MOTOMAN

MOTOMAN XRC
OPERATOR’S MANUAL
Basic programming

Upon receipt of the product and prior to initial operation, read these instructions thoroughly,
and retain for future reference.

MOTOMAN ROBOTICS EUROPE

A subsidiary of YASKAWA Electric Corporation

MANUAL NO. MRS50000

 MOTOMAN ROBOTICS EUROPE

Reference list

Operator´s manual Arc Welding application

Operator´s manual Handling application
Operator´s manual General application
Operator´s manual Spot Welding application
MOTOMAN XRC Alarm list

Revision

990220
First release of this manual
990617
Master page updated with new company name.
(MOTOMAN ROBOTICS EUROPE AB)
990714
Updated according to YEC revision 1.
991102
Chapter 1.3 - Fig. P-box updated with new illustration.

Revision

000120
Updated according to YEC revision 2.
MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 3

Created: 99-02-22 Revised: 02-07-03 Doc. name: Mrs50000TOC.fm

1. An introduction to XRC .........................................9

Controller 9
Playback panel (P-panel) 10
Programming pendant (P-pendant) 12
❏ Character keys 13
❏ Symbol Keys 13
❏ Axis keys and number keys 13
❏ Keys pressed simultaneously 13
❏ The four display areas 18
❏ Status display area 18
❏ Human interface display area 20
❏ Denotation 20
❏ Screen 21
❏ Number input 22
❏ Letter input 22
❏ Symbol input 22
Modes 23
About the security mode 25
2. Robot coordinates ...............................................31
Robot axes and coordinates 31
❏ Names for robot system axes 31
General operations 33
❏ Coord type key 33
❏ Selecting with manual speed keys 33
❏ Using the high speed key 33
❏ Switching the group axis to be operated 34
Joint coordinates 35
Rectangular coordinates 36
Cylinder coordinates 38
Tool coordinates 39
User coordinates 42
Tool tip operations 45
3. Teaching .............................................................49
Preparation for teaching 49
❏ Characters that can be used in job names 50
❏ Registering job names 50
Teaching 51
❏ Joint motion type 52
❏ Play speed setting display 52
❏ Linear motion type 52
❏ Play speed setting display (same for circular and spline motion type)53
❏ Circular motion type 53
❏ Single circular 53
❏ Continuous circular 54
❏ Play speed 54
❏ Spline motion type 55
❏ Single free curve 55
❏ Continuous free curves 55
❏ Play speed 56
❏ Registering move instructions 56
❏ Position data 57
❏ Selecting the tool number 57
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Created: 99-02-22 Revised: 02-07-03 Doc. name: Mrs50000TOC.fm

❏ Motion type 58
❏ Play speed 58
❏ Setting position level 59
❏ Position level 59
❏ Registering reference point instructions 61
❏ Registering timer instructions 62
❏ Changing timer value 63
Checking steps 65
❏ Precautions when using FWD / BWD operations 66
❏ Selecting manual speed 68
❏ Moving to reference point 69
❏ Test operations 69
Modifying steps 71
❏ Adding/Deleting MOV instruction 71
❏ Modify MOV instruction 72
❏ Modify REFP instruction 73
❏ Modify TIMER instruction 74
❏ Currently called up job 75
❏ Calling up other jobs 75
❏ Modifying position data 78
❏ Modifying motion type 78
❏ Deleting reference point instructions 79
❏ Modifying reference point instructions 79
❏ Deleting timer instructions 80
❏ Modifying timer instructions 80
Operations after teaching 80
4. Robot Playback .................................................. 81
Preparation for playback 81
❏ Calling a job 81
❏ Registering the master job 81
❏ Calling the master job 83
Playback 85
❏ Setting display or non-display of cycle time 86
❏ Selecting the start device 86
❏ Selecting mode 86
❏ Start operation 87
❏ About the operating cycle 87
❏ Low speed operation 90
❏ Limited speed operations 91
❏ Dry run speed operations 91
❏ Machine lock operation 92
❏ Check operation 92
❏ Check run and weaving prohibit 92
❏ Cancel all special operations 92
Stop and restart 93
❏ Using the playback panel 93
❏ Using an external input signal (specific) 93
❏ Temporary stop by mode change 96
❏ Temporary stop by the pause instruction 96
Modifying play speed 96
❏ Setting speed overrides 98
❏ Modifying play speed 98
❏ Modifying speed override ratio 99
❏ Releasing speed override settings 99
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Operator’s manual MOTOMAN XRC Page: 5

Created: 99-02-22 Revised: 02-07-03 Doc. name: Mrs50000TOC.fm

Playback with reserved start 100

❏ Enabling reserved start 101
❏ Registering reserved start I/O signal 102
❏ Registering jobs to stations 103
❏ Deleting registered jobs from stations 105
❏ Start operation 106
❏ Checking job reservation status 106
❏ Resetting job reservation 107
❏ [HOLD] on the Playback Panel 108
❏ Hold by external input signal (Specific) 108
❏ Hold at the station 109
Displaying job stack 110
5. Robot Editing .................................................... 113
Editing jobs 113
❏ Job header display 113
❏ Job content display 114
❏ Command pos display 115
❏ Job list display 115
❏ Job capacity display 116
❏ Copying Jobs 117
❏ Deleting jobs 118
❏ Modifying job names 119
❏ Editing comments 121
❏ Setting edit lock on individual job units 122
❏ Enabling modification of position data only 122
Editing instructions 124
❏ Instruction group 125
❏ Inserting instructions 126
❏ Deleting instructions 127
❏ Modifying instructions 127
❏ Modifying additional numeric data 128
❏ Modifying additional item 129
❏ Inserting additional items 131
❏ Deleting additional items 132
❏ Setting the range 135
❏ Copying 135
❏ Cutting 136
❏ Pasting 136
❏ Reverse pasting 137
Other editing 138
❏ Modification of speed type 138
❏ Relative modification 138
❏ Modification by TRT (Traverse Time) 140
❏ Displaying byte, integer, double-precision, and real type variables144
❏ Setting byte, integer, double-precision, and real type variables145
❏ Registering variable name 145
❏ Displaying position variables 146
❏ Setting position variables 148
❏ Setting position variables using the number keys 149
❏ Setting position variables using the axis keys 151
❏ Deleting data set of position variables 151
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Page: 6 Operator’s manual MOTOMAN XRC
Created: 99-02-22 Revised: 02-07-03 Doc. name: Mrs50000TOC.fm

❏ Checking positions by position variables 152

❏ Manipulator types 153
❏ Setting the number of local variables 158
❏ Line search 160
❏ Step search 160
❏ Label search 161
❏ Instruction search 162
❏ Tag search 163
Setting the edit lock 165
6. Robot Convenient functions ............................. 167
One-touch operations 167
❏ Registering reserved displays 170
❏ Calling reserved displays 170
Parallel shift function 171
❏ Registering position variables 173
❏ Coordinates 173
❏ Setting the shift value 174
❏ SFTON instruction 175
❏ SFTOF instruction 177
❏ MSHIFT instruction 178
❏ Example of use of shift addition/subtraction 181
❏ Example of use of MSHIFT instruction 182
Parallel shift job conversion function 183
❏ Coordinates for Conversion 183
❏ Specifying the conversion items 188
❏ Specifying the shifting amount 189
❏ Executing conversion 191
PAM function 192
❏ Input ranges for adjustment data 192
❏ Setting adjustment data 193
❏ Executing the adjustment 194
❏ Editing data 195
Mirror shift function 196
❏ Object job 197
❏ Group axes which become objects 197
❏ Position variable 197
❏ Parameter 197
❏ Converting 198
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 5

Created: 98-08-08 Revised: 02-07-03 Doc. name: GENERAL_WARNING.FM

Safety
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance or inspec-
tion of the MOTOMAN XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING” or
”INFORMATION”.

WARNING
Indicates a potentially hazardous situation
which, if not avoided, could result in minor,
moderate or serious injury to personnel and
damage to equipment. It may also be used
to alert against unsafe practices.
To ensure safe and efficient operation at all
times, be sure to follow all instructions, even
if not designated as “CAUTION” and
“WARNING”.

INFORMATION
Always be sure to follow explicitly the items
listed under this heading.

This manual explains the various components of the MOTOMAN XRC

system and general operations. Read this manual carefully and be
sure to understand its contents before handling the MOTOMAN XRC.

General items related to safety are listed in the MOTOMAN XRC Setup
Manual. To ensure correct and safe operation, carefully read the
Setup Manual before reading this manual.

Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.

The drawings and photos in this manual are representative examples

and differences may exist between them and the delivered product.
 MOTOMAN ROBOTICS EUROPE
Page: 6 Operator’s manual MOTOMAN XRC
Created: 98-08-08 Revised: 02-07-03 Doc. name: GENERAL_WARNING.FM

The equipment is manufactured in conformity with the EC Machinery

directive, the EMC-directive as well as the LVD-directive.

The equipment is intended to be incorporated into machinery or

assembled with other machinery to constitute machinery covered by
this directive, and must not be put into service until the machinery
into which it is to be incorporated has been declared in conformity
with the provisions of EC´s Machinery, EMC and LVD Directive.
Information how to connect to the MOTOMAN XRC is described in the
XRC Service Manual.

MOTOMAN is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your
product’s warranty.

MOTOMAN may modify this model without notice when necessary

due to product improvements, modifications or changes in specifica-
tions. If such modification is made, the manual will also be revised,
see revision information.
If your copy of the manual is damaged or lost, contact a MOTOMAN
representative to order a new copy. The representatives are listed on
the back cover. Be sure to tell the representative the manual number
listed on the front cover.

MOTOMAN is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your
product’s warranty.
MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 7

Created: 98-08-08 Revised: 02-07-03 Doc. name: GENERAL_WARNING.FM

Definition of terms used often in this manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the
programming pendant and supply cables.
In this manual, the equipment is designated as follows.

Equipment Manual designation

MOTOMAN XRC Controller XRC

MOTOMAN XRC Playback panel P-Panel

MOTOMAN XRC Programming pendant P-Pendant

Start panel for machinery operation in PLAY-mode Start panel

Key operation
Descriptions of the programming pendant and playback panel keys, buttons and
displays are shown as follows:

Equipment Manual designation

Programming Character keys The keys which have characters printed on them are
pendant denoted with [ ]
ex. [ENTER]

Symbol keys The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.

ex. page key

The cursor key is an exception and a picture is not
shown.

Axis keys “Axis keys” and “Number keys” are generic names
Number keys for the keys for axis operation and number input.

Keys pressed When two keys are to be pressed simultaneously,

simultaneously the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]

Displays The menu displayed in the programming pendant is

denoted with “italic” characters.
ex. JOB

Playback panel Buttons Playback panel buttons are enclosed in brackets.

ex. [TEACH] on the playback panel
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Page: 8 Operator’s manual MOTOMAN XRC
Created: 98-08-08 Revised: 02-07-03 Doc. name: GENERAL_WARNING.FM

Description of the operation procedure

In the explanation of the operation procedure, the expression "Select • • • " means
that the cursor is moved to the object item and the SELECT key is pressed.

Teaching

Before operating the robot, check that the servo power is turned off
when the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
Injury or damage to machinery may result if the emergency stop circuit cannot
stop the robot during emergency. The MOTOMAN XRC should not be used if the
emergency stop buttons do not function.

Always set the Teach Lock before entering the robot work envelope to
teach a job.
Operator injury can occure if other person reset safety and restart robot in PLAY-
mode.

Confirm that no persons are present in the robot work envelope and
that you are in a safe location before:
✔Turning on the MOTOMAN XRC power.
✔Moving the robot with the programming pendant.
✔Running check operations.
✔Performing automatic operations.
Injury may result if anyone enters the working envelope of the robot during opera-
tion. Always press an emergency stop button immediately if there are problems.

Service

Perform the following inspection procedures prior to conducting

robot teaching. If problems are found, repair them immediately and be
sure that all other necessary processing has been performed.
✔Check for problems in robot movement.
✔Check for damages to insulation and sheathing of external wires.

Always return the programming pendant to the hook after use.

The programming pendant can be damaged if it is left in the robots work area, on
the floor or near fixtures.

Spare parts
MOTOMAN warranty is only valid if original spare parts are used.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 9

Controller Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm

Operator’s Manual
Common part
1. An introduction to XRC
1.1 Controller
The main power switch is located on the front of the XRC controller. The playback
panel is installed in the upper right corner of the cabinet door and the program-
ming pendant hangs on a hook below the playback panel.

Main power switch Playback panel

®
MOTOMAN
XRC
MOTOMAN

Door lock YASNAC XRC

Programming pendant

Components Description

Main Power Switch Turns the XRC power ON/OFF.

Door Lock Locks the door.

Playback Panel Equipped with the keys and buttons used for playback
of the robot. For details, see Section 1.2 “Playback
Panel”.

Programming Equipped with keys and buttons used for conducting

Pendant robot teaching operations and editing jobs. For details,
see Section 1.3 “Programming Pendant”.
 MOTOMAN ROBOTICS EUROPE
Page: 10 Operator’s manual MOTOMAN XRC
Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm Playback panel (P-panel)

1.2 Playback panel (P-panel)

1.2.A Playback panel overview
The playback panel is equipped with the buttons used to play back the robot.

ALARM
SERVO ON READY Lights when alarm occurs
Turns ON the servo power
EMERGENCY STOP
button

PLAY and TEACH

Sets controller Play START button
and Teach mode Starts playback

EDIT LOCK
Enables and Disables
editing HOLD button
(Option) Stops playback and holds
REMOTE button at the present step in
Switches to Remote mode the job

1.2.B Button description

Playback panel buttons are enclosed in brackets throughout this manual.

TEACH
[TEACH] on the playback panel

START
[START] on the playback panel
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Operator’s manual MOTOMAN XRC Page: 11

Playback panel (P-panel) Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm

1.2.C Playback panel buttons

Turns off the main power supply to the controller.

EMERGENCY STOP

Enables the servo power ON.

SERVO ON Use this button to turn servo power ON after and emergency stop or servo
READY overrun condition.
When this button is pressed,
The lamp will glow when all safety interlocks are closed in Play Mode.
The lamp will blink in Teach Mode, and the servo power is applied when the
operator grips the deadman switch.

Selects the play mode, which allows playback of a job after teaching.
PLAY
Pressing this button places the XRC in Play Mode. The lamp will glow when
in Play Mode.
If Teach Lock is ON, the lamp will not light.

Selects the teach mode to enable robot operation and editing functions
TEACH using the programming pendant.
Pressing this button places the XRC in Teach Mode. The lamp will glow
when in Teach Mode.
If Edit Lock (option) is ON, the edition function is disabled and the lamp will
not light.

Selects the playback panel or external input signal to perform the start
REMOTE
and mode switching operation.
Operation by remote signal input is possible when lamp is lit.
When lamp is lit, playback panel will not operate.

Lights to indicate that an alarm or error has occurred.

To release the alarm, press [RESET] on the programming pendant.

ALARM

START Starts the robot playback operation.

This lamp lights during the playback operation.

Temporarily stops the robot playback operation.

This button functions in any mode.
This button lights only while the button is held down. Releasing the button
turns the lamp off. Even though the lamp is not lit, the robot will not start
HOLD unless the next start instruction is given.
This lamp lights automatically in the following instances to indicate that the-
system is in the hold status.
• While the hold signal is input from the HOLD key.
• During a hold request from the external computer while in the remote mode.
• Stop caused by job operation. (For example: wire sticking during the weld-
ing operation.)
Start and axis functions will not operate while this lamp is lit.
 MOTOMAN ROBOTICS EUROPE
Page: 12 Operator’s manual MOTOMAN XRC
Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm Programming pendant (P-pendant)

1.3 Programming pendant (P-pendant)

1.3.A Programming pendant overview
The programming pendant is equipped with the keys and buttons used to conduct
robot teaching operations and to edit jobs.

Display area

Page key

Cursor key

Select key
Area key

Axis keys

Manual
speed
key

Enter key

Number keys/
Motion type key Specific keys
Dead man’s switch
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Operator’s manual MOTOMAN XRC Page: 13

Programming pendant (P-pendant) Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm

1.3.B Key description

■ Character keys
The keys which have characters printed on them are denoted with [ ]. is shown
ENTER
as [ENTER] and is shown as [TEACH LOCK].
The number keys have additional functions along with their number values. Dual
TEACH function keys are used in the context of the operation being performed. For exam-
LOCK
ple: may be described in the text as [1] or [TIMER].
1
TIMER ■ Symbol Keys
The keys which have a symbol printed on them are not denoted with [ ] but
depicted with a small picture, with the exception of the cursor key, which is not
shown with a picture.

Cursor

Emergency Stop button

Reserved Display key

Direct Open key

Page key

Area key

■ Axis keys and number keys

The keys pictured in the following are refered to as the axis keys and number
keys when described.

7 8 9
X+ x
R-
X- S+ x
R+
S- 4 5 6
Y+ y
Y- B- y
L- L+ B+ 1 2 3
TIMER

Z- Z+ z z 0REF . -
U- U+ T- T+
PNT

Axis Keys Number Keys

■ Keys pressed simultaneously

When two keys are to be pressed simultaneously, the keys are shown with a “+”
sign between them, such as [SHIFT]+[COORD].
 MOTOMAN ROBOTICS EUROPE
Page: 14 Operator’s manual MOTOMAN XRC
Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm Programming pendant (P-pendant)

1.3.C Programming pendant keys

E.STOP Button Turns off the servo power.

When the servo power is turned off, the SERVO ON LED on the program-
TURN ing pendant and the SERVO ON READY lamp will light.
E.STOP
An emergency stop message is displayed on the screen.

Deadman Switch Turns on the servo power.

Deadman switch is active only when the SERVO ON READY lamp is blink-
ing and both the safety plug and Teach Lock are on.

Sets to Teach Lock.

[TEACH LOCK] The LED lights when the Teach Lock is set.
When you set Teach Lock, Start is disabled and mode changes are locked
TEACH out until Teach Lock is turned off.
LOCK When Teach Lock is off, servo power cannot be turned on using the dead-
man switch.

Moves the cursor in the direction of the arrow.

The size of the cursor and the range /place where the cursor can move will
vary dependent on the display.
If the UP cursor button is pressed when the cursor is on the first line, the
cursor will move to the last line of the job. Conversely, if the cursor is on
the last line of the job and the DOWN cursor button is pressed, the cursor
will jump to the first line of the job.
Cursor
When [SHIFT] is pressed simultaneously:

[SHIFT] + UP
Goes back to the prevous page.
[SHIFT] + DOWN
Goes to the next page.
[SHIFT] + RIGHT
Scrolls the instruction area of the job content or play back display to the
right.
[SHIFT] + LEFT
Scrolls the instruction area of the job content or playback display to the left.

[SELECT] Selects menu items such as top menu, pull down menu, etc.

SELECT

[TOP MENU] Displays the top menu.

TOP
ME N U
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Operator’s manual MOTOMAN XRC Page: 15

Programming pendant (P-pendant) Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm

Area Key Moves the cursor between “Menu Area” and "General Purpose Dis-
play Area".

Page Key Displays the next page.

When [SHIFT] is pressed simultaneously with [PAGE], the previous page is
displayed.

Displays the content related to the current line.

To display the content of a CALL job or condition file, move the cursor to
the next line and press [DIRECT OPEN]. The file will be displayed for the
Direct Open Key selected line. Display content will vary depending on the type of instruc-
tion used in the job.

Example:
For a CALL instruction, the content of the called job will be displayed.
For an Operation instruction, the content of the condition file will be dis-
played.
For Input/output instructions, the in/output condition will be displayed.

Reserved Display Key Displays the reserved display.

During operation the display, which is registered because it is often seen,
can be called up by pressing this key.

Select the operation coordinate system when the robot is operated

manually.
Five coordinate systems (joint, rectangular, cylinder, tool and user) can be
[COORD] used. Each time this key is pressed, the coordinate system is switched in
the following order: "JOINT" "WLD/CYL" "TOOL" "USER"
COORD The selected coordinate system is displayed on the status display area.

When [SHIFT] is pressed simultaneously with [COORD], the coordinate

number can be changed when the "TOOL" or "USER" coordinate system is
selected.
Sets the speed for manual operation.
This speed is also valid for operations with [FWD] and [BWD].
[MAN SPD]
There are four speed levels (slow, medium, fast, and inching).
FST Each time [FST] is pressed, manual speed changes in the following
M AN SPD order:"INCH" " SLOW" "MED" "FST"
SLW Each time [SLW] is pressed, manual speed changes in the following
order:"FST" " MED" "SLOW" "INCH"
The selected speed is displayed on the status area.

Changes the speed of axis operation when and axis button is

pressed.
[HIGH SPD] The speed of the robot will change to high regardless of the programmed
HIGH speed.
SPD
Note that only one axis can be operated at high speed. High-speed opera-
tion of multiple axes is not possible.
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Page: 16 Operator’s manual MOTOMAN XRC
Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm Programming pendant (P-pendant)

Selects the motion type for playback operation.

The selected motion type is shown in the status display area on the
screen.

Each time this key is pressed, the motion type changes in the following
[MOTION TYPE] order:
"MOVJ" " MOVL" "MOVC" "MOVS"

MOTION When [SHIFT] is pressed simultaneously with [MOTION TYPE], the motion
TYPE
mode changes in the following order:
"STANDARD" " EXTERNAL REFERENCE POINT"* " CONVEYOR"*

Motion Type can be changed in any mode.

*: These modes are purchased options.

Moves specified axes on robot.

Axis Key The robot axes only move while the key is held down.
Multiple axes can be operated simultaneously by pressing two or more
keys at the same time.
Axis type (robot or external) is changed as follows:

The robot operates in the selected coordinate system.

[ROBOT] Changes the robot axis for axis operation

Pressing this key enables the robot axis operation.

ROBOT

[EX. AXIS] Changes the external axis for axis operation

Pressing this key enables the external axis operation.

EX.AXIS [EX. AXIS] is active for the system with the external axis.

Moves the robot through taught steps in a continuous motion when

[TEST START] and [INTERLOCK] are simultaneously pressed.
[TEST START] The robot can be moved to check the path of taught steps.
The robot opearates according to the currently selected operation cycle:
TEST "AUTO","1CYCLE",or "STEP"
START
If an operating speed exceeds the maximum teaching speed, the opeara-
tion proceeds at the maximum teaching speed.
Operation stops immediately when this key is released.

Moves the robot through the taught steps while this key is pressed.
[FWD] Only move instructions are executed (no weld commands).
When [SHIFT] is pressed simultaneously with [FWD], all instructions
FWD except move instructions are executed.
As for the operation of pressing [REF PNT] simultaneously, see the
description of "TEST START".

[BWD] Moves the robot through the taught steps in the reverse direction
while this key is pressed.
Only move instructions are executed (no weld commands).
BWD
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 17

Programming pendant (P-pendant) Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm

[INFORM LIST] Displays instruction lists of commands available for job editing.

INFORM
LIST

[CANCEL] Cancels data input and resets errors.

CANCEL

[DELETE] Deletes registered instructions and data.

[DELETE] functions only when the key lamp is lit.

DELETE

[INSERT] Inserts new instructions or data.

[INSERT] functions only when the key lamp is lit.

INSERT

[MODIFY] Modifies taught position data, instructions, and data.

[MODIFY] functions only when the key lamp is lit.

MODIFY

[ENTER] Registers instructions, data, current position of the robot, etc.

When [ENTER] is pressed, the instruction or data displayed in the input
buffer line moves to the cursor position to complete a registration, inser-
ENTER
tion, or modification.

Changes the functions of the other keys.

[SHIFT] Used with [TOP MENU], [COORD], [MOTION TYPE], CURSOR,

SHIFT RESERVED DISPLAY KEY , NUMBER KEY, Page Key to

access alternate functions.
Refer to the description of each key for the alternate [SHIFT] functions.

[INTERLOCK] Changes the functions of the other keys

Used with [TEST START], [FWD], NUMBER KEY (number key customize
INTER function.
LOCK Refer to the description of each key for the alternate [INTERLOCK] func-
tions.

Number Key Enters the number or symbol when the ">" prompt appears on the
input line.
7 8 9
4 5 6 “.” is the decimal point. “-” is a minus sign or hyphen.
1
0
2
.
3
-
The number keys are also used as function keys. Refer to the explanation
of each key for details.
 MOTOMAN ROBOTICS EUROPE
Page: 18 Operator’s manual MOTOMAN XRC
Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm Programming pendant (P-pendant)

1.3.D Programming pendant display

■ The four display areas
The programming pendant display area is 40 columns by 12 lines. The display
area is made up of three different sections.

MENU AREA
STATUS AREA

GENERAL DISPLAY AREA

HUMAN INTERFACE DISPLAY AREA

Each display has its own individual title. The title is displayed in the upper left-
hand part of the general purpose display area.

JOB EDIT DISPLAY UTILITY

L
Display Title JOB CONTENT R1 C S
J:TEST S:000 R1 TOOL:0
0000 NOP
0001 ' TEST JOB
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=276
0005 TIMER T=1.00
0006 DOUT OT#(1) ON
0007 MOVL V=138
!Turn on servo power

■ Status display area

The Status Display area shows controller status. The displayed information will
vary depending on the controller mode (Play/Teach).

JOB EDIT DISP UTILITY

L
R1 C S

GROUP OPERATION AXIS PAGE

OPERATION COORDINATE SYSTEM STATE UNDER EXECUTION
MANUAL SPEED
OPERATION CYCLE

1) Operational group axes

Displays the active group axis for systems equipped with station axes or sev-
eral robot axes.
R1 - R3 : Robot Axes
B1 - B3 : Base Axes
S1 - S6 : Station Axes
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2) Motion type
Displays the selected coordinate system.

: Link Coordinate

: XYZ Coordinate

: Cylinder Coordinate

: Tool Coordinate

U
: User Coordinate

3) Manual speed
Displays the selected speed.
I
: Inching

L
: Low Speed

M
: Medium Speed

H
: High Speed

4) Operation Cycle
Displays the present operation cycle.

S : Step

C : Cycle

A : Continuous

5) Present status
Displays the present system status (STOP, HOLD, ESTOP, ALARM, or RUN).

S : Stop Status

H : Hold Status

: Emergency Stop Status

A : Alarm Status

R : Operating Status

6) Page
Displays the screen where the page is switched.
 MOTOMAN ROBOTICS EUROPE
Page: 20 Operator’s manual MOTOMAN XRC
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■ Human interface display area

The human interface display area is used for display information such as the
instruction being input, data, and error messages. The area is made up of three
different lines.

Input Buffer Line =>TIMER T=1.00

Input Line >Timer=1.00
Message Line !Enter value

1) Input Buffer Line

Displays instructions as they are being entered.
2) Input Line
Displays data values being entered (only when data input is required).
3) Message line
Displays error messages and dialogs for input. Error messages are given pri-
ority if errors occur during input. Messages longer than one line length will
scroll off the screen as you continue entering data.

1.3.E Screen descriptions

■ Denotation
The menu displayed in the programming pendant is denoted with { }.

JOB EDIT DISPLAY UTILITY

The above menu items are denoted with {JOB}, {EDIT}, {DISPLAY}, AND {UTIL-
ITY}.

JOB EDIT DISPLAY UTILITY

L
SELECT JOB R1 C S
CALL MASTER JOB
CREATE NEW JOB
RENAME JOB
RENAME JOB
COPY JOB
DELETE JOB

Menu commands are denoted in the same manner.

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■ Screen
The screen can be displayed according to the view desired.

Full Screen View

Upper Screen View

Middle Screen View

Lower Screen View

 MOTOMAN ROBOTICS EUROPE
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1.3.F Character input

[SELECT] : Insert a character at the cursor’s location on the input line.
[CANCEL] : Delete all characters on the input line.
Cancels character input, even if no characters have been entered on the input
line.
PAGE KEY : Change the data type for input; Letter Symbol User Word.
[ENTER] : Registers all characters on the input line.
CURSOR :
When the cursor is on the input line:
[ ] : Moves the cursor to the left.
[ ] : Moves the cursor to the right.
[ ] : Deletes the character to the left of the cursor.

When the cursor is on the character input display:

[ ] : Moves the cursor to the left.
[ ] : Moves the cursor to the right.
[ ] : Moves the cursor up.
[ ] : Moves the cursor down.

■ Number input
Number input is performed with the number key. Numbers include 0-9, the decia-
mal point (.), and the minus sign/hyphen (-).
Note however, that the decimal character cannot be used in job names.
JOB EDIT DISPLAY UTILITY
ALPHABET/SYMBOL
ABCDEFGHIJKLM
NOPQRSTUVWXYZ
abcdefghijklm
nopqrstuvwxyz
0123456789+-=
!\"%&'()*,./:;
<>?_

>
!Turn on servo power

■ Letter input
Press the page key to display the Letter Input screen. Move the cursor to the
desired letter and press [SELECT] to enter the letter.

■ Symbol input
Press the page key to display the Symbol Input screen.
Move the cursor to the desired symbol and press [SELECT] to enter the symbol.
Note that the symbol selection screen is not available for naming jobs since job
names can only have alphanumeric characters.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 23

Modes Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm

JOB EDIT DISP UTILITY

L
SYMBOL R1 C S

± × ¸ ¹ <= >
=¥ \
=
´ ` ° " /
‘ “ °C
¢£§

>
!Turn on servo power

1.4 Modes
The XRC has two modes:

✔ Operation Mode
✔ Operation Location Mode

Each mode is described in this section

1.4.A Operation mode

The Operation Mode is the mode in which the robot is programmed and operated.
The operation mode is indicated by the mode lamp on the playback panel.

✔ Teach Mode
Used for teaching new jobs or modifying existing jobs.

✔ Play Mode
Used to run programmed jobs.

1.4.B Operation location mode

Specifies the control point for operations such as robot mode, cycle, servo power,
and calling jobs.
The location mode is indicated by the REMOTE switch on the playback panel.

✔ Playback panel mode

Remote operation is not possible.
Playback panel / Programming Pendant input is available.

✔ Remote Mode
Operation via remote input is possible.
The table below shows the modes and the capability within each mode.
The data transfer input function (optional) is available in the remote mode.
 MOTOMAN ROBOTICS EUROPE
Page: 24 Operator’s manual MOTOMAN XRC
Created: 99-02-02 Revised: 02-07-03 Doc. name: Mrs50000-ch1.fm Modes

Local Mode Remote Mode

Mode Operation
(Remote lamp is OFF) (Remote lamp is ON)

Servo ON Playback Panel / Program- External signal

ming Pendant
Start Playback Panel External signal

Mode change Playback Panel External signal

Cycle change Programming Pendant External signal

Call master job Programming Pendant External signal

1.4.C Teach mode priority

For safety reasons, Teach mode always takes priority in mode switching opera-
tions. It is not possible to switch to other modes via the playback panel or external
input when TEACH LOCK is turned on.
The controller remembers which mode it was in when power was turned off so that
when power is turned back on, the controller is in the same mode.
However, if the mode has already been specified by the playback panel or the
external input when power is turned on, the mode when power was turned off is
not effective.

1.4.D Edit jobs and active jobs

The XRC can call a job stored in the memory at any time in order to edit or exe-
cute the job.
Jobs set for editing are called “edit jobs.” The name of the edit job is displayed in
the status display in teach mode. Jobs set for execution are called “active jobs.”
The name of the active job is displayed in the status display area in play mode.

Mode Current Job

Teach mode Edit job

Play mode Active job

When you change the operation mode, the current job changes according to the
mode.
For example: If an edit job is open in Teach mode, it will become the active job
when the controller is switched to Play mode.
The job type can be changed by swiching modes in the following manner:
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1 2 Memory 3
Edit Job Exec. job Edit Job Exec. job Edit Job Exec. job

JOB A JOB A JOB A

TEACH TEACH PLAY

Mode Mode Mode

Both the edit job and the execu- The edit job is called. Press [PLAY] on the P-panel to
tion job are not called. change to play-mode.
The edit job automatically becomes
the execution job.
4 Memory 5
Edit Job Exec. job Edit Job Exec. job

JOB A JOB B JOB A JOB A

PLAY PLAY
Mode Mode

Another job called to the execu- Press [TEACH] on the P-panel to change to the teach mode.
tion job. The execution job automatically becomes the edit job.

1.5 About the security mode

The XRC contains a security system know as the security mode. This is a method
where only those operators with an appropriate level can perform operations or
change settings. Be sure that the operator is at the appropriate level before oper-
ation.

1.5.A Types of security modes

The following three types of security modes are available.
Also, any operations higher than the edit mode require a user ID. The user ID
must contain betwen 4 and 8 letters, numbers, or symbols.
✔ Operation Mode
During the operation mode, the operator can monitor the line operation and start
and stop the robot. Repairs, etc. can be performed if any abnormalities are
detected.
✔ Editing Mode
During the edit mode, teaching, robot jog operations, job editing, and editing of
various operation files can be performed.
✔ Management Mode
During the management mode, the operator who performs setup and mainte-
nance for the system can set the machine control parameter, set the time, change
the user ID, etc.
 MOTOMAN ROBOTICS EUROPE
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Security Mode
Top Menu Sub Menu
DISPLAY EDIT
JOB JOB Operation Edit
SELECT JOB Operation Operation
CREATE NEW JOB Edit Edit
MASTER JOB Operation Edit
JOB CAPACITY Operation -
RES. START (JOB) Edit Edit
RES. STATUS Operation -
VARIABLE BYTE Operation Edit
INTEGER Operation Edit
DOUBLE Operation Edit
REAL Operation Edit
POSITION(ROBOT) Operation Edit
POSITION(BASE) Operation Edit
POSITION(ST) Operation Edit
IN/OUT EXTERNAL INPUT Operation -
EXTERNAL OUTPUT Operation -
UNIVERSAL INPUT Operation -
UNIVERSAL OUTPUT Operation -
SPECIFIC INPUT Edit -
SPECIFIC OUTPUT Edit -
RIN Edit -
REGISTER Edit -
AUXILIARY RELAY Edit -
CONTROL INPUT Edit -
PSEUDO INPUT SIGNAL Edit Operation
ANALOG OUTPUT Edit -
LADDER PROGRAM Management Management
I/O ALARM Management Management
I/O MESSAGE Management Management
 MOTOMAN ROBOTICS EUROPE
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Security Mode
Top Menu Sub Menu
DISPLAY EDIT
ROBOT CURRENT POSITION Operation -
COMMAND POSITION Operation -
SERVO MONITOR Management -
OPE ORIGIN POS Operation Edit
SECOND HOME POS Operation Edit
DROP AMOUNT Management Management
POWER ON/OFF POS Operation -
TOOL Edit Edit
INTERFERENCE Management Management
USER COORDINATE Edit Edit
HOME POSITION Management Management
MANIPULATOR TYPE Management -
ROBOT CALIB Edit Edit
ANALOG MONITOR Management Management
OVERRUN&S-SENSOR Edit Edit
LIMIT RELEASE Edit Management
ARM CONTROL Management Management
SYSTEM INFO MONITORING TIME Operation Management
ALARM HISTORY Operation Management
I/O MSG HISTORY Operation MANAGE-
VERSION Operation -
FD/PC CARD LOAD Edit -
SAVE Operation -
VERIFY Operation -
DELETE Operation -
FORMAT Operation Operation
DEVICE Operation Operation
 MOTOMAN ROBOTICS EUROPE
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Security Mode
Top Menu Sub Menu
DISPLAY EDIT
PARAMETER S1CxG Management Management
S2C Management Management
S3C Management Management
S4C Management Management
A1P Management Management
A2P Management Management
A3P Management Management
RS Management Management
S1E Management Management
S2E Management Management
S3E Management Management
S4E Management Management

Security Mode
Top Menu Sub Menu
DISPLAY EDIT
SETUP TEACHING COND Edit Edit
OPERATE COND Management Management
DATE/TIME Management Management
GRP COMBINATION Management Management
SET WORD Edit Edit
RESERVE JOB NAME Edit Edit
USER ID Edit Edit
SET SPEED Management Management
KEY ALLOCATION Management Management
RES. START (CNCT) Management Management

1.5.B Modifying the security mode

a) From the Top Menu display, select {SECURITY} The current security mode is
displayed in the title of the top menu screen.
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CYCLE SECURITY
L
EDITING MODE R1 C S

JOB ARC WELDING VARIABLE

OUT

IN
IN/OUT ROBOT SYSTEM INFO
!Turn on servo power

b) Select the security mode to be modifiied.

c) When the selected security mode is higher than the currently set mode, the
user ID input status display is shown.
d) Input user ID.
e) Press [ENTER].

CYCLE SECURITY
L
OPERATION MODE R1 C S
EDITING MODE
MANAGEMENT MODE

JOB ARC WELDING VARIABLE

OUT

IN
IN/OUT ROBOT SYSTEM INFO
!Turn on servo power

f) The selected security mode’s input ID is checked. If the correct user ID is

input, the security mode is modified.

ID setting
At the factory, the user ID number below is preset.
Edit Mode:[00000000]
Management Mode:[99999999]
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 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 31

Robot axes and coordinates Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm

2. Robot coordinates
2.1 Robot axes and coordinates
■ Names for robot system axes
The external axes of the XRC are divided into base and station axes. The relative
individual axes of the robot system are divided by their function into robot, base,
and station axes.

Robot axis
This is the axis for the
robot itself

Base axis
This is the axis that moves the entire Station axis
robot. It corresponds to the This is any axis other than the
traveling axis. robot and base axes. It indicates
It controls the path of traveling robots. the tilt or rotating axis of the fixture.
 MOTOMAN ROBOTICS EUROPE
Page: 32 Operator’s manual MOTOMAN XRC
Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm Robot axes and coordinates

2.1.A Types of Coordinates

The following coordinates can be used to operate the robot:
✔ Joint coordinates
Each axis of the robot moves independently.
✔ Rectangular coordinates
The robot, regardless of its position, moves parallel to any of the X-, Y-, and Z-
axes.
✔ Cylinder coordinates
The q axis moves around the S-axis. The R-axis moves parallel to the L-axis arm.
For vertical motion, the robot moves parallel to the Z-axis.
✔ Tool coordinates
The effective direction of the tool mounted in the wrist flange of the robot is
defined as the Z-axis. This axis controls the coordinates of the end point of the
tool.
✔ User coordinates
The robot moves parallel to the axes of the user coordinates.
In any coordinate system, it is possible to change only the wrist orientation at a
fixed TCP (tool center point) position. This is called the TCP fixed function.

Z-axis
Z-axis

Y-axis

r-axis

θ-axis

X-axis r-axis

Rectangular coordinates Cylinder coordinates

Z-axis Y-axis
X-axis

X-axis

Y-axis Z-axis

Tool coordinates User coordinates

 MOTOMAN ROBOTICS EUROPE
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General operations Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm

2.2 General operations

2.2.A Selecting a coordinate system
■ Coord type key
Select a coordinate using the following procedure:
Press [COORD]. Each time this key is pressed, the coordinate is switched in the
following order:
Check the selection in the status area of the display.

Joint Rectangular(Cylinder) Tool User

The selected coordinates can be set with the system. Refer to “Setting Chapters”
in the Operator’s Manual.

2.2.B Selecting manual speed

Manual speed can be set to fast, medium, slow, or inching. In addition, high
speed is also possible using the [HIGH SPD]. The manual speed set is also effec-
tive for [FWD] / [BWD] operations in addition to the axis operations.

Note!
When the robot is operated with the programming pendant, the highest speed of
the Tool Center Point is limited to 250 mm/sec.

■ Selecting with manual speed keys

Press [FST] or [SLW]. Each time [FST] is pressed, manual speed is changed in
the following order. Confirm the speed in the status display area.

Each time [FST] is pressed, the manual speed changes in the following order:
INCH, SLOW, MED, and FST.

FST INCH SLW MED FST

MAN SPEED

Each time [SLW] is pressed, the manual speed changes in the following order:
FST, MED, SLOW, and INCH.

MAN SPEED

FST MED SLW INCH

SLW

■ Using the high speed key

Pressing [HIGH SPD] while the axis keys are being held down makes the robot
operate at high speed.
 MOTOMAN ROBOTICS EUROPE
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Note!
[HIGH SPD] has no effect if the manual speed is set to INCH.

2.2.C Axis operations

Pressing an axis key in the teach mode makes it possible to move the respective
axis of the robot and station to a desired position. The motion of each axis
depends on the specified coordinate system.

The axes move only while the axis key is being pressed.

■ Switching the group axis to be operated

The coordination robot system (option function) with two or more axes, switches
the group axis in the job content display by the following procedure:
When the job content is displayed, the group axes which are registered in the dis-
played job will be operated.

Case that the group axes registered in the displayed job is R1 + S1

Press the group axes key. The station number is shown in the status display area
and station axis operation becomes possible.
The station axis operation is shown below:
X + / X - : the first axis
Y + / Y - : the second axis
Z+ / Z - : the third axis

To return to the robot axes from the station axes, press [ROBOT].
 MOTOMAN ROBOTICS EUROPE
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Joint coordinates Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm

2.3 Joint coordinates

When operating in joint coordinates mode, the S, L, U, R, B, and T axes of the
robot move independently. The motion of each axis is described in the table
below.
Axis Motion in Joint Coordinates

Axis
Axis name operation Motion
key

Basic S-Axis
X- X+ Main unit rotates right and
Axes S- S+ left.

L-Axis
Y- Lower arm moves forward
Y+
L- L+ and backward.

U-Axis
Z- Z+ Upper arm moves up and
U- U+ down.

Wrist R-Axis
Axes X X Wrist rolls right and left.
R- R+

B-Axis
Y Y Wrist moves up and down
B- B+

T-Axis
Z Z Wrist turns right and left
T- T+

Note!
When two or more axis keys are pressed at the same time, the robot will perform
compound movement. However, if two different directional keys for the same axis
are pressed at the same time (such as [S-] + [S+]), none of the axes operate.
 MOTOMAN ROBOTICS EUROPE
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Z+
U+

U-axis R-axis x
R+
y B-axis
B+
T-axis

L-axis Z- x z
U- T+
R- y
B-
Y- z
L- T-

Y+
L+

X- X+
S-
S+
S-axis

2.4 Rectangular coordinates

In the rectangular coordinates, the robot moves parallel to the X-, Y-, or Z- axes.
The motion of each axis is described in the following table:
Axis Motion in Rectangular Coordinates

Axis
Axis name operation Motion
key

Basic X
Axes Axis X- X+ Moves parallel to X-axis.
S- S+

Y
Axis Y- Y+ Moves parallel to Y-axis.
L- L+

Z
Axis Z- Z+ Moves parallel to Z-axis.
U- U+

Wrist Axes TCP Control Motion is executed. See

Section 3.8 “Tool Tip Operation.”
 MOTOMAN ROBOTICS EUROPE
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Rectangular coordinates Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm

Note!
When two or more keys are pressed at the same time, the robot will perform com-
pound moves. However, if two different directional keys for the same axis are
pressed at the same time (such as [X-] + [X+]), none of the axes operate.

Z-axis

Y-axis

X-axis

Y-axis Z-axis
X- X+ Z+
S- S+
U+
Y+
L+

X-axis
Z-
Y- U-
L-

Moves parallel to X- or Y-axis Moves parallel to Z-axis

 MOTOMAN ROBOTICS EUROPE
Page: 38 Operator’s manual MOTOMAN XRC
Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm Cylinder coordinates

2.5 Cylinder coordinates

In the cylinder coordinates, the robot moves as follows. The motion of each axis is
described in the following table.
Axis Motion in Cylinder Coordinates

Axis
Axis name operation Motion
key

Basic q-Axis Main unit rolls around S-

Axes X- X+ axis.
S- S+

r-Axis Moves perpendicular to

Y- Y+ Z-axis.
L- L+

Z-Axis Moves parallel to Z-axis.

Z- Z+
U- U+

Wrist Axes TCP Control Motion is executed. See

Section 3.8 “Tool Tip Operation.”

Note!
When two or more keys are pressed at the same time, the robot will perform com-
pound moves. However, if two different directional keys for the same axis are
pressed at the same time (such as [Z-] + [Z+]), none of the axes operate.

Z-axis

r-axis

θ-axis
r-axis
 MOTOMAN ROBOTICS EUROPE
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X+ r-axis
S+ Y+
L+

Y-
L-

r-axis

Y- Y+
X- L- L+
S-

Rolls around θ-axis Moves perpendicular to r-axis

2.6 Tool coordinates

2.6.A Axis motion
In the tool coordinates, the robot moves parallel to the X-, Y-, and Z-axes, which
are defined at the tip of the tool. The motion of each axis is shown in the following
table:
Axis Motion in Tool Coordinates

Axis
Axis name operation Motion
key

Basic X- Axis Moves parallel to X-axis.

Axes X- X+
S- S+

Y- Axis Moves parallel to Y-axis.

Y- Y+
L- L+

Z- Axis Moves parallel to Z-axis.

Z- Z+
U- U+

Wrist Axes TCP Control Motion is executed. See

Section 3.8 “Tool Tip Operation.”

Note!
When two or more keys are pressed at the same time, the robot will perform com-
pound moves. However, if two different directional keys for the same axis are
pressed at the same time (such as [X-] + [X+]), none of the axes operate.
 MOTOMAN ROBOTICS EUROPE
Page: 40 Operator’s manual MOTOMAN XRC
Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm Tool coordinates

X-axis

X-axis Z-axis
Y-axis
Y-axis
Y-axis Z-axis
Z-axis X-axis

The tool coordinates are defined at the tip of the tool, assuming that the effective
direction of the tool mounted on the robot wrist flange is the Z-axis. Therefore, the
tool coordinates axis direction moves with the wrist.

In tool coordinates motion, the robot can be moved using the effective tool direc-
tion as a reference regardless of the robot position or orientation. These motions
are best suited when the robot is required to move parallel while maintaining the
tool orientation with the workpieces.

Z+
U+

Z-
U-
X-
S-
X+
S+

Note!
For tool coordinates, the tool file should be registered in advance. For further
details, refer to the “MOTOMAN XRC INSTRUCTIONS”.
 MOTOMAN ROBOTICS EUROPE
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Tool coordinates Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm

2.6.B Selecting the tool number

Tool numbers are used to specify a tool when more than one tool is used on the
system.
You may select from registered tool files when you switch tools on the robot.

Note!
This operation can be performed only when numbers of the tool is more than one.
To use several tool files with one robot, set the following parameter.
S2C261: Tool number switch specifying parameter
1: Can be switched
0: Cannot be switched
See “CIO-parameter manual”:

a) Press [COORD] and set to [TOOL].

When [COORD] is pressed, the status area displays JOINT‡ XYZ ‡ TOOL ‡
USER.

JOB EDIT DISPLAY UTILITY

M
JOB CONTENT R1 C S

b) Press [SHIFT] + [COORD]

The Tool Number Select Display is shown.

JOB EDIT DISPLAY UTILITY

M
TOOL NO SELECT R1 C S
0 : TORCH MT-3501
1 : TORCH MTY-3501
2 : TORCH MTY-3502

c) Select the desired tool number.

.
 MOTOMAN ROBOTICS EUROPE
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Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm User coordinates

2.7 User coordinates

2.7.A User coordinates
In the user coordinates, the robot moves parallel to each axis of the coordinates
which are set by the user. Up to 24 coordinate types can be registered. Each
coordinate has a user number and is called a user coordinate file. The motion of
each axis is described in the following table:
The figure and the table below describe the motion of each axis when the axis key
is pressed.
Axis Motion in User Coordinates

Axis Name Axis Key Motion

Basic X- Axis Moves parallel to X-axis.

Axes X- X+
S- S+

Y- Axis Moves parallel to Y-axis.

Y- Y+
L- L+

Z- Axis Moves parallel to Z-axis.

Z- Z+
U- U+

Wrist axes TCP Control Motion is executed. See

Section 3.8 “Tool Tip Operation.”

Note!
When two or more keys are pressed at the same time, the robot will perform com-
pound moves. However, if two different directional keys for the same axis are
pressed at the same time (such as [X-] + [X+]), none of the axes operate.
 MOTOMAN ROBOTICS EUROPE
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Y-axis

X- X+
S- S+

Y+
L+

X-axis

Z-axis
Y- Z-axis
L- Y-axis

Moves parallel to X or Y-axis

X-axis
Y-axis
Z-axis
Z+ X-axis Station
U+ Station

Z- Y-axis
U-

Moves parallel to Z-axis

2.7.B Examples of user coordinate utilization

The user coordinate settings allow easy teaching in various situations. For exa-
pmle:
✔ When multiple positioners are used,
manual operation can be simplified by setting the user coordinates for each fix-
ture.
User coordinate Fixture

Fixture Fixture

User coordinate

✔ When performing arranging or stacking operations,

the incremental value for shift can be easily programmed by setting user coordi-
nates on a pallet.
 MOTOMAN ROBOTICS EUROPE
Page: 44 Operator’s manual MOTOMAN XRC
Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm User coordinates

When performing conveyor synchronizing operations,

the moving direction of the conveyor is specified.

Conveyor

2.7.C Selecting a user coordinate number

Follow the procedure below to select the desired coordinate system from among
the registered user coordinates.

a) Press [COORD] and set to [USER].

When [COORD] is pressed, the status area displays JOINT ‡ XYZ ‡ TOOL ‡
USER.
JOB EDIT DISPLAY UTILITY
U M
JOB CONTENT R1 C S

b) Press [SHIFT] + [COORD].

The User Coordinate Number Select Display appears.

JOB EDIT DISPLAY UTILITY

U M
USER COORD SELECT R1 C S
1 : JIG
2 : WORK1
3 : PALLET
4 :
5 :
6 :
7 :
8 :
9 :
!

c) Select the desired user number

 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 45

Tool tip operations Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm

Note!
For more information on registration of the user coordinates, refer to “MOTOMAN
XRC INSTRUCTIONS”.

2.8 Tool tip operations

2.8.A TCP fixed operations
A TCP fixed operation can only change the wrist orientaion at a fixed TCP posi-
tion in all coordinate systems except the joint coordinates. The motion of each
axis is described in the following table.
Axis Motion in Control Point Fixed Operations

Axis
Axis Key Motion
Name

Basic Control points move. These

Axes
X- X+ movements differ depending on
S- S+
rectangular, cylinder, tool and
user coordinates.
Y- Y+
L- L+

Z- Z+
U- U+

Wrist Wrist axes move by fixed control

Axes X X points. These movements differ
R- R+
depending on rectangular, cylin-
der, tool and user coordinates.
Y Y
B- B+

Z Z
T- T+

Note!
When two or more keys are pressed at the same time, the robot will perform com-
pound moves. However, if two different directional keys for the same axis are
pressed at the same time (such as [X-] + [X+]), none of the axes operate.
 MOTOMAN ROBOTICS EUROPE
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Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm Tool tip operations

Tool Centre Point

Torch Welding Gun Spot Welding

Turning of each wrist axis differs in each coordinate system.

In the following case, wrist axis rotations are based on the X-, Y-, or Z-axis.
Z-axis
Y-axis

X-axis
Z-axis

Y-axis

X-axis

In tool coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the tool
coordinates.
Z-axis

X-axis

Y-axis

In user coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the user
coordinates.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 47

Tool tip operations Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm

Z-axis
Y-axis

X-axis

Z-axis
Y-axis

X-axis

2.8.B TCP change operations

The tool tip position is registered in a tool file. The control point controls axis
operations and it is set as the distance from the flange face. The TCP change
operation is an axis operation that involves selecting the desired tool file from a
list of registered files, and then manipulating the axes while changing the control
point. This coordinate can be performed with all coordinates except the joint
coordinates. The axis operation is the same as that of the TCP fixed operation.

<Example 1> TCP change operation with multiple tools

The control points for Tool 1 and Tool 2 are taken as P1 and P2, respectively.
When Tool 1 is selected to perform axis operation, Tool 1 control point P1 controls
the operation. Tool 2 follows Tool 1 and is not controlled by axis operation. On
the other hand, Tool 2 is selected to perform axis operation, Tool 2 control point
P2 controls axis operation. In this case, Tool 1 follows Tool 2.

Tool 1 Tool 2

P1 P2 P1 P2

Workpiece Workpiece

Selection of Tool 1 and axis operations with con- Selection of Tool 2 and axis operations with con-
trolling P1 trolling P2
 MOTOMAN ROBOTICS EUROPE
Page: 48 Operator’s manual MOTOMAN XRC
Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch2.fm Tool tip operations

<Example 2> TCP change operation with a single tool

The two angles of the workpiece that the tool is holding are taken as control points
P1 and P2 respectively. By selecting two control points alternately, the work-
pieces can be moved as shown below:

Workpiece Workpiece

P1
P1 P2
P2

TCP fixed operation with P1 selected TCP fixed operation with P2 selected

Note!
For registration of the tool file, refer to “MOTOMAN XRC INSTRUCTIONS”.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 49

Preparation for teaching Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

3. Teaching
3.1 Preparation for teaching
To ensure safety, the following operations should always be performed before
teaching:
✔ Check the emergency stop buttons to be sure they function properly.
✔ Set the teach lock.
✔ Register a job.
3.1.A Checking emergency stop buttons
The Servo On buttons on both the playback panel and the programming pendant
should be lit while the power is on for the servo system. Perform the following
operation to ensure that the emergency stop buttons are functioning correctly
before operating the robot.

a) Press E. STOP
The SERVO ON buttons on both the playback panel and the programing pen-
dant light while servo supply is turned on. When the emergency stop button is
pressed and the servo power is turned off, both SERVO ON button lamps will
turn off.
SERVO ON
READY
SERVO ON
Confirm the light is off on the
programming pendant
Confirm the light is off on the
playback panel

b) Confirm the servo power is turned off

c) Press [SERVO ON READY].

After confirming correct operation, press [SERVO ON READY] on the play-
back panel to turn on the servo power.

3.1.B Setting the teach lock

For safety purposes, always set the teach lock before beginning to teach.
While the teach lock is set, the mode of operation is tied to the teach mode and
cannot be switched using either the playback panel or external input. If the teach
lock is not set, the power cannot be turned on using the deadman switch on the
programming pendant.

a) Press [T-LOCK].
While the teach-lock is set, this key lamp lights.
 MOTOMAN ROBOTICS EUROPE
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3.1.C Registering job names

Give your job a name and enter it.

■ Characters that can be used in job names

Job names can use up to eight alphanumeric and symbol characters. These dif-
ferent types of characters can coexist within the same job name.
The following rules apply to the designation of names for reserved jobs:
A maximum of six characters can be used for a reserved job name.
When a reserved job name is used, additional characters are added by the sys-
tem.

<Example>
001
J OB - 1
WO RK - A

■ Registering job names

a) Select {JOB} under the top menu.

The selection menu is displayed.
b) Select {CREATE NEW JOB}

JOB EDIT DISPLAY UTILITY

L
NEW JOB CREATE R1 C S

JOB NAME :
COMM.:
GROUP SET : R1

EXEC CANCEL

!
c) Input job name.
Input job names using the character input operation. For information on char-
acter input operation, refer to “1.3.5 Letter Input”
d) Press [ENTER].
e) Press “EXEC”.
Job names are registered to XRC memory. Then, the job content display is
shown. NOP and END instructions at the beginning of the job are registered
automatically.
 MOTOMAN ROBOTICS EUROPE
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Teaching Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:000 R1 TOOL:*
0000 NOP
0001 END

=> MOVJ VJ=100.00

!

3.2 Teaching
3.2.A Teaching display screens
Teaching is conducted in the job content display. The job content display contains
the following items:

JOB EDIT DISP UTILITY

L
JOB CONTENT R1 C S
J: TEST S: 001 R1 TOOL: 0
0000 NOP Step numbers
Line numbers
0001 ' TEST JOB Instruction and additional
0002 MOVJ VJ=50.00 items,comments,etc

1) Line Numbers
The number of the job line is automatically displayed. Line numbers are auto-
matically regenerated if lines are inserted or deleted.
2) Step Numbers
Step numbers are automatically displayed at the move instruction line. Step
numbers are automatically regenerated if steps are inserted or deleted.
3) Instructions, Additional Items, Comments, Etc.

MOVJ VJ = 50.00

Tag Numerical Data

Instruction
Additional Item

Instructions
These are instructions needed to process or perform an operation. In the case of
MOVE instructions, the instruction corresponding to the motion type is automati-
cally displayed at the time position is taught.

Additional items
Speed and time are set depending on the type of instruction. Numerical or char-
acter data is added when needed to the tags which set conditions.
 MOTOMAN ROBOTICS EUROPE
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3.2.B Motion type and play speed

Motion type determines the path along which the robot moves between playback
steps. Play speed is the rate at which the robot moves.
Normally the three elements of position data, motion type, and play speed are reg-
istered for the robot axes steps at one time. If the motion type or play speed set-
tings are omitted during teaching, the data used from the previously taught step is
automatically used.

■ Joint motion type

The joint motion type is used when the robot does not need to move in a specific
path toward the next step position (such as air cuts to and from the workpiece).
When the joint motion type is used for teaching a robot axis, the move instruction
is MOVJ. For safety purposes, use the joint motion type to teach the first step.
When [MOTION TYPE] is pressed, the move instruction on the input buffer line
changes.

■ Play speed setting display

✔ Speeds are indicated as percentages of the maximum rate.
✔ Setting “0:Speed Omit” sets the speed at previous determination.

a) Move the cursor to the play speed.

=> MOVJ VJ= 0.78

b) Press [SHIFT] + the cursor key simultaneously

The joint speed moves up and down.
Fast 100.00
50.00
25.00
12.50
6.25
3.12
1.56
Slow 0.78%

■ Linear motion type

 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 53

Teaching Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

The robot moves in a linear path from one taught step to the next. When the linear
motion type is used to teach a robot axis, the move instruction is MOVL. Linear
motion type is used for work such as welding. The robot moves automatically
changing the wrist position as shown in the figure below.

■ Play speed setting display (same for circular and spline motion
type)
There are two types of displays, and they can be switched depending on the
application.
Setting method is same as link speed

a) Move the cursor to the play speed.

=> MOVL VJ= 93

b) Press [SHIFT] + the cursor key simultaneously.

The play speed moves up and down.
Fast 1500.0 Fast 9000
750.0 4500
375.0 2250
187.0 1222
93.0 558
46.0 276
23.0 138
Slow 11 (mm/sec) Slow 66 (cm/min)

■ Circular motion type

The robot moves in an arc that passes through three points. When circular motion
is used for teaching a robot axis, the move instruction is MOVC.

■ Single circular
When a single circular movement is required, teach the circular motion for three
points, P1 to P3, as shown in the figure below. If joint or linear motion type is
taught at P0, the point before starting the circular operation, the robot moves from
P0 to P1 in a straight line.
 MOTOMAN ROBOTICS EUROPE
Page: 54 Operator’s manual MOTOMAN XRC
Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm Teaching

Motion type for single circular

Motion type Instruction

P2 P0 Joint or Linear MOVJ
MOVL
P0 P4
P1 Circular MOVC
P1 P3 P2
P3
Automatically becomes a P4 Joint or Linear MOVJ
straight line
MOVL

■ Continuous circular
When continuous circular movements must be separated from each other by a
joint or linear motion type step. This step must be inserted between two steps at
an identical point. The step at the end point of the preceding circular move must
coincide with the beginning point of the following circular move.

Motion Type for Continuous Circular

Point Motion Type Instruction

P2
P0 Joint or Linear MOVJ
MOVL
P0 P3 P7
P4 P1 Circular MOVC
P1 P5 P8 P2
P3
P6
P4 Joint or Linear MOVJ
Joint or Linear type MOVL

P5 Circular MOVC
P6
P7
P8 Joint or Linear MOVJ
MOVL

■ Play speed
The play speed set display is identical to that for the linear motion type.
The speed taught at P2 is applied from P1 to P2. The speed taught at P3 is
applied from P2 to P3.
If a circular operation is taught at high speed, the actual arc path has a shorter
radius than that taught.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 55

Teaching Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

■ Spline motion type

When performing operations such as welding, cutting, and applying primer; using
the spline motion type makes teaching for workpieces with irregular shapes eas-
ier. The path of motion is a parabola passing through three points. When spline
motion is used for teaching a robot axis, the move instruction is MOVS.

■ Single free curve

When a single free curve movement is required, teach the spline motion for three
points, P1 to P3, as shown in the figure below. If joint or linear motion is taught at
point P0, the point before starting the spline motion, the robot moves from P0 to
P1 in a straight line.

Motion Type for a Single Free Curve

Point Motion Type Instruction

P2 P0 Joint or Linear MOVJ

MOVL
P0 P4
P1 Spline MOVS
P1 P3 P2
P3
Automatically becomes a P4 Joint or Linear MOVJ
straight line MOVL

■ Continuous free curves

The robot moves through a path created by combining parabolic curves. This dif-
fers from the circular motion type in that steps with identical points are not
required at the junction between two free curves.
Motion Type for Continuous Free Curves
P2
Point Motion Type Instruciton

P0 Joint or Linear MOVJ

P0 P5 MOVL
P3
P1 P6 P1 Spline MOVS
P2
P5
P4 P6 Joint or Linear MOVJ
Identical-point step not required MOVL

When the parabolas overlap, a composite motion path is created.

 MOTOMAN ROBOTICS EUROPE
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Start path End path

■ Play speed
The play speed set display is identical to that for the linear motion type.
As with the circular motion type, the speed taught at P2 is applied from P1 to P2,
and the speed taught at P3 is applied from P2 to P3.

Note!
Teach points so that the distances between the three points are roughly equal. If there is
any significant difference, an error will occur on playback and the robot may operate in an
unexpected, dangerous manner. Ensure that the ratio of distances between steps m:n is
within the range of 0.25 to 0.75mm.
P2

n
P1
P3

3.2.C Teaching steps

■ Registering move instructions
Whenever one step is taught, one move instruction is registered. There are two
ways to teach a step. Steps can be taught in sequence as shown in Figure A, or
they can be done by inserting steps between already registered steps, as shown
in Figure B. This paragraph explains the teaching of Fig A, the operations
involved in registering new steps.

Step 2 Step insertion

Step 2

Step 1
Step 3 Step 3
Step 1
Fig. A Registering Move Instructions Fig. B Inserting Move Instructions
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 57

Teaching Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

Teaching of Fig. B is called “Inserting move instruction,” to distinguish it from the

method shown in Fig.A. For more details on this operation, see Section 4.42,
“Inserting Move Instructions.” The basic operations for registration and insertion
are the same. The only difference is pressing [INSERT] in the case of insertion.
For registration, the instruction is always registered before the END instruction.
Therefore, it is not necessary to press [INSERT]. For insertion (Fig. B), [INSERT]
must be pressed.

JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:000 R1 TOOL:*
0000 NOP
0001 END

=> MOVJ VJ=0.78

!

■ Position data
a) Select {JOB} under the top menu.
b) Select {JOB}.
c) Move the cursor on the line immediately before the position where a move
instruction to be registered
d) Grasp the dead-man-switch to turn the servo power on.
e) Move the robot to the desired position using the axis key

■ Selecting the tool number

a) Press [SHIFT] + [COORD].
When selecting the “JOINT”, “XYZ/CYLINDER”, or “TOOL” coordinate, press
[SHIFT] + [COORD] and the tool number selection display will be shown.
b) Select desired tool number

JOB EDIT DISPLAY UTILITY

M
TOOL NO SELECT R1 C S
0 : TORCH MT-3501
1 : TORCH MTY-3501
2 : TORCH MTY-3502
3:
4:
5:
6:
7:
8:
!

c) Press [SHIFT] + [COORD]

Return to the job content display.
 MOTOMAN ROBOTICS EUROPE
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Using multiple tools with 1 robot

When multiple tools are to be used with one robot, set parameter S2C261 to 1.
See section 2.6.B “Selecting the toll number” for details on this operation.

■ Motion type
a) Press [MOTION TYPE].
When [MOTION TYPE] is pressed, MOVJ MOVL MOVC MOVS are
displayed in order in the input buffer line.
=> MOVL VJ=50.00

b) Select the desired motion type

■ Play speed
a) Move the cursor to the play speed to be set.
b) Press [SHIFT] + the cursor key simultaneously.
The joint speed moves up and down.
=> MOVL VJ= 50.00

c) Press [ENTER]
The MOV instruction is registered.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:001 R1 TOOL:0
0000 NOP
MOVE INSTRUCTION 0001 MOVJ VJ=50.00
IS REGISTERED 0002 END

=> MOVJ VJ=50.00

!

Follow the above instructions when conducting teaching. (Tool number, motion
type, and play speed do not need to be set to the same values as shown above.)

Note
The position level can be set at the same time that the move instruction is regis-
tered.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 59

Teaching Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

■ Setting position level

The position level is the degree of approximation of the robot to a taught position.
The position level can be added to move instructions MOVJ (joint motion type)
and MOVL (linear motion type). If the position level is not set, the precision
depends on the operation speed. Setting an appropriate level moves the robot in
a path suitable to circumferential conditions and the workpiece. Setting an appro-
priate level moves the robot in a path suitable to circumferential conditions and
the workpiece. The relationship between path and accuracy for position levels is
as shown below.

Pos. level 0 P3 Position levels Accuracy

P2
0 Teaching Position
Pos. level 1 1 Fine
Pos. level 2 to |
Pos. level 3 4 Rough

Pos. level 4

P1

■ Position level
a) Select move instruction (MOVJ or MOVL).
The motion type is displayed in the input buffer line. When the motion type is
selected, the detailed edit display is shown.
=> MOVL VJ= 50.00

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
MOVJ
JOINT SPEED VJ= 50.00
POS LEVEL UNUSED
NWAIT UNUSED

=>MOVJ VJ=50.00
!

b) Select the position level “UNUSED”.

The selection dialog is displayed.
 MOTOMAN ROBOTICS EUROPE
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JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
MOVJ
JOINT SPEED VJ= 50.00
POS LEVEL UNUSED
NWAIT UNUSED
PL=
PL=
UNUSED

=>MOVJ VJ=50.00
!

c) Select “PL=”.
The position level is displayed in the input buffer line. The position initial value
is 1.

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
MOVJ
JOINT SPEED VJ= 50.00
POS LEVEL PL= 1
NWAIT UNUSED

=>MOVJ VJ=50.00 PL=1

!

d) Press [ENTER].
Press [ENTER].
To change the position level, select the level above the input buffer line, use
the number key to input the value, and press [ENTER]. The position level’s
move instruction is registered.

JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:001 R1 TOOL:0
0000 NOP
MOVE INSTRUCTION 0001 MOVJ VJ=50.00 PL=1
IS REGISTERED 0002 END

=> MOVJ VJ=50.00 PL=1

!

To perform the movement steps shown below, set as follows:

 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 61

Teaching Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

P1 P2 P4 P5

P3 P6
Steps P2, P4, and P5 are simple passing points, and do not require accurate
positioning. Adding PL=1 to 4 to the move instructions of these steps moves the
robot around the inner corners, thereby reducing the cycle time.
If complete positioning is necessary as P3 or P6, add PL=0.

<EXAMPLE>
Passing points P2, P4, and P5:
MOVL V=138 PL=3
Positioning point P3 and P6
MOVL V=138 PL=0

■ Registering reference point instructions

Reference point instructions (REFP) set an auxiliary point such as a wall point for
weaving. Reference point Nos. 1 to 8 are assigned for each application. Follow
the procedure below to register reference point instructions.

a) Select {JOB} under the top menu.

b) Select {JOB}.
c) Move the cursor.
Move the cursor to the line immediately before the position where the refer-
ence point to be registered.
0003 MOVL V=558
0004 CALJOB:TEST
0005 MOVL V=138

d) Grasp the deadman switch.

The servo power is turned on.
e) Press the axis operation key.
f) Press [REF PNT].
The reference point instruction is displayed in the input buffer line..
=> REFP 1

g) Change the reference point number.

Move the cursor to the reference point number, and press [SHIFT] + the cursor
key to change the reference point number..
=> REFP 2
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h) If you use the number keys to input the reference point number, press
[SELECT] when the cursor is on the reference point number. The data input
line is displayed. Input the number and press [ENTER].
=> REFP 1
> Ref-point_no.=

i) Press [INSERT].
The [INSERT] key lamp lights.
Registering before the END instruction, [INSERT] is not needed.
j) Press [ENTER].
The REFP instruction is registered.
0003 MOVL V=558
0004 CALL JOB: TEST
0005 REFP 1
0006 MOVL1 V=138

■ Registering timer instructions

The timer instruction stops the robot for a specified time. Follow the procedure
below to register timer instructions.
a) Select {JOB} under the top menu.
b) Select {JOB}.
c) Move the cursor to inserted position
Move the cursor to the line immediately before the position where the timer
instruction is to be registered.
0003 MOVL V=558
0004 MOVL V=138
0005 MOVL V=138

d) Press [TIMER].
The TIMER instruction is displayed on the input buffer line.
=> TIMER T=1.00

e) Change the timer value.

Move the cursor to the timer value and change it by pressing [SHIFT] + the cur-
sor key. The timer unit of adjustment is 0.01 sec..
=> TIMER T= 2.00

f) If you use the number keys to input the timer value, press [SELECT] when the
cursor is on the timer value. The data input line is displayed. Input the value
and press [ENTER].
=> TIMER T=1.00
> Time= 2.00

g) Press [INSERT].
The [INSERT] key lamp lights.
When registering before the END instruction, [INSERT] is not needed.
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Operator’s manual MOTOMAN XRC Page: 63

Teaching Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

h) Press [ENTER].
The TIMER instruction is registered.
0004 MOVL V=138
0005 TIMER T=2.00
0006 MOVL V=138

■ Changing timer value

a) Press [TIMER].
b) Press [SELECT].
The TIMER instruciton detail edit display is shown.

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
TIMER
TIME T= 1.00

=> TIMER T=1.00

!

c) Input the timer value on the instruction details edit display.

When “arrow” is selected, the items available to be changed are displayed in
the dialog. Select the particular item to be changed.

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
TIMER
TIME CONSTANT
I
I[%]

d) When a number is to be changed, move the cursor to the number and press
[SELECT]. The display changes to the number mode, and using the number
keys, input the desired value, and press [ENTER].
=> TIMER T=I001
> I=3

e) Press[ENTER].
The details edit display is closed and the job content display is shown again.
Modified content is displayed in the input buffer line.
=> TIMER T=I003

f) Press[INSERT].
 MOTOMAN ROBOTICS EUROPE
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The [INSERT] key lamp lights. When registering before the END instruction,
[INSERT] is not needed.
g) Press [ENTER].
The TIMER instruction is registered..
0004 MOVL V=138
0005 TIMER T=I003
0006 MOVL V=138

3.2.D Overlapping the first and last steps

Why is overlapping the first and last step necessary?

Assume that the job shown below is to be repeated. The robot moves frobotrom the last
step (Step 6) to the first step (Step 1). If Step 6 and Step 1 are the same position, the robot
moves directly Step 5 to Step 1, thereby improving work efficiency.
Step 6
Step 1

The position of step 6 Step 5

is changed to overlap
with step 1
Step 4

Step 2
Step 3

a) Move the cursor to the first step line.

The cursor starts blinking. When the cursor line position and the robot position
are different in the job content display, the cursor blinks.
b) Press [FWD].
Run the robot to the position of the first position.
c) Move the cursor to the last step line
d) Press [MODIFY].
The key lamp lights.
e) Press [ENTER].
The position data for the first step is registered on the line of the last step. At
this time, only the position data can be changed in the last step. Motion type
and play speed do not change.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 65

Checking steps Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

3.3 Checking steps

3.3.A FWD/BWD key operations
Check whether the position of the taught steps is appropriate using [FWD] or
[BWD] on the programming pendant. Each time [FWD] or [BWD] is pressed, the
robot moves by a single step.

FWD
Moves the robot ahead in step number sequence. Only the move instruction is
executed when [FWD] is pressed, but when [INTERLOCK] + [FWD] are pressed,
all instructions are executed.

BWD
Moves the robot backward a step at a time in reverse step number sequence.
Only the move instruction is executed.

a) Move the cursor to the step to be confirmed.

b) Press [FWD] or [BWD].
If [FWD] / [BWD] are continuously pressed, the robot reaches the following /
previous step and stops.

Note!
Even if [FWD] is pressed, the robot does not proceed to a step when an instruc-
tion other than the move instruction is registered. To proceed to a next step, per-
form either of the following operations:

When executing instructions other than the move instruction : Press

[INTERLOCK] + [FWD].
When not executing instructions other than the move instruction : Press the
cursor key, move the cursor to the next move instruction and press [FWD].

If you skip over a step, move the cursor to desired position and press [FWD]. The
robot moves directly to the step where the cursor is currently positioned.
Change the cursor position.

Safety!
For safety, set manual speed to M or below.
 MOTOMAN ROBOTICS EUROPE
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■ Precautions when using FWD / BWD operations

FWD movements
The robot moves in step number sequence. Only move instructions are executed
when [FWD] is pressed. To execute all instructions, press [INTERLOCK] + [FWD].
The robot stops after playing a single cycle. It does not move after the END
instruction is reached, even if [FWD] is pressed. However, at the end of a called
job, the robot moves the instruction next to the CALL instruction.

Called job
RET instr.
Step 1 Step 2 Step 3 Step 4 END instr.

Step 3 Step 4 Step 5 Step 6 Step 7

CALL instr.
END instr.

BWD movements
The robot moves in reverse step number sequence. Only move instructions are
executed.
The robot stops after playing a single cycle. It does not move after the first step is
reached, even if [BWD] is pressed. However, at the beginning of a called job, the
robot moves to the instruction immediately before the CALL instruction.
Called job

Step 1 Step 2 Step 3 Step 4

Manipulator
stops

Step 1 Step 2 Step 3 Step 4

CALL instr.

Circular movements with FWD/BWD key operations

The robot moves in a straight line to the first step of the circular motion type.
There must be three circular interpolation steps in a row to move the robot in an
arc.
If [FWD] or [BWD] operation is restarted after being stopped to move the cursor or
to perform search, the robot moves in a straight line to the next step.
If [FWD] or [BWD] operation is restarted after being stopped to move the axis as
shown in the following, the robot moves in a straight line to P2, the next circular
motion step. Circular motion is restored from P2 and P3.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 67

Checking steps Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

Moves with linear motion type

: Motion path for FWD/BWD key operation

P2 : Motion using axis for keys
: Motion path during playback

P1 P3

Free curve movements with FWD/BWD operations

✔ The robot moves in a straight line to the first step of free curve motion.
✔ There must be three free curve motion steps in a row to perform a free curve
operation.
✔ Depending on the position where the [FWD] / [BWD] operation is performed,
the alarm “IRREGULAR DISTANCES BETWEEN TEACHING POINTS” may
occur. Note that FWD/BWD inching operations change the path of the robot and
caution is therefore required. Performing these operations also increases the
likelihood that the “IRREGULAR DISTANCES BETWEEN TEACHING POINTS”
will occur.
✔ If the [FWD] or [BWD] operation is restarted after being stopped to move the
cursor or perform a search, the robot moves in a straight line to the next step.
✔ If the [FWD] or [BWD] operation is restarted after being stopped to move the
axis as shown in the following, the robot moves in a straight line to P2, the next
free curve motion step. Free curve motion is restored from P2 onward. However,
the path followed between P2 and P3 is somewhat different from the path
followed at playback.
Linear motion

P2

: Motion path for FWD/BWD key operation

: Motion using axis for keys
: Motion path during playback
P1

P3

✔ If the robot is moved to P3 with [FWD], stopped, and then returned to P2 with
[BWD], the path followed between P2 and P3 is different for each of the following:
the first FWD operation, the BWD operation, and the consequent FWD operation.
 MOTOMAN ROBOTICS EUROPE
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P2 First FWD

BWD

P1 P4

Consequent FWD P3

■ Selecting manual speed

When [FWD] or [BWD] is pressed, the robot moves at the manual speed selected
at that time. The set manual speed can be checked by the MAN SPD lamp on the
programming pendant.

JOB EDIT DISPLAY UTILITY

M
JOB CONTENT R1 C S

MANUAL
SPEED

Manual speed is set with [FST] and [SLW]. FWD operation can be performed at a
high speed by pressing [HIGH SPD]. Follow the procedure below to select a man-
ual speed.

Each time [FST] is pressed, the speed is changed to the next setting in the follow-
ing sequence: INCH, SLW, MED, and FST.

FST [INCH] [LOW] [MED] [FST]

MAN SPEED

Each time [SLW] is pressed, the speed is changed to the next setting in the follow-
ing sequence: FST, MED, SLW, and INCH.
MAN SPEED

SLW [FST] [MED] [LOW] [INCH]

Note!
FWD/BWD operation is performed with SLW speed even if INCH is selected.
[HIGH SPD] is available only for the FWD operation but not for BWD operation.
 MOTOMAN ROBOTICS EUROPE
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Checking steps Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

■ Moving to reference point

To check the position of a taught reference point, follow the procedure below to
move the robot to the reference point.

a) Move the cursor to the reference point instruction line to be checked.

b) Press [REF PNT] + [FWD].
Move the cursor to the reference point line to be checked. The robot moves to
the reference point of the cursor line.

■ Test operations
Playback operations can be simulated in the teach mode with test operations.
This function is convenient for checking continuous paths and operation instruc-
tions.
Test operation differs in the following ways from actual playback in the play mode.
 MOTOMAN ROBOTICS EUROPE
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Note!
Operation speeds greater than the maximum teaching speed are reduced to the
maximum teaching speed.
Machine lock is the only special operation available for playback in the play mode.
Work instruction output, such as arc output, is not executed.

Test operation is performed by pressing [INTERLOCK] and [TEST START]. For

safety purposes, these keys will only function while the keys are held down.

a) Select {JOB} under the top menu.

b) Press {JOB}.
The test operation job content display is shown.
c) Press [INTERLOCK] + [TEST START].
The robot starts the test cycle operation. However, after the operation starts,
the motion continues even if [INTERLOCK] is released. The robot moves only
while these keys are held down.
The robot stops immediately when [TEST START] is released.

Note!
Always check safety conditions before pressing [INTERLOCK] + [TEST START] to
start the robot in motion.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 71

Modifying steps Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

3.4 Modifying steps

■ Adding/Deleting MOV instruction

Begin MOV instruction Begin MOV instruction

insertion removing

Move cursor to location Move cursor to location

where you want to insert the instruction to be
the instruction deleted

Axis operation Move robot [FWD]*

Set motion type Press [DELETE]

Set play speed Press [ENTER]

Set position level

Delete completed
if necessary

Press [INSERT]

* A MOV instruction can not be

Press [ENTER] deleted from the job if the cursor
and the robots physical position
doesn´t agree.
(The cursor must not flash.)
Insertion completed Alternative, the step can be uppdated
first with the robots current position.
 MOTOMAN ROBOTICS EUROPE
Page: 72 Operator’s manual MOTOMAN XRC
Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm Modifying steps

■ Modify MOV instruction

Begin MOV instruction

modification

Move cursor to the step

you want to modify

Modifying position data Modifying motion type

Move to position to be Perform axis

modified using the axis operations to position
operation keys to be modified

Press [MODIFY] Delete MOV instruction

Press [MOTION TYPE]

Press [ENTER]
Select type

Modification completed Insert MOV instruction

Modification completed

Note!
It is not possible to change a move instruction to e.g. a reference point instruction
and vice versa.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 73

Modifying steps Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

■ Modify REFP instruction

Begin REFP instruction

modification

Delete Modification

Move cursor to the REFP

instruction to be deleted, Move cursor to the REFP
move the robot to this position instruction to be modified

Press [DELETE] Perform axis operation

Press [ENTER] Press [REF PNT]

Delete completed Press [MODIFY]

Press [ENTER]

Modification completed
 MOTOMAN ROBOTICS EUROPE
Page: 74 Operator’s manual MOTOMAN XRC
Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm Modifying steps

■ Modify TIMER instruction

Begin TIMER instruction

modification

Delete Modification

Move cursor to the TIMER Move cursor to the TIMER

instruction to be deleted instruction to be modified

Press [DELETE] Press [TIMER]

Press [ENTER] Enter timer value

Delete completed Press [MODIFY]

Press [ENTER]

Modification completed
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 75

Modifying steps Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

3.4.A Displaying the job content display for editing

■ Currently called up job
a) Select {JOB} under the top menu.
b) Select {JOB}.
The job content display is shown.

■ Calling up other jobs

a) Select {JOB} under the top menu.
b) Select {SELECT JOB}.
c) Select the job name to be called.
The job list display is shown.

JOB EDIT DISPLAY UTILITY

L
JOB LIST R1 C S
JOB00001 JOB00002 JOB00003
ARC-JOB1 SAMPLE01

Note!
In any other than the teach mode, press [TEACH] on the playback panel.

3.4.B Inserting MOVe instructions

New step

New path New path

Original path

a) Move the cursor to the line before the insert position.

0004 MOVL V=138
0005 TIMER T=I003
0006 MOVL V=138

b) Press the axis operation key.

Turn on the servo power, press the axis operation key, and move the robot to
the position to be inserted.
 MOTOMAN ROBOTICS EUROPE
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c) Confirm the move instruction on the input buffer line and set desired motion
type and play speed.
d) Press [INSERT]. The key will light.
When the inserting position is immediately before the END instruction,
[INSERT] is not needed.
a) Press [ENTER].
The move instruction is inserted after the cursor line..
0004 MOVL V=138
0005 TIMER T=I003
0006 MOVL V=558
0007 MOVL V=138

Note!
The default location for insertions is for “before the next step,” but it is also possi-
ble to insert “after the cursor line.” This setting is performed in the “Move Instruc-
tion Register Method.”

<Examples of inserting a MOVe instruction>

When a move instruction is inserted in the job below, it is placed on different lines
according to the setting of the check drive condition display.
Before adding.
0004 MOVL V=138
0005 TIMER T=I003
0006 DOUT OT#(1) ON
0007 MOVL V=138

Adding before next step.

0004 MOVL V=138
0005 TIMER T=I003
0006 DOUT OT#(1) ON
0007 MOVL V=558
0008 MOVL V=138

Adding before next line.

0004 MOVL V=138
0005 MOVL V=558
0006 TIMER T=I003
0007 DOUT OT#(1) ON
0008 MOVL V=138
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 77

Modifying steps Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

3.4.C Deleting MOVe instructions

Removed step

Original path
Original path

New path

a) Move the cursor to the move instruction to be deleted.

0004 MOVL V=138
0005 TIMER T=I003
0006 MOVL V=558
0007 MOVL V=138

b) Press [DELETE].
The key will blink.
c) Press [ENTER].
The cursor line step is deleted.
0004 MOVL V=138
0005 TIMER T=I003
0006 MOVL V=138

Note!
If the robot position differs from the cursor position on the display, the cursor
blinks. Stop the blinking by either of the following procedures.
1) Press [FWD] and move the robot to the position where the move instruction is
to be deleted.
2) Press [MODIFY] [ENTER] to change the position data of the blinking cursor
position to the current robot position.
 MOTOMAN ROBOTICS EUROPE
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Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm Modifying steps

3.4.D Modifying move instructions

■ Modifying position data
a) Move the cursor to the MOV instruction to be modified.
Display the job content display and move the cursor to the move instruction to
be changed.
b) Press the axis operation key.
Turn on the servo power, press the axis operation key, and move the robot to
the position after the changed instruction.
c) Press [MODIFY].
The key will blink.
d) Press [ENTER].
The position data in the present position is changed.

Note!
The values of the position variables are not changed. Even MOV instructions for
which position variables have been set are not changed.

■ Modifying motion type

a) Move the cursor to the move instruction to be modified.
Display the job content display, and move the cursor to the move instruction
motion type to be changed.
b) Press [FWD].
Turn on the servo power, press [FWD], and move the robot to the cursor’s
move instruction position.
c) Press [DELETE].
The key will blink.
d) Press [ENTER].
The cursor line step is deleted.
e) Press [MOTION TYPE].
When [MOTION TYPE] is pressed once, the motion type after the change is
selected. Each time [MOTION TYPE] is pressed, the input buffer line instruc-
tion alternates.
f) Press [INSERT].
g) Press [ENTER].
The motion type and position data are changed at the same time.

Note!
Modifying only motion type is impossible. The motion type can be modified as a
choice for modifying the position data.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 79

Modifying steps Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm

3.4.E Modifying reference point instructions

■ Deleting reference point instructions
a) Move the cursor to the reference point to be deleted.
b) Press [DELETE].
The key will blink.
c) Press [ENTER].
The reference point instruction at the cursor line is deleted.

Note!
If the robot position differs from the cursor position, an error message is dis-
played. If this occurs, follow either of the procedures below.
Press [REF PNT] + [FWD] to move the robot to the position to be deleted.
Press [MODIFY] then [ENTER] to change the reference point position data to the
current position of the robot.

■ Modifying reference point instructions

a) Move the cursor to the reference point instruction to be modified.
b) Move the robot with the axis key.
Turn on the servo power and use the axis keys to move the robot to the posi-
tion after the changed item.
c) Press [REF PNT].
d) Press [MODIFY].
The key will light.
e) Press [ENTER].
The reference point instruction at the cursor line is changed.
 MOTOMAN ROBOTICS EUROPE
Page: 80 Operator’s manual MOTOMAN XRC
Created: 99-02-03 Revised: 02-07-03 Doc. name: Mrs50000-ch3.fm Operations after teaching

3.4.F Modifying timer instructions

■ Deleting timer instructions
a) Move the cursor to the timer instruction to be deleted.
0004 MOVL V=138
0005 TIMER T=0.50
0006 MOVL V=138

b) Press [DELETE].
The key will light.
c) Press [ENTER].
The timer instruction at the cursor line is deleted.
0004 MOVL V=138
0005 MOVL V=138

■ Modifying timer instructions

a) Move the cursor to the timer instruction to be modified.
b) Press [TIMER].
c) Move the cursor to the input buffer line timer value.
Line up the cursor with the input buffer line timer value and press [SHIFT] + the
cursor key to set the data. To use the number keys to input data, move the
cursor to the input buffer line timer value and press [SELECT]. The number
value is then input.
d) Change the timer value.
This key lamp lights.
e) Press [ENTER].
The timer instruction at the cursor line is changed.

3.5 Operations after teaching

3.5.A Releasing the teach lock
When the teaching operation is completed, release the teach lock using the pro-
gramming pendant.
a) Press [LOCK].
LED of the [TEACH LOCK] is turn off and the teach lock is released.
The message “ Caution! TEACH-LOCK mode released” is displayed.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 81

Preparation for playback Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

4. Robot Playback
4.1 Preparation for playback
Playback is the act of executing a taught job. Before playback operation, first call
the job to be executed.

■ Calling a job
b) Select {JOB} under the Top Menu.
c) Select {SELECT JOB}.
The Job List Display is shown.
JOB EDIT DISPLAY UTILITY
L
JOB LIST R1 C S
TEST-1 JOB00002 JOB00003
ARC-JOB1 SAMPLE01

d) Select the desired job.

The selected job is called, and the job content display is shown.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST-1 S:000 R1 TOOL:*
0000 NOP
0001 MOVJ VJ=50.00
0002 MOVL V=138
0003 END

=>MOVJ VJ=0.78
!

■ Registering the master job

If a particular job is played back frequently, it is convenient to register that job as a
master job (master registration). A job registered as the master job can be called
more easily than the method described on the preceding page.

Note!
Only one job can be registered as the master job. Registering a master job auto-
matically releases the previously registered master job.
 MOTOMAN ROBOTICS EUROPE
Page: 82 Operator’s manual MOTOMAN XRC
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Follow the procedure below to register a job as a master job.

a) Select {JOB} under the Top Menu.

b) Select {SELECT JOB}.
The master job display is shown.
JOB EDIT DISPLAY UTILITY
L
MASTER JOB R1 C S

MASTER JOB :

c) The select dialog is displayed.

JOB EDIT DISPLAY UTILITY
L
MASTER JOB R1 C S

MASTER JOB : TEST-1

CALL MASTER
CALL MASTER JOB
JOB
SETTING MASTER JOB
CANCEL MASTER JOB

d) The job list display is shown.

JOB EDIT DISPLAY UTILITY
L
MASTER JOB R1 C S
TEST-1 JOB00002 JOB00003
ARC-JOB1 SAMPLE01

e) Select the desired job.

f) The selected job is registered as the master job.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 83

Preparation for playback Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

JOB EDIT DISPLAY UTILITY

L
MASTER JOB R1 C S

MASTER JOB : TEST-1

■ Calling the master job

This operation is to call a master job. The job can be called in the job content dis-
play, playback display, job select display, or the master job display.

Calling from the job content, playback, job select display

a) Select {JOB} under the Menu.
The Pull Down Menu is displayed.
JOB
JOB EDIT DISPLAY UTILITY
L
SELECT JOB R1 C S
CALL MASTER JOB
CREATE NEW JOB
RENAME JOB
COPY JOB
DELETE JOB
0004 MOVL V=138
0005 MOVL V=138
0006 END
=> MOVJ VJ=0.78
!Turn on servo power

b) Select {CALL MASTER JOB}.

The master job is called, and the job content display is shown.

Calling from the master job display

a) Select {JOB} under the Top Menu.
The master job display is shown.
b) Select {MASTER JOB}.
JOB EDIT DISPLAY UTILITY
L
MASTER JOB R1 C S

MASTER JOB : TEST-1

!
 MOTOMAN ROBOTICS EUROPE
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Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Preparation for playback

c) Press [SELECT].
The select dialog is displayed.
JOB EDIT DISPLAY UTILITY
L
MASTER JOB R1 C S

MASTER JOB : TEST-1

CALL MASTER
CALL MASTER JOB
JOB
SETTING MASTER JOB
CANCEL MASTER JOB

d) Select “CALL MASTER JOB”.

The master job is called, and the job content display (during the teach mode),
or the playback display (during the play mode) is displayed.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 85

Playback Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

4.2 Playback
4.2.A The playback display
When [PLAY] on the playback panel is pressed while displaying the job content
display, the playback display appears.

JOB EDIT DISPLAY UTILITY

L
PLAYBACK R1 C S
J:TEST S:000
0000 NOP
JOB CONTENT 0001 MOVJ VJ=100.00
0002 MOVL V=1500
SETTING SPEED 0003 MOVJ VJ=100.00
OVERRIDES SPEED ADJUSTMENT(MODIFY:OF) 100 %
MEASURE START JOB J:TEST S:000
CYCLE TIME MOVING TIME 24.00 sec
PLAYBACK TIME 44.50 sec
!

1) Job Content
The cursor moves according to the playback operation. The contents are auto-
matically scrolled as needed.
2) Override Speed Settings
Displayed when override speed setting is performed.
3) Cycle Time
Displays the working time of the robot. Each time the robot is started, the pre-
vious cycle time is reset, and a new measurement begins. The setting can be
made for display or no display.
4) Start No.
First step in the measurement. Measurement ends when the robot stops and
the start button lamp goes off.
5) Move Time
Displays the moving time of the robot.
6) Playback Time
Displays the time from beginning to the end of the measurement. Measure-
ment ends when the robot stops and the start button lamp goes off.
 MOTOMAN ROBOTICS EUROPE
Page: 86 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Playback

■ Setting display or non-display of cycle time

Follow the procedure below to set whether or not to display the cycle time on the
playback display.
a) Select {DISPLAY} under the Menu.
b) Select {CYCLE TIME}.
The cycle time is displayed. Doing the same operation one more time will
delete the cycle time display.

4.2.B Playback
Playback is the operation by which the taught job is played back. Follow the pro-
cedures below to start the playback operation.

Note!
After checking to be sure there is no one near the robot, start the playback opera-
tion by following the procedures below.
Playback Panel (Start Button)
Peripheral Device (External Start Input)

The procedure to be used to start playback is specified by pressing [REMOTE] on

the playback panel.

REMOTE ON
Start up by
peripherial device
Playback Panel
[REMOTE]
Start up by
playback panel
REMOTE OFF

For playback using the playback panel, follow the procedures below.

■ Selecting the start device

a) Turn off [REMOTE] on the playback panel.
The remote mode is disabled and the teach or play mode is enabled.

■ Selecting mode
a) Press [PLAY] on the playback panel.
The play mode is specified.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 87

Playback Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

■ Start operation
a) Press [START] on the playback panel.
The start button lamp lights and the robot begins operation.

■ About the operating cycle

There are three types of robot operating cycles:

AUTO
Repeats a job continuously.

1 CYCLE
Executes a job once. If there is a called job during execution, it is performed, after
which the robot returns to the original job.

STEP
Executes one step (instruction) at a time.

The operation cycle can be changed using the following:

a) Select Top Menu, then Menu, then {CYCLE}.
b) Select the operation cycle to be changed.
The operation cycle is changed.
CYCLE SECURITY
L
STEP R1 C S
CYCLE
AUTO

JOB ARC WELDING VARIABLE

OUT

IN
IN/OUT ROBOT SYSTEM INFO
!Turn on servo power
 MOTOMAN ROBOTICS EUROPE
Page: 88 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Playback

Operation Cycle Automatic Setting

The operation cycle is set to “1CYCLE” automatically when the following opreta-
tion is done.

PLAY
Selected to PLAY mode (Light ON)

TEACH
Selected to TEACH mode (Light ON)

REMOTE
Selected to REMOTE mode (Light ON)

REMOTE
Selected to local mode (Light OFF)

Turned the main power on Main Power (ON)

Automatic setting of the operation cycle can be changed by the following opera-
tion.

a) Select {SETUP} under the top menu.

b) Select {OPERATE COND}.
The opetating condition display is shown. Use the cursor to scroll the screen.

DATA EDIT DISPLAY UTILITY

L
OPERATING CONDITION R1 C S
MASTER JOB CHANGE PERMIT
RESERVED START PROHIBIT
RESERVED START JOB CHANGE PERMIT
SPEED DATA INPUT FORM cm/min
CYCLE SWITCH IN TEACH MODE CYCLE
CYCLE SWITCH IN PLAY MODE CYCLE
CYCLE SWITCH IN LOCAL MODE CYCLE
CYCLE SWITCH IN REMOTE MODE CYCLE
SET CYCLE ON POWER ON CYCLE
!

c) Select desired operation.

The selection dialog is displayed.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 89

Playback Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

DATA EDIT DISPLAY UTILITY

L
OPERATING CONDITION R1 C S
MASTER JOB CHANGE PERMIT
RESERV PROHIBIT
RESERV STEP
STEP PERMIT
SPEED D CYCLE cm/min
CYCLE S AUTO CYCLE
CYCLE S NONE CYCLE
CYCLE S CYCLE
CYCLE SWITCH IN REMOTE MODE CYCLE
SET CYCLE ON POWER ON CYCLE
!

None setting!
The operation cycle is not changed when “NONE” is set.
For example, if the setting is “CYCLE SWITCH IN TEACH MODE = NONE”,
the operation cycle after selecting the teach mode is the same as the one before.

d) Select desired cycle.

The operation cycle set automatically is changed.

DATA EDIT DISPLAY UTILITY

L
OPERATING CONDITION R1 C S
MASTER JOB CHANGE PERMIT
RESERVED START PROHIBIT
RESERVED START JOB CHANGE PERMIT
SPEED DATA INPUT FORM cm/min
CYCLE SWITCH IN TEACH MODE STEP
CYCLE SWITCH IN PLAY MODE CYCLE
CYCLE SWITCH IN LOCAL MODE CYCLE
CYCLE SWITCH IN REMOTE MODE CYCLE
SET CYCLE ON POWER ON CYCLE
!
 MOTOMAN ROBOTICS EUROPE
Page: 90 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Playback

4.2.C Special playback operations

The following special operations can be performed during playback:

✔ Low Speed Operation

✔ Limited Speed Operation
✔ Dry Run Speed Operation
✔ Machine Lock Operation
✔ Check Operation

Two or more special operations can be performed at the same time. If multiple
operations are selected, the speed during playback is limited to the speed of the
slowest of the operations. Settings for special operations are done in the special
play display.
When displaying the playback screen, move the cursor to the menu area and
select {UTILITY} {SETUP SPECIAL RUN}. The special play screen appears.

JOB EDIT DISPLAY UTILITY

L
SPECIAL PLAY R1 C S
LOW SPEED START INVALID
SPEED LIMIT INVALID
DRY-RUN SPEED INVALID
MACHINE LOCK INVALID
CHECK-RUN INVALID
WEAV PROHIBIT IN CHK-RUN INVALID
COMPLETE

■ Low speed operation

The robot moves at low speed during the first step after starting. After the opera-
tion of this step, the robot stops regardless of the selection of the operation cycle.
Low speed operation is canceled when the robot stops. Even if the robot is manu-
ally stopped during low speed operation, the low speed is cancelled.

a) Select “LOW SPEED START” under the special play set display.
The setting alternates between “VALID” and “INVALID” .
b) Select “COMPLETE”.
Return to the playback display.
c) Press [START] on the playback panel.
Set to “VALID” and start the playback operation. Manipulator moves at a low
speed for the first step and stops. After this, press [START] on the playback
panel to execute each of the remaining steps. The robot moves at the speeds
taught.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 91

Playback Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

■ Limited speed operations

The robot operates within the limited speed in the teach mode. The limited speed
is set at 250 mm/sec. Therefore, steps with speeds faster than 250 mm/sec are
restricted to this speed limit. However, operation is performed at actual playback
speeds for steps under this limit.

a) Select “SPEED LIMIT” under the special play set display.

The setting alternates between “VALID” and “INVALID”.
b) Select “COMPLETE”.
Return to the playback display.
c) Press [START] on the playback panel.
Set to “VALID” and start the playback operation. The robot moves at limited
speed.

■ Dry run speed operations

The dry run speed is a constant speed that is independent of the teaching
speeds. When the dry run operation is started, the robot executes all the steps at
a constant dry run speed. Dry run operation is convenient for quick check of a job
consisting of slow operations. The dry run speed is 10% of maximum speed.

Warning!
Be careful of steps programmed at lower speeds than the dry run speed, because
they are executed at greater speeds than programmed.

a) Select the “DRY-RUN SPEED” under the special play set display.
The setting alternates between “VALID” and “INVALID”.
b) Select “COMPLETE”.
Return to the playback display.
c) Press [START] on the playback panel.
Set to “VALID” and start the playback operation. The robot moves at dry-run
speed.

Speed
Playback speed

Safety speed

Dry-run speed

Step
 MOTOMAN ROBOTICS EUROPE
Page: 92 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Playback

■ Machine lock operation

In machine lock operation, a job is played back without moving the robot to check
the status of input and output.
a) Select “MACHINE LOCK” under the special play set display.
The setting alternates between “VALID” and “INVALID”.
b) Select “COMPLETE”.
Return to the playback display.
c) Press [START] on the playback panel.
Set to “VALID” and start the playback operation. The robot starts machine lock
operation.

■ Check operation
During check operation, the machine runs without issuing work instructions, such
as the arc instruction. It is used primarily to check the path of the program.

a) Select “CHECK-RUN” under the special play set display.

The setting alternates between “VALID” and “INVALID”.
b) Select “COMPLETE”.
Return to the playback display.
c) Press [START] on the playback panel.
Set to “VALID” and start the playback operation. The robot starts check opera-
tion.

■ Check run and weaving prohibit

When the check run is executed, and weaving prohibit is specified, the weaving
operation is not executed in the weaving position of the job.
a) Select “WEAV PROHIBIT IN CHK-RUN” under the special play set display.
The setting alternates between “VALID” and “INVALID”.
b) Select “COMPLETE”.
Return to the playback display.
c) Press [START] on the playback panel.
Set to “VALID” to execute the start operation. The robot does not execute the
weaving operation during check run execution.

■ Cancel all special operations

a) Select {EDIT} from the menu.
b) Select “CANCEL ALL SELECT”.
The message “All special functions canceled” is displayed.

Note!
Special operations are also automatically cancelled if the main power is shut off.
 MOTOMAN ROBOTICS EUROPE
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Stop and restart Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

4.3 Stop and restart

The robot stops in the following conditions:
✔ Hold
✔ Emergency Stop
✔ Stop By Alarm
✔ Others
✔ During Each Application

4.3.A Hold
Pressing [HOLD] on the playback panel causes the robot to stop all motion. There
are two ways to hold.

✔ Playback Panel
✔ External Input Signal (Specific)
■ Using the playback panel
Hold
When [HOLD] on the playback panel is pressed, the robot stops momentarily.
[HOLD] lamp lights while it is held down. At the same time, [START] lamp goes
OFF.

Release
Press [START] on the playback box. The robot restarts its operation, beginning at
the position at which it was stopped.

■ Using an external input signal (specific)

Hold
a) Turn on the hold signal from an external input.
The robot stops momentarily.
! External holding

b) The external input signal [HOLD] lamp lights.

The playback panel [HOLD] lamp lights. At the same time [START] lamp
lights.

Release
a) Turn off the hold signal from an external input.
b) Hold is released. To continue the operation, press [START] on the playback
panel, or the external input signal. The robot restarts its operation, beginning
at the position at which it was stopped.
 MOTOMAN ROBOTICS EUROPE
Page: 94 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Stop and restart

4.3.B Emergency stop

At an emergency stop, the servo power supply that drives the robot is turned off
and the robot stops immediately. An emergency stop can be performed by using
any of the following:

✔ Playback Panel
✔ Programming Pendant
✔ External Input Signal (Specific)

Emergency Stop
a) Press the emergency stop button.
The servo power turns off and the robot stops immediately.

EMERGENCY STOP Using the playback panel:

Using the programming pendant:

Emergency Stop Using the Playback Panel

! Robot stops by P.PANEL emergency stop

Emergency Stop Using the Programming Pendant

! Robot stops by P.P emergency stop

Emergency Stop Using External Input Signal

! Robot stops by external emergency stop

Release
EM ERGENCY S TOP
TURN a) Turn the emergency stop button in the direction of the arrows.
Using the playback panel:
Using the programming pendant:
SERVO ON
READY
b) Press [SERVO READY] on the playback panel or the deadman switch on the
programming pendant to turn on the servo power supply again.
Using the playback panel:
Using the programming pendant:
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 95

Stop and restart Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

4.3.C Restart after emergency stop

Warning!

Prior to restarting after an emergency stop, confirm the position for

the next operation and make sure there is no interference with the
workpiece or fixture.
The application of an emergency stop during high speed operations on continu-
ous steps can result in the robot stopping two or three steps prior to the step that
is being displayed. There is a risk of interference with the workpiece or fixture
when the robot is restarted under such conditions.

4.3.D Stop by alarm

If an alarm occurs during operation, the robot stops immediately, the alarm/error
lamp on the playback panel lights and the alarm display appears on the program-
ming pendant indicating that the machine was stopped by an alarm.

JOB EDIT DISPLAY UTILITY

L
ALARM R1 C A
ALARM 4000
MEMORY ERROR(TOOL FILE)
[1]

OCCUR TIMES:1 RESET

If more than one alarm occurs simultaneously, the first four alarms are displayed.
The fifth and subsequent alarms are not displayed, but they can be checked on
the alarm history display. The following operations are available in the alarm sta-
tus: display change, mode change, alarm reset, and emergency stop.

Release
Alarms are classified by minor and major alarms.

Minor alarms
a) Press [SELECT].
Select [RESET] under the alarm display to release the alarm status. When
using an external input signal, turn on the “ALARM RESET” setting.

Major alarms
a) Turn off the main power supply and remove the cause of the alarm.
If a severe alarm, such as hardware failure occurs, servo power is automati-
cally shut off and the robot stops. If releasing does not work, turn off the main
power and correct the cause of the alarm.
 MOTOMAN ROBOTICS EUROPE
Page: 96 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Modifying play speed

4.3.E Others
■ Temporary stop by mode change
When the play mode is switched to the teach mode during playback, the robot
stops immediately.
! Stopped by switching mode

To restart the operation, return to the play mode and perform a start operation.

■ Temporary stop by the pause instruction

When the PAUSE instruction is executed, the robot stops operating.
! Robot stops by execution PAUSE command

To restart the operation, perform a start operation. The robot restarts from the next
instruction.

4.4 Modifying play speed

4.4.A Modifying with speed override
Speed modifications using the speed override have the following features:

✔ Speed can be modified during playback.

✔ The job can be played back at various speeds until the play speed is properly
adjusted.
✔ Speed can be increased or decreased by a ratio of the current play speed. The
ratio settings range from 50 to 150% in increments of 1%.
✔ All play speed values used in the job can be increased or decreased by a
constant ratio.

The operation flow override of play speeds is as shown in the following:

 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 97

Modifying play speed Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

Start speed override

Call job to perform speed override Changes experimentally

without modifying
registered speed

Set speed override

(speed data modify: OFF, specify the ratio)

Start playback

Adjust the ratio during playback if needed

(1 cycle completed)

YES
Reset and playback?

NO
NO
Modify?

YES
Modifies play speed
Call job perform speed override

Set speed override

(speed data modify: ON, specify the ratio)

Start playback
Modify play speed simultaneously
(1 cycle completed)

Start speed override

 MOTOMAN ROBOTICS EUROPE
Page: 98 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Modifying play speed

■ Setting speed overrides

a) Select {UTILITY} under Menu in the playback display.
b) Select {SPEED OVERRIDE}.
The playback display becomes the speed override condition.

JOB EDIT DISPLAY UTILITY

L
PLAYBACK R1 C S
J:TEST S:000 R1 TOOL:*
0000 NOP
0001 MOVJ VJ=100.00
0002 MOVL V=1500
0003 MOVJ VJ=100.00
0004 MOVL V=1500
0005 MOVJ VJ=100.00
0006 MOVJ VJ=100.00
SPEED ADJUSTMENT(MODIFY:OF) 100 %
!

c) Select “ON” or “OFF” under “MODIFY”.

Each time [SELECT] is pressed when the cursor is on the data of the item
“MODIFY”, “ON” and “OFF” alternate.
Select “ON“ to modify the registered play speed during playback.
When “OFF“ is selected, the registered play speed is not modified. To change
the play speed temporarily (for example, to experiment with various speeds),
select “OFF“.
SPEED ADJUSTMENT (MODIFY: OFF ) 100%

d) Set the override ratio.

Line up the cursor with the override ratio and move the cursor up and down to
change the ratio.
If you want to input the ratio number directly, move the cursor to the override
ratio and press [SELECT]. The number input line is displayed. Input the over-
ride ratio using the number keys.
SPEED ADJUSTMENT (MODIFY: ON) 100%
> 150

■ Modifying play speed

a) Set speed override.
b) Playback the robot.
After the speed override is set, the robot starts operating. The play speed is
increased or decreased in the set ratio. When setting “MODIFY” to “ON”, the
step’s play speed is modified when each step is reached.
When one cycle is completed by the END instruction, the speed override set-
ting is released.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 99

Modifying play speed Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

Note!
✔ Assuming that the robot moves from step 1 to step 2, the play speed of step 2
is not modified if the speed override is released before reaching step 2.
✔ When the play speed is changed by speed override, the maximum and
minimum speed is limited by the robot.
✔ When setting “MODIFY: ON”, the safety speed operation is performed at the
same time. The robot operates at safety speed, however the play speed in
memory is modified as the setting using speed override.
✔ Play speed set by the SPEED instruction is not modified.

■ Modifying speed override ratio

a) Select {UTILITY} under the Menu in the playback display.
b) Select {SPEED OVERRIDE}.
c) Set the desired speed override ratio with the cursor.
Line up the cursor with the speed ratio and press [SHIFT] + the cursor key to
change the ratio. To set the value directly, first select the speed ratio and the
value input status display will be shown. Use the number keys to input the
new ratio. If [CANCEL] is pressed, the modified ratio is released.

■ Releasing speed override settings

a) Select {UTILITY} under the Menu in the playback display.
b) Select {SPEED OVERRIDE}.
The setting of the speed override ratio is released. If it’s released, the speed
ratio setting is not displayed on the playback display.

The speed override settings are automatically released in the following cases:
When dry-run speed operation is set.
✔ When the mode is changed to any mode other than the play mode.
✔ When an alarm or error occurs.
✔ When 1 CYCLE operation is completed using the END instruction.
✔ When the power supply is turned off.
 MOTOMAN ROBOTICS EUROPE
Page: 100 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Playback with reserved start

4.5 Playback with reserved start

4.5.A Preparation for reserved start
In the reserved start function, jobs registered at different stations are played back
in the reserved order using the start buttons on the stations.

Station 3
Station 1
(Job 3 registered)
(Job 1 registered)

Station 2
(Job 2 registered)

For example, in a case where three stations handle three different workpieces, as
shown in the illustration above, the jobs would be registered as follows:

✔ Job 1 is registered to process workpiece 1 at Station 1

✔ Job 2 is registered to process workpiece 2 at Station 2
✔ Job 3 is registered to process workpiece 3 at Station 3

To play back the jobs, prepare workpiece 1 and press the start button on Station 1.
The robot executes Job 1. Prepare workpieces 2 and 3 while Job 1 is being exe-
cuted, and press the start buttons on Stations 2 and 3. Even if Job 1 is being exe-
cuted at that time, jobs on different stations are reserved in the order that the start
buttons were pressed, and will be executed in that order. During playback, the sta-
tus of the reservation can be checked on the start reservation display.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 101

Playback with reserved start Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

■ Enabling reserved start

The start button on the station is operative when the reserved start function is
enabled, and the following start operations are impossible.

✔ [START] on the playback panel

✔ Start operation from external input signal (specific)

Note!
Enabling reserved start can not be performed if the EDIT LOCK (option) setting is
ON.

a) Select {SETUP} under the top menu.

b) Select {OPERATE COND}.
The operation condition display is shown. The screen is scrolled up/down by
the cursor key when it locates at the top/botom of the items.

DATA EDIT DISPLAY UTILITY

L
OPERATING CONDITION R1 C S
EXTERNAL CYCLE SWITCH PERMIT
PP CYCLE SWITCH PERMIT
EXTERNAL SERVO ON PERMIT
PPANEL SERVO ON PERMIT
CHECK/MACHINE LOCK PERMIT
MASTER CALLING UP PERMIT
MASTER JOB CHANGE PERMIT
RESERVED START PROHIBIT
RESERVED START JOB CHANGE PERMIT
!

Note!
The operation condition display is shown only when the security mode is manage-
ment mode.

c) Select “RESERVED START”.

Each time [SELECT] is pressed, “PERMIT" and “PROHIBIT“ alternates.
Select “PERMIT“.
 MOTOMAN ROBOTICS EUROPE
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Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Playback with reserved start

DATA EDIT DISPLAY UTILITY

L
OPERATING CONDITION R1 C S
EXTERNAL CYCLE SWITCH PERMIT
PP CYCLE SWITCH PERMIT
EXTERNAL SERVO ON PERMIT
PPANEL SERVO ON PERMIT
CHECK/MACHINE LOCK PERMIT
MASTER CALLING UP PERMIT
MASTER JOB CHANGE PERMIT
RESERVED START PERMIT
RESERVED START JOB CHANGE PERMIT
!

Note!
The external start and the playback panel start are prohibited even if setting is
“PERMIT“ when reserved start is enabled.
Regardless of the operation cycle selected, it is automatically set to 1CYCLE.

■ Registering reserved start I/O signal

Register the start I/O signal as a preparation to perform start operation from the
station.

Note!
This operation can be done only when the operation mode is teach mode and the
sucurity mode is management mode.

a) Select {SETUP} under the top menu.

b) Select {RES. START(CNCT)}.
The reserved start connection display is shown.
DATA EDIT DISPLAY UTILITY
L
RESERVED START(CNCT) R1 C S
NO. START IN START OUT
1 *** ***
2 *** ***
3 *** ***
4 *** ***
5 *** ***
6 *** ***

c) Select “START IN” or “START OUT” for each station.

The input buffer line is displayed.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 103

Playback with reserved start Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

DATA EDIT DISPLAY UTILITY

L
RESERVED START(CNCT) R1 C S
NO. START IN START OUT
1 *** ***
2 *** ***
3 *** ***
4 *** ***
5 *** ***
6 *** ***

>
!

d) Input desired signal number.

The input/output signal number is registered.
DATA EDIT DISPLAY UTILITY
L
RESERVED START(CNCT) R1 C S
NO. START IN START OUT
1 48 ***
2 *** ***
3 *** ***
4 *** ***
5 *** ***
6 *** ***

e) Press [ENTER].

■ Registering jobs to stations

Register the starting job of each station.

Note!
This operation can be done only when the operation mode is teach mode and the
setting of “RESERVED START JOB CHANGE“ is “PERMIT“ in the operation con-
dition display.
For operation, refer to “Enabling Reserved Start”.

a) Select {JOB} under the top menu.

b) Select {RES. START(JOB)}.
The reserved start connection display is shown.
indicates that the input/output number is registered.
indicates that the input/output number is not registered.
 MOTOMAN ROBOTICS EUROPE
Page: 104 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Playback with reserved start

JOB EDIT DISPLAY UTILITY

L
RESERVED START(JOB) R1 C S
NO. JOB NAME CONNECTION
1
2
3
4
5
6

c) Select job name for each station.

The selection dialog is displayed.

JOB EDIT DISPLAY UTILITY

L
RESERVED START(JOB) R1 C S
NO. JOB NAME CONNECTION
1 a
2
3 SETTING START JOB
4 CANCEL START JOB
5
6

d) Select “SETTING START JOB“.

The job list display is shown
e) Select desired job.
The starting job is registered.

JOB EDIT DISPLAY UTILITY

L
RESERVED START(JOB) R1 C S
NO. JOB NAME CONNECTION
1 JOB1
2
3
4
5
6

!
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 105

Playback with reserved start Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

■ Deleting registered jobs from stations

Delete the registered job of each station.

Note!
This operation can be done only when the operation mode is teach mode and the
setting of “RESERVED START JOB CHANGE“ is “PERMIT“ in the operation con-
dition display.
For oparation, refer to “Enabling Reserved Start”.

a) Select {JOB} under the top menu.

b) Select {RES. START(JOB)}.
The reserved start job display is shown.
c) Select job name for each station.
The selection dialog is displayed.

JOB EDIT DISPLAY UTILITY

L
RESERVED START(JOB) R1 C S
NO. JOB NAME CONNECTION
1 JOB1 a
2 JOB2
3 JOB3 SETTING START JOB
4 JOB4 CANCEL START JOB
5
6

d) Select “CANCEL START JOB“.

Registered job is deleted.

JOB EDIT DISPLAY UTILITY

L
RESERVED START(JOB) R1 C S
NO. JOB NAME CONNECTION
1 a
2 JOB2
3 JOB3
4 JOB4
5
6

!
 MOTOMAN ROBOTICS EUROPE
Page: 106 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Playback with reserved start

4.5.B Playback from reserved start

■ Start operation
a) Press [PLAY] on the playback panel.
b) Press start button on the station.

Note!
✔ While the job is being executed, the start button lamp on the station lamps.
✔ If the workpiece must be prepared at the station, prepare it before pressing the
start button.
✔ If the start button of another station is pressed during execution of a job at one
station, the job on the station is reserved and prepares to start. Jobs are reserved
and executed in the order that the start buttons are pressed.
✔ When a job is reserved, the start button lamp on the station blinks.
✔ No station job is reserved when it is being executed even if its start button is
pressed.
To suspend a job being executed, perform the Hold operation.

Note!
Reservations are cancelled when the start button is pressed again during the job
reservation operation.

■ Checking job reservation status

The job reservation status during playback can be checked.

a) Select {JOB} under the top menu.

b) Select {RES. STATUS}.
The job reservation display is shown.

JOB EDIT DISPLAY UTILITY

L
RESERVATION STATUS R1 C S
NO. JOB NAME STATUS START IN
1 JOB1 STARTING
2 JOB2 RESERVE1
3 JOB3 RESERVE2
4 JOB4 RESERVE3
5
6

1) STATUS
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 107

Playback with reserved start Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

Reservation status is displayed.

STARTING Indicates the station currently working.

STOP Indicates any station where work has been tem-

porarily stopped by a hold operation.

RESERVE1, Indicates the order in which jobs have been

RESERVE2,... reserved for start.

2) START IN
Input signal status is displayed.
“ “: Input signal ON
“ “: Input signal OFF

■ Resetting job reservation

The job reservation can be reset.

Note!
If “STARTING“ is displayed, the job can not be reset.

a) Select {JOB} on the job reservation status display.

b) Select {RESET RESERVATION} or {RESET ALL}.
The job reservation display is shown.
When {RESET RESERVATION} is selected, job reservation stated to
“RESERVE“ is reset.
When {RESET ALL} is selected, job reservation stated to “STOP“ and
“RESERVE“ is reset.
JOB EDIT DISPLAY UTILITY
L
RESERVATION STATUS R1 C S
NO. JOB NAME STATUS START IN
1 JOB1
2 JOB2
3 JOB3
4 JOB4
5
6

c) Select “YES”.

Note!
All job reservations are reset automatically in the following conditions:
When the reserved start sets to “PROHIBIT“
When another job is called or an edit operation is performed.
 MOTOMAN ROBOTICS EUROPE
Page: 108 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Playback with reserved start

4.5.C Hold operation

Pressing [HOLD] on the playback panel causes the robot to stop all motion. Hold
operation can be performed by the the following buttons or signal.

✔ [HOLD] on the playback panel

✔ External Input Signal (Specific)
✔ Hold button for the station axis

■ [HOLD] on the Playback Panel

Hold
The robot stops temporarily when [HOLD] on the playback panel is pressed.

Note!
The [HOLD] lamp lights while it is held down. At the same time, the [START] lamp
goes off.

Release
Press the start button on the suspended station. The robot restarts its operation
from the position at which it was stopped.

■ Hold by external input signal (Specific)

Hold
a) Input ON signal to the external input (specific) specified for hold operation.
The robot stops temporarily.
! External holding

The hold lamp for the external output signal lights.

The [HOLD] lamp on the playback panel lights and the [START] lamp goes off.

Release
a) Input OFF signal to the external input (specific) specified for hold operation-
Hold is released.
To continue the operation, press the start button on the suspended station.
The robot restarts its operation from the position at which it was stopped.
 MOTOMAN ROBOTICS EUROPE
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Playback with reserved start Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm

■ Hold at the station

Hold
a) Press the hold button on the station.
The robot stops temporarily..
! External holding

Release
a) Press the hold button on the suspended station.
Hold is released.
To continue the operation, press the start button on the station. The robot
restarts its operation from the position at which it was stopped.
 MOTOMAN ROBOTICS EUROPE
Page: 110 Operator’s manual MOTOMAN XRC
Created: 99-02-04 Revised: 02-07-03 Doc. name: Mrs50000-ch4.fm Displaying job stack

4.6 Displaying job stack

The following operation can display the job stack to check the level at which the
series of jobs advance or return during execution of CALL or JUMP instructions.

Stack level 1 Stack level 2 Stack level 3 Stack level 4 Stack level 5

Call job
Job A

Call job
Job B
Call job
Job C

Return
Call job
Job D
Return

Return

Note!
Job calls can be used for up to 8 stack levels.

a) Select {DISPLAY} under the Menu in the playback display.

The pull down menu is displayed.

JOB EDIT DISPLAY UTILITY

PLAYBACK CYCLE TIME
J:JOB-A S:000 JOB STACK
JOB STACK
0000 NOP
0001 MOVJ VJ=100.00
0002 MOVL V=1500
0003 MOVJ VJ=100.00
0004 MOVL V=1500
0005 MOVJ VJ=100.00
0006 CALL JOB:JOB-B
0007 MOVJ VJ=100.00
!

b) Select {JOB STACK}.

The job stack status dialog is displayed.
To close the job stack status dialog display, select {DISPLAY} then {JOB
STACK} under the menu once more.
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JOB EDIT DISPLAY UTILITY

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PLAYBACK R1 C S
J:JOB-C S:004 R1 TOOL:0
0000 NOP
<JOB STACK>
0001 MOVJ VJ=100.00 1:JOB-A
0002 MOVL V=1500 2:JOB-B
3:
0003 MOVJ VJ=100.00
4:
0004 MOVL V=1500 5:
0005 MOVJ VJ=100.00 6:
7:
0006 MOVJ VJ=100.00
8:
0007 MOVJ VJ=100.00
!

For example, when the playback of Job C is executing, Job C is called from
Job B. Also, Job B is called from Job A.
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5. Robot Editing
5.1 Editing jobs
5.1.A Displays related to job
There are five types of job displays. Jobs can be checked and edited in these dis-
plays.
✔ Job Header Display
Comments, data and time of registration, edit prohibit status, and so on are
displayed and edited.
✔ Job Content Display
The content of the registered job can be displayed and edited. The taught position
data is also displayed.
✔ Command Position Display
The taught data is displayed.
✔ Job Capacity Display
The number of registered jobs, amount of memory, number of steps used, etc. is
shown.
✔ Job List Display
The registered job is sorted alphabetically, then displayed, and the job is
selected.

■ Job header display

a) Select {JOB} under the top menu.
b) Select {JOB}.
c) Select {DISPLAY} under the menu.
d) Select {JOB HEADER}.
The job header display is shown. Scroll the display using the cursor.

JOB EDIT DISPLAY UTILITY

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JOB HEADER R1 C S
JOB NAME : TESTJOB
COMM.:This job is test job
DATE : 1998/05/27 12:00
CAPACITY : 1024 BYTE
LINES : 30 LINE
STEPS : 20 STEP
EDIT LOCK : OFF
TO SAVE TO FD : NOT DONE
GROUP SET : R1
!Turn on servo power

1) JOB NAME
Displays the name of the current job.
2) COMM
Displays the comments attached to the current job. This field can be edited in
this display.
3) DATE
Displays the date and time of the last editing of the job.
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4) CAPACITY
Displays the amount of memory that is being used to register this job.
5) LINES
Displays the total number of MOV instructions registered in this job.
6) STEPS
Displays the total number of MOV instructions registered in this job.
7) EDIT LOCK
Displays whether the edit prohibit setting for this job is at on or off. This field
can be edited at this display.
8) TO SAVE TO FD
Displays “DONE” if the contents of the job are saved to a floppy disk since the
date and time of the last editing operation, and displays “NOT DONE” if they
are not saved. The job is marked as “DONE” only if it is saved as an independ-
ent job or as a related job. If it is saved in a CMOS batch operation, it is
marked as “NOT DONE”.
9) GROUP SET
Displays the setting status for the group axes that this job controls. If the mas-
ter axis is specified, the master axis is highlighted. Nothing is displayed for a
system with only one robot.

■ Job content display

a) Select {JOB} under the top menu.
b) Select {JOB}.

(Left) : The cursor is moved to the address area.

(Right): The cursor is moved to the instruction area.

JOB EDIT DISPLAY UTILITY

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JOB CONTENT R1 C S
J:TEST S:003 R1 TOOL:0
0000 NOP
0001 'THIS JOB IS TEST JOB
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=276
0005 TIMER T=1.00
0006 DOUT OT#(1) ON
=>MOVJ VJ=100.00
!Turn on servo power

1) Address Area
This area displays line numbers and step numbers.
2) Instruction Area
This area displays instructions, additional items, and comments. Line editing is
possible.
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■ Command pos display

a) Select {ROBOT} under the top menu.
b) Select {COMMAND POSITION}.
Edit operations cannot be conducted from this display, but the taught play
speed and position data can be viewed on this display.

DATA EDIT DISPLAY UTILITY

L
COMMAND POS R1 C S
INTR : JOINT SPD : 50.00 %
[CMD] TOOL: 0* [CURR] TOOL:0*
R1:S -18402 R1:S -18402
L 45714 L 45714
U -28450 U -28450
R -287 R -287
B 8090 B 8090
T -461 T -461

!Turn on servo power

1) Interpolation
Displays the motion type.
2) Speed
Displays the play speed.
3) Command Position
Displays the tool file number and position data that has been taught for this
job. Steps which have no position data, such as move instructions which use
position variables, are marked with an asterisk (*).
4) Current Data
Displays the current tool file number and position of the robot.

■ Job list display

a) Select {JOB} under the top menu.
b) Select {SELECT JOB}.

JOB EDIT DISPLAY UTILITY

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JOB LIST R1 C S
JOB00001 JOB00002 JOB00003
ARC-JOB1 SAMPLE01

1) Job Names
The registered job name is displayed.

Note!
If a job has an error in the content , its name blinks.
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■ Job capacity display

a) Select {JOB} under the top menu.
b) Select {JOB CAPACITY}.

JOB EDIT DISPLAY UTILITY

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JOB CAPACITY R1 C S
NUMBER OF JOBS : 22
USED MEMORY : 5932 BYTES
REST : 34904 BYTES
ROBOT AXIS
STEPS : 378 STEP
REMAIN STEPS : 220 STEP

!Turn on servo power

1) Number of Jobs
Displays the total number of jobs currently registered in the memory of XRC.
2) Used Memory/Remaining Memory
Displays the total amount of memory used by the jobs, and the amount of
remaining memory.
3) Number of Used Steps/Number of Remaining Steps
Displays the total number of registered steps, and the number of remaining
steps.

5.1.B Editing jobs

This section explains how to manage the jobs in the teach mode without moving
the robot.

Note!
Edit operations are restricted when the edit lock is applied.

See Chapter 3 “Teaching” for basic information on editing move instructions.

It is not possible to add, delete, or modify move instructions which have position
data. See Section 3.4 “Modifying Steps” for details.

The following MOV instruction edit operations are explained in this section:
For move instructions:
✔ Insertion or deletion of move instruction
✔ Modification of motion type or play speed for move instructions
✔ Setting, modification, or deletion of UNTIL statements (interruption conditions
based on input signals
✔ Setting and deletion of NWAIT instructions
For move instructions using position variables:
✔ Insertion and deletion of move instruction.
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■ Copying Jobs
This operation is used to copy registered jobs and use them to create new jobs. It
can be done using either the job content display or the job list display.

On the job content display

On the job content display, the current edit job becomes the copy source job.
Select {JOB} under the top menu
a) Select {JOB}.
The job content display is shown.

JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:JOB-A S:000 R1 TOOL:*
0000 NOP
0001 'THIS JOB IS TEST JOB
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=276

b) Select {JOB} under the menu.

The pull down menu is displayed.

JOB
JOB EDIT DISPLAY UTILITY
L
SELECT JOB R1 C S
CALL MASTER JOB
CREATE NEW JOB
RENAME JOB
COPY JOB
DELETE JOB

c) Select {COPY JOB}.

d) Input the new job name.
The name of the copy source job is displayed on the input line. It’s possible to
partially change this name to enter a new name.
If the copy souce job name is not to be used, press [CANCEL] to delete the
characters on the input line, then enter a new job name.
> JOB-B

e) Press [ENTER].
The confirmation dialog is displayed.
If “YES” is selected, the job is copied and the new job is displayed.
If “NO” is selected, the job copy is not executed, and the process is can-
celled.

Copy?
JOB-A -> JOB-B

YES NO
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On the job list display

The operation of selecting the copy source job from the registered jobs is exe-
cuted using the job list display.
a) Select {JOB} under the top menu.
b) Select {SELECT JOB}.
The job list display is shown.

JOB EDIT DISPLAY UTILITY

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JOB LIST R1 C S
TEST-1 TEST JOB WELDING JOB
ABC MASTER JOB JOB-1
JOB2 JOB3 JOB4
1234

c) Use the cursor to move to the copy position.

d) Select {JOB} under the menu.
e) Select {COPY JOB}.
Next operation for copying job is the same as the previous page “Job Content
Display”.

Note!
Once the copy is completed, it returns to the job list display.

■ Deleting jobs
This operation is used to delete jobs that are registered on the XRC. It can be per-
formed in either the job content display or the job list display.

On the job content display

On the job content display, the current edit job is deleted.

a) Select {JOB} under the top menu.

b) Select {JOB}.
The job content display is shown.
c) Select {JOB} under the menu.
The pull down menu is displayed.
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JOB
JOB EDIT DISPLAY UTILITY
L
SELECT JOB R1 C S
CALL MASTER JOB
CREATE NEW JOB
RENAME JOB
COPY JOB
DELETE JOB

d) Select {DELETE JOB}.

The confirmation dialog is displayed.
When “YES” is selected, the edited job is deleted. When deletion is com-
pleted, the job content display is shown.
When “NO” is selected, the job deletion is cancelled.

Delete?
JOB-A

YES NO

On the job list display

On the job list display, select the job to be deleted from the list of job names.
a) Select {JOB} under the top menu.
b) Select {JOB SELECT}.
The job list display is shown.
c) Move the cursor to the job to be deleted.
d) Select {JOB} under the menu.
e) Select {DELETE JOB}.
The following operation is the same as those in the prior page’s “On the Job
Content Display” section.

Note!
If “NO” is selected, the job deletion is stopped.

■ Modifying job names

This operation is used to modify the name of a job that is registered. The opera-
tion can be performed in either the job content display or the job list display.

On the job content display

a) Select {JOB} under the top menu.
b) Select {JOB}.
The job content display is shown.
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JOB EDIT DISPLAY UTILITY

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JOB CONTENT R1 C S
J:JOB-A S:000 R1 TOOL:*
0000 NOP
0001 'THIS JOB IS TEST JOB
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=276

c) Select {JOB} under the menu.

d) Select {RENAME JOB}.
The pull down menu is displayed.

JOB
JOB EDIT DISPLAY UTILITY
L
SELECT JOB R1 C S
CALL MASTER JOB
CREATE NEW JOB
RENAME JOB
COPY JOB
DELETE JOB

e) Input the job name.

Input the new job name on the input line.
The name of the copy source job is displayed on the input line. It is possible to
partially change this name to enter a new name.
If the copy source job name is not to be used at all, press [CANCEL] to delete
the characters on the input line, then enter a new job name.
> JOB-B

f) Press [ENTER].
The confirmation dialog is displayed.
When “YES” is selected, the job name is changed and a new job name is dis-
played.
When “NO” is selected, the job name is not changed, and the process is can-
celled.

Rename?
JOB-A -> JOB-B

YES NO
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On the job list display

On the job list display, select the job whose name is to be modified from the list of
job names.
a) Select {JOB} under the top menu.
b) Select {SELECT JOB}.
The job list display is shown.

JOB EDIT DISPLAY UTILITY

L
JOB LIST R1 C S
TEST-1 TEST JOB WELDING JOB
ABC MASTER JOB JOB-1
JOB2 JOB3 JOB4
1234

c) Move the cursor to the name to be changed.

d) Select {JOB} under the menu.
e) Select {RENAME JOB}.
Next operation for renaming job is the same as the previous page “Job Con-
tent Display”.

■ Editing comments
Comments of up to 32 characters can be affixed to jobs to identify them more spe-
cifically. Comments are displayed and edited on the job header display. Editing
comments are viewed with the job header display.
a) Select {JOB} under the top menu.
b) Select {JOB} .
c) Select {DISPLAY} under the menu.
d) Select {JOB HEADER}.
The job header display is shown.
e) Select “COMM.”.

JOB EDIT DISPLAY UTILITY

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JOB HEADER R1 C S
JOB NAME : TESTJOB
COMM.:
DATE : 1998/05/27 12:00

f) Input comments.
For jobs that are already registered, comments are displayed on the input line.
It is possible to partially change comments to enter new comments.
If the comment is not to be used at all, press [CANCEL] to delete the charac-
ters on the input line, then enter a new comment.
> THIS JOB IS TEST JOB

g) Press [ENTER].
The input line comment is registered and is displayed in the “COMM” area on
the job header display.
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JOB EDIT DISPLAY UTILITY

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JOB HEADER R1 C S
JOB NAME : TESTJOB
COMM.:THIS JOB IS TEST JOB

■ Setting edit lock on individual job units

In order to prevent inadvertent changes in registered jobs or data, it is possible to
apply an edit lock to individual jobs. When a job is protected from editing, the job
cannot be edited or deleted. Edit lock is set and cancelled in the job header dis-
play.
a) Select {JOB} under the top menu.
b) Select {JOB}.
c) Select {DISPLAY} under the menu
d) Select {JOB HEADER}.
The job header display is shown.

JOB EDIT DISPLAY UTILITY

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JOB HEADER R1 C S
JOB NAME : TESTJOB
COMM.:THIS JOB IS TEST JOB
DATE : 1998/05/27 12:00
CAPACITY : 1024 BYTE
LINES : 30 LINE
STEPS : 20 STEP
EDIT LOCK : OFF

e) Select “EDIT LOCK” and set the edit prohibit.

Each time [SELECT] is pressed, the setting alternates between “ON” (edit dis-
abled) and “OFF” (edit enabled).

■ Enabling modification of position data only

It is possible to set conditions which allow changes to position data in jobs which
are locked.
a) Select {SETUP} under the top menu.
b) Select {TEACHING COND}.
Teaching condition display is shown.
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DATA EDIT DISPLAY UTILITY

L
TEACHING CONDITION R1 C S
RECT/CYLINDRICAL RECT
LANGUAGE LEVEL SUBSET
MOVE INSTRUCTION SET LINE
STEP ONLY CHANGING PROHIBIT

!Turn on servo power

Note!
Teaching condition display is shown only when the security mode is higher than
the edit mode.

c) Select “STEP ONLY CHANGING” and setting is permitted.

Each time [SELECT] is pressed, the setting alternates between “PROHIBIT”
and “PERMIT”.
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5.2 Editing instructions

The content of editing differs depending on where the cursor is in the address
area or instruction area.

JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:003 R1 TOOL:0
0000 NOP
0001 'THIS JOB IS TEST JOB
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=276
0005 TIMER T=1.00
0006 DOUT OT#(1) ON
=>MOVJ VJ=100.00
!Turn on servo power

When the cursor is in the address area

Instructions can be inserted, deleted, or modified.
When the cursor is in the instruction area
Already-registerd instructions can be modified, inserted, or deleted.

5.2.A Editing instructions

Note!
This editing operation is done when the cursor is in the address area.

This section explains the following operations:

✔ Inserting instructions in jobs
✔ Deleting registered instructions
✔ Modifying registered instructions

When inserting or modifying instructions, input the instruction with the function
keys such as [TIMER], etc. or using the instruction list dialog. The selected ins-
truction is displayed on the input buffer line with the same additional items as
registered previously.
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■ Instruction group
The instructions are divided into the group by processing or each work.

Group Contents Example

I/O Instructions Controls input and output DOUT, WAIT

Control Instruc- Controls processing or each work JUMP, TIMER

tions

Operating Performs arithmetic calculation ADD, SET

Instructions

Move Instruc- Moves the robot MOVJ, REFP

tions

Shift Instructions Shifts the teaching point SFTON, SFTOF

Work Instruc- Operates arc welding or handling, etc ARCON, WVON

tions

Instruction list dialog

By pressing [INFORM LIST], the instruction group list dialog is displayed.
INFORM
LIST
The instruction list dialog is displayed by selecting the group.

IN/OUT ..
CONTROL DOUT
DEVICE DIN
MOTION WAIT
ARITH PULSE
SHIFT AOUT
ARATION

The instruction list dialog is returned to the instruction group list dialog if “..” is
selected.
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■ Inserting instructions
a) Move the cursor to the address area in the job content display.
Move the cursor to the line just before where the instruction is to be inserted..
0020 MOVL V=138
0021 MOVL V=138
0022 MOVL VJ=100.00

b) Press [INFORM LIST].

The INFORM command list is displayed, and an underline is displayed
beneath the line number in the address area.

JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:015 R1 TOOL:00
0017 TIMER T=1.00 IN/OUT
0018 MOVJ VJ=12.50 CONTROL
0019 MOVJ VJ=50.00 DEVICE
0020 MOVL V=138 MOTION
0021 MOVL V=138 ARITH
0022 MOVJ VJ=100.00 SHIFT
0023 DOUT OT#(1) ON
=>
!

c) Select the instruction to be inserted.

The instruction is displayed on the input buffer line with the same additional
items as registered previously.

J:TEST S:015 R1 TOOL:00

0017 TIMER T=1.00 ..
0018 MOVJ VJ=12.50 DOUT
0019 MOVJ VJ=50.00 DIN
0020 MOVL V=138 WAIT
0021 MOVL V=138 PULSE
0022 MOVJ VJ=100.00 AOUT
0023 DOUT OT#(1) ON ARATION
=> PULSE OT#(1)

d) Press [INSERT] and [ENTER].

The instruction displayed in the input buffer line is inserted.
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■ Deleting instructions
a) Move the cursor to the address area in the job content display.

0020 MOVL V=138

0021 MOVL V=138
0022 MOVL VJ=100.00

b) Move the cursor to the line to be deleted.

c) Press [DELETE] and [ENTER].
The instruction is deleted and the following lines move up.
0021 MOVL V=138
0022 MOVL VJ=100.00
0023 DOUT OT#(1) ON

■ Modifying instructions
a) Move the cursor to the address area in the job content display.
0022 MOVL VJ=100.00
0023 DOUT OT#(2) ON
0024 MOVJ VJ=50.00

b) Press [INFORM LIST].

The INFORM command list is displayed. Move the cursor to the instruction list
dialog and the address area cursor becomes and under bar.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:016 R1 TOOL:*
0017 TIMER T=1.00
IN/OUT
0018 MOVJ VJ=12.50
CONTROL
0019 MOVJ VJ=50.00
DEVICE
0020 MOVL V=138
MOTION
0021 MOVL V=138
ARITH
0022 MOVJ VJ=100.00
SHIFT
0023 DOUT OT#(1) ON
=>
!

c) Select the new instruction.

The selected instruction is displayed on the input buffer line with the same
additional items as registered previously.
J:TEST S:016 R1 TOOL:*
0017 TIMER T=1.00 ..
0018 MOVJ VJ=12.50 DOUT
0019 MOVJ VJ=50.00 DIN
0020 MOVL V=138 WAIT
0021 MOVL V=138 PULSE
0022 MOVJ VJ=100.00 AOUT
0023 DOUT OT#(1) ON ARATION
=> PULSE OT#(1)

d) Press [MODIFY] and [ENTER].

Current instruction is modified to the instruction displayed in the input buffer
line.
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5.2.B Editing additional items (Line Edit)

The line edit function can be used to edit only the additional items of a registered
instruction. This section explains the following operations:
✔ Modifying additional numeric data
✔ Modifying additional items
✔ Inserting additional items
✔ Deleting additional items

Note!
This edit instruction is to be performed when the cursor is in the instruction area.

JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:003 R1 TOOL:0
0000 NOP
0001 'THIS JOB IS TEST JOB
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=276
0005 TIMER T=1.00
0006 DOUT OT#(1) ON
=>MOVJ VJ=100.00
!Turn on servo power

■ Modifying additional numeric data

a) Move the cursor to the line where the number data is to be modified in the job
content display.
Selected line is displayed on the input buffer line.

J:TEST S:015 R1 TOOL:*

0017 TIMER T=1.00
0018 MOVJ VJ=12.50
0019 MOVJ VJ=50.00
0020 MOVL V=138
NUMBER DATA 0021 PULSE OT#(2) T=I001
TO BE MODIFIED 0022 MOVJ VJ=100.00
0023 DOUT OT#(1) ON
=> PULSE OT#(2) T=I001

b) The cursor moves to the input buffer line.

=> PULSE OT# ( 2 ) T=I001

c) Press [select].
If you want to input the number data directly, press [select]. the input buffer line
is displayed. input the number data and press [ENTER].
=> PULSE OT# (2) T=I001
>Output_no.=1

d) Move the cursor to the number data to be modified.

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e) Select the numeric data by moving the cursor up/down.

The number data is modified.
f) Press [ENTER].

J:TEST S:015 R1 TOOL:*

0017 TIMER T=1.00
0018 MOVJ VJ=12.50
0019 MOVJ VJ=50.00
CHANGED 0020 MOVL V=138
NUMBER DATA 0021 PULSE OT#(1) T=I001
INSTRUCTION 0022 MOVJ VJ=100.00
LINE 0023 DOUT OT#(1) ON
=> PULSE OT#(1) T=I001

■ Modifying additional item

a) Move the cursor to the address area in the job content display.
Selected line is displayed on the input buffer line.
J:TEST S:015 R1 TOOL:*
0017 TIMER T=1.00
0018 MOVJ VJ=12.50
0019 MOVJ VJ=50.00
0020 MOVL V=138
ADDITIONAL 0021 WAIT IN#(1)=ON
ITEM TO BE 0022 MOVJ VJ=100.00
MODIFIED 0023 DOUT OT#(1) ON
=> WAIT IN#(1)=ON

b) The cursor moves to the input buffer line.

=> WAIT IN#(1)=ON

c) Press [SELECT].
The detail edit display is shown.
JOB EDIT DISPLAY UTILITY
L
DETAIL EDIT R1 C S
WAIT
WAIT TARGET IN#(%) 1
CONDITION =
CONDITION ON
TIME UNUSED

=> WAIT IN#(1)=ON

!

d) Move the cursor to the INFORM command.

e) Press [SELECT].
The selection dialog is displayed.
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JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
WAIT
IN#(%)
WAIT TAR
OT#(%)
CONDITI
SIN#(%)
CONDITI
SOUT#(%)
TIME
IG#(%)

f) Move the cursor to the addtional item to be modified.

g) Press [SELECT].
The additional item is modified.
JOB EDIT DISPLAY UTILITY
L
DETAIL EDIT R1 C S
WAIT
WAIT TARGET OT#(%) 1
CONDITION =
CONDITION ON
TIME UNUSED

h) Select new additional item.

The detail edit display is closed, and the job content display is shown.
i) Press [ENTER].
Contents of the input buffer line are registered on the cursor line of the instruc-
tion area.
J:TEST S:015 R1 TOOL:*
0017 TIMER T=1.00
0018 MOVJ VJ=12.50
0019 MOVJ VJ=50.00
0020 MOVL V=138
ADDITIONAL 0021 WAIT OT#(1)=ON
ITEM TO BE 0022 MOVJ VJ=100.00
MODIFIED 0023 DOUT OT#(1) ON
=> WAIT OT#(1)=ON

j) Press [ENTER].
 MOTOMAN ROBOTICS EUROPE
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Editing instructions Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm

■ Inserting additional items

a) Move the cursor to the line where the addtional item to be inserted.
Selected line is displayed on the input buffer line.
J:TEST S:015 R1 TOOL:*
0017 TIMER T=1.00
0018 MOVJ VJ=12.50
0019 MOVJ VJ=50.00
0020 MOVL V=138
ADDITIONAL 0021 WAIT IN#(1)=ON
ITEM TO BE 0022 MOVJ VJ=100.00
ADDED 0023 DOUT OT#(1) ON
=> WAIT IN#(1)=ON

b) Move the cursor to the instruction.

c) Press [SELECT].
The cursor moves to the input buffer line..
=> WAIT IN#(1)=ON

d) Press [SELECT].
The detail edit display is shown.
JOB EDIT DISPLAY UTILITY
L
DETAIL EDIT R1 C S
WAIT
WAIT TARGET IN#(%) 1
CONDITION =
CONDITION ON
TIME UNUSED

=> WAIT IN#(1)=ON

!

e) Move the cursor to the addtional item to be inserted .

f) Press [SELECT].
The selection dialog is displayed.
JOB EDIT DISPLAY UTILITY
L
DETAIL EDIT R1 C S
WAIT
WAIT TAR T=
CONDITIO T=
CONDITIO UNUSED
TIME

g) Select inserting additional item.

The additional item is inserted.
 MOTOMAN ROBOTICS EUROPE
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Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm Editing instructions

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
WAIT
WAIT TARGET IN#(%) 1
CONDITION =
CONDITION ON
TIME T= 0.01

h) When the additional item needs the number data, move the cursor to
“NUMBER” and press [SELECT]. The input buffer line is displayed. Input the
number data and press [ENTER].
=> WAIT IN#(1)=ON T=0.01
>Time=0.5

i) Press [ENTER].
The detail edit display is closed, and the job content display is shown.

j) Press [ENTER].
Contents of the the input buffer line are registered on the cursor line of the
instruction area.
J:TEST S:015 R1 TOOL:*
0017 TIMER T=1.00
0018 MOVJ VJ=12.50
0019 MOVJ VJ=50.00
0020 MOVL V=138
ADDITIONAL 0021 WAIT IN#(1)=ON T=0.50
ITEM TO BE 0022 MOVJ VJ=100.00
ADDED 0023 DOUT OT#(1) ON
=> WAIT IN#(1)=ON T=0.50

■ Deleting additional items

This operation can not be used for the additional item which is locked.
a) Move the cursor to the line where the addtional item to be deleted
b) Press [SELECT].
Selected line is displayed on the input buffer line.
J:TEST S:015 R1 TOOL:*
0017 TIMER T=1.00
0018 MOVJ VJ=12.50
0019 MOVJ VJ=50.00
0020 MOVL V=138
INSTRUCTION 0021 WAIT IN#(1)=ON T=1.00
LINE OF 0022 MOVJ VJ=100.00
ADDITIONAL ITEM 0023 DOUT OT#(1) ON
TO BE DELETED => WAIT IN#(1)=ON T=1.00

c) The cursor moves to the input buffer line.

=> WAIT IN#(1)=ON T=1.00

d) Move the cursor to the instruction.

 MOTOMAN ROBOTICS EUROPE
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Editing instructions Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm

e) Press [SELECT].
The detail edit display is shown.
JOB EDIT DISPLAY UTILITY
L
DETAIL EDIT R1 C S
WAIT
WAIT TARGET IN#(%) 1
CONDITION =
CONDITION ON
TIME T= 1.00

=> WAIT IN#(1)=ON T=1.00

!

f) Move the cursor to the addtional item to be deleted.

g) Press [SELECT].
The selection dialog is displayed.
JOB EDIT DISPLAY UTILITY
L
DETAIL EDIT R1 C S
WAIT
WAIT TARG
CONDITION T=
UNUSED
CONDITION UNUSED
TIME

h) Select “UNUSED”.
The additional item is deleted.
JOB EDIT DISPLAY UTILITY
L
DETAIL EDIT R1 C S
WAIT
WAIT TARGET IN#(%) 1
CONDITION =
CONDITION ON
TIME UNUSED

i) Press [ENTER].
The detail edit display closes, and the job content display is shown.

j) Press [ENTER].
Contents of the input buffer line are registered on the cursor line of the instruc-
tion area.
J:TEST S:015 R1 TOOL:*
0017 TIMER T=1.00
0018 MOVJ VJ=12.50
0019 MOVJ VJ=50.00
0020 MOVL V=138
Instruction line 0021 WAIT IN#(1)=ON
where additional 0022 MOVJ VJ=100.00
item was deleted 0023 DOUT OT#(1) ON
=> WAIT IN#(1)=ON
 MOTOMAN ROBOTICS EUROPE
Page: 134 Operator’s manual MOTOMAN XRC
Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm Editing instructions

5.2.C Cut and paste

Cut and paste is a function that allows the use of a buffer to edit a job. There are
four operations associated with this function.

Copy
Copies a specified range to the buffer.

Cut
Copies a specified range from a job to the buffer, and deletes it in a job.

Paste
Inserts the contents of the buffer into a job.

Reverse
Reverses the order of the contents of the buffer, and inserts them into a job.

Note!
The buffer takes space from the job field. For this reason, if a copy, paste, or
reverse operation is performed when there is very little memory left for a specific
job, it is possible that there is not enough memory for the buffer, and an error will
occur. If this happens, either eliminate unnecessary jobs in order to free more
memory, or break the amount of data into smaller segments using multiple cut and
paste operations.
BUFFER

0000 NOP
0001 'TESTJOB
MOVJ VJ=50.00
COPY 0002 MOVJ VJ=50.00
TIMER T=1.00
0003 TIMER T=1.00
MOVL V=100
CUT 0004 MOVL V=100
0005 MOVL V=100

0000 NOP
0001 'TESTJOB

0005 MOVL V=100

0000 NOP
0001 'TESTJOB
PASTE 0002 MOVJ VJ=50.00
0003 TIMER T=1.00
INSERTED IN THE
0004 MOVL V=100
BUFFER CONTENT
0005 MOVL V=100

0000 NOP
0001 'TESTJOB
REVERSE 0002 MOVL V=100
0003 TIMER T=1.00
BUFFER CONTENT ORDER IS REVERSED
0004 MOVJ VJ=50.00
AND INSERTED
0005 MOVL V=100
 MOTOMAN ROBOTICS EUROPE
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Editing instructions Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm

■ Setting the range

After setting the range, Copy and Delete can be performed.
a) Move the cursor to the address area in the job content display.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:002 R1 TOOL:0
0000 NOP
0001 'THIS JOB IS TEST JOB
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50 MOVE CURSOR TO
0004 MOVL V=276 ADDRESS AREA
0005 TIMER T=1.00
0006 DOUT OT#(1) ON
=>MOVJ VJ=12.50
!Turn on servo power

b) Press [SHIFT] + [SELECT].

The range specification begins, and the address is displayed in reverse.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:003 R1 TOOL:*
0000 NOP
0001 'THIS JOB IS TEST JOB
0002 MOVJ VJ=50.00
START LINE 0003 MOVJ VJ=12.50
0004 MOVL V=276
0005 TIMER T=1.00
END LINE 0006 DOUT OT#(1) ON
=>DOUT OT#(1) ON
!Turn on servo power

c) Move the cursor to the end line.

Moving the cursor effects to the range. Up to the line specified by the cursor is
the range.

■ Copying
Before copying, the range to be copied has to be specified.
a) Select {edit} under the menu.
The pull down menu is displayed.

JOB EDIT
EDIT DISPLAY UTILITY
L
TOP LINE R1 C S
END LINE
COPY
COPY
CUT
PASTE
0003 MOVJ VJ=12.50
0004 MOVJ VJ=12.50

b) Select {copy}.
The specified range is copied to the buffer.
 MOTOMAN ROBOTICS EUROPE
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■ Cutting
Before cutting, the range to be cut has to be specified.
a) Select {EDIT} under the menu.
The pull down menu is displayed.
JOB EDIT DISPLAY UTILITY
L
TOP LINE R1 C S
END LINE
COPY
CUT
CUT
PASTE
0003 MOVJ VJ=12.50
0004 MOVJ VJ=12.50

b) Select {CUT}.
The confirmation dialog is displayed. When “YES” is selected, the specified
range is deleted and copied to the buffer.
When “NO” is selected, the cutting operation is cancelled.
Delete?

YES NO

■ Pasting
Before pasting, the range to be pasted has to be stored in the buffer.
a) Move the cursor the line immediately before the desired position in the job con-
tent display.
b) Select {EDIT} under the menu.
The pull down menu is displayed.
c) Select {PASTE}.
JOB EDIT DISPLAY UTILITY
L
TOP LINE R1 C S
END LINE
COPY
CUT
PASTE
0003 MOVJ VJ=12.50
0004 MOVJ VJ=12.50

d) Select “YES”.
When “YES” is selected, the contents of the buffer are inserted to the job.
When “NO” is selected, the pasting operation is cancelled.

Paste?

YES NO
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 137

Editing instructions Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm

■ Reverse pasting
Before pasting, the range to be pasted has to be stored in the buffer.
a) Move the cursor to the line immediately before the desired position in the job
content display.
b) Select {EDIT} under the menu.
The pull down menu is displayed.
c) Select {REVERSE PASTE}.
JOB EDIT DISPLAY UTILITY
L
END LINE R1 C S
COPY
CUT
PASTE
REVERSE PASTE
0003 MOVJ VJ=12.50
0004 MOVJ VJ=12.50

d) Select “YES”.
When “YES” is selected, the contents of the buffer are reverse pasted to the
job.
When the “NO” is selected, the pasting operation is cancelled.

Paste?

YES NO
 MOTOMAN ROBOTICS EUROPE
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5.3 Other editing

5.3.A Editing play speed
There are two ways to modify play speed:
✔ Modification of Speed Type
✔ Relative Modification

■ Modification of speed type

This method is used to modify the speed type (such as VJ, V, VR, etc.).

0005 MOVJ VJ=25.00

0006 MOVL V=138
0007 MOVJ VJ=50.00

ONLY VJ IS
CHANGED TO 100

0005 MOVJ VJ=100.00

0006 MOVL V=138
0007 MOVJ VJ=100.00

Type of
Explanation
Play Speed

VJ Joint Speed Normal robot axes

V Control Point Speed

VR Posture Angle Speed

VE Base Axis Speed

■ Relative modification
All steps are selected regardless of the play speed type. This method is used to
change all steps by a specified percentage. This is called relative modification.

0005 MOVJ VJ=25.00

0006 MOVL V=138
0007 MOVJ VJ=50.00

SPEED IS DOUBLED

0005 MOVJ VJ=50.00

0006 MOVL V=276
0007 MOVJ VJ=100.00

The speed of the entire job or specified section can be changed.

 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 139

Other editing Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm

a) Select {JOB} under the top menu.

b) Select {JOB}.
c) Move the cursor to the address area.
d) Press [SHIFT] + [SELECT] in the speed modify start line.
Specify the range as described in “Setting the Range” for Cut and Paste oper-
ation.
e) Select {EDIT} under the menu.
f) Select {CHANGE SPEED}.
The speed modification display is shown.

JOB EDIT DISPLAY UTILITY

L
SPEED MODIFICATION R1 C S
START LINE NO. 0001
END LINE NO. 0002
MODIFICATION TYPE CONFIRM
SPEED KIND VJ
SPEED 50.00 %
EXEC CANCEL

!Turn on servo power

g) Item setting operation.

1) START NO.
Displays the first line number of the section to be modified.
2) END NO.
Displays the last line number of the section to be modified.
3) CHANGE MODE
Selects the confirmation before changing: “CONFIRM” or “NO CONFIRM”.
Each time [SELECT] is pressed when the cursor is on this item, the setting
alternates between “CONFIRM” and “NO CONFIRM”.
4) SPEED TYPE
Selects the speed type.
When [SELECT] is pressed when the cursor is on this item, selection dialog is
displayed. Select the speed type to be changed.
5) SPEED VALUE
Specifies the speed value.
When [SELECT] is pressed when the cursor is on this item, the mode changes
to number input mode. Input the speed value and press [ENTER].

h) If “MODIFICATION TYPE” is set to “CONFIRM”, the confirmation dialog is dis-

played.
If “YES” is selected, the speed on the first line in the range is changed and the
next speed is searched.
If “NO” is selected, the current speed is not changed and the next speed is
searched.
If “MODIFICATION TYPE” is set to “NO CONFIRM”, all the speeds of the
specified section are changed.
i) Select “EXEC”.
 MOTOMAN ROBOTICS EUROPE
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Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm Other editing

■ Modification by TRT (Traverse Time)

Modifications made by TRT have the following characteristics:
✔ By setting the time required to execute a move instruction (moving time) to a
desired value, the speeds can be modified.
✔ It is possible to measure the moving time without actually moving the robot.

For example, when the movement from lines 5 through 20 currently requires 34
seconds, and you want to reduce this to 15 seconds, this function is used.
a) Select {JOB} under the top menu.
b) Select {JOB}.
c) Move the cursor to the address area.
d) Press [SHIFT] + [SELECT] in the move time measure start line.
Specify the range as described in “Setting the Range” for Cut and Paste oper-
ation.
e) Select {EDIT} under the menu.
f) Select {TRT}.
The TRT display is shown.
JOB EDIT DISPLAY UTILITY
L
TRT R1 C S
START LINE NO. 0001
END LINE NO. 0002
MOVING TIME 10.50 sec
SETTING TIME 7.00 sec
EXEC CANCEL

!Turn on servo power

g) Item setting operation .

1) START NO.
Displays the first line number of the section to be measured and modified.
2) END NO.
Displays the last line number of the section to be measured and modified.
3) MOVING
The moving time needed to move from the first number to last number is
measured and displayed.
4) SET
Set the desired moving time.
When [SELECT] is pressed when the cursor is on this item, the input buffer
line is displayed. Input the desired moving time and press [ENTER].

h) Select “EXEC”.
The speed is changed according to the setting.
 MOTOMAN ROBOTICS EUROPE
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Other editing Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm

Note!
If a step has specific speed data and SPEED or ARCON instructions are present,
the speed data for those steps are not changed.
If the speed data is limited by the maximum value, the following message is dis-
played.
! Limited to maximum speed

5.3.B Editing motion type

a) Select {JOB} under the top menu.
b) Select {JOB}.
c) Move the cursor to the address area.
d) Select the line to be modified.
The instruction on the cursor is displayed in the input buffer line.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:001 R1 TOOL:0
0001 NOP
0002 'CAR TYPE-A JOB
0003 JUMP JOB:JOB-01
0004 MOVJ VJ=50.00
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 MOVJ VJ=50.00
=> MOVJ VJ=50.00
!

e) Press [SHIFT] + the cursor key simultaneously.

The motion type in the input buffer line changes.
The modification of the speed according to the modification of the motion type
is calculated by the ratio to maximum speed at each speed.

Joint Speed: MAX=100.0%

Linear Speed: MAX=9000cm/min
(e.g.)
Joint Speed: 50% = Linear Speed: 4500cm/min
Linear Speed: 10% = Linear Speed: 900cm/min
0006 MOVJ VJ=50.00
0007 MOVJ VJ=50.00
=> MOVL V=4500
!

f) Press [ENTER].
The instruction on the cursor line is replaced with one on the input buffer line.
 MOTOMAN ROBOTICS EUROPE
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Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm Other editing

JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:001 R1 TOOL:0
0001 NOP
0002 'CAR TYPE-A JOB
0003 JUMP JOB:JOB-01
0004 MOVL V=4500
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 MOVJ VJ=50.00
=> MOVL V=4500
!

5.3.C Editing condition files

Condition files are prepared in order to set the conditions for the robot to execute
instructions. The desired conditions are saved in the condition file, and a file
number is assigned.
Multiple condition files are provided. More than one pattern can be set up in each
condition file. The patterns are listed by “condition numbers.”

Note!
Refer to XRC Instructions for information regarding the contents and editing meth-
ods for the condition file.
Condition files

Application A Application B Application C

Condition Condition Condition

Number 1 Number 1 Number 1

5.3.D Editing user variables

User variables are used for temporary storage for counters, calculations and input
signals. It is possible to edit which variables are used for what purpose for each
job. Since the same user variable can be used in multiple jobs, save the numerical
values as common references for the jobs.

User variables have the following applications:

✔ Controlling of the number of workpieces
✔ Controlling of the number of jobs
✔ Sending/receiving of information between jobs
 MOTOMAN ROBOTICS EUROPE
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Other editing Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm

User variable values are maintained even when the power is turned off. The data
formats for user variables are as described in the following table:
User Variables

Variable No.
Data Format Functions
(pcs)

Byte Type B000 to B099 Range of storable values is from 0 to 255.

(100) Can store I/O status.
Can perform logical operations (AND, OR, etc)

Integer Type I000 to I099 Range of storable values is from -32768 to 32767.
(100)

Double-precision D000 to D099 Range of storable values is from -2147483648 to

Type (100) 2147483647.

Real Type R000 to R099 Range of storable values is from -3.4E+38 to 3.4E+38.
(100) Accuracy: 1.18E-38 < x <=3.4E38

Position Robot P000 to P127 Can store position data in pulse form or in XYZ form.
Type (128) XYZ type variable can be used as target position data for
move instructions, and as incremental values for parallel
Base BP000 to BP127 shift instructions.
(128)

Station EX000 to EX127

(128)

Note!
Play Speed V:
MOVL V=I000
The variable I000 is used for speed V with this move instruction.
The unit for V is 0.1mm per second.
For example, if I000 were set as 1000, the following would be true:
I000=1000 unit for V is 0.1 mm/sec V=100.0mm per second
Note that, depending on the unit being used, the value of the variable and the
value of the actual speed on occasion might not match.

Play Speed VJ:

MOVL VJ=I000
The unit for VJ is 0.01%.
For example, if I000 were set as 1000, the following would be true:
I000=1000 unit for VJ is 0.01% VJ=10.00%.

Timer T:
TIMER T=I000
The unit for T is 0.01 seconds.
For example, if I000 were set as 1000, the following would be true:
I000=1000 unit for T is 0.01 seconds T=10.00 seconds.
 MOTOMAN ROBOTICS EUROPE
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■ Displaying byte, integer, double-precision, and real type variables

a) Select {VARIABLE} under the top menu.
b) Select desired variable type.
Select any variable among {BYTE}, {INTEGER}, {DOUBLE}, and {REAL}
under the sub menu.
The variable display is shown. (Following is a case that BYTE TYPE is
selected.)
DATA EDIT DISPLAY UTILITY
L
BYTE VARIABLE R1 C S
NO. CONTENTS NAME
B000 2 0000_0010 WORK NUM
B001 0 0000_0000
B002 255 1111_1111
B003 0 0000_0000
B004 0 0000_0000
B005 10 0000_1010
B006 1 0000_0001
B007 1 0000_0001
!Turn on servo power

c) Move the cursor to the desired variable no.

When the desired variable number is not displayed, move the cursor with
either of the following operations.

(Operation 1)
Move the cursor on the variable no. and press [SELECT]. And then input the
variable no. using the number key and press [ENTER].

(Operation 2)
Move the cursor to the menu area and select {EDIT} ‡ {SEARCH}. And then
input the variable no. with the number key and press [ENTER].

DATA EDIT DISPLAY UTILITY

L
BYTE VARIABLE R1 C S
MOVE NO. CONTENTS NAME
CURSOR TO B055 10 0000_1010
DESIRED B056 255 1111_1111
VARIABLE B057 255 1111_1111
NUMBER
 MOTOMAN ROBOTICS EUROPE
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■ Setting byte, integer, double-precision, and real type variables

a) Select {VARIABLE} under the top menu.
b) Select desired variable type.
Select any variable among {BYTE}, {INTEGER}, {DOUBLE}, and {REAL}
under the sub menu.
c) Move the cursor to the desired variable No.
When the desired variable number is not displayed, move the cursor with
either of the following operations.
d) (Operation 1)
Move the cursor on the variable no. and press [SELECT]. Then input the vari-
able no. using the number key and press [ENTER].

(Operation 2)
Move the cursor to the menu area and select {EDIT} ‡ {SEARCH}. Then input
the variable no. with the number key and press [ENTER].
e) Move the cursor to the data of the variable.
The value input status display is shown.
f) Press [SELECT].
g) Input the desired number.
h) Press [ENTER].
Input value is set to the variable on the cursor position.
DATA EDIT DISPLAY UTILITY
L
BYTE VARIABLE R1 C S
NO. CONTENTS NAME
B000 2 0000_0010 WORK NUM
B001 12 0000_1100
B002 255 1111_1111

■ Registering variable name

a) Select {VARIABLE} under the top menu.
b) Select desired variable.
Select any variable type from among byte type, integer type, double precision
type, real type, robot position type, base position type, and station position
type.
c) Move the cursor to desired variable number.
If desired variable number is not displayed, move the cursor by either of fol-
lowing operations.
Select the variable number, input desired variable number and press [ENTER]
The cursor moves to the variable number to be input.
Move the cursor to the menu area and select {EDIT} {SEARCH}. Input
desired variable number and press [ENTER].
The cursor moves to the variable number to be input.
d) Select “NAME”.
The input buffer line is displayed.
e) Input name.
 MOTOMAN ROBOTICS EUROPE
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Note!
Refer to “Character input” for the character input operation.

f) Press [ENTER].
The variable name is registered.
DATA EDIT DISPLAY UTILITY
L
BYTE VARIABLE R1 C S
NO. CONTENTS NAME
B000 2 0000_0010 WORK NUM
B001 12 0000_1100 WORK2 NUM
B002 255 i1111_1111

■ Displaying position variables

a) Select {VARIABLE} under the top menu
b) Select desired position variable type.
The position variable display of desired type among robot type, base type, and
station type is shown.
DATA EDIT DISPLAY UTILITY
L
POSITION VARIABLE R1 C S
#P000 [ROBOT ] NAME:SHIFT DATA
R1:X 330.000 TOOL:01
Y 0.000
Z -10.000 <TYPE>
Rx 0.00 FRONT S<180
Ry 0.00 UP R<180
Rz 0.00 FLIP T<180

!Turn on servo power

c) Press the page key.

Select the desired number by pressing PAGE KEY.
If [SHIFT] is pressed simultaniously, the display returns to previous page.
When the desired variable number is not displayed, move the cursor with
either of the following operations.

(Operation 1)
Move the cursor to the variable no. and press [SELECT]. Then input the varia-
ble no. using the number key and press [ENTER].

(Operation 2)
Move the cursor to the menu area and select {EDIT} ‡ {SEARCH}. Then input
the variable no. with the number key and press [ENTER].
 MOTOMAN ROBOTICS EUROPE
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DATA EDIT DISPLAY UTILITY

L

Move to desired
POSITION VARIABLE R1 C S
#P025 [PULSE ] NAME:
variable number
R1:S 28109 TOOL:01
page
L -136
U 0
 MOTOMAN ROBOTICS EUROPE
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■ Setting position variables

The table in the following shows the types of position variables and setting meth-
ods.

Note!
The setting of position variables is done in the teach mode.
Turn the servo power on when setting the variables with the axis keys.

Types of Position Variables and Setting Methods

BPxxx EXxxx
Pxxx (Robot Axes)
(Base Axes) (Station Axes)
TYPE
Pulse XYZ
Pulse Type XYZ Type Pulse Type
Type Type

Select coordinates from

base, robot, user, tool.

Z-axis

Using the number keys

45000 7 8 9

4 5 6
1 2 3
0 . -

Setting
Method X-axis Y-axis

Using the axis keys

X++ x
X-- S R- x
S R+

Y+ y y
Y- L+ B-
L- B+

Z- Z+ z z
U- U+ T- T+
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■ Setting position variables using the number keys

Pulse type
a) Select {VARIABLE} under the top menu.
b) Select desired position variable type.
The desired variable display is shown (robot, base, or station).
DATA EDIT DISPLAY UTILITY
L
POSITION VARIABLE R1 C S
#P000 [ ] NAME:
:S TOOL :
L
U
R
B
T

!Turn on servo power

c) Select the variable data type.

The selection dialog is displayed.
#P000 [ ****** NAME:

d) Select {PULSE}.
e) Move the cursor to desired data to be input and press [SELECT].
f) Input the value.
PULSE
BASE
ROBOT
USER
TOOL
MASTER TOOL

g) If the position variable was set before, confirmation dialog is displayed for data
clear. If “YES” is selected, the data is cleared.

Clear data?

YES NO

h) Press [ENTER].
Set the value in the cursor position.
DATA EDIT DISPLAY UTILITY
L
POSITION VARIABLE R1 C S
#P000 [PULSE ] NAME:
R1:S 45000 TOOL :00
L
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XYZ type
a) Select {VARIABLE} under the top menu.
b) Select desired position variable type.
c) Select the variable data type.
The selection dialog is displayed.
#P000 [ ****** NAME:

PULSE
BASE
ROBOT
USER
TOOL
MASTER TOOL

d) Select desired coordinates except PULSE.

e) Move the cursor to desired data to be input and press [SELECT].
f) Input the value.
g) Press [ENTER].
Set the value in the cursor position.

DATA EDIT DISPLAY UTILITY

L
POSITION VARIABLE R1 C S
#P000 [ROBOT ] NAME:
R1:X 330.000 TOOL:01
Y 0.000
Z -10.000 <TYPE>
Rx 0.00 FRONT S<180
Ry 0.00 UP R<180
Rz 0.00 FLIP T<180

!Turn on servo power

Setting of “<TYPE>”
Each time [SELECT] is pressed when the cursor is on the setting data in the input
buffer line, the settings alternate.
Z -10.000 <TYPE>
Rx 0.00 REAR S<180
Ry 0.00 UP R<180
Rz 0.00 FLIP T<180

About “<TYPE>”
✔ It is not necessary to set a type if the position variable is to be used for parallel
shift operations.
✔ When the position variable is used with a move instruction such as “MOVJ
P001”, it is necessary to set a type. For details on types, refer to “Manipulator
Type”.
Current Position Display (XYZ) shows the current setting of a type.
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■ Setting position variables using the axis keys

Pulse type
a) Select {VARIABLE} under the top menu.
b) Select desired position variable type.
c) Press [SHIFT] + [ROBOT] .
When you need an external axis position, press [SHIFT]+[EX.AXIS].
When there are two or more robot axis, base axis, or a station axis, specify
the axis with following operation.

(Robot Axis)
✔ Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on the status line
changes:
R1 R2 R3.

(Base or Station Axis)

✔ Each time [SHIFT]+[EX.AXIS] is pressed, the axis displayed on the status line
changes:
B1 B2 B3 S1 S2 S3 S4 S5 S6

d) Move the robot with the axis key.

Move the robot or the external axis to the desired position to be set to position
variable.
e) Press [MODIFY].
f) Press [ENTER]

XYZ type
a) Select {VARIABLE} under the top menu.
b) Select desired position variable type.
Move the robot to the desired position to be set to position variable.
c) Move the robot with the axis key.
Move the robot or the external axis to the desired position to be set to position
variable.
d) Press [MODIFY].
e) Press [ENTER].

■ Deleting data set of position variables

a) Select {VARIABLE} under the top menu.
b) Select desired position variable type.
c) Select {DATA} under the menu.
The pulldown menu is displayed.
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.
DATA EDIT DISPLAY UTILITY
L
CLEAR DATA R1 C S
#P000 [ROBOT ] NAME:
R1:X 330.000 TOOL:01
Y 0.000
Z -10.000 <TYPE>

d) Select {CLEAR DATA}.

The displayed page position variable data is deleted..
DATA EDIT DISPLAY UTILITY
L
POSITION VARIABLE R1 C S
#P000 [ ] NAME:
:S TOOL :
L
U
R
B
T

!Turn on servo power

■ Checking positions by position variables

a) Select {VARIABLE} under the top menu.
b) Select desired position variable type.
Selected axis moves to the position specified by the variable.
c) Press [FWD].
Move to the variable position where the selected axis has been set.

Note!
The selected axis (maipulator, base, or station) moves directly to the set variable
position. Before pressing [FWD], check that the surrounding area is safe.
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■ Manipulator types
When robot axis position data is described in the XYZ format, a number of solu-
tions are obtained from the robot’s structure when moving it to the described posi-
tion. In order to select the appropriate solution, it is necessary to specify the robot
type. This robot is called “Type.” There are up to six types in XRC system. These
types also vary according to the robot models.

✔ Flip/No flip: R-axis position

✔ R-axis angle
✔ T-axis angle
✔ Front/Back: Relationship between the s-axis and control point
✔ Upper arm/Lower arm: Type comprised of the L- and U-axis
✔ S-axis angle
These six types are described in the following:

Flip/No flip
This shows the R-axis position.
When the R-axis is in the position at A as shown in the following diagram, it is
known as “Flip;” when it is in the B position, it is called “No Flip.” However, in a
robot in which the R-axis can move more than ±180° even in position A. It is nec-
essary to specify whether the R-axis is from -90° to 90°, or from 270° to 360°, or
from -360° to -270°. The same is true for the B position. This is set at the folowing
“R-Axis Angle”.

Flip No flip

0°
0°

B
A

-90 < θ R < = 90 90 < θ R < = 270

270 < θ R < = 360, -360 < θ R < = -270 -270 < θ R < = -90

Note!
θ R is the angle when the R-axis home position is 0°.
This configuration is required for SK, K, SV model robots. It is not required for the
S model robot.
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R-axis angle
This specifies whether the R-axis angle is less than ±180° or greater than ±180°

R < 180° R >= 180°

0° 0°
360° -360°

-180° 180°

-180 < θ R <= 180 -180 < θ R < 180,-360 <= θ R <180

Note!
θ R is the angle when the R-axis home position is 0°.
This configuration is required for SK, K, SV and S model robots.

T-axis angle
The T-axis is specified for robots which have three wrist axes. T-axis angle speci-
fies whether the T-axis angle is less than ±180° or greater than ±180°.

T <180° T >= 180°

0°
0°
360° -360°

-180° 180°

180 < θ T < 180,-360 <= θ T < -180

-180 <θ T <=180
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Note!
θ T is the angle when the T-axis home position is 0°.
These configurations specify positions of the R-, B-, and T-axis.
This configuration is required for SK, K, and SV model robots. It is not required for
the S model robot.

Front/Back
This specifies where in the S-axis rotation center the B-Axis rotation center
locates when viewing the L-axis and U-axis from the right-hand side. When
viewed from the right-hand side, the right of the S-axis rotation center is called the
front, and the left is called the back.

Right-hand side

S-axis 0°

S-Axis 0° S-Axis 180°

Back Front Back Front

The diagram above shows the S-axis at 0° and at 180°. This is the configuration
when the L-axis and the U-axis are viewed from the right-hand side. This configu-
ration is required for SK, K, SV and S model robots.

Upper arm/Lower arm

This specifies a type comprised of L-axis and U-axis when the L-axis and U-axis
are viewed from the right-hand side.
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Right-hand side

Upper Arm Lower Arm

This configuration is required for SV and S model robots. It is not required for SK
and K model robots.

S-Axis angle
This specifies whether the S-axis angle is less than ±180° or greater than ±180°.

S<180° S >= 180°

0° 0°

360° -360°

-180° 180°

-180° < θ S <= 80° -180° < θ S <= 360°

-360° < θ S <= -180°

Note!
θ S is the angle when the S-axis home position is 0°.
This configuration is required for the robots which have working envelopes greater
than ±180°.
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5.3.E Editing local variables

User variables and local variables can be used in the storage of counters, calcula-
tions, and input signals. The data format is the same as that of user variables. As
shown in the table below, the letter L is affixed to the variable number to indicate a
local variable.

Local variables

Data format Variable no. Functions

Byte type LB000 to Range of storeable values is from 0 to 255.

LB Can store I/O status.
Can perform logical operations (AND, OR, etc.)

Integer type Ll000 to Range of storeable values is from -32768 to 32767.

LI

Double-precision LD000 to Range of storeable values is from -2147483648 to

type LD 2147483647.

Real type LR000 to Range of storeable values is from -1.70141E+38 to

LR 1.70141E+38.

Position Robot LP000 to Can store position data in pulse form or in XYZ form. XYZ
type axes LP type variables can be used as target position data for
move instructions, and as incremental values for parallel
Base LBP000 to shift instructions.
axes LBP

Station LEX000 to
axes LEX

Local variables differ from user variables in the following four ways:

Used in one job only

With user variables it is possible to define and use one variable in multiple jobs,
but local variables are used only in the one job in which they are defined, and can-
not be read from other jobs. Accordingly, local variables do not affect other jobs,
so it is possible to define a variable number (such as LB001) separately in differ-
ent jobs, and use it in different ways in each of these jobs.

User variable
B001
Job 1 Job 2 Job 3

Job 1 Job 2 Job 3 LB001 LB001 LB001

User variables Local variables

Able to use any number of variables

The number is set in the job header display. When the number is set, the area for
the value is saved in memory.
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Note!
The memory area where local variables can be set is limited to 540 bytes.

Not able to display the variable contents

To display the local variable contents, user variables are needed.
For example, to view the contents of local variable LP000, save it temporarily as
user variable P001. Then execute the instruction SET P001 LP000, and view the
position variable display for P001.

Enabled only during the execution of the defined job

The contents of the local variables are enabled only during the execution of the
defined job.
The local variable field is assured when the defined job is called (when the job is
executed by a CALL or JUMP instruction, or the job is selected by the menu).
Once the job is completed by the execution of a RET, END, or JUMP instruction,
the local variable data that was set is disabled. However, if a job which uses local
variables itself calls a separate job, then is returned to by use of a RET instruction,
the data that was present prior to the CALL instruction remains in effect and can
be used.

Note!
Precautions for variables and units
As was the case with user variables, note that, depending on the value of the unit
being used, the value of the variable and the value of the actual speed or time an
occasion might not match.

■ Setting the number of local variables

To use any of the variables in a job, setting is done in the job header display.
When setting the number of variables, only save it in that memory area.

Note!
Only when expanding the “LANGUAGE LEVEL” is it possible to use local varia-
bles. Refer to Instructions and Maintenance [3.11 Instruction Level Setting] for
details on setting the language level.

a) Select {JOB} under the top menu.

b) Select {JOB}.
c) Select {DISPLAY} under the menu .
d) Select {JOB HEADER}.
The job header display is shown. Scroll the display using the cursor.
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JOB EDIT DISPLAY UTILITY

L
JOB HEADER R1 C S
JOB NAME : TEST-JOB
TO SAVE TO FD : NOT DONE
GROUP SET : R1
NO. OF LOCAL VARIABLES :
BYTE (LB) [000]
000
INT (LI) [000]
DOUBLE (LD) [000]
REAL (LR) [000]
ROBOT (LP) [000]
!

e) Select the number of local variables to be set.

The number input status is displayed.
f) Input the number of variables.
g) Press {ENTER}.
The number of local variables are set.
JOB EDIT DISPLAY UTILITY
L
JOB HEADER R1 C S
JOB NAME : TEST-JOB
TO SAVE TO FD : NOT DONE
GROUP SET : R1
NO. OF LOCAL VARIABLES :
BYTE (LB) [000]
010
INT (LI) [000]
DOUBLE (LD) [000]
REAL (LR) [000]
ROBOT (LP) [000]
!

5.3.F Searching
When performing editing or confirmation, a search for the job or step can be done.
The search can be done when the cursor is in either the address or instruction
area in the job content display.
a) Select {JOB} under the top menu.
b) Select {JOB}.
The job content display is displayed.
c) Select {EDIT} under the menu.
The pull down menu is displayed.
JOB EDIT
EDIT DISPLAY UTILITY
L
TOP LINE R1 C S
END LINE
SEARCH
SEARCH
ENABLE SPEED TAG
ENABLE POS LVL TAG
0003 MOVJ VJ=12.50
0004 MOVL V=276
0005 TIMER T=1.00
0006 DOUT OT#(1) ON
=>MOVJ VJ=100.00
!Turn on servo power
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d) Select {SEARCH}.
The select dialog is displayed.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:003 R1 TOOL:0
0000 NOP
0001 'THIS JO LINE SEARCH
LINE SEARCH
0002 MOVJ V
STEP SEARCH
0003 MOVJ V
LABEL SEARCH
0004 MOVL V
INSTRUCTION SEARCH
0005 TIMER T
TAG SEARCH
0006 DOUT O
0007 MOVL V=138
!Turn on servo power

e) Select the searching type.

Searching is an operation by which the cursor is moved to a specific step and

instruction in the edit job. A target point can be instantaneously searched out with-
out using the cursor.

■ Line search
This function moves the cursor to the desired line number.

a) Select “LINE SEARCH” .

The input buffer line is displayed.
b) Input desired line number.
c) Press [ENTER].
Move the cursor to the line number and the display is shown.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:081 R1 TOOL:0
0100 MOVJ VJ=100.00
0101 TIMER T=1.00
0102 MOVL V=138
0103 MOVL V=138
0104 MOVJ VJ=50.00
0105 MOVJ VJ=100.00
0106 DOUT OT#(1) ON
0107 TIMER T=0.50
!Turn on servo power

■ Step search
This function moves the cursor to the desired step number (move instruction).
a) Select “STEP SEARCH”.
The input buffer line is displayed.
b) Input the step number.
c) Press [ENTER].
Move the cursor to the input step and the display is shown.
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JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:081 R1 TOOL:0
0100 MOVJ VJ=100.00
0101 TIMER T=1.00
0102 MOVL V=138
0103 MOVL V=138
0104 MOVJ VJ=50.00
0105 MOVJ VJ=100.00
0106 DOUT OT#(1) ON
0107 TIMER T=0.50
!Turn on servo power

■ Label search
This function moves the cursor to the desired label.
a) Select “LABEL SEARCH”.
The input buffer line is displayed.
b) Input desired label name.
At this time, search can be conducted by only inputting the first character of
the label. For example, to search for the “START” label, by only inputting “S”
the search can be done.
0005 TIMER T=1.00
> START

c) Press [ENTER].
The label is searched out and the cursor is on its line number.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:081 R1 TOOL:*
0099 *START
0100 MOVJ VJ=100.00
0101 TIMER T=1.00
0102 MOVL V=138
0103 MOVL V=138
0104 MOVJ VJ=50.00
0105 MOVJ VJ=100.00
0106 DOUT OT#(1) ON
!Turn on servo power

d) Use the cursor to continue searching.

It is possible to continue searching by pressing the cursor key.
To end searching, select {EDIT} ‡ {END SEARCH} on the menu and press
[SELECT].
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JOB EDIT
EDIT DISPLAY UTILITY
L
TOP LINE R1 C S
END LINE
SEARCH
END SEARCH
ENABLE SPEED TAG
ENABLE POS LVL TAG
0102 MOVL V=138
0103 MOVL V=138
0104 MOVJ VJ=50.00
0105 MOVJ VJ=100.00
0106 DOUT OT#(1) ON
!Turn on servo power

■ Instruction search
This function moves the cursor to a desired instruction.
a) Select “INSTRUCTION SEARCH”.
The INFORM command list is displayed.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:003 R1 TOOL:00
0000 NOP
0001 'THIS JOB IS TEST JOB IN/OUT
0002 MOVJ VJ=50.00 CONTROL
0003 MOVJ VJ=12.50 DEVICE
0004 MOVL V=276 MOTION
0005 TIMER T=1.00 ARITH
0006 DOUT OT#(1) ON SHIFT
0007 MOVL V=138
!Turn on servo power

b) Select desired instruction.

The instruction is searched out and the cursor is on its line number.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:005 R1 TOOL:*
0010 ARCON ASF#(1)
0011 MOVJ VJ=100.00
0012 TIMER T=1.00
0013 MOVL V=138
0014 MOVL V=138
0015 MOVJ VJ=50.00
0016 MOVJ VJ=100.00
0017 DOUT OT#(1) ON
!Turn on servo power

c) Use the cursor to continue searching.

It is possible to continue searching by pressing the cursor key.
To end searching, select {EDIT} ‡ {END SEARCH} on the menu and press
[SELECT].
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JOB EDIT DISPLAY UTILITY

L
TOP LINE R1 C S
END LINE
SEARCH
END SEARCH
ENABLE SPEED TAG
ENABLE POS LVL TAG
0013 MOVL V=138
0014 MOVL V=138
0015 MOVJ VJ=50.00
0016 MOVJ VJ=100.00
0017 DOUT OT#(1) ON
!Turn on servo power

■ Tag search
This function moves the cursor to the desired tag.
a) Select “TAG SEARCH”.
The instruction list dialog is displayed.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:003 R1 TOOL:00
0000 NOP
0001 'THIS JOB IS TEST JOB IN/OUT
0002 MOVJ VJ=50.00 CONTROL
0003 MOVJ VJ=12.50 DEVICE
0004MOVL V=276 MOTION
0005 TIMER T=1.00 ARITH
0006 DOUT OT#(1) ON SHIFT
0007 MOVL V=138
!Turn on servo power

b) Select desired tag.

The tag list dialog for selected instruction is displayed.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:003 R1 TOOL:0
0000 NOP
0001 'THIS JOB IS TEST JOB B
0002 MOVJ VJ=50.00 B[%]
D
0003 MOVJ VJ=12.50 I
0004 MOVL V=276 OG#(%)
0005 TIMER T=1.00 OGH#(%)
0006 DOUT OT#(1) ON OT#(%)
0007 MOVL V=138
!Turn on servo power

c) Press [SELECT].
Move the cursor to the selected tag and the display is shown.
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JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:005 R1 TOOL:*
0010 DOUT OT#(1) ON
0011 MOVJ VJ=100.00
0012 TIMER T=1.00
0013 MOVL V=138
0014 MOVL V=138
0015 MOVJ VJ=50.00
0016 MOVJ VJ=100.00
0017 DOUT OT#(1) ON
!Turn on servo power

d) Use the cursor to continue searching.

It is possible to continue searching by pressing the cursor key.
To end searching, select {EDIT} + {END SEARCH} on the menu and press
[SELECT].
JOB EDIT DISPLAY UTILITY
L
TOP LINE R1 C S
END LINE
END SEARCH
SEARCH
ENABLE SPEED TAG
ENABLE POS LVL TAG
0013 MOVL V=138
0014 MOVL V=138
0015 MOVJ VJ=50.00
0016 MOVJ VJ=100.00
0017 DOUT OT#(1) ON
!Turn on servo power
 MOTOMAN ROBOTICS EUROPE
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Setting the edit lock Created: 99-02-05 Revised: 02-07-03 Doc. name: Mrs50000-ch5.fm

5.4 Setting the edit lock

The edit lock function can be set to avoid problems with inadvertent changes in
registered jobs or data. There are two types of edit lock features:

✔ Edit lock by individual job unit

✔ Edit lock for all jobs

Note
The application of an edit lock for all jobs can be performed only with systems that
are equipped with the optional EDIT LOCK switch on the playback panel.

See separate chapter: Editing Jobs / Setting Edit Lock on Individual Jobs” for fur-
ther information on the edit lock function for individual jobs.

5.4.A Edit lock for all jobs (option)

The application of an edit lock for all jobs can be performed only with systems that
are equipped with the optional EDIT LOCK switch on the playback box.

Turn the EDIT LOCK key to the ON position. The edit lock is set, and all editing
operations are prohibited. The key can be removed at this time.

OFF ON OFF ON

EDIT EDIT
LOCK LOCK

When the EDIT LOCK key is turned to the OFF position, the edit lock state is
released.

OFF ON

EDIT
LOCK
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Operator’s manual MOTOMAN XRC Page: 167

One-touch operations Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

6. Robot Convenient functions

6.1 One-touch operations
6.1.A Direct open
The direct open function immediately shows the job content display or condition
file contents of a the job called with the CALL instruction. Move the cursor to the
required job name or condition file name and simply press DIRECT OPEN KEY to
display the contents of the file. Direct open can be used for the following displays:

✔ Job content display for a job name directly specified by a CALL instruction
✔ Condition file display for a file name directly specified by a work instruction
✔ Command position display for a move instruction
✔ I/O display with an I/O instruction (when I/O numbers are specified)

<Example> example using direct open

DATA EDIT DISPLAY UTILITY

JOB EDIT DISPLAY UTILITY In the L
L COMMAND POS R1 C S
JOB CONTENT R1 C S 8th line INTR :JOINT SPD:50.00 %
J:JOB-A S:005 R1 TOOL:0 [CMD] TOOL:00 [CURR] TOOL:00
R1:S -18402 R1:S -18402
0008 MOVJ VJ=50.00 L 45714 L 45714
0009 DOUT OT#(1) ON U -28450 U -28450
R -287 R -287
0010 WVON WEV#(2) B 8090 B 8090
0011 CALL JOB:JOB-C T -461 T -461

In the 9th !

line COMMAND POSITION DISPLAY

DATA EDIT DISPLAY UTILITY
L
UNIVERSAL OUTPUT R1 C S

GROUP OG#01 1:DEC. 01:HEX.

OUT#001 #1010 [WORK NUM ]
OUT#002 #1011 [ ]
OUT#003 #1012 [ ]
OUT#004 #1013 [ ]
OUT#005 #1014 [ ]
In the 10th line OUT#006 #1015 [ ]
OUT#007 #1016 [ ]
OUT#008 #1017 [ ]
!
UNIVERSAL OUTPUT DISPLAY

DATA EDIT DISPLAY UTILITY

L
WEAVING CONDITION R1 C S

WEAVING COND NO.: 2

MODE (0:SINGLE,1:TRI,2:L) 0
(0:SMOOTH,1:NONE) 0
SPEED (0:FREQ,1:MOVING TIME) 0
AMPLITUDE(ACTIVE IN SINGL) 234.567mm
FREQUENCY 3.4Hz
In the 11th line PATTERN VERTICAL 1234.567mm
HORIZONTAL 1234.567mm
ANGLE 123.40
!
WEAVING CONDITION DISPLAY

JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:JOB-C S:000 R1 TOOL:0
0000 NOP
0001 'THIS JOB IS JOB-C
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=276
0005 TIMER T=1.00
0006 DOUT OT#(1) ON
0007 MOVL V=276
!

"JOB-C" CONTENT DISPLAY

 MOTOMAN ROBOTICS EUROPE
Page: 168 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm One-touch operations

a) Move the cursor to the job name or condition file to be changed in the job con-
tent display.
b) Press DIRECT OPEN KEY .
This key lamp lights and the job content display or the condition file display is
shown. When the DIRECT OPEN KEY key is pressed once more, the key
lamp turns off, and the former job content display is shown.

Note!
The direct open function cannot be used again while a directly opened display is
shown.
If another display is selected while the direct open function is effective, the func-
tion is automatically cancelled and its lamp goes out.

6.1.B Reserved display call

When operating while referring to other displays, the operation can become com-
plicated. The “Reserved Display Call” is a function which registers and shows the
display during the operation by only pressing RESERVED DISPLAY CALL KEY .

Note!
The reserved display call function can be used in the teach mode or display mode.
However, a display which is only used in the teach mode cannot be shown in the
display mode, and vice-versa.
A display only used in the security mode cannot be shown in another mode.

<Example> Calling the reserved display

In this example, the position variable display for setting the parallel shift is regis-
tered as the reserved display. The movements in the parallel shift job are checked
by confirming the shift data on the reserve screen while watching the movement
sequence on the job content display. When the check is complete, the display
returns to the job content display.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 169

One-touch operations Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

Position Variable Registered as Reserve

Confirm shift Display
data DATA EDIT DISPLAY UTILITY
Random Display POSITION VARIABLE R1
L
C S

(Includes displays higher than #P000 [ROBOT ] NAME:SHIFT DATA

master mode) R1:X -200.000 TOOL :00
Operation Y 0.000
Order Z 500.000 <TYPE>
Confirmation Rx 0.00 REAR S>=180
JOB EDIT DISPLAY UTILITY Ry 0.00 UP R>=180
L
JOB CONTENT R1 C S Rz 0.00 NO FLIP T< 180
J:JOB1 S:000 R1 TOOL:0
0000 NOP
0001 'PARALLEL SHIFT JOB
0002 MOVJ VJ=50.00 !
0003 MOVJ VJ=12.50
0004 MOVL V=276
0005 TIMER T=1.00
0006 DOUT OT#(1) ON
=>MOVJ VJ=100.00
!

JOB EDIT DISPLAY UTILITY

COMMAND POS
INTR :JOINT SPD:50.00 %
[CMD] TOOL:00 [CURR] TOOL:00
R1:S -18402 R1:S -18402
L 45714 L 45714
U -28450 U -28450
R -287 R -287
B 8090 B 8090
T -461 T -461

JOB EDIT DISPLAY UTILITY

L
WEAVING CONDITION R1 C S
WEAVING COND NO.: 2
MODE (0:SINGLE,1:TRI,2:L) 0
(0:SMOOTH,1:NONE) 0
SPEED (0:FREQ,1:MOVING TIME) 0
AMPLITUDE(ACTIVE IN SINGL) 234.567mm
FREQUENCY 3.4Hz
PATTERN VERTICAL 1234.567mm
HORIZONTAL 1234.567mm
ANGLE 123.40 °
!
 MOTOMAN ROBOTICS EUROPE
Page: 170 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm One-touch operations

■ Registering reserved displays

a) Call the display to be registered.
For example, select {VARIABLE} + {POSITION(ROBOT)} under the top menu,
and the position variable display is shown.
DATA EDIT DISPLAY UTILITY
L
POSITION VARIABLE R1 C S
#P000 [ROBOT ] NAME:SHIFT DATA
R1:X -200.000 TOOL :00
Y 0.000
Z 500.000 <TYPE>
Rx 0.00 REAR S>=180
Ry 0.00 UP R>=180
Rz 0.00 NO FLIP T< 180

b) Press [SHIFT] + RESERVED DISPLAY CALL KEY .

The shown display (in this case, the position variable display) is registered as
the reserved display.

■ Calling reserved displays

a) Press RESERVED DISPLAY CALL KEY .
This key lamp lights and the registered reserved display is shown. Press
RESERVE DISPLAY CALL KEY again. This key lamp turns off and the previ-
ous display is shown.

Note!
If another display is selected while a reserved display is on the screen, the
reserved display call is automatically cancelled and the [RESERVED DISPLAY
CALL] lamp goes out.
The reserved display call function cannot be used for some displays (for example,
the character input temporary display, external storage screen, etc.).
 MOTOMAN ROBOTICS EUROPE
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Parallel shift function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

6.2 Parallel shift function

6.2.A Parallel shift function
Parallel shift refers to the shifting of an object from a fixed position in such a way
that all points within the object move an equal distance. In the model for parallel
shift shown in the following, the shift value can be defined as the distance 12
(three-dimensional coordinate displacement). The parallel shift function is rele-
vant to the actual operation of the robot because it can be used to reduce the
amount of work involved in teaching by shifting a taught path (or position).

Shift length

In the example in the figure below, the taught position A is shifted in increments of
the distance (this is actually a three-dimensional XYZ displacement that can be
recognized by the robot) in order to enable the operation that was taught at posi-
tion A to also be performed at positions B through G.

A B C D E F G

Teaching point

The block from the SFTON to the SFTOF instructions is subject to the shift opera-
tion.
 MOTOMAN ROBOTICS EUROPE
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Line Instruction

0000 NOP

0001(001) MOVJ VJ=50.00

0002(002) MOVL V=138

0003 SFTON P UF# (1)

0004(003) MOVL V=138

0005(004) MOVL V=138 Shifted Block

0006(005) MOVL V=138

0007 SFTOF

0008(006) MOVL V=138

1 2 3 4 5 6

When shifting an entire series of operations, the range to be shifted by the shift
instruction can be set using the method indicated above, but the method shown in
the following, in which just the part to be shifted is made into a separate job, can
also be used.

SFTON P

CALL JOB: Job to be shifted

SFTOF
 MOTOMAN ROBOTICS EUROPE
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Parallel shift function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

6.2.B Setting the shift value

■ Registering position variables
The XRC has 128 position variables (P000 to P127); these can be used to define
parallel shift values. When using the parallel shift function it is necessary to meas-
ure the distance between the teaching point and the shift destination position
(XYZ displacement of each coordinate) and then register this in advance as a
position variable.
When the shift instruction is executed in playback, the operation is performed at a
location shifted from the taught position by the amount registered for the specified
position variable. The position variable display is shown in the following.

DATA EDIT DISPLAY UTILITY

L
POSITION VARIABLE R1 C S
#P000 [ROBOT ] NAME:APPLI-A
R1:X -200.000 TOOL :00
Y 0.000 Amount of
Z 500.000 <TYPE> shift (mm)
Rx 0.00 REAR S>=180
Ry 0.00 UP R>=180
Rz 0.00 NO FLIP T< 180

Amount of
!
wrist
displacement
(° )

=> SFTON P000

■ Coordinates
The shift value for parallel shift is X, Y, and Z increment in each coordinates.
There are four coordinates: base coordinates, robot coordinates, tool coordinates,
and user coordinates. In systems with no travel axes, the base coordinates and
robot coordinates are the same.

Tool coordinate
Robot Coordinate

User coordinate

Base coordinate

User coordinate
 MOTOMAN ROBOTICS EUROPE
Page: 174 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Parallel shift function

■ Setting the shift value

When setting the shift value for the position variables, use the current position
(coordinates) of the robot in the display.

CUR POS CUR POS

COORDINATE:USER COORD UF#01 TOOL:00 COORDINATE:USER COORD UF#01 TOOL:00
R1:X 5.360 mm Rx -179.91 deg. R1:X 5.360 mm Rx -179.91 deg.
Y 66.080 mm Ry -2.17 deg. Y 66.080 mm Ry -2.17 deg.
Z 316.940 mm Rz -102.89 deg. Z 416.940 mm Rz -102.89 deg.
<ROBOT TYPE> <ROBOT TYPE>
FRONT S>= 180 FRONT S>= 180
UP R< 180 UP R< 180
NO FLIP T>= 180 NO FLIP T>= 180
TEACH Position to be shifted (Operate the
POSITION manipulator using the programming
pendant)

Differences are assumed to be shift amounts

DATA EDIT DISPLAY UTILITY
L
POSITION VARIABLE R1 C S
#P000 [ROBOT ] NAME:APPLI-A
R1:X -200.000 TOOL :00
Y 0.000
Z 500.000 <TYPE>
Rx 0.00 REAR S>=180
Ry 0.00 UP R>=180
Rz 0.00 NO FLIP T< 180

The shift value is the X, Y, and Z difference between the shift position and teaching
position and the difference in angular displacement RX, RY, And RZ (normally set
at “0”). If shifting is executed at equal pitch intervals, for example for palletizing,
find the difference between the teaching position and the final shift position, then
divide by the number of pitch intervals (number of divisions) to calculate the shift
value per pitch.
A B C D E F G

L2
Teaching point Final shift pos.
L1

L1
L2=
Number of pitches

The posture of the wrist is defined by the angular displacement of the coordinates
of the wrist axes. Consequently, if the shift value is specified with X, Y, and Z only
(RX, RY, RZ=0), the wrist is shifted while maintaining the same posture as at the
teaching point. Since shifting is normally performed without changing the posture,
there is no need to specify an angular displacement for the wrist. The motion
when a parallel shift is performed is shown in the following:
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 175

Parallel shift function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

Shift without changing the wrist posture

(RX,RY,RZ=0)

Teaching posture
Shift with wrist posture change
(RX,RY,RZ 0)

Shift value

The shift value is calculated on the position data display for the coordinates in
which the shift is performed. Since this is normally performed in the user coordi-
nates, the position data display for the user coordinates is used.

6.2.C Registering shift instructions

To register the instruction, move the cursor to the address area in the job content
display during teach mode.
a) Select {JOB} under the top menu.
b) Select {JOB}.
c) Move the cursor to the address area.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:003 R1 TOOL:0
0000 NOP
0001 'THIS JOB IS TEST JOB
0002 MOVJ VJ=50.00
Address Area 0003 MOVJ VJ=12.50 Instruction
0004 MOVL V=276 Area
0005 TIMER T=1.00
0006 DOUT OT#(1) ON
=>MOVJ VJ=100.00
!Turn on servo power

■ SFTON instruction
This is the instruction that starts a parallel shift.
a) Move the cursor to the position before where the SFTON instruction is to be
registered
0020 MOVL V=138
0021 MOVL V=138
0022 MOVL V=138

b) Press [INSTRUCTION LIST].

The instruction list dialog is displayed.
 MOTOMAN ROBOTICS EUROPE
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Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Parallel shift function

IN/OUT ..
CONTROL SFTON
DEVICE SFTOF
MOTION MSHIFT
ARITH
SHIFT

c) Select the SFTON instruction.

The SFTON instruction is displayed in the input buffer line.
d) Modify the additional items, number values.
If additional items are needed to edit continuously, perform the operation of 5*
Editing Additional Item”.

(Adding or modifying additional items)

When changing the position variable number, move the cursor to the position vari-
able number and press [SHIFT] + [CURSOR] to increase and decrease the value.
=> SFTON P000

When using the number key, if [SELECT] is pressed, the input line is displayed.
=> SFTON P000
> P=

Input using the number key and press [ENTER] to modify the number value in the
input buffer line.

When inserting [SHIFT] + [COORD], move the cursor to the instruction at the top
of the input buffer line, press [SELECT], and the detail edit display is shown..
=> SFTON P001

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
SFTON
P-VAR ROBOT P000
COORDINATE UNUSED

=> SFTON P000

!

Line up the cursor with ”UNUSED” and press [SELECT]. The select dialog is dis-
played. Line up the cursor with the coordinate system to be added, and press
[SELECT].
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 177

Parallel shift function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
SFTON
P-VAR ROBOT BF
COORDINATE RF
TF
UF#(%)
UNUSED

=> SFTON P000

!

After the coordinate system addition is completed, press [ENTER]. The detail edit
display closes and the job content display is shown.

a) Press [INSERT] and then [ENTER].

The instruction displayed in the input buffer line is registered.
0020 MOVL V=138
0021 SFTON P001 BF
0022 MOVL V=138

■ SFTOF instruction
This is the instruction that ends a parallel shift.
a) Move cursor to inserting line.
Mark the line just above where the SFTOF is to registered.
0030 MOVL V=138
0031 MOVL V=138

b) Press [INFORM LIST].

c) Select “SFTOF” instruction.
The instruction list dialog is displayed.
d) Press [INSERT] and then [ENTER].
The SFTOF instruction is displayed in the input buffer line.
=> SFTOF

a) The SFTOF instruction is registered.

0030 MOVL V=138
0031 MOVL V=138
0032 SFTOF
 MOTOMAN ROBOTICS EUROPE
Page: 178 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Parallel shift function

■ MSHIFT instruction
When a parallel shift of the wrist posture is attempted, the robot may not neces-
sarily be shifted to the target posture in the following cases.

Note!
Posture displacement (Rx, Ry, Rz) is specified to the shift value set by the user.
When a displacement between two points is calculated using an INFORM operat-
ing instruction (ADD instruction, SUB instruction, etc.), and a posture displace-
ment (Rx, Ry, Rz) is specified in the shift value.

In such cases, the MSHIFT instruction can be used to automatically calculate the
optimum shift value for an operation to reach the target shift position and posture.
With an MSHIFT instruction, the shift value between the reference position and
target position (shift position) when parallel shift is performed is determined in the
specified coordinate system, and set as the specified position variable.

a) Move the cursor to inserting line.

Mark the line immediately above where the MSHIFT instruction is to be
inserted.
0003 MOVJ VJ=10.00
0004 GETS PX001 $PX000
0005 END

b) Press [INFORM LIST].

The instruction list dialog is displayed.
IN/OUT ..
CONTROL SFTON
DEVICE SFTOF
MOTION MSHIFT
ARITH
SHIFT

c) Select “MSHIFT” instruction.

The MSHIFT instruction is displayed in the input buffer line.
d) Change the number data or additional items.
If additional items are needed to edit continuously, perform the operation of
“6.2.2 Editing Additional Item”.

(Adding or modifying additional items)

When changing the position variable number, move the cursor to the position vari-
able number and press [SHIFT] + CURSOR to increase and decrease the value.
=> MSHIFT PX000 BF PX001 PX002
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 179

Parallel shift function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

When using the number keys to input, press [SELECT] and the input line is dis-
played.
=> MSHIFT PX000 BF PX001 PX002
> P=

Input using the number key and press enter to modify the number value in the
input buffer line.

e) When inserting [SHIFT] + [COORD], move the cursor to the instruction at the
top of the input buffer line, press [SELECT], and the detail edit display is
shown.
=> MSHIFT PX000 BF PX001 PX002

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
MSHIFT
P-VAR(RESULT) PX000
COORDINATE BF
P-VAR(BASE) PX001
P-VAR(DEST) PX002

=> MSHIFT PX000 BF PX001 PX002

!

Line up the cursor with “BF” and press [SELECT]. The select dialog is displayed.
Line up the cursor with the the coordinate system to be changed, and press
[SELECT].
JOB EDIT DISPLAY UTILITY
L
DETAIL EDIT R1 C S
MSHIFT
P-VAR(RESULT) BF
COORDINATE RF
P-VAR(BASE) TF
UF#(%)
P-VAR(DEST) MTF

=> MSHIFT PX000 BF PX001 PX002

!

Once the coordinate system modification is complete, press [ENTER]. The detail
edit display closes and the job content display is shown.

a) Press [INSERT] and then [ENTER].

The instruction displayed in the input buffer line is registered.
0003 MOVJ VJ=10.00
0004 GETS PX001 $PX000
0005 MSHIFT PX RF PX001 PX002
 MOTOMAN ROBOTICS EUROPE
Page: 180 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Parallel shift function

6.2.D Continuation of the parallel shift function

Warning
If the shift function is cancelled through a job editing operation after execution of a
parallel shift instruction, the job must be started again from the beginning.

Because no shift is performed when the operation is restarted, there is a possibil-

ity of interference between the workpiece and fixture.

If any of the following operations are performed after executing a parallel shift
instruction, the shift function is cancelled.

✔ Job editing operation (changing, deleting, adding)

✔ Cursor position change (step, line, etc.) in the job
✔ Job copy, job name change
✔ Registering a new job, deleting a job, or modifying a selected job
✔ Restart after the alarm occurs
✔ When control power is turned off

Note!
The parallel shift function remains in effect even if the control power supply is
turned off.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 181

Parallel shift function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

6.2.E Examples of use

■ Example of use of shift addition/subtraction

Workpiece Stacking Operation

Line Instruction
0000 NOP
0001 SET B00 0 Make the first shift value zero.
0002 SUB P000 P000
0003 *A
0004 MOVJ Step 1
0005 MOVL Step 2
0006 Gripping workpiece
0007 MOVL Step 3
0008 MOVL Step 4
0009 SFTON P000 UF#(1) Shift start
0010 MOVL Shift position Step 5
0011 Releasing workpiece
0012 SFTOF Shift end
0013 ADD P000 P001 Add the shift value for the next operation.
0014 MOVL Step 6
0015 MOVL Step 7
0016 INC B000
0017 JUMP *A IF B00<6
0018

SFTON P000 UF#(1)

Since the shift data is retained in memory,
SFTOF the same data can be used (with subtraction
SUB P000 P001 instead of addition) to perform a workpiece
unloading operation.

P7 P4
P1 P6
P3

P2

P5
 MOTOMAN ROBOTICS EUROPE
Page: 182 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Parallel shift function

■ Example of use of MSHIFT instruction

Line Instruction Explanation

0000 NOP

0001 MOVJ VJ=20.00 Move the robot to the reference position.

0002 GETS PX000 $PX000 Set the reference position as position variable P000.

0003 MOVJ VJ=20.00 Move the robot to the target position.

0004 GETS PX001 $PX000 Set the target position as position variable P001.

0005 MSHlFT PX010 BF PX000 PX001Set shift value, and set it as position variable P010.

0006 END
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 183

Parallel shift job conversion function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

6.3 Parallel shift job conversion function

6.3.A Parallel shift job conversion
If the robot and base positions are moved after a job has been taught, the entire
job has to be modified. The parallel shift conversion function shortens the modifi-
cation time required in cases like this by shifting all steps of the job by the same
value to create a new job.

When parallel shift conversion is performed, all job steps are shifted by the same
value.

Note!
Steps Outside the Motion Range
/OV is displayed for steps which result in a position outside the working envelope
of the robot. When the position is corrected, /OV display disappears.

Position Variable
Position variables are not subject to parallel shift job conversion.

Not Converted Job

The following jobs can not be converted. If conversion is attempted, no operation
is performed.

■ Coordinates for Conversion

When performing parallel shift job conversion, it is necessary to specify the coor-
dinates in which the conversion is to be performed. The shift coordinates can be
selected from the following:

✔ Base Coordinates
✔ Robot Coordinates
✔ Tool Coordinates
✔ User Coordinates (24 types)
✔ Master Tool Coordinates (R1+R2 job)
✔ Joint Coordinates

In the case of an ordinary job for which group axes are registered, shift conver-
sion is performed in accordance with the selected coordinate system. The rela-
 MOTOMAN ROBOTICS EUROPE
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Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Parallel shift job conversion function

tionship between group combinations and coordinates are shown in the table as
follow.

Relationship Between Group Combinations and Coordinates at Conversion

Group Explanation
Combination
in Job Usable Coordinate System

R Shift performed on basis of selected coordinates

Base coordinates, robot coordinates, tool coordinates, user coordinates

R(B) Shift performed on basis of selected coordinates

Base The base axis is shifted by the specified amount and the tool
Coordinates center point of the robot is shifted by the specified amount in
the base coordinates.

Robot The base axis is shifted by the specified amount.

Coordinates The tool center point of the robot is shifted by the specified
amount in the robot coordinates. These shifts are carried out
independently.

Tool The base axis is shifted by the specified amount.

Coordinates The tool center point of the robot is shifted by the specified
amount in the tool coordinates. These shifts are carried out
independently.

User The base axis is shifted by the specified amount and the tool
Coordinates center point of the robot is shifted by the specified amount in
the user coordinates.
S Shift is performed on the basis of pulse values regardless of the coordinates.

R+S The robot is shifted in the selected coordinates.

The station axis is shifted on the basis of pulse values regardless of the coordinates.

Base coordinates, robot coordinates, tool coordinates, user coordinates

R(B)+S The robot is shifted in the selected coordinates, as in - above.

The station axis is shifted on the basis of pulse values regardless of the coordinates.

R+R Two robots are shifted in the selected coordinates.

Base coordinates, robot coordinates, tool coordinates, user coordinates, master

tool coordinates*1

R(B)+R(B) Two robots are shifted in the selected coordinate system, as in - above. Two
base axes are also shifted.
*1 In the master tool coordinates, conversion only occurs at the “slave” from the standpoint of
the SMOV instruction.
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Parallel shift job conversion function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

Base coordinates
The base axis is shifted by B and the tool center point of the robot is shifted by A
in the base coordinates.

Base coordinates

Base

Robot Coordinates
The base axis is shifted by B. The tool center point of the robot is shifted by A in
the robot coordinates. These shifts are carried out independently.

Robot coordinates

Base coordinates

B
 MOTOMAN ROBOTICS EUROPE
Page: 186 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Parallel shift job conversion function

Tool coordinates
The base axis is shifted by B and the control point of the robot is shifted by A in the
tool coordinates.

Tool coordinates
Base coordinates

User coordinates
The base axis is shifted by B and the tool center point of the robot is shifted by A in
the user coordinates.

User coordinates
Base coordinates

B
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 187

Parallel shift job conversion function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

Converting R1+R2 jobs with master tool coordinates

R1+R2 coordinated jobs can be subjected to parallel shift job conversion in the
master tool coordinates. Only steps taken at the “slave” from the standpoint of the
SMOV instruction are subject to conversion.

R2
R1

X-axis

Master tool
Y-axis
coordinates

Z-axis

1
0001 MOV
+MOV
0002 MOV
+MOV 6
0003 SMOV 5
+MOV 2
0004 SMOV
+MOV
0005 SMOV
+MOV 4
3
0006 MOV
+MOV Path of motion
after conversion
 MOTOMAN ROBOTICS EUROPE
Page: 188 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Parallel shift job conversion function

6.3.B Operating methods

■ Specifying the conversion items
a) Select {JOB} under the top menu.
b) Select {JOB CONTENT}.
The job content display is shown.
c) Select {UTILITY} under the menu.
d) Select {PARALLEL SHIFT JOB}.
The parallel shift job conversion display is shown.

DATA EDIT DISPLAY UTILITY

L
PARALLEL SHIFT JOB R1 C S
SOURCE JOB JOB1
:
STEP SECTION 001
: 010
DESTINATION JOB :*******
COORDINATES :PULSE
BASE POINT :TEACH SETTING
SHIFT VALUE R1:S 0
L 0
U 0
R 0
!

e) Specify the conversion items.

Following items are specified.
1) Source job
Selects the job before convertion. The job which is shown in the job content
display is set initially. To change the job do the following things.
Press [SELECT] when the cursor is on the original job name. The job list dis-
play is shown. Select the desired job.
2) Conversion Step Section(Start Step ‡ End Step)
Specifies the step section of the original job. All the steps are set initially. If
there is no steps in the original job, “***” is displayed. To change the section do
the following things.
Press [SELECT] when the cursor is on the section. The input buffer line is dis-
played. Input the step number and press [ENTER].
3) Converted Job
Specifies the converted job. If this is not specified( “********” is displayed), the
original job is converted. To change the job do the following things.
Press [SELECT] when the cursor is on the original job name. The job list dis-
play is shown. Select the desired job.
4) Conversion Coordinates
Selects the conversion coordinates. Press [SELECT] when the cursor is on the
coordinates. The selection dialog is displayed. Select the desired coordinates.
When the user coordinates are selected, the input buffer line is displayed.
Input the desired user coordinate number and press [ENTER].
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 189

Parallel shift job conversion function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

■ Specifying the shifting amount

There are two methods for specifying the shifting amount.

✔ Input the shifting amount by numerical value directly.

✔ Calculate the shifting amount by teaching the original base point and converted
base point.

Numerical value input

a) Display the parallel shift job conversion display.

b) Select the shifting direction.
The input buffer line is displayed.

DATA EDIT DISPLAY UTILITY

L
PARALLEL SHIFT JOB R1 C S
SOURCE JOB :JOB1
STEP SECTION :001 010
DESTINATION JOB :JOB2
COORDINATES :ROBOT
BASE POINT :TEACH SETTING
SHIFT VALUE R1:X 0.000
Y 0.000
Z 0.000
>
!

c) Input the shifting amount

d) Press [ENTER].
The shift amount is set.

DATA EDIT DISPLAY UTILITY

L
PARALLEL SHIFT JOB R1 C S
SOURCE JOB :JOB1
STEP SECTION :001 010
DESTINATION JOB :JOB2
COORDINATES :ROBOT
BASE POINT :TEACH SETTING
SHIFT VALUE R1:X 200.000
Y 0.000
Z 0.000

!
 MOTOMAN ROBOTICS EUROPE
Page: 190 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Parallel shift job conversion function

Calculation by teaching
a) Display the parallel shift job conversion display.
b) Select “TEACH SETTING” in the item of “BASE POINT”.
The conversion base point display is shown.

DATA EDIT DISPLAY UTILITY

L
PARALLEL SHIFT JOB R1 C S
BASE POINT(SRC) BASE POINT(DEST)
R1:X 0.000 R1:X 0.000
Y 0.000 Y 0.000
Z 0.000 Z 0.000

EXEC CANCEL

c) Select “BASE POINT(SRC)”.

d) Move the robot by the axis operation.
e) Press [MODIFY] and [ENTER].
The original base point is set.

DATA EDIT DISPLAY UTILITY

L
PARALLEL SHIFT JOB R1 C S
BASE POINT(SRC) BASE POINT(DEST)
R1:X 230.000 R1:X 0.000
Y 40.000 Y 0.000
Z 20.000 Z 0.000

EXEC CANCEL

f) Select “BASE POINT(DEST)”.

g) Press [MODIFY] and [ENTER].
The conversion base point is set.

DATA EDIT DISPLAY UTILITY

L
PARALLEL SHIFT JOB R1 C S
BASE POINT(SRC) BASE POINT(DEST)
R1:X 230.000 R1:X 460.000
Y 40.000 Y 60.000
Z 20.000 Z 100.000

EXEC CANCEL

!
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 191

Parallel shift job conversion function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

h) Select “EXEC”.
The difference is calculated by the two teaching points and set as a shifting
amount.

DATA EDIT DISPLAY UTILITY

L
PARALLEL SHIFT JOB R1 C S
SOURCE JOB :JOB1
STEP SECTION :001 010
DESTINATION JOB :JOB2
COORDINATES :ROBOT
BASE POINT :TEACH SETTING
SHIFT VALUE R1:X 230.000
Y 20.000
Z 80.000

■ Executing conversion
a) Display the parallel shift job conversion display.
b) Select “EXEC”.
The confirmation dialog is displayed when the converted job is not specified.
Select “YES” then the conversion is executed. The job content display is
shown when the conversion is completed.

Overwrite?

YES NO

JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:000 R1 TOOL:00
0000 NOP
0001 'TEST JOB
0002 JUMP JOB:JOB-01
0003 MOVJ VJ=50.00 At step outside the working
0004 MOVJ /OV VJ=50.00 envelope, /OV is displayed
0005 MOVJ VJ=50.00 after the move instruction
=>MOVJ VJ=100.00
!Step exceeding operation range is made

Note!
If an alarm occurs during conversion, conversion is suspended.
 MOTOMAN ROBOTICS EUROPE
Page: 192 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm PAM function

6.4 PAM function

6.4.A PAM function
The function for position adjustment during playback (PAM: Position Adjustment
by Manual) allows position adjustment by simple operations while observing the
motion of the robot and without stopping the robot.
The following data can be adjusted by key input at the programming pendant.

✔ Taught Point
✔ Operation Speed
✔ Positioning Level

■ Input ranges for adjustment data

The input ranges for adjustment data are indicated in the following table.

Data Input Range

Number of Steps for Adjustment Up to 10 steps can be adjusted at the same time.

Position Adjustment Range (X, Y, Z) Unit: mm, two decimal places valid, initial value ±10mm

Speed Adjustment Range (V) Unit: %, two decimal places valid, maximum ±50%

PL Adjustment Range 0 to 4

Adjustment Coordinates Robot coordinates, base coordinates, tool coordinates,

user coordinates (Default coordinates: robot coordinates)

Note!
Base axis and station axis data cannot be adjusted.
Adjustment when a TCP instruction is executed performed by adjusting the data of
the taught tool.
When the coordinates for adjustment are user coordinates, an error occurs if
teaching has not been performed in the user coordinates.
If an attempt is made to adjust “PL” when there is no “PL” in the step subject to the
adjustment, an error occurs.
Position variable and reference point steps cannot be adjusted. An error occurs if
adjustment is attempted.
An attempt to adjust the speed at a step that has no speed tag will cause an error.
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 193

PAM function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

6.4.B Operating methods

■ Setting adjustment data
a) Select {JOB} under the top menu.
b) Select {JOB}.
The job content display (teach mode or playback mode) is displayed.
c) Select {UTILITY} under the menu.
d) Select {PAM}.
The PAM status display is shown.

JOB EDIT DISPLAY UTILITY

L
PAM R1 C S
JOB :
INPUT COORD :ROBOT COORD
STEP X(mm) Y(mm) Z(mm) V(%) PL
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
!

e) Set adjustment data.

Set adjustment data.
1) Adjustment Job
Set the job name to be adjusted.
Line up the cursor, and press [SELECT] to show the job list display. Line up
the cursor amd press [SELECT] to set the adjusted job.
2) Input Coordinates
Set the desired coordinates.
Line up the cursor and press [SELECT] to display the select dialog. Line up
the cursor with the desired coordinate system and press [select] to set the
input coordinates.
3) Step Number
Set the step number to be adjusted.
Line up the cursor and press [SELECT] to show the number input status dis-
play. Input the step number and press [ENTER] to set the value.
4) XYZ Coordinate Adjustment
Set the direction and amount of the X, Y, and Z coordinates.
Line up the cursor with the data to be adjusted, and press [SELECT] to show
the number input status display. Input the number data and press [ENTER] to
set the adjusted data.
5) Coordinate Adjustment
Set the speed.
Line up the cursor and press [SELECT] to show the number input status dis-
play. Input the number data and press [ENTER] to set the adjusted data.
6) PL
When the position level of the job to be adjusted for the step set in 3 is already
decided, the data can be modified. When the position level is not decided, [-]
is displayed, and cannot be set. To modify the position level, line up the cursor,
press [SELECT], input the number value and press [ENTER].
 MOTOMAN ROBOTICS EUROPE
Page: 194 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm PAM function

Note!
If editing of the job is prohibited ([EDIT LOCK] on the playback panel is turned on),
an error occurs when the job is selected. An error also occurs on selection of jobs
for station axes only or jobs without group axes.

■ Executing the adjustment

a) Select “END”.
The confirmation dialog is displayed.

JOB EDIT DISPLAY UTILITY

L
PAM R1 C S
007 10.00 00.00 00.00 00.00 -
008 10.00 00.00 5.00 00.00 -
010 00.00 15.00 00.00 00.00 02
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
DONE CANCEL
!

b) Select “YES”.
In the teach mode the job adjustment can be immediately executed. In the
play mode, the job can be adjusted just before execution (move operation).
When the job adjustment is completed, the set data shown in the PAM status
display is cleared. However, if the step’s adjusted position exceeds the soft
limit, an error occurs in that step only, and the data on the display cannot be
cleared.

Correct?

YES NO
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 195

PAM function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

Execution cancel
In the play mode, during the adjustment wait status, “CANCEL” is displayed in the
PAM status display. To cancel the adjustment process, line up the cursor and
press [SELECT]. Also, if a problem occurs before executing, the process is auto-
matically cancelled.
✔ If the mode is changed
✔ If an alarm or error occurs
✔ If the power is cut off

JOB EDIT DISPLAY UTILITY

L
PAM R1 C S
007 10.00 00.00 00.00 00.00 -
008 10.00 00.00 5.00 00.00 -
010 00.00 15.00 00.00 00.00 02
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
STOP CANCEL
!

■ Editing data
Clearing Data
If there is a mistake made when adjusting the data, or if the need to adjust the
step becomes unnecessary, the data can be cleared.
a) Move the cursor to the line of the data to be cleared.

JOB EDIT DISPLAY UTILITY

L
PAM R1 C S
JOB :TEST
INPUT COORD :ROBOT COORD
STEP X(mm) Y(mm) Z(mm) V(%) PL
001 10.00 00.00 00.00 00.00 -
002 00.00 8.00 10.00 00.00 01
Step in data to be 003 10.00 00.00 00.00 00.00 -
cleared 005 00.00 12.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
!

b) Select {EDIT} under the menu Select {LINE CLEAR}.

The line data is cleared.
 MOTOMAN ROBOTICS EUROPE
Page: 196 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Mirror shift function

Copying data
When wanting to input the same data as was set previously, perform the following
operation.
a) Line up the cursor with the part to be copied.
b) Select {EDIT} under the menu.
The pull down menu is displayed.
JOB EDIT
EDIT DISPLAY UTILITY
L
LINE CLEAR R1 C S
LINE COPY
LINE PASTE
STEP X(mm) Y(mm) Z(mm) V(%) PL
001 10.00 00.00 00.00 00.00 -
002 00.00 8.00 10.00 00.00 01
003 10.00 00.00 00.00 00.00 -
005 00.00 12.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
000 00.00 00.00 00.00 00.00 -
!

c) Select {LINE COPY}.

d) Line up the cursor with the line where the item is to be copied.
e) Select {EDIT} under the menu.
f) Select {LINE PASTE}.
The desired data is copied to the line. However, if the line where the data is to
be copied does not have a PL value, it cannot be copied.

6.5 Mirror shift function

6.5.A Mirror shift
Two robots can be used to draw, etc. on a symmetric path. The job is taught to
one of the robots and then mirror shift is executed, after which the other robot can
also perform the job.

Mirror Shift

R ? + S ? Coordinated Job New Mirror Shifted Job

In another robot and station axis, A job is made with the S
a common coordinated job is taught and T axes signs reversed
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 197

Mirror shift function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

R-axis R-axis

T-axis
T-axis

S-axis
S-axis

Movement in job before Mirror Shift After Mirror Shift the S, R and T axes
signs (+/-) are reversed

■ Object job
Jobs and relative jobs without group axes cannot be converted.

■ Group axes which become objects

When the job group axes in the multiple group axis system are specified, the
specified job conversion and origin job conversion group axes should be the
same.
✔ Robot Axis : Same model
✔ Base Axis : Same model
✔ Station Axis : Same model

■ Position variable
The position variable does not become an object of the mirror shift.

■ Parameter
The axes which should be shifted (sign is reversed) are specified in the following
parameter:

S1CxG065 : Mirror shift sign reversing axis specification

1st Axis (0:No reverse, 1:Reverse)

6th Axis
 MOTOMAN ROBOTICS EUROPE
Page: 198 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Mirror shift function

6.5.B Operation method

■ Converting
The job conversion job content display is shown.

Called job
a) Select {JOB} under the top menu.
b) Select {JOB}

Other called jobs

a) Select {JOB} under the top menu.
b) Select {SELECT JOB}.
The job list display is shown.
c) Select the job to be called

Converting execution
a) Select {UTILITY} under the menu.
b) Select {MIRROR SHIFT}
JOB EDIT DISPLAY UTILITY
L
MIRROR SHIFT R1 C S
SOURCE JOB :JOB1
SOURCE CTRL GROUP :R1+S1
DESTINATION JOB :JOB2
DEST CTRL GROUP :R1+S1

EXEC CANCEL

1) Conversion Origin Job

The conversion origin job name is selected.
Line up the cursor with the name and press [SELECT]. When the job list dis-
play is shown, select the job to be converted, and press [SELECT].
2) Conversion Origin Control Group
The conversion origin job control group is displayed.
3) Converted Job
Select the converted job name.
Line up the cursor with the name and press [SELECT] to show the character
input status display. The conversion origin job name is displayed in the input
line. When not using the conversion origin job name, press [CANCEL] and
input the new job name.
4) New Job Control Group
If the job name is set as the same as the origin job name, the control group is
also the same. To change the control group of the new job, line up the cursor
with the control group and press [SELECT] to display the select dialog. Select
the control group and press [SELECT].
 MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 199

Mirror shift function Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm

5) Execute
Line up the cursor and press [SELECT] to execute the conversion.
When the specified job conversion name is set, that job is converted. When
the specified job conversion name is not set, the origin job is converted.
 MOTOMAN ROBOTICS EUROPE
Page: 200 Operator’s manual MOTOMAN XRC
Created: 99-02-09 Revised: 02-07-03 Doc. name: Mrs50000-ch6.fm Mirror shift function
Notes
Headquarters:
Sweden MOTOMAN Robotics Europe AB
Box 504, SE-385 25 Torsås, Sweden
Tel: +46-486-48800, +46-486-41410

Group companies:
France MOTOMAN Robotics SARL
Rue Nungesser et Coli, D2A Nantes-Atlantique, F-44860 Saint-Aignan-de-Grand-Lieu, France
Tel: +33-2-40131919, Fax: +33-40754147
Germany MOTOMAN Robotec GmbH
Kammerfeldstraße 1, DE-85391 Allershausen, Germany
Tel: +49-8166-90-0, Fax: +49-8166-90-103
Germany MOTOMAN Robotec GmbH
Im Katzenforst 2, DE-61476 Kronberg/Taunus, Germany
Tel: +49-6173-60-77-30, Fax: +49-6173-60-77-39
Great Britain MOTOMAN Robotics UK (Ltd)
Johnson Park, Wildmere Road, Banbury, Oxon OX16 3JU, Great Britain
Tel: +44-1295-272755, Fax: +44-1295-267127
Italy MOTOMAN Robotics Italia SRL
Via Emilia 1420/16, IT-41100 Modena, Italy
Tel: +39-059-280496, Fax: +39-059-280602
Netherlands MOTOMAN benelux B.V
Zinkstraat 70, NL-4823 AC Breda, Netherlands
Tel: +31-76-5424278, Fax: +31-76-5429246
Portugal MOTOMAN Robotics Iberica S.L. - Sucursal em Portugal
Z. Ind. Aveiro Sul, Lote 21, N. S. Fátima, PT-3810 Aveiro, Portugal
Tel: +351-234 943 900, Fax: +351-234 943 108
Slovenia RISTRO d.o.o.
Lepovce 23, SI-1310 Ribnica, Slovenia
Tel: +386-61-861113, Fax: +386-61-861227
Spain MOTOMAN Robotics Iberica S.L.
Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), Spain
Tel: +34-93-6303478, Fax: +34-93-6543459
Sweden MECATRON Robotic Systems AB
Box 4004, SE-390 04 Kalmar, Sweden
Tel: +46-480-444600, Fax: +46-444699

Distributors:
Czech Republic MGM Spol s.r.o.
Trebízského 1870, CZ-39002 Tábor, Czech Republic
Tel: +420-361-254571, Fax: +420-361-256038
Denmark Robia A/S
Hjulmagervej 4, DK-7100 Vejle, Denmark
Tel: +45-79428000, Fax: +45-79428001
Finland Robia Suomi OY
Messinkikatu 2, FI-20380 Turku, Finland
Tel: +358-22145600, Fax: +358-22145660
Greece Kouvalias Industrial Robots
25, El. Venizelou Ave., GR-17671 Kallithea, Greece
Tel: +30-1-9589243-6, Fax: +30-1-9567289
Hungary REHM Hegesztéstechnika Kft.
Tápiószele, Jászberényi út 4., H-2766, Hungary
Tel: +36-30-9510065, Fax: +36-1-2562012
Israel KNT Engineering Ltd.
9 Hapalmach Street, IL-Kfar Azar 55905, Israel
Tel: +972-923 1944, Fax: +972-3 9231933
Norway ROBIA ASA
Industriveien 1, NO-3300 Hokksund, Norway
Tel: +47-32252820, Fax: +47-32252840
South Africa Robotic Systems S.A. PTY Ltd
P.O Box 90741, ZA-Bertsham 2013, South Africa
Tel: +27-11-4943604, Fax: +27-11-4942320
Switzerland Messer SAG
Langweisenstrasse 12, CH-8108 Dällikon, Switzerland
Tel: +41-18471717, Fax: +41-18442432

MOTOMAN ROBOTICS EUROPE AB

a subsidiary of YASKAWA Electric Corporation