction by -200 mm; Moves to Y axis direction by -200 mm

* In the above example, the hand tip moves through the four corners of a square by joint interpolation and returns the * In the above example, the hand tip moves through the four corners of a square by joint interpolation and returns the * In the above example, the hand tip moves through the four corners of a square by joint interpolation and returns the * In the above example, the hand tip moves through the four corners of a square by joint interpolation and returns the start point finally.start point finally.start point finally.start point finally.

DW [<travel distance in X>], [<travel distance in Y>], [<travel distance in Z>]DW [<travel distance in X>], [<travel distance in Y>], [<travel distance in Z>]DW [<travel distance in X>], [<travel distance in Y>], [<travel distance in Z>]DW [<travel distance in X>], [<travel distance in Y>], [<travel distance in Z>]

Start pointStart pointStart pointStart point

YYYY

XXXX

20202020mmmmmmmm

20mm20mm20mm20mm

20202020mmmmmmmm

20202020mmmmmmmm

2222----22 22 22 22 EA (Enable Act)EA (Enable Act)EA (Enable Act)EA (Enable Act)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

EA (Enable Act)EA (Enable Act)EA (Enable Act)EA (Enable Act)

【 Function 】【 Function 】【 Function 】【 Function 】Enables the interrupt motion by the specified bit of the external input signal.Enables the interrupt motion by the specified bit of the external input signal.Enables the interrupt motion by the specified bit of the external input signal.Enables the interrupt motion by the specified bit of the external input signal.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<+/-><+/-><+/-><+/-> + ： If the <input bit number> of the external input port turns ON, the program jumps to + ： If the <input bit number> of the external input port turns ON, the program jumps to + ： If the <input bit number> of the external input port turns ON, the program jumps to + ： If the <input bit number> of the external input port turns ON, the program jumps to

the <line number>. (Default)the <line number>. (Default)the <line number>. (Default)the <line number>. (Default)- ： If the <input bit number> of the external input port turns OFF, the program jumps to - ： If the <input bit number> of the external input port turns OFF, the program jumps to - ： If the <input bit number> of the external input port turns OFF, the program jumps to - ： If the <input bit number> of the external input port turns OFF, the program jumps to the <line number>. the <line number>. the <line number>. the <line number>.

<Input bit number><Input bit number><Input bit number><Input bit number> Specify the bit number of external input signal that you want to assign for interrupt signalSpecify the bit number of external input signal that you want to assign for interrupt signalSpecify the bit number of external input signal that you want to assign for interrupt signalSpecify the bit number of external input signal that you want to assign for interrupt signal0 ≦ input bit number ≦ 327670 ≦ input bit number ≦ 327670 ≦ input bit number ≦ 327670 ≦ input bit number ≦ 327670 ～ 8999 ： Input signal interrupt (0-299: general input, 900-903: hand input)0 ～ 8999 ： Input signal interrupt (0-299: general input, 900-903: hand input)0 ～ 8999 ： Input signal interrupt (0-299: general input, 900-903: hand input)0 ～ 8999 ： Input signal interrupt (0-299: general input, 900-903: hand input)

9003 ～ 32767 ： Input signal interrupt9003 ～ 32767 ： Input signal interrupt9003 ～ 32767 ： Input signal interrupt9003 ～ 32767 ： Input signal interrupt・ Enables the interrupt motion by the external input signal.・ Enables the interrupt motion by the external input signal.・ Enables the interrupt motion by the external input signal.・ Enables the interrupt motion by the external input signal.・ The EA command allows eight input bits to be registered as interrupt signals ・ The EA command allows eight input bits to be registered as interrupt signals ・ The EA command allows eight input bits to be registered as interrupt signals ・ The EA command allows eight input bits to be registered as interrupt signals

concurrently.concurrently.concurrently.concurrently.・ When the interrupt signal is input, the robot is decelerated to a stop and the ・ When the interrupt signal is input, the robot is decelerated to a stop and the ・ When the interrupt signal is input, the robot is decelerated to a stop and the ・ When the interrupt signal is input, the robot is decelerated to a stop and the

program jumps to the <line number>.program jumps to the <line number>.program jumps to the <line number>.program jumps to the <line number>.・ Once the interrupt has taken place, the robot remains stopping until the DA ・ Once the interrupt has taken place, the robot remains stopping until the DA ・ Once the interrupt has taken place, the robot remains stopping until the DA ・ Once the interrupt has taken place, the robot remains stopping until the DA

command is executed at the beginning line to which the program jumps or the command is executed at the beginning line to which the program jumps or the command is executed at the beginning line to which the program jumps or the command is executed at the beginning line to which the program jumps or the interrupt signal turns off.interrupt signal turns off.interrupt signal turns off.interrupt signal turns off.

・ The signal input except for the specified bit does not occur any interrupt.・ The signal input except for the specified bit does not occur any interrupt.・ The signal input except for the specified bit does not occur any interrupt.・ The signal input except for the specified bit does not occur any interrupt.9002 ： Communication interrupt9002 ： Communication interrupt9002 ： Communication interrupt9002 ： Communication interrupt・ When data received through the RS-232C port, executes the program from the ・ When data received through the RS-232C port, executes the program from the ・ When data received through the RS-232C port, executes the program from the ・ When data received through the RS-232C port, executes the program from the

specified line number.specified line number.specified line number.specified line number.<Line number><Line number><Line number><Line number> Specify the line number to which the program jumps by the interrupt signal.Specify the line number to which the program jumps by the interrupt signal.Specify the line number to which the program jumps by the interrupt signal.Specify the line number to which the program jumps by the interrupt signal.

1 ≦ line number ≦ 327671 ≦ line number ≦ 327671 ≦ line number ≦ 327671 ≦ line number ≦ 32767<Branching approach><Branching approach><Branching approach><Branching approach> Specify a jump or subroutine calling.Specify a jump or subroutine calling.Specify a jump or subroutine calling.Specify a jump or subroutine calling.

0:Jump (See "GT" command) (Default)0:Jump (See "GT" command) (Default)0:Jump (See "GT" command) (Default)0:Jump (See "GT" command) (Default)1:Subroutine calling (See "GS" command) 1:Subroutine calling (See "GS" command) 1:Subroutine calling (See "GS" command) 1:Subroutine calling (See "GS" command)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Causes an interrupt to be executed by an external signal while the program is running. When the interrupt signal is (1) Causes an interrupt to be executed by an external signal while the program is running. When the interrupt signal is (1) Causes an interrupt to be executed by an external signal while the program is running. When the interrupt signal is (1) Causes an interrupt to be executed by an external signal while the program is running. When the interrupt signal is

input after execution of the EA command, the robot is decelerated to a stop and the program jumps to the input after execution of the EA command, the robot is decelerated to a stop and the program jumps to the input after execution of the EA command, the robot is decelerated to a stop and the program jumps to the input after execution of the EA command, the robot is decelerated to a stop and the program jumps to the specified line number.specified line number.specified line number.specified line number.

(2) The EA command allows 8 signals, giving the priority to the larger number, to be registered as the interrupt signal (2) The EA command allows 8 signals, giving the priority to the larger number, to be registered as the interrupt signal (2) The EA command allows 8 signals, giving the priority to the larger number, to be registered as the interrupt signal (2) The EA command allows 8 signals, giving the priority to the larger number, to be registered as the interrupt signal at the same time.at the same time.at the same time.at the same time.

(3) Once this command has been executed, the effective condition is maintained till the interrupt disable command (3) Once this command has been executed, the effective condition is maintained till the interrupt disable command (3) Once this command has been executed, the effective condition is maintained till the interrupt disable command (3) Once this command has been executed, the effective condition is maintained till the interrupt disable command (DA), the end command (ED), or the reset command (RS) is carried out.(DA), the end command (ED), or the reset command (RS) is carried out.(DA), the end command (ED), or the reset command (RS) is carried out.(DA), the end command (ED), or the reset command (RS) is carried out.

(4) If the specified line number has no command, error will occur in the program execution. (4) If the specified line number has no command, error will occur in the program execution. (4) If the specified line number has no command, error will occur in the program execution. (4) If the specified line number has no command, error will occur in the program execution.

EA [<+/->] <input bit number>, <line number> [, [<branching approach>]]EA [<+/->] <input bit number>, <line number> [, [<branching approach>]]EA [<+/->] <input bit number>, <line number> [, [<branching approach>]]EA [<+/->] <input bit number>, <line number> [, [<branching approach>]]

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

EA (Enable Act)EA (Enable Act)EA (Enable Act)EA (Enable Act) 2222-23-23-23-23

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)100 EA +5,500100 EA +5,500100 EA +5,500100 EA +5,500 ; Sets that the program jumps to the line 500 in case of bit 5; Sets that the program jumps to the line 500 in case of bit 5; Sets that the program jumps to the line 500 in case of bit 5; Sets that the program jumps to the line 500 in case of bit 5

turning ON. turning ON. turning ON. turning ON.110 MO 1110 MO 1110 MO 1110 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.120 ED120 ED120 ED120 ED ; Ends program.; Ends program.; Ends program.; Ends program.500 DA 5500 DA 5500 DA 5500 DA 5 ; Interrupt disable; Interrupt disable; Interrupt disable; Interrupt disable510 MO 2510 MO 2510 MO 2510 MO 2 ; Moves to position 2.; Moves to position 2.; Moves to position 2.; Moves to position 2.520 GT 110520 GT 110520 GT 110520 GT 110 ; Jumps to line number 110.; Jumps to line number 110.; Jumps to line number 110.; Jumps to line number 110.

* In the above example, line 100 causes an interrupt to be enabled and line 110 moves the robot to position 1. When * In the above example, line 100 causes an interrupt to be enabled and line 110 moves the robot to position 1. When * In the above example, line 100 causes an interrupt to be enabled and line 110 moves the robot to position 1. When * In the above example, line 100 causes an interrupt to be enabled and line 110 moves the robot to position 1. When the specified signal is input during this motion, the robot is decelerated to a stop and then the program jumps to the specified signal is input during this motion, the robot is decelerated to a stop and then the program jumps to the specified signal is input during this motion, the robot is decelerated to a stop and then the program jumps to the specified signal is input during this motion, the robot is decelerated to a stop and then the program jumps to line 500, where the interrupt is disabled. Line 510 moves the robot to position 2 and line 520 causes the program to line 500, where the interrupt is disabled. Line 510 moves the robot to position 2 and line 520 causes the program to line 500, where the interrupt is disabled. Line 510 moves the robot to position 2 and line 520 causes the program to line 500, where the interrupt is disabled. Line 510 moves the robot to position 2 and line 520 causes the program to jump to line 110. The robot moves to position 1 again.jump to line 110. The robot moves to position 1 again.jump to line 110. The robot moves to position 1 again.jump to line 110. The robot moves to position 1 again.

Start pointStart pointStart pointStart point ＸＸＸＸ

ＸＸＸＸ

ＸＸＸＸ

MO1MO1MO1MO1

MO2MO2MO2MO2

(MO1)(MO1)(MO1)(MO1)

InterruptInterruptInterruptInterruptsignal inputsignal inputsignal inputsignal input

Position 2Position 2Position 2Position 2

Position 1Position 1Position 1Position 1

2222----24 24 24 24 ED (End)ED (End)ED (End)ED (End)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

ED (End)ED (End)ED (End)ED (End)

【 Function 】【 Function 】【 Function 】【 Function 】Ends the program.Ends the program.Ends the program.Ends the program.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Marks the end of a program. The program ends when the ED command is executed. In the case of a program to (1) Marks the end of a program. The program ends when the ED command is executed. In the case of a program to (1) Marks the end of a program. The program ends when the ED command is executed. In the case of a program to (1) Marks the end of a program. The program ends when the ED command is executed. In the case of a program to

program subroutine, however, returns to the calling program .program subroutine, however, returns to the calling program .program subroutine, however, returns to the calling program .program subroutine, however, returns to the calling program .(2) Required at the end of a program unless the program commands are directly executed from the personal (2) Required at the end of a program unless the program commands are directly executed from the personal (2) Required at the end of a program unless the program commands are directly executed from the personal (2) Required at the end of a program unless the program commands are directly executed from the personal

computer.computer.computer.computer.

* Program can call other program from inside the program using GS command.* Program can call other program from inside the program using GS command.* Program can call other program from inside the program using GS command.* Program can call other program from inside the program using GS command.　→ shows the sequential order of program execution .　→ shows the sequential order of program execution .　→ shows the sequential order of program execution .　→ shows the sequential order of program execution .　 In the above example of <Program to program calling>, the program is executed to line 50 then jumps to the 　 In the above example of <Program to program calling>, the program is executed to line 50 then jumps to the 　 In the above example of <Program to program calling>, the program is executed to line 50 then jumps to the 　 In the above example of <Program to program calling>, the program is executed to line 50 then jumps to the

program 10. After executing to line 30 of program 10, the program returns line 60 of program 1. Program ends when program 10. After executing to line 30 of program 10, the program returns line 60 of program 1. Program ends when program 10. After executing to line 30 of program 10, the program returns line 60 of program 1. Program ends when program 10. After executing to line 30 of program 10, the program returns line 60 of program 1. Program ends when the ED command of program 1 is executed.the ED command of program 1 is executed.the ED command of program 1 is executed.the ED command of program 1 is executed.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)100 SP 3100 SP 3100 SP 3100 SP 3 ; Set speed 3; Set speed 3; Set speed 3; Set speed 3110 MO 3110 MO 3110 MO 3110 MO 3 ; Moves to position 3.; Moves to position 3.; Moves to position 3.; Moves to position 3.120 MO 5120 MO 5120 MO 5120 MO 5 ; Moves to position 5.; Moves to position 5.; Moves to position 5.; Moves to position 5.130 ED130 ED130 ED130 ED ; Ends the program.; Ends the program.; Ends the program.; Ends the program.

EDEDEDED

10101010　 　 　 　 SP SP SP SP 15151515 :::: ::::30 30 30 30 MO MO MO MO 10101010 :::: ::::100 100 100 100 EDEDEDED　　　　　　　　　　　　　;END　;END　;END　;END

＜Ordlinary execution＜Ordlinary execution＜Ordlinary execution＜Ordlinary execution＞＞＞＞

Program 10Program 10Program 10Program 10

10101010　 　 　 　 MOMOMOMO 15151515 :::: ::::55550 0 0 0 GS GS GS GS 30303030,,,, 1010101066660 0 0 0 MO MO MO MO 6666 :::: ::::1001001001000000 EDEDEDED　　　　　　　　　　　　　;END　;END　;END　;END

＜Program to program calling＜Program to program calling＜Program to program calling＜Program to program calling＞＞＞＞

Program 1Program 1Program 1Program 1

10101010　 　 　 　 SP SP SP SP 15151515 :::: ::::30 30 30 30 MO MO MO MO 10101010 :::: ::::100 100 100 100 EDEDEDED

Program 10Program 10Program 10Program 10

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

EQ (Equal)EQ (Equal)EQ (Equal)EQ (Equal) 2222-25-25-25-25

EQ (Equal)EQ (Equal)EQ (Equal)EQ (Equal)

【 Function 】【 Function 】【 Function 】【 Function 】This compares the value of the internal register with a specified value. If they are the same, the program will jump toThis compares the value of the internal register with a specified value. If they are the same, the program will jump toThis compares the value of the internal register with a specified value. If they are the same, the program will jump toThis compares the value of the internal register with a specified value. If they are the same, the program will jump tothe specified line number. The character string register and the details of the specified character string arethe specified line number. The character string register and the details of the specified character string arethe specified line number. The character string register and the details of the specified character string arethe specified line number. The character string register and the details of the specified character string arecompared, and if the values are the same, the program will jump to the specified line number.compared, and if the values are the same, the program will jump to the specified line number.compared, and if the values are the same, the program will jump to the specified line number.compared, and if the values are the same, the program will jump to the specified line number.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Compared value><Compared value><Compared value><Compared value> Specify the value that the internal register compares contents with Specify the value that the internal register compares contents with Specify the value that the internal register compares contents with Specify the value that the internal register compares contents with or counter No. with @or counter No. with @or counter No. with @or counter No. with @....

-32768 ≦ compared value (decimal) ≦ 32767-32768 ≦ compared value (decimal) ≦ 32767-32768 ≦ compared value (decimal) ≦ 32767-32768 ≦ compared value (decimal) ≦ 32767& 8000 ≦ compared value (hexadecimal) ≦ &7FFF& 8000 ≦ compared value (hexadecimal) ≦ &7FFF& 8000 ≦ compared value (hexadecimal) ≦ &7FFF& 8000 ≦ compared value (hexadecimal) ≦ &7FFF @ @ @ @1111 ≦ counter number ≦ @99 ≦ counter number ≦ @99 ≦ counter number ≦ @99 ≦ counter number ≦ @99

<Character string number><Character string number><Character string number><Character string number> Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99

<Branching line number><Branching line number><Branching line number><Branching line number> Specify the line number to which the program jumps when the comparison result is equal.Specify the line number to which the program jumps when the comparison result is equal.Specify the line number to which the program jumps when the comparison result is equal.Specify the line number to which the program jumps when the comparison result is equal.1 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 32767

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】<When counter number is specified><When counter number is specified><When counter number is specified><When counter number is specified>(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(2) If the internal register value equals to the compared value (i.e., when the condition is met), the program jumps to (2) If the internal register value equals to the compared value (i.e., when the condition is met), the program jumps to (2) If the internal register value equals to the compared value (i.e., when the condition is met), the program jumps to (2) If the internal register value equals to the compared value (i.e., when the condition is met), the program jumps to

the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence.the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence.the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence.the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence.(3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input

data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out conditional branching, need to execute either of the above commands beforehand.conditional branching, need to execute either of the above commands beforehand.conditional branching, need to execute either of the above commands beforehand.conditional branching, need to execute either of the above commands beforehand.

(4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by "&"."&"."&"."&".

(5) Error occurs at a jump if the specified line number does not exist.(5) Error occurs at a jump if the specified line number does not exist.(5) Error occurs at a jump if the specified line number does not exist.(5) Error occurs at a jump if the specified line number does not exist.

<When character string number is specified><When character string number is specified><When character string number is specified><When character string number is specified>(1) The conditions will jump depending on the details of the character string register.(1) The conditions will jump depending on the details of the character string register.(1) The conditions will jump depending on the details of the character string register.(1) The conditions will jump depending on the details of the character string register.(2) If the details of the character string register are equal to the details of the character string (when the conditions (2) If the details of the character string register are equal to the details of the character string (when the conditions (2) If the details of the character string register are equal to the details of the character string (when the conditions (2) If the details of the character string register are equal to the details of the character string (when the conditions

are established), the program will jump to the specified line number. If the details are not equal (when conditions are established), the program will jump to the specified line number. If the details are not equal (when conditions are established), the program will jump to the specified line number. If the details are not equal (when conditions are established), the program will jump to the specified line number. If the details are not equal (when conditions are not established), the next line will be executed.are not established), the next line will be executed.are not established), the next line will be executed.are not established), the next line will be executed.

(3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.

(4) If the specified line number is not registered, an error will occur during jumping.(4) If the specified line number is not registered, an error will occur during jumping.(4) If the specified line number is not registered, an error will occur during jumping.(4) If the specified line number is not registered, an error will occur during jumping.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)100 ID100 ID100 ID100 ID ; Fetches data from external input port.; Fetches data from external input port.; Fetches data from external input port.; Fetches data from external input port.110 EQ 100,130110 EQ 100,130110 EQ 100,130110 EQ 100,130 ; Jumps to line 130 if the data equals 100.; Jumps to line 130 if the data equals 100.; Jumps to line 130 if the data equals 100.; Jumps to line 130 if the data equals 100.120 ED120 ED120 ED120 ED ; Ends the program if above condition is not met.; Ends the program if above condition is not met.; Ends the program if above condition is not met.; Ends the program if above condition is not met.130 SC $5,"OK"130 SC $5,"OK"130 SC $5,"OK"130 SC $5,"OK" ; Set character string "OK" in character string number 5; Set character string "OK" in character string number 5; Set character string "OK" in character string number 5; Set character string "OK" in character string number 5140 CP $5140 CP $5140 CP $5140 CP $5 ; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register150 EQ $10,200150 EQ $10,200150 EQ $10,200150 EQ $10,200 ; Jumps to line 200 if the data equals character string number 10.; Jumps to line 200 if the data equals character string number 10.; Jumps to line 200 if the data equals character string number 10.; Jumps to line 200 if the data equals character string number 10.

: : : :200 MO 7200 MO 7200 MO 7200 MO 7 ; Moves to position 7.; Moves to position 7.; Moves to position 7.; Moves to position 7.

EQ　 <compared value>, <branching line number>EQ　 <compared value>, <branching line number>EQ　 <compared value>, <branching line number>EQ　 <compared value>, <branching line number>

2222----26 26 26 26 ER* (Error Read)ER* (Error Read)ER* (Error Read)ER* (Error Read)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

ER* (Error Read)ER* (Error Read)ER* (Error Read)ER* (Error Read)

【 Function 】【 Function 】【 Function 】【 Function 】Reads the current error status and error history contents. (Using RS-232C )Reads the current error status and error history contents. (Using RS-232C )Reads the current error status and error history contents. (Using RS-232C )Reads the current error status and error history contents. (Using RS-232C )

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Error history number><Error history number><Error history number><Error history number> Specify the number of error history.Specify the number of error history.Specify the number of error history.Specify the number of error history.

1 ≦ error history number ≦ 128 (If omitted, shows the current error)1 ≦ error history number ≦ 128 (If omitted, shows the current error)1 ≦ error history number ≦ 128 (If omitted, shows the current error)1 ≦ error history number ≦ 128 (If omitted, shows the current error)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Outputs the error condition of the robot from the RS-232C port.(1) Outputs the error condition of the robot from the RS-232C port.(1) Outputs the error condition of the robot from the RS-232C port.(1) Outputs the error condition of the robot from the RS-232C port.(2) Specify the error history number on the basis of the current error (0). When you specified 1, outputs the error (2) Specify the error history number on the basis of the current error (0). When you specified 1, outputs the error (2) Specify the error history number on the basis of the current error (0). When you specified 1, outputs the error (2) Specify the error history number on the basis of the current error (0). When you specified 1, outputs the error

information former than the current error by 1.information former than the current error by 1.information former than the current error by 1.information former than the current error by 1.(3) The ER command outputs the former error history in the ASCII format as below.(3) The ER command outputs the former error history in the ASCII format as below.(3) The ER command outputs the former error history in the ASCII format as below.(3) The ER command outputs the former error history in the ASCII format as below.

The output format: Error history number, error number, year, month, day, hour, minute,second. The output format: Error history number, error number, year, month, day, hour, minute,second. The output format: Error history number, error number, year, month, day, hour, minute,second. The output format: Error history number, error number, year, month, day, hour, minute,second. (4) If the error history number is omitted, the ER command outputs the current error with following ASCII code.(4) If the error history number is omitted, the ER command outputs the current error with following ASCII code.(4) If the error history number is omitted, the ER command outputs the current error with following ASCII code.(4) If the error history number is omitted, the ER command outputs the current error with following ASCII code.

　 0: No error　 0: No error　 0: No error　 0: No error　1: High level error　1: High level error　1: High level error　1: High level error　 2: Low level error　 2: Low level error　 2: Low level error　 2: Low level error　 3: Warning　 3: Warning　 3: Warning　 3: Warning

(5) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (5) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (5) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (5) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to this in BASIC.this in BASIC.this in BASIC.this in BASIC.

(6) Useful to transfer a sequence of data from the personal computer to the robot while checking for an error.(6) Useful to transfer a sequence of data from the personal computer to the robot while checking for an error.(6) Useful to transfer a sequence of data from the personal computer to the robot while checking for an error.(6) Useful to transfer a sequence of data from the personal computer to the robot while checking for an error.

【 Sample program １】 (N88BASIC)【 Sample program １】 (N88BASIC)【 Sample program １】 (N88BASIC)【 Sample program １】 (N88BASIC)10　OPEN ” COM1 ： E83” AS #110　OPEN ” COM1 ： E83” AS #110　OPEN ” COM1 ： E83” AS #110　OPEN ” COM1 ： E83” AS #1 ; Opens the RS-232C communication file from the personal computer by BASIC.; Opens the RS-232C communication file from the personal computer by BASIC.; Opens the RS-232C communication file from the personal computer by BASIC.; Opens the RS-232C communication file from the personal computer by BASIC.20　PRINT#1,” MO1”20　PRINT#1,” MO1”20　PRINT#1,” MO1”20　PRINT#1,” MO1” ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.30　GOSUB 10030　GOSUB 10030　GOSUB 10030　GOSUB 100 ; Calls the subroutine line 100 in BASIC.; Calls the subroutine line 100 in BASIC.; Calls the subroutine line 100 in BASIC.; Calls the subroutine line 100 in BASIC.40　PRINT #1,” MO2”40　PRINT #1,” MO2”40　PRINT #1,” MO2”40　PRINT #1,” MO2” ; Moves to position 2.; Moves to position 2.; Moves to position 2.; Moves to position 2.50　GOSUB 10050　GOSUB 10050　GOSUB 10050　GOSUB 100 ; Calls the subroutine line 100 in BASIC.; Calls the subroutine line 100 in BASIC.; Calls the subroutine line 100 in BASIC.; Calls the subroutine line 100 in BASIC.60　ED60　ED60　ED60　ED ; Ends; Ends; Ends; Ends100 PRINT #1,” ER”100 PRINT #1,” ER”100 PRINT #1,” ER”100 PRINT #1,” ER” ; Reads the current error.; Reads the current error.; Reads the current error.; Reads the current error.110 LINE INPUT #1,A$110 LINE INPUT #1,A$110 LINE INPUT #1,A$110 LINE INPUT #1,A$ ; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.120 IF A$=” 0” THEN RETURN120 IF A$=” 0” THEN RETURN120 IF A$=” 0” THEN RETURN120 IF A$=” 0” THEN RETURN ; If there is no error, returns subroutine.; If there is no error, returns subroutine.; If there is no error, returns subroutine.; If there is no error, returns subroutine.130 PRINT ” "Error level is "; A$130 PRINT ” "Error level is "; A$130 PRINT ” "Error level is "; A$130 PRINT ” "Error level is "; A$ ; Displays the data on the personal computer screen.; Displays the data on the personal computer screen.; Displays the data on the personal computer screen.; Displays the data on the personal computer screen.140 ED140 ED140 ED140 ED ; Ends; Ends; Ends; Ends

RUNRUNRUNRUN ; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.Error level is 2Error level is 2Error level is 2Error level is 2 ; Displays error level.; Displays error level.; Displays error level.; Displays error level.

(2: Operation error) (2: Operation error) (2: Operation error) (2: Operation error)

【 Sample program 2 】 (N88BASIC)【 Sample program 2 】 (N88BASIC)【 Sample program 2 】 (N88BASIC)【 Sample program 2 】 (N88BASIC)10 OPEN ” COM1:E83” AS#110 OPEN ” COM1:E83” AS#110 OPEN ” COM1:E83” AS#110 OPEN ” COM1:E83” AS#1 ; Opens the RS-232C communication file from the personal computer by BASIC.; Opens the RS-232C communication file from the personal computer by BASIC.; Opens the RS-232C communication file from the personal computer by BASIC.; Opens the RS-232C communication file from the personal computer by BASIC.20 INPUT "History number is "; N20 INPUT "History number is "; N20 INPUT "History number is "; N20 INPUT "History number is "; N ; Enters the error history number by the personal computer.; Enters the error history number by the personal computer.; Enters the error history number by the personal computer.; Enters the error history number by the personal computer.30 PRINT #1,"ER"+STR$(N)30 PRINT #1,"ER"+STR$(N)30 PRINT #1,"ER"+STR$(N)30 PRINT #1,"ER"+STR$(N) ; Reads the error information.; Reads the error information.; Reads the error information.; Reads the error information.40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$ ; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.50 PRINT "Error information ";A$50 PRINT "Error information ";A$50 PRINT "Error information ";A$50 PRINT "Error information ";A$ ; Displays the data on the personal computer screen.; Displays the data on the personal computer screen.; Displays the data on the personal computer screen.; Displays the data on the personal computer screen.60 ED60 ED60 ED60 ED ; Ends; Ends; Ends; Ends

RUNRUNRUNRUN ; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.History number is 1History number is 1History number is 1History number is 1Error information 1,3800,93,10,21,11,34,20Error information 1,3800,93,10,21,11,34,20Error information 1,3800,93,10,21,11,34,20Error information 1,3800,93,10,21,11,34,20

ER [<error history number>]ER [<error history number>]ER [<error history number>]ER [<error history number>]

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

GC (Grip Close)GC (Grip Close)GC (Grip Close)GC (Grip Close) 2222-27-27-27-27

GC (Grip Close)GC (Grip Close)GC (Grip Close)GC (Grip Close)

【 Function 】【 Function 】【 Function 】【 Function 】Close the grip of hand.Close the grip of hand.Close the grip of hand.Close the grip of hand.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Hand number><Hand number><Hand number><Hand number> Specify the hand number opening grip. Specify the hand number opening grip. Specify the hand number opening grip. Specify the hand number opening grip.

0: Hand 1 (Default)0: Hand 1 (Default)0: Hand 1 (Default)0: Hand 1 (Default) 4: 4: 4: 4: Hand Hand Hand Hand 55551: Hand 21: Hand 21: Hand 21: Hand 2 5: 5: 5: 5: Hand Hand Hand Hand 66662222: Hand : Hand : Hand : Hand 3333 6: 6: 6: 6: Hand Hand Hand Hand 77773333: Hand : Hand : Hand : Hand 4444 7: 7: 7: 7: Hand Hand Hand Hand 8888

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) This command drives the solenoid and closes the hand (or picks up the workpiece).(1) This command drives the solenoid and closes the hand (or picks up the workpiece).(1) This command drives the solenoid and closes the hand (or picks up the workpiece).(1) This command drives the solenoid and closes the hand (or picks up the workpiece).

The general-purpose output signal can also be controlled with the OB command to close the hand. (Refer to the The general-purpose output signal can also be controlled with the OB command to close the hand. (Refer to the The general-purpose output signal can also be controlled with the OB command to close the hand. (Refer to the The general-purpose output signal can also be controlled with the OB command to close the hand. (Refer to the OB command.)OB command.)OB command.)OB command.)

(2) When closing the hand and gripping the workpiece, it may take some time for the movement to settle and the hand (2) When closing the hand and gripping the workpiece, it may take some time for the movement to settle and the hand (2) When closing the hand and gripping the workpiece, it may take some time for the movement to settle and the hand (2) When closing the hand and gripping the workpiece, it may take some time for the movement to settle and the hand to move. Thus, in some cases, a TI command must be provided before and after this command to establish a delay to move. Thus, in some cases, a TI command must be provided before and after this command to establish a delay to move. Thus, in some cases, a TI command must be provided before and after this command to establish a delay to move. Thus, in some cases, a TI command must be provided before and after this command to establish a delay timer.timer.timer.timer.

【 Relating Parameters 】【 Relating Parameters 】【 Relating Parameters 】【 Relating Parameters 】The output signal No. for solenoid drivingThe output signal No. for solenoid drivingThe output signal No. for solenoid drivingThe output signal No. for solenoid driving and and and and the status of the hand output signal when the power is turned ON can the status of the hand output signal when the power is turned ON can the status of the hand output signal when the power is turned ON can the status of the hand output signal when the power is turned ON can be set with parameters for each hand No.be set with parameters for each hand No.be set with parameters for each hand No.be set with parameters for each hand No.As a default, hands 1 to 4 are set in the output signal Nos. 900 to 907. When using hands 5 to 8, the parameters must As a default, hands 1 to 4 are set in the output signal Nos. 900 to 907. When using hands 5 to 8, the parameters must As a default, hands 1 to 4 are set in the output signal Nos. 900 to 907. When using hands 5 to 8, the parameters must As a default, hands 1 to 4 are set in the output signal Nos. 900 to 907. When using hands 5 to 8, the parameters must be set.be set.be set.be set.Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on changing Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on changing Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on changing Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on changing the parameters.the parameters.the parameters.the parameters.The outlines of the related parameters are given in Table 2-4.The outlines of the related parameters are given in Table 2-4.The outlines of the related parameters are given in Table 2-4.The outlines of the related parameters are given in Table 2-4.

Table 2-4 ： Hand related parametersTable 2-4 ： Hand related parametersTable 2-4 ： Hand related parametersTable 2-4 ： Hand related parameters

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MO 10,O10 MO 10,O10 MO 10,O10 MO 10,O ; Moves to position 10 with hand opened.; Moves to position 10 with hand opened.; Moves to position 10 with hand opened.; Moves to position 10 with hand opened.20 TI 520 TI 520 TI 520 TI 5 ; Sets 0.5 second timer.; Sets 0.5 second timer.; Sets 0.5 second timer.; Sets 0.5 second timer.30 GC 30 GC 30 GC 30 GC ; Closes hand to grasp workpiece.; Closes hand to grasp workpiece.; Closes hand to grasp workpiece.; Closes hand to grasp workpiece.40 TI 540 TI 540 TI 540 TI 5 ; Sets 0.5 second timer.; Sets 0.5 second timer.; Sets 0.5 second timer.; Sets 0.5 second timer.50 MO 15,C50 MO 15,C50 MO 15,C50 MO 15,C ; Moves to position 15 with hand closed.; Moves to position 15 with hand closed.; Moves to position 15 with hand closed.; Moves to position 15 with hand closed.

Ｇ Ｃ 　 [<hand number>]Ｇ Ｃ 　 [<hand number>]Ｇ Ｃ 　 [<hand number>]Ｇ Ｃ 　 [<hand number>]

Parameter nameParameter nameParameter nameParameter name Setting detailsSetting detailsSetting detailsSetting details

HANDTYPEHANDTYPEHANDTYPEHANDTYPE Identification of single/double solenoid and setting of output signal No.Identification of single/double solenoid and setting of output signal No.Identification of single/double solenoid and setting of output signal No.Identification of single/double solenoid and setting of output signal No.

HANDINITHANDINITHANDINITHANDINIT Setting of pneumatic hand output at power ONSetting of pneumatic hand output at power ONSetting of pneumatic hand output at power ONSetting of pneumatic hand output at power ON

2222----28 28 28 28 GF (Grip Flag)GF (Grip Flag)GF (Grip Flag)GF (Grip Flag)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

GF (Grip Flag)GF (Grip Flag)GF (Grip Flag)GF (Grip Flag)

【 Function 】【 Function 】【 Function 】【 Function 】Defines the open/close state of the grip of the hand (used with the PD command).Defines the open/close state of the grip of the hand (used with the PD command).Defines the open/close state of the grip of the hand (used with the PD command).Defines the open/close state of the grip of the hand (used with the PD command).

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<switch><switch><switch><switch> Specify open or close state of the hand in 0 or 1.Specify open or close state of the hand in 0 or 1.Specify open or close state of the hand in 0 or 1.Specify open or close state of the hand in 0 or 1.

0: Open0: Open0: Open0: Open1: Close1: Close1: Close1: Close

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Defines the open or close state of the hand grip used with the PD command which defines the coordinates of the (1) Defines the open or close state of the hand grip used with the PD command which defines the coordinates of the (1) Defines the open or close state of the hand grip used with the PD command which defines the coordinates of the (1) Defines the open or close state of the hand grip used with the PD command which defines the coordinates of the

specified position. The PD command takes precedence if the hand open/close state has been specified by the PD specified position. The PD command takes precedence if the hand open/close state has been specified by the PD specified position. The PD command takes precedence if the hand open/close state has been specified by the PD specified position. The PD command takes precedence if the hand open/close state has been specified by the PD command.command.command.command.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 GF 010 GF 010 GF 010 GF 0 ; Sets the grip flag to open.; Sets the grip flag to open.; Sets the grip flag to open.; Sets the grip flag to open.20 PD 10,50,320,70,50,40,30,R; Defines position 10 with hand opened.20 PD 10,50,320,70,50,40,30,R; Defines position 10 with hand opened.20 PD 10,50,320,70,50,40,30,R; Defines position 10 with hand opened.20 PD 10,50,320,70,50,40,30,R; Defines position 10 with hand opened.

Ｇ Ｆ 　 <switch>Ｇ Ｆ 　 <switch>Ｇ Ｆ 　 <switch>Ｇ Ｆ 　 <switch>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

GO (Grip Open)GO (Grip Open)GO (Grip Open)GO (Grip Open) 2222-29-29-29-29

GO (Grip Open)GO (Grip Open)GO (Grip Open)GO (Grip Open)

【 Function 】【 Function 】【 Function 】【 Function 】Opens the grip of the hand.Opens the grip of the hand.Opens the grip of the hand.Opens the grip of the hand.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Hand number><Hand number><Hand number><Hand number> Specify the hand number opening grip. Specify the hand number opening grip. Specify the hand number opening grip. Specify the hand number opening grip.

0: Hand 1 (Default)0: Hand 1 (Default)0: Hand 1 (Default)0: Hand 1 (Default) 4: Hand 54: Hand 54: Hand 54: Hand 51: Hand 21: Hand 21: Hand 21: Hand 2 5: Hand 65: Hand 65: Hand 65: Hand 62: Hand 32: Hand 32: Hand 32: Hand 3 6: Hand 76: Hand 76: Hand 76: Hand 73: Hand 43: Hand 43: Hand 43: Hand 4 7: Hand 87: Hand 87: Hand 87: Hand 8

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) This command drives the solenoid and opens the hand (or releases the workpiece).(1) This command drives the solenoid and opens the hand (or releases the workpiece).(1) This command drives the solenoid and opens the hand (or releases the workpiece).(1) This command drives the solenoid and opens the hand (or releases the workpiece).

The general-purpose output signal can also be controlled with the OB command to open the hand. (Refer to the The general-purpose output signal can also be controlled with the OB command to open the hand. (Refer to the The general-purpose output signal can also be controlled with the OB command to open the hand. (Refer to the The general-purpose output signal can also be controlled with the OB command to open the hand. (Refer to the OB command.)OB command.)OB command.)OB command.)

(2) When opening the hand and releasing the workpiece, it may take some time for the movement to settle and the (2) When opening the hand and releasing the workpiece, it may take some time for the movement to settle and the (2) When opening the hand and releasing the workpiece, it may take some time for the movement to settle and the (2) When opening the hand and releasing the workpiece, it may take some time for the movement to settle and the hand to move. Thus, in some cases, a TI command must be provided before and after this command to establish a hand to move. Thus, in some cases, a TI command must be provided before and after this command to establish a hand to move. Thus, in some cases, a TI command must be provided before and after this command to establish a hand to move. Thus, in some cases, a TI command must be provided before and after this command to establish a delay timer.delay timer.delay timer.delay timer.

【 Relating Parameters 】【 Relating Parameters 】【 Relating Parameters 】【 Relating Parameters 】The output signal No. for solenoid drivingThe output signal No. for solenoid drivingThe output signal No. for solenoid drivingThe output signal No. for solenoid driving and and and and the status of the hand output signal when the power is turned ON can the status of the hand output signal when the power is turned ON can the status of the hand output signal when the power is turned ON can the status of the hand output signal when the power is turned ON can be set with parameters for each hand No.be set with parameters for each hand No.be set with parameters for each hand No.be set with parameters for each hand No.As a default, hands 1 to 4 are set in the output signal Nos. 900 to 90As a default, hands 1 to 4 are set in the output signal Nos. 900 to 90As a default, hands 1 to 4 are set in the output signal Nos. 900 to 90As a default, hands 1 to 4 are set in the output signal Nos. 900 to 907777. When using hands 5 to . When using hands 5 to . When using hands 5 to . When using hands 5 to 8888, the parameters must , the parameters must , the parameters must , the parameters must be set.be set.be set.be set.Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on changing Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on changing Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on changing Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on changing the parameters.the parameters.the parameters.the parameters.The outlines of the related parameters are given in The outlines of the related parameters are given in The outlines of the related parameters are given in The outlines of the related parameters are given in Table 2-5.Table 2-5.Table 2-5.Table 2-5.

Table 2-5 ： Hand related parametersTable 2-5 ： Hand related parametersTable 2-5 ： Hand related parametersTable 2-5 ： Hand related parameters

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MO 10,C10 MO 10,C10 MO 10,C10 MO 10,C ; Moves to position 10 with hand closed.; Moves to position 10 with hand closed.; Moves to position 10 with hand closed.; Moves to position 10 with hand closed.20 TI 520 TI 520 TI 520 TI 5 ; Sets 0.5 second timer.; Sets 0.5 second timer.; Sets 0.5 second timer.; Sets 0.5 second timer.30 GO30 GO30 GO30 GO ; Opens hand to release workpiece.; Opens hand to release workpiece.; Opens hand to release workpiece.; Opens hand to release workpiece.40 TI 540 TI 540 TI 540 TI 5 ; Sets 0.5 second timer.; Sets 0.5 second timer.; Sets 0.5 second timer.; Sets 0.5 second timer.50 MO 15,O50 MO 15,O50 MO 15,O50 MO 15,O ; Moves to position 15 with hand opened.; Moves to position 15 with hand opened.; Moves to position 15 with hand opened.; Moves to position 15 with hand opened.

ＧＯ 　 [<hand number>]ＧＯ 　 [<hand number>]ＧＯ 　 [<hand number>]ＧＯ 　 [<hand number>]

Parameter nameParameter nameParameter nameParameter name Setting detailsSetting detailsSetting detailsSetting details

HANDTYPEHANDTYPEHANDTYPEHANDTYPE Identification of single/double solenoid and setting of output signal No.Identification of single/double solenoid and setting of output signal No.Identification of single/double solenoid and setting of output signal No.Identification of single/double solenoid and setting of output signal No.

HANDINITHANDINITHANDINITHANDINIT Setting of pneumatic hand output at power ONSetting of pneumatic hand output at power ONSetting of pneumatic hand output at power ONSetting of pneumatic hand output at power ON

2222----30 30 30 30 GP (Grip PressureGP (Grip PressureGP (Grip PressureGP (Grip Pressure

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

GP (Grip PressureGP (Grip PressureGP (Grip PressureGP (Grip Pressure

【 Function 】【 Function 】【 Function 】【 Function 】Sets the continuous starting grip pressure time for opening and closing the hand.Sets the continuous starting grip pressure time for opening and closing the hand.Sets the continuous starting grip pressure time for opening and closing the hand.Sets the continuous starting grip pressure time for opening and closing the hand.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Starting grip pressure><Starting grip pressure><Starting grip pressure><Starting grip pressure> This is invalid when using the pneumatic hand.This is invalid when using the pneumatic hand.This is invalid when using the pneumatic hand.This is invalid when using the pneumatic hand.

０ ≦ Starting grip pressure ≦ 63(3.5kg)０ ≦ Starting grip pressure ≦ 63(3.5kg)０ ≦ Starting grip pressure ≦ 63(3.5kg)０ ≦ Starting grip pressure ≦ 63(3.5kg)<Holding grip pressure><Holding grip pressure><Holding grip pressure><Holding grip pressure> This is invalid when using the pneumatic hand.This is invalid when using the pneumatic hand.This is invalid when using the pneumatic hand.This is invalid when using the pneumatic hand.

０ ≦ Holding grip pressure ≦ 63(3.5kg)０ ≦ Holding grip pressure ≦ 63(3.5kg)０ ≦ Holding grip pressure ≦ 63(3.5kg)０ ≦ Holding grip pressure ≦ 63(3.5kg)<Continuous starting grip pressure time><Continuous starting grip pressure time><Continuous starting grip pressure time><Continuous starting grip pressure time> Describe the time to continue to the starting grip pressure as an integer.Describe the time to continue to the starting grip pressure as an integer.Describe the time to continue to the starting grip pressure as an integer.Describe the time to continue to the starting grip pressure as an integer.

０≦ Continuous starting grip pressure time ≦ 99 (9.9s) The unit is 0.1 ０≦ Continuous starting grip pressure time ≦ 99 (9.9s) The unit is 0.1 ０≦ Continuous starting grip pressure time ≦ 99 (9.9s) The unit is 0.1 ０≦ Continuous starting grip pressure time ≦ 99 (9.9s) The unit is 0.1 seconds.seconds.seconds.seconds.

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The continuous starting grip pressure time is the set value multiplied by 0.1s (max. 9.9s). Set the optimum value (1) The continuous starting grip pressure time is the set value multiplied by 0.1s (max. 9.9s). Set the optimum value (1) The continuous starting grip pressure time is the set value multiplied by 0.1s (max. 9.9s). Set the optimum value (1) The continuous starting grip pressure time is the set value multiplied by 0.1s (max. 9.9s). Set the optimum value

according to the target to be gripped. The set value is valid until it is reset, and is set commonly for all programs.according to the target to be gripped. The set value is valid until it is reset, and is set commonly for all programs.according to the target to be gripped. The set value is valid until it is reset, and is set commonly for all programs.according to the target to be gripped. The set value is valid until it is reset, and is set commonly for all programs.(2) The default state when the power is turned ON is "GP 63, 63, 3", and the continuous starting grip pressure time (2) The default state when the power is turned ON is "GP 63, 63, 3", and the continuous starting grip pressure time (2) The default state when the power is turned ON is "GP 63, 63, 3", and the continuous starting grip pressure time (2) The default state when the power is turned ON is "GP 63, 63, 3", and the continuous starting grip pressure time

is 0.3s.is 0.3s.is 0.3s.is 0.3s.(3) When using the pneumatic hand, the starting grip pressure and holding grip pressure values are invalid.(3) When using the pneumatic hand, the starting grip pressure and holding grip pressure values are invalid.(3) When using the pneumatic hand, the starting grip pressure and holding grip pressure values are invalid.(3) When using the pneumatic hand, the starting grip pressure and holding grip pressure values are invalid.(4) The robot movement will stop during the continuous starting grip pressure time.(4) The robot movement will stop during the continuous starting grip pressure time.(4) The robot movement will stop during the continuous starting grip pressure time.(4) The robot movement will stop during the continuous starting grip pressure time.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 GP 63, 63, 1010 GP 63, 63, 1010 GP 63, 63, 1010 GP 63, 63, 10 ; Set the continuous starting grip pressure time to 1s.; Set the continuous starting grip pressure time to 1s.; Set the continuous starting grip pressure time to 1s.; Set the continuous starting grip pressure time to 1s.20 GC20 GC20 GC20 GC ; Close the hand with the above settings.; Close the hand with the above settings.; Close the hand with the above settings.; Close the hand with the above settings.

GP　 <Starting grip pressure> <Holding grip pressure>, <Continuous starting grip pressure time>GP　 <Starting grip pressure> <Holding grip pressure>, <Continuous starting grip pressure time>GP　 <Starting grip pressure> <Holding grip pressure>, <Continuous starting grip pressure time>GP　 <Starting grip pressure> <Holding grip pressure>, <Continuous starting grip pressure time>

Continuous starting grip pressure time

Continuous starting grip pressure time

Holding grip pressure

０

Close

Grip

Pre

ssur

e

Open

“ GC ” “ GO ”

Time

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

GS (Go Sub)GS (Go Sub)GS (Go Sub)GS (Go Sub) 2222-31-31-31-31

GS (Go Sub)GS (Go Sub)GS (Go Sub)GS (Go Sub)

【 Function 】【 Function 】【 Function 】【 Function 】Carries out subroutine beginning with the specified line number.Carries out subroutine beginning with the specified line number.Carries out subroutine beginning with the specified line number.Carries out subroutine beginning with the specified line number.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Line number><Line number><Line number><Line number> Specify line number of subroutine in integer value.Specify line number of subroutine in integer value.Specify line number of subroutine in integer value.Specify line number of subroutine in integer value.

1 ≦ line number ≦ 327671 ≦ line number ≦ 327671 ≦ line number ≦ 327671 ≦ line number ≦ 32767<Program name><Program name><Program name><Program name> Specify program name of subroutine in integer value or characters. (Less than 8 Specify program name of subroutine in integer value or characters. (Less than 8 Specify program name of subroutine in integer value or characters. (Less than 8 Specify program name of subroutine in integer value or characters. (Less than 8

characters)characters)characters)characters)1 ≦ program name ≦ 8 (characters)1 ≦ program name ≦ 8 (characters)1 ≦ program name ≦ 8 (characters)1 ≦ program name ≦ 8 (characters)Possible letter usedPossible letter usedPossible letter usedPossible letter used : Digit (0-9): Digit (0-9): Digit (0-9): Digit (0-9)

Character (A - Z) Character (A - Z) Character (A - Z) Character (A - Z)Impossible letter usedImpossible letter usedImpossible letter usedImpossible letter used : : : : ( * + , . / : ; [ \ ] ( * + , . / : ; [ \ ] ( * + , . / : ; [ \ ] ( * + , . / : ; [ \ ] '''' " ! @ # ) " ! @ # ) " ! @ # ) " ! @ # )Special specificationSpecial specificationSpecial specificationSpecial specification : When you specified only numeric value, the program name is : When you specified only numeric value, the program name is : When you specified only numeric value, the program name is : When you specified only numeric value, the program name is

handled as number.handled as number.handled as number.handled as number. Need to enclose program name with " " in the case of character Need to enclose program name with " " in the case of character Need to enclose program name with " " in the case of character Need to enclose program name with " " in the case of character used.used.used.used.

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Allows the program to jump to the specified line of the specified program and execute subroutine. The program (1) Allows the program to jump to the specified line of the specified program and execute subroutine. The program (1) Allows the program to jump to the specified line of the specified program and execute subroutine. The program (1) Allows the program to jump to the specified line of the specified program and execute subroutine. The program

returns to the main program after executing the subroutine. When you specified program number, returns to the returns to the main program after executing the subroutine. When you specified program number, returns to the returns to the main program after executing the subroutine. When you specified program number, returns to the returns to the main program after executing the subroutine. When you specified program number, returns to the main program by ED command and when you specified only line number, returns by RT command.main program by ED command and when you specified only line number, returns by RT command.main program by ED command and when you specified only line number, returns by RT command.main program by ED command and when you specified only line number, returns by RT command.

(2) Use the RT command to terminate the subroutine existing in the same program. Use the ED command to (2) Use the RT command to terminate the subroutine existing in the same program. Use the ED command to (2) Use the RT command to terminate the subroutine existing in the same program. Use the ED command to (2) Use the RT command to terminate the subroutine existing in the same program. Use the ED command to terminate the subroutine existing in other program.terminate the subroutine existing in other program.terminate the subroutine existing in other program.terminate the subroutine existing in other program.

(3) If the specified line or the specified program does not exist, error occurs at the time of GS execution.(3) If the specified line or the specified program does not exist, error occurs at the time of GS execution.(3) If the specified line or the specified program does not exist, error occurs at the time of GS execution.(3) If the specified line or the specified program does not exist, error occurs at the time of GS execution.(4) When you omitted line number, executes the specified program from the top line.(4) When you omitted line number, executes the specified program from the top line.(4) When you omitted line number, executes the specified program from the top line.(4) When you omitted line number, executes the specified program from the top line.(5) When you omitted line number and program name, nothing occurs .(5) When you omitted line number and program name, nothing occurs .(5) When you omitted line number and program name, nothing occurs .(5) When you omitted line number and program name, nothing occurs .(6) To call subroutines in other subroutines is called "nesting". Up to 9 nesting levels are possible.(6) To call subroutines in other subroutines is called "nesting". Up to 9 nesting levels are possible.(6) To call subroutines in other subroutines is called "nesting". Up to 9 nesting levels are possible.(6) To call subroutines in other subroutines is called "nesting". Up to 9 nesting levels are possible.

* In the above example of <The same program call>, executes the program from line 10 to 30, then calls the * In the above example of <The same program call>, executes the program from line 10 to 30, then calls the * In the above example of <The same program call>, executes the program from line 10 to 30, then calls the * In the above example of <The same program call>, executes the program from line 10 to 30, then calls the subroutine of line 200. When the RT command is executed in the subroutine, the program returns to the main subroutine of line 200. When the RT command is executed in the subroutine, the program returns to the main subroutine of line 200. When the RT command is executed in the subroutine, the program returns to the main subroutine of line 200. When the RT command is executed in the subroutine, the program returns to the main program and continues from line 40. The program ends when the ED command is executed.program and continues from line 40. The program ends when the ED command is executed.program and continues from line 40. The program ends when the ED command is executed.program and continues from line 40. The program ends when the ED command is executed.

* Program can call other program from inside the program using GS command. In the above example of <Program to * Program can call other program from inside the program using GS command. In the above example of <Program to * Program can call other program from inside the program using GS command. In the above example of <Program to * Program can call other program from inside the program using GS command. In the above example of <Program to program call>, executes the program from line 20 to 50, then calls the program 30. Executes the program from line program call>, executes the program from line 20 to 50, then calls the program 30. Executes the program from line program call>, executes the program from line 20 to 50, then calls the program 30. Executes the program from line program call>, executes the program from line 20 to 50, then calls the program 30. Executes the program from line 40 to 100 and returns to the main program, i.e., line 60 of program 20. The program ends when the ED command is 40 to 100 and returns to the main program, i.e., line 60 of program 20. The program ends when the ED command is 40 to 100 and returns to the main program, i.e., line 60 of program 20. The program ends when the ED command is 40 to 100 and returns to the main program, i.e., line 60 of program 20. The program ends when the ED command is executed.executed.executed.executed.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)

GS　 [<line number>] [, [<program name>]]GS　 [<line number>] [, [<program name>]]GS　 [<line number>] [, [<program name>]]GS　 [<line number>] [, [<program name>]]

10101010　 　 　 　 SP SP SP SP 15151515 ::::30 30 30 30 GS GS GS GS 20020020020040 40 40 40 TI TI TI TI 1111 ::::100 100 100 100 ED ED ED ED ;END;END;END;END

200 200 200 200 MO MO MO MO 3333 :::: :::: ::::252525250 0 0 0 RTRTRTRT

＜The same program call＜The same program call＜The same program call＜The same program call＞＞＞＞

Program 10Program 10Program 10Program 10

10101010　 　 　 　 MOMOMOMO 5555 :::: ::::55550 0 0 0 GS GS GS GS 44440000,,,, 3333000066660 0 0 0 MO MO MO MO 6666 :::: ::::1001001001000000 EDEDEDED　　　　　　　　　　　　　;END　;END　;END　;END

＜Program to program call＜Program to program call＜Program to program call＜Program to program call＞＞＞＞

Program Program Program Program 20202020

10101010　 　 　 　 SP SP SP SP 15151515 ::::44440 0 0 0 MO MO MO MO 10101010 :::: ::::100 100 100 100 EDEDEDED

Program Program Program Program 33330000

Shows the program execution order.Shows the program execution order.Shows the program execution order.Shows the program execution order.

2222----32 32 32 32 GT (Go To)GT (Go To)GT (Go To)GT (Go To)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

10 GS 10010 GS 10010 GS 10010 GS 100 ; Carry out subroutine beginning with line number 100.; Carry out subroutine beginning with line number 100.; Carry out subroutine beginning with line number 100.; Carry out subroutine beginning with line number 100.　 :　 :　 :　 : ;;;;90 ED90 ED90 ED90 ED ; Ends program.; Ends program.; Ends program.; Ends program.100 MO 11100 MO 11100 MO 11100 MO 11 ; Moves to position 11.; Moves to position 11.; Moves to position 11.; Moves to position 11.110 MO 12110 MO 12110 MO 12110 MO 12 ; Moves to position 12. 　 Subroutin; Moves to position 12. 　 Subroutin; Moves to position 12. 　 Subroutin; Moves to position 12. 　 Subroutineeee120 MO 13120 MO 13120 MO 13120 MO 13 ; Moves to position 13.; Moves to position 13.; Moves to position 13.; Moves to position 13.130 RT130 RT130 RT130 RT ; Ends subroutin ; Ends subroutin ; Ends subroutin ; Ends subroutin

GT (Go To)GT (Go To)GT (Go To)GT (Go To)

【 Function 】【 Function 】【 Function 】【 Function 】Jumps to the specified line number unconditionally.Jumps to the specified line number unconditionally.Jumps to the specified line number unconditionally.Jumps to the specified line number unconditionally.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Line number><Line number><Line number><Line number> Specify the line number to which the program jumps.Specify the line number to which the program jumps.Specify the line number to which the program jumps.Specify the line number to which the program jumps.

1 ≦ line number ≦ 327671 ≦ line number ≦ 327671 ≦ line number ≦ 327671 ≦ line number ≦ 32767

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Causes the program to jump to the specified line number.(1) Causes the program to jump to the specified line number.(1) Causes the program to jump to the specified line number.(1) Causes the program to jump to the specified line number.(2) If the specified line number does not exist, error occurs at the time of GT execution.(2) If the specified line number does not exist, error occurs at the time of GT execution.(2) If the specified line number does not exist, error occurs at the time of GT execution.(2) If the specified line number does not exist, error occurs at the time of GT execution.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MO 110 MO 110 MO 110 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.20 GT 10020 GT 10020 GT 10020 GT 100 ; Jumps to line 100 unconditionally.; Jumps to line 100 unconditionally.; Jumps to line 100 unconditionally.; Jumps to line 100 unconditionally. ： ： ： ：100 MO 12100 MO 12100 MO 12100 MO 12 ; Moves to position 12.; Moves to position 12.; Moves to position 12.; Moves to position 12.110 MO 15110 MO 15110 MO 15110 MO 15 ; Moves to position 15.; Moves to position 15.; Moves to position 15.; Moves to position 15. ： ： ： ：

Ｇ Ｔ 　 <line number>Ｇ Ｔ 　 <line number>Ｇ Ｔ 　 <line number>Ｇ Ｔ 　 <line number>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

HE (Here)HE (Here)HE (Here)HE (Here) 2222-33-33-33-33

HE (Here)HE (Here)HE (Here)HE (Here)

【 Function 】【 Function 】【 Function 】【 Function 】Defines the current coordinates as the specified position.Defines the current coordinates as the specified position.Defines the current coordinates as the specified position.Defines the current coordinates as the specified position.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number><Position number><Position number><Position number> Specify the position number to be registered.Specify the position number to be registered.Specify the position number to be registered.Specify the position number to be registered.

0 ≦ position number ≦ 9990 ≦ position number ≦ 9990 ≦ position number ≦ 9990 ≦ position number ≦ 999Registers the current position to the user-defined origin in case of zero.Registers the current position to the user-defined origin in case of zero.Registers the current position to the user-defined origin in case of zero.Registers the current position to the user-defined origin in case of zero.

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The current position coordinates (orthogonal system) are calculated based on the current tool length (refer to the (1) The current position coordinates (orthogonal system) are calculated based on the current tool length (refer to the (1) The current position coordinates (orthogonal system) are calculated based on the current tool length (refer to the (1) The current position coordinates (orthogonal system) are calculated based on the current tool length (refer to the

TL command). In the default state, the coordinates are based on the hand installation surface.TL command). In the default state, the coordinates are based on the hand installation surface.TL command). In the default state, the coordinates are based on the hand installation surface.TL command). In the default state, the coordinates are based on the hand installation surface.(2) If a single number is assigned to two different positions, the one defined last takes precedence with the former (2) If a single number is assigned to two different positions, the one defined last takes precedence with the former (2) If a single number is assigned to two different positions, the one defined last takes precedence with the former (2) If a single number is assigned to two different positions, the one defined last takes precedence with the former

cleared.cleared.cleared.cleared.(3) The open/close position of the hand and the structure flag data are also stored as the position data.(3) The open/close position of the hand and the structure flag data are also stored as the position data.(3) The open/close position of the hand and the structure flag data are also stored as the position data.(3) The open/close position of the hand and the structure flag data are also stored as the position data.(4) Error occurs if the HE command is executed before the origin setting.(4) Error occurs if the HE command is executed before the origin setting.(4) Error occurs if the HE command is executed before the origin setting.(4) Error occurs if the HE command is executed before the origin setting.(5) When you specified zero position number, current position data in joint coordinates are defined to user-defined (5) When you specified zero position number, current position data in joint coordinates are defined to user-defined (5) When you specified zero position number, current position data in joint coordinates are defined to user-defined (5) When you specified zero position number, current position data in joint coordinates are defined to user-defined

origin parameter USERORG. origin parameter USERORG. origin parameter USERORG. origin parameter USERORG. (6)Use TI command before HE command when you register coordinate value under the condition that a robot stops (6)Use TI command before HE command when you register coordinate value under the condition that a robot stops (6)Use TI command before HE command when you register coordinate value under the condition that a robot stops (6)Use TI command before HE command when you register coordinate value under the condition that a robot stops

completely.completely.completely.completely.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MO 1010 MO 1010 MO 1010 MO 10 ; Moves to position 10.; Moves to position 10.; Moves to position 10.; Moves to position 10.20 DW 10,0,020 DW 10,0,020 DW 10,0,020 DW 10,0,0 ; Moves to +X direction by 10 mm; Moves to +X direction by 10 mm; Moves to +X direction by 10 mm; Moves to +X direction by 10 mm30 HE 1130 HE 1130 HE 1130 HE 11 ; Defines above location as position 11.; Defines above location as position 11.; Defines above location as position 11.; Defines above location as position 11.

HLT (Halt)HLT (Halt)HLT (Halt)HLT (Halt)

【 Function 】【 Function 】【 Function 】【 Function 】Interrupts the motion of the robot and the operation of the programInterrupts the motion of the robot and the operation of the programInterrupts the motion of the robot and the operation of the programInterrupts the motion of the robot and the operation of the program

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Interrupts the operation of the program and decelerates the robot to a stop. (It becomes the same condition that (1) Interrupts the operation of the program and decelerates the robot to a stop. (It becomes the same condition that (1) Interrupts the operation of the program and decelerates the robot to a stop. (It becomes the same condition that (1) Interrupts the operation of the program and decelerates the robot to a stop. (It becomes the same condition that

the external stop signal is input or the STOP switch of the controller front panel is pushed.)the external stop signal is input or the STOP switch of the controller front panel is pushed.)the external stop signal is input or the STOP switch of the controller front panel is pushed.)the external stop signal is input or the STOP switch of the controller front panel is pushed.)(2) To restart the program, push the START switch, input the starting signaling, or execute the RN command. (2) To restart the program, push the START switch, input the starting signaling, or execute the RN command. (2) To restart the program, push the START switch, input the starting signaling, or execute the RN command. (2) To restart the program, push the START switch, input the starting signaling, or execute the RN command.

Program restarts from the next line of HLT command.Program restarts from the next line of HLT command.Program restarts from the next line of HLT command.Program restarts from the next line of HLT command.(3) If the HLT command is directly executed from the personal computer during program running, the program is (3) If the HLT command is directly executed from the personal computer during program running, the program is (3) If the HLT command is directly executed from the personal computer during program running, the program is (3) If the HLT command is directly executed from the personal computer during program running, the program is

interrupted and the robot stops with deceleration.interrupted and the robot stops with deceleration.interrupted and the robot stops with deceleration.interrupted and the robot stops with deceleration.(4) The robot does not stop by the HLT command, however, during the execution of the direct motion command.(4) The robot does not stop by the HLT command, however, during the execution of the direct motion command.(4) The robot does not stop by the HLT command, however, during the execution of the direct motion command.(4) The robot does not stop by the HLT command, however, during the execution of the direct motion command.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MO 110 MO 110 MO 110 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.20 HLT20 HLT20 HLT20 HLT ; Stops; Stops; Stops; Stops30 MO 230 MO 230 MO 230 MO 2 ; Moves to position 2.; Moves to position 2.; Moves to position 2.; Moves to position 2.40 ED40 ED40 ED40 ED ; Ends program.; Ends program.; Ends program.; Ends program.

The program restarts with START switch from line 30.The program restarts with START switch from line 30.The program restarts with START switch from line 30.The program restarts with START switch from line 30.

Ｈ Ｅ 　 <Position number>Ｈ Ｅ 　 <Position number>Ｈ Ｅ 　 <Position number>Ｈ Ｅ 　 <Position number>

HLTHLTHLTHLT

2222----34 34 34 34 HO (Home)HO (Home)HO (Home)HO (Home)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

HO (Home)HO (Home)HO (Home)HO (Home)

【 Function 】【 Function 】【 Function 】【 Function 】Defines the current location and the attitude as origin point.Defines the current location and the attitude as origin point.Defines the current location and the attitude as origin point.Defines the current location and the attitude as origin point.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Origin setting approach><Origin setting approach><Origin setting approach><Origin setting approach> Specify the method to set origin in integer value.Specify the method to set origin in integer value.Specify the method to set origin in integer value.Specify the method to set origin in integer value.

0: Mechanical stopper origin0: Mechanical stopper origin0: Mechanical stopper origin0: Mechanical stopper origin1: Jig origin1: Jig origin1: Jig origin1: Jig origin2: User-defined origin2: User-defined origin2: User-defined origin2: User-defined origin

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Establishes the reference position for origin setting.(1) Establishes the reference position for origin setting.(1) Establishes the reference position for origin setting.(1) Establishes the reference position for origin setting.(2) If you have replaced the robot or changed the combination of robot and controller, you must carry out origin (2) If you have replaced the robot or changed the combination of robot and controller, you must carry out origin (2) If you have replaced the robot or changed the combination of robot and controller, you must carry out origin (2) If you have replaced the robot or changed the combination of robot and controller, you must carry out origin

setting again using this command.setting again using this command.setting again using this command.setting again using this command.Teaching pendant can be used for origin setting. Refer to separate manual "Detailed explanations of function and Teaching pendant can be used for origin setting. Refer to separate manual "Detailed explanations of function and Teaching pendant can be used for origin setting. Refer to separate manual "Detailed explanations of function and Teaching pendant can be used for origin setting. Refer to separate manual "Detailed explanations of function and operations" for operation method.operations" for operation method.operations" for operation method.operations" for operation method.

(3)Change the HOE (3)Change the HOE (3)Change the HOE (3)Change the HOE parameterparameterparameterparameter in the authorized state. Afterwards, this instruction is executed directly. in the authorized state. Afterwards, this instruction is executed directly. in the authorized state. Afterwards, this instruction is executed directly. in the authorized state. Afterwards, this instruction is executed directly.Complete the orogin setting, set HOE parameter in the prohibition state. The program cannot be execute like the Complete the orogin setting, set HOE parameter in the prohibition state. The program cannot be execute like the Complete the orogin setting, set HOE parameter in the prohibition state. The program cannot be execute like the Complete the orogin setting, set HOE parameter in the prohibition state. The program cannot be execute like the authorized state.authorized state.authorized state.authorized state.

【 Relating Parameters 】【 Relating Parameters 】【 Relating Parameters 】【 Relating Parameters 】Permits the origin setting from the command (HO).Permits the origin setting from the command (HO).Permits the origin setting from the command (HO).Permits the origin setting from the command (HO).Parameter name HOEParameter name HOEParameter name HOEParameter name HOE : Origin setting permission parameter : Origin setting permission parameter : Origin setting permission parameter : Origin setting permission parameter

0: Does not permit the use of HO command. (Default)0: Does not permit the use of HO command. (Default)0: Does not permit the use of HO command. (Default)0: Does not permit the use of HO command. (Default)1: Permits the use of HO command.1: Permits the use of HO command.1: Permits the use of HO command.1: Permits the use of HO command.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN” COM1:E83” AS #110 OPEN” COM1:E83” AS #110 OPEN” COM1:E83” AS #110 OPEN” COM1:E83” AS #1 ;Opens the RS-232C communication file from the personal computer in BASIC.;Opens the RS-232C communication file from the personal computer in BASIC.;Opens the RS-232C communication file from the personal computer in BASIC.;Opens the RS-232C communication file from the personal computer in BASIC.20 PRINT #1,” HO”20 PRINT #1,” HO”20 PRINT #1,” HO”20 PRINT #1,” HO” ;Executes the "HO" command from the personal computer.;Executes the "HO" command from the personal computer.;Executes the "HO" command from the personal computer.;Executes the "HO" command from the personal computer.30 ED30 ED30 ED30 ED ;Ends;Ends;Ends;Ends

RUNRUNRUNRUN ;Run the BASIC program.;Run the BASIC program.;Run the BASIC program.;Run the BASIC program.

IC (Increment Counter)IC (Increment Counter)IC (Increment Counter)IC (Increment Counter)

【 Function 】【 Function 】【 Function 】【 Function 】Adds 1 to the value of the specified counter.Adds 1 to the value of the specified counter.Adds 1 to the value of the specified counter.Adds 1 to the value of the specified counter.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Counter number><Counter number><Counter number><Counter number> Specify Specify Specify Specify counter No.counter No.counter No.counter No. in numeric value in numeric value in numeric value in numeric value or counter No. with @or counter No. with @or counter No. with @or counter No. with @....

1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ 99 ≦ 99 ≦ 99 ≦ 99@@@@1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ ≦ ≦ ≦ @@@@99999999

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Error occurs if the counter value exceeds 32767.(1) Error occurs if the counter value exceeds 32767.(1) Error occurs if the counter value exceeds 32767.(1) Error occurs if the counter value exceeds 32767.(2) Used to count the number of workpieces and job sequence and to set the number of grid point in the pallet.(2) Used to count the number of workpieces and job sequence and to set the number of grid point in the pallet.(2) Used to count the number of workpieces and job sequence and to set the number of grid point in the pallet.(2) Used to count the number of workpieces and job sequence and to set the number of grid point in the pallet.(3) The contents of the counter can be changed, compared, or read by the relevant command. (3) The contents of the counter can be changed, compared, or read by the relevant command. (3) The contents of the counter can be changed, compared, or read by the relevant command. (3) The contents of the counter can be changed, compared, or read by the relevant command.

(See SC, DC, CP, CR, CL, AN, OR, XO commands.)(See SC, DC, CP, CR, CL, AN, OR, XO commands.)(See SC, DC, CP, CR, CL, AN, OR, XO commands.)(See SC, DC, CP, CR, CL, AN, OR, XO commands.)

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 SC 21,1510 SC 21,1510 SC 21,1510 SC 21,15 ;Sets value 15 to counter 21.;Sets value 15 to counter 21.;Sets value 15 to counter 21.;Sets value 15 to counter 21.20 IC 2120 IC 2120 IC 2120 IC 21 ;Add 1 to the contents of counter 21.;Add 1 to the contents of counter 21.;Add 1 to the contents of counter 21.;Add 1 to the contents of counter 21.

HO　 [<origin setting approach>]HO　 [<origin setting approach>]HO　 [<origin setting approach>]HO　 [<origin setting approach>]

Ｉ Ｃ 　 <Counter number>Ｉ Ｃ 　 <Counter number>Ｉ Ｃ 　 <Counter number>Ｉ Ｃ 　 <Counter number>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

ID (Input Direct)ID (Input Direct)ID (Input Direct)ID (Input Direct) 2222-35-35-35-35

ID (Input Direct)ID (Input Direct)ID (Input Direct)ID (Input Direct)

【 Function 】【 Function 】【 Function 】【 Function 】Fetches data unconditionally from the external input and hand check input.Fetches data unconditionally from the external input and hand check input.Fetches data unconditionally from the external input and hand check input.Fetches data unconditionally from the external input and hand check input.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Input bit number><Input bit number><Input bit number><Input bit number> Specify the bit number of input port in integer value.Specify the bit number of input port in integer value.Specify the bit number of input port in integer value.Specify the bit number of input port in integer value.

Fetches data of 16 bits width including the specified bit.Fetches data of 16 bits width including the specified bit.Fetches data of 16 bits width including the specified bit.Fetches data of 16 bits width including the specified bit.0 ≦ input bit number ≦ 32767 (0 for default)0 ≦ input bit number ≦ 32767 (0 for default)0 ≦ input bit number ≦ 32767 (0 for default)0 ≦ input bit number ≦ 32767 (0 for default)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Fetches signals from the external equipment, e.g., programmable controller, unconditionally. The data from the (1) Fetches signals from the external equipment, e.g., programmable controller, unconditionally. The data from the (1) Fetches signals from the external equipment, e.g., programmable controller, unconditionally. The data from the (1) Fetches signals from the external equipment, e.g., programmable controller, unconditionally. The data from the

hand check input can be fetched by specifying the 900th number to the input bit number.hand check input can be fetched by specifying the 900th number to the input bit number.hand check input can be fetched by specifying the 900th number to the input bit number.hand check input can be fetched by specifying the 900th number to the input bit number.(2) The fetched data is loaded into the internal register and is subsequently used for comparison, bit test, etc. (2) The fetched data is loaded into the internal register and is subsequently used for comparison, bit test, etc. (2) The fetched data is loaded into the internal register and is subsequently used for comparison, bit test, etc. (2) The fetched data is loaded into the internal register and is subsequently used for comparison, bit test, etc.

(See EQ, NE, LG, SM, TB commands.)(See EQ, NE, LG, SM, TB commands.)(See EQ, NE, LG, SM, TB commands.)(See EQ, NE, LG, SM, TB commands.)(3)This is a dedicated input/output parameter, and can be input with the bit assigned as a dedicated input. In the (3)This is a dedicated input/output parameter, and can be input with the bit assigned as a dedicated input. In the (3)This is a dedicated input/output parameter, and can be input with the bit assigned as a dedicated input. In the (3)This is a dedicated input/output parameter, and can be input with the bit assigned as a dedicated input. In the

default state, the input signal Nos. 0 to 5 are assigned as dedicated inputs.default state, the input signal Nos. 0 to 5 are assigned as dedicated inputs.default state, the input signal Nos. 0 to 5 are assigned as dedicated inputs.default state, the input signal Nos. 0 to 5 are assigned as dedicated inputs.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)100 ID100 ID100 ID100 ID ; Fetches the input data into the internal resister for comparison.; Fetches the input data into the internal resister for comparison.; Fetches the input data into the internal resister for comparison.; Fetches the input data into the internal resister for comparison.110 EQ 100,130110 EQ 100,130110 EQ 100,130110 EQ 100,130 ; If the input data equals 100, then jumps to line number 130.; If the input data equals 100, then jumps to line number 130.; If the input data equals 100, then jumps to line number 130.; If the input data equals 100, then jumps to line number 130.120 ED120 ED120 ED120 ED ; Else ends program.; Else ends program.; Else ends program.; Else ends program.130 MO 1130 MO 1130 MO 1130 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.140 ID 100140 ID 100140 ID 100140 ID 100 ; Fetches the input data into the internal resister for comparison.(Input signals 100 to ; Fetches the input data into the internal resister for comparison.(Input signals 100 to ; Fetches the input data into the internal resister for comparison.(Input signals 100 to ; Fetches the input data into the internal resister for comparison.(Input signals 100 to

115.)115.)115.)115.)150 TB +0,180150 TB +0,180150 TB +0,180150 TB +0,180 ; If the input bit 100 is ON, then jumps to line 180.; If the input bit 100 is ON, then jumps to line 180.; If the input bit 100 is ON, then jumps to line 180.; If the input bit 100 is ON, then jumps to line 180.160 TB +5,200160 TB +5,200160 TB +5,200160 TB +5,200 ; If the input bit 105 is ON, then jumps to line 200.; If the input bit 105 is ON, then jumps to line 200.; If the input bit 105 is ON, then jumps to line 200.; If the input bit 105 is ON, then jumps to line 200.170 ED170 ED170 ED170 ED ; Else ends program.; Else ends program.; Else ends program.; Else ends program.180 MO 2180 MO 2180 MO 2180 MO 2 ; Moves to position 2.; Moves to position 2.; Moves to position 2.; Moves to position 2.190 ED190 ED190 ED190 ED ; Ends program.; Ends program.; Ends program.; Ends program.200 MO 3200 MO 3200 MO 3200 MO 3 ; Moves to position 3.; Moves to position 3.; Moves to position 3.; Moves to position 3.210 ED210 ED210 ED210 ED ; Ends program.; Ends program.; Ends program.; Ends program.

ID　 [<input bit number>]ID　 [<input bit number>]ID　 [<input bit number>]ID　 [<input bit number>]

2222----36 36 36 36 INP (Input)INP (Input)INP (Input)INP (Input)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

INP (Input)INP (Input)INP (Input)INP (Input)

【 Function 】【 Function 】【 Function 】【 Function 】The specified counter value, the coordinate value of the position number or the data of the specified character string The specified counter value, the coordinate value of the position number or the data of the specified character string The specified counter value, the coordinate value of the position number or the data of the specified character string The specified counter value, the coordinate value of the position number or the data of the specified character string is received according to the PRN command. (Using RS-232-C)is received according to the PRN command. (Using RS-232-C)is received according to the PRN command. (Using RS-232-C)is received according to the PRN command. (Using RS-232-C)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Channel number><Channel number><Channel number><Channel number> Specify the channel number opened by the OPN command.Specify the channel number opened by the OPN command.Specify the channel number opened by the OPN command.Specify the channel number opened by the OPN command.

0 ≦ channel number ≦ 20 ≦ channel number ≦ 20 ≦ channel number ≦ 20 ≦ channel number ≦ 2<Counter number> <Counter number> <Counter number> <Counter number> Specify counter number.Specify counter number.Specify counter number.Specify counter number.

1 ≦ counter number ≦ 991 ≦ counter number ≦ 991 ≦ counter number ≦ 991 ≦ counter number ≦ 99<Position number> <Position number> <Position number> <Position number> Specify position number.Specify position number.Specify position number.Specify position number.

1 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 999<Character string number> <Character string number> <Character string number> <Character string number> Specify character string number in numerical value which $" is added to the head.Specify character string number in numerical value which $" is added to the head.Specify character string number in numerical value which $" is added to the head.Specify character string number in numerical value which $" is added to the head.

$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99<Contents selection><Contents selection><Contents selection><Contents selection> Select either counter or position or character string number corresponding to <Counter Select either counter or position or character string number corresponding to <Counter Select either counter or position or character string number corresponding to <Counter Select either counter or position or character string number corresponding to <Counter

number/ position number/character string number>.number/ position number/character string number>.number/ position number/character string number>.number/ position number/character string number>.　 0: Counter number (Default)　 0: Counter number (Default)　 0: Counter number (Default)　 0: Counter number (Default)　1: Position number　1: Position number　1: Position number　1: Position number　 2: character string number　 2: character string number　 2: character string number　 2: character string number

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) This command receives the specified counter value, the coordinate value of the position number or the data of (1) This command receives the specified counter value, the coordinate value of the position number or the data of (1) This command receives the specified counter value, the coordinate value of the position number or the data of (1) This command receives the specified counter value, the coordinate value of the position number or the data of

the specified character string is received according to the PRN command through the RS-232-C port.the specified character string is received according to the PRN command through the RS-232-C port.the specified character string is received according to the PRN command through the RS-232-C port.the specified character string is received according to the PRN command through the RS-232-C port.(2) The OPN command must be executed first to open the RS-232-C channel.(2) The OPN command must be executed first to open the RS-232-C channel.(2) The OPN command must be executed first to open the RS-232-C channel.(2) The OPN command must be executed first to open the RS-232-C channel.(3) If the counter number is omitted, the data will be read into the internal register. If the character string number is (3) If the counter number is omitted, the data will be read into the internal register. If the character string number is (3) If the counter number is omitted, the data will be read into the internal register. If the character string number is (3) If the counter number is omitted, the data will be read into the internal register. If the character string number is

omitted, the data will be read into the character string register. If the position number is omitted, an error will omitted, the data will be read into the character string register. If the position number is omitted, an error will omitted, the data will be read into the character string register. If the position number is omitted, an error will omitted, the data will be read into the character string register. If the position number is omitted, an error will occur during execution.occur during execution.occur during execution.occur during execution.

(4) The data is sent from an external device such as a personal computer using the PRM command. The robot (4) The data is sent from an external device such as a personal computer using the PRM command. The robot (4) The data is sent from an external device such as a personal computer using the PRM command. The robot (4) The data is sent from an external device such as a personal computer using the PRM command. The robot program will stop while the data is being red.program will stop while the data is being red.program will stop while the data is being red.program will stop while the data is being red.

(5) The PRM command can be executed before the INP command while the program is running. In that case, the sent (5) The PRM command can be executed before the INP command while the program is running. In that case, the sent (5) The PRM command can be executed before the INP command while the program is running. In that case, the sent (5) The PRM command can be executed before the INP command while the program is running. In that case, the sent PRM command data will be registered once, and then will be led into the specified counter, position or character PRM command data will be registered once, and then will be led into the specified counter, position or character PRM command data will be registered once, and then will be led into the specified counter, position or character PRM command data will be registered once, and then will be led into the specified counter, position or character string when the INP command is executed.A max. of 256 characters can be registered in the robot. If the PRM string when the INP command is executed.A max. of 256 characters can be registered in the robot. If the PRM string when the INP command is executed.A max. of 256 characters can be registered in the robot. If the PRM string when the INP command is executed.A max. of 256 characters can be registered in the robot. If the PRM command is executed in succession and the number of registered characters exceeds 256 characters, the robot command is executed in succession and the number of registered characters exceeds 256 characters, the robot command is executed in succession and the number of registered characters exceeds 256 characters, the robot command is executed in succession and the number of registered characters exceeds 256 characters, the robot will be set to the "L" level based on the RS-232-C ER (DRT) and RS (RTS) signal lines (DR (DSR) and CS (CTS) will be set to the "L" level based on the RS-232-C ER (DRT) and RS (RTS) signal lines (DR (DSR) and CS (CTS) will be set to the "L" level based on the RS-232-C ER (DRT) and RS (RTS) signal lines (DR (DSR) and CS (CTS) will be set to the "L" level based on the RS-232-C ER (DRT) and RS (RTS) signal lines (DR (DSR) and CS (CTS) signal lines on the personal computer side). Temporarily stop the data transmission from the personal computer signal lines on the personal computer side). Temporarily stop the data transmission from the personal computer signal lines on the personal computer side). Temporarily stop the data transmission from the personal computer signal lines on the personal computer side). Temporarily stop the data transmission from the personal computer during this time.during this time.during this time.during this time.

(6) If there is an error in the data sent by the PRN command, an error will occur when the INP command is executed.(6) If there is an error in the data sent by the PRN command, an error will occur when the INP command is executed.(6) If there is an error in the data sent by the PRN command, an error will occur when the INP command is executed.(6) If there is an error in the data sent by the PRN command, an error will occur when the INP command is executed.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 OPN 2,110 OPN 2,110 OPN 2,110 OPN 2,1 ; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.20 INP 2,1,020 INP 2,1,020 INP 2,1,020 INP 2,1,0 ; Reads the data of counter 1 from the RS-232C port.; Reads the data of counter 1 from the RS-232C port.; Reads the data of counter 1 from the RS-232C port.; Reads the data of counter 1 from the RS-232C port.30 INP 2,5,130 INP 2,5,130 INP 2,5,130 INP 2,5,1 ; Reads the data of position 5 from the RS-232C port.; Reads the data of position 5 from the RS-232C port.; Reads the data of position 5 from the RS-232C port.; Reads the data of position 5 from the RS-232C port.40 IC 140 IC 140 IC 140 IC 1 ; Adds 1 to the contents of counter 1.; Adds 1 to the contents of counter 1.; Adds 1 to the contents of counter 1.; Adds 1 to the contents of counter 1.50 MO 550 MO 550 MO 550 MO 5 ; Moves to position 5.; Moves to position 5.; Moves to position 5.; Moves to position 5.60 OPN 1,160 OPN 1,160 OPN 1,160 OPN 1,1 ; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.70 INP 1,$10,270 INP 1,$10,270 INP 1,$10,270 INP 1,$10,2 ; Reads the data of character string 10 from the RS-232C port.; Reads the data of character string 10 from the RS-232C port.; Reads the data of character string 10 from the RS-232C port.; Reads the data of character string 10 from the RS-232C port.

INP　 <channel number>, <counter number/position number/character string number> INP　 <channel number>, <counter number/position number/character string number> INP　 <channel number>, <counter number/position number/character string number> INP　 <channel number>, <counter number/position number/character string number> [, [<contents selection>]] [, [<contents selection>]] [, [<contents selection>]] [, [<contents selection>]]

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

IP (Increment Position)IP (Increment Position)IP (Increment Position)IP (Increment Position) 2222-37-37-37-37

IP (Increment Position)IP (Increment Position)IP (Increment Position)IP (Increment Position)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the robot to a predefined position with a position number greater than the current one. (Joint interpolation)Moves the robot to a predefined position with a position number greater than the current one. (Joint interpolation)Moves the robot to a predefined position with a position number greater than the current one. (Joint interpolation)Moves the robot to a predefined position with a position number greater than the current one. (Joint interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Moves the robot to a predefined position with a position number greater than, and closest to, the current one. (1) Moves the robot to a predefined position with a position number greater than, and closest to, the current one. (1) Moves the robot to a predefined position with a position number greater than, and closest to, the current one. (1) Moves the robot to a predefined position with a position number greater than, and closest to, the current one.

(See the DP command.)(See the DP command.)(See the DP command.)(See the DP command.)(2) Error occurs if there is no predefined position which is greater in position number than the current position.(2) Error occurs if there is no predefined position which is greater in position number than the current position.(2) Error occurs if there is no predefined position which is greater in position number than the current position.(2) Error occurs if there is no predefined position which is greater in position number than the current position.(3) Even if an error occurs, the current position number still remains unchanged.(3) Even if an error occurs, the current position number still remains unchanged.(3) Even if an error occurs, the current position number still remains unchanged.(3) Even if an error occurs, the current position number still remains unchanged.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MO 510 MO 510 MO 510 MO 5 ; Moves to position 5.; Moves to position 5.; Moves to position 5.; Moves to position 5.20 MO 420 MO 420 MO 420 MO 4 ; Moves to position 4.; Moves to position 4.; Moves to position 4.; Moves to position 4.30 MO 330 MO 330 MO 330 MO 3 ; Moves to position 3.; Moves to position 3.; Moves to position 3.; Moves to position 3.40 IP40 IP40 IP40 IP ; Moves to position 4.; Moves to position 4.; Moves to position 4.; Moves to position 4.50 IP50 IP50 IP50 IP ; Moves to position 5.; Moves to position 5.; Moves to position 5.; Moves to position 5.

IPIPIPIP

2222----38 38 38 38 LG (If Larger)LG (If Larger)LG (If Larger)LG (If Larger)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

LG (If Larger)LG (If Larger)LG (If Larger)LG (If Larger)

【 Function 】【 Function 】【 Function 】【 Function 】This compares the value of the internal register with a specified value. If larger, the program will jump. The character This compares the value of the internal register with a specified value. If larger, the program will jump. The character This compares the value of the internal register with a specified value. If larger, the program will jump. The character This compares the value of the internal register with a specified value. If larger, the program will jump. The character string register and the numbers of characters in a specified character string are compared. If the character string string register and the numbers of characters in a specified character string are compared. If the character string string register and the numbers of characters in a specified character string are compared. If the character string string register and the numbers of characters in a specified character string are compared. If the character string register is larger, the program will jump.register is larger, the program will jump.register is larger, the program will jump.register is larger, the program will jump.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Compared value> <Compared value> <Compared value> <Compared value> Specify the value compared with the internal register.Specify the value compared with the internal register.Specify the value compared with the internal register.Specify the value compared with the internal register.

-32768 ≦ Compared value (decimal) ≦ 32767-32768 ≦ Compared value (decimal) ≦ 32767-32768 ≦ Compared value (decimal) ≦ 32767-32768 ≦ Compared value (decimal) ≦ 32767& 8000 ≦ Compared value (hexadecimal) ≦ & 7FFF& 8000 ≦ Compared value (hexadecimal) ≦ & 7FFF& 8000 ≦ Compared value (hexadecimal) ≦ & 7FFF& 8000 ≦ Compared value (hexadecimal) ≦ & 7FFF @ @ @ @1111 ≦ counta number ≦ @99 ≦ counta number ≦ @99 ≦ counta number ≦ @99 ≦ counta number ≦ @99

<Character string number> <Character string number> <Character string number> <Character string number> Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99

<Branching line number><Branching line number><Branching line number><Branching line number> Specify the line number to which the program jumps when the value of the internal Specify the line number to which the program jumps when the value of the internal Specify the line number to which the program jumps when the value of the internal Specify the line number to which the program jumps when the value of the internal register is larger than compared value.register is larger than compared value.register is larger than compared value.register is larger than compared value.1 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 32767

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】<When compared value is specified> ＞<When compared value is specified> ＞<When compared value is specified> ＞<When compared value is specified> ＞(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value. (1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value. (1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value. (1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value. (2) If the internal register value is larger than the compared value (i.e., when the condition is met), the program jumps (2) If the internal register value is larger than the compared value (i.e., when the condition is met), the program jumps (2) If the internal register value is larger than the compared value (i.e., when the condition is met), the program jumps (2) If the internal register value is larger than the compared value (i.e., when the condition is met), the program jumps

to the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence. to the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence. to the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence. to the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence. (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input

data or by executing the counter data or by executing the counter data or by executing the counter data or by executing the counter setsetsetset command (See CP) for the counter data. Accordingly when you carry out command (See CP) for the counter data. Accordingly when you carry out command (See CP) for the counter data. Accordingly when you carry out command (See CP) for the counter data. Accordingly when you carry out conditional branching, need to execute either of the above commands beforehand. conditional branching, need to execute either of the above commands beforehand. conditional branching, need to execute either of the above commands beforehand. conditional branching, need to execute either of the above commands beforehand.

(4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by "&". "&". "&". "&".

<When character string number is specified><When character string number is specified><When character string number is specified><When character string number is specified>(1) The conditions will jump depending on the data input from an external source or the number of characters in a (1) The conditions will jump depending on the data input from an external source or the number of characters in a (1) The conditions will jump depending on the data input from an external source or the number of characters in a (1) The conditions will jump depending on the data input from an external source or the number of characters in a

specified character string.specified character string.specified character string.specified character string.(2) If the number of characters in the character string register is larger than the number of characters in a specified (2) If the number of characters in the character string register is larger than the number of characters in a specified (2) If the number of characters in the character string register is larger than the number of characters in a specified (2) If the number of characters in the character string register is larger than the number of characters in a specified

character string (when the conditions are established), the program will jump to the specified line number. If the character string (when the conditions are established), the program will jump to the specified line number. If the character string (when the conditions are established), the program will jump to the specified line number. If the character string (when the conditions are established), the program will jump to the specified line number. If the number is smaller (when conditions are not established), the next line will be executed. If the specified line number number is smaller (when conditions are not established), the next line will be executed. If the specified line number number is smaller (when conditions are not established), the next line will be executed. If the specified line number number is smaller (when conditions are not established), the next line will be executed. If the specified line number is not registered, an error will occur when jumping.is not registered, an error will occur when jumping.is not registered, an error will occur when jumping.is not registered, an error will occur when jumping.

(3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)100 ID100 ID100 ID100 ID ; Fetches the data from the external input port.; Fetches the data from the external input port.; Fetches the data from the external input port.; Fetches the data from the external input port.110 LG 100,130110 LG 100,130110 LG 100,130110 LG 100,130 ; If the input data is larger than 100, jumps to line 130.; If the input data is larger than 100, jumps to line 130.; If the input data is larger than 100, jumps to line 130.; If the input data is larger than 100, jumps to line 130.120 ED120 ED120 ED120 ED ; Else program ends.; Else program ends.; Else program ends.; Else program ends.130 MO 1130 MO 1130 MO 1130 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.140 OPN 1,1140 OPN 1,1140 OPN 1,1140 OPN 1,1 ; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.150 INP 1, ,2150 INP 1, ,2150 INP 1, ,2150 INP 1, ,2 ; Reads the data of character string register from the RS-232C port.; Reads the data of character string register from the RS-232C port.; Reads the data of character string register from the RS-232C port.; Reads the data of character string register from the RS-232C port.160 LG $5,200160 LG $5,200160 LG $5,200160 LG $5,200 ; Jumps to line 200 if the data length large than character string number 5.; Jumps to line 200 if the data length large than character string number 5.; Jumps to line 200 if the data length large than character string number 5.; Jumps to line 200 if the data length large than character string number 5. : : : :200 ED200 ED200 ED200 ED ; Ends program.; Ends program.; Ends program.; Ends program.

Ｌ Ｇ 　 <Compared value/Character string number>, <Branching line number>Ｌ Ｇ 　 <Compared value/Character string number>, <Branching line number>Ｌ Ｇ 　 <Compared value/Character string number>, <Branching line number>Ｌ Ｇ 　 <Compared value/Character string number>, <Branching line number>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

LR* (Line Read)LR* (Line Read)LR* (Line Read)LR* (Line Read) 2222-39-39-39-39

LR* (Line Read)LR* (Line Read)LR* (Line Read)LR* (Line Read)

【 Function 】【 Function 】【 Function 】【 Function 】Reads the program of the specified line number. (Using RS-232C )Reads the program of the specified line number. (Using RS-232C )Reads the program of the specified line number. (Using RS-232C )Reads the program of the specified line number. (Using RS-232C )

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】＜ Line number ＞＜ Line number ＞＜ Line number ＞＜ Line number ＞ Specify the line number to be read.Specify the line number to be read.Specify the line number to be read.Specify the line number to be read.

0 ≦ line number ≦ 32767 (If omitted, reads the current line number stopping)0 ≦ line number ≦ 32767 (If omitted, reads the current line number stopping)0 ≦ line number ≦ 32767 (If omitted, reads the current line number stopping)0 ≦ line number ≦ 32767 (If omitted, reads the current line number stopping)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Outputs the program of the specified line number (or the current stopping line number) from the RS-232C port.(1) Outputs the program of the specified line number (or the current stopping line number) from the RS-232C port.(1) Outputs the program of the specified line number (or the current stopping line number) from the RS-232C port.(1) Outputs the program of the specified line number (or the current stopping line number) from the RS-232C port.(2) The output format is ASCII coded as follows;(2) The output format is ASCII coded as follows;(2) The output format is ASCII coded as follows;(2) The output format is ASCII coded as follows;

・ If you specify the line number,・ If you specify the line number,・ If you specify the line number,・ If you specify the line number,................................................................................................................................................................................................................ Program content is read.Program content is read.Program content is read.Program content is read.・ If you omit the line number (or specify zero)・ If you omit the line number (or specify zero)・ If you omit the line number (or specify zero)・ If you omit the line number (or specify zero) ............................................................................................ Current stopping line number is read.Current stopping line number is read.Current stopping line number is read.Current stopping line number is read.

(3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to this in BASIC. this in BASIC. this in BASIC. this in BASIC.

(4) The hexadecimal 0D is read out when the specified line has not been defined.(4) The hexadecimal 0D is read out when the specified line has not been defined.(4) The hexadecimal 0D is read out when the specified line has not been defined.(4) The hexadecimal 0D is read out when the specified line has not been defined.(5) If an error takes place, you can confirm the line number in which the error occurs by executing the LR command (5) If an error takes place, you can confirm the line number in which the error occurs by executing the LR command (5) If an error takes place, you can confirm the line number in which the error occurs by executing the LR command (5) If an error takes place, you can confirm the line number in which the error occurs by executing the LR command

without line number.without line number.without line number.without line number.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN” COM1:E83” AS#110 OPEN” COM1:E83” AS#110 OPEN” COM1:E83” AS#110 OPEN” COM1:E83” AS#1 ; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.20 INPUT "Start line ";20 INPUT "Start line ";20 INPUT "Start line ";20 INPUT "Start line "; ; Enter the top line number that you want to read.; Enter the top line number that you want to read.; Enter the top line number that you want to read.; Enter the top line number that you want to read.30 INPUT "End line";30 INPUT "End line";30 INPUT "End line";30 INPUT "End line"; ; Enter the last line number that you want to read.; Enter the last line number that you want to read.; Enter the last line number that you want to read.; Enter the last line number that you want to read.40 FOR I=S TO E 40 FOR I=S TO E 40 FOR I=S TO E 40 FOR I=S TO E STEP 10STEP 10STEP 10STEP 10 ; Repeatedly; Repeatedly; Repeatedly; Repeatedly50 PRINT #1,” LR” +STR$(I)50 PRINT #1,” LR” +STR$(I)50 PRINT #1,” LR” +STR$(I)50 PRINT #1,” LR” +STR$(I) ; Transmit "LR" + "line number" to the controller side.; Transmit "LR" + "line number" to the controller side.; Transmit "LR" + "line number" to the controller side.; Transmit "LR" + "line number" to the controller side.60 LINE INPUT #1,A$60 LINE INPUT #1,A$60 LINE INPUT #1,A$60 LINE INPUT #1,A$ ; Saves the received data to A $.; Saves the received data to A $.; Saves the received data to A $.; Saves the received data to A $.70 IF A$=”” THEN 9070 IF A$=”” THEN 9070 IF A$=”” THEN 9070 IF A$=”” THEN 90 ; If there is no data, jumps to line 90.; If there is no data, jumps to line 90.; If there is no data, jumps to line 90.; If there is no data, jumps to line 90.80 PRINT I ； ： PRINT A$80 PRINT I ； ： PRINT A$80 PRINT I ； ： PRINT A$80 PRINT I ； ： PRINT A$ ; Displays the data on the personal computer screen.; Displays the data on the personal computer screen.; Displays the data on the personal computer screen.; Displays the data on the personal computer screen.90 NEXT90 NEXT90 NEXT90 NEXT ; Repeats and jumps to line 40.; Repeats and jumps to line 40.; Repeats and jumps to line 40.; Repeats and jumps to line 40.100 ED100 ED100 ED100 ED

RUNRUNRUNRUN ; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.

Ｌ Ｒ 　 [<line number>]Ｌ Ｒ 　 [<line number>]Ｌ Ｒ 　 [<line number>]Ｌ Ｒ 　 [<line number>]

2222----40 40 40 40 MA (Move Approach)MA (Move Approach)MA (Move Approach)MA (Move Approach)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

MA (Move Approach)MA (Move Approach)MA (Move Approach)MA (Move Approach)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the hand tip to the added position. (Linear interpolation)Moves the hand tip to the added position. (Linear interpolation)Moves the hand tip to the added position. (Linear interpolation)Moves the hand tip to the added position. (Linear interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number (a)><Position number (a)><Position number (a)><Position number (a)> Specify the position number to be added. (The reference position)Specify the position number to be added. (The reference position)Specify the position number to be added. (The reference position)Specify the position number to be added. (The reference position)<Position number (b)><Position number (b)><Position number (b)><Position number (b)> Specify the position number to add. (The increments position)Specify the position number to add. (The increments position)Specify the position number to add. (The increments position)Specify the position number to add. (The increments position)

1 ≦ position number (a) (b) ≦ 9991 ≦ position number (a) (b) ≦ 9991 ≦ position number (a) (b) ≦ 9991 ≦ position number (a) (b) ≦ 999<O/C><O/C><O/C><O/C> Specify open or close state of the hand.Specify open or close state of the hand.Specify open or close state of the hand.Specify open or close state of the hand.

　O: Hand open　O: Hand open　O: Hand open　O: Hand open　C: Hand close　C: Hand close　C: Hand close　C: Hand close

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Moves to the added position, i.e., the coordinates of positions (a) and (b) are added to make the destination, (1) Moves to the added position, i.e., the coordinates of positions (a) and (b) are added to make the destination, (1) Moves to the added position, i.e., the coordinates of positions (a) and (b) are added to make the destination, (1) Moves to the added position, i.e., the coordinates of positions (a) and (b) are added to make the destination,

although positions (a) and (b) remain unchanged after executing the MA command. (See the SF command.)although positions (a) and (b) remain unchanged after executing the MA command. (See the SF command.)although positions (a) and (b) remain unchanged after executing the MA command. (See the SF command.)although positions (a) and (b) remain unchanged after executing the MA command. (See the SF command.)(2) If the open/close state of the hand has been specified, the robot moves after executing the hand control (2) If the open/close state of the hand has been specified, the robot moves after executing the hand control (2) If the open/close state of the hand has been specified, the robot moves after executing the hand control (2) If the open/close state of the hand has been specified, the robot moves after executing the hand control

command. If it has not been specified, the hand state in position (a) remains valid.command. If it has not been specified, the hand state in position (a) remains valid.command. If it has not been specified, the hand state in position (a) remains valid.command. If it has not been specified, the hand state in position (a) remains valid.(3) If the calculating results exceed the robot's operational space, error occurs before the robot moves.(3) If the calculating results exceed the robot's operational space, error occurs before the robot moves.(3) If the calculating results exceed the robot's operational space, error occurs before the robot moves.(3) If the calculating results exceed the robot's operational space, error occurs before the robot moves.(4) Error also takes place if positions (a) and (b) have not been defined.(4) Error also takes place if positions (a) and (b) have not been defined.(4) Error also takes place if positions (a) and (b) have not been defined.(4) Error also takes place if positions (a) and (b) have not been defined.(5) The position of the hand tip is decided by the tool length currently established.(5) The position of the hand tip is decided by the tool length currently established.(5) The position of the hand tip is decided by the tool length currently established.(5) The position of the hand tip is decided by the tool length currently established.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)(1)6-axis type(1)6-axis type(1)6-axis type(1)6-axis type10 HE 110 HE 110 HE 110 HE 1 ; Sets the current coordinates to position 1.; Sets the current coordinates to position 1.; Sets the current coordinates to position 1.; Sets the current coordinates to position 1.20 PD 5,0,0,30,0,0,020 PD 5,0,0,30,0,0,020 PD 5,0,0,30,0,0,020 PD 5,0,0,30,0,0,0 ; Defines the Z coordinate of position 5 as 30 mm.; Defines the Z coordinate of position 5 as 30 mm.; Defines the Z coordinate of position 5 as 30 mm.; Defines the Z coordinate of position 5 as 30 mm.30 MA 1,5,O30 MA 1,5,O30 MA 1,5,O30 MA 1,5,O ; Moves to the position that only Z direction added to coordinate value of position 1 by 30 ; Moves to the position that only Z direction added to coordinate value of position 1 by 30 ; Moves to the position that only Z direction added to coordinate value of position 1 by 30 ; Moves to the position that only Z direction added to coordinate value of position 1 by 30

mm with the hand opened.mm with the hand opened.mm with the hand opened.mm with the hand opened.

(2)5-axis type(2)5-axis type(2)5-axis type(2)5-axis type10 HE 110 HE 110 HE 110 HE 1 ; Sets the current coordinates to position 1.; Sets the current coordinates to position 1.; Sets the current coordinates to position 1.; Sets the current coordinates to position 1.20 PD 5,0,0,30,0,020 PD 5,0,0,30,0,020 PD 5,0,0,30,0,020 PD 5,0,0,30,0,0 ; Defines the Z coordinate of position 5 as 30 mm.; Defines the Z coordinate of position 5 as 30 mm.; Defines the Z coordinate of position 5 as 30 mm.; Defines the Z coordinate of position 5 as 30 mm.30 MA 1,5,O30 MA 1,5,O30 MA 1,5,O30 MA 1,5,O ; Moves to the position that only Z direction added to coordinate value of position 1 by 30 ; Moves to the position that only Z direction added to coordinate value of position 1 by 30 ; Moves to the position that only Z direction added to coordinate value of position 1 by 30 ; Moves to the position that only Z direction added to coordinate value of position 1 by 30

mm with the hand opened.mm with the hand opened.mm with the hand opened.mm with the hand opened.

* Coordinates values of position 1 and position 5 do not change. * Coordinates values of position 1 and position 5 do not change. * Coordinates values of position 1 and position 5 do not change. * Coordinates values of position 1 and position 5 do not change.

ＭＡ 　 <position number(a)>, <position number(b)> [, [<O/C>]]ＭＡ 　 <position number(a)>, <position number(b)> [, [<O/C>]]ＭＡ 　 <position number(a)>, <position number(b)> [, [<O/C>]]ＭＡ 　 <position number(a)>, <position number(b)> [, [<O/C>]]

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

MC (Move Continuous)MC (Move Continuous)MC (Move Continuous)MC (Move Continuous) 2222-41-41-41-41

MC (Move Continuous)MC (Move Continuous)MC (Move Continuous)MC (Move Continuous)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the robot continuously through the predefined intermediate points between two specified position numbers. Moves the robot continuously through the predefined intermediate points between two specified position numbers. Moves the robot continuously through the predefined intermediate points between two specified position numbers. Moves the robot continuously through the predefined intermediate points between two specified position numbers. (Linear interpolation)(Linear interpolation)(Linear interpolation)(Linear interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number (a)> <Position number (a)> <Position number (a)> <Position number (a)> Specify the top position number moving continuous.Specify the top position number moving continuous.Specify the top position number moving continuous.Specify the top position number moving continuous.<Position number (b)><Position number (b)><Position number (b)><Position number (b)> Specify the last position number moving continuous.Specify the last position number moving continuous.Specify the last position number moving continuous.Specify the last position number moving continuous.

1 ≦ position number (a) (b) ≦ 9991 ≦ position number (a) (b) ≦ 9991 ≦ position number (a) (b) ≦ 9991 ≦ position number (a) (b) ≦ 999| Position number (a) - position number (b)| ≦ 99| Position number (a) - position number (b)| ≦ 99| Position number (a) - position number (b)| ≦ 99| Position number (a) - position number (b)| ≦ 99

<O/C><O/C><O/C><O/C> Specify open or close state of the hand.Specify open or close state of the hand.Specify open or close state of the hand.Specify open or close state of the hand.(If omitted, the hand data of each position is valid.)(If omitted, the hand data of each position is valid.)(If omitted, the hand data of each position is valid.)(If omitted, the hand data of each position is valid.)　O: Hand open　O: Hand open　O: Hand open　O: Hand open　C: Hand close　C: Hand close　C: Hand close　C: Hand close

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Moves the robot along the series of positions via (a) to (b) without acceleration and deceleration. (Linear (1) Moves the robot along the series of positions via (a) to (b) without acceleration and deceleration. (Linear (1) Moves the robot along the series of positions via (a) to (b) without acceleration and deceleration. (Linear (1) Moves the robot along the series of positions via (a) to (b) without acceleration and deceleration. (Linear

interpolation)interpolation)interpolation)interpolation)(2) Depending on whether position number of (a) is greater than that of (b), or vice versa, the robot moves through (2) Depending on whether position number of (a) is greater than that of (b), or vice versa, the robot moves through (2) Depending on whether position number of (a) is greater than that of (b), or vice versa, the robot moves through (2) Depending on whether position number of (a) is greater than that of (b), or vice versa, the robot moves through

the intermediate points in descending or ascending order. The robot decelerates to a stop as it reaches the end the intermediate points in descending or ascending order. The robot decelerates to a stop as it reaches the end the intermediate points in descending or ascending order. The robot decelerates to a stop as it reaches the end the intermediate points in descending or ascending order. The robot decelerates to a stop as it reaches the end position.position.position.position.

(3) When the hand open/close setting has been done, hand control is executed before the movement.(3) When the hand open/close setting has been done, hand control is executed before the movement.(3) When the hand open/close setting has been done, hand control is executed before the movement.(3) When the hand open/close setting has been done, hand control is executed before the movement.(4) Since the robot does not accelerate or decelerate during motion, error may occur when the path involves a great (4) Since the robot does not accelerate or decelerate during motion, error may occur when the path involves a great (4) Since the robot does not accelerate or decelerate during motion, error may occur when the path involves a great (4) Since the robot does not accelerate or decelerate during motion, error may occur when the path involves a great

change in direction of any of the joints at high speed.change in direction of any of the joints at high speed.change in direction of any of the joints at high speed.change in direction of any of the joints at high speed.(5) The speed of travel during linear interpolation is determined by the SP or SD command. (Hand tip at constant (5) The speed of travel during linear interpolation is determined by the SP or SD command. (Hand tip at constant (5) The speed of travel during linear interpolation is determined by the SP or SD command. (Hand tip at constant (5) The speed of travel during linear interpolation is determined by the SP or SD command. (Hand tip at constant

speed)speed)speed)speed)(6) Error occurs if specified positions (a) and (b) have not been defined or if the difference between the position (6) Error occurs if specified positions (a) and (b) have not been defined or if the difference between the position (6) Error occurs if specified positions (a) and (b) have not been defined or if the difference between the position (6) Error occurs if specified positions (a) and (b) have not been defined or if the difference between the position

numbers (a) and (b) exceeds 99.numbers (a) and (b) exceeds 99.numbers (a) and (b) exceeds 99.numbers (a) and (b) exceeds 99.(7) Error also takes place during movement if the movement path goes beyond the robot's operational space.(7) Error also takes place during movement if the movement path goes beyond the robot's operational space.(7) Error also takes place during movement if the movement path goes beyond the robot's operational space.(7) Error also takes place during movement if the movement path goes beyond the robot's operational space.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 SP 1010 SP 1010 SP 1010 SP 10 ; Sets speed to 10.; Sets speed to 10.; Sets speed to 10.; Sets speed to 10.20 MO 120 MO 120 MO 120 MO 1 ; Moves to position 1 in joint interpolation.; Moves to position 1 in joint interpolation.; Moves to position 1 in joint interpolation.; Moves to position 1 in joint interpolation.30 MC 5,930 MC 5,930 MC 5,930 MC 5,9 ; Moves continuously from position 5 to 9 in linear interpolation.; Moves continuously from position 5 to 9 in linear interpolation.; Moves continuously from position 5 to 9 in linear interpolation.; Moves continuously from position 5 to 9 in linear interpolation.

ＭＣ <position number(a)>, <position number(b)> [, [<O/C>]]ＭＣ <position number(a)>, <position number(b)> [, [<O/C>]]ＭＣ <position number(a)>, <position number(b)> [, [<O/C>]]ＭＣ <position number(a)>, <position number(b)> [, [<O/C>]]

×

③ Position ③ Position ③ Position ③ Position ６６６６④④④④ Position Position Position Position ７７７７

⑤⑤⑤⑤ Position Position Position Position ８８８８

②②②② Pos ition Pos ition Pos ition Pos ition ５５５５

Current positionCurrent positionCurrent positionCurrent position

①①①① Pos ition Pos ition Pos ition Pos ition １１１１

⑥⑥⑥⑥ Pos ition Pos ition Pos ition Pos ition ９９９９

2222----42 42 42 42 MJ (Move Joint)MJ (Move Joint)MJ (Move Joint)MJ (Move Joint)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

MJ (Move Joint)MJ (Move Joint)MJ (Move Joint)MJ (Move Joint)

【 Function 】【 Function 】【 Function 】【 Function 】Turns each joint the specified angle from the current position. (Joint interpolation)Turns each joint the specified angle from the current position. (Joint interpolation)Turns each joint the specified angle from the current position. (Joint interpolation)Turns each joint the specified angle from the current position. (Joint interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Each joint angle> <Each joint angle> <Each joint angle> <Each joint angle> Specify relative amount of each joint turning from the current position.Specify relative amount of each joint turning from the current position.Specify relative amount of each joint turning from the current position.Specify relative amount of each joint turning from the current position.

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The least increment of the turning angle is 0.01 degree, e.g., specify 15.02 for 15.02 degree.(1) The least increment of the turning angle is 0.01 degree, e.g., specify 15.02 for 15.02 degree.(1) The least increment of the turning angle is 0.01 degree, e.g., specify 15.02 for 15.02 degree.(1) The least increment of the turning angle is 0.01 degree, e.g., specify 15.02 for 15.02 degree.(2) The open/close state of the hand does not change before and after the movement. Error occurs before the joint (2) The open/close state of the hand does not change before and after the movement. Error occurs before the joint (2) The open/close state of the hand does not change before and after the movement. Error occurs before the joint (2) The open/close state of the hand does not change before and after the movement. Error occurs before the joint

motion if any turning angle entry exceeds the robot's operational space.motion if any turning angle entry exceeds the robot's operational space.motion if any turning angle entry exceeds the robot's operational space.motion if any turning angle entry exceeds the robot's operational space.(3) The default turning angle is 0.(3) The default turning angle is 0.(3) The default turning angle is 0.(3) The default turning angle is 0.(4) Refer to the "Joint jog operation" of separate manual "ROBOT ARM SETUP & MAINTENANCE" for the sign of (4) Refer to the "Joint jog operation" of separate manual "ROBOT ARM SETUP & MAINTENANCE" for the sign of (4) Refer to the "Joint jog operation" of separate manual "ROBOT ARM SETUP & MAINTENANCE" for the sign of (4) Refer to the "Joint jog operation" of separate manual "ROBOT ARM SETUP & MAINTENANCE" for the sign of

each joint.each joint.each joint.each joint.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)(1)6-axis type(1)6-axis type(1)6-axis type(1)6-axis type10 MJ 90,0,0,0,0,010 MJ 90,0,0,0,0,010 MJ 90,0,0,0,0,010 MJ 90,0,0,0,0,0 ; Turns the J1-axis + 90 degrees.; Turns the J1-axis + 90 degrees.; Turns the J1-axis + 90 degrees.; Turns the J1-axis + 90 degrees.20 MJ 0,-30,0,0,0,020 MJ 0,-30,0,0,0,020 MJ 0,-30,0,0,0,020 MJ 0,-30,0,0,0,0 ; Turns the J2-axis - 30 degrees.; Turns the J2-axis - 30 degrees.; Turns the J2-axis - 30 degrees.; Turns the J2-axis - 30 degrees.30 MJ 0,0,0,20,0,030 MJ 0,0,0,20,0,030 MJ 0,0,0,20,0,030 MJ 0,0,0,20,0,0 ; Turns the J4-axis + 20 degrees.; Turns the J4-axis + 20 degrees.; Turns the J4-axis + 20 degrees.; Turns the J4-axis + 20 degrees.

(2)5-axis type(2)5-axis type(2)5-axis type(2)5-axis type10 MJ 90,0,0,0,010 MJ 90,0,0,0,010 MJ 90,0,0,0,010 MJ 90,0,0,0,0 ; Turns the J1-axis + 90 degrees.; Turns the J1-axis + 90 degrees.; Turns the J1-axis + 90 degrees.; Turns the J1-axis + 90 degrees.20 MJ 0,-30,0,0,020 MJ 0,-30,0,0,020 MJ 0,-30,0,0,020 MJ 0,-30,0,0,0 ; Turns the J2-axis - 30 degrees.; Turns the J2-axis - 30 degrees.; Turns the J2-axis - 30 degrees.; Turns the J2-axis - 30 degrees.

MJ [ J1 ] , [ [ J2 ] [ , [ J3 ] [ , [ J4 ] [ , [ J5 ] [ , [ J6 ] MJ [ J1 ] , [ [ J2 ] [ , [ J3 ] [ , [ J4 ] [ , [ J5 ] [ , [ J6 ] MJ [ J1 ] , [ [ J2 ] [ , [ J3 ] [ , [ J4 ] [ , [ J5 ] [ , [ J6 ] MJ [ J1 ] , [ [ J2 ] [ , [ J3 ] [ , [ J4 ] [ , [ J5 ] [ , [ J6 ] [ , [ J7] [ , [ J8 ] ] ] ] ] ] ] ] [ , [ J7] [ , [ J8 ] ] ] ] ] ] ] ] [ , [ J7] [ , [ J8 ] ] ] ] ] ] ] ] [ , [ J7] [ , [ J8 ] ] ] ] ] ] ] ]

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

MO (Move)MO (Move)MO (Move)MO (Move) 2222-43-43-43-43

MO (Move)MO (Move)MO (Move)MO (Move)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the hand tip to the specified position. (Joint interpolation)Moves the hand tip to the specified position. (Joint interpolation)Moves the hand tip to the specified position. (Joint interpolation)Moves the hand tip to the specified position. (Joint interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number> <Position number> <Position number> <Position number> Specify the destination position number in integer value.Specify the destination position number in integer value.Specify the destination position number in integer value.Specify the destination position number in integer value.

1 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 999<O/C><O/C><O/C><O/C> Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is

valid)valid)valid)valid)　O: Hand open　O: Hand open　O: Hand open　O: Hand open　C: Hand close　C: Hand close　C: Hand close　C: Hand close

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Moves the tip of hand to the coordinates of the specified position by joint interpolation.The hand tip is decided by (1) Moves the tip of hand to the coordinates of the specified position by joint interpolation.The hand tip is decided by (1) Moves the tip of hand to the coordinates of the specified position by joint interpolation.The hand tip is decided by (1) Moves the tip of hand to the coordinates of the specified position by joint interpolation.The hand tip is decided by

the tool length currently established.the tool length currently established.the tool length currently established.the tool length currently established.(2) If open/close state of the hand(2) If open/close state of the hand(2) If open/close state of the hand(2) If open/close state of the hand1111 has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command.

If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.Please describe "GO 1Please describe "GO 1Please describe "GO 1Please describe "GO 1"(Hand2 open)"(Hand2 open)"(Hand2 open)"(Hand2 open) or "GC 1" or "GC 1" or "GC 1" or "GC 1"(Hand2 close)(Hand2 close)(Hand2 close)(Hand2 close) command before this command when you execute command before this command when you execute command before this command when you execute command before this command when you execute the control of hand2 before moving.the control of hand2 before moving.the control of hand2 before moving.the control of hand2 before moving.

(3) Error takes place if the specified position has not been predefined or the movement exceeds the robot's (3) Error takes place if the specified position has not been predefined or the movement exceeds the robot's (3) Error takes place if the specified position has not been predefined or the movement exceeds the robot's (3) Error takes place if the specified position has not been predefined or the movement exceeds the robot's operational space.operational space.operational space.operational space.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 SP 1010 SP 1010 SP 1010 SP 10 ; Sets speed to 10.; Sets speed to 10.; Sets speed to 10.; Sets speed to 10.20 MO 20,C20 MO 20,C20 MO 20,C20 MO 20,C ; Moves to position 20 with hand closed.; Moves to position 20 with hand closed.; Moves to position 20 with hand closed.; Moves to position 20 with hand closed.30 MO 30,O30 MO 30,O30 MO 30,O30 MO 30,O ; Moves to position 30 with hand opened.; Moves to position 30 with hand opened.; Moves to position 30 with hand opened.; Moves to position 30 with hand opened.

MO　 <position number> [, [<O/C>]]MO　 <position number> [, [<O/C>]]MO　 <position number> [, [<O/C>]]MO　 <position number> [, [<O/C>]]

2222----44 44 44 44 MP (Move Position)MP (Move Position)MP (Move Position)MP (Move Position)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

MP (Move Position)MP (Move Position)MP (Move Position)MP (Move Position)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the tip of hand to a position whose coordinates (position and angle) have been specified. (Joint interpolation)Moves the tip of hand to a position whose coordinates (position and angle) have been specified. (Joint interpolation)Moves the tip of hand to a position whose coordinates (position and angle) have been specified. (Joint interpolation)Moves the tip of hand to a position whose coordinates (position and angle) have been specified. (Joint interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】(1)6-axis type(1)6-axis type(1)6-axis type(1)6-axis type

(2)5-axis type(2)5-axis type(2)5-axis type(2)5-axis type

【 Term 】【 Term 】【 Term 】【 Term 】<X, Y, Z coordinate><X, Y, Z coordinate><X, Y, Z coordinate><X, Y, Z coordinate> Specify the position in XYZ coordinates (mm) of the robot. (Zero fordefault)Specify the position in XYZ coordinates (mm) of the robot. (Zero fordefault)Specify the position in XYZ coordinates (mm) of the robot. (Zero fordefault)Specify the position in XYZ coordinates (mm) of the robot. (Zero fordefault)<A, B,C turning angle> <A, B,C turning angle> <A, B,C turning angle> <A, B,C turning angle> Specify the turning angle of roll and pitch joints in XYZ coordinates (degree) of the robot. Specify the turning angle of roll and pitch joints in XYZ coordinates (degree) of the robot. Specify the turning angle of roll and pitch joints in XYZ coordinates (degree) of the robot. Specify the turning angle of roll and pitch joints in XYZ coordinates (degree) of the robot.

(Zero for default)(Zero for default)(Zero for default)(Zero for default)(6-axis type only.)(6-axis type only.)(6-axis type only.)(6-axis type only.)

<A, B turning angle><A, B turning angle><A, B turning angle><A, B turning angle> Specify the turning angle of roll and pitch joints in XYZ coordinates (degree) of the robot. Specify the turning angle of roll and pitch joints in XYZ coordinates (degree) of the robot. Specify the turning angle of roll and pitch joints in XYZ coordinates (degree) of the robot. Specify the turning angle of roll and pitch joints in XYZ coordinates (degree) of the robot. (Zero for default) (Zero for default) (Zero for default) (Zero for default) (5-axis type only.)(5-axis type only.)(5-axis type only.)(5-axis type only.)

<L1, 2><L1, 2><L1, 2><L1, 2> The coordinate value of the additional axis is designated.The coordinate value of the additional axis is designated.The coordinate value of the additional axis is designated.The coordinate value of the additional axis is designated.<R/L> <R/L> <R/L> <R/L> Specify the structure flag of the robot. (Right or Left)Specify the structure flag of the robot. (Right or Left)Specify the structure flag of the robot. (Right or Left)Specify the structure flag of the robot. (Right or Left)

R: Right (Default)R: Right (Default)R: Right (Default)R: Right (Default)L: LeftL: LeftL: LeftL: Left

<A/B> <A/B> <A/B> <A/B> Specify the structure flag of the robot. (Above or Below))Specify the structure flag of the robot. (Above or Below))Specify the structure flag of the robot. (Above or Below))Specify the structure flag of the robot. (Above or Below))A: Above (Default)A: Above (Default)A: Above (Default)A: Above (Default)B: BelowB: BelowB: BelowB: Below

<N/F><N/F><N/F><N/F> Specify the structure flag of the robot. (Nonflip or Flip)Specify the structure flag of the robot. (Nonflip or Flip)Specify the structure flag of the robot. (Nonflip or Flip)Specify the structure flag of the robot. (Nonflip or Flip)(6-axis type only.)(6-axis type only.)(6-axis type only.)(6-axis type only.)N: Non flip (Default)N: Non flip (Default)N: Non flip (Default)N: Non flip (Default)F: FlipF: FlipF: FlipF: Flip

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The least increment of the coordinate value is 0.01 mm or 0.01 degree.(1) The least increment of the coordinate value is 0.01 mm or 0.01 degree.(1) The least increment of the coordinate value is 0.01 mm or 0.01 degree.(1) The least increment of the coordinate value is 0.01 mm or 0.01 degree.(2) If the structure flag has not been specified, Right and Above flag is selected.(2) If the structure flag has not been specified, Right and Above flag is selected.(2) If the structure flag has not been specified, Right and Above flag is selected.(2) If the structure flag has not been specified, Right and Above flag is selected.(3) If the specified value exceeds the robot's operational space, error occurs at the execution of the MO command.(3) If the specified value exceeds the robot's operational space, error occurs at the execution of the MO command.(3) If the specified value exceeds the robot's operational space, error occurs at the execution of the MO command.(3) If the specified value exceeds the robot's operational space, error occurs at the execution of the MO command.(4) The open or close state of the hand remains the same before and after the movement.(4) The open or close state of the hand remains the same before and after the movement.(4) The open or close state of the hand remains the same before and after the movement.(4) The open or close state of the hand remains the same before and after the movement.(5) The position of hand tip is decided by the tool length currently established.(5) The position of hand tip is decided by the tool length currently established.(5) The position of hand tip is decided by the tool length currently established.(5) The position of hand tip is decided by the tool length currently established.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)(1)6-axis type(1)6-axis type(1)6-axis type(1)6-axis type10 MP 400,0,300,0,0,010 MP 400,0,300,0,0,010 MP 400,0,300,0,0,010 MP 400,0,300,0,0,0 ; Moves to the specified coordinates.; Moves to the specified coordinates.; Moves to the specified coordinates.; Moves to the specified coordinates.20 MP 200,200,500,0,0,0,R,A,N20 MP 200,200,500,0,0,0,R,A,N20 MP 200,200,500,0,0,0,R,A,N20 MP 200,200,500,0,0,0,R,A,N ; Moves to the specified coordinates. (Structure flags are also specified.) ; Moves to the specified coordinates. (Structure flags are also specified.) ; Moves to the specified coordinates. (Structure flags are also specified.) ; Moves to the specified coordinates. (Structure flags are also specified.)

(2)5-axis type(2)5-axis type(2)5-axis type(2)5-axis type10 MP 400,0,300,0,010 MP 400,0,300,0,010 MP 400,0,300,0,010 MP 400,0,300,0,0 ; Moves to the specified coordinates.; Moves to the specified coordinates.; Moves to the specified coordinates.; Moves to the specified coordinates.20 MP 200,200,500,0,0,R20 MP 200,200,500,0,0,R20 MP 200,200,500,0,0,R20 MP 200,200,500,0,0,R ; Moves to the specified coordinates. (Structure flags are also specified.) ; Moves to the specified coordinates. (Structure flags are also specified.) ; Moves to the specified coordinates. (Structure flags are also specified.) ; Moves to the specified coordinates. (Structure flags are also specified.)

ＭＰ 　 [ X ], [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ C ] [ , [ L1 ] ＭＰ 　 [ X ], [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ C ] [ , [ L1 ] ＭＰ 　 [ X ], [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ C ] [ , [ L1 ] ＭＰ 　 [ X ], [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ C ] [ , [ L1 ] [ , [ L2 ] ] ] ] ] ] ] ] [ , [< R/L >] [ , [< A/B >] [ , [< N/F >] ] ] ] [ , [ L2 ] ] ] ] ] ] ] ] [ , [< R/L >] [ , [< A/B >] [ , [< N/F >] ] ] ] [ , [ L2 ] ] ] ] ] ] ] ] [ , [< R/L >] [ , [< A/B >] [ , [< N/F >] ] ] ] [ , [ L2 ] ] ] ] ] ] ] ] [ , [< R/L >] [ , [< A/B >] [ , [< N/F >] ] ] ]

ＭＰ 　 [ X ], [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ L1 ] ＭＰ 　 [ X ], [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ L1 ] ＭＰ 　 [ X ], [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ L1 ] ＭＰ 　 [ X ], [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ L1 ] [ , [ L2 ] ] ] ] ] ] ] ] [ , [< R/L >] [ , [< A/B >] ] [ , [ L2 ] ] ] ] ] ] ] ] [ , [< R/L >] [ , [< A/B >] ] [ , [ L2 ] ] ] ] ] ] ] ] [ , [< R/L >] [ , [< A/B >] ] [ , [ L2 ] ] ] ] ] ] ] ] [ , [< R/L >] [ , [< A/B >] ]

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

MR (Move R)MR (Move R)MR (Move R)MR (Move R) 2222-45-45-45-45

MR (Move R)MR (Move R)MR (Move R)MR (Move R)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the tip of hand through the predefined intermediate positions in circular interpolation.Moves the tip of hand through the predefined intermediate positions in circular interpolation.Moves the tip of hand through the predefined intermediate positions in circular interpolation.Moves the tip of hand through the predefined intermediate positions in circular interpolation.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number><Position number><Position number><Position number> Specify the positions on the circle.Specify the positions on the circle.Specify the positions on the circle.Specify the positions on the circle.

1 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 999<O/C><O/C><O/C><O/C> Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is

valid.)valid.)valid.)valid.)　O: Hand open　O: Hand open　O: Hand open　O: Hand open　C: Hand close　C: Hand close　C: Hand close　C: Hand close

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Moves the tip of hand through specified positions from (a) via (b) to (c) drawing an arc.(1) Moves the tip of hand through specified positions from (a) via (b) to (c) drawing an arc.(1) Moves the tip of hand through specified positions from (a) via (b) to (c) drawing an arc.(1) Moves the tip of hand through specified positions from (a) via (b) to (c) drawing an arc.(2) The moving speed of circular interpolation is decided by the SP or SD command. (The tip of hand at constant (2) The moving speed of circular interpolation is decided by the SP or SD command. (The tip of hand at constant (2) The moving speed of circular interpolation is decided by the SP or SD command. (The tip of hand at constant (2) The moving speed of circular interpolation is decided by the SP or SD command. (The tip of hand at constant

speed.) Since the locus accuracy depends on the speed of circulari nterpolation, set the moving speed lower if speed.) Since the locus accuracy depends on the speed of circulari nterpolation, set the moving speed lower if speed.) Since the locus accuracy depends on the speed of circulari nterpolation, set the moving speed lower if speed.) Since the locus accuracy depends on the speed of circulari nterpolation, set the moving speed lower if you need high accuracy.you need high accuracy.you need high accuracy.you need high accuracy.

(3) The open or close state of the hand does not change before and after the movement.(3) The open or close state of the hand does not change before and after the movement.(3) The open or close state of the hand does not change before and after the movement.(3) The open or close state of the hand does not change before and after the movement.(4) If the starting position (a) is different from the current position, the robot moves to the starting position by linear (4) If the starting position (a) is different from the current position, the robot moves to the starting position by linear (4) If the starting position (a) is different from the current position, the robot moves to the starting position by linear (4) If the starting position (a) is different from the current position, the robot moves to the starting position by linear

interpolation.interpolation.interpolation.interpolation.(5) If the circular interpolation is interrupted by the stop signal and restarted by the start signal, the robot moves the (5) If the circular interpolation is interrupted by the stop signal and restarted by the start signal, the robot moves the (5) If the circular interpolation is interrupted by the stop signal and restarted by the start signal, the robot moves the (5) If the circular interpolation is interrupted by the stop signal and restarted by the start signal, the robot moves the

remaining arc. If the tip of hand is kept away from the stopping position by JOG operation in the above case, the remaining arc. If the tip of hand is kept away from the stopping position by JOG operation in the above case, the remaining arc. If the tip of hand is kept away from the stopping position by JOG operation in the above case, the remaining arc. If the tip of hand is kept away from the stopping position by JOG operation in the above case, the robot moves to the stopping position by joint interpolation then moves the remaining arc.robot moves to the stopping position by joint interpolation then moves the remaining arc.robot moves to the stopping position by joint interpolation then moves the remaining arc.robot moves to the stopping position by joint interpolation then moves the remaining arc.

(6) Error takes place if the specified position has not been predefined or exceeds the robot's operational space. The (6) Error takes place if the specified position has not been predefined or exceeds the robot's operational space. The (6) Error takes place if the specified position has not been predefined or exceeds the robot's operational space. The (6) Error takes place if the specified position has not been predefined or exceeds the robot's operational space. The robot moves by linear interpolation if three positions (a), (b) and (c) are located on a straight line or if two of three robot moves by linear interpolation if three positions (a), (b) and (c) are located on a straight line or if two of three robot moves by linear interpolation if three positions (a), (b) and (c) are located on a straight line or if two of three robot moves by linear interpolation if three positions (a), (b) and (c) are located on a straight line or if two of three positions are the same.positions are the same.positions are the same.positions are the same.

(7) If the moving direction of each joint changes greatly at the beginning of circular interpolation, error may occur. Set (7) If the moving direction of each joint changes greatly at the beginning of circular interpolation, error may occur. Set (7) If the moving direction of each joint changes greatly at the beginning of circular interpolation, error may occur. Set (7) If the moving direction of each joint changes greatly at the beginning of circular interpolation, error may occur. Set speed lower or set timer at the beginning in this case.speed lower or set timer at the beginning in this case.speed lower or set timer at the beginning in this case.speed lower or set timer at the beginning in this case.

(8) The drawing direction and the locus of the arc depend on the order of the specified positions.(8) The drawing direction and the locus of the arc depend on the order of the specified positions.(8) The drawing direction and the locus of the arc depend on the order of the specified positions.(8) The drawing direction and the locus of the arc depend on the order of the specified positions.<In the case of MR 1, 3, 5><In the case of MR 1, 3, 5><In the case of MR 1, 3, 5><In the case of MR 1, 3, 5>

< In the case of MR 1, 3, 5>< In the case of MR 1, 3, 5>< In the case of MR 1, 3, 5>< In the case of MR 1, 3, 5>

ＭＲ 　 <Position number(a)> ， <Position number(b)>， <Position number(c)>ＭＲ 　 <Position number(a)> ， <Position number(b)>， <Position number(c)>ＭＲ 　 <Position number(a)> ， <Position number(b)>， <Position number(c)>ＭＲ 　 <Position number(a)> ， <Position number(b)>， <Position number(c)>　 　 　 ［， ［< O/C >］］　 　 　 ［， ［< O/C >］］　 　 　 ［， ［< O/C >］］　 　 　 ［， ［< O/C >］］

×

× × ×

×

×

PositionPositionPositionPosition５５５５

PositionPositionPositionPosition３３３３

PositionPositionPositionPosition３３３３

PositionPositionPositionPosition５５５５

Position１Position１Position１Position１

PositionPositionPositionPosition１１１１

（Example　１）（Example　１）（Example　１）（Example　１） （Example　２）（Example　２）（Example　２）（Example　２）

2222----46 46 46 46 MR (Move R)MR (Move R)MR (Move R)MR (Move R)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 SP 810 SP 810 SP 810 SP 8 ; Set speed to 8.; Set speed to 8.; Set speed to 8.; Set speed to 8.20 MO 120 MO 120 MO 120 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.30 MR 10,20,3030 MR 10,20,3030 MR 10,20,3030 MR 10,20,30 ; Moves to position 10 by linear interpolation.; Moves to position 10 by linear interpolation.; Moves to position 10 by linear interpolation.; Moves to position 10 by linear interpolation.

Moves the arc determined by position 10, 20, 30 by circularinterpolation. Moves the arc determined by position 10, 20, 30 by circularinterpolation. Moves the arc determined by position 10, 20, 30 by circularinterpolation. Moves the arc determined by position 10, 20, 30 by circularinterpolation.40 MS 340 MS 340 MS 340 MS 3 ; Moves to position 3 by linear interpolation.; Moves to position 3 by linear interpolation.; Moves to position 3 by linear interpolation.; Moves to position 3 by linear interpolation.50 ED50 ED50 ED50 ED ; Ends program.; Ends program.; Ends program.; Ends program.

×

×

× ×

×

×

Position１Position１Position１Position１

Position10Position10Position10Position10

Position20Position20Position20Position20

Position3Position3Position3Position3

Position30Position30Position30Position30

Current posittionCurrent posittionCurrent posittionCurrent posittion

MO 1MO 1MO 1MO 1

MR 10, 20, 30MR 10, 20, 30MR 10, 20, 30MR 10, 20, 30

MS 3MS 3MS 3MS 3

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

MRA (Move RA)MRA (Move RA)MRA (Move RA)MRA (Move RA) 2222-47-47-47-47

MRA (Move RA)MRA (Move RA)MRA (Move RA)MRA (Move RA)

【 Function 】【 Function 】【 Function 】【 Function 】Moves to the specified position in circular interpolation.Moves to the specified position in circular interpolation.Moves to the specified position in circular interpolation.Moves to the specified position in circular interpolation.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number> <Position number> <Position number> <Position number> Specify the destination position.Specify the destination position.Specify the destination position.Specify the destination position.

1 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 999<O/C><O/C><O/C><O/C> Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is

valid.)valid.)valid.)valid.)O: Hand openO: Hand openO: Hand openO: Hand openC: Hand closeC: Hand closeC: Hand closeC: Hand close

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Moves the tip of hand on the arc which is defined by the former and the latter positions of the MRA commands. (1) Moves the tip of hand on the arc which is defined by the former and the latter positions of the MRA commands. (1) Moves the tip of hand on the arc which is defined by the former and the latter positions of the MRA commands. (1) Moves the tip of hand on the arc which is defined by the former and the latter positions of the MRA commands.

The tip of hand is decided by the tool length currently established.The tip of hand is decided by the tool length currently established.The tip of hand is decided by the tool length currently established.The tip of hand is decided by the tool length currently established.(2) If the open or close state of the hand has been specified, the robot moves after executing the hand control.(2) If the open or close state of the hand has been specified, the robot moves after executing the hand control.(2) If the open or close state of the hand has been specified, the robot moves after executing the hand control.(2) If the open or close state of the hand has been specified, the robot moves after executing the hand control.(3) Error takes place if the specified position has not been predefined.(3) Error takes place if the specified position has not been predefined.(3) Error takes place if the specified position has not been predefined.(3) Error takes place if the specified position has not been predefined.(4) If the MRA command does not continue more than three, it becomes similar to the MC command. The command (4) If the MRA command does not continue more than three, it becomes similar to the MC command. The command (4) If the MRA command does not continue more than three, it becomes similar to the MC command. The command (4) If the MRA command does not continue more than three, it becomes similar to the MC command. The command

except for the movement command except for the movement command except for the movement command except for the movement command (MO, MS, etc)(MO, MS, etc)(MO, MS, etc)(MO, MS, etc), however, can be executed between the MRA command., however, can be executed between the MRA command., however, can be executed between the MRA command., however, can be executed between the MRA command.(5) If the execution of the MRA command is interrupted and the tip of hand is kept away from the stopping position by (5) If the execution of the MRA command is interrupted and the tip of hand is kept away from the stopping position by (5) If the execution of the MRA command is interrupted and the tip of hand is kept away from the stopping position by (5) If the execution of the MRA command is interrupted and the tip of hand is kept away from the stopping position by

JOG operation, the robot moves, when restarted, to the stopping position by linear interpolation then moves the JOG operation, the robot moves, when restarted, to the stopping position by linear interpolation then moves the JOG operation, the robot moves, when restarted, to the stopping position by linear interpolation then moves the JOG operation, the robot moves, when restarted, to the stopping position by linear interpolation then moves the remaining arc.remaining arc.remaining arc.remaining arc.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MRA 1,O10 MRA 1,O10 MRA 1,O10 MRA 1,O ; Defines the arc with positions 1, 2, 3.; Defines the arc with positions 1, 2, 3.; Defines the arc with positions 1, 2, 3.; Defines the arc with positions 1, 2, 3.

Moves to position 1 by linear interpolation. Moves to position 1 by linear interpolation. Moves to position 1 by linear interpolation. Moves to position 1 by linear interpolation. 20 MRA 2,O20 MRA 2,O20 MRA 2,O20 MRA 2,O ; Moves to position 2 by circular interpolation.; Moves to position 2 by circular interpolation.; Moves to position 2 by circular interpolation.; Moves to position 2 by circular interpolation.30 MRA 3,C30 MRA 3,C30 MRA 3,C30 MRA 3,C ; Moves to position 3 by circular interpolation.; Moves to position 3 by circular interpolation.; Moves to position 3 by circular interpolation.; Moves to position 3 by circular interpolation.40 TI 340 TI 340 TI 340 TI 3 ; Timer 0.3 second.; Timer 0.3 second.; Timer 0.3 second.; Timer 0.3 second.50 MRA 450 MRA 450 MRA 450 MRA 4 ; Moves to position 4 by circular interpolation.; Moves to position 4 by circular interpolation.; Moves to position 4 by circular interpolation.; Moves to position 4 by circular interpolation.60 MRA 560 MRA 560 MRA 560 MRA 5 ; Moves to position 5 by circular interpolation.; Moves to position 5 by circular interpolation.; Moves to position 5 by circular interpolation.; Moves to position 5 by circular interpolation.70 ED70 ED70 ED70 ED ; Ends program.; Ends program.; Ends program.; Ends program.

ＭＲ Ａ 　 <position number > [, [<O/C>]]ＭＲ Ａ 　 <position number > [, [<O/C>]]ＭＲ Ａ 　 <position number > [, [<O/C>]]ＭＲ Ａ 　 <position number > [, [<O/C>]]

×

× ×

×

×

×

PositionPositionPositionPosition１１１１ CurrentCurrentCurrentCurrentpositionpositionpositionposition

PositionPositionPositionPosition3333

PositionPositionPositionPosition4444

PositionPositionPositionPosition5555

Position2Position2Position2Position2

MRA 5MRA 5MRA 5MRA 5

MRA 4MRA 4MRA 4MRA 4

MRA 3, CMRA 3, CMRA 3, CMRA 3, C

MRA 2, OMRA 2, OMRA 2, OMRA 2, O

MRA 1,OMRA 1,OMRA 1,OMRA 1,O

2222----48 48 48 48 MS (Move Staight)MS (Move Staight)MS (Move Staight)MS (Move Staight)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

MS (Move Staight)MS (Move Staight)MS (Move Staight)MS (Move Staight)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the tip of hand to the specified position. (Linear interpolation)Moves the tip of hand to the specified position. (Linear interpolation)Moves the tip of hand to the specified position. (Linear interpolation)Moves the tip of hand to the specified position. (Linear interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number><Position number><Position number><Position number> Specify the destination position number in integer value.Specify the destination position number in integer value.Specify the destination position number in integer value.Specify the destination position number in integer value.

1 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 999<O/C><O/C><O/C><O/C> Specify open or close state of hand. (If omitted, the hand state of the position is valid.)Specify open or close state of hand. (If omitted, the hand state of the position is valid.)Specify open or close state of hand. (If omitted, the hand state of the position is valid.)Specify open or close state of hand. (If omitted, the hand state of the position is valid.)

O: Hand openO: Hand openO: Hand openO: Hand openC: Hand closeC: Hand closeC: Hand closeC: Hand close

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Moves the tip of hand to the specified position by linear interpolation.The tip of the hand is decided by the tool (1) Moves the tip of hand to the specified position by linear interpolation.The tip of the hand is decided by the tool (1) Moves the tip of hand to the specified position by linear interpolation.The tip of the hand is decided by the tool (1) Moves the tip of hand to the specified position by linear interpolation.The tip of the hand is decided by the tool

length currently established. (See the TL command.)length currently established. (See the TL command.)length currently established. (See the TL command.)length currently established. (See the TL command.)(2) Error occurs before or during movement if the destination or movement path goes beyond the robot's operational (2) Error occurs before or during movement if the destination or movement path goes beyond the robot's operational (2) Error occurs before or during movement if the destination or movement path goes beyond the robot's operational (2) Error occurs before or during movement if the destination or movement path goes beyond the robot's operational

space.space.space.space.(3) If open/close state of the hand(3) If open/close state of the hand(3) If open/close state of the hand(3) If open/close state of the hand1111 has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command.

If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.Please describe "GO 1Please describe "GO 1Please describe "GO 1Please describe "GO 1"(Hand2 open)"(Hand2 open)"(Hand2 open)"(Hand2 open) or "GC 1" or "GC 1" or "GC 1" or "GC 1"(Hand2 close)(Hand2 close)(Hand2 close)(Hand2 close) command before this command when you execute command before this command when you execute command before this command when you execute command before this command when you execute the control of hand2 before moving.the control of hand2 before moving.the control of hand2 before moving.the control of hand2 before moving.

(4) The moving speed is decided by the SP or SD commands. (The tip of hand at constant speed.)(4) The moving speed is decided by the SP or SD commands. (The tip of hand at constant speed.)(4) The moving speed is decided by the SP or SD commands. (The tip of hand at constant speed.)(4) The moving speed is decided by the SP or SD commands. (The tip of hand at constant speed.)The default is SP 30.The default is SP 30.The default is SP 30.The default is SP 30.

(5) Use the MC command to move continuously through several positions by linear interpolation.(5) Use the MC command to move continuously through several positions by linear interpolation.(5) Use the MC command to move continuously through several positions by linear interpolation.(5) Use the MC command to move continuously through several positions by linear interpolation.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 SP 1510 SP 1510 SP 1510 SP 15 ; Sets speed to 15.; Sets speed to 15.; Sets speed to 15.; Sets speed to 15.20 MO 120 MO 120 MO 120 MO 1 ; Moves to position 1 by joint interpolation.; Moves to position 1 by joint interpolation.; Moves to position 1 by joint interpolation.; Moves to position 1 by joint interpolation.30 MS 530 MS 530 MS 530 MS 5 ; Moves to position 5 by linear interpolation.; Moves to position 5 by linear interpolation.; Moves to position 5 by linear interpolation.; Moves to position 5 by linear interpolation.40 MS 640 MS 640 MS 640 MS 6 ; Moves to position 6 by linear interpolation.; Moves to position 6 by linear interpolation.; Moves to position 6 by linear interpolation.; Moves to position 6 by linear interpolation.50 MS 750 MS 750 MS 750 MS 7 ; Moves to position 7 by linear interpolation.; Moves to position 7 by linear interpolation.; Moves to position 7 by linear interpolation.; Moves to position 7 by linear interpolation.60 MS 860 MS 860 MS 860 MS 8 ; Moves to position 8 by linear interpolation.; Moves to position 8 by linear interpolation.; Moves to position 8 by linear interpolation.; Moves to position 8 by linear interpolation.70 MS 570 MS 570 MS 570 MS 5 ; Moves to position 5 by linear interpolation.; Moves to position 5 by linear interpolation.; Moves to position 5 by linear interpolation.; Moves to position 5 by linear interpolation.

ＭＳ 　 <position number> [, [<O/C>]]ＭＳ 　 <position number> [, [<O/C>]]ＭＳ 　 <position number> [, [<O/C>]]ＭＳ 　 <position number> [, [<O/C>]]

×

Position6Position6Position6Position6PositionPositionPositionPosition7777

PositionPositionPositionPosition8888PositionPositionPositionPosition5555

Current positionCurrent positionCurrent positionCurrent position

PositionPositionPositionPosition1111

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

MT (Move Tool)MT (Move Tool)MT (Move Tool)MT (Move Tool) 2222-49-49-49-49

MT (Move Tool)MT (Move Tool)MT (Move Tool)MT (Move Tool)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction. Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction. Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction. Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction. (Joint interpolation))(Joint interpolation))(Joint interpolation))(Joint interpolation))

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number><Position number><Position number><Position number> Specify the destination position number in integer value.Specify the destination position number in integer value.Specify the destination position number in integer value.Specify the destination position number in integer value.

1 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 999<Travel distance><Travel distance><Travel distance><Travel distance> Specify the distance in tool direction from the specified position to the destination point. Specify the distance in tool direction from the specified position to the destination point. Specify the distance in tool direction from the specified position to the destination point. Specify the distance in tool direction from the specified position to the destination point.

(Zero for default)(Zero for default)(Zero for default)(Zero for default)<O/C><O/C><O/C><O/C> Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is

valid.)valid.)valid.)valid.)O: Hand openO: Hand openO: Hand openO: Hand openC: Hand closeC: Hand closeC: Hand closeC: Hand close

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The least increment of the distance is 0.01 mm.(1) The least increment of the distance is 0.01 mm.(1) The least increment of the distance is 0.01 mm.(1) The least increment of the distance is 0.01 mm.(2) When the distance is positive, the tip of hand advances in the tool direction. When the distance is negative, the tip (2) When the distance is positive, the tip of hand advances in the tool direction. When the distance is negative, the tip (2) When the distance is positive, the tip of hand advances in the tool direction. When the distance is negative, the tip (2) When the distance is positive, the tip of hand advances in the tool direction. When the distance is negative, the tip

of hand retracts in the tool direction.of hand retracts in the tool direction.of hand retracts in the tool direction.of hand retracts in the tool direction.(3) If open/close state of the hand(3) If open/close state of the hand(3) If open/close state of the hand(3) If open/close state of the hand1111 has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command.

If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.Please describe "GO 1Please describe "GO 1Please describe "GO 1Please describe "GO 1"(Hand2 open)"(Hand2 open)"(Hand2 open)"(Hand2 open) or "GC 1" or "GC 1" or "GC 1" or "GC 1"(Hand2 close)(Hand2 close)(Hand2 close)(Hand2 close) command before this command when you execute command before this command when you execute command before this command when you execute command before this command when you execute the control of hand2 before moving.the control of hand2 before moving.the control of hand2 before moving.the control of hand2 before moving.

(4) Error occurs when the MT command is executed if the specified position has not been predefined or if the (4) Error occurs when the MT command is executed if the specified position has not been predefined or if the (4) Error occurs when the MT command is executed if the specified position has not been predefined or if the (4) Error occurs when the MT command is executed if the specified position has not been predefined or if the destination exceeds the robot's operational space.destination exceeds the robot's operational space.destination exceeds the robot's operational space.destination exceeds the robot's operational space.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MT 1,-10010 MT 1,-10010 MT 1,-10010 MT 1,-100 ; Moves to the point away from the position 1 by 100 mm.; Moves to the point away from the position 1 by 100 mm.; Moves to the point away from the position 1 by 100 mm.; Moves to the point away from the position 1 by 100 mm.20 MS 120 MS 120 MS 120 MS 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.30 MT 1,-10030 MT 1,-10030 MT 1,-10030 MT 1,-100 ; Moves to the point away from the position 1 by 100 mm.; Moves to the point away from the position 1 by 100 mm.; Moves to the point away from the position 1 by 100 mm.; Moves to the point away from the position 1 by 100 mm.

ＭＴ 　 <position number>, [<travel distance>] [, [<O/C>]]ＭＴ 　 <position number>, [<travel distance>] [, [<O/C>]]ＭＴ 　 <position number>, [<travel distance>] [, [<O/C>]]ＭＴ 　 <position number>, [<travel distance>] [, [<O/C>]]

× ×

×

Current positionCurrent positionCurrent positionCurrent position

MT 1, -100MT 1, -100MT 1, -100MT 1, -100

MS 1MS 1MS 1MS 1

Position１Position１Position１Position１

MT 1,-100MT 1,-100MT 1,-100MT 1,-100

100mm100mm100mm100mm

2222----50 50 50 50 MTS (Move Straight)MTS (Move Straight)MTS (Move Straight)MTS (Move Straight)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

MTS (Move Straight)MTS (Move Straight)MTS (Move Straight)MTS (Move Straight)

【 Function 】【 Function 】【 Function 】【 Function 】Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction. Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction. Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction. Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction. (Linear interpolation)(Linear interpolation)(Linear interpolation)(Linear interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number><Position number><Position number><Position number> Specify the destination position number in integer value.Specify the destination position number in integer value.Specify the destination position number in integer value.Specify the destination position number in integer value.

1 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 999<Travel distance><Travel distance><Travel distance><Travel distance> Specify the distance in tool direction from the specified position to the destination point. Specify the distance in tool direction from the specified position to the destination point. Specify the distance in tool direction from the specified position to the destination point. Specify the distance in tool direction from the specified position to the destination point.

(Zero for default)(Zero for default)(Zero for default)(Zero for default)<O/C><O/C><O/C><O/C> Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is Specify open or close state of the hand. (If omitted, the hand state of the position is

valid.)valid.)valid.)valid.)　O: Hand open　O: Hand open　O: Hand open　O: Hand open　C: Hand close　C: Hand close　C: Hand close　C: Hand close

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The least increment of the distance is 0.01 mm.(1) The least increment of the distance is 0.01 mm.(1) The least increment of the distance is 0.01 mm.(1) The least increment of the distance is 0.01 mm.(2) When the distance is positive, the tip of hand advances in the tool direction. When the distance is negative, the tip (2) When the distance is positive, the tip of hand advances in the tool direction. When the distance is negative, the tip (2) When the distance is positive, the tip of hand advances in the tool direction. When the distance is negative, the tip (2) When the distance is positive, the tip of hand advances in the tool direction. When the distance is negative, the tip

of hand retracts in the tool direction.of hand retracts in the tool direction.of hand retracts in the tool direction.of hand retracts in the tool direction.(3) If open/close state of the hand(3) If open/close state of the hand(3) If open/close state of the hand(3) If open/close state of the hand1111 has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command. has been specified, the robot moves after executing the hand1 control command.

If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.If it has not been specified, the definition of the specified position is executed.Please describe "GO 1Please describe "GO 1Please describe "GO 1Please describe "GO 1"(Hand2 open)"(Hand2 open)"(Hand2 open)"(Hand2 open) or "GC 1" or "GC 1" or "GC 1" or "GC 1"(Hand2 close)(Hand2 close)(Hand2 close)(Hand2 close) command before this command when you execute command before this command when you execute command before this command when you execute command before this command when you execute the control of hand2 before moving.the control of hand2 before moving.the control of hand2 before moving.the control of hand2 before moving.

(4) Error occurs when the MT command is executed if the specified position has not been predefined or if the (4) Error occurs when the MT command is executed if the specified position has not been predefined or if the (4) Error occurs when the MT command is executed if the specified position has not been predefined or if the (4) Error occurs when the MT command is executed if the specified position has not been predefined or if the destination exceeds the robot's operational space.destination exceeds the robot's operational space.destination exceeds the robot's operational space.destination exceeds the robot's operational space.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MTS 1,-100,O10 MTS 1,-100,O10 MTS 1,-100,O10 MTS 1,-100,O ; Moves to the point away from the position 1 by 100 mm with hand opened. Moves ; Moves to the point away from the position 1 by 100 mm with hand opened. Moves ; Moves to the point away from the position 1 by 100 mm with hand opened. Moves ; Moves to the point away from the position 1 by 100 mm with hand opened. Moves

straight.straight.straight.straight.20 MS 120 MS 120 MS 120 MS 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.30 MTS 1,-100,C30 MTS 1,-100,C30 MTS 1,-100,C30 MTS 1,-100,C ; Moves to the point away from the position 1 by 100 mm with hand closed. Moves ; Moves to the point away from the position 1 by 100 mm with hand closed. Moves ; Moves to the point away from the position 1 by 100 mm with hand closed. Moves ; Moves to the point away from the position 1 by 100 mm with hand closed. Moves

straight.straight.straight.straight.

ＭＴ Ｓ 　 <position number>, [<travel distance>] [, [<O/C>]]ＭＴ Ｓ 　 <position number>, [<travel distance>] [, [<O/C>]]ＭＴ Ｓ 　 <position number>, [<travel distance>] [, [<O/C>]]ＭＴ Ｓ 　 <position number>, [<travel distance>] [, [<O/C>]]

× ×

×

Current positionCurrent positionCurrent positionCurrent positionMTS 1, -100, 0MTS 1, -100, 0MTS 1, -100, 0MTS 1, -100, 0

MS 1MS 1MS 1MS 1

Position１Position１Position１Position１

MT 1,-100, CMT 1,-100, CMT 1,-100, CMT 1,-100, C100mm100mm100mm100mm

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

MULMULMULMUL 2222-51-51-51-51

MULMULMULMUL

【 Function 】【 Function 】【 Function 】【 Function 】Multiples the internal register value and operation value, and stores the result in the internal register.Multiples the internal register value and operation value, and stores the result in the internal register.Multiples the internal register value and operation value, and stores the result in the internal register.Multiples the internal register value and operation value, and stores the result in the internal register.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Operation data><Operation data><Operation data><Operation data> Describes the data to be operated as a numeric value or counter No. with @.Describes the data to be operated as a numeric value or counter No. with @.Describes the data to be operated as a numeric value or counter No. with @.Describes the data to be operated as a numeric value or counter No. with @.

-32768 ≦ numeric value (decimal) ≦ 32767-32768 ≦ numeric value (decimal) ≦ 32767-32768 ≦ numeric value (decimal) ≦ 32767-32768 ≦ numeric value (decimal) ≦ 32767 &8000 ≦ numeric value (hexadecimal) ≦ &7FFF &8000 ≦ numeric value (hexadecimal) ≦ &7FFF &8000 ≦ numeric value (hexadecimal) ≦ &7FFF &8000 ≦ numeric value (hexadecimal) ≦ &7FFF @1 ≦ Counter No. ≦ @99 @1 ≦ Counter No. ≦ @99 @1 ≦ Counter No. ≦ @99 @1 ≦ Counter No. ≦ @99

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Designate the operation data setting as numeric value or counter No.(1) Designate the operation data setting as numeric value or counter No.(1) Designate the operation data setting as numeric value or counter No.(1) Designate the operation data setting as numeric value or counter No.

When designating with a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" When designating with a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" When designating with a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" When designating with a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&" to the head of the operation data.to the head of the operation data.to the head of the operation data.to the head of the operation data.When setting with a counter No. add a "@" to the head of the counter No.When setting with a counter No. add a "@" to the head of the counter No.When setting with a counter No. add a "@" to the head of the counter No.When setting with a counter No. add a "@" to the head of the counter No.The contents of the set counter No. will be used as the operation data.The contents of the set counter No. will be used as the operation data.The contents of the set counter No. will be used as the operation data.The contents of the set counter No. will be used as the operation data.

(2) The operation results are stored in the internal register, so operation, comparison and reading, etc of the (2) The operation results are stored in the internal register, so operation, comparison and reading, etc of the (2) The operation results are stored in the internal register, so operation, comparison and reading, etc of the (2) The operation results are stored in the internal register, so operation, comparison and reading, etc of the operation results can be carried out with the related commands.operation results can be carried out with the related commands.operation results can be carried out with the related commands.operation results can be carried out with the related commands.(Refer to ADD, SUB, DIV, EQ, NE, LG, SM, CL, DR, OR commands)(Refer to ADD, SUB, DIV, EQ, NE, LG, SM, CL, DR, OR commands)(Refer to ADD, SUB, DIV, EQ, NE, LG, SM, CL, DR, OR commands)(Refer to ADD, SUB, DIV, EQ, NE, LG, SM, CL, DR, OR commands)

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 CP 110 CP 110 CP 110 CP 1 ; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register20 MUL @220 MUL @220 MUL @220 MUL @2 ; Multiplies internal register value by counter No.2 value; Multiplies internal register value by counter No.2 value; Multiplies internal register value by counter No.2 value; Multiplies internal register value by counter No.2 value30 CL 330 CL 330 CL 330 CL 3 ; Sets internal register value in counter No.3; Sets internal register value in counter No.3; Sets internal register value in counter No.3; Sets internal register value in counter No.3

(Counter No.3 = counter No.1 = counter No.2) (Counter No.3 = counter No.1 = counter No.2) (Counter No.3 = counter No.1 = counter No.2) (Counter No.3 = counter No.1 = counter No.2)40 CP 140 CP 140 CP 140 CP 1 ; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register50 MUL 550 MUL 550 MUL 550 MUL 5 ; Multiplies internal register value by 5; Multiplies internal register value by 5; Multiplies internal register value by 5; Multiplies internal register value by 560 CL 460 CL 460 CL 460 CL 4 ; Sets internal register value in counter No.4; Sets internal register value in counter No.4; Sets internal register value in counter No.4; Sets internal register value in counter No.4

(Counter No.4 = counter No.1-5) (Counter No.4 = counter No.1-5) (Counter No.4 = counter No.1-5) (Counter No.4 = counter No.1-5)

ＭＵ Ｌ 　 <operation data>ＭＵ Ｌ 　 <operation data>ＭＵ Ｌ 　 <operation data>ＭＵ Ｌ 　 <operation data>

2222----52 52 52 52 N * (Number)N * (Number)N * (Number)N * (Number)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

N * (Number)N * (Number)N * (Number)N * (Number)

【 Function 】【 Function 】【 Function 】【 Function 】Select the specified program.Select the specified program.Select the specified program.Select the specified program.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Program name><Program name><Program name><Program name> Specify the robot program name. (Less than 8 characters)Specify the robot program name. (Less than 8 characters)Specify the robot program name. (Less than 8 characters)Specify the robot program name. (Less than 8 characters)

Possible letter used:Possible letter used:Possible letter used:Possible letter used: Digit (0-9)Digit (0-9)Digit (0-9)Digit (0-9)Character (A - Z)Character (A - Z)Character (A - Z)Character (A - Z)Impossible letter used:Impossible letter used:Impossible letter used:Impossible letter used: ( ) * + , . / : ; = ? [ \ ] ( ) * + , . / : ; = ? [ \ ] ( ) * + , . / : ; = ? [ \ ] ( ) * + , . / : ; = ? [ \ ] ' ' ' ' " ! @ #" ! @ #" ! @ #" ! @ #Special specification Special specification Special specification Special specification :When you specified only numeric value, is handled for number. :When you specified only numeric value, is handled for number. :When you specified only numeric value, is handled for number. :When you specified only numeric value, is handled for number.

Need to enclose program name with " " in the case of character Need to enclose program name with " " in the case of character Need to enclose program name with " " in the case of character Need to enclose program name with " " in the case of character used. used. used. used.

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Select the specified program. The program selected here becomes an object of the implementation, modification (1) Select the specified program. The program selected here becomes an object of the implementation, modification (1) Select the specified program. The program selected here becomes an object of the implementation, modification (1) Select the specified program. The program selected here becomes an object of the implementation, modification

and operation. The program selected once remains till other program number is selected afresh. (Even if the and operation. The program selected once remains till other program number is selected afresh. (Even if the and operation. The program selected once remains till other program number is selected afresh. (Even if the and operation. The program selected once remains till other program number is selected afresh. (Even if the power turns OFF, the program number remains unchanged.)power turns OFF, the program number remains unchanged.)power turns OFF, the program number remains unchanged.)power turns OFF, the program number remains unchanged.)

(2) You can confirm the current program number using the QN command from the personal computer. (See the QN (2) You can confirm the current program number using the QN command from the personal computer. (See the QN (2) You can confirm the current program number using the QN command from the personal computer. (See the QN (2) You can confirm the current program number using the QN command from the personal computer. (See the QN command.)command.)command.)command.)

(3) The following name is identified as the same.(3) The following name is identified as the same.(3) The following name is identified as the same.(3) The following name is identified as the same.An example:Handled as the same. 1,01,001,00000001 (Only numeric value)An example:Handled as the same. 1,01,001,00000001 (Only numeric value)An example:Handled as the same. 1,01,001,00000001 (Only numeric value)An example:Handled as the same. 1,01,001,00000001 (Only numeric value)Handled as not the same.1,1 A, A0001 (Includes alphabetic characters)Handled as not the same.1,1 A, A0001 (Includes alphabetic characters)Handled as not the same.1,1 A, A0001 (Includes alphabetic characters)Handled as not the same.1,1 A, A0001 (Includes alphabetic characters)

(4) The letters that controller can indicate to the LED are 0-9, A ～ Z (simplifie(4) The letters that controller can indicate to the LED are 0-9, A ～ Z (simplifie(4) The letters that controller can indicate to the LED are 0-9, A ～ Z (simplifie(4) The letters that controller can indicate to the LED are 0-9, A ～ Z (simplifie

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #1 ; Opens the RS-232C communication file in BASIC.; Opens the RS-232C communication file in BASIC.; Opens the RS-232C communication file in BASIC.; Opens the RS-232C communication file in BASIC.20 PRINT #1,” N10”20 PRINT #1,” N10”20 PRINT #1,” N10”20 PRINT #1,” N10” ; Selects the program 10.; Selects the program 10.; Selects the program 10.; Selects the program 10.30 PRINT #1,” 10 MO 1”30 PRINT #1,” 10 MO 1”30 PRINT #1,” 10 MO 1”30 PRINT #1,” 10 MO 1” ; Implementation of program. (Line 10); Implementation of program. (Line 10); Implementation of program. (Line 10); Implementation of program. (Line 10)40 PRINT #1,” 20 MS 2”40 PRINT #1,” 20 MS 2”40 PRINT #1,” 20 MS 2”40 PRINT #1,” 20 MS 2” ; Implementation of program. (Line 20); Implementation of program. (Line 20); Implementation of program. (Line 20); Implementation of program. (Line 20)50 PRINT #1,” 30 ED”50 PRINT #1,” 30 ED”50 PRINT #1,” 30 ED”50 PRINT #1,” 30 ED” ; Implementation of program. (Line 30); Implementation of program. (Line 30); Implementation of program. (Line 30); Implementation of program. (Line 30)60 ED60 ED60 ED60 ED ; Ends; Ends; Ends; Ends

Ｎ 　 <program name>Ｎ 　 <program name>Ｎ 　 <program name>Ｎ 　 <program name>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

ＮE (If Not Equal)ＮE (If Not Equal)ＮE (If Not Equal)ＮE (If Not Equal) 2222-53-53-53-53

ＮE (If Not Equal)ＮE (If Not Equal)ＮE (If Not Equal)ＮE (If Not Equal)

【 Function 】【 Function 】【 Function 】【 Function 】This compares the value of the internal register with a specified value. If not equal, the program will jump. The This compares the value of the internal register with a specified value. If not equal, the program will jump. The This compares the value of the internal register with a specified value. If not equal, the program will jump. The This compares the value of the internal register with a specified value. If not equal, the program will jump. The character string register and details of a specified character string are compared. If not equal, the program will jump.character string register and details of a specified character string are compared. If not equal, the program will jump.character string register and details of a specified character string are compared. If not equal, the program will jump.character string register and details of a specified character string are compared. If not equal, the program will jump.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Compared value><Compared value><Compared value><Compared value> Specify the value that the internal register compares contents with Specify the value that the internal register compares contents with Specify the value that the internal register compares contents with Specify the value that the internal register compares contents with or counter No. with @or counter No. with @or counter No. with @or counter No. with @. . . .

-32768 ≦ compared value (decimal) ≦ 32767 -32768 ≦ compared value (decimal) ≦ 32767 -32768 ≦ compared value (decimal) ≦ 32767 -32768 ≦ compared value (decimal) ≦ 32767 & 8000 ≦ compared value (hexadecimal) ≦ &7FFF& 8000 ≦ compared value (hexadecimal) ≦ &7FFF& 8000 ≦ compared value (hexadecimal) ≦ &7FFF& 8000 ≦ compared value (hexadecimal) ≦ &7FFF @@@@1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ ≦ ≦ ≦ @@@@99999999

<Character string number><Character string number><Character string number><Character string number> Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99

<Branching line number> <Branching line number> <Branching line number> <Branching line number> Specify the line number to which the program jumps when the comparison result is not Specify the line number to which the program jumps when the comparison result is not Specify the line number to which the program jumps when the comparison result is not Specify the line number to which the program jumps when the comparison result is not equal. equal. equal. equal. 1 ≦ branching line pair ≦ 327671 ≦ branching line pair ≦ 327671 ≦ branching line pair ≦ 327671 ≦ branching line pair ≦ 32767

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】<When compared value is specified><When compared value is specified><When compared value is specified><When compared value is specified>(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(2) If the internal register value does not equal to the compared value (i.e. when the condition is met), the program (2) If the internal register value does not equal to the compared value (i.e. when the condition is met), the program (2) If the internal register value does not equal to the compared value (i.e. when the condition is met), the program (2) If the internal register value does not equal to the compared value (i.e. when the condition is met), the program

jumps to the specified line. Otherwise (i.e. when the condition is not met), the program continues in sequence. jumps to the specified line. Otherwise (i.e. when the condition is not met), the program continues in sequence. jumps to the specified line. Otherwise (i.e. when the condition is not met), the program continues in sequence. jumps to the specified line. Otherwise (i.e. when the condition is not met), the program continues in sequence. (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input

data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out conditional branching, need to execute either of the above commands beforehand.conditional branching, need to execute either of the above commands beforehand.conditional branching, need to execute either of the above commands beforehand.conditional branching, need to execute either of the above commands beforehand.

(4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by "&"."&"."&"."&".

<When character string number is specified><When character string number is specified><When character string number is specified><When character string number is specified>(1) The conditions will jump depending on the data input from an external source or the contents of characters in a (1) The conditions will jump depending on the data input from an external source or the contents of characters in a (1) The conditions will jump depending on the data input from an external source or the contents of characters in a (1) The conditions will jump depending on the data input from an external source or the contents of characters in a

specified character string.specified character string.specified character string.specified character string.(2) If the contents of characters in the character string register is not equal to the details of a specified character (2) If the contents of characters in the character string register is not equal to the details of a specified character (2) If the contents of characters in the character string register is not equal to the details of a specified character (2) If the contents of characters in the character string register is not equal to the details of a specified character

string (when the conditions are established), the program will jump to the specified line number. If not (when string (when the conditions are established), the program will jump to the specified line number. If not (when string (when the conditions are established), the program will jump to the specified line number. If not (when string (when the conditions are established), the program will jump to the specified line number. If not (when conditions are not established), the next line will be executed. conditions are not established), the next line will be executed. conditions are not established), the next line will be executed. conditions are not established), the next line will be executed.

(3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.

(4) If the specified line number is not registered, an error will occur when jumping.(4) If the specified line number is not registered, an error will occur when jumping.(4) If the specified line number is not registered, an error will occur when jumping.(4) If the specified line number is not registered, an error will occur when jumping.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 ID10 ID10 ID10 ID ; Fetches data from external input port.; Fetches data from external input port.; Fetches data from external input port.; Fetches data from external input port.20 NE 80,10020 NE 80,10020 NE 80,10020 NE 80,100 ; Jumps to line 100 if the data does not equal 80.; Jumps to line 100 if the data does not equal 80.; Jumps to line 100 if the data does not equal 80.; Jumps to line 100 if the data does not equal 80.30 ED30 ED30 ED30 ED ; Ends the program if above condition is not met.; Ends the program if above condition is not met.; Ends the program if above condition is not met.; Ends the program if above condition is not met.100 MO 7100 MO 7100 MO 7100 MO 7 ; Moves to position 7.; Moves to position 7.; Moves to position 7.; Moves to position 7.110 OPN 1,1110 OPN 1,1110 OPN 1,1110 OPN 1,1 ; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.120 INP 1, ,2120 INP 1, ,2120 INP 1, ,2120 INP 1, ,2 ; Reads the data of character string register from the RS-232C port.; Reads the data of character string register from the RS-232C port.; Reads the data of character string register from the RS-232C port.; Reads the data of character string register from the RS-232C port.130 NE $2,200130 NE $2,200130 NE $2,200130 NE $2,200 ; Jumps to line 200 if the data not equals character string number 2.; Jumps to line 200 if the data not equals character string number 2.; Jumps to line 200 if the data not equals character string number 2.; Jumps to line 200 if the data not equals character string number 2. : : : :200 ED200 ED200 ED200 ED ; Ends program.; Ends program.; Ends program.; Ends program.

NE　 <compared value/character string number>, <branching line number>NE　 <compared value/character string number>, <branching line number>NE　 <compared value/character string number>, <branching line number>NE　 <compared value/character string number>, <branching line number>

2222----54 54 54 54 NT (Nest)NT (Nest)NT (Nest)NT (Nest)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

NT (Nest)NT (Nest)NT (Nest)NT (Nest)

【 Function 】【 Function 】【 Function 】【 Function 】Carry out origin setting. (The robot moves to the user-defined origin.)Carry out origin setting. (The robot moves to the user-defined origin.)Carry out origin setting. (The robot moves to the user-defined origin.)Carry out origin setting. (The robot moves to the user-defined origin.)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The moving sequence (Parameter UNG) of each joint is fixed by the parameter.(1) The moving sequence (Parameter UNG) of each joint is fixed by the parameter.(1) The moving sequence (Parameter UNG) of each joint is fixed by the parameter.(1) The moving sequence (Parameter UNG) of each joint is fixed by the parameter.(2) If the arm can interfere with the object surrounding the robot, use the teaching box to move it to a safe location (2) If the arm can interfere with the object surrounding the robot, use the teaching box to move it to a safe location (2) If the arm can interfere with the object surrounding the robot, use the teaching box to move it to a safe location (2) If the arm can interfere with the object surrounding the robot, use the teaching box to move it to a safe location

before origin setting.before origin setting.before origin setting.before origin setting.(3) You can change the moving sequence and the attitude of the origin setting by the parameter.(3) You can change the moving sequence and the attitude of the origin setting by the parameter.(3) You can change the moving sequence and the attitude of the origin setting by the parameter.(3) You can change the moving sequence and the attitude of the origin setting by the parameter.(4) The origin setting order parameter UNG is set to 1,1,1,1,1,1,1,1 as the default. All axes simultaneously. (No. 1 axis (4) The origin setting order parameter UNG is set to 1,1,1,1,1,1,1,1 as the default. All axes simultaneously. (No. 1 axis (4) The origin setting order parameter UNG is set to 1,1,1,1,1,1,1,1 as the default. All axes simultaneously. (No. 1 axis (4) The origin setting order parameter UNG is set to 1,1,1,1,1,1,1,1 as the default. All axes simultaneously. (No. 1 axis

to No. 8 axis from left. The numerical value shows the operation order.) The values are the movement order.to No. 8 axis from left. The numerical value shows the operation order.) The values are the movement order.to No. 8 axis from left. The numerical value shows the operation order.) The values are the movement order.to No. 8 axis from left. The numerical value shows the operation order.) The values are the movement order.When using NT, set the movement order before using.When using NT, set the movement order before using.When using NT, set the movement order before using.When using NT, set the movement order before using.The set values of the operation order are from 1 to 6.The set values of the operation order are from 1 to 6.The set values of the operation order are from 1 to 6.The set values of the operation order are from 1 to 6. D D D Does not operate even if other numerical values are set.oes not operate even if other numerical values are set.oes not operate even if other numerical values are set.oes not operate even if other numerical values are set.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 NT10 NT10 NT10 NT ; Executes origin setting.; Executes origin setting.; Executes origin setting.; Executes origin setting.20 MO 120 MO 120 MO 120 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.30 ED30 ED30 ED30 ED ; Ends program.; Ends program.; Ends program.; Ends program.

NW * (New)NW * (New)NW * (New)NW * (New)

【 Function 】【 Function 】【 Function 】【 Function 】Deletes the specified program and position data.Deletes the specified program and position data.Deletes the specified program and position data.Deletes the specified program and position data.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Deletes all positions, counters, and character strings of the selecting program. Common positions (901-999)(1) Deletes all positions, counters, and character strings of the selecting program. Common positions (901-999)(1) Deletes all positions, counters, and character strings of the selecting program. Common positions (901-999)(1) Deletes all positions, counters, and character strings of the selecting program. Common positions (901-999), , , ,

common counters (91-99), common counters (91-99), common counters (91-99), common counters (91-99), and common character strings ($91-$99)and common character strings ($91-$99)and common character strings ($91-$99)and common character strings ($91-$99) however, are not deleted. however, are not deleted. however, are not deleted. however, are not deleted.(2) Origin setting, internal register, tool length, speed setting, pallet setting, and hand setting remain unchanged even (2) Origin setting, internal register, tool length, speed setting, pallet setting, and hand setting remain unchanged even (2) Origin setting, internal register, tool length, speed setting, pallet setting, and hand setting remain unchanged even (2) Origin setting, internal register, tool length, speed setting, pallet setting, and hand setting remain unchanged even

if the NW command is executed.if the NW command is executed.if the NW command is executed.if the NW command is executed.(3) The NW command can not be executed in the program with line number. (Only direct execution is possible.)(3) The NW command can not be executed in the program with line number. (Only direct execution is possible.)(3) The NW command can not be executed in the program with line number. (Only direct execution is possible.)(3) The NW command can not be executed in the program with line number. (Only direct execution is possible.)

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.30 PRINT #1,” NW”30 PRINT #1,” NW”30 PRINT #1,” NW”30 PRINT #1,” NW” ; Transmit command "NW"; Transmit command "NW"; Transmit command "NW"; Transmit command "NW"60 ED60 ED60 ED60 ED ; Ends program.; Ends program.; Ends program.; Ends program.

NX (Next)NX (Next)NX (Next)NX (Next)

【 Function 】【 Function 】【 Function 】【 Function 】Specifies the range of a loop in a program executed by the RC command.Specifies the range of a loop in a program executed by the RC command.Specifies the range of a loop in a program executed by the RC command.Specifies the range of a loop in a program executed by the RC command.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Used in combination with the RC command to specify the range of a loop in a program executed by the RC (1) Used in combination with the RC command to specify the range of a loop in a program executed by the RC (1) Used in combination with the RC command to specify the range of a loop in a program executed by the RC (1) Used in combination with the RC command to specify the range of a loop in a program executed by the RC

command.command.command.command.(2) Error occurs if there is no corresponding "RC" command specified.(2) Error occurs if there is no corresponding "RC" command specified.(2) Error occurs if there is no corresponding "RC" command specified.(2) Error occurs if there is no corresponding "RC" command specified.

【 Sample program 】【 Sample program 】【 Sample program 】【 Sample program 】See the RC command.See the RC command.See the RC command.See the RC command.

NTNTNTNT

NWNWNWNW

NXNXNXNX

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

OB (Output Bit)OB (Output Bit)OB (Output Bit)OB (Output Bit) 2222-55-55-55-55

OB (Output Bit)OB (Output Bit)OB (Output Bit)OB (Output Bit)

【 Function 】【 Function 】【 Function 】【 Function 】The output state of the bit designated as the external output signal is set.The output state of the bit designated as the external output signal is set.The output state of the bit designated as the external output signal is set.The output state of the bit designated as the external output signal is set.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<+/-><+/-><+/-><+/-> Set ON or OFF state of the specified bit.Set ON or OFF state of the specified bit.Set ON or OFF state of the specified bit.Set ON or OFF state of the specified bit.

+ : Bit ON+ : Bit ON+ : Bit ON+ : Bit ON- : Bit OFF- : Bit OFF- : Bit OFF- : Bit OFF

<Bit number><Bit number><Bit number><Bit number> Specify the bit number of external output.Specify the bit number of external output.Specify the bit number of external output.Specify the bit number of external output.0 ≦ bit number ≦ 327670 ≦ bit number ≦ 327670 ≦ bit number ≦ 327670 ≦ bit number ≦ 32767

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Set "+" to switch on the specified bit and "-" to switch off the specified bit.(1) Set "+" to switch on the specified bit and "-" to switch off the specified bit.(1) Set "+" to switch on the specified bit and "-" to switch off the specified bit.(1) Set "+" to switch on the specified bit and "-" to switch off the specified bit.(2) All bits other than the specified one are not affected by this command. The output state of the specified bit is (2) All bits other than the specified one are not affected by this command. The output state of the specified bit is (2) All bits other than the specified one are not affected by this command. The output state of the specified bit is (2) All bits other than the specified one are not affected by this command. The output state of the specified bit is

retained until a new setting is made by the OB or OD command.retained until a new setting is made by the OB or OD command.retained until a new setting is made by the OB or OD command.retained until a new setting is made by the OB or OD command.(3) This is a dedicated input/output parameter, and cannot be output to a bit assigned as a dedicated output. If (3) This is a dedicated input/output parameter, and cannot be output to a bit assigned as a dedicated output. If (3) This is a dedicated input/output parameter, and cannot be output to a bit assigned as a dedicated output. If (3) This is a dedicated input/output parameter, and cannot be output to a bit assigned as a dedicated output. If

output, an error will occur. As the default, the output signal Nos. 0 to 3 are assigned as dedicated outputs. Refer output, an error will occur. As the default, the output signal Nos. 0 to 3 are assigned as dedicated outputs. Refer output, an error will occur. As the default, the output signal Nos. 0 to 3 are assigned as dedicated outputs. Refer output, an error will occur. As the default, the output signal Nos. 0 to 3 are assigned as dedicated outputs. Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details for details on to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details for details on to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details for details on to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details for details on the dedicated input/output parameters.the dedicated input/output parameters.the dedicated input/output parameters.the dedicated input/output parameters.

(4) For the pneumatic hand, the open/close state of hand 1 to 8 can be set using the OB command. Refer to (4) For the pneumatic hand, the open/close state of hand 1 to 8 can be set using the OB command. Refer to (4) For the pneumatic hand, the open/close state of hand 1 to 8 can be set using the OB command. Refer to (4) For the pneumatic hand, the open/close state of hand 1 to 8 can be set using the OB command. Refer to Table 2-Table 2-Table 2-Table 2-6 for parameter HANDTYP D900, D902 and following, and output.6 for parameter HANDTYP D900, D902 and following, and output.6 for parameter HANDTYP D900, D902 and following, and output.6 for parameter HANDTYP D900, D902 and following, and output.This cannot be set for the motorized hand.This cannot be set for the motorized hand.This cannot be set for the motorized hand.This cannot be set for the motorized hand.

Table 2-6 ： Opening/closing pneumatic hand with OB command.Table 2-6 ： Opening/closing pneumatic hand with OB command.Table 2-6 ： Opening/closing pneumatic hand with OB command.Table 2-6 ： Opening/closing pneumatic hand with OB command.

　Notice : GR1-GR4 shows connector number of hand output cable in the robot arm.　Notice : GR1-GR4 shows connector number of hand output cable in the robot arm.　Notice : GR1-GR4 shows connector number of hand output cable in the robot arm.　Notice : GR1-GR4 shows connector number of hand output cable in the robot arm.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 OD &FFFF10 OD &FFFF10 OD &FFFF10 OD &FFFF ; Turns the bits (0-15) of external output into ON entirely.; Turns the bits (0-15) of external output into ON entirely.; Turns the bits (0-15) of external output into ON entirely.; Turns the bits (0-15) of external output into ON entirely.20 OB -1020 OB -1020 OB -1020 OB -10 ; Turns only bit 10 to OFF.; Turns only bit 10 to OFF.; Turns only bit 10 to OFF.; Turns only bit 10 to OFF.30 ED30 ED30 ED30 ED ; Ends program.; Ends program.; Ends program.; Ends program.

OB　 [<+/->] <Bit number>OB　 [<+/->] <Bit number>OB　 [<+/->] <Bit number>OB　 [<+/->] <Bit number>

HandHandHandHand Open/CloseOpen/CloseOpen/CloseOpen/CloseGR1GR1GR1GR1 GR2GR2GR2GR2 GR3GR3GR3GR3 GR4GR4GR4GR4

Output bit 900Output bit 900Output bit 900Output bit 900 Output bit 901Output bit 901Output bit 901Output bit 901 Output bit 902Output bit 902Output bit 902Output bit 902 Output bit 903Output bit 903Output bit 903Output bit 903

Hand 1Hand 1Hand 1Hand 1Open (GO 0)Open (GO 0)Open (GO 0)Open (GO 0) ONONONON OFFOFFOFFOFF －－－－ －－－－

Close (GClose (GClose (GClose (GCCCC 0) 0) 0) 0) OFFOFFOFFOFF ONONONON －－－－ －－－－

Hand 2Hand 2Hand 2Hand 2Open (GO 1)Open (GO 1)Open (GO 1)Open (GO 1) －－－－ －－－－ ONONONON OFFOFFOFFOFF

Close (GClose (GClose (GClose (GCCCC 1) 1) 1) 1) －－－－ －－－－ OFFOFFOFFOFF ONONONON

2222----56 56 56 56 OC (Output Counter)OC (Output Counter)OC (Output Counter)OC (Output Counter)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

OC (Output Counter)OC (Output Counter)OC (Output Counter)OC (Output Counter)

【 Function 】【 Function 】【 Function 】【 Function 】The designated Nos. counter value is unconditionally output to the external output signal.The designated Nos. counter value is unconditionally output to the external output signal.The designated Nos. counter value is unconditionally output to the external output signal.The designated Nos. counter value is unconditionally output to the external output signal.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Counter number><Counter number><Counter number><Counter number> Specify the counter number to be output.Specify the counter number to be output.Specify the counter number to be output.Specify the counter number to be output.

1 ≦ counter number ≦ 991 ≦ counter number ≦ 991 ≦ counter number ≦ 991 ≦ counter number ≦ 99<Output bit number><Output bit number><Output bit number><Output bit number> Specify the reference bit number of output dataSpecify the reference bit number of output dataSpecify the reference bit number of output dataSpecify the reference bit number of output data

0 ≦ bit number ≦ 32767 (0 for default)0 ≦ bit number ≦ 32767 (0 for default)0 ≦ bit number ≦ 32767 (0 for default)0 ≦ bit number ≦ 32767 (0 for default)<Bit width><Bit width><Bit width><Bit width> Specify bit width of output data.Specify bit width of output data.Specify bit width of output data.Specify bit width of output data.

1 ≦ bit width ≦ 16 (16 for default)1 ≦ bit width ≦ 16 (16 for default)1 ≦ bit width ≦ 16 (16 for default)1 ≦ bit width ≦ 16 (16 for default)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The designated counter value is unconditionally output to the external output signal in its original state. The (1) The designated counter value is unconditionally output to the external output signal in its original state. The (1) The designated counter value is unconditionally output to the external output signal in its original state. The (1) The designated counter value is unconditionally output to the external output signal in its original state. The

output data retains after that.output data retains after that.output data retains after that.output data retains after that.(2) Even if the OC command is executed, the value of the specified counter and the internal register remain intact.(2) Even if the OC command is executed, the value of the specified counter and the internal register remain intact.(2) Even if the OC command is executed, the value of the specified counter and the internal register remain intact.(2) Even if the OC command is executed, the value of the specified counter and the internal register remain intact.(3) You can specify the range of output signal by setting the bit width of the OC command.(3) You can specify the range of output signal by setting the bit width of the OC command.(3) You can specify the range of output signal by setting the bit width of the OC command.(3) You can specify the range of output signal by setting the bit width of the OC command.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.20 PRINT #1,” SC 5,&0008”20 PRINT #1,” SC 5,&0008”20 PRINT #1,” SC 5,&0008”20 PRINT #1,” SC 5,&0008” ; Set value 8 to counter 5; Set value 8 to counter 5; Set value 8 to counter 5; Set value 8 to counter 530 PRINT #1,” OC 530 PRINT #1,” OC 530 PRINT #1,” OC 530 PRINT #1,” OC 5,8,8,8,8”””” ; The counter 5 value is unconditionally output to external output signal bit 8; The counter 5 value is unconditionally output to external output signal bit 8; The counter 5 value is unconditionally output to external output signal bit 8; The counter 5 value is unconditionally output to external output signal bit 840 ED40 ED40 ED40 ED ; Ends program.; Ends program.; Ends program.; Ends program.

[Caution] Outputs signal bit 0 to 3 have dedicated signals assigned.[Caution] Outputs signal bit 0 to 3 have dedicated signals assigned.[Caution] Outputs signal bit 0 to 3 have dedicated signals assigned.[Caution] Outputs signal bit 0 to 3 have dedicated signals assigned.

ＯＣ 　 <counter number> [, [<output bit>] [, [<bit width>]]]ＯＣ 　 <counter number> [, [<output bit>] [, [<bit width>]]]ＯＣ 　 <counter number> [, [<output bit>] [, [<bit width>]]]ＯＣ 　 <counter number> [, [<output bit>] [, [<bit width>]]]

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

OD (Output Direct)OD (Output Direct)OD (Output Direct)OD (Output Direct) 2222-57-57-57-57

OD (Output Direct)OD (Output Direct)OD (Output Direct)OD (Output Direct)

【 Function 】【 Function 】【 Function 】【 Function 】Outputs the specified data unconditionally through the output port.Outputs the specified data unconditionally through the output port.Outputs the specified data unconditionally through the output port.Outputs the specified data unconditionally through the output port.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Output data><Output data><Output data><Output data> Specified output data.Specified output data.Specified output data.Specified output data.

-32768 ≦ output data (decimal) ≦ 32767-32768 ≦ output data (decimal) ≦ 32767-32768 ≦ output data (decimal) ≦ 32767-32768 ≦ output data (decimal) ≦ 32767& 8000 ≦ output data (hexadecimal) ≦ & 7FFF& 8000 ≦ output data (hexadecimal) ≦ & 7FFF& 8000 ≦ output data (hexadecimal) ≦ & 7FFF& 8000 ≦ output data (hexadecimal) ≦ & 7FFF

<Output bit number><Output bit number><Output bit number><Output bit number> Specify the reference bit number of output data.Specify the reference bit number of output data.Specify the reference bit number of output data.Specify the reference bit number of output data.0 ≦ bit number ≦ 32767 (0 for default)0 ≦ bit number ≦ 32767 (0 for default)0 ≦ bit number ≦ 32767 (0 for default)0 ≦ bit number ≦ 32767 (0 for default)

<Bit width><Bit width><Bit width><Bit width> Specify the bit width of output data.Specify the bit width of output data.Specify the bit width of output data.Specify the bit width of output data.1 ≦ bit width ≦ 16 (16 for default)1 ≦ bit width ≦ 16 (16 for default)1 ≦ bit width ≦ 16 (16 for default)1 ≦ bit width ≦ 16 (16 for default)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Outputs a signal (parallel data) unconditionally through the output port to external equipment such as a (1) Outputs a signal (parallel data) unconditionally through the output port to external equipment such as a (1) Outputs a signal (parallel data) unconditionally through the output port to external equipment such as a (1) Outputs a signal (parallel data) unconditionally through the output port to external equipment such as a

programmable controller. The output data retains after that.programmable controller. The output data retains after that.programmable controller. The output data retains after that.programmable controller. The output data retains after that.(2) output data is defined either in decimal or hexadecimal. The data defined in hexadecimal must be headed by "&".(2) output data is defined either in decimal or hexadecimal. The data defined in hexadecimal must be headed by "&".(2) output data is defined either in decimal or hexadecimal. The data defined in hexadecimal must be headed by "&".(2) output data is defined either in decimal or hexadecimal. The data defined in hexadecimal must be headed by "&".(3) For information on connections, refer to the separate manual "Standard Specifications".(3) For information on connections, refer to the separate manual "Standard Specifications".(3) For information on connections, refer to the separate manual "Standard Specifications".(3) For information on connections, refer to the separate manual "Standard Specifications".(4) You can specify the range of output signal by setting the bit width of the OD command.(4) You can specify the range of output signal by setting the bit width of the OD command.(4) You can specify the range of output signal by setting the bit width of the OD command.(4) You can specify the range of output signal by setting the bit width of the OD command.(5) This is a dedicated input/output parameter, and cannot be output to a bit assigned as a dedicated output. If (5) This is a dedicated input/output parameter, and cannot be output to a bit assigned as a dedicated output. If (5) This is a dedicated input/output parameter, and cannot be output to a bit assigned as a dedicated output. If (5) This is a dedicated input/output parameter, and cannot be output to a bit assigned as a dedicated output. If

output, an error will occur. As the default, the output signal Nos. 0 to 3 are assigned as dedicated outputs. Refer output, an error will occur. As the default, the output signal Nos. 0 to 3 are assigned as dedicated outputs. Refer output, an error will occur. As the default, the output signal Nos. 0 to 3 are assigned as dedicated outputs. Refer output, an error will occur. As the default, the output signal Nos. 0 to 3 are assigned as dedicated outputs. Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details for details on to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details for details on to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details for details on to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details for details on the dedicated input/output parameters.the dedicated input/output parameters.the dedicated input/output parameters.the dedicated input/output parameters.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 OD &FFFF10 OD &FFFF10 OD &FFFF10 OD &FFFF ; Sets the output port of 16 bits width from bit 0 to ON.; Sets the output port of 16 bits width from bit 0 to ON.; Sets the output port of 16 bits width from bit 0 to ON.; Sets the output port of 16 bits width from bit 0 to ON.30 OD &FFFF,10,1530 OD &FFFF,10,1530 OD &FFFF,10,1530 OD &FFFF,10,15 ; Sets the output port of 15 bits width from bit 10 to ON.; Sets the output port of 15 bits width from bit 10 to ON.; Sets the output port of 15 bits width from bit 10 to ON.; Sets the output port of 15 bits width from bit 10 to ON.40 ED40 ED40 ED40 ED ; Ends program.; Ends program.; Ends program.; Ends program.

OG (Origin)OG (Origin)OG (Origin)OG (Origin)

【 Function 】【 Function 】【 Function 】【 Function 】Moves to the user-defined origin. (Joint interpolation)Moves to the user-defined origin. (Joint interpolation)Moves to the user-defined origin. (Joint interpolation)Moves to the user-defined origin. (Joint interpolation)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Moves to the user-defined origin specified by the parameter USERO(1) Moves to the user-defined origin specified by the parameter USERO(1) Moves to the user-defined origin specified by the parameter USERO(1) Moves to the user-defined origin specified by the parameter USERORRRRG by joint interpolation.G by joint interpolation.G by joint interpolation.G by joint interpolation.(2) The attitude of the robot, after executing the OG command, is the same as the attitude after executing the NT (2) The attitude of the robot, after executing the OG command, is the same as the attitude after executing the NT (2) The attitude of the robot, after executing the OG command, is the same as the attitude after executing the NT (2) The attitude of the robot, after executing the OG command, is the same as the attitude after executing the NT

command. The parameter, which defines the moving sequence of origin setting, does not effect the OG command.command. The parameter, which defines the moving sequence of origin setting, does not effect the OG command.command. The parameter, which defines the moving sequence of origin setting, does not effect the OG command.command. The parameter, which defines the moving sequence of origin setting, does not effect the OG command.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 NT10 NT10 NT10 NT ; Executes the origin setting.; Executes the origin setting.; Executes the origin setting.; Executes the origin setting.20 MO 220 MO 220 MO 220 MO 2 ; Moves to position 2.; Moves to position 2.; Moves to position 2.; Moves to position 2.30 OG30 OG30 OG30 OG ; Moves to origin.; Moves to origin.; Moves to origin.; Moves to origin.40 ED40 ED40 ED40 ED ; Ends program.; Ends program.; Ends program.; Ends program.

OD　 <output data> [, [<output bit number>] [, [<bit width>]]]OD　 <output data> [, [<output bit number>] [, [<bit width>]]]OD　 <output data> [, [<output bit number>] [, [<bit width>]]]OD　 <output data> [, [<output bit number>] [, [<bit width>]]]

OGOGOGOG

2222----58 58 58 58 OPN (Open)OPN (Open)OPN (Open)OPN (Open)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

OPN (Open)OPN (Open)OPN (Open)OPN (Open)

【 Function 】【 Function 】【 Function 】【 Function 】Opens communication channel and specify input/output device.Opens communication channel and specify input/output device.Opens communication channel and specify input/output device.Opens communication channel and specify input/output device.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Channel number><Channel number><Channel number><Channel number> Specify input/output channel number.Specify input/output channel number.Specify input/output channel number.Specify input/output channel number.

0 ≦ channel number ≦ 70 ≦ channel number ≦ 70 ≦ channel number ≦ 70 ≦ channel number ≦ 7<Device number><Device number><Device number><Device number> Specify input/output device number.Specify input/output device number.Specify input/output device number.Specify input/output device number.

　1: Standard RS-232C　1: Standard RS-232C　1: Standard RS-232C　1: Standard RS-232C

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The corresponding relation of the channel number and input/output devices is specified, and the channel is (1) The corresponding relation of the channel number and input/output devices is specified, and the channel is (1) The corresponding relation of the channel number and input/output devices is specified, and the channel is (1) The corresponding relation of the channel number and input/output devices is specified, and the channel is

opened.opened.opened.opened. However, multiple <channel numbers> cannot be set in the same <input/output device number>. However, multiple <channel numbers> cannot be set in the same <input/output device number>. However, multiple <channel numbers> cannot be set in the same <input/output device number>. However, multiple <channel numbers> cannot be set in the same <input/output device number>.

(2) The counter, position and character string data can be read in with the INP command.(2) The counter, position and character string data can be read in with the INP command.(2) The counter, position and character string data can be read in with the INP command.(2) The counter, position and character string data can be read in with the INP command.

【 Sample program 】【 Sample program 】【 Sample program 】【 Sample program 】10 OPN 1,110 OPN 1,110 OPN 1,110 OPN 1,1 ; The standard RS-232-C is opened. ; The standard RS-232-C is opened. ; The standard RS-232-C is opened. ; The standard RS-232-C is opened.

(Channel number 1 is assigned.) (Channel number 1 is assigned.) (Channel number 1 is assigned.) (Channel number 1 is assigned.)20 INP 1,1,120 INP 1,1,120 INP 1,1,120 INP 1,1,1 ; The position data is read from RS-232-C.; The position data is read from RS-232-C.; The position data is read from RS-232-C.; The position data is read from RS-232-C.30 INP 1,1,030 INP 1,1,030 INP 1,1,030 INP 1,1,0 ; The counter data is read from RS-232-C.; The counter data is read from RS-232-C.; The counter data is read from RS-232-C.; The counter data is read from RS-232-C.40 INP 1,$1,240 INP 1,$1,240 INP 1,$1,240 INP 1,$1,2 ; The character string data is read from RS-232-C.; The character string data is read from RS-232-C.; The character string data is read from RS-232-C.; The character string data is read from RS-232-C.

OPN　 <channel number>, <device number>OPN　 <channel number>, <device number>OPN　 <channel number>, <device number>OPN　 <channel number>, <device number>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

OR (Or)OR (Or)OR (Or)OR (Or) 2222-59-59-59-59

OR (Or)OR (Or)OR (Or)OR (Or)

【 Function 】【 Function 】【 Function 】【 Function 】ORs the specified data and the internal register data.ORs the specified data and the internal register data.ORs the specified data and the internal register data.ORs the specified data and the internal register data.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Operation data ><Operation data ><Operation data ><Operation data > Specify the data to be operated Specify the data to be operated Specify the data to be operated Specify the data to be operated or counter No. with @or counter No. with @or counter No. with @or counter No. with @....

-32768 ≦ operation data (decimal) ≦ 32767-32768 ≦ operation data (decimal) ≦ 32767-32768 ≦ operation data (decimal) ≦ 32767-32768 ≦ operation data (decimal) ≦ 32767& 8000 ≦ operation data (hexadecimal) ≦ &7FFF& 8000 ≦ operation data (hexadecimal) ≦ &7FFF& 8000 ≦ operation data (hexadecimal) ≦ &7FFF& 8000 ≦ operation data (hexadecimal) ≦ &7FFF @1 ≦ @1 ≦ @1 ≦ @1 ≦ counter No.counter No.counter No.counter No. ≦ @99 ≦ @99 ≦ @99 ≦ @99

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Specify the data to be operated in decimal or hexadecimal. Any hexadecimal value must be headed by "&".(1) Specify the data to be operated in decimal or hexadecimal. Any hexadecimal value must be headed by "&".(1) Specify the data to be operated in decimal or hexadecimal. Any hexadecimal value must be headed by "&".(1) Specify the data to be operated in decimal or hexadecimal. Any hexadecimal value must be headed by "&".(2) The operation result is stored into the internal register and can be changed, compared or read by relevant (2) The operation result is stored into the internal register and can be changed, compared or read by relevant (2) The operation result is stored into the internal register and can be changed, compared or read by relevant (2) The operation result is stored into the internal register and can be changed, compared or read by relevant

commands.commands.commands.commands.(See the ADD, SUB, MUL, DIV, EQ, NE, LG, SM, CL, DR, AN, XO commands)(See the ADD, SUB, MUL, DIV, EQ, NE, LG, SM, CL, DR, AN, XO commands)(See the ADD, SUB, MUL, DIV, EQ, NE, LG, SM, CL, DR, AN, XO commands)(See the ADD, SUB, MUL, DIV, EQ, NE, LG, SM, CL, DR, AN, XO commands)

(3) Execution of the OR command after the input commands (ID)allows to be set to the required bits of the input data (3) Execution of the OR command after the input commands (ID)allows to be set to the required bits of the input data (3) Execution of the OR command after the input commands (ID)allows to be set to the required bits of the input data (3) Execution of the OR command after the input commands (ID)allows to be set to the required bits of the input data fetched from the external device.fetched from the external device.fetched from the external device.fetched from the external device.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 ID10 ID10 ID10 ID ; Fetches data from external input port.; Fetches data from external input port.; Fetches data from external input port.; Fetches data from external input port.20 OR &FFF020 OR &FFF020 OR &FFF020 OR &FFF0 ; Sets 1 to all bits except lower order 4 bits.; Sets 1 to all bits except lower order 4 bits.; Sets 1 to all bits except lower order 4 bits.; Sets 1 to all bits except lower order 4 bits.30 EQ &FFFF,10030 EQ &FFFF,10030 EQ &FFFF,10030 EQ &FFFF,100 ; If the above data are all bit 1, jumps to line 100.; If the above data are all bit 1, jumps to line 100.; If the above data are all bit 1, jumps to line 100.; If the above data are all bit 1, jumps to line 100.40 ED40 ED40 ED40 ED ; Ends program.; Ends program.; Ends program.; Ends program. : : : :100 MO 10100 MO 10100 MO 10100 MO 10 ; Moves to position 10.; Moves to position 10.; Moves to position 10.; Moves to position 10.

OR　 <operation data>OR　 <operation data>OR　 <operation data>OR　 <operation data>

2222----60 60 60 60 OVR (Override)OVR (Override)OVR (Override)OVR (Override)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

OVR (Override)OVR (Override)OVR (Override)OVR (Override)

【 Function 】【 Function 】【 Function 】【 Function 】Specify program override.Specify program override.Specify program override.Specify program override.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Specified override><Specified override><Specified override><Specified override> Specify override value. ( % )Specify override value. ( % )Specify override value. ( % )Specify override value. ( % )

1 ≦ specified override ≦ 2001 ≦ specified override ≦ 2001 ≦ specified override ≦ 2001 ≦ specified override ≦ 200

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Specifies the ratio of working speed of the robot.(1) Specifies the ratio of working speed of the robot.(1) Specifies the ratio of working speed of the robot.(1) Specifies the ratio of working speed of the robot.(2) The OVR command is effective for every interpolation mode, i.e. joint interpolation, linear interpolation and (2) The OVR command is effective for every interpolation mode, i.e. joint interpolation, linear interpolation and (2) The OVR command is effective for every interpolation mode, i.e. joint interpolation, linear interpolation and (2) The OVR command is effective for every interpolation mode, i.e. joint interpolation, linear interpolation and

circular interpolation.circular interpolation.circular interpolation.circular interpolation.(3) The actual speed in the program eventually becomes the following.(3) The actual speed in the program eventually becomes the following.(3) The actual speed in the program eventually becomes the following.(3) The actual speed in the program eventually becomes the following.

Joint interpolation speed = operation paner (T/B) x OVR command setting valueJoint interpolation speed = operation paner (T/B) x OVR command setting valueJoint interpolation speed = operation paner (T/B) x OVR command setting valueJoint interpolation speed = operation paner (T/B) x OVR command setting value x x x x SP command setting value.SP command setting value.SP command setting value.SP command setting value.Linear interpolation speed = operation paner (T/B)Linear interpolation speed = operation paner (T/B)Linear interpolation speed = operation paner (T/B)Linear interpolation speed = operation paner (T/B) x x x x OVR command setting valueOVR command setting valueOVR command setting valueOVR command setting value x x x x SP or SD command setting SP or SD command setting SP or SD command setting SP or SD command setting value.value.value.value.Here, the playback override can be specified by means of the starting display of teaching box or the external input Here, the playback override can be specified by means of the starting display of teaching box or the external input Here, the playback override can be specified by means of the starting display of teaching box or the external input Here, the playback override can be specified by means of the starting display of teaching box or the external input signal. The override specified by the OVR command is called program override.signal. The override specified by the OVR command is called program override.signal. The override specified by the OVR command is called program override.signal. The override specified by the OVR command is called program override.

(4) The initial value of program override is 100 %.(4) The initial value of program override is 100 %.(4) The initial value of program override is 100 %.(4) The initial value of program override is 100 %.(5) The override value once specified in the program is effective till new value is set or the program ends.(5) The override value once specified in the program is effective till new value is set or the program ends.(5) The override value once specified in the program is effective till new value is set or the program ends.(5) The override value once specified in the program is effective till new value is set or the program ends.(6) Error occurs at the execution of the OVR command if the value 0 is set to the specified override.(6) Error occurs at the execution of the OVR command if the value 0 is set to the specified override.(6) Error occurs at the execution of the OVR command if the value 0 is set to the specified override.(6) Error occurs at the execution of the OVR command if the value 0 is set to the specified override.(7) As the acceleration and deceleration distance required for movement are preset, when the specified speed and (7) As the acceleration and deceleration distance required for movement are preset, when the specified speed and (7) As the acceleration and deceleration distance required for movement are preset, when the specified speed and (7) As the acceleration and deceleration distance required for movement are preset, when the specified speed and

acceleration/deceleration are set, if the movement distance is small, the set speed may not be reached.acceleration/deceleration are set, if the movement distance is small, the set speed may not be reached.acceleration/deceleration are set, if the movement distance is small, the set speed may not be reached.acceleration/deceleration are set, if the movement distance is small, the set speed may not be reached.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 SP 3010 SP 3010 SP 3010 SP 30 ; Sets working speed 30 (100 %).; Sets working speed 30 (100 %).; Sets working speed 30 (100 %).; Sets working speed 30 (100 %).20 OVR 8020 OVR 8020 OVR 8020 OVR 80 ; Sets override 80 %.; Sets override 80 %.; Sets override 80 %.; Sets override 80 %.3 MO 23 MO 23 MO 23 MO 2 ; Moves to position 2.; Moves to position 2.; Moves to position 2.; Moves to position 2.40 ED40 ED40 ED40 ED ; Ends program.; Ends program.; Ends program.; Ends program.

* If the operation panel (T/B) is specified to 50 % in the above example, the actual override is as follows; * If the operation panel (T/B) is specified to 50 % in the above example, the actual override is as follows; * If the operation panel (T/B) is specified to 50 % in the above example, the actual override is as follows; * If the operation panel (T/B) is specified to 50 % in the above example, the actual override is as follows;　 Joint interpolation speed = 50　 Joint interpolation speed = 50　 Joint interpolation speed = 50　 Joint interpolation speed = 50 x x x x 80808080 x x x x 100 (%) = 40 ( % )100 (%) = 40 ( % )100 (%) = 40 ( % )100 (%) = 40 ( % )　 The robot moves to position 2 with the speed of 40 % of maximum value.　 The robot moves to position 2 with the speed of 40 % of maximum value.　 The robot moves to position 2 with the speed of 40 % of maximum value.　 The robot moves to position 2 with the speed of 40 % of maximum value.

OVR　 <specified override>OVR　 <specified override>OVR　 <specified override>OVR　 <specified override>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

PA (Pallet Assign)PA (Pallet Assign)PA (Pallet Assign)PA (Pallet Assign) 2222-61-61-61-61

PA (Pallet Assign)PA (Pallet Assign)PA (Pallet Assign)PA (Pallet Assign)

【 Function 】【 Function 】【 Function 】【 Function 】Defines the number of grid points in the column and row directions for the specified pallet.Defines the number of grid points in the column and row directions for the specified pallet.Defines the number of grid points in the column and row directions for the specified pallet.Defines the number of grid points in the column and row directions for the specified pallet.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Pallet number><Pallet number><Pallet number><Pallet number> Specify number of pallet using.Specify number of pallet using.Specify number of pallet using.Specify number of pallet using.

1 ≦ pallet number ≦ 91 ≦ pallet number ≦ 91 ≦ pallet number ≦ 91 ≦ pallet number ≦ 9<Number of column grid points ><Number of column grid points ><Number of column grid points ><Number of column grid points > Set grid points of column of pallet.Set grid points of column of pallet.Set grid points of column of pallet.Set grid points of column of pallet.

1 ≦ number of column grid points ≦ 327671 ≦ number of column grid points ≦ 327671 ≦ number of column grid points ≦ 327671 ≦ number of column grid points ≦ 32767<Number of row grid points><Number of row grid points><Number of row grid points><Number of row grid points> Set grid points of row of pallet.Set grid points of row of pallet.Set grid points of row of pallet.Set grid points of row of pallet.

1 ≦ number of row grid points ≦ 327671 ≦ number of row grid points ≦ 327671 ≦ number of row grid points ≦ 327671 ≦ number of row grid points ≦ 32767

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The PA command must be executed before the pallet calculation command (see the PT command) is executed.(1) The PA command must be executed before the pallet calculation command (see the PT command) is executed.(1) The PA command must be executed before the pallet calculation command (see the PT command) is executed.(1) The PA command must be executed before the pallet calculation command (see the PT command) is executed.(2) The number of grid points is equivalent to that of the actual workpieces arranged on the pallet. For example, with (2) The number of grid points is equivalent to that of the actual workpieces arranged on the pallet. For example, with (2) The number of grid points is equivalent to that of the actual workpieces arranged on the pallet. For example, with (2) The number of grid points is equivalent to that of the actual workpieces arranged on the pallet. For example, with

a pallet holding 15 workpieces (3a pallet holding 15 workpieces (3a pallet holding 15 workpieces (3a pallet holding 15 workpieces (3xxxx5), the numbers of column and row grid points are 3 and 5, respectively.5), the numbers of column and row grid points are 3 and 5, respectively.5), the numbers of column and row grid points are 3 and 5, respectively.5), the numbers of column and row grid points are 3 and 5, respectively.(3) The column and row directions are decided by the directions of the terminating positions, respectively. (See the (3) The column and row directions are decided by the directions of the terminating positions, respectively. (See the (3) The column and row directions are decided by the directions of the terminating positions, respectively. (See the (3) The column and row directions are decided by the directions of the terminating positions, respectively. (See the

PT command)PT command)PT command)PT command)

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 PA　 5,20,3010 PA　 5,20,3010 PA　 5,20,3010 PA　 5,20,30 ; Defines the pallet 5 as the pallet holding 20; Defines the pallet 5 as the pallet holding 20; Defines the pallet 5 as the pallet holding 20; Defines the pallet 5 as the pallet holding 20 x x x x 30 grid points.30 grid points.30 grid points.30 grid points.20 SC　 51,1520 SC　 51,1520 SC　 51,1520 SC　 51,15 ; Sets value 15 to counter 51. (column points); Sets value 15 to counter 51. (column points); Sets value 15 to counter 51. (column points); Sets value 15 to counter 51. (column points)30 SC　 52,2530 SC　 52,2530 SC　 52,2530 SC　 52,25 ; Sets value 25 to counter 52. (row points); Sets value 25 to counter 52. (row points); Sets value 25 to counter 52. (row points); Sets value 25 to counter 52. (row points)40 PT　 540 PT　 540 PT　 540 PT　 5 ; Sets the calculated coordinates value of grid point to position 5.; Sets the calculated coordinates value of grid point to position 5.; Sets the calculated coordinates value of grid point to position 5.; Sets the calculated coordinates value of grid point to position 5.50 MO　 550 MO　 550 MO　 550 MO　 5 ; Moves to position 5. (The grid position); Moves to position 5. (The grid position); Moves to position 5. (The grid position); Moves to position 5. (The grid position)60 ED60 ED60 ED60 ED ; Ends program.; Ends program.; Ends program.; Ends program.

PC * (Position Clear)PC * (Position Clear)PC * (Position Clear)PC * (Position Clear)

【 Function 】【 Function 】【 Function 】【 Function 】Clears the data of the specified position(s)Clears the data of the specified position(s)Clears the data of the specified position(s)Clears the data of the specified position(s)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number><Position number><Position number><Position number> Specify position number deleting.Specify position number deleting.Specify position number deleting.Specify position number deleting.

1 ≦ position number (a), (b) ≦ 9991 ≦ position number (a), (b) ≦ 9991 ≦ position number (a), (b) ≦ 9991 ≦ position number (a), (b) ≦ 999Position number (a) ≦ position number (b)Position number (a) ≦ position number (b)Position number (a) ≦ position number (b)Position number (a) ≦ position number (b)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Deletes all position data between positions (a) and (b). (Position (b) included)(1) Deletes all position data between positions (a) and (b). (Position (b) included)(1) Deletes all position data between positions (a) and (b). (Position (b) included)(1) Deletes all position data between positions (a) and (b). (Position (b) included)(2) If the position number (a) is greater than the position number (b), error occur.(2) If the position number (a) is greater than the position number (b), error occur.(2) If the position number (a) is greater than the position number (b), error occur.(2) If the position number (a) is greater than the position number (b), error occur.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN ” 1:E83” AS #110 OPEN ” 1:E83” AS #110 OPEN ” 1:E83” AS #110 OPEN ” 1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.20 PRINT #1,” MO 10”20 PRINT #1,” MO 10”20 PRINT #1,” MO 10”20 PRINT #1,” MO 10” ; Moves to position 10.; Moves to position 10.; Moves to position 10.; Moves to position 10.30 PRINT #1,” MO 11”30 PRINT #1,” MO 11”30 PRINT #1,” MO 11”30 PRINT #1,” MO 11” ; Moves to position 11.; Moves to position 11.; Moves to position 11.; Moves to position 11.40 PRINT #1,” MO 12”40 PRINT #1,” MO 12”40 PRINT #1,” MO 12”40 PRINT #1,” MO 12” ; Moves to position 12.; Moves to position 12.; Moves to position 12.; Moves to position 12.50 PRINT #1,” PC 11”50 PRINT #1,” PC 11”50 PRINT #1,” PC 11”50 PRINT #1,” PC 11” ; Delete the position 11.; Delete the position 11.; Delete the position 11.; Delete the position 11.60 PRINT 31,” DP”60 PRINT 31,” DP”60 PRINT 31,” DP”60 PRINT 31,” DP” ; Moves to position 10.; Moves to position 10.; Moves to position 10.; Moves to position 10.70 ED70 ED70 ED70 ED ; Ends program.; Ends program.; Ends program.; Ends program.

PA　 <pallet number>, <number of column grid points>, <number of row grid points>PA　 <pallet number>, <number of column grid points>, <number of row grid points>PA　 <pallet number>, <number of column grid points>, <number of row grid points>PA　 <pallet number>, <number of column grid points>, <number of row grid points>

PC　 <position number (a)> [, [<position number (b)>]]PC　 <position number (a)> [, [<position number (b)>]]PC　 <position number (a)> [, [<position number (b)>]]PC　 <position number (a)> [, [<position number (b)>]]

2222----62 62 62 62 PD (Position Define)Ｐ ＤPD (Position Define)Ｐ ＤPD (Position Define)Ｐ ＤPD (Position Define)Ｐ Ｄ

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

PD (Position Define)Ｐ ＤPD (Position Define)Ｐ ＤPD (Position Define)Ｐ ＤPD (Position Define)Ｐ Ｄ

【 Function 】【 Function 】【 Function 】【 Function 】Defines the coordinates (location and angle) of the specified position.Defines the coordinates (location and angle) of the specified position.Defines the coordinates (location and angle) of the specified position.Defines the coordinates (location and angle) of the specified position.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】(1)6-axis type(1)6-axis type(1)6-axis type(1)6-axis type

(2)5-axis type(2)5-axis type(2)5-axis type(2)5-axis type

【 Term 】【 Term 】【 Term 】【 Term 】<Position number><Position number><Position number><Position number> Specify position number defining.Specify position number defining.Specify position number defining.Specify position number defining.

1 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 9991 ≦ position number ≦ 999<X, Y, Z coordinate><X, Y, Z coordinate><X, Y, Z coordinate><X, Y, Z coordinate> Specify the location (mm) in XYZ coordinates of the robot. (0 for default)Specify the location (mm) in XYZ coordinates of the robot. (0 for default)Specify the location (mm) in XYZ coordinates of the robot. (0 for default)Specify the location (mm) in XYZ coordinates of the robot. (0 for default)<A, B,C turning angle><A, B,C turning angle><A, B,C turning angle><A, B,C turning angle> Specify the turning angle (degree) of roll (A) and pitch (B)and twist (C) joints in XYZ Specify the turning angle (degree) of roll (A) and pitch (B)and twist (C) joints in XYZ Specify the turning angle (degree) of roll (A) and pitch (B)and twist (C) joints in XYZ Specify the turning angle (degree) of roll (A) and pitch (B)and twist (C) joints in XYZ

coordinates of the robot.coordinates of the robot.coordinates of the robot.coordinates of the robot. (0 for default)(6-axis type only) (0 for default)(6-axis type only) (0 for default)(6-axis type only) (0 for default)(6-axis type only)

<A, B turning angle><A, B turning angle><A, B turning angle><A, B turning angle> Specify the turning angle around roll(A), pitch(B) axes in XYZ coordinates (degree) of the Specify the turning angle around roll(A), pitch(B) axes in XYZ coordinates (degree) of the Specify the turning angle around roll(A), pitch(B) axes in XYZ coordinates (degree) of the Specify the turning angle around roll(A), pitch(B) axes in XYZ coordinates (degree) of the robot. (0 for default)(5-axis type only)robot. (0 for default)(5-axis type only)robot. (0 for default)(5-axis type only)robot. (0 for default)(5-axis type only)

<L1, 2><L1, 2><L1, 2><L1, 2> The coordinate value of the additional axis is designated. (0 for default)The coordinate value of the additional axis is designated. (0 for default)The coordinate value of the additional axis is designated. (0 for default)The coordinate value of the additional axis is designated. (0 for default)<R/L><R/L><R/L><R/L> Specify the structure flag of the robot. (Right or Left)Specify the structure flag of the robot. (Right or Left)Specify the structure flag of the robot. (Right or Left)Specify the structure flag of the robot. (Right or Left)

　R: Right (default)　R: Right (default)　R: Right (default)　R: Right (default)　 L: Left　 L: Left　 L: Left　 L: Left

<A/B><A/B><A/B><A/B> Specify the structure flag of the robot. (Above or Below)Specify the structure flag of the robot. (Above or Below)Specify the structure flag of the robot. (Above or Below)Specify the structure flag of the robot. (Above or Below)　A: Above (Default)　A: Above (Default)　A: Above (Default)　A: Above (Default)　B: Below　B: Below　B: Below　B: Below

<N/F> <N/F> <N/F> <N/F> Specify the structure flag of the robot. (Nonflip or Flip)Specify the structure flag of the robot. (Nonflip or Flip)Specify the structure flag of the robot. (Nonflip or Flip)Specify the structure flag of the robot. (Nonflip or Flip)(6-axis type only)(6-axis type only)(6-axis type only)(6-axis type only)　N: Nonflip (Default)　N: Nonflip (Default)　N: Nonflip (Default)　N: Nonflip (Default)　F: Flip　F: Flip　F: Flip　F: Flip

<O/C><O/C><O/C><O/C> Specify open or close state of hand 1.Specify open or close state of hand 1.Specify open or close state of hand 1.Specify open or close state of hand 1.　O: Hand 1 open　O: Hand 1 open　O: Hand 1 open　O: Hand 1 open　C: Hand 1 close　C: Hand 1 close　C: Hand 1 close　C: Hand 1 close

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The least increment of the coordinate value is 0.01 mm or 0.01 degree (e.g. specify 20.01 for 20.01 mm).(1) The least increment of the coordinate value is 0.01 mm or 0.01 degree (e.g. specify 20.01 for 20.01 mm).(1) The least increment of the coordinate value is 0.01 mm or 0.01 degree (e.g. specify 20.01 for 20.01 mm).(1) The least increment of the coordinate value is 0.01 mm or 0.01 degree (e.g. specify 20.01 for 20.01 mm).(2) Error does not occur even if the specified coordinates exceed the robot's operational space. The PD command, (2) Error does not occur even if the specified coordinates exceed the robot's operational space. The PD command, (2) Error does not occur even if the specified coordinates exceed the robot's operational space. The PD command, (2) Error does not occur even if the specified coordinates exceed the robot's operational space. The PD command,

combined with the SF and the MA command, can define the amount for moving.combined with the SF and the MA command, can define the amount for moving.combined with the SF and the MA command, can define the amount for moving.combined with the SF and the MA command, can define the amount for moving.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)(1)6-axis type(1)6-axis type(1)6-axis type(1)6-axis type 10 PD 10,50,320,70,50,40,30,R,A,N,O 10 PD 10,50,320,70,50,40,30,R,A,N,O 10 PD 10,50,320,70,50,40,30,R,A,N,O 10 PD 10,50,320,70,50,40,30,R,A,N,O ; Defines the location and angle of position 10.; Defines the location and angle of position 10.; Defines the location and angle of position 10.; Defines the location and angle of position 10. 40 MO 10 40 MO 10 40 MO 10 40 MO 10 ; Moves to position 10.; Moves to position 10.; Moves to position 10.; Moves to position 10. 50 ED 50 ED 50 ED 50 ED ; Ends program.; Ends program.; Ends program.; Ends program.

(2)5-axis type(2)5-axis type(2)5-axis type(2)5-axis type 10 PD 10,50,320,70,40,30,R,A,O 10 PD 10,50,320,70,40,30,R,A,O 10 PD 10,50,320,70,40,30,R,A,O 10 PD 10,50,320,70,40,30,R,A,O ; Defines the location and angle of position 10.; Defines the location and angle of position 10.; Defines the location and angle of position 10.; Defines the location and angle of position 10. 40 MO 10 40 MO 10 40 MO 10 40 MO 10 ; Moves to position 10.; Moves to position 10.; Moves to position 10.; Moves to position 10. 50 ED 50 ED 50 ED 50 ED ; Ends program.; Ends program.; Ends program.; Ends program.

Ｐ Ｄ 　 <Position number>,[[Ｘ ］ ［, ［Ｙ ］ ［, ［Ｚ ］ ［, ［Ａ］ ［, ［Ｂ］ ［, ［Ｃ］ ［, ［ Ｌ １］ ［, ［ Ｌ ２］Ｐ Ｄ 　 <Position number>,[[Ｘ ］ ［, ［Ｙ ］ ［, ［Ｚ ］ ［, ［Ａ］ ［, ［Ｂ］ ［, ［Ｃ］ ［, ［ Ｌ １］ ［, ［ Ｌ ２］Ｐ Ｄ 　 <Position number>,[[Ｘ ］ ［, ［Ｙ ］ ［, ［Ｚ ］ ［, ［Ａ］ ［, ［Ｂ］ ［, ［Ｃ］ ［, ［ Ｌ １］ ［, ［ Ｌ ２］Ｐ Ｄ 　 <Position number>,[[Ｘ ］ ［, ［Ｙ ］ ［, ［Ｚ ］ ［, ［Ａ］ ［, ［Ｂ］ ［, ［Ｃ］ ［, ［ Ｌ １］ ［, ［ Ｌ ２］［, ［<Ｒ/Ｌ >］ ［, ［<Ａ/Ｂ>］ ［, ［<Ｎ/Ｆ >］ ］ ］ ］ ］ ］ ］ ］ ］ ］ ］ ］［, ［<Ｒ/Ｌ >］ ［, ［<Ａ/Ｂ>］ ［, ［<Ｎ/Ｆ >］ ］ ］ ］ ］ ］ ］ ］ ］ ］ ］ ］［, ［<Ｒ/Ｌ >］ ［, ［<Ａ/Ｂ>］ ［, ［<Ｎ/Ｆ >］ ］ ］ ］ ］ ］ ］ ］ ］ ］ ］ ］［, ［<Ｒ/Ｌ >］ ［, ［<Ａ/Ｂ>］ ［, ［<Ｎ/Ｆ >］ ］ ］ ］ ］ ］ ］ ］ ］ ］ ］ ］ [, <O/C>][, <O/C>][, <O/C>][, <O/C>]

Ｐ Ｄ 　 <Position number>， ［［Ｘ ］ ［， ［ Ｙ ］ ［， ［Ｚ ］ ［， ［Ａ］ ［， ［Ｂ］ ［， ［ Ｌ １］ ［， ［ Ｌ ２］Ｐ Ｄ 　 <Position number>， ［［Ｘ ］ ［， ［ Ｙ ］ ［， ［Ｚ ］ ［， ［Ａ］ ［， ［Ｂ］ ［， ［ Ｌ １］ ［， ［ Ｌ ２］Ｐ Ｄ 　 <Position number>， ［［Ｘ ］ ［， ［ Ｙ ］ ［， ［Ｚ ］ ［， ［Ａ］ ［， ［Ｂ］ ［， ［ Ｌ １］ ［， ［ Ｌ ２］Ｐ Ｄ 　 <Position number>， ［［Ｘ ］ ［， ［ Ｙ ］ ［， ［Ｚ ］ ［， ［Ａ］ ［， ［Ｂ］ ［， ［ Ｌ １］ ［， ［ Ｌ ２］［， ［<Ｒ/Ｌ >］ ［， ［<Ａ/Ｂ>］ ］ ］ ］ ］ ］ ］ ］ ］ ］［， ［<Ｒ/Ｌ >］ ［， ［<Ａ/Ｂ>］ ］ ］ ］ ］ ］ ］ ］ ］ ］［， ［<Ｒ/Ｌ >］ ［， ［<Ａ/Ｂ>］ ］ ］ ］ ］ ］ ］ ］ ］ ］［， ［<Ｒ/Ｌ >］ ［， ［<Ａ/Ｂ>］ ］ ］ ］ ］ ］ ］ ］ ］ ］ [, <O/C>][, <O/C>][, <O/C>][, <O/C>]

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

PL (Position Road)PL (Position Road)PL (Position Road)PL (Position Road) 2222-63-63-63-63

PL (Position Road)PL (Position Road)PL (Position Road)PL (Position Road)

【 Function 】【 Function 】【 Function 】【 Function 】Replaces position (a) by position (b).Replaces position (a) by position (b).Replaces position (a) by position (b).Replaces position (a) by position (b).

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number (a) > <Position number (a) > <Position number (a) > <Position number (a) > Specify the position number Specify the position number Specify the position number Specify the position number or counter No. with @or counter No. with @or counter No. with @or counter No. with @. (Destination). (Destination). (Destination). (Destination)

1 ≦ position number (a) ≦ 999 1 ≦ position number (a) ≦ 999 1 ≦ position number (a) ≦ 999 1 ≦ position number (a) ≦ 999@@@@1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ ≦ ≦ ≦ @@@@99999999

<Position number (b)><Position number (b)><Position number (b)><Position number (b)> Specify the position number Specify the position number Specify the position number Specify the position number or counter No. with @or counter No. with @or counter No. with @or counter No. with @. (Source). (Source). (Source). (Source) 1 ≦ position number (b) ≦ 999 1 ≦ position number (b) ≦ 999 1 ≦ position number (b) ≦ 999 1 ≦ position number (b) ≦ 999@@@@1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ ≦ ≦ ≦ @@@@99999999

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) After executed, the PL command causes the coordinates of position (a) to be equivalent to those of position (b) (1) After executed, the PL command causes the coordinates of position (a) to be equivalent to those of position (b) (1) After executed, the PL command causes the coordinates of position (a) to be equivalent to those of position (b) (1) After executed, the PL command causes the coordinates of position (a) to be equivalent to those of position (b)

and the old coordinates of position (a) to be cleared.and the old coordinates of position (a) to be cleared.and the old coordinates of position (a) to be cleared.and the old coordinates of position (a) to be cleared.(2) After executed, the PL command also assigns the hand state at position (b) to that at position (a).(2) After executed, the PL command also assigns the hand state at position (b) to that at position (a).(2) After executed, the PL command also assigns the hand state at position (b) to that at position (a).(2) After executed, the PL command also assigns the hand state at position (b) to that at position (a).(3) Error occurs if position (b) is not defined.(3) Error occurs if position (b) is not defined.(3) Error occurs if position (b) is not defined.(3) Error occurs if position (b) is not defined.(4) A new position is created if the position (a) is not defined.(4) A new position is created if the position (a) is not defined.(4) A new position is created if the position (a) is not defined.(4) A new position is created if the position (a) is not defined.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 HE 210 HE 210 HE 210 HE 2 ; Sets the current coordinates and hand state to position 2.; Sets the current coordinates and hand state to position 2.; Sets the current coordinates and hand state to position 2.; Sets the current coordinates and hand state to position 2.20 PL 3,220 PL 3,220 PL 3,220 PL 3,2 ; Replaces the coordinates of position 3 by position 2.; Replaces the coordinates of position 3 by position 2.; Replaces the coordinates of position 3 by position 2.; Replaces the coordinates of position 3 by position 2.30 ED30 ED30 ED30 ED ; Ends program.; Ends program.; Ends program.; Ends program.

PL　 <position number(a)>， <position number(b)>PL　 <position number(a)>， <position number(b)>PL　 <position number(a)>， <position number(b)>PL　 <position number(a)>， <position number(b)>

2222----64 64 64 64 PR (Position Read)PR (Position Read)PR (Position Read)PR (Position Read)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

PR (Position Read)PR (Position Read)PR (Position Read)PR (Position Read)

【 Function 】【 Function 】【 Function 】【 Function 】Reads the coordinates of the specified position and the open/close state of the hand. (Using RS-232C)Reads the coordinates of the specified position and the open/close state of the hand. (Using RS-232C)Reads the coordinates of the specified position and the open/close state of the hand. (Using RS-232C)Reads the coordinates of the specified position and the open/close state of the hand. (Using RS-232C)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number><Position number><Position number><Position number> Specify the position number that you want to read.Specify the position number that you want to read.Specify the position number that you want to read.Specify the position number that you want to read.

0 ≦ position number ≦ 999 0 ≦ position number ≦ 999 0 ≦ position number ≦ 999 0 ≦ position number ≦ 999 (If omitted, the current position number is valid.)(If omitted, the current position number is valid.)(If omitted, the current position number is valid.)(If omitted, the current position number is valid.)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Outputs the coordinates of the specified position and the open/close state of the hand throgh the RS-232C port. (1) Outputs the coordinates of the specified position and the open/close state of the hand throgh the RS-232C port. (1) Outputs the coordinates of the specified position and the open/close state of the hand throgh the RS-232C port. (1) Outputs the coordinates of the specified position and the open/close state of the hand throgh the RS-232C port.

If the position number is omitted or equals 0, only the current position number is output .If the position number is omitted or equals 0, only the current position number is output .If the position number is omitted or equals 0, only the current position number is output .If the position number is omitted or equals 0, only the current position number is output .(2) The data is ASCII coded as follows; The least increment is 0.01 mm or 0.01 degree.(2) The data is ASCII coded as follows; The least increment is 0.01 mm or 0.01 degree.(2) The data is ASCII coded as follows; The least increment is 0.01 mm or 0.01 degree.(2) The data is ASCII coded as follows; The least increment is 0.01 mm or 0.01 degree.

Output formatOutput formatOutput formatOutput format　 5-axis type ： X, Y, Z coordinate value, A, B,C turning angle degree, R/L, A/B,N/F,O/C　 5-axis type ： X, Y, Z coordinate value, A, B,C turning angle degree, R/L, A/B,N/F,O/C　 5-axis type ： X, Y, Z coordinate value, A, B,C turning angle degree, R/L, A/B,N/F,O/C　 5-axis type ： X, Y, Z coordinate value, A, B,C turning angle degree, R/L, A/B,N/F,O/C　 6-axis type ： X, Y, Z coordinate value, A, B turning angle degree, R/L, A/B,O/C　 6-axis type ： X, Y, Z coordinate value, A, B turning angle degree, R/L, A/B,O/C　 6-axis type ： X, Y, Z coordinate value, A, B turning angle degree, R/L, A/B,O/C　 6-axis type ： X, Y, Z coordinate value, A, B turning angle degree, R/L, A/B,O/C

(3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to this in BASIC.this in BASIC.this in BASIC.this in BASIC.

(4) If you read the position that is not used in the program and not defined yet, "zero" is output with each coordinate.(4) If you read the position that is not used in the program and not defined yet, "zero" is output with each coordinate.(4) If you read the position that is not used in the program and not defined yet, "zero" is output with each coordinate.(4) If you read the position that is not used in the program and not defined yet, "zero" is output with each coordinate. 5-axis type ： 0,0,0,0,0,0 5-axis type ： 0,0,0,0,0,0 5-axis type ： 0,0,0,0,0,0 5-axis type ： 0,0,0,0,0,0 6-axis type ： 0,0,0,0,0 6-axis type ： 0,0,0,0,0 6-axis type ： 0,0,0,0,0 6-axis type ： 0,0,0,0,0If you read the position that is already used in the program but not defined yet, "0.00" is output with each If you read the position that is already used in the program but not defined yet, "0.00" is output with each If you read the position that is already used in the program but not defined yet, "0.00" is output with each If you read the position that is already used in the program but not defined yet, "0.00" is output with each coordinate.coordinate.coordinate.coordinate. 5-axis type ： 0.00,0.00,0.00,0.00,0.00,0.00 5-axis type ： 0.00,0.00,0.00,0.00,0.00,0.00 5-axis type ： 0.00,0.00,0.00,0.00,0.00,0.00 5-axis type ： 0.00,0.00,0.00,0.00,0.00,0.00 6-axis type ： 0.00,0.00,0.00,0.00,0.00 6-axis type ： 0.00,0.00,0.00,0.00,0.00 6-axis type ： 0.00,0.00,0.00,0.00,0.00 6-axis type ： 0.00,0.00,0.00,0.00,0.00

(5) If you specify "zero" to the position number or omit it, you can identify the current position number when an error (5) If you specify "zero" to the position number or omit it, you can identify the current position number when an error (5) If you specify "zero" to the position number or omit it, you can identify the current position number when an error (5) If you specify "zero" to the position number or omit it, you can identify the current position number when an error occurs in executing moving command.occurs in executing moving command.occurs in executing moving command.occurs in executing moving command.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)(1) 6-axis type(1) 6-axis type(1) 6-axis type(1) 6-axis type10 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.20 INPUT "Position number is";P20 INPUT "Position number is";P20 INPUT "Position number is";P20 INPUT "Position number is";P ; Inputs the position number that you want to read; Inputs the position number that you want to read; Inputs the position number that you want to read; Inputs the position number that you want to read30 PRINT #1,” PR” +STR$(P)30 PRINT #1,” PR” +STR$(P)30 PRINT #1,” PR” +STR$(P)30 PRINT #1,” PR” +STR$(P) ; Transmits the PR command followed by the position number.; Transmits the PR command followed by the position number.; Transmits the PR command followed by the position number.; Transmits the PR command followed by the position number.40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$ ; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.50 PRINT A$50 PRINT A$50 PRINT A$50 PRINT A$ ; Displays the contents to the screen.; Displays the contents to the screen.; Displays the contents to the screen.; Displays the contents to the screen.60 ED60 ED60 ED60 ED ; Ends program.; Ends program.; Ends program.; Ends program.

RUNRUNRUNRUN : Run the program.: Run the program.: Run the program.: Run the program.Position number is ? 15Position number is ? 15Position number is ? 15Position number is ? 15 ; Enter the position number.; Enter the position number.; Enter the position number.; Enter the position number.+10.00,+380.00,300.00,-70.00+10.00,+380.00,300.00,-70.00+10.00,+380.00,300.00,-70.00+10.00,+380.00,300.00,-70.00 ; Outputs the contents of the position.; Outputs the contents of the position.; Outputs the contents of the position.; Outputs the contents of the position.,50.00,40.00,R,A,N,C,50.00,40.00,R,A,N,C,50.00,40.00,R,A,N,C,50.00,40.00,R,A,N,C

(2)5-axis type(2)5-axis type(2)5-axis type(2)5-axis type10 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.20 INPUT "Position number is";P20 INPUT "Position number is";P20 INPUT "Position number is";P20 INPUT "Position number is";P ;I nputs the position number that you want to read;I nputs the position number that you want to read;I nputs the position number that you want to read;I nputs the position number that you want to read30 PRINT #1,” PR” +STR$(P)30 PRINT #1,” PR” +STR$(P)30 PRINT #1,” PR” +STR$(P)30 PRINT #1,” PR” +STR$(P) ; Transmits the PR command followed by the position number.; Transmits the PR command followed by the position number.; Transmits the PR command followed by the position number.; Transmits the PR command followed by the position number.40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$ ; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.50 PRINT A$50 PRINT A$50 PRINT A$50 PRINT A$ ;Displays the contents to the screen.;Displays the contents to the screen.;Displays the contents to the screen.;Displays the contents to the screen.60 ED60 ED60 ED60 ED ; Ends program.; Ends program.; Ends program.; Ends program.

RUNRUNRUNRUN ; Run the program.; Run the program.; Run the program.; Run the program.Position number is ? 15Position number is ? 15Position number is ? 15Position number is ? 15 ; Enter the position number.; Enter the position number.; Enter the position number.; Enter the position number.+10.00,+380.00,300.00,50.00+10.00,+380.00,300.00,50.00+10.00,+380.00,300.00,50.00+10.00,+380.00,300.00,50.00 ; Outputs the contents of the position.; Outputs the contents of the position.; Outputs the contents of the position.; Outputs the contents of the position.,40.00,R,A,C,40.00,R,A,C,40.00,R,A,C,40.00,R,A,C

PR　 ［<position number>］PR　 ［<position number>］PR　 ［<position number>］PR　 ［<position number>］

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

PRN * (Print)PRN * (Print)PRN * (Print)PRN * (Print) 2222-65-65-65-65

PRN * (Print)PRN * (Print)PRN * (Print)PRN * (Print)

【 Function 】【 Function 】【 Function 】【 Function 】The counter number setting value, position number coordinate value or the character string number data is The counter number setting value, position number coordinate value or the character string number data is The counter number setting value, position number coordinate value or the character string number data is The counter number setting value, position number coordinate value or the character string number data is transmitted from the personal computer in regard to the INP command. (Using RS-232-C)transmitted from the personal computer in regard to the INP command. (Using RS-232-C)transmitted from the personal computer in regard to the INP command. (Using RS-232-C)transmitted from the personal computer in regard to the INP command. (Using RS-232-C)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Counter value><Counter value><Counter value><Counter value> Specify the counter value setting to a counter.Specify the counter value setting to a counter.Specify the counter value setting to a counter.Specify the counter value setting to a counter.

-32768 ≦ Counter value (decimal) ≦ 32767-32768 ≦ Counter value (decimal) ≦ 32767-32768 ≦ Counter value (decimal) ≦ 32767-32768 ≦ Counter value (decimal) ≦ 32767& 8000 ≦ Counter value (hexadecimal) ≦ & 7FFF& 8000 ≦ Counter value (hexadecimal) ≦ & 7FFF& 8000 ≦ Counter value (hexadecimal) ≦ & 7FFF& 8000 ≦ Counter value (hexadecimal) ≦ & 7FFF

<Position coordinates><Position coordinates><Position coordinates><Position coordinates> Specify the coordinates value setting to a position. Specify the following coordinatesSpecify the coordinates value setting to a position. Specify the following coordinatesSpecify the coordinates value setting to a position. Specify the following coordinatesSpecify the coordinates value setting to a position. Specify the following coordinatessimilar to the PD command. similar to the PD command. similar to the PD command. similar to the PD command. (See the PD command)(See the PD command)(See the PD command)(See the PD command)(1) (1) (1) (1) 6-axis type6-axis type6-axis type6-axis type　 <X, Y, Z coordinates>, <A, B, C turning angle>, <R/L>, <A/B>, <N/F>, <O/C>　 <X, Y, Z coordinates>, <A, B, C turning angle>, <R/L>, <A/B>, <N/F>, <O/C>　 <X, Y, Z coordinates>, <A, B, C turning angle>, <R/L>, <A/B>, <N/F>, <O/C>　 <X, Y, Z coordinates>, <A, B, C turning angle>, <R/L>, <A/B>, <N/F>, <O/C>(2) (2) (2) (2) 5-axis type5-axis type5-axis type5-axis type　 <X, Y, Z coordinates>, <A, B turning angle>, <R/L>, <A/B>,<O/C>　 <X, Y, Z coordinates>, <A, B turning angle>, <R/L>, <A/B>,<O/C>　 <X, Y, Z coordinates>, <A, B turning angle>, <R/L>, <A/B>,<O/C>　 <X, Y, Z coordinates>, <A, B turning angle>, <R/L>, <A/B>,<O/C>

<Character string data> <Character string data> <Character string data> <Character string data> Specify the character string to be set.Specify the character string to be set.Specify the character string to be set.Specify the character string to be set.120 characters or less including the line number and the command.120 characters or less including the line number and the command.120 characters or less including the line number and the command.120 characters or less including the line number and the command.Usable characters: numerals (0 to 9), alphabetic characters(A to Z),symbols (!@#, etc.)Usable characters: numerals (0 to 9), alphabetic characters(A to Z),symbols (!@#, etc.)Usable characters: numerals (0 to 9), alphabetic characters(A to Z),symbols (!@#, etc.)Usable characters: numerals (0 to 9), alphabetic characters(A to Z),symbols (!@#, etc.)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Transmits the setting value of counter, the coordinates value of position or the character strings from the (1) Transmits the setting value of counter, the coordinates value of position or the character strings from the (1) Transmits the setting value of counter, the coordinates value of position or the character strings from the (1) Transmits the setting value of counter, the coordinates value of position or the character strings from the

personal computer through the RS-232C port responding to the INP command in the program.personal computer through the RS-232C port responding to the INP command in the program.personal computer through the RS-232C port responding to the INP command in the program.personal computer through the RS-232C port responding to the INP command in the program.(2) The robot becomes wait condition in the INP command till the date is transmitted from personal computer by (2) The robot becomes wait condition in the INP command till the date is transmitted from personal computer by (2) The robot becomes wait condition in the INP command till the date is transmitted from personal computer by (2) The robot becomes wait condition in the INP command till the date is transmitted from personal computer by

executing the PRN command.executing the PRN command.executing the PRN command.executing the PRN command.(3) You can execute the PRN command prior to the INP command during the execution of the program.(3) You can execute the PRN command prior to the INP command during the execution of the program.(3) You can execute the PRN command prior to the INP command during the execution of the program.(3) You can execute the PRN command prior to the INP command during the execution of the program.(4) When transmitting character string data, enclose the character string in double quotations (").(4) When transmitting character string data, enclose the character string in double quotations (").(4) When transmitting character string data, enclose the character string in double quotations (").(4) When transmitting character string data, enclose the character string in double quotations (").

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)<Personal computer program><Personal computer program><Personal computer program><Personal computer program>10 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.20 INPUT "Counter data is" ;J20 INPUT "Counter data is" ;J20 INPUT "Counter data is" ;J20 INPUT "Counter data is" ;J ; Enter the setting value of counter from the personal computer.; Enter the setting value of counter from the personal computer.; Enter the setting value of counter from the personal computer.; Enter the setting value of counter from the personal computer.30 PRINT #1,"PRN” +STR$(J)30 PRINT #1,"PRN” +STR$(J)30 PRINT #1,"PRN” +STR$(J)30 PRINT #1,"PRN” +STR$(J) ; Transmits the setting value of counter.; Transmits the setting value of counter.; Transmits the setting value of counter.; Transmits the setting value of counter.40 PRINT #1,"PRN 100,0,0,0,0,0"40 PRINT #1,"PRN 100,0,0,0,0,0"40 PRINT #1,"PRN 100,0,0,0,0,0"40 PRINT #1,"PRN 100,0,0,0,0,0" ; Transmits the coordinates value of position.; Transmits the coordinates value of position.; Transmits the coordinates value of position.; Transmits the coordinates value of position.50 ED50 ED50 ED50 ED ; Ends program.; Ends program.; Ends program.; Ends program.

<Robot program><Robot program><Robot program><Robot program>10 OPN 2,110 OPN 2,110 OPN 2,110 OPN 2,1 ; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.20 IN20 IN20 IN20 INPPPP 2,1,0 2,1,0 2,1,0 2,1,0 ; Reads the data from RS-232C port to counter 1.; Reads the data from RS-232C port to counter 1.; Reads the data from RS-232C port to counter 1.; Reads the data from RS-232C port to counter 1.30 IN30 IN30 IN30 INP 2,5,1P 2,5,1P 2,5,1P 2,5,1 ; Reads the data from RS-232C port to ; Reads the data from RS-232C port to ; Reads the data from RS-232C port to ; Reads the data from RS-232C port to position 5position 5position 5position 5....40 INP 2,$3,240 INP 2,$3,240 INP 2,$3,240 INP 2,$3,2 ; Reads the data from RS-232C port to ; Reads the data from RS-232C port to ; Reads the data from RS-232C port to ; Reads the data from RS-232C port to ccccharacter string haracter string haracter string haracter string 3.3.3.3.50 IC 150 IC 150 IC 150 IC 1 ; Add ; Add ; Add ; Add 1 to counter 1.1 to counter 1.1 to counter 1.1 to counter 1.60 MO 560 MO 560 MO 560 MO 5 ; ; ; ; Moves to position 5.Moves to position 5.Moves to position 5.Moves to position 5.

PRN　 <counter value> | <position coordinates>| "<character string data>"PRN　 <counter value> | <position coordinates>| "<character string data>"PRN　 <counter value> | <position coordinates>| "<character string data>"PRN　 <counter value> | <position coordinates>| "<character string data>"

2222----66 66 66 66 PT (Pallet)PT (Pallet)PT (Pallet)PT (Pallet)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

PT (Pallet)PT (Pallet)PT (Pallet)PT (Pallet)

【 Function 】【 Function 】【 Function 】【 Function 】Calculates the coordinates of a grid point on the specified pallet and sets the coordinates value to the specified Calculates the coordinates of a grid point on the specified pallet and sets the coordinates value to the specified Calculates the coordinates of a grid point on the specified pallet and sets the coordinates value to the specified Calculates the coordinates of a grid point on the specified pallet and sets the coordinates value to the specified position.position.position.position.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Pallet number><Pallet number><Pallet number><Pallet number> Specify the number of pallet using.Specify the number of pallet using.Specify the number of pallet using.Specify the number of pallet using.

1 ≦ pallet number ≦ 91 ≦ pallet number ≦ 91 ≦ pallet number ≦ 91 ≦ pallet number ≦ 9

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Calculates the coordinates of a grid point on the specified pallet and sets the coordinates to the position which (1) Calculates the coordinates of a grid point on the specified pallet and sets the coordinates to the position which (1) Calculates the coordinates of a grid point on the specified pallet and sets the coordinates to the position which (1) Calculates the coordinates of a grid point on the specified pallet and sets the coordinates to the position which

number is corresponding to the specified pallet number. Before the PT command is executed, the pallet definition number is corresponding to the specified pallet number. Before the PT command is executed, the pallet definition number is corresponding to the specified pallet number. Before the PT command is executed, the pallet definition number is corresponding to the specified pallet number. Before the PT command is executed, the pallet definition command (PA) must be executed for the pallet to be used. After the PT command has been executed, the command (PA) must be executed for the pallet to be used. After the PT command has been executed, the command (PA) must be executed for the pallet to be used. After the PT command has been executed, the command (PA) must be executed for the pallet to be used. After the PT command has been executed, the position data previously defined for the target position is cleared.position data previously defined for the target position is cleared.position data previously defined for the target position is cleared.position data previously defined for the target position is cleared.

(2) In order for the PT command to be executed, the pallet positions (grid points at four corners of the pallet) must (2) In order for the PT command to be executed, the pallet positions (grid points at four corners of the pallet) must (2) In order for the PT command to be executed, the pallet positions (grid points at four corners of the pallet) must (2) In order for the PT command to be executed, the pallet positions (grid points at four corners of the pallet) must be properly defined which identify a particular pallet and the pallet counters (column and row) be properly set that be properly defined which identify a particular pallet and the pallet counters (column and row) be properly set that be properly defined which identify a particular pallet and the pallet counters (column and row) be properly set that be properly defined which identify a particular pallet and the pallet counters (column and row) be properly set that specify a particular grid point on the pallet. If the pallet positions and pallet counters are properly defined, specify a particular grid point on the pallet. If the pallet positions and pallet counters are properly defined, specify a particular grid point on the pallet. If the pallet positions and pallet counters are properly defined, specify a particular grid point on the pallet. If the pallet positions and pallet counters are properly defined, therefore, execution of the PT command allows the coordinates of a grid point to be defined as the position therefore, execution of the PT command allows the coordinates of a grid point to be defined as the position therefore, execution of the PT command allows the coordinates of a grid point to be defined as the position therefore, execution of the PT command allows the coordinates of a grid point to be defined as the position number equivalent to the pallet number. The following is a listing of a combination of pallet positions and counters number equivalent to the pallet number. The following is a listing of a combination of pallet positions and counters number equivalent to the pallet number. The following is a listing of a combination of pallet positions and counters number equivalent to the pallet number. The following is a listing of a combination of pallet positions and counters corresponding to each pallet number.corresponding to each pallet number.corresponding to each pallet number.corresponding to each pallet number.

(3) Error occurs if the pallet position have not been defined and the pallet counters have not been set or have been (3) Error occurs if the pallet position have not been defined and the pallet counters have not been set or have been (3) Error occurs if the pallet position have not been defined and the pallet counters have not been set or have been (3) Error occurs if the pallet position have not been defined and the pallet counters have not been set or have been set to have values exceeding those defined by the PA command. Error does not occur, however, even when the set to have values exceeding those defined by the PA command. Error does not occur, however, even when the set to have values exceeding those defined by the PA command. Error does not occur, however, even when the set to have values exceeding those defined by the PA command. Error does not occur, however, even when the coordinates obtained for the grid point exceed the robot's operational space.coordinates obtained for the grid point exceed the robot's operational space.coordinates obtained for the grid point exceed the robot's operational space.coordinates obtained for the grid point exceed the robot's operational space.

(4) The open or close state of the hand at the target grid point is the same as that in the pallet reference position.(4) The open or close state of the hand at the target grid point is the same as that in the pallet reference position.(4) The open or close state of the hand at the target grid point is the same as that in the pallet reference position.(4) The open or close state of the hand at the target grid point is the same as that in the pallet reference position.(5) When executing the PT command, the tool length of the hand to be used must be properly defined by the TL (5) When executing the PT command, the tool length of the hand to be used must be properly defined by the TL (5) When executing the PT command, the tool length of the hand to be used must be properly defined by the TL (5) When executing the PT command, the tool length of the hand to be used must be properly defined by the TL

command. The robot must be taught through the pallet positions (four corners) using the predefined correct tool command. The robot must be taught through the pallet positions (four corners) using the predefined correct tool command. The robot must be taught through the pallet positions (four corners) using the predefined correct tool command. The robot must be taught through the pallet positions (four corners) using the predefined correct tool length.length.length.length.

(6) Pay attention when you use pallet nine because the counters (91,92) of pallet nine are common counters among (6) Pay attention when you use pallet nine because the counters (91,92) of pallet nine are common counters among (6) Pay attention when you use pallet nine because the counters (91,92) of pallet nine are common counters among (6) Pay attention when you use pallet nine because the counters (91,92) of pallet nine are common counters among programs and other program may use these counters.programs and other program may use these counters.programs and other program may use these counters.programs and other program may use these counters.

PT　 <pallet number>PT　 <pallet number>PT　 <pallet number>PT　 <pallet number>

Pallet numberPallet numberPallet numberPallet number 1111 2222 3333 4444 5555 6666 7777 8888 9999

Pallet reference positionPallet reference positionPallet reference positionPallet reference position 10101010 20202020 30303030 40404040 50505050 60606060 70707070 80808080 90909090

Pallet column terminating positionPallet column terminating positionPallet column terminating positionPallet column terminating position 11111111 21212121 31313131 41414141 51515151 61616161 71717171 81818181 91919191

Pallet row terminating positionPallet row terminating positionPallet row terminating positionPallet row terminating position 12121212 22222222 32323232 42424242 52525252 62626262 72727272 82828282 92929292

Pallet cornet position opposite ro referencePallet cornet position opposite ro referencePallet cornet position opposite ro referencePallet cornet position opposite ro reference 13131313 23232323 33333333 43434343 53535353 63636363 73737373 83838383 93939393

Pallet column counterPallet column counterPallet column counterPallet column counter 11111111 21212121 31313131 41414141 51515151 61616161 71717171 81818181 91919191

Pallet row counterPallet row counterPallet row counterPallet row counter 12121212 22222222 32323232 42424242 52525252 62626262 72727272 82828282 92929292

Pallet grid positionPallet grid positionPallet grid positionPallet grid position 1111 2222 3333 4444 5555 6666 7777 8888 9999

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

PW (Pulse Wait)PW (Pulse Wait)PW (Pulse Wait)PW (Pulse Wait) 2222-67-67-67-67

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)Suppose there is a pallet on which a total of 24 workpieces are arranged, 4 in the column direction and 6 in the row Suppose there is a pallet on which a total of 24 workpieces are arranged, 4 in the column direction and 6 in the row Suppose there is a pallet on which a total of 24 workpieces are arranged, 4 in the column direction and 6 in the row Suppose there is a pallet on which a total of 24 workpieces are arranged, 4 in the column direction and 6 in the row direction. Then have the system compute the coordinates of the workpiece placed in the grid position (2,4), i.e. the direction. Then have the system compute the coordinates of the workpiece placed in the grid position (2,4), i.e. the direction. Then have the system compute the coordinates of the workpiece placed in the grid position (2,4), i.e. the direction. Then have the system compute the coordinates of the workpiece placed in the grid position (2,4), i.e. the second grid in the column direction and the fourth grid in the row direction, and get the robot hand to reach that second grid in the column direction and the fourth grid in the row direction, and get the robot hand to reach that second grid in the column direction and the fourth grid in the row direction, and get the robot hand to reach that second grid in the column direction and the fourth grid in the row direction, and get the robot hand to reach that position. Assume that pallet 7 is used.position. Assume that pallet 7 is used.position. Assume that pallet 7 is used.position. Assume that pallet 7 is used.

* You must teach the positions at four corners (70,71,72,73) in advance. * You must teach the positions at four corners (70,71,72,73) in advance. * You must teach the positions at four corners (70,71,72,73) in advance. * You must teach the positions at four corners (70,71,72,73) in advance.

10 TL 20010 TL 20010 TL 20010 TL 200 ; Sets the tool length equivalent to the hand using.; Sets the tool length equivalent to the hand using.; Sets the tool length equivalent to the hand using.; Sets the tool length equivalent to the hand using.20 PA 7,4,620 PA 7,4,620 PA 7,4,620 PA 7,4,6 ; Sets the pallet number and the grid points of column and row.; Sets the pallet number and the grid points of column and row.; Sets the pallet number and the grid points of column and row.; Sets the pallet number and the grid points of column and row.30 SC 71,230 SC 71,230 SC 71,230 SC 71,2 ; Sets the number of grid point in column direction.; Sets the number of grid point in column direction.; Sets the number of grid point in column direction.; Sets the number of grid point in column direction.40 SC 72,440 SC 72,440 SC 72,440 SC 72,4 ; Sets the number of grid point in row direction.; Sets the number of grid point in row direction.; Sets the number of grid point in row direction.; Sets the number of grid point in row direction.50 PT 750 PT 750 PT 750 PT 7 ; Allows the coordinates of the target grid point to be set to position 7.; Allows the coordinates of the target grid point to be set to position 7.; Allows the coordinates of the target grid point to be set to position 7.; Allows the coordinates of the target grid point to be set to position 7.60 MO 760 MO 760 MO 760 MO 7 ; Moves to position 7.; Moves to position 7.; Moves to position 7.; Moves to position 7.70 ED70 ED70 ED70 ED ; Ends program.; Ends program.; Ends program.; Ends program.

PW (Pulse Wait)PW (Pulse Wait)PW (Pulse Wait)PW (Pulse Wait)

【 Function 】【 Function 】【 Function 】【 Function 】Waits for in-position of servomotor about all joints till it becomes within the specified value.Waits for in-position of servomotor about all joints till it becomes within the specified value.Waits for in-position of servomotor about all joints till it becomes within the specified value.Waits for in-position of servomotor about all joints till it becomes within the specified value.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Positioning pulse > <Positioning pulse > <Positioning pulse > <Positioning pulse > Specify the judgment pulse number of in-position.Specify the judgment pulse number of in-position.Specify the judgment pulse number of in-position.Specify the judgment pulse number of in-position.

1 ≦ positioning pulse ≦ 100001 ≦ positioning pulse ≦ 100001 ≦ positioning pulse ≦ 100001 ≦ positioning pulse ≦ 10000

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Waits for in-position of servomotor about all joints till it becomes within the specified value.(1) Waits for in-position of servomotor about all joints till it becomes within the specified value.(1) Waits for in-position of servomotor about all joints till it becomes within the specified value.(1) Waits for in-position of servomotor about all joints till it becomes within the specified value.(2) If you need the positioning of high accuracy when chucking a workpiece at a position, set small value for (2) If you need the positioning of high accuracy when chucking a workpiece at a position, set small value for (2) If you need the positioning of high accuracy when chucking a workpiece at a position, set small value for (2) If you need the positioning of high accuracy when chucking a workpiece at a position, set small value for

positioning pulse. If you need the positioning of low accuracy, set large value. If you set small value to the positioning pulse. If you need the positioning of low accuracy, set large value. If you set small value to the positioning pulse. If you need the positioning of low accuracy, set large value. If you set small value to the positioning pulse. If you need the positioning of low accuracy, set large value. If you set small value to the positioning pulse, the robot waits for positioning having the same effect as the TI command is executed.positioning pulse, the robot waits for positioning having the same effect as the TI command is executed.positioning pulse, the robot waits for positioning having the same effect as the TI command is executed.positioning pulse, the robot waits for positioning having the same effect as the TI command is executed.

(3) If you set small value to the positioning pulse when the handling workpiece is relatively heavy or the robot is (3) If you set small value to the positioning pulse when the handling workpiece is relatively heavy or the robot is (3) If you set small value to the positioning pulse when the handling workpiece is relatively heavy or the robot is (3) If you set small value to the positioning pulse when the handling workpiece is relatively heavy or the robot is moving at high speed, it may take a longer time to position than usual.moving at high speed, it may take a longer time to position than usual.moving at high speed, it may take a longer time to position than usual.moving at high speed, it may take a longer time to position than usual.

(4) Initial value of positioning pulse is 10000 pulse.(4) Initial value of positioning pulse is 10000 pulse.(4) Initial value of positioning pulse is 10000 pulse.(4) Initial value of positioning pulse is 10000 pulse.(5) When the setting value exceeds the above limit, error occurs.(5) When the setting value exceeds the above limit, error occurs.(5) When the setting value exceeds the above limit, error occurs.(5) When the setting value exceeds the above limit, error occurs.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 PW 1010 PW 1010 PW 1010 PW 100000 ; Waits for the positioning pulse becoming within 10 pulses.; Waits for the positioning pulse becoming within 10 pulses.; Waits for the positioning pulse becoming within 10 pulses.; Waits for the positioning pulse becoming within 10 pulses.20 MO 120 MO 120 MO 120 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.30 GC30 GC30 GC30 GC ; Closes hand.; Closes hand.; Closes hand.; Closes hand.40 ED40 ED40 ED40 ED ; Ends program.; Ends program.; Ends program.; Ends program.

PW　 <positioning pulse>PW　 <positioning pulse>PW　 <positioning pulse>PW　 <positioning pulse>

Work pieces placed in the grid position (2,4)Work pieces placed in the grid position (2,4)Work pieces placed in the grid position (2,4)Work pieces placed in the grid position (2,4) Position73Position73Position73Position73

Palet7Palet7Palet7Palet7

PositionPositionPositionPosition72727272

PositionPositionPositionPosition71717171

PositionPositionPositionPosition70707070(Reference position)(Reference position)(Reference position)(Reference position) Row direction (6 pcs.)Row direction (6 pcs.)Row direction (6 pcs.)Row direction (6 pcs.)

Colu m

un d

irectio

nC

olu m

un d

irectio

nC

olu m

un d

irectio

nC

olu m

un d

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nle

ngt hle

ngt hle

ngt hle

ngt h

2222----68 68 68 68 PX (Position Exchange)PX (Position Exchange)PX (Position Exchange)PX (Position Exchange)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

PX (Position Exchange)PX (Position Exchange)PX (Position Exchange)PX (Position Exchange)

【 Function 】【 Function 】【 Function 】【 Function 】Exchanges the coordinates of the specified position for those of another specified position.Exchanges the coordinates of the specified position for those of another specified position.Exchanges the coordinates of the specified position for those of another specified position.Exchanges the coordinates of the specified position for those of another specified position.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number><Position number><Position number><Position number> Specify the position number exchanging.Specify the position number exchanging.Specify the position number exchanging.Specify the position number exchanging.

1 ≦ position number (a), (b) ≦ 9991 ≦ position number (a), (b) ≦ 9991 ≦ position number (a), (b) ≦ 9991 ≦ position number (a), (b) ≦ 999

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) After the PX command is executed, the coordinates of position (a) are exchanged for those of position (b)(1) After the PX command is executed, the coordinates of position (a) are exchanged for those of position (b)(1) After the PX command is executed, the coordinates of position (a) are exchanged for those of position (b)(1) After the PX command is executed, the coordinates of position (a) are exchanged for those of position (b)(2) The open or close state of the hand at position (a) is also exchanged for that at position (b).(2) The open or close state of the hand at position (a) is also exchanged for that at position (b).(2) The open or close state of the hand at position (a) is also exchanged for that at position (b).(2) The open or close state of the hand at position (a) is also exchanged for that at position (b).(3) Error occurs if positions (a) and (b) have not been predefined.(3) Error occurs if positions (a) and (b) have not been predefined.(3) Error occurs if positions (a) and (b) have not been predefined.(3) Error occurs if positions (a) and (b) have not been predefined.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 HE 210 HE 210 HE 210 HE 2 ; Define the current position to position 2; Define the current position to position 2; Define the current position to position 2; Define the current position to position 220 MJ 20,30,10,0,0,020 MJ 20,30,10,0,0,020 MJ 20,30,10,0,0,020 MJ 20,30,10,0,0,0 ; Drives each joint by the specified amount.; Drives each joint by the specified amount.; Drives each joint by the specified amount.; Drives each joint by the specified amount.30 GO30 GO30 GO30 GO ; Opens the hand.; Opens the hand.; Opens the hand.; Opens the hand.40 HE 340 HE 340 HE 340 HE 3 ; Define the current position to position 3.; Define the current position to position 3.; Define the current position to position 3.; Define the current position to position 3.50 PX 2,350 PX 2,350 PX 2,350 PX 2,3 ; Exchanges the coordinates value of position 2 for those of position 3.; Exchanges the coordinates value of position 2 for those of position 3.; Exchanges the coordinates value of position 2 for those of position 3.; Exchanges the coordinates value of position 2 for those of position 3.60 ED60 ED60 ED60 ED ; Ends program.; Ends program.; Ends program.; Ends program.

Ｐ Ｘ 　 <position number(a)>， <position number(b)>Ｐ Ｘ 　 <position number(a)>， <position number(b)>Ｐ Ｘ 　 <position number(a)>， <position number(b)>Ｐ Ｘ 　 <position number(a)>， <position number(b)>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

QN (Question Number)QN (Question Number)QN (Question Number)QN (Question Number) 2222-69-69-69-69

QN (Question Number)QN (Question Number)QN (Question Number)QN (Question Number)

【 Function 】【 Function 】【 Function 】【 Function 】Reads the program name or the program information.Reads the program name or the program information.Reads the program name or the program information.Reads the program name or the program information.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Program name><Program name><Program name><Program name> Specify the robot program name to be read. (Max. 8 characters)Specify the robot program name to be read. (Max. 8 characters)Specify the robot program name to be read. (Max. 8 characters)Specify the robot program name to be read. (Max. 8 characters)

Possible letter used:Digit (0-9)Possible letter used:Digit (0-9)Possible letter used:Digit (0-9)Possible letter used:Digit (0-9)　Character (A - Z)　Character (A - Z)　Character (A - Z)　Character (A - Z)　 Impossible letter used:　 Impossible letter used:　 Impossible letter used:　 Impossible letter used: ( ) ( ) ( ) ( ) * + , . / : ; = ? [ \ ] * + , . / : ; = ? [ \ ] * + , . / : ; = ? [ \ ] * + , . / : ; = ? [ \ ] ' ' ' ' " ! @ #" ! @ #" ! @ #" ! @ #　Special specification: When you specified only numeric value, the program name is 　Special specification: When you specified only numeric value, the program name is 　Special specification: When you specified only numeric value, the program name is 　Special specification: When you specified only numeric value, the program name is

handled for number. handled for number. handled for number. handled for number. 　 Need to enclose program name with " " in the case of character 　 Need to enclose program name with " " in the case of character 　 Need to enclose program name with " " in the case of character 　 Need to enclose program name with " " in the case of character

used.used.used.used.

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Outputs the selected program name or the selected program information through the RS-232C port. If you (1) Outputs the selected program name or the selected program information through the RS-232C port. If you (1) Outputs the selected program name or the selected program information through the RS-232C port. If you (1) Outputs the selected program name or the selected program information through the RS-232C port. If you

omitted the program name, the selected program name is turned over and if you specified it, the information about omitted the program name, the selected program name is turned over and if you specified it, the information about omitted the program name, the selected program name is turned over and if you specified it, the information about omitted the program name, the selected program name is turned over and if you specified it, the information about the program is turned over.the program is turned over.the program is turned over.the program is turned over.

(2) The output format is ASCII coded as follows;(2) The output format is ASCII coded as follows;(2) The output format is ASCII coded as follows;(2) The output format is ASCII coded as follows;・ The program number format: "N" followed by "Program name"・ The program number format: "N" followed by "Program name"・ The program number format: "N" followed by "Program name"・ The program number format: "N" followed by "Program name"・ The program information format: Used number of steps, used number of positions, used number of counters・ The program information format: Used number of steps, used number of positions, used number of counters・ The program information format: Used number of steps, used number of positions, used number of counters・ The program information format: Used number of steps, used number of positions, used number of counters

(3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to this in BASIC. this in BASIC. this in BASIC. this in BASIC.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in

BASIC.BASIC.BASIC.BASIC.20 PRINT #1,” QN”20 PRINT #1,” QN”20 PRINT #1,” QN”20 PRINT #1,” QN” ; Transmits the QN command.; Transmits the QN command.; Transmits the QN command.; Transmits the QN command.30 LINE INPUT #1,A$30 LINE INPUT #1,A$30 LINE INPUT #1,A$30 LINE INPUT #1,A$ ; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.40 PRINT "Selected program is " : A $40 PRINT "Selected program is " : A $40 PRINT "Selected program is " : A $40 PRINT "Selected program is " : A $ ; Displays the contents of A$ to the screen.; Displays the contents of A$ to the screen.; Displays the contents of A$ to the screen.; Displays the contents of A$ to the screen.60 60 60 60 EDEDEDED ; Ends.; Ends.; Ends.; Ends.

RUNRUNRUNRUN ; Run the program.; Run the program.; Run the program.; Run the program.Selected program is N10Selected program is N10Selected program is N10Selected program is N10 ; Outputs the program name.; Outputs the program name.; Outputs the program name.; Outputs the program name.

QN　 [<program name>]QN　 [<program name>]QN　 [<program name>]QN　 [<program name>]

2222----70 70 70 70 RC (Repeat Cycle)RC (Repeat Cycle)RC (Repeat Cycle)RC (Repeat Cycle)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

RC (Repeat Cycle)RC (Repeat Cycle)RC (Repeat Cycle)RC (Repeat Cycle)

【 Function 】【 Function 】【 Function 】【 Function 】Repeats the loop specified by the NX command the specified number of times.Repeats the loop specified by the NX command the specified number of times.Repeats the loop specified by the NX command the specified number of times.Repeats the loop specified by the NX command the specified number of times.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Number of repeated cycles><Number of repeated cycles><Number of repeated cycles><Number of repeated cycles> Specify the number of times repeating.Specify the number of times repeating.Specify the number of times repeating.Specify the number of times repeating.

1 ≦ number of repeated cycles (decimal) ≦ 327671 ≦ number of repeated cycles (decimal) ≦ 327671 ≦ number of repeated cycles (decimal) ≦ 327671 ≦ number of repeated cycles (decimal) ≦ 32767& 0001 ≦ number of repeated cycles (hexadecimal) ≦ & 7FFF& 0001 ≦ number of repeated cycles (hexadecimal) ≦ & 7FFF& 0001 ≦ number of repeated cycles (hexadecimal) ≦ & 7FFF& 0001 ≦ number of repeated cycles (hexadecimal) ≦ & 7FFF

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Used with the NX command to cause the loop specified by the NX command to be executed the specified number (1) Used with the NX command to cause the loop specified by the NX command to be executed the specified number (1) Used with the NX command to cause the loop specified by the NX command to be executed the specified number (1) Used with the NX command to cause the loop specified by the NX command to be executed the specified number

of times and causes the line number following NX to be subsequently executed.of times and causes the line number following NX to be subsequently executed.of times and causes the line number following NX to be subsequently executed.of times and causes the line number following NX to be subsequently executed.(2) To incorporate another loop (between RC and NX) into the existing loop is called "nesting". Up to 9 nesting levels (2) To incorporate another loop (between RC and NX) into the existing loop is called "nesting". Up to 9 nesting levels (2) To incorporate another loop (between RC and NX) into the existing loop is called "nesting". Up to 9 nesting levels (2) To incorporate another loop (between RC and NX) into the existing loop is called "nesting". Up to 9 nesting levels

are possible.are possible.are possible.are possible.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MO 110 MO 110 MO 110 MO 1 ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.20 RC 320 RC 320 RC 320 RC 3 ; Repeats loop delimited by NX three times; Repeats loop delimited by NX three times; Repeats loop delimited by NX three times; Repeats loop delimited by NX three times30 30 30 30 MO 2MO 2MO 2MO 2 ; Moves to position 2.; Moves to position 2.; Moves to position 2.; Moves to position 2.40 MO 340 MO 340 MO 340 MO 3 ; Moves to position 3.; Moves to position 3.; Moves to position 3.; Moves to position 3.50 MO 450 MO 450 MO 450 MO 4 ; Moves to position 4.; Moves to position 4.; Moves to position 4.; Moves to position 4.60 NX60 NX60 NX60 NX ; Delimits the loop.; Delimits the loop.; Delimits the loop.; Delimits the loop.70 MO 570 MO 570 MO 570 MO 5 ; Moves to position 5.; Moves to position 5.; Moves to position 5.; Moves to position 5.80 ED80 ED80 ED80 ED ; Ends program.; Ends program.; Ends program.; Ends program.

RC　 <number of repeated cycles>RC　 <number of repeated cycles>RC　 <number of repeated cycles>RC　 <number of repeated cycles>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

RN * (Run)RN * (Run)RN * (Run)RN * (Run) 2222-71-71-71-71

RN * (Run)RN * (Run)RN * (Run)RN * (Run)

【 Function 】【 Function 】【 Function 】【 Function 】Executes the specified part of commands in a program.Executes the specified part of commands in a program.Executes the specified part of commands in a program.Executes the specified part of commands in a program.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Start line number><Start line number><Start line number><Start line number> Specify the line number beginning.Specify the line number beginning.Specify the line number beginning.Specify the line number beginning.

1 ≦ start line number ≦ 32767 (The top line for default) 1 ≦ start line number ≦ 32767 (The top line for default) 1 ≦ start line number ≦ 32767 (The top line for default) 1 ≦ start line number ≦ 32767 (The top line for default) <End line number><End line number><End line number><End line number> Specify the line number ending.Specify the line number ending.Specify the line number ending.Specify the line number ending.

1 ≦ end line number ≦ 327671 ≦ end line number ≦ 327671 ≦ end line number ≦ 327671 ≦ end line number ≦ 32767 (The last line or ED command line for default) (The last line or ED command line for default) (The last line or ED command line for default) (The last line or ED command line for default)

<Program name> <Program name> <Program name> <Program name> Specify the program name. (Max. 8 characters)Specify the program name. (Max. 8 characters)Specify the program name. (Max. 8 characters)Specify the program name. (Max. 8 characters)Possible letter used:Digit (0-9)Possible letter used:Digit (0-9)Possible letter used:Digit (0-9)Possible letter used:Digit (0-9)　Character (A - Z)　Character (A - Z)　Character (A - Z)　Character (A - Z)Impossible letter usedImpossible letter usedImpossible letter usedImpossible letter used :::: ( ) ( ) ( ) ( ) * + , . / : ; = ? [ \ ] * + , . / : ; = ? [ \ ] * + , . / : ; = ? [ \ ] * + , . / : ; = ? [ \ ] ' ' ' ' " ! @ #" ! @ #" ! @ #" ! @ #Special specificationSpecial specificationSpecial specificationSpecial specification : When you specified only numeric value, the program name is : When you specified only numeric value, the program name is : When you specified only numeric value, the program name is : When you specified only numeric value, the program name is

handled for number. handled for number. handled for number. handled for number. Need to enclose program name with " " in the case of Need to enclose program name with " " in the case of Need to enclose program name with " " in the case of Need to enclose program name with " " in the case of character used.character used.character used.character used.

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Runs the program starting with the specified starting line and ending with the line one ahead the specified ending (1) Runs the program starting with the specified starting line and ending with the line one ahead the specified ending (1) Runs the program starting with the specified starting line and ending with the line one ahead the specified ending (1) Runs the program starting with the specified starting line and ending with the line one ahead the specified ending

line.line.line.line.(2) If the program is to continue, restart with the ending line.(2) If the program is to continue, restart with the ending line.(2) If the program is to continue, restart with the ending line.(2) If the program is to continue, restart with the ending line.(3) If the teaching box is connected, the line number being executed is shown on its display.(3) If the teaching box is connected, the line number being executed is shown on its display.(3) If the teaching box is connected, the line number being executed is shown on its display.(3) If the teaching box is connected, the line number being executed is shown on its display.(4) You can select the program by appointing the <program name>. In this case, the specified program becomes the (4) You can select the program by appointing the <program name>. In this case, the specified program becomes the (4) You can select the program by appointing the <program name>. In this case, the specified program becomes the (4) You can select the program by appointing the <program name>. In this case, the specified program becomes the

target program and the program starts from the specified line.target program and the program starts from the specified line.target program and the program starts from the specified line.target program and the program starts from the specified line.(5) If you describe the RN command with line number in a program, no operation is executed.(5) If you describe the RN command with line number in a program, no operation is executed.(5) If you describe the RN command with line number in a program, no operation is executed.(5) If you describe the RN command with line number in a program, no operation is executed.(6) When the RN command is executed, the contents of the counter(6) When the RN command is executed, the contents of the counter(6) When the RN command is executed, the contents of the counter(6) When the RN command is executed, the contents of the counter, character string, position, and output signal and , character string, position, and output signal and , character string, position, and output signal and , character string, position, and output signal and

hand statushand statushand statushand status remain intact (not initialized). remain intact (not initialized). remain intact (not initialized). remain intact (not initialized).(7) The following name is identified as the same.(7) The following name is identified as the same.(7) The following name is identified as the same.(7) The following name is identified as the same.

An example:An example:An example:An example:・ Handled as the same. ・ Handled as the same. ・ Handled as the same. ・ Handled as the same. 1,01,001,00000001 (Only numeric value)1,01,001,00000001 (Only numeric value)1,01,001,00000001 (Only numeric value)1,01,001,00000001 (Only numeric value)・ Handled as not the same.・ Handled as not the same.・ Handled as not the same.・ Handled as not the same. 1,1 A, A0001 (Includes alphabetic characters) 1,1 A, A0001 (Includes alphabetic characters) 1,1 A, A0001 (Includes alphabetic characters) 1,1 A, A0001 (Includes alphabetic characters)

(8) The letters that controller can indicate to the LED are 0-9, A ～ Z (simplified). (8) The letters that controller can indicate to the LED are 0-9, A ～ Z (simplified). (8) The letters that controller can indicate to the LED are 0-9, A ～ Z (simplified). (8) The letters that controller can indicate to the LED are 0-9, A ～ Z (simplified).

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN” COM1:E83” AS #110 OPEN” COM1:E83” AS #110 OPEN” COM1:E83” AS #110 OPEN” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.20 PRINT #1,” RN 100, ,2”20 PRINT #1,” RN 100, ,2”20 PRINT #1,” RN 100, ,2”20 PRINT #1,” RN 100, ,2” ; Executes the program 2 from line 100.; Executes the program 2 from line 100.; Executes the program 2 from line 100.; Executes the program 2 from line 100.30 ED30 ED30 ED30 ED ; Ends program.; Ends program.; Ends program.; Ends program.

The execution mode of the program is a continuous operation mode.The execution mode of the program is a continuous operation mode.The execution mode of the program is a continuous operation mode.The execution mode of the program is a continuous operation mode.

Does repeat execute from the head line after the final line is executed, when the stop line Does repeat execute from the head line after the final line is executed, when the stop line Does repeat execute from the head line after the final line is executed, when the stop line Does repeat execute from the head line after the final line is executed, when the stop line number is omitted.number is omitted.number is omitted.number is omitted.

RN　 [<start line number>] [, [<end line number>] [, program name]]]RN　 [<start line number>] [, [<end line number>] [, program name]]]RN　 [<start line number>] [, [<end line number>] [, program name]]]RN　 [<start line number>] [, [<end line number>] [, program name]]]

CAUTION CAUTION CAUTION CAUTION

◇◆◇ Method of making to one cycle operation ◇◆◇◇◆◇ Method of making to one cycle operation ◇◆◇◇◆◇ Method of making to one cycle operation ◇◆◇◇◆◇ Method of making to one cycle operation ◇◆◇Push the END switch of controller operation panel or turn on "CYCLE" of a dedicated input signal.Stop the Push the END switch of controller operation panel or turn on "CYCLE" of a dedicated input signal.Stop the Push the END switch of controller operation panel or turn on "CYCLE" of a dedicated input signal.Stop the Push the END switch of controller operation panel or turn on "CYCLE" of a dedicated input signal.Stop the program being executed at the last line or END statement.program being executed at the last line or END statement.program being executed at the last line or END statement.program being executed at the last line or END statement.One cycle operation is possible by even making the operation format of the parameter:SLT "CYC". In this case, One cycle operation is possible by even making the operation format of the parameter:SLT "CYC". In this case, One cycle operation is possible by even making the operation format of the parameter:SLT "CYC". In this case, One cycle operation is possible by even making the operation format of the parameter:SLT "CYC". In this case, even when the same again program is execute because the program enters the state of the unselection after even when the same again program is execute because the program enters the state of the unselection after even when the same again program is execute because the program enters the state of the unselection after even when the same again program is execute because the program enters the state of the unselection after completing the execution, the program select is needed.completing the execution, the program select is needed.completing the execution, the program select is needed.completing the execution, the program select is needed.

2222----72 72 72 72 RS * (Reset)RS * (Reset)RS * (Reset)RS * (Reset)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

RS * (Reset)RS * (Reset)RS * (Reset)RS * (Reset)

【 Function 】【 Function 】【 Function 】【 Function 】Resets the program and error condition.Resets the program and error condition.Resets the program and error condition.Resets the program and error condition.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Reset number> <Reset number> <Reset number> <Reset number> Specify the contents of reset.Specify the contents of reset.Specify the contents of reset.Specify the contents of reset.

Reset contentsReset contentsReset contentsReset contents　 0: Cancels error and resets program. (Default)　 0: Cancels error and resets program. (Default)　 0: Cancels error and resets program. (Default)　 0: Cancels error and resets program. (Default)　1: Makes all counters undefined condition.　1: Makes all counters undefined condition.　1: Makes all counters undefined condition.　1: Makes all counters undefined condition.　 2: Resets the battery timer.　 2: Resets the battery timer.　 2: Resets the battery timer.　 2: Resets the battery timer.　 3: Deletes all programs and all positions. 　 3: Deletes all programs and all positions. 　 3: Deletes all programs and all positions. 　 3: Deletes all programs and all positions. (The same as the NW command.) (The same as the NW command.) (The same as the NW command.) (The same as the NW command.)　 4: Resets the origin setting condition.　 4: Resets the origin setting condition.　 4: Resets the origin setting condition.　 4: Resets the origin setting condition.

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Resets error condition in error mode, switching servo from OFF to ON and causing the program to return to its (1) Resets error condition in error mode, switching servo from OFF to ON and causing the program to return to its (1) Resets error condition in error mode, switching servo from OFF to ON and causing the program to return to its (1) Resets error condition in error mode, switching servo from OFF to ON and causing the program to return to its

beginning.beginning.beginning.beginning.(2) If any of the axes has exceeded its software limit, the error cannot be reset. (2) If any of the axes has exceeded its software limit, the error cannot be reset. (2) If any of the axes has exceeded its software limit, the error cannot be reset. (2) If any of the axes has exceeded its software limit, the error cannot be reset. (3) The outputs remain unchanged by resetting any errors.(3) The outputs remain unchanged by resetting any errors.(3) The outputs remain unchanged by resetting any errors.(3) The outputs remain unchanged by resetting any errors.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN ” COM1;E83 AS #110 OPEN ” COM1;E83 AS #110 OPEN ” COM1;E83 AS #110 OPEN ” COM1;E83 AS #1 ; Opens the RS-232C communication file from personal computer in BASIC.; Opens the RS-232C communication file from personal computer in BASIC.; Opens the RS-232C communication file from personal computer in BASIC.; Opens the RS-232C communication file from personal computer in BASIC.20 PRINT #1,” MO 1000”20 PRINT #1,” MO 1000”20 PRINT #1,” MO 1000”20 PRINT #1,” MO 1000” ; Error occurs because of the wrong value.; Error occurs because of the wrong value.; Error occurs because of the wrong value.; Error occurs because of the wrong value.30 PRINT #1,” RS”30 PRINT #1,” RS”30 PRINT #1,” RS”30 PRINT #1,” RS” ; Cancels the error.; Cancels the error.; Cancels the error.; Cancels the error.40 ED40 ED40 ED40 ED ; Ends program.; Ends program.; Ends program.; Ends program.

RT (Return)RT (Return)RT (Return)RT (Return)

【 Function 】【 Function 】【 Function 】【 Function 】Completes a subroutine and returns to the main program.Completes a subroutine and returns to the main program.Completes a subroutine and returns to the main program.Completes a subroutine and returns to the main program.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Line number> <Line number> <Line number> <Line number> Specify the line number to jump.Specify the line number to jump.Specify the line number to jump.Specify the line number to jump.

1 ≦ line number ≦ 32767 (If omitted, returns to the next line of the GS command.)1 ≦ line number ≦ 32767 (If omitted, returns to the next line of the GS command.)1 ≦ line number ≦ 32767 (If omitted, returns to the next line of the GS command.)1 ≦ line number ≦ 32767 (If omitted, returns to the next line of the GS command.)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Completes the subroutine called by the "GS" command and returns to the main program.(1) Completes the subroutine called by the "GS" command and returns to the main program.(1) Completes the subroutine called by the "GS" command and returns to the main program.(1) Completes the subroutine called by the "GS" command and returns to the main program.(2) Error occurs if the corresponding "GS" command is not specified.(2) Error occurs if the corresponding "GS" command is not specified.(2) Error occurs if the corresponding "GS" command is not specified.(2) Error occurs if the corresponding "GS" command is not specified.(3) If you specify the line number, the program jumps to the specified line number after returning to the main routine.(3) If you specify the line number, the program jumps to the specified line number after returning to the main routine.(3) If you specify the line number, the program jumps to the specified line number after returning to the main routine.(3) If you specify the line number, the program jumps to the specified line number after returning to the main routine.

【 Sample program 】【 Sample program 】【 Sample program 】【 Sample program 】See the GS command.See the GS command.See the GS command.See the GS command.

RS　 [<reset number>]RS　 [<reset number>]RS　 [<reset number>]RS　 [<reset number>]

RT　 [<line number>]RT　 [<line number>]RT　 [<line number>]RT　 [<line number>]

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

SC (Set Counter)SC (Set Counter)SC (Set Counter)SC (Set Counter) 2222-73-73-73-73

SC (Set Counter)SC (Set Counter)SC (Set Counter)SC (Set Counter)

【 Function 】【 Function 】【 Function 】【 Function 】A specified value is set in the specified counter or character string.A specified value is set in the specified counter or character string.A specified value is set in the specified counter or character string.A specified value is set in the specified counter or character string.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Counter number> <Counter number> <Counter number> <Counter number> Specify the number of counter setting.Specify the number of counter setting.Specify the number of counter setting.Specify the number of counter setting.

1 ≦ counter number ≦ 991 ≦ counter number ≦ 991 ≦ counter number ≦ 991 ≦ counter number ≦ 99<Character string number> <Character string number> <Character string number> <Character string number> Specify character string number in numerical value which "$" isSpecify character string number in numerical value which "$" isSpecify character string number in numerical value which "$" isSpecify character string number in numerical value which "$" is

added to the head.added to the head.added to the head.added to the head.$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99

<Counter set value><Counter set value><Counter set value><Counter set value> Specify the value of counter setting.(0 for default)Specify the value of counter setting.(0 for default)Specify the value of counter setting.(0 for default)Specify the value of counter setting.(0 for default)-32768 ≦ set value (decimal) ≦ 32767-32768 ≦ set value (decimal) ≦ 32767-32768 ≦ set value (decimal) ≦ 32767-32768 ≦ set value (decimal) ≦ 32767& 8000 ≦ set value (hexadecimal) ≦ & 7FFF& 8000 ≦ set value (hexadecimal) ≦ & 7FFF& 8000 ≦ set value (hexadecimal) ≦ & 7FFF& 8000 ≦ set value (hexadecimal) ≦ & 7FFF

<Character string set value><Character string set value><Character string set value><Character string set value> Specify the character string to be set.Specify the character string to be set.Specify the character string to be set.Specify the character string to be set.Usable charactersUsable charactersUsable charactersUsable characters : numerals (0 to 9), alphabetic characters(A to Z): numerals (0 to 9), alphabetic characters(A to Z): numerals (0 to 9), alphabetic characters(A to Z): numerals (0 to 9), alphabetic characters(A to Z)Unusable charactersUnusable charactersUnusable charactersUnusable characters : "!@#: "!@#: "!@#: "!@#Number of charactersNumber of charactersNumber of charactersNumber of characters : Within 120 characters including line number and SC command.: Within 120 characters including line number and SC command.: Within 120 characters including line number and SC command.: Within 120 characters including line number and SC command.

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】<When counter number is specified><When counter number is specified><When counter number is specified><When counter number is specified>(1) All counters are factory-set to zero.(1) All counters are factory-set to zero.(1) All counters are factory-set to zero.(1) All counters are factory-set to zero.(2) Used to count the number of workpieces and job sequences and to set the number of grid points in the pallet.(2) Used to count the number of workpieces and job sequences and to set the number of grid points in the pallet.(2) Used to count the number of workpieces and job sequences and to set the number of grid points in the pallet.(2) Used to count the number of workpieces and job sequences and to set the number of grid points in the pallet.(3) The contents of the counter can be changed, compared or read by the relevant command. (Refer to the (3) The contents of the counter can be changed, compared or read by the relevant command. (Refer to the (3) The contents of the counter can be changed, compared or read by the relevant command. (Refer to the (3) The contents of the counter can be changed, compared or read by the relevant command. (Refer to the IC, INP, IC, INP, IC, INP, IC, INP,

DC, CP, CR, CL, AN, OR, XODC, CP, CR, CL, AN, OR, XODC, CP, CR, CL, AN, OR, XODC, CP, CR, CL, AN, OR, XO commands.) commands.) commands.) commands.)(4) The counter set value remains unchanged when the RS(4) The counter set value remains unchanged when the RS(4) The counter set value remains unchanged when the RS(4) The counter set value remains unchanged when the RS 0 0 0 0 or ED command is executed. or ED command is executed. or ED command is executed. or ED command is executed.(5) The contents of the counter are battery backed after the power is switched off.(5) The contents of the counter are battery backed after the power is switched off.(5) The contents of the counter are battery backed after the power is switched off.(5) The contents of the counter are battery backed after the power is switched off.

<When a character string number is specified><When a character string number is specified><When a character string number is specified><When a character string number is specified>(1) Enclose the set character string with double quotations ("").(1) Enclose the set character string with double quotations ("").(1) Enclose the set character string with double quotations ("").(1) Enclose the set character string with double quotations ("").

Example) When setting the character string ABC, set "ABC".Example) When setting the character string ABC, set "ABC".Example) When setting the character string ABC, set "ABC".Example) When setting the character string ABC, set "ABC".(2) If the set character string is omitted, the details of the character string number will be blank. Thus, the details of (2) If the set character string is omitted, the details of the character string number will be blank. Thus, the details of (2) If the set character string is omitted, the details of the character string number will be blank. Thus, the details of (2) If the set character string is omitted, the details of the character string number will be blank. Thus, the details of

the character string number can be deleted.the character string number can be deleted.the character string number can be deleted.the character string number can be deleted.(3) Operation, comparison and reading of the character string are possible with the related commands. (Refer to the (3) Operation, comparison and reading of the character string are possible with the related commands. (Refer to the (3) Operation, comparison and reading of the character string are possible with the related commands. (Refer to the (3) Operation, comparison and reading of the character string are possible with the related commands. (Refer to the

CP, CR, CL, EQ, NE, LG, SM, INP commands.)CP, CR, CL, EQ, NE, LG, SM, INP commands.)CP, CR, CL, EQ, NE, LG, SM, INP commands.)CP, CR, CL, EQ, NE, LG, SM, INP commands.)(4) The value of the set character string will not change even if the RS(4) The value of the set character string will not change even if the RS(4) The value of the set character string will not change even if the RS(4) The value of the set character string will not change even if the RS 0 0 0 0 or ED command is executed. The value will or ED command is executed. The value will or ED command is executed. The value will or ED command is executed. The value will

be held by the battery even when the power is turned OFF.be held by the battery even when the power is turned OFF.be held by the battery even when the power is turned OFF.be held by the battery even when the power is turned OFF.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 SC　 21,1010 SC　 21,1010 SC　 21,1010 SC　 21,10 ; Set value 10 to counter 21.; Set value 10 to counter 21.; Set value 10 to counter 21.; Set value 10 to counter 21.20 IC　 2120 IC　 2120 IC　 2120 IC　 21 ; Add 1 to counter 21.; Add 1 to counter 21.; Add 1 to counter 21.; Add 1 to counter 21.30 CP　 2130 CP　 2130 CP　 2130 CP　 21 ; Set value of counter 21 to the internal register.; Set value of counter 21 to the internal register.; Set value of counter 21 to the internal register.; Set value of counter 21 to the internal register.40 DR40 DR40 DR40 DR ; Outputs the value of the internal register through RS-232C port.; Outputs the value of the internal register through RS-232C port.; Outputs the value of the internal register through RS-232C port.; Outputs the value of the internal register through RS-232C port.50 SC　 $5,"OK"50 SC　 $5,"OK"50 SC　 $5,"OK"50 SC　 $5,"OK" ; Set character string "OK" in character string number 5; Set character string "OK" in character string number 5; Set character string "OK" in character string number 5; Set character string "OK" in character string number 560 CP　 $560 CP　 $560 CP　 $560 CP　 $5 ; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register; Set details of character string number 5 in the character string register70 EQ　 $10,20070 EQ　 $10,20070 EQ　 $10,20070 EQ　 $10,200 ; Jumps to line 200 if the data equals character string number 10.; Jumps to line 200 if the data equals character string number 10.; Jumps to line 200 if the data equals character string number 10.; Jumps to line 200 if the data equals character string number 10.

SC　 <counter number/character string number>, [<counter set value/character string set value>]SC　 <counter number/character string number>, [<counter set value/character string set value>]SC　 <counter number/character string number>, [<counter set value/character string set value>]SC　 <counter number/character string number>, [<counter set value/character string set value>]

2222----74 74 74 74 SD (Speed Define)SD (Speed Define)SD (Speed Define)SD (Speed Define)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

SD (Speed Define)SD (Speed Define)SD (Speed Define)SD (Speed Define)

【 Function 】【 Function 】【 Function 】【 Function 】Defines the moving velocity, time constant, acceleration/deceleration time, and continuous path setting.Defines the moving velocity, time constant, acceleration/deceleration time, and continuous path setting.Defines the moving velocity, time constant, acceleration/deceleration time, and continuous path setting.Defines the moving velocity, time constant, acceleration/deceleration time, and continuous path setting.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Moving speed><Moving speed><Moving speed><Moving speed> Set moving speed at linear or circular interpolation.Set moving speed at linear or circular interpolation.Set moving speed at linear or circular interpolation.Set moving speed at linear or circular interpolation.

0.01 ≦ moving speed ≦ 650.00 (mm/sec)0.01 ≦ moving speed ≦ 650.00 (mm/sec)0.01 ≦ moving speed ≦ 650.00 (mm/sec)0.01 ≦ moving speed ≦ 650.00 (mm/sec)<Time constant><Time constant><Time constant><Time constant> 1 ≦ time constant ≦ 300 (millisecond (Current value when omitted.))1 ≦ time constant ≦ 300 (millisecond (Current value when omitted.))1 ≦ time constant ≦ 300 (millisecond (Current value when omitted.))1 ≦ time constant ≦ 300 (millisecond (Current value when omitted.))

Returns to default value with 0. Returns to default value with 0. Returns to default value with 0. Returns to default value with 0.<Acceleration rate><Acceleration rate><Acceleration rate><Acceleration rate> The command time for the acceleration to the maximum speed is set. Unit: %The command time for the acceleration to the maximum speed is set. Unit: %The command time for the acceleration to the maximum speed is set. Unit: %The command time for the acceleration to the maximum speed is set. Unit: %

(Current value when omitted.) (Recommended range: 1 to 100)(Current value when omitted.) (Recommended range: 1 to 100)(Current value when omitted.) (Recommended range: 1 to 100)(Current value when omitted.) (Recommended range: 1 to 100)<Deceleration rate><Deceleration rate><Deceleration rate><Deceleration rate> The command time for the deceleration to the maximum speed is set. Unit: %The command time for the deceleration to the maximum speed is set. Unit: %The command time for the deceleration to the maximum speed is set. Unit: %The command time for the deceleration to the maximum speed is set. Unit: %

(Current value when omitted.) (Recommended range: 1 to 100)(Current value when omitted.) (Recommended range: 1 to 100)(Current value when omitted.) (Recommended range: 1 to 100)(Current value when omitted.) (Recommended range: 1 to 100)<CNT setting><CNT setting><CNT setting><CNT setting> Specify the enable or disable state of continuous path mode.Specify the enable or disable state of continuous path mode.Specify the enable or disable state of continuous path mode.Specify the enable or disable state of continuous path mode. 0: Disable1: Enable0: Disable1: Enable0: Disable1: Enable0: Disable1: Enable

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The minimum setting unit for the movement speed is 0.01mm/second or 0.01 degrees/second. (Example: For (1) The minimum setting unit for the movement speed is 0.01mm/second or 0.01 degrees/second. (Example: For (1) The minimum setting unit for the movement speed is 0.01mm/second or 0.01 degrees/second. (Example: For (1) The minimum setting unit for the movement speed is 0.01mm/second or 0.01 degrees/second. (Example: For

20.05mm/sec., designate as 20.05.) The minimum setting unit for the time constant and acceleration/deceleration 20.05mm/sec., designate as 20.05.) The minimum setting unit for the time constant and acceleration/deceleration 20.05mm/sec., designate as 20.05.) The minimum setting unit for the time constant and acceleration/deceleration 20.05mm/sec., designate as 20.05.) The minimum setting unit for the time constant and acceleration/deceleration rate is 1 millisecond and 1% respectively. By　 using this command, the hand end movement speed for linear and rate is 1 millisecond and 1% respectively. By　 using this command, the hand end movement speed for linear and rate is 1 millisecond and 1% respectively. By　 using this command, the hand end movement speed for linear and rate is 1 millisecond and 1% respectively. By　 using this command, the hand end movement speed for linear and circular interpolation can be set in more detail than the SP command. (Refer to the SP command.)circular interpolation can be set in more detail than the SP command. (Refer to the SP command.)circular interpolation can be set in more detail than the SP command. (Refer to the SP command.)circular interpolation can be set in more detail than the SP command. (Refer to the SP command.)

(2) Allows the moving speed (or angular speed) of the tip of hand for linear or circular interpolation to be defined in (2) Allows the moving speed (or angular speed) of the tip of hand for linear or circular interpolation to be defined in (2) Allows the moving speed (or angular speed) of the tip of hand for linear or circular interpolation to be defined in (2) Allows the moving speed (or angular speed) of the tip of hand for linear or circular interpolation to be defined in smaller increments than the SP command.smaller increments than the SP command.smaller increments than the SP command.smaller increments than the SP command.

(3) Setting a large value to the time constant makes the robot operation slower and smoother.(3) Setting a large value to the time constant makes the robot operation slower and smoother.(3) Setting a large value to the time constant makes the robot operation slower and smoother.(3) Setting a large value to the time constant makes the robot operation slower and smoother.(4) The standard acceleration/deceleration time is determined for each robot being used. Set as a rate in respect to (4) The standard acceleration/deceleration time is determined for each robot being used. Set as a rate in respect to (4) The standard acceleration/deceleration time is determined for each robot being used. Set as a rate in respect to (4) The standard acceleration/deceleration time is determined for each robot being used. Set as a rate in respect to

this time.this time.this time.this time.The system default value is 100, 100. The acceleration rate changed by executing this command is reset to the The system default value is 100, 100. The acceleration rate changed by executing this command is reset to the The system default value is 100, 100. The acceleration rate changed by executing this command is reset to the The system default value is 100, 100. The acceleration rate changed by executing this command is reset to the system default value when the program is reset and when the ED statement is executed.system default value when the program is reset and when the ED statement is executed.system default value when the program is reset and when the ED statement is executed.system default value when the program is reset and when the ED statement is executed.For the smooth movement when CNT is valid, the orbit path will differ according to the acceleration and For the smooth movement when CNT is valid, the orbit path will differ according to the acceleration and For the smooth movement when CNT is valid, the orbit path will differ according to the acceleration and For the smooth movement when CNT is valid, the orbit path will differ according to the acceleration and movement speed. To carry out smooth movement at a constant speed, set the acceleration and deceleration to movement speed. To carry out smooth movement at a constant speed, set the acceleration and deceleration to movement speed. To carry out smooth movement at a constant speed, set the acceleration and deceleration to movement speed. To carry out smooth movement at a constant speed, set the acceleration and deceleration to the same value. CNT is invalid in the default state.the same value. CNT is invalid in the default state.the same value. CNT is invalid in the default state.the same value. CNT is invalid in the default state.

(5) During linear or circular interpolation, a certain moving speed of the SD command may cause error in excess of (5) During linear or circular interpolation, a certain moving speed of the SD command may cause error in excess of (5) During linear or circular interpolation, a certain moving speed of the SD command may cause error in excess of (5) During linear or circular interpolation, a certain moving speed of the SD command may cause error in excess of the maximum speed of the corresponding joint. In this case, set the speed to a lower value.the maximum speed of the corresponding joint. In this case, set the speed to a lower value.the maximum speed of the corresponding joint. In this case, set the speed to a lower value.the maximum speed of the corresponding joint. In this case, set the speed to a lower value.

(6) The CNT setting is invalid in the default state, so when validated, the acceleration/deceleration between the (6) The CNT setting is invalid in the default state, so when validated, the acceleration/deceleration between the (6) The CNT setting is invalid in the default state, so when validated, the acceleration/deceleration between the (6) The CNT setting is invalid in the default state, so when validated, the acceleration/deceleration between the continuous movement commands will be omitted. (Path movement) However, acceleration/deceleration will be continuous movement commands will be omitted. (Path movement) However, acceleration/deceleration will be continuous movement commands will be omitted. (Path movement) However, acceleration/deceleration will be continuous movement commands will be omitted. (Path movement) However, acceleration/deceleration will be carried out when starting and stopping, and when there is a timer or input signal standby, etc., between the carried out when starting and stopping, and when there is a timer or input signal standby, etc., between the carried out when starting and stopping, and when there is a timer or input signal standby, etc., between the carried out when starting and stopping, and when there is a timer or input signal standby, etc., between the movement commands.movement commands.movement commands.movement commands.

(7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or (7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or (7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or (7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a starting and at a stopping point as well as when a timer or an input command is executed during the path motion.starting and at a stopping point as well as when a timer or an input command is executed during the path motion.starting and at a stopping point as well as when a timer or an input command is executed during the path motion.starting and at a stopping point as well as when a timer or an input command is executed during the path motion.

(8) The time constant, acceleration/deceleration rate, and CNT setting of this command are valid during joint (8) The time constant, acceleration/deceleration rate, and CNT setting of this command are valid during joint (8) The time constant, acceleration/deceleration rate, and CNT setting of this command are valid during joint (8) The time constant, acceleration/deceleration rate, and CNT setting of this command are valid during joint interpolation movement in addition to during linear and circular interpolation movement.interpolation movement in addition to during linear and circular interpolation movement.interpolation movement in addition to during linear and circular interpolation movement.interpolation movement in addition to during linear and circular interpolation movement.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 SP 1510 SP 1510 SP 1510 SP 15 ; Set the moving speed to 15.; Set the moving speed to 15.; Set the moving speed to 15.; Set the moving speed to 15.20 MS 120 MS 120 MS 120 MS 1 ; Moves to position 1 by linear interpolation. (SP 15); Moves to position 1 by linear interpolation. (SP 15); Moves to position 1 by linear interpolation. (SP 15); Moves to position 1 by linear interpolation. (SP 15)30 SD 10030 SD 10030 SD 10030 SD 100 ; Set the moving speed to 100mm/sec.; Set the moving speed to 100mm/sec.; Set the moving speed to 100mm/sec.; Set the moving speed to 100mm/sec.40 MS 240 MS 240 MS 240 MS 2 ; Moves to position 2 by linear interpolation. (100 mm/sec); Moves to position 2 by linear interpolation. (100 mm/sec); Moves to position 2 by linear interpolation. (100 mm/sec); Moves to position 2 by linear interpolation. (100 mm/sec)50 MO 350 MO 350 MO 350 MO 3 ; Moves to position 3 by joint interpolation. (SP 15); Moves to position 3 by joint interpolation. (SP 15); Moves to position 3 by joint interpolation. (SP 15); Moves to position 3 by joint interpolation. (SP 15)60 MS 460 MS 460 MS 460 MS 4 ; Moves to position 4 by linear interpolation. (100 mm/sec); Moves to position 4 by linear interpolation. (100 mm/sec); Moves to position 4 by linear interpolation. (100 mm/sec); Moves to position 4 by linear interpolation. (100 mm/sec)70 ED70 ED70 ED70 ED ; Ends program.; Ends program.; Ends program.; Ends program.

Ｓ Ｄ 　 <moving speed> [, <time constant> Ｓ Ｄ 　 <moving speed> [, <time constant> Ｓ Ｄ 　 <moving speed> [, <time constant> Ｓ Ｄ 　 <moving speed> [, <time constant> 　 　 　 [, <acceleration rate>, <deceleration rate> [, <CNT setting>]]]　 　 　 [, <acceleration rate>, <deceleration rate> [, <CNT setting>]]]　 　 　 [, <acceleration rate>, <deceleration rate> [, <CNT setting>]]]　 　 　 [, <acceleration rate>, <deceleration rate> [, <CNT setting>]]]

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

SF (Shift)SF (Shift)SF (Shift)SF (Shift) 2222-75-75-75-75

SF (Shift)SF (Shift)SF (Shift)SF (Shift)

【 Function 】【 Function 】【 Function 】【 Function 】Adds each coordinate value of position (b) to each coordinate value of position (a) and defines it again as a new Adds each coordinate value of position (b) to each coordinate value of position (a) and defines it again as a new Adds each coordinate value of position (b) to each coordinate value of position (a) and defines it again as a new Adds each coordinate value of position (b) to each coordinate value of position (a) and defines it again as a new position.position.position.position.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Position number><Position number><Position number><Position number> Specify the position number.Specify the position number.Specify the position number.Specify the position number.

1 ≦ position number (a), (b) ≦ 9991 ≦ position number (a), (b) ≦ 9991 ≦ position number (a), (b) ≦ 9991 ≦ position number (a), (b) ≦ 999

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The hand open or close state of position (a), as well as the structural flag (R/L, A/B, N/F), is not affected by the (1) The hand open or close state of position (a), as well as the structural flag (R/L, A/B, N/F), is not affected by the (1) The hand open or close state of position (a), as well as the structural flag (R/L, A/B, N/F), is not affected by the (1) The hand open or close state of position (a), as well as the structural flag (R/L, A/B, N/F), is not affected by the

SF command.SF command.SF command.SF command.(2) Error occurs if the position (a) and/or (b) have not been predefined.(2) Error occurs if the position (a) and/or (b) have not been predefined.(2) Error occurs if the position (a) and/or (b) have not been predefined.(2) Error occurs if the position (a) and/or (b) have not been predefined.(3) Does not effect any robot motion.(3) Does not effect any robot motion.(3) Does not effect any robot motion.(3) Does not effect any robot motion.(4) The coordinate value of position (b) is not affected by the SF command.(4) The coordinate value of position (b) is not affected by the SF command.(4) The coordinate value of position (b) is not affected by the SF command.(4) The coordinate value of position (b) is not affected by the SF command.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 PD 20,0,0,20,0,0,010 PD 20,0,0,20,0,0,010 PD 20,0,0,20,0,0,010 PD 20,0,0,20,0,0,0 ; Set the location and the attitude of position 20.; Set the location and the attitude of position 20.; Set the location and the attitude of position 20.; Set the location and the attitude of position 20.20 HE 1020 HE 1020 HE 1020 HE 10 ; Set the current position to position 10.; Set the current position to position 10.; Set the current position to position 10.; Set the current position to position 10.30 SF 10,2030 SF 10,2030 SF 10,2030 SF 10,20 ; The position 10 is shifted only Z-coordinate 20 mm of position 20.; The position 10 is shifted only Z-coordinate 20 mm of position 20.; The position 10 is shifted only Z-coordinate 20 mm of position 20.; The position 10 is shifted only Z-coordinate 20 mm of position 20.40 MO 1040 MO 1040 MO 1040 MO 10 ; Moves to position 10.; Moves to position 10.; Moves to position 10.; Moves to position 10.50 ED50 ED50 ED50 ED ; Ends program.; Ends program.; Ends program.; Ends program.

SF　 <position number(a)>， <position number(b)>SF　 <position number(a)>， <position number(b)>SF　 <position number(a)>， <position number(b)>SF　 <position number(a)>， <position number(b)>

2222----76 76 76 76 SM (If Smaller)SM (If Smaller)SM (If Smaller)SM (If Smaller)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

SM (If Smaller)SM (If Smaller)SM (If Smaller)SM (If Smaller)

【 Function 】【 Function 】【 Function 】【 Function 】This compares the value of the internal register with a specified value. If smaller, the program will jump. The character This compares the value of the internal register with a specified value. If smaller, the program will jump. The character This compares the value of the internal register with a specified value. If smaller, the program will jump. The character This compares the value of the internal register with a specified value. If smaller, the program will jump. The character string register and the numbers of characters in a specified character string are compared. If the character string string register and the numbers of characters in a specified character string are compared. If the character string string register and the numbers of characters in a specified character string are compared. If the character string string register and the numbers of characters in a specified character string are compared. If the character string register is smaller, the program will jump.register is smaller, the program will jump.register is smaller, the program will jump.register is smaller, the program will jump.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Compared value><Compared value><Compared value><Compared value> Specify the value compared with the internal register Specify the value compared with the internal register Specify the value compared with the internal register Specify the value compared with the internal register or counter No. with @or counter No. with @or counter No. with @or counter No. with @. . . .

-32768 ≦ Compared value (decimal) ≦ 32767 -32768 ≦ Compared value (decimal) ≦ 32767 -32768 ≦ Compared value (decimal) ≦ 32767 -32768 ≦ Compared value (decimal) ≦ 32767 & 8000 ≦ Compared value (hexadecimal) ≦ & 7FFF & 8000 ≦ Compared value (hexadecimal) ≦ & 7FFF & 8000 ≦ Compared value (hexadecimal) ≦ & 7FFF & 8000 ≦ Compared value (hexadecimal) ≦ & 7FFF @@@@1 ≦ 1 ≦ 1 ≦ 1 ≦ counter No.counter No.counter No.counter No. ≦ ≦ ≦ ≦ @@@@99999999

<Character string number><Character string number><Character string number><Character string number> Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.Specify character string number in numerical value which "$" is added to the head.$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99$1 ≦ character string number ≦ $99

<Branching line number><Branching line number><Branching line number><Branching line number> Specify the line number to which the program jumps.Specify the line number to which the program jumps.Specify the line number to which the program jumps.Specify the line number to which the program jumps.1 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 32767

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】<When counter number is specified><When counter number is specified><When counter number is specified><When counter number is specified>(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(2) If the internal register value is smaller than the compared value (i.e., when the condition is met), the program (2) If the internal register value is smaller than the compared value (i.e., when the condition is met), the program (2) If the internal register value is smaller than the compared value (i.e., when the condition is met), the program (2) If the internal register value is smaller than the compared value (i.e., when the condition is met), the program

jumps to the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence. jumps to the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence. jumps to the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence. jumps to the specified line. Otherwise (i.e., when the condition is not met), the program continues in sequence. Error occurs at a jump if the specified line number does not exist.Error occurs at a jump if the specified line number does not exist.Error occurs at a jump if the specified line number does not exist.Error occurs at a jump if the specified line number does not exist.

(3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input (3) A value can be loaded into the internal register by executing the input command (See ID) for the external input data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out data or by executing the counter set command (See CP) for the counter data. Accordingly when you carry out conditional branching, need to execute either of the above commands beforehand.conditional branching, need to execute either of the above commands beforehand.conditional branching, need to execute either of the above commands beforehand.conditional branching, need to execute either of the above commands beforehand.

(4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by (4) The compared value may be defined either in decimal or hexadecimal. A hexadecimal value must be headed by "&"."&"."&"."&".

<When character string number is specified><When character string number is specified><When character string number is specified><When character string number is specified>(1) The conditions will jump depending on the data input from an external source or the number of characters in a (1) The conditions will jump depending on the data input from an external source or the number of characters in a (1) The conditions will jump depending on the data input from an external source or the number of characters in a (1) The conditions will jump depending on the data input from an external source or the number of characters in a

specified character string.specified character string.specified character string.specified character string.(2) If the number of characters in the character string register is smaller than the number of characters in a specified (2) If the number of characters in the character string register is smaller than the number of characters in a specified (2) If the number of characters in the character string register is smaller than the number of characters in a specified (2) If the number of characters in the character string register is smaller than the number of characters in a specified

character string (when the conditions are established), the program will jump to the specified line number. If the character string (when the conditions are established), the program will jump to the specified line number. If the character string (when the conditions are established), the program will jump to the specified line number. If the character string (when the conditions are established), the program will jump to the specified line number. If the number is larger (when conditions are not established), the next line will be executed. If the specified line number number is larger (when conditions are not established), the next line will be executed. If the specified line number number is larger (when conditions are not established), the next line will be executed. If the specified line number number is larger (when conditions are not established), the next line will be executed. If the specified line number is not registered, an error will occur when jumping.is not registered, an error will occur when jumping.is not registered, an error will occur when jumping.is not registered, an error will occur when jumping.

(3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. (3) By executing an INP command, the data input from an external device will be set in the character string register. The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing The details of the character string number will be set by executing a CP command. Thus, when executing condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.condition jumping, one of these commands must be executed first.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 ID10 ID10 ID10 ID ; Fetches the data from the external input port.; Fetches the data from the external input port.; Fetches the data from the external input port.; Fetches the data from the external input port.20 SM 10,10020 SM 10,10020 SM 10,10020 SM 10,100 ; If the input data is smaller than 10, jumps to line 100. ; If the input data is smaller than 10, jumps to line 100. ; If the input data is smaller than 10, jumps to line 100. ; If the input data is smaller than 10, jumps to line 100. 30 MS 130 MS 130 MS 130 MS 1 ; Moves to position 1 by linear interpolation.; Moves to position 1 by linear interpolation.; Moves to position 1 by linear interpolation.; Moves to position 1 by linear interpolation.40 ED40 ED40 ED40 ED ; Ends program.; Ends program.; Ends program.; Ends program.100 MO 10100 MO 10100 MO 10100 MO 10 ; Moves to position 10.; Moves to position 10.; Moves to position 10.; Moves to position 10.140 OPN 1,1 140 OPN 1,1 140 OPN 1,1 140 OPN 1,1 ; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.; Opens the RS-232C port.150 INP 1, ,2150 INP 1, ,2150 INP 1, ,2150 INP 1, ,2 ; Reads the data of character string register from the RS-232C port.; Reads the data of character string register from the RS-232C port.; Reads the data of character string register from the RS-232C port.; Reads the data of character string register from the RS-232C port.160 SM $5,200160 SM $5,200160 SM $5,200160 SM $5,200 ; Jumps to line 200 if the data smaller than character string number 10.; Jumps to line 200 if the data smaller than character string number 10.; Jumps to line 200 if the data smaller than character string number 10.; Jumps to line 200 if the data smaller than character string number 10. : : : :200 MO 2200 MO 2200 MO 2200 MO 2 ; Moves to position 2.; Moves to position 2.; Moves to position 2.; Moves to position 2.

SM　 <compared value/character string number>, <branching line number>SM　 <compared value/character string number>, <branching line number>SM　 <compared value/character string number>, <branching line number>SM　 <compared value/character string number>, <branching line number>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

SP (Speed)SP (Speed)SP (Speed)SP (Speed) 2222-77-77-77-77

SP (Speed)SP (Speed)SP (Speed)SP (Speed)

【 Function 】【 Function 】【 Function 】【 Function 】Sets the operating speed, acceleration or deceleration time and the continuous path setting.Sets the operating speed, acceleration or deceleration time and the continuous path setting.Sets the operating speed, acceleration or deceleration time and the continuous path setting.Sets the operating speed, acceleration or deceleration time and the continuous path setting.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Speed level><Speed level><Speed level><Speed level> Set moving speed.Set moving speed.Set moving speed.Set moving speed.

0 ≦ speed level ≦ 300 ≦ speed level ≦ 300 ≦ speed level ≦ 300 ≦ speed level ≦ 30<H/L><H/L><H/L><H/L> Set acceleration/deceleration level.Set acceleration/deceleration level.Set acceleration/deceleration level.Set acceleration/deceleration level. (Default is H.) (Default is H.) (Default is H.) (Default is H.)

H: High acceleration/deceleration (Max. 100%)H: High acceleration/deceleration (Max. 100%)H: High acceleration/deceleration (Max. 100%)H: High acceleration/deceleration (Max. 100%)L: Low acceleration/deceleration (Max. 50%)L: Low acceleration/deceleration (Max. 50%)L: Low acceleration/deceleration (Max. 50%)L: Low acceleration/deceleration (Max. 50%)

<CNT setting><CNT setting><CNT setting><CNT setting> Specify the enable/disable state of the continuous path mode.Specify the enable/disable state of the continuous path mode.Specify the enable/disable state of the continuous path mode.Specify the enable/disable state of the continuous path mode. (Default is disable.) (Default is disable.) (Default is disable.) (Default is disable.)0: Disable0: Disable0: Disable0: Disable 1: Enable1: Enable1: Enable1: Enable

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Sets the operating speed in 31 steps and acceleration/deceleration time upon start and stop in 2 levels.(1) Sets the operating speed in 31 steps and acceleration/deceleration time upon start and stop in 2 levels.(1) Sets the operating speed in 31 steps and acceleration/deceleration time upon start and stop in 2 levels.(1) Sets the operating speed in 31 steps and acceleration/deceleration time upon start and stop in 2 levels.(2) The speed level is predetermined as a ratio to the maximum rpm of each joint for joint interpolation and as a ratio (2) The speed level is predetermined as a ratio to the maximum rpm of each joint for joint interpolation and as a ratio (2) The speed level is predetermined as a ratio to the maximum rpm of each joint for joint interpolation and as a ratio (2) The speed level is predetermined as a ratio to the maximum rpm of each joint for joint interpolation and as a ratio

to the maximum speed of the tip of hand for linear interpolation. The initial value is 30.to the maximum speed of the tip of hand for linear interpolation. The initial value is 30.to the maximum speed of the tip of hand for linear interpolation. The initial value is 30.to the maximum speed of the tip of hand for linear interpolation. The initial value is 30.(3) The acceleration/deceleration time may be selected from among H or L. The acceleration time is the maximum (3) The acceleration/deceleration time may be selected from among H or L. The acceleration time is the maximum (3) The acceleration/deceleration time may be selected from among H or L. The acceleration time is the maximum (3) The acceleration/deceleration time may be selected from among H or L. The acceleration time is the maximum

time for the robot to reach to the maximum speed. Therefore, when the moving speed does not reach to the time for the robot to reach to the maximum speed. Therefore, when the moving speed does not reach to the time for the robot to reach to the maximum speed. Therefore, when the moving speed does not reach to the time for the robot to reach to the maximum speed. Therefore, when the moving speed does not reach to the maximum speed, the actual acceleration time becomes smaller than the specified value. maximum speed, the actual acceleration time becomes smaller than the specified value. maximum speed, the actual acceleration time becomes smaller than the specified value. maximum speed, the actual acceleration time becomes smaller than the specified value.

(4) The acceleration/deceleration command time can be designated in the two stages H and L. In either case, the (4) The acceleration/deceleration command time can be designated in the two stages H and L. In either case, the (4) The acceleration/deceleration command time can be designated in the two stages H and L. In either case, the (4) The acceleration/deceleration command time can be designated in the two stages H and L. In either case, the rate is in respect to the maximum acceleration/deceleration speed for joint, linear and circular interpolation, and rate is in respect to the maximum acceleration/deceleration speed for joint, linear and circular interpolation, and rate is in respect to the maximum acceleration/deceleration speed for joint, linear and circular interpolation, and rate is in respect to the maximum acceleration/deceleration speed for joint, linear and circular interpolation, and signify the acceleration during startup. (This also applies for deceleration.) Thus, if the movement speed does not signify the acceleration during startup. (This also applies for deceleration.) Thus, if the movement speed does not signify the acceleration during startup. (This also applies for deceleration.) Thus, if the movement speed does not signify the acceleration during startup. (This also applies for deceleration.) Thus, if the movement speed does not reach the maximum speed, the acceleration/deceleration time will be smaller than the set value.reach the maximum speed, the acceleration/deceleration time will be smaller than the set value.reach the maximum speed, the acceleration/deceleration time will be smaller than the set value.reach the maximum speed, the acceleration/deceleration time will be smaller than the set value.

(5) For linear interpolation, the tip of hand, determined by the tool command, is moved at constant speed. In this case, (5) For linear interpolation, the tip of hand, determined by the tool command, is moved at constant speed. In this case, (5) For linear interpolation, the tip of hand, determined by the tool command, is moved at constant speed. In this case, (5) For linear interpolation, the tip of hand, determined by the tool command, is moved at constant speed. In this case, error may result from any of the joints exceeding its maximum speed. If the motion of the position angle (error may result from any of the joints exceeding its maximum speed. If the motion of the position angle (error may result from any of the joints exceeding its maximum speed. If the motion of the position angle (error may result from any of the joints exceeding its maximum speed. If the motion of the position angle (6-axis 6-axis 6-axis 6-axis typetypetypetype:A,B,C angle, :A,B,C angle, :A,B,C angle, :A,B,C angle, 5-axis type5-axis type5-axis type5-axis type:A,B angle) is greater than the motion of the distance (X, Y, Z), the robot moves in :A,B angle) is greater than the motion of the distance (X, Y, Z), the robot moves in :A,B angle) is greater than the motion of the distance (X, Y, Z), the robot moves in :A,B angle) is greater than the motion of the distance (X, Y, Z), the robot moves in reference to the position angular speed.reference to the position angular speed.reference to the position angular speed.reference to the position angular speed.The SD command allows the speed to be defined in smaller increments.The SD command allows the speed to be defined in smaller increments.The SD command allows the speed to be defined in smaller increments.The SD command allows the speed to be defined in smaller increments.

(6) CNT is invalid as the default setting.(6) CNT is invalid as the default setting.(6) CNT is invalid as the default setting.(6) CNT is invalid as the default setting.(7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or (7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or (7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or (7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or

SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a starting and at a stopping point as well as when a timer or a input command is executed during the path motion.starting and at a stopping point as well as when a timer or a input command is executed during the path motion.starting and at a stopping point as well as when a timer or a input command is executed during the path motion.starting and at a stopping point as well as when a timer or a input command is executed during the path motion.

(8) The speed and acceleration/deceleration set once is valid until set again. If H/L is omitted, the previous setting (8) The speed and acceleration/deceleration set once is valid until set again. If H/L is omitted, the previous setting (8) The speed and acceleration/deceleration set once is valid until set again. If H/L is omitted, the previous setting (8) The speed and acceleration/deceleration set once is valid until set again. If H/L is omitted, the previous setting value will continue be vaild. (If the SD command is executed, that setting value will be valid.)value will continue be vaild. (If the SD command is executed, that setting value will be valid.)value will continue be vaild. (If the SD command is executed, that setting value will be valid.)value will continue be vaild. (If the SD command is executed, that setting value will be valid.)

(9) The setting returns to the default value when the ED command is executed or the program is reset.(9) The setting returns to the default value when the ED command is executed or the program is reset.(9) The setting returns to the default value when the ED command is executed or the program is reset.(9) The setting returns to the default value when the ED command is executed or the program is reset.

SP　 <speed level> [, SP　 <speed level> [, SP　 <speed level> [, SP　 <speed level> [, [[[[<H/L><H/L><H/L><H/L>]]]] [, <CNT setting>]] [, <CNT setting>]] [, <CNT setting>]] [, <CNT setting>]]

2222----78 78 78 78 SP (Speed)SP (Speed)SP (Speed)SP (Speed)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

The relation between the speed level and the moving speed.The relation between the speed level and the moving speed.The relation between the speed level and the moving speed.The relation between the speed level and the moving speed.

Notice.) The linear speed is the rate for the maximum linear speed X joint interpolation movement. The speed during Notice.) The linear speed is the rate for the maximum linear speed X joint interpolation movement. The speed during Notice.) The linear speed is the rate for the maximum linear speed X joint interpolation movement. The speed during Notice.) The linear speed is the rate for the maximum linear speed X joint interpolation movement. The speed during linear interpolation movement is the posture angle reference when the posture angle (A, B, C rotation for RV-linear interpolation movement is the posture angle reference when the posture angle (A, B, C rotation for RV-linear interpolation movement is the posture angle reference when the posture angle (A, B, C rotation for RV-linear interpolation movement is the posture angle reference when the posture angle (A, B, C rotation for RV-1A) movement range =B3 distance (X, Y, Z) movement amount.( The angular speed in degree/second is 1A) movement range =B3 distance (X, Y, Z) movement amount.( The angular speed in degree/second is 1A) movement range =B3 distance (X, Y, Z) movement amount.( The angular speed in degree/second is 1A) movement range =B3 distance (X, Y, Z) movement amount.( The angular speed in degree/second is equivalent to the distance speed in mm/second divided by the value 2.12.)equivalent to the distance speed in mm/second divided by the value 2.12.)equivalent to the distance speed in mm/second divided by the value 2.12.)equivalent to the distance speed in mm/second divided by the value 2.12.)

CNT is invaild in the default state. If the motion speed, acceleration or deceleration is CNT is invaild in the default state. If the motion speed, acceleration or deceleration is CNT is invaild in the default state. If the motion speed, acceleration or deceleration is CNT is invaild in the default state. If the motion speed, acceleration or deceleration is changed in validate CNT state, the robot motion locus will change, so take care to changed in validate CNT state, the robot motion locus will change, so take care to changed in validate CNT state, the robot motion locus will change, so take care to changed in validate CNT state, the robot motion locus will change, so take care to prevent collisions with the peripheral devices. If the robot might collide with the prevent collisions with the peripheral devices. If the robot might collide with the prevent collisions with the peripheral devices. If the robot might collide with the prevent collisions with the peripheral devices. If the robot might collide with the peripheral devices, invalidate CNT or shorten the acceleration/deceleration time.peripheral devices, invalidate CNT or shorten the acceleration/deceleration time.peripheral devices, invalidate CNT or shorten the acceleration/deceleration time.peripheral devices, invalidate CNT or shorten the acceleration/deceleration time.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 SP　 810 SP　 810 SP　 810 SP　 8 ; Sets the moving speed to 8.; Sets the moving speed to 8.; Sets the moving speed to 8.; Sets the moving speed to 8.20 MO　 520 MO　 520 MO　 520 MO　 5 ; Moves to position 5 by joint interpolation.; Moves to position 5 by joint interpolation.; Moves to position 5 by joint interpolation.; Moves to position 5 by joint interpolation.30 SP　1030 SP　1030 SP　1030 SP　10 ; Sets the moving speed to 10.; Sets the moving speed to 10.; Sets the moving speed to 10.; Sets the moving speed to 10.40 MS　 740 MS　 740 MS　 740 MS　 7 ; Moves to position 7 by linear interpolation.; Moves to position 7 by linear interpolation.; Moves to position 7 by linear interpolation.; Moves to position 7 by linear interpolation.50 ED50 ED50 ED50 ED ; Ends program.; Ends program.; Ends program.; Ends program.

SPSPSPSPJoint interpolationJoint interpolationJoint interpolationJoint interpolation

(％)(％)(％)(％)SPSPSPSP

Joint interpolationJoint interpolationJoint interpolationJoint interpolation

(％)(％)(％)(％)

0000 0.10.10.10.1 16161616 19.019.019.019.0

1111 0.40.40.40.4 17171717 22.222.222.222.2

2222 0.60.60.60.6 18181818 25.925.925.925.9

3333 0.80.80.80.8 19191919 29.829.829.829.8

4444 1.11.11.11.1 20202020 34.234.234.234.2

5555 1.51.51.51.5 21212121 40.740.740.740.7

6666 2.02.02.02.0 22222222 47.347.347.347.3

7777 2.72.72.72.7 23232323 53.953.953.953.9

8888 3.73.73.73.7 24242424 60.560.560.560.5

9999 4.94.94.94.9 25252525 67.167.167.167.1

10101010 6.56.56.56.5 26262626 73.773.773.773.7

11111111 8.28.28.28.2 27272727 80.280.280.280.2

12121212 9.79.79.79.7 28282828 86.886.886.886.8

13131313 11.611.611.611.6 29292929 93.493.493.493.4

14141414 13.713.713.713.7 30303030 100.0100.0100.0100.0

15151515 16.216.216.216.2

100 100 100 100

50 50 50 50

0000

Join

t s peed（

Join

t s peed（

Join

t s peed（

Join

t s peed（％％ ％％

）） ））

Speed levelSpeed levelSpeed levelSpeed level

10101010 20202020 30303030

CAUTION CAUTION CAUTION CAUTION

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

STR * (Step Read)STR * (Step Read)STR * (Step Read)STR * (Step Read) 2222-79-79-79-79

STR * (Step Read)STR * (Step Read)STR * (Step Read)STR * (Step Read)

【 Function 】【 Function 】【 Function 】【 Function 】Reads the contents of the specified step number, or the stopping step　 number. (Using RS-232C )Reads the contents of the specified step number, or the stopping step　 number. (Using RS-232C )Reads the contents of the specified step number, or the stopping step　 number. (Using RS-232C )Reads the contents of the specified step number, or the stopping step　 number. (Using RS-232C )

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Step number> <Step number> <Step number> <Step number> Specify the step number reading.Specify the step number reading.Specify the step number reading.Specify the step number reading.

0 ≦ line number ≦ 327670 ≦ line number ≦ 327670 ≦ line number ≦ 327670 ≦ line number ≦ 32767

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Outputs the contents of the specified step number, or the stopping step number through the RS-232C port.(1) Outputs the contents of the specified step number, or the stopping step number through the RS-232C port.(1) Outputs the contents of the specified step number, or the stopping step number through the RS-232C port.(1) Outputs the contents of the specified step number, or the stopping step number through the RS-232C port.(2) The output format is the line No. and program contents, and all are output with ASCII codes.(2) The output format is the line No. and program contents, and all are output with ASCII codes.(2) The output format is the line No. and program contents, and all are output with ASCII codes.(2) The output format is the line No. and program contents, and all are output with ASCII codes.(3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings

up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to this in BASIC. this in BASIC. this in BASIC. this in BASIC.

(4) If you specify the undefined step number, the hexadecimal 0D is returned over.(4) If you specify the undefined step number, the hexadecimal 0D is returned over.(4) If you specify the undefined step number, the hexadecimal 0D is returned over.(4) If you specify the undefined step number, the hexadecimal 0D is returned over.(5) If the step number is not specified or zero is specified, the current stopping line number is read.(5) If the step number is not specified or zero is specified, the current stopping line number is read.(5) If the step number is not specified or zero is specified, the current stopping line number is read.(5) If the step number is not specified or zero is specified, the current stopping line number is read.(6) In the above case, the command STR allows you to confirm the step number by a personal computer when error (6) In the above case, the command STR allows you to confirm the step number by a personal computer when error (6) In the above case, the command STR allows you to confirm the step number by a personal computer when error (6) In the above case, the command STR allows you to confirm the step number by a personal computer when error

occursoccursoccursoccurs

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.20 INPUT "Reading step is " : J $20 INPUT "Reading step is " : J $20 INPUT "Reading step is " : J $20 INPUT "Reading step is " : J $ ; Enters the step number that you want to read.; Enters the step number that you want to read.; Enters the step number that you want to read.; Enters the step number that you want to read.30 PRINT #1,” STR” +J$30 PRINT #1,” STR” +J$30 PRINT #1,” STR” +J$30 PRINT #1,” STR” +J$ ; Transmits "STR" + "step number" to the controller.; Transmits "STR" + "step number" to the controller.; Transmits "STR" + "step number" to the controller.; Transmits "STR" + "step number" to the controller.40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$ ; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.50 PRINT A$50 PRINT A$50 PRINT A$50 PRINT A$ ; Displays the data on the screen.; Displays the data on the screen.; Displays the data on the screen.; Displays the data on the screen.60 ED60 ED60 ED60 ED ; Ends program.; Ends program.; Ends program.; Ends program.

RUNRUNRUNRUN ; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.; Run the BASIC program.Reading step is ? 2Reading step is ? 2Reading step is ? 2Reading step is ? 2 ; Enters the step number.; Enters the step number.; Enters the step number.; Enters the step number.10 10 10 10 MO 1MO 1MO 1MO 1 ; Outputs the contents of the step.; Outputs the contents of the step.; Outputs the contents of the step.; Outputs the contents of the step.

STR　 [<step number>]STR　 [<step number>]STR　 [<step number>]STR　 [<step number>]

2222----80 80 80 80 SUBSUBSUBSUB

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

SUBSUBSUBSUB

【 Function 】【 Function 】【 Function 】【 Function 】Multiples the internal register value and operation value, and stores the result in the internal register.Multiples the internal register value and operation value, and stores the result in the internal register.Multiples the internal register value and operation value, and stores the result in the internal register.Multiples the internal register value and operation value, and stores the result in the internal register.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Operation data><Operation data><Operation data><Operation data> Describes the data to be operated as a numeric value or counter No. with @.Describes the data to be operated as a numeric value or counter No. with @.Describes the data to be operated as a numeric value or counter No. with @.Describes the data to be operated as a numeric value or counter No. with @.

-32768 ≦ numeric value (decimal) ≦ 32767-32768 ≦ numeric value (decimal) ≦ 32767-32768 ≦ numeric value (decimal) ≦ 32767-32768 ≦ numeric value (decimal) ≦ 32767 &8000 ≦ numeric value (hexadecimal) ≦ &7FFF &8000 ≦ numeric value (hexadecimal) ≦ &7FFF &8000 ≦ numeric value (hexadecimal) ≦ &7FFF &8000 ≦ numeric value (hexadecimal) ≦ &7FFF @1 ≦ counter No. ≦ @99 @1 ≦ counter No. ≦ @99 @1 ≦ counter No. ≦ @99 @1 ≦ counter No. ≦ @99

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Designate the operation data setting as a numeric value or counter No.(1) Designate the operation data setting as a numeric value or counter No.(1) Designate the operation data setting as a numeric value or counter No.(1) Designate the operation data setting as a numeric value or counter No.

When designating with a numeric value, use a decimal or hexadecimal value, When using a hexadecimal, add a "&" When designating with a numeric value, use a decimal or hexadecimal value, When using a hexadecimal, add a "&" When designating with a numeric value, use a decimal or hexadecimal value, When using a hexadecimal, add a "&" When designating with a numeric value, use a decimal or hexadecimal value, When using a hexadecimal, add a "&" to the head of the operation data.to the head of the operation data.to the head of the operation data.to the head of the operation data.When seting with a counter No. add a "@" to the head of the counter No.When seting with a counter No. add a "@" to the head of the counter No.When seting with a counter No. add a "@" to the head of the counter No.When seting with a counter No. add a "@" to the head of the counter No.The contents of the set counter No. will be used as the operation data.The contents of the set counter No. will be used as the operation data.The contents of the set counter No. will be used as the operation data.The contents of the set counter No. will be used as the operation data.

(2) The operation results are stored in the internal register, so operation, comparsion and reading, etc., of the (2) The operation results are stored in the internal register, so operation, comparsion and reading, etc., of the (2) The operation results are stored in the internal register, so operation, comparsion and reading, etc., of the (2) The operation results are stored in the internal register, so operation, comparsion and reading, etc., of the operation results can be carried out with the related commands.operation results can be carried out with the related commands.operation results can be carried out with the related commands.operation results can be carried out with the related commands.(Refer to ADD,MUL,DIV,EQ,NE,LG,SM,CL,DR,AN,OR,XO commands)(Refer to ADD,MUL,DIV,EQ,NE,LG,SM,CL,DR,AN,OR,XO commands)(Refer to ADD,MUL,DIV,EQ,NE,LG,SM,CL,DR,AN,OR,XO commands)(Refer to ADD,MUL,DIV,EQ,NE,LG,SM,CL,DR,AN,OR,XO commands)

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 CP 110 CP 110 CP 110 CP 1 ; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register20 SUB @220 SUB @220 SUB @220 SUB @2 ; Subtracts counter No.2 value from internal register value; Subtracts counter No.2 value from internal register value; Subtracts counter No.2 value from internal register value; Subtracts counter No.2 value from internal register value30 CL 330 CL 330 CL 330 CL 3 ; Sets internal register value in counter No.3; Sets internal register value in counter No.3; Sets internal register value in counter No.3; Sets internal register value in counter No.3

(Counter No.3 = counter No.1 = counter No.2) (Counter No.3 = counter No.1 = counter No.2) (Counter No.3 = counter No.1 = counter No.2) (Counter No.3 = counter No.1 = counter No.2)40 CP 140 CP 140 CP 140 CP 1 ; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register; Stores counter No.1 value in internal register50 SUB 1550 SUB 1550 SUB 1550 SUB 15 ; Subtracts 15 from internal register value; Subtracts 15 from internal register value; Subtracts 15 from internal register value; Subtracts 15 from internal register value60 CL 460 CL 460 CL 460 CL 4 ; Sets internal register value in counter No.4; Sets internal register value in counter No.4; Sets internal register value in counter No.4; Sets internal register value in counter No.4

(Counter No.4 = counter No.1 - 5) (Counter No.4 = counter No.1 - 5) (Counter No.4 = counter No.1 - 5) (Counter No.4 = counter No.1 - 5)

SUB　 <operation data>SUB　 <operation data>SUB　 <operation data>SUB　 <operation data>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

TB (Test Bit)TB (Test Bit)TB (Test Bit)TB (Test Bit) 2222-81-81-81-81

TB (Test Bit)TB (Test Bit)TB (Test Bit)TB (Test Bit)

【 Function 】【 Function 】【 Function 】【 Function 】Causes a jump to occur in accordance with the specified bit value in the internal register.Causes a jump to occur in accordance with the specified bit value in the internal register.Causes a jump to occur in accordance with the specified bit value in the internal register.Causes a jump to occur in accordance with the specified bit value in the internal register.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<+/-><+/-><+/-><+/-> Set the condition that compares bit.Set the condition that compares bit.Set the condition that compares bit.Set the condition that compares bit.

+: The bit is ON.+: The bit is ON.+: The bit is ON.+: The bit is ON. (Default) (Default) (Default) (Default)-: The bit is OFF.-: The bit is OFF.-: The bit is OFF.-: The bit is OFF.

<Bit number><Bit number><Bit number><Bit number> Specify the bit number of the internal register.Specify the bit number of the internal register.Specify the bit number of the internal register.Specify the bit number of the internal register.0 ≦ bit number ≦ 150 ≦ bit number ≦ 150 ≦ bit number ≦ 150 ≦ bit number ≦ 15

<Branching line number> <Branching line number> <Branching line number> <Branching line number> Specify the line number to which the program jump. Specify the line number to which the program jump. Specify the line number to which the program jump. Specify the line number to which the program jump. 1 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 32767

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(1) Causes a jump to occur conditionally in accordance with the external input data or the internal counter value.(2) The program jumps to the specified line number if the specified bit in the internal register is on or off (i.e., when (2) The program jumps to the specified line number if the specified bit in the internal register is on or off (i.e., when (2) The program jumps to the specified line number if the specified bit in the internal register is on or off (i.e., when (2) The program jumps to the specified line number if the specified bit in the internal register is on or off (i.e., when

the condition is met). Otherwise (i.e., when the condition is not met), the program continues in sequence.the condition is met). Otherwise (i.e., when the condition is not met), the program continues in sequence.the condition is met). Otherwise (i.e., when the condition is not met), the program continues in sequence.the condition is met). Otherwise (i.e., when the condition is not met), the program continues in sequence.(3) A value can be loaded into the internal register by executing the input command (see ID) for the external input (3) A value can be loaded into the internal register by executing the input command (see ID) for the external input (3) A value can be loaded into the internal register by executing the input command (see ID) for the external input (3) A value can be loaded into the internal register by executing the input command (see ID) for the external input

data or by executing the compare counter command (see CP) for the counter data. It is therefore necessary to data or by executing the compare counter command (see CP) for the counter data. It is therefore necessary to data or by executing the compare counter command (see CP) for the counter data. It is therefore necessary to data or by executing the compare counter command (see CP) for the counter data. It is therefore necessary to execute either of the above commands beforehand so that a conditional jump can occur.execute either of the above commands beforehand so that a conditional jump can occur.execute either of the above commands beforehand so that a conditional jump can occur.execute either of the above commands beforehand so that a conditional jump can occur.

(4) Error occurs at a jump if the specified line number is not predefined (4) Error occurs at a jump if the specified line number is not predefined (4) Error occurs at a jump if the specified line number is not predefined (4) Error occurs at a jump if the specified line number is not predefined

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 ID10 ID10 ID10 ID ; Fetches data from the external input port.; Fetches data from the external input port.; Fetches data from the external input port.; Fetches data from the external input port.20 TB +1,10020 TB +1,10020 TB +1,10020 TB +1,100 ; If the bit number 1 of input data is ON, then jumps to line number 100.; If the bit number 1 of input data is ON, then jumps to line number 100.; If the bit number 1 of input data is ON, then jumps to line number 100.; If the bit number 1 of input data is ON, then jumps to line number 100.30 MS 130 MS 130 MS 130 MS 1 ; Moves to position 1 by linear interpolation.; Moves to position 1 by linear interpolation.; Moves to position 1 by linear interpolation.; Moves to position 1 by linear interpolation.40 ED40 ED40 ED40 ED ; Ends program.; Ends program.; Ends program.; Ends program. : : : :100 MO 10100 MO 10100 MO 10100 MO 10 ; Moves to position 10.; Moves to position 10.; Moves to position 10.; Moves to position 10.

TB　 [<+/->] <bit number>, <branching line number>TB　 [<+/->] <bit number>, <branching line number>TB　 [<+/->] <bit number>, <branching line number>TB　 [<+/->] <bit number>, <branching line number>

2222----82 82 82 82 TBD (Test Bit Dirct)TBD (Test Bit Dirct)TBD (Test Bit Dirct)TBD (Test Bit Dirct)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

TBD (Test Bit Dirct)TBD (Test Bit Dirct)TBD (Test Bit Dirct)TBD (Test Bit Dirct)

【 Function 】【 Function 】【 Function 】【 Function 】Causes a jump to occur in accordance with the specified bit value in the external input.Causes a jump to occur in accordance with the specified bit value in the external input.Causes a jump to occur in accordance with the specified bit value in the external input.Causes a jump to occur in accordance with the specified bit value in the external input.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<+/-><+/-><+/-><+/-> Set the condition that compares bit.Set the condition that compares bit.Set the condition that compares bit.Set the condition that compares bit.

+: The bit is ON+: The bit is ON+: The bit is ON+: The bit is ON (Default) (Default) (Default) (Default)-: The bit is OFF-: The bit is OFF-: The bit is OFF-: The bit is OFF

<Input bit number><Input bit number><Input bit number><Input bit number> Specify the bit number of general input.Specify the bit number of general input.Specify the bit number of general input.Specify the bit number of general input.0 ≦ input bit number ≦ 327670 ≦ input bit number ≦ 327670 ≦ input bit number ≦ 327670 ≦ input bit number ≦ 32767

<Branching line number><Branching line number><Branching line number><Branching line number> Specify the line number to which the program jumps.Specify the line number to which the program jumps.Specify the line number to which the program jumps.Specify the line number to which the program jumps.1 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 327671 ≦ branching line number ≦ 32767

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Causes a jump to occur conditionally in accordance with the external input data directly.(1) Causes a jump to occur conditionally in accordance with the external input data directly.(1) Causes a jump to occur conditionally in accordance with the external input data directly.(1) Causes a jump to occur conditionally in accordance with the external input data directly.(2) The program jumps to the specified line number if the specified bit in the external input is on or off (i.e., when the (2) The program jumps to the specified line number if the specified bit in the external input is on or off (i.e., when the (2) The program jumps to the specified line number if the specified bit in the external input is on or off (i.e., when the (2) The program jumps to the specified line number if the specified bit in the external input is on or off (i.e., when the

condition is met). Otherwise (i.e., when the condition is not met), the program continues in sequence condition is met). Otherwise (i.e., when the condition is not met), the program continues in sequence condition is met). Otherwise (i.e., when the condition is not met), the program continues in sequence condition is met). Otherwise (i.e., when the condition is not met), the program continues in sequence (3) It is not necessary to execute the input command (ID) beforehand, and the internal register remains intact after (3) It is not necessary to execute the input command (ID) beforehand, and the internal register remains intact after (3) It is not necessary to execute the input command (ID) beforehand, and the internal register remains intact after (3) It is not necessary to execute the input command (ID) beforehand, and the internal register remains intact after

the execution of TBD command.the execution of TBD command.the execution of TBD command.the execution of TBD command.(4) Error occurs if the specified line number is not predefined.(4) Error occurs if the specified line number is not predefined.(4) Error occurs if the specified line number is not predefined.(4) Error occurs if the specified line number is not predefined.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 TBD +19,10010 TBD +19,10010 TBD +19,10010 TBD +19,100 ; If the bit 19 of the external input is ON, then jumps to line number 100.; If the bit 19 of the external input is ON, then jumps to line number 100.; If the bit 19 of the external input is ON, then jumps to line number 100.; If the bit 19 of the external input is ON, then jumps to line number 100.20 MS 120 MS 120 MS 120 MS 1 ; Moves to position 1 by linear interpolation.; Moves to position 1 by linear interpolation.; Moves to position 1 by linear interpolation.; Moves to position 1 by linear interpolation.30 ED30 ED30 ED30 ED ; Ends program.; Ends program.; Ends program.; Ends program. : : : :100 MO 10100 MO 10100 MO 10100 MO 10 ; Moves to position 10.; Moves to position 10.; Moves to position 10.; Moves to position 10.

TI (Timer)TI (Timer)TI (Timer)TI (Timer)

【 Function 】【 Function 】【 Function 】【 Function 】Halts the motion for the specified length of time.Halts the motion for the specified length of time.Halts the motion for the specified length of time.Halts the motion for the specified length of time.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Timer counter><Timer counter><Timer counter><Timer counter> Set the period of timer.Set the period of timer.Set the period of timer.Set the period of timer.

0 ≦ timer counter ≦ 32767(0.1 sec)0 ≦ timer counter ≦ 32767(0.1 sec)0 ≦ timer counter ≦ 32767(0.1 sec)0 ≦ timer counter ≦ 32767(0.1 sec)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Causes the robot to halt its motion for the specified counter value (1) Causes the robot to halt its motion for the specified counter value (1) Causes the robot to halt its motion for the specified counter value (1) Causes the robot to halt its motion for the specified counter value xxxx 0.1 second. (Max. 3276.7 seconds) 0.1 second. (Max. 3276.7 seconds) 0.1 second. (Max. 3276.7 seconds) 0.1 second. (Max. 3276.7 seconds)(2) Used to introduce a time delay before and after the hand is opened or closed for gripping a workpiece.(2) Used to introduce a time delay before and after the hand is opened or closed for gripping a workpiece.(2) Used to introduce a time delay before and after the hand is opened or closed for gripping a workpiece.(2) Used to introduce a time delay before and after the hand is opened or closed for gripping a workpiece.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 MO 1,O10 MO 1,O10 MO 1,O10 MO 1,O ; Moves to position 1.; Moves to position 1.; Moves to position 1.; Moves to position 1.20 TI 520 TI 520 TI 520 TI 5 ; Wait for 0.5 second.; Wait for 0.5 second.; Wait for 0.5 second.; Wait for 0.5 second.30 GC30 GC30 GC30 GC ; Closes hand.; Closes hand.; Closes hand.; Closes hand.40 TI 1040 TI 1040 TI 1040 TI 10 ; Wait for 1.0 second.; Wait for 1.0 second.; Wait for 1.0 second.; Wait for 1.0 second.50 MO 250 MO 250 MO 250 MO 2 ; Moves to position 2.; Moves to position 2.; Moves to position 2.; Moves to position 2.60 ED60 ED60 ED60 ED ; Ends program.; Ends program.; Ends program.; Ends program.

TBD 　 [<+/->] <input bit number>, <branching line number>TBD 　 [<+/->] <input bit number>, <branching line number>TBD 　 [<+/->] <input bit number>, <branching line number>TBD 　 [<+/->] <input bit number>, <branching line number>

TI　 <timer counter>TI　 <timer counter>TI　 <timer counter>TI　 <timer counter>

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

TL (Tool)TL (Tool)TL (Tool)TL (Tool) 2222-83-83-83-83

TL (Tool)TL (Tool)TL (Tool)TL (Tool)

【 Function 】【 Function 】【 Function 】【 Function 】Establishes the distance between the hand mounting surface and the tip of hand.Establishes the distance between the hand mounting surface and the tip of hand.Establishes the distance between the hand mounting surface and the tip of hand.Establishes the distance between the hand mounting surface and the tip of hand.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Tool length><Tool length><Tool length><Tool length> Set the distance from the hand mounting surface to the tip of hand.Set the distance from the hand mounting surface to the tip of hand.Set the distance from the hand mounting surface to the tip of hand.Set the distance from the hand mounting surface to the tip of hand.

0 ≦ tool length ≦ 300.00 (mm) (0 for default)0 ≦ tool length ≦ 300.00 (mm) (0 for default)0 ≦ tool length ≦ 300.00 (mm) (0 for default)0 ≦ tool length ≦ 300.00 (mm) (0 for default)

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The least input increment of the tool length is 0.01 mm (e.g., specify 200.05 for 200.05 mm).(1) The least input increment of the tool length is 0.01 mm (e.g., specify 200.05 for 200.05 mm).(1) The least input increment of the tool length is 0.01 mm (e.g., specify 200.05 for 200.05 mm).(1) The least input increment of the tool length is 0.01 mm (e.g., specify 200.05 for 200.05 mm).

The default value is 0mm.The default value is 0mm.The default value is 0mm.The default value is 0mm.(2) Once established, the tool length remains valid until a new value is set (battery backed when the power is (2) Once established, the tool length remains valid until a new value is set (battery backed when the power is (2) Once established, the tool length remains valid until a new value is set (battery backed when the power is (2) Once established, the tool length remains valid until a new value is set (battery backed when the power is

switched off). When the tool length has been changed, the current position is also changed accordingly, which, switched off). When the tool length has been changed, the current position is also changed accordingly, which, switched off). When the tool length has been changed, the current position is also changed accordingly, which, switched off). When the tool length has been changed, the current position is also changed accordingly, which, however, does not involve any robotic motion. (Initial tool length is 123 mm.)however, does not involve any robotic motion. (Initial tool length is 123 mm.)however, does not involve any robotic motion. (Initial tool length is 123 mm.)however, does not involve any robotic motion. (Initial tool length is 123 mm.)

(3) Since the point defined by the TL command is the basis for calculation of the current position, XYZ jogging and (3) Since the point defined by the TL command is the basis for calculation of the current position, XYZ jogging and (3) Since the point defined by the TL command is the basis for calculation of the current position, XYZ jogging and (3) Since the point defined by the TL command is the basis for calculation of the current position, XYZ jogging and commands involving the XYZ coordinates system, the accurate tool length must be established according to the commands involving the XYZ coordinates system, the accurate tool length must be established according to the commands involving the XYZ coordinates system, the accurate tool length must be established according to the commands involving the XYZ coordinates system, the accurate tool length must be established according to the tool being used.tool being used.tool being used.tool being used.

(4) Whenever a program is to be run, the same tool length as that established during teaching must be set at the (4) Whenever a program is to be run, the same tool length as that established during teaching must be set at the (4) Whenever a program is to be run, the same tool length as that established during teaching must be set at the (4) Whenever a program is to be run, the same tool length as that established during teaching must be set at the beginning of the program.beginning of the program.beginning of the program.beginning of the program.

(5) The current value can be read from the RS-232C by executing the WT command.(5) The current value can be read from the RS-232C by executing the WT command.(5) The current value can be read from the RS-232C by executing the WT command.(5) The current value can be read from the RS-232C by executing the WT command.

When changing the tool length, accurately input the value so that the setting value is When changing the tool length, accurately input the value so that the setting value is When changing the tool length, accurately input the value so that the setting value is When changing the tool length, accurately input the value so that the setting value is not mistaken.not mistaken.not mistaken.not mistaken.

If the original teaching point is moved to afer changing the tool length, the robot If the original teaching point is moved to afer changing the tool length, the robot If the original teaching point is moved to afer changing the tool length, the robot If the original teaching point is moved to afer changing the tool length, the robot movement posture will change. Take special care to prevent interference with the movement posture will change. Take special care to prevent interference with the movement posture will change. Take special care to prevent interference with the movement posture will change. Take special care to prevent interference with the periphery.periphery.periphery.periphery.

Even if the tool length is input accurately, the required precision may not be achieved Even if the tool length is input accurately, the required precision may not be achieved Even if the tool length is input accurately, the required precision may not be achieved Even if the tool length is input accurately, the required precision may not be achieved due to the actual dimension precision and the installation posture precision, etc.,.due to the actual dimension precision and the installation posture precision, etc.,.due to the actual dimension precision and the installation posture precision, etc.,.due to the actual dimension precision and the installation posture precision, etc.,.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 TL 12010 TL 12010 TL 12010 TL 120 ; Sets the tool length to 120 mm.; Sets the tool length to 120 mm.; Sets the tool length to 120 mm.; Sets the tool length to 120 mm.20 HE 120 HE 120 HE 120 HE 1 ; Define the current position to position 1.; Define the current position to position 1.; Define the current position to position 1.; Define the current position to position 1.30 TL 10030 TL 10030 TL 10030 TL 100 ; Changes the tool length to 100 mm.; Changes the tool length to 100 mm.; Changes the tool length to 100 mm.; Changes the tool length to 100 mm.40 MO 140 MO 140 MO 140 MO 1 ; Moves to position 1 advancing 20 mm in the tool direction.; Moves to position 1 advancing 20 mm in the tool direction.; Moves to position 1 advancing 20 mm in the tool direction.; Moves to position 1 advancing 20 mm in the tool direction.50 ED50 ED50 ED50 ED ; Ends program.; Ends program.; Ends program.; Ends program.

Ｔ Ｌ 　 [<tool length>]Ｔ Ｌ 　 [<tool length>]Ｔ Ｌ 　 [<tool length>]Ｔ Ｌ 　 [<tool length>]

CAUTION CAUTION CAUTION CAUTION

CAUTION CAUTION CAUTION CAUTION

CAUTION CAUTION CAUTION CAUTION

2222----84 84 84 84 TLM (Tool Matrix)TLM (Tool Matrix)TLM (Tool Matrix)TLM (Tool Matrix)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

TLM (Tool Matrix)TLM (Tool Matrix)TLM (Tool Matrix)TLM (Tool Matrix)

【 Function 】【 Function 】【 Function 】【 Function 】The tool conversion is carried out.The tool conversion is carried out.The tool conversion is carried out.The tool conversion is carried out.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<tool length X><tool length X><tool length X><tool length X> Describe the X axis direction tool length at the tool coordinate system. Unit : mmDescribe the X axis direction tool length at the tool coordinate system. Unit : mmDescribe the X axis direction tool length at the tool coordinate system. Unit : mmDescribe the X axis direction tool length at the tool coordinate system. Unit : mm<tool length Y><tool length Y><tool length Y><tool length Y> Describe the Y axis direction tool length at the tool coordinate system. Unit : mmDescribe the Y axis direction tool length at the tool coordinate system. Unit : mmDescribe the Y axis direction tool length at the tool coordinate system. Unit : mmDescribe the Y axis direction tool length at the tool coordinate system. Unit : mm<tool length Z><tool length Z><tool length Z><tool length Z> Describe the Z axis direction tool length at the tool coordinate system. Unit : mmDescribe the Z axis direction tool length at the tool coordinate system. Unit : mmDescribe the Z axis direction tool length at the tool coordinate system. Unit : mmDescribe the Z axis direction tool length at the tool coordinate system. Unit : mm<A rotation><A rotation><A rotation><A rotation> Describe the X axis rotation angle at the tool coordinate system. Unit : degreesDescribe the X axis rotation angle at the tool coordinate system. Unit : degreesDescribe the X axis rotation angle at the tool coordinate system. Unit : degreesDescribe the X axis rotation angle at the tool coordinate system. Unit : degrees<B rotation><B rotation><B rotation><B rotation> Describe the Y axis rotation angle at the tool coordinate system. Unit : degreesDescribe the Y axis rotation angle at the tool coordinate system. Unit : degreesDescribe the Y axis rotation angle at the tool coordinate system. Unit : degreesDescribe the Y axis rotation angle at the tool coordinate system. Unit : degrees<C rotation><C rotation><C rotation><C rotation> Describe the Z axis rotation angle at the tool coordinate system. Unit : degreesDescribe the Z axis rotation angle at the tool coordinate system. Unit : degreesDescribe the Z axis rotation angle at the tool coordinate system. Unit : degreesDescribe the Z axis rotation angle at the tool coordinate system. Unit : degrees

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) The minimum setting unit for the tool length is either 0.01mm or 0.01 degrees.(1) The minimum setting unit for the tool length is either 0.01mm or 0.01 degrees.(1) The minimum setting unit for the tool length is either 0.01mm or 0.01 degrees.(1) The minimum setting unit for the tool length is either 0.01mm or 0.01 degrees.(2) The set tool length will keep the previous until reset. This value is also held by the battery when the power is (2) The set tool length will keep the previous until reset. This value is also held by the battery when the power is (2) The set tool length will keep the previous until reset. This value is also held by the battery when the power is (2) The set tool length will keep the previous until reset. This value is also held by the battery when the power is

turned OFF.turned OFF.turned OFF.turned OFF.(3) When the tool length is changed, the current position will change accordingly. However, the robot will not operate (3) When the tool length is changed, the current position will change accordingly. However, the robot will not operate (3) When the tool length is changed, the current position will change accordingly. However, the robot will not operate (3) When the tool length is changed, the current position will change accordingly. However, the robot will not operate

according to this.according to this.according to this.according to this.(4) The point on the tool coordinate system operation command will be the control target for the position data (4) The point on the tool coordinate system operation command will be the control target for the position data (4) The point on the tool coordinate system operation command will be the control target for the position data (4) The point on the tool coordinate system operation command will be the control target for the position data

operation, cartesian system operation command and orthogonal jog operation.operation, cartesian system operation command and orthogonal jog operation.operation, cartesian system operation command and orthogonal jog operation.operation, cartesian system operation command and orthogonal jog operation.Thus, set an accurate value that matches the tool (hand, etc.) being used.Thus, set an accurate value that matches the tool (hand, etc.) being used.Thus, set an accurate value that matches the tool (hand, etc.) being used.Thus, set an accurate value that matches the tool (hand, etc.) being used.

(5) The current setting value can be read from RS-232C by executing the WTM command.(5) The current setting value can be read from RS-232C by executing the WTM command.(5) The current setting value can be read from RS-232C by executing the WTM command.(5) The current setting value can be read from RS-232C by executing the WTM command.(6) Only Z coordinate is (6) Only Z coordinate is (6) Only Z coordinate is (6) Only Z coordinate is validvalidvalidvalid for 5-axis type. for 5-axis type. for 5-axis type. for 5-axis type.

When changing the tool length, accurately input the value so that the setting value is When changing the tool length, accurately input the value so that the setting value is When changing the tool length, accurately input the value so that the setting value is When changing the tool length, accurately input the value so that the setting value is not mistaken.not mistaken.not mistaken.not mistaken.

If the original teaching point is moved to afer changing the tool length, the robot If the original teaching point is moved to afer changing the tool length, the robot If the original teaching point is moved to afer changing the tool length, the robot If the original teaching point is moved to afer changing the tool length, the robot movement posture will change. Take special care to prevent interference with the movement posture will change. Take special care to prevent interference with the movement posture will change. Take special care to prevent interference with the movement posture will change. Take special care to prevent interference with the periphery.periphery.periphery.periphery.

Even if the tool length is input accurately, the required precision may not be achieved Even if the tool length is input accurately, the required precision may not be achieved Even if the tool length is input accurately, the required precision may not be achieved Even if the tool length is input accurately, the required precision may not be achieved due to the actual dimension precision and the installation posture precision, etc.,.due to the actual dimension precision and the installation posture precision, etc.,.due to the actual dimension precision and the installation posture precision, etc.,.due to the actual dimension precision and the installation posture precision, etc.,.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 TLM 0,0,100,0,0,010 TLM 0,0,100,0,0,010 TLM 0,0,100,0,0,010 TLM 0,0,100,0,0,0 ; Change tool length to Z = 1000mm; Change tool length to Z = 1000mm; Change tool length to Z = 1000mm; Change tool length to Z = 1000mm20 HE 120 HE 120 HE 120 HE 1 ; Register current position in position 1; Register current position in position 1; Register current position in position 1; Register current position in position 120 TLM -50,0,100,0,0,020 TLM -50,0,100,0,0,020 TLM -50,0,100,0,0,020 TLM -50,0,100,0,0,0 ; Change tool length to X = -500mm; Change tool length to X = -500mm; Change tool length to X = -500mm; Change tool length to X = -500mm30 MS 130 MS 130 MS 130 MS 1 ; Move to position1 (Move to a position +50mm away from the current position in the tool ; Move to position1 (Move to a position +50mm away from the current position in the tool ; Move to position1 (Move to a position +50mm away from the current position in the tool ; Move to position1 (Move to a position +50mm away from the current position in the tool

coordinate system's X axis direction.)coordinate system's X axis direction.)coordinate system's X axis direction.)coordinate system's X axis direction.)

Ｔ ＬＭ　［ X ] , [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ C ] ] ] ] ] ]Ｔ ＬＭ　［ X ] , [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ C ] ] ] ] ] ]Ｔ ＬＭ　［ X ] , [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ C ] ] ] ] ] ]Ｔ ＬＭ　［ X ] , [ [ Y ] [ , [ Z ] [ , [ A ] [ , [ B ] [ , [ C ] ] ] ] ] ]

CAUTION CAUTION CAUTION CAUTION

CAUTION CAUTION CAUTION CAUTION

CAUTION CAUTION CAUTION CAUTION

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

VR (Version Read)VR (Version Read)VR (Version Read)VR (Version Read) 2222-85-85-85-85

VR (Version Read)VR (Version Read)VR (Version Read)VR (Version Read)

【 Function 】【 Function 】【 Function 】【 Function 】Reads the software version of the system ROM. (Using RS-232C)Reads the software version of the system ROM. (Using RS-232C)Reads the software version of the system ROM. (Using RS-232C)Reads the software version of the system ROM. (Using RS-232C)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Outputs the software version of the system ROM mounted in the controller through the RS-232C port.(1) Outputs the software version of the system ROM mounted in the controller through the RS-232C port.(1) Outputs the software version of the system ROM mounted in the controller through the RS-232C port.(1) Outputs the software version of the system ROM mounted in the controller through the RS-232C port.(2) The output format is ASCII coded. (Example: "RV-2AJ Ver. D1")(2) The output format is ASCII coded. (Example: "RV-2AJ Ver. D1")(2) The output format is ASCII coded. (Example: "RV-2AJ Ver. D1")(2) The output format is ASCII coded. (Example: "RV-2AJ Ver. D1")

The denotation of the software version is the following.The denotation of the software version is the following.The denotation of the software version is the following.The denotation of the software version is the following.

(3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to this in BASIC. this in BASIC. this in BASIC. this in BASIC.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN” COM1:E83” AS #110 OPEN” COM1:E83” AS #110 OPEN” COM1:E83” AS #110 OPEN” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in

BASIC.BASIC.BASIC.BASIC.20 PRINT #1,” VR”20 PRINT #1,” VR”20 PRINT #1,” VR”20 PRINT #1,” VR” ; Transmits the VR command.; Transmits the VR command.; Transmits the VR command.; Transmits the VR command.30 LINE INPUT #1,A$30 LINE INPUT #1,A$30 LINE INPUT #1,A$30 LINE INPUT #1,A$ ; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.50 PRINT "Software version is " : A $;50 PRINT "Software version is " : A $;50 PRINT "Software version is " : A $;50 PRINT "Software version is " : A $; ; Displays the data on the screen.; Displays the data on the screen.; Displays the data on the screen.; Displays the data on the screen.60 ED60 ED60 ED60 ED ; Ends program.; Ends program.; Ends program.; Ends program.

RUNRUNRUNRUN ; Run the program.; Run the program.; Run the program.; Run the program.Software version is RV-2AJ Ver. D1Software version is RV-2AJ Ver. D1Software version is RV-2AJ Ver. D1Software version is RV-2AJ Ver. D1 ; Outputs the version name.; Outputs the version name.; Outputs the version name.; Outputs the version name.

VRVRVRVR

□□…□□□□…□□□□…□□□□…□□ □□…□□□□…□□□□…□□□□…□□

Version of software.Version of software.Version of software.Version of software.Type of robot arm.Type of robot arm.Type of robot arm.Type of robot arm.

2222----86 86 86 86 WH (Where)WH (Where)WH (Where)WH (Where)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

WH (Where)WH (Where)WH (Where)WH (Where)

【 Function 】【 Function 】【 Function 】【 Function 】Reads the coordinates of the current position and the open or close state of the hand. (Using RS-232C)Reads the coordinates of the current position and the open or close state of the hand. (Using RS-232C)Reads the coordinates of the current position and the open or close state of the hand. (Using RS-232C)Reads the coordinates of the current position and the open or close state of the hand. (Using RS-232C)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Causes the coordinates of the current position of the tip of hand, as determined by the tool length (see the TL, (1) Causes the coordinates of the current position of the tip of hand, as determined by the tool length (see the TL, (1) Causes the coordinates of the current position of the tip of hand, as determined by the tool length (see the TL, (1) Causes the coordinates of the current position of the tip of hand, as determined by the tool length (see the TL,

TLM command), and the hand open or close state to be output through the RS-232C port.TLM command), and the hand open or close state to be output through the RS-232C port.TLM command), and the hand open or close state to be output through the RS-232C port.TLM command), and the hand open or close state to be output through the RS-232C port.(2) The output format is ASCII coded as indicated below. The least output increment is 0.01 mm or 0.01 degree. (e.g., (2) The output format is ASCII coded as indicated below. The least output increment is 0.01 mm or 0.01 degree. (e.g., (2) The output format is ASCII coded as indicated below. The least output increment is 0.01 mm or 0.01 degree. (e.g., (2) The output format is ASCII coded as indicated below. The least output increment is 0.01 mm or 0.01 degree. (e.g.,

20.01 for 20.01 mm)20.01 for 20.01 mm)20.01 for 20.01 mm)20.01 for 20.01 mm)Output format:Output format:Output format:Output format:6-axis type6-axis type6-axis type6-axis type : X, Y, Z coordinate value, A, B, C turning angle, R/L, A/B, N/F, O/C (structural flag): X, Y, Z coordinate value, A, B, C turning angle, R/L, A/B, N/F, O/C (structural flag): X, Y, Z coordinate value, A, B, C turning angle, R/L, A/B, N/F, O/C (structural flag): X, Y, Z coordinate value, A, B, C turning angle, R/L, A/B, N/F, O/C (structural flag)5-axis type5-axis type5-axis type5-axis type : X, Y, Z coordinate value, A, B turning angle, R/L, A/B, O/C (structural flag): X, Y, Z coordinate value, A, B turning angle, R/L, A/B, O/C (structural flag): X, Y, Z coordinate value, A, B turning angle, R/L, A/B, O/C (structural flag): X, Y, Z coordinate value, A, B turning angle, R/L, A/B, O/C (structural flag)

(3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to this in BASIC. this in BASIC. this in BASIC. this in BASIC.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)(1) 6-axis type(1) 6-axis type(1) 6-axis type(1) 6-axis type10 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in

BASIC.BASIC.BASIC.BASIC.20 PRINT #1,” WH”20 PRINT #1,” WH”20 PRINT #1,” WH”20 PRINT #1,” WH” ; Transmits the command "WH".; Transmits the command "WH".; Transmits the command "WH".; Transmits the command "WH".40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$ ; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.50 PRINT "Current coordinates are " : A $50 PRINT "Current coordinates are " : A $50 PRINT "Current coordinates are " : A $50 PRINT "Current coordinates are " : A $ ; Displays the contents of A$ on the screen.; Displays the contents of A$ on the screen.; Displays the contents of A$ on the screen.; Displays the contents of A$ on the screen.60 ED60 ED60 ED60 ED ; Ends.; Ends.; Ends.; Ends.

RUNRUNRUNRUN ; Run the program.; Run the program.; Run the program.; Run the program.Current coordinates are +10.00,Current coordinates are +10.00,Current coordinates are +10.00,Current coordinates are +10.00, ; Displays the value of the current position.; Displays the value of the current position.; Displays the value of the current position.; Displays the value of the current position.+380.00,300.00,-70.00,50.00,+40.00, R, A, N, C+380.00,300.00,-70.00,50.00,+40.00, R, A, N, C+380.00,300.00,-70.00,50.00,+40.00, R, A, N, C+380.00,300.00,-70.00,50.00,+40.00, R, A, N, C

(2) 5-axis type(2) 5-axis type(2) 5-axis type(2) 5-axis type10 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in ; Opens the RS-232C communication file from the personal computer in

BASIC.BASIC.BASIC.BASIC.20 PRINT #1,” WH”20 PRINT #1,” WH”20 PRINT #1,” WH”20 PRINT #1,” WH” ; Transmits the command "WH".; Transmits the command "WH".; Transmits the command "WH".; Transmits the command "WH".40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$ ; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.; Saves the received data to A$.50 PRINT "Current coordinates are " : A $50 PRINT "Current coordinates are " : A $50 PRINT "Current coordinates are " : A $50 PRINT "Current coordinates are " : A $ ; Displays the contents of A$ on the screen.; Displays the contents of A$ on the screen.; Displays the contents of A$ on the screen.; Displays the contents of A$ on the screen.60 ED60 ED60 ED60 ED ; Ends.; Ends.; Ends.; Ends.

RUNRUNRUNRUN ; Run the program.; Run the program.; Run the program.; Run the program.Current coordinates are +10.00,Current coordinates are +10.00,Current coordinates are +10.00,Current coordinates are +10.00, ; Displays the value of the current position.; Displays the value of the current position.; Displays the value of the current position.; Displays the value of the current position.+380.00,300.00,+50.00,+40.00, R, A, C+380.00,300.00,+50.00,+40.00, R, A, C+380.00,300.00,+50.00,+40.00, R, A, C+380.00,300.00,+50.00,+40.00, R, A, C

WHWHWHWH

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

WT (What Tool)WT (What Tool)WT (What Tool)WT (What Tool) 2222-87-87-87-87

WT (What Tool)WT (What Tool)WT (What Tool)WT (What Tool)

【 Function 】【 Function 】【 Function 】【 Function 】Reads the tool length currently being established. (Using RS-232C)Reads the tool length currently being established. (Using RS-232C)Reads the tool length currently being established. (Using RS-232C)Reads the tool length currently being established. (Using RS-232C)

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Causes the tool length currently being established (by the TL command) to be output through the RS-232C port.(1) Causes the tool length currently being established (by the TL command) to be output through the RS-232C port.(1) Causes the tool length currently being established (by the TL command) to be output through the RS-232C port.(1) Causes the tool length currently being established (by the TL command) to be output through the RS-232C port.(2) The data is output in ASCII coded decimal. The least output increment is 0.01 mm (e.g., 105.07 is displayed for (2) The data is output in ASCII coded decimal. The least output increment is 0.01 mm (e.g., 105.07 is displayed for (2) The data is output in ASCII coded decimal. The least output increment is 0.01 mm (e.g., 105.07 is displayed for (2) The data is output in ASCII coded decimal. The least output increment is 0.01 mm (e.g., 105.07 is displayed for

105.07 mm).105.07 mm).105.07 mm).105.07 mm).(3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings (3) Because the terminator of the output data is carriage return (Hex.0D), it is necessary to handle serial data strings

up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to up to hexadecimal 0D in receiving a message by a personal computer. "LINE INPUT #" statement is equivalent to this in BASIC. this in BASIC. this in BASIC. this in BASIC.

(4) All robotic motions are based on the established tool length. If a wrong tool length has been defined, the robot (4) All robotic motions are based on the established tool length. If a wrong tool length has been defined, the robot (4) All robotic motions are based on the established tool length. If a wrong tool length has been defined, the robot (4) All robotic motions are based on the established tool length. If a wrong tool length has been defined, the robot may interfere with a surrounding object. When the tool length is unknown, therefore, check the tool length using may interfere with a surrounding object. When the tool length is unknown, therefore, check the tool length using may interfere with a surrounding object. When the tool length is unknown, therefore, check the tool length using may interfere with a surrounding object. When the tool length is unknown, therefore, check the tool length using the WT command before starting the robot.the WT command before starting the robot.the WT command before starting the robot.the WT command before starting the robot.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #110 OPEN ” COM1:E83” AS #1 ; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.; Opens the RS-232C communication file from the personal computer in BASIC.20 PRINT #1,” WT”20 PRINT #1,” WT”20 PRINT #1,” WT”20 PRINT #1,” WT” ; Transmits the command "WT".; Transmits the command "WT".; Transmits the command "WT".; Transmits the command "WT".40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$ ; Saves the received data to A $.; Saves the received data to A $.; Saves the received data to A $.; Saves the received data to A $.50 PRINT ” TOOL=” ； A$50 PRINT ” TOOL=” ； A$50 PRINT ” TOOL=” ； A$50 PRINT ” TOOL=” ； A$ ; Displays the contents of A$ on the screen.; Displays the contents of A$ on the screen.; Displays the contents of A$ on the screen.; Displays the contents of A$ on the screen.60 ED60 ED60 ED60 ED ; Ends.; Ends.; Ends.; Ends.

RUNRUNRUNRUN ; Run the program.; Run the program.; Run the program.; Run the program.TOOL=105.7TOOL=105.7TOOL=105.7TOOL=105.7 ; Outputs the tool length.; Outputs the tool length.; Outputs the tool length.; Outputs the tool length.

WTM (What Tool Matrix)WTM (What Tool Matrix)WTM (What Tool Matrix)WTM (What Tool Matrix)

【 Function 】【 Function 】【 Function 】【 Function 】The currently set tool length (X, Y, Z < A, B, C) is read out using RS-232C.The currently set tool length (X, Y, Z < A, B, C) is read out using RS-232C.The currently set tool length (X, Y, Z < A, B, C) is read out using RS-232C.The currently set tool length (X, Y, Z < A, B, C) is read out using RS-232C.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) This command outputs the current tool length set with the TLM command (refer to the TLM command) from the (1) This command outputs the current tool length set with the TLM command (refer to the TLM command) from the (1) This command outputs the current tool length set with the TLM command (refer to the TLM command) from the (1) This command outputs the current tool length set with the TLM command (refer to the TLM command) from the

RS-232C port.RS-232C port.RS-232C port.RS-232C port.(2) The output format is a decimal ASCII format. The minimum output unit is 0.01mm.(2) The output format is a decimal ASCII format. The minimum output unit is 0.01mm.(2) The output format is a decimal ASCII format. The minimum output unit is 0.01mm.(2) The output format is a decimal ASCII format. The minimum output unit is 0.01mm.

(Example : When the data is 105.7mm, 105.07 will display.)(Example : When the data is 105.7mm, 105.07 will display.)(Example : When the data is 105.7mm, 105.07 will display.)(Example : When the data is 105.7mm, 105.07 will display.)(3) The data end code (terminator) is the carriage return (CR : hexadecimal OD), so when receiving the data with a (3) The data end code (terminator) is the carriage return (CR : hexadecimal OD), so when receiving the data with a (3) The data end code (terminator) is the carriage return (CR : hexadecimal OD), so when receiving the data with a (3) The data end code (terminator) is the carriage return (CR : hexadecimal OD), so when receiving the data with a

personal computer, etc., the series of data up to the hexadecimal OD must be handled as data train. With the personal computer, etc., the series of data up to the hexadecimal OD must be handled as data train. With the personal computer, etc., the series of data up to the hexadecimal OD must be handled as data train. With the personal computer, etc., the series of data up to the hexadecimal OD must be handled as data train. With the general BASIC language, "LINE INPUT#" is equivalent to this.general BASIC language, "LINE INPUT#" is equivalent to this.general BASIC language, "LINE INPUT#" is equivalent to this.general BASIC language, "LINE INPUT#" is equivalent to this.

(4) The robot movement is all carried out according to the tool length set at that time. If an incorrect tool length is (4) The robot movement is all carried out according to the tool length set at that time. If an incorrect tool length is (4) The robot movement is all carried out according to the tool length set at that time. If an incorrect tool length is (4) The robot movement is all carried out according to the tool length set at that time. If an incorrect tool length is set, the robot could interfere with oeripheral objects. Thus, if the tool length is unknown, confirm the tool lemgth set, the robot could interfere with oeripheral objects. Thus, if the tool length is unknown, confirm the tool lemgth set, the robot could interfere with oeripheral objects. Thus, if the tool length is unknown, confirm the tool lemgth set, the robot could interfere with oeripheral objects. Thus, if the tool length is unknown, confirm the tool lemgth with this command before operating the robot.with this command before operating the robot.with this command before operating the robot.with this command before operating the robot.

【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)【 Sample program 】 (N88BASIC)10 OPEN "COM1:E83" AS #110 OPEN "COM1:E83" AS #110 OPEN "COM1:E83" AS #110 OPEN "COM1:E83" AS #1 ; Open RS-232C with personal computer BASIC.; Open RS-232C with personal computer BASIC.; Open RS-232C with personal computer BASIC.; Open RS-232C with personal computer BASIC.20 PRINT #1,"WTM"20 PRINT #1,"WTM"20 PRINT #1,"WTM"20 PRINT #1,"WTM" ; Transmit command "WTM".; Transmit command "WTM".; Transmit command "WTM".; Transmit command "WTM".40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$40 LINE INPUT #1,A$ ; Store received data in A$.; Store received data in A$.; Store received data in A$.; Store received data in A$.50 PRINT "TLM=" ;A$50 PRINT "TLM=" ;A$50 PRINT "TLM=" ;A$50 PRINT "TLM=" ;A$ ; Output contents of A$ on screen.; Output contents of A$ on screen.; Output contents of A$ on screen.; Output contents of A$ on screen.60 ED60 ED60 ED60 ED ; End; End; End; End

RUNRUNRUNRUN ; Execute program.; Execute program.; Execute program.; Execute program.TLM=50.00,30.00,100.00,0,0,0TLM=50.00,30.00,100.00,0,0,0TLM=50.00,30.00,100.00,0,0,0TLM=50.00,30.00,100.00,0,0,0 ; Output (display) tool lemgth.; Output (display) tool lemgth.; Output (display) tool lemgth.; Output (display) tool lemgth.

WTWTWTWT

WTMWTMWTMWTM

2222----88 88 88 88 XO (Exclusive Or)XO (Exclusive Or)XO (Exclusive Or)XO (Exclusive Or)

2 2 2 2 Explanation of CommandsExplanation of CommandsExplanation of CommandsExplanation of Commands

XO (Exclusive Or)XO (Exclusive Or)XO (Exclusive Or)XO (Exclusive Or)

【 Function 】【 Function 】【 Function 】【 Function 】EXCLUSIVE ORs the specified data and the internal register data.EXCLUSIVE ORs the specified data and the internal register data.EXCLUSIVE ORs the specified data and the internal register data.EXCLUSIVE ORs the specified data and the internal register data.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Term 】【 Term 】【 Term 】【 Term 】<Operation data><Operation data><Operation data><Operation data> Specify the data to be operated Specify the data to be operated Specify the data to be operated Specify the data to be operated or counter No. with @or counter No. with @or counter No. with @or counter No. with @....

-32768 ≦ operation data (decimal) ≦ 32767-32768 ≦ operation data (decimal) ≦ 32767-32768 ≦ operation data (decimal) ≦ 32767-32768 ≦ operation data (decimal) ≦ 32767& 8000 ≦ operation data (hexadecimal) ≦ & 7FFF& 8000 ≦ operation data (hexadecimal) ≦ & 7FFF& 8000 ≦ operation data (hexadecimal) ≦ & 7FFF& 8000 ≦ operation data (hexadecimal) ≦ & 7FFF @1 ≦ counta number ≦ @99 @1 ≦ counta number ≦ @99 @1 ≦ counta number ≦ @99 @1 ≦ counta number ≦ @99

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) Specify the data to be operated in decimal or hexadecimal. Any hexadecimal value must be headed by "&". (1) Specify the data to be operated in decimal or hexadecimal. Any hexadecimal value must be headed by "&". (1) Specify the data to be operated in decimal or hexadecimal. Any hexadecimal value must be headed by "&". (1) Specify the data to be operated in decimal or hexadecimal. Any hexadecimal value must be headed by "&". (2) The operation result is stored into the internal register and can be changed, compared or read by relevant (2) The operation result is stored into the internal register and can be changed, compared or read by relevant (2) The operation result is stored into the internal register and can be changed, compared or read by relevant (2) The operation result is stored into the internal register and can be changed, compared or read by relevant

commands. (See the EQ, NE, LG, SM, CL, DR, AN, OR commands) commands. (See the EQ, NE, LG, SM, CL, DR, AN, OR commands) commands. (See the EQ, NE, LG, SM, CL, DR, AN, OR commands) commands. (See the EQ, NE, LG, SM, CL, DR, AN, OR commands) (3) Execution of the XO command after the input command (ID) allows the required bits of the input data fetched (3) Execution of the XO command after the input command (ID) allows the required bits of the input data fetched (3) Execution of the XO command after the input command (ID) allows the required bits of the input data fetched (3) Execution of the XO command after the input command (ID) allows the required bits of the input data fetched

from the external device to be flipped to their opposite settings.from the external device to be flipped to their opposite settings.from the external device to be flipped to their opposite settings.from the external device to be flipped to their opposite settings.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 ID10 ID10 ID10 ID ; Fetches data from the external input port.; Fetches data from the external input port.; Fetches data from the external input port.; Fetches data from the external input port.20 AN &000F20 AN &000F20 AN &000F20 AN &000F ; Fetches only lower 4 bits.; Fetches only lower 4 bits.; Fetches only lower 4 bits.; Fetches only lower 4 bits.30 XO &000F30 XO &000F30 XO &000F30 XO &000F ; Flips data of 4 lower bits to their opposite settings.; Flips data of 4 lower bits to their opposite settings.; Flips data of 4 lower bits to their opposite settings.; Flips data of 4 lower bits to their opposite settings.40 CL 2140 CL 2140 CL 2140 CL 21 ; Sets above data to counter 21.; Sets above data to counter 21.; Sets above data to counter 21.; Sets above data to counter 21.50 EQ 10,20050 EQ 10,20050 EQ 10,20050 EQ 10,200 ; If the above data equals 10, then jumps to line 200.; If the above data equals 10, then jumps to line 200.; If the above data equals 10, then jumps to line 200.; If the above data equals 10, then jumps to line 200.60 ED60 ED60 ED60 ED ; Ends program.; Ends program.; Ends program.; Ends program. : : : :200 MO 99200 MO 99200 MO 99200 MO 99 ; Moves to position 99.; Moves to position 99.; Moves to position 99.; Moves to position 99.

’ (Comment)’ (Comment)’ (Comment)’ (Comment)

【 Function 】【 Function 】【 Function 】【 Function 】Allows the programmer to write a comment.Allows the programmer to write a comment.Allows the programmer to write a comment.Allows the programmer to write a comment.

【 Input Format 】【 Input Format 】【 Input Format 】【 Input Format 】

【 Explanation 】【 Explanation 】【 Explanation 】【 Explanation 】(1) You can describe up to 120 alphanumeric characters including line number and ' (apostrophe).(1) You can describe up to 120 alphanumeric characters including line number and ' (apostrophe).(1) You can describe up to 120 alphanumeric characters including line number and ' (apostrophe).(1) You can describe up to 120 alphanumeric characters including line number and ' (apostrophe).(2) A name or date can be attached to the created program, and an explanation can be attached to the end of the (2) A name or date can be attached to the created program, and an explanation can be attached to the end of the (2) A name or date can be attached to the created program, and an explanation can be attached to the end of the (2) A name or date can be attached to the created program, and an explanation can be attached to the end of the

subroutine identification or command.subroutine identification or command.subroutine identification or command.subroutine identification or command.(3) The system ignores comments as it processes its commands.(3) The system ignores comments as it processes its commands.(3) The system ignores comments as it processes its commands.(3) The system ignores comments as it processes its commands.(4) If the number of characters exceeds the limit, the whole excess is ignored.(4) If the number of characters exceeds the limit, the whole excess is ignored.(4) If the number of characters exceeds the limit, the whole excess is ignored.(4) If the number of characters exceeds the limit, the whole excess is ignored.

【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)【 Sample program 】 (Movemaster command)10 '*****************************10 '*****************************10 '*****************************10 '***************************** ; ; ; ; 20 ' Sample Program20 ' Sample Program20 ' Sample Program20 ' Sample Program ; ; ; ; 30 ' Date:30 ' Date:30 ' Date:30 ' Date:2000200020002000-04-04-04-04-05-05-05-05 ; ; ; ; 40 ' Programmed by 40 ' Programmed by 40 ' Programmed by 40 ' Programmed by Arai TakasiArai TakasiArai TakasiArai Takasi ; Specify the contents of program, the date of implementation, and thename ; Specify the contents of program, the date of implementation, and thename ; Specify the contents of program, the date of implementation, and thename ; Specify the contents of program, the date of implementation, and thename

of programmer, etc.of programmer, etc.of programmer, etc.of programmer, etc.50 '*****************************50 '*****************************50 '*****************************50 '***************************** ; ; ; ; 60 MO 160 MO 160 MO 160 MO 1 ; Move to standby point; Move to standby point; Move to standby point; Move to standby point

XO　 <operation data>XO　 <operation data>XO　 <operation data>XO　 <operation data>

’ [<string consisting of up to 120 alphanumeric characters including line number and ' (apostrophe)>]’ [<string consisting of up to 120 alphanumeric characters including line number and ' (apostrophe)>]’ [<string consisting of up to 120 alphanumeric characters including line number and ' (apostrophe)>]’ [<string consisting of up to 120 alphanumeric characters including line number and ' (apostrophe)>]

3333Command ListCommand ListCommand ListCommand List

3-893-893-893-89

3 Command List3 Command List3 Command List3 Command List

○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable

NONONONO NameNameNameName Input FormatInput FormatInput FormatInput Format FunctionFunctionFunctionFunction ProgramProgramProgramProgram NoteNoteNoteNote PagePagePagePage

■ Position motion control commands■ Position motion control commands■ Position motion control commands■ Position motion control commands1111 Change figureChange figureChange figureChange figure For 6-axis robotFor 6-axis robotFor 6-axis robotFor 6-axis robot

CF a[,[R/L]CF a[,[R/L]CF a[,[R/L]CF a[,[R/L] [,[A/B] [,[A/B] [,[A/B] [,[A/B] [,[N/F]]]] [,[N/F]]]] [,[N/F]]]] [,[N/F]]]]

Changes the pose of the robot at position Changes the pose of the robot at position Changes the pose of the robot at position Changes the pose of the robot at position (a).(a).(a).(a).

○○○○ 1 ≦ a ≦ 9991 ≦ a ≦ 9991 ≦ a ≦ 9991 ≦ a ≦ 999@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99(Designate indi(Designate indi(Designate indi(Designate indirrrrect position No.)ect position No.)ect position No.)ect position No.)R : Right, R : Right, R : Right, R : Right, L : Left.L : Left.L : Left.L : Left.A : Above, A : Above, A : Above, A : Above, B : Below.B : Below.B : Below.B : Below.N : Non flip, N : Non flip, N : Non flip, N : Non flip, F : Flip. F : Flip. F : Flip. F : Flip.

2-112-112-112-11

For 5-axis robotFor 5-axis robotFor 5-axis robotFor 5-axis robotCF a[,[R/L]CF a[,[R/L]CF a[,[R/L]CF a[,[R/L] [,[A/B]]] [,[A/B]]] [,[A/B]]] [,[A/B]]]

Changes the pose of the robot at position Changes the pose of the robot at position Changes the pose of the robot at position Changes the pose of the robot at position (a).(a).(a).(a).

○○○○ 1 ≦ a ≦ 9991 ≦ a ≦ 9991 ≦ a ≦ 9991 ≦ a ≦ 999@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99(Designate indi(Designate indi(Designate indi(Designate indirrrrect position No.)ect position No.)ect position No.)ect position No.)R : Right, R : Right, R : Right, R : Right, L : Left.L : Left.L : Left.L : Left.A : Above, A : Above, A : Above, A : Above, B : Below. B : Below. B : Below. B : Below.

2-112-112-112-11

2222 Draw jointDraw jointDraw jointDraw joint For 6-axis robotFor 6-axis robotFor 6-axis robotFor 6-axis robotDJ a,bDJ a,bDJ a,bDJ a,b

Moves the joint (a) by the specifed Moves the joint (a) by the specifed Moves the joint (a) by the specifed Moves the joint (a) by the specifed amount (b). (Unit:Degree)amount (b). (Unit:Degree)amount (b). (Unit:Degree)amount (b). (Unit:Degree)

○○○○ 1 ≦ a ≦ 6 Joint interpolation.1 ≦ a ≦ 6 Joint interpolation.1 ≦ a ≦ 6 Joint interpolation.1 ≦ a ≦ 6 Joint interpolation. 2-172-172-172-17

For 5-axis robotFor 5-axis robotFor 5-axis robotFor 5-axis robotDJ a,bDJ a,bDJ a,bDJ a,b

Moves the joint (a) by the specifed Moves the joint (a) by the specifed Moves the joint (a) by the specifed Moves the joint (a) by the specifed amount (b). (Unit:Degree)amount (b). (Unit:Degree)amount (b). (Unit:Degree)amount (b). (Unit:Degree)

○○○○ 1 ≦ a ≦ 5 Joint interpolation.1 ≦ a ≦ 5 Joint interpolation.1 ≦ a ≦ 5 Joint interpolation.1 ≦ a ≦ 5 Joint interpolation. 2-172-172-172-17

3333 Decrement positionDecrement positionDecrement positionDecrement position DPDPDPDP Moves to the previous position in number Moves to the previous position in number Moves to the previous position in number Moves to the previous position in number from current position. from current position. from current position. from current position.

○○○○ joint interpolation.joint interpolation.joint interpolation.joint interpolation. 2-182-182-182-18

4444 Draw straightDraw straightDraw straightDraw straight DS [x],[y],[z]DS [x],[y],[z]DS [x],[y],[z]DS [x],[y],[z] Moves by the specified distance from Moves by the specified distance from Moves by the specified distance from Moves by the specified distance from current position. current position. current position. current position.

○○○○ linear interpolation.linear interpolation.linear interpolation.linear interpolation. 2-202-202-202-20

5555 DrawDrawDrawDraw DW [x],[y],[z]DW [x],[y],[z]DW [x],[y],[z]DW [x],[y],[z] Moves by the specified distance from Moves by the specified distance from Moves by the specified distance from Moves by the specified distance from current position. current position. current position. current position.

○○○○ joint interpolation.joint interpolation.joint interpolation.joint interpolation. 2-212-212-212-21

6666 HereHereHereHere HE aHE aHE aHE a Memorizes current position as the posiMemorizes current position as the posiMemorizes current position as the posiMemorizes current position as the posi-tion number (a).tion number (a).tion number (a).tion number (a).

○○○○ 0 ≦ a ≦ 9990 ≦ a ≦ 9990 ≦ a ≦ 9990 ≦ a ≦ 999@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(In the case of 0, the robot memorizes (In the case of 0, the robot memorizes (In the case of 0, the robot memorizes (In the case of 0, the robot memorizes the data as the user defined origin.)the data as the user defined origin.)the data as the user defined origin.)the data as the user defined origin.)

2-332-332-332-33

7777 HomeHomeHomeHome HO [a]HO [a]HO [a]HO [a] Memorizes current position as the origin.Memorizes current position as the origin.Memorizes current position as the origin.Memorizes current position as the origin. ○○○○ a=0: Mechanical stopper methoda=0: Mechanical stopper methoda=0: Mechanical stopper methoda=0: Mechanical stopper methoda=1: Calibration jig methoda=1: Calibration jig methoda=1: Calibration jig methoda=1: Calibration jig methoda=2: User defined origine methoda=2: User defined origine methoda=2: User defined origine methoda=2: User defined origine method

2-342-342-342-34

8888 Increment positionIncrement positionIncrement positionIncrement position IPIPIPIP Moves to the next position in number Moves to the next position in number Moves to the next position in number Moves to the next position in number from current position.from current position.from current position.from current position.

○○○○ joint interpolation.joint interpolation.joint interpolation.joint interpolation. 2-382-382-382-38

9999 Move approachMove approachMove approachMove approach MA a1,a2MA a1,a2MA a1,a2MA a1,a2 [,[O/C]] [,[O/C]] [,[O/C]] [,[O/C]]

Moves to a position away from position Moves to a position away from position Moves to a position away from position Moves to a position away from position (a1) by the distance of position (a2).(a1) by the distance of position (a2).(a1) by the distance of position (a2).(a1) by the distance of position (a2).

○○○○ 1 ≦ a1,a2 ≦ 9991 ≦ a1,a2 ≦ 9991 ≦ a1,a2 ≦ 9991 ≦ a1,a2 ≦ 999@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)O : opening a hand. C : closing a hand.O : opening a hand. C : closing a hand.O : opening a hand. C : closing a hand.O : opening a hand. C : closing a hand.

2-412-412-412-41

10101010 Move continuousMove continuousMove continuousMove continuous MC a1,a2MC a1,a2MC a1,a2MC a1,a2 [,[O/C]] [,[O/C]] [,[O/C]] [,[O/C]]

Moves from the position (a1) to the posiMoves from the position (a1) to the posiMoves from the position (a1) to the posiMoves from the position (a1) to the posi-tion (a2) with linear interpolation.tion (a2) with linear interpolation.tion (a2) with linear interpolation.tion (a2) with linear interpolation.

○○○○ 1 ≦ a1,a2 ≦ 9991 ≦ a1,a2 ≦ 9991 ≦ a1,a2 ≦ 9991 ≦ a1,a2 ≦ 999| a1-a2 | ≦ 99| a1-a2 | ≦ 99| a1-a2 | ≦ 99| a1-a2 | ≦ 99@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)O : opening a hand. C : closing a hand.O : opening a hand. C : closing a hand.O : opening a hand. C : closing a hand.O : opening a hand. C : closing a hand.

2-422-422-422-42

11111111 Move jointMove jointMove jointMove joint For 6-axis robotFor 6-axis robotFor 6-axis robotFor 6-axis robotMJ [MJ [MJ [MJ [J1J1J1J1],[J2],[J3],],[J2],[J3],],[J2],[J3],],[J2],[J3], [J4],[J5],[J6] [J4],[J5],[J6] [J4],[J5],[J6] [J4],[J5],[J6]

Turns the joint by the specified angle Turns the joint by the specified angle Turns the joint by the specified angle Turns the joint by the specified angle from the current position. (Unit:Degree)from the current position. (Unit:Degree)from the current position. (Unit:Degree)from the current position. (Unit:Degree)

○○○○ joint interpolation.joint interpolation.joint interpolation.joint interpolation. 2-432-432-432-43

For 5-axis robotFor 5-axis robotFor 5-axis robotFor 5-axis robotMJ [J1],[J2],[J3],MJ [J1],[J2],[J3],MJ [J1],[J2],[J3],MJ [J1],[J2],[J3], [J5],[J6] [J5],[J6] [J5],[J6] [J5],[J6]

Turns the joint by the specified angle Turns the joint by the specified angle Turns the joint by the specified angle Turns the joint by the specified angle from the current position. (Unit:Degree)from the current position. (Unit:Degree)from the current position. (Unit:Degree)from the current position. (Unit:Degree)

○○○○ joint interpolation.joint interpolation.joint interpolation.joint interpolation. 2-432-432-432-43

12121212 MoveMoveMoveMove MO a [,[MO a [,[MO a [,[MO a [,[O/CO/CO/CO/C]]]]]]]] Moves to the position (a) .Moves to the position (a) .Moves to the position (a) .Moves to the position (a) . ○○○○ １ ≦ a ≦ 999１ ≦ a ≦ 999１ ≦ a ≦ 999１ ≦ a ≦ 999@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)O : opening a hand. C : closing a hand.O : opening a hand. C : closing a hand.O : opening a hand. C : closing a hand.O : opening a hand. C : closing a hand.

2-442-442-442-44

3333----90909090

3333Command ListCommand ListCommand ListCommand List

13131313 Move positionMove positionMove positionMove position For 6-axis robotFor 6-axis robotFor 6-axis robotFor 6-axis robotMP [X],[[Y][,[Z]MP [X],[[Y][,[Z]MP [X],[[Y][,[Z]MP [X],[[Y][,[Z] [,[A][,[B][,[C] [,[A][,[B][,[C] [,[A][,[B][,[C] [,[A][,[B][,[C] [,[L1] [,[L1] [,[L1] [,[L1] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[<R/L>] [,[<R/L>] [,[<R/L>] [,[<R/L>] [,[<A/B>] [,[<A/B>] [,[<A/B>] [,[<A/B>] [,[<N/F>]]]] [,[<N/F>]]]] [,[<N/F>]]]] [,[<N/F>]]]]

Moves to the position(x,y,z,a,b,c).Moves to the position(x,y,z,a,b,c).Moves to the position(x,y,z,a,b,c).Moves to the position(x,y,z,a,b,c). ○○○○ Joint interpolation.Joint interpolation.Joint interpolation.Joint interpolation.R : Right, R : Right, R : Right, R : Right, L : Left.L : Left.L : Left.L : Left.A : A bove, A : A bove, A : A bove, A : A bove, B : Below.B : Below.B : Below.B : Below.N : Non Flip, N : Non Flip, N : Non Flip, N : Non Flip, F : Flip.F : Flip.F : Flip.F : Flip.

2-452-452-452-45

For 5-axis robotFor 5-axis robotFor 5-axis robotFor 5-axis robotMP [X],[[Y][,[Z]MP [X],[[Y][,[Z]MP [X],[[Y][,[Z]MP [X],[[Y][,[Z] [,[A][,[B] [,[A][,[B] [,[A][,[B] [,[A][,[B] [,[L1] [,[L1] [,[L1] [,[L1] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[<R/L>] [,[<R/L>] [,[<R/L>] [,[<R/L>] [,[<A/B>]]] [,[<A/B>]]] [,[<A/B>]]] [,[<A/B>]]]

Moves to the position(x,y,z,a,b).Moves to the position(x,y,z,a,b).Moves to the position(x,y,z,a,b).Moves to the position(x,y,z,a,b). ○○○○ Joint interpolation.Joint interpolation.Joint interpolation.Joint interpolation.R : Right, R : Right, R : Right, R : Right, L : Left.L : Left.L : Left.L : Left.A : A bove, A : A bove, A : A bove, A : A bove, B : Below.B : Below.B : Below.B : Below.

2-452-452-452-45

14141414 Move RMove RMove RMove R MR a1,a2,a3 [,[O/C]]MR a1,a2,a3 [,[O/C]]MR a1,a2,a3 [,[O/C]]MR a1,a2,a3 [,[O/C]] Moves on the arc that position Moves on the arc that position Moves on the arc that position Moves on the arc that position (a1)(a2)(a3) determine with circular inter(a1)(a2)(a3) determine with circular inter(a1)(a2)(a3) determine with circular inter(a1)(a2)(a3) determine with circular inter-polation.polation.polation.polation.

○○○○ 1 ≦ a1,a2,a3 ≦ 999 1 ≦ a1,a2,a3 ≦ 999 1 ≦ a1,a2,a3 ≦ 999 1 ≦ a1,a2,a3 ≦ 999＠ 1≦ a1,a2,a3 ≦＠ 99＠ 1≦ a1,a2,a3 ≦＠ 99＠ 1≦ a1,a2,a3 ≦＠ 99＠ 1≦ a1,a2,a3 ≦＠ 99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)O :Opening a hand O :Opening a hand O :Opening a hand O :Opening a hand C :Closing a handC :Closing a handC :Closing a handC :Closing a hand

2-462-462-462-46

15151515 Move RAMove RAMove RAMove RA MRA a [,[O/C]]MRA a [,[O/C]]MRA a [,[O/C]]MRA a [,[O/C]] The robot moves on the arc that the preThe robot moves on the arc that the preThe robot moves on the arc that the preThe robot moves on the arc that the pre-vious and the next MRA determine with vious and the next MRA determine with vious and the next MRA determine with vious and the next MRA determine with circular interpolation.circular interpolation.circular interpolation.circular interpolation.

○○○○ 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)O :Opening a hand O :Opening a hand O :Opening a hand O :Opening a hand C :Closing a handC :Closing a handC :Closing a handC :Closing a hand

2-482-482-482-48

16161616 Move straightMove straightMove straightMove straight MS a [,[O/C]]MS a [,[O/C]]MS a [,[O/C]]MS a [,[O/C]] Moves to the position (a) with linear Moves to the position (a) with linear Moves to the position (a) with linear Moves to the position (a) with linear interpolation.interpolation.interpolation.interpolation.

○○○○ 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)O :Opening a hand O :Opening a hand O :Opening a hand O :Opening a hand C :Closing a handC :Closing a handC :Closing a handC :Closing a hand

2-492-492-492-49

17171717 Move toolMove toolMove toolMove tool MT a,[b][,[O/C]]MT a,[b][,[O/C]]MT a,[b][,[O/C]]MT a,[b][,[O/C]] Moves to a position away from position Moves to a position away from position Moves to a position away from position Moves to a position away from position (a) by the distance (b) in the tool direc(a) by the distance (b) in the tool direc(a) by the distance (b) in the tool direc(a) by the distance (b) in the tool direc-tion.(Unit:mm)tion.(Unit:mm)tion.(Unit:mm)tion.(Unit:mm)Joint interpolation.Joint interpolation.Joint interpolation.Joint interpolation.

○○○○ 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)O :Opening a hand O :Opening a hand O :Opening a hand O :Opening a hand C :Closing a handC :Closing a handC :Closing a handC :Closing a hand

2-502-502-502-50

18181818 Move tool straightMove tool straightMove tool straightMove tool straight MTS a,[b][,[O/C]]MTS a,[b][,[O/C]]MTS a,[b][,[O/C]]MTS a,[b][,[O/C]] Moves to a position away from position Moves to a position away from position Moves to a position away from position Moves to a position away from position (a) by the distance (b) in the tool direc(a) by the distance (b) in the tool direc(a) by the distance (b) in the tool direc(a) by the distance (b) in the tool direc-tion.(Unit:mm)tion.(Unit:mm)tion.(Unit:mm)tion.(Unit:mm)Linear interpolation.Linear interpolation.Linear interpolation.Linear interpolation.

○○○○ 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)O :Opening a hand O :Opening a hand O :Opening a hand O :Opening a hand C :Closing a handC :Closing a handC :Closing a handC :Closing a hand

2-512-512-512-51

19191919 NestNestNestNest NTNTNTNT Moves to the user specified origin posiMoves to the user specified origin posiMoves to the user specified origin posiMoves to the user specified origin posi-tion.tion.tion.tion.

○○○○ 2-552-552-552-55

20202020 OriginOriginOriginOrigin OGOGOGOG Moves to the user specified origin posiMoves to the user specified origin posiMoves to the user specified origin posiMoves to the user specified origin posi-tion.tion.tion.tion.Joint interpolation.Joint interpolation.Joint interpolation.Joint interpolation.

○○○○ joint interpolation.joint interpolation.joint interpolation.joint interpolation. 2-582-582-582-58

21212121 OverrideOverrideOverrideOverride OVR aOVR aOVR aOVR a Establishes program over-ride. (Unit:mm)Establishes program over-ride. (Unit:mm)Establishes program over-ride. (Unit:mm)Establishes program over-ride. (Unit:mm) ○○○○ 1 ≦ a ≦ 1001 ≦ a ≦ 1001 ≦ a ≦ 1001 ≦ a ≦ 100 2-612-612-612-61

22222222 Pllet hemp inn.Pllet hemp inn.Pllet hemp inn.Pllet hemp inn. PA i,j,kPA i,j,kPA i,j,kPA i,j,k It establishes length direction of pallet of It establishes length direction of pallet of It establishes length direction of pallet of It establishes length direction of pallet of number appointing and lattice point numnumber appointing and lattice point numnumber appointing and lattice point numnumber appointing and lattice point num-ber of width direction.ber of width direction.ber of width direction.ber of width direction.

○○○○ 1≦ i ≦ 91 ≦ i ≦ 91 ≦ i ≦ 91 ≦ i ≦ 91 ≦ j,k ≦ 327671 ≦ j,k ≦ 327671 ≦ j,k ≦ 327671 ≦ j,k ≦ 32767

2-622-622-622-62

23232323 Position clearPosition clearPosition clearPosition clear PC a1[,a2]]PC a1[,a2]]PC a1[,a2]]PC a1[,a2]] Clears position data from (a1) to (a2).Clears position data from (a1) to (a2).Clears position data from (a1) to (a2).Clears position data from (a1) to (a2). ×××× a1 ≦ a2a1 ≦ a2a1 ≦ a2a1 ≦ a2@1 ≦ a1,a2 ≦＠ 99@1 ≦ a1,a2 ≦＠ 99@1 ≦ a1,a2 ≦＠ 99@1 ≦ a1,a2 ≦＠ 99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)

2-622-622-622-62

24242424 Position definePosition definePosition definePosition define For 6-axis robotFor 6-axis robotFor 6-axis robotFor 6-axis robotPD PD PD PD a,a,a,a,[X],[[Y][,[Z][X],[[Y][,[Z][X],[[Y][,[Z][X],[[Y][,[Z] [,[A][,[B][,[C] [,[A][,[B][,[C] [,[A][,[B][,[C] [,[A][,[B][,[C] [,[L1] [,[L1] [,[L1] [,[L1] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[<R/L>] [,[<R/L>] [,[<R/L>] [,[<R/L>] [,[<A/B>] [,[<A/B>] [,[<A/B>] [,[<A/B>] [,[<N/F>]]]] [,[<N/F>]]]] [,[<N/F>]]]] [,[<N/F>]]]] [,<O/C>] [,<O/C>] [,<O/C>] [,<O/C>]

It substitutes (x,y,z,a,b,c) to It substitutes (x,y,z,a,b,c) to It substitutes (x,y,z,a,b,c) to It substitutes (x,y,z,a,b,c) to position (a).position (a).position (a).position (a).

○○○○ 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)R:Right, L:LeftR:Right, L:LeftR:Right, L:LeftR:Right, L:LeftA:Above, B:BelowA:Above, B:BelowA:Above, B:BelowA:Above, B:BelowN:Nonflip, F:FlipN:Nonflip, F:FlipN:Nonflip, F:FlipN:Nonflip, F:FlipO:hand open, C:hand closeO:hand open, C:hand closeO:hand open, C:hand closeO:hand open, C:hand close

2-632-632-632-63

For 5-axis robotFor 5-axis robotFor 5-axis robotFor 5-axis robotPD PD PD PD a,a,a,a,[X],[[Y][,[Z][X],[[Y][,[Z][X],[[Y][,[Z][X],[[Y][,[Z] [,[A][,[B] [,[A][,[B] [,[A][,[B] [,[A][,[B] [,[L1] [,[L1] [,[L1] [,[L1] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[L2]]]]]]]] [,[<R/L>] [,[<R/L>] [,[<R/L>] [,[<R/L>] [,[<A/B>]]] [,[<A/B>]]] [,[<A/B>]]] [,[<A/B>]]] [,<O/C>] [,<O/C>] [,<O/C>] [,<O/C>]

It substitutes (x,y,z,a,b) to It substitutes (x,y,z,a,b) to It substitutes (x,y,z,a,b) to It substitutes (x,y,z,a,b) to position (a).position (a).position (a).position (a).

○○○○ 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999 1 ≦ a ≦ 999＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99＠ 1≦ a ≦＠ 99(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)R:Right, L:LeftR:Right, L:LeftR:Right, L:LeftR:Right, L:LeftA:Above, B:BelowA:Above, B:BelowA:Above, B:BelowA:Above, B:BelowO:hand open, C:hand closeO:hand open, C:hand closeO:hand open, C:hand closeO:hand open, C:hand close

2-632-632-632-63

○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable

NONONONO NameNameNameName Input FormatInput FormatInput FormatInput Format FunctionFunctionFunctionFunction ProgramProgramProgramProgram NoteNoteNoteNote PagePagePagePage

3333Command ListCommand ListCommand ListCommand List

3-913-913-913-91

25252525 PalletPalletPalletPallet PT aPT aPT aPT a Calculates the coordinates of a grid point Calculates the coordinates of a grid point Calculates the coordinates of a grid point Calculates the coordinates of a grid point on the pallet (a) and sets the coordinates on the pallet (a) and sets the coordinates on the pallet (a) and sets the coordinates on the pallet (a) and sets the coordinates value to the position (a).value to the position (a).value to the position (a).value to the position (a).

○○○○ 1 ≦ a ≦ 991 ≦ a ≦ 991 ≦ a ≦ 991 ≦ a ≦ 99 2-682-682-682-68

26262626 Pulse waitPulse waitPulse waitPulse wait PW aPW aPW aPW a It waits for in position till all axis ring It waits for in position till all axis ring It waits for in position till all axis ring It waits for in position till all axis ring inward pulse (a) appointing.inward pulse (a) appointing.inward pulse (a) appointing.inward pulse (a) appointing.

○○○○ 1 ≦ a ≦ 100001 ≦ a ≦ 100001 ≦ a ≦ 100001 ≦ a ≦ 10000 2-692-692-692-69

27272727 Speed define.Speed define.Speed define.Speed define. SD a [,b[,c,d[,e]]]SD a [,b[,c,d[,e]]]SD a [,b[,c,d[,e]]]SD a [,b[,c,d[,e]]] It defines speed (a), time const (b), accelIt defines speed (a), time const (b), accelIt defines speed (a), time const (b), accelIt defines speed (a), time const (b), accel-eration rate (c), deceleration rate (d) and eration rate (c), deceleration rate (d) and eration rate (c), deceleration rate (d) and eration rate (c), deceleration rate (d) and CNT setting (e) in linear interpolation CNT setting (e) in linear interpolation CNT setting (e) in linear interpolation CNT setting (e) in linear interpolation and arc interpolation.and arc interpolation.and arc interpolation.and arc interpolation.

○○○○ 0.1 ≦ a ≦ 650.00.1 ≦ a ≦ 650.00.1 ≦ a ≦ 650.00.1 ≦ a ≦ 650.0 1 ≦ b ≦ 300 1 ≦ b ≦ 300 1 ≦ b ≦ 300 1 ≦ b ≦ 300 0 ≦ c,b ≦ 100 0 ≦ c,b ≦ 100 0 ≦ c,b ≦ 100 0 ≦ c,b ≦ 100E = 0(disable),1(E = 0(disable),1(E = 0(disable),1(E = 0(disable),1(enableenableenableenable))))

2-762-762-762-76

28282828 SpeedSpeedSpeedSpeed SP a [,[H/L] [,b]]SP a [,[H/L] [,b]]SP a [,[H/L] [,b]]SP a [,[H/L] [,b]] It defines speed (a), acceleration/decelIt defines speed (a), acceleration/decelIt defines speed (a), acceleration/decelIt defines speed (a), acceleration/decel-eration, CONT setting (b).eration, CONT setting (b).eration, CONT setting (b).eration, CONT setting (b).

○○○○ 0 ≦ a ≦ 300 ≦ a ≦ 300 ≦ a ≦ 300 ≦ a ≦ 30H:Quick motion, H:Quick motion, H:Quick motion, H:Quick motion, L:Smooth motion.L:Smooth motion.L:Smooth motion.L:Smooth motion.b = 0(disable),1(b = 0(disable),1(b = 0(disable),1(b = 0(disable),1(enableenableenableenable))))

2-792-792-792-79

29292929 TimerTimerTimerTimer Tl aTl aTl aTl a Only clock time (a) appointing stops Only clock time (a) appointing stops Only clock time (a) appointing stops Only clock time (a) appointing stops motion.motion.motion.motion.(0.1 sec unit of measure)(0.1 sec unit of measure)(0.1 sec unit of measure)(0.1 sec unit of measure)

○○○○ 0 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 32767 2-842-842-842-84

30303030 ToolToolToolTool TL [a]TL [a]TL [a]TL [a] It establishes die length (a) to hand nose It establishes die length (a) to hand nose It establishes die length (a) to hand nose It establishes die length (a) to hand nose from hand installation department.from hand installation department.from hand installation department.from hand installation department.

○○○○ Unit of measure is mm.Unit of measure is mm.Unit of measure is mm.Unit of measure is mm.0 ≦ a ≦ 300.00 ≦ a ≦ 300.00 ≦ a ≦ 300.00 ≦ a ≦ 300.0

2-852-852-852-85

31313131 Tool matrixTool matrixTool matrixTool matrix TLM X,Y,Z,A,B,CTLM X,Y,Z,A,B,CTLM X,Y,Z,A,B,CTLM X,Y,Z,A,B,C The tool is replaced.The tool is replaced.The tool is replaced.The tool is replaced. ○○○○ Unit of measure is mm,degree.Unit of measure is mm,degree.Unit of measure is mm,degree.Unit of measure is mm,degree. 2-862-862-862-86

■ Program control commands■ Program control commands■ Program control commands■ Program control commands32323232 Counter LoadCounter LoadCounter LoadCounter Load CL aCL aCL aCL a Loads internal register value/strings to Loads internal register value/strings to Loads internal register value/strings to Loads internal register value/strings to

the specified counter (a).the specified counter (a).the specified counter (a).the specified counter (a).○○○○ 1 ≦ a ≦ 99 1 ≦ a ≦ 99 1 ≦ a ≦ 99 1 ≦ a ≦ 99

(Counter No.)(Counter No.)(Counter No.)(Counter No.)@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99

(character string No.)(character string No.)(character string No.)(character string No.)

2-122-122-122-12

33333333 Compare counterCompare counterCompare counterCompare counter CP aCP aCP aCP a Loads value/strings in counter (a) to the Loads value/strings in counter (a) to the Loads value/strings in counter (a) to the Loads value/strings in counter (a) to the internal register.internal register.internal register.internal register.

○○○○ 1 ≦ a ≦ 99( 1 ≦ a ≦ 99( 1 ≦ a ≦ 99( 1 ≦ a ≦ 99(Counter No.)Counter No.)Counter No.)Counter No.)

@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)

$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99(character string No.)(character string No.)(character string No.)(character string No.)

2-132-132-132-13

34343434 Disable ActDisable ActDisable ActDisable Act DA aDA aDA aDA a Disables interrupt by the bit (a) of exterDisables interrupt by the bit (a) of exterDisables interrupt by the bit (a) of exterDisables interrupt by the bit (a) of exter-nal input signal.nal input signal.nal input signal.nal input signal.

○○○○ 0 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 32767 2-152-152-152-15

35353535 Decrement LineDecrement LineDecrement LineDecrement Line DL [a1][,[a2]DL [a1][,[a2]DL [a1][,[a2]DL [a1][,[a2] [,[b1][,[b2]]]] [,[b1][,[b2]]]] [,[b1][,[b2]]]] [,[b1][,[b2]]]]

Deletes program linesDeletes program linesDeletes program linesDeletes program linesfrom (a1) to (a2),or stepsfrom (a1) to (a2),or stepsfrom (a1) to (a2),or stepsfrom (a1) to (a2),or stepsfrom (b1) to (b2).from (b1) to (b2).from (b1) to (b2).from (b1) to (b2).

○○○○ a1 ≦ a2　 b1 ≦ b2a1 ≦ a2　 b1 ≦ b2a1 ≦ a2　 b1 ≦ b2a1 ≦ a2　 b1 ≦ b21 ≦ a1,a2,b1,b2 ≦ 327671 ≦ a1,a2,b1,b2 ≦ 327671 ≦ a1,a2,b1,b2 ≦ 327671 ≦ a1,a2,b1,b2 ≦ 32767

2-182-182-182-18

36363636 Enable ActEnable ActEnable ActEnable Act EA [+/-] a,b[,[c]]EA [+/-] a,b[,[c]]EA [+/-] a,b[,[c]]EA [+/-] a,b[,[c]] Enables interrupt by the bit (a) of exterEnables interrupt by the bit (a) of exterEnables interrupt by the bit (a) of exterEnables interrupt by the bit (a) of exter-nal input signal, specifies line number (b) nal input signal, specifies line number (b) nal input signal, specifies line number (b) nal input signal, specifies line number (b) to which the program jumps when interto which the program jumps when interto which the program jumps when interto which the program jumps when inter-rupt occurs, and specifies jump mode (c).rupt occurs, and specifies jump mode (c).rupt occurs, and specifies jump mode (c).rupt occurs, and specifies jump mode (c).

○○○○ ＋ :Bit on, － :Bit off＋ :Bit on, － :Bit off＋ :Bit on, － :Bit off＋ :Bit on, － :Bit off0 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 32767c ＝ 0 or 1c ＝ 0 or 1c ＝ 0 or 1c ＝ 0 or 1

0:Jump, 1:Call subroutine0:Jump, 1:Call subroutine0:Jump, 1:Call subroutine0:Jump, 1:Call subroutine

2-222-222-222-22

37373737 EndEndEndEnd EDEDEDED Ends the program.Ends the program.Ends the program.Ends the program. ○○○○ 2-242-242-242-24

38383838 If EqualIf EqualIf EqualIf Equal EQ a, bEQ a, bEQ a, bEQ a, b Causes a jump to line number (b) if Causes a jump to line number (b) if Causes a jump to line number (b) if Causes a jump to line number (b) if internal register value/strings equals (a) .internal register value/strings equals (a) .internal register value/strings equals (a) .internal register value/strings equals (a) .

○○○○ -32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767 &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99

(character string No.)(character string No.)(character string No.)(character string No.)1 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 32767

2-252-252-252-25

39393939 Go SubGo SubGo SubGo Sub GS [a][,[b]]GS [a][,[b]]GS [a][,[b]]GS [a][,[b]] Call subroutine which starts from line Call subroutine which starts from line Call subroutine which starts from line Call subroutine which starts from line number (a) of program (b).number (a) of program (b).number (a) of program (b).number (a) of program (b).

○○○○ 1 ≦ a ≦ 327671 ≦ a ≦ 327671 ≦ a ≦ 327671 ≦ a ≦ 32767 2-312-312-312-31

40404040 Go ToGo ToGo ToGo To GT aGT aGT aGT a Causes a jump to line number (a).Causes a jump to line number (a).Causes a jump to line number (a).Causes a jump to line number (a). ○○○○ 1 ≦ a ≦ 327671 ≦ a ≦ 327671 ≦ a ≦ 327671 ≦ a ≦ 32767 2-322-322-322-32

41414141 HaltHaltHaltHalt HLTHLTHLTHLT Halts the program.Halts the program.Halts the program.Halts the program. ○○○○ 2-332-332-332-33

○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable

NONONONO NameNameNameName Input FormatInput FormatInput FormatInput Format FunctionFunctionFunctionFunction ProgramProgramProgramProgram NoteNoteNoteNote PagePagePagePage

3333----92929292

3333Command ListCommand ListCommand ListCommand List

42424242 If LargerIf LargerIf LargerIf Larger LG a ,cLG a ,cLG a ,cLG a ,c Causes a jump to line number (c )if interCauses a jump to line number (c )if interCauses a jump to line number (c )if interCauses a jump to line number (c )if inter-nal register value/strings is greater than nal register value/strings is greater than nal register value/strings is greater than nal register value/strings is greater than (a) .(a) .(a) .(a) .

○○○○ -32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767 &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99

(character string No.)(character string No.)(character string No.)(character string No.)1 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 32767

2-392-392-392-39

43434343 If Not EqualIf Not EqualIf Not EqualIf Not Equal NE a,cNE a,cNE a,cNE a,c Causes a jump to line number (c )if interCauses a jump to line number (c )if interCauses a jump to line number (c )if interCauses a jump to line number (c )if inter-nal register value/strings does not equal nal register value/strings does not equal nal register value/strings does not equal nal register value/strings does not equal (a) .(a) .(a) .(a) .

○○○○ -32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767 &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99

(character string No.)(character string No.)(character string No.)(character string No.)1 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 32767

2-542-542-542-54

44444444 NewNewNewNew NWNWNWNW Deletes all lines and positions of the Deletes all lines and positions of the Deletes all lines and positions of the Deletes all lines and positions of the selected program.selected program.selected program.selected program.

×××× 2-552-552-552-55

45454545 NextNextNextNext NXNXNXNX Specifies the range of a loop in a program Specifies the range of a loop in a program Specifies the range of a loop in a program Specifies the range of a loop in a program executed by command RC.executed by command RC.executed by command RC.executed by command RC.

○○○○ 2-552-552-552-55

46464646 Repeat CycleRepeat CycleRepeat CycleRepeat Cycle RC aRC aRC aRC a Repeats the loop specified by command Repeats the loop specified by command Repeats the loop specified by command Repeats the loop specified by command NX (a) times.NX (a) times.NX (a) times.NX (a) times.

○○○○ 1≦ a ≦ 327671 ≦ a ≦ 327671 ≦ a ≦ 327671 ≦ a ≦ 32767 2-722-722-722-72

47474747 RunRunRunRun RN [a1][,a2[,b]]]RN [a1][,a2[,b]]]RN [a1][,a2[,b]]]RN [a1][,a2[,b]]] Executes program (b) from line (a1) to Executes program (b) from line (a1) to Executes program (b) from line (a1) to Executes program (b) from line (a1) to (a2). (a2 not included)(a2). (a2 not included)(a2). (a2 not included)(a2). (a2 not included)

○○○○ 1≦ a1,a2 ≦ 327671 ≦ a1,a2 ≦ 327671 ≦ a1,a2 ≦ 327671 ≦ a1,a2 ≦ 32767 2-732-732-732-73

48484848 ReturnReturnReturnReturn RT [a]RT [a]RT [a]RT [a] Completes subroutine activated by comCompletes subroutine activated by comCompletes subroutine activated by comCompletes subroutine activated by com-mand GS and returns to main program.mand GS and returns to main program.mand GS and returns to main program.mand GS and returns to main program.

○○○○ 1≦ a ≦ 327671 ≦ a ≦ 327671 ≦ a ≦ 327671 ≦ a ≦ 32767a is the destination.a is the destination.a is the destination.a is the destination.

2-742-742-742-74

49494949 If SmallerIf SmallerIf SmallerIf Smaller SM a, cSM a, cSM a, cSM a, c Causes a jump to line number (c) if the Causes a jump to line number (c) if the Causes a jump to line number (c) if the Causes a jump to line number (c) if the internal register value is smaller than (a) .internal register value is smaller than (a) .internal register value is smaller than (a) .internal register value is smaller than (a) .

○○○○ -32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767 &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99

(character string No.)(character string No.)(character string No.)(character string No.)1 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 32767

2-782-782-782-78

■ Hand control commands■ Hand control commands■ Hand control commands■ Hand control commands50505050 Grip CloseGrip CloseGrip CloseGrip Close GC[a]GC[a]GC[a]GC[a] Closes hand grip.Closes hand grip.Closes hand grip.Closes hand grip. ○○○○ a= 0: The 1st hand. 1: The 2nd hand.a= 0: The 1st hand. 1: The 2nd hand.a= 0: The 1st hand. 1: The 2nd hand.a= 0: The 1st hand. 1: The 2nd hand.

0(Hand 1) ≦ a ≦ 7(Hand 8)0(Hand 1) ≦ a ≦ 7(Hand 8)0(Hand 1) ≦ a ≦ 7(Hand 8)0(Hand 1) ≦ a ≦ 7(Hand 8)2-272-272-272-27

51515151 Grip FlagGrip FlagGrip FlagGrip Flag GF aGF aGF aGF a Defines the open/close state of hand grip Defines the open/close state of hand grip Defines the open/close state of hand grip Defines the open/close state of hand grip used in conjunction with command PD.used in conjunction with command PD.used in conjunction with command PD.used in conjunction with command PD.

○○○○ a= 0: Opena= 0: Opena= 0: Opena= 0: Open 1: Close 1: Close 1: Close 1: Close

2-282-282-282-28

52525252 Grip OpenGrip OpenGrip OpenGrip Open GO[a]GO[a]GO[a]GO[a] Opens hand grip.Opens hand grip.Opens hand grip.Opens hand grip. ○○○○ a= 0: The 1st hand. 1: The 2nd hand.a= 0: The 1st hand. 1: The 2nd hand.a= 0: The 1st hand. 1: The 2nd hand.a= 0: The 1st hand. 1: The 2nd hand.0(Hand 1) ≦ a ≦ 7(Hand 8)0(Hand 1) ≦ a ≦ 7(Hand 8)0(Hand 1) ≦ a ≦ 7(Hand 8)0(Hand 1) ≦ a ≦ 7(Hand 8)

2-292-292-292-29

53535353 Grip PressureGrip PressureGrip PressureGrip Pressure GP a1, a2, a3GP a1, a2, a3GP a1, a2, a3GP a1, a2, a3 Sets the gripping force (a1) and time (a3) Sets the gripping force (a1) and time (a3) Sets the gripping force (a1) and time (a3) Sets the gripping force (a1) and time (a3) and gripping force retention (a2) for the and gripping force retention (a2) for the and gripping force retention (a2) for the and gripping force retention (a2) for the motorized hand.motorized hand.motorized hand.motorized hand.

○○○○ 0 ≦ a1,a2 ≦ 630 ≦ a1,a2 ≦ 630 ≦ a1,a2 ≦ 630 ≦ a1,a2 ≦ 630 ≦ a3 ≦ 99 (0.1s unit)0 ≦ a3 ≦ 99 (0.1s unit)0 ≦ a3 ≦ 99 (0.1s unit)0 ≦ a3 ≦ 99 (0.1s unit)

2-302-302-302-30

■ I/O control commands■ I/O control commands■ I/O control commands■ I/O control commands54545454 Input DirectInput DirectInput DirectInput Direct ID [a]ID [a]ID [a]ID [a] Gets signal from external input without Gets signal from external input without Gets signal from external input without Gets signal from external input without

condition.condition.condition.condition.○○○○ 0 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 32767 2-362-362-362-36

55555555 Output BitOutput BitOutput BitOutput Bit OB [+/-] aOB [+/-] aOB [+/-] aOB [+/-] a Sets the output state of bit (a) of exterSets the output state of bit (a) of exterSets the output state of bit (a) of exterSets the output state of bit (a) of exter-nal output signal.nal output signal.nal output signal.nal output signal.

○○○○ 0 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 32767+: Bit on, -:Bit off.+: Bit on, -:Bit off.+: Bit on, -:Bit off.+: Bit on, -:Bit off.

2-562-562-562-56

56565656 Output CounterOutput CounterOutput CounterOutput Counter OC a [,[a1][,[a2]]]OC a [,[a1][,[a2]]]OC a [,[a1][,[a2]]]OC a [,[a1][,[a2]]] Outputs the counter value (a) to external Outputs the counter value (a) to external Outputs the counter value (a) to external Outputs the counter value (a) to external output signal without condition.output signal without condition.output signal without condition.output signal without condition.(a1: starting bit, a2: bit length)(a1: starting bit, a2: bit length)(a1: starting bit, a2: bit length)(a1: starting bit, a2: bit length)

○○○○ 1 ≦ a ≦ 991 ≦ a ≦ 991 ≦ a ≦ 991 ≦ a ≦ 99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)0 ≦ a1 ≦ 327670 ≦ a1 ≦ 327670 ≦ a1 ≦ 327670 ≦ a1 ≦ 327671 ≦ a2 ≦ 161 ≦ a2 ≦ 161 ≦ a2 ≦ 161 ≦ a2 ≦ 16

2-572-572-572-57

57575757 Output DirectOutput DirectOutput DirectOutput Direct OD a (or &b)OD a (or &b)OD a (or &b)OD a (or &b) [,[a1][,[a2]]] [,[a1][,[a2]]] [,[a1][,[a2]]] [,[a1][,[a2]]]

Outputs data (a) to external output signal Outputs data (a) to external output signal Outputs data (a) to external output signal Outputs data (a) to external output signal without condition.without condition.without condition.without condition.(a1: starting bit, a2: bit length)(a1: starting bit, a2: bit length)(a1: starting bit, a2: bit length)(a1: starting bit, a2: bit length)

○○○○ -32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767&8000 ≦ a ≦ &7FFF&8000 ≦ a ≦ &7FFF&8000 ≦ a ≦ &7FFF&8000 ≦ a ≦ &7FFF0 ≦ a1 ≦ 327670 ≦ a1 ≦ 327670 ≦ a1 ≦ 327670 ≦ a1 ≦ 327671 ≦ a 2 ≦ 161 ≦ a 2 ≦ 161 ≦ a 2 ≦ 161 ≦ a 2 ≦ 16

2-582-582-582-58

58585858 Test BitTest BitTest BitTest Bit TB [+/-] a,bTB [+/-] a,bTB [+/-] a,bTB [+/-] a,b Causes a jump to line number (b) in Causes a jump to line number (b) in Causes a jump to line number (b) in Causes a jump to line number (b) in accordance with the state of bit (a) of accordance with the state of bit (a) of accordance with the state of bit (a) of accordance with the state of bit (a) of internal register value.internal register value.internal register value.internal register value.

○○○○ 0 ≦ a ≦ 150 ≦ a ≦ 150 ≦ a ≦ 150 ≦ a ≦ 15+: Bit on, -:Bit off.+: Bit on, -:Bit off.+: Bit on, -:Bit off.+: Bit on, -:Bit off.1 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 32767

2-832-832-832-83

○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable

NONONONO NameNameNameName Input FormatInput FormatInput FormatInput Format FunctionFunctionFunctionFunction ProgramProgramProgramProgram NoteNoteNoteNote PagePagePagePage

3333Command ListCommand ListCommand ListCommand List

3-933-933-933-93

59595959 Test Bit DirectTest Bit DirectTest Bit DirectTest Bit Direct TBD [+/-] a,bTBD [+/-] a,bTBD [+/-] a,bTBD [+/-] a,b Causes a jump to line number (b) in Causes a jump to line number (b) in Causes a jump to line number (b) in Causes a jump to line number (b) in accordance with the state of bit (a) of accordance with the state of bit (a) of accordance with the state of bit (a) of accordance with the state of bit (a) of external input external input external input external input signalsignalsignalsignal....

○○○○ +: Bit on, -:Bit off.+: Bit on, -:Bit off.+: Bit on, -:Bit off.+: Bit on, -:Bit off.0 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 327671 ≦ b ≦ 32767

2-842-842-842-84

■ Operation, subsiture, exchange commands■ Operation, subsiture, exchange commands■ Operation, subsiture, exchange commands■ Operation, subsiture, exchange commands60606060 AddAddAddAdd ADD aADD aADD aADD a The operation value (a) is added to the The operation value (a) is added to the The operation value (a) is added to the The operation value (a) is added to the

internal register value.internal register value.internal register value.internal register value.○○○○ -32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767

&8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)

2-92-92-92-9

61616161 SubSubSubSub SUB aSUB aSUB aSUB a The operation value (a) is subtracted The operation value (a) is subtracted The operation value (a) is subtracted The operation value (a) is subtracted from the internal register value.from the internal register value.from the internal register value.from the internal register value.

○○○○ -32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767 &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)

2-822-822-822-82

62626262 MullMullMullMull MUL aMUL aMUL aMUL a The operation value (a) is multiplied with The operation value (a) is multiplied with The operation value (a) is multiplied with The operation value (a) is multiplied with the internal register value.the internal register value.the internal register value.the internal register value.

○○○○ -32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767 &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)

2-522-522-522-52

63636363 DivDivDivDiv DIV aDIV aDIV aDIV a The internal register value is divided by The internal register value is divided by The internal register value is divided by The internal register value is divided by the operation value (a).the operation value (a).the operation value (a).the operation value (a).

○○○○ -32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767-32768 ≦ a ≦ 32767 &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)

2-162-162-162-16

64646464 Increment countIncrement countIncrement countIncrement count IC aIC aIC aIC a The counter value (a) is incremented by The counter value (a) is incremented by The counter value (a) is incremented by The counter value (a) is incremented by 1.1.1.1.

○○○○ 1 ≦ a ≦ 99 1 ≦ a ≦ 99 1 ≦ a ≦ 99 1 ≦ a ≦ 99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)

2-342-342-342-34

65656565 Decrement countDecrement countDecrement countDecrement count DC aDC aDC aDC a The counter value (a) is decremeted by 1.The counter value (a) is decremeted by 1.The counter value (a) is decremeted by 1.The counter value (a) is decremeted by 1. ○○○○ 1 ≦ a ≦ 99 1 ≦ a ≦ 99 1 ≦ a ≦ 99 1 ≦ a ≦ 99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)

2-152-152-152-15

66666666 ANDANDANDAND AN aAN aAN aAN a The logical AND of the internal register The logical AND of the internal register The logical AND of the internal register The logical AND of the internal register and value (a) is obtained.and value (a) is obtained.and value (a) is obtained.and value (a) is obtained.

○○○○ -32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767 &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)

2-102-102-102-10

67676767 OROROROR OR aOR aOR aOR a The logical OR of the internal register and The logical OR of the internal register and The logical OR of the internal register and The logical OR of the internal register and value (a) is obtained.value (a) is obtained.value (a) is obtained.value (a) is obtained.

○○○○ -32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767 &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99

(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)

2-602-602-602-60

68686868 Exclusive ORExclusive ORExclusive ORExclusive OR XO aXO aXO aXO a The exclusive OR of the internal register The exclusive OR of the internal register The exclusive OR of the internal register The exclusive OR of the internal register and value (a) is obtained.and value (a) is obtained.and value (a) is obtained.and value (a) is obtained.

○○○○ -32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767 &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF &8000 ≦ a ≦ &7FFF @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99 @1 ≦ a ≦ @99(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)

2-902-902-902-90

69696969 Set CounterSet CounterSet CounterSet Counter SC a,[b]SC a,[b]SC a,[b]SC a,[b] The value (b) or character string (b) is set The value (b) or character string (b) is set The value (b) or character string (b) is set The value (b) or character string (b) is set in the counter (a).in the counter (a).in the counter (a).in the counter (a).

○○○○ 1 ≦ a ≦ 99((Counter No.) 1 ≦ a ≦ 99((Counter No.) 1 ≦ a ≦ 99((Counter No.) 1 ≦ a ≦ 99((Counter No.)$1 ≦ a ≦ $99(Character string No)$1 ≦ a ≦ $99(Character string No)$1 ≦ a ≦ $99(Character string No)$1 ≦ a ≦ $99(Character string No)-32768 ≦ b ≦ 32767-32768 ≦ b ≦ 32767-32768 ≦ b ≦ 32767-32768 ≦ b ≦ 32767 &8000 ≦ b ≦ &7FFF &8000 ≦ b ≦ &7FFF &8000 ≦ b ≦ &7FFF &8000 ≦ b ≦ &7FFFb:Character stringb:Character stringb:Character stringb:Character string

Within 120 characters incliding line Within 120 characters incliding line Within 120 characters incliding line Within 120 characters incliding line NO. and "SC".NO. and "SC".NO. and "SC".NO. and "SC".

2-752-752-752-75

70707070 Position loadPosition loadPosition loadPosition load PL a1,a2PL a1,a2PL a1,a2PL a1,a2 The coordinate value of position No. (a2) The coordinate value of position No. (a2) The coordinate value of position No. (a2) The coordinate value of position No. (a2) is substituted for the position No. (a1).is substituted for the position No. (a1).is substituted for the position No. (a1).is substituted for the position No. (a1).

○○○○ 1 ≦ a1,a2 ≦ 999 1 ≦ a1,a2 ≦ 999 1 ≦ a1,a2 ≦ 999 1 ≦ a1,a2 ≦ 999@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99

(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)

2-642-642-642-64

71717171 ShiftShiftShiftShift SF a1,a2SF a1,a2SF a1,a2SF a1,a2 The coordinate value of position No. (a1) The coordinate value of position No. (a1) The coordinate value of position No. (a1) The coordinate value of position No. (a1) is shifted by the coordinate value of posiis shifted by the coordinate value of posiis shifted by the coordinate value of posiis shifted by the coordinate value of posi-tion No. (a2), and is re-registered.tion No. (a2), and is re-registered.tion No. (a2), and is re-registered.tion No. (a2), and is re-registered.

○○○○ 1 ≦ a1,a2 ≦ 999 1 ≦ a1,a2 ≦ 999 1 ≦ a1,a2 ≦ 999 1 ≦ a1,a2 ≦ 999@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99

(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)

2-772-772-772-77

72727272 Position exchangePosition exchangePosition exchangePosition exchange PX a1,a2PX a1,a2PX a1,a2PX a1,a2 The coordinate values of the position No. The coordinate values of the position No. The coordinate values of the position No. The coordinate values of the position No. (a1) and position No. (a2) are exchanged.(a1) and position No. (a2) are exchanged.(a1) and position No. (a2) are exchanged.(a1) and position No. (a2) are exchanged.

○○○○ 1 ≦ a1,a2 ≦ 999 1 ≦ a1,a2 ≦ 999 1 ≦ a1,a2 ≦ 999 1 ≦ a1,a2 ≦ 999@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99@1 ≦ a1,a2 ≦ @99

(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)

2-702-702-702-70

■ RS-232C communication commands■ RS-232C communication commands■ RS-232C communication commands■ RS-232C communication commands73737373 Counter reedCounter reedCounter reedCounter reed CR aCR aCR aCR a Reads contents of counter (a).Reads contents of counter (a).Reads contents of counter (a).Reads contents of counter (a). ○○○○ 1 ≦ a ≦ 99 (Counter No.) 1 ≦ a ≦ 99 (Counter No.) 1 ≦ a ≦ 99 (Counter No.) 1 ≦ a ≦ 99 (Counter No.)

@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)(Designate indirect counter No.)

$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99$1 ≦ a ≦ $99(character string No.)(character string No.)(character string No.)(character string No.)

2-142-142-142-14

74747474 Data reedData reedData reedData reed DR [a]DR [a]DR [a]DR [a] Reads the values of the internal register, Reads the values of the internal register, Reads the values of the internal register, Reads the values of the internal register, hand check state, and general output hand check state, and general output hand check state, and general output hand check state, and general output state.state.state.state.(a):Output bit No.(a):Output bit No.(a):Output bit No.(a):Output bit No.

○○○○ 0 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 32767 2-192-192-192-19

○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable

NONONONO NameNameNameName Input FormatInput FormatInput FormatInput Format FunctionFunctionFunctionFunction ProgramProgramProgramProgram NoteNoteNoteNote PagePagePagePage

3333----94949494

3333Command ListCommand ListCommand ListCommand List

75757575 Error reedError reedError reedError reed ER [a]ER [a]ER [a]ER [a] Reads error number.Reads error number.Reads error number.Reads error number.(a):Not specify(a):Not specify(a):Not specify(a):Not specify

Current error no readCurrent error no readCurrent error no readCurrent error no read(a):Specify(a):Specify(a):Specify(a):Specify

Error history readError history readError history readError history read

×××× 1 ≦ a ≦ 1281 ≦ a ≦ 1281 ≦ a ≦ 1281 ≦ a ≦ 128 2-262-262-262-26

76767676 Line reedLine reedLine reedLine reed LR [a]LR [a]LR [a]LR [a] Reads program of line number (a).Reads program of line number (a).Reads program of line number (a).Reads program of line number (a). ×××× 0 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 32767 2-402-402-402-40

77777777 Position reedPosition reedPosition reedPosition reed PR [a]PR [a]PR [a]PR [a] Reads each coordinate value of position Reads each coordinate value of position Reads each coordinate value of position Reads each coordinate value of position number (a).number (a).number (a).number (a).

○○○○ 0 ≦ a ≦ 9990 ≦ a ≦ 9990 ≦ a ≦ 9990 ≦ a ≦ 999@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99@1 ≦ a ≦ @99

(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)(Designate indirect position No.)

2-662-662-662-66

78787878 Question NumberQuestion NumberQuestion NumberQuestion Number QN [a]QN [a]QN [a]QN [a] Reads information of program number (a) Reads information of program number (a) Reads information of program number (a) Reads information of program number (a) or selected program number.or selected program number.or selected program number.or selected program number.

○○○○ a is program name.a is program name.a is program name.a is program name.Number of steps, number of position, Number of steps, number of position, Number of steps, number of position, Number of steps, number of position, number of counter are turned over pronumber of counter are turned over pronumber of counter are turned over pronumber of counter are turned over pro-gram information.gram information.gram information.gram information.

2-712-712-712-71

79797979 Step ReedStep ReedStep ReedStep Reed STR [a]STR [a]STR [a]STR [a] Reads program of step number (a).Reads program of step number (a).Reads program of step number (a).Reads program of step number (a). ×××× 0 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 327670 ≦ a ≦ 32767 2-812-812-812-81

80808080 Version ReedVersion ReedVersion ReedVersion Reed VRVRVRVR Reads version name of system ROM.Reads version name of system ROM.Reads version name of system ROM.Reads version name of system ROM. ○○○○ 2-872-872-872-87

81818181 WhereWhereWhereWhere WHWHWHWH Reads each coordinate value of current Reads each coordinate value of current Reads each coordinate value of current Reads each coordinate value of current position.position.position.position.

○○○○ 2-882-882-882-88

82828282 What ToolWhat ToolWhat ToolWhat Tool WTWTWTWT Reads current a tool length.Reads current a tool length.Reads current a tool length.Reads current a tool length. ○○○○ 2-892-892-892-89

83838383 What Tool MatrixWhat Tool MatrixWhat Tool MatrixWhat Tool Matrix WTMWTMWTMWTM Reads out current tool matrix. Reads out current tool matrix. Reads out current tool matrix. Reads out current tool matrix. (X,Y,Z,A,B,C).(X,Y,Z,A,B,C).(X,Y,Z,A,B,C).(X,Y,Z,A,B,C).

○○○○ 2-892-892-892-89

■ Other commands■ Other commands■ Other commands■ Other commands84848484 InputInputInputInput INP a,[b],[,[c]]INP a,[b],[,[c]]INP a,[b],[,[c]]INP a,[b],[,[c]] Reads the value of counter (b) or position Reads the value of counter (b) or position Reads the value of counter (b) or position Reads the value of counter (b) or position

(b) or character strings (b) from channel (b) or character strings (b) from channel (b) or character strings (b) from channel (b) or character strings (b) from channel (a).(a).(a).(a).

○○○○ 0 ≦ a ≦ 70 ≦ a ≦ 70 ≦ a ≦ 70 ≦ a ≦ 71 ≦ b ≦ 991 ≦ b ≦ 991 ≦ b ≦ 991 ≦ b ≦ 991 ≦ b ≦ 9991 ≦ b ≦ 9991 ≦ b ≦ 9991 ≦ b ≦ 999$1 ≦ b ≦ $99$1 ≦ b ≦ $99$1 ≦ b ≦ $99$1 ≦ b ≦ $99C=0 : Counter,C=0 : Counter,C=0 : Counter,C=0 : Counter,

1 : Position, 1 : Position, 1 : Position, 1 : Position, 2 : Character string No. 2 : Character string No. 2 : Character string No. 2 : Character string No.

2-372-372-372-37

85858585 NumberNumberNumberNumber N aN aN aN a Selects program (a).Selects program (a).Selects program (a).Selects program (a). ×××× a:Program name.a:Program name.a:Program name.a:Program name. 2-532-532-532-53

86868686 OpenOpenOpenOpen OPN a,bOPN a,bOPN a,bOPN a,b Opens I/O (b) for channel (a).Opens I/O (b) for channel (a).Opens I/O (b) for channel (a).Opens I/O (b) for channel (a). ○○○○ 0 ≦ a ≦ 0 ≦ a ≦ 0 ≦ a ≦ 0 ≦ a ≦ 7777ｂ ＝ 1 : Standard RS-232Cｂ ＝ 1 : Standard RS-232Cｂ ＝ 1 : Standard RS-232Cｂ ＝ 1 : Standard RS-232C

2-592-592-592-59

87878787 PrintPrintPrintPrint PRN a,b or cPRN a,b or cPRN a,b or cPRN a,b or c Sends out the contents of counter (a) or Sends out the contents of counter (a) or Sends out the contents of counter (a) or Sends out the contents of counter (a) or position (b) or character string (c) from a position (b) or character string (c) from a position (b) or character string (c) from a position (b) or character string (c) from a personal computer in conjunction with personal computer in conjunction with personal computer in conjunction with personal computer in conjunction with commnand INP.commnand INP.commnand INP.commnand INP.

×××× a:Counter valuea:Counter valuea:Counter valuea:Counter value-32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767-32768 ≦ a ≦ +32767&8000 ≦ a ≦ &7FFF&8000 ≦ a ≦ &7FFF&8000 ≦ a ≦ &7FFF&8000 ≦ a ≦ &7FFFb:Coordinates valueb:Coordinates valueb:Coordinates valueb:Coordinates valueFor 6-axis robotFor 6-axis robotFor 6-axis robotFor 6-axis robot(X, Y, Z, A, B,C,R/L, A/B,N/F,O/C)(X, Y, Z, A, B,C,R/L, A/B,N/F,O/C)(X, Y, Z, A, B,C,R/L, A/B,N/F,O/C)(X, Y, Z, A, B,C,R/L, A/B,N/F,O/C)For 5-axis robotFor 5-axis robotFor 5-axis robotFor 5-axis robot(X,Y,Z,A,B,R/L,A/B, O/C)(X,Y,Z,A,B,R/L,A/B, O/C)(X,Y,Z,A,B,R/L,A/B, O/C)(X,Y,Z,A,B,R/L,A/B, O/C)c:Character stringc:Character stringc:Character stringc:Character string

Within 120 characters incliding line Within 120 characters incliding line Within 120 characters incliding line Within 120 characters incliding line NO. and "SC".NO. and "SC".NO. and "SC".NO. and "SC".

2-672-672-672-67

88888888 ResetResetResetReset RS [a]RS [a]RS [a]RS [a] Resets the state of specified by (a).Resets the state of specified by (a).Resets the state of specified by (a).Resets the state of specified by (a). ×××× a =0:Resets an error and program line a =0:Resets an error and program line a =0:Resets an error and program line a =0:Resets an error and program line number.number.number.number.

1: Resets all counter data. 1: Resets all counter data. 1: Resets all counter data. 1: Resets all counter data. 2: Resets battery timer. 2: Resets battery timer. 2: Resets battery timer. 2: Resets battery timer. 3: Equal NW command. 3: Equal NW command. 3: Equal NW command. 3: Equal NW command. 4: Resets the origin setting. 4: Resets the origin setting. 4: Resets the origin setting. 4: Resets the origin setting.

2-742-742-742-74

89898989 CommentCommentCommentComment ' ' ' ' Describes a commentDescribes a commentDescribes a commentDescribes a comment ○○○○ 2-902-902-902-90

○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable○ ： Usable, × ： Not usable

NONONONO NameNameNameName Input FormatInput FormatInput FormatInput Format FunctionFunctionFunctionFunction ProgramProgramProgramProgram NoteNoteNoteNote PagePagePagePage

4 4 4 4 AppendixAppendixAppendixAppendix

RS-232C signal conductor's timing chart (DTR control)RS-232C signal conductor's timing chart (DTR control)RS-232C signal conductor's timing chart (DTR control)RS-232C signal conductor's timing chart (DTR control) Appendix-95 Appendix-95 Appendix-95 Appendix-95

4 Appendix4 Appendix4 Appendix4 Appendix

Appendix 1 ： RS-232C signal conductor's timing chart (DTR control)Appendix 1 ： RS-232C signal conductor's timing chart (DTR control)Appendix 1 ： RS-232C signal conductor's timing chart (DTR control)Appendix 1 ： RS-232C signal conductor's timing chart (DTR control)

The standards for the RS-232C interface are essentially based on such items as electrical specifications, The standards for the RS-232C interface are essentially based on such items as electrical specifications, The standards for the RS-232C interface are essentially based on such items as electrical specifications, The standards for the RS-232C interface are essentially based on such items as electrical specifications, connector types, and pin numbers. The way of using various signal lines and communications protocols are so connector types, and pin numbers. The way of using various signal lines and communications protocols are so connector types, and pin numbers. The way of using various signal lines and communications protocols are so connector types, and pin numbers. The way of using various signal lines and communications protocols are so varied depending on the type of equipment. Accordingly, even though you have made the correct signal lines varied depending on the type of equipment. Accordingly, even though you have made the correct signal lines varied depending on the type of equipment. Accordingly, even though you have made the correct signal lines varied depending on the type of equipment. Accordingly, even though you have made the correct signal lines connected to the personal computer, you still may not be able to operate with it. Accordingly, in regards to making connected to the personal computer, you still may not be able to operate with it. Accordingly, in regards to making connected to the personal computer, you still may not be able to operate with it. Accordingly, in regards to making connected to the personal computer, you still may not be able to operate with it. Accordingly, in regards to making this connection, you should develop a full understanding of the functions of the signal lines that you will use this connection, you should develop a full understanding of the functions of the signal lines that you will use this connection, you should develop a full understanding of the functions of the signal lines that you will use this connection, you should develop a full understanding of the functions of the signal lines that you will use between the controller and the personal computer before you make the connections. Please note that all data between the controller and the personal computer before you make the connections. Please note that all data between the controller and the personal computer before you make the connections. Please note that all data between the controller and the personal computer before you make the connections. Please note that all data transmission between the controller and personal computer will be done in ASCII code.transmission between the controller and personal computer will be done in ASCII code.transmission between the controller and personal computer will be done in ASCII code.transmission between the controller and personal computer will be done in ASCII code.

(1) The timing of data transmissions from the personal computer to the robot.(1) The timing of data transmissions from the personal computer to the robot.(1) The timing of data transmissions from the personal computer to the robot.(1) The timing of data transmissions from the personal computer to the robot.■ Robot side■ Robot side■ Robot side■ Robot side

ER (DTR), and RS (RTS) should both be at the "H" level and be waiting for data input. When the end code is input, ER (DTR), and RS (RTS) should both be at the "H" level and be waiting for data input. When the end code is input, ER (DTR), and RS (RTS) should both be at the "H" level and be waiting for data input. When the end code is input, ER (DTR), and RS (RTS) should both be at the "H" level and be waiting for data input. When the end code is input, ER (DTR) and RS (RTS) both change to level L, and execute the command received.Once the command has been ER (DTR) and RS (RTS) both change to level L, and execute the command received.Once the command has been ER (DTR) and RS (RTS) both change to level L, and execute the command received.Once the command has been ER (DTR) and RS (RTS) both change to level L, and execute the command received.Once the command has been executed, both ER (DTR) and RS (RTS) return to level H.executed, both ER (DTR) and RS (RTS) return to level H.executed, both ER (DTR) and RS (RTS) return to level H.executed, both ER (DTR) and RS (RTS) return to level H.

The end code is hexadecimal "OD" (CR:carriage return), and or hexadecimal "OD" + "OA" (LF: line feed).The end code is hexadecimal "OD" (CR:carriage return), and or hexadecimal "OD" + "OA" (LF: line feed).The end code is hexadecimal "OD" (CR:carriage return), and or hexadecimal "OD" + "OA" (LF: line feed).The end code is hexadecimal "OD" (CR:carriage return), and or hexadecimal "OD" + "OA" (LF: line feed).

■ Personal computer side■ Personal computer side■ Personal computer side■ Personal computer sideWhen DR (DSR) is at level H, you can transmit characters. When DR (DSR) is at level L, if you transmit When DR (DSR) is at level H, you can transmit characters. When DR (DSR) is at level L, if you transmit When DR (DSR) is at level H, you can transmit characters. When DR (DSR) is at level L, if you transmit When DR (DSR) is at level H, you can transmit characters. When DR (DSR) is at level L, if you transmit

characters, an error will result on the robot side.characters, an error will result on the robot side.characters, an error will result on the robot side.characters, an error will result on the robot side.

Fig. 4-1 ： Timing of data transmissions (from personal computer Fig. 4-1 ： Timing of data transmissions (from personal computer Fig. 4-1 ： Timing of data transmissions (from personal computer Fig. 4-1 ： Timing of data transmissions (from personal computer totototo robot) robot) robot) robot)

(2) The timing of data transmissions from the robot to the personal computer(2) The timing of data transmissions from the robot to the personal computer(2) The timing of data transmissions from the robot to the personal computer(2) The timing of data transmissions from the robot to the personal computer■ Personal computer side■ Personal computer side■ Personal computer side■ Personal computer side

The request signal is sent after the ER(DTR) and RS (RTS) are both at level H, and the personal computer waits The request signal is sent after the ER(DTR) and RS (RTS) are both at level H, and the personal computer waits The request signal is sent after the ER(DTR) and RS (RTS) are both at level H, and the personal computer waits The request signal is sent after the ER(DTR) and RS (RTS) are both at level H, and the personal computer waits for a transmission from the robot side.for a transmission from the robot side.for a transmission from the robot side.for a transmission from the robot side.

■ Robot side■ Robot side■ Robot side■ Robot sideAfter changing ER (DTR) to level H, you can begin to send data transmissions, and when the end code is After changing ER (DTR) to level H, you can begin to send data transmissions, and when the end code is After changing ER (DTR) to level H, you can begin to send data transmissions, and when the end code is After changing ER (DTR) to level H, you can begin to send data transmissions, and when the end code is

transmitted, ER (DTR)'s level is changed back to level L.transmitted, ER (DTR)'s level is changed back to level L.transmitted, ER (DTR)'s level is changed back to level L.transmitted, ER (DTR)'s level is changed back to level L.

Fig. 4-2 ： Timing of data transmissionsFig. 4-2 ： Timing of data transmissionsFig. 4-2 ： Timing of data transmissionsFig. 4-2 ： Timing of data transmissions((((from robot to personal computerfrom robot to personal computerfrom robot to personal computerfrom robot to personal computer))))

<Robot side<Robot side<Robot side<Robot side>>>> <Personal <Personal <Personal <Personal computer side> computer side> computer side> computer side>

ER(DTR) ER(DTR) ER(DTR) ER(DTR) → DR(DSR)→ DR(DSR)→ DR(DSR)→ DR(DSR)

RS(RTS) RS(RTS) RS(RTS) RS(RTS) → CS(CTS)→ CS(CTS)→ CS(CTS)→ CS(CTS)

Input of end codeInput of end codeInput of end codeInput of end code

Length of Length of Length of Length of executingexecutingexecutingexecutingcommandcommandcommandcommand

<<<<Robot sideRobot sideRobot sideRobot side>>>> <<<<Personal Personal Personal Personal computer side computer side computer side computer side>>>>

ER(DTR) ER(DTR) ER(DTR) ER(DTR) → DR(DSR)→ DR(DSR)→ DR(DSR)→ DR(DSR)RS(RTS) RS(RTS) RS(RTS) RS(RTS) → CS(CTS)→ CS(CTS)→ CS(CTS)→ CS(CTS)

Output if firstOutput if firstOutput if firstOutput if firstcharactercharactercharactercharacter

Output if secondOutput if secondOutput if secondOutput if secondcharactercharactercharactercharacter

DR(DSR) DR(DSR) DR(DSR) DR(DSR) ←←←← ER(DTR) ER(DTR) ER(DTR) ER(DTR)

CS(CTS) CS(CTS) CS(CTS) CS(CTS) ←←←← RS(RTS) RS(RTS) RS(RTS) RS(RTS)

Appendix-96 Appendix-96 Appendix-96 Appendix-96 RS-232C signal conductor's timing chart (DTR control)RS-232C signal conductor's timing chart (DTR control)RS-232C signal conductor's timing chart (DTR control)RS-232C signal conductor's timing chart (DTR control)

4 4 4 4 AppendixAppendixAppendixAppendix

◇◆◇ Supplementation ◇◆◇◆◇ Supplementation ◇◆◇◆◇ Supplementation ◇◆◇◆◇ Supplementation ◇◆◇◇◇◇１． When the personal computer transmits data to the robot, depending on the personal computer, the １． When the personal computer transmits data to the robot, depending on the personal computer, the １． When the personal computer transmits data to the robot, depending on the personal computer, the １． When the personal computer transmits data to the robot, depending on the personal computer, the

personal computer may ignore the ON/OFF signal line for the CS or DR, and transmit data continuously, personal computer may ignore the ON/OFF signal line for the CS or DR, and transmit data continuously, personal computer may ignore the ON/OFF signal line for the CS or DR, and transmit data continuously, personal computer may ignore the ON/OFF signal line for the CS or DR, and transmit data continuously, resulting in an error on the robot side. In this case, make an adjustment on the personal computer, such asresulting in an error on the robot side. In this case, make an adjustment on the personal computer, such asresulting in an error on the robot side. In this case, make an adjustment on the personal computer, such asresulting in an error on the robot side. In this case, make an adjustment on the personal computer, such asby using a timer to send data.by using a timer to send data.by using a timer to send data.by using a timer to send data.

２． When the RS-232C read command is used repeatedly at the program on the robot side, if the processing ２． When the RS-232C read command is used repeatedly at the program on the robot side, if the processing ２． When the RS-232C read command is used repeatedly at the program on the robot side, if the processing ２． When the RS-232C read command is used repeatedly at the program on the robot side, if the processing speed of the personal computer is slow, a communications error can result on the side of the personal speed of the personal computer is slow, a communications error can result on the side of the personal speed of the personal computer is slow, a communications error can result on the side of the personal speed of the personal computer is slow, a communications error can result on the side of the personal computer. (Line buffer overflow error). In this case, use a timer or some other technique so that you can computer. (Line buffer overflow error). In this case, use a timer or some other technique so that you can computer. (Line buffer overflow error). In this case, use a timer or some other technique so that you can computer. (Line buffer overflow error). In this case, use a timer or some other technique so that you can expand the execution interval of the RS-232C read commands.expand the execution interval of the RS-232C read commands.expand the execution interval of the RS-232C read commands.expand the execution interval of the RS-232C read commands.

３．The robot cannot receive new commands when it is executing direct commands, such as when it moves by３．The robot cannot receive new commands when it is executing direct commands, such as when it moves by３．The robot cannot receive new commands when it is executing direct commands, such as when it moves by３．The robot cannot receive new commands when it is executing direct commands, such as when it moves bythe MO command. Transmit a new command only after it finishes a command completely.the MO command. Transmit a new command only after it finishes a command completely.the MO command. Transmit a new command only after it finishes a command completely.the MO command. Transmit a new command only after it finishes a command completely.(By sending an ER command, you can confirm the existence of an alarm and the fact that a transmission (By sending an ER command, you can confirm the existence of an alarm and the fact that a transmission (By sending an ER command, you can confirm the existence of an alarm and the fact that a transmission (By sending an ER command, you can confirm the existence of an alarm and the fact that a transmission has been completed.)has been completed.)has been completed.)has been completed.)

４． If the wrong command is transmitted by the RS-232C while the program is in progress, an error will be ４． If the wrong command is transmitted by the RS-232C while the program is in progress, an error will be ４． If the wrong command is transmitted by the RS-232C while the program is in progress, an error will be ４． If the wrong command is transmitted by the RS-232C while the program is in progress, an error will be generated. In this case, reset the robot.generated. In this case, reset the robot.generated. In this case, reset the robot.generated. In this case, reset the robot.

4 4 4 4 AppendixAppendixAppendixAppendix

Sample programSample programSample programSample program Appendix-97 Appendix-97 Appendix-97 Appendix-97

Appendix 2 ： Sample programAppendix 2 ： Sample programAppendix 2 ： Sample programAppendix 2 ： Sample program

This section explains how to make a program with Movemaster command method.This section explains how to make a program with Movemaster command method.This section explains how to make a program with Movemaster command method.This section explains how to make a program with Movemaster command method.

Table 4-1 ： Shows effective programming procedure.Table 4-1 ： Shows effective programming procedure.Table 4-1 ： Shows effective programming procedure.Table 4-1 ： Shows effective programming procedure.

NONONONO ItemItemItemItem Operation descriptionOperation descriptionOperation descriptionOperation description

1111 Work planWork planWork planWork plan 1) Assume main flow of work.1) Assume main flow of work.1) Assume main flow of work.1) Assume main flow of work.

2) Define the work of the robot.2) Define the work of the robot.2) Define the work of the robot.2) Define the work of the robot.

2222 Drawing of flow- chartDrawing of flow- chartDrawing of flow- chartDrawing of flow- chart 1) Divide the whole work into separate jobs.1) Divide the whole work into separate jobs.1) Divide the whole work into separate jobs.1) Divide the whole work into separate jobs.

2) If there are conditional branchings in the work, divide the work into 　 different programs or 2) If there are conditional branchings in the work, divide the work into 　 different programs or 2) If there are conditional branchings in the work, divide the work into 　 different programs or 2) If there are conditional branchings in the work, divide the work into 　 different programs or

divide one program into different blocks.divide one program into different blocks.divide one program into different blocks.divide one program into different blocks.

3) Appoint position number at each work position.3) Appoint position number at each work position.3) Appoint position number at each work position.3) Appoint position number at each work position.

4) Assign input/output signals.4) Assign input/output signals.4) Assign input/output signals.4) Assign input/output signals.

5) Based on the above procedure, draw flowchart.5) Based on the above procedure, draw flowchart.5) Based on the above procedure, draw flowchart.5) Based on the above procedure, draw flowchart.

3333 ProgrammingProgrammingProgrammingProgramming Based on the above flowchart, make the program.Based on the above flowchart, make the program.Based on the above flowchart, make the program.Based on the above flowchart, make the program.

Appendix-98 Appendix-98 Appendix-98 Appendix-98 Sample programSample programSample programSample program

4 4 4 4 AppendixAppendixAppendixAppendix

(1) Pick and place operation(1) Pick and place operation(1) Pick and place operation(1) Pick and place operation

1) Work description1) Work description1) Work description1) Work descriptionThe robot transfers a workpiece from one place to another place.The robot transfers a workpiece from one place to another place.The robot transfers a workpiece from one place to another place.The robot transfers a workpiece from one place to another place.

2) Defined position2) Defined position2) Defined position2) Defined position

3) Operation flow3) Operation flow3) Operation flow3) Operation flowFig. 4-3 shows the flow of operation.Fig. 4-3 shows the flow of operation.Fig. 4-3 shows the flow of operation.Fig. 4-3 shows the flow of operation.

Fig. 4-3 ： FlowchartFig. 4-3 ： FlowchartFig. 4-3 ： FlowchartFig. 4-3 ： Flowchart

Position No.Position No.Position No.Position No. Position descriptionPosition descriptionPosition descriptionPosition description Teaching wayTeaching wayTeaching wayTeaching way

Position 1Position 1Position 1Position 1 Picking positionPicking positionPicking positionPicking positionBy actual teachingBy actual teachingBy actual teachingBy actual teaching

Position 1Position 1Position 1Position 1 Placing positionPlacing positionPlacing positionPlacing position

Position 10Position 10Position 10Position 10 Movement distance above position 1Movement distance above position 1Movement distance above position 1Movement distance above position 1By numerical value settingBy numerical value settingBy numerical value settingBy numerical value setting

Position 20Position 20Position 20Position 20 Movement distance above position 2Movement distance above position 2Movement distance above position 2Movement distance above position 2

StartStartStartStart

One cycle completedOne cycle completedOne cycle completedOne cycle completed

Initial speed settingInitial speed settingInitial speed settingInitial speed setting

Moves above position 1Moves above position 1Moves above position 1Moves above position 1

Moves to position 1Moves to position 1Moves to position 1Moves to position 1

Grasps workpieceGrasps workpieceGrasps workpieceGrasps workpiece

Moves above position 1Moves above position 1Moves above position 1Moves above position 1

Moves above position 2Moves above position 2Moves above position 2Moves above position 2

Moves to position 2Moves to position 2Moves to position 2Moves to position 2

Releases workpieceReleases workpieceReleases workpieceReleases workpiece

Moves above position 2Moves above position 2Moves above position 2Moves above position 2

(Repeatedly)(Repeatedly)(Repeatedly)(Repeatedly)

4 4 4 4 AppendixAppendixAppendixAppendix

Sample programSample programSample programSample program Appendix-99 Appendix-99 Appendix-99 Appendix-99

4) Schematic diagram4) Schematic diagram4) Schematic diagram4) Schematic diagramFig. 4-4 shows general description of operation.Fig. 4-4 shows general description of operation.Fig. 4-4 shows general description of operation.Fig. 4-4 shows general description of operation.

Fig. 4-4 ： Pick and place operationFig. 4-4 ： Pick and place operationFig. 4-4 ： Pick and place operationFig. 4-4 ： Pick and place operation

5) Example program5) Example program5) Example program5) Example program

10101010 PD 10,0,0,20,0,0,0 PD 10,0,0,20,0,0,0 PD 10,0,0,20,0,0,0 PD 10,0,0,20,0,0,0 Note1)Note1)Note1)Note1) ； Defines the aerial distance of travel from position 1 (Z=20 mm) .； Defines the aerial distance of travel from position 1 (Z=20 mm) .； Defines the aerial distance of travel from position 1 (Z=20 mm) .； Defines the aerial distance of travel from position 1 (Z=20 mm) .

20202020 PD 20,0,0,30,0,0,0 PD 20,0,0,30,0,0,0 PD 20,0,0,30,0,0,0 PD 20,0,0,30,0,0,0 Note2)Note2)Note2)Note2) ； Defines the aerial distance of travel from position 2 (Z=30 mm) .； Defines the aerial distance of travel from position 2 (Z=30 mm) .； Defines the aerial distance of travel from position 2 (Z=30 mm) .； Defines the aerial distance of travel from position 2 (Z=30 mm) .

30303030 SP 17SP 17SP 17SP 17 ； Sets the initial speed.； Sets the initial speed.； Sets the initial speed.； Sets the initial speed.

40404040 MA 1,10,OMA 1,10,OMA 1,10,OMA 1,10,O ； Opens hand and moves 20 mm above the position 1.； Opens hand and moves 20 mm above the position 1.； Opens hand and moves 20 mm above the position 1.； Opens hand and moves 20 mm above the position 1.

50505050 MO 1,OMO 1,OMO 1,OMO 1,O ； Moves to the position 1.； Moves to the position 1.； Moves to the position 1.； Moves to the position 1.

60606060 GCGCGCGC ； Closes hand and grasps the workpiece.； Closes hand and grasps the workpiece.； Closes hand and grasps the workpiece.； Closes hand and grasps the workpiece.

70707070 MA 1,10,CMA 1,10,CMA 1,10,CMA 1,10,C ； Moves 10 mm above the position 1 with hand closed.； Moves 10 mm above the position 1 with hand closed.； Moves 10 mm above the position 1 with hand closed.； Moves 10 mm above the position 1 with hand closed.

80808080 MA 2,20,CMA 2,20,CMA 2,20,CMA 2,20,C ； Moves 30 mm above the position 2 with hand closed.； Moves 30 mm above the position 2 with hand closed.； Moves 30 mm above the position 2 with hand closed.； Moves 30 mm above the position 2 with hand closed.

90909090 MO 2,CMO 2,CMO 2,CMO 2,C ； Puts the workpiece.； Puts the workpiece.； Puts the workpiece.； Puts the workpiece.

100100100100 GOGOGOGO ； Opens hand and releases the workpiece.； Opens hand and releases the workpiece.； Opens hand and releases the workpiece.； Opens hand and releases the workpiece.

110110110110 MA 2,20,OMA 2,20,OMA 2,20,OMA 2,20,O ； Moves 30 mm above the position 2 with hand opened.； Moves 30 mm above the position 2 with hand opened.； Moves 30 mm above the position 2 with hand opened.； Moves 30 mm above the position 2 with hand opened.

120120120120 GT 40GT 40GT 40GT 40 ； Repeats this program. (Jumps to the line 40.)； Repeats this program. (Jumps to the line 40.)； Repeats this program. (Jumps to the line 40.)； Repeats this program. (Jumps to the line 40.)

Note1) For 5-axis robot this is 10 PD 10, 0, 0, 20, 0, 0.Note1) For 5-axis robot this is 10 PD 10, 0, 0, 20, 0, 0.Note1) For 5-axis robot this is 10 PD 10, 0, 0, 20, 0, 0.Note1) For 5-axis robot this is 10 PD 10, 0, 0, 20, 0, 0.Note2) For 5-axis robot this is 20 PD 20, 0, 0, 30, 0, 0.Note2) For 5-axis robot this is 20 PD 20, 0, 0, 30, 0, 0.Note2) For 5-axis robot this is 20 PD 20, 0, 0, 30, 0, 0.Note2) For 5-axis robot this is 20 PD 20, 0, 0, 30, 0, 0.

20mm20mm20mm20mm30mm30mm30mm30mm

××××

××××

×××× ××××

Setting to Setting to Setting to Setting to position 10position 10position 10position 10

Setting to Setting to Setting to Setting to position 20position 20position 20position 20

position 1position 1position 1position 1position 2position 2position 2position 2

Appendix-100 Appendix-100 Appendix-100 Appendix-100 Sample programSample programSample programSample program

4 4 4 4 AppendixAppendixAppendixAppendix

(2) Application of interrupt motion(2) Application of interrupt motion(2) Application of interrupt motion(2) Application of interrupt motion

1) Work description1) Work description1) Work description1) Work descriptionThe robot grasps the workpieces that have different height using a limit switch fixed inside the hand. The The robot grasps the workpieces that have different height using a limit switch fixed inside the hand. The The robot grasps the workpieces that have different height using a limit switch fixed inside the hand. The The robot grasps the workpieces that have different height using a limit switch fixed inside the hand. The robot gets a signal of the limit switch through hand check I/O.robot gets a signal of the limit switch through hand check I/O.robot gets a signal of the limit switch through hand check I/O.robot gets a signal of the limit switch through hand check I/O.

2) Defined position2) Defined position2) Defined position2) Defined position

3) Signal I/O3) Signal I/O3) Signal I/O3) Signal I/O

4) Operation flow4) Operation flow4) Operation flow4) Operation flowFig. 4-5 shows the flow of operation.Fig. 4-5 shows the flow of operation.Fig. 4-5 shows the flow of operation.Fig. 4-5 shows the flow of operation.

Fig. 4-5 ： FlowchartFig. 4-5 ： FlowchartFig. 4-5 ： FlowchartFig. 4-5 ： Flowchart

Position No.Position No.Position No.Position No. Position descriptionPosition descriptionPosition descriptionPosition description Teaching wayTeaching wayTeaching wayTeaching way

Position 1Position 1Position 1Position 1 Position above workPosition above workPosition above workPosition above work By actual teachingBy actual teachingBy actual teachingBy actual teaching

I/OI/OI/OI/O DescriptionDescriptionDescriptionDescription BitBitBitBit

InputInputInputInput Work presence signalWork presence signalWork presence signalWork presence signal Bit 900Bit 900Bit 900Bit 900

Initial speed settingInitial speed settingInitial speed settingInitial speed setting

Interrupt enableInterrupt enableInterrupt enableInterrupt enable

Moves to position 1Moves to position 1Moves to position 1Moves to position 1

Moves to-Z direction by 50 mmMoves to-Z direction by 50 mmMoves to-Z direction by 50 mmMoves to-Z direction by 50 mm

Disables interruptDisables interruptDisables interruptDisables interrupt

Grasps the workpieceGrasps the workpieceGrasps the workpieceGrasps the workpiece

One cycle completedOne cycle completedOne cycle completedOne cycle completed

Interrupt ?Interrupt ?Interrupt ?Interrupt ?NONONONO

YESYESYESYES

4 4 4 4 AppendixAppendixAppendixAppendix

Sample programSample programSample programSample program Appendix-101 Appendix-101 Appendix-101 Appendix-101

5) Schematic diagram5) Schematic diagram5) Schematic diagram5) Schematic diagramFig. 4-6 shows brief description of motion.Fig. 4-6 shows brief description of motion.Fig. 4-6 shows brief description of motion.Fig. 4-6 shows brief description of motion.

Fig. 4-6 ： Interrupt motionFig. 4-6 ： Interrupt motionFig. 4-6 ： Interrupt motionFig. 4-6 ： Interrupt motion

6) Example program6) Example program6) Example program6) Example program ： ： ： ：90909090 SP 20SP 20SP 20SP 20 ； Sets speed 20.； Sets speed 20.； Sets speed 20.； Sets speed 20.100100100100 EA+900,140EA+900,140EA+900,140EA+900,140 ； Enables interrupt of bit 900.； Enables interrupt of bit 900.； Enables interrupt of bit 900.； Enables interrupt of bit 900.110110110110 MO 1,OMO 1,OMO 1,OMO 1,O ； Moves above a workpiece.； Moves above a workpiece.； Moves above a workpiece.； Moves above a workpiece.120120120120 DS 0,0,-50DS 0,0,-50DS 0,0,-50DS 0,0,-50 ； Moves 50 mm in the -Z direction. (Linear interpolation)； Moves 50 mm in the -Z direction. (Linear interpolation)； Moves 50 mm in the -Z direction. (Linear interpolation)； Moves 50 mm in the -Z direction. (Linear interpolation)130130130130 GT 110GT 110GT 110GT 110 ；Jumps to the line 110 to return to the position 1 as no workpiece has been detected.；Jumps to the line 110 to return to the position 1 as no workpiece has been detected.；Jumps to the line 110 to return to the position 1 as no workpiece has been detected.；Jumps to the line 110 to return to the position 1 as no workpiece has been detected.140140140140 DA 900DA 900DA 900DA 900 ； Disables interrupt of bit 900.； Disables interrupt of bit 900.； Disables interrupt of bit 900.； Disables interrupt of bit 900.150150150150 GCGCGCGC ； Closes hand and it grasps the workpiece.； Closes hand and it grasps the workpiece.； Closes hand and it grasps the workpiece.； Closes hand and it grasps the workpiece.160160160160 MO 1,CMO 1,CMO 1,CMO 1,C ； Moves to position 1 with hand closed.； Moves to position 1 with hand closed.； Moves to position 1 with hand closed.； Moves to position 1 with hand closed.：：：：

7) Explanation7) Explanation7) Explanation7) ExplanationIn this example, the robot moves 50 mm in the -Z direction in line 120. If there is a workpiece, the limit switch In this example, the robot moves 50 mm in the -Z direction in line 120. If there is a workpiece, the limit switch In this example, the robot moves 50 mm in the -Z direction in line 120. If there is a workpiece, the limit switch In this example, the robot moves 50 mm in the -Z direction in line 120. If there is a workpiece, the limit switch signal is input and the robot stopped . Then, the robot jumps to line 140, grasps the workpiece after disabling signal is input and the robot stopped . Then, the robot jumps to line 140, grasps the workpiece after disabling signal is input and the robot stopped . Then, the robot jumps to line 140, grasps the workpiece after disabling signal is input and the robot stopped . Then, the robot jumps to line 140, grasps the workpiece after disabling interrupt and moves to position 1. If there is no workpiece, the robot jumps from line 130 to line 110 returning interrupt and moves to position 1. If there is no workpiece, the robot jumps from line 130 to line 110 returning interrupt and moves to position 1. If there is no workpiece, the robot jumps from line 130 to line 110 returning interrupt and moves to position 1. If there is no workpiece, the robot jumps from line 130 to line 110 returning to position 1. Thus, the robot repeats the same operation again.to position 1. Thus, the robot repeats the same operation again.to position 1. Thus, the robot repeats the same operation again.to position 1. Thus, the robot repeats the same operation again.

××××

HandHandHandHand

××××

Less than 50 mmLess than 50 mmLess than 50 mmLess than 50 mm

Limit switchLimit switchLimit switchLimit switch

Position 1Position 1Position 1Position 1

WorkpieceWorkpieceWorkpieceWorkpiece

Appendix-102 Appendix-102 Appendix-102 Appendix-102 Sample programSample programSample programSample program

4 4 4 4 AppendixAppendixAppendixAppendix

(3) Application of palletizing(3) Application of palletizing(3) Application of palletizing(3) Application of palletizing

1) Work description1) Work description1) Work description1) Work descriptionThe robot picks up a workpiece from a feeding pallet and places it on an inspection equipment. After inspecThe robot picks up a workpiece from a feeding pallet and places it on an inspection equipment. After inspecThe robot picks up a workpiece from a feeding pallet and places it on an inspection equipment. After inspecThe robot picks up a workpiece from a feeding pallet and places it on an inspection equipment. After inspec-tion, the robot picks up and places it in another pallet. This program assumes that the shapes of the two paltion, the robot picks up and places it in another pallet. This program assumes that the shapes of the two paltion, the robot picks up and places it in another pallet. This program assumes that the shapes of the two paltion, the robot picks up and places it in another pallet. This program assumes that the shapes of the two pal-lets are different.lets are different.lets are different.lets are different.

2) Defined position2) Defined position2) Defined position2) Defined position

3) Defined counter3) Defined counter3) Defined counter3) Defined counter

4) Defined input signal4) Defined input signal4) Defined input signal4) Defined input signal

Position No.Position No.Position No.Position No. Position descriptionPosition descriptionPosition descriptionPosition description Teaching wayTeaching wayTeaching wayTeaching way

Position 1Position 1Position 1Position 1 Palette 1 setting positionPalette 1 setting positionPalette 1 setting positionPalette 1 setting positionDefined by PT commandDefined by PT commandDefined by PT commandDefined by PT command

Position 2Position 2Position 2Position 2 Palette 2 setting positionPalette 2 setting positionPalette 2 setting positionPalette 2 setting position

Position 10Position 10Position 10Position 10 Palette 1 reference positionPalette 1 reference positionPalette 1 reference positionPalette 1 reference position

By actual teachingBy actual teachingBy actual teachingBy actual teaching

Position 11Position 11Position 11Position 11 Palette 1 column terminating positionPalette 1 column terminating positionPalette 1 column terminating positionPalette 1 column terminating position

Position 12Position 12Position 12Position 12 Palette 1 row terminating positionPalette 1 row terminating positionPalette 1 row terminating positionPalette 1 row terminating position

Position 13Position 13Position 13Position 13 Palette 1 corner position opposite to reference Palette 1 corner position opposite to reference Palette 1 corner position opposite to reference Palette 1 corner position opposite to reference

Position 20Position 20Position 20Position 20 Palette 2 reference positionPalette 2 reference positionPalette 2 reference positionPalette 2 reference position

Position 21Position 21Position 21Position 21 Palette 2 column terminating positionPalette 2 column terminating positionPalette 2 column terminating positionPalette 2 column terminating position

Position 22Position 22Position 22Position 22 Palette 2 row terminating positionPalette 2 row terminating positionPalette 2 row terminating positionPalette 2 row terminating position

Position 23Position 23Position 23Position 23 Palette 2 corner position opposite to reference Palette 2 corner position opposite to reference Palette 2 corner position opposite to reference Palette 2 corner position opposite to reference

Position 30Position 30Position 30Position 30 Test equipment set positionTest equipment set positionTest equipment set positionTest equipment set position

Position 50Position 50Position 50Position 50 Distance of travel from palletsDistance of travel from palletsDistance of travel from palletsDistance of travel from pallets

Counter No.Counter No.Counter No.Counter No. DescriptionDescriptionDescriptionDescription

Counter 11Counter 11Counter 11Counter 11 Palette 1 column counterPalette 1 column counterPalette 1 column counterPalette 1 column counter

Counter 12Counter 12Counter 12Counter 12 Palette 1 row counterPalette 1 row counterPalette 1 row counterPalette 1 row counter

Counter 21Counter 21Counter 21Counter 21 Palette 2 column counterPalette 2 column counterPalette 2 column counterPalette 2 column counter

Counter 22Counter 22Counter 22Counter 22 Palette 2 row counterPalette 2 row counterPalette 2 row counterPalette 2 row counter

I/OI/OI/OI/O DescriptionDescriptionDescriptionDescription BitBitBitBit

InputInputInputInput Test completion signalTest completion signalTest completion signalTest completion signal Bit 7Bit 7Bit 7Bit 7

4 4 4 4 AppendixAppendixAppendixAppendix

Sample programSample programSample programSample program Appendix-103 Appendix-103 Appendix-103 Appendix-103

5) 5) 5) 5) OperatioOperatioOperatioOperation flown flown flown flowFig. 4-7Fig. 4-7Fig. 4-7Fig. 4-7 and Fig. 4-8 shows the flow of operation. and Fig. 4-8 shows the flow of operation. and Fig. 4-8 shows the flow of operation. and Fig. 4-8 shows the flow of operation.

Fig. 4-7 ： FlowchartFig. 4-7 ： FlowchartFig. 4-7 ： FlowchartFig. 4-7 ： Flowchart

StartStartStartStart

EndEndEndEnd

Initial settingInitial settingInitial settingInitial setting

10101010×××× 6 times 6 times 6 times 6 times finished?finished?finished?finished?

Defines the number of grid Defines the number of grid Defines the number of grid Defines the number of grid

points for pallet 1 and 2.points for pallet 1 and 2.points for pallet 1 and 2.points for pallet 1 and 2.

Defines the row and column Defines the row and column Defines the row and column Defines the row and column

counter of pallet 1 and 2.counter of pallet 1 and 2.counter of pallet 1 and 2.counter of pallet 1 and 2.

Operation 1 Operation 1 Operation 1 Operation 1

(Picking up untested workpiece)(Picking up untested workpiece)(Picking up untested workpiece)(Picking up untested workpiece)

Operation 2 Operation 2 Operation 2 Operation 2

(Setting to test device) (Setting to test device) (Setting to test device) (Setting to test device)

Operation 3 Operation 3 Operation 3 Operation 3

(Placing tested work-piece)(Placing tested work-piece)(Placing tested work-piece)(Placing tested work-piece)

NONONONO

YESYESYESYES

Setting of speed Setting of speed Setting of speed Setting of speed parameterparameterparameterparameter

(Main routine)(Main routine)(Main routine)(Main routine)

Finishes row Finishes row Finishes row Finishes row direction ?direction ?direction ?direction ?

Speed settingSpeed settingSpeed settingSpeed setting

Setting the grid point of pallet 2Setting the grid point of pallet 2Setting the grid point of pallet 2Setting the grid point of pallet 2

Moves above position 2Moves above position 2Moves above position 2Moves above position 2

Speed settingSpeed settingSpeed settingSpeed setting

Moves to position 2Moves to position 2Moves to position 2Moves to position 2

Grasps workpieceGrasps workpieceGrasps workpieceGrasps workpiece

Moves above position 2Moves above position 2Moves above position 2Moves above position 2

Initializes row counterInitializes row counterInitializes row counterInitializes row counter

Increments column counter by 1Increments column counter by 1Increments column counter by 1Increments column counter by 1

Increments row counter by 1 Increments row counter by 1 Increments row counter by 1 Increments row counter by 1

NONONONOYESYESYESYES

(Subroutine)(Subroutine)(Subroutine)(Subroutine)

operation 1 operation 1 operation 1 operation 1

Picking up untested workpiecePicking up untested workpiecePicking up untested workpiecePicking up untested workpiece

ReturnReturnReturnReturn

Appendix-104 Appendix-104 Appendix-104 Appendix-104 Sample programSample programSample programSample program

4 4 4 4 AppendixAppendixAppendixAppendix

Fig. 4-8 ： Flowchart （Continue)Fig. 4-8 ： Flowchart （Continue)Fig. 4-8 ： Flowchart （Continue)Fig. 4-8 ： Flowchart （Continue)

EndEndEndEnd

Speed settingSpeed settingSpeed settingSpeed setting

Speed settingSpeed settingSpeed settingSpeed setting

Placing workpiece to test devicePlacing workpiece to test devicePlacing workpiece to test devicePlacing workpiece to test device

Takes in input dataTakes in input dataTakes in input dataTakes in input data

Moves above position 30Moves above position 30Moves above position 30Moves above position 30

Test completed ?Test completed ?Test completed ?Test completed ?

Moves above position 30Moves above position 30Moves above position 30Moves above position 30

NONONONO

YESYESYESYES

(Subroutine)(Subroutine)(Subroutine)(Subroutine)

Finishes row Finishes row Finishes row Finishes row direction ?direction ?direction ?direction ?

Speed settingSpeed settingSpeed settingSpeed setting

Setting the grid point of pallet 2Setting the grid point of pallet 2Setting the grid point of pallet 2Setting the grid point of pallet 2

Moves above position 2Moves above position 2Moves above position 2Moves above position 2

Speed settingSpeed settingSpeed settingSpeed setting

Moves to position 2Moves to position 2Moves to position 2Moves to position 2

Release workpieceRelease workpieceRelease workpieceRelease workpiece

Moves above position 2Moves above position 2Moves above position 2Moves above position 2

Initializees row counterInitializees row counterInitializees row counterInitializees row counter

Increments row counterIncrements row counterIncrements row counterIncrements row counter

Increments row counter by 1Increments row counter by 1Increments row counter by 1Increments row counter by 1

NONONONO YESYESYESYES

(Subroutine)(Subroutine)(Subroutine)(Subroutine)

operation 2 operation 2 operation 2 operation 2

Placing workpiece to test devicePlacing workpiece to test devicePlacing workpiece to test devicePlacing workpiece to test device

operation 3 operation 3 operation 3 operation 3

Placing tested workpiece Placing tested workpiece Placing tested workpiece Placing tested workpiece

EndEndEndEnd

4 4 4 4 AppendixAppendixAppendixAppendix

Sample programSample programSample programSample program Appendix-105 Appendix-105 Appendix-105 Appendix-105

6) Schematic diagram6) Schematic diagram6) Schematic diagram6) Schematic diagramFig. 4-9 shows general description of operation.Fig. 4-9 shows general description of operation.Fig. 4-9 shows general description of operation.Fig. 4-9 shows general description of operation.

Fig. 4-9 ： PalletizingFig. 4-9 ： PalletizingFig. 4-9 ： PalletizingFig. 4-9 ： Palletizing

7) Example program7) Example program7) Example program7) Example program

(Initial setup)(Initial setup)(Initial setup)(Initial setup)

10101010 PD 50,0,0,20,0,0,0 PD 50,0,0,20,0,0,0 PD 50,0,0,20,0,0,0 PD 50,0,0,20,0,0,0 Note1)Note1)Note1)Note1) ;Defines the aerial distance of travel (Z=20 ㎜ ) as position 50.;Defines the aerial distance of travel (Z=20 ㎜ ) as position 50.;Defines the aerial distance of travel (Z=20 ㎜ ) as position 50.;Defines the aerial distance of travel (Z=20 ㎜ ) as position 50.

15151515 TL 145TL 145TL 145TL 145 ;Sets tool length at 145 ㎜ .;Sets tool length at 145 ㎜ .;Sets tool length at 145 ㎜ .;Sets tool length at 145 ㎜ .

20202020 GP 10,8,10GP 10,8,10GP 10,8,10GP 10,8,10 ;Sets hand open/close parameters.;Sets hand open/close parameters.;Sets hand open/close parameters.;Sets hand open/close parameters.

25252525 PA 1,10,6PA 1,10,6PA 1,10,6PA 1,10,6 ;Defines the number of grid points in the column and row directions for pallet ;Defines the number of grid points in the column and row directions for pallet ;Defines the number of grid points in the column and row directions for pallet ;Defines the number of grid points in the column and row directions for pallet 1. (ver.10 × hor.6)1. (ver.10 × hor.6)1. (ver.10 × hor.6)1. (ver.10 × hor.6)

30303030 PA 2,15,4PA 2,15,4PA 2,15,4PA 2,15,4 ;Defines the number of grid points in the column and row directions for pallet ;Defines the number of grid points in the column and row directions for pallet ;Defines the number of grid points in the column and row directions for pallet ;Defines the number of grid points in the column and row directions for pallet 2. (ver.15 × hor.4)2. (ver.15 × hor.4)2. (ver.15 × hor.4)2. (ver.15 × hor.4)

35353535 SC 11,1SC 11,1SC 11,1SC 11,1 ;Initializes the column counter 11 of the pallet 1. (Sets 1 to the counter.);Initializes the column counter 11 of the pallet 1. (Sets 1 to the counter.);Initializes the column counter 11 of the pallet 1. (Sets 1 to the counter.);Initializes the column counter 11 of the pallet 1. (Sets 1 to the counter.)

40404040 SC 12,1SC 12,1SC 12,1SC 12,1 ;Initializes the row counter 12 of the pallet 1. (Sets 1 to the counter.);Initializes the row counter 12 of the pallet 1. (Sets 1 to the counter.);Initializes the row counter 12 of the pallet 1. (Sets 1 to the counter.);Initializes the row counter 12 of the pallet 1. (Sets 1 to the counter.)

45454545 SC 21,1 SC 21,1 SC 21,1 SC 21,1 ;Initializes the column counter 11 of the pallet 2. (Sets 1 to the counter.);Initializes the column counter 11 of the pallet 2. (Sets 1 to the counter.);Initializes the column counter 11 of the pallet 2. (Sets 1 to the counter.);Initializes the column counter 11 of the pallet 2. (Sets 1 to the counter.)

50505050 SC 22,1SC 22,1SC 22,1SC 22,1 ;Initializes the row counter 12 of the pallet 2. (Sets 1 to the counter.);Initializes the row counter 12 of the pallet 2. (Sets 1 to the counter.);Initializes the row counter 12 of the pallet 2. (Sets 1 to the counter.);Initializes the row counter 12 of the pallet 2. (Sets 1 to the counter.)

(Main routine)(Main routine)(Main routine)(Main routine)

100100100100 RC 60RC 60RC 60RC 60 ;Sets the number of repeat cycles of a loop up to line 140.;Sets the number of repeat cycles of a loop up to line 140.;Sets the number of repeat cycles of a loop up to line 140.;Sets the number of repeat cycles of a loop up to line 140.

110110110110 GS 200GS 200GS 200GS 200 ;Calls the subroutine of picking workpieces from the 1st pallet.;Calls the subroutine of picking workpieces from the 1st pallet.;Calls the subroutine of picking workpieces from the 1st pallet.;Calls the subroutine of picking workpieces from the 1st pallet.

120120120120 GS 300GS 300GS 300GS 300 ;Calls the subroutine of setting workpieces on the inspection equipment.;Calls the subroutine of setting workpieces on the inspection equipment.;Calls the subroutine of setting workpieces on the inspection equipment.;Calls the subroutine of setting workpieces on the inspection equipment.

130130130130 GS 400GS 400GS 400GS 400 ;Calls the subroutine of placing workpieces on the 2nd pallet.;Calls the subroutine of placing workpieces on the 2nd pallet.;Calls the subroutine of placing workpieces on the 2nd pallet.;Calls the subroutine of placing workpieces on the 2nd pallet.

140140140140 NXNXNXNX ;Returns to line 100.;Returns to line 100.;Returns to line 100.;Returns to line 100.

150150150150 EDEDEDED ;End;End;End;End

The following program shows subroutines used in the main program:The following program shows subroutines used in the main program:The following program shows subroutines used in the main program:The following program shows subroutines used in the main program:

(Subroutine: Picking up the workpieces to be tested)(Subroutine: Picking up the workpieces to be tested)(Subroutine: Picking up the workpieces to be tested)(Subroutine: Picking up the workpieces to be tested)

200200200200 SP 25SP 25SP 25SP 25 ;Sets speed.;Sets speed.;Sets speed.;Sets speed.

202202202202 PT 1PT 1PT 1PT 1 ;Sets the grid point of the pallet 1 to the position 1.;Sets the grid point of the pallet 1 to the position 1.;Sets the grid point of the pallet 1 to the position 1.;Sets the grid point of the pallet 1 to the position 1.

204204204204 MA 1,50, OMA 1,50, OMA 1,50, OMA 1,50, O ;Moves to a location above position 1.;Moves to a location above position 1.;Moves to a location above position 1.;Moves to a location above position 1.

Note1)Note1)Note1)Note1)For 5-axis robot, this is "10 PD 50,0,0,20,0,0".412For 5-axis robot, this is "10 PD 50,0,0,20,0,0".412For 5-axis robot, this is "10 PD 50,0,0,20,0,0".412For 5-axis robot, this is "10 PD 50,0,0,20,0,0".412

20mm20mm20mm20mm

(15(15(15(15××××4)4)4)4)(10(10(10(10××××6)6)6)6)

Position 10Position 10Position 10Position 10Position 11Position 11Position 11Position 11

Position 30Position 30Position 30Position 30

Position 12Position 12Position 12Position 12 Position 13Position 13Position 13Position 13

Position 21Position 21Position 21Position 21 Position 23Position 23Position 23Position 23

Position 22Position 22Position 22Position 22Position 20Position 20Position 20Position 20

〈〈〈〈 Palette 1Palette 1Palette 1Palette 1 〉〉〉〉

〈〈〈〈 Palette 2Palette 2Palette 2Palette 2 〉〉〉〉

Setting to Setting to Setting to Setting to

position 50position 50position 50position 50

Test deviceTest deviceTest deviceTest device

Appendix-106 Appendix-106 Appendix-106 Appendix-106 Sample programSample programSample programSample program

4 4 4 4 AppendixAppendixAppendixAppendix

206206206206 SP 8SP 8SP 8SP 8 ;Sets speed.;Sets speed.;Sets speed.;Sets speed.

208208208208 MO 1, OMO 1, OMO 1, OMO 1, O ;Moves to the position 1.;Moves to the position 1.;Moves to the position 1.;Moves to the position 1.

210210210210 GCGCGCGC ;Closes hand and grasps the workpiece.;Closes hand and grasps the workpiece.;Closes hand and grasps the workpiece.;Closes hand and grasps the workpiece.

212212212212 MA 1,50, CMA 1,50, CMA 1,50, CMA 1,50, C ;Moves to a location 20 mm above the position 1 with the workpiece grasped.;Moves to a location 20 mm above the position 1 with the workpiece grasped.;Moves to a location 20 mm above the position 1 with the workpiece grasped.;Moves to a location 20 mm above the position 1 with the workpiece grasped.

214214214214 IC 11IC 11IC 11IC 11 ;Increments the column counter 11 of the pallet 1 by 1.;Increments the column counter 11 of the pallet 1 by 1.;Increments the column counter 11 of the pallet 1 by 1.;Increments the column counter 11 of the pallet 1 by 1.

216216216216 CP 11CP 11CP 11CP 11 ;Sets the value of counter 11 to the internal register.;Sets the value of counter 11 to the internal register.;Sets the value of counter 11 to the internal register.;Sets the value of counter 11 to the internal register.

218218218218 EQ 11,230EQ 11,230EQ 11,230EQ 11,230 ;Jumps to line 230 on completing the column line. (compares with value 11.);Jumps to line 230 on completing the column line. (compares with value 11.);Jumps to line 230 on completing the column line. (compares with value 11.);Jumps to line 230 on completing the column line. (compares with value 11.)

220220220220 RT RT RT RT ;Ends the subroutine otherwise.;Ends the subroutine otherwise.;Ends the subroutine otherwise.;Ends the subroutine otherwise.

230230230230 SC 11,1SC 11,1SC 11,1SC 11,1 ;Initializes counter 11. (Sets 1 to the counter.);Initializes counter 11. (Sets 1 to the counter.);Initializes counter 11. (Sets 1 to the counter.);Initializes counter 11. (Sets 1 to the counter.)

232232232232 IC 12IC 12IC 12IC 12 ;Increments the row counter 12 of the pallet 2.;Increments the row counter 12 of the pallet 2.;Increments the row counter 12 of the pallet 2.;Increments the row counter 12 of the pallet 2.

234234234234 RTRTRTRT ;Ends the subroutine.;Ends the subroutine.;Ends the subroutine.;Ends the subroutine.

(Subroutine: Setting up the workpieces on the test equipment)(Subroutine: Setting up the workpieces on the test equipment)(Subroutine: Setting up the workpieces on the test equipment)(Subroutine: Setting up the workpieces on the test equipment)

300300300300 SP 25SP 25SP 25SP 25 ;Sets speed.;Sets speed.;Sets speed.;Sets speed.

302302302302 MT 30,-50, CMT 30,-50, CMT 30,-50, CMT 30,-50, C ;Moves to a location 50mm ahead of the test equipment.;Moves to a location 50mm ahead of the test equipment.;Moves to a location 50mm ahead of the test equipment.;Moves to a location 50mm ahead of the test equipment.

304304304304 SP 8SP 8SP 8SP 8 ;Sets speed.;Sets speed.;Sets speed.;Sets speed.

306306306306 MO 30, CMO 30, CMO 30, CMO 30, C ;Sets the workpiece to the inspection equipment.;Sets the workpiece to the inspection equipment.;Sets the workpiece to the inspection equipment.;Sets the workpiece to the inspection equipment.

308308308308 IDIDIDID ;Inputs external data.;Inputs external data.;Inputs external data.;Inputs external data.

310310310310 TB -7, 308TB -7, 308TB -7, 308TB -7, 308 ;Waits for the test to complete.;Waits for the test to complete.;Waits for the test to complete.;Waits for the test to complete.

312312312312 MT 30,-50, CMT 30,-50, CMT 30,-50, CMT 30,-50, C ;Moves to a position 50 mm ahead the inspection equipment.;Moves to a position 50 mm ahead the inspection equipment.;Moves to a position 50 mm ahead the inspection equipment.;Moves to a position 50 mm ahead the inspection equipment.

314314314314 RTRTRTRT ;Ends the subroutine.;Ends the subroutine.;Ends the subroutine.;Ends the subroutine.

(Subroutine: Placing the tested workpiece in pallet 2)(Subroutine: Placing the tested workpiece in pallet 2)(Subroutine: Placing the tested workpiece in pallet 2)(Subroutine: Placing the tested workpiece in pallet 2)

400400400400 SP 25SP 25SP 25SP 25 ;Sets speed.;Sets speed.;Sets speed.;Sets speed.

402402402402 PT 2PT 2PT 2PT 2 ;Sets the grid point of the pallet 2 to the position 2.;Sets the grid point of the pallet 2 to the position 2.;Sets the grid point of the pallet 2 to the position 2.;Sets the grid point of the pallet 2 to the position 2.

404404404404 MA 2,50, CMA 2,50, CMA 2,50, CMA 2,50, C ;The robot moves to the sky after position 2.;The robot moves to the sky after position 2.;The robot moves to the sky after position 2.;The robot moves to the sky after position 2.

406406406406 SP 8SP 8SP 8SP 8 ;The robot sets speed.;The robot sets speed.;The robot sets speed.;The robot sets speed.

408408408408 MO 2, CMO 2, CMO 2, CMO 2, C ;The robot moves to the 2nd position.;The robot moves to the 2nd position.;The robot moves to the 2nd position.;The robot moves to the 2nd position.

410410410410 GO GO GO GO ;The robot opens the hand and it puts the work.;The robot opens the hand and it puts the work.;The robot opens the hand and it puts the work.;The robot opens the hand and it puts the work.

412412412412 MA 2,50, OMA 2,50, OMA 2,50, OMA 2,50, O ;Moves to a location 20 mm above the position 2.;Moves to a location 20 mm above the position 2.;Moves to a location 20 mm above the position 2.;Moves to a location 20 mm above the position 2.

414414414414 IC 21IC 21IC 21IC 21 ;Increments the column counter 21 of the pallet 2.;Increments the column counter 21 of the pallet 2.;Increments the column counter 21 of the pallet 2.;Increments the column counter 21 of the pallet 2.

416416416416 CP 21 CP 21 CP 21 CP 21 ;Sets the value of the counter 21 to the internal register.;Sets the value of the counter 21 to the internal register.;Sets the value of the counter 21 to the internal register.;Sets the value of the counter 21 to the internal register.

418418418418 EQ 16,430 EQ 16,430 EQ 16,430 EQ 16,430 ;Jumps to line 430 on completing the column line. (compares with value 16.);Jumps to line 430 on completing the column line. (compares with value 16.);Jumps to line 430 on completing the column line. (compares with value 16.);Jumps to line 430 on completing the column line. (compares with value 16.)

420420420420 RTRTRTRT ;Ends the subroutine otherwise.;Ends the subroutine otherwise.;Ends the subroutine otherwise.;Ends the subroutine otherwise.

430430430430 SC 21,1SC 21,1SC 21,1SC 21,1 ;Initializes counter 21. (Sets 1 into the counter.);Initializes counter 21. (Sets 1 into the counter.);Initializes counter 21. (Sets 1 into the counter.);Initializes counter 21. (Sets 1 into the counter.)

432432432432 IC 22IC 22IC 22IC 22 ;Increments the row counter 22 of the pallet 2.;Increments the row counter 22 of the pallet 2.;Increments the row counter 22 of the pallet 2.;Increments the row counter 22 of the pallet 2.

434434434434 RTRTRTRT ;Ends the subroutine.;Ends the subroutine.;Ends the subroutine.;Ends the subroutine.

8) Explanation8) Explanation8) Explanation8) Explanation① In this example, the robot increments the column counter of each pallet. The robot initializes them to① In this example, the robot increments the column counter of each pallet. The robot initializes them to① In this example, the robot increments the column counter of each pallet. The robot initializes them to① In this example, the robot increments the column counter of each pallet. The robot initializes them to

return to the top of column when it reaches the end of the column. And it increments the row counter ofreturn to the top of column when it reaches the end of the column. And it increments the row counter ofreturn to the top of column when it reaches the end of the column. And it increments the row counter ofreturn to the top of column when it reaches the end of the column. And it increments the row counter ofeach pallet to move to the next column. (From the 214 line to the 232nd lines and from the 414th line toeach pallet to move to the next column. (From the 214 line to the 232nd lines and from the 414th line toeach pallet to move to the next column. (From the 214 line to the 232nd lines and from the 414th line toeach pallet to move to the next column. (From the 214 line to the 232nd lines and from the 414th line tothe 432nd line)the 432nd line)the 432nd line)the 432nd line)

② The robot waits for the test completion signal. (The 310th line).② The robot waits for the test completion signal. (The 310th line).② The robot waits for the test completion signal. (The 310th line).② The robot waits for the test completion signal. (The 310th line).③ The completion of the entire sequence is determined by the number of main program cycles. (See line③ The completion of the entire sequence is determined by the number of main program cycles. (See line③ The completion of the entire sequence is determined by the number of main program cycles. (See line③ The completion of the entire sequence is determined by the number of main program cycles. (See line

100)100)100)100)

4 4 4 4 AppendixAppendixAppendixAppendix

Sample programSample programSample programSample program Appendix-107 Appendix-107 Appendix-107 Appendix-107

(4) Example of connection with external I/O equipment(4) Example of connection with external I/O equipment(4) Example of connection with external I/O equipment(4) Example of connection with external I/O equipment

1) Work description1) Work description1) Work description1) Work descriptionThe following program causes the robot to select any of 8 jobs through 8 switches connected to the input for The following program causes the robot to select any of 8 jobs through 8 switches connected to the input for The following program causes the robot to select any of 8 jobs through 8 switches connected to the input for The following program causes the robot to select any of 8 jobs through 8 switches connected to the input for use as external I/O equipment and display the job currently being executed by any of the 8 LEDs connected use as external I/O equipment and display the job currently being executed by any of the 8 LEDs connected use as external I/O equipment and display the job currently being executed by any of the 8 LEDs connected use as external I/O equipment and display the job currently being executed by any of the 8 LEDs connected to the outputs.to the outputs.to the outputs.to the outputs.

2) Connection2) Connection2) Connection2) ConnectionFig. 4-10 shows connection example.Fig. 4-10 shows connection example.Fig. 4-10 shows connection example.Fig. 4-10 shows connection example.

Fig. 4-10 ： Connection example with external I/O equipment.Fig. 4-10 ： Connection example with external I/O equipment.Fig. 4-10 ： Connection example with external I/O equipment.Fig. 4-10 ： Connection example with external I/O equipment.

(DC12(DC12(DC12(DC12～～～～24V)24V)24V)24V)

・・・・・・・・・・・・・・・・・・・・ Switch1Switch1Switch1Switch1

・・・・・・・・・・・・・・・・・・・・ Switch2Switch2Switch2Switch2

・・・・・・・・・・・・・・・・・・・・ Switch3Switch3Switch3Switch3

・・・・・・・・・・・・・・・・・・・・ Switch4Switch4Switch4Switch4

・・・・・・・・・・・・・・・・・・・・ Switch5Switch5Switch5Switch5

・・・・・・・・・・・・・・・・・・・・ Switch6Switch6Switch6Switch6

・・・・・・・・・・・・・・・・・・・・ Switch7Switch7Switch7Switch7

・・・・・・・・・・・・・・・・・・・・ Switch8Switch8Switch8Switch8

・・・・・・・・・・・・・・・・・・・・ LED 1LED 1LED 1LED 1

・・・・・・・・・・・・・・・・・・・・ LED 2LED 2LED 2LED 2

・・・・・・・・・・・・・・・・・・・・ LED 3LED 3LED 3LED 3

・・・・・・・・・・・・・・・・・・・・ LED 4LED 4LED 4LED 4

・・・・・・・・・・・・・・・・・・・・ LED 5LED 5LED 5LED 5

・・・・・・・・・・・・・・・・・・・・ LED 6LED 6LED 6LED 6

・・・・・・・・・・・・・・・・・・・・ LED 7LED 7LED 7LED 7

・・・・・・・・・・・・・・・・・・・・ LED 8LED 8LED 8LED 8

General purpose input 8General purpose input 8General purpose input 8General purpose input 8

General purpose input 9General purpose input 9General purpose input 9General purpose input 9

General purpose input 10General purpose input 10General purpose input 10General purpose input 10

General purpose input 11General purpose input 11General purpose input 11General purpose input 11

General purpose input 12General purpose input 12General purpose input 12General purpose input 12

General purpose input 13General purpose input 13General purpose input 13General purpose input 13

General purpose input 14General purpose input 14General purpose input 14General purpose input 14

General purpose input 15General purpose input 15General purpose input 15General purpose input 15

General purpose output 8General purpose output 8General purpose output 8General purpose output 8

General purpose output 9General purpose output 9General purpose output 9General purpose output 9

General purpose output 10General purpose output 10General purpose output 10General purpose output 10

General purpose output 11General purpose output 11General purpose output 11General purpose output 11

General purpose output 12General purpose output 12General purpose output 12General purpose output 12

General purpose output 13General purpose output 13General purpose output 13General purpose output 13

General purpose output 14General purpose output 14General purpose output 14General purpose output 14

General purpose output 15General purpose output 15General purpose output 15General purpose output 15

I/O port power sourceI/O port power sourceI/O port power sourceI/O port power source

Inpu

t po

rt b

lock

I npu

t po

rt b

lock

I npu

t po

rt b

lock

I npu

t po

rt b

lock

Outp

ut p

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blo

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utp

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utp

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utp

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Appendix-108 Appendix-108 Appendix-108 Appendix-108 Sample programSample programSample programSample program

4 4 4 4 AppendixAppendixAppendixAppendix

3) Operation flow3) Operation flow3) Operation flow3) Operation flowFig. 4-11 shows the flow of operation.Fig. 4-11 shows the flow of operation.Fig. 4-11 shows the flow of operation.Fig. 4-11 shows the flow of operation.

Fig. 4-11 ： FlowchartFig. 4-11 ： FlowchartFig. 4-11 ： FlowchartFig. 4-11 ： Flowchart

A startA startA startA start

All LED offAll LED offAll LED offAll LED off

Initials speed settingInitials speed settingInitials speed settingInitials speed setting

Operation 1Operation 1Operation 1Operation 1

LED 1 onLED 1 onLED 1 onLED 1 on

Execute operation 1Execute operation 1Execute operation 1Execute operation 1

LED 1 offLED 1 offLED 1 offLED 1 off

Signal inputSignal inputSignal inputSignal input

Switch1Switch1Switch1Switch1

Operation Operation Operation Operation １１１１ EndEndEndEndONONONON

OFFOFFOFFOFF

Switch2Switch2Switch2Switch2

Operation Operation Operation Operation ２２２２ EndEndEndEndONONONON

OFFOFFOFFOFF

Switch3Switch3Switch3Switch3

Operation Operation Operation Operation ３３３３ EndEndEndEndONONONON

OFFOFFOFFOFF

Switch4Switch4Switch4Switch4

Operation Operation Operation Operation ４４４４ EndEndEndEndONONONON

OFFOFFOFFOFF

Switch5Switch5Switch5Switch5

Operation Operation Operation Operation ５５５５ EndEndEndEndONONONON

OFFOFFOFFOFF

Switch6Switch6Switch6Switch6

Operation Operation Operation Operation ６６６６ EndEndEndEndONONONON

OFFOFFOFFOFF

Switch7Switch7Switch7Switch7

Operation Operation Operation Operation ７７７７ EndEndEndEndONONONON

OFFOFFOFFOFF

Switch8Switch8Switch8Switch8

Operation Operation Operation Operation ８８８８ EndEndEndEndONONONON

OFFOFFOFFOFF

(Main routine)(Main routine)(Main routine)(Main routine)

(Each operation routine)(Each operation routine)(Each operation routine)(Each operation routine)

EndEndEndEnd

Operation 8Operation 8Operation 8Operation 8

LED 8 onLED 8 onLED 8 onLED 8 on

Execute operation 8Execute operation 8Execute operation 8Execute operation 8

LED 8 offLED 8 offLED 8 offLED 8 off

EndEndEndEnd

4 4 4 4 AppendixAppendixAppendixAppendix

Sample programSample programSample programSample program Appendix-109 Appendix-109 Appendix-109 Appendix-109

4) Example program4) Example program4) Example program4) Example program

(Main rou(Main rou(Main rou(Main routine)tine)tine)tine)15151515 OD 0,8,8OD 0,8,8OD 0,8,8OD 0,8,8 ;All LED turns off.;All LED turns off.;All LED turns off.;All LED turns off.20202020 SP 10SP 10SP 10SP 10 ;Initializes speed.;Initializes speed.;Initializes speed.;Initializes speed.25252525 IDIDIDID ;Inputs signals.;Inputs signals.;Inputs signals.;Inputs signals.30303030 TB +8,100TB +8,100TB +8,100TB +8,100 ;Jumps to the line 100 when the switch 1 is turned on.(Job 1);Jumps to the line 100 when the switch 1 is turned on.(Job 1);Jumps to the line 100 when the switch 1 is turned on.(Job 1);Jumps to the line 100 when the switch 1 is turned on.(Job 1)31313131 TB +9,200TB +9,200TB +9,200TB +9,200 ;Jumps to the line 200 when the switch 2 is turned on.(Job 2);Jumps to the line 200 when the switch 2 is turned on.(Job 2);Jumps to the line 200 when the switch 2 is turned on.(Job 2);Jumps to the line 200 when the switch 2 is turned on.(Job 2)32323232 TB +10,300TB +10,300TB +10,300TB +10,300 ;Jumps to the line 300 when the switch 3 is turned on.(Job 3);Jumps to the line 300 when the switch 3 is turned on.(Job 3);Jumps to the line 300 when the switch 3 is turned on.(Job 3);Jumps to the line 300 when the switch 3 is turned on.(Job 3)33333333 TB +11,400TB +11,400TB +11,400TB +11,400 ;Jumps to the line 400 when the switch 4 is turned on.(Job 4);Jumps to the line 400 when the switch 4 is turned on.(Job 4);Jumps to the line 400 when the switch 4 is turned on.(Job 4);Jumps to the line 400 when the switch 4 is turned on.(Job 4)34343434 TB +12,500TB +12,500TB +12,500TB +12,500 ;Jumps to the line 500 when the switch 5 is turned on.(Job 5);Jumps to the line 500 when the switch 5 is turned on.(Job 5);Jumps to the line 500 when the switch 5 is turned on.(Job 5);Jumps to the line 500 when the switch 5 is turned on.(Job 5)35353535 TB +13,600TB +13,600TB +13,600TB +13,600 ;Jumps to the line 600 when the switch 6 is turned on.(Job 6);Jumps to the line 600 when the switch 6 is turned on.(Job 6);Jumps to the line 600 when the switch 6 is turned on.(Job 6);Jumps to the line 600 when the switch 6 is turned on.(Job 6)36363636 TB +14,700TB +14,700TB +14,700TB +14,700 ;Jumps to the line 700 when the switch 7 is turned on.(Job 7);Jumps to the line 700 when the switch 7 is turned on.(Job 7);Jumps to the line 700 when the switch 7 is turned on.(Job 7);Jumps to the line 700 when the switch 7 is turned on.(Job 7)37373737 TB +15,800TB +15,800TB +15,800TB +15,800 ;Jumps to the line 800 when the switch 8 is turned on.(Job 8);Jumps to the line 800 when the switch 8 is turned on.(Job 8);Jumps to the line 800 when the switch 8 is turned on.(Job 8);Jumps to the line 800 when the switch 8 is turned on.(Job 8)38383838 GT 25GT 25GT 25GT 25 ;The robot jumps to the line 25 when all switches are off.;The robot jumps to the line 25 when all switches are off.;The robot jumps to the line 25 when all switches are off.;The robot jumps to the line 25 when all switches are off.

(Each operation routine)(Each operation routine)(Each operation routine)(Each operation routine)100100100100 OB +8OB +8OB +8OB +8 ;Turns on the 1st LED.(Job started);Turns on the 1st LED.(Job started);Turns on the 1st LED.(Job started);Turns on the 1st LED.(Job started)105105105105 MO 10MO 10MO 10MO 10 ;Carries out the 1st operation.;Carries out the 1st operation.;Carries out the 1st operation.;Carries out the 1st operation. : : : : 　 　 　 　　 　 　 　　 　 　 　　 　 　 　 :The 1st operation.:The 1st operation.:The 1st operation.:The 1st operation.198198198198 OB -8OB -8OB -8OB -8 ;Turns off the 1st LED.(Job completed) ;Turns off the 1st LED.(Job completed) ;Turns off the 1st LED.(Job completed) ;Turns off the 1st LED.(Job completed) 199199199199 GT 25GT 25GT 25GT 25 ;Jumps to the line 25.;Jumps to the line 25.;Jumps to the line 25.;Jumps to the line 25.

800800800800 OB +15OB +15OB +15OB +15 ;Turns on the 8th LED.(Job started) ;Turns on the 8th LED.(Job started) ;Turns on the 8th LED.(Job started) ;Turns on the 8th LED.(Job started) 805805805805 MO 80MO 80MO 80MO 80 ;Carries out the 8th operation.;Carries out the 8th operation.;Carries out the 8th operation.;Carries out the 8th operation. : : : : :The 8th operation.:The 8th operation.:The 8th operation.:The 8th operation.898898898898 OB -15OB -15OB -15OB -15 ;Turns off the 8th LED.(Job completed) ;Turns off the 8th LED.(Job completed) ;Turns off the 8th LED.(Job completed) ;Turns off the 8th LED.(Job completed) 899899899899 GT 25GT 25GT 25GT 25 ;Jum;Jum;Jum;Jumps to the line 25.ps to the line 25.ps to the line 25.ps to the line 25.

Appendix-110 Appendix-110 Appendix-110 Appendix-110 Sample programSample programSample programSample program

4 4 4 4 AppendixAppendixAppendixAppendix

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