Setting e

ROBOT
Vertical articulated
*
V SERIES
Horizontal articulated
*
H SERIES
Cartesian coordinate
XYC SERIES
Integrated compact type
XR SERIES
SETTING-UP MANUAL
Copyright © DENSO WAVE INCORPORATED, 2005-2008
All rights reserved. No part of this publication may be reproduced in any form or by any means without
permission in writing from the publisher.
Specifications are subject to change without prior notice.
All products and company names mentioned are trademarks or registered trademarks of their respective
holders.
Preface
Thank you for purchasing this high-speed, high-accuracy assembly robot.
Before operating your robot, read this manual carefully to safely get the maximum benefit from your robot
in your assembling operations.
This manual covers the following products.
Robot system configured with the RC5 controller

- Vertical articulated robot V*-D/-E series
- Horizontal articulated robot H*-D/-E series
- Cartesian coordinate robot XYC-4D series
Robot system configured with the RC7M controller

- Vertical articulated robot V*-F/-G series
- Horizontal articulated robot H*-G series
- Cartesian coordinate robot XYC-4G series
- Integrated compact robot XR-G series
(Note) The robot controller version is indicated in the main software ver. column of the controller setting table
affixed on the controller. It can also be checked on the Version screen called up by pressing [F6 Set]—[F6
Maint.]—[F2 Version] from the top screen of the teach pendant.
Important
To ensure operator safety, be sure to read the precautions and instructions in "SAFETY
PRECAUTIONS."
i
How the documentation set is organized
The documentation set consists of the following books. If you are unfamiliar with this robot and option(s),
please read all books and understand them fully before operating your robot and option(s).
GENERAL INFORMATION ABOUT ROBOT

Provides the packing list of the robot and outlines of the robot system, robot unit, and robot
controller.
INSTALLATION & MAINTENANCE GUIDE

Provides instructions for installing the robot components and customizing your robot, and
maintenance & inspection procedures.
STARTUP HANDBOOK
Introduces you to the DENSO robot system and guides you through connecting the robot unit
and controller with each other, running the robot with the teach pendant, and making and
verifying a program. This manual is a comprehensive guide to starting up your robot system.
SETTING-UP MANUAL - this book -

Describes how to set up or teach your robot with the teach pendant or mini-pendant.
For the panel designer functions, refer to the Panel Designer User's Manual (SUPPLEMENT).
WINCAPSII GUIDE
Provides instructions on how to use the teaching system WINCAPSII which runs on the PC
connected to the robot controller for developing and managing programs.
PROGRAMMER'S MANUAL I, Program Design and Commands

Describes the PAC programming language, program development, and command
specifications in PAC. This manual consists of two parts; Part 1 provides the basic programming
knowledge, and Part 2, details of individual commands.
PROGRAMMER'S MANUAL II, PAC Library

Describes the program libraries that come with WINCAPSII as standard.
CONTROLLER MANUAL
Provides the specifications, installation and maintenance of the controller. It also describes
interfacing with external devices, system- and user-input/output signals, and I/O circuits.
ERROR CODE TABLES

List error codes that will appear on the teach pendant, mini-pendant, or PC screen if an error
occurs in the robot series or WINCAPSII. These tables provide detailed description and
recovery ways.
OPTIONS MANUAL
Describes the specifications, installation, and use of optional devices.
For the extension board "conveyer tracking board," refer to the OPTIONS MANUAL
(SUPPLEMENT).
ii
How this book is organized
This book is just one part of the documentation set. This book consists of SAFETY PRECAUTIONS and
chapters one through six.
SAFETY PRECAUTIONS
Defines safety terms, safety related symbols and provides precautions that should be observed. Be sure
to read this section before operating your robot.
Chapter 1 Operating Devices (TP/OP/MP)

This chapter describes how to connect the teach pendant and/or operating panel. It also provides
descriptions of the names of keys, buttons, and switches on them.
Chapter 2 Preparations for Teaching

This chapter describes preparations necessary to make before starting teaching or running the robot from
the teach pendant or operating panel.
The preparations include powering the robot controller and motor on/off, calibrating the robot, modifying
the speed, inching selection, setting payload and its center of gravity, and setting the robot installation
condition. Be sure to read this chapter before powering on the robot controller.
Chapter 3 General Introduction to Operation Modes and Additional Functions

This chapter describes the three operation modes of the robot: Manual mode, Teach check mode, and
Auto mode. It also describes machine lock used for simulation.
Chapter 4 General Introduction to Coordinates and Figures

This chapter explains the coordinates used for the robot and figures of the shoulder, elbow, and wrist.
Chapter 5 Commands Assigned to Function Keys of the Teach Pendant

This chapter describes a variety of commands assigned to the function keys of the teach pendant. The
first section illustrates the command menu tree. The following sections provide a detailed explanation of
those commands, together with the access routes.
Chapter 6 Using the Mini-Pendant (Ver. 1.7 or later)

This chapter describes how to control the robot using the mini-pendant.
iii
SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
Be sure to observe all of the following safety precautions.
Strict observance of these warning and caution indications are a MUST for preventing accidents, which
could result in bodily injury and substantial property damage. Make sure you fully understand all
definitions of these terms and related symbols given below, before you proceed to the text itself.
WARNING Alerts you to those conditions, which could result

in serious bodily injury or death if the instructions
are not followed correctly.
CAUTION Alerts you to those conditions, which could result

in minor bodily injury or substantial property
damage if the instructions are not followed
correctly.
Terminology and Definitions

Maximum space: Refers to the space which can be swept by the moving parts of the robot as defined by
the manufacturer, plus the space which can be swept by the end-effector and the workpiece. (Quoted
from the ISO 10218-1:2006.)
Restricted space: Refers to the portion of the maximum space restricted by limiting devices (i.e.,
mechanical stops) that establish limits which will not be exceeded. (Quoted from the ISO 10218-1:2006.)
Motion space: Refers to the portion of the restricted space to which a robot is restricted by software
motion limits. The maximum distance that the robot, end-effector, and workpiece can travel after the
software motion limits are set defines the boundaries of the motion space of the robot. (The "motion
space" is DENSO WAVE-proprietary terminology.)
Operating space: Refers to the portion of the restricted space that is actually used while performing all
motions commanded by the task program. (Quoted from the ISO 10218-1:2006.)
Task program: Refers to a set of instructions for motion and auxiliary functions that define the specific
intended task of the robot system. (Quoted from the ISO 10218-1:2006.)
1. Introduction This section provides safety precautions to be observed for the
robot system.
The installation shall be made by qualified personal and should
confirm to all national and local codes.
2. Warning Labels The robot unit and controller have warning labels. These labels
alert the user to the danger of the areas on which they are
pasted. Be sure to observe the instructions printed on those
labels.
Warning label Instructions printed on the label

Risk of injury.
Never enter the restricted space.
Label (1)
<Except HM> For UL-Listed robot units only

Risk of injury.
This label alerts the user that pressing
the brake release switch could drop the
arm.
(Example: Location of labels)
<HM>
Label (2)
Risk of electrical shock.

Never open the controller cover when
the power is on.
Never touch the inside of the controller
Label (3)
for at least 3 minutes even after turning
the power off and disconnecting the
power cable.
Risk of injury.
Be sure to perform lockout/tagout
before starting servicing.
Label (4)
Turning the power ON when a person is
inside the safety fence may move the
arm, causing injuries.
SAFETY PRECAUTIONS
3. Installation Precautions
3.1 Insuring the proper

installation environment
For standard type The standard type has not been designed to withstand
explosions, dust-proof, nor is it splash-proof. Therefore, it should
not be installed in any environment where:
(1) there are flammable gases or liquids,
(2) there are any shavings from metal processing or other
conductive material flying about,
(3) there are any acidic, alkaline or other corrosive gases,
(4) there is cutting or grinding oil mist,
(5) it may likely be submerged in fluid,
(6) there is sulfuric cutting or grinding oil mist, or
(7) there are any large-sized inverters, high output/high
frequency transmitters, large contactors, welders, or other
sources of electrical noise.
For dust- & splash-proof The dust- & splash-proof type has an IP54-equivalent structure,
type but it has not been designed to withstand explosions. (The
HM/HS-G-W and the wrist of the VM/VS-G-W are an
IP65-equivalent dust- and splash-proof structure.)
Note that the robot controller is not a dust- or splash-proof
structure. Therefore, when using the robot controller in an
environment exposed to mist, put it in an optional protective box.
The dust- & splash-proof type should not be installed in any
environment where:
(1) there are any flammable gases or liquids,
(2) there are any acidic, alkaline or other corrosive gases,
(3) there are any large-sized inverters, high output/high
frequency transmitters, large contactors, welders, or other
sources of electrical noise,
(4) it may likely be submerged in fluid,
(5) there are any grinding or machining chips or shavings,
(6) any machining oil not specified in this manual is in use, or
Note: Yushiron Oil No. 4C (non-soluble) is specified.
(7) there is sulfuric cutting or grinding oil mist.
3.2 Service space The robot and peripheral equipment should be installed so that
sufficient service space is maintained for safe teaching,
maintenance, and inspection.
3.3 Control devices The robot controller, teach pendant and mini-pendant should be
outside the robot's installed outside the robot's restricted space and in a place where
you can observe all of the robot’s movements and operate the
restricted space
robot easily.
3.4 Positioning of gauges Pressure gauges, oil pressure gauges and other gauges should
be installed in an easy-to-check location.
3.5 Protection of electrical If there is any possibility of the electrical wiring or

wiring and hydraulic/pneumatic piping being damaged, protect them with a
cover or similar item.
hydraulic/pneumatic
piping
3.6 Grounding resistance The grounding resistance of the robot power supply should not
be more than 100Ω.
3.7 Positioning of Emergency stop switches should be provided in a position where

emergency stop they can be reached easily should it be necessary to stop the
robot immediately.
switches
(1) The emergency stop switches should be red.
(2) Emergency stop switches should be designed so that they
will not be released after pressed, automatically or
mistakenly by any other person.
(3) Emergency stop switches should be separate from the
power switch.
3.8 Positioning of Operating status indicators should be positioned in such a way

operating status where workers can easily see whether the robot is on a
temporary halt or on an emergency or abnormal stop.
indicators
Note: The UL-Listed robot units have motor ON lamps on their
robot arms.
SAFETY PRECAUTIONS
3.9 Setting-up a safety A safety fence should be set up so that no one can easily enter
fence the robot's restricted space.
(1) The fence should be constructed so that it cannot be easily
moved or removed.
(2) The fence should be constructed so that it cannot be easily
damaged or deformed through external force.
(3) Establish the exit/entrance to the fence. Construct the fence
so that no one can easily get past it by climbing over the
fence.
(4) The fence should be constructed to ensure that it is not
possible for hands or any other parts of the body to get
through it.
(5) Take any one of the following protections for the entrance/
exit of the fence:
1) Place a door, rope or chain across the entrance/exit of
the fence, and fit it with an interlock that ensures the
emergency stop device operates automatically if it is
opened or removed.
2) Post a warning notice at the entrance/exit of the fence
stating "In operation--Entry forbidden" or "Work in
progress--Do not operate" and ensure that workers
follow these instructions at all times.
When making a test run, before setting up the fence,
place an overseer in a position outside the robot’s
restricted space and one in which he/she can see all of
the robot’s movements. The overseer should prevent
workers from entering the robot's restricted space and be
devoted solely to that task.
3.10 Setting the robot's The area required for the robot to work is called the robot's
motion space operating space.
If the robot’s motion space is greater than the operating space, it
is recommended that you set a smaller motion space to prevent
the robot from interfering or disrupting other equipment.
Refer to the INSTALLATION & MAINTENANCE GUIDE, Chapter
2.
3.11 No robot modification Never modify the robot unit, robot controller, teach pendant or
allowed other devices.
3.12 Cleaning of tools If your robot uses welding guns, paint spray nozzles, or other
end-effectors requiring cleaning, it is recommended that the
cleaning process be carried out automatically.
3.13 Lighting Sufficient illumination should be assured for safe robot operation.
3.14 Protection from objects If there is any risk of workers being injured in the event that the
thrown by the object being held by the end-effector is dropped or thrown by the
end-effector, consider the size, weight, temperature and
end-effector
chemical nature of the object and take appropriate safeguards to
ensure safety.
3.15 Affixing the warning Place the warning label packaged

label with the robot on the exit/entrance
of the safety fence or in a position
where it is easy to see.
SAFETY PRECAUTIONS
4. Precautions Touching the robot while it is in

while Robot is Warning operation can lead to serious
Running injury. Please ensure the fol-
lowing conditions are
maintained and that the
cautions listed from Section
4.1 and onwards are followed
when any work is being
performed.
1) Do not enter the robot's restricted space when the robot

is in operation or when the motor power is on.
2) As a precaution against malfunction, ensure that an
emergency stop device is activated to cut the power to
the robot motor upon entry into the robot's restricted
space.
3) When it is necessary to enter the robot's restricted space
to perform teaching or maintenance work while the robot
is running, ensure that the steps described in Section 4.3
"Ensuring safety of workers performing jobs within the
robot's restricted space" are taken.
4.1 Creation of working When entering the robot’s restricted space to perform teaching or
regulations and maintenance inspections, set "working regulations" for the
following items and ensure workers adhere to them.
assuring worker
adherence (1) Operating procedures required to run the robot.
(2) Robot speed when performing teaching.
(3) Signaling methods to be used when more than one worker is
to perform work.
(4) Steps that must be taken by the worker in the event of a
malfunction, according to the contents of the malfunction.
(5) The necessary steps for checking release and safety of the
malfunction status, in order to restart the robot after robot
movement has been stopped due to activation of the
emergency stop device
(6) Apart from the above, any steps below necessary to prevent
danger from unexpected robot movement or malfunction of
the robot.
1) Display of the control panel (See Section 4.2 on the next
page.)
2) Assuring the safety of workers performing jobs within the
robot's restricted space (See Section 4.3 on the next
page.)
3) Maintaining worker position and stance
Position and stance that enables the worker to confirm
normal robot operation and to take immediate refuge if a
malfunction occurs.
4) Implementation of measures for noise prevention
5) Signaling methods for workers of related equipment
6) Types of malfunctions and how to distinguish them
Please ensure "working regulations" are appropriate to the robot
type, the place of installation and to the content of the work.
Be sure to consult the opinions of related workers, engineers at
the equipment manufacturer and that of a labor safety consultant
when creating these "working regulations".
4.2 Display of operation To prevent anyone other than the worker from accessing the start
panel switch or the changeover switch by accident during operation,
display something to indicate it is in operation on the operation
panel or teach pendant. Take any other steps as appropriate,
such as locking the cover.
4.3 Ensuring safety of When performing jobs within the robot’s restricted space, take
workers performing any of the following steps to ensure that robot operation can be
stopped immediately upon a malfunction.
jobs within the robot's
restricted space (1) Ensure an overseer is placed in a position outside the robot’s
restricted space and one in which he/she can see all robot
movements, and that he/she is devoted solely to that task.
c An emergency stop device should be activated
immediately upon a malfunction.
d Do not permit anyone other than the worker engaged for
that job to enter the robot’s restricted space.
(2) Ensure a worker within the robot's restricted space carries
the portable emergency stop switch so he/she can press it
(the emergency button on the teach pendant) immediately if
it should be necessary to do so.
4.4 Inspections before Before starting work such as teaching, inspect the following
commencing work items, carry out any repairs immediately upon detection of a
malfunction and perform any other necessary measures.
such as teaching
(1) Check for any damage to the sheath or cover of the external
wiring or to the external devices.
(2) Check that the robot is functioning normally or not (any
unusual noise or vibration during operation).
(3) Check the functioning of the emergency stop device.
(4) Check there is no leakage of air or oil from any pipes.
(5) Check there are no obstructive objects in or near the robot’s
restricted space.
SAFETY PRECAUTIONS
4.5 Release of residual air Before disassembling or replacing pneumatic parts, first release
pressure any residual air pressure in the drive cylinder.
4.6 Precautions for test Whenever possible, have the worker stay outside of the robot's
runs restricted space when performing test runs.
4.7 Precautions for (1) At start-up

automatic operation Before the robot is to be started up, first check the following
items as well as setting the signals to be used and perform
signaling practice with all related workers.
1) Check that there is no one inside the robot’s restricted
space.
2) Check that the teach pendant and tools are in their
designated places.
3) Check that no lamps indicating a malfunction on the
robot or related equipment are lit.
(2) Check that the display lamp indicating automatic operation is
lit during automatic operation.
(3) Steps to be taken when a malfunction occurs
Should a malfunction occur with the robot or related
equipment and it is necessary to enter the robot's restricted
space to perform emergency maintenance, stop the robot’s
operation by activating the emergency stop device. Take any
necessary steps such as placing a display on the starter
switch to indicate work is in progress to prevent anyone from
accessing the robot.
4.8 Precautions in repairs (1) Do not perform repairs outside of the designated range.
(2) Under no circumstances should the interlock mechanism be
removed.
(3) When opening the robot controller's cover for battery
replacement or any other reasons, always turn the robot
controller power off and disconnect the power cable.
(4) Use only spare tools specified in this manual.
5. Daily and Periodical (1) Be sure to perform daily and periodical inspections. Before
starting jobs, always check that there is no problem with the
Inspections robot and related equipment. If any problems are found, take
any necessary measures to correct them.
(2) When carrying out periodical inspections or any repairs,
maintain records and keep them for at least 3 years.
6. Management of (1) Carefully handle and store the "Initial settings" floppy disks
packaged with the robot, which store special data exclusively
Floppy Disks prepared for your robot.
(2) After finishing teaching or making any changes, always save
the programs and data onto floppy disks.
Making back-ups will help you recover if data stored in the
robot controller is lost due to the expired life of the back-up
battery.
(3) Write the names of each of the floppy disks used for storing
task programs to prevent incorrect disks from loading into
the robot controller.
(4) Store the floppy disks where they will not be exposed to dust,
humidity and magnetic field, which could corrupt the disks or
data stored on them.
7. Safety Codes The safety standards relating to robot systems are listed below.
As well as observing the safety precautions given in this manual,
ensure compliance with all local and national safety and electrical
codes for the installation and operation of the robot system.
Standards Title
ANSI/RIA R15.06-1999 Industrial Robots and Robot Systems--Safety Requirements
ANSI/UL1740: 1998 Safety for Robots and Robotic Equipment
CAN/CSA Z434-03 Industrial Robots and Robot Systems--General Safety Requirements
ISO10218-1: 2006 Robots for industrial environments--Safety requirements--Part 1: Robot
NFPA 79: 2002 Electrical Standard for Industrial Machinery
Contents
Preface .................................................................................................................................................i
How the documentation set is organized.............................................................................................ii
How this book is organized .................................................................................................................iii
SAFETY PRECAUTIONS
Chapter1 Operating Devices (TP/OP/MP)

1.1 Connecting the Teach Pendant, Operating Panel, and Mini-Pendant ....................................... 1-1
1.1.1 Connecting the Teach Pendant ..................................................................................... 1-1
1.1.2 Connecting the Operating Panel (RC5 controller only) ............................................... 1-2
1.1.3 Connecting the Mini-Pendant....................................................................................... 1-3
1.1.4 Pendantless State.......................................................................................................... 1-3
1.2 Handling the Teach Pendant........................................................................................................ 1-4
1.2.1 Holding the Teach Pendant and the Deadman Switch ................................................ 1-4
1.2.2 Names of Keys, Buttons, and Switches on the Teach Pendant ..................................... 1-5
1.2.3 Basic Operation of the Teach Pendant ......................................................................... 1-7
1.3 Handling the Operating Panel (RC5 controller only)................................................................ 1-10
1.4 Handling the Mini-Pendant ....................................................................................................... 1-14
Chapter2 Preparations for Teaching
2.1 Turning the Robot Controller ON (TP/OP/MP) ........................................................................... 2-1

2.2 Turning the Robot Controller OFF (TP/OP/MP).......................................................................... 2-4
2.3 Deadman Switch(es)/Enable Switch(es) (TP/OP/MP) ................................................................. 2-8
2.4 Turning the Motor ON (TP/OP/MP) ........................................................................................... 2-12
2.5 Turning the Motor OFF (TP/OP/MP) ......................................................................................... 2-14
2.6 Calibrating (CAL) the Robot (TP/OP/MP) ................................................................................. 2-16
2.7 Setting the Reduced Ratios of the Programmed Speed, Acceleration, and Deceleration
(TP/OP/MP)....................................................................................................................................... 2-21
2.8 Inching Selection (TP/MP).......................................................................................................... 2-28
2.9 Setting the Master Control Parameters of the Payload, Center of Gravity, and Control Set of
Motion Optimization (TP/WC) ......................................................................................................... 2-30
2.10 Setting the Robot Installation Condition (TP/WC).................................................................. 2-49
2.11 Configuration List ..................................................................................................................... 2-57
Chapter3 General Introduction to Operation Modes and Additional Functions
3.1 Operation Modes and Machine Lock............................................................................................ 3-1

3.1.1 Switching Between Operation Modes (TP/OP/MP)...................................................... 3-2
3.1.2 Machine Lock (TP/MP).................................................................................................. 3-4
3.2 Manual Mode (TP/OP/MP) ........................................................................................................... 3-5
3.2.1 Running the Robot Manually........................................................................................ 3-5
3.2.2 Managing Robot Controller Output Signals (TP/OP/MP) ......................................... 3-18
3.2.3 Using the Command Builder (TP) .............................................................................. 3-21
3.2.4 Easy Teaching (TP) [Ver. 1.8 or later]......................................................................... 3-33
3.2.5 Folder Feature [RC7 Ver. 2.2 or later] ........................................................................ 3-48
3.3 Teach Check Mode (TP/MP)........................................................................................................ 3-54
3.4 Auto Mode (TP/OP/MP)............................................................................................................... 3-69
3.4.1 Starting Internal Automatic Operation (TP/OP/MP)................................................. 3-69
3.4.2 Stopping Internal Automatic Operation (TP/OP/MP)................................................ 3-83
3.4.3 Switching to External Automatic Operation (TP/OP/MP) ......................................... 3-91
3.4.4 Stopping External Automatic Operation (TP/OP/MP)............................................... 3-94
3.4.5 Continue Function....................................................................................................... 3-95
3.4.6 SS (Safe Start) Function ........................................................................................... 3-102
3.4.7 Break Point Function (TP) [Ver. 1.4 or later] ............................................................3-115
3.4.8 Local Variable-Related Enhancement (TP) [Ver. 1.9 or later] ................................ 3-125
3.4.9 Changing Route in Restarting the Pass Motion [Ver. 1.4 or later].......................... 3-134
3.4.10 Supervisory Task (Software PLC) [Ver. 1.7 or later]................................................ 3-140
3.4.11 Supervisory Task Extension [Ver. 1. 95 or later]...................................................... 3-152
3.4.12 Modification of Processing Time Exclusively Occupied by Supervisory Tasks
[RC7 Ver. 2.0 or later]................................................................................................ 3-155
3.4.13 Supervisory Task Start Mode [RC7 Ver. 2.2 or later] .............................................. 3-157
Chapter4 General Introduction to Coordinates and Figures
4.1 Coordinates, Interference Check Area, and Figures in 6-Axis Robots (V*-D/-E/-G Series) ....... 4-1
4.1.1 Coordinates .................................................................................................................... 4-1
4.1.2 Interference Check Area.............................................................................................. 4-30
4.1.3 Figures of the Shoulder, Elbow, and Wrist ................................................................. 4-55
4.2 Coordinates, Interference Check Area, and Figures in 4-Axis Robots (H*-D/-E/-G Series) ..... 4-66
4.2.1 Coordinates .................................................................................................................. 4-66
4.2.2 Interference Check Area.............................................................................................. 4-75
4.2.3 Shoulder Figure ........................................................................................................... 4-80
Chapter5 Commands Assigned to Function Keys of the Teach Pendant
5.1 Commands Menu .......................................................................................................................... 5-1

5.1.1 Top Screen...................................................................................................................... 5-1
5.1.2 Menu Tree ...................................................................................................................... 5-2
5.2 Displaying the Program List Window.......................................................................................... 5-7
5.2.1 Showing the Program List Window in Manual Mode .................................................. 5-8
5.2.2 Showing the Program List Window in Teach Check Mode........................................ 5-50
5.2.3 Showing the Program List Window in Auto Mode ..................................................... 5-61
5.3 Displaying the Current Robot Position...................................................................................... 5-73
5.4 Displaying the Vision Menu ..................................................................................................... 5-107
5.5 Displaying I/O Signals and Simulating Robot Motion ............................................................ 5-127
5.6 Displaying the Operation Panel ............................................................................................... 5-132
5.7 Displaying the Settings (Main) Window .................................................................................. 5-133
5.8 Customizing TP Operation Screens [Ver. 1.5 or later] ........................................................... 5-191
5.9 Switching between Internal and External Auto Modes .......................................................... 5-192
5.10 Preparing the Robot Controller to Unplug the Teach Pendant ............................................ 5-193
Chapter6 Using the Mini-Pendant (Ver. 1.7 or later)
6.1 Commands Menu .......................................................................................................................... 6-1

6.1.1 Keypad and Top Screen ................................................................................................. 6-1
6.1.2 Menu Tree ...................................................................................................................... 6-2
6.2 Operation Using the Mini-Pendant.............................................................................................. 6-4
6.2.1 Turning the Motor ON/OFF .......................................................................................... 6-4
6.2.2 Machine Lock and Release............................................................................................ 6-4
6.2.3 Choosing the Robot Model............................................................................................. 6-5
6.2.4 Switching the Motion Modes......................................................................................... 6-6
6.2.5 Changing Work Coordinates ......................................................................................... 6-7
6.2.6 Changing the Robot Speed ............................................................................................ 6-8
6.2.7 Changing the Inching Angle and Distance................................................................... 6-9
6.2.8 Changing Tool Coordinates ..........................................................................................6-11
6.2.9 Switching between Internal and External Auto Modes............................................. 6-12
6.2.10 Handling Programs ..................................................................................................... 6-13
6.2.11 Resetting Programs ..................................................................................................... 6-21
6.2.12 Displaying the Current Robot Arm Position .............................................................. 6-22
6.2.13 Displaying Variable Values ......................................................................................... 6-23
6.2.14 Reconfiguring I/O Signals ........................................................................................... 6-26
6.2.15 Executing CAL............................................................................................................. 6-28
6.2.16 Releasing and Locking Brakes.................................................................................... 6-29
6.2.17 Logging Data ............................................................................................................... 6-32
6.2.18 Setting Communications Port..................................................................................... 6-33
6.2.19 Changing Serial Port Speed........................................................................................ 6-34
6.2.20 Setting IP Address....................................................................................................... 6-35
6.2.21 Loading New Project ................................................................................................... 6-37
6.2.22 Using Auxiliary Functions (Common to 4-axis and 6-axis robots) ............................ 6-38
6.2.23 Maintaining the Robot with the Mini-pendant [RC7 Ver. 2.3 or later] .................... 6-41
6.2.24 Entering the Direct Teaching Mode (For 4-axis robots)............................................. 6-45
6.2.25 Adjusting the Air Pressure Balance of the Z-Axis (For 4-axis robots) ...................... 6-48
Chapter 1
Operating Devices
(TP/OP/MP)
This chapter describes how to connect the teach

pendant, operating panel, and mini-pendant to the
robot controller. It also provides explanations of the
names and functions of their keys, buttons, and
switches which allow you to operate the robot.
NOTE 1: The operating panel should be secured

to a safe place.
NOTE 2: Avoid letting the teach pendant,
operating panel, or mini-pendant undergo strong
shocks, impacts, or vibrations.
NOTE 3: Touch the teach pendant, operating
panel, or mini-pendant with your fingers only, never
with the tip of a pen or any pointed object.
Otherwise, the LCD may be broken.
1.1 Connecting the Teach Pendant, Operating

Panel, and Mini-Pendant
You may teach or operate the robot from the teach pendant (TP), operating panel (OP),
or mini-pendant (MP). When the robot leaves the factory, none of them is connected to
the robot controller (pendantless state) as shown in Section 1.1.4.
After unpacking the robot package, connect the teach pendant, operating panel, or
mini-pendant to the robot controller where necessary. The teach pendant and
operating panel can be connected to the robot controller together. The mini-pendant
cannot be together with the teach pendant or operating panel; it can be single
connected.
Cautions for connecting or disconnecting the TP/OP/MP cable to/from the controller:
(1) When and after connecting the cable to the controller, take care not to apply upward/downward or
rightward/leftward external pressure to the connector ("A" in the figure below). Such pressure may
break the connector, resulting in a communications error.
(2) When disconnecting the cable from the controller, first turn the controller power OFF, unlock the
connector and pull it out straight.
1.1.1 Connecting the Teach Pendant

Connect the teach pendant to connector CN5 of the robot controller as shown below.
Connection type 1: Teach pendant only

RC5 controller RC7M controller
Teach pendant
Robot controller
"A"
Connection type 2: Operating panel connected with the teach pendant (RC5 controller only)
Mode selector switch
Operating To use the teach pendant, turn this switch to the TP position.
Teach pendant panel To use the operating panel, turn this switch to the MANUAL or
AUTO position.
Robot controller
Connecting the Teach Pendant
1-1
1.1.2 Connecting the Operating Panel (RC5 controller only)
Connect the operating panel to connector CN5 of the robot controller as shown below.
Connection type 1: Operating panel only
Operating panel
Robot controller

Turn this switch to the
MANUAL or AUTO
position.
Pendantless connector
NOTE: Be sure to secure the operating panel to a safe place such as equipment.
NOTE: When using the operating panel without the teach pendant connected, always
insert the pendantless connector into the TP socket on the operating panel.
Connection type 2: Operating panel connected with the teach pendant

To use the teach pendant, turn this switch to the TP position.
To use the operating panel, turn this switch to the MANUAL or
Operating panel AUTO position.
Teach pendant
Robot controller
Note : The total cable length must not be more than 12 m when the operating panel and the teach
pendant are to be connected in series.
Connecting the Operating Panel
1-2
1.1.3 Connecting the Mini-Pendant

Connect the mini-pendant to the PENDANT connector of the robot controller as shown
below.
NOTE: The mini-pendant cannot be connected together with the teach pendant or
operating panel.
NOTE: Turn the controller power off before connecting or disconnecting the
mini-pendant.
RC5 controller RC7M controller
Mini-pendant
Robot controller
Connecting the Mini-Pendant
1.1.4 Pendantless State

NOTE: The UL-Listed robot system cannot be operated in the pendantless state.
If you disconnect the teach pendant or operating panel from the robot controller after
teaching, be sure to set the pendantless connector to the PENDANT connector instead.
In this pendantless state, you can run the robot automatically by controlling I/O signals
from external equipment.
To external
equipment
Pendantless connector
To the power supply
To the robot unit
Pendantless State (RC5 Controller)
1-3
1.2 Handling the Teach Pendant
1.2.1 Holding the Teach Pendant and the Deadman Switch
Grasp the teach pendant when operating it, as shown below. The teach pendant has a
deadman switch(es) for ensuring safety.
Note: The teach pendant designed for the RC5 controller has two deadman switches, so
it is possible to hold the teach pendant in the two ways. The pendant for the RC7M
controller has a single deadman switch.
For RC5 controller
Deadman switch
Deadman switch
For RC7M controller

Deadman switch
Tip The deadman switch is provided to stop the robot automatically and safely when the
operator can no longer operate the robot correctly due to unforeseen circumstances
such as the operator suffering a blackout or dying while running the robot manually with
the teach pendant. If a situation such as this arises, the strength with which the operator
is pressing the deadman switch will become either decrease or increase markedly. The
deadman switch is a 3-position switch which is able to recognize and react to the
following 3 operating statuses.
1) When the switch is not being pressed or is being pressed lightly
→ Switch: OFF
2) When the switch is being pressed with correct pressure
→ Switch: ON
3) When the switch is being pressed too strongly
→ Switch: OFF
If the switch is OFF or goes OFF, the robot cannot run or the running robot will stop,
respectively.
In order to ensure safety, the robot is so designed that in manual mode the deadman
switch should be held down for example when the operator presses any of the arm
traverse keys.
Note: The deadman switch is also called "Enable switch."
1-4
1.2.2 Names of Keys, Buttons, and Switches on the Teach Pendant

The figure below shows the names of keys, buttons, switches, and other sections of
the teach pendant. On the LCD screen are function buttons, shortcut button, and icons
which are shown on the next page.
Before running the robot, learn the location of those keys, buttons, and switches, which
will help you run the robot smoothly and safely.
Note: On the teach pendant designed for the RC7M controller, the mode selector
switch is a keylock type and the "robot stop button" is name-changed to the
"emergency stop button."
Teach pendant designed for RC5 controller
LOCK key R-SEL (Robot selection) key
(Locks or unlocks the robot. M-MOD (Motion mode) key
When the machine is locked, (Selects the motion modes Robot stop button
the LED is lit.) and coordinates.) SPEED key (Immediately stops all running
MOTOR key programs and powers off the motor.)
(Powers the motor on or off. When (Sets the external
the motor is powered, the LED is lit.) speed.)
Jog dial
(Moves the cursor on the display
screen and entry screen.)
Mode selector
switch STOP key
(Switches the (Immediately stops the
operation modes.) running programs.)
Cancel key
Hand strap (Cancels the entry.)
Cursor keys
(Move the cursor OK key
on the display (Establishes the entry.)
screen and entry
screen.)
Hand strap
LCD screen Arm traverse keys

SHIFT key Function keys
(Display and (Drive the arm manually in a designated
(Switches the function (Perform functions
touch panel) direction. Hold down the deadman switch
menu.) assigned.) together with these switches.)
Teach pendant designed for RC7M controller

R-SEL (Robot selection) key
MOTOR key
Mode selector switch M-MOD (Motion mode) key
(3-position, keylock switch) SPEED key Emergency stop button
LOCK key
Jog dial
STOP key
Cancel key
Hand strap
OK key
Cursor keys
Hand strap
Arm traverse keys

SHIFT key Function keys
LCD screen
Names of Keys, Buttons, and Switches on the Teach Pendant
1-5
Normal task programs on halt
(Receiving programs from
external equipment)
(Transmitting programs to
external equipment)
Normal task program(s) running
(Receiving programs from external
equipment)
(Transmitting programs to external
equipment)
Supervisory task program running
Backup batteries working

Dummy input not set
Dummy input set to a Backup batteries low
user-input port(s) Robot select button (Used to select robot
types. The selected type appears.)
Ver. 1.4 or later Motion mode
I/O output restricted Work coordinates
Tool coordinates
Speed indicator
bar graph
Internal Auto mode Status bar
(Shows the
robot status.)
External Auto mode
Manual mode Shortcut button

(which calls up the
shortcut menu. Use
Teach check mode this when you want
to access other
No mode selected functions halfway
through some
processing.)
Menu bar
Shift F1 F2 F3 F4 F5 F6
button (F7) (F8) (F9) (F10) (F11) (F12)
Function buttons
(Used to perform the functions assigned.)
Top screen
Names of Keys, Buttons, and Switches on the Teach Pendant Screen
1-6
1.2.3 Basic Operation of the Teach Pendant

Top screen
Turning on the power to the teach pendant will display the top screen* as shown on the
previous page. In the top of the screen is a status bar, which displays the current
operation mode, task program status, backup battery states, robot status and other
conditions. In the bottom of the screen is a menu bar that shows the functions assigned
to the function keys. The middle of the screen displays a variety of windows.
* In Ver. 2.3 or later, when the controller is switched on, the language menu appears
(preceding the top screen). Choose the desired language. (Refer to Section 2.1.)
Function keys and function buttons

The teach pendant has six function keys whose functions (F1 to F6 assigned) are
usually displayed on the six buttons in the menu bar of the screen. Pressing the SHIFT
key (or Shift button) switches the menu bar between "F1 to F6" and "F7 to F12." When
those function keys are shifted, their functions (F7 to F12 assigned) are displayed on
the six buttons.
Pressing the function keys is functionally equivalent to pressing their corresponding
buttons in the menu bar.
- When the function keys (buttons) are not shifted:
F1 F2 F3 F4 F5 F6
Shift Function
mark buttons
- When the function keys (buttons) are shifted:
F7 F8 F9 F10 F11 F12
SHIFT
Function
keys
Function Keys and SHIFT Key
SHIFT key and shift mark

If the shift mark is (facing up and filled with black), it means that the current menu
bar can be shifted. Pressing the SHIFT key will shift the menu bar from "F1 to F6" to
"F7 to F12" and turn the shift mark to (facing down).
If the shift mark is (facing up and filled with gray), it means that the current menu bar
cannot be shifted. Pressing the SHIFT key will result in no change in the menu display.
1-7
Cursor keys and jog dial
There are four cursor keys that are used to select the target data or increase/decrease
values. Pressing up-, down-, left-, or right-arrow cursor key moves the cursor up, down,
leftwards, or rightwards, respectively.
When the cursor movement direction is restricted to either up/down or
leftwards/rightwards, the restricted direction keys are used to increase or decrease
values.
The jog dial has the same functions as the cursor keys.
Touch panel
The LCD screen of the teach pendant acts as a touch panel. You may directly touch the
screen to operate the touch buttons or select data entry areas.
CAUTION: Touch the screen with your fingers only. Pressing the screen with the tip of
a pen or any pointed object will result in failures.
OK key and Cancel key

The OK key or Cancel key is usually used to allow input of a new entry or to discard it,
respectively.
Those keys are also used to close the current window and return to the previous one.
Pressing the OK key will save the new entry and exit from the current window; pressing
the Cancel key will exit from the current window without saving new entry.
1-8
SHORTCUT button
The use of a shortcut allows you halfway through the current processing to carry out
other processing. From any of the processing screens, you may call up the Shortcut
Menu by pressing the SHORTCUT button.
On the Shortcut Menu, you may choose the desired processing.
Step 1 Press the SHORTCUT button.
Step 2 Press the desired function button on the Shortcut Menu. (Or press the
corresponding function button on the menu bar or press the function key on the
teach pendant.)
The screen will switch to the processing screen of the selected function.
1-9
1.3 Handling the Operating Panel (RC5
controller only)
The figure below shows the names of keys and switches of the operating panel.
Robot stop button
SHIFT key
M-MOD (Manual
mode) key
STOP key
R-SEL (Robot
selection) key
Cancel key
MOTOR key OK key
Arm traverse keys

Deadman switch
Names of Keys and Switches on the Operating Panel
1-10
[ 1 ] Functions
With the operating panel, you may run the robot manually, start programs, edit
variables, get robot arm positions into variables in teaching, and move the robot arm by
specifying a desired variable. Choosing work coordinates or tool coordinates is also
possible.
Operating Panel Functions
Version Function: Description

Ver. 1.2 or later Editing variables You may edit variables by
entering numerical values.
Ver. 1.4 or later - Teaching the current - You may get the current
position position into P variables, J
- Choosing work variable, and T variables. It is
coordinates or tool used for position teaching.
coordinates - You may choose work
coordinates or tool coordinates.
Ver. 1.6 or later Operating the robot arm You may move the robot arm
by specifying a desired according to the specified
variable variable. It is used to confirm
variables you have preset in
teaching.
Function selection mode key

(enabled when the SHIFT
lamp light.)
Function selector
(to scroll down)
Function selector
Motor key (to scroll up)
1-11
[ 2 ] Operating procedure
According to the procedure below, you may choose the desired function in Manual
mode.
Step 1 Turn the mode selector switch to the MANUAL position.
Step 2 Press the SHIFT key.

The SHIFT lamp should come on.
Step 3 Press the function selection mode key to enter the selection mode.
BRAKE
CONTINUE
ST-STOP
The following display appears.
F1:Chg VarVal I
Step 4 Press the following function selectors to scroll the display up or down.
OFF ON
↓ ↑
ST-START CY-START
F2: Chg VarVal F
1-12
Step 5 You may select any of the following functions:

[Chg VarVal I] Edit integer variables by entering numerical values
[Chg VarVal F] Edit floating-point variables by entering numerical values
[Chg VarVal D] Edit double-precision variables by entering numerical values
[Chg VarVal V] Edit vector variables by entering numerical values
ON [Chg VarVal P] Edit position variables by entering numerical values
↑ [Chg VarVal J] Edit joint variables by entering numerical values
CY-START [Chg VarVal T] Edit variables in homogeneous transform matrix by entering
numerical values
OFF [Set VarVal P] Get the current position into a position variable
↓ [Set VarVal J] Get the current position into a joint variable
ST-START
[Set VarVal T] Get the current position into a variable in homogeneous
transform matrix
[Move to Pvar] Operate the robot by selecting a position variable
[Move to Jvar] Operate the robot by selecting a joint variable
[Move to Tvar] Operate the robot by selecting a variable in homogeneous
transform matrix
When the desired function is displayed, press the OK key.

To exit from the function selection mode, press the Cancel key.
If any error occurs during the function selection procedure, the operating panel will
automatically exit from the function selection mode.
1-13
1.4 Handling the Mini-Pendant
The figure below shows the names of keys and switches of the mini-pendant. When
the power is applied, the mini-pendant displays the top screen on the LCD (see the
next page). In the uppermost row of the top screen is a status bar which always
displays the current operation mode, program status, connected robot model, motion
mode, speed, and other information.
For the operating procedure, refer to Chapter 6.
Mini-pendant designed for RC5/RC7J controller Mini-pendant designed for RC7M controller
Mode selector Mode selector

switch Robot stop button switch Emergency stop
(3-position, button
Deadman keylock switch)
switch
Display Deadman Display
switch
SHIFT key STOP key SHIFT key STOP key

OK key
OK key
Cancel key
Cancel key
Arm traverse keys

(or numeric keypad) Arm traverse keys
Cursor keys (or numeric keypad)
Cursor keys
Names of Keys and Switches on the Mini-Pendant
Note: On almost all key tops are two (or three) function names printed. The upper and
center functions are enabled when the keypad is not shifted; that is, the SHIFT lamp is
off. The lower ones boxed are enabled when it is shifted; that is, the lamp is on.
The center functions on key tops take effect in Manual mode.
Note: The mini-pendant cannot be connected to the controller together with the teach
pendant or operating panel. It can be single connected.
Note: On the mini-pendant designed for the RC7M controller, the mode selector
switch is a keylock type and the "robot stop button" is name-changed to the
"emergency stop button."
1-14
Top Screen of the Mini-Pendant
1-15
Chapter 2
Preparations for
Teaching
This chapter describes preparations necessary to

make before starting teaching or running the robot
from the teach pendant, operating panel, or
mini-pendant.
The preparations include turning the robot
controller and motor on/off, calibrating the robot,
modifying the speed, inching selection, setting
payload and its center of gravity, and setting the
robot installation condition.
Be sure to read this chapter before powering on the
robot controller
NOTE 1: This chapter uses the abbreviations (TP),

(OP), (MP), and (WC) which inform you that
operations marked with those abbreviations can be
performed from the teach pendant, operating
panel, mini-pendant, and in WINCAPSII,
respectively.
NOTE 2: Avoid letting the teach pendant, operating
panel, or mini-pendant undergo any strong shocks,
impacts, or vibrations.
2.1 Turning the Robot Controller ON

(TP/OP/MP)
Turning the robot controller on enables you to operate the robot from the teach pendant,
operating panel, or mini-pendant or run the robot automatically.
The robot controller supplies the robot unit with power and controls it.
Operating procedure
Step 1 Flip the power toggle switch provided on the robot controller upward.
The power lamp (the left one of the three pilot lamps) comes on. The other two pilot
lamps (Auto mode lamp and error lamp) will flash for an instant.
RC5 controller
Power lamp (the left

one of the pilot lamps)
To the teach
pendant or
operating panel
Power switch
RC7M controller
2-1
(TP screen) In Ver. 2.3 or later, switching the robot controller on displays the language menu on
the teach pendant preceding the top screen, prompting you to choose the desired
language.
(1) Switch the robot controller on. The language menu appears on the teach
pendant.
(2) Choose the desired language and press the OK button.

Note: When German, Korean, or Chinese has been selected, some screens
may be displayed in English.
(3) The top screen appears. (In Ver. 2.2 or earlier, this screen first appears when
the controller is switched on.)
2-2
(OP display) If the operating panel (OP) is connected to the robot controller, the LCD first shows
the following:
(Version of operating panel module and updated date)
Next, during initialization of the robot controller hardware, the following appears:
Then during initialization of data transaction between the robot controller and
operating panel, the following appears:
Upon completion of the above sequence, the LCD shows nothing and the AUTO lamp
flashes two times.
(MP screen) When the mini-pendant (MP) is connected to the robot controller, the LCD first shows
the following:
CAUTION: If you want to turn the controller power on immediately after turning it off,
wait 10 seconds or more and check that all of the pilot lamps on the robot controller
are no longer lit and the TP screen, OP display, and MP screen are turned off.
2-3
2.2 Turning the Robot Controller OFF
(TP/OP/MP)
Turn the robot controller off when
(1) The necessary robot operations have been completed.
(2) Performing maintenance on the robot unit.
(3) Performing maintenance on the robot controller.
(4) Connecting or disconnecting visual equipment, Ethernet board, floppy disk drive,
and others to or from the robot controller.
(5) Replacing the operating panel.
(6) Connecting or disconnecting the robot control cable between the robot unit and its
controller.
CAUTION: Be sure to turn the robot controller off before connecting or

disconnecting the robot control cable between the robot unit and its controller.
Connection/disconnection of the robot control cable while the robot controller power is
on will damage the encoder interface circuitry in the robot controller.
2-4
Operating procedure
From the teach pendant
Step 1 If the MOTOR lamp is on, press the MOTOR key to turn the motor power off.
The MOTOR lamp goes off.
MOTOR lamp
MOTOR key
Step 2 Flip the power toggle switch on the robot controller downwards.
The power lamp (the left one of the three pilot lamps) goes off.
RC7M controller (example)
2-5
From the operating panel (RC5 controller only)
Step 1 If the MOTOR lamp is on, press the MOTOR key to turn the motor power off.
MOTOR key
Power lamp (the left

one of the pilot lamps)
To the
operating panel
Power switch
2-6
From the mini-pendant

Step 1 If the MOTOR lamp is lit, press the MOTOR key to turn the motor off.
MOTOR key
MOTOR lamp
2-7
2.3 Deadman Switch(es)/Enable Switch(es)
(TP/OP/MP)
The teach pendant, operating panel, and mini-pendant have a deadman switch(es)
each. Holding down the deadman switch properly activates some functions in Manual
mode or Teach check mode.
Note 1: The deadman switch is also called "enable switch."
Note 2: The teach pendant designed for the RC5 controller has two deadman
switches.
Deadman switch
(Enable switch)
Bottom of the teach pendant
Teach Pendant
Deadman switch
Deadman switch
(Enable switch)
Operating Panel Mini-pendant

RC5 controller only RC7M controller (example)
2-8
Hold down the deadman switch when

(1) You press any of the arm traverse keys in the Manual mode.
(2) You press the OK key after pressing the CycStart or StpStart button in the Teach
check mode.
(3) You press [F5 ON/OFF] to turn output signals on or off without running task
programs.
(4) You turn the selected user-input port on or off after setting dummy input to the port.
CAUTION: Never keep the deadman switch(es) held down with adhesive tape or the
like. Doing so may fail to stop the robot when running it in Manual mode. It is extremely
DANGEROUS.
NOTE 1: The deadman switch on the teach pendant or operating panel is of a

3-position type. Releasing the switch or pressing it excessively turns it off, stopping
robot motion.
Released (OFF) ⇒ Pressed lightly (ON) ⇒ Pressed strongly (OFF)
NOTE 2: The deadman switch on the mini-pendant is available in two types--2- and
3-position types.
In the case of 2-position type: Released (OFF) ⇒ Pressed (ON)
Operating procedure
Step 1 While holding down the deadman switch, press any of the keys (e.g., arm traverse
key).
You can hold the teach pendant for the RC5 controller in two ways as shown below.
Press and hold down either deadman switch that you can access easily.
Deadman switch
Deadman switch
RC5 controller
Step 2 Release the deadman switch. (Or press it stronger.)

The robot will stop.
2-9
From the operating panel
keys).
Press lightly
Deadman switch
Step 2 Release the deadman switch. (Or press it more strongly.)

Release Press strongly
Deadman switch
2-10

keys).
Deadman switch
(Enable switch)
Arm traverse keys

(or numeric keypad)
Step 2 Release the deadman switch.

2-11
2.4 Turning the Motor ON (TP/OP/MP)
Turning the motor on enables you to run the robot.
CAUTION: Before turning the motor on, be sure to confirm no person(s) is in the
restricted space of the robot.
Turn the motor on when

(1) Running the robot in Manual mode, Teach check mode, or Auto mode.
(2) Performing CAL operation.
Operating procedure
Step 1 Press the MOTOR key to turn the motor power on.
The MOTOR lamp comes on.
MOTOR lamp
MOTOR key
NOTE 1: If pressing the MOTOR key triggers the "Error 2008: Robot Stop is
activated," it means that the Robot Stop input (in RC5) or External Emergency
Stop/Protective Stop input (in RC7M) is open-circuited so that the motor cannot be
turned on. (Refer to the CONTROLLER MANUAL).
NOTE 2: The motor cannot be turned on if the machine is locked. (Refer to Section
3.1.)
NOTE 3: You may turn the motor on even when a program is running in Auto mode.
However, take extra care since the robot may suddenly move.
2-12
From the operating panel (RC5 controller only)

MOTOR key
NOTE 1: If pressing the MOTOR key triggers the "Error 2008: Robot Stop is
activated," it means that the Robot Stop input is open-circuited so that the motor
cannot be turned on. (Refer to the CONTROLLER MANUAL).

MOTOR key
MOTOR lamp
2-13
2.5 Turning the Motor OFF (TP/OP/MP)
CAUTION: The 1st axis (J1) has no brake. Turning the motor off will lose the holding
torque so that the freed J1 will move by the force of gravity or external force. It is
extremely DANGEROUS.
Turn the motor off when

(1) Anyone enters the restricted space of the robot.
(2) Turning the robot controller off.
(3) Running the robot manually.
(4) Operating the floppy disk drive.
(5) Modifying parameters.
(6) Loading task programs.
(7) Carrying out CALSET (selecting/deselecting joints to be calibrated).
(8) Releasing brakes.
Operating procedure
Step 1 Press the MOTOR key to turn the motor off.
MOTOR lamp
MOTOR key
2-14

Step 1 Press the MOTOR key to turn the motor power off.
MOTOR key

Step 1 Press the MOTOR key to turn the motor power off.
MOTOR key
MOTOR lamp
2-15
2.6 Calibrating (CAL) the Robot
(TP/OP/MP)
CAL stands for calibration that calibrates all robot axes to confirm the current arm
position. Performing CAL will turn on all robot motors to actuate all axes.
NOTE: The **-E/-F/-G series, VM-6083D and VM-60B1D require no CAL operation.
The **-D series requires CAL operation for accurate control of the robot.
Perform CAL operation when

You run the robot first after turning the robot controller on.
No CAL operation is required to lock the robot without running it after turning the
controller on. (For Machine Lock, refer to Section 3.1.)
Once the CAL operation is performed, no CAL operation is required as long as the
robot controller remains on.
Operating procedure
Step 1 If the MOTOR lamp is off, press the MOTOR key to turn the motor power on.
MOTOR lamp
MOTOR key
The motor is turned on and the MOTOR lamp comes on.
2-16
Step 2 Press [F2 Arm] on the top screen.
F2
The Current Robot Position window appears as shown below.
Step 3 Press [F6 Aux.].
F6
The Auxiliary Functions (Arm) window appears as shown in the next step.
2-17
Step 4 Press [F12 Exec CAL].
The system message dialog box appears as shown below.
Step 5 Perform a safety check of the robot's restricted space, and then press the OK
button.
To cancel CAL operation, press the Cancel button.
2-18
Step 6 On the window below, press the OK button.
The Auxiliary Functions (Arm) window remains displayed. Each time you press the
Cancel button, the screen returns to the previous one.
2-19
Step 1 Turn the mode selector switch to the MANUAL position.
The robot enters the Manual mode and the MANUAL lamp comes on.
Step 2 Press the MOTOR key.
The motor power is turned on and the MOTOR lamp comes on.
Step 3 Press the CAL key.
The LCD shows the following:
To cancel CAL, press the Cancel key.
Step 4 Press the OK key.

Step 1 Refer to Chapter 6, Section 6.2.15.
2-20
2.7 Setting the Reduced Ratios of the

Programmed Speed, Acceleration, and
Deceleration (TP/OP/MP)
You may set the reduced ratios (%) of the programmed speed, acceleration, and
deceleration, from the teach pendant, operating panel, or mini-pendant.
(1) The default reduced ratios at powering on are 1%.
(2) Once the reduced ratios are set, they will remain in effect until you turn the robot
controller off or make new settings.
(3) In Auto mode, the robot will run at the (programmed speed x reduced ratio (%)). If
you set 80%, the robot will run at 80% of the programmed speed.
In Manual mode or Teach check mode, the robot controller is designed to run the
robot at 10% of the programmed speed. If you set 80% to speed, therefore, the
robot will run at 10% x 80% of the programmed speed, that is, at 8%, as shown in
Figure 2-3.
(4) If you set the reduced ratio of the programmed speed, the robot controller
automatically calculates the reduced ratios of the programmed acceleration and
deceleration according to the formulas below.
Reduced ratio for acceleration = (Reduced ratio for speed)2 /100
Reduced ratio for deceleration = (Reduced ratio for speed)2 /100
where, the calculated value will be rounded up to 1% if it is less than 1%.
(Example) If the reduced ratio for speed is 20%
Reduced ratio for acceleration = 202/100 = 4%
If you modify the automatically calculated ratios (%) manually from the teach
pendant, operating panel, or mini-pendant, then the most recently modified ratios
will take effect.
(5) The minimal reduced ratio for speed is 0.1% and that for acceleration/
deceleration is 0.0001%. If any value less than 1% is set, the teach pendant or
mini-pendant will display the value as 1% in the speed indicator bar graph of the
status bar.
If you set 80% for speed:

In Auto mode, the robot will run at 80% of the programmed speed.
In Manual mode or Teach check mode, the robot will run at 10% of
the reduced speed, that is, 8% of the programmed speed.
80% of the programmed

speed
8% of the programmed
speed (10% of Auto
mode speed)
In Auto mode In Manual or Teach
check mode
Figure 2-3. Differences in Auto Mode and in Manual/Teach Check Mode
2-21
Operating procedure
CAUTION: At the start, set the speed to 20% or less. If you run the robot
manually at high speeds from the beginning, you may mistakenly strike the robot
against the surrounding objects.
CAUTION: It is possible to set the reduced ratios of the programmed speed,
acceleration, and deceleration even while the program is running. Doing so may
suddenly change the robot speed. It is DANGEROUS.

Step 1 Press the SPEED key.
The Set Speed window appears as shown in the next step.

TIP: You may call up the window by pressing [F2 Arm]—[F5 Speed] from the top
screen.
2-22
Step 2 In the Set Speed window, check that the SPEED row is selected and then press [F5
Change.]
F5
The numeric keypad appears as shown below.

TIP: If you use one of the F1 to F4 keys instead of [F5 Change.], you may directly
enter any of the values displayed on the function buttons.
TIP: You may increase or decrease the value in units of 5% by using the right- or
left-arrow cursor key, respectively. You may do it in units of 2% by using the jog dial.
Step 3 Use the numerical buttons on the numeric keypad to enter the desired value.
To cancel the newly entered value, press the CLR or BS button.
Check the entered value and press the OK button to enter it.
Numeric
keypad
The numeric keypad disappears.

To discard the new entry and return to the Set Speed window, press the CANCEL
button on the numeric keypad instead of the OK button.
2-23
Step 4 In the Set Speed window, check the automatically calculated ratios of the
acceleration and deceleration.
(1) If the ratios of acceleration and deceleration are OK, press the OK button and
skip to Step 8.
(2) To set an arbitrary reduced ratio of acceleration, press the down-arrow cursor
key to select the ACCEL row and then press [F5 Change.].
F1 F2 F3 F4 F5

left-arrow cursor key, respectively. You may also increase or decrease the value in
units of 1% by using the jog dial.
Numeric
keypad

To discard the new entry and return to the Set Speed window, press the CANCEL
button on the numeric keypad instead of the OK button.
2-24
Step 6 In the Set Speed window, check the automatically calculated deceleration ratio.
(1) If the ratio of the deceleration is OK, press the OK button and skip to Step 8.
(2) To set an arbitrary reduced ratio of the deceleration, press the down-arrow
cursor key to select the DECEL row and then press [F5 Change.].
F1 F2 F3 F4 F5

left-arrow cursor key, respectively. You may also increase or decrease the value in
units of 1% by using the jog dial.
(To discard the new entry and return to the Set Speed window, press the CANCEL
button on the numeric keypad.)
Numeric
keypad
2-25
Step 8 The top screen shown below appears. Check that the newly entered ratio is
displayed in the rightmost area of the status bar.
Status bar
2-26

Step 1 Press the SHIFT key.
The SHIFT lamp comes on.
Step 2 Press the SP key.

Step 3 Use the numerical keys to enter the desired value.

To cancel the new entry, press the Cancel key. The panel status returns to Step 1.
Step 4 Check the newly entered value and press the OK key.
NOTE: In the Manual mode or Auto mode also, you may set the robot speed. The
permissible entry range is 1 to 100.

2-27
2.8 Inching Selection (TP/MP)
You may inch the robot by a specified distance or angle each time you press any of the
arm traverse keys in Manual mode. Once inching is selected, it takes effect until the
robot controller is turned off or you switch the robot from inching to normal speed
running.
When the robot controller is turned on, the default is normal speed running.
In Auto mode or Teach check mode, inching will not take effect. Even if inching is
selected, switching from Manual mode to any other mode will automatically cause the
robot to switch from inching to normal speed running. Switching back to Manual mode
will cause the robot to switch back to inching.
Select inching when

Inching the robot in Manual mode.
Operating procedure
NOTE: Even if inching is selected, the robot will run at a normal speed if the robot is
switched to an operation mode other than Manual mode.

Step 1 Press the SPEED key.
The Set Speed window appears as shown below.
TIP: You may call up the Set Speed window by pressing [F2 Arm]—[F5 Speed] from
the top screen.
Step 2 In the Set Speed window, press the Inching button.
The window shows the inching display.
2-28
Step 3 Check the inching values and press the OK button.
The display returns to the top screen where "Inch" is shown in the rightmost area of
the status bar, as shown below.

2-29
2.9 Setting the Master Control Parameters of
the Payload, Center of Gravity, and
Control Set of Motion Optimization
(TP/WC)
You may set the master control parameters of the mass of payload (end-effector and
object to be mounted at the end of the robot arm), the payload center of gravity and
control set of motion optimization. For details, refer to the PROGRAMMER'S MANUAL
I, Chapter 4, Section 4.7.
Set the master control parameters of the payload, center of gravity,

and control set of motion optimization when
You have determined the mass of the payload (end-effector and object to be mounted
at the end of the robot arm) and the payload center of gravity.
Operating procedure
This setting cannot be performed from the operating panel or mini-pendant. Use the
teach pendant or WINCAPSII. For details about the WINCAPSII, refer to the
WINCAPSII GUIDE.

Step 1 On the top screen, press [F2 Arm].
F2
2-30
F6
The Auxiliary Functions (Arm) window appears as shown below.
Step 3 Press [F7 Config.].
The User Preferences window appears as shown in the next step.
2-31
Step 4 Select the "9: Mass of payload (g)" area by using the jog dial or [F1 BACK] to [F3
Jump To].
The selected area will become highlighted.
Then press [F5 Change.].
F1 F2 F3 F5
Step 5 Use numerical buttons on the numeric keypad to enter the desired value.
Check the entered value and press the OK button to establish it. To cancel entry
made in this step and restore the previous setting, press the CANCEL button on the
numeric keypad instead of the OK button.
Numeric
keypad
2-32

The newly entered value is displayed in the "9: Mass of payload (g)" area, as shown
below.
Press the OK button to establish the new settings. To cancel the new settings and
return to the previous window, press the Cancel button
F1 F2 F3
Step 6 Select the "10: Payload center of gravity X (mm)" area by using the jog dial or [F1
BACK] to [F3 Jump To].
F1 F2 F3 F5
The numeric keypad appears as shown in the next step.
2-33
Check the entered value and press the OK button to enter it. To cancel entry made in
this step and restore the previous setting, press the CANCEL button on the numeric
keypad instead of the OK button.
Numeric
keypad
The numeric keypad disappears and the newly entered value is displayed in the "10:
Payload center of gravity X (mm)" area, as shown below.
return to the previous window, press the Cancel button.
2-34
Step 8 Select the "11: Payload center of gravity Y (mm)" area by using the jog dial or [F1
F1 F2 F3 F5
Numeric
keypad
2-35
Payload center of gravity Y (mm)" area, as shown below.
F1 F2 F3
Step 10 Select the "12: Payload center of gravity Z (mm)" area by using the jog dial or [F1
F5
2-36
Numeric
keypad
Payload center of gravity Z (mm)" area, as shown below.
F1 F2 F3
2-37
Step 12 Select the "7: Control set of motion optimization" area by using the jog dial or [F1
F5
Numeric
keypad
2-38
Control set of motion optimization" area, as shown below.
Step 14 Press the OK button on the User Preferences window as shown above.
The Auxiliary Functions (Arm) window appears.
Step 15 Press the Cancel key two times.

The display returns to the top screen.
The master control parameters set through the above procedure automatically apply
to the local control parameters.
2-39
In WINCAPSII
Before proceeding to the following procedure, run the WINCAPSII System Manager.
For details, refer to the WINCAPSII GUIDE, Chapters 1 to 3.
This section is intended for persons who have basic operating knowledge of Microsoft
Windows95/98/NT4.0.
Step 1 Click the arm manager button in System Manager.
The Arm Manager window appears as shown below.
Step 2 On the Tools menu of Arm Manager, click Options.
The Options window appears as shown in the next step.

NOTE: If no password has been entered, the Password dialog box appears. Select
user level and type password. For details on password entry, refer to the
WINCAPSII GUIDE, Section 1.3.
2-40
Step 3 In the Options window, click the Config. tab to display the current conditions.
Step 4 Double-click the setting area of the "Control set of motion optimization" to prepare it
to accept a new entry.
2-41
Step 5 Enter the desired value to the "Control set of motion optimization."
The newly entered value appears in the setting area. To establish it, double-click any
other line within this tab or press the OK button. If established, the value will be right
justified. (This explanation applies also to the following procedures.)
Step 6 Double-click the setting area of the "Mass of payload (g)" to prepare it to accept a
new entry.
Step 7 Enter the desired value.

The newly entered value is displayed in the setting area.
2-42
Step 8 Double-click the setting area of the "Payload center of gravity X (mm)" to prepare it

NOTE: For the setting values about the center of gravity of payload, refer to the
definition given at the end of this section.
Step 10 Double-click the setting area of the " Payload center of gravity Y (mm)" to prepare it

2-43
Step 12 Double-click the setting area of the " Payload center of gravity Z (mm)" to prepare it

Step 14 Click OK in the Config. window to close it.

All new entries are stored in the environment table.
Step 15 On the teach pendant, press the MOTOR key to turn the motor off.
CAUTION: NEVER skip this step. Turning the motor off is essential to assure safety
in the following operation.
MOTOR lamp
MOTOR key
2-44
Step 16 In Arm Manager, click the connect button.

The connect button appears depressed.
Connect Transfer button

button
Step 17 Click the transfer button in Arm Manager.

The Transfer Environments Table window appears as shown below.
Step 18 Click the Select All button in the Transfer Environments Table window to select all
items.
The selected items (all items in this example) will be marked with √.
2-45
Step 19 Click the Transmit button in the Transfer Environments Table window.
The following dialog box appears.
NOTE: If you click the <Receive button in the Transfer Environments Table window,
then WINCAPSII will receive the master control parameter values currently stored in
the Arm Manager area of the robot controller. The local control parameters that are
stored in the temporary area of the robot controller and may be modified in
application programs cannot be transferred to WINCAPSII.
Step 20 Click the Yes (Y) button in the above dialog box to send the data to the robot
controller.
2-46
DEFINITION: Payload Center of Gravity

6-axis robot
Define the payload center of gravity in the TOOL0 coordinates in units of mm (refer to
Figure 2-4).
- The origin of the TOOL0 coordinates is located in the center of the flange surface on
the 6th axis.
- The Y component is defined on the orientation vector directed from the center of the
flange to the center of the orientation pin hole (dia. 6H7).
- The Z component is defined on the approach vector directed from the center of the
flange to the normal line of the flange center.
- As shown in Figure 2-5, the X component is defined on the normal vector directed
along the X axis (+) in the right-hand coordinates whose Y axis is an orientation
vector and whose Z axis is an approach vector.
+Zb Orientation vector (Y axis)

Orientation vector Orientation pin hole (dia. 6H7)
Normal vector (X axis)
Approach vector (Z axis)
Flange surface
of the 6th axis Center of the flange
Approach vector TOOL0 Coordinates
+Xb +Yb Z
Payload center of gravity
(X6, Y6, Z6)
X6
Y
Z6
Y6
X Payload Center of Gravity in the

TOOL0 Coordinates
Figure 2-4. Payload Center of Gravity

+Y axis
(Orientation vector)
+Z axis
(Approach vector) +X axis
(Normal vector)
Figure 2-5. Right-hand Coordinates
2-47
4-axis robot
The TOOL0 coordinates of the 4-axis robot are defined as illustrated below. Based on
the coordinates, the payload center of gravity will be defined.
+Z axis (Approach vector)
Origin of TOOL0
-Z axis (Approach vector)
“A”
+Y axis (Orientation vector)

Reference hole
+X axis (Normal vector) -X axis (Normal vector)
(Viewed from “A”)

-Y axis (Orientation vector)
Figure 2-6. TOOL0 Coordinates in the HM/HS Series
Origin of TOOL0
Chamfered section
(Viewed from “A”)
Figure 2-7. TOOL0 Coordinates in the HC Series
2-48
2.10 Setting the Robot Installation Condition

(TP/WC)
This section describes how to specify the installation condition parameter ("0" for
floor-mount, "1" for overhead-mount, or "2" for wall-mount) for the VM-D/VS-E series.
For wall-mount type of robots, set "2."
As for the VS-D/HM-D/HS-D series, the installation condition is fixed to either
floor-mount or overhead-mount depending upon its robot type.
Set the robot installation condition when

You change the robot installation from floor-mount (factory default) to overhead-mount
or wall-mount, and vice versa.
Operating procedure
Step 1 On the top screen, press [F2 Arm].
F2
F6
The Auxiliary Functions (Arm) window appears as shown in the next step.
2-49
Step 3 Press [F7 Config.] on the Auxiliary Functions (Arm) window.
The User Preferences window appears as shown below.
Step 4 Select the "8: Floor-mount or Overhead-mount or Wall-mount" area by using the jog
dial or [F1 BACK] to [F3 Jump To].
F1 F2 F3 F5
2-50
Step 5 Use numerical buttons on the numeric keypad to enter 0 for floor-mount, 1 for
overhead-mount, or 2 for wall-mount.
this step and restore the previous setting, press the CANCEL button.
Numeric
keypad

The newly entered value (0 for floor-mount, 1 for overhead-mount, or 2 for
wall-mount) is displayed in the "Floor-mount or Overhead-mount" area, as shown
below.
Step 6 In WINCAPSII, click the <Receive button in the Transfer Environments Table
window. WINCAPSII will receive the master control parameters of the robot
installation condition that have set with the teach pendant.
2-51
In WINCAPSII
Before proceeding to the following procedure, run WINCAPSII System Manager. For
details, refer to the WINCAPSII GUIDE, Chapters 1 to 3.
This section is intended for persons who have basic operating knowledge of Microsoft
Windows95/98/NT4.0.
Step 1 Click the arm manager button in System Manager.
The Arm Manager window appears as shown below.
Step 2 On the Tools menu of Arm Manager, click Options.
The Options window appears as shown in the next step.

NOTE: If no password has been entered, the Password dialog box appears. Select
user level and type password. For details on password entry, refer to the
WINCAPSII GUIDE, Section 1.3.
2-52
Step 3 On the Options window, click the Config. tab to display the conditions.
Step 4 Double-click the setting area of the "Floor-mount or Overhead-mount" to prepare it

2-53
Step 5 Enter the desired value (0 for floor-mount, 1 for overhead-mount, or 2 for
wall-mount).
Step 6 Click OK in the Options window to close it.
Step 7 On the teach pendant, press the MOTOR key to turn the motor off.
CAUTION: NEVER skip this step. Turning the motor off is essential to assure safety
in the following operation.
MOTOR key
2-54
Step 8 In Arm Manager, click the connect button.

The connect button appears depressed.
Connect Transfer button

button
Step 9 Click the transfer button in Arm Manager.

The Transfer Environments Table window appears as shown below.
Step 10 Click the Select All button in the Transfer Environments Table window to select all
items.
All items will be marked with √.
2-55
Step 11 Click the Transmit> button in the Transfer Environments Table window.
The following dialog box appears.
NOTE: If you click the <Receive button in the Transfer Environments Table window,
WINCAPSII will receive the master control parameter values currently stored in the
Arm Manager area of the robot controller. The local control parameters that are
stored in the temporary area of the robot controller and may be modified in
application programs cannot be transferred to WINCAPSII.
Step 12 Click the Yes (Y) button in the above dialog box to send the data to the robot
controller.
2-56
2.11 Configuration List

The table below lists the items displayed in the User Preferences window of the teach
pendant (Access: [F2 Arm]—[F6 Aux.]—[F7 Config.]) or in the Config. tab of the
Options window in WINCAPSII (Access: [Arm Manager]—[Tools Menu]—[Options]—
[Configuration]).
Table 2-1. Configuration List (Example)
Factory Powering-on
No. Items Description Comments
default default
7 Control set of motion 0 0 0: OFF Can be set with
optimization 1: PTP movement only aspChange ().
2: CP movement only
3: Both PTP and CP movement
(Refer to the PROGRAMMER’S
MANUAL I, Section 4.6, "Control Sets of
Motion Optimization.")
8 Floor-mount, or 0 Last value at 0: Floor-mount Required for

Overhead-mount powering-off 1: Overhead-mount 6-axis robots.
2：Wall-mount
9 Mass of payload (g) Differs Last value at Mass of end-effector and object to be Can be set with
depending powering-off mounted at the end of the robot arm. aspACLD.
upon
models.
10 Payload center of 0 Last value at X component of payload center of

gravity X (mm) powering-off gravity (consisting of end-effector and
object)
11 Payload center of 80 Last value at Y component of payload center of

gravity Y (mm) powering-off gravity (consisting of end-effector and
object) Can be set with
(Refer to the PROGRAMMER’S aspACLD.
12 Payload center of 100 Last value at Z component of payload center of

gravity Z (mm) powering-off gravity (consisting of end-effector and
object)
For 4-axes robot in
Ver. 1.9 or later:
Inertia of payload
2 Motion Optimization.")
(kgcm )
13 Encoder pulse count 20 20 Convergence accuracy for specified axis Can be set with
to for positioning (one of J1 to J8) at execution of a motion mvSetPulseWidth
20 allowance (J1 to J8) command with @E option ().
21 Positioning 5600 5600 At execution of a motion command with Can be set with
completion timeout @E option, if positioning is not mvSetTimeOut
(ms) completed within this specified time, a ().
timeout will occur.
2-57
Factory Powering-on
default default
22 Control log mode 1 Last value at No. of control logs to be stored. If many programs
powering-off Entry range: 1 to 3 and/or variables
are used, setting
(1250 x Set value) = No. of control logs many control logs
(Refer to the WINCAPII GUIDE, Section may cause an
10.7.3, "Setting the Ring Buffer for error at
powering-on
Preserving Data.") time. If such
occurs, decrease
the number of
control logs.
23 Control log sampling 8 Last value at Sampling intervals of control log. If a value other
intervals powering-off Entry range: 8, 16, 24, or 32 ms than a multiple of
8 is set, the
(Refer to the WINCAPII GUIDE, Section controller
10.7.3, "Setting the Ring Buffer for automatically
Preserving Data.") modifies it to a
multiple of 8.
24 Efficiency of gravity 0 Last value at 0: Gravity compensation feature Input an integer

effect powering-off disabled obtained by
(For 6-axis robot) 1: Gravity compensation feature converting a 3-bit
enabled binary to a
decimal.
25 Curlmt function 0 Last value at a) If lowest bit is 0: Resets the current Do not change
cancellation switch powering-off limit setting when the motor is turned on. the initial setting.
b) If 2nd lowest bit is 0: Resets the servo
lock releasing when the motor is turned
on. (Only for 4-axis robots)
c) If 3rd lowest bit is 0: Resets the
cancellation of the PWM switching when
the motor is turned on. (Only for 4-axis
robots)
26 Servo-lock 0 Last value at 1: Servo lock released Can be set with

configuration powering-off OffSrvLock or
(For 4-axis robot) OnSrvLock.
27 Control method 0 Last value at 1: P-control Make sure that

(For HM/HS-D series) powering-off (Refer to the INSTALLATION & the "Changing
MAINTENANCE GUIDE for H*-D accel mode" is
SERIES, Section 2.7 "Switching to the set to 0.
Vibration Suppression Control.")
28 High-inertia 0 Last value at 1: Loop gain set to high-inertia Make sure that
configuration powering-off (Refer to the INSTALLATION & the "Changing
(For HM/HS-D series) MAINTENANCE GUIDE for H*-D accel mode" is
SERIES, Section 2.8 "Setting the set to 0 and the
High-Inertia Configuration.") "Mass of payload
(g)" is 10000.
29 Changing accel mode 0 or 1 Last value at 0: Gain change function enabled The initial setting
powering-off 1: Gain change function disabled is 0 or 1 for
4-axis or 6-axis
robots,
respectively. Do
not change the
initial setting.
34 Motor power holding 1 Last value at Sets the motor power state when the
function powering-off Auto Enable switch is switched.
0: Turns the motor power OFF if it was
ON
1: Keeps the current state of the motor
power
2-58
Factory Powering-on
default default
35 Cycloid motion setting 0 Last value at 0: Cycloid motion disabled Can be set with
powering-off 1: Cycloid motion enabled Setcycloid or
Resetcycloid.
53 Gain reduce rate Value Last value at Gain reduction rate for one of J1 to J8 Takes effect
to (J1 to J8) proper powering-off when the
60 to each "Changing accel
robot mode," "Control
method" and
"High-inertia
configuration" are
set to 0. Do not
change the initial
value.
61 High-inertia load 0 Last value at Gain reduction rate for one of J1 to J8 Takes effect
to operation gain reduce powering-off when the high-inertia load operation is when the
68 rate (J1 to J8) selected "Changing accel
(For HM/HS series) mode" and
"Control method"
are set to 0 and
"High-inertia
configuration" is
set to 1. Do not
change the initial
value.
69 New type robot or old 0 Last value at 0: New type (D series) If you purchase
type robot powering-off 1: Old type (C series) the controller
(For 4-axis robot) alone to connect
it to the
HM/HS/HC-C
series, set this
item to 1.
70 Pass motion setting 0 Last value at When restarted after any stop operation
powering-off during pass motion, the robot will make
motion towards:
0: Target position specified after the
pass motion (Default)
1: Target position specified before the
pass motion
71 Positioning allowance 5 Last value at Condition for preventing the robot from The condition
of pass end powering-off taking motion towards the target position refers to a
specified before pass motion, when the distance from the
robot is restarted target position at
the command
The condition should be set as a level, not the
distance from the target position. actual distance
from the current
robot end
position.
Do not change
the initial value.
78 Damper setting rate 10000 10000 Damping ratio along the X-axis under Can be set with
(X) compliance control SetDampRate or
(For 6-axis robot) ResetDampRate.
79 Damper setting rate 10000 10000 Damping ratio along the Y-axis under Cannot be
(Y) compliance control modified with the
(For 6-axis robot) teach pendant.
80 Damper setting rate 10000 10000 Damping ratio along the Z-axis under (Ver. 1.4 or later)
(Z) compliance control
(For 6-axis robot)
2-59
Factory Powering-on
default default
81 Damper setting rate 10000 10000 Damping ratio around the X-axis under Can be set with
(RX) compliance control SetDampRate or
(For 6-axis robot) ResetDampRate.
82 Damper setting rate 10000 10000 Damping ratio around the Y-axis under Cannot be
(RY) compliance control modified with the
(For 6-axis robot) teach pendant.
83 Damper setting rate 10000 10000 Damping ratio around the Z-axis under (Ver. 1.4 or later)
(RZ) compliance control
(For 6-axis robot)
84 Compliance control 1 1 If lowest bit is 0: Compliance speed Can be set with

mode control mode SetCompVMode,
(For 6-axis robot) ResetCompV
If 2nd lowest bit is 1: Disables the gravity Mode,
compensation feature under compliance SetCompControl,
control or SetCompF
Control.
Cannot be
modified with the
teach pendant.
(Ver. 1.4 or later)
86 Antivibration setting 0 Last value at 1: Residual vibration reduction control Can be set with
(For 6-axis robot) powering-off mode SetVibControl or
ResetVibControl.
87 Compliance control 0 0 1: Under compliance control Can be set with

ON/OFF (For 6-axis SetCompControl,
robot) SetCompF
Control, or
ResetComp
Control.
Cannot be
modified with the
teach pendant.
(Ver. 1.4 or later)
88 Coordinates for 0 0 0: Base coordinates Can be set with

compliance control 1: Tool coordinates SetFrcCoord.
(For 6-axis robot)
2: Work coordinates Cannot be
modified with the
teach pendant.
(Ver. 1.4 or later)
89 Force limit rate (+X) 10000 10000 Force control rate along the +X axis Can be set with
(For 6-axis robot) under compliance control SetFrcCoord.
90 Force limit rate (+Y) 10000 10000 Force control rate along the +Y axis Cannot be
(For 6-axis robot) under compliance control modified with the
teach pendant.
91 Force limit rate (+Z) 10000 10000 Force control rate along the +Z axis
(For 6-axis robot) under compliance control (Ver. 1.4 or later)
2-60
Factory Powering-on
default default
92 Force limit rate (+RX) 10000 10000 Force control rate around the +X axis Can be set with
93 Force limit rate (+RY) 10000 10000 Force control rate around the +Y axis Cannot be
teach pendant.
94 Force limit rate (+RZ) 10000 10000 Force control rate around the +Z axis
95 Force limit rate (-X) 10000 10000 Force control rate along the -X axis Can be set with
96 Force limit rate (-Y) 10000 10000 Force control rate along the -Y axis Cannot be
teach pendant.
97 Force limit rate (-Z) 10000 10000 Force control rate along the -Z axis
98 Force limit rate (-RX) 10000 10000 Force control rate around the -X axis Can be set with
99 Force limit rate (-RY) 10000 10000 Force control rate around the -Y axis Cannot be
teach pendant.
100 Force limit rate (-RZ) 10000 10000 Force control rate around the -Z axis
101 Compliance setting 10000 10000 Compliance rate along the X-axis under
rate (X) compliance control
Can be set with
(For 6-axis robot)
SetCompRate.
102 Compliance setting 10000 10000 Compliance rate along the Y-axis under
Cannot be
rate (Y) compliance control
modified with the
(For 6-axis robot)
teach pendant.
103 Compliance setting 10000 10000 Compliance rate along the Z-axis under (Ver. 1.4 or later)
rate (Z) compliance control
(For 6-axis robot)
104 Compliance setting 10000 10000 Compliance rate around the X-axis
rate (RX) under compliance control
Can be set with
(For 6-axis robot)
SetCompRate.
105 Compliance setting 10000 10000 Compliance rate around the Y-axis
Cannot be
rate (RY) under compliance control
modified with the
(For 6-axis robot)
teach pendant.
106 Compliance setting 10000 10000 Compliance rate around the Z-axis (Ver. 1.4 or later)
rate (RZ) under compliance control
(For 6-axis robot)
107 Compliance/positional 100 100 Allowable deviation along the X-axis

error allowance (X) under compliance control
Can be set with
(For 6-axis robot)
SetCompEralw.
108 Compliance/positional 100 100 Allowable deviation along the Y-axis
Cannot be
error allowance (Y) under compliance control
modified with the
(For 6-axis robot)
teach pendant.
109 Compliance/positional 100 100 Allowable deviation along the Z-axis (Ver. 1.4 or later)
error allowance (Z) under compliance control
(For 6-axis robot)
2-61
Factory Powering-on
default default
110 Compliance/positional 300 300 Allowable deviation around the X-axis
error allowance (RX) under compliance control
Can be set with
(For 6-axis robot)
SetCompEralw.
111 Compliance/positional 300 300 Allowable deviation around the Y-axis
Cannot be
error allowance (RY) under compliance control
modified with the
(For 6-axis robot)
teach pendant.
112 Compliance/positional 300 300 Allowable deviation around the Z-axis (Ver. 1.4 or later)
error allowance (RZ) under compliance control
(For 6-axis robot)
113 Force offset (X) 0 0 Force offset along the X-axis under Can be set with
(For 6-axis robot) compliance control SetFrcAssist.
114 Force offset (Y) 0 0 Force offset along the Y-axis under Cannot be
(For 6-axis robot) compliance control modified with the
teach pendant.
115 Force offset (Z) 0 0 Force offset along the Z-axis under
(For 6-axis robot) compliance control (Ver. 1.4 or later)
116 Force offset (RX) 0 0 Offset moment around the X-axis under Can be set with
(For 6-axis robot) compliance control SetFrcAssist.
117 Force offset (RY) 0 0 Offset moment around the Y-axis under Cannot be
(For 6-axis robot) compliance control modified with the
teach pendant.
118 Force offset (RZ) 0 0 Offset moment around the Z-axis under
(For 6-axis robot) compliance control (Ver. 1.4 or later)
120 Optimization 0 Last value at 0: Will reset the control set of motion (Ver. 1.4 or later)
initialize powering-off optimization to 0 when the power is
turned OFF and ON (Default)
1: Will not reset the control set of motion
optimization when the power is
turned OFF and ON. Maintains the
last value at powering-off.
121 Torque limit for 0 0 Current limit value for one of J1 to J8 Can be set with
to compliance control under compliance control SetCompJLimit or
128 (J1 to J8) ResetCompJ
(For 6-axis robot) Limit.
Cannot be
modified with the
teach pendant.
(Ver. 1.4 or later)
196 J4 brake lock setting 0 0 If the J4 overrides its software motion (Ver. 1.7 or later)
(For VM-6083D/ limit when the brake is released:
VM-60B1D and VS-E 0: Will lock the J4 brake
series)
1: Will not lock the J4 brake
2-62
Factory Powering-on
default default
197 Setting of TCP speed 0 Last value at 0: Conventional speed control (Ver. 1.8 or later)
pattern powering-off 1: Constant TCP speed (Tool end
(Note 1) speed in CP motion)
Note 1: If you specify a CP motion involving the rotation of the robot hand, then the system will
automatically decrease the TCP speed (Tool end speed in CP motion) according to the rotation angle
by default. This causes some problems that the robot does not run in the specified speed or at
constant speed.
In Version 1.8 or later, it is possible to keep the TCP speed constant by setting Parameter No. 197 to 1.
If you specify such a motion that will exceed the rotation speed limit, then the system will issue a
warning message and run the robot while increasing/decreasing the TCP speed.
198 Restoration of 0 Last value at 0: No resume (Ver. 1.8 or later)
TOOL/WORK data powering-off 1: Resume
(Note 2)
Note 2: In earlier versions, the system will not retain TOOL/WORK coordinates declared or defined in
programs if the power is turned off. Accordingly, to make a same job, you need to set up the same
operation environments every time when restarting the robot.
Setting Parameter No. 198 to 1 will make the system retain those operation environments. When the
power is on, they will be resumed.
199 Arc interpolation 100 100 Positional error allowance for arc Do not change
approved value of motion in easy teaching this setting if not
easy teaching necessary.
(Ver. 1.8 or later)
200 Arch Move 0 Last value at Setting the arch form at the Can be set with
Execution Flag powering-off execution of the ArchMove SetArchParam.
(Ver. 1.9 or later)
201 Arch Move start 0 Last value at The start position of a horizontal Can be set with
position at the side powering-off movement in upward movement at SetArchParam.
of a rise the execution of the ArchMove
(Ver. 1.9 or later)
202 Arch Move start 0 Last value at The start position of a horizontal Can be set with
position at the side powering-off movement in downward movement SetArchParam.
of a descent at the execution of the ArchMove
(Ver. 1.9 or later)
233 Setting of real time 0 Last value at Parameter for the individual robot (Ver. 1.9 or later)
belt cutting detection powering-off
234 ZT interfere check 0 Last value at Sets if the ZT-axes have the gear Do not change
on CURLMT powering-off interference. this setting if not
necessary.
(Ver. 1.9 or later)
235 Reserved 0 Last value at Reserved parameter for the (Ver. 1.9 or later)
powering-off extended function
237 Reference error 0 Last value at Permission setting of clearing the Do not change
clear permission powering-off reference error with the teach this setting if not
pendant necessary.
(Ver. 1.95 or later)
238 Setting of Movement 0 Last value at Parameter for the individual robot Do not change
Speed Limit powering-off this setting if not
necessary.
2-63
Factory Powering-on
default default
239 Tracking Mode 0
240 Enc.1 Std Pos. in 0

recognition
movement
recognition
movement
244 Enc.1 Current Pos. 0
245 Enc.2 Current Pos. 0
246 Enc.1 CALDAT 0
247 Enc.2 CALDAT 0
248 Accuracy of Work 5

position detection 1
249 Upper Limit 1 of 20000
Tracking Range
250 Lower Limit 1 of -20000 Do not change the setting in this Do not change
Tracking Range Last value at screen. the setting in this
powering-off
251 Upper Limit 2 of 20000 Setting screens are not yet prepared. screen.
Tracking Range (Ver. 1.95 or later)
252 Lower Limit 2 of -20000

Tracking Range
253 Trigger range of 20000
Tracking 1 (side +)
254 Trigger range of -20000
Tracking 1 (side -)
255 Trigger range of 20000
Tracking 2 (side +)
256 Trigger range of -20000
Tracking 2 (side -)
257 User Interrupt 0
Setting
258 Enc. 1 Number of 0
Interrupt
259 Enc. 2 Number of 0
Interrupt
260 Enc. 1 Interrupt 0
Setting
261 Enc. 2 Interrupt 0
Setting
2-64
Factory Powering-on
default default
262 Enc. 1 Updating of 0
Interrupt data
263 Enc. 2 Updating of 0
Interrupt data
264 Enc. 1 CALDAT (Z) 0
265 Enc. 2 CALDAT (Z) 0
266 Accuracy of Work 5

position detection 2
267 Check Enc. Lower 0
velocity
268 Enc. 1 Interrupt data 0
Setting
269 Enc. 2 Interrupt data 0
Setting
270 Reference error 0
detect setting
271 High precision CP 0
line control
272 Enc. vel or acc 1
abnormality
detection
Do not change the setting in this Do not change
273 Tracking Target 0 Last value at screen. the setting in this
powering-off Setting screens are not yet prepared. screen.
274 Center position (X) 100000
of index 1 (Ver. 1.95 or later)
275 Center position (Y) 100000

of index 1
276 Center position (Z) 100000
of index 1
277 Radius of index 1 100000
278 Center position (X) 100000

of index 2
279 Center position (Y) 100000
of index 2
280 Center position (Z) 100000
of index 2
281 Radius of index 2 100000

Index Tracking
Range
283 Lower Limit 1 of 0
Index Tracking
Range
Index Tracking
Range
2-65
Factory Powering-on
default default
285 Lower Limit 2 of 0
Index Tracking
Range
286 Standard position 0
(X) of index 1
(Y) of index 1
(Z) of index 1
(X) of index 2 Do not change the setting in this Do not change
Last value at screen. the setting in this
290 Standard position 0 powering-off Setting screens are not yet prepared. screen.
(Y) of index 2
(Z) of index 2
292 Figure tracking of 0
index 1
293 Figure tracking of 0
index 2
294 Check multi detect 200
area 1
295 Check multi detect 200
area 2
296 Motor command 0 Last value at Motor command setting for error (Ver. 1.98 or later)
Setting powering-off detect
0: Will occur an error if the MOTOR
OFF command is executed when
the robot is running.
1: Will not occur an error if the
MOTOR OFF command is
executed when the robot is
running.
297 Servo data number 0 Last value at Parameter for the individual robot Do not change
powering-off this setting if not
necessary.
307 Setting of singularity 0 Last value at 0: Singular point avoiding function Can be modified
avoidance mode powering-off disabled with
1: Singular point avoiding function SetSingularAvoid(
enabled ).
(Refer to the PROGRAMMER'S
MANUAL I, Section 3.3.6 "Singular
Point Avoiding Function.")
2-66
Chapter 3
General
Introduction to
Operation Modes
and Additional
Functions
This chapter describes the three operation modes

of the robot: Manual mode, Teach check mode, and
Auto mode. It also describes additional functions
including machine lock used for simulation.
NOTE 1: This chapter uses the abbreviations (TP),

(OP), (MP), and (WC) which inform you that
operations marked with those abbreviations can be
performed from the teach pendant, operating
panel, mini-pendant, and in WINCAPSII,
respectively.
panel, or mini-pendant undergo any strong shocks,
3.1 Operation Modes and Machine Lock

The robot offers three operation modes--Manual mode, Teach check mode, and Auto
mode. Manual mode allows you to run the robot manually from the teach pendant,
mini-pendant, or operating panel (Note 1). Teach check mode provides restricted
automatic operation in which you may make a final check of programs with the teach
pendant after teaching. Auto mode allows the robot to run automatically.
Manual mode, Teach check mode, and Auto mode are described in Sections 3.2, 3.3,
and 3.4, respectively.
The teach pendant or mini-pendant supports all of the above three modes. The
operating panel supports Manual mode and Auto mode. The mode selector switch on
the operating panel has three positions (MANUAL, AUTO, and TP). When you use the
teach pendant connected to the operating panel, set the mode selector switch of the
operating panel to the TP position.
Operation modes
Manual mode Joint mode

X-Y mode
Tool mode
Teach check mode Cycle check

Step check
Auto mode Internal automatic operation Single-cycle run

Continuous run
Single-step run
Cycle stop
Step stop
Halt
Robot stop (Note 2)
External automatic operation
Cycle stop
Step stop
Halt
Robot stop (Note 2)
In each of the above three operation modes, you can lock the robot (so called "machine
lock") so that it is possible to perform simulations with the robot controller without
running the robot practically.
When the robot is in machine lock, you can restrict the I/O output. For details, refer to
Section 5.5, "Displaying I/O Signals and Simulating Robot Motion."
(Note 1) The RC7M controller does not support an operating panel.

(Note 2) In the RC7M controller, the "Robot stop" name is changed to "Emergency stop."
3-1
3.1.1 Switching Between Operation Modes (TP/OP/MP)
Operating procedure
Step 1 Turn the mode selector switch to the desired mode position.
NOTE: On the teach pendant or mini-pendant designed for the RC7M controller, the
mode selector switch is a keylock type. Only the key inserted can switch the
operation mode. The key can be pulled out in Manual or Teach check mode, but it
cannot in Auto mode.
Icon
Mode
selector
switch
The selected mode icon appears in the leftmost area of the status bar.
: Internal Auto mode, : External Auto Mode
: Manual mode, : Teach check mode

The selected mode lamp comes on.
NOTE: If the mode selector switch is set to the TP position, the operating panel
shows the following on the LCD and no longer accepts entry except from the robot
stop button and STOP key.
3-2

3-3
3.1.2 Machine Lock (TP/MP)
Locking the machine allows you to perform simulations with the robot controller without
running the robot practically.
Lock the machine when

(1) Testing programs without running the robot practically.
(2) Checking the cycle time.
NOTE: The cycle time calculated may be shorter than the actual one since End motion
(@0 option) will apply when the machine is locked. For details, refer to the
PROGRAMMER’S MANUAL I, Section 3.2.5.
Operating procedure
NOTE: If the motor power is on, press the MOTOR key to turn the motor off (refer to
Section 2.5). When the motor power is on, the machine cannot be locked.
Step 1 Press the LOCK key.
The machine becomes locked and the LOCK lamp comes on.
According to the output restriction conditions of I/O signals, the dummy input icon on
the status bar will change.
: No I/O output restricted, : I/O output restricted
Step 2 Press the LOCK key again.

The lock is released and the LOCK lamp goes off.

Step 1 Refer to Section 6.2.2.
3-4
3.2 Manual Mode (TP/OP/MP)

In Manual mode, you may run the robot manually or manage robot controller output
signals manually from the teach pendant, operating panel, or mini-pendant.
NOTE: The global type of controller limits the maximum speed of the robot arm to 250
mm/s or below at the flange (mechanical interface) or the TCP point in Manual or
Teach check mode.
3.2.1 Running the Robot Manually

You may run the robot manually from the teach pendant, operating panel, or
mini-pendant in any of the three modes--Joint mode, X-Y mode, and Tool mode.
NOTE: To run the robot manually, the system-input port "Enable Auto" is required to be
OFF (opened). (Refer to the CONTROLLER MANUAL.)
Run the robot manually when

(1) Moving the robot flange (the end of the robot arm) to access an object point after
CAL operation.
(2) Moving the robot flange to a position where Teach Check should start.
6-axis robot
[ 1 ] Joint mode
As shown below, the Joint mode allows you to drive each of the six joints independently.
Before performing CAL operation, the robot can run only in this mode.
Movements in Joint Mode
3-5
[ 2 ] X-Y mode
X-Y mode allows you to drive the robot arm in base coordinates (whose origin is
defined at the center of the robot basement). Pressing the X, Y, or Z key in X-Y mode
moves the robot flange linearly along the X, Y, or Z axis, respectively, as shown below.
If work coordinates (whose origin is defined at a corner of the rectangular
parallelepiped envelope of an object piece) is defined, then the robot flange moves
linearly in the work coordinates.
For details about base coordinates and work coordinates, refer to Chapter 4.
If you use the RX, RY, or RZ key in X-Y mode, the robot arm rotates on each axis of the
virtual work coordinates defined on the center of the flange surface without changing
the center position of the flange surface, as shown below.
Movements in X-Y Mode
NOTE: In 5-axis robots, the flange can keep a constant posture (3-dimensional
flange direction) only when it is accurately in parallel with the X-Y plane of the robot
(RX and RY are 0 degree).
3-6
[ 3 ] Tool mode
Tool mode allows you to drive the robot arm in mechanical interface coordinates
(whose origin is defined at the center of the flange surface) or in tool coordinates. For
details about those coordinates, refer to Chapter 4.
Pressing the X, Y, or Z key in Tool mode moves the robot flange linearly along the Z, Y,
or Z axis, respectively, as shown below.
If you use the RX, RY, or RZ key in Tool mode, the robot arm rotates on each axis of the
tool coordinates.
NOTE: The figure below shows the tool coordinates when TOOL0 is set. These are
also called mechanical interface coordinates.
Movements in Tool Mode
3-7
4-axis robot
[ 1 ] Joint mode
The figure below shows movement of the robot in joint mode, in which arms can be
operated individually. This mode also enables each operation was carried out.
Movements in Joint Mode
3-8
[ 2 ] X-Y mode
The figure below shows movement of the robot in X-Y mode, in which each axis is
operated in straight movement along the rectangular coordinate (X-Y-Z). The 4th axis
is held stationary in the current posture.
Movements in X-Y Mode
3-9
[ 3 ] Tool mode
The figure below shows movement of the robot in tool mode, in which the 4th axis is
operated in straight movement along the coordinates based on the 4th axis.
These coordinates are called the tool coordinates. The 4th axis is held stationary in the
current posture.
These coordinates are expressed in TX, TY and TZ to distinguish them from X-Y mode.
"A"
Viewed from "A"
Movements in Tool Mode
3-10
Operating procedure
CAUTION: At the start, set the reduced ratio of the programmed speed to 20% or
less. If you run the robot manually at high speeds from the beginning, you may
mistakenly strike the robot against the surrounding objects.
NOTE: In X-Y or Tool mode, if a pass runs through the vicinity of a singular point during
manual operation, the robot will issue error code 6080s (Overspeed) and come to a
halt. Avoid running a pass through the vicinity of a singular point.

Step 1 Set the mode selector switch to the MANUAL position.
Icon
Mode
selector
switch
Step 2 Press the MOTOR key to turn the motor on.
Step 3 Press the M-MOD key.
The Select Operation Mode window appears as shown in the next step.
3-11
Step 4 Select the desired operation mode by using the cursor keys or touching the screen
directly, then press the OK key.
On the operation mode button in the status bar appears the selected operation
mode.
Operation mode displayed
Step 5 While holding down the deadman switch, press one of the arm traverse keys to drive
the robot arm. For details regarding the relationship between the arm traverse keys
and driven axes, refer to Table 3-1.
Deadman
switch
(provided
on the rear)
Arm traverse
keys
3-12
Table 3-1. Arm Traverse Keys and Driven Axes
Operation Arm traverse keys

No. mode Axis For motion in the For motion in the Comments
positive direction negative direction
1 Joint mode Joint 1 + J1 X - J1 X
Joint 2 + J2 Y - J2 Y
Joint 3 + J3 Z - J3 Z
Joint 4 + J4 RX - J4 RX
Joint 5 + J5 RY - J5 RY
Joint 6 + J6 RZ - J6 RZ
2 X-Y mode X axis + J1 X - J1 X The robot arm moves in the
currently selected work
Y axis + J2 Y - J2 Y coordinates.
Z axis + J3 Z - J3 Z (For work coordinates, refer
to Chapter 4.)
X axis as + J4 RX - J4 RX
rotation
center
Y axis as + J5 RY - J5 RY
rotation
center
Z axis as + J6 RZ - J6 RZ
rotation
center
3 Tool mode X axis + J1 X - J1 X The robot arm moves in the
currently selected tool
Z axis + J3 Z - J3 Z (For tool coordinates, refer
to Chapter 4.)
rotation
center
rotation
center
rotation
center
3-13
The MANUAL lamp comes on.

Step 3 Press the M-MOD key to select the desired operation mode.
NOTE: The default when the robot controller is turned on is Joint mode.
NOTE: The most recently defined work coordinates or tool coordinates will apply
and they cannot be changed from the operating panel.
TIP: You may press more than one arm traverse key at the same time.
Deadman switch
Arm traverse keys
3-14

to Chapter 4.)
rotation
center
rotation
center
rotation
center
to Chapter 4.)
rotation
center
rotation
center
rotation
center
3-15
Step 1 Set the mode selector switch to the MAN position.

Step 3 Select the desired operation mode and the desired work coordinates or tool
coordinates.
Refer to Chapter 6, Sections 6.2.4, 6.2.5 and 6.2.7.
Deadman switch
(Enable switch)
Arm traverse keys

(or numeric keypad)
3-16

to Chapter 4.)
rotation
center
rotation
center
rotation
center
to Chapter 4.)
rotation
center
rotation
center
rotation
center
3-17
3.2.2 Managing Robot Controller Output Signals (TP/OP/MP)
You can manually manage output signals from the robot controller (which is equipped
with user-I/O ports and system-I/O ports), with the teach pendant, operating panel, or
mini-pendant.
Manage robot controller output signals when

You need to turn output signals on or off without running programs.
Operating procedure
Step 2 Press [F4 I/O].
The I/O Monitor window appears as shown in the next step.
3-18
Step 3 Display a target I/O signal, by scrolling the screen with the cursor keys, jog dial, [F1
BACK], or [F2 NEXT].
TIP: You can press [F3 Jump To] to call up the numeric keypad where you can enter
the output port address. Doing so will directly call up the target output signal.
The I/O Monitor window appears as shown below.
Step 4 Select the target output signal by using the cursor keys or touching the screen
directly.
Step 5 On the above window, press [F5 ON/OFF] (or OK key) to toggle the selected signal
on or off.
3-19
Step 6 Check the ON/OFF state of the target output signal, then press the OK button while
holding down the deadman switch.
To manage other output signals, go back to Step 4.
To finish this procedure, press the Cancel button.

The MANUAL lamp comes on.
Step 2 Press the ON or OFF key to turn a target output signal on or off, respectively.
or
Step 3 Select the target output signal by using numerical keys.

Example: To turn on output port address 104, press the 1, 0, and 4 keys. Then the
following appears on the LCD:
To cancel new entry, press the Cancel key.
Step 4 Check the ON/OFF state of the target output signal, then press the OK key while
holding down the deadman switch.

3-20
3.2.3 Using the Command Builder (TP)

The command builder facilitates program editing and entry using the teach pendant.
The use of the command builder allows you to enter program codes with ease as
described below.
• You may enter commands even if you do not remember complicated command
names.
• When entering commands, you may easily enter the associated parameters.
• With the "Favorites" function, you may quickly enter frequent-to-use commands.
Operating procedure
Given below is an operating procedure for entering commands with the command
builder.
Step 2 Press [F1 Program].

The Program List window appears as shown in the next step.
Step 3 Select the task program you want to edit, by using the cursor keys or jog dial or by
touching the screen directly. Then press [F5 Edit.].
F5
The coding list of the selected program appears as shown in the next step.
3-21
Step 4 Move the cursor to the line after which you want to insert a new line, then press [F1
NewLine.]. Or move the cursor to the line you want to edit, then press [F5 EditLine].
F1 F5
The Insert New Program Line window appears as shown below.
Step 5 Press [F4 Category].
F4
The Category Selection window appears as shown in the next step.
3-22
Step 6 In the Category Selection window, choose the category, which contains a
command(s) you want to enter, and then press the OK button to display the
Commands selection screen shown in the next step.
If you choose "All commands" in the Category Selection window, all commands will
appear in the Commands window.
If you choose "Favorites," a set of commands registered beforehand will be listed.
Tip In step 5, on the Insert New Program Line window or on the Edit Program window:
- [F1 User.] is a shortcut key to the favorite command window (that can be called up
by choosing the "Favorites" on the Category Selection window).
- [F2 Flow.] is a shortcut key to the flow control statement window (that can be
called up by choosing the "Flow control statement" on the Category Selection
window).
- [F3 Robot.] is a shortcut key to the robot control statement window (that can be
called up by choosing the "Robot control statement" on the Category Selection
window).
- [F5 Recent.] is a shortcut key to a list of commands in the most recently selected
category.
Step 7 Scroll the Commands window that shows commands contained in the selected
category and choose the desired command.
F3
3-23
If you do not remember the name of the necessary command, press [F3 Alpha.].
The Alphabet Selection window will appear as shown below.
Choose a leading character of the desired command on the above window, and a
command(s) starting with it will be automatically displayed.
3-24
Step 8 If the selected command has a parameter(s), move the cursor to the associated
parameter listed in the Parameters window by using the cursor key or by pressing
the touch panel. Then press [F5 Edit.].
F5
The parameter entry screen will appear as shown below, where you edit parameter
values. (After editing, press the OK button, and the screen will return to the
Commands window.)
Some parameter values may not be cleared. Therefore, even if no specification of

the initial value is required such as DEFINT ix=0, you need to enter for the initial
value substitution area once.
If you do so, press the OK button and then delete unnecessary character strings in
Step 9.
3-25
Step 9 If it is necessary to modify other parameter values, choose the target parameter
and repeat Step 8. Upon completion of parameter editing, press the OK button. The
screen will return to the program code entry screen.
Step 10 Edit the program, e.g., by deleting unnecessary parameters, according to your
needs. Then press the OK button, and the screen will return to the program coding
list.
3-26
Command Builder
Operating flow of command builder
Press OK to replace the

selected line with the
newly entered line.
F1 F2 F3 F4 F5
Press OK to replace the Screen 1:

current parameter value Program code
with the newly entered entry screen
value.
Default values are Select the desired category to

automatically applied. show the associated
commands.
Screen 3: Screen 2:
Command Category
selection selection
screen screen
According
to
para-meter
s, use the
full key or
numerical
keys.
Screen 4: Screen 5:
Parameter entry Alphabet selection
screen screen
3-27
Program code entry screen
On the program code entry screen, you may edit character strings to be inserted as a
new program line or to be replaced with the current program line.
Shortcut key to the favorite command window (that can be

[F1 User.] called up by choosing the "Favorites" on the Category
Selection window).
Shortcut key to the flow control statement screen (that can

[F2 Flow.] be called up by choosing the "Flow control statement" on
the Category Selection window).
Shortcut key to the robot control statement screen (that can

[F3 Robot.] be called up by choosing the "Robot control statement" on
the Category Selection window).
[F4 Category] Displays the Category Selection window.
Shortcut key to a list of commands in the most recently

[F5 Recent.]
selected category.
[F6 Clr All] Clears all characters being entered.
3-28
Category selection screen

On the category selection screen, you may choose the type of commands you want to
enter for the command builder.
• To choose the desired category, use the jog dial or cursor keys.
• After choosing the desired category, press the OK button. Commands in the
selected category will be listed in the Commands window. If you press the Cancel
button, the screen will switch to a list of commands in the most recently selected
category.
• If you choose "All commands," all commands will be listed in the Commands
window.
• If you choose "Favorites," a list of commands you have registered by using the Add
button on the command selection screen will be listed in the Commands window.
3-29
Command selection screen
On the command selection screen, you may choose necessary commands from those
listed in the Commands window and enter the associated parameter(s).
Displays the previous page of the command/parameter

[F1 Back]
selection screen.
Displays the next page of the command/parameter

[F2 Next]
selection screen.
[F3 Alpha.] Calls up the Alphabet Selection window.
[F4 Category] Calls up the Category Selection window.
Calls up the Parameters window if a parameter value is

[F5 Edit.]
selected with the cursor.
Adds the currently selected command to the Favorites

category. When the Favorites category window is
displayed, the Del button will appear instead of Add.
[Add]
Up to 256 commands may be registered.
If no commands are registered, "--Not registered--" will

appear in the Commands window of the Favorites category.
Deletes the currently selected command from the Favorites

[Del] category. When the categories other than the Favorites are
selected, the Add button will be displayed instead of Del.
3-30
Inserts a newly entered character string to the current

[Ins]
cursor position.
Replaces the contents of the program line currently

[Replce]
selected for editing with a newly entered character string.
Parameter entry screen

On the parameter entry screen, you may enter or edit parameters of the selected
command.
• According to the type of parameters selected, the full keypad or numerical keypad
will appear.
• An initial value previously specified for each parameter will be displayed.
• If you press the OK button after editing character strings or numerical values, the
screen will return to the command/parameter selection screen.
3-31
Alphabet selection window
In the alphabet selection window, you may quickly search necessary commands by
entering an alphabet letter of a leading character.
• If you enter an alphabet letter, a command(s) starting with it will be automatically

displayed.
• If there is more than one command starting with the selected alphabet letter, you
need to choose the target command in the Commands window.
• If there is no command starting with the selected alphabet letter, a command next to
the alphabet letter in the alphabet order will be selected.
3-32
3.2.4 Easy Teaching (TP) [Ver. 1.8 or later]

As an additional enhancement of the easy teaching facility implemented in Version 1.8
first, Version 1.9 enables you to:
- Specify global variables
- Write APPROACH and DEPART commands
This chapter covers an overall easy teaching including the above additional
enhancement.
Easy teaching is a new facility that enables data entry, program edition, and teaching of
point coordinates from the teach pendant with ease of operation.
The easy teaching allows you to:
(1) Insert a motion command and its parameters (including destination positions) to
the desired program by one-touch operation.
(2) Edit motion commands and their parameters by one-touch operation.
(3) Execute and check programs you have edited before compiling them.
3.2.4.1 Inserting a Motion Command

What follows is an operation flow for inserting a motion command by using the easy
teaching facility.
Possible from the teach pendant only

Step 2 On the top screen, press [F1 Program].

The Program List window appears as shown below.
F5
Select a program you want to edit and then press [F5 Edit.] or [Display.]
(or [F1 NewProg.].
NOTE: To edit existing programs, use [F5 Edit.]; to check them, use [Display.]. To
create a new program, use [F1 NewProg.]).
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Step 3 The coding list of the selected program appears as shown below.
Easy
teaching
icon
Press the easy teaching icon to call up the easy teaching window.
Step 4 Press parameter icons to set up the motion command parameters.

TIP: The specifications of parameter icons that seem to be depressed will be set up
as effective parameter values.
Command select button
(reserved for future expansion)
Parameter
icons (See
the table
below.)
Easy teaching
window
NOTE: The Command select button is reserved for future expansion. It is currently
disabled.
Interpolation (Note 1) Pass Start Displacement (Note 1) Destination Position
PTP control (Syntax: "P") End motion (@0 option) Immediate value (Note 2)
CP control (Syntax: "L") Pass motion (@P option) Position variable, global (Note 2)
Arc Motion (Syntax: "C") Encoder value check motion Joint variable, global (Note 2)
(@E option)
Homogeneous transform matrix
variable, global (Note 2)
Global variable number. Press this
button to call up a numeric keypad
where you can modify the current
variable value.
(Note 1) The feature implemented for the depressed icon takes effect.
(Note 2) Each time you press this button, the icon will cycle through [Immediate] -> [Position variable] -> [Joint
variable] -> [Trans variable] in this order. The feature implemented for the displayed icon takes effect.
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Step 5 Move the cursor to a line immediately preceding the line where you want to insert a
motion command, then press [CreateLn].
By calculating the parameter icon information and the current robot position, the
controller automatically creates an appropriate motion command. Then it inserts the
command to the line next to the selected line.
Motion
command
newly
inserted
If you select an immediate value to specify the destination position, then the
current position value will be written in the current motion command. For the
procedure, go to Step 6.
If you select a global variable to specify the destination position, then the
current position will be saved into the global variable. For the procedure, go to Step
7.
Step 6 If you insert such a motion command that defines interpolation along an arc (e.g.,
MOVE C) and destination position with an immediate value, then pressing
[CreateLn] will display the following message.
With this dialog being opened, move the robot arm to the destination position and
then press [OK]. The command will be inserted.
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Step 7 If you insert such a motion command that defines interpolation along an arc (e.g.,
MOVE C) and destination position with a global variable, then pressing [CreateLn]
will display the following message.
Keep this dialog open and move the robot arm to the destination position, then
press [OK].
The following confirmation massage may appear informing that the global variable
has already contained any value.
If overwriting is OK, press [OK]. The variable will be updated.
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3.2.4.2 Editing a Motion Command

What follows is an operation flow for editing an existing motion command by using the
easy teaching facility.
Step 1 Carry out Steps 1 through 3 in Section 3.2.4.1 to call up the easy teaching window.
Step 2 Move the blue cursor to a program line you want to edit, then press [F5 EditLine].
If the command on the selected line can be edited in the easy teaching window
(refer to Section 3.2.4.4), then the parameter information will display according to
the parameter icons.
Parameter
icons
F5 F6
When the window is called up, the parameter icons reflect the command
information on the selected line.
You may change the parameters by using the parameter icons or change the
destination point (or viapoints) by pressing [F5 Change] (see Step 3) or [F6 GetPos]
(See Step 4). After that, pressing [OK] will make the new settings go into effect.
Step 3 To enter the desired numeric value by using [F5 Change]:

Move the cursor to a field you want to change with the up-, down, left-, and
right-arrow keys or jog dial, then press [F5 Change]. The numeric keypad will
appear as shown below. Enter the desired numeric value.
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NOTE: If a motion command you selected defines interpolation along an arc (e.g.
MOVE C), you may define the viapoints and destination points by using the up- and
down-arrow keys or jog dial.
Step 4 To get the current robot position by using [F6 GetPos]:

Press [F6 GetPos], and the controller will get the current robot position into the
memory area and overwrite the line you are editing with the gotten data.
NOTE: If you are editing a motion command that defines interpolation along an arc
(e.g. MOVE C), a window will appear prompting you to choose either a viapoint or
destination point. Choose either one.
Step 5 Circled below are parameters that cannot be edited in this screen.
Parameters
that cannot be
edited here.
F4
To edit them, press [F4 Text]. The alphanumeric key screen will appear as shown in
Step 6.
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Step 6 Use the alphanumeric key screen shown below to edit parameters in the text mode.
NOTE: Pressing [Cancel] in the above screen will cancel all settings made in the
easy teaching window.
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3.2.4.3 Executing Motion Commands
What follows is an operation flow for executing motion commands by using the easy
teaching facility.
Step 1 Carry out Steps 1 through 3 in Section 3.2.4.1 to call up the easy teaching window.
Easy
teaching
window
Move the blue cursor to a program line to be executed, then press [<Back] or
[Fwd>].
[Fwd>]: If a command on the selected line can be edited in the easy teaching
window (refer to Section 3.2.4.4), then the program line will execute [Fwd>]:
Pressing this button will execute the command selected with the blue cursor.
[<Back]: Pressing this button will execute the command selected with the blue
cursor if the command does not include a destination point. If the command
includes a destination point, it will apply a destination point defined in a motion
command preceding the selected command.
Step 2 Pressing [<Back] or [Fwd.>] button will call up the execution confirmation window
shown below.
Choose "Single-step run" or "Single-cycle run." Then while holding down the
deadman switch, press the OK button. The program will execute. Releasing either
one of the deadman switch and OK button will stop the running program.
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"Single-step run": Runs a single step of the selected program and stops the
execution.
"Single-cycle run": Runs the selected program once from the beginning to the end
or to any command not executable by easy teaching.
In either "Single-step run" or "Single-cycle run," you can stop the program run
halfway just by performing any of stop operations (e.g., pressing the STOP key)
during execution.
Tip If you attempt to run any command that is not executable by easy teaching or
contains a syntax error, then the following warning message will appear.
Tip When the easy teaching window is displayed, pressing the deadman switch will
change the functions assigned to the left- and right-arrow cursor keys from the
horizontal scrolling on a program line to the same function as the [<Back] and
[Fwd>], respectively.
The [<Back] and [Fwd>] icons will be also changed as shown below.
Changed like
this.
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Additional Explanation about Easy Teaching
[ 1 ] Box frame on a program line
If you run a motion command by using the easy teaching window, a box frame may
appear on a program line in addition to a blue cursor. The box frame indicates that the
boxed line includes a destination point obtained by a command executed most
recently.
In the case of [Fwd>]: If you temporarily stop the following program at line 0007 being
executed by [Fwd>], for example, then a box frame comes on line 0007 since the
destination point obtained by the most recently executed motion command is written in
line 0007.
Box frame and blue

cursor are
overlapped with each
other.
If line 0007 is executed again with [Fwd>] by a single step, the blue cursor moves to
line 0008 but the box frame stays on 0007. This is because the destination point
obtained by the most recently executed motion command is written in line 0007.
Box frame
Blue cursor
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In the case of [<Back]: If line 0007 is executed with [<Back] by a single step (or the
execution is stopped temporarily), then the blue cursor stays on line 0007 but the box
frame comes on line 0006. This is because the destination point is still in the motion
command immediately preceding the line marked with the blue cursor.
Box frame
Blue cursor
[ 2 ] About the GetPos function

You may use the GetPos function when a coding list of the selected program or the
easy teaching window is displayed.
The GetPos function may get the current robot position even expressed in immediate
operand format provided that the easy teaching window is displayed.
Note: Immediate operand format refers to writing command operands in numeric
values as shown below, not in variables.
MOVE P,@0(1025.721,-354.7859,1026.708,-179.9987,65.01270,160.9215,5)
Immediate operands
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3.2.4.4 Applicability of Parameters in Easy Teaching
The following tables show whether parameters of commands are applicable to editing,
displaying of the easy teaching window, and execution in easy teaching.
NOTES
(1) If a command contains any parameter not listed in these tables, then no easy
teaching window will be displayed. Neither is such a command executable.
(2) When an easy teaching window is displayed:
- Pressing the OK key will eliminate unnecessary space codes in parameters.
- A very small value entered to a destination position or initial passing start
position may be automatically expressed in floating point or double-precision
floating point format.
Symbols
O: Operable & editable G-var: Global variable
OP: Operable L-var: Local variable
D: Displayable Pos: Position
NO: Not operable or editable
CPL: Operable after compile
FW: Forward motion only
Command Arguments
Interpolation Passing Start Pose Motion Other Options
Offset (Destination Options
position)***
P O @0 O Immediate O SPEED Immediate OP, D NEXT NO, D
L O @P O G-var: Pos O G-var: Value OP, D
C O* @E O L-var: Pos NO L-var: Value NO
MOVE
@Numeral OP, D ACCEL Immediate OP, D
G-var: Value OP, D
L-var: Value NO
DECEL Immediate OP, D
G-var: Value OP, D
L-var: Value NO
Interpolation Reference Passing Start Approach Motion Options Other

Position Offset Distance Option
P OP Immediate OP @0 OP Immediate OP SPEED Immediate OP NEXT NO
L OP G-var: Pos OP @P OP G-var Value OP G-var Value OP
L-var: Pos NO @E OP L-var: Value NO L-var: Value NO
@Numeral OP ACCEL Immediate OP
APPROACH G-var Value OP
L-var: Value NO
DECEL Immediate OP
G-var Value OP
L-var: Value NO
Interpolation Passing Start Depart Distance Operation Other Options

Offset Option
P OP @0 OP Immediate OP SPEED Immediate OP NEXT NO
L OP @P OP G-var Value OP G-var Value OP
@E OP L-var: Value NO L-var: Value NO
@Numeral OP ACCEL Immediate OP
DEPART**
G-var Value OP
L-var: Value NO
DECEL Immediate OP
G-var Value OP
L-var: Value NO
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Symbols
O: Operable & editable G-var: Global variable
OP: Operable L-var: Local variable
D: Displayable Pos: Position
NO: Not operable or editable
Command Argument
CHANGETOOL Tool Coordinates
Immediate OP, FW
G-var: Value OP, FW
L-var: Value NO
CHANGEWORK User Coordinates

Immediate OP, FW
G-var: Value OP, FW
L-var: Value NO
SPEED Robot Speed

Immediate OP, FW
G-var: Value OP, FW
L-var: Value NO
JSPEED Joint Speed

Immediate OP, FW
G-var: Value OP, FW
L-var: Value NO
ACCEL Acceleration Deceleration

Immediate OP, FW Immediate OP, FW
G-var: Value OP, FW G-var: Value OP, FW
L-var: Value NO L-var: Value NO
JACCEL Joint Acceleration Joint Deceleration

Immediate OP, FW Immediate OP, FW
G-var: Value OP, FW G-var: Value OP, FW
L-var: Value NO L-var: Value NO
DECEL Deceleration
Immediate OP, FW
G-var: Value OP, FW
L-var: Value NO
JDECEL Joint Speed

Immediate OP, FW
G-var: Value OP, FW
L-var: Value NO
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Symbols
O: Operable & editable
OP: Operable G-var: Global variable
D: Displayable L-var: Local variable
NO: Not operable or editable Pos: Position
Command Argument
Indirect reference range of "G-var: Value"

Array Array
Numeric , global variable Immediate O Example: P1,P[1] means that the variable number of
position global variable P1 is 1.
Numeric, global variable Immediate OP Example: P[I1],P[I[1]] means the contents of global
integer variable number 1 of global position variable P1.
G-var NO
L-var NO
Numeric, local variable NO
Array, local variable Immediate NO
G-var NO
L-var NO
Array, global variable Immediate NO
Numeric, global variable Immediate NO
G-var NO
L-var NO
Array, local variable Immediate NO
G-var NO
L-var NO
Variable type
G-var: Pos P, T, J
L-var: Pos DEFPOS, DEFTRN, DEFJNT, DIM POSITION, DIM JOINT, DIM TRANS
Variable Type Global I, F, D

Variable
Value Variable Type Local DEFINT, DEFSNG, DEFDBL, %, !, #, DIM INTEGER, DIM SINGLE, DIM DOUBLE
Variable
Array Type Value Local
Variable
* If you stop the robot temporarily during an arc motion, you may restart it from the stopped position only in the same direction
([Fwd>] or [<Back] run) as before the temporary stop. Restart in the opposite direction is not allowed.
Once you attempt to restart the robot in the opposite direction, Error 27BE ("Arc motion not allowed from the current position")
will occur. After that, restart is no longer possible even in the same direction.
No arc motion can start unless the current robot position is the same as a destination position defined in the immediately
preceding motion command. If you attempt to do so, Error 27BE ("Arm motion not allowed from the current position") will occur.
** No DEPART motion can start unless the current robot position is the same as a destination position defined in the immediately
preceding motion command. If you attempt to do so, Error 27BE ("Arm motion not allowed from the current position") will occur.
*** In easy teaching, you may edit or operate only a single pose in a same command line. The easy teaching facility cannot process
a pose array (more than one pose in a line).
Invalid example: MOVE P,P3,P4,P5 This command line includes three poses (P3, P4, and P5).
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3.2.4.5 Notes for Easy Teaching

(1) At the start of a pass motion, the robot motion in easy teaching may be slightly
different from that in Teach check, Auto, or External mode.
(2) If a figure flag is set to -1, the final robot figure may be different between [Fwd>]
and [<Back] run.
(3) If any motion command is executed in easy teaching, then arm semaphore
needed for that motion will be automatically obtained.
The arm semaphore will be released when:
- The robot arm has reached the final destination point after a single-step run or
single-cycle run.
- The coding list of the selected program is closed.
- In the Shortcut Menu, the [F8 ProgRst.] has been performed.
- In Teach check, Auto, or External mode, the [F7 ProgRst.] has been performed,
regardless of whether "This program only" or "All programs" is selected.
- A Level 3 error has occurred except errors caused when you are using
TP/MP/OP.
- A Level 4 error or higher one has occurred.
- Program reset signal is received via I/O line in Standard mode (only when
negative values are set in the data area).
- Program reset & Operation preparation start signals are received via I/O line in
Compatible mode.
IMPORTANT
Once you temporarily stop the robot halfway through a single-step run or a
single-cycle run, then manual operation or operation mode switching (between
Joint mode, X-Y mode, and Tool mode) is no longer possible. This is because the
currently running program has held an arm semaphore.
To make manual operation or operation mode switching possible, release the arm
semaphore by carrying out [F8 ProgRst.] in the Shortcut Menu.
3.2.4.6 User Preferences for Using Easy Teaching (Add to the

Configuration List)
The next table lists user preferences to be added for using easy teaching.
Factory
No. Items Power-on default Description Comments
default
Positioning Allowable Do not

allowance of positioning change
199 arc motion in 100 100 error for arc this
easy teaching motion in setting
easy teaching usually.
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3.2.5 Folder Feature [RC7 Ver. 2.2 or later]
The folder feature added in Version 2.2 or later allows you to hierarchically manage
user programs using a set of folders.
3.2.5.1 Folders Displayed on Teach Pendant

The folder feature added allows the teach pendant to display folder-related items in the
Program List on the teach pendant as shown below.
Shows the number of programs in

the current folder and the number
Enhanced display in Manual mode of folders. The number of
programs includes header files
and excludes operation panel
files.
Shows the directory level of the

current folder.
Indicates the operation panel files.

Refer to the "Panel Designer"
User's Manual.
Indicates folders (directories).
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Enhanced function keys in Manual mode
[NewProg.]
In Version 2.2 or later, this command allows you to create also header files and folders.
You can create also header files

and folders.
• Program: One controller can hold up to 256 programs created.

• Header file: The file name can be up to 32 characters long. One controller can hold
up to 256 "header files plus operation panel files."
• Folder: The folder name can be up to 16 characters long. One controller can
hold up to 256 folders created. Folders can be organized in a maximum
of four levels excluding the root folder.
[Delete]
This command can delete PAC programs, header files, folders, and operation panel
files.
Deleting a folder erases all the objects inside the deleted folder.
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[Copy]
• Copy: Selecting this option copies the selected PAC program, header file, or folder.
The name of the object copied last appears in parenthesis following the Paste
option button, meaning that the object is the one that will be pasted next.
Copying a folder copies also all objects contained in that folder.
No operation panel file can be copied except when it is contained in a folder.
Copying such a folder can copy also operation panel files contained.
• Paste: Selecting this option pastes the object copied last into the current folder
designated by "Dir:."
If the current folder already contains an object having the same name as the
object to copy, a "Paste under a new name or Overwrite" dialog appears,
prompting the user's choice.
Pasting PAC program(s) under a new name automatically makes its compile
flag inactive ("Disable" in the Use column); overwriting it with a new one
retains the compile flag status of the old one.
Overwriting the destination folder with a source one

In overwriting a folder, if the destination folder contains objects not contained
in the source folder, those objects will remain intact.
[Search]
This command searches for a PAC program having the specified name in the current
folder designated by "Dir:." It cannot search for header files, operation panel files, or
folders.
[UpFolder]
This command shifts to the upper folder from the current folder. If the current folder is
already the root folder, nothing happens.
[Display.]
Pressing this command button with a PAC program or header file being selected
displays its contents; pressing it with a folder being selected shifts the screen to the
inside of that folder.
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[Config.]
Pressing this command button toggles the compile flag on (active) and off (inactive).
This applies to PAC programs only. Programs whose compile flags are active are
subject to compilation.
The compile flag provides the following five choices:
1) "Make the specified program active." or "Make the specified program inactive."
This appears only when the cursor points to a particular PAC program. Taking this
choice reverses the current status of the selected PAC program.
2) "Make all programs in the current folder active."
Selecting this makes all the PAC programs displayed in the current folder (folder
designated by "Dir:") active.
3) "Make all programs in the current folder inactive."
Selecting this makes all PAC programs displayed in the current folder designated
by "Dir:" inactive.
4) "Make all programs active."
Selecting this makes all PAC programs in the controller active.
5) "Make all programs inactive."
Selecting this makes all PAC programs in the controller inactive.
[New PRJ]
This command erases all PAC programs, header files, folders, and operation panel
files stemming from the root folder.
NOTE: Measuring the run time of a program in a folder

Selecting [F1 Program]–[F6 Aux.]–[F1 Set PRJ.] displays the configuration list. The list
contains the parameter "13: Delete cycle time calculation code" that provides the
following three choices.
0: Measure the run time of all programs.
1: Measure the run time of programs that can be called through IO (that is, their roots
are named "PRO*").
2: Do not measure the run time of any programs.
To display the run time of programs in the folder, set this parameter to "0."
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Enhanced display in modes other than Manual mode
In modes other than Manual mode, only executable PAC programs and the folders
containing such programs are displayed.
The functions of the [Search], [UpFolder], [Display.] are the same as in Manual
mode. You can move objects from one folder to another in the same way as in Manual
mode.
In modes other than Manual

mode, only executable PAC
programs and the folders
containing such programs are
displayed.
Handling local variables

The folder feature added enables programs or variables having the same name to
coexist in a robot controller, as long as those programs or variables are located
individually in different folders.
If located in different folders, variables having the same variable name and used in
programs with the same name will be treated as different variables. To locate a
particular program, click the Path button.
Register variable window
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3.2.5.2 Folders Displayed on Mini-Pendant

The mini-pendant displays folders as shown below.
Key: [PRO]
[dir1 ]
These are folders.
[dir2 ]
Pressing [OK] calls up the "Functions" screen that lists the following.
SearchPRO: Search for a specified program name in the current folder.
Display: Show the property of the selected program. Pressing this with a folder
being selected shifts the screen to the inside of that folder.
UpFolder: Shift to the upper folder from the current folder. If the current folder is
already the root folder, nothing happens.
NowFolder: Show the current folder.
3.2.5.3 Staring Programs from I/O

An I/O can start only PAC programs located in the root. It cannot start programs in a
folder even they have the name "PRO*."
3.2.5.4 Supervisory Tasks

The folder feature newly added enables supervisory tasks having the same name to
coexist in a robot controller, as long as those tasks are located in individual folders.
The function and operation of supervisory tasks are the same as those in the previous
system version, except that the number of supervisory tasks allowed is changed from
10 to 32 (TSR0 to TSR31).
Up to 32 supervisory tasks can run simultaneously independent of normal task
programs. If more than 32 supervisory tasks are made active simultaneously, the error
"7799: The maximum number of TSR was exceeded." occurs, terminating all programs
including supervisory tasks.
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3.3 Teach Check Mode (TP/MP)
Teach check mode allows you to make a final check of programs (which have
undergone teaching) with the teach pendant or mini-pendant in automatic operation
under the following restrictions:
- The maximum robot speed is 10% or less of the maximum speed defined in Auto
mode.
NOTE: The global type of controller limits the maximum speed of the robot arm to
250 mm/s or below at the flange (mechanical interface) or the TCP point in Manual or
Teach check mode.
- To run a task program, hold down both deadman switch and OK key.
Two types of teach check are available--Cycle check and Step check.
Cycle check executes the selected task program from the current program line to the
end by a single cycle; Step check executes the selected program from the current
program line by a single step.
CAUTION: Before starting teach check operation, be sure to confirm that all persons
are out of the restricted space of the robot. The robot will automatically run.
CAUTION: Before proceeding to the teach check operation procedure, be sure to
perform CAL operation and set the reduced ratios of the programmed speed,
acceleration, and deceleration.
NOTE: Two or more task programs cannot execute concurrently in Teach check mode.
Therefore, any motion command specifying concurrent execution of other programs
will be ignored.
Run the robot in Teach check mode when

You want to run the robot automatically using a task program while physically near the
robot, in order to check or modify the object points and passes you have defined in
teaching, while ensuring safety.
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[ 1 ] Cycle check
To monitor the program contents during cycle check, press [F11 Display.] (after
pressing the shift key if necessary) on the top screen or press the Display. button at the
bottom of the Program List window.
Operating procedure
Step 1 Set the mode selector switch to the TEACHCHECK position.
The teach check icon appears in the leftmost area of the status bar.
F1

Step 3 Select the task program you want to check, by using the cursor keys or jog dial or by
touching the screen directly.
F4
The selected program will become highlighted.
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Step 5 On the screen shown in Step 3, press [F4 CycStart].

Step 6 While holding down the deadman switch, press the OK key, and then keep both of
them depressed until the execution is completed.
If you release either one of the deadman switch and OK key, the robot comes to a
halt.

Step 1 Refer to Chapter 6, Section 6.2.10, "(4.1) Cycle Start."
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[ 2 ] Step check
To monitor the program contents during step check, press [F11 Display.] (after pressing
the shift key if necessary) on the top screen or press the Display. button at the bottom
of the Program List window.
Operating procedure
F1
Step 3 Select the task program you want to check, by using the cursor keys or jog dial or by
F6
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Step 5 On the screen shown in Step 3, press [F6 StpStart] (or the right-arrow cursor key).
Step 6 While holding down the deadman switch, press the OK key, and then keep both of
them depressed until the execution is completed.
If you release either one of the deadman switch and OK key, the robot comes to a
halt.

Step 1 Refer to Chapter 6, Section 6.2.10, "(4.2) Step Start and Step Back."
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[ 3 ] Step Back Function

This function steps backwards the current program executed by Step Start or Cycle
Start, one instruction at a time.
The Step Back function is diagrammatically shown below.
0001 PROGRAM PRO1 Step Start or Cycle

Start
0002 TAKEARM Step Start or Cycle
• All steps Step Back Start
0003 Robot motion command executed
• Only robot • Only robot operations
• Cursor : blue operations
0004 Non-robot motion command • Downward executed
executed
triangle • Cursor : • Cursor : green
0005 Robot motion command neutral green • Downward triangle
• Upward
0006 Non-robot motion command triangle
• Execute each step
0007 Non-robot motion command • Cursor : blue
• Downward triangle
0008 Robot motion command
Executing Step Back command steps backwards the program. During Step Back
operation, only robot motion commands, TAKEARM, and GIVEARM (Refer to the
PROGRAMMER’S MANUAL I.) will be executed. Other commands will not be actually
executed, and only the line number will step back. The settings relating to end-effector,
workpiece, and speed made when Step Start or Cycle Start was executed will be
reflected on Step Back operation.
If control returns to TAKEARM, GIVEARM will be executed; if it returns to GIVEARM,
TAKEARM will be executed.
If Step Start or Cycle Start is executed after Step Back, only robot motion commands,
TAKEARM, and GIVEARM are executed until the step at which Step Back was
executed (Tool, work and speed settings are as for Step Back). At subsequent steps,
all commands will be executed.
Cursor color in the Program List window and in the coding table
• Neutral green in Step Back operation
• Green in Step Start and Step Start operation from Step Back until the Step Back
started step
• Blue in cases other than the above two.
The triangle on the left of line number shows the direction of operation. Downward
triangle indicates forward stepping and the upward triangle indicates backward
stepping.
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NOTE 1: Restrictions on Step Back
This function traces the commands when Step Start or Cycle Start is executed. Based
on that data, the Step Back function executes those commands. However, there is a
limit for recording data. A maximum of 100 commands can be recorded and when the
limit is exceeded the old commands will be erased in sequence and new ones
recorded.
The Step Back function can work only within a program, since data that has been
recorded will be cleared if any other program is selected and executed. Note that
programs that are called by CALL or GOSUB are not being treated as other programs,
so the Step Back function can work within those programs.
If a specified line is executed, the control cannot return to the lines preceding the
specified line.
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NOTE 2: About Skipping Interrupt

Skip Interrupt (See the CONTROLLER MANUAL, Interruption Skip (Input) signal) is
ineffective during Step Start or Cycle Start between two consequent Step Back
commands, except in the following situation.
• When the robot action is temporarily stopped during Step Start or Cycle Start (when
the program list or the program list cursor is blue), and the same robot action
command is executed after Step Back command.
• Step run or cycle run

0001 PROGRAM PRO1 • Cursor: Blue
0002 TAKEARM
0003 INTERRUPT ON
• Step back from the • Step run or Cycle run

0004 Robot operation command position where • Cursor: Green
movement is stopped
• Cursor: Neutral green
0005 Robot operation command Invalid
Invalid
0006 Robot operation command
Movement stop Valid
(Uncompleted
0007 INTERRUPT OFF operation).
Operation
Completion
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Operating procedure
Run a single step or a single cycle of the program.
Step 2 Press [F5 StepBack].

You may step backwards the program by using the left-arrow cursor key.
F5
When the cursor moves to the line where you want to run Step Back, the cursor turns
neutral green. Also, the triangle on the left of the line number comes upward.
Step 3 Press [F5 StepBack] again.

You may step backwards the program by using the left-arrow cursor key.
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Step 4 While holding down the deadman switch, press the OK button.
Only when both of them are depressed, commands will be executed. If you release
either one of the deadman switch and OK button, the program immediately stops.
NOTE: When running the robot for checking, always be ready to press the STOP
key.
The cursor goes one step (command) back, and the cursor turns neutral green (The
triangle on the left of the line number shows upward direction).
Step 5 Repeat Steps 3 and 4 to step backwards the program.
Step 6 After Step Back, press [F6 StpStart] (or the right-arrow cursor key) or [F4 CycStart].
The screen shows the following state.
The cursor moves to the line that performs Step Start or Cycle Start and triangle
shows the downward direction.
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Step 7 Press [F6 StpStart] (or the right-arrow cursor key) or [F4 CycStart] again.
Step 8 While holding down the deadman switch, press the OK button.
Only when both of them are depressed, commands will be executed. If you release
either one of the deadman switch and OK button, the program immediately stops.
NOTE: When running the robot for checking, always be ready to press the STOP
key.
Step 9 Repeat steps 7 and 8, all the time confirming that the program is running safely.

Step 1 Refer to Chapter 6, Section 6.2.10, "(4.2) Step Start and Step Back."
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Selecting Commands To Be Executed During Step Back Operation

You may select commands to be executed during Step Back operation from the
following two options:
1) Robot motion commands only
2) All commands
However, even if you select "All commands", only robot motion commands, TAKEARM,
and GIVEARM will be executed during Step Back operation.
To change the current setting, turn the mode selector switch to the MANUAL position
and call up the Step Back Setting window.
Access: [F1 Program]—[F6 Aux.]—[F9 StpBack.]
The setting you made here will go into effect when you restart the robot controller.
NOTE: With the mini-pendant, you cannot select commands to be executed during
Step Back operation. The "Robot motion commands only" remains effective unless you
change it with the teach pendant.
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[ 4 ] Execution by Specifying Line
This function allows you to execute Teach Check from any line.
• You can execute cycle check and step check together.
This operation is necessary when

You want to confirm or correct the operation subsequent to the specified line, while
executing teach check.
Note regarding line specification:

• If the specified line is a comment line or a blank line which cannot be executed, then
that line will be ignored and the first executable line from that line is considered.
• When CALL command is executed and CALL destination program is displayed in the
teach pendant, the line specification related to the displayed program is not
possible.
Before specifying the line, select the corresponding program from program list.
• When you use local variable without declaring local variables or initializing variables
or without executing commands for getting semaphore, or perform calculation and
motor operation, error may occur.
NOTE: Local variables are preserved in memory when memory is released when user
programs are transferred from WINCAPSII and compiled in teach pendent and
commands declaring local variables like DIM or DEFINT are executed. The local
variables once preserved remain in memory till the memory is released. Hence it is
possible to use these variables by executing local variable declaration commands just
once.
Even if the memory for local variable is preserved, if the local variables are not
initialized (or value substituted), the values are considered indeterminate.
NOTE: Two or more task programs cannot execute concurrently in Teach check mode.
Therefore, any motion command specifying concurrent execution of other programs
will be ignored.
NOTE: With the mini-pendant, you cannot specify a line for Teach Check.
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Executing by Specifying an Arbitrary Line

The operating procedure given below is common to Cycle Check and Step Check.
Step 1 Perform Steps 1 through 3 in [ 1 ] Cycle Check or [ 2 ] Step Check.
Step 2 Press [Display.] in the window, and the contents of the program appear as shown
below.
F3
Step 3 Press [F3] or select [Jump To] in the window, and the numeric keypad will appear.
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Step 4 From the numeric keypad, enter the desired number and press the OK button.
The numeric keypad will disappear and the cursor will move to the specified line.
Step 5 Go to Step 4 in [ 1 ] Cycle Check or [ 2 ] Step Check.
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3.4 Auto Mode (TP/OP/MP)

In Auto mode, you may run the robot automatically. You may do so by running the
desired program in the robot controller from the teach pendant, operating panel, or
mini-pendant, which is internal automatic operation. You may switch the control to
external equipment to run the robot from external equipment, which is external
automatic operation.
CAUTION: Before proceeding to automatic operation, be sure to perform CAL
operation and set the reduced ratios of the programmed speed, acceleration, and
deceleration.
NOTE: To place the robot in Auto mode, system-input port "Enable Auto" is required to
be short-circuited (ON).
If you turn the mode selector switch of the teach pendant, operating panel, or
mini-pendant to the AUTO position with the "Enable Auto" port opened (OFF), then
error message 21F3 appears. Confirm that no one is within the restricted space of the
robot, short-circuit the "Enable Auto" port, remove the error, and then proceed to
automatic operation. For details on "Enable Auto," refer to the CONTROLLER
MANUAL.
3.4.1 Starting Internal Automatic Operation (TP/OP/MP)

You may run the selected task program from the teach pendant, operating panel, or
mini-pendant in any of the three types--Single-cycle run, Continuous run, and
Single-step run, which are described in the table below.
Table 3-3. Three Types of Runs in Internal Automatic Operation
Types of Runs Explanation
1 Single-cycle run Executes the selected program from the beginning to the
end once.
2 Continuous run Executes the selected program continuously.
3 Single-step run Executes the selected program from the current program
line by a single step.
CAUTION: Before proceeding to internal automatic operation, be sure to read

SAFETY PRECAUTIONS, Section 4.7 "Precautions for automatic operation" given at
the beginning of this manual. Starting internal automatic operation will run the robot.
Perform internal automatic operation when

You check the robot motion or run the robot independently without using a sequencer
or other external equipment.
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[ 1 ] Single-cycle run
Before proceeding to a single-cycle run, perform CAL operation and set the reduced
ratios of the programmed speed, acceleration, and deceleration.
CAUTION: At the start, set the reduced ratio of the programmed speed at 20% or
Operating procedure
Step 1 Set the mode selector switch to the AUTO position.
F1
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Step 3 Select the task program you want to run, by using the cursor keys or jog dial or by

Step 5 Check that the program you have selected is highlighted, press [F4 Start.].
F4
The system message dialog box appears as shown in the next step.
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Step 6 In the system message dialog box, press the OK button to select Single-cycle.
After completion of a single-cycle run, to run the program again, go back to Step 2.
NOTE: The elapsed time on display refers to the time length from the start to end of
the program including temporary stop time caused by Step stop or Halt.
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The AUTO lamp comes on.
Step 2 Press the PRO key.

Step 3 Select the program number you want to run, by using numerical keys.
Example: To run PRO15, press the 1 and 5 keys. Then the following appears on the
LCD:

If the selected program does not exist, the following appears on the LCD:

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Step 6 Press the CY-START key.

The LCD shows the following and the robot starts running.
Upon completion of a single-cycle run, the robot will stop.

NOTE: After completion of a single-cycle run, to run the program again, repeat
Steps 2 through 7.

Step 1 Refer to Chapter 6, Section 6.2.10, "(2) Starting a program."
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[ 2 ] Continuous run
Before proceeding to a continuous run, perform CAL operation and set the reduced
Operating procedure
F1
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Step 3 Select the program you want to run, by using the cursor keys or jog dial or by
F4

Step 5 On the above screen, press [F4 Start.].

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Step 6 In the system message dialog box, select Continuously by using the cursor keys or
jog dial or by touching the screen directly. Then press the OK button.
NOTE: The robot will continue to run unless you use any of robot stop, halt (or
stop), step stop, and cycle stop. For details on those stop types, refer to Section
3.4.2.
NOTE: The elapsed time on display refers to the time length from the start to end of
the program including temporary stop time caused by Step stop or Halt.

Step 1 Refer to Chapter 6, Section 6.2.10, "(2) Starting a program."
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[ 3 ] Single-step run
Before proceeding to a single-step run, perform CAL operation and set the reduced
Operating procedure
F1
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Step 3 Select the task program you want to run, by using the cursor keys or jog dial or by
F6

Step 5 On the above screen, press [F6 StpStart] (or the right-arrow cursor key).
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Step 6 In the system message dialog box, press the OK button.
The selected program executes a single step.
NOTE: After completion of a single-step run, to repeat a single-step run, repeat

Steps 5 and 6.
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Step 2 Press the PRO key.

Step 3 Select the program number you want to run, using numerical keys.
Example: To run PRO15, press the 1 and 5 keys. The following appears on the LCD:
To cancel the new entry, press the Cancel key.

If the selected program does not exist, the following appears on the LCD:

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Step 6 Press the ST-START key.

The LCD shows the following and the robot runs a single step of the selected
program.
NOTE: After completion of a single-step run, to repeat a single-step run, repeat

Steps 6 and 7.

Step 1 Refer to Chapter 6, Section 6.2.10, "(3) Step Start."
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3.4.2 Stopping Internal Automatic Operation (TP/OP/MP)

You can stop internal automatic operation from the teach pendant, operating panel, or
mini-pendant by any of Cycle stop, Step stop, Halt (Stop), and Robot stop (Note), which
are described in the table below.
Table 3-4. Four Types of Stops in Internal Automatic Operation

When stopped
Types of Stops Explanation Auto Restart
Motor Step No.
mode
1 Cycle stop Stops the robot after ON ON Last step Select the
executing the last program again,
TP: [F3 CycStop] step of the task and you may start
MP: CYCLE STOP key program. a single-step run
or single-cycle run
from the head of
Cycle stop
triggered the program.
Robot
Restart
stopped
here
2 Step stop Interrupts the running ON ON Step You may start a

task program midway executed single-step run or
TP: [F3 StepStop] after executing the single-cycle run
OP: ST-STOP key step in which the step from the step
MP: STEP STOP key stop key is pressed. immediately
following the
Step stop current step.
triggered
Robot
stopped
here
Restart
3 Halt (Stop) Immediately ON ON Step in You may start a

interrupts the running progress single-step run or
TP: [F1 Halt] or STOP key task program single-cycle run
OP: STOP key selected or all from the current
MP: HALT key or STOP key running task step again.
programs midway the
Halt (stop) moment [F1 Halt] or
triggered
STOP key is pressed,
respectively.
Robot
Restart stopped
here
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When stopped
Types of Stops Explanation Auto Restart
Motor Step No.
mode
4 Robot stop (Note) Immediately stops all OFF OFF Step in Turn the motor
running task progress on, and you may
TP: ROBOT STOP button programs midway start a single-step
OP: ROBOT STOP button and turns the motor run or single-cycle
MP: ROBOT STOP button off the moment the run from the head
robot stop button is of the program
pressed. again.
Robot stop
triggered
Robot
stopped
here
(Note) On the RC7M controller, the names of "Robot stop" and "ROBOT STOP button" are changed to "Emergency
stop" and "EMERGENCY STOP button," respectively.
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[ 1 ] Cycle Stop (TP/MP)

Cycle stop can only be triggered from the teach pendant or mini-pendant.
Operating procedure
Step 1 Press [F3 CycStop].
F3
The current program will execute up to the last step and then the robot will stop.

Step 1 Refer to Chapter 6, Section 6.2.10, "(2) Starting a program" and "(3) Step Start."
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[ 2 ] Step Stop (TP/OP/MP)
Operating procedure
Step 1 Press [F2 StepStop].
F2
The current program step in progress will execute and then the program will be
interrupted.
CAUTION: Before restarting the robot after a Step Stop, confirm that there is no
risk of bump or accident in the subsequent robot motion. Restarting the robot after a
Step Stop as it was will execute the step immediately following the current step
displayed.
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Step 1 Press the ST-STOP key.
The LCD changes from
to
t
The current program step in progress will execute and then the program will be
interrupted.
CAUTION: Before restarting the robot after a Step Stop, confirm that there is no
Step Stop as it was will execute the step immediately following the current step
displayed.

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[ 3 ] Halt (Stop) (TP/OP/MP)
Operating procedure
Step 1 Press [F1 Halt] or STOP key.
NOTE: Pressing [F1 Halt] immediately stops the task program selected on the
Program List window; pressing the STOP key immediately stops all task programs.
F1
The current program step in progress will be immediately interrupted so that the
robot comes to a halt.
CAUTION: Before restarting the robot after a Halt, confirm that there is no risk of
bump or accident in the subsequent robot motion. Restarting the robot after a Halt
as it was will execute the interrupted step.
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Step 1 Press the STOP key.
to
p
All running programs will be immediately interrupted so that the robot comes to a
halt.
CAUTION: Before restarting the robot after a halt, confirm that there is no risk of
bump or accident in the subsequent robot motion.

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[ 4 ] Robot Stop (TP/OP/MP)
NOTE: On the RC7M controller, the names of "Robot stop" and "ROBOT STOP button" are changed to
"Emergency stop" and "EMERGENCY STOP button," respectively.
Operating procedure
Step 1 Press the robot stop button.
All running task programs will be immediately stopped so that the robot will stop.
CAUTION: The robot stop procedure turns the motor off; however, the robot may
move unexpectedly due to inertia.
CAUTION: Before restarting the robot after a robot stop, confirm that there is no
Robot Stop as it was will execute the selected program from its beginning.

Step 1 Press the ROBOT STOP button.
t
to
All running programs will be immediately stopped so that the robot will stop.
robot stop as it was will execute the selected program from its beginning.

Step 1 Press the robot stop button.
All running task programs will be immediately stopped so that the robot will stop.
robot stop as it was will execute the selected program from its beginning.
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3.4.3 Switching to External Automatic Operation (TP/OP/MP)

You may switch from internal to external automatic operation from the teach pendant,
operating panel, or mini-pendant. External automatic operation allows you to run the
robot automatically from external equipment.
Switch to external automatic operation when

You run the robot automatically from external equipment.
Operating procedure
Step 2 Press the MOTOR key.
Step 3 Press the shift key on the top screen, and then press the called-up [F10 INT/EXT]
instead of [F4 I/O].
F4
(F10)
The system message dialog box appears as shown in the next step.
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Step 4 Press the OK button in the system message dialog box shown below.
Internal automatic operation has been switched to external automatic operation.

NOTE: After having carried out Steps 1 through 4, pressing [F10 INT/EXT] toggles
between external and internal automatic operation.
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Step 2 Press the EXT/INT key.


The LCD shows the following and the INT OPR lamp goes off.
NOTE: Once external automatic operation is selected, the operating panel no

longer accepts entry except from the EXT/INT key and STOP key.

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3.4.4 Stopping External Automatic Operation (TP/OP/MP)
You may stop external automatic operation from the teach pendant, operating panel, or
mini-pendant using the same procedure as internal automatic operation. Refer to
Section 3.4.2.
You may also stop external automatic operation from external equipment. For details,
refer to the CONTROLLER MANUAL.
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3.4.5 Continue Function

NOTE: This section is described on the basis of the RC7M controller. The RC5
controller is different from the RC7M controller in the following points.
Differences For RC7M controller For RC5 controller
Parts name on the pendant Emergency stop button Robot stop button
Name of system input signals External Emergency Stop Input Robot Stop Input
Operating panel Not available Available
Mini I/O dedicated assignment Available Not available
3.4.5.1 What is the Continue function?

If any of the following conditions arises in automatic operation, the Continue function
suspends the currently running program in the "Continue-stopped" state. It enables the
"Continue start" and "Automatic position restoration."
Conditions that trigger a "Continue stop"

(1) "Halt (Stop) " or "Step Stop" to all tasks
(2) Motor OFF
(3) Error at Level 2
(4) "Emergency stop" triggered by pressing the emergency stop button on the teach
pendant (provided that the Continue parameter is set to "1: Continue")
(5) External emergency stop input signal (system input signal) released (provided that
the Continue parameter is set to "1: Continue)
"Continue start"
Executing the "Continue start" restarts all programs that have "Continue-stopped."
Automatic position restoration

Executing "Continue start" automatically restores the robot to the position where the
program has been halted.
Usage of the Continue function

If the user manually moves the robot arm, rearranges a workpiece that the robot hand
has mistakenly unchucked, and uses the Continue function, then the Continue function
restores the robot arm to the halted position and restarts the halted programs, provided
that the robot arm lies within the valid area.
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3.4.5.2 Parameters for the Continue function
The Continue function enables "Automatic position restoration" and "Continue start."
The user can access those Continue parameters listed in the table below.
User-accessible Continue parameters

Parameter Setting Description
Continue 0: Disable "Continue stop" is effective in any of the
(0: No, 1: Continue) (Factory default) following.
(1) "Halt (Stop)" or "Step Stop"
(2) Motor OFF
(3) Error at Level 2
1: Continue "Continue stop" is effective in any of the
following.
(1) to (3) above
(4) When the emergency stop button on the
teach pendant is pressed.
(5) When an external emergency stop input
signal (system input signal) is released.
Automatic position 1: Enable Auto position restoration takes place during
restoration (Factory default) "Continue start." Set "0" if this function is to
be made ineffective.
0: Disable No automatic position restoration takes
place.
Allowance for J1 to J6 This parameter shows the valid area for
position restoration performing Auto Position Correction. The
(Factory default is valid area is expressed in 103 degrees.
10000 which means
10 degrees.)
Access to the Continue parameters from the teach pendant

Access: [F1 Program]—[F6 Aux.]—[F7 Continue] from the top screen of the teach
pendant
Change the Continue parameters from the teach pendant.
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Access to the Continue parameters in WINCAPSII

Log on at Programmer level.
Continue and Automatic position restoration parameters

Select [File]—[Set Project]—[Interpreter] in PAC manager.
Change the "Robot Stop mode for continue-start" and "Auto position restoration"
parameters.
Allowance for position restoration

Select [Tool]—[Options]—[Trajectory] in Arm Manger.
Change the parameters of the allowable area range for position restoration.
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3.4.5.3 "Continue start" operating procedure
"Continue start" is available only when there are "Continue-stopped" programs.
Listed below are the program stop conditions that differ depending upon the stop input
signal type.
NOTE: "Continue-stopped" programs can be restarted by "Continue start" without
Continue start permission output signal issued.
Program Stop States by Stop Input Signal Type
Continue start
Supporting Continue
Stop input signal type Program stop state permission signal
Mini I/O (CN5) parameter setting
(NOTE)
Emergency stop command 0: Disable On halt ON
Yes
from teach pendant 1: Continue Continue-stopped OFF
0: Disable On halt ON
External emergency stop Yes
1: Continue Continue-stopped OFF
Protective stop
Yes Continue-stopped ON
(only in global type)
All programs Continue-stopped ON
Instantaneous
Specified No
stop Temporary-stopped OFF
programs
All programs --- Continue-stopped ON
Step stop Specified Yes
Step-stopped OFF
programs
Error at Level 2 Continue-stopped ON
Abnormal stop Error at Level 3 Yes
On halt OFF
or higher
NOTE: To use a Continue start permission output signal in Mini I/O dedicated mode, change the parameter
for port 24 from Dedicated output (factory default) to Continue start permission. (Refer to Section 3.4.5.4.)
Continue start from the teach pendant

Pressing the [F10 Continue] starts a program whose status is Continue Stop.
Continue Start from the Teach Pendant
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Continue start from I/Os

Listed below are the operating procedures for Continue start using I/O signals, which
differ depending upon the I/O mode type.
These procedures can start programs whose status is in Continue Stop.
Procedures for Continue Start
I/O mode How to Execute Continue Start

Mini I/O dedicated mode Restart using I/O command
Command area Data area
011
---
Continue Start
I/O standard mode Restart using I/O command

Command area Data area 1 Data area 2 Status area
0001 00000100
--- ---
Program operation Continue start
I/O compatibility mode One millisecond after turning the Continue start signal ON, turn the
(For RC7M controller, this mode can Program start signal ON.
be selected when I/O ports have been
expanded with an I/O expansion
board.)
NOTE: In Continue start, the program number is ignored.
3.4.5.4 Enabling Continue start permission signal (In Mini I/O dedicated
mode)
Access: [F4 I/O.]—[F6 Aux.]—[F1 Set H/W]
Setting the "40: User or System output setting" parameter to "1" on the I/O Hardware
Settings window enables Continue start permission signal output.
"40: User or System output setting" parameter
0: Disables Continue start signal output (factory default)
1: Enables Continue start signal output
I/O Hardware Settings Window Continue Start Permission Signal Enabled
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3.4.5.5 Resetting programs
The teach pendant is capable of resetting programs. Pressing [F7 ProgRst.] stops the
currently running programs and prompts the user to choose "this program" or "all
programs" to be reset.
Resetting Program(s) from the Teach Pendant
From I/Os
Using I/Os can reset programs if not "On halt." The program resetting procedures listed
below change the programs from "Continue-stopped" to "On halt."
Program Resetting Procedures
I/O mode How to Reset Programs

Mini I/O dedicated mode Use I/O commands.
Command area Data area
101
---
Reset all programs.
I/O standard mode Use I/O commands.

(For the RC7M controller, this Command area Data area 1 Data area 2 Status area
mode is available when I/O ports
have been expanded with an I/O 0001 01000000
1000000000000000 ---
expansion board.) Program operation Reset.
I/O compatibility mode Turn the Program Reset signal ON and one millisecond later, turn the
(For the RC7M controller, this Operation Preparation Start signal ON.
mode is available when I/O ports
have been expanded with an I/O
expansion board.)
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3.4.5.6 Continue start errors

Listed below are the errors that could occur in Continue Start.
NOTE: If an error at Level 3 or higher occurs, the "Continue-stopped" programs will be
automatically changed to "On halt" so that "Continue start" becomes no longer
possible.
Error code Error message Level Description

2481 Arm-end position out 3 In Continue-start operation, the current
of allowable range robot arm position is out of the allowance
specified for automatic position restoration.
27A8 Continue-start error. 3 Attempted to execute Continue start when
it is not permitted.
When the Continue start permission signal
is ON, Continue start is possible.
27A9 Continue-start failed. 4 During execution of Continue start, any
impermissible processing has bee
performed.
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3.4.6 SS (Safe Start) Function
In automatic operation, if the inaction status of robot exceeds a specific time because
of awaiting signal from external device, then for the sake of safety, this function either
carries out Continue Stop or it makes the speed of restart operation slow for a
pre-determined time.
Robot is waiting for signal
Exceeding specified time
SS Function
Forced Making the speed of
or restart operation slow for
"Continue Stop."
a pre-determined time
[ 1 ] This function is useful when

Ensuring further safety, as a part of safety function of the equipment.
Examples of processes unsafe for an operator when work is damaged by robot are
given below.
(1) Work (product) is damaged.

(2) No output of signal from the sensor indicating presence of work.
(3) Robot is in a state of inaction and awaiting signal.
(4) The operator mistakes robot's inaction as robot being in "Stop Operation"
(5) The worker rearranges the product that was damaged without first
temporarily stopping the operation of the robot.
(6) Output of signal from the sensor indicating presence of work.
(7) The robot begins the next operation immediately at normal high speed.
↓
These conditions can pose potential danger to the operator.
In this way, with the help of this function you can stop the process automatically or
make the speed of next operation slow for a pre-determined time when the inaction
period of the robot exceeds a specific time because of awaiting signal from external
device and render conditions safe.
[ 2 ] Notes for SS function

• When you are using SS function, perform a preliminary test (including those of
peripherals).
Particularly, make sure that the there is no danger of the speed of the robot in SS
function and the speed of the peripherals not matching and therefore causing mutual
interference.
• This function is very much a part of safety function. Please read "For safe use"
before actual designing or operation for safe use of the robot.
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[ 3 ] Operation mode of SS function

Types of mode
The SS function works in the following two operation modes.
(1) Stop Mode
When inaction period exceeds a specific period, ‘Continue Stop’ is executed in this
mode.
(2) Slow mode
When inaction period exceeds a specific period, the speed of next operation is
slow for a pre-determined time in this mode.
Stop mode
<Function>
• When inaction period exceeds a specific period, ‘Continue Stop’ is executed in this
mode.
This specific time is called as "TC period." Also, period of robot inaction is called
"Inaction Period." The time is counted from 0 from the moment when the external
device temporarily stops the operation of arm or tool. When TC period is exceeded,
Continue Stop is carried out.
From the time TC period is exceeded till the time ‘Continue Stop’ is executed, the
mode is said to be ‘SS Mode’
• If the MOVE operation is started within the TC period, the time count of inaction
period is stopped.
• After "Continue Stop", when operation is restarted and if again it goes into inaction
status, inaction period count will be restarted from 0
<Example of operation>
The figure below depicts the Stop Mode operation.
In this example, inaction period count is started after the end of MOVE operation of
PRO1 and when TC time is exceeded, "Continue Stop" is executed.
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PRO1 PRO2 PRO3 In this figure, if Continue Stop is
executed only for PRO1, PRO3 will
execute.
TAKEARM To prevent it, whenever TC time is
elapsed, execute Continue Stop for all
programs.
MOVE
GIVEARM
TAKEARM
TC time elapse
I1=I2+I3
MOVE
Continue Stop
Slow mode
<Function>
When inaction period exceeds a specific period, the speed of next operation is slow
for a pre-determined time in this mode.
This fixed time is called "TS period." From the time TC period is exceeded till the end
of TS period, the mode is said to be ‘SS Mode’
• Speed of slow operation is called "Slow speed."
• All operation commands which are run in SS modes run slow.
• If all the programs are stopped or all programs are closed in SS operation, then the
SS mode ends.
• Once the slow operation is started, an icon that indicates the SS mode is displayed
in the graph in the Speed Setting window as shown below.
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< Operation example >

The following figure shows an example of Slow Mode operation.
In this example, after the end of MOVE1 operation of PRO1, the counting of inaction
period is started and after TC period is exceeded, the mode switches to SS mode.
Then, the slow operation of MOVE1 of PRO2 is started. MOVE2 of PRO2 is carried out
slowly because it is started in the TS period.
From MOVE2 of PRO1 onwards, the actions take place at original speed.
PRO1 PRO2
TAKEARM
MOVE1
GIVEARM
TAKEARM
TC time elapse
Start of SS mode
MOVE1
MOVE2 TS time elapse

End of slow operation
GIVEARM. From here, normal speed
TAKEARM operation
MOVE2
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Setting procedure of SS function operation mode
(1) Set the mode selector switch to the MANUAL position.
(2) Turn the motor off.
(3) Press [F1] or select [Program] in the window.
F6
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(4) In the Program List window, press [F6 Aux.].
The Auxiliary Functions (Program) window appears as shown below.
(5) Press [F8 SS Mode.].
The Safety Start Setting window appears.
(6) Select the "Safety start mode" by using the cursor keys or jog dial or by touching
the screen directly.
The "Safety start mode" will become highlighted.
(7) Set the desired value and press the OK button.

To disable the SS function : 0
Slow mode :1
Stop mode :2
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[ 4 ] Setting time and speed
You may set the TC period, TS period and Slow speed in either of the following two
ways.
(1) By direct entry of values

Set the TC time, TS time and slow speed from the teach pendant.
This method should be used when you want to enable the SS function for all
operations during automatic operation.
(2) By entering commands in the program

Insert ndTC and ndTS commands in programs.
This method should be used when you want to enable the SS function in a
particular operation during automatic operation.
NOTES
• Do not use both the above ways concurrently. Doing so will make you confused as to
which settings made in those ways are effective. It is DANGEROUS.
• The specified value is effective even if you turn the robot controller off.
• The most recently executed value will becomes the default thereafter.
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By direct entry of values

Setting the TC period
(1) Follow steps (1) through (5) in "Setting procedure of SS function operation mode."
(6) Select the "TC time" by using the cursor keys or jog dial or by touching the screen
directly.
The "TC time" will become highlighted.
(7) Enter an arbitrary TC period and press OK.

You may enter any value from 0 to 600 seconds. The factory default is 60 seconds.
NOTE: Setting "0" will disable the SS function. The SS function is kept disabled
until you enter a value other than 0 to the TC time.
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Setting the TS period
(6) Select the "TS time" by using the cursor keys or jog dial or by touching the screen
directly.
The "TS time" will become highlighted.
(7) Enter any TS time and press OK.

You may enter any value from 3 to 30 seconds. The factory default is 5 seconds.
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Setting the Slow speed

(6) Select the "Reduced speed for safety start" by using the cursor keys or jog dial or
by touching the screen directly.
The "Reduced speed for safety start" will become highlighted.
(7) Enter the desired slow speed and press OK.

You can enter any value from 1% to 10%. The factory default is 10%.
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By typing the commands in programs
TC time setting command
[Function] Set the TC time
[Prototype] ndTc (<TCtime>)
[Explanation] Same as the TC function of any programming language.

Sets the TC time.
Valid values for TC time are 0 to 600 seconds. Factory setting is
60 seconds.
When 0 is set, it is equivalent to executing TC OFF of a
programming language.
[Macro definition] <pacman.h> file is required.
[Related Function] ndTS
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TS time and slow speed setting command

[Function] Sets the TS time and Slow speed.
[Prototype] ndTS (< TS time >, < Slow speed>)
[Explanation] Same as the TS function of any programming language.

Sets the TS time and Slow speed.
Valid values for TS time are 3 to 30 seconds. Factory setting is 5
seconds.
Valid values for Slow speed are 1% to 10%. Factory setting is
10%.
[Macro definition] <pacman.h> file is required.
[Related Function] ndTC
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[ 5 ] Dedicated output in SS function
Function
Outputs in SS mode.
This function is enabled only if set in "Slow mode."
Port number
Compatibility mode : Connector No. 29 of CN10.
Standard mode : Connector No. 11 of CN10.
How it works
This function gives the indication to the operator that the operations are taking place in
"SS mode" by ringing a buzzer or by making the LED ON when this signal is ON.
ON
When operation is in SS mode.
OFF
When TS time is exceeded and operation is not in SS mode.
NOTE: This signal is OFF even in slow operation if TS time is exceeded. The
operations subsequent to signal OFF are carried out at original speed.
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3.4.7 Break Point Function (TP) [Ver. 1.4 or later]

You may set a break point at any program step in programs. If a program is running and
encounters a break point, it will immediately stop. The step where a break point is set
cannot be executed.
You can set a break point only from the teach pendant. (The operating panel cannot be
used for this purpose.)
Max. number of break points that 32 points in all programs

can be set
Operation modes in break points External automatic Cycle start
take effect Internal automatic Cycle start
Teach check Cycle start
Requirements for setting break External automatic Highlighted step
points Internal automatic Highlighted step
Manual Any step
Teach check Highlighted step
Break point stop mode

When a program encounters a break point step, you may choose either of the following
two stop modes:
(1) Immediate halt of that program in which the break point is set
(2) Immediate halt of all running programs
Program status when stopped at the break point

When the program is stopped at the break point, the teach pendant screen will display
the following 2 status.
(1) Halt at BP (Break point): Only the program in which the break point is set is
stopped (factory default)
(2) Continue Stop at BP (Break point): Control stops the program at the program step
where Continue Start is possible
(Halt at the BP is functionally equivalent to Halt. Continue Stop at BP is functionally
equivalent to Continue Stop.)
Saving the break point settings

All break points you have set will be saved even if the controller power is switched OFF,
except for the following:
Break points will be released when:
• You clear the break point
• You clear all the break points
• The program is edited
• You delete the program
• You recompile the program with the teach pendant
• Data of PAC Manager is received from WINCAPSII
• The operation device is switched to the operating panel
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Restarting after BP stop
Restart the program at the BP stopping step to proceed the robot operation.
According to the BP stop status, the program will restart in either of the following two
ways:
Halt at BP: Only the program in which the break point is set will be restart.
Continue Stop at BP: Programs will Continue Start if possible.
When this operation needed

This operation is needed when you want to stop the program at any step in a program.
Setting a break point

F1
The Program List window appears, as shown in the next step.
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Step 3 Select a program in which you want to set break points.

F5
Step 4 Press [F5 Edit.] or [Display].

The program steps appear as shown below.
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Step 5 Select a step where you want to set a break point.
The selected step will become highlighted.
BP button
Step 6 Press [BP].

The BreakPoint Setting window appears as shown in the next step.
Step 7 Select "Set BreakPoint" and press the OK button.
A red circle will appear at the left side of line number where the break point is set.
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Clearing the break point

Step 1 To clear the break point already set, choose the program step following Steps 1 to 5
given in the above section. The next screen will appear.
The step, where the break point is set, is highlighted.
Step 2 Press [BP].
Step 3 Select "Reset BreakPoint" and press the OK button.

The red circle marked at the left side of the line number disappears and the break
point will be cleared.
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Setting the Break Point Stop mode
Step 2 Press [F1 Program] on the top screen.
F1
F6
The Auxiliary Functions (Program) window appears as shown in the next step.
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Step 4 Press [F5 BP Settng].
The Select BreakPoint setting window appears as shown below.
Step 5 Select whether to Stop only a task on BP or to Stop all tasks, then press OK.
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Executing BP (break point) stop operations
Auto mode
Step 1 Set a BP (break point) in any step you want to do so.
For the setting procedure, see "Setting a break point" given earlier in this section.
Step 2 Start the program in which the BP (break point) is set.

For program starting, refer to Section 3.4 "Auto Mode."
Step 3 The program will halt at the step where the BP (break point) is set.
Note 1 About Step Start

When the step to be executed after Step Start is the BP Stet Start, the
program first Step Stops at that step. After that, if restarted, the program will
temporarily stop at the BP step.
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Teach check mode

In teach check mode, there are two types of BP setting display.
Red circle Step in which you can stop at BP by the BP setting
Gray circle Step in which there is BP setting step, however it does not stop at the
break point
• The command of Step Back is effective for only controlling the robot
motion and this step cannot be executed when running any program
referring to the historical record of robot motions.
• BP step at the time of step back
Step 1 Set a BP (break point) in any step.

For the setting, see "Setting a break point" given earlier in this section.
Step 2 Cycle Start the program in which the BP (break point) is set.
For program starting, refer to Section 3.3 "Teach Check Mode."
Step 3 The program will halt at the step in which the BP (break point) is set showing the
screen shown below.
Note 1 About StepStart

When the step to be executed after StepStarted is the BP-set step, first step
stops at the BP-set step. After that, if you restart it, the program temporarily
stops at the BP.
Note 2 Any program steps with a gray-circled BP-set will not stop at the BP step after
CycleStarted or StepStarted..
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Clearing all break points
Step 1 Follow Steps 1 to 4 in Break Point setting.
(You can choose any program.)
Step 2 Press [BP]. The BreakPoint Setting window appears as shown below.
Step 3 Select "Clear All BreakPoints" and press the OK button.

Red circles marked on all break points will disappear and the break points will be
cleared.
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3.4.8 Local Variable-Related Enhancement (TP)

[Ver. 1.9 or later]
3.4.8.1 Referring To or Writing Into Local Variables
This new local variable-related enhancement allows you to refer to or write into local
variables (integer, floating-point, double-precision, vector, position, joint,
homogeneous transform matrix, string, and DEFIO variables) in a program.
This enhancement includes the following variable facilities:
(1) Quick reference

You can immediately refer to local variables defined in a program just by specifying a
desired program line.
(2) Referring to registered variables

You can refer to local variables as well as global variables. Use this facility when you
cannot designate a program line since the program is running or when you want to
refer to variables in more than one program.
(3) Running a program with local variable arguments

You can run a program with local variable arguments independently.
NOTE: This facility will not be supported for a program with array variable arguments,
e.g., PROGRAM SUB1 (li%(10)).
(4) Referring to or writing into local variables in WINCAPSII

In WINCAPSII you can refer to or write into local variables.
NOTE: You can use the above facilities (1) through (3) with the teach pendant, not with
the mini-pendant or operating panel.
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3.4.8.2 Quick Variable Reference (TP)
The quick variable reference function allows you to refer to local variables defined in a
program, just by specifying a desired program line and pressing the QUICK reference
button provided in the coding list window as shown below.
QUICK
reference
button
NOTE: Only in manual mode, you can highlight a desired program line or move the
cursor to a desired line.
The "Variables included in one line" window (see below) appears where local variables
involved in the currently highlighted line and global variables are displayed. The
sample window below displays variable "I1" in the STEP STOP program line.
Integer, floating-point, double-precision, or DEFIO variables, if any, will display with
their values.
If DEFIO variables are referred to, "IO variable type," "Port address" and "Mask info"
also appear.
Display switcher button
Values of integer, floating-point,

double-precision, and DEFIO
variables only will display.
In the case of DEFIO variables,

"IO variable type," "Port
address" and "Mask info" also
appear.
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NOTE 1: If the index of the referred-to variable is out of range (Example 1 below) or not
a numerical value (Example 2 below), then the index field of the variable name will
show "?."
(Example 1) Although the number of integer variables defined is 200, you attempt to
refer to integer variable I201 written in a program line.
(Example 2) You attempt to display a variable with macro name index like I[slotnum].
If the index field shows "?," then no value will display even for integer, floating-point,
double-precision, and DEFIO variables. Press the [Display.] and choose the index you
want to refer to.
NOTE 2: If the port address of a referred-to DEFIO variable is out of the specified I/O
range, then the DEFIO variable will display in gray.
NOTE 3: An array variable assigned to an argument cannot be displayed.
(Example) PROGRAM SUB1 (li%, li2%(10))
The li2 cannot be displayed since the argument is an array variable.
With the display switcher button, you may switch from the "Variables included in one
line" to "Variables included in all lines." The sample window below shows variables
included in all program lines in the currently selected program.
Display switcher button
Variable name index field

shows "?".
Variable types.
NOTE 1: While the "Variables included in one line" window displays not only local
variables but global variables, the "Variables included in all lines" window cannot
display global variables.
NOTE 2: In the "Variables included in all lines" window, all array variables will display
with "?" in their indexes. Press the [Display] and choose the index you want to refer to.
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Pressing [Register] registers variables. You can refer to those registered variables with
the display facility.
[Register] button
NOTE 1: If the index field of a variable name shows "?" on the above screen, the
variable cannot be registered here.
NOTE 2: Any DEFIO variable whose port address is out of the specified range cannot
be registered here.
Press [Display] shown below to display the values of the selected variable (see the
next page)
NOTE: If you select a DEFIO variable whose port address is out of the specified range,
its details cannot be displayed.
[Display] button
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The next sample screen shows the values of locally defined position variable PX (3).
On this screen, you may modify the local variable values or replace local variables as
well as for global variables. To register the modified variables, press [F12 Register].
Press the Shift button to shift

the menu bar and show [F12
Register] button here.
NOTE 1: When a variable's index field is "?," pressing [Display] will display a variable
whose index is 0. Move the cursor to that index.
NOTE 2: To modify the current value of a DEFIO variable, you need to hold down the
deadman switch, same way as modifying I/Os.
NOTE 3: This quick reference facility cannot take position data into local variables.
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3.4.8.3 Referring to Registered Variables (TP)
This registered variable reference function allows you to refer to previously registered
variables. Use this facility when you cannot designate a program line since the
program is running or when you want to refer to variables in more than one program.
To register variables, use [Register] in the variable quick reference function (see
Section 3.4.8.2) or [F12 Register] on the variable value screen. It is possible to register
a maximum of 50 variables.
To call up the registered variables window, press [WATCH] in the coding list window or
[F6 RegVar.] in the Select Variable Type window.
The Registered variable list window will appear as shown below.
NOTE 1: Global variables registered will appear as "Global" in the program name
column (ProName).
NOTE 2: If the program name, variable name, or the number of dimensions of a
registered variable is modified and compiled, then the variable will appear in gray.
NOTE 3: If the program name, variable name, I/O variable type, port address, or mask
information of a registered DEFIO variable is modified and compiled, then the DEFIO
variable will appear in gray.
Press [Display.], and the values of the selected variable will appear where you may
modify those values or replace local variables as well as for global variables. (See
Section 3.4.8.2.)
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3.4.8.4 Running a Program with Local Variable Arguments (TP)

You can run a program containing local variable arguments in stand-alone mode or edit
those arguments.
If you attempt to start an on-halt program containing arguments in the Program List
screen, the Argument setting window will appear. The sample screen given below will
appear if you attempt to start the PROGRAM SUB1 (li%).
NOTE: If a program has an argument containing an array variable, no Argument
setting window will appear. Instead, a run-time error will occur with the error message
736F "Cannot start any programs with array argument(s)."
To modify argument values, press [Display.]. After modification, check the new
argument values in the Argument setting window and then press [OK].
To modify arguments, press

[Display]. You can modify it in
the same way as for global
variables.
As shown below, the same prompting dialog as for ordinary start will appear. After that,
the same starting operation as usual will take place.
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3.4.8.5 Referring To or Writing Into Local Variables in WINCAPSII
In WINCAPSII, you may refer to or write into local variables.
First, press the Connect button to make Variable Manager in WINCAPSII online with
Connect button
Next, open the pull-down menu and select a program whose local variables should be
referred to or modified.
List of programs currently

loaded in the robot controller.
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The sample window below displays local variables defined in program PRO3 and the
contents of the array argument of the variable named BUFF.
Select a local variable type to

display its contents. In this
example, local integer
variables in program PRO3 are
displayed.
If the local variable has an

array argument, => icon will
appear in the reference
column. Double-click this icon
to display its contents.
To return to the previous

window, click here.
The subsequent value change procedure will be the same as for global variables.
NOTE 1: To modify DEFIO variables in WINCAPSII, you need to hold down the
deadman switch of the teach pendant.
NOTE 2: When this facility is running in WINCAPSII online, if the controller loads any
new programs, Variable Manager automatically goes offline, issues the following
message, and no longer displays any variables.
If so, make Variable Manager online again.
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3.4.9 Changing Route in Restarting the Pass Motion
[Ver. 1.4 or later]
When stopped in the pass motion, for the route for the robot motion after restarting it,
you can select one of the following two options.
(1) Move the robot end to the target position after restarting the pass motion without
any change.
A B
Stopped
position
Route after
restarted
Pass motion without any change (Traditional)
(2) The new feature can execute the pass motion to the target position on the path
previously defined (PTP control) or to the target position on the path newly defined
after restarting.
A B
Stopped
position
Pass
after
restarting
New pass motion, added in Version 1.4
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Precautions for using the New Feature

(1) In spite of the interpolation method of pass motion command, the movement of
robot to the target position before the pass motion, when restarting the robot runs
in the PTP control mode. When the movement on the 2 straight lines is considered
to be the pass motion, the end of robot moves on the plane, determined by the 2
straight lines, resulting in the route shown by the solid line (as shown in the
following figure). When the robot is stopped or restarted during the pass motion,
the route becomes the one that is shown by the broken line, however, the end is
not moved on the plane, determined by the 2 straight lines, as in the original
operation. The end moves on the plane or under the plane, depending on the
stopping position. Besides, as the posture of the robot arm is also changed, be
sure to run the robot after confirming that there is no interference with any
surroundings.
Difference of the robot end route depending

on the stop process enabled or disabled
(2) This function will become effective if the specified stop process is performed in the
interval within the pass motion started and ended. When restarting, as the robot
moves to the target position before pass motion started, the operation returning
the robot end to the target position before pass motion started is sometimes
performed even when the robot stops near the target position after the pass motion
started.
(3) As the movement after restarting becomes the pass motion of the movement to the
target position before pass started and movement to the target position after pass
started, depending on the stop position, error may occur when restarting and the
operation is incomplete.
(4) When the pass motion command is Step-run, movement to the target position is
not possible even after restarting and the robot will proceed to execute next step of
the program.
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Changing the robot end route
Perform the operations according to the following procedure. This setting can be made
only from the teach pendant.

Press [F2 Arm] on the top screen.
F2
F6
The Auxiliary Functions (Arm) screen appears.
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Step 3 Press [F7 Config].
The User Preferences window appears.
Step 4 Select [70: Pass Motion setting (0: Disabled, 1: Enabled)] using the jog dial or
buttons from [F1 Back] to [F3 Jump To].
The selected line will become highlighted.
Press [F5 Change].
F5
The numerical keypad will appear.
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Step 5 Enter 0 or 1 from the numeric keypad.
If you enter 0, "(1) Move to the target position after starting the pass motion" will be
performed; if you enter 1, "(2) Pass motion of movement to the target position before
pass start (PTP control) and movement to the target position after pass start" will be
performed, as mentioned in the beginning of this section.
To cancel the entered value, press the CLR or BS button.
Confirm the entered value. If it is right, press the OK button to fix it.
If you want to cancel this operation as it is, press the CANCEL button.
The numeric keypad disappears and [70: Pass Motion setting (0: Disabled, 1:
Enabled) ] is updated by the newly entered value.
Press the OK button. To cancel the value, press the Cancel button.
The setting procedure is now completed. In further operations, the set

movement/motion will be executed.
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References
At the time of restart, you may switch between the enable and disable of movement to
the target position before pass motion start, by setting the [71: Pass Motion End
Range]. The [71: Pass Motion End Range] may be set by the distance to the target
position.
The setting procedure is the same as the [70: Pass Motion setting (0: Disabled, 1:
Enabled)]. Refer to the (1) to (5) process of setup changing method. It becomes
enabled when the value to be set is more than 1.
L
A
B
Relation between the movements based

on the set distance and stopping position
With [71: Pass Motion End Range] being set to L, if the straight line movement from A
to B and from B to C as shown above is considered as a pass motion, then restarting
will run the robot to B if the stop position is D. However, if the stop position is E, then the
robot will be directly moved to C instead of moving to B.
Notes
The set values are given as an approximate range. They will not the absolute position.
Even changing those values will sometimes bring no actual operation, depending upon
the current running speed or the interpolation method.
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3.4.10 Supervisory Task (Software PLC) [Ver. 1.7 or later]
3.4.10.1 Outline of Supervisory Task
System software version 1.7 newly supports a supervisory task (programmable logic
control software (software PLC)). This enables the robot controller to centralize control
of an entire facility.
If defined as a supervisory task, a task program written in PAC can keep running
independently of normal task programs and operation modes. You may define ten
supervisory tasks (TSR0.PAC to TSR9.PAC) and operate them with the system
software version 1.7 or later. It is useful to define programs described below as
supervisory tasks.
For safety, names of supervisory tasks are restricted to TSR0.PAC to TSR9.PAC and
any motion-control programs are prohibited in supervisory tasks.
Note: [Ver. 2.2 or later] Enhancement by the folder feature added

(1) The folder feature newly added enables supervisory tasks having the same
name to coexist in a robot controller, as long as those tasks are located in
individual folders.
The function and operation of supervisory tasks are the same as those in the
previous system version, except that the number of supervisory tasks allowed is
changed from 10 to 32 (TSR0 to TSR31).
(2) Up to 32 supervisory tasks can run simultaneously independent of normal task
programs. If more than 32 supervisory tasks are made active simultaneously,
the error "7799: The maximum number of TSR was exceeded." occurs,
terminating all programs including supervisory tasks.
Use the following as supervisory tasks:

(1) Customizing operation screens on the teach pendant, which can contain up to 500
buttons and 50 screens (Refer to the PROGRAMMER'S MANUAL I, Section 13.5
"Customizing TP Operation Screens.")
(2) Writing programs for automatic recovery process to be followed if an error occurs
in facilities or robots
(3) Controlling facilities (As an alternative of sequencer for facility scale of 200 I/O
points and approx. 100 steps in a rudder command)
Supervisory tasks feature:

(1) Written in PAC language. (Up to 10 programs may be defined and their names. are
fixed to TSR0.PAC to TSR9.PAC.)
(2) Arithmetic/logical operation commands, I/O get commands, program control
commands only executable.
(3) Highest priority (101) over all other normal task programs (whose priority will be
automatically changed to 102 or more)
(4) Limited occupation time frame (Uses 2 ms every 8 ms).
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Supervisory task start condition parameters

(1) Supervisory task enable/disable parameter
"Not Use Supervisor TASK" or "Use Supervisor TASK" in the Supervisor TASK
Setting window
(2) INIT run mode parameter, whether or not to involve motor on and CAL
"INIT:(not [MOTOR ON + CAL])" or "INIT:(MOTOR ON + CAL)" in the INIT Setting
window
(3) External speed parameter (10 or 100) for INIT run mode
"INIT Set SPEED 10" or "INIT Set SPEED 100" in the INIT Setting (SPEED)
window
Starting supervisory tasks

Supervisory tasks may be started by any of the following operations or events provided
that:
- the supervisory task mode has been enabled (by selecting the "Use Supervisor
TASK" in the Supervisory TASK Setting window) and
- any supervisory task program (TSR0 to TSR9) exists.
(1) Turning the robot controller on

(2) Switching the operation mode from Manual to Auto
(3) Pressing the [F1 START] in the Supervisor TASK Setting window
(4) Selecting and starting a supervisory task in the Program List window in Auto or
Teach Check mode
If a supervisory task is initiated, the supervisory task icon will appear in the task bar as
shown below.
Supervisory task icon
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Terminating supervisory tasks
Supervisory tasks will terminate if any of the following events occurs:
(1) Turning the robot controller off
(2) Pressing the [F6 STOP] in the Supervisor TASK Setting window
(3) Loading or compiling a project
(4) Error in a supervisory task itself
(5) Level 4 error or higher one
(6) Reading or writing from/onto a floppy disk
(7) Receiving a file from WINCAPSII
(8) Making the supervisory task mode inactive to delete it from optional features
Supervisory task commands

(1) INIT (Initialize the robot controller)
This command may turn the motor power on and execute CAL depending upon the
INIT run mode setting. For details about INIT command, refer to the
PROGRAMMER'S MANUAL I.
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3.4.10.2 Using Supervisory Tasks

[ 1 ] Making the supervisory task mode active
The supervisory task mode is an optional feature, so you need to make it active
according to the procedure given below.
(1) Calling up the System Extension window

Access: [F6 Set]—[F7 Options.]—[F8 Extnsion]—[F5 Input ID] from the top screen
of the teach pendant
(2) Adding a supervisory task mode

Enter "1111" from the numeric keypad.
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Press the OK button. The supervisory task mode will be added.
(3) Restarting the robot controller

Turn the controller off and then on. The supervisory task mode becomes active
and you may make supervisory task settings.
On the top screen, press the SHIFT key and check that the S-TASK is displayed in
F8 of the menu bar.
F8
Press [F8 S-TASK]. The Supervisor TASK Setting window appears as shown
below.
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[ 2 ] Setting supervisory task parameters

(1) Supervisory task enable/disable parameter
This parameter enables or disables the supervisory task mode.
Access: [F8 S-TASK]—[F7 USE] from the top screen of the teach pendant
In the Supervisor TASK Setting window shown below, choose the desired setting
and press the OK. To make no change, press the Cancel.
(2) INIT execution mode parameter

This parameter specifies whether or not the execution of the INIT command will
involve turning on motors and performing CAL.
Access: [F8 S-TASK]—[F8 Mode] from the top screen of the teach pendant
In the INIT Setting (MOTOR ON + CAL) window shown below, choose the desired
setting and press the OK. To make no change, press the Cancel.
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(3) INIT external speed parameter
This parameter determines whether the external speed will be 10 or 100 at
execution of INIT command.
Access: [F8 S-TASK]—[F9 Speed] from the top screen of the teach pendant
In the INIT Setting (SPEED) window shown below, choose the desired setting and
press the OK. To make no change, press the Cancel.
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[ 3 ] Starting supervisory tasks

Turn the robot controller on.
Supervisory tasks will start automatically provided that:
- the supervisory task mode has been enabled by selecting the "Use Supervisor
TASK" in the Supervisory TASK Setting window and
NOTE: Under the above conditions, supervisory tasks will be started even in Manual or
Teach Check mode.
To start no supervisory task, turn the controller on while holding down the deadman
switch.
Switch the operation mode from Manual to Auto from the teach
pendant or an external I/O.
Supervisory tasks will start automatically provided that:
Switching the operation mode from an external I/O when the controller is placed in the
external mode will also start supervisory tasks. Before doing this, make sure that no
normal programs are running.
NOTE: Switching to Auto mode by using Enable Auto signal and Robot Error Clear
signal will also start supervisory tasks.
Press the START button in the Supervisor TASK Setting window.

From the top screen of the teach pendant, choose [F8 S-TASK]—[F1 START] under
the following conditions:
Select and start a supervisory task in the Program List window in Auto
or Teach Check mode.
From the Program List window, choose a desired supervisory task program(s) (TSR0
to TSR9) and start it, provided that any supervisory task program(s) exists.
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[ 4 ] Terminating supervisory tasks
If any of the following operations takes place or any of the following errors occurs when
a supervisory task program is running, then the supervisory task will terminate.
Turn the robot controller off
Press the STOP button in the Supervisor TASK Setting window

Access: [F8 S-TASK]—[F6 STOP] from the top screen of the teach pendant
Load or compile a project

Access: [F6 Set]—[F1 Load!] from the top screen of the teach pendant
or
Access: [F1 Program]—[F6 Aux.]—[F12 Compile] from the top screen of the teach
pendant in Manual mode
Error in a supervisory task itself

If any error occurs in a supervisory task itself, the supervisory task currently running will
terminate.
Level 4 error or higher one

If an error at level 4 or above occurs in supervisory tasks, normal tasks, or robot
controller system, then the supervisory task currently running will terminate.
Read or write from/onto a floppy disk

Reading data stored in a floppy disk to the robot controller or writing data stored in the
robot controller to a floppy disk will terminate the currently running supervisory task.
Access: [F6 Set]—[F3 FD.]—[F1 Read.] from the top screen of the teach pendant
Access: [F6 Set]—[F3 FD.]—[F2 Write.] from the top screen of the teach pendant
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Receive a file from WINCAPSII

Receiving an execution file or parameters from WINCAPSII will terminate the
supervisory task currently running.
Make the supervisory task mode inactive to delete it from optional

features
Access: [F6 Set]—[F7 Options.]—[F8 Extnsion]—[F4 Remove] from the top screen of
the teach pendant
Note that the supervisory task setting remains enabled.
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3.4.10.3 Restrictions on the Use of Supervisory Tasks
The purpose of a supervisory task is to centralize control of an entire facility. It involves
placing some restrictions on the use of it.
[ 1 ] Restrictions on the normal program operation

(1) No motion commands or vision commands are executable in a supervisory task.
To execute those commands, make a user program containing them and run it as
a supervisory task.
(2) A supervisory task may support robot stop and start commands, but not support
Temporary stop, Instantaneous stop, Step stop, or Break point stop. It also ignores
the SUSPEND command.
(3) If you want to start a supervisory task only when the robot controller is turned on,
then use internal I/Os to bypass the overlapped initiation of the supervisory task.
(4) If a supervisory task is started by any other supervisory task, then no priority
options or cycle options are supported. This means that these supervisory tasks
may conflict with each other.
(5) A supervisory task is so designed that it cannot be self-started repeatedly. To
repeat it, use loop commands.
(6) In Teach Check mode, releasing the deadman switch will not stop running
supervisory tasks.
(7) A supervisory task does not support Step check or Step back.
(8) A HOLD command for a supervisory task will be ignored.
(9) A normal task cannot manage any supervisory task by using KILL or SUSPEND
command or other means.
(10) During execution of a supervisory task, you may make vision board settings.
However, it may block the operation of the supervisory task.
(11) If an error occurs or an emergency stop signal is inputted, a supervisory task
cannot run any normal task.
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[ 2 ] Rules for using a supervisory task

(1) Avoid using the following commands in a loop to repeat them in a supervisory task.
Otherwise, the supervisory task itself may not terminate. This is because a
supervisory task has higher priority over normal task programs.
INIT, RUN, KILL, SUSPEND commands
(2) Avoid simultaneous execution of RUN and SUSPEND commands or that of RUN
and KILL commands to a same program in a supervisory task. Doing so may
freeze the robot system, skip a Stop command, or cause any other failures. To
recover from such states, you need to restart the robot controller.
(3) If a semaphore (priority order) is specified in a supervisory task, there is a
possibility that a lower priority task may get a semaphore. This is because using a
semaphore may cause a supervisory task to lose highest priority 101.
(4) If a supervisory task that repeats normal tasks runs, then mode switching from the
external equipment may become no longer possible.
To recover from such states, stop the supervisory task from the teach pendant.
To prevent such states,
- design programs so that they will conditionally start according to Auto mode or
External mode, or
- design a supervisory task itself so that it will be terminated from external input.
Starting a user program during switching to External mode may issue an alarm.
Correct the program so that it will conditionally start according to the mode, just as
above.
[ 3 ] Rules for a supervisory task mode not in use

When a supervisory task mode is not in use, programs named TSR0 to TSR9 execute
as normal task programs. To debug supervisory task programs, therefore, disable a
supervisory task mode and use Teach Check mode or Break Point function.
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3.4.11 Supervisory Task Extension [Ver. 1. 95 or later]
Conventional supervisory tasks supported by the main system software version 1.7 or
later are designed to terminate if Level 4 error or higher one occurs.
Main system software version 1.95 newly supports the supervisory task extension that
prevents supervisory tasks from terminating if Level 4 error occurs except memory
errors (errors 7000s).
3.4.11.1 What is a supervisory task extension?

On some occasions, e.g., when the robot controller is controlled by external equipment
in RS232C communication, the robot controller is required to operate independently to
some extent.
The solution is to use a supervisory task. However, current supervisory tasks will
terminate if Level 4 error or higher one occurs so that the communication will stop and
the external equipment will no longer monitor the controller status.
To prevent it, the supervisory task extension limits termination to essential occasions
only. If the extension is enabled, supervisory tasks will no longer terminate even if
Level 4 error such as a servo error, operation error, or I/O error occurs. They will
terminate only if a memory error (error 7000s) occurs.
If Level 5 error occurs, supervisory tasks will terminate as they have been.
The table below lists whether supervisory tasks will terminate or not if the following
level errors occur.
Error code 7*** 6*** 5*** 4*** 3*** 2*** 1***

Level 5 T T T T T
Error Level 4 T T/R T/R T/R T/R
level
Level 3 or R R R R R R R
lower
T: Terminate.
T/R: Keep running if the supervisory task extension is enabled.
R: Keep running.
/: Not applicable.
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3.4.11.2 Enabling the supervisory task extension

The supervisory task extension is optionally provided. You need to enable the
extension from the top screen of the teach pendant according to the steps given below.
(1) Call up the System Extension window.

Access: [F6 Set]—[F7 Options.]—[F8 Extnsion]
F5
(2) Press [F5 Input ID].

The numeric keypad will appear where you enter the necessary ID code--1111 for
conventional supervisory task or 1112 for supervisory task extension.
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(3) Press the OK button. Your selection will be saved.
(4) Reboot your robot controller to make the new setting go into effect.
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3.4.12 Modification of Processing Time Exclusively Occupied by

Supervisory Tasks [RC7 Ver. 2.0 or later]
This new feature allows you to modify the processing time exclusively occupied by
supervisory tasks in a processing cycle (8 ms) to be applied when the supervisory
tasks and user tasks (PAC programs) run concurrently (multitasking).
With this feature, you can switch the priority levels between supervisory tasks and user
tasks at the desired timing. This makes it possible to assign higher priority to
processing of supervisory tasks during particular operation or vice versa.
3.4.12.1 What is the processing time exclusively occupied by supervisory

tasks?
As shown below, the task processing cycle of the robot controller is 8 ms that is shared
by supervisory tasks and user tasks.
When supervisory tasks and user tasks are running concurrently, the processing time
exclusively occupied by supervisory tasks is 2 ms by default (because the supervisory
tasks are given the highest priority "101" by default).
During the remaining 6 ms, user tasks have higher priority than supervisory tasks
(because user tasks are given higher priority than supervisory tasks by default).
Processing Time Exclusively Occupied by Supervisory Tasks in the Processing Cycle (by default)
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3.4.12.2 Choice of processing time periods to be exclusively occupied by
supervisory tasks
You can make a choice from the following five processing time periods:
0 ms, 2 ms, 4 ms, 6 ms and 8 ms in an 8 ms task processing cycle
Example: If you select "4 ms," the execution time required for supervisory tasks will be
shorter and that for user tasks, longer than ones required by default (2 ms).
Note: If you select "0 ms," supervisory tasks will be processed only when no user
tasks are being processed. If there is no free time, no supervisory tasks will be able to
be processed.
Note: If you select "8 ms," no user tasks can be processed when any supervisory task
is being processed. To process user tasks, you need to insert a process of DELAY or
WAIT for getting an arm semaphore in the supervisory tasks.
3.4.12.3 Modifying the processing time exclusively occupied by

supervisory tasks
You can modify the processing time to be exclusively occupied by supervisory tasks in
PAC programs or with the teach pendant.
This modification can be made even if any supervisory task is executing and it will
immediately take effect.
(1) Call up the processing time window (Occupation time setting).
Access: [F8 S-TASK]—[F10 Occupy]
(2) Select the desired processing time and press [OK].
In PAC programs
Use the SETOCCUPATIONTIME command. Refer to the PROGRAMMER’S MANUAL I.
Syntax SETOCCUPATIONTIME <Processing time>
Coding example SETOCCUPATIONTIME 4 'Set 4 ms/8 ms
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3.4.13 Supervisory Task Start Mode [RC7 Ver. 2.2 or later]

In system software versions earlier than 2.2, any of the following events activates all
supervisory tasks in the robot controller.
(1) Turning the controller power on
(2) Switching the operation mode from Manual to Auto mode
(3) Pressing [F8 S-TASK]–[F1 START]
The supervisory task start mode newly added in version 2.2 or later provides the
following three choices: "Start all supervisory tasks," "Start supervisory tasks in a root,"
and "Do not start supervisory tasks."
Access: [F8 S-TASK]—[F2 Setting]
The Supervisory Task Start Mode window appears.
• Start S-TASKs in a route: Selecting this starts only supervisory tasks in the current
route when any of the above three events occurs.
• S-TASKs is not started: Selecting this starts no supervisory tasks when any of
the above three events occurs.
Note: Independent of the current setting of the supervisory task start mode,
supervisory tasks can start by selecting them on the Program List or by using a RUN
command.
3-157
Chapter 4
General
Introduction to
Coordinates and
Figures
This chapter explains the coordinates used for the

robot and figures of the shoulder, elbow, and wrist.

panel, or mini pendant undergo any strong shocks,
panel, or mini pendant with your fingers only,
never with the tip of a pen or any pointed object.
4.1 Coordinates, Interference Check Area,

and Figures in 6-Axis Robots
(V*-D/-E/-G Series)
4.1.1 Coordinates
This section describes the coordinates required for correct handling of the robot.
[ 1 ] Base coordinates
[1.1] Base (world) coordinates and work coordinates
The base coordinates are so-called world coordinates which refer to 3-dimensional
Cartesian coordinates whose origin is at the center of the robot basement. It has
components Xb, Yb, and Zb which are identical with X, Y, and Z in X-Y mode explained
in Section 3.2.1, "Running the Robot Manually,"[ 2 ] X-Y mode."
Work coordinates are 3-dimensional Cartesian coordinates defined for each operation
space of workpiece. The origin can be defined anywhere and as much as needed. It
lies at a corner of the rectangular parallelepiped envelope of an object workpiece as
shown below. Work coordinates are expressed by the coordinate origin (X, Y, Z)
corresponding to the base coordinates and the angles of rotation (Rx, Ry, Rz) around X,
Y and Z axes of base coordinates.
If work coordinates are not defined, base coordinates go into effect.
Figure 4-1. Base Coordinates and Work Coordinates
4-1
[1.2] Position data
Position data refers to a set of data which includes seven components of base
coordinates. Of these seven components, three are robot flange center coordinates
(the end-effector tip coordinates if an end-effector is defined) and four are current robot
attitude components, as shown below.
Position data allows you to represent the current position of the robot flange center and
object points.
Position data:
X
Y Coordinate values (in mm) Defines the position of the robot flange center or the
Z end-effector center.
RX Yaw angle: Rotation angle around X axis (in degrees)
RY Pitch angle: Rotation angle around Y axis (in degrees) Defines the robot attitude.
RZ Roll angle: Rotation angle around Z axis (in degrees)
FIG Figure (Value: 0 to 31)
Figure 4-2. Components of Position Data
A set of X, Y, and Z coordinate values represents the position of the robot flange center
(or tip of the end-effector if defined) expressed in base coordinates (Xb, Yb, and Zb) in
units of mm.
As shown in Figure 4-3, the yaw, pitch, and roll angles, which are expressed by RX, RY,
and RZ, refer to rotation angles around the respective axis of Xm, Ym, and Zm defined
in mechanical interface coordinates (refer to Section 4.1.1, [2.1]) whose origin is at the
center of the flange surface. These angles are expressed in units of degree.
With respect to the positive (+) direction on axes of the base coordinates, clockwise
rotation is treated as positive (+).
You should always preserve the rotation order of RZ, RY, and RX. Changing it will
cause the robot to take a different attitude in spite of the same rotation angle defined.
Figure represented by FIG value refers to a figure of robot arm joints. It is explained in
Section 4.1.3, "Figures of the Shoulder, Elbow, and Wrist."
4-2
+Ym
Pitch angle (RY)
Roll angle (RZ)

+Zm +Xm
Yaw angle (RX)
Figure 4-3. Roll, Pitch and Yaw Angles
4-3
(RX, RY, RZ) = (0, 0, 0) (RX, RY, RZ) = (180, 90, 90)
Zm
1
Ym
Zm Ym
Xm
Xm
1 Rotate 90 degrees 3 Rotate 180

around Z axis degrees around
Roll angle Yaw angle X axis
(RX, RY, RZ) = (0, 0, 90) (RX, RY, RZ) = (0, 90, 90)
2 Rotate 90
Zm degrees Ym
around Y axis Zm
Ym 3
Xm
2 Pitch angle
Xm
(Rx, Ry, Rz) = Attitude of (180, 90, 90)
Figure 4-4. Examples of roll, pitch and yaw angle rotation

Attitude: (Rx, Ry, Rz) = (0, 0, 0) → (Rx, Ry, Rz) = (180, 90, 90)
4-4
[1.3] Defining work coordinates

Two procedures, 3-point teaching and direct value entry, are available for defining work
coordinates.
Defining work coordinates by 3-point teaching

[F2 Arm]—[F6 Aux.]—[F5 Work]—[F4 AutoCalc]
In this method coordinates are created by teaching three points, namely, the origin of
work coordinates, a point on X-axis and a point on X-Y plane.
Hand of robot
Work coordinate origin
Point on X axis Point on X-Y plane
Defining work coordinates by direct value entry

[F2 Arm]—[F6 Aux.]—[F5 Work]—[F5 Change.]
Enter the coordinate origin (X, Y, Z) corresponding to the base coordinates and rotation
angles (Rx, Ry, Rz) around the X-axis, Y-axis and Z-axis of base coordinates.
4-5
Step 1 On the top screen of the teach pendent, press [F2 Arm].
Step 2 Press [F6 Aux.] in the Current Robot Position window.
Step 3 Press [F5 Work] in the Auxiliary Functions (Arm) window.

The Define Work Coordinates window appears as shown below.
F4
Select the coordinates by using the cursor or jog dial, and then press [F4
AutoCalc].
Step 4 The Work coordinate automatic calculation window appears.
F5
To set a desired position variable name to each of the "Origin of work," "Point on X
axis of work," and "Point on X-Y plane of work," first choose the "Origin of work" row
and press [F5 Change.].
4-6
Step 5 The numeric keypad will appear as shown below. Enter a desired position variable
name for the "Origin of work" and press the OK button. In the same way, set desired
position variable names to the "Point on X axis of work" and "Point on X-Y plane of
work."
Step 6 Call up the Position Variables assignment window ([F2 Arm]—[F4 Var.]—[F4
Position.]) shown below.
In the Position Variables assignment window, assign the value of the robot arm
position to be taught to each of the three position variables you have set in Step 5.
(1) Place the cursor on the position variable to which you want to assign the robot
arm position value.
(2) In Manual mode, move the tool end of the robot arm to the teaching point.
(3) Press [F6 Get Pos.] in order to read in the current position of the tool end to the
selected position variable.
(4) Carry out Steps (1) through (3) above for each of the "Origin of work," "Point on
X axis of work," and "Point on X-Y plane of work."
NOTE • Teach the "Origin of work" and "Point on X axis of work" precisely.
• Define work coordinates after establishing the tool definition.
4-7
Step 7 Press the Cancel button twice to return to the Work coordinate automatic calculation
window.
Step 8 At the bottom of the Work coordinate automatic calculation window, the defined work
coordinates are displayed. If they are satisfactory, press the OK button; if not, press
the Cancel button.
Step 9 If you press the OK button in Step 8, the defined work coordinates will be entered
into the target work number.
4-8
Step 1 On the top screen of the teach pendant, press [F2 Arm].
Step 2 Press [F6 Aux.] in Current Robot Position window.
Step 3 Press [F5 Work.] in Auxiliary Functions (Arm) window.

The Define Work Coordinates window appears.
Select the work coordinates to be defined using the cursor or jog dial.
Step 4 Press [F5 Change.] in the Define Work Coordinates window.

The numeric keypad will appear as shown below.
Step 5 Using the numeric keypad, enter the desired numerical values. After checking the
entered values, press the OK button.
4-9
[ 2 ] Tool Coordinates
A 6-axis robot has tool coordinates that make it easy to express the position and
moving path of an end-effector mounted on the robot flange.
The tool coordinates are defined based on the mechanical interface coordinates. This
section begins with an explanation of the mechanical interface coordinates.
[2.1] Mechanical interface coordinates

The mechanical interface coordinates refers to 3-dimensional Cartesian coordinates
whose origin is at the center of the flange surface as shown in Figure 4-3. X, Y, and Z
axes in mechanical coordinates are expressed as Xm, Ym, and Zm as shown in Figure
4-5.
The Xm, Ym, and Zm are identical with X, Y, and Z in Tool mode explained in Section
3.2.1, "Running the Robot Manually," [ 3 ] Tool Mode."
Flange
surface Zm: Normal axis on the center of the flange surface
Ym: Axis passing through the flange center and
Center of the orientation key hole
flange Xm: Axis passing through the flange center and
crossing Zm and Ym at right angles
Figure 4-5. Definition of Mechanical Interface Coordinates
Unlike the work coordinates or base coordinates, the mechanical interface coordinates
rotate as the robot flange rotates.
Figure 4-6. Rotation of Mechanical Interface Coordinates Following the Flange Rotation
4-10
[2.2] Difference in robot motion when driven in mechanical interface

coordinates and base coordinates
In Manual mode, if you choose Tool mode and TOOL0 (Flange) on the teach pendant,
the robot will run in mechanical interface coordinates. If you choose X-Y mode,
WORK0 (Base) will be automatically selected so that the robot will run in base
coordinates.
For details about TOOL0, refer to [2.5] in this section.
Figures 4-7 and 4-8 show the differences in robot motion when the robot is driven in
mechanical interface coordinates and base coordinates, by using the X, Y, and Z keys
and by using the RX, RY, and RZ keys, respectively.
X-Y mode (in base coordinates) Tool mode (in mechanical interface coordinates)
Figure 4-7. Robot Motion Manually Driven by X, Y, and Z Keys
4-11
X-Y mode (in base coordinates) Tool mode (in mechanical interface coordinates)
NOTE: The + rotation is for clockwise and the -direction for counterclockwise with respect to the vector.
Figure 4-8. Robot Motion Manually Driven by RX, RY, and RZ Keys
4-12
[2.3] Tool coordinates

Based on mechanical interface coordinates, you may define tool coordinates by
specifying the origin offset distance from the mechanical interface coordinates and the
yaw/pitch/roll angles.
You can define up to 63 tool coordinates (TOOL1 to TOOL63). TOOL0 is defined by
system for mechanical interface coordinates.
The X, Y, and Z axes in tool coordinates are expressed by Xt, Yt, and Zt, respectively,
as shown below.
Flange
surface
Tool coordinates
(Orientation direction)
Tool
Figure 4-9. Mechanical Interface Coordinates and Tool Coordinates
4-13
[2.4] Creating tool coordinates
You may create tool coordinates by entering necessary data from the teach pendant or
by writing TOOL command in your program.
The figure below shows the necessary data to be set for creating tool coordinates.
X=
Y= Offset distance components (in mm)
Z=
RX=
RY= Axis rotation angles (in degree)
RZ=
Figure 4-10. Definition Data for Tool Coordinates
The offset distance and the rotation angles should be specified, based on the
mechanical interface coordinates. The rotation order should be RZ, RY, and RX.
Offset
Mechanical
interface
coordinates
(1) Turn the RZ.
(2) Turn the RY.
(3) Turn the RX.

Tool
coordinates
RZ=90 deg, RY=90 deg, RX=90 deg
Figure 4-11. Example: Creating Tool Coordinates
4-14
[2.5] TOOL0 (Mechanical interface coordinates)

TOOL0 is reserved for mechanical interface coordinates defined by the system. You
cannot define these coordinates.
If expressed in the same way as shown in Figure 4-10, TOOL0 may be defined as
shown in Figure 4-12.
Default settings for TOOL1 to TOOL63 are the same as TOOL0.
NOTE: If you specify undefined tool coordinates, the robot will run in TOOL0
coordinates and no error will occur in the V*-D SERIES, unlike other DENSO robots.
X=0
Y=0 Offset distance components (in mm)
Z=0
RX = 0
RY = 0 Axis rotation angles (in degree)
RZ = 0
Figure 4-12. Definition Data for TOOL0
4-15
[2.6] Advantages of tool coordinates
This section describes what advantages you may have by using tool coordinates.
In manual operation or in teaching

When running the robot in tool coordinates, you can directly handle the end-effector
mounted on the flange, making teaching easier.
The figure below shows the comparison of robot moving paths between in mechanical
interface coordinates and in tool coordinates.
In mechanical interface coordinates (TOOL0) In tool coordinates (TOOLn where n is any of 1 to 63)
If X- key is pressed: If Z- key is pressed:
Enables you to move the end-effector to your

object point in teaching.
If RX+ key is pressed: If RZ+ is pressed:
Enables you to rotate the end-effector around the

Zt axis.
Figure 4-13. Example of Manual Robot Running in Tool Coordinates
4-16
In programmed running
(1) Using APPROACH or DEPART command
APPROACH or DEPART command controls the robot movement on the Z axis of the
tool coordinates. You can arbitrarily define the Z-axis orientation in the tool coordinates,
allowing you to easily control the end-effector. The figure below shows an example of
the tool coordinates definition.
For details about APPROACH and DEPART commands, refer to the
PROGRAMMER'S MANUAL I, Section 12.1, "Motion Control."
Approach vector
Approach vector
TOOL0 (mechanical interface coordinates) Changing the Z-axis orientation by tool

coordinates definition
Figure 4-14. Example of APPROACH (DEPART) Execution in Tool Coordinates
4-17
(2) Using ROTATEH command
ROTATEH command controls rotation around the Z axis of the tool coordinates. You
can arbitrarily define the Z-axis orientation in the tool coordinates, allowing you to
easily control the end-effector. Figure 4-15 shows an example of the tool coordinates
definition.
For details about ROTATEH command, refer to the PROGRAMMER'S MANUAL I,
Section 12.1, "Motion Control."
Approach vector
Approach vector
TOOL0 (mechanical interface coordinates) Changing the vector orientation and

offsetting the coordinate origin
by tool definition
Figure 4-15. Example of ROTATEH Execution in Tool Coordinates
4-18
[2.7] Tool definition

Tool definition refers to defining arbitrary tool coordinates by specifying the
components listed in the table given below.
The offset distances (X, Y, and Z) are values in mm from the origin of the mechanical
interface coordinates. The rotation angles (RX, RY, and RZ) are values in degree
around the X, Y, and Z axes of the tool coordinates.
Table 4-1. Components Required for Tool Coordinates Definition
Components Description Unit
X Offset distance on the X axis of the mechanical mm

interface coordinates
Y Offset distance on the Y axis of the mechanical mm

Z Offset distance on the Z axis of the mechanical mm

RX Rotation angle around the X axis of the tool degree

coordinates
RY Rotation angle around the Y axis of the tool degree

coordinates
RZ Rotation angle around the Z axis of the tool degree

coordinates
4-19
Operating procedure for tool definition
According to the procedure below, you may define arbitrary tool coordinates from the
teach pendant. In this example, TOOL1 is defined. The same procedure would apply to
TOOL2 through TOOL63.
With this procedure, you may also display or modify the current tool coordinates.

Step 1 On the top screen of the teach pendant, press [F2 arm].
F2
The Current Robot Position window will appear as shown below.
F6
The Auxiliary Functions (Arm) window will appear as shown in Step 3.
4-20
Step 3 Press [F4 Tool.].
F4
The Define Tool Coordinates window will appear as shown below.
Step 4 Select the X area of TOOL1 by using the cursor keys or jog dial.
The X area of TOOL1 will become highlighted.
F5
The numeric keypad will appear as shown in Step 5.
4-21
Step 5 In the numeric keypad shown below, enter the desired offset distance on the X axis
with the numerical buttons
Numeric
keypad
Step 6 Check the new entry (offset distance on the X axis), and then press the OK button.
The new entry will be entered into the X area of TOOL1 as shown below.
4-22
Step 7 Repeat Steps 4 through 6 to enter offset values to the Y, Z, RX, RY, and RZ areas of
TOOL1.
Step 8 Press the OK button to finish the procedure of the tool coordinates definition.
Precautions when defining tool coordinates

(1) The CHANGETOOL statement will take effect only in a program that has gotten
robot control by successful execution of the TAKEARM statement.
Execution of the TAKEARM statement will initialize the tool coordinates definition
to TOOL0 (default that is the same as settings for the mechanical interface
coordinates).
(2) From the step where CHANGETOOL statement is written in the programs, the
defined tool coordinates will take effect. The definition will remain valid up to the
step immediately preceding the step where new CHANGETOOL statement is
written.
(3) If no CHANGETOOL statement is written in a program, TOOL0 (mechanical
interface coordinates) will apply.
(4) Once you select tool coordinates on the Select Operation Mode window called up
by the M-MOD key on the teach pendant, it will take effect in Tool mode until it will
be changed.
(5) If TOOL number used for running the robot to the object point and attitude differs
from TOOL number previously used in writing the current point and attitude, the
resulting position and attitude of the robot flange will become different from the
previous ones.
For example, when programming, if you have written the object point and attitude
using the APPROACH command in TOOL0 and you insert TOOLn (n is any of 1
through 63) in any step preceding the APPROACH command, then executing the
program brings the center of the robot flange to a different point and attitude than
those defined in TOOL0, depending upon the contents of those different tool
definitions.
(6) The tool coordinates definitions made in program execution and in manual running
are saved in the same memory location.
If you switch the operation mode from Auto mode to Manual mode, the tool
coordinates definition made in programming will remain in effect.
(7) You may at anytime check the current TOOL number in the status bar on the teach
pendant. Refer to p. 4-27.
For details about commands and tool definitions, refer to the PROGRAMMER'S
MANUAL I, Section 12.1, "Motion Control, APPROACH" and Section 9.5, "Tool
Coordinates, TOOL." Also refer to Section 4.1.1, [2.7] Tool definition in this chapter.
4-23
Sample program for switching defined tool coordinates
Execution of CHANGETOOL 0 will cancel the current tool coordinates definition and
restore the default TOOL0 (mechanical interface coordinates).
TAKEARM statement automatically involves CHANGETOOL 0.
The figure below shows a sample program that switches the defined tool coordinates
from TOOL1 to TOOL2. End-effector 1 and End-effector 2 used in this program are
illustrated in Figures 4-17 and 4-18, respectively. The positional relationship between
the robot unit, End-effector 1, and End-effector 2 is assumed as shown in Figure 4-19.
End-effector 1 is placed at P1 and End-effector 2 is at P2.
PROGRAM TOOL Sample
Tool 1, (0, -49.7, 79.2, 45, 0, 0) 'Defines TOOL1.

Tool 2, (0, -65, 37.5, 90, 0, 0) 'Defines TOOL2.
TakeArm 'Executes CHANGETOOL0 automatically.
'Setting End-effector 1
Approach P, P1, 200
Move L, P1 See Figure 4-19.
Set IO[104] 'Sets End-effector 1.
Depart P, 200
ChangeTool 1 'Switches to TOOL1.
:
:
'Releasing End-effector 1
ChangeTool 0 'Restores the default TOOL0.
Approach P, P1, 200 See Figure 4-20.
Move L, P1
Reset IO[104] 'Releases End-effector 1.
Depart P, 200
'Setting End-effector 2
Approach P, P2, 200
Move L, P2 See Figure 4-21.
Set IO[105] 'Sets End-effector 2.
Depart P, 200
ChangeTool 2 'Switches to TOOL2.
:
:
Figure 4-16. Switching the Defined Tool Coordinates
4-24
Figure 4-17. End-effector 1 Figure 4-18. End-effector 2
In the sample program shown in Figure 4-16, End-effector 1 and End-effector 2 are
defined as TOOL1 and TOOL2, respectively.
Execution of TAKEARM automatically specifies TOOL0, so the robot will move to P1
(where End-effector 1 is placed) on the flange surface basis. As illustrated in Figure
4-19, End-effector 1 will be mounted by "Set IO [104]." "Depart P,200" will make the
robot apart from P1 and CHANGETOOL 1 switches the tool coordinates from TOOL0
to TOOL1.
Figure 4-19. Moving Path for Setting End-effector 1
4-25
To replace End-effector 1 with End-effector 2, first release End-effector 1 as follows.
"CHANGETOOL 0" will switch the current tool coordinates from TOOL1 to TOOL0. As
shown in Figure 4-20, the robot will move to P1 on the flange surface basis and release
End-effector 1 at P1.
Figure 4-20. Moving Path for Releasing End-effector 1
As shown in Figure 4-21, in mechanical interface coordinates, the robot will move to P2
where End-effector 2 will be mounted. "Depart P,200" will make the robot apart from P2.
Then TOOL0 will be switched to TOOL2.
Figure 4-21. Moving Path for Setting End-effector 2
4-26
Displaying the current tool coordinates

The current tool coordinates are always shown in the status line of the screen on the
teach pendant, independent of the operation modes (Auto, Manual, and Teach check
modes).
Denotes TOOL0
4-27
[2.8] End-effector samples and their tool coordinates definitions
The figure below shows end-effector samples (chuck and other tools). Figure 4-23
shows their tool coordinate definitions.
Figure 4-22. End-effector Types and Their Coordinate Origins
4-28
The chuck is mounted in parallel A The chuck is mounted in parallel B

with the orientation vector of the flange. with the orientation vector of the flange.
The chuck is mounted at an angle of 45° C The chuck is mounted at right angles D
to the orientation vector of the flange. to the orientation vector of the flange.
E F
Figure 4-23. Tool Coordinates Definition Examples
4-29
4.1.2 Interference Check Area
You may define an interference check area(s) to prevent the robot arm from interfering
with other devices or facilities.
The interference check area may be defined based on the base coordinates and work
coordinates shown below.
Figure 4-24. Work Coordinates and Base Coordinates
4-30
[ 1 ] Notes on interference check area

(1) The center of the interference check area is always based on the base coordinates
(WORK0).
(2) Even if work coordinates are changed, the interference check area does not
change
Tool coordinate origin of WORK1

Interference check area
Z-axis Interference check area
Z
component
Vector
X component Y component
Position
X-axis
Y-axis
Figure 4-25. Interference Check Area
4-31
[ 2 ] Setting the center, angle and range of area
Two procedures, 2-point teaching and direct value entry, are available for defining an
interference check area(s).
Defining an interference check area by 2-point teaching [F4: AutoCalc]

You may define an interference check area(s) by teaching a work coordinates number
(where you want to set an interference check area) and two points—vertexes farthest
and nearest to the origin of the base coordinates.

Z-axis
Nearest vertex
Vector Z
Farthest vertex component
Y
X component component
Position
X-axis
Y-axis
Figure 4-26. Defining an Interference Check Area by 2-point Teaching
4-32
Defining an interference check area by direct value entry [F5: Change.]

You may define an interference check area by entering an area origin point (X, Y, and
Z) relative to the base coordinates, the rotation angles (Rx, Ry, and Rz) around the
X-axis, Y-axis, and Z-axis of the base coordinates, and the vector.

Z- axis
Z
Vector component
Position
X- axis
Y- axis
Figure 4-27. Defining an Interference Check Area by Direct Value Entry
4-33
[ 3 ] Defining an interference check area by 2-point teaching
Step 3 In the Auxiliary Functions (Arm) window, press [F6 Area], and the Define Area
window appears as shown below.
F4
Select the desired work coordinates using the cursor or jog dial, and then press [F4
AutoCalc].
Step 4 The Interference area automatic generation window appears as shown below.
To set the reference work coordinates number (to be used for defining an
interference check area) and unassigned position variable names to be used for
farthest and nearest vertexes, select "Work coordinate," "Interference area vertex
1," or "Interference area vertex 2," respectively, by using the cursor keys or jog dial
and then press [F5 Change.].
4-34
Step 5 The numeric keypad will appear as shown below. Enter the desired number and two
position variable names to the "Work coordinate," "Interference area vertex 1," and
"Interference area vertex 2," respectively.
NOTE: For base coordinates, enter 0 to the "Work coordinate."
Step 6 Call up the Position Variables assignment window ([F2 Arm]—[F4 Var.]—[F4
Position]) shown below.
In the Position Variables assignment window, assign the value of the robot arm
position to be taught to each of the two position variables you have entered for
vertexes farthest and nearest to the origin of the base coordinates in Step 5.
(1) Place the cursor on the position variables set for 2-point teaching.
(2) In Manual mode, move the tool end of the robot arm to the teaching point.
(3) Press [F6 Get Pos.] in order to read in the current position of the tool end to the
selected position variable.
(4) Carry out (1) through (3) above for each of the farthest and nearest vertexes.
NOTE • Define an interface check area after defining tool coordinates and work
coordinates.
• Before teaching the nearest and farthest vertexes, set the Manual mode in
the work coordinates of the reference work coordinated number.
4-35
Step 7 Press the Cancel button twice to return to the Interference area automatic
generation window.
Step 8 At the bottom of the Interference area automatic generation window, the defined
interference check area is displayed. If its values are satisfactory, press the OK
button; if not, press the Cancel button.
NOTE: The center of the interference check area is always based on the base
coordinates (Work0). Therefore, the calculated center of position is not the center of
the specified work coordinates.
Step 9 If you press the OK button in Step 8, the defined interference check area values will
be entered into the target interference check area.
4-36
[ 4 ] Defining an interference check area by direct value entry
Step 2 Press [F6 Aux.] in the Current Robot Position window
Step 3 Press [F6 Area] in the Auxiliary Functions (Arm) window.

The Define Area window appears.
Select an interference check area to be defined using the cursor keys or jog dial.
Step 4 Press [F5 Change.] in the Define Area window.

Step 5 Using the numeric keypad, enter the desired numerical values. After checking the
entered values, press the OK button.
4-37
[ 5 ] Making the defined interference check areas active or
inactive
You may define up to eight interference check areas. Out of those defined areas, you
may select areas to be actually used according to the procedure given below.
If you make many defined interference check areas active, the sampling interval will
become long, resulting in delayed detection. Only the necessary areas should be
made active.
Operating procedure
Step 3 Press [F6 Area.] in the Auxiliary Functions (Arm) window, and the following window
will appear.
4-38
Step 4 Call up the defined interference check area to be modified with the cursor key or jog
dial as shown below.
F6
Then press [F6 Activate], and the Interference Area Detection Setting window will
appear as shown below.
Step 5 Select Inactive or Active (in this example, select Active), then press the OK button.
The screen will return to the Define Area window as shown on the next page.
4-39
Step 6 The new setting (in this example, AREA 3 Active) will appear and the color of the
square indicator for that setting will change (in this example, the indicator for Area 3
turns green).
Meaning of the square indicator color Green: Active
Black: Inactive
Press the OK button.
4-40
[ 6 ] Turning the specified I/O signal(s) on or off at the detection

of area interference
If you make the following signal setting, the controller will turn the specified signal(s) on
when the origin of the tool coordinates enters interference check area(s) defined and
made active.
NOTE: Be careful when specifying I/O signal numbers. If you set a wrong I/O signal(s),
the wrong signal will come ON when the origin of the tool coordinates enters
interference check areas.
Operating procedure
Step 3 Press [F6 Area.] in the Auxiliary Functions (Arm) window.
dial.
Step 5 In the Define Area window, select an entry field in the 1st column of the bottom line.
F5
Then press [F5 Change.]. The numeric keypad will appear as shown on the next
page.
4-41
Step 6 From the numeric keypad, enter the desired value, and then press the OK button.
Step 7 The new setting will appear in the selected entry field. Press the OK button.
4-42
[ 7 ] Specifying a position variable name to which the current

position value will be assigned at the detection of area
interference
You may specify the name of a position variable to which the current position value will
be assigned the moment the origin of the tool coordinates enters the interference
check area.
NOTE: Be careful when specifying a position variable name(s). If you specify a wrong
variable name(s), the value of the specified position variable will be changed when the
origin of the tool coordinates enters the interference check area.
Operating procedure
dial.
Step 5 In the Define Area window, select an entry field in the 3rd column of the bottom line.
F5
Then press [F5 Change.]. The numeric keypad will appear as shown on the next
page.
4-43
Step 6 From the numeric keypad, enter the desired position variable name, and then press
the OK button.
4-44
[ 8 ] Interpreting a detected area interference as an error

The moment the origin of the tool coordinates interferes with the active interference
area, the system can detect it as an error and cut the motor power off to prevent the
arm from proceeding into the area further.
In Version 1.8 or later, the following choices are available on the "Error Display on Area
Interference" window.
The system will
Items detect it as an error Error signal output
when:
0: Disable (inside) No
1: Enable (inside) The robot arm Yes
invades the defined
2: Enable+ManMv (inside) area. Yes (You may switch to
Manual mode and operate the
robot manually for recovery.)
3: Disable (outside) No
4: Enable (outside) The robot arm exits Yes
from the defined
5: Enable+ManMv (outside) Yes (You may switch to
area.
Manual mode and operate the
robot manually for recovery.)
Access: [F2 Arm]—[F6 Aux.]—[F6 Area.]
4-45
NOTES
(1) Once an area interference error occurs, the system cuts off the motor power so
that the origin of the tool coordinates remains in the area. If you attempt to turn the
motor power on under this state, an error will occur again and the motor power will
be cut off. You need to disable the error detection, turn the motor power on, move
the origin of the tool coordinates out of the area by manual operation, and then
enable the error detection again.
(2) In Version 1.8 or later, if you set up any of items 3 through 5 (Detection when the
robot arm exits from the defined area) for two check areas or more concurrently,
then the system will interpret the overlapped area only as a motion space. If no
overlapped area exists, the robot cannot run, so you need to modify the settings.
(3) When enabling interference check areas overlapped, refer to the precautions on
the next page.
4-46
Precautions in enabling interference check areas overlapped

Enabling interference check areas overlapped and assigning an area output signal
having the same number to those areas makes only the first invaded interference
check area effective.
NOTES
(1) Leaving an area and entering the adjoining area that overlaps the first one does
not output an area interference error signal.
(2) There are no problems as long as an area output signal having the same number
is not double assigned to interference check areas.
(3) There are no problems as long as interference check areas are not overlapped.
Example of two interference areas Example of area setting

overlapped (in WINCAPSII)
Area output number
Arm motion examples
Arm path
Area signal output state by patterns

Pattern 1 Entering Area 0 turns the output signal ON. Leaving Area 0 turns it OFF. In
the figure above, the origin of the tool coordinates has left Area 0 and is now
staying in Area 1. Turning the motor power off and on in this state keeps the
output signal OFF relating to Area 0. However, staying in Area 1 is detected
so that the output signal relating to Area 1 is turned ON.
Pattern 2 Entering Area 1 turns the output signal ON. Leaving Area 1 turns it OFF.
Pattern 3 Entering Area 0 turns the output signal ON. Leaving Area 0 turns it OFF. If
the origin of the tool coordinates enters an overlapped plane of two
interference check areas, the output signal assigned to the area from which
the origin first exits will be enabled.
4-47
The following procedure specifies whether or not to detect the invasion to the
interference check area(s) as an error.
Operating procedure for area interference error detection

Step 4 Call up the defined interference check area to be modified with the cursor keys or jog
dial.
Step 5 In the Define Area window, select an entry field in the rightmost column of the bottom
line.
F5
Then press [F5 Change.]. The error detection disable/enable screen will appear as
shown on the next page.
4-48
Step 6 Select Enable (or Disable), and then press the OK button.
4-49
[ 9 ] Defining an interference check area in WINCAPSII
Operating procedure
Step 1 Start WINCAPSII at programmer level and run Arm Manager.
Step 2 On the Tool menu, select Options. Then select the Area tab.
4-50
Step 3 In the Area table, modify the interference check area related parameters.
X, Y, Z: Origin of the interference check area
RX, RY, and RZ: Rotation angles of the interference check area
DX, DY, and DZ: Vectors of the interference check area
IO: I/O signal numbers which will turn on if the tip of the end-effector enters the
interference check area.
POS: Name of a position variable (global variable) to which the position value
of the tip of the end-effector will be assigned when the tip of the end-effector
enters the area.
ERR: Determines whether a detected area interference will be interpreted as
an error. (0: Not interpreted as an error, 1: Interpreted as an error)
ENABLE: Determines whether an area interference will be detected or not.
(0: Not Detected, 1: Detected)
Step 4 After making necessary settings, press the OK button.
Step 5 Connect Arm Manager. On the File menu, select Transfer.
Step 6 Select <Area> and press Transmit>. Immediately after the transmission, the new
parameters will take effect.
4-51
[ 10 ] Escaping from the interference check area
[Ver. 1.4 or later]
In Ver. 1.3 or earlier, the robot needs to be manually moved out of the interference
check area whenever the robot enters any of prohibited areas 0 to 7. Entering
prohibited areas will result in error (ERROR2490 to 2497).
In Ver. 1.4 or later, if you set [2: Enable +ManMv] in the interference check area setting,
then you may move the robot out of the interference check area from the teach
pendant or the operating panel in the cases marked with "Available" in the table below.
Operation
Mode
Motor ON Manual key Variable shift Motor lock Direct
Manual Available Available N/A Available N/A
Teach check N/A - N/A N/A -
Internal auto N/A - - N/A -
External auto N/A - - N/A -
Setting [2:Enable + ManMv]

Step 3 In the Auxiliary Functions (Arm) window, press [F6 Area].
Step 4 Using the cursor keys or jog dial, select the area you want to change.
4-52
Step 5 Select the rightmost column of the table. Press [F5 Change.].
F5
Step 6 Select [2: Enable+ManMv] and press OK.
Step 7 You can change all the settings in the window for values you want. If you change any
of them, confirm them and press OK.
4-53
Escaping procedure
Step 1 Error will occur when the robot enters the interference area.
Interference Position of the robot end

Area
Step 2 Switch off AutoEnable to change the operation mode to Manual.

Step 3 Move the robot outside the interference area.
Interference Position of the robot end

Area
Note 1. Move the robot in the direction away from the interference point, although
robots can move to the position anywhere commanded.
Note 2. If the robot enters an area of interference again, Error 2490-2497 (Prohibited
area 0 - 7) will reoccur.
Note 3. If the areas of interference overlap, as shown in the figure below, error occurs
first upon the robot end starting within the area 1 enters in the area 2. However, you
can avoid this by aid of the method given above.
4-54
4.1.3 Figures of the Shoulder, Elbow, and Wrist

[ 1 ] Available 32 Figures
A 6-axis robot can take different figures for its shoulder, elbow, wrist, 6th axis, and 4th
axis for a single point and attitude (X, Y, Z, RX, RY, and RZ) at the end of the
end-effector.
Figures 4-28 through 4-32 show how the robot can take different figures for its shoulder,
elbow, wrist, 6th axis, and 4th axis, respectively.
Combining these different figures allows the robot to take 32 different figures for its
single position and attitude, as listed in Table 4-2.
Figure 4-33 shows examples of eight possible combinations of the shoulder, elbow,
and wrist figures in the V*-D series robot.
Table 4-2. Available Figures

Value 4th-Axis Figure 6th-Axis Figure Wrist Figure Elbow Figure Shoulder Figure
0 SINGLE 4 SINGLE FLIP ABOVE RIGHTY
1 SINGLE 4 SINGLE FLIP ABOVE LEFTY
2 SINGLE 4 SINGLE FLIP BELOW RIGHTY
3 SINGLE 4 SINGLE FLIP BELOW LEFTY
4 SINGLE 4 SINGLE NONFLIP ABOVE RIGHTY
5 SINGLE 4 SINGLE NONFLIP ABOVE LEFTY
6 SINGLE 4 SINGLE NONFLIP BELOW RIGHTY
7 SINGLE 4 SINGLE NONFLIP BELOW LEFTY
8 SINGLE 4 DOUBLE FLIP ABOVE RIGHTY
9 SINGLE 4 DOUBLE FLIP ABOVE LEFTY
10 SINGLE 4 DOUBLE FLIP BELOW RIGHTY
11 SINGLE 4 DOUBLE FLIP BELOW LEFTY
12 SINGLE 4 DOUBLE NONFLIP ABOVE RIGHTY
13 SINGLE 4 DOUBLE NONFLIP ABOVE LEFTY
14 SINGLE 4 DOUBLE NONFLIP BELOW RIGHTY
15 SINGLE 4 DOUBLE NONFLIP BELOW LEFTY
16 DOUBLE 4 SINGLE FLIP ABOVE RIGHTY
17 DOUBLE 4 SINGLE FLIP ABOVE LEFTY
18 DOUBLE 4 SINGLE FLIP BELOW RIGHTY
19 DOUBLE 4 SINGLE FLIP BELOW LEFTY
20 DOUBLE 4 SINGLE NONFLIP ABOVE RIGHTY
21 DOUBLE 4 SINGLE NONFLIP ABOVE LEFTY
22 DOUBLE 4 SINGLE NONFLIP BELOW RIGHTY
23 DOUBLE 4 SINGLE NONFLIP BELOW LEFTY
24 DOUBLE 4 DOUBLE FLIP ABOVE RIGHTY
25 DOUBLE 4 DOUBLE FLIP ABOVE LEFTY
26 DOUBLE 4 DOUBLE FLIP BELOW RIGHTY
27 DOUBLE 4 DOUBLE FLIP BELOW LEFTY
28 DOUBLE 4 DOUBLE NONFLIP ABOVE RIGHTY
29 DOUBLE 4 DOUBLE NONFLIP ABOVE LEFTY
30 DOUBLE 4 DOUBLE NONFLIP BELOW RIGHTY
31 DOUBLE 4 DOUBLE NONFLIP BELOW LEFTY
4-55
(1) Shoulder figure
A shoulder figure is defined by a set of the values of the 1st-, 2nd-, and 3rd-axis
components.
The robot can take two different shoulder figures--Left-handed (LEFTY) and
Right-handed (RIGHTY).
LEFTY RIGHTY
Figure 4-28. Shoulder Figure
(2) Elbow figure

An elbow figure is defined by a set of the values of the 2nd- and 3rd-axis components.
The robot can take two different elbow figures--Over-handed (ABOVE) and
Under-handed (BELOW).
J3
J2 J2
J3
ABOVE BELOW
Figure 4-29. Elbow Figure
4-56
(3) Wrist figure

A wrist figure is defined by a set of the values of the 4th- and 5th-axis components.
The robot can take two different shoulder figures--Normal (NONFLIP) and Reversed
(FLIP). The NONFLIP figure refers to a figure of the robot whose 4th axis is turned by
180 degrees without changing the wrist figure.
FLIP
NONFLIP
Figure 4-30. Wrist Figure
(4) 6th-axis figure

A 6th-axis figure is defined by the value of the 6th-axis component.
The robot can take two different 6th-axis figures--SINGLE and DOUBLE. If the 6th axis
rotates by -180°<θ6≤180° in mechanical interface coordinates, the figure is SINGLE; if
it rotates by 180°<θ6≤360° or -360°<θ6≤-180°, the figure is DOUBLE.
The robot takes quite different figures when θ6 is 180° or 181°. Take special care when
changing any position data fort the 6th-axis figure. For example, supposing that you
want to change the 6th-axis figure at θ6=181°, the robot will take the 6th-axis figure at
θ6=-179° if you make no figure modification.
DOUBLE
DOUBLE
SINGLE
Figure 4-31. 6th-Axis Figure
4-57
(5) 4th-axis figure
The 4th-axis figure is defined by the value of the 4th-axis component.
The robot can take two different 4th-axis figures--SINGLE 4 and DOUBLE 4. If the 4th
axis rotates by -180°<θ4≤180° in mechanical interface coordinates, the figure is
SINGLE 4; if it rotates by 180°<θ4≤185° or -185°<θ4≤-180°, the figure is DOUBLE 4.
The robot takes quite different figures when θ4 is 180° or 181°. Take special care when
changing any position data fort the 6th-axis figure. For example, supposing that you
want to change the 4th-axis figure at θ4=181°, the robot will take the 4th-axis figure at
θ4=-179° if you make no figure modification.
J4 = 178° SINGLE 4
J4 = -182° DOUBLE 4
Figure 4-32. 4th-Axis Figure
4-58
Figure-1 Figure-2
LEFTY, ABOVE, and NONFLIP LEFTY, ABOVE, and FLIP
Figure-3 Figure-4
LEFTY, BELOW, and NONFLIP LEFTY, BELOW, and FLIP
Figure-5 Figure-6
RIGHTY, ABOVE, and NONFLIP RIGHTY, ABOVE, and FLIP
Figure-7 Figure-8
RIGHTY, BELOW, and NONFLIP RIGHTY, BELOW, and FLIP
Figure 4-33. Possible Combinations of Robot Shoulder, Elbow, and Wrist Figures
4-59
CAUTION: When carrying out a command with CP control, if the robot figures at the
start point differ from those saved in programming or teaching, be sure to check
beforehand that no part of the robot will interfere with the surrounding equipment or
facilities. This is because each joint of the robot will take currently suitable motions
depending upon the current figures to make the tip of the end-effector reach an object
point even if the robot position and attitude at the start point are the same as those in
programming or teaching. However, the path of the end-effector is virtually the same
although the figures may be different.
(ABOVE)
Point A Point B
(BELOW)
CAUTION: All of the 32 different figures may not be applicable to every position and
attitude of the robot due to the robot structure. In some cases, only the
LEFTY/ABOVE/NONFLIP figure may be applicable depending upon point and attitude.
(In almost of all practical cases, the robot may not take all of the logically possible
figures, but only two figures are possible--LEFTY/ABOVE/NONFLIP and
LEFTY/ABOVE/FLIP. For the 4th-axis figure, the robot will take SINGLE 4.)
4-60
[ 2 ] Boundaries of Robot Figures

This section describes the boundary of each of the robot shoulder, elbow, wrist, and
6th-axis figures.
When judging the boundaries of the robot shoulder, elbow, and wrist, the system uses
intersection point Pw of the two rotary axes of the 5th and 6th axes, as illustrated in
Figure 4-34.
Figure 4-34. Location of Pw
A boundary point in figures is called a singular point.

Any path defined by commands with CP control (e.g., MOVE, APPROACH, and
DEPART) should not run through the vicinity of the singular point. Refer to the
PROGRAMMER'S MANUAL I, Section 3.3, "Interpolation Control." If the path runs
through the vicinity of the singular point, the robot will issue ERROR6080s
(Overspeed) or ERROR6070s (Over software motion limit) and then stop.
4-61
(1) LEFTY/RIGHTY (Shoulder figure)
The rotary axis of the 1st axis is defined as the boundary between LEFTY and RIGHTY.
When viewed from the normal line on the side of the arm link, if point Pw exists in the
left-hand side of the rotary axis of the 1st axis, the figure is LEFTY; if point Pw exists in
the right-hand side, it is RIGHTY. In Figure 4-35, the boundary is drawn with alternate
long and short dash lines.
NOTE: If point Pw exists on the rotary axis of the 1st axis, that is, on the boundary
between LEFTY and RIGHTY, then it is called a singular point.
Figure 4-35. Boundary between LEFTY and RIGHTY
4-62
(2) ABOVE/BELOW (Elbow figure)

The centerline of the arm link (connecting the shoulder with elbow) is defined as the
boundary between ABOVE and BELOW.
If point Pw exists in the + side of the centerline, the figure is ABOVE; if point Pw exists
in the -side, it is BELOW. In Figures 4-36 and 4-37, the boundary is drawn with
alternate long and short dash lines.
Figure 4-36. Boundary between ABOVE and BELOW for LEFTY
Figure 4-37. Boundary between ABOVE and BELOW for RIGHTY
4-63
(3) FLIP/NONFLIP (Wrist figure)
The rotary axis of the 4th axis is defined as the boundary between FLIP and NONFLIP.
If the normal line on the flange surface tilts up the rotary axis of the 4th axis, the figure
is FLIP; if it tilts down the rotary axis, it is NONFLIP. In Figures 4-38 and 4-39, the
boundary is drawn with alternate long and short dash lines.
Figure 4-38. Boundary between FLIP and NONFLIP for LEFTY
Figure 4-39. Boundary between FLIP and NONFLIP for RIGHTY
4-64
(4) SINGLE/DOUBLE (6th-axis figure)

If the rotation angle (θ6) of the 6th axis is within the range of -180°<θ6≤180° around the
Z axis in mechanical interface coordinates, the figure is SINGLE; if it is within the range
of 180°<θ6≤360° or -360°<θ6≤-180°, the figure is DOUBLE. Boundaries exist at -180°
and +180°.
DOUBLE
DOUBLE
Boundary
Boundary
SINGLE
Figure 4-40. Boundary between SINGLE and DOUBLE
4-65
4.2 Coordinates, Interference Check Area,
and Figures in 4-Axis Robots
(H*-D/-E/-G Series)
4.2.1 Coordinates
This section describes the coordinates required for correct handling of the robot.
[ 1 ] Base coordinates
[1.1] Base (world) coordinates and work coordinates
The base coordinates are so-called world coordinates which refer to 3-dimensional
Cartesian coordinates whose origin is at the center of the robot basement. It has
components Xb, Yb, and Zb which are identical with X, Y, and Z in X-Y mode explained
in Section 3.2.1, "Running the Robot Manually," [ 2 ] X-Y mode."
Work coordinates are 3-dimensional Cartesian coordinates defined for each operation
space of workpiece. The origin can be defined anywhere and as much as needed. It
lies at a corner of the rectangular parallelepiped envelope of an object workpiece as
shown below. Work coordinates are expressed by the coordinate origin (X, Y, Z)
corresponding to the base coordinates and the angles of rotation (Rx, Ry, Rz) around X,
Y and Z axes of base coordinates.
If work coordinates are not defined, base coordinates come into effect.
Figure 4-41. Base Coordinates and Work Coordinates
4-66
[1.2] Position data

Position data refers to a set of data which includes five components of base
coordinates. Of these five components, three are robot flange center coordinates (the
end-effector tip coordinates if an end-effector is defined) and two are current robot
attitude components, as shown below.
Position data allows you to represent the current position of the robot flange center and
object points.
Position data：
X
Y Coordinate values Defines the position of the robot flange center or

(in mm) the end-effector center.
Z
T Rotation angle (in degree)

Defines the robot attitude.
FIG Figure (Value: 0 or 1)
Figure 4-42. Components of Position Data
A set of X, Y, and Z coordinate values represents the position of the robot flange center
(or tip of the end-effector if defined) expressed in base coordinates (Xb, Yb, and Zb) in
units of mm.
The rotation angle expressed by T refers to an angle formed by the X axis of the
TOOL0 coordinates and the Xb axis of the base coordinates. The angle is expressed in
units of degree.
Figure represented by FIG value refers to a figure of robot arm joints. It is explained in
Section 4.2.3, "Shoulder Figure."
4-67
[1.3] Defining work coordinates
Two procedures, 3-point teaching and direct value entry, are available for defining work
coordinates.
[F2 Arm]—[F6 Aux.]—[F5 Work]—[F4 AutoCalc]
In this method coordinates are created by teaching three points, namely, the origin of
work coordinates, a point on X-axis and a point on X-Y plane.
For the operating procedure, refer to " Defining work coordinates by 3-point teaching"
on page 4-6.
Hand of robot
Work coordinate origin
Point on X axis Point on X-Y plane

[F2 Arm]—[F6 Aux.]—[F5 Work]—[F5 Change.]
Enter the coordinate origin (X, Y, Z) corresponding to the base coordinates and rotation
angles (Rx, Ry, Rz) around the X-axis, Y-axis and Z-axis of base coordinates.
For the operating procedure, refer to " Defining work coordinates by direct value
entry" on page 4-9.
4-68
[ 2 ] Tool Coordinates
[2.1] Tool definition
Tool definition refers to entering offset values for the dimensions of end-effectors to be
mounted. This enables the robot to move the end of the mounted end-effector to
desired positions.
Without tool definition, the point defined in X-Y mode (that is, the coordinates shown in
X-Y mode on the LCD) is referred to as the tool end. When the power is turned on, the
rotation center of the 4th axis (the center of the robot flange) is referred to as the tool
end.
If you establish tool definition according to the actual end-effector to be mounted and
select the X-Y mode, the robot controller will automatically offset the coordinates in X-Y
mode by the values specified in tool definition so as to show the actual end position of
the end-effector as a tool end.
Therefore, even if the same position has been taught, the tool end will differ depending
upon whether or not tool definition is established.
In X-Y mode, you may rotate the 4th axis or the tool end manually. The center of the
rotation will differ depending upon whether or not tool definition is established, as
shown below.
Figure 4-43. Manual Rotation of 4th Axis Figure 4-44. Manual Rotation of 4th Axis
in X-Y mode, w/o Tool Definition in X-Y mode, w/ Tool Definition
4-69
[2.2] Tool definition procedure
You may enter data relating to end-effectors to be used with the teach pendant.
Enter numerical values in the X-Y coordinates whose origin is the center of rotation of
the 4th axis. The coordinates are called "Tool coordinates" which are shown below.
Viewed from A
Figure 4-45. Tool Coordinates
Table 4-3 lists parameters in tool definition. Each parameter specifies tool offset on
each tool coordinate.
Table 4-3. Tool Components and Parameters
Tool components Used for Unit
X Offset in TX direction mm
Y Offset in TY direction mm
Z Offset in TZ direction mm
T Offset in TT direction degree
4-70
Operating procedure for tool definition

According to the procedure below, you may define arbitrary tool coordinates from the
teach pendant. In this example, TOOL1 is defined. The same procedure would apply to
TOOL2 through TOOL63.
With this procedure, you may also display or modify the current tool coordinates.

F2
F6
The Auxiliary Functions (Arm) window appears as shown below.
4-71
Step 3 Press [F4 Tool.].
F4
The Define Tool Coordinates window appears as shown below.
Step 4 Select the X column of TOOL1 row by using the cursor keys or jog dial.
F5
4-72
Step 5 Use the numerical buttons on the numeric keypad to enter the desired offset
distance on the X axis. Then press the OK button.
The numeric keypad disappears and the offset distance on the X axis will be entered
in the X column of the TOOL1 row as shown below.
If the newly entered value is satisfactory, press the OK button; if not, press the
Cancel button.
Step 6 Repeat Steps 4 and 5 to enter offset distances to the Y, Z, and T columns of the
TOOL1 row.
Step 7 After entering offset values to all of the X, Y, Z, and T of the TOOL1, press the OK
button. This completes the procedure of tool definition for TOOL1.
4-73
Precautions when defining tool coordinates
(1) The CHANGETOOL statement will take effect only in a program that has gotten
robot control by successful execution of the TAKEARM statement.
Execution of the TAKEARM statement will initialize the tool coordinates definition
to TOOL0 (default that is the same as settings for the mechanical interface
coordinates).
(2) From the step where CHANGETOOL statement is written in the programs, the
defined tool coordinates will take effect. The definition will remain valid up to the
step immediately preceding the step where new CHANGETOOL statement is
written.
(3) If no CHANGETOOL statement is written in a program, TOOL0 (mechanical
interface coordinates) will apply.
(4) Once you select tool coordinates on the Select Operation Mode window called up
by the M-MOD key on the teach pendant, it will take effect in Tool mode until it will
be changed.
(5) If TOOL number used for running the robot to the object point and attitude differs
from TOOL number previously used in writing the current point and attitude, the
resulting position and attitude of the robot flange will become different from the
previous ones.
For example, when programming, if you have written the object point and attitude
using the APPROACH command in TOOL0 and you insert TOOLn (n is any of 1
through 63) in any step preceding the APPROACH command, then executing the
program brings the center of the robot flange to a different point and attitude than
those defined in TOOL0, depending upon the contents of those different tool
definitions.
(6) The tool coordinates definitions made in program execution and in manual running
are saved in the same memory location.
If you switch the operation mode from Auto mode to Manual mode, the tool
coordinates definition made in programming will remain in effect.
(7) You may at anytime check the current TOOL number in the status bar on the teach
pendant. Refer to "Displaying the current tool coordinates" on page 4-27.
For details about commands and tool definitions, refer to the PROGRAMMER'S
MANUAL I, Section 12.1, "Motion Control, APPROACH" and Section 9.5, "Tool
Coordinates, TOOL." Also refer to Section 4.1, "[2.7] Tool definition" in this chapter.
4-74
4.2.2 Interference Check Area

You may define an interference check area(s) to prevent the robot arm from interfering
with other devices or facilities.
The interference check area may be defined based on the base coordinates and work
coordinates shown below.
Figure 4-46. Work Coordinates and Base Coordinates
4-75
[ 1 ] Notes on interference check area
(1) The center of the interference check area is always based on the base coordinates
(WORK0).
(2) Even if work coordinates are changed, the interference check area does not
change

Z-axis Interference check area
Z
component
Vector
Position
X-axis
Y-axis
Figure 4-47. Interference Check Area
4-76
[ 2 ] Setting the center, angle and range of area

Two procedures, 2-point teaching and direct value entry, are available for defining an
interference check area(s).
Defining an interference check area by 2-point teaching [F4: AutoCalc]

You may define an interference check area(s) by teaching a work coordinates number
(where you want to set an interference check area) and two points—vertexes farthest
and nearest to the origin of the base coordinates.
For the operating procedure, refer to "[ 3 ] Defining an interference check area by
2-point teaching" on page 4-34.

Z-axis
Nearest vertex
Vector Z
Farthest vertex component
Y
X component component
Position
X-axis
Y-axis
Figure 4-48. Defining an Interference Check Area by 2-point Teaching
4-77
Defining an interference check area by direct value entry [F5: Change.]
You may define an interference check area by entering an area origin point (X, Y, and
Z) relative to the base coordinates, the rotation angles (Rx, Ry, and Rz) around the
X-axis, Y-axis, and Z-axis of the base coordinates, and the vector.
For the operating procedure, refer to "[ 4 ] Defining an interference check area by direct
value entry" on page 4-37.

Z- axis
Z
Vector component
Position
X- axis
Y- axis
Figure 4-49. Defining an Interference Check Area by Direct Value Entry
4-78
[ 3 ] Making the defined interference check areas active or

inactive
For settings, refer to Section 4.1.2 [ 5 ].
[ 4 ] Turning the specified I/O signal(s) on or off at the detection

of area interference
[ 5 ] Specifying a position variable name to which the current

position value will be assigned at the detection of area
interference
[ 6 ] Interpreting a detected area interference as an error

[ 7 ] Defining an interference check area in WINCAPSII

[ 8 ] Escaping from the interference check area [Ver. 1.4 or later]

4-79
4.2.3 Shoulder Figure
The 4-axis robot can take two figures when positioning as shown in Figures 4-50 and
4-51.
Table 4-4. Available Figures

Value Figures
0 SINGLE-RIGHTY
1 SINGLE-LEFTY
2
3
4
5
6
7
8 DOUBLE-RIGHTY
9 DOUBLE-LEFTY
10
2nd axis
RIGHTY
(positive
side)
LEFTY
(negative
2nd axis side)
Figure 4-50. RIGHTY Figure 4-51. LEFTY
When the floor-mounted robot is viewed from the top:

If the 2nd axis is positioned at the positive side on the X axis of the base coordinates as
shown in Figure 4-50, the figure is called "RIGHTY"; if at the negative side as shown in
Figure 4-51, it is called "LEFTY."
4-80
Chapter 5
Commands Assigned
to Function Keys of
the Teach Pendant
This chapter describes the variety of commands

assigned to the function keys of the teach pendant.
The first section illustrates the command menu
tree. The following sections provide a detailed
explanation of those commands, together with the
access routes.
panel, or mini pendant undergo any strong shocks,
panel, or mini pendant with your fingers only, never
5.1 Commands Menu

Using the keys, buttons, and switches on the teach pendant allows you to call up a
variety of screens on the LCD, each of which has its exclusive commands menu. From
the menu, you may choose commands by pressing the function keys.
5.1.1 Top Screen

(1) Switching the robot controller on first displays the language menu on the teach
pendant, prompting you to select the desired language (English or Japanese).
NOTE: In Ver. 2.2 or earlier, switching the controller on first displays the top
screen shown in step (4) below.
(2) Select the desired language (English or Japanese) and press the OK button.
(3) The following message appears, prompting you to determine whether or not to
display the language menu again when the controller is switched on at the next
time.
Select Yes or No, then press the OK button.
(4) The top screen appears.

Starting with this screen, you may access the function menu commands.
Menu bar
F1 F2 F3 F4 F5 F6
Menu bar
(shifted)
F10 F11
Menu on the Top Screen
5-1
5.1.2 Menu Tree
5-2
5-3
5-4
5-5
5-6
5.2 Displaying the Program List Window

Access: [F1 Program]
The [F1 Program] command on the top screen has different three menu hierarchies for
Manual, Teach Check, and Auto modes as shown in Section 5.1.2.
Sections 5.2.1, 5.2.2, and 5.2.3 describe the function of the [F1 Program] command in
Manual, Teach Check, and Auto modes, respectively.
5-7
5.2.1 Showing the Program List Window in Manual Mode
Pressing [F1 Program] on the top screen in Manual mode will display the Program List
window as shown below.
F1 F2 F3 F4 F5 F6
When shifted
F7 F10 F12
The Program List window has the following items:

[Program Name] Lists program names declared by the PROGRAM statement.
In Ver. 2.2 or later, this column also displays folder names, header
file names, and operation panel file names.
[Name] Shows the source file name of the listed program. The [Name] and
[Program Name] are not always coincident with each other.
[Cmpild] Shows whether the listed file has been compiled into run-time
format. PAC files are usually compiled.
[Source] Shows whether the source file of the listed program has been
loaded to the robot controller. If loaded, it is displayed with "Yes."
[Modifd] Shows whether the listed program is modified after compiled into
run-time format. If the program only is uploaded from WINCAPSII to
the robot controller, for example, "Yes" is displayed in this column.
[Use] Shows whether the listed program is to be compiled. If you press
[F12 Config.] and make the compile flag active, this column will
display "Enable" and the program will be compiled in compilation.
The hierarchy of the [F1 Program] menu in Manual mode is given on the next page.
5-8
5-9
Creating a new program in Manual mode
Access: [F1 Program]—[F1 NewProg.]
Creates a new program.
(1) Press [F1 NewProg.] in the Program List window, and the system message dialog
box will appear as shown below. Select [Program]
(2) Press the OK button in the system message dialog box to proceed, and the Enter
Program Name window will appear as shown below.
5-10
(3) Enter the desired program name and then press the OK button.
A new program edit window will appear as shown below where you may create a
new program.
5-11
Deleting a program in Manual mode
Access: [F1 Program]—[F2 Delete]
Deletes an existing program selected in the Program List window.
(1) In the Program List window, select the program to be deleted.
F2
(2) Press [F2 Delete], and the system message dialog box will appear as shown
below.
(3) Press the OK button in the above system message dialog box to proceed.
The system will delete the selected program and display the system message "Do
you want to compile ?"
(4) Press the OK button.
If you press the Cancel button, the program deletion will be cancelled and the
screen will return to the Program List window.
5-12
Copying a program in Manual mode

Access: [F1 Program]—[F3 Copy]
Copies an existing program, header file, or folder when selected in the Program List
window.
NOTE 1: In Version 2.2 or later (supporting the folder feature), header files and folders
can be copied, but operation panel files cannot.
NOTE 2: Copying a folder copies also all elements contained in that folder. If that folder
contains an operation panel file, therefore, the file is also copied.
<Copy>
(1) In the Program List window, select the program to be copied.
F3
(2) Press [F3 Copy], and the system message dialog box will appear as shown below.
(3) Select Copy and press the OK button, and the selected program file will be copied.
5-13
<Paste>
(1) With the Program List window being displayed, press [F3 Copy] to regard the
program file copied last as an object to be pasted. The object name appears
following the "Paste" option in parentheses as shown below.
(2) Select Paste and press the OK button, and the object will be pasted into the
current folder designated by "Dir:."
If the current folder already contains a file having the same name as the object to
be pasted, the following dialog box appears, prompting you to select "Copy by the
alias" or "Overwrite."
NOTE: In overwriting a folder, if the destination folder contains elements not
contained in the source folder, those elements will remain intact.
(3) If "Copy by the alias" is selected, the keyboard appears as shown below. Enter a
file name and press OK with the keyboard.
5-14
Displaying and modifying variable values in Manual mode

Access: [F1 Program]—[F4 Var.]
Displays values assigned to various types of variables, the number of variables used,
and/or modifies them.
(1) Press [F4 Var.] in the Program List window, and the Select Variable Type window
will appear as shown below.
(2) Select the desired variable type or the number of variables used. The
corresponding window will display as described on the following pages.
5-15
Displaying and modifying integer variable values
Access: [F1 Program]—[F4 Var.]—[F1 Integer.]
Displays values assigned to integer variables and/or modifies them.
Pressing [F1 Integer.] will display the Integer Variables window as shown below.
Function keys available

[F1 Back] Displays the previous page of the variables list.
[F2 Next] Displays the next page of the variables list.
Displays the Jump To Variable Number window where you
may type a variable name you want to see with the
[F3 Jump To]
numerical keys and press OK. Doing so will display the
target variable name.
Displays the numeric keypad where you may enter a
variable value you want to assign with the numerical keys
[F5 Change.]
and then press OK. Doing so will assign the newly entered
value to the variable.
Displays the Variable Number of Copy Destination window
where you may enter a variable name to which you want to
copy a variable value and then press OK. Doing so will
[F7 Copy Var] display the system message "Are you sure you want to copy
the variable X into the Y." Selecting Yes will copy the
currently selected variable value to the specified variable
name.
5-16
Displaying and modifying floating-point variable values

Access: [F1 Program]—[F4 Var.]—[F2 Float.]
Displays values assigned to floating-point variables and/or modifies them.
Pressing [F2 Float.] will display the Floating-point Variables window as shown below.

[F3 Jump To]
[F5 Change.]
name.
5-17
Displaying and modifying vector variable values
Access: [F1 Program]—[F4 Var.]—[F3 Vector.]
Displays values assigned to vector variables and/or modifies them.
Pressing [F3 Vector.] will display the Vector Variables window as shown below.

[F3 Jump To]
[F5 Change.]
name.
5-18
Displaying and modifying position variable values

Access: [F1 Program]—[F4 Var.]—[F4 Pos.]
Displays values assigned to position variables and/or modifies them.
Pressing [F4 Pos.] will display the Position Variables window as shown below.

[F3 Jump To] numerical keys and press OK. Doing so will display the
Displays the system message "Will move to the position
specified by the variable xx." While OK is held down, the
robot arm moves to the specified position. You can specify
PTP or CP.
[F4 Move] In Version 2.61 or later, it is also possible to move the robot
arm to a target position specified with an approach length. To
interrupt the movement halfway, release OK. The specified
target position setting is retained. Pressing OK again
restarts the movement to the target position.
[F5 Change.] and then press OK. Doing so will assign the newly entered
Displays the system message "Are you sure you want to
read the current position into the variable xx?" Pressing OK
[F6 Get Pos.] will enter the current position values into the selected
variable name.
the variable X into the Y." Selecting Yes will copy the currently
selected variable value to the specified variable name.
5-19
Displaying and modifying joint variable values
Access: [F1 Program]—[F4 Var.]—[F5 Joint.]
Displays values assigned to joint variables and/or modifies them.
Pressing [F5 Joint.] will display the Joint Variables window as shown below.

[F3 Jump To] numerical keys and press OK. Doing so will display the
PTP or CP.
[F5 Change.] and then press OK. Doing so will assign the newly entered
read the current position into the variable xx?" Pressing OK
[F6 Get Pos.] will enter the current position values into the selected
variable name.
5-20
Displaying registered variable list [Ver. 1.9 or later]

Access: [F1 Program]—[F4 Var.]—[F6 RegVar.]
Displays the registered variable list.
This registered variable reference facility allows you to refer to previously registered
variables. Use this facility when you cannot designate a program line since the
program is running or when you want to refer to variables in more than one program.
To call up the registered variables window, press [WATCH] in the coding list window or
[F6 RegVar.] in the Select Variable Type window. The Registered variable list window
For details, refer to Section 3.4.8 "Local Variable-Related Enhancement."
5-21
Displaying and modifying double-precision variable
values
Access: [F1 Program]—[F4 Var.]—[F8 Double.]
Displays values assigned to double-precision variables and/or modifies them.
Pressing [F8 Double.] will display the Double-precision Variables window as shown
below.

[F3 Jump To]
[F5 Change.]
name.
5-22
Displaying and modifying variable values in

homogeneous transform matrix
Access: [F1 Program]—[F4 Var.]—[F10 Tran.]
Displays values assigned to variables in homogeneous transform matrix and/or

modifies them.
Pressing [F10 Tran.] will display the Tran Variables window as shown below.

[F3 Jump To]
PTP or CP.
[F5 Change.]
read the current position into the T variable XX?" Pressing
[F6 Get Pos.]
OK will enter the current position values into the selected
variable name.
[F7 Copy Var]
display the system message "Are you sure you want to copy
5-23
Displaying and modifying string variable values
Access: [F1 Program]—[F4 Var.]—[F11 String.]
Displays values assigned to string variables and/or modifies them.
Pressing [F11 String.] will display the String Variables window as shown below.

[F3 Jump To]
Displays the Enter Character String window (see the next
page) where you may enter a character string you want to
[F5 Change.]
assign with the letter buttons and then press OK. Doing so
will assign the newly entered string to the variable.
name.
5-24
Pressing [F5 Change.] on the String Variables window will call up the Enter Character
String window as shown below.
Use the letter buttons to enter a character string you want to assign to the currently
selected string variable. Then press the OK button to fix the new string.
5-25
Displaying and modifying the number of variables used
Access: [F1 Program]—[F4 Var.]—[F12 VarsUsed.]
Displays the number of variables used for each type of variables and/or modifies them.
(1) Press [F12 VarsUsed.] to display the following window.
F5
(2) Select the item whose number of variables you want to change, then press [F5
Change.]. The numeric keypad will appear.
(3) Enter the desired value and press the OK button. The newly entered value will
appear in the selected item box.
F5
5-26
(4) Check the entered value and press the OK button.

The following system message will appear. Press the OK button, and compiling
will start.
Upon successful completion of compiling and loading, the number of variables you
have entered becomes effective.
If you press the Cancel button in the above window, the entered value does not
become effective until compiling and loading takes place next time.
NOTE: Regarding the number of global variables

In this controller, the number of variables used can be modified only when the
execution program is loaded.
When the number of variables used is modified, depending on the compiler, first a file
indicating the modification of the number of variables used is created and then the
program is loaded. The new setting becomes effective from when loading is
completed.
When it is necessary to increase the number of global variables, the remaining
memory area may not be sufficient. In this case, the error codes "739E Failure to load
execution file" and "73D4 Lack of memory" are displayed.
In some cases, the following procedures may be effective for securing the necessary
memory area.
a) Make a backup of the variables by WINCAPSII.
b) Change the number of all global variables to 1, compile and load them.
c) Change the number of the global variables to the desired number, compile and
load them.
d) Return the backup variables to the controller.
5-27
Editing a program in Manual Mode
Access: [F1 Program]—[F5 Edit.]
Edits a program you select in the Program List window.
(1) Select the program to be edited.
F5
(2) Press [F5 Edit.], and the selected program will appear in the program edit window
as shown below.
F1 F2 F3 F4 F5 F6
(F10)
(3) Select the desired edit type (NewLine, Del Line, CopyLine, Paste, EditLine, Save.,
or SyntxErr) by pressing the corresponding function key. The corresponding
window will display as described on the following pages.
5-28
Inserting a new program line in Manual mode

Access: [F1 Program]—[F5 Edit.]—[F1 NewLine.]
Insert a new program line immediately after the line selected in the Program List
window.
(1) Select the program line after which you want to insert a new program line.
(2) Press [F1 NewLine.] in the program edit window, and the coding window will
F1 F2 F3 F4 F5 F6
(3) Enter a line of code by using the letter buttons.

(4) Press the OK button to enter the new line into the program.
(5) Press [F6 Save.].
The system message "Do you want to save/compile this program?" appears.
(6) Press the OK button to compile the edited program.
If you press the Cancel button, the system message will disappear and the coding
window with the new entry will remain displayed. In this state, if you press the OK
key, the system will discard the new entry and return to the Program List window. If
you press the Cancel key, the following system message appears: "This program
has been modified. Are you sure you want to discard this modified program? OK:
Discard this program, Cancel: Continue editing, F6: Save the modification"

Shortcut to the favorite command window (that can be called up by
[F1 User.]
choosing the "Favorites" on the Category Selection window).
Shortcut to the flow control statement screen (that can be called up by
[F2 Flow.] choosing the "Flow control statement" on the Category Selection
window).
Shortcut to the robot control statement screen (that can be called up
[F3 Robot.] by choosing the "Robot control statement" on the Category Selection
window).
[F5 Recent.] Shortcut to a list of commands in the most recently selected category.
[F6 ClrAll] Clears all characters being entered.
5-29
Deleting a program line in Manual mode
Access: [F1 Program]—[F5 Edit.]—[F2 Del Line]
Deletes the program line you select in the program edit window.
(1) Select the program line that you want to delete.

(2) Press [F2 Del Line] in the program edit window, and the selected line will be
erased.
F6
The system message "Do you want to save and compile?" appears.
(4) Select whether to compile or not, then press the OK button.

If you press the Cancel button, the system message will disappear and the
program edit window after the new entry will remain displayed. In this state, if you
press the OK key, the system will discard the new entry and return to the Program
List window. If you press the Cancel key, the following system message appears:
"This program has been modified. Are you sure you want to discard this modified
program? OK: Discard this program, Cancel: Continue editing, F6: Save the
modification"
5-30
Copying a program line in Manual mode

Access: [F1 Program]—[F5 Edit.]—[F3 CopyLine]
Copies the program line selected in the program edit window (shown below), into the
memory. The copied data will be used when [F4 Paste] command will execute.
F3
5-31
Pasting a program line in Manual mode
Access: [F1 Program]—[F5 Edit.]—[F4 Paste]
Pastes the program line (that you copied with [F3 CopyLine] into the memory)
immediately following a line you select in the program edit window.
(1) In the program edit window as shown below, select the program line after which
you want to paste a copied line.
(2) Press [F4 Paste].
F4

program edit window with the new entry will remain displayed. In this state, if you
modification"
5-32
Editing a line of program code in Manual mode

Access: [F1 Program]—[F5 Edit.]—[F5 EditLine]
Edits the line of program code selected in the program edit window.
(1) Select the program line that you want to edit.

(2) Press [F5 EditLine] in the program edit window, and the coding window will appear
as shown below.
F1 F2 F3 F4 F5 F6
(3) Edit a line of code by using the letter buttons.

(4) Press the OK button to enter the edited line into the program.
program edit window with the new entry will remain displayed. In this state, if you
modification"
Shortcut to the favorite command window (that can be called up by
[F1 User.]
choosing the "Favorites" on the Category Selection window).
Shortcut to the flow control statement screen (that can be called up by
[F2 Flow.] choosing the "Flow control statement" on the Category Selection
window).
Shortcut to the robot control statement screen (that can be called up
[F3 Robot.] by choosing the "Robot control statement" on the Category Selection
window).
[F5 Recent.] Shortcut to a list of commands in the most recently selected category.
[F6 ClrAll] Clears all characters being entered.
5-33
Saving and compiling an edited program in Manual
mode
Access: [F1 Program]—[F5 Edit.]—[F6 Save.]
Saves and compiles an edited program. If the program is set to "Disable" in the
Program List window, this command performs saving only; if it is set to "Enable," this
command performs both saving and compiling.
During compiling, the following window is displayed.
After compiling, the "Compile Log" will appear if the task program contains any errors.
Fix the program until no syntax error will be detected, since the task program cannot
execute if containing any error.
You may check anytime a compile log, by pressing [F1 Program]—[F10 SyntxErr] in
Manual mode.
5-34
Displaying a compile log in Manual mode

Access: [F1 Program]—[F5 Edit.]—[F10 SyntxErr]
Displays the compile log as shown below.

The compile log is useful when you correct syntax errors in programming. You must
correct the program until no syntax errors are detected.
Setting a break point(s) in Manual mode

Access: [F1 Program]—[F5 Edit.]—[F11 SetBP]
Sets a break point(s) at a desired program step(s). If the set break point is encountered
during execution of program, the program will immediately stop.
5-35
Providing auxiliary functions in Manual mode
Access: [F1 Program]—[F6 Aux.]
Provides the following auxiliary functions for project editing.
F1 F3
When shifted
F7 F8 F9 F10 F12
5-36
Setting project parameters in Manual mode

Access: [F1 Program]—[F6 Aux.]—[F1 Set PRJ.]
Sets the parameters of variables to be used by the project and makes project-related
settings.
For details about parameters, refer to the PROGRAMMER'S MANUAL I, Chapter 22
(Appendix), "22.4 Configuration List."
(1) Press [F1 Set PRJ.] in the Auxiliary Functions (Programs) window. The Project
Parameter window will appear as shown below.
F5
(2) Select the item to be modified and then press [F5 Change.]
5-37
(3) Enter the desired value(s) with the numerical buttons in the above window, and
then press the OK button.
The new settings will appear in the Project Parameter window.
(4) Check the new settings. If they are satisfactory, press the OK button, and the
system message dialog box will appear as shown below.
To clear the new settings, press the Cancel button in the Project Parameter
window.
(5) The system message dialog box asks whether the new settings are to be applied
to the current project.
To apply the new settings to the current project immediately, press the OK button,
making compilation start soon.
To apply those settings from subsequent project compilation, press the Cancel
button.
5-38
Setting compiling options in Manual mode

Access: [F1 Program]—[F6 Aux.]—[F3 Options.]
Sets the compiling options.

For details about compiling options, refer to the WINCAPSII Guide, Chapter 5, Section
5.7.1.3, "Compiler."
(1) Press [F3 Options] in the Auxiliary Functions (Programs) window. The Compile
Options window will appear as shown below.
F5
(3) Enter the desired value(s) with the numerical buttons in the above table, and then
press the OK button.
The new settings will appear in the Compile Options window.
(4) Check the new settings. If they are satisfactory, press the OK button to make them
take effect. To clear those settings, press the Cancel button.
5-39
Setting the break point stop mode in Manual mode
Access: [F1 Program]—[F6 Aux.]—[F5 BP Settng]
Selects either of the following two BP stop modes to be applied when break points are
encountered:
- Stop only the program on which the encountered break point is set
- Stop all running programs
(1) Press [F5 BP Settng] in the Auxiliary Functions (Programs) window. The Select
BreakPoint Setting window will appear as shown below.
(2) Select the desired option.

(3) Press the OK button to make the new setting effective. To cancel it, press the
Cancel button.
5-40
Setting the resume-related parameters in Manual mode

Access: [F1 Program]—[F6 Aux.]—[F7 Continue]
Sets the resume-related parameters for Continue Start.
(1) Press [F7 Continue] in the Auxiliary Functions (Programs) window. The Continue
Parameters Setting window will appear as shown below.
F5
The new settings will appear in the Continue Parameter Setting window.
5-41
Setting the safe start related parameters in Manual
mode
Access: [F1 Program]—[F6 Aux.]—[F8 SS Mode.]
Sets the safe start related parameters.
(1) Press [F8 SS Mode.] in the Auxiliary Functions (Programs) window. The Safety
Start Setting window will appear as shown below.
F5
The new settings will appear in the Safety Start Setting window.
5-42
Setting the step return options in Manual mode

Access: [F1 Program]—[F6 Aux.]—[F9 StpBack.]
Sets the step return options.
(1) Press [F9 StpBack.] in the Auxiliary Functions (Programs) window. The Step Back
Setting window will appear as shown below.

Cancel button.
Restarting the controller will make this setting go into effect.
5-43
Enabling/disabling the automatic loading of a project in
Manual mode
Access: [F1 Program]—[F6 Aux.]—[F10 LoadMode]
Enables or disables the automatic loading of a project.
(1) Press [F10 LoadMode] in the Auxiliary Functions (Programs) window. The Project
Auto Load Setting window will appear as shown below.

Cancel button.
Restarting the controller will make this setting go into effect.
5-44
Compiling a project
Access: [F1 Program]—[F6 Aux.]—[F12 Compile]
Compiles a project or all programs which are set to "Enable" in the Program List
window.
(1) Press [F12 Compile.] in the Auxiliary Functions (Programs) window. The system
message will appear as shown below.
(2) To cancel compiling and return to the Auxiliary Functions (Programs) window,
press the Cancel button.
To start compiling, press the OK button.
(3) Upon successful completion of project compilation, the system will automatically
load the project and then return to the Auxiliary Functions (Programs) window.
5-45
If project compilation is not successful, the compile log window will appear as shown
below. It displays syntax errors in the program. According to these error messages,
modify your program.
5-46
Creating a new project in Manual mode

Access: [F1 Program]—[F7 New PRJ]
Erases all task programs stored in the robot controller and will then create a new
project.
(1) Press [F7 New PRJ] in the Program List window. The system message dialog box
5-47
Displaying syntax errors in Manual mode
Access: [F1 Program]—[F10 SyntxErr]
Displays syntax errors found in compilation.

The display of syntax errors is useful for fixing syntax errors contained in a program.
You should fix the program until no syntax errors will display.
(1) Press [F10 SyntxErr] in the Program List window. The Compile Log window will
5-48
Enabling/disabling a selected program for compilation in Manual

mode
Access: [F1 Program]—[F12 Config.]
Enables a selected program to get compiled or disables it from getting compiled.

In compilation, the system will first check the enable/disable flags of programs and
then compile only those programs whose flags are set to "Enable."
If a project contains more than one program with a same name but only one of them is
set to "Enable," then no compile error will occur.
If you edit and save programs whose flags are set to "Enable," the system will
automatically compile them.
(1) In the Program List window, select a program that you want or do not want to
compile.
(2) Press [F12 Config.] (or the Config. button located at the bottom of the Program List
window). This switches the selected program between "Enable" and "Disable."
F12
5-49
5.2.2 Showing the Program List Window in Teach Check Mode
Pressing [F1 Program] on the top screen in Teach check mode will display the Program
List window as shown below.
F1 F2 F4 F5 F6
When shifted
F7 F8 F9 F11 F12

[Status] Shows the execution status of the listed program.
[LineNo.] Shows the line being executed or on halt.
[RnTime] Shows the run time that the listed program takes to run. Note that
programs named PROxx (where xx is a numeral) only may show
the run time.
If the listed program runs continuously, the run time required for
every cycle will appear.
[Priorty] Shows the priority order for executing programs. The less the
numeric value, the higher the priority.
[F/B] Shows whether the listed program is currently executing forwards or
backwards.
The hierarchy of the [F1 Program] menu in Teach checks mode is given on the next
page.
5-50
5-51
Halting the selected program in Teach check mode
Access: [F1 Program]—[F1 Halt]
Halts the task program selected in the Program List window.
Pressing [F1 Halt] in the Program List window (shown below) will immediately interrupt
the selected program.
F1
TIP: Pressing [F1 Halt] halts the selected program only. Pressing the STOP key on the
teach pendant stops all task programs.
5-52
Causing a step stop in Teach check mode

Access: [F1 Program]—[F2 StepStop]
Interrupts the task program selected in the Program List window as shown below, after
executing the current program step.
F2
5-53
Causing a single-cycle run in Teach check mode
Access: [F1 Program]—[F4 CycStart]
Runs a single cycle of the program selected in the Program List window.
(1) Select the program to be run in the Program List window (shown below).
F4
(2) Press [F4 CycStart], and the system message dialog box will appear as shown
below.
(3) While holding down the deadman switch, press the OK key. Make sure to keep
both switches depressed until the execution completes.
NOTE: The elapsed time on display refers to the time length from the start to end of the
program, including temporary stop time caused by Step stop or Halt.
5-54
Returning the selected program by a single step in Teach check

mode
Access: [F1 Program]—[F5 StepBack]
Returns the program selected in the Program List window by a single step at a time.
(1) Press [F5 StepBack] in the Program List window.
(2) The system message appears as shown below.

Holding down the deadman switch, press the OK button to move back the program
by one step.
5-55
Causing a single-step run in Teach check mode
Access: [F1 Program]—[F6 StpStart]
Runs a single step of the program selected in the Program List window.
F6
(2) Press [F6 StpStart], and the system message dialog box will appear as shown
below.
(3) While holding down the deadman switch, press the OK key. Make sure to keep
both switches depressed until the execution completes.
5-56
Stopping the program(s) in Teach check mode

Access: [F1 Program]—[F7 ProgRst.]
Stops the program(s).
(1) Press [F7 ProgRst.] in the Program List window.

The Reset Program window will appear as shown below.
(2) Select the program to be stopped and press the OK button.
The task will be stopped.
NOTE: The currently running program also stops.
5-57
Setting the priority order of programs in Teach check mode
Access: [F1 Program]—[F9 Priorty.]
Sets the priority order of a program you select in the Program List window.
(1) Select the target program.

(2) Press [F9 Priorty.], and the numeric keypad will appear as shown below.
Numeric
keypad
(3) Enter the priority order with the numerical buttons. (Entry range: 102 to 255)
Note: The priority order of the supervisory task cannot be changed.
5-58
Displaying codes of the selected program in Teach check mode

Access: [F1 Program]—[F11 Display.]
Displays codes of the program selected in the Program List window.

(2) Press [F11 Display.], and the program code window will appear as shown below.
F1 F2 F4 F5 F6
(F7) (F9) (F11) (F12)
When the program code window is displayed, the following commands are still
effective: [F1 Halt], [F2 StepStop], [F4 CycStart], [F6 StpStart], [F7 Var.], [F8 I/O.], [F9
Priorty.], and [F12 PrintDbg].
5-59
Displaying a debug window in Teach check mode
Access: [F1 Program]—[F12 PrintDbg]
Displays the debug window where you may view the result of executing the
PRINTDBG command in PAC language.
This command allows you to check the execution result of a program or the
intermediate result of the computation.
The debug window displays the last 40 lines of the execution result. Scroll the screen
to show older data.
A red triangle marker indicates a current line being used by this command.
If a sample program shown below is executed, the debug window will display the
results as shown below.
'!TITLE "PrintDbg test program"

PROGRAM TEST
DIM COUNTER AS INTEGER
FOR COUNTER = 1 TO 5
PRINTDBG "Value =";COUNTER
IF COUNTER = 3 THEN EXIT FOR
NEXT
PRINTDBG "Result = ";COUNTER

END
5-60
5.2.3 Showing the Program List Window in Auto Mode

Pressing [F1 Program] on the top screen in Auto mode will display the Program List
F1 F2 F3 F4 F6
When shifted
F7 F9 F10 F11 F12

[Status] Shows the execution status of the listed program.
[LineNo.] Shows the line being executed or on halt.
[RnTime] Shows the run time that the listed program takes to run. Note that
programs named PROxx (where xx is a numeral) only may show
the run time.
If the listed program runs continuously, the run time required for
every cycle will appear.
Note: In Version 1.4 or later, the run time is displayed for each step
when step run is carried out.
[Priorty] Shows the priority order for executing programs. The less the
numeric value, the higher the priority.
The hierarchy of the [F1 Program] menu in Auto mode is given on the next page.
5-61
5-62
Halting the selected program in Auto mode

Access: [F1 Program]—[F1 Halt]
Halts the task program selected in the Program List window.
Pressing [F1 Halt] in the Program List window (shown below) will immediately interrupt
the selected program.
F1
TIP: Pressing [F1 Halt] halts the selected program only. Pressing the STOP key on the
teach pendant stops all task programs.
5-63
Causing a step stop in Auto mode
Access: [F1 Program]—[F2 StepStop]
Interrupts the program selected in the Program List window as shown below, after
executing the current program step.
F2
5-64
Causing a cycle stop in Auto mode

Access: [F1 Program]—[F3 CycStop]
Stops the task program selected in the Program List window as shown below, after
executing the current program up to the last step.
F3
NOTE: The elapsed time on display refers to the time length from the start to the end of
the program, including temporary stop time caused by Step stop or Halt.
5-65
Running the selected program in Auto mode
Access: [F1 Program]—[F4 Start.]
Runs the task program selected in the Program List window, by a single cycle or
continuously.
F4
(2) Press [F4 Start.], and the system message dialog box will appear as shown below.
(3) Select Single-cycle or Continuously, then press the OK button to proceed.
5-66
Causing a single-step run in Auto mode

Access: [F1 Program]—[F6 StpStart]
Runs a single step of the task program selected in the Program List window.
(1) Select a program to be run in the Program List window (shown below).
F6
(2) Press [F6 StpStart], and the system message dialog box will appear as shown
below.
(3) Press the OK button to proceed.
The actual elapsed time is +0.00 to +0.03 more than the elapsed time, to include the
time required for starting and ending the step. [Ver. 1.4 or later]
5-67
Displaying the Reset Program window in Auto mode
Access: [F1 Program]—[F7 ProgRst.]
Displays the Reset Program windows.
(1) Press [F7 ProgRst.] in the Program List window.

The Reset Program window will appear as shown below.
(2) Select the program to be stopped and press the OK button.
The task will be stopped.
NOTE: The currently running program also stops.
5-68
Setting the priority order of programs in Auto mode

Access: [F1 Program]—[F9 Priorty.]
Sets the priority order of the task programs selected in the Program List window.

(2) Press [F9 Priorty.], and the numeric keypad will appear as shown below.
Numeric
keypad
(3) Enter the priority order with the numerical buttons. (Entry range: 102 to 255)
Note: The priority order of the supervisory task cannot be changed.
5-69
Resuming selected program(s) in Auto mode
Access: [F1 Program]—[F10 Continue]
Resumes program(s) that has been stopped with "Cont.Stp." and selected in the
Program List window.
(1) Select programs you want to resume and press [F10 Continue] in the Program List
window.
NOTE: Programs that can be resumed show Continue Stop in the Status column.
The system message will appear if programs that can resume are present.
(2) Press the OK button to resume the program you have selected.
To cancel resuming, press the Cancel button.
If programs that can be resumed do not exist, the system message will appear as
shown below.
5-70
Displaying codes of the selected program in Auto mode

Access: [F1 Program]—[F11 Display.]
Displays codes of the program selected in the Program List window.

(2) Press [F11 Display.], and the program code window will appear as shown below.
F1 F2 F3 F4 F6
(F7) (F9) (F12)
When the program code window is displayed, the following commands are still
effective: [F1 Halt], [F2 StepStop], [F3 Cyc Stop], [F4 Start], [F6 StpStart], [F7 Var.], [F8
I/O], [F9 Priorty.], and [F12 PrintDbg].
5-71
Displaying a debug window in Auto mode
Access: [F1 Program]—[F12 PrintDbg]
Displays the debug window where you may view the result of executing the
PRINTDBG command in PAC language.
This command allows you to check the execution result of a program or the
intermediate result of the computation.
The debug window displays the last 40 lines of the execution result. Scroll the screen
to show older data.
A red triangle marker indicates a current line being used by this command.
If a sample program shown below is executed, the debug window will display the
results as shown below.
'!TITLE "PrintDbg test program"

PROGRAM TEST
DIM COUNTER AS INTEGER
FOR COUNTER = 1 TO 5
PRINTDBG "Value =";COUNTER
IF COUNTER = 3 THEN EXIT FOR
NEXT
PRINTDBG "Result = ";COUNTER

END
5-72
5.3 Displaying the Current Robot Position

Access: [F2 Arm]
Pressing [F2 Arm] on the top screen will display the Current Robot Position window as
shown below.
F1 F3 F4 F5 F6
When shifted
F7 F8 F9 F12
Pressing [F7 Show P] (or P button), [F8 Show J] (or J button), or [F9 Show T] (or T
button) switches the expression of the current robot position to the position variable
type, joint variable type, or homogeneous transform matrix variable type, respectively.
The J1 through J6 (J4 for the 4-axis robot) show where each axis is positioned within
the motion space.
The hierarchy of the [F2 Arm] menu is given on the next page.
5-73
5-74
Selecting the robot type (reserved)

Access: [F2 Arm]—[F1 Robot.]
Selects the type of robot you have. This command is reserved for future use of
eight-axis robots or two 4-axis robots. It allows the control of the teach pendant to
switch between six axes and two extended axes or between two 4-axis robots.
While the teach pendant has only six arm traverse keys, the robot controller can control
up to 8 axes (e.g., controlling a single 6-axis robot plus two extended axes or two
4-axis robots). To control more than six axes with those six keys of the teach pendant,
you need to use this command and switch the control to the extended axes.
This command is functionally equivalent to the R-SEL key.
(1) In the Current Robot Position window shown below, press [F1 Robot.].
F1
(2) The Select Robot window will appear as shown below. Select the type of your
robot and then press the OK button.
5-75
Switching the operation modes, work coordinates and tool
coordinates
Access: [F2 Arm]—[F3 OpeMode.]
Switches the operation modes, work coordinates and tool coordinates.

This command is functionally equivalent to the M-MOD key.
(1) In the Current Robot Position window shown below, press [F3 OpeMode.].
F3
(2) The Select Operation Mode window will appear as shown below. Select the
desired operation mode, work coordinates and tool coordinates, and then press
the OK button.
5-76
Displaying and modifying variable values

Access: [F2 Arm]—[F4 Var.]
Displays values assigned to various types of variables and the number of variables
used and/or modifies them.
This command is functionally equivalent to [F1 Program]—[F4 Var.] in Manual mode.
Displaying and modifying integer variable values

[F2 Arm]—[F4 Var.]—[F1 Integer.]
Refer to page 5-16.
Displaying and modifying floating-point variable values
[F2 Arm]—[F4 Var.]—[F2 Float.]
Refer to page 5-17.
Displaying and modifying vector variable values
[F2 Arm]—[F4 Var.]—[F3 Vector.]
Refer to page 5-18.
Displaying and modifying position variable values
[F2 Arm]—[F4 Var.]—[F4 Pos.]
Refer to page 5-19.
Displaying and modifying joint variable values
[F2 Arm]—[F4 Var.]—[F5 Joint.]
Refer to page 5-20.
Displaying registered variable list. [Ver. 1.9 or later]
[F2 Arm]—[F4 Var.]—[F6 RegVar.]
Refer to page 5-21.
Displaying and modifying double-precision variable values
[F2 Arm]—[F4 Var.]—[F8 Double.]
Refer to page 5-22.
Displaying and modifying variable values in homogeneous transform matrix
[F2 Arm]—[F4 Var.]—[F10 Tran.]
Refer to page 5-23.
Displaying and modifying string variable values
[F2 Arm]—[F4 Var.]—[F11 String.]
Refer to page 5-24.
Displaying and modifying the number of variables used
[F2 Arm]—[F4 Var.]—[F12 VarsUsed.]
Refer to page 5-26.
5-77
Setting the reduced ratios of the programmed speed, acceleration,
and deceleration
Access: [F2 Arm]—[F5 Speed.]
Sets the reduced ratios (percentage) of the programmed speed, acceleration, and
deceleration, as well as selecting speed-running or inching.
This command is functionally equivalent to the SPEED key.
(1) In the Current Robot Position window shown below, press [F5 Speed.].
F5
(2) The Set Speed window will appear as shown below. Set the desired ratios of the
programmed speed, acceleration and deceleration. Additionally, select
speed-running or inching. Then press the OK button.
TIP: For the detailed operating procedure about setting of the reduced ratios, refer to
Chapter 2, Section 2.7.
5-78
Providing auxiliary functions

Access: [F2 Arm]—[F6 Aux.]
Provides the auxiliary functions concerning coordinates definition, interference area

definition, user preferences, overload anticipation, and CAL operation.
(1) Press [F6 Aux.], and the Auxiliary Functions (Arm) window will appear as shown
below.
F3 F4 F5 F6
(2) Select the desired auxiliary function by pressing the corresponding function key.
The corresponding window will display as described on the following pages.
5-79
Entering the direct teaching mode (For 4-axis robots)
Not supported in UL-Listed robot systems
Access: [F2 Arm]—[F6 Aux.]—[F3 Direct.]
The direct teaching mode allows you to move the robot arm by hand (without using the
teach pendant) with the motor being OFF and teach the current position to a joint
variable, position variable, or homogeneous transform matrix variable. (Usual teaching
requires the motor to be turned ON.)
Note 1: The HS-E/G series and HM-E/G-W series (dust- & splash-proof type) have no
air balance cylinder on the Z-axis, so the operation procedure for the direct teaching
mode differs from that of the conventional 4-axis robots.
Note 2: The HM-4A***E/G-W series (20 kg payload type) does not support the direct
teaching mode.
Note 3: In the global type of robot systems of the -E series and the early version of the
-G series, holding down the deadman switch (enable switch) is required for direct
teaching mode operation and brake releasing.
Note 4: Do not quickly start and stop the direct teaching mode in succession. It may
trigger the error 5790 "Speed over in direct mode."
Note 5: The XR-G series of robots do not release the 3rd-axis (Z-axis) brake in the
direct teaching mode.
For conventional 4-axis robots except the HS-E/G & HM-E/G-W series
(1) In the Auxiliary Functions (Arm) window, press [F3 Direct.]. The air balance
adjustment window will appear.
NOTE: The air pressure adjustment for Z-axis balance is required only when you
make the robot enter the direct teaching mode at the first time after turning the
robot controller ON.
(2) According to the instructions given on the screen, adjust the air pressure. If the
"Complete the air pressure" is displayed as shown below, press the OK button.
5-80
(3) Wait for the following window to appear and press the OK button.
(4) Wait for the following window to appear.

Turn the motor OFF and then press the OK button.
(5) Wait for the following window to appear.

Check the message and press the OK button.
The robot is placed in the direct teaching mode.
5-81
For the HS-E/G & HM-40***E/G-W series [Ver. 1.9 or later]
The HS-E/G and HM-E/G-W series have no air balance cylinder on the Z-axis, so the
operation procedure for the direct teaching mode differs from that of the conventional
4-axis robots.
(1) In the Auxiliary Functions (Arm) window, press [F3 Direct.].
The following message will appear.
(2) Press the OK button in the above window.

After that, holding down the brake release switch provided on the top of the 2nd
arm releases the brake.
Note: The brake release switch is effective only in the direct teaching mode.
Caution: Releasing the brake will drop the Z-axis downward. Make sure
beforehand that it will not cause damage to person or equipment.
Brake release button for the 3rd-axis Brake release button for the 3rd-axis
<HS-E/G series> <HM-40***E/G-W series>
(3) In the following start window, press the OK button.
5-82
Defining tool coordinates

Access: [F2 Arm]—[F6 Aux.]—[F4 Tool.]
Defines tool coordinates.
(1) Press [F4 Tool.] in the Auxiliary Functions (Arm) window, and the following window
will appear.
F5
(2) In the above window, select the item to be defined and then press [F5 Change.]
Numeric
keypad
(3) Enter the desired value with the numerical buttons in the above window, and then
5-83
Defining work coordinates
Access: [F2 Arm]—[F6 Aux.]—[F5 Work.]
Defines work coordinates.
(1) Press [F5 Work.] in the Auxiliary Functions (Arm) window, and the following
window will appear.
F4 F5
(2) In the above window, select the item to be defined and then press [F5 Change.].
NOTE: For automatic calculation of work coordinates press [F4 AutoCalc]. For
details, refer to the next page.
Numeric
keypad
5-84
Calculating work coordinates automatically in Manual

mode
Access: [F2 Arm]—[F6 Aux.]—[F5 Work.]—[F4
AutoCalczxigfu]
Calculates work coordinates automatically if you merely specify three points--Origin of

work coordinates, point on the X axis of work coordinates and point on the X-Y plane of
work coordinates.
For details regarding work coordinates definition, refer to Section 4.1.1, [1.3] and
Section 4.2.1, [1.3] for 6-axis and 4-axis robots, respectively.
(1) Press [F4 AutoCalc] in the Define Work Coordinates window, and the following
window appears.
If three points are on a straight line, the automatic calculation will fail to set work
coordinates and the following window appears.
5-85
Defining an interference check area
Access: [F2 Arm]—[F6 Aux.]—[F6 Area.]
Defines an interference check area(s) or rectangular parallelepiped(s). If the

end-effector comes in or goes out of the defined interference check area, the system
interprets it as interference so that it may activate specified tasks preprogrammed if an
I/O port address is set.
(1) Press [F6 Area.] in the Auxiliary Functions (Arm) window, and the following
window will appear.
F4 F5
NOTE: For automatic calculation of the interference check area, press [F4
AutoCalc]. For details, refer to the next page.
Numeric
keypad
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Calculating the coordinates of an interference check

area automatically in Manual mode
Access: [F2 Arm]—[F6 Aux.]—[F6 Area.]—[F4 AutoCalc]
Calculates the coordinates of an interference check area(s) automatically if you merely

specify three points--Work coordinates and two vertexes (farthest and nearest to the
origin of the base coordinates) of the interference check area.
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Setting the user preferences
Access: [F2 Arm]—[F6 Aux.]—[F7 Config.]
Sets or modifies the user preferences such as the control set of motion optimization,
robot mounting style, mass of payload, and payload center of gravity (as master control
parameters).
(1) Press [F7 Config.] in the Auxiliary Functions (Arm) window, and the following
window will appear.
F5
Numeric
keypad
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Displaying anticipated overloads to the capacity of

motors and brake resistance of the robot controller
Access: [F2 Arm]—[F6 Aux.]—[F10 Overload]
Displays anticipated overloads (percentages) to the capacity of joint-drive motors and

to the brake resistance of the robot controller.
(1) Press [F10 Overload] in the Auxiliary Functions (Arm) window, and the following
system message dialog box will appear.
(2) Press the OK button to close the dialog box.
When the system logs control data, it calculates anticipated overloads. To update the
anticipated overloads; therefore, write program in which STARTLOG will execute at the
start of the motion whose overloads should be anticipated, as shown in the sample
program given on the next page.
The system will calculate anticipated overloads for a maximum of 10 seconds from the
start of logging. If the time from the start (STARTLOG) of logging to the end
(STOPLOG) is less than 10 seconds, the system will calculate overloads for that time.
If the time exceeds 10 seconds, the system will calculate them for the first 10 seconds.
If a motion cycle whose overloads should be anticipated takes more than 10 seconds,
therefore, you need to log control data for each of 10-second or less motion cycles to
monitor anticipated overloads.
Anticipated overloads will not be updated until STARTLOG executes again.
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(Sample program for logging)
PROGRAM PRO1 'Main program'
TAKEARM
CLEARLOG :Clears log data before STARTLOG
STARTLOG :Start of logging
CALL SUB1
CALL SUB2
STOPLOG :End of logging (If STOPLOG executes within 10 seconds
from STARTLOG, the anticipated
overloads for that time will appear.)
GIVEARM
END
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Saving or deleting control log to/from the flash memory

Access: [F2 Arm]—[F6 Aux.]—[F11 CtrlLog.]
Saves or deletes control log preserved in the flash memory.
(1) Press [F11 CtrlLog.] in the Auxiliary Functions (Arm) window, and the following
window appears.
F1 F2 F6
(F7) (F12)

[F1 StrtLog] Starts keeping a control log.
[F2 StopLog] Stops keeping a control log.
[F6 ClrLog] Clears the current log so as to allow a new log.
Saves the current log stored in the work memory into the
flash memory. If the controller is turned OFF, data stored in
the work memory will be lost, but data in the flash memory
[F7 SaveLog.] will not.
You may read out log data stored in the flash memory by
specifying the log in WINCAPSII.
[F12 DelLog.] Deletes the current log stored in the flash memory.
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Executing CAL operation
Access: [F2 Arm]—[F6 Aux.]—[F12 Exec CAL]
Executes CAL operation.
(1) Press [F12 Exec CAL] in the Auxiliary Functions (Arm) window, and the following
system message dialog box will appear.
(2) Check that the motor power is ON, and then press the OK button in the above
dialog box to proceed.
The system message dialog box will appear as shown below.
(3) Press the OK button in the above dialog box.
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Switching the expression of the current robot position to the

position variable type
Access: [F2 Arm]—[F7 Show P]
Switches the expression of the current robot position to the position variable type.
Press [F7 Show P] in the Current Robot Position window, and the screen will switch as
shown below where the current robot position is expressed in position variables.
This command is functionally equivalent to the P button provided in the upper right
corner of the Current Robot Position window.
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Switching the expression of the current robot position to the joint
variable type
Access: [F2 Arm]—[F8 Show J]
Switches the expression of the current robot position to the joint variable type.
Press [F8 Show J] in the Current Robot Position window, and the screen will switch as
shown below where the current robot position is expressed in joint variables.
This command is functionally equivalent to the J button provided in the upper right
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Switching the expression of the current robot position to the tran.

variable type
Access: [F2 Arm]—[F9 Show T]
Switches the expression of the current robot position to the homogeneous transform
matrix variable type.
Press [F9 Show T] in the Current Robot Position window, and the screen will switch as
shown below where the current robot position is expressed in tran. variables.
This command is functionally equivalent to the T button provided in the upper right
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Displaying the Maintenance Functions (Arm) window
Access: [F2 Arm]—[F12 Maint.]
Displays the Maintenance Functions (Arm) window.
(1) Press [F12 Maint.] in the Current Robot Position window, and the Maintenance
Functions (Arm) window will appear as shown below.
V*-D series
(For the VM-D

series only)
H*-D series
(2) Select the desired maintenance function. The corresponding window will display
as described on the following pages.
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Setting the motion space (software motion limit)

Access: [F2 Arm]—[F12 Maint.]—[F1 M Space.]
Sets the motion space or software motion limit.
(1) Press [F1 M Space.] in the Maintenance Functions (Arm) window.

The Motion Space (Software motion limit) window will appear as shown below.
F5
(2) Select the item to be modified and then press [F5 Change.].
The numeric keypad will appear.
Numeric
keypad
The new entry will be entered into the Motion Space (Software motion limit)
window.
(4) Press the OK key.
To cancel the new entry, press the Cancel key.
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Setting the ready angle
Access: [F2 Arm]—[F12 Maint.]—[F2 RANG.]
Sets the ready angle (RANG).
(1) Press [F2 RANG.] in the Maintenance Functions (Arm) window.

The RANG window will appear as shown below.
F5
(2) Select the item to be modified and then press [F5 Change.].
The numeric keypad will appear.
Numeric
keypad
The new entry will be entered into the RANG window.
(4) Press the OK key.
To cancel the new entry, press the Cancel key. To return to the Maintenance
Functions (Arm) window, press the OK or Cancel key.
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Releasing or locking brakes

Access: [F2 Arm]—[F12 Maint.]—[F3 Brake.]
NOTE: In the global type of robot systems of the -E series and the early version of the
-G series, holding down the deadman switch (enable switch) is required for direct
teaching mode operation and brake releasing.
For 6-axis robots: VM-D/G, VS-E/G and VP-E/G series

Releases and locks J1 to J6 brakes.
(1) Press [F3 Brake.] in the Maintenance Functions (Arm) window.
The Brake Release Settings window will appear as shown below.
(2) Select the target brake.

(3) Press [F5 ON/OFF], and the indicator color of the selected brake will change from
black to green if locked or from green to black if released.
Black: Brake locked, Green: Brake released
To lock all axes' brakes, press [F4 CanclAll]; to release them, press [F6 SelctAll].
(4) Check the brake status, and then press the OK button to make the new entry take
effect.
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For 6-axis robots: VS-D and VC-E series
Releases and locks the brakes of all the axes.
For 4-axis robots

Releases or locks the Z-axis brake in the H*-D series.
(1) Press [F3 Brake.] in the Maintenance Functions (Arm) window.
The Brake Release Settings window will appear as shown below.
(2) Select the "Z axis brake released." or "Z axis brake locked."
(3) Check the brake status, and then press the OK button to make the new entry take
effect.
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Adjusting the air pressure balance of the Z axis (for

4-axis robots)
Access: [F2 Arm]—[F12 Maint.]—[F4 Adj.Z.Bal]
Adjusts the air pressure balance of the Z axis in the H*-D series. (This command does
apply to the V*-D series.)
(1) Press [F4 Adj.Z.Bal] in the Maintenance Functions (Arm) window, and the
following window will appear.
Make sure that the motor is turned ON and press the OK button.
(2) According to the instructions given on the screen, adjust the air pressure. If the
"Complete the air pressure" is displayed as shown below, press the OK button.
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(3) If the air pressure balance of the Z axis is not proper, the warning message
appears. Follow the instruction to readjust the air pressure balance.
(4) Wait for the following window to appear, then press the OK button.
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Selecting and deselecting joints to be calibrated

Access: [F2 Arm]—[F12 Maint.]—[F6 CALSET.]
Selects and/or deselects joints to be calibrated.
(1) Press [F6 CALSET.] in the Maintenance Functions (Arm) window.

The Set CALSET window will appear as shown below.
F4 F5 F6
(2) Select the target joint.

(3) Press [F5 ON/OFF], and the indicator color of the selected joint will change from
green to black if selected or from black to green if deselected.
Green: Joint selected for calibration, Black: Joint deselected
To deselect all joints, press [F4 CanclAll]; to select them for calibration, press [F6
SelctAll].
(4) Check the joint status, and then press the OK button to make the new entry take
effect.
TIP: For details about the CALSET procedure, refer to the INSTALLATION &
MAINTENANCE GUIDE, "CALSET."
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Displaying encoder information
Access: [F2 Arm]—[F12 Maint.]—[F10 ENC inf.]
Displays encoder information.
Pressing [F10 ENC inf.] in the Maintenance Functions (Arm) window will display the
Encoder Information window as shown below.
The above window displays the system status of the robot controller and the joint
status. If the status is normal, the indicator lights in green; if abnormal, it goes off.
Pressing the OK or Cancel button will return the screen to the Maintenance Functions
(Arm) window.
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Resetting the motor encoder data

(For the encoder model connected via bus: VM-D/-G, VS-E/-G and H*-E/-G series)
Access: [F2 Arm]—[F12 Maint.]—[F11 ENC rst]
Resets the motor encoder data.
You need to reset encoders and perform CALSET if:

- Error 641* occurs due to run-down encoder backup batteries, or
- Error 677* occurs due to a great impact applied to the robot when the power is off.
(* is any of 1 to 6 denoting the object axis.)
Given below is an encoder resetting procedure. (This procedure can apply only to the
VM-D/-G, VS-E/-G and H*-E/-G series.)
(1) Pressing [F11 ENC rst] in the Maintenance Functions (Arm) window will display
the Encoder reset window as shown below.
(2) Enter the axis number whose encoder is to be reset, and press [OK].
The System Message appears.
(3) Pressing [OK], the encoder of the selected axis will be reset.
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Setting ID data of motor encoders
(For the encoder model connected via bus: VM-D/-G, VS-E/-G and H*-E/-G series)
Access: [F2 Arm]—[F12 Maint.]—[F12 ENC set]
Sets the ID data of motor encoders. (This command can apply only to the VM-D/-G,
VS-E/-G and H*-E/-G series.)
This command is intended for DENSO WAVE service personnel only. Do not use this
command.
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5.4 Displaying the Vision Menu

Access: [F3 Vision]
Pressing [F3 Vision] on the top screen will display the Set Vision menu as shown
below.
The [F7 Window] and [F9 Analysis] are newly supported in Version 1.5 or later.
F1 F2 F3 F4 F6
When shifted
F7 F8 F9 F11 F12
NOTE: Before using the vision control [F3 Vision], make sure that:
z An optional µVision board is integrated in the robot controller,
z The robot is placed in Manual mode, and
z The vision semaphore is released (no TAKEVIS obtained).
The hierarchy of the [F3 Vision] menu is given on the next page.
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5-108
Getting image signals from the specified camera into the vision
board
Access: [F3 Vision]—[F1 Camera]
Sets the camera input parameters and gets image signals sent from the specified
camera into the µVision board.
(1) Press [F1 Camera] in the Set Vision window, and the Input Camera window will
F1 F2 F5
(2) Set the camera input parameters as follows:

Camera No.: Specify the connected camera number.
Table No.: Specify the number of the table that is looked up during input.
Table No. 0: Normal (Brightness 0 to 255)
Table No. 1: 70% brightness compression (Brightness 0 to 175)
Table No. 2: γ correction
Table No. 3: Reversal
Table No. 4: 70% brightness compression reversal
Table Nos. 5 to 15: User defined tables
Process No.: Specify the process screen number from which camera image
signals will be read.
(3) Press [F1 Update] to get image signals from the specified camera.

Updates camera input parameters and reads image signals from the
[F1 Update]
camera. The Camera Input window remains open.
Displays the image of the camera selected on the monitor by lookup
[F2 Live]
table 0 (fixed).
Displays the numeric keypad where you may modify the table
[F5 Change]
number.
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Displaying the specified image on the monitor
Access: [F3 Vision]—[F2 Display]
Sets the monitor display parameters and displays the specified image on the monitor.
(1) Press [F2 Display] in the Set Vision window, and the Screen Display window will
F1 F5
(2) Set the monitor display parameters as follows:

Drawing: Specify the screen to be drawn.
Camera & Process: Specify the image to be displayed.
Table No.: Specify the number of the table that is looked up during
input.
Table No. 0: Normal (Brightness 0 to 255)
Table No. 1: 70% brightness compression
(Brightness 0 to 175)
Table No. 2: γ correction
Table No. 3: Reversal
Table No. 4: 70% brightness compression reversal
Table Nos. 5 to 15: User defined tables

Updates monitor display parameters and calls up the specified
[F1 Update]
image on the monitor. The Screen Display window remains open.
Displays the numeric keypad where you may modify the table
[F5 Change]
number.
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Clearing the drawing screen or process screen

Access: [F3 Vision]—[F3 CLS]
Clears data on the specified drawing screen or process screen.
(1) Press [F3 CLS] in the Set Vision window, and the Clear Screen window will appear
as shown below.
F3 F4 F5 F6
(2) Specify the Clear value.

Clear: Set the value with which the clearing process should take place.
The Process screen will be filled with brightness of specified value. The Drawing
screen will be cleared by 0.
Normally specify 0.

[F3 Change] Displays the numeric keypad where you may modify the clear value.
[F4 CanclAll] Cancels all the selections of the screen.
[F5 Sel/Canc] Selects/cancels selection of the screen to be cleared.
[F6 SelctAll] Selects all the screens.
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Setting the drawing destination screen
Access: [F3 Vision]—[F4 Drawing]
Sets the drawing destination screen.
When this menu is called up, its settings show the current ones of the µVision board.
Unless otherwise specified with VISSCREEN again when the programs are running,
the drawing destination screen configured in this menu applies.
The configuration shown below produces the same as when "VISSCREEN 1, 0, 1" is
executed.
(1) Press [F4 Drawing] in the Set Vision window, and the Set Drawing window will
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Displaying the camera input screen and process screen

Access: [F3 Vision]—[F6 Monitor]
Displays a camera image and process screen image on the LCD of the teach pendant
(TP).
The resolution is 256 x 240 pixels and the grayscale is 16 levels. The display rate is 2
frames per second for camera images.
When a camera image is displayed, process screen 3 is used as a video capture
memory (where camera images are temporarily stored), so temporary data of process
screen 3 will be lost.
Camera images or process screen images on the LCD are temporarily in grayscale,
which is normal. Once this menu screen is closed, the teach pendant screen reverts to
the original color display.
(1) Press [F4 Drawing] in the Set Vision window, and the Set Drawing window will
F1 F2 F3

[F1 Update] Updates the teach pendant screen according to the settings.
Gets camera images continuously. If Camera 1 or 2 is selected, the
[F2 Continue] images will be get at a rate of two frames per second (and updated
once every 0.5 second).
[F3 Stop] Stops continuous reading.
Note: When using this command, be sure to turn off the screen saver on the teach
pendant.
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Browsing windows to be used in image analysis [Ver. 1.5 or later]
Access: [F3 Vision]—[F7 Window]
Browses the parameter values of windows to be used in image analysis and allows you
to monitor the frame of the specified window.
(1) Press [F7 Window] in the Set Vision window, and the Edit Window will display as
shown below.
F1 F2 F3 F5
F7 F8
Parameters Description
Window No. : Number assigned to a window (0 to 255)
Window type : Shape of a window (Square, line, circle, ellipse, or sector)
X origin : X-coordinate origin of a stored window (0 to 511)
Y origin : Y-coordinate origin of a stored window (0 to 480)
Other parameters differ depending upon window shapes. For further details regarding
window shapes, refer to "WINDMAKE" in the PROGRAMMER'S MANUAL I.
[F1 New] Creates, edits, and saves a new window (Edit mode)
[F2 Edit] Edits a window already stored (Edit mode)
Deletes data of the selected window number.
[F3 Del]
The deleted data will be completely lost.
[F5 Change] Changes the window number.
[F7 Capture] Captures a camera image and displays it on the process screen.
[F8 Live] Switches to a camera image.
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(2) Press OK to display the frame of the selected window.

During execution of "New," "Edit" or "Del," a progress bar will appear as shown
below since it takes several seconds to retrieve necessary data from the µVision
board.
Shown below is a frame example of a window number selected. (The colors are
not the same as the original image colors).
Window frame
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Creating, editing and saving a new window (Edit mode)
[Ver. 1.5 or later]
Access: [F3 Vision]—[F7 Window]—[F1 New]
Creates, edits and saves a new window.

(1) Press [F1 New] in the Edit Window, and the numeric keypad will appear as shown
below.
(2) Enter the number of a new window to be created.
Window No. : Number assigned to a window (0 to 255)
Other parameters differ depending upon window shapes. For further details
regarding window shapes, refer to "WINDMAKE" in the PROGRAMMER'S
MANUAL I.
(3) Press OK. The system message will appear and then the following Edit Window
will display.
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[F1 1 pixel] Specifies the movement quantum in units of 1 pixel.
[F2 10 pixel] Specifies the movement quantum in units of 10 pixels.
[F5 Change] Changes each model data.
(4) You may change the size of the window by modifying the parameters in the
window and check the changed size on the monitor.
Window frame
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Editing and saving an existing window (Edit mode)
[Ver. 1.5 or later]
Access: [F3 Vision]—[F7 Window]—[F2 Edit]
Edits and saves a new window.

(1) Press [F2 Edit] in the Edit Window, and the following window will appear.
F1 F2 F3 F5
F7 F8
Other parameters differ depending upon window shapes. For further details
regarding window shapes, refer to "WINDMAKE" in the PROGRAMMER'S
MANUAL I.
(2) Other operating procedure is the same as in [F1 New].

[F1 1 pixel] Specifies the movement quantum in units of 1 pixel.
[F5 Change] Changes each model data.
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Browsing the stored model data

Access: [F3 Vision]—[F8 Model]
Browses the stored model data that is required in search function.
(1) Press [F8 Model] in the Set Vision window, and the Edit Model window will appear
as shown below.
F1 F2 F3 F5
When shifted
F7 F8
Model No.: Stored model number (0 to 99)

Origin X: Origin of X coordinates of the stored model (16 to 485)
Origin Y: Origin of Y coordinates of the stored model (16 to 454)
Width: Width of the stored model (10 to 256)
Height: Height of the stored model (10 to 256)
Offset X: Offset X from origin (-511 to +511)
Offset Y: Offset Y from origin (-511 to +511)
Offset angle: Offset angle from the origin of angle (-360 to 360)
Size: File size of the stored model
Remain: Memory available for storing models
Origin X and origin Y are not stored into registered data, so they are indicated by
"***."
When a new model is created, process screen 3 is used as a work area and hence
the contents of the screen will change.
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[F1 Display] Displays the image of the selected model number on the monitor.
[F2 New] Creates and stores a new model (in Edit mode).
Deletes the data of the selected model number. The deleted data is
[F3 Delete]
lost completely.
[F5 Change] Allows you to modify model numbers.
X, Y
coordinates Width
Origin Offset X
(0, 0)
Height
Offset
Y
X-axis
Y-axis
Angle origin
Offset angle
Search model
The offset from the angle origin is specified in 'Offset Angle'. As shown in the drawing, when [Offset
Angle] is specified when there is an offset with respect to the angle origin, the offset value is affects the
resultant [Angle] of [SHMODEL].
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During model editing, deleting, or creating, a progress bar will appear as shown below
since it takes several seconds to retrieve necessary data from the µVision board. The
time required will vary depending upon the number of models stored.
5-121
Creating a new model
Access: [F3 Vision]—[F8 Model]—[F2 New]
Creates a new model and stores it.
(1) Press [F2 New] in the Edit Model window, and the following edit window will
F1 F2 F3 F5
Model No.: Specify the number of a model to be created. (0 to 99)

Origin X: Specify the origin of X coordinates of a model to be created.
(16 to 485)
Origin Y: Specify the origin of Y coordinates of a model to be created.
(16 to 454)
Width: Specify the width of a model to be created. (10 to 256)
Height: Specify the height of a model to be created. (10 to 256)
Offset X: Specify offset X from origin (-511 to +511)
Offset Y: Specify offset Y from origin (-511 to +511)
Offset angle: Offset angle from the angle origin (-360-360).
(2) The allowable range of parameter values appears on the monitor screen. Taking
those as reference, set the desired values.

[F1 1 pixel] Specifies the movement quantum at the rate of 1 pixel.
[F2 10 pixel] Specifies the movement quantum at the rate of 10 pixels.
[F3 50 pixel] Specifies the movement quantum at the rate of 50 pixels.
[F5 Change] Allows you to modify model data.
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Analyzing images [Ver. 1.5 or later]

Access: [F3 Vision]—[F9 Analysis]
Allows you to analyze images temporarily from the teach pendant without setting up
corresponding programs.
Types of image analysis
Image processing
Image analysis functions Remarks
instructions
Model search SHMODEL
If labeling does not finish within the
Labeling BLOB
specified time, a timeout error occurs.
If the specified processing range exceeds
360 degrees in the sector window, edge
Edge finding VISEDGE
finding applies to the range exceeding
360 degrees.
Area/Center of gravity/ Extracts features such as area, center of
VISMEASURE
Major axis angle gravity, and major axis angle.
QR code VISREADQR Reads QR code symbols.
Filter processing VISFILTER Filters input screens.
Circle search SHCIRCLE

If a timeout occurs during searching, the
number of corners found before the
occurrence of the timeout will be
Corner search SHCORNER displayed.
The timeout length can be modified with
the search timeout parameter accessed
by [F3 Vision]-[F11 Options].
(1) Press [F9 Analysis] in the Set Vision window, and the Image Analysis window will
display as shown below.
Image analysis parameters Image analysis type
Window No.
Camera and process Higher and lower

screen information thresholds
F1 F2 F3 F4 F5
F7 F8
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Window No. : Number of the target window to be processed.
Binary vision parameters : Specifies the upper and lower limits for binary
vision.

[F3 Window] Sets the shape and size of a temporary window.
Temporarily displays the image of the model to be searched in
[F4 Model]
model search.
[F5 Change] Changes parameter values.
Switches to the normal vision where a grayscale image displays in
[F7 Normal]
256-tone.
Switches to the binary vision where a binary image displays in
[F8 Binary]
2-tone.
(2) Select the desired image analysis.

Pressing [F8 Binary] will show a binary image based on the higher and lower
threshold values you have entered. A camera live image may also display as a
binary image in real-time.
Normal vision
Binary vision
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Setting or modifying vision board parameters

Access: [F3 Vision]—[F11 Options]
Sets or modifies vision board parameters.
(1) Press [F11 Options] in the Set Vision window, and the Vision Parameters window

[F1 Back] Displays the previous page of the parameter list.
[F2 Next] Displays the next page of the parameter list.
[F3 Jump To] Displays the setup data of the specified number.
Displays the numeric keypad where you may enter a new
[F5 Change.]
parameter.
(2) To modify the parameters, press [F5 Change.]. The numeric keypad will appear as
shown below.
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Initializing the vision board
Access: [F3 Vision]—[F12 Init.]
Initializes the vision board to the default settings.

This is equivalent to the powering-on reset. This command resets settings made in
programs, such as temporary window data, drawing-related settings made in programs,
image data in the process screen memory.
Use this command if a vision board error occurs.
NOTE: You may initialize the vision board only in Manual mode.
NOTE: Never execute this command during setting in WINCAPSII or with the teach
pendant. Doing so will initialize the vision board so that no correct setting may be
made.
(1) Press [F12 Init.] in the Set Vision window, and the system message will appear as
shown below.
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5.5 Displaying I/O Signals and Simulating

Robot Motion
Access: [F4 I/O]
Displays the I/O Monitor window where you may monitor I/O signals and/or simulate
the robot motion with the I/O signals.
Pressing [F4 I/O] on the top screen will display the I/O Monitor window as shown
below.
F1 F2 F3 F4 F5 F6
(F10)

[F1 Back] Displays the previous page of the I/O signal list.
[F2 Next] Displays the next page of the I/O signal list.
Displays the Jump to I/O No. window where you may type
an I/O port address you want to see with the numerical
[F3 Jump To]
keys and press OK. Doing so will display the target input or
output signal.
Allows the selected system-input port to accept a dummy
input. That input port will be marked with "!" and the dummy
[F4 Dummy IN]
I/O icon will appear in the status bar of the top of the
screen. This command is useful for testing programs.

[F5 ON/OFF] turn the I/O xxxx on (or off)?" Pressing the OK button will
turn the selected input port on (or off).
[F6 Aux.] Details are given on the next page.

[F10 ClrDummy] Clears the dummy input setting.
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Providing auxiliary functions
Access: [F4 I/O]—[F6 Aux.]
Provides the auxiliary functions concerning I/Os.

Pressing [F6 Aux.] in the I/O Monitor window will display the Auxiliary Function (I/O)
F1 F2 F3
F7
Configuring hardware
Access: [F4 I/O]—[F6 Aux.]—[F1 Set H/W]
Configures hardware such as I/O assignment mode and DeviceNet expansion.

(1) Press [F1 Set H/W] in the Auxiliary Function (I/O) window, and the I/O Hardware
Settings window will appear as shown below.
F5
(2) Select the desired item and press [F5 Change.]. You may modify the setting.
5-128
Switching between standard and compatible allocation

modes [Ver. 1.6 or later]
Access: [F4 I/O]—[F6 Aux.]—[F2 AlocMode]
Switches between the standard and compatible allocation modes from the teach
pendant.
(1) Press [F2 AlocMode] in the Auxiliary Functions (I/O) window. The Choose
allocation window appears as shown below.
NOTE: If your controller is equipped with a DeviceNet master board, the "Choose
dedicated port allocation" window will appear instead. For details, refer to User's
Manual of the DeviceNet Master Unit, Chapter 3 "I/O Allocation."
(2) Using the jog dial or cursor keys, select the desired allocation mode.
(3) Press OK.
The following system message appears, requesting you to restart your controller.
(4) Press OK.

The screen returns to the Auxiliary Functions (I/O) window.
(5) Turn the controller power off and then on.
The I/O allocation mode is changed.
5-129
Setting I/O output restrictions when machine is locked
[Ver. 1.4 or later]
Access: [F4 I/O]—[F6 Aux.]—[F7 I/O Lock]
Sets the I/O output restriction range when machine is locked.
(1) Press [F7 I/O Lock] in the Auxiliary Functions (I/O) window. The I/O Lock Setting
(2) Select the desired I/O output restriction type and press the OK button.
Then, the Output Conditions Setting When Machine Lock is released window will
appear.
Choice
Enable All: All outputs are allowed with no I/O output restrictions even
when the machine is locked.
Disable GeneralOUT: Forbids all outputs of ports used for general output.
Disable SystemOUT: Forbids all outputs of ports used for specialized output.
However, ports 72, 73, 74 are not prohibited.
Disable All: Forbids all outputs of ports apart from ports 72, 73, 74 when
the machine is locked.
Note 1: In all case other than "Enable All," the actual I/O output is restricted when the
machine is locked. However, the I/O display of teach pendant is refreshed. according to
the program.
Note 2: I/O output is refreshed on clicking [OK] after modifying I/O lock settings.
Note 3: I/O lock settings are reset to "Disable All" every time the computer is switched
on.
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(3) The output conditions set when freeing machine lock become valid when [OK] is
pressed after selecting the output conditions set when freeing machine lock.
Note: The settings of I/O output restrictions when machine is locked are reset to the
original I/O conditions.
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5.6 Displaying the Operation Panel
Access: [F5 OpePanel]
Displays the operation panel on the teach pendant screen.
Pressing [F5 OpePanel] on the top screen will display the Operation Panel window as
shown below.
Touching a button on the panel will change its color between black (OFF) and green
(ON). Switching on/off on the panel concurrently modifies the internal I/O values, 128
to 211.
F1 F2

[F1 Back] Displays the previous page of the operation panel.
[F2 Next] Displays the next page of the operation panel.
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5.7 Displaying the Settings (Main) Window

Access: [F6 Set]
Displays the Settings (Main) window.
(1) Press [F6 Set] on the top screen, and the following window will appear.
F1 F2 F3 F4 F5 F6
When shifted
F7 F8 F9
(2) Select the desired setting function. The corresponding window will display as
described on the following pages.
5-133
5-134
Loading a project
Access: [F6 Set]—[F1 Load!]
Loads a project sent from the PC teaching system, enabling the robot controller to
execute it.
(1) Press [F1 Load!] in the Settings (Main) window, and the following system message
dialog box will appear.
(2) Press the OK button to start loading.
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Displaying the error log
Access: [F6 Set]—[F2 Log.]—[F1 ErrLog]
Displays the error log.
(1) Press [F6 Set] - [F2 Log.] - [F1 ErrLog], and the Error Log window will appear as
shown below.
F1 F2 F3
In the bottom line of the log list appears the error details of the selected error
number.
The LineNo and Source areas show nothing.
(2) To check older log, scroll the log list with the cursor keys, jog dial, [F1 BACK], or
[F2 NEXT]. Or, press [F3 Jump To] to call up the numeric keypad where you enter
the line number of the desired error log. Doing so will directly call up the target log.
(3) In Version 1.8 or later, you may choose which level errors should be logged.
In the Error Log window shown on the previous page, press [F6 Aux.] and
[F1 ErrLvl] to call up the Record Err Level window shown below.
Choose the desired error level. The system will log errors at the level you
have chosen or higher errors.
NOTE: Errors at levels lower than the specified here will not be logged but it does
not mean that such errors will no longer occur.
NOTE: The "Emergency stop ON 600C (Error level 0)" will be always logged
regardless of the error level setting.
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Displaying the operation log [Ver. 1.9 or later]

Access: [F6 Set]—[F2 Log.]—[F2 OpeLog]
Displays the error log.
(1) Press [F6 Set] - [F2 Log.] - [F2 OpeLog], and the Operation Log window will
F1 F2 F3
(2) Contents of the Operation Log Display

In the bottom line of the log list appears the operation details of the selected item
number.
The Client column shows the operation sources that trigger the logged operations. The
client may be any of the following:
TP: Teach pendant
PC: In WINCAPSII
I/O: I/O
SYS: Main system software
NOTE 1: Emergency stop is triggered by operating the teach pendant, but the client is
treated as I/O.
NOTE 2: In some processing operations, the log information may be shown in such a
format as [cnfPAC 9 val 1]. This means that the operation has changed the
environment settings. In the case of [cnfPAC9 val 1], it means that the 9th item of the
PAC parameter table has been changed to value "1." For environment setting values,
refer to the PROGRAMMER'S MANUAL I, Chapter 22 (Appendix), Section 22.3.
NOTE 3: The operation logging maintains a record of processing operations required
for maintenance and does not maintain all operation records.
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Displaying the FDD Access Menu [RC5 Ver. 1.99 or earlier]
The FDD access menu is available in the robot controller RC5, Version 1.99 or earlier. In RC7, Version 2.2 or
later, the USB memory access menu is available instead.
Access: [F6 Set]—[F3 FD.]
Displays the FDD access menu from which you may access the optional FDD built in
To activate the FDD, the following conditions are necessary:

- The robot controller is placed in Manual mode.
- The motor power is turned off.
- No program is running.
NOTE: If you activate any of the FDD operations without loading a floppy disk in the
FDD, the FDD will no longer be used until the robot controller will be turned off and then
on again.
NOTE: Use highly reliable floppy disks. No defective sector checker is embedded in
the FDD driver.
(1) Press [F9 FD.] in the Settings (Main) window, and the FDD Access Menu will
F1 F2 F5
(F12)
(2) Select the desired function. The corresponding window will display as described
on the following pages.
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Data which can be handled by the FDD

The table below lists data which the FDD is capable of handling.
When reading or writing data from/to floppy disks, you may select data to be handled
according to the data type (program data, variables data, I/O data, arm data,
visual-related data, log data, and executable data).
Data Type File Name (File Contents) Remarks
Source *.pac file (Source program file) Only files set to "Enable"
program data can be written to floppy
disks.
__
*.h file (Header file)
__
itpcnf.dat file (Interpreter table)
__
paccnf.dat file (Program table)
Variables data ivar.dat file (Integer variables) When variable files are
read from a floppy disk
fvar.dat file (Floating-point variables) to the robot controller,
dvar.dat file (Double-precision the number of variables
variables) used in the robot
controller will also be
vvar.dat file (Vector variables) changed to the same
pvar.dat file (Position variables) number as that used in
the floppy disk.
jvar.dat file (Joint variables)
tvar.dat file (Homogeneous transform
matrix variables)
svar.dat file (Character string
variables)
__
I/O data dioinf.dat file (I/O hardware settings)
Arm data armcnf.dat file (Trajectory settings) • Never read in arm data
prepared for other robots.
srvcnf.dat file (Servo settings)
• Tool and work data
spdcnf.dat file (Configuration data) modified by TOOL and
WORK commands will not
toolcnf.dat file (Tool coordinates be updated when written
definition data) onto the FD. If you need
workcnf.dat file (Work coordinates to write updated data,
definition data) save system parameters
(see p. 5-188) and then
areacnf.dat file (Area coordinates write data onto the FD.
definition data)
Visual-related viscnf.dat file (Visual equipment __
data settings)
Log data comcnf.dat file (Communications __
settings)
ctrl.log file (Control log) Write (to floppy disk)
only.
error.txt file (Error log)
opration.txt file (Operation log)
version.txt file (Version information)
Executable *.nic file (Executable file) If the total data size
data exceeds 1MB, writing to
(Compiled) floppy disk not possible.
*.map file (Cross-reference table)
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Data exchange between the robot controller and WINCAPSII
Data (except for executable data) may be exchanged between the robot controller and
WINCAPSII by means of floppy disks.
For the operating procedures in WINCAPSII, refer to the WINCAPSII Guide, Chapter 4,
Sections 4.3.4 and 4.3.5.
FD data modification not allowed

Never modify data stored in floppy disks from the robot controller. Any modification will
make it impossible to access that FD data because FD data contains check codes
used for checking data corruption and for accurate data read/write.
5-140
Reading FD data to the robot controller [RC5 Ver. 1.99

or earlier]
Access: [F6 Set]—[F3 FD.]—[F1 Read.]
Reads data stored on a floppy disk to the robot controller.
(1) Press [F1 Read.] in the FDD Access Menu, and the Select File to Read window will
(2) Select data to be read from the floppy disk, and then press the OK button.
CAUTION: Never read in arm data prepared for other robots. Doing so will
cause the robot to malfunction. It is very DANGEROUS.
The FDD will start reading the FD data.
NOTE: If data is split and stored into more than one floppy disk, insert those disks
in an ascending order of the volume numbers (assigned when data has been
written onto those disks).
(3) After reading, be sure to restart the robot controller.
If you read program data, refer to "Note for reading program data from FD" given
on the next page.
CAUTION: Without restarting, the robot may not run normally.
5-141
Notes on reading program data from FD
When reading program data from the inserted floppy disk into the robot controller, the
system will first remove all program data and executable data stored in the robot
controller and then start reading program data from the floppy disk.
If selected data to be read contains program data but not executable data; therefore,
you need to compile and load the read program data according to the steps below.
1) On the top screen of the teach pendant, press [F1 Program] to display the
2) Press the Config. button in the bottom of the Program List or press [F12 Config.] in
the menu bar. In the system message window shown below, select "All programs
are active." to set all programs to "Enable" and then press the OK button to
proceed.
3) On the top screen, press [F1 Program]—[F6 Aux.]—[F12 Compile] to compile all
programs.
The following system message appears. Press the OK button to proceed.
Upon completion of compiling, the following system message appears. Press the
OK button to proceed.
4) Restart the robot controller.
5-142
Notes on reading new variables data from FD

Reading new variables data from the inserted floppy disk will overwrite the current
variable set stored in the robot controller with the variable set stored in the floppy disk.
If the count of the current integer variables is 50 and that of integer variables stored in
the floppy disk is 30, for example, the newly read variable set will contain 30 integer
variables and 31st to 50th variables will be lost, after completion of this reading
operation.
5-143
Writing data stored in the robot controller to FD
[RC5 Ver. 1.99 or earlier]
Access: [F6 Set]—[F3 FD.]—[F2 Write.]
Writes (Saves) data stored in the robot controller to a floppy disk.
(1) Press [F2 Write.] in the FDD Access Menu, and the Select File to Save window will
(2) Select data to be written onto the floppy disk, then press the OK button to start
writing.
Listed below are probable causes of writing failures and actions to be taken.
File type Probable cause Actions to be taken

Program The loaded executable If the executable data is vital, do not
data and PAC program write the program on it. If the PAC
may not be matching program and the executable data are
matching, see "The relation between
executable data and program data"
given two pages later.
Executable data The executable data Create the executable data by
may not be in existence compiling or send the executable data
over to the compiler from WINCAPSII
or FD.
5-144
Notes on writing program data onto FD

When writing program data stored in the robot controller onto the inserted floppy disk,
the system will write only program source files which are set to "Enable" in the Program
List window.
In either of the following cases, program source files will be set to "Enable":
1) When a project is loaded in the robot controller. (All of the program source files
used in the project will be set to "Enable.")
2) When you set the selected program(s) to "Enable" in the Program List window of
the teach pendant.
If you want to write all program source files of the newly loaded project onto a floppy
disk, do not change those files from "Enable" to "Disable" or do not edit programs after
loading the project. For details refer to "Relationship between executable data and
program data," cases 4) through 7) given on the next page.
If you want to write arbitrary program source files onto a floppy disk, select those files
by setting programs to "Enable" or "Disable" according to the steps below.
1) On the top screen of the teach pendant, press [F1 Program] to display the
2) Press the Config. button in the bottom of the Program List or press [F12 Config.] in
the menu bar. In the system message window shown below, make the desired
settings and press the OK button to proceed.
5-145
Relationship between executable data and program data
If there are discrepancies between executable data (compiled) and source program
data (program source), the robot will not run as programmed.
The discrepancy will result when:
1) The PC sends executable data (executable file and cross-reference table) to the
robot controller, but it does not send their source program data (except interpreter
table and program table).
2) The PC sends source program data to the robot controller, but it does not send
executable data.
3) Executable data is read from the floppy disk(s) into the robot controller but its
source program data is not.
4) Any part of the source program is edited after compiling.
5) A new project is created.
6) A new program having the same name as already loaded program file is added.
7) Any program is deleted.
8) The Use state of any program(s) is switched between "Disable" and "Enable."
In the above cases except 1) and 3), you may make executable data and source
program data coincident with each other by compiling and loading.
If data size is larger than the volume size of a floppy disk

The system will split data so that large data will be written onto more than one floppy
disk. At the time, you follow the guidance messages on the teach pendant. Putting
serial numbers on the floppy disks will make it easier to read the FD data into the robot
controller.
Note that executable data cannot be split; therefore, it should always be saved on a
single floppy disk. If you want to write source program data, variables data, and
executable data onto floppy disk(s), use one floppy disk for source program data and
variables data, and use the other floppy disk for executable data.
5-146
Formatting a floppy disk controller [RC5 Ver. 1.99 or

earlier]
Access: [F6 Set]—[F3 FD.]—[F5 Format.]
Formats a floppy disk inserted into the floppy disk drive.
(1) Press [F5 Format.] in the FDD Access Menu, and the following system message
will appear.
(2) Press the OK button to start formatting.
5-147
Saving a control log to FD [RC5 Ver. 1.99 or earlier]
Access: [F6 Set]—[F3 FD.]—[F12 Aux.]—[F11 CtrlLog.]
Determines whether a control log will also be saved to a floppy disk when you save
data stored in the robot controller to the floppy disk.
A control log is large in data size and is not required as backup of facility data. So,
enable this command only when you need to save a control log to a floppy disk.
(1) In the FDD Access Menu, press [F12 Aux.].

(2) Press [F11 CtrlLog.], and the following window will appear.
(3) Select "Disable" or "Enable," then press the OK button.
5-148
Reading and Writing Data with USB Flash Memory [RC7 Ver. 2.2 or
later]
The USB memory access menu is available in the robot controller RC7, Version 2.2 or later. In RC5, Version
1.99 or earlier, the FDD access menu(described on the preceding pages) is available instead.
Access: [F6 Set]—[F3 USB.]
The robot controller RC7 Version 2.2 or later supports a USB flash memory drive.
The controller Version 2.3 or later can read/write multiple projects using the USB flash
memory drive while Ver. 2.2 can handle a single project per media.
The following USB flash memory drives are available to the controller.
Manufacturer Model
I-O DATA EDP-###M, EDC-###M
Logitec LMC-###UDA
### denotes the capacity.
- When formatting the USB flash memory drive, select the "FAT" in the file system
menu.
- Never touch or remove a USB flash memory drive or turn the controller power off
when the USB flash memory drive is being accessed.
5-149
Data that can be handled by USB flash memory drive
The table below lists data that can be handled by USB flash memory drives. Select the
appropriate data to read or write as necessary.
Data Type File or Data Remarks

Source program files (PAC, H, PNL) Only files with their compile
Source program Executable files (NIC, MAP) flags active ("Enable" in the
data Settings files (DAT) Use column) can be written
into USB flash memory.
All global data Reading variables data into
Number of variables used the robot controller
Variables data automatically changes the
"number of variables used" in
the controller.
I/O settings
I/O data
Settings for expansion board
Arm parameters • Never read in arm data
Tool/work/area coordinates prepared for other robots.
definition • Tool and work data
modified by TOOL or
WORK command will not
Arm data be updated when written
into the memory. To write
updated data, first save the
system parameters (see
p. 5-189) and then write
data into the USB flash
memory.
Visual-related Visual equipment settings Write (to USB flash memory)
data only.
Communications settings
Log data Version information
Various log data
Backup data Various types of data Ver. 2.3 or later
Data exchange between robot controller and WINCAPSII

Data can be exchanged between the robot controller and WINCAPSII by means of a
USB flash memory drive.
For the operating procedures in WINCAPSII, refer to WINCAPSII Guide, Chapter 4,
Sections 4.3.4 and 4.3.5.
USB memory data modification not allowed

Never modify data stored in the USB flash memory drive from the robot controller. Any
modification makes it impossible to access the memory because USB memory data
contains check codes used for checking data corruption and guaranteeing accurate
data read/write.
5-150
Reading USB memory data into the robot controller

[RC7 Ver. 2.2 or later]
Access: [F6 Set]—[F3 USB.]—[F1 Read.]
Reads data stored in a USB flash memory into the robot controller.
(1) Press [F3 USB.] in the Setting (Main window), and the USB Memory Access Menu
appears as shown below.
F1 F2
(2) Press [F1 Read.] in the USB Memory Access Menu, and projects stored in the
USB flash memory appear as shown below.
Select a project to read from the USB flash memory, then press [F5 Select] and OK
button.
CAUTION: Never read in arm data prepared for other robots. Doing so will cause
the robot to malfunction. It is very DANGEROUS.
5-151
(3) The Select File to Read window appears as shown below.
Select data to read and then press the OK button.
(4) The update confirmation screen for the CALSET and RANG appears as shown
below.
Press the OK button, and the controller starts reading data from the USB flash
memory.
5-152
(5) During reading, the following system message appears.
(6) Upon completion of reading, the following message appears.
Restart the robot controller.

CAUTION: Without restarting the robot controller, the robot may not operate
normally.
Notes on reading new variables data from USB flash memory

Reading new variables from the USB flash memory overwrites the current variables
stored in the robot controller with the new ones.
Note that, if the robot controller has 50 integer variables and the USB flash memory
contains 30 integer variables, the 31st to 50th variables in the controller will be lost at
the end of the read operation.
5-153
Writing data stored in the robot controller to USB flash
memory [RC7 Ver. 2.2 or later]
Access: [F6 Set]—[F3 USB.]—[F2 Write.]
Writes (Saves) data stored in the robot controller into a USB flash memory.
(1) Press [F2 Write.] in the USB Memory Access Menu, and the Enter Project Name
Enter the project name and press the OK button.
(2) The Select File to Save window appears.
Press the OK button, and the controller starts writing data into the USB flash
memory.
5-154
(3) During writing, the following system message appears.
5-155
Saving Control Log into USB Flash Memory
Access: [F6 Set]—[F3 USB.]—[F12 Aux.]—[F11 CtrlLog.]
Determines whether or not to save the control log into a USB flash memory together
with data stored in the robot controller.
The control log takes up a large storage space, while it is not required as backup of the
facility data. Therefore, enable this feature only when you need to save the control log.
(1) In the USB Memory Access Menu, press [F12 Aux.]–[F11 CtrlLog.], and the
Control Log Save Setting window appears as shown below.
(2) Select "Enable" or "Disable" and then press the OK button.
5-156
Displaying the memory information of the robot controller

Access: [F6 Set]—[F4 Mem Info]
Displays the memory information of the robot controller.
(1) Press [F4 Mem Info] in the Settings (Main) window, and the Controller Memory
Information window will appear as shown below.
The window shows the used and total sizes of the Variables memory and
Programs memory.
(2) To close the Controller Memory Information window, press the OK button.
5-157
Displaying the Communications Setting Menu
Access: [F6 Set]—[F5 Set Com.]
Displays the communications setting menu.
(1) Press [F5 Set Com.] in the Settings (Main) window, and the Communications
Setting Menu will appear as shown below.
5-158
Setting the communication permission

Access: [F6 Set]—[F5 Set Com.]—[F1 Permit.]
Sets the communication permission or the read/write permission for each

communications port.
(1) Press [F1 Permit.] in the Communications Setting Menu, and the Communication
Permission Settings window will appear as shown below.
F5
NOTE: COM1 is occupied by the teach pendant, so its settings cannot be changed.
COM2 is used for communication with the PC teaching system. COM3 and COM4
are reserved for future extension. Ethernet is used as Ethernet port.
(2) Select the target port and then press [F5 Change.]. The Change Permission
Settings window will appear as shown below.
NOTE: "Read only" or "Read/write" can be set to only any one of COM2, COM3,
COM4, and Ethernet port.
5-159
TIP: In the Change Permission Settings window are three choices, defined as:
"Disable": Disables the selected communications port.
"Read only": Allows external equipment (such as PC teaching system) to read
data from the robot controller.
"Read/write": Allows external equipment (such as PC teaching system) to
exchange data with the robot controller.
(3) Select the desired item and press the OK button. The Communication Permission
Settings window will reappear.
(4) Check the new entry, then press the OK button to make the new entry take effect.
If you press the Cancel button instead of the OK button, the new entry will be
cancelled.
5-160
Setting the transmission rates for RS-232C serial

interface ports
Access: [F6 Set]—[F5 Set Com.]—[F2 Serial IF]
Sets the transmission rate for each of the RS-232C serial interface ports.
(1) Press [F2 Serial IF] in the Communications Setting Menu, and the Set RS-232C
window will appear as shown below.
F4 F5
NOTE: COM1 is occupied by the teach pendant, so its settings cannot be changed.
COM2 is used for communication with the PC teaching system and its default
transmission rate is 19,200 bps. COM3 and COM4 are reserved for future
extension.
NOTE: The higher transmission rate may yield the higher transmission error rate.
(2) Select the target port and then press [F5 Change.]. The Select Transmission Rate
5-161
(3) Select the desired transmission rate, then press the OK button to close the Select
Transmission Rate window.
cancelled.
If you press [F4 Default.] in the Set RS-232C window, the following defaults will be
restored:
The default of the COM1 (Teach pendant) cannot be changed.
Port Transmission Parity Data Stop bit CR/LF code

rate (bps) (character
length)
COM1 (Teach pendant) 19200 None 8 bits 1 bit CR
COM2 (RS-232C) 19200 None 8 bits 1 bit CR
COM3 19200 None 8 bits 1 bit CR
COM4 19200 None 8 bits 1 bit CR
5-162
Initializing modem
Access: [F6 Set]—[F5 Set Com.]—[F3 Modem]
Initializes the modem connected to the selected modem port.
(1) Press [F3 Modem] in the Communications Setting Menu, and the Set Modem
(2) Select the modem port with which the target modem is connected and then press
the OK button to proceed. The following system message will appear.
(3) Check the message and then press the OK button to start initializing the modem.
The system message "Completed initializing the modem successfully." will appear.
(4) Press the OK button to close the system message dialog box.
5-163
Setting the IP address of the robot controller
Access: [F6 Set]—[F5 Set Com.]—[F4 Address]
Sets the IP address of the robot controller.
(1) Press [F4 Address] in the Communications Setting Menu, and the Set Controller
IP Address window will appear as shown below.
F5
(2) Select the item to be set, and then press [F5 Change.].
Numeric
keypad
press the OK button to enter the new entry into the Set Controller IP Address
window.
cancelled. To close the Set Controller IP Address window, press the OK or Cancel
button.
5-164
Setting gateways
Access: [F6 Set]—[F5 Set Com.]—[F5 Gateway]
Sets the gateways and destinations.
(1) Press [F5 Gateway] in the Communications Setting Menu, and the Set Gateway
F5
Numeric
keypad
The new entry will be entered into the Set Gateway window.
cancelled. To close the Set Gateway window, press the OK or Cancel button.
5-165
Setting high speed program file transmission
[Ver. 1.4 or later]
Access: [F6 Set]—[F5 Set Com.]—[F7 HiSpeed!]
Sets the high speed mode to receive projects from the teaching system in the PC.
(1) Press [F7 HiSpeed!] in the Communications Setting Menu. This opens the
Program File Transferring Setting window.
(2) Select either "Normal speed mode" or "High speed mode," then press [OK].
Note in using "High speed mode"

In the high speed mode, the received data will not be automatically saved even upon
completion of project reception. Therefore, turning the robot controller off loses the
data. To avoid data loss, be sure to press [SaveFile] in the [Set (Main)] window.
5-166
Configuring the client of the robot controller

[Ver. 1.9 or later]
Access: [F6 Set]—[F5 Set Com.]—[F10 Client]
Configures the client port of the robot controller.

(1) Press [F10 Client] in the Communications Setting Menu, and the Client Settings
(2) To set the IP address of the target connection port, select the IP Address field to be
set and press [F5 Change.] and then [F5 Edit].
Numeric
keypad
press the OK button. The newly entered value will appear on the Client Settings
window.
5-167
(4) To set the target connection port number, select the Port field to be set and press
[F5 Change.].
Numeric
keypad
(5) Enter the desired value to the target connection port with the numerical buttons in
the above window, and then press the OK button. The newly entered value will
appear on the Client Settings window.
(6) To set the delimiter, select the Delimiter field to be set and press [F5 Change.].
The Choose Delimiter window will appear as shown below.
(7) Select the desired delimiter code in the above window, and then press the OK
button. The new delimiter code will appear on the Client Settings window.
(8) Check the new entry, then press the OK button to make the new entry go into
effect.
cancelled. To close the Client Settings window, press the OK or Cancel button.
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Setting the server of the robot controller

[Ver. 1.9 or later]
Access: [F6 Set]—[F5 Set Com.]—[F11 Server]
Configures the server port of the robot controller.

(1) Press [F11 Server] in the Communications Setting Menu, and the Server Settings
(2) To set the port number, select the Port field to be set and press [F5 Change.].
Numeric
keypad
press the OK button. The newly entered value will appear on the Server Settings
window.
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(4) To set the delimiter, select the Delimiter field to be set and press [F5 Change.].
The Choose Delimiter window will appear as shown below.
(5) Select the desired delimiter code in the above window, and then press the OK
button. The new delimiter code will appear on the Server Settings window.
(6) Check the new entry, then press the OK button to make the new entry go into
effect.
cancelled. To close the Server Settings window, press the OK or Cancel button.
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Resizing the communications buffer [Ver. 1.95 or later]

Access: [F6 Set]—[F5 Set Com.]—[F12 Comm.buff]
Main system software version 1.95 newly supports communications buffer resizing
function. It allows you to resize the communications buffer of each port on the
RS-232C serial interface.
Usually it is not necessary to modify the factory default of the communications buffer
sizes. If you need to resize the communications buffers for your applications, use this
command.
NOTE: Resizing a communications buffer will discard the data that has not been read
out from the buffer or saved into the memory. According to your needs, first use I/O
control commands for the RS-232C or serial-binary communications (refer to the
PROGRAMMER'S MANUAL I) to save the data stored in the buffer, and then resize the
communications buffer.
(1) In the Communications Setting Menu, press [F12 Comm. buff].

The Set Communication Buffer Size window will appear as shown below.
F1 F2 F3 F5
NOTE: In the Set Communication Buffer Size window, #0 through #15 COM ports are
assigned as shown below.
#0 COM1: Used for communication with the teach pendant. No access is allowed.
#1 COM2: Used for communication with WINCAPSII.
#2 COM3 and #3 COM4: Reserved for function extension.
#4 through #7: For servers.
#8 through #15: For clients.
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(2) Select the target port and press [F5 Change.].
The Select Communications Buffer Size window will appear as shown below.
(3) Select the desired buffer size and press the OK button. The Select
Communications Buffer Size window will be closed.
(4) Confirm the new setting value and then press the OK button. The new setting will
go into effect.
If you press the Cancel button instead of the OK button, the new setting value will
be canceled.
NOTE: Pressing the OK button to make the new setting go into effect will discard
the buffer data.
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Displaying the Maintenance menu

Access: [F6 Set]—[F6 Maint.]
Displays the Maintenance menu.
(1) Press [F6 Maint.] in the Settings (Main) window, and the Maintenance menu will
F1 F2 F3 F4 F5
When shifted
F7
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Displaying the robot controller ON-time and the robot
running time
Access: [F6 Set]—[F6 Maint.]—[F1 Total h]
Displays the robot controller ON-time and the robot running time.
(1) Press [F1 Total h] in the Maintenance menu, and the Total hours window will
F4 F5
The Total hours window has the following items:

[Total operation] Shows the grand total of the robot controller ON-time counted
after the controller leaves the factory.
[Total running] Shows the grand total of the robot running time counted after the
robot leaves the factory.
[Cumu. operation] Shows the ON-time of the robot controller counted after it is
turned ON this time.
[Cumu. running] Shows the running time of the robot counted after the robot
controller is turned ON this time.
[Operation] Shows the total of the robot controller ON-time counted after you
reset the user counter to zero.
[Running] Shows the total of the robot running time counted after you reset
the user counter to zero.

Calls up the system message dialog box where you may reset the
[F4 Cumu. o]
user counter of the robot controller ON-time.
Calls up the system message dialog box where you may reset the
[F5 Cumu. r]
user counter of the robot running time.
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(2) To reset the user counter of the robot controller ON-time to zero, press [F4 Cumu.
o] in the Total hours window.
The following window will appear. If you want to reset the counter to zero, press
the OK button.
(3) To reset the user counter of the robot running time to zero, press [F5 Cumu. r] in
the Total hours window.
The following window will appear. If you want to reset the counter to zero, press
the OK button.
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Displaying the version information of each module
Access: [F6 Set]—[F6 Maint.]—[F2 Version]
Displays the version information of each module in the robot controller.
(1) Press [F2 Version] in the Maintenance menu, and the Version window will appear
as shown below.
(2) Press the OK button or Cancel key to close the Version window.
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Setting the calendar clock built in the robot controller

Access: [F6 Set]—[F6 Maint.]—[F3 Date.]
Sets the calendar clock built in the robot controller.
(1) Press [F3 Date.] in the Maintenance menu, and the Date & Time window will
F5
Numeric
keypad
press the OK button to take the new entry into the Date & Time window.
If you press the Cancel button instead of the OK button, the system message "The
parameters have been changed. Are you sure you want to revert to previous
settings?" will appear. Press the OK button to cancel the new entry; press the
Cancel button to return to the Date & Time screen.
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Setting the next battery replacement date
Access: [F6 Set]—[F6 Maint.]—[F4 Battery]
Sets the next replacement date of the memory backup battery of the robot controller.
When the replacement day comes, the message "It's time to replace the backup
battery of the robot controller." will appear in the menu bar of the teach pendant.
(1) Press [F4 Battery] in the Maintenance menu, and the Next Battery Replacement
Date window will appear as shown below.
The current setting (June/5/2002 in this example) is displayed in the top of the
window.
The date entry areas display the default replacement date (June 5, 2002) that is
two years later the current date (June/5/2000) at which you open this window,
assuming that the battery service life is two years.
(2) If you open this window just to check the current setting, be sure to press the
Cancel button.
If the displayed default replacement date is the date you want to set, press the OK
button.
To set new replacement date, select the item to be modified, and then press [F5
Change.]. The numeric keypad will appear as shown below.
Numeric
keypad
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(3) Enter the desired date with the numerical buttons in the above window, and then
NOTE: To set months, use the numerical buttons. For January,
February, ...December, enter 1, 2, ...12, respectively.
The new entry will be entered into the Next Battery Replacement Date window.
CAUTION: Make sure that the new replacement date you set is within two years
from when you have actually replaced the battery with a new one.
cancelled. To close the Next Battery Replacement Date window, press the OK or
Cancel button.
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Displaying the odometer and trip meter for each axis
Access: [F6 Set] —[F6 Maint.]—[F5 Odometer]
Displays the odometer and trip meter which count traversed distance of each axis.
(1) Press [F5 Odometer] in the Maintenance menu, and the following window will
appear.
F6
The Odometer window has the following items:
[Odometer] Shows the total distance of each axis traversed after the robot leaves
the factory.
[Trip meter] Shows the distance of each axis traversed after you reset the trip meter
to zero.
(2) To reset the trip meter to zero, press [F6 Reset]. The following window will appear.
If you want to reset the trip meter to zero, press the OK button.
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Clearing user programs and variables [Ver. 1.6 or later]

Access: [F6 Set]—[F6 Maint.]—[F7 Clr Data]
Version 1.6 or later allows you to delete all user programs stored and clear all global
variables to zero.
(1) In the Maintenance window, press [F7 Clr Data].

The choice screen appears where you may choose data type to be cleared.
(2) Choose either one of the following three choices and press OK.
- Programs: Delete all user programs.
- Variables: Clear all global variables to zero.
- Programs + Variables: Delete all user programs and clear all global variables to
zero.
(3) The following system message appears.

Press OK. Then deleting programs or clearing variables will start.
(Program Deletion Confirmation Message)
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(Variable Clearing Confirmation Message)
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Displaying the Option Menu

Access: [F6 Set]—[F7 Options.]
Displays the option menu.
(1) Press [F5 Options.] in the Settings (Main) window, and the Option Menu window
(2) Select the target option setting function. The corresponding window will display as
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Protecting parameters/programs
Access: [F6 Set]—[F7 Options.]—[F3 Protect.]
Sets the protection mode which protects programs and/or parameters from getting
modified unintentionally from the teach pendant.
(1) Press [F3 Protect.] in the Option Menu, and the Protection Mode Setting window
(2) The Protection Mode Setting window provides the following three choices. Select
the desired one and press the OK button. The selected one goes into effect.
Choices Function
Parameters & Programs Protection Protect parameters, variables and
programs from getting edited with the
teach pendant.
Parameters Protection Protect parameters from getting edited

with the teach pendant.
No Protection Cancel the protection mode.
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Screen Saver [Ver. 2.0 or later]

Access: [F6 Set]—[F7 Options.]—[F5 Display]
A screen saver is added to the teach pendant (Ver. 2.0 or later). You can customize the
screen saver.
Customizing the screen saver

Screen saver: 0: Disable (Not use), 1: Enable (Use), 2: Screen Off*
Waiting time: Entry range from 1 to 9999 (minutes) Setting "2" turns only the
backlight OFF. (* Ver. 2.61 or later)
If the touch panel is not accessed or no hardware button (such as
MOTOR and F1) is pressed for the period specified by this
waiting time, the screen saver will automatically run.
Refresh cycle: Entry range from 1 to 9 (seconds)
Once the screen saver runs, the screen switches to the
monochrome mode where the black and white sections will
reverse partially and sequentially at cycles specified by this
refresh cycle.
Note: The refresh cycle may seem to be 1 to 4 times faster
depending upon the display contents on the screen.
TIP: Persistence of vision on the

LCD
Keeping the same pattern
displayed on an LCD screen may
yield persistence of vision.
Persistence of vision itself does
not influence the robot operation,
performance, function or safety.
Enabling the screen saver can
prevent the screen from yielding
persistence of vision.
When the screen saver is running, pressing the touch panel or any hardware button of
the teach pendant will turn off the screen saver; however, the native function of the
touch panel or hardware buttons will be ignored except the "Robot stop button," "Motor
key (off)," "Mode selector switch (Manual, Auto)" and "STOP key." For example, if the
screen saver has started running when any setting window was displayed, pressing
the [F5 change.] will turn off the screen saver, but will not call up the numeric keypad.
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Selecting language
Access: [F6 Set]—[F7 Options.]—[F6 Language]
Switches the pendant screen language version to the language you select.
(1) Press [F6 Language] in the Option Menu, and the Select Language window will
(2) Select the desired language and then press the OK button.
Closing all windows being opened makes the new language setting go into effect.
The top screen appears in the language you have just selected.
Note: When German, Korean, or Chinese has been selected, some screens may
be displayed in English.
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Enabling extension functions

Access: [F6 Set]—[F7 Options.]—[F8 Extnsion]—
[F5 Input ID]
Enables extension functions.

Once enabled, the setting will be retained even if the controller power is turned off and on.
(1) Press [F8 Extnsion] in the Option Menu, and the System Extension window
appears.
(2) Press [F5 Input ID], and the Input ID Number window appears.
(3) Enter the ID number and press [OK].
ID Number List
Extension function ID No. Reference
Tip compliance control 6519 PROGRAMMER'S MANUAL I, Section 3.5.3
Supervisory task 1111 Chapter 3, Section 3.4.10
Supervisory task extension 1112 Chapter 3, Section 3.4.11
Error code saving feature 3237 PROGRAMMER'S MANUAL I, Section 8.13.2
Extension board function Attached OPTIONS MANUAL, "Preface"
password
(4) System message appears and press [OK]. The extended function displays.
NOTE: When removing the extended function, press [Remove], and then input the ID
number.
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Setting the robot type for the controller
Access: [F6 Set]—[F7 Options.]—[F11 ROBTYPE]
Sets the robot type for the controller.

command.
Updating the controller system

Access: [F6 Set]—[F7 Options.]—[F12 Update.]
Updates the controller system version.

command.
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Saving System Parameters

Access: [F6 Set]—[F8 Save!]
Saves the system parameters stored in the robot controller so that turning the robot
controller off will not lose those parameter values.
(1) Press [F8 Save!] in the Settings (Main) window, and the following system message
(2) Press the OK button to save the system parameters and display the following
system message dialog box.
(3) Press the OK button to close the system message dialog box.
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Saving Programs
Access: [F6 Set]—[F9 SaveFile]
Saves the programs stored in the robot controller. The programs can be maintained
even when power to the robot controller is switched off.
(1) Press [F9 SaveFile] in the Settings (Main) window. The following system message
(2) Press [OK] to save the program.

(3) Once the program is saved the following system message will appear
(4) Press [OK]
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5.8 Customizing TP Operation Screens

[Ver. 1.5 or later]
Access: [F9 Panel]
Customizes the TP operation screens.
Main software version 1.5 or later allows you to easily customize your own operation
screens on the teach pendant for facilitating control of the robot by the robot controller.
In PAC language, you may program your own control buttons in size, position, and
color and paste them onto the Teach Pendant screen.
Once the PAC program in which you have defined your own screens runs, those
screens go into effect and remain in effect as long as you do not clear them, even if you
restart the robot system or controller.
For details, refer to the PROGRAMMER'S MANUAL I, Section 13.5 "Customizing TP

Operations Screens" and PROGRAMMER'S MANUAL II, PAC library".
(1) Displays TP Operation Screen by pressing [F9 Panel].
Sample Screen
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5.9 Switching between Internal and External
Auto Modes
Access: [F10 Int/Ext]
Switches between the internal and external Auto modes.
When this command is to be executed, the robot controller should be placed either in
internal Auto mode or external Auto mode.
(1) Press [F10 Int/Ext] on the top screen, and the following window will appear.
(2) Press the OK button to switch.
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5.10 Preparing the Robot Controller to Unplug

the Teach Pendant
Access: [F11 Unplug]
Prepares the robot controller so that you may unplug the teach pendant. Before
unplugging the teach pendant from the robot controller or operating panel, be sure to
use this command.
Before carrying out this command, ensure that:

1) The robot controller should be placed in Auto mode and
2) An emergency stop signal should be inputted.
(1) Press [F11 Unplug] on the top screen, and the following window will appear.
(2) Press the OK button to proceed.

The following window will appear.
(3) Unplug the teach pendant from the robot controller or operating panel.
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Chapter 6
Using the
Mini-Pendant
(Ver. 1.7 or later)
This chapter describes how to control the robot

using the mini-pendant.
NOTE 1: Avoid letting the mini-pendant undergo

any strong shocks, impacts, or vibrations.
6.1 Commands Menu

Using the keys, buttons, and switches on the mini-pendant allows you to call up a
variety of screens on the LCD. This section guides you through the menu tree and then
gives you detailed operations.
6.1.1 Keypad and Top Screen

When the power is first applied to the robot controller, the mini-pendant displays the top
screen shown below. In the top line of the screen is a status bar which always displays
the current operation mode, program status, connected robot model, motion mode,
speed, and other information. For details about the top screen, refer to Chapter 1,
Section 1.4.
Top screen
Status bar
6-1
6.1.2 Menu Tree
6-2
6-3
6.2 Operation Using the Mini-Pendant
6.2.1 Turning the Motor ON/OFF
Key: [MOTOR]
Operation
Pressing [MOTOR] toggles the joint-drive motors on and off.
Pressing this key when the LED is off will turn the motors on and switch the LED on.
Pressing it when the LED is on will turn the motors off and switch the LED off.
6.2.2 Machine Lock and Release

Key: [LOCK] [SHIFT] + [MOTOR]
Operation
Pressing [LOCK] toggles between the machine lock and release.
Pressing this key when the LED is off will lock the machine. When the machine is
locked, the LED blinks. Pressing this key with the LED blinking will release the lock.
6-4
6.2.3 Choosing the Robot Model

Key: [1: R-SEL]
Operation
(1) Press [1:R-SEL] to call up the Robot screen as shown below, which lists all robot
models you can choose.
(2) When the power is first applied to the robot controller, the mini-pendant shows
robot models preset by default. Use up and down cursor keys to choose the robot
model you want to run and then press [OK].
To discard the new choice, press [CANCEL].
6-5
6.2.4 Switching the Motion Modes
Key: [2: M-MOD]
Operation
(1) Press [2:M-MOD] to call up the "MoveMode" screen as shown below, which lists
the motion modes you can choose for your robot.
(2) From the Joint, X-Y, and Tool modes, choose one in which you want to run your
robot in Manual operation, by using up and down cursor keys. Then press [OK].
To discard the new choice, press [Cancel].
6-6
6.2.5 Changing Work Coordinates

Key: [WORK] [SHIFT] + [2: M-MOD]
Operation
(1) Press [WORK] to call up the "WorkNo" screen as shown below, which shows the
current work coordinates number.
(2) When the power is first applied to the robot controller, the WORK0 (Base
coordinate) is set by default. Enter a number indicating the desired work
coordinates, and then press [OK].
To discard the new setting, press [CANCEL].
6-7
6.2.6 Changing the Robot Speed
Key: [3: SPEED]
Operation
(1) Press [3:SPEED] to call up the speed setting screen shown below where you can
change the robot speed.
(2) Choose "Speed" with the up and down cursor keys, enter the desired speed (from
0.1 to 100) from the numeric keypad, then press [OK].
If you use the right or left cursor key instead of the numeric keypad, the speed will
increase or decrease in units of 5, respectively.
6-8
6.2.7 Changing the Inching Angle and Distance

Key: [3: SPEED]
Operation
(1) Press [3:SPEED] to call up the speed setting screen shown below where you can
change the inching angle and distance.
(2) To change the inching angle:

Choose "InchJ" with the up and down cursor keys, enter the desired angle from the
numeric keypad, then press [OK].
(3) To change the inching distance:

Choose "XY" with the up and down cursor keys, enter the desired distance from
the numeric keypad, then press [OK].
6-9
If the robot enters the inching mode, the "Inc" will appear in the rightmost area of the
status bar.
6-10
6.2.8 Changing Tool Coordinates

Key: [TOOL] [SHIFT] + [3: SPEED]
Operation
(1) Press [TOOL] to call up the "ToolNo" screen as shown below, which shows the
current tool coordinates number.
(2) When the power is first applied to the robot controller, the TOOL0 (Flange) is set
by default. Enter a number indicating the desired tool coordinates. Then press
[OK].
6-11
6.2.9 Switching between Internal and External Auto Modes
Key: [INT/EXT]
Operation
(1) With the top screen displayed, press [INT/EXT] in Internal Auto mode to switch to
External Auto mode.
Switches to E
(2) With the top screen displayed, press [INT/EXT] in External Auto mode to switch to
Internal Auto mode
Switches to A.
6-12
6.2.10 Handling Programs

Key: [PROGRAM]
Operation
(1) Press [PROGRAM] to call up the program list as shown below.
(2) Press [OK] to call up the "Functions" screen that lists program handles.
- SearchPRO: Search program names.
- Display: Show the property of the selected program.
(3) Choose the "Display" handle with the up and down cursor keys and then press
[OK]. The property of the selected program appears as shown below, including the
program number, title, the number of steps, and others.
Start line Total number of program lines
(4) To display other program information, scroll the screen vertically with the up and
down cursor keys.
6-13
(1) Checking programs in details
On the program list window called up by the [PROGRAM], you can check the program
details--execution status, currently running program line, execution time, and
execution priority by scrolling the screen horizontally with the right and left cursor keys.
(1.1) Displaying the program execution status

You can check the execution status of programs currently loaded.
(1.2) Displaying the currently running program line

You can check the currently running program line.
(1.3) Displaying the program execution time

You can check the execution time (in seconds) of loaded programs.
6-14
(1.4) Displaying the program execution priority

You can check the execution priority level of each program currently loaded.
(2) Starting a program

(1) On the program list window called up by the [PROGRAM], you can choose a
program to run with the up and down cursor keys.
(2) Press [RUN] to show the program running mode menu.

- Single: Single-cycle run (Execute the selected program from the beginning to
the end once.)
- Cycles: Continuous run (Repeat the selected program.)
- Cont-Exec: Continue start (Start the program whose status is Continue Stop.)
(3) Choose a program running mode with the up and down cursor keys, then press
[OK]. The selected program will run.
NOTE: Make sure that CAL has been completed and the motor power is on before
starting any programs.
6-15
(4) If you want to stop the current robot motion immediately, press [STEP STOP],
[CYCLE STOP] or [HALT] to halt the currently running program.
(3) Step Start

(1) On the program list window called up by the [PROGRAM], you can choose a
(2) Press [STEP START] to call up the Step Forward screen as shown below.
(3) Press [OK] to step-start the selected program.
6-16
(4) If you want to stop the current robot motion immediately, press [STEP STOP],
[CYCLE STOP] or [HALT] to halt the currently running program.
(4) Teach Check

(4.1) Cycle Start
(1) Turn the mode selector switch to the TEACH position to switch to Teach Check
mode.
Switches to T.
(2) Press [PROGRAM] to call up the program list window as shown below. Choose a
6-17
(3) Press [RUN] to call up the Single Cycle screen.
(4) While holding down the deadman switch, press [OK]. The program will run a single
cycle. Keep holding them down until the program will finish.
(5) If you release either one of the deadman switch and [OK], then the robot running
by programs will immediately stop.
If you want to stop the current robot motion immediately, press [STEP STOP],
[CYCLE STOP] or [HALT].
6-18
(4.2) Step Start and Step Back

(1) Turn the mode selector switch to the TEACH position to switch to Teach Check
mode.
(2) Press [PROGRAM] to call up the program list window as shown below. Choose a
(3) Press [STEP START] to call up the Step Forward screen.
(4) While holding down the deadman switch, press [OK]. The program will run a single
step. Keep holding them down until the program will finish.
6-19
(5) If you release either one of the deadman switch and [OK], then the robot running
by programs will immediately stop.
(6) Press [STEP BACK] to call up the Step Back screen.
(7) While holding down the deadman switch, press [OK]. The program will step
backwards . Keep holding them down until the program will finish.
(8) If you release either one of the deadman switch and [OK], the robot running by
programs will immediately stop.
6-20
6.2.11 Resetting Programs

Key: [PRO RESET] [SHIFT] + [PROGRAM]
Operation
(1) Press [PRO RESET] to call up the "Reset" screen as shown below. Choose one of
items listed on the screen by using the up and down cursor keys.
- Programs: Normal task programs
- SupvsrTsk: Supervisory task programs
(2) Press [OK] to reset the selected programs to the beginning. Those programs will
become on halt.
To discard the new choice, press [CANCEL]. The display will return to the top
screen.
6-21
6.2.12 Displaying the Current Robot Arm Position
Key: [ARM] [SHIFT] + [RUN]
Operation
(1) Press [ARM] to call up the current robot position window.
(2) When the robot controller is turned on, the coordinates is expressed in joint
variables by default as shown above.
Press [OK] to call up the Display Style window where you can select the desired
expression.
(3) Choose the desired expression by using the up and down cursor keys, then press
[OK].
To discard the new choice, press [CANCEL].
On the current robot position window, using the right and left cursor keys can
switch the expression of the current robot position between the position variable
type, joint variable type, and homogeneous transform matrix variable type.
6-22
6.2.13 Displaying Variable Values

Key: [VARIABLE] [SHIFT] + [STEP BACK]
Operation
(1) Press [VARIABLE] to call up the screen which lists variables used in your robot
controller.
When the robot controller is turned on, the integer variables are displayed by
default as shown above.
(2) Select the desired variable by cycling through variable types to be displayed with
the right and left cursor keys.
(The screen cycles through "I ⇔ F ⇔ D ⇔ V ⇔ P ⇔ J ⇔ T ⇔ I.")
(3) With the desired variable type displayed, press [OK] to call up the "Function"
screen to handle the selected variable.
NOTE: There are two types of "Function" screens. For I, F, D, and V variables,
three items (JumpTo, Change, and Copy) will display; for P, J, and T variables, five
items (JumpTo, Move, Change, GetPos, and Copy) will display.
(4) Choose one of the items with the up and down cursor keys, then press [OK]. To
discard the new choice, press [CANCEL].
6-23
(4.1) JumpTo
If you choose "JumpTo" with the up and down cursor keys and press [OK], then the
following JumpTo screen appears. Enter the variable number you want to jump to,
into the highlighted line and press [OK].
To discard the new setting and return to the previous screen, press [CANCEL].
(4.2) Change
If you choose "Change" with the up and down cursor keys and press [OK], then the
following variable setting window appears. Enter the desired value to be assigned
to the variable and press [OK].
(4.3) Copy
If you choose "Copy" with the up and down cursor keys and press [OK], then the
CopyTo window appears. Enter an arbitrary variable number which the value of the
variable will be copied to, then press [OK].
6-24
(4.4) Move
If you choose "Move" with the up and down cursor keys and press [OK], then the
PTP/CP selection window appears.
To discard the new choice and return to the previous screen, press [CANCEL].
After selecting the PTP or CP motion, press [OK] while holding down the deadman
switch. The robot arm will move to the specified position (in Manual mode or Teach
Check mode).
Restarting the robot arm's movement to the specified position (Ver.2.61 or later)
To interrupt the robot arm's movement to the specified target position, release [OK].
The screen returns to the target position setting one. Pressing [OK] again restarts the
movement to the target position. Pressing [CANCEL] returns the screen to the Position
Variable one.
(4.5) GetPos
If you choose "GetPos" with the up and down cursor keys and press [OK], then the
current position reading window appears as shown below.
To discard the new choice and return to the previous screen, press [CANCEL].
Press [OK] to get the current robot position into the specified variable.
(4.6) AprMove (Global variables only) (Ver.2.61 or later)

This function allows you to move the robot arm to a specified position with an approach
length. (Refer to the "APPROACH" in the PROGRAMMER'S MANUAL I.)
If you choose "AprMove" with the up and down cursor keys and press [OK], then the
approach length setting window appears as shown below. Entering the desired
approach length and pressing [OK] specifies the target position with the approach
length. Only when both of [OK] and either one of the deadman switches are depressed,
the robot arm moves to the target position. Releasing [OK] halfway interrupts the
movement, retaining the target position setting. Pressing [OK] with either one of the
deadman switches held down again restarts the movement to the target position.
Pressing [CANCEL] cancels the target position setting and returns to the Position
Variable one.
6-25
6.2.14 Reconfiguring I/O Signals
Key: [I/O] [SHIFT] + [STEP START]
Operation
I/O Port and I/O Allocation
I/O port Symbol I/O allocation Symbol
User input GI Selectable I/O Selctbl
User output GO DeviceNet master allocation DVMastr
System input DI Compatible allocation Compati
System output DO Standard allocation Standrd
Hand input HI
Note: In Ver. 1.95 or later, the mini-pendant
Hand output HO
displays these symbols.
Internal I/O IT
CC-Link system input area SI
CC-Link system output area SO
(1) Press [I/O] to call up the I/O signal truth table as shown below.
(2) To change the truth status assigned to I/O lines, choose the line with the up, down,
left, and right cursor keys.
6-26
(3) Press [OK] call up the "Function" screen that handles I/O signals.
To return to the I/O signal truth table, press [CANCEL].
(4) Choose one of handles with the up and down cursor keys, then press [OK].
(4.1) ON/OFF
If you choose "ON/OFF" with the up and down cursor keys and press [OK], then
the following screen appears where you can reverse the truth assignment of the
line.
To discard the new setting and return to the I/O signal truth table, press [CANCEL].
(4.2) JumpTo
If you choose "JumpTo" with the up and down cursor keys, the JumpTo screen
appears. Enter an I/O line number you want to jump to, into the highlighted line and
then press [OK].
To discard the new setting and return to the I/O signal truth table, press [CANCEL].
On the I/O signal truth table, using the up, down, right, and left cursor keys with the
[SHIFT] held down can shift the screen.
6-27
6.2.15 Executing CAL
Key: [CAL] (Effective in Manual mode)
Operation
(1) Press [CAL] to call up the CAL confirmation window as shown below.
(2) Check that the motor power is on, then press [OK] to execute CAL.
To abort it and return to the previous screen, press [CANCEL].
6-28
6.2.16 Releasing and Locking Brakes

Key: [BRAKE] (Effective in Manual mode)
Operation
For 6-axis robots
(1) Press [BRAKE] to call up the "Brake" window as shown below.
(2) Choose the All Axes or Each Axis to handle by using the up and down cursor keys,
then press [OK]. The display will proceed to the brake control screen.
(2.1) All Axes
If you choose "All Axes" with the up and down cursor keys and press [OK], then the
following All Axes screen will appear where you can control the brakes.
To return to the previous screen, press [CANCEL].
Choose "Release" or "Lock" with the up and down cursor keys, then press [OK].
The following confirmation dialogs will appear, respectively.
Press [OK] to release or lock all axes.

To abort brake setting and return to the previous screen, press [CANCEL].
6-29
(2.2) Each Axis
If you choose "Each Axis" with the up and down cursor keys and press [OK], then
the following Each Axis screen appears where you can control the brake for each
joint. The letters, R and L, stand for current Release and Lock status of each joint
brake, respectively.
Choose an arbitrary joint with the up and down cursor keys. (You can vertically
scroll the screen with those keys.)
Then press [OK]. Either of the following windows will appear.
To switch the selected joint brake between Release and Lock status, press [OK].
If the selected brake is released or locked successfully as specified, the following

message will display.
6-30
For 4-axis robots

(1) Press [BRAKE] to call up the "Z Axis Brake" window as shown below.
(2) Choose "Release" or "Lock" with the up and down cursor keys, then press [OK].
The following confirmation dialogs will appear, respectively.
(3) Press [OK] to release or lock the Z-axis brake.

If the Z-axis brake is released or locked successfully as specified, the following

message will display.
6-31
6.2.17 Logging Data
Key: [LOG] [SHIFT] + [BRAKE]
Operation
Press [LOG] to call up the Log screen as shown below where you can handle the error
and control logging.
(1) Checking error log

Choose "ErrorLog" with the up and down cursor keys, then press [OK] to call up the
error log as shown below. You can check errors in your robot controller.
You can vertically scroll the screen with the up and down cursor keys.
To escape from error logging, press [CANCEL].
(2) Handling control log

Choose "CtrlLog" with the up and down cursor keys, then press [OK] to call up the
Save log confirmation dialog as shown below.
Press [OK] to save the control log.
To discard the control log, press [CANCEL].
6-32
6.2.18 Setting Communications Port

Key: [COM] (Effective in Manual mode)
Operation
(1) Press [COM] to call up the "COM Setting" screen shown below which lists
communications settings for the robot controller.
(2) Choose "Permit" with the up and down cursor keys and then press [OK]. The
Permission screen appears as shown below.
(X): Not permitted, (R): Only read permitted, (RW): Read/write permitted
To abort setting, press [CANCEL].
(3) Choose any port whose communications permission should be changed, from the
232C, COM3, COM4 and Ether ports, by using the up and down cursor keys. (You
can vertically scroll the screen with those keys.)
Then press [OK] to proceed to the "Permit-COMx" setting as shown below.
Choose any of "Disable", "read only" and "read/write," and then press [OK] to
establish the new setting.
To cancel the new setting, press [CANCEL].
6-33
6.2.19 Changing Serial Port Speed
Operation
communications setting for the robot controller.
(2) Choose "RS-232C" with the up and down cursor keys, then press [OK]. The
communications ports window appears as shown below which lists the
communications ports available in your robot controller. (You can vertically scroll
the screen with those keys.)
To abort setting and return to the previous screen, press [CANCEL].
(3) Choose any port whose communications speed should be changed, from the
COM2-232C, COM3 and COM4 ports, by using the up and down cursor keys.
Then press [OK] to proceed to the communications rate setting shown below.
(4) Choose any of "9600bps", "19200bps", "38400bps", "57600bps" and "115200bps"

with the up and down cursor keys, then press [OK] to establish it.
6-34
6.2.20 Setting IP Address

Operation
communications setting for the robot controller.
(2) Choose "IPaddress" with the up and down cursor keys, then press [OK]. The IP
address setting window appears as shown below where you can set the IP
address of your robot controller.
(3) Choose an input field with the up, down, right, and left cursor keys, then enter a
new address plus a dot (as a field delimiter).
To discard the new setting, press [CANCEL]. Generally, the "Subnet mask" fields
will require no change.
When [8] is entered;
6-35
(4) After filling up the field, press [OK]. The following confirmation message will
appear.
Press [OK] to establish the new setting.
6-36
6.2.21 Loading New Project

Key: [LOAD] [SHIFT] + [COM]
Operation
(1) Press [LOAD] to load a new project into your robot controller. The load
confirmation message will appear as shown below.
(2) Press [OK] to proceed. During loading, the message shown below is displayed.
NOTE: Loading a new project may take few minutes.
To abort it, press [CANCEL].
6-37
6.2.22 Using Auxiliary Functions (Common to 4-axis and 6-axis
robots)
Key: [AUX]
Operation
(1) Press [AUX] to call up the "Aux. Function" menu shown below.
(2) Choose the desired function with the up and down cursor keys. (You can vertically
scroll the screen with those keys.) Then press [OK] to proceed.
(2.1) Version
If you choose "Version" in the "Aux Function" menu with the up and down cursor
keys and press [OK], then the following Version menu appears.
Choose "ROM" and press [OK], and the version of the system software currently
loaded in your controller will appear.
Choose "Servo" and press [OK], and the version of the servo control subsystem
will appear.
6-38
(2.2) Save File

If you choose "SaveFile" in the "Aux Function" menu with the up and down cursor
keys and press [OK], then the following confirmation message will appear.
Press [OK] to save the program files that are currently active.
To abort saving, press [CANCEL].
(2.3) Clear Data

If you choose "ClrData" in the "Aux Function" menu with the up and down cursor
keys and press [OK], then the following Clr Data menu appears.
Deleting program files

Choose "Program" in the "Clr Data" menu with the up and down cursor keys, and
then press [OK]. The following confirmation message will appear.
To abort deleting, press [CANCEL].
Press [OK] to delete all program files currently loaded in your controller.
6-39
Deleting variables
Choose "Variable" in the "Clr Data" menu with the up and down cursor keys, and
then press [OK]. The following confirmation message will appear.
Press [OK] to delete all variables currently loaded in your controller.

(2.4) Maintenance -- Adjusting contrast of the mini-pendant screen

The contrast of the mini-pendant screen has been adjusted at the factory. If you
need to change the current setting for matching the operating environment, follow
the procedure below. The contrast is adjustable to four levels.
c Choose [AUX]—[Maintenance] to call up the Contrast screen.
d Choose the desired contrast level (usually Level 1 or 2) with the up and down
cursor keys, then press [OK]. After a few seconds, the contrast changes to the
new level.
To discard the new setting, press [CANCEL] instead of [OK].
Level 0 Low (Light)

Level 1
Level 2
Level 3 High (Dark)
Note: When the Contrast screen appears, the cursor always lies on Level 0
independently of the current contrast level.
6-40
6.2.23 Maintaining the Robot with the Mini-pendant

You can perform the following items with the mini-pendant.
(1) Performing CALSET
(2) Resetting the motor encoder data
(3) Setting the calendar clock built in the robot controller (Date setting)
(4) Setting the next battery replacement date
[ 1 ] Performing CALSET
Access: [AUX]—[ArmAux]—[CalSet.]
(1) The "Select Joint" screen for CALSET appears as shown below.
(2) Select the target joint for CALSET.

NOTE: Selecting "0" performs all-axis CALSET.
(3) Press the OK key to start CALSET.
TIP: For details about the CALSET operation, refer to the INSTALLATION &
MAINTENANCE GUIDE, "CALSET."
6-41
[ 2 ] Resetting the motor encoder data (only for bus-connected encoders)
You need to reset encoders and perform CALSET if:
-Error 641* occurs due to depleted encoder backup batteries, or
-Error 677* occurs due to a great impact applied to the robot when the power is off.
(* is any of 1 to 6 denoting the object axis.)
Note: If attempted for encoders other than bus-connected ones, this resetting function
cannot be activated but just displays "Disable!!."
Access: [AUX]—[ArmAux]—[EncRst]
(1) The "Select Joint" screen appears, prompting you to choose the joint to reset the
related encoder.
(2) Select the target joint.
(3) Press the OK key to start resetting the encoder on the target joint.
6-42
[ 3 ] Setting the calendar clock built in the robot controller (Date setting)
Access: [AUX]—[Maintenance]—[Date]
(1) The "Date" screen appears as shown below.
(2) Select "Display" to show the current calendar clock setting.
(3) Select "Setting" to change the calendar clock setting.

Choose the items to change with the right and left cursor keys and enter new
values with the numeric keypad.
Press the OK key to establish the new setting.
6-43
[ 4 ] Setting the next battery replacement date
Access: [Aux]—[Maintenance]—[Battery]
Sets the next replacement date of the memory backup battery loaded in the robot
controller.
When the replacement day comes, Error 2103 "Time to change controller backup
battery" (Level 1) appears periodically.
(1) The "Battery Replacement" date screen appears as shown below.
(2) Choose an input field with the right and left cursor keys, then enter new data (next
replacement date) with the numeric keypad.
Press the OK key to establish the new setting.
Note: The battery should be replaced every two years (refer to the
"INSTALLATION & MAINTENANCE GUIDE"). If you replace the battery, set
"current year + 2 years" as the next replacement date.
6-44
6.2.24 Entering the Direct Teaching Mode (For 4-axis robots)

Key: [AUX] (Effective in Manual mode)
Operation
In the direct teaching mode, you can move the robot arm by hand (without using the
mini-pendant) with the motor OFF and teach the current position to variables.
Before making the robot enter the direct teaching mode, make sure that the motor
power is OFF and the CAL has been completed.
NOTE: Only when you make the robot enter the direct teaching mode at the first time
after turning the robot controller ON, the air pressure adjustment for Z-axis balance is
required so that you need to turn the motor power ON.
Entering the direct teaching mode

(2) Vertically scroll the screen with the up and down cursor keys to choose the "Arm
Aux."
(3) Press [OK]. The "Arm Aux." window appears.

To abort setting and return to the previous screen, press [CANCEL.]
6-45
NOTE: Steps (4) through (6), which adjust the air pressure balance of the Z-axis, are
required only when you make the robot enter the direct teaching mode at the first time
after turning the robot controller ON.
(4) If you choose "Direct" and press [OK], then the "Z-Balance" window appears as
shown below.
To abort air balance setting and return to the previous screen, press [CANCEL.]
Adjust the air pressure so that the indicator line comes within the OK range of the
gauge.
Indicator line
This mark shows the current air balance state.

0: Appropriate
: Increase the air pressure
: Decrease the air pressure
(5) Press [OK]. The following screen will appear.
(6) Press [OK]. The following message appears, prompting you to turn the motor
power off.
6-46
(7) Turn the motor power off and press [OK]. The Brake release confirmation screen
will appear.
(8) Press [OK]. The Z-axis brake will be released and the robot will enter the direct
teaching mode. In the direct teaching mode, the "D" appears in the status bar.
Displays "D."
Escaping from the direct teaching mode

(1) Perform steps (1) through (3) in the direct teaching mode entry procedure.
In the "Arm Aux." screen, choose "Direct" and then press [OK]. The Brake lock
confirmation screen appears as shown below.
(2) Press [OK]. The Z-axis brake will be locked and the robot will escape from the
direct teaching mode.
6-47
6.2.25 Adjusting the Air Pressure Balance of the Z-Axis (For
4-axis robots)
Key: [AUX] (Effective in Manual mode)
Operation
To adjust the air pressure balance of the Z-axis, you need to turn the motor power on.
(2) Vertically scroll the screen with the up and down cursor keys to choose the "Arm
Aux."
(3) Press [OK]. The "Arm Aux." window appears.

To abort setting and return to the previous screen, press [CANCEL.]
6-48
(4) If you choose "Z-Balance" and press [OK], then the "Z-Balance" window appears
as shown below.
To abort air balance setting and return to the previous screen, press [CANCEL].
Adjust the air pressure balance so that the indicator line comes within the OK
range of the gauge.
Indicator line
This mark shows the current air balance state.

0: Appropriate
: Increase the air pressure
: Decrease the air pressure
(5) Press [OK]. The following screen will appear.
(6) Press [OK] or [CANCEL] to complete the air balance adjustment procedure.
6-49
Vertical Articulated V* Series
Horizontal Articulated H* Series
Cartesian Coordinate XYC Series
Integrated compact type XR SERIES
SETTING-UP MANUAL
First Edition April 2000
Fifteenth Edition January 2008
Sixteenth Edition March 2008
DENSO WAVE INCORPORATED
3K**C
The purpose of this manual is to provide accurate information in the handling and operating of the
robot. Please feel free to send your comments regarding any errors or omissions you may have
found, or any suggestions you may have for generally improving the manual.
In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages
resulting from the application of the information in this manual.

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What types of robots are covered in the manual?

What types of robots are covered in the manual?

What are the main components of the documentation set?

What are the main components of the documentation set?

ROBOT

This manual covers the following products.

 Robot system configured with the RC5 controller

 Robot system configured with the RC7M controller

GENERAL INFORMATION ABOUT ROBOT

INSTALLATION & MAINTENANCE GUIDE

SETTING-UP MANUAL - this book -

PROGRAMMER'S MANUAL I, Program Design and Commands

PROGRAMMER'S MANUAL II, PAC Library

ERROR CODE TABLES

Chapter 1 Operating Devices (TP/OP/MP)

Chapter 2 Preparations for Teaching

Chapter 3 General Introduction to Operation Modes and Additional Functions

Chapter 4 General Introduction to Coordinates and Figures

Chapter 5 Commands Assigned to Function Keys of the Teach Pendant

Chapter 6 Using the Mini-Pendant (Ver. 1.7 or later)

WARNING Alerts you to those conditions, which could result

CAUTION Alerts you to those conditions, which could result

Terminology and Definitions

Warning label Instructions printed on the label

<Except HM> For UL-Listed robot units only

Risk of electrical shock.

3.1 Insuring the proper

3.5 Protection of electrical If there is any possibility of the electrical wiring or

3.7 Positioning of Emergency stop switches should be provided in a position where

3.8 Positioning of Operating status indicators should be positioned in such a way

3.15 Affixing the warning Place the warning label packaged

4. Precautions Touching the robot while it is in

1) Do not enter the robot's restricted space when the robot

4.7 Precautions for (1) At start-up

How the documentation set is organized.............................................................................................ii

How this book is organized .................................................................................................................iii

Chapter1 Operating Devices (TP/OP/MP)

Chapter2 Preparations for Teaching

2.1 Turning the Robot Controller ON (TP/OP/MP) ........................................................................... 2-1

3.1 Operation Modes and Machine Lock............................................................................................ 3-1

Chapter4 General Introduction to Coordinates and Figures

5.1 Commands Menu .......................................................................................................................... 5-1

Chapter6 Using the Mini-Pendant (Ver. 1.7 or later)

6.1 Commands Menu .......................................................................................................................... 6-1

This chapter describes how to connect the teach

NOTE 1: The operating panel should be secured

1.1 Connecting the Teach Pendant, Operating

1.1.1 Connecting the Teach Pendant

Connection type 1: Teach pendant only

Connecting the Teach Pendant

Connection type 1: Operating panel only

Mode selector switch

Connection type 2: Operating panel connected with the teach pendant

Connecting the Operating Panel

1.1.3 Connecting the Mini-Pendant

RC5 controller RC7M controller

Connecting the Mini-Pendant

1.1.4 Pendantless State

Pendantless State (RC5 Controller)

Robot system configured with the RC5 controller

Robot system configured with the RC7M controller

From the mini-pendant