SCARA Teach

Pendant Manual

www.deltaww.com
Table of Content

1. Human machine interface ............................. 7

1.1 Hardware interface ....................................................................................................................................................... 7

1.2 Touch screen ..................................................................................................................................................................... 10

2.Tab Operation and instructions.................... 14

2.1 Main screen (Main) .................................................................................................................................................. 14

2.2 Edit/run program for robot (Edit/Run) ........................................................................................... 16

2.3 Point information (Points) ............................................................................................................................... 22

2.4 Jog setting (JOG) ....................................................................................................................................................... 34

2.5 I/O monitoring (DI/O) ............................................................................................................................................. 35

2.6 System information (Info) ............................................................................................................................... 36

2.7 System alarm information (Alarm Info) ...................................................................................... 37

2.8 Controller information (Controller Info) ....................................................................................... 38

2.9 System setting (Setting) ................................................................................................................................... 38

2.10 System setting - Setting controller IP ....................................................................................... 41

3. Alarm ............................................................ 42
3.1 Definitions of alarms .............................................................................................................................................. 42

3.2 Index of alarm .................................................................................................................................................................. 43

4. Robot Language ........................................... 65

4.1 Basic Instructions ....................................................................................................................................................... 65

4.2 Operation symbols.................................................................................................................................................... 69

4.3 Operation commands ........................................................................................................................................... 69

4.4 Basic Commands ....................................................................................................................................................... 71

4.5 Point Management Commands ............................................................................................................ 71

4.6 Motion Parameters ................................................................................................................................................... 75

4.7 Motion Control Commands .......................................................................................................................... 77

4.8 Coordinate System Commands............................................................................................................ 83

4.9 Process Control Commands...................................................................................................................... 85

4.10 IO Operation Commands............................................................................................................................ 88

4.11 Program Executing Commands ........................................................................................................ 90

4.12 Application Function Commands .................................................................................................... 91

List of figures
Figure 1-1 Startup screen ................................................................................................................................8

Figure 1-2 Back of the teach pendant .............................................................................................................9

Figure 1-3 SD Card slot for the teach pendant ................................................................................................9

Figure 1-4 Layout of touch screen ..................................................................................................................10

Figure 2-1 Main screen - Not logged in .........................................................................................................14

Figure 2-2 Main screen - Enter permission password ...................................................................................15

Figure 2-3 Main screen - Logged in ...............................................................................................................15

Figure 2-4 Edit/run program for the robot - No project opened .....................................................................16

Figure 2-5 Edit/run program for the robot - Enter project name ....................................................................17

Figure 2-6 Edit/run program for the robot - Creation of new project completed ............................................18

Figure 2-7 Edit/run program for the robot - Opening a project .......................................................................18

Figure 2-8 Edit/run program for the robot - Project opening completed .........................................................19

Figure 2-9 Edit/run program for the robot - Select input position ...................................................................20

Figure 2-10 Edit/run program for robot - Select command type ....................................................................20

Figure 2-11 Edit/run program for robot - Select command ............................................................................20

Figure 2-12 Edit/run program for robot - Enter command name and other information ................................21

Figure 2-13 Edit/run program for robot - Input completed .............................................................................21

Figure 2-14 Point information - Global point operation ..................................................................................22

Figure 2-15 Point information - Specifying Global point operation ................................................................24

Figure 2-16 Point information - Local point operation for the test project ......................................................24

Figure 2-17 Point information - Specifying Local point operation ..................................................................26

Figure 2-18 Point information - Setting up original point of user coordinates ................................................27

Figure 2-19 Point information - Setting up X point for the user coordinates (+Xaxis direction) ......................27

(+Xaxis direction) ...........................................................................................................................................27

Figure 2-20 Point information - Setting up XY or +Y point for the user coordinates (+Yaxis direction) .........28

Figure 2-21 Tool size Height, Width and Degree ............................................................................................30

Figure 2-22 Point information- Tool coordinates setting .................................................................................30

Figure 2-23 Point Data – Tool Size Calibration...............................................................................................31

Figure 2-24 Point Data – Tool Size Calibration (Points P1~P8) .....................................................................31

Figure 2-25 Point Data – Tool Orientation Calibration ....................................................................................32

Figure 2-26 Point Data – Tool Orientation Calibration Setting ........................................................................32

Figure 2-27 Point information-WorkSpace Setting .........................................................................................34

Figure 2-28 Jog setting ...................................................................................................................................35

Figure2-29 IO monitoring................................................................................................................................36

Figure 2-30 System information ....................................................................................................................36

Figure 2-31 System alarm information .........................................................................................................37

Figure 2-32 System alarm information - Alarm information ...........................................................................37

Figure 2-33 Controller information ................................................................................................................38

Figure 2-34 System setting - Returning to original point ...............................................................................38

Figure 2-35 System setting - Controller IP ....................................................................................................40

Figure 2-35 System setting - Controller IP ....................................................................................................40

Figure 2-37 System setting - Setting controller IP ..........................................................................................40

Figure 2-38 Servo Setting Servo On/Off.........................................................................................................41

Robot languageBOT LANGUAGE

• DELAY........................................................................................................................................... 71
• SetGlobalPoint............................................................................................................................... 71
• CopyPoint...................................................................................................................................... 71
• ReadPoint...................................................................................................................................... 72
• WritePoint...................................................................................................................................... 73
• RobotX........................................................................................................................................... 74
• RobotY........................................................................................................................................... 74
• RobotZ........................................................................................................................................... 74
• RobotRZ........................................................................................................................................ 75
• Robothand..................................................................................................................................... 75
• AccJ............................................................................................................................................... 75
• DecJ.............................................................................................................................................. 76
• SpdJ.............................................................................................................................................. 76
• AccL............................................................................................................................................... 76
• DecL.............................................................................................................................................. 76
• SpdL.............................................................................................................................................. 77
• Accur............................................................................................................................................. 77
• RobotServoOn............................................................................................................................... 77
• RobotServoOff............................................................................................................................... 78
• MovJ.............................................................................................................................................. 78
• MovP........................................................................................................................................... 78
• MovPR......................................................................................................................................... 79
• MovL............................................................................................................................................ 80
• MovLR......................................................................................................................................... 80
• MArc............................................................................................................................................ 81
• MCircle........................................................................................................................................ 82
• Lift................................................................................................................................................ 83
• SetUF.......................................................................................................................................... 83
• ChangeUF................................................................................................................................... 84
• SetTF........................................................................................................................................... 84
• ChangeTF.................................................................................................................................... 84
• if…end......................................................................................................................................... 85
• if…elseif…end............................................................................................................................. 85
• while…do..end............................................................................................................................. 85
• for (type1).................................................................................................................................... 86
• for (type2).................................................................................................................................... 86
• repeat…until................................................................................................................................ 87
• function…end.............................................................................................................................. 87
• DI................................................................................................................................................. 88
• DO............................................................................................................................................... 88
• ReadModbus............................................................................................................................... 89
• WriteModbus................................................................................................................................ 89
• QUIT............................................................................................................................................ 90
• PAUSE......................................................................................................................................... 90
• SafetyMode................................................................................................................................. 91
• SafetyStatus................................................................................................................................ 91
 1. Human-machine interface

1. Human machine
interface
1.1 Hardware interface
The hardware interface for the teach pendant is mainly divided into touch screen and
physical buttons, as shown in Figure 1-1 , Figure 1-2, and Figure 1-3.
● Touch-screen functions include: operating status of the robot, connecting status, robot
language editing, display/teaching of coordinates information, system-related parameter
settings, display of system information, etc.
● Functions of the physical buttons include: JOG operation, auto run, pause/resume, running
stop, page-switching button, select/adjustment button, emergency stop (e-stop), and pow-
er indicator light for teach pendant.

Physical Executable
Description
buttons page

Press and hold down this button and the stage two of the three-
RUN stage for operation button simultaneously for 2 seconds to Edit/Run
automatically run the opened project.

Press and hold down this button and the stage two of the three-
PAUSE stage operation button simultaneously to pause or resume the Edit/Run
RESUME
currently-running project.

Press and hold down this button and the stage two of the three-
STOP stage operation button simultaneously to stop the currently- Edit/Run
running project.

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 SCARA Teach Pendant Manual

Press and hold down this button and the stage two of the three-

+ stage operation button simultaneously to shift the axis toward the

positive direction.
All pages

Press and hold down this button and the stage two of the three-
– stage operation button simultaneously to shift the axis toward the
negative direction.
All pages

Press this button to return to the previous page. It is used on the Edit/Run,
points page, project directory page, and RL editing page. Points

Press this button to return to the next page. It is used on the Edit/Run,
points page, project directory page, and RL editing page. Points

● Three-stage operation button: Located on the back of the teach pendant (Figure 1-2), it is
a safety switch for operating the robot.
● SD Card slot: Located at the bottom of the teach pendant (Figure 1-3), it is used for
updating firmware on the teach pendant.

Figure 1-1 Startup screen

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 1. Human-machine interface

Emergency stop
button Select/
adjust knob
Power indicator

Physical buttons
Touch screen

Figure 1-2 Back of the teach pendant

Three-stage
operation button

Figure 1-3 SD Card slot for the teach pendant

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 SCARA Teach Pendant Manual

1.2 Touch screen

The touch screen (Figure 1-4) is divided into a Menu Bar on the left, a bar on the top to
monitor status of the robotic arm, a bar on the right to monitor Jog information, and a tab
screen. Functions of each part are described as follows:

Figure 1-4 Layout of touch screen

● Menu Bar：
Displays tab-switching buttons, including Edit/Run program for the robot, point information
(Points), Jog settings (Jog), IO monitoring (DI/O), information display (Info), and Setting

Appearance of
Description
UI buttons

Press this button to return to the main screen and return to the first page on the
Menu Bar. Once done successfully, the button will be highlighted in black.

Press this button to turn to the next page on the Menu Bar.

Press this button to return to the previous page on the Menu Bar.

Press this button to switch to the screen to Edit/Run program for the robot. Once
done successfully, the button will be highlighted in black.

Press this button to switch to the point information screen. Once done
successfully, the button will be highlighted in black.

Press this button to switch to the Jog setting screen. Once done successfully, the
button will be highlighted in black.

Press this button to switch to the IO monitoring screen. Once done successfully,
the button will be highlighted in black.

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 1. Human-machine interface

Press this button to switch to the information display screen. Once done
successfully, the button will be highlighted in black.

Press this button to switch to the system settings screen. Once done
successfully, the button will be highlighted in black.

Press this button to switch the screen to the Servo ON/OFF screen. Once Done
successfully, the button will be highlighted in black.

● Status monitoring bar for the robot:

■ ServoOn/Off: Monitors ServoOn/Off status. Or press this button to switch between ServoOn or
Off.

Appearance
Description
of UI buttons

Displays the current robot motor as Servo Off. Press this button to
switch the motor to Servo On.

Displays the current robot motor as Servo On. Press this button to
switch the motor to Servo Off.

■ Alarm State: Monitors the current Alarm status for the system.

Appearance
Description
of UI buttons

It shows that no alarm has occurred on the current system. Press this
button to switch to the Alarm Info page.

It shows that there is an alarm occurred on the system. This button will
flash in red. Press this button to switch to the Alarm Info page.

■ Authority login: Pressing this button allows logging in with permission password. Logout permis-
sion: Press the Logout button on the Main page to enable only monitoring functions on the teach
pendant.
Appearance
Description
of UI buttons

Pressing this button allows logging in with permission password.

Press this button to logout the permission password and enable only
monitoring functions on the teach pendant.

■ Name/ID of the project opened: Displays the name and ID of the project opened.
■ Robot operating status: Displays status of the current program run by the robot.

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 SCARA Teach Pendant Manual

Appearance
Description
of UI buttons

Shows that no program is currently run on the robot.

Shows that a program is currently run on the robot.

Shows that a program is currently pause on the robot.

Shows that the program operation of the current robot will pause after
single-line execution.

■ Mode display: Displays whether it is currently in T1, T2 or Auto mode

Appearance
Description
of UI buttons

T1 mode: Jog synthesis rate cannot exceed 250mm/s.

TP/DROE can be operated and program cannot be run with IO execution
under this mode.
TP/DROE can be operated and program cannot be run with IO execution
under this mode.

T2 mode: Jog synthesis rate cannot exceed 2000mm/s.

TP/DROE can be operated and program cannot be run with IO execution
under this mode.

Auto mode: TP cannot be operated, DROE can be operated and

program can be run with IO execution under this mode.

■ TP Operation Mode: Can be set to Enable or Disable

Appearance
Description
of UI buttons

Disable TP mode: Robot cannot be operated by TP but can be operated

by DROE under this mode. Press this icon to switch to Enable TP mode.

Enable TP mode: Robot can be operated by TP but cannot be operated

by DROE under this mode. Press this icon to switch to Disable TP
mode.

● Jog information bar: Shows current position of the robot, User Frame ID, Tool Frame ID,
Cart. Space, or Joint Space. Click the bar to switch between different Jog modes.

按鈕外觀 Description

Displays User Frame ID and Tool Frame ID. means that the current User
Frame ID is 0; means that the current Tool Frame ID is 0.

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 2.Tab operation and instructions

Displays the current Jog mode for the robot as Joint Space.

Displays the current Jog mode for the robot as Joint Space.

Displays the current Jog mode for the robot as User Space.

Current position of X-axis for the robot, unit mm.

Current position of X-axis for the robot, unit mm.

Current position of Z-axis for the robot, unit mm.

Current position of RZ-axis for the robot, unit degree.

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 SCARA Teach Pendant Manual

2.Tab Operation and

instructions
2.1 Main screen (Main)
When the teach pendant finishes starting up, the main screen will first be displayed,
as shown in Figure 2-1. This page displays information on the TP version and logs out
user permissions to switch the teach pendant into monitoring mode.

Figure 2-1 Main screen - Not logged in

Appearance
Description
of UI buttons

Displays information on TP version.

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 2.Tab operation and instructions

Press this button to logout user permissions and switch teach

pendant into monitoring mode.

Click the login button ( ) and enter the authorization password (Figure 2-2) and
the operation screen for that authorization will appear. The Robot operation mode will
also be switched to T1( ) or T2( ) and TP operation mode will be switched to

Enable( ), as shown in Figure 2-3. The user can then operate on various functions.

Figure 2-2 Main screen - Enter permission password

Figure 2-3 Main screen - Logged in

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 SCARA Teach Pendant Manual

2.2 Edit/run program for robot (Edit/Run)

On this screen, projects can be added, opened, and saved. Programs for the robot can
be edited and executed. The screen before a project is opened is as shown in Figure 2-4.
To edit or execute program for the robot at this time, be sure to create a new project or
open an old project. The operation procedures are shown as follows.

Figure 2-4 Edit/run program for the robot - No project opened

實體按鍵 Description 可執行頁面

Once a project is opened or added, press and hold this button and stage
two of the three-stage operation button simultaneously for 2 seconds
to automatically run the opened project; once it is successfully run the Edit/Run

Robot running status will display as

同 Press and hold this button and the stage two of the three-stage
operation button simultaneously to pause to resume the project currently
running. Once it has successfully paused, the Robot running status will Edit/Run
display as Once it has successfully resumed, the Robot running
status will display as

Press and hold this button and the stage two of the three-stage operation
button simultaneously to stop the project currently running. Once it has Edit/Run
successfully stopped, the Robot running status will display as

ress and hold this button and the stage two of the three-stage operation
button simultaneously will run a single line of machine process. Every
time it is pressed it will execute one line of machine process. Step can be Edit/Run
executed when paused or when the project is not running. When Step is
executed the Robot running status will display as

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 2.Tab operation and instructions

2.2.1. Create a new project

The process for creating a new project is shown as follows:

1. Press the button

2. Enter the name for the new project.
3. Press OK to create the new project. The screen for completion of project creation
will show as Figure 2-5, with the project name and ID displayed on top of the
information bar.
4. When the project created, programs can be edited and the Local points for the
project can be taught.
5. Once program editing is completed, press Save File, as shown in Figure 2-6. This
will save the current project, and the contents saved include the programs and
the Local point information.

Figure 2-5 Edit/run program for the robot - Enter project name

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 SCARA Teach Pendant Manual

Figure 2-6 Edit/run program for the robot - Creation of new project completed

2.2.2 Open old projects

The process for opening an old project is shown as follows:

1. Press the button.

2. Press the name of the project file to open, Figure 2-7.
3. Press Open to open the project. The screen for the project opened is as shown in
Figure 2-8, with the project name and ID displayed on top of the information bar.
4. Once the project is opened, users can perform program editing.
5. Once program editing is completed, press Save File, as shown in Figure 2-8. This
will save the current project, and the saved contents include the programs and
the Local point information.

Figure 2-7 Edit/run program for the robot - Opening a project

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 2.Tab operation and instructions

Figure 2-8 Edit/run program for the robot - Project opening completed

2.2.3 Program editing

Once a project is created or opened, users can start editing the program. Teach
pendant provides buttons for convenient editing. The operation procedures are shown
as follows.
1. Click above the row number you want to enter on the RL editor, shown as Figure
2-9.
2. Select the command type (Motion, I/O, Logic) on the top of the RL display, shown
as Figure 2-10.
3. Select the RL command (MovP, MovL, etc.) at the bottom, shown as Figure 2-11.
Press or to switch to commands on the next page.
4. Enter RL command related information, shown as Figure 2-12,
A. Press to switch the input point name or point index.
B. Press to switch between different types; for example, the maximum
speed can be entered.
C. Enter RL command information such as point name.
4. Press Insert or Replace to add a command or replace the command of that row,
shown as Figure 2-13.
5. To delete the command, first press the command on its row, and then press
to delete the command.

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 SCARA Teach Pendant Manual

Figure 2-9 Edit/run program for the robot - Select input position

Figure 2-10 Edit/run program for robot - Select command type

Figure 2-11 Edit/run program for robot - Select command

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 2.Tab operation and instructions

Figure 2-12 Edit/run program for robot - Enter command name and other
information

Figure 2-13 Edit/run program for robot - Input completed

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 SCARA Teach Pendant Manual

2.3 Point information (Points)

The Points page provides three functions, which are: Global point operation, Local point
operation, UserFrame, ToolFrame and WorkSpace settings. Clicking the corresponding
functions from the pull-down menu allows switching to corresponding operation
screens. Figure 2-14 provides the descriptions as follows.
Appearance of UI buttons Description

Currently is the Global point operation screen

Currently is the Local point operation screen

Currently is the User Frame setting operation screen

Currently is the Tool Frame setting operation screen

Currently is the WorkSpace setting operation screen

Figure 2-14 Point information - Global point operation

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 2.Tab operation and instructions

2.3.1 Global point

Use the pull-down menu to switch to the Global point operation. The point table will
display Global points for the controller, as shown in Figure 2-14. This is when teach
point can be performed. Use MovP to move to the specified point (Go_P), use MovL
to move to the specified point (Go_L), and use Lift to move to the specified point (Go_
Lift). Instructions for the operation are shown as follows:

Appearance of UI
Instructions for operations
buttons

1. First select the target point information, shown as Figure 2-15.

2. Press this button to record the current position of the robot to a selected
point, and save it to a memory location corresponding to the MS controller.

1. First select the target point information, shown as Figure 2-15.

2. Press and hold down this button and the stage two of the three-stage
operation button simultaneously. The robot will move to the target position via
MovP. Release the button or the three-stage button to stop this motion.

1. First select the target point information, shown as Figure 2-15.

2. Press and hold down this button and the stage two of the three-stage
operation button simultaneously. The robot will move to the target position via
MovL. Release the button or the three-stage button to stop this motion.

1. First select the target point information, shown as Figure 2-15.

2. Press and hold down this button and the stage two of the three-stage
operation button simultaneously. The robot will move to the target position via
MovL. Release the button or the three-stage button to stop this motion.

1. First select the target point information, shown as Figure 2-15.

2. Press and hold this button to manually change information on the point.

Switches information displayed for the point and displays information on X, Y, Z,

and RZ.

Switches information displayed for the point and displays information on the
hand (H), Tool Frame ID (TF), and User Frame ID (UF).

Physical button. Press this button to return to the previous page for the point
table.

Physical button. Press this button to return to the next page for the point table.

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 SCARA Teach Pendant Manual

Figure 2-15 Point information - Specifying Global point operation

2.3.2 Local point

Only when an old project is opened or a new project is created can the Local point
operation be performed for the project. Use the pull-down menu and press
to switch to the Local point operation. The point table will display the Local points for
the current project.
Figure 2-16 as an example, operations are being performed on the Local points for
the test project. The teach point can be performed. Use MovP to move to the specified
point (Go_P), use MovL to move to the specified point (Go_L), use Lift to move to the
specified point (Go_Lift), and save information on the Local point to the MS controller
(Save). Instructions for the operation are shown as follows:

Figure 2-16 Point information - Local point operation for the test project

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 2.Tab operation and instructions

Appearance of UI but-
Instructions for operations
tons

Press this button to save all the Local points for the current project to the MS
controller.

1. First select the target point information, shown as Figure 2-17.

2. Press this button to record the current position of the robot to a selected point.

1. First select the target point information, shown as Figure 2-17.

2. Press and hold down this button and the stage two of the three-stage
operation button simultaneously. The robot will move to the target position via
MovP. Release the button or the three-stage button to stop this motion.

1. First select the target point information, shown as Figure 2-17.

2. Press and hold down this button and the stage two of the three-stage
operation button simultaneously. The robot will move to the target position via
MovL. Release the button or the three-stage button to stop this motion.

1. First select the target point information, shown as Figure 2-17.

2. Press and hold down this button and the stage two of the three-stage
operation button simultaneously. The robot will move to the target position via
MovL. Release the button or the three-stage button to stop this motion.

1. First select the target point information, shown as Figure 2-17.

2. Press and hold this button to manually change information on the point.

Press this button to add an entry for the Local point on the last row of the Local
point table.

Switches information displayed for the point and displays information on X, Y, Z,

and RZ.

Switches information displayed for the point and displays information on the
hand (H), Tool Frame ID (TF), and User Frame ID (UF).

Physical button. Press this button to return to the previous page for the point
table.

Physical button. Press this button to return to the next page for the point table.

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 SCARA Teach Pendant Manual

Figure 2-17 Point information - Specifying Local point operation

2.3.3 User Frame setting

User coordinates are unfixed coordinates defined by the user. Therefore, this coordi-
nate can be defined at any position, e.g. on the workpiece or workbench.
Three Point Method is the method used to teach user coordinates. It calculates the
conversion relationship between the user coordinates and earth coordinates by enter-
ing the coordinate values of the original point (Original), the X point along the positive
X-axis (+Xaxis), and the Y point along the positive Y-axis (+Yaxis) on the earth coor-
dinates.
【The procedures for setting up user coordinates are provided as follows】
1. Enter User Frame ID. Users can set up 9 sets of user coordinates (1~9). The ID
0 is the earth coordinate for the system and cannot be changed.
2. Set User Frame as Orthogonal/Non-Orthogonal and Inclined/Non-Inclined.
Orthogonal/Non-Orthogonal: Sets whether the X-direction and Y-direction of the
coordinates is orthogonal.Inclined/Non-Inclined: Sets whether the coordinate
plane XY is inclined.
3. Setting up original point (Original) for the user coordinates.
i. Move the robot to the original point of the user coordinates.
ii. Select Original on the screen (Figure 2-18).
iii. Press to record position of the original point.
4. Setting up the X point for the user coordinates along the positive X-axis.
iv. Move the robot to the X point for the user coordinates along the posi-
tive X-axis.
v. Select +Xaxis on the screen (Figure 2-19).

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 2.Tab operation and instructions

vi. Press to record position of the original point.

5. Setting up the Y point for the user coordinates along the positive Y-axis
vii. Move the robot to the Y point for the user coordinates along the posi-
tive Y-axis.
viii. Select XY or +Yaxis on the screen (Figure 2-19).
ix. Press to record position of the original point.
6. Press to store to the MS controller user coordinates that have been
set.

Figure 2-18 Point information - Setting up original point of user coordinates

Figure 2-19 Point information - Setting up X point for the user coordinates

(+Xaxis direction)

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 SCARA Teach Pendant Manual

Figure 2-20 Point information - Setting up XY or +Y point for the user coordinates
(+Yaxis direction)

【Procedures to read settings of user coordinates are shown as follows:】

1. Enter User Frame ID.
2. Press to display the values set for the user coordinates.

2.3.4 ToolFrame Setting

This page is used to perform ToolFrame related settings (Figure 2-22), including
Tool Size and Tool Orientation settings. Instructions are as follows:
1. Entering the ToolFrame ID; users can set 9 sets of tool coordinates (1~9). The
one with ID 0 is the earth coordinates of the system and cannot be changed.
2. Set Tool Size
A. Direct Input
Enter the Tool Size Height, Width and Angle in the Tool Size field, as
shown in Figure 2-21; press when input is complete to save the
coordinate data of this tool to the MS controller. Press to acquire the
Tool Size information of the current ID.
B. Calibration

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 2.Tab operation and instructions

i. Press to switch to the calibration screen as shown in Figure 2-23.

ii. Teach points 2~8, shown as Figure 2-24, press P1~P8 and then press
Teach to record this point.
iii. Press Calculate to calculate the Width and Angle of the Tool Size. If the
error is too big, press Select to cancel the point change and then press
Calculate again to calculate the new Width and Angle of the Tool Size.
Repeat this action until the error is within an acceptable range.
iv. Enter the Height; it must be a positive value. This height is the value of
teach point (P1~P8) Z.
v. Press Set to set the Height, Width and Angle of the Tool Size. Press
Get to acquire the Tool Size information of this ID.
vi. When finished teaching, switch the Jog mode to Tool and set the Tool
ID as this ID. When the Z-axis is rotated it can be discovered that it is
rotating with the end point of the teach tool.
vii. Press to return to the main Tool Setting page, shown as Figure
2-22
3. Set Tool Orientation
A. Press in the Tool Orientation field to enter Tool Orientation Settings (Figure
2-25).
B. Set the Original point, X-axis and Y-axis directions of the Tool, as shown
and defined in Figure 2-26.
i. Move the Robot to the Original point and press Teach.
ii. Move the Robot to the pivot point on the +X-axis direction and press
Teach.
iii. Move the Robot to the pivot point on the +Y-axis direction and press
Teach.
C. Press to calculate the related values (Pitch, Roll, Yaw) of Tool Orientation
and write the results into the controller. Press to acquire the Tool
Orientation information (Pitch, Roll, Yaw) of the current ID.
D. When finished teaching, switch the Jog mode to Tool and set the Tool ID
as this ID. The moving direction of XYZ while Jogging will change to the
directions taught.
E. Press to return to the main Tool Settings screen, shown as Figure 2-22.

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 SCARA Teach Pendant Manual

Figure 2-21 Tool size Height, Width and Degree

Figure 2-22 Point information- Tool coordinates setting

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 2.Tab operation and instructions

Figure 2-23 Point Data – Tool Size Calibration

Figure 2-24 Point Data – Tool Size Calibration (Points P1~P8)

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Figure 2-25 Point Data – Tool Orientation Calibration

Figure 2-26 Point Data – Tool Orientation Calibration Setting

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 2.Tab operation and instructions

2.3.5 Work Space Setting

This page is used to perform WorkSpace related settings, including setting work
spaces or non-work spaces. The order of setting Work Space operations is as
follows:
1. Enter WorkSpace ID. 10 Sets (1~10) can be set.
2. Select Cylinder or Rectangle as the work space area.
3. Select whether the work space is Restricted Area or Working Area.
4. Enter Cylinder and Rectangle space information
A. Cylinder space teaching method
i. Move the position of the Robot to the top surface center of the cylinder.
ii. Press to teach the center position.
iii. Manually enter the cylinder radius (Radius) and cylinder height (Column
Height)
B. Rectangle space teaching method
i. Move the robot to the P0 position, press the P0 field on the screen and
then press to teach the position
ii. Move the robot to the PX position, press the PX field on the screen and
then press to teach the position
iii. Move the robot to the PY position, press the PY field on the screen and
then press to teach the position. The rectangle height must also be set
when setting the PY position; the PY point can be higher or lower than the
P0 point
5. Press the pull-down menu and set as Enable to enable the work space of this
ID; setting it as Disable will disable the work space of this ID.
6. Press to set the work space information of this ID to the MS controller. Press to
acquire the work space information of this ID.
7. Enabling work space check function: Press to enable the work space check
function; it will switch to when enabled successfully.
8. Disabling work space check function: Press to enable the work space check
function; it will switch to when enabled successfully.
9. Press to check the usage status of WorkSpace ID 1~10.
Once the work space check function is enabled, an Alarm (AL82D) will appear
when continuous movements exceed the work space; disable the work space check
function first and then press AlarmReset to remove the Alarm. To continue using
the work space check function, first move the Robot into the work space. An Alarm
(AL82D) will appear when Jog use exceeds the work space. Press AlarmReset to
remove the Alarm.

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Figure 2-27 Point information-WorkSpace Setting

2.4 Jog setting (JOG)

Jog-related settings can be performed on this page, including speed (Speed), distance
(Distance), and mode switch (Mode), as shown in Figure 2-28 . Descriptions are
provided below:
1. Speed setting (Speed):
There is low speed (Low), medium speed (Medium), and high speed (High). Or it
can be entered directly. The unit is percentage.
2. Mode setting (Mode):
It is possible to switch between joint mode (Joint), Cartesian mode (Cartesian), and
user mode (User).
3. Distance setting (Distance):
Moving distance that can be set includes short (Low), medium (Medium), long (Long),
and continuous movement (Continuous). The unit for joint mode (Joint) is PUU, the
unit for Cartesian mode (Cartesian) is mm, and the unit for user mode (User) is mm.
4. HandWheel setting
Allows setting HandWheel Jog related parameters; descriptions are as follows:
State:
Switch Hand Wheel operation status (Disable/Enable). When the Hand Wheel operation status is
Disable, the Robot cannot be moved with the Hand Wheel. When set as Enable, the Robot can
be operated with the Hand Wheel. The switching of Hand Wheel Jog coordinates can be done by
switching the Mode between Joint Mode, Cartesian Mode, User Mode and Tool Mode

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 2.Tab operation and instructions

Amp:
Switches the amplification of the HandWheel (x1 means the robot will move 1um or 1PUU when the
HandWheel is rotated by 1 grid)
Amplification that can be set for JointSpace is x1~x1000, and x1~x100 for Cart.Space

Jog Axis:
Switches the HandWheel Jog target axis (J1~J4 or X,Y,Z,RZ)

To perform Jog operation on the robot, press and hold down the physical Job
button ( or )and the stage two of the three-stage operation button (Figure 1-2)
to move the arm. Moving the robot through Jog is available on any page.

Performing HandWheel Jog operations to the robot means rotating the HandWheel
(Figure 1-1) and performing the stage two of the three-stage operation (Figure 1-2)
simultaneously to move the robot. When the status of HandWheel is Enable, it can
move the robot through Jog function on any page.

Figure 2-28 Jog setting

2.5 I/O monitoring (DI/O)

This page monitors the User IO, with the yellow light representing ON and the gray light
representing OFF, as shown in Figure 2-29. Press the DO component buttons to
perform DO control.

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 SCARA Teach Pendant Manual

Figure2-29 IO monitoring

2.6 System information (Info)

System alarms can be viewed or reset (Alarm Reset), and information on the version of

the control system can be viewed on this page, as shown in Figure 2-30. Press

to switch to the information page for system alarm (Alarm Info); press to switch to

the information page for version of the control system (Controller Info).

Figure 2-30 System information

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 2.Tab operation and instructions

2.7 System alarm information (Alarm Info)

When an error has occurred on MS, the Alarm status on top of the screen will have a
red icon flash to notify the user. The user can press Alarm status directly (Figure 2-31)
or switch to the Alarm Info page to find out more about the error message (Figure 2-32).
Once the error is fixed, press Alarm Reset to reset the Alarm. Once done
successfully, the Alarm message will be cleared and the Alarm status will change from
flashing red to green, as shown in Figure 2-30.

Figure 2-31 System alarm information

Figure 2-32 System alarm information - Alarm information

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2.8 Controller information (Controller Info)

This page will display information related to version for the controller, shown as Figure
2-33

Figure 2-33 Controller information

2.9 System setting (Setting)

Original point operations (Home), display of information on controller IP, and settings
(Controller IP) can be performed on this page, as shown in Figure 2-34

Figure 2-34 System setting - Returning to original point

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 2.Tab operation and instructions

2.9.1 Original point operations (Home)

Press to switch to the screen for original point operation (Home). This page
allows return to the original point (GoHome), as shown in Figure 2-34.
Returning to original point (GoHome)
1. All Axes: All axes will return to their original point. Press and hold stage two of the
three-stage operation button to execute this command. Once returned to the orig-
inal point, the button will be restored to its original status.
2. Each Axis: Only returns a single axis to its original point. Press and hold stage
two of the three-stage operation button to execute this command. Once returned
to the original point, the button will be restored to its original status.

2.9.2 Controller IP (Controller IP)

Press to switch to the controller IP (Controller) screen. This page allows acquiring
the IP address of the current controller and setting of the controller IP, shown as
Figure 2-35.
【Steps to acquire the current controller IP are as follows:】

1. Press to acquire the current controller IP.

2. The acquired IP will be displayed in the Controller IP field, shown as Figure 2-36.

【Steps to set the controller IP are as follows:】

1. Enter the IP and SubnetMask in the Set Controller IP field, shown as Figure 2-37.
2. Press to perform the setup and the button will display as ，.
Once done setting, the buttons will be restored to
3. Acquire the current controller IP to check whether the settings are correct.

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 SCARA Teach Pendant Manual

Figure 2-35 System setting - Controller IP

Figure 2-35 System setting - Controller IP

Figure 2-37 System setting - Setting controller IP

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 2.Tab operation and instructions

2.10 System setting - Setting controller IP

This page can be used to Start/Stop the Servo motor, including all-axes Servo On/Off,
individual-axis Servo On/Off, shown as Figure 2-38.
1. All-axes Servo On/Off
A. Press to execute all-axes Servo On. When Servo On is successful it will
change to

B. Press to execute all-axes Servo Off. When Servo Off is successful it will change
to

2. Individual-axis ServoOn/Off, using the J1-axis as example:

A. Press to execute J1-axis Servo On. When Servo On is successful it will change to

B. Press to execute J1-axis Servo Off. When Servo Off is successful it will change
to

Figure 2-38 Servo Setting Servo On/Off

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3. Alarm
3.1 Definitions of alarms
There are 4 major categories of abnormal alarms, namely the control type, customized
type, group type, and axis type, the meanings of which are described as follows:
● Control type: alarms sent out by the controller.
● Customized type: alarms customized by the users through the PLC program written.
● Group type: alarms sent out by a group which is combined randomly from an axis group.
● Axis type: alar ms sent out by individual axis.
The 7-segment display shows the abnormal alarm code in the following way.

42
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 3. ALARM

Fig 49 Seven-segment display of MS error code

1. Fixed display for abnormal alarm E

2.

Control type (Controller) : C This type of abnormal alarm is currently reserved.

Customized type (User) : U
1-2
Group type (Group) :
* “?” is used to represent numbers in the List of Abnormal Alarms.
1-6 axis: number 1-6.
7-12 axis: reserved.
Axial type (Axis) : 13-18 axis: English letter D-I
* “?” is used to represent numbers and English letters in the List of
Abnormal Alarms.
For example:
Abnormal alarm code E1.803 is the alarm of Group 1 in the group type.

Abnormal alarm code E1803 is the alarm of Axis 1 in the axial type.

Abnormal alarm code ED803 is the alarm of Axis 13 in the axial type.

Abnormal alarm code EI803 is the alarm of Axis 18 in the axial type.

3. Codes for Abnormal Alarms

3.2 Index of alarm

3.2.1 Group type
Abnormal Servo
Abnormal Alarm Type Status
Abnormal Alarm Name
Alarm Display
ALM WARN ON OFF
E?801 Axis did not return to the origin ○ ○
E?803 Incompatible motion command ○ ○
E?80A Motion command is not ready ○ ○
E?80B Unknown motion command ○ ○
E?80C Error of the motion command in buffer region ○ ○
E?813 Axis error during interpretation of commands ○ ○
E?814 Axis error during implementation of the motion commands ○ ○
E?815 Mono-axis exceeds the software limit ○ ○

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Abnormal Servo
Abnormal Alarm Type Status
Abnormal Alarm Name
Alarm Display
ALM WARN ON OFF
E?821 Arm gesture is inconsistent ○ ○
Target position for P2P motion command is out of Robot’s
E?822
operating range
○ ○

Target position of command for continuous path is out of

E?823
Robot’s operating range
○ ○

E?824 Spatial movement exceeds the operating range of Robot ○ ○

E?825 P2P movement path exceeds the operating range of Robot ○ ○
E?827 Group does not exist ○ ○
E?829 Error in switching the coordinates ○ ○
E?82A Error in switching user coordinates ○ ○
E?82B Error in switching tool coordinates ○ ○
E?832 Loss of internal communication packet ○ ○
E?833 Error in check code for internal communication ○ ○
E?841 The arc command is out of boundary ○ ○
E?842 The arc cannot be formed ○ ○
E?843 Arc mode error ○ ○
Time out error in transmission of vision parameters
E?851
followed by conveyor belt
○ ○
E?852 The following speed for conveyor belt exceeds limits ○ ○
Overtime error in transmission of vision parameters
E?853 ○ ○
followed by conveyor belt

E?861 The jogging speed of the TP hand wheel is too fast. ○ ○

E?862 The TP hand wheel is jogging. ○ ○
Note :
If there’s other alarm code appearing, please contact the technique team or agent directly for further support.
"?"represents the number of "1. ~ 2." in the alarm of group type.

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 3. ALARM

3.2.2 Axis type

Abnormal Abnormal Alarm
Servo State
Alarm Abnormal Alarm Name Type
Display ALM WARN ON OFF
E?001 Overcurrent ○ ○
E?002 Overvoltage ○ ○
E?003 Low voltage ○ ○
E?004 Motor matching error ○ ○
E?005 Retrogradation error ○ ○
E?006 Overload ○ ○
E?007 Over speed ○ ○
E?009 Error in position control is too large ○ ○
E?011 Encoder abnormal ○ ○
E?012 Calibration abnormal ○ ○
E?013 Emergency stop ○ ○
E?014 Reverse limit abnormal ○ ○
E?015 Direct limit abnormal ○ ○
E?016 IGBT overheated ○ ○
E?017 Memory abnormal ○ ○
E?018 Detector output abnormal ○ ○
Serial communication abnormal between
E?019
controller and drive
○ ○
Overtime in sSerial communication between
E?020
controller and drive
○ ○
E?022 Power abnormal on the main loop ○ ○
E?023 Advanced overload warning ○ ○
Error in Initial magnetic field for the internal
E?024
encoder ○ ○
E?025 Internal error on the encoder ○ ○
Error in reliability of internal data for the
E?026
encoder ○ ○
E?027 Error in internal reset for the encoder ○ ○
High voltage on the encoder or internal error
E?028
on the encoder ○ ○
E?029 Gray code error ○ ○
E?030 Motor collision error ○ ○
E?031 Detection on disconnection of the motor power cable ○ ○
Error in internal communication for the
E?034
encoder ○ ○
E?035 Encoder temperature exceeded protection limit. ○ ○
E?044 Warning on usage of the drive functions ○

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Abnormal Abnormal Alarm

Servo State
Alarm Abnormal Alarm Name Type
Display ALM WARN ON OFF
E?060 Loss of absolute position ○ ○
E?061 Low voltage error on the encoder ○ ○
E?062 Absolute position laps overflow ○ ○
E?067 Encoder temperature alarm ○ ○
E?069 Motor type error ○ ○
E?06A Loss of absolute position
E?070 Incomplete encoder processing ○ ○
E?099 EEPROM needs updating ○ ○
E?111 DMCNET packet receiver overflows ○ ○
E?185 DMCNET Bus hardware abnormal ○ ○
E?201 Initial error of DMCNET data ○ ○
E?235 Position command overflows ○ ○
E?245 Positioning overtime ○ ○
E?283 Drive direct limit ○ ○
E?285 Drive reverse limit ○ ○
E?289 Position counter overflows ○ ○
E?301 DMCNET synchronizing signal failed ○ ○
E?302 DMCNET synchronizing signal is too fast ○ ○
E?303 DMCNET synchronizing signal overtime ○ ○
E?304 DMCNET IP command invalid ○ ○
E?500 STO function is activated ○ ○
E?501 STO_A lost ○ ○
E?502 STO_B lost ○ ○
E?503 STO_error ○ ○
E?555 Drive failure ○ ○
Note:
"?"represents the number of "1~6"and alphabet"D ~ I" in the alarm of axis type

3.2.3 Control type

Abnormal Abnormal Alarm
Servo State
Alarm Abnormal Alarm Name Type
Display ALM WARN ON OFF
EC001 PLC timeout ○ ○
EC002 PLC Image load failed ○ ○
EC003 PLC Exception ○ ○
EC004 Motion module failed ○ ○
EC005 Controller failed ○ ○

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 3. ALARM

Abnormal Abnormal Alarm

Servo State
Alarm Abnormal Alarm Name Type
Display ALM WARN ON OFF
EC006 Continuous 30 second write in alarm ○ ○
EC007 DMCNET device setting mismatch ○ ○
EC008 Mechanism parameter file load failed ○ ○
EC009 Robot Type inconsistent ○ ○
E1998 Operation mode not started ○ ○

Group type:
●●
E?801 Axis did not return to the origin
Cause Axis did not return to the origin
If the axis fails to return to the origin before the coordinates moved, please return
Check and Correction
the axis to the origin.
Solution Reset alarm

E?803 Incompatible motion command

Cause The motion command does not support over-lapping mode
Whether commands such as mono-axial P2P (MovJ) , multi-axial P2P (MovP,
MovPR, MArchP) and spatial commands (MovL, MovLR, MArc, MCircle,
Check and Correction MArchL) are blended at the same time since these three types of motion
commands cannot overlap. Please use other motion commands to replace or
avoid command overlapping.
Solution Reset alarm

E?80A Motion command is not ready

Cause The motion command is not ready and cannot be interpreted.
Check and Correction Return to the dealer or original manufacturer for repairing.
Solution Reset alarm

E?80B Unknown motion command

Cause The motion command cannot be identified.
Check and Correction Return it to the dealer or original manufacturer for repairing.
Solution Reset alarm

E?80C Error of the motion command in buffer region

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SCARA TEACH PENDANT MANUAL

Cause Error in Interpretation of the motion command for cache region.

Check and Correction Return it to the dealer or original manufacturer for repairing.
Solution Reset alarm

E?813 Axis error during interpretation of commands

Cause Axis error during interpretation of commands.
 lease use the original software (DROE) to check whether any abnormality
P
Check and Correction of axis is found and eliminate any abnormality in accordance with the
troubleshooting of alarms.
Solution Reset alarm

E?814 Axis error during implementation of motion commands

Cause Axis error during implementation of the motion commands.
Please use the original software (DROE) to check whether any abnormality
Check and Correction of axis is found and eliminate any abnormality in accordance with the
troubleshooting of alarms.
Solution Reset alarm

E?815 Mono-axis exceeds the software limit

Cause Target position of the mono-axis exceeds the software limit.
Whether target position of the command for each axis is within configured limits
Check and Correction of software. If not, please move the arm (manual or Jog) back into the limits of
software.
Solution Reset alarm

E?821 Arm gesture is inconsistent

Cause Current arm gesture is inconsistent with gesture at target position.
1. Continuous path command (MovL, MArc, MCircle, MArchL) does not support
movements under hand changes. Check whether the gesture at current
position is consistent with that at the target position. If not, please change
Check and Correction the gesture at target position or use another motion command.
2. Please check whether this motion path can be ignored. If not, then determine
the arm gesture with the controller.

Solution Reset alarm

E?822 Target position for P2P motion command is out of Robot’s operating range

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 3. ALARM

The target position for issued mono-axial P2P (MovJ) , multi-axial P2P (MovP,

Cause
MovPR, MArchP) is out of the operating range.
Whether the target position of the motion command for each axis is within the
Check and Correction
software limits configured by the drive.
Solution Reset alarm

E?823 Target position of command for continuous path is out of Robot’s operating range

The target position of spatial command issued (MovL, MovLR, MArc, MCircle,

Cause
MArchL) is out of the operating range.
Whether the target position of the motion command for each axis is within the
Check and Correction
software limits configured by the drive.

Solution Reset alarm

E?824 Spatial movement exceeds the operating range of Robot

Cause Spatial command movement exceeds the operating range of Robot.

Whether the target position of the motion command for each axis is within the
Check and Correction
configured limits of software.

Solution Reset alarm

E?825 P2P movement path exceeds the operating range of Robot

Error of computation for forward kinematics. Path of movements for mono-
Cause
axial / multi-axial P2P commands exceeds the operating range.
1. Whether the setting of software limits is normal. Whether the target position
of the motion command for each axis is within the software limits configured
by the drive.
Check and Correction
2. Whether path is within the operating range defined by the user.
3. W hether the machine dimension is correct.  (Please contact original
manufacturer) 
Solution Reset alarm

E?827 Group does not exist

Cause The designated group does not exist.

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?829 Error in switching the coordinates

Cause The coordinates to be switched to do not exist.

Whether the designated coordinate number is between 0 and 9. If not, please

Check and Correction fill in or select the correct coordinate number. Currently, only four coordinates
systems of “world”, “tool”, “user” and “axis” are supported.

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Solution Reset alarm

E?82A Error in switching user coordinates

Cause Switching error of the user coordinates

1. Whether the designated number of user coordinates system has been

established or is between 0 and 9. If not, please fill in or select the correct
Check and Correction
coordinate number.
2. Please use the original software tool to check the coordinates instruction.

Solution Reset alarm

E?82B Error in switching tool coordinates

Cause Switching error of the tool coordinates

1. Whether the designated number of tool coordinates system has been

established or is between 0 and 9. If not, please fill in or select the correct
Check and Correction
coordinate number.
2. Please use the original software tool to check the coordinates instruction.

Solution Reset alarm

E?832 Loss of internal communication packet

Between the controller and the drive, three continuous losses of the
Cause
communication packet.

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?833 Error in check code for internal communication

Between the controller and the drive, three continuous errors of the
Cause
communication check code (CRC) .
Check and Correction Return it to the dealer or original manufacturer for repairing.
Solution Reset alarm

E?841 The arc command is out of boundary

Cause The target position of the command issued is out of the operating range.
Whether the target position of the motion command for each axis is within the
Check and Correction
configured limits of software.

Solution Reset alarm

E?842 The arc cannot be formed

Cause The input conditions cannot form an arc.

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 3. ALARM

Whether the input conditions for forming an arc is correct, conditions like 3
points are collinear, the radius is 0, or the centre falls on the circumference
Check and Correction
cannot form a circle. Please reissue command positions according to conditions
that can form a circle.
Solution Reset alarm

E?843 Arc mode error

Cause Setting error of arc parameter mode.
Check and Correction Return it to the dealer or original manufacturer for repairing.
Solution Reset alarm

E?851 Time out error in transmission of vision parameters followed by conveyor belt
1. Data transmission error
Cause
2. Vision system has not been triggered.
1. Ensure the vision system has been triggered before the robot starts.
Check and Correction
2. Check if the configuration and settings for the vision system are correct.

Solution Reset alarm

E?852 The following speed for conveyor belt exceeds limits

Cause The speed of conveyor belt is too fast.
Check and Correction Reduce the speed of conveyor belt.
Solution Reset alarm

E?853 Overtime error in transmission of vision parameters followed by conveyor belt

Error in setting of number for the user coordinates used in the conveyor belt
Cause
following application.
Whether the setting of number for the user coordinates used in the conveyor
Check and Correction
belt following meets the application specification (it cannot be 0 or larger than 9) .
Solution Reset alarm

E?861 TP handwheel Jog speed too fast

Cause TP handwheel Jog speed too fast.

Check and Correction Please decrease TP handwheel jog speed.

Solution Alarm reset.

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E?862 TP handwheel performing jog

Cause TP handwheel performing jog.
Check and Correction Stop TP handwheel jog first and then perform original movement.
Solution Alarm reset.

Axis type:
●●
E?001 Overcurrent
1. Short circuit of the drive output
Cause 2. Abnormal motor wiring
3. Abnormal IGBT
1.Whether wiring between the motor and drive has short-circuited, and if
circuited, eliminate the short-circuit condition and prevent exposed wiring.
Check and Correction 2.Please refer to the wiring sequence in the instruction Manual and check
whether the wiring sequence from the motor to the drive is correct and rewire.
If the alarm continues, return it to the dealer or original manufacturer for
repairing.

Solution Reset alarm

E?002 Overvoltage

1. Input voltage for the main loop is too high

Cause
2. Hardware failure on the drive

1. W
 hether the input voltage of the main loop is within the rated voltage value;
if not, use the correct voltage components or tandem voltage stabilizer to
transform the voltage within the rated voltage value.
Check and Correction
2. W
 hether the input voltage of the main loop is within the rated voltage value;
if this error continues, please return the drive back to the dealer or original
manufacturer for overhauling.
Solution Reset alarm

E?003 Low voltage

1. Input voltage for the main loop is too low
Cause 2. The main loop has no source of input voltage
3. Power input error
1. U
 se the electric meter to check whether the voltage of the main loop is
normal.
2. P
 lease refer to the wiring sequence in the Instruction Manual to check
whether the wiring for input voltage on the main loop is normal, if not, please
Check and Correction rewire.
3. W
 hether the power system agrees with the definition of the specification, use
the correct voltage elements or tandem voltage stabilizer to transform the
voltage within the rated voltage value.
Solution Clear alarm when voltage restores

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 3. ALARM

E?004 Motor matching error

1. Position encoder is loose

Cause
2. Motor matching error

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reconnect power and clear alarm.

E?005 Retrogradation error

1. Wrong retrogradation resistance is chosen or no external retrogradation

Cause resistance is connected.
2. Parameter setting error
Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?006 Overload
1. Continuously exceeding the rated load of the drive
Cause 2. Error in wiring for the motor and the encoder
3. Motor drive abnormal
1. Whether the wiring of U, V, W and the encoder is correct; if not, please rewire
Check and Correction correctly.
2. Return the motor to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?007 Over speed

Cause Improper setting for parameter P2-34 (warning conditions for over speed) 

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?009 Error in position control is too large

Cause 1. External load is too large

Check and Correction Please use within the maximum Payload value or adjust the Payload value.

Solution Reset alarm

E?011 Encoder abnormal

1. Wiring error for the encoder

Cause 2. Encoder is loose or the wiring is poor.
3. Encoder is damaged.

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1. Whether the wiring follows the suggested path in the Instruction Manual.
2. Whether the connection of MotorENC. in the drive and the encoder in the
Check and Correction
motor position is loose; if loose, reconnect MotorENC. of the drive with a
position detector.

Solution Reconnect power and clear alarm.

E?012 Calibration abnormal

Cause Current calibration is abnormal
Check and Correction Return it to the dealer or original manufacturer for repairing.
Solution Reconnect power and clear alarm.

E?013 Emergency stop

Cause Emergency stop switch is pressed.
Whether the emergency switch is activated. The emergency stop switch is
Check and Correction
normally off; if activated unintentionally, please turn it off.
Solution Reset alarm

E?014 Reverse limit abnormal

1. The reverse limit switch is activated

Cause
2. The servo system is unstable

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?015 Direct limit abnormal

1. The direct limit switch is activated

Cause
2. The servo system is unstable

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?016 IGBT overheated

1. Continuous overloading on the drive
Cause
2. Short circuit upon output from the drive

1. Check whether the load is too large, and use within the maximum Payload
Check and Correction value or adjust the Payload value.
2. Check the drive output wiring to ensure the wiring is correct.

Solution Reset alarm

E?017 Memory abnormal

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 3. ALARM

1. R
 eference data write-in error or parameter error, which occurs at factory
reset for parameters due to error in setting of drive types.
2. Drive memory abnormal
Cause
3. R
 OM data is damaged, if error occurs during power transmission, it is
usually due to damage on ROM data or no data available in the ROM.
Please return it to the dealer or original manufacturer for repairing.

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?018 Detector output abnormal

1. Encoder error
Cause
2. The output pulse exceeds a permissible range for the hardware.

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?019 Serial communication abnormal between controller and drive

1. Improper settings for communication parameters

Cause 2. Incorrect communication address
3. Incorrect communication value

1. Reset to the factory setting

Check and Correction
2. Or return it to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?020 Overtime in serial communication between controller and drive

Cause The drive has not received communication command for a long time.

Check whether the communication cable is loose or broken to ensure correct

Check and Correction
wiring.

Solution Reset alarm

E?022 Power abnormal on the main loop

Cause Power abnormal on the main loop

1. Whether RS power cable is loose or non-conductive.

Check and Correction 2. Connect the power correctly. If power supply is normal but alarm remains,
return the drive to the dealer or manufacturer for repairing.

Solution Reset alarm

E?023 Advanced overload warning

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SCARA TEACH PENDANT MANUAL

Cause Advanced overload warning

1. Whether the use of overloading. Please refer to the Corrective Action for
Check and Correction
E?006
Solution Reset alarm

E?024 Error in Initial magnetic field for the internal encoder

Error in initial magnetic field for the encoder

Cause
 (error in the magnetic field positions U, V and W) 

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reconnect power and clear alarm.

E?025 Internal error on the encoder

1. Internal error on the encoder (internal memory error and error in internal
counting) .
Cause
2. The motor rotates due to mechanical inertia or other reasons when it is
connected to the power.
Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reconnect power and clear alarm.

E?026 Error in reliability of internal data for the encoder

Cause Encoder error (three continuous errors in internal data) 
Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reconnect power and clear alarm.

E?027 Error in internal reset for the encoder

Cause Encoder chip reset

Check and Correction Return it to the dealer or original manufacturer for repairing.
Solution Reconnect power and clear alarm.

E?028 High voltage on the encoder or internal error on the encoder

1. Over- voltage on battery
Cause
2. Internal error of the encoder
1. Whether the drive has a charging circuit and whether battery
Check and Correction installation (voltage >3.8 V) is abnormal. Please use an electric meter to check
whether the voltage is higher than 3.8V.
Solution Reconnect power and clear alarm.

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 3. ALARM

E?029 Gray code error

Cause Error in absolute position of one-loop
Reconnect the power supply and run the motor to see if alarm reappears, if it
Check and Correction
remains, return it to the dealer or original manufacturer for repairing.

Solution Reconnect power and clear alarm.

E?030 Motor collision error

1. Whether anti-collision function for the motor is activated.

Cause
2. Return it to the dealer or original manufacturer for repairing.
Reconnect the power supply and run the motor to see if alarm reappears, if it
Check and Correction
remains, replace the encoder.
Solution Reconnect power and clear alarm.

E?031 Detection on disconnection of the motor power cable

Cause Disconnection of the motor power cable

Whether the motor power cables (U, V, W, GND) are disconnected, please

Check and Correction connect the cables correctly according to the Instruction Manual and ground
them correctly.

Solution Reconnect power and clear alarm.

E?034 Error in internal communication for the encoder

Cause Error in internal communication for the encoder

 hether the battery wiring is loose; if loose, reconnect the battery correctly and
W
Check and Correction
turn on the power again

Solution Reconnect power and clear alarm.

E?044 Warning on usage of the drive functions

Cause Warning on usage of the drive functions

Check and Correction Return it to the dealer or original manufacturer for repairing.
Solution Reconnect power and clear alarm.

E?060 Loss of absolute position

1. Battery voltage is too low
2. Replace the battery when power of the drive control is turned off
Cause 3. The initialization on coordinates for the absolute position has not been
completed after activating the absolute function.
4. Poor contact or disconnection on the circuit for supply of battery power.
5. Change of the ratio on the electronic gear.

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SCARA TEACH PENDANT MANUAL

1. Whether the battery voltage is lower than 2.8V.

2. Do not change or remove the battery when the drive control power is turned off.
3. Reset the coordinates for the absolute position after completing the
initialization on the coordinates for the absolute position and the zero return
Check and Correction
procedure.
4. (1) Whether the battery installation and wiring is correct. (2) Check the encoder
wiring (3) Check the wiring between the external battery holder and the drive
Corrective action: Repeat the zero return procedure

Solution Reconnect power and clear alarm.

E?061 Low voltage on the encoder

Cause Battery voltage is too low.

1. Whether the voltage on panel battery is lower than 3.1V (provisional

specification) .
Check and Correction
2. Whether the battery voltage is lower than 3.1V (provisional specification) ; if
lower, please replace the battery with power ON for the drive control.

Solution Auto-clear

E?062 Absolute position laps overflow

Cause The stroke is out of range.

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reconnect power and clear alarm.

E?067 Encoder temperature alarm

Cause Temperature of the encoder is too high (85~100 ℃ ) 

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reconnect power and clear alarm.

E?069 Motor type error

Cause Activation of absolute function by the incremental motor is not allowed.

Check and Correction Whether the motor is of incremental motor or absolute encoder.

Solution Reconnect power and clear alarm.

E?06A Loss of absolute position

The initialization on coordinates for the absolute position has not been
Cause
completed after activating the absolute function.

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 3. ALARM

1. Reset the coordinates for the absolute position after completing the
initialization on the coordinates for the absolute position and the zero return
Check and Correction
procedure.
2. Return it to the dealer or original manufacturer for repairing.

Solution Reconnect power and clear alarm.

E?070 Incomplete encoder processing

Related commands are not completed when the encoder conducts Barcode
Cause
write-in or relevant actions.

Check and Correction Return it to the dealer or original manufacturer for repairing.
Solution Reconnect power and clear alarm.

E?099 EEPROM needs updating

Cause EEPROM needs updating

Check and Correction Return it to the dealer or original manufacturer for repairing.
Solution Reconnect power and clear alarm.

E?111 DMCNET packet receiver overflows

Cause More than 2 packets are received within 1ms.

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reconnect power and clear alarm.

E?185 DMCNET Bus hardware abnormal

Cause DMCNET Bus hardware abnormal or loss of communication packet
Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reconnect power and clear alarm.

E?201 Initial error of DMCNET data

Cause Initial error of DMCNET data

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reconnect power and clear alarm.

E?235 Position command overflows

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1. When temporary register for the feedback position overflows;

Cause 2. When the zero return is triggered, but the zero return procedure is not completed;
3. When E?060 and E?062 occur.

Check and Correction Implement the zero return procedure.

Solution Reconnect power and clear alarm.

E?245 Positioning overtime

Cause Positioning overtime for the position mode .

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution None.

E?283 Drive direct limit

Cause Exceeding software direct limit.

Whether the position exceeds the value of P5‑09. Please set the limit according
Check and Correction to actual conditions; if the position doesn’t exceed the limit, please set the
maximum:2147483648.

Solution Reset alarm.

E?285 Drive reverse limit

Cause Exceeding software reverse limit.

Whether the position exceeds the value of P5-09. Please set the limit according
Check and Correction to actual conditions; if the position doesn’t exceed the limit, please set the
maximum:-2147483648.

Solution Reset alarm.

Note: D
 irect and reverse limits for the software are determined according to the position commands and not the actual feedback
positions, because the commands always arrive before the feedback. When the limits play a protective role, the actual po-
sition may not have exceeded the limit; therefore, desired effect can be achieved by setting appropriate deceleration time.
Please refer to the description of Parameter P5-03

E?289 Position counter overflows

Cause Position counter overflows.

Do not make any modification on the original machine if this alarm occurs;
Check and Correction
return it back to the original manufacturer directly.
Solution None.

E?301 DMCNET synchronizing signal failed

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 3. ALARM

Cause Failure on transmission of synchronizing signal.

1. Whether the quality of communication line is poor.

Check and Correction
2. Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?302 DMCNET synchronizing signal is too fast

Cause Synchronizing signal is too fast.

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm

E?303 DMCNET synchronizing signal overtime

Cause Synchronizing signal overtime

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm.

E?304 DMCNET IP command invalid

Cause The IP mode operation time is too long.

Check and Correction Return it to the dealer or original manufacturer for repairing.

Solution Reset alarm.

E?500 STO function is activated

Cause Safety function STO is activated.
Check and Correction Safety function STO is manually activated; please check the activating cause.

Solution Reset alarm.

E?501 STO_A lost

STO_A loses enabling signal or STO_A and STO_B have not been synchronized
Cause
for more than 1 second.
Check and Correction Whether the STO_A wiring is correct.

Solution Reset alarm.

E?502 STO_B lost

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STO_B loses enabling signal or STO_A and STO_B have not been synchronized
Cause
for more than 1 second.

Check and Correction Whether the STO_B wiring is correct.

Solution Reset alarm.

E?503 STO_error

Cause STO self-diagnosis error.

Check and Correction Whether STO_A and STO_B correctly connected.

Solution Reset alarm.

E?555 Drive failure

Cause Drive processor abnormal.

Do not make any modification on the original machine if this alarm occurs; return
Check and Correction
it to the original manufacturer directly.

Solution None.
Note: If abnormal alarm code that isn’t listed above, please notify the original manufacturer.

Control type:
●●

EC001 PLC timeout

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 3. ALARM

1. PLC program too big, execution time too long.

Cause
2. Debug operation.

Check and Correction 1. Confirm PLC Debug is closed.

Solution Alarm reset.

EC002 PLC Image load failed

Cause The library version in the PLC Image does not match with the system.
Check whether the controller parameter P1-01 is 1; if so, version mismatch is
Check and Correction
caused by firmware update. Please update to the same version of PLC Image.

Solution Alarm reset.

EC003 PLC Exception

Cause PLC execution error.

Please refer to the following error message for troubleshooting.

Error Message Exception Code
PlcExcNon 0
ExcOutOfMemory 1
ExcDivisionByZero 2
ExcIndexOutOfRange 3
ExcIllegalCast 4
ExcStackOverflow 5
ExcNullReference 6
ExcMissingMethod 7
ExcThreadCreation 8
Check and Correction
ExcThreadAbort 9
ExcSynchronizationLockException 10
ExcBreakpointIllegal 11
ExcBreakpoint 12
ExcExecutionEngine 13
ExcExternal 16
PlcExcString 32
PlcExcWatchDogExceeded 33
PlcExcMaximumCpuLoadExceeded 34
PlcExcSystem 35
PlcExcEnd 36

Solution Alarm reset.

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EC004 Motion module failed

Cause Abnormal movement module function.

If this alarm occurred, do not make any modifications to the original machine and
Check and Correction
send it back to the manufacturer directly.

Solution None.

EC005 Controller failed

Cause Abnormal controller function.

If this alarm occurred, do not make any modifications to the original machine and
Check and Correction
send it back to the manufacturer directly.

Solution None.

EC004 Motion module failed

Cause Abnormal movement module function.

If this alarm occurred, do not make any modifications to the original machine and
Check and Correction
send it back to the manufacturer directly.
Solution None.

EC006 Continuous 30 second write in alarm

Cause Write in operation executed for 30 seconds continually without interruptions.

Check whether the logic of the PLC and RL program or Modbus operation has
errors that caused continuous write in. If it occurs repeatedly, it is recommended
Check and Correction
to remove all external devices and restore original PLC settings and debug step
by step.

Solution Alarm reset.

EC007 DMCNET device setting mismatch

DMCNET power on scan results does not match with the maintain power
Cause
parameter settings.

Please check the connection status of the DMCNET device and confirm whether
Check and Correction the controller parameter P3-31~P3-42 settings matches the current DMCNET
external device.

Alarm reset, to change settings please scan again and save the power maintain
Solution
parameter.

EC009 Robot Type mismatch

The Robot Type set in the parameter does not match the one loaded by the
Cause
current movement module.

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 4. ROBOT LANGUAGE

1. C
 onfirm the firmware version; is it an updated firmware (downgraded or failed)
that caused parameters P1-00 and P0-03 to be inconsistent.
Check and Correction
2. R
 eset parameter P1-00, confirm that the current firmware version supports
this type, disconnect the power and restart.

Solution Reconnect the power and clear.

E1998 Operation mode not started

Operation mode not started, please confirm the reason or System DI4 and DI5
Cause
contact are not connected.

Please conform the System DI4 and DI5 contacts of the operation mode, and
Check and Correction
restart the controller.

Solution Alarm reset.

Note: If abnormal alarm code that isn’t listed above, please notify the original manufacturer.

4. Robot Language
4.1 Basic Instructions
4.1.1 Robot Language Index
Function Symbol Description

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+ Plus
- Minus
* Times
 /  Divided
^ Power
AND Logical operation : conjunction operation
Operation OR Logical operation : or operation
Symbols XOR Logical operation : nonequivalence operation
> Greater than
>= Greater than or equal
< Less than
<= Less than or equal
= equal
~= Not equal
Function Symbol Description
ABS (x)  Absolute value
ACOS (x)  Arc cosine (in degree) 
ASIN (x)  Arc sine (in degree) 
ATAN (x)  Arc tangent (in degree) 
ATAN2 (y, x)  Arc tangent of y / x (in degree) 
CEIL (x)  Smallest integer larger than or equal to input value
COS (x)  Consine (in degree) 
COSH (x)  Hyperbolic consine
DEG (x)  Angle radians to degrees
EXP (x)  Calculate the x‑th power based on e
FLOOR (x)  Largest integer smaller than or equal to input value
Operation FMOD (x, y)  Remainder of the division of x by y
Commands LOG10 (x)  Logarithm of x in the base 10
LOG (x[,base])  Logarithm of x in the base, default base is natural
MAX (x, …)  Maximum value among its arguments
MIN (x, …)  Minimum value among its arguments
MODF (x)  Return integer part of x and fractional part of x
POW (x, y)  Return x^y
RAD (x)  Angle degrees to radians
SIN (x)  Sine (in degree) 
SINH (x)  Hyperbolic sine
SQRT (x)  Square root
TAN (x)  Tangent (in degree) 
TANH (x)  Hyperbolic tangent

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 4. ROBOT LANGUAGE

Basic Command DELAY Delay for a period of time

SetGlobalPoint Save Global point
CopyPoint Copy point information
ReadPoint Read point information

Point WritePoint Write temporary storage value in the point data

Management RobotX The X-directional coordinate of current Cartesian coordinate
Commands RobotY The Y-directional coordinate of current Cartesian coordinate
RobotZ The Z-directional coordinate of current Cartesian coordinate
RobotC The C-directional coordinate of current Cartesian coordinate
Robothand The L / R hand status of current robot
Function Symbol Description
AccJ Acceleration, affecting the motion command of MovP, MovJ
DecJ Deceleration, affecting the motion command of MovP, MovJ
SpdJ Maximum speed, affecting the motion command of MovP, MovJ
Acceleration, affecting the motion command of MovL, MArchL,
Motion AccL
Marc, MCircle
Parameters
Deceleration, affecting the motion command of MovL, MArchL,
DecL
Marc, MCircle
Maximum speed, affecting the motion command of MovL,
SpdL
MArchL, Marc, MCircle
Accur Accuracy of points passed through
RobotServoOn Activate the robot’s servo motor

RobotServoOff Stop the robot’s servo motor

MovJ Control motor axis to rotate to the target position

MovP Perform point to point motion via absolute coordinates

MovPR Perform point to point motion in relative term

Motion Control MovL Perform rectilinear motion via absolute coordinates

Commands MovLR Perform rectilinear motion in relative term

MArc Make arc motion via absolute coordinates

Use the absolute coordinate to move to the location of the
Lift
relative point of reference.
MArc Make arc motion via absolute coordinates

MCircle Make circle motion via absolute coordinates

SetUF Set the user coordinate system

Coordinate ChangeUF Switch the user coordinate system
System
Commands SetTF Set the tool coordinate system.

ChangeTF Switch the tool coordinate system

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if…end If conditional statement (predicate)

if…elseif…end If conditional statement (predicate)
while…do..end while loop
Process Control for(type1) for loop
Commands
for(type2) for loop
repeat…until repeat loop
function…end User-defined sub-function
DI Read digital input

IO Operation DO Read or write in digital output

Commands ReadModbus Read the value of the memory location
WriteModbus Write the value of the memory location
Program QUIT Stop executing program
Executing
Commands PAUSE Suspend the current action
Application SafetyMode This is used for the raster pause function.
function
Commands SafetyStatus This is used for the raster trigger status.

4.1.2 Syntax definition:

Table VI -1 Syntax Precautions

Precautions Instructions

Case-sensitive The robot language is case-sensitive, a and A are different

Robot language statements can be separated with either semicolon " ; " ,
Delimiter statement or blank, e.g.
a1=0 a2=1 a3=2 equivalent to a1, a2, a3 = 0, 1, 2
Number of variables ＞ Make up nil based on the number of variables, e.g.
number of values a1, a2, a3 = 0, 1, then the value of a3 equals to nil

Number of variables ＜ Expletory value will be ignored, e.g.

number of values a1, a2 = 0, 1, 2, then 2 will be ignored

4.1.3 Variable declaration

● In robot language, no variable becomes Local Variables by particularly having local added,
and all of them are Global Variables. Examples of Global Variables and Local Variables
are shown as follows.

Example

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 4. ROBOT LANGUAGE

1.a=1
2.if a==1 then
3. Local b=2
4.end
5.if b==2 then -- the value of b here is nil
6. c=1
7.end
4.1.4 Reserved Keywords:
● The following keywords should not be used as variables naming declaration. Therefore,
special attention should be paid at time of variables naming.
● Robot Languages are case-sensitive, “and” and “AND” are different.
● Users should not use the following names for naming the variables in the form: and,
break, do, else, elseif, end, false, for, function, if, in, local, global, nil, not, or, repeat, re-
turn, then, true, until, while, P, p, table, boolean, number, string, thread, goto, in, pi, PI, Pi,
pI,ON,OFF,On,Off,oN,oFF,on,off.

4.1.5 Point definition P：

● Two methods for indicating points in the form
● The first method: Inside the double quotation marks is the point name
● The second method: point number indication. n: point number

Example
1.MovP ("FirstPoint") – the first indication method, inside the double quotation marks is the point name
2.MovP (1) –the second indication method, point number

4.2 Operation symbols

Table VI-2 Operation Symbols

Symbol Description
+ Plus
- Minus
* Times
 /  Divided
^ Power
AND Logical operation : conjunction operation
OR Logical operation : or operation
XOR Logical operation : nonequivalence operation
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> Greater than

>= Greater than or equal
< Less than
<= Less than or equal
= equal
~= Not equal

4.3 Operation commands

Table VI-3 Operation Commands

Command Description

ABS (x)  Absolute value

ACOS (x)  Arc cosine (in degree) 
ASIN (x)  Arc sine (in degree) 
ATAN (x)  Arc tangent (in degree) 
ATAN2 (y, x)  Arc tangent of y / x (in degree) 
CEIL (x)  Smallest integer larger than or equal to input value
COS (x)  Consine (in degree) 
COSH (x)  Hyperbolic consine
DEG (x)  Angle radians to degrees
EXP (x)  Calculate the x-th power based on e
FLOOR (x)  Largest integer smaller than or equal to input value
FMOD (x, y)  Remainder of the division of x by y
LOG10 (x)  Logarithm of x in the base 10
LOG (x[,base])  Logarithm of x in the base, default base is natural
MAX (x, …)  Maximum value among its arguments
MIN (x, …)  Minimum value among its arguments
MODF (x)  Return integer part of x and fractional part of x
POW (x, y)  Return x^y
RAD (x)  Angle degrees to radians
SIN (x)  Sine (in degree) 
SINH (x)  Hyperbolic sine
SQRT (x)  Square root
TAN (x)  Tangent (in degree) 
TANH (x)  Hyperbolic tangent

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 4. ROBOT LANGUAGE

4.4 Basic Commands

DELAY
Instruction
Delay for a period of time
Syntax
DELAY (a) 
Parameter
a: Time, unit 0.01s, period of time delay from 0.05~60s
Example
1. DELAY (0.5) --- delay for 0.5s
2. Time=5 – variable time setting is 5
3. DELAY (Time) 

4.5 Point Management Commands

SetGlobalPoint
Instruction
Save Global point
Syntax
SetGlobalPoint (a,b,c,d,e,f,g,h)
Parameter
This is the command for setting a point

Table VI-4: Point variable parameter form

Parameter Name Description
a Number Point number, range 1~1000
b Name Point name
Space coordinate X, floating-point number (unit: mm) can be entered,
c X
range 0.001 to 999
Space coordinate Y, floating-point number (unit: mm) can be entered,
d Y
range 0.001 to 999
Space coordinate Z, floating-point number (unit: mm) can be entered,
e Z
range 0.001 to 999
Space coordinate C, floating-point number (unit: degree) can be
f C
entered, range 0.001 to 999
SCARA: 0 or "R" (right hand) 
g HAND
1 or "L" (left hand) 
User coordinate system, up to 5 sets of coordinate can be entered, 0
h UF
is the geodetic coordinate
Tool coordinate system, up to 5 sets of coordinate can be entered, 0
PT_TF TF
is the geodetic coordinate

CopyPoint
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Instruction
Copy point information
Syntax
CopyPoint (a,b) 
Parameter
This is the command for setting a point
Table VI-5: CopyPoint parameter form
Parameter Name Description
a Point copied The point, point number or point name being copied
b Point copying The point, point number or point name copying

Example
1. CopyPoint (1,2) – Take the point location of Point 1 as the temporary storage point location and copy
the point location information of Point 2 to the point location of Point 1
2. CopyPoint ("P1","P2") – Take the point named P1 as the temporary storage point location and copy
the point location information of the point named P2 to the point named P1.

ReadPoint

Instruction
Read point information
Syntax
ReadPoint (a,b) 
Parameter
Table VI‑6: ReadPoint parameter form
Parameter Name Description
a Point read
"X" : X-directional coordinate (Unit:mm) 
"Y" : Y-directional coordinate (Unit:mm) 
b Item to be read "Z" : Z-directional coordinate (Unit:mm) 
"RZ" : RZ-directional coordinate (Unit: 0.001 degree) 
"H" : L / R hand information (0: right hand; 1: left hand) 

Example
1. PostionX=ReadPoint (1001,"X") --Read the X coordinate of point Index 1001
2. PostionY=ReadPoint (1001,"Y") --Read the Y coordinate of point Index 1001
3. PostionZ=ReadPoint (1001,"Z") --Read the Z coordinate of point Index 1001
4. PostionRZ=ReadPoint (1001,"RZ") --Read the RZ coordinate of point Index 1001
5. PostionH=ReadPoint (1001,"H") --ead the L / R hand informaton of point Index 1001
6. PostionX1=ReadPoint ("P1","X") --Read the X coordinate of point P1
7. PostionY1=ReadPoint ("P1","Y") --Read the Y coordinate of point P1
8. PostionZ1=ReadPoint ("P1","Z") --Read the Z coordinate of point P1
9. PostionRZ1=ReadPoint ("P1","RZ") --Read the RZ coordinate of point P1
10. PostionH1=ReadPoint ("P1","H") --Read the L / R hand information of point P1

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 4. ROBOT LANGUAGE

WritePoint

Instruction
Write temporary storage value in the point data
Syntax
WritePoint (a,b,c)
Parameter
Table VI‑7: WritePoint parameter form
Parameter Name Description
a Point being written
"X" : X-directional coordinate (Unit: mm) 
Parameters "Y" : Y-directional coordinate (Unit: mm) 
b intended to be "Z" : Z-directional coordinate (Unit: mm) 
written in "RZ" : RZ-directional coordinate (Unit:0.001 degree) 
"H" : L / R hand information (0 or "R": right hand; 1 or "L": left hand) 
"X" : X -directional coordinate (Unit: mm) ; floating-point number can
be entered, range 0.001 to 999
"Y" : Y-directional coordinate (Unit: mm) ; floating-point number can
be entered, range 0.001 to 999
c Input value "Z" : Z
 -directional coordinate (Unit: mm) ; floating-point number can
be entered, range 0.001 to 999
"RZ" : R  Z-directional coordinate (Unit:0.001 degree) ; floating-point
number can be entered, range 0.001 to 999
"H" : L / R hand information (0 or "R": right hand; 1 or "L": left hand) 

Example
1. WritePoint (1001,"X",300) --Input 300mm for the X coordinate of point Index 1001
2. WritePoint (1001,"Y",50) --Input 50mm for the Y coordirnate of point Index 1001
3. WritePoint (1001,"Z",-50) --Input -50mm for the Z coordirnate of point Index 1001
4. WritePoint (1001,"RZ",30) --Input 30o for the RZ coordirnate of point Index 1001
5. WritePoint (1001,"H",0) --Input 0 for the L / R hand information of point Index 1001
6. WritePoint ("P1","X",250) --Input 250mm for the X coordirnate of point P1
7. WritePoint ("P1","Y",50) --Input 50mm for the Y coordirnate of point P1
8. WritePoint ("P1","Z",-100) --Input -100mm for the Z coordirnate of point P1
9. WritePoint ("P1","RZ",30) --Input 30o for the RZ coordirnate of point P1
10. WritePoint ("P1","H",1) --Input 1 for the L / R hand information of point P1
11. WritePoint (1002,"X",300.223) --Input 300.223mm for the X coordirnate of point Index 1002

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12. WritePoint (1002,"Y",50.671) --Input 50.671mm for the Y coordirnate of point Index 1002

13. WritePoint (1002,"Z",-50.111) --Input -50.111mm for the Z coordirnate of point Index 1002
14. WritePoint (1002,"RZ",30.456) --Input 30.456o for the RZ coordirnate of point Index 1002
15. WritePoint (1002,"H",0) --Input 0 for the L / R hand information of point Index 1002
16. WritePoint ("P2","X",250.232) --Input 250.232mm for the X coordirnate of point P2
17. WritePoint ("P2","Y",50.761) --Input 50.761mm for the Y coordirnate of point P2
18. WritePoint ("P2","Z",-100.105) --Input -100.105mm for the Z coordirnate of point P2
19. WritePoint ("P2","RZ",30.222) --Input 30.222o for the RZ coordirnate of point P2
20. WritePoint ("P2","H",1) --Input 1 for the L / R hand information of point P2

RobotX
Instruction
The X-directional coordinate of current Cartesian coordinate, unit: mm
Syntax
RobotX () 
Parameter
This is the command for reading the current position of X coorindate
Example
NowPosition_X=RobotX () 

RobotY

Instruction
The Y-directional coordinate of current Cartesian coordinate, unit: mm
Syntax
RobotY () 
Parameter
This is the command for reading the current position of Y coorindate
Example
NowPosition_Y=RobotY () 

RobotZ
Instruction
The Z-directional coordinate of current Cartesian coordinate, unit: mm
Syntax
RobotZ () 
Parameter
This is the command for reading the current position of Z coorindate
Example
NowPosition_Z=RobotZ () 

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 4. ROBOT LANGUAGE

RobotRZ
Instruction
RZ-direction coordinate value of the current cassette coordinate; when the tool coordinate or the RZ-direction
coordinate value of the user coordinate needs to be read, it must switch to the corresponding coordinate sta-
tus in order for the corresponding coordinate information to be read.
Syntax
RobotRZ () 
Parameter
This is the command for reading the current position of RZ coorindate
Example
NowPosition_RZ=RobotRZ () 

Robothand
Instruction
The L / R hand status of current robot; value 0 = right hand, value 1 = left hand
Syntax
Robothand () 
Parameter
This is the command for reading the L / R hand information of the current position
Example
NowPosition_hand=Robothand() 

4.6 Motion Parameters

AccJ
Instruction
Acceleration, affecting the motion command of MovP, MovJ
Syntax
AccJ (a) 
Parameter
a: Percentage, range 1~100, cannot enter floating-point number
Example
AccJ (50) 

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DecJ
Instruction
Deceleration, affecting the motion command of MovP, MovJ
Syntax
AccJ (a) 
Parameter
a: Percentage, range 1~100, cannot enter floating-point number
Example
DecJ (50) 

SpdJ

Instruction
Maximum speed, affecting the motion command of MovP, MovJ
Syntax
SpdJ (a) 
Parameter
a: Percentage, range 1~100, cannot enter floating-point number
Example
SpdJ (100) 

AccL
Instruction
Acceleration, affecting the motion command of MovL, MArchL, Marc, MCircle
Syntax
AccL (a) 
Parameter
a: Actual speed mm / sec2, range 1~25000, cannot enter floating-point number
Example
AccL (5) 

DecL
Instruction
Deceleration, affecting the motion command of MovL, MArchL, Marc, MCircle
Syntax
DecL (a) 
Parameter
a: Actual speed mm / sec2, range 1~25000, cannot enter floating-point number
Example
DecL (5) 
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 4. ROBOT LANGUAGE

SpdL
Instruction
Maximum speed, affecting the motion command of MovL, MArchL, Marc, MCircle
Syntax
SpdL (a) 
Parameter
a: Actual speed mm / sec, range 1~2000, cannot enter floating-point number
Example
SpdL (10) –Line speed is 10 mm / sec

Accur

Instruction
Accuracy of points passed through
Valid for the motion command without PASS Parameter set
Syntax
Accur (a) 
Parameter
a: "STANDARD" (0.1mm) 
"HIGH" (0.01mm) 
Example
1. Accur ("HIGH") 
2. MovL ("P1") 
3. MovL ("P2") 
4. Accur ("STANDARD") 
5. MovL ("P3") 

4.7 Motion Control Commands

RobotServoOn

Instruction
Activate the robot’s servo motor
Syntax
RobotServoOn () 
Example
RobotServoOn () 

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RobotServoOff

Instruction
Stop the robot’s servo motor
Syntax
RobotServoOff () 
Example
RobotServoOff ()

MovJ

Instruction
Control motor axis to rotate to the target position
Syntax
MovJ (a,b) 
MovJ (a,b,c) 
MovJ (a,b,c,d,e) 
Parameter
a: Motor shaft number, 1~4
b: In case of input for shaft 1, 2 or 4, this is the angle of absolute position, unit: degree
In case of input for shaft 3, this is the absolute position, unit: mm
In case of input for shaft 5 to 10 (external shafts) , this is the absolute position, unit: PUU (Plus User Unit) 
c: Maximum speed % (optional) , input range 1~100
d: Acceleration % (optional) , input range 1~100
e: Deceleration % (optional) , input range 1~100
Example
1. MovJ (4,180) 
2. MovJ (4,180,50) --shaft 4 moves to the 180-degree position with speed set as 50%
3. MovJ (4,-180,100,10,10) --shaft 4 moves to the minus 180-degree position with speed set as 100%
and acceleration / deceleration set as 10%

MovP

Instruction
Perform point to point motion via absolute coordinates
Syntax
MovP (a,b,c,d,e) 
MovP (a,c,d,e) 
MovP (a,c) 
MovP (a,b) 
MovP(a)
Parameter
a: End point, point variable
b: PASS (optional) , pass the end point

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 4. ROBOT LANGUAGE

No PASS PASS
When a PASS command is added, the robot will move
When no PASS command is added, the robot will only
towards P3 without reaching P2. This function can help
move towards P3 after fully reaching P2
the robot to skip over unimportant point locations

c: Maximum speed % (optional) , input range 1~100

d: Acceleration % (optional) , input range 1~100
e: Deceleration % (optional) , input range 1~100
Example
1. MovP (1) ---move to the first point via PtP
2. MovP (2,"PASS") --- move to the second point via PtP continuous movement
3. M
 ovP (3,100,50,50) --- move to the third point via PtP, with speed set as 100% and accelera-
tion / deceleration set as 50%
4. MovP ("P0",100,50,50) -- move to P0 with speed set as 100% and acceleration / deceleration set as
50%
5. MovP ("P1", "PASS",1000,500,500) ---move to point 1 via PtP continuous movement, with speed set
as 1000mm / s and acceleration / deceleration set as 500mm / s2

MovPR
Instruction
Perform point to point motion in relative term
Syntax
MovPR (a,b) 
MovPR (a,b,c) 
Parameter
a: Moving distance
Positive value: moving in positive direction
Negative value: moving in negative direction
When moving the direction of X, Y, Z coordinates, unit: mm
When moving the direction of C coordinate, unit: degree
b: Moving direction
"X": direction of X-coordinate
"Y": direction of Y-coordinate
"Z": direction of Z-coordinate
"C": direction of C-coordinate
c: moving speed % (optional) , input range 1~100
Example

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1. MovPR (10,"X") ---Move 10mm relatively towards positive X direction via PtP

2. MovPR (-10,"X") ---Move 10mm relatively towards negative X direction via PtP
3. MovPR (10,"Y") ---Move 10mm relatively towards positive Y direction via PtP
4. MovPR (10,"Z") ---Move 10mm relatively towards positive Z direction via PtP
5. MovPR (-10,"Z") ---Move 10mm relatively towards negative Z direction via PtP
6. MovPR (10,"C") ---Move 10 〫 degrees relatively towards positive C direction via PtP
7. MovPR (-10,"C") ---Move 10 〫 relatively towards negative C direction via PtP

MovL
Instruction
Perform rectilinear motion via absolute coordinates
Syntax
MovL (a,b,c,d,e) 
MovL (a,c,d,e) 
MovL (a,c) 
MovL (a,b) 
MovL(a)
Parameter
a: End point, point variable
b: PASS (optional) , pass the end point
c: Maximum speed mm / sec (optional) , input range 1~2000
d: Acceleration mm / sec2 (optional) , input range 1~25000
e: Deceleration mm / sec2 (optional) , input range 1~25000
Example
1. MovL ("P1") ---move to the first point via Line movement
2. MovL (1, "PASS") ---move to the first point via Line continuous movement
3. M
 ovL (1,1000,500,500) --- move to point 1 via Line movement, with speed set as 1000mm / s and
acceleration / deceleration set as 500mm / s 2
4. MovL ("P1", "PASS",1000,500,500) --- move to point 1 via Line continuous movement, with speed set
as 1000mm / s and acceleration / deceleration set as 500mm / s2

MovLR
Instruction
Perform rectilinear motion in relative term
Syntax
MovLR (a,b) 
MovLR (a,b,c) 
Parameter
a: Moving distance
Positive value: moving in positive direction
Negative value: moving in negative direction
When moving the direction of X, Y, Z coordinates, unit: mm
When moving the direction of C coordinate, unit: degree
b: Moving direction

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 4. ROBOT LANGUAGE

"X": direction of X-coordinate

"Y": direction of Y-coordinate
"Z": direction of Z-coordinate
"C": direction of C-coordinate
c: moving speed % (optional) 
Example
1. MovLR (10,"X") ---Move 10mm relatively towards positive X direction via Line movement
2. MovLR (-10,"X") ---Move 10mm relatively towards negative X direction via Line movement
3. MovLR (10,"Y") ---Move 10mm relatively towards positive Y direction via Line movement
4. MovLR (10,"Z") ---Move 10mm relatively towards positive Z direction via Line movement
5. MovLR (-10,"Z") ---Move 10mm relatively towards negative Z direction via Line movement
6. MovLR (10,"C") ---Move 10 〫 relatively towards positive C direction via Line movement
7. MovLR (-10,"C") ---Move 10 〫 relatively towards negative C direction via Line movement

MArc

Instruction
Make arc motion via absolute coordinates
Syntax
MArc (a,b) 
MArc (a,b,c) 
MArc (a,b,c,d) 
MArc (a,b,c,d,e,f) 
Parameter

a: Passing point, point variable

b: End point, point variable
c: Circle mode, there is BORDER mode
d: Maximum speed mm / sec (optional) , input range 1~2000
e: Acceleration mm / sec2 (optional) , input range 1~25000
f: Deceleration mm / sec2 (optional) , input range 1~25000
Example
1. MArc  ("P1","P2","BORDER") --P1 as the passing point and P2 as the target point, move via continuous
mode
2. MArc  ("P1","P2","BORDER",100) -- P1 as the passing point and P2 as the target point, move via con-
tinuous mode with speed of 100mm / s
3. MArc ("P1","P2",BORDER,100,100,100) -- P1 as the passing point and P2 as the target point, move
via continuous mode with speed of 100mm / s, acceleration 100mm / s2 and deceleration 100mm / s2

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MCircle
Instruction
Make circle motion via absolute coordinates, with 3 points forming a circle
Syntax
MCircle (a,b) 
MCircle (a,b,c) 
MCircle (a,b,c,d) 
MCircle (a,b,c,d,e,f) 
Parameter

a: Point 2, point variable

b: Point 3, point variable
c: Circle mode, there is BORDER mode
d: Maximum speed mm / sec (optional) , input range 1~2000
e: Acceleration mm / sec2 (optional) , input range 1~25000
f: Deceleration mm / sec2 (optional) , input range 1~25000
Example
1. MCircle ("P1","P2","BORDER") -- P1 as the passing point and P2 as the target point, move via continuous
mode
2. MCircle ("P1","P2","BORDER",100) -- P1 as the passing point and P2 as the target point, move via contin-
uous mode with speed of 100mm / s
3. MCircle ("P1","P2","BORDER",100,100,100) -- P1 as the passing point and P2 as the target point, move
via continuous mode with speed of 100mm / s, acceleration 100mm / s2 and deceleration 100mm / s2

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 4. ROBOT LANGUAGE

Lift

Instruction
Use the absolute coordinate to move to the location of the relative point of reference. The parameters
entered are the upper-body angle, ascending angle, ascending level and ascending direction.
Syntax
Lift (a,b,c,d) 
Parameter
a: Location of the Reference point and point location variable
b: Ascending angle (unit: degree) (1~90)
c: Ascending level (unit: mm)
d: Ascending direction (unit: degree) (-360~360)
Example
Lift ("P0",45,10,90) – The P0 point is used as the reference point. A point is moved to the location
with 45-degree ascending angle referring to the specified reference point, 10 mm ascending level and
90-degree ascending direction.

4.8 Coordinate System Commands

SetUF

Instruction
Set the user coordinate system
Syntax
SetUF (a,b,c,d) 
Parameter

a: Index of the coordinate system; nine sets of user coordinate are provided for use, input range 1~9
b: The original point of the user coordinate system (Po in diagram) 
c: Set the position point in the X-axis direction of the user coordinate system (Px in diagram) 
d: Set the position point in the Y-axis direction of the user coordinate system (Py in diagram) 
Example
1. SetUF (1,"P0","P1","P2") --Set P0 as the original point of the user coordinate system 1
--Set P1 as the position point in the X-axis direction of the user coordinate system 1
-- Set P2 as the position point in the Y-axis direction of the user coordinate system 1

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ChangeUF

Instruction
Switch the user coordinate system
Syntax
ChangeUF (a) 
Parameter
a: Index of the coordinate system; five sets of user coordinate are provided for use, input range 1~5. 0
will switch back to the geodetic coordinate system.
Example
1. ChangeUF (1) --- Switch to user coordinate system 1
2. ChangeUF (0) --- Switch to geodetic coordinate system

SetTF

Instruction
Set the tool coordinate system
Syntax
SetTF (a,b,c,d)
Parameter
a: The coordinate system index provides 9 sets of the tool coordinate system. (1~9)
b: Set the width of the tool
c: Set the height of the tool
d: Set the angle of the tool
Example
SetTF (1,10,20,30) -- Set the width of the tool coordinate system 1 to 10 mm
-- Set the length of the tool coordinate system 1 to 20 mm
-- Set the height of the tool coordinate system 1 to 30 mm

ChangeTF

Instruction
Switch the tool coordinate system
Syntax
ChangeTF (a)
Parameter
a: Coordinate system number (1~9) provides 9 sets of the tool coordinate system. Enter 0 to return to
the world coordinate system.
Example
1. ChangeTF (1) --- Switch to the tool coordinate system 1
2. ChangeTF (0) --- Switch to the world coordinate system

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 4. ROBOT LANGUAGE

4.9 Process Control Commands

if…end
Instruction
If conditional statement (predicate) : The program imports different program blocks based on the differ‑
ent conditions assumed.
Syntax
if a then
execute program 1
end
Parameter
a: The condition
Example
1. if DI (1) == "ON" then
2. MovP ("P1")
3. end

if…elseif…end
Instruction
if assertion: The program introduces different program code segments via different assumed situations.
Syntax
if a then
execute program 1
elseif b then
execute program 2
end
Parameter
a: Condition 1
b: Condition 2
Example
1. if DI (1) == "ON" then
2. MovP ("P1")
3. elseif DI(2) == “ON” then
4. MovL(“P2”)
5. end

while…do..end

Instruction
while loop: the program will continuously repeat an execution. To break the loop, use the "break" com-
mand.

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Syntax
while a do
loop executing program
end
Parameter
a: Execute if signal is "true"
Example
Calculate accumulation of i until 100, then exit the while loop
1.i = 1
2.while true do
3. i = i + 1
4. if i==100 then
5. break
6. end
7.end

for (type1)
Instruction
for loop: use the loop command to make the program continuously repeat an execution.
Syntax
for a=b,c do
loop executing program
end
Parameter
a: Loop variable
b: Set the initial value of loop variable
c: Set the final value of the loop variable.
The default updated value is 1.
Example
Calculate the sum of array a
1. a = {5, 4, 3, 2, 1}
2. i = 1
3. sum = 0
4. for i = 1, 5 do
5. sum = sum + a[i]
6. end

for (type2)
Instruction
for loop: use the loop command to make the program continuously repeat an execution.
Syntax
for a=b,c do

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 4. ROBOT LANGUAGE

loop executing program end

Parameter
a: Loop variable
b: Set the initial value of loop variable
c: Set the final value of the loop variable
d: Updated value
Example
Calculate the sum of array a
1. a = {5, 4, 3, 2, 1}
2. i = 1
3. sum = 0
4. for i = 1, 5 do
5. sum = sum + a[i]
6. end

repeat…until

Instruction
repeat loop: the program will continuously repeat an execution. Remember to add the predicates where
"until" appears.
Syntax
repeat
loop executing program
until a
Parameter
a: The condition
Example
Calculate the sum of array a
1. a = {5, 4, 3, 2, 1}
2. i = 1
3. sum = 0
4. repeat
5. sum = sum + a[i] -- sum = 15
6. i = i + 1
7. until i > #a -- #a: get size of array a

function…end

Instruction
User-defined sub-function. Before using the sub-function, the sub-function must be declared first.
Syntax
function a () 
execute program

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 SCARA TEACH PENDANT MANUAL

end
Parameter
a: Sub-function name; this must be in English alphabets or numbers, and must not be in word string or
other languages.
Example
1.function MyFunc1 () 
2. MovP (1) 
3. MovP ("P2") 
4. end
5. MovL (3) 
6. MyFunc1 () 

4.10 IO Operation Commands

DI
Instruction
Read the status of digital input
Syntax
DI (n) 
Parameter
n: Digital input pin number, input range 1~24
Example
1.if DI (1) == "ON" then
2. MovL ("P1")
3.end

DO
Instruction
Read or write in digital output
Syntax
DO (n,s) 
DO (n,s,t) 
Parameter
n: Digital output pin number, input range 1~12
s: ON / OFF
t: Delay time
Example
1. if DO (1) == "ON" then
2. DO (1,"OFF") --Let first DO Off
3. end
4. if DO (1) == "OFF" then
5. DO (1,"ON") --Let first DO On

88
 4. ROBOT LANGUAGE

6. end
7. DO (1,"ON",1) --Let first DO On for one second

ReadModbus
Instruction
It is the command for external communication to read the value of the memory location. The readable
memory location is 0x1000 to 0x1FFF. A total of 4096 words can be used. When data is read in length
of double word, the memory location to be read must be even numbers for the reading action to be per-
formed.
Syntax
ReadModbus (a,b) 
Parameter
a: Input the Modbus address to be read, input range 0x1000~0x1FFF
b: Input the length of data to be read, input value "W" or "DW"
Example
1. WriteModbus (0x1000,"W",1)
2. readModbus_0x1000=ReadModbus (0x1000,"W")
3. if readModbus_0x1000 == 1 then
4. WriteModbus (0x1F00,"DW",2)
5. DELAY (0.1)
6. end
7. readModbus_0x1F00=ReadModbus (0x1F00,"DW")

WriteModbus

Instruction
It is the command for external communication to write the value of the memory location. The writable
memory location is 0x1000 to 0x1FFF. A total of 4096 words can be used. When data is written in length
of double word, the memory location to be written in must be even numbers for the writing action to be
performed.
Syntax
WriteModbus (a,b,c) 
Parameter
a: Input the Modbus address to be written in, range 0x1000~0x1FFF
b: Input the length of data to be written in, input value "W" or "DW"
c: Input the value of Modbus address to be written in
Example
1.WriteModbus (0x1000,"W",1)
2.readModbus_0x1000=ReadModbus (0x1000,"W")
3.if readModbus_0x1000 == 1 then
4. WriteModbus (0x1F00,"DW",2)
5. DELAY (0.1)
6.end
7.readModbus_0x1F00=WriteModbus (0x1F00,"DW")

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4.11 Program Executing Commands

QUIT

Instruction
Stop executing program
Syntax
QUIT () 
Parameter
None
Example
1.IOStatus=DI (1)
2.DELAY (1)
3.if IOStatus~=“ON” then
4. QUIT ()
5.end

PAUSE

Instruction
Suspend the current action. To continue with the execution, a start action must be externally trig-
gered (method for starting: write 2 in the memory location 0x0228 by an external program) 
Syntax
PAUSE () 
Parameter
None
Example
1.IOStatus=DI (1)
2.DELAY (1)
3.if IOStatus~="ON" then
4. PAUSE ()
5.end

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 4. ROBOT LANGUAGE

4.12 Application Function Commands

SafetyMode

Instruction
This function is used to pause functions
Syntax
SafetyMode(a)
Parameter
a: There are five modes ranging from 1~5; the default status is set as mode 1.
1: Action completed when grating touches; IO stays in current status;
2: Action completed when grating touches; IO returns to OFF status;
3: Disable default function and user manually edits the function at RL;
4: Action slows down and stops when grating touches; IO stays in current status and triggers reset sys-
tem DI (which is system DI 3),and it continues operating;
5: Action slows down and stops when grating touches; IO returns to OFF status and triggers reset sys-
tem DI (which is system DI 3),and it continues operating;
Example
1. SafetyMode (4) – Set grating mode as mode 4; action slows down and stops when grating touches; IO
stays in current status and triggers reset system DI (which is system DI 3), and it continues operating.
2. MovP (1)
3. SafetyMode (1) – Set grating mode as mode 1; action completed when grating touches; IO stays in
current status.
4. MovP (2)

SafetyStatus

Instruction
This is the status used to trigger the grating
Syntax
SafetyStatus()
Parameter
Status read includes 0, 2 and 3
0: Means the grating was not triggered, which is the normal operating status.
2: Means the grating was triggered when the program was not operating; during this time the motor servo
status if OFF.
3: Means the grating was triggered while the program was operating.
Example
1. if SafetyStatus()== 3 then
2. PAUSE()
3. end

91
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