ROBOTICS

Operating Manual
Robot controller

Basic Programming
Created on: 2015-02
Revision: 05
Document number: E1102000147GB05 Author: WOE

Changes made in revision:

Rev. 01: Revised version of RE-CSO-A045.1 (Arc Welding) and the "Error messages" sec-
tion in the original document RE-CHO-A113.0 in YEU-R style (2013-11)
Rev. 02: Revised version of the manual (2014-11)
Rev. 03: Revised version of the "Errors" section of the original document RE-CHO-A113.6
(2015-01)
Rev. 04: Adding of a new "Function for creating a QR code" section from the original doc-
ument RE-CSO-A045.4
Rev. 05: Revision of the German translation (2015-05)

© Copyright 2015
This documentation – also in part – may be reproduced or made available to third parties only with the
express approval of YASKAWA Europe "Robotics Division GmbH".
We have checked the content of this publication for compliance with the hardware described.
Nevertheless, discrepancies cannot be ruled out. Therefore, we cannot guarantee full compliance.
However, the information given in this publication is checked regularly and any necessary corrections
will be made in subsequent editions.
Subject to technical modifications.
 Table of contents

Table of contents

1 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 8
1.1 Notes for safe operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 8
1.2 Frequently used terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 8
1.3 Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 9
1.4 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 9
1.5 Improper use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.6 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.7 YASKAWA manual list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.8 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.8.1 For your security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.8.2 Personal protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.9 Manufacturer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.10 Authorized representative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2 Overview of the robot controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3 Overview of programming pendant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.1 Description of the keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.1.1 Character keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.1.2 Symbol keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.1.3 Axis keys and numeric keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.1.4 Keys pressed simultaneously . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Buttons and keys on the programming pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3 Display of the programming pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.3.1 Five display areas. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.3.2 Screen description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.3.3 Entering characters in operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4 Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.1 TEACH mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.2 PLAY mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.3 REMOTE mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.4 Priority of TEACH mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

5 Security mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.1 Security mode types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.2 Changing the security mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

6 Robot coordinate systems and operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

6.1 Control group and coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
6.1.1 Control group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
6.1.2 Coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
6.2 General operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.2.1 Safety check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.2.2 Selecting TEACH mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.2.3 Selecting CONTROL GROUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.2.4 Selecting a coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.2.5 Setting the manual speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

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6.2.6 SERVO ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

6.2.7 Axis operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
6.2.8 High speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
6.3 Coordinate systems and axis movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.3.1 Joint coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.3.2 Cartesian coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
6.3.3 Cylindrical coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.3.4 Tool coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.3.5 Selecting the tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.3.6 User coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
6.3.7 External axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
6.3.8 Control point operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
6.3.9 Path-related coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

7 Playback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
7.1 Preparations for playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
7.1.1 Calling JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
7.1.2 Registering master JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
7.1.3 Calling master JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
7.1.4 The PLAYBACK window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
7.2 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
7.2.1 Playback mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
7.2.2 Special playback functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.3 Holding and switching on again . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
7.3.1 [HOLD] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
7.3.2 EMERGENCY STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
7.3.3 Stop due to alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
7.3.4 Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
7.4 Changing the PLAY speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
7.4.1 Override speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
7.4.2 Specifying the override speed function in playback mode . . . . . . . . . . . . . . . . . 99
7.4.3 Inputs signal for the specification of the override speed. . . . . . . . . . . . . . . . . . 107
7.5 Playback with reserved start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.5.1 Preparing the reserved start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.5.2 Playback of reserved start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
7.5.3 HOLD function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
7.6 Opening the JOB stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

8 Editing JOB's. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

8.1 Copying JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
8.1.1 Copying JOBs in the JOB CONTENT window . . . . . . . . . . . . . . . . . . . . . . . . . 123
8.1.2 Copying JOBs in the JOB LIST window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
8.2 Deleting JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
8.2.1 Deleting JOBs in the JOB CONTENT window . . . . . . . . . . . . . . . . . . . . . . . . . 126
8.2.2 Deleting JOBs in the JOB LIST window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
8.3 Renaming JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
8.3.1 Deleting JOB names in the JOB CONTENT window . . . . . . . . . . . . . . . . . . . . 128
8.3.2 Changing JOB names in the JOB LIST window . . . . . . . . . . . . . . . . . . . . . . . . 129
8.4 Editing comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

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8.5 JOB folder function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

8.5.1 Displaying JOBs by folders. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
8.5.2 Terminating the display of JOBs by folders. . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
8.5.3 Registering JOBs in folders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
8.5.4 Changing folder names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
8.6 Setting the editing lock for individual JOB units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
8.7 Changing position data for JOBs with the editing lock activated . . . . . . . . . . . . . . . . . 141

9 Convenient functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

9.1 Direct open function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
9.2 Parallel shift function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
9.2.1 Function overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
9.2.2 Setting shift values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
9.2.3 Registering shift instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
9.2.4 Continuation of the parallel shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
9.2.5 Examples of usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
9.3 JOB conversion with the parallel shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
9.3.1 Coordinate systems for conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
9.3.2 Executing the JOB conversion with parallel shift . . . . . . . . . . . . . . . . . . . . . . . 161
9.3.3 Specifying the shift value by means of position variables . . . . . . . . . . . . . . . . 166
9.4 PAM function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
9.4.1 Function overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
9.4.2 Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
9.5 Mirror-shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
9.5.1 Pulse mirror-shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
9.5.2 Robot-coordinate mirror-shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
9.5.3 User-coordinate mirror-shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
9.5.4 Notes on the mirror-shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
9.5.5 Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
9.6 Multi-window function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
9.6.1 Setting the window pattern of the universal display . . . . . . . . . . . . . . . . . . . . . 185
9.6.2 Displaying the multi-window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
9.6.3 Using the multi-window function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
9.6.4 Changing the axis movement control group . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
9.7 Simple menu function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
9.7.1 Registering layouts in the USER DEFINITION menu . . . . . . . . . . . . . . . . . . . . 195
9.7.2 Opening registered layouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
9.7.3 Editing the USER DEFINITION menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
9.7.4 Saving/loading the data of the USER DEFINITION MENU on an external
storage medium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
9.8 Parameter setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
9.8.1 Teaching condition setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
9.8.2 Operate condition setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
9.8.3 Setting for operate enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
9.8.4 Setting for function enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
9.8.5 JOG condition setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
9.8.6 Playback condition setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
9.8.7 Functional condition setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
9.9 Jog key allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

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9.9.1 Allocating the JOG key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

9.9.2 Cancelling jog key allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
9.9.3 Control of the allocated external axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
9.10 Energy-saving function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
9.10.1 Setting the energy-saving function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
9.10.2 Confirming the energy-saving function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
9.11 Colour adjustment function for instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
9.12 Function for outputting the current robot position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
9.12.1 Function overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
9.12.2 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
9.13 Soft-limit setting function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
9.13.1 About the soft-limit setting function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
9.13.2 Window of the soft-limit setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
9.13.3 Setting the soft limit by entering a numeric value . . . . . . . . . . . . . . . . . . . . . . . 233
9.13.4 Setting the current value as the soft limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
9.13.5 Resetting soft limit (+) and soft limit (-) to the initial value . . . . . . . . . . . . . . . . 235
9.13.6 Changing the coordinate display for soft limit (+) and soft limit (-) . . . . . . . . . . 236
9.14 JOB editing function during playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
9.14.1 JOB editing during playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
9.15 Logging function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
9.15.1 Data for logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
9.15.2 Number of saved log entries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
9.15.3 Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
9.16 Speed-dependent analogue output function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
9.16.1 Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
9.16.2 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
9.16.3 Filter process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
9.16.4 Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
9.17 QR Code creation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
9.17.1 Main function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
9.17.2 Starting the function for creating a QR code. . . . . . . . . . . . . . . . . . . . . . . . . . . 270
9.17.3 Display configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
9.17.4 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
9.17.5 Structure of a QR code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
9.17.6 MOTOMAN Touch! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

10 External storage devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306

10.1 Storage medium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
10.1.1 CompactFlash card (CF card) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
10.1.2 USB stick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
10.2 Handling data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
10.2.1 Data classification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
10.3 Displaying previously existing files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
10.4 Performing a data backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
10.4.1 Managing folders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
10.4.2 Saving data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
10.4.3 Loading data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
10.4.4 Verifying data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

6
 Table of contents

10.4.5 Deleting data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336

10.4.6 JOB selection mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

11 Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
11.1 System and general operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
11.2 Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
11.3 Defined JOB data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
11.4 External storage devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
11.5 Concurrent I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
11.6 Maintenance mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
11.7 Special error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
11.7.1 Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
11.7.2 Procedure for error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363

7
General

1 General

1.1 Notes for safe operation

DANGER!
Indicating immediate danger at high risk, hazard that can cause death or serious bodily
injuries if no precautions are taken.

WARNING!
Indicating possible medium risk hazard situation which can cause death or serious bodily
injuries if it is not avoided.

CAUTION!
Indicating potentially dangerous situation with low risk of minor or moderate bodily injuries
result if it is not avoided. This signal word can also be used for property damage warnings.

NOTICE
Indicates important background information and application advice.

1.2 Frequently used terms

The YASKAWA robot is a product of YASKAWA Electric Corporation, and is provided by
default with the robot control, the programming pendant and robot cable.
The terms are designated as follows in this manual:

Term Description
Control Robot control
Industrial robot Robot
Programming pendant / teach box Programming pendant
Supplying cable between robot and robot Cable
control
Robot, robot control and cable Robot system
Yaskawa Electric Corporation YEC
YASKAWA Robotics Division YEU-R
Moving, calibrating and setting up of the ro- Teachen
bot
Movement sequences of the robot JOBs
Technical customer service TCS

1 -8
 General

1.3 Target group

This manual is directed at users with the following knowledge:
• Advanced knowledge of mechanical engineering
• Advanced knowledge of electrical engineering
• System knowledge of the robot control
• Specially trained staff

NOTICE
According to the international DIN EN ISO 10218-1 standard, operators of a robot system
must receive training before they operate the robot.
For optimal use of our products, we recommend our customers to take part in a training
session at the YASKAWA Academy. For more detailed information on the training
programme, please visit www.yaskawa.eu.com or directly get in touch with your YASKAWA
branch office.

1.4 Intended use

Typical applications:
• Flange-mounting tools
• Installation of spot welding guns
• Installation of arc welding equipment
• Installation of grippers
• Machining and transporting workpieces or products

1 -9
General

1.5 Improper use

Any use that deviates from the intended use shall be regarded as impermissible misuse.
This includes:
• Transport of people and animals
• Use as ascending aid.
• Use outside the permissible operating limits.
• Use in environments with risk of explosion (except for ATEX-approved robots).
• Overload
• Use without protective equipment.

NOTICE
Modifications to the robot, e.g. drilling holes or similar modifications, can damage parts.
This will be regarded as improper use (i.e. use that deviates from the intended use) and will
lead to loss of warranty and liability claims as well as loss of the declaration of incorporation.

CAUTION!
The robot system is an incomplete machine.
The robot system may be put into operation only after it has been determined that the
incomplete or complete machine in which the robot system is being installed:
 Corresponds to the provisions of the machinery directive.
 Complies with all relevant (harmonized) standards.
 Corresponds to the state of the art.

1 - 10
 General

1.6 About this manual

• This manual explains the various components of the robot controller and the general
operating functions. Be sure to read and understand this manual thoroughly before
operating the robot controller.
• To ensure correct and safe operation, read the robot controller operating instructions
(Basic Information, Installation and Wiring and System Setup).
• In order to illustrate details clearly, some drawings are shown with the protective covers
or shields removed. All protective covers and shields must be mounted before the robot
is operated.
• The drawings and figures in this manual are representative illustrations. They may differ
from the product delivered.
• YEU-R reserves the right to make technical changes. These changes may include
product improvements, modifications or changes in specifications
• If your copy of the operating and maintenance instructions is damaged or lost, please
contact the local YASKAWA branch office to order a new copy. The official branch
offices are listed on the last page. Please mention the manual number in your order.
• YASKAWA Europe GmbH is not responsible for damage caused due to unauthorized
modification of the system. If any impermissible modifications are made to the system
and to the robot, all warranty and liability claims as well as the declaration of
incorporation will expire.
Descriptions of the programming pendant, buttons, and displays are shown as
follows:

Programming pendant Manual designation

Character keys The keys which have characters printed on them are
denoted with [ ], e. g. [ENTER]
Symbol keys The keys which have a symbol printed on them are il-
lustrated with a small picture.
e. g. There is no picture for the cursor key.
Mode selection switch Three kinds of modes that can be selected by the mode
key are denoted as follows: REMOTE, PLAY and
TEACH
Keys There are three keys on the programming pendant,
which are referred to as follows: HOLD key; START
key; Emergency stop button
Axis keys Controlling the axes
Numeric keys Number input
Simultaneously pressed keys A plus sign between the keys indicates that it is neces-
sary to press two keys simultaneously.
TOOL SEL

e.g. [SHIFT] SHIFT

+ [COORD] COORD
.
Display The menu displayed is denoted with { }.
e.g. {JOB}

1 - 11
General

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.
• that the item is directly selected by touching the screen.
Registered Trademark
The names of companies and/or products used in this manual are trademarks. The
indications of ® and  are omitted.

1.7 YASKAWA manual list

It is important to have all manuals regarding the YASKAWA controller and/or robot and to
be familiar with their contents. Please make sure that these manuals are available to you.
If you are missing a manual, please contact your local YASKAWA branch.
You must have the YASKAWA manuals listed below.
• Basic Information/Beginner Information(E1102000144XX01* or higher* and higher).
• Setup and ConnectionE1102000143XX01* or higher*).
• Basic Programming (E1102000147XX01* or higher*).
• System Setup (E1102000145XX01* or higher*).
• Alarm List (E1102000146XX01* or higher*).
• The operating and maintenance instructions of the respective robot type.
* The XX stands for the language of the document.

1 - 12
 General

1.8 Safety

REMOTE TEACH
START HOLD
1
PLAY

JOB EDIT DISPLAY UTILITY

JOB CONTENT
-TEST01 S:0000
CONTROL GROUP:R1 TOOL:
0000 NOP
0001 SET B000 1
0002 SET B001 0
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OT#(10) ON
0006 TIMER T=3.00
0007 MOVJ VJ=80.00
0008 MOVJ VJ=100.00
0009 MOVJ VJ=100.00
0010 MOVJ VJ=100.00
0011 MOVJ VJ=100.00
MOVJ VJ=0.78

Main Menu Short Cut Turn on servo power

LAYOUT TOOL SEL GO BACK

DIRECT
COORD OPEN
Multi PAGE AREA
ENTRY
SERVO
SELECT
MAIN SIMPLE ON CANCEL
MENU MENU READY ASSIST

SERVO ON
X- X+ X- X+
S- S+ R- R+
HIGH
SPEED
Y- Y+ Y- Y+
L- L+ B- B+
FAST
Z- Z+ MANUAL SPEED
Z- Z+
U- U+ T- T+
SLOW
E- E+ 8- 8+

INTER 7 8 9 TEST
SHIFT
SHIFT
LOCK START

ROBOT INFORM 4 5 6 BWD FWD

LIST

EX.AXIS
WELD 1 2 3 DELETE INSERT
ON/OFF

MOTION 0 . -
AUX MODIFY ENTER
TYPE

Fig. 1-1: Programming pendant

1 Emergency Stop button

WARNING!
Death or injury because of danger of crushing
If the emergency stop button does not function properly, the robot cannot be stopped in the
event of an emergency.
 The robot should not be used if the emergency stop button does not function.
 Before operating the robot check the function of the emergency stop button. The
SERVO power has to immediately go off once the emergency stop button on the
programming pendant has been pressed (seeFig. 1-3: "Emergency Stop button").
 When the SERVO power is turned OFF, the SERVO ON LED on the programming
pendant goes off (see Fig. 1-2: "LED SERVO ON").

SERVO ON
Fig. 1-2: LED SERVO ON

Fig. 1-3: Emergency Stop button

1 - 13
General

WARNING!
Death or injury because of danger of crushing
Before you release the emergency stop button (see Fig. 1-4: "Release of emergency stop
button by turning") note the following:
 Make sure that there is no one within the maximum working range of the robot.
 Clear the cell of all items which could collide with the robot.
 Now you can switch ON the SERVO power by pressing the enable switch on the
programming pendant.

Fig. 1-4: Release of emergency stop button by turning

WARNING!
Death or injury because of danger of crushing
if anyone enters the working area of the robot during operation or any problems occur,
always press the emergency stop button immediately. The emergency stop button is
located on the programming pendant (see Fig. 1-1: "Programming pendant").
Observe the following precautions when performing teaching operations within the robot’s
working range:
 View the Robot from the front whenever possible.
 Always follow the prescribed operating procedure (see the instructions on robot control
as well as the operating instructions on "Handling" or "Universal Application").
 An area must be left clear so that the operator can retreat to it in case of emergency.

The following inspection procedures must be performed prior to teaching the robot. If
problems are found, correct them immediately, and be sure that all other necessary
measures have been performed.
• Check for problems in robot movement.
• Check the connectors for tight fit and all cables for damage.
• Hang the programming pendant back on the robot control after use.
• Make sure that the key for the key switch (Teach/Automatic) of the programming
pendant is kept by a skilled person who has been specially trained.
• The key may be inserted in the key switch of the programming pendant only during
teach operation; after the teach operation it must be immediately removed and kept in
a safe place.

1 - 14
 General

1.8.1 For your security

Robots generally have requirements,different from other manufacturing equipment, such

as larger working areas, high-speed operation, rapid arm movements, etc., which may pose
safety hazards.
Please read and understand the instruction manuals and related documents. Observe all
precautions in order to avoid the risk of injury to personnel and damage to equipment.
The user’s responsible for ensuring that all local, state, and national codes, regulations,
rules, or laws relating to safety and safe operating conditions are met and followed.

CAUTION!
In the Industrial Safety and Health Law teaching and maintaining the robot are specified as
"Hazardous Operations" and teaching maintenance of the robot have to be conform to
following rules and regulations:
– Industrial Safety and Health Law.
– Enforcement Order of Industrial Safety and Health Law.
– Ordinance of Industrial Safety and Health Law.
Other related laws are as follows:
– Occupational Safety and Health Act in USA.
– Machinery Directive 2006/42/EC

Fig. 1-5: CE marking

Please note the international standard DIN EN ISO PROTECTED-1, for safe operation of
the robot or the jigs of robot.
Increase the efficiency of your safety management system by specifying authorized
personnel and safety managers and conduct training regularly.

NOTICE
According to the international DIN EN ISO 10218-1 standard, operators of a robot system
must receive training before they operate the robot.
For optimal use of our products, we recommend our customers to take part in a training
session at the YASKAWA Academy. For more detailed information on the training
programme, please visit www.yaskawa.eu.com or directly get in touch with your YASKAWA
branch office.

1 - 15
General

1.8.2 Personal protection

The entire working area of the robot is potentially dangerous. The following staff must work
with appropriate preparation and subject to the maxim "Safety First" to ensure the safety
of all.
• Safety management
• Assembly staff
• Operating staff
• Maintenance staff

DANGER!
Death by electric shock; serious injury from fire hazard;
Avoid dangerous actions in the area where the robot is installed. Be sure to take safety
precautions
 Unauthorised persons should not have access to the robot.
 Unauthorised persons should not have access to the peripheral equipment.
 Put up signs in the respective working area, such as "Highly flammable","High
voltage","Stop" and "No unauthorized access" .

WARNING!
There is a risk of injury if there is contact with the robot or peripheral equipment.
Strictly observe the following items:
 Always wear approved work clothes (no loose-fitting clothes).
 Do not wear gloves when operating the robot.
 Personal Protective Equipment (PPE) is subject to the provisions of the 89/656/EEC
guideline.
 Do not wear large jewellery, such as earrings, rings or pendants.
 Always wear protective safety equipment such as protective helmets, safety shoes
(with anti-slip soles), face shields, safety goggles and gloves as necessary.

CAUTION!
Injury and material damage due to unforeseen movements.
Observe the following note:
• Never forcibly move the robot axes.

1 - 16
 General

• Never lean against the robot control.

• Avoid inadvertent pressing of the keys.
• Do not allow unauthorised persons to touch the robot control during operation.

Fig. 1-6: Do not lean on

1 - 17
General

1.9 Manufacturer
Address:
YASKAWA ELECTRIC CORPORATION
2-1 KUROSAKISHIROISHI
YAHATANISHI-KU
KITAKYUSHU
JAPAN

1.10 Authorized representative

Address:
YASKAWA Europe GmbH
Robotics Division
Yaskawastr. 1
85391 Allershausen
Germany

1 - 18
 Overview of the robot controller

2 Overview of the robot controller

For information on how to set up, install and connect the robot controller, refer to the manual
on setup and connection with the document number E1102000143XX01* or higher.

1
YASAKAW DX200
Part No.
Power Supply Peak kVA
AC 400/415/440 Average kVA
Serial No.
Date/Signature
Type ERDR-
Robot Type
Robot Order No.
Robot Serial No.

YASKAWA ELECTRIC CORPORATION

2-1 SHIROISHI KUROSAKI, YAHATANISHILU KITAKYUSYU, JAPAN

YASKAWA Europe „Robotics Division“ GmbH

Yaskawastr. 1, D-85391 Allershausen

PROGRAMMING PENDANT
X81

DX200
Fig. 2-1: Robot controller from the front

1 Main switch 2 Door interlock

2 - 19
Overview of programming pendant

3 Overview of programming pendant

The programming pendant is equipped with keys and switches that are used to TEACH-IN
the robot and edit JOBs.

1 2

17 3
START HOLD
REMOTE TEACH
PLAY

16 JOB EDIT DISPLAY UTILITY

JOB CONTENT
-TEST01 S:0000
CONTROL GROUP:R1 TOOL:
0000 NOP
0001 SET B000 1
15 0002 SET B001 0 4
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OT#(10) ON
0006 TIMER T=3.00
0007 MOVJ VJ=80.00
0008 MOVJ VJ=100.00
0009 MOVJ VJ=100.00
0010 MOVJ VJ=100.00
0011 MOVJ VJ=100.00
MOVJ VJ=0.78

Main Menu Short Cut Turn on servo power 5

LAYOUT TOOL SEL GO BACK

DIRECT
COORD
14 Multi
OPEN
PAGE AREA
ENTRY
SERVO
SELECT
MAIN SIMPLE
MENU MENU
ON
READY ASSIST
CANCEL
6
SERVO ON
X- X+ X- X+
S- S+ R- R+
HIGH
SPEED
Y- Y+ Y- Y+
L- L+ B- B+
FAST 7
Z- Z+ MANUAL SPEED
Z- Z+
U- U+ T- T+
SLOW
E- E+ 8- 8+
8
INTER 7 8 9 TEST
SHIFT
SHIFT
LOCK START

13 INFORM 4 5 6
ROBOT
LIST
BWD FWD
9
EX.AXIS
WELD 1 2 3 DELETE INSERT
ON/OFF

MOTION 0 . -
AUX MODIFY ENTER
TYPE 10

12 11

Fig. 3-1: Overview of programming pendant

1 [START] button 10 [ENTER] button

2 [HOLD] button 11 Numeric keys
3 EMERGENCY STOP button 12 [MOTION TYPE] button
4 Insertion slot for CF card 13 Hold-to-run button
5 [PAGE] button 14 Cursor key
6 [SELECT] button 15 Universal output display
7 [MANUAL SPEED] buttons 16 Menu area
8 Axis keys 17 Key switch
9 Hold-to-run-button (optional)

3.1 Description of the keys

3.1.1 Character keys

Keys with characters printed on them are shown in square brackets [°], e.g., the key
appears as [ENTER].
In addition to being used to enter numbers, the number keys also have other functions.
These dual-function keys are used differently, depending on the context. For example,
may appear in the text as [2] or [TOOL ON].

3 - 20
 Overview of programming pendant

3.1.2 Symbol keys

The keys with a printed symbol on them are shown as small images rather than in square
brackets. An exception is the cursor key, for which an image is not used.

Cursor

EMERGENCY STOP button

DIRECT
OPEN Direct open key

GO BACK
[PAGE] button
PAGE

3.1.3 Axis keys and numeric keys

The keys shown below are described as axis keys and numeric keys.

7 8 9
X- X+ X- X+ SYNCRO
SINGLE ARCON FEED
S- S+ R- R+

4 5 6
Y- Y+ Y- Y+ SMOV
GAS
ARCOFF RETRACT
L- L+ B- B+

Z- Z+ Z- Z+ 1 2 3
TOOL1 TOOL2
U- U+ T- T+ TIMER ON ON

0 . -
E- E+ 8- 8+ TOOL1 TOOL2
REFP OFF OFF

1 2

1 Axis keys 2 Numeric keys

3.1.4 Keys pressed simultaneously

If two keys have to be pressed simultaneously, a plus sign is shown between them (e.g.
[SHIFT]+[COORD]).

3.2 Buttons and keys on the programming pendant

Button/key Function
[START] Starts the movement of the robot in playback mode.
• The indicator light in this button comes on during playback
mode.
The light also comes on when playback mode is switched on via
the START signal of the system input.
The light goes out when playback mode is stopped due to an
alarm, a HOLD signal or a switch of operating mode.

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Overview of programming pendant

Button/key Function
[HOLD] Stops the movement of the robot.
• This button is active in every mode.
• The indicator light in the button stays on for as long as you
press it. Although the light goes out when you release the but-
ton, the robot remains stationary until it receives a START
command.
• The HOLD indicator light comes on automatically in the follow-
ing cases to indicate that the system has been stopped. As
long as this light remains on, the system cannot be put into op-
eration, and the axis cannot be moved.
1) The HOLD signal is at the system input.
2) When the HOLD request is sent by a device in REMOTE
mode.
3) In HOLD situations caused by a fault in an operation such as
wire sticking in arc welding.
EMERGENCY Switches the servo power off.
STOP button • When the servo power is turned off, the "SERVO ON" LED on
the programming pendant goes out.
• An emergency stop message appears on the display.

Key switch For selecting the PLAY, TEACH or REMOTE mode.

• PLAY: PLAY mode
The playback of taught JOBs is activated.
Remote Teach
The START signal is switched off by an external device.
Play

• TEACH: TEACH mode

Axis operation and editing using the programming pendant
are activated.
The START signal is switched off by an external device.
• REMOTE: REMOTE mode
Operation by means of external signals is activated.
[START] is ineffective in REMOTE mode.
Hold-to-run button Switches the servo power on.
The switch is only activated when the "SERVO ON" LED is flash-
ing, the safety plug is switched on, and the mode selection switch
is in the "TEACH" position.
To switch the power on, depress the switch slightly. To switch the
power off, depress the switch fully.
[SELECT] Works as described below.
• Selects menu items from {Main Menu} and the menu area.
• Allows the selected item to be set in the general display area.
• Displays numerous messages in the message line.

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 Overview of programming pendant

Button/key Function
Cursor Moves the cursor in the direction of the arrow.
• The movement radius of the cursor and the area/position in
which it can be moved depend on the window.
• If the UP cursor key is pressed when the cursor in in the first
line, it jumps to the last line of the JOB. The cursor accordingly
jumps to the first line of the JOB when the DOWN cursor key
is pressed when it is in the last line of the JOB.
[SHIFT] + UP: Moves the screen up.
[SHIFT] + DOWN: Moves the screen down.
[SHIFT] + RIGHT: Moves the screen to the right.
[SHIFT] + LEFT: Moves the screen to the left.
[MAIN MENU] Opens the MAIN MENU.
If you press this key when the main menu is open, the main menu
is closed.
[MAIN MENU] + UP: Increases the brightness of the screen.
[MAIN MENU] + DOWN: Decreases the brightness of the screen.
[SIMPLE MENU] Opens the SIMPLE MENU.
If you press this key when the simple menu is open, the simple
menu is closed.
[SHIFT] + [SIMPLE MENU]: Register the layout displayed in the
universal area in the "User definition" menu.
Press [SIMPLE MENU] for three seconds to display the pop-up
menu window.
[SERVO ON This key switches the servo power supply on.
READY] Press this key to switch on the servo power when it has been
switched off due to an emergency stop or an overrun signal.
When you press this key:
• The servo power is switched on in PLAY mode when the pro-
tective housing is securely closed.
• If the hold-to-run switch is switched on, the SERVO ON indi-
cator light flashes in TEACH mode and the servo power is
switched on.
• If the servo power is switched on, the SERVO ON indicator
light comes on.
[ASSIST] Opens the help menu for the window currently displayed.
If you press this key together with [SHIFT] or [INTERLOCK], user
guidance appears for this action.
[SHIFT] + [ASSIST]: The list of functions of the key combinations
with the [SHIFT] key is opened.
[INTERLOCK] + [ASSIST]: The list of functions of the key combi-
nations with the [INTERLOCK] key is opened.

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Overview of programming pendant

Button/key Function
[CANCEL] Cancels the current status.
• Deletes the submenu from the {Main Menu} and the menu ar-
ea.
• Cancels the input or input status in the general display area.
• Cancels multiple views on the human-machine interface
(HMI) output display.
• Suppresses an error message.
[MULTI] Activates the multiple window function.
If you press this key when multiple window function is on, the ac-
tive display changes.
[SHIFT] + [MULTI]: When the multiple window function is on, the
display switches between multiple and single view.
[COORD] Select the operating coordinate system when the robot is op-
erated manually.
• The coordinates can be selected from the six coordinate sys-
tems (e.g. joint, Cartesian, cylindrical, tool, user and path-re-
lated). Each time you press the key, the coordinate system is
changed in the following order:
JOINTWLD/CYLTOOLUSERTEACHING LINE (for
arc welding applications only).
• The selected coordinate system is displayed in the status line.
[SHIFT] + [COORD]: The coordinate number can be changed
when the coordinate system TOOL or USER is selected.
[DIRECT OPEN] Displays the contents associated with the current line.
• To display the contents of a called JOB or condition file, move
the cursor to the next line and press [DIRECT OPEN]. The file
is displayed for the selected line. The display depends on the
instruction type used in the JOB.
Example:
In the case of a CALL instruction, the contents of the called
JOB are displayed.
In the case of a work instruction, the contents of the condition
file are displayed.
In the case of input/output instructions, the input/output condi-
tion is displayed.
• The indicator light in the key stays on for as long as DIRECT
OPEN remains active. Press the key when the indicator light
is on to return to the previous window.
[PAGE] Opens the next page.
The page can only be changed when the indicator light in the key
is on.
[SHIFT] + [PAGE]: Switches back to the previous page.

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 Overview of programming pendant

Button/key Function
[AREA] Moves the cursor in the following order: "Menu area""Uni-
versal output display""HMI interface""Main menu"
If no item is displayed, the cursor does not move.
[SHIFT] + [AREA]: The language setting can be changed if the bi-
lingual function is used (the bilingual function is optional).
[AREA] + DOWN: Moves the cursor from the general display area
to the operating button when the operating button is displayed.
[AREA] + UP: Moves the cursor to the general display area when
the cursor is on the operating button.
[SHIFT] If you press this key together with other keys, it changes their
function.
Can be used together with the keys [SIMPLE MENU], [ASSIST],
[MULTI], [COORD], [AREA], [MOTION TYPE], [ROBOT], [EX.
AXIS], the cursor key, or a numeric key to activate additional func-
tions.
To find out how the function of the different keys changes when
the [SHIFT] key is used, refer to the descriptions of the individual
keys.
[INTERLOCK] If you press this key together with other keys, it changes their
function.
Can be used together with the keys [ASSIST], [MULTI], [TEST
START], [FWD], [ROBOT], or a numeric key (customer-specific
function of the numeric keys).
To find out how the functions of the different keys change when
the [INTERLOCK] key is used, refer to the descriptions of the in-
dividual keys.
[INFORM LIST]. Displays the instruction lists with the commands available
for JOB processing.

[ROBOT] Switches the robot axis on.

[ROBOT] is activated in the case of systems where multiple robots
are controlled by a robot controller or a system with external axes.
[SHIFT] + [ROBOT]: In axis mode, the robot can be switched to a
robot axis that is not registered for the current JOB.
[INTERLOCK] + [ROBOT]: Changes the application if multiple ap-
plications are switched to a single robot.
[EX. AXIS] Changes the external axis (base or station axis).
[EX.AXIS] is activated in the case of systems with external axes.
[SHIFT] + [EX. AXIS]: In axis mode, the external axis can be
switched to an external axis that is not registered for the currently
selected JOB.

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Overview of programming pendant

Button/key Function
[MOTION TYPE] Selects the interpolation type for playback mode.
The selected interpolation type is displayed in the status line.
• Each time you press this key, the interpolation type is changed
in the following order:
MOVJMOVLMOVC MOVS
[SHIFT] + [MOTION TYPE]: The interpolation mode changes in
the following order:
STANDARD EXTERNAL REFERENCE POINT* CONVEY-
OR*
The interpolation type can be changed in any mode.
* These modes are available as options.
[TEST START] If you press the keys [TEST START] and [INTERLOCK] simul-
taneously, the robot is moved continuously through taught
steps.
The robot can be moved to check the path of the taught steps.
When you release this key, the axis stops immediately.
• The robot works in accordance with the currently selected op-
erating cycle: AUTO, 1CYCLE, or STEP.
• The robot works at the taught speed. If the taught speed ex-
ceeds the maximum teach-in speed, the robot works at the
maximum teach-in speed.
[FWD] The robot moves continuously through the taught steps for
as long as you hold this key down.
• Only movement instructions are executed (one instruction at
a time, no welding instructions).
[INTERLOCK] + [FWD]: All instructions are executed.
[REFP] + [FWD]: Moves the cursor to the reference point of the
cursor line. The robot works at the selected manual speed. Before
switching on, check that the correct manual speed is set.
[BWD] The robot moves through the taught steps in the opposite di-
rection for as long as you hold this key down.
• Only movement instructions are executed (not welding in-
structions).
The robot works at the selected manual speed. Before switching
on, check that the correct manual speed is set.
[DELETE] Deletes the registered instruction.
• Complete the deletion by pressing the [ENTER] key when this
indicator light is on.

[INSERT] Inserts a new instruction.

• Complete the insertion by pressing the [ENTER] key when
this indicator light is on.

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 Overview of programming pendant

Button/key Function
[MODIFY] Changes the taught position data or an instruction.
• Complete the change by pressing the [ENTER] key when this
indicator light is on.

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

etc.
• When you press the [ENTER] key, the instruction or data in
the input line is transferred to the cursor position, and the reg-
istration, insertion or modification operation is completed.
[MANUAL SPEED] Sets the speed for manual operation. This speed also applies
to applications with [FWD] and [BWD].
• Four speed levels can be set (slow, medium, fast and inching
mode). The speed is changed as described below. The select-
ed speed is displayed in the status line.
Each time you press the [FAST] key, the manual speed is
changed in the following order: INCHSLOWMEDFST
Each time you press the [SLOW] key, the manual speed is
changed in the following order: FSTMEDSLOWINCH
[HIGH SPEED] If you press this key and one of the axis keys at the same
time, the robot moves at high speed. The speed setting does
not have to be changed.
• The speed for [HIGH SPEED] is specified in advance.

Axis keys Move specific axes of the robot.

• The robot axes can only be moved for as long as this key is
held down.
• To operate multiple axes simultaneously, two or more keys
have to be pressed simultaneously.
The robot works in the selected coordinate system at the selected
manual speed. Check that the correct coordinate system and
manual speed are set before you switch the axis on.
External axes can be allocated to the keys [E-] + [E+], [8-] + [8+].
Numeric keys Allow you to enter a number or symbol when the character
">" appears in the input line.
• "." is the decimal point. "-" is a minus sign or hyphen.
Numeric keys are also used as function keys.See the explana-
tions of the various functions.

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Overview of programming pendant

3.3 Display of the programming pendant

The display of the programming pendant is a 5.7-inch colour display.
Alphanumeric characters can be entered.

3.3.1 Five display areas

On the universal output display, the general display area can be moved using the [AREA]
key or selected by touching the screen.

1 2

5
3

Fig. 3-2: Five display areas

1 Menu area 4 Message line

2 Status area 5 Main menu
3 Universal display
Each time a window is opened during operation, the name appears in the upper-left corner
of the universal display.

3.3.1.1 Universal output display

Different settings and content such as JOBs and properties files can be displayed and
edited on the universal output display.
Displays can be changed by scrolling the window, moving the cursor, or changing the page.

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 Overview of programming pendant

• Scrolling the window

If there is too much content to be displayed on the universal display, you can scroll the
window to display the remaining content.
Proceed as follows to scroll the window.
– Use the cursor to move through the window:
See section 3.2 "Buttons and keys on the programming pendant" on page 21.
– Touch the window to scroll it:
Touch the universal display to move the area displayed up, down or to the side and
then release the touch screen again.
For example, tap the JOB window and move it up (to display the lower part of the
window).

• Moving the cursor

The cursor can be displayed in some windows. Proceed as follows to move the cursor
position.
– Use the cursor key to move the cursor:
See section 3.2 "Buttons and keys on the programming pendant" on page 21.
– Move the cursor by touching the screen:
Touch the point for moving the cursor on the universal display and then release the
touch screen again.
To move the cursor in the JOB window by touch, proceed as follows (operations can be
switched on by means of parameters).
1) Press [INTERLOCK] + touch operation.
2) Confirm touch operation + dialogue box.
3) If the cursor cannot be moved by a touch operation:

1) Press [INTERLOCK] + method of touch operation.

a) Set the specification of the cursor movement (S2C1204) to 0 by means of a touch
operation in the JOB window.
b) Press [INTERLOCK] and tap the point for moving the cursor in the JOB window.

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Overview of programming pendant

2) Touch operation + confirmation dialogue box method

a) Set the specification of the cursor movement (S2C1204) to 1 by means of a touch
operation in the JOB window.
b) Tap the respective point for moving the cursor in the JOB window.
c) Select YES in the confirmation dialogue box for the cursor movement.

• Changing page
If the [PAGE] indicator light is on, the pages can be changed.
Proceed as follows to change the pages.
– Change page by means of [PAGE]:
See section 3.2 "Buttons and keys on the programming pendant" on page 21.
– Display the next page by touching the screen:
Touch the universal display and move it to the left, and then release the touch
screen again.
– Display the next page by touching the screen:
Touch the universal display and move it to the right, and then release the touch
screen again.

• Operating keys
The "Operation" button appears in some windows.
The operating process can be executed by pressing [SELECT] or touching the screen.
To move the cursor from the universal output display, press [AREA] + [] cursor.
To move the cursor to the universal output display, press [AREA] + [] cursor or press
[CANCEL].
For operation, use [ in the area of the operation buttons ] or [] and press
[SELECT].

EXECUTE: Continues the operation displayed on the universal display with the dis-
played content.
CANCEL: Cancels the content on the universal display and returns to the previous
dialogue box.

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 Overview of programming pendant

COMPLETE: Concludes the setting displayed on the universal output display.

STOP: Stops operation during loading, storage or checking with an external stor-
age device.
RELEASE: Releases the overrun and shock sensor function.
RESET: Resets an alarm (cannot reset main alarms).
PAGE: In the dialogue box to be switched by entering the page number, enter the
desired page number and press [ENTER].

JUMP TO㸸
2
PAGE

1 Universal output display

2 Operating keys
• On the page where a list is selected, select a desired page number
from the list by pressing [] or [], and then press [ENTER].

NOTICE
To deactivate touch operation on the universal display, change the parameter S2C1203
(touch operation function specifications on the universal display).
To switch the movement method of the cursor by means of touch operation in the JOB
window, change the parameter S2C1204 (cursor movement specifications by means of
touch operation in the JOB window).

3.3.1.2 Main menu

All menus and submenus are displayed on the {Main Menu}. Press [MAIN MENU] or tap
{Main Menu} in the lower left corner of the window to call the main menu.

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Overview of programming pendant

3.3.1.3 Status display

The control status is displayed in the status display. The display depends on the control
mode (play/teach).

1 2 3 4 5 6 7 8 9 10 11 12 13

1 Group axis 8 Tool number

2 Operating coordinate system 9 Page
3 Manual speed 10 Multiple windows
4 Security mode 11 Weak battery
5 Operating cycle 12 Disable touch operation
6 Current status 13 Save data
7 Mode
• Control group
Displays the active control group for systems.
• With station axes
• Multiple robot axes

to Robot axes

to Base axes

to Station axes

• Operating coordinate system

Displays the selected coordinate system. Press [COORD] to switch.

Joint coordinates

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 Overview of programming pendant

Rectangular coordinates

Cylindrical coordinates

Tool coordinates

User coordinates

Path-related coordinates (arc welding application)

• Manual speed
Displays the set speed. You will find more information in Chapter 6.2.5 "Setting the manual
speed" on page 64.

Inching mode

Low speed

Medium speed

High speed

• Security mode

OPERATING MODE

EDITING MODE

MANAGEMENT MODE

SAFETY MODE

ONE-TIME MANAGEMENT MODE

• Operating cycle

Single step

Cycle

Continuous

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Overview of programming pendant

• Current status

Stop status

Pause status

Emergency stop status

Alarm status

Operating status

• Mode

TEACH mode
T

P PLAY mode

• Tool number

Displays the tool number selected by the robot when the tool number
From to switch function is active (S2C431=1).

• Page

Displayed when the page can be changed.

• Multiple windows

Only displayed when the multiple window function is enabled.

• Weak battery of the memory

Displayed when the battery of the memory is weak.

• Disable touch panel operation

The displayed touch panel operation is disabled.

Displayed when the battery of the memory is weak and touch operation is dis-
abled.

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 Overview of programming pendant

• Save data

Displayed when the data is being saved.

3.3.1.4 Message line

Errors or message(s) are displayed in the message line.

Turn on servo power

If an error is displayed, instructions cannot be executed until the error has been cancelled.
Press [CANCEL] to enable the execution of the instructions.
If two or more errors occur, they appear in the message window. To call the list of current
errors, activate the message window and press [SELECT].

5/9
Cannot load macro job at current security mode

HELP
Cannot insert/modify/delete for group axis detachment

CLOSE
Cannot insert/modify/delete for axis detachment

To close the list of errors, press CLOSE or [CANCEL].

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Overview of programming pendant

3.3.1.5 Menu area

The menu area allows you to edit and manage jobs and execute various utilities.

3.3.2 Screen description

• The menu displayed on the programming pendant is shown in curly brackets { }.

The menu items at the top are {DATA}, {EDIT}, {DISPLAY} and {UTILITY}.
• The window can be displayed in the desired view.

Fig. 3-3: Full-screen window

Fig. 3-4: Upper part of the window

Fig. 3-5: Middle part of the window

Fig. 3-6: Lower part of the window

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 Overview of programming pendant

3.3.3 Entering characters in operation

To call the software keypad, move the cursor to the data for which you want to make an
entry and press [SELECT].

3.3.3.1 Entering characters

To enter characters, the software keypad on the programming pendant must be called.
There are three different software keypads:
• The alphanumeric keypad for upper-case letters
• The alphanumeric keypad for lower-case letters
• The symbol keypad
To switch between the alphanumeric keypads and the symbol keypad, touch the button on
the screen or press [PAGE].
To switch between the alphanumeric keypads for upper- and lower-case letters, touch
"CapsLock OFF" or "CapsLock ON".

3.3.3.2 Operation

Designation Keys on Purpose

the pro-
gramming
pendant
Cursor Moves the cursor.

[SELECT] Selects a character.

[CANCEL] Deletes all characters entered.

When you press the key twice, the software keyboard
is cancelled.
[ENTER] Applies the characters entered.

[PAGE] Switches between the keypads displayed on the pro-

gramming pendant.

[MAIN MENU] Closes the software keypad.

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Overview of programming pendant

Designation Keys on Purpose

the pro-
gramming
pendant
Numeric keys Numeric entry

to

3.3.3.3 Alphanumeric entry

Numeric entries are made using the numeric keys or the window for alphanumeric entries.
The characters available are the digits 0 to 9, the decimal point (.) and the minus sign or
hyphen (-).
Please note that the decimal point cannot be used for JOB names.
Press the [PAGE] key to call the window for alphanumeric entries. Move the cursor to the
desired letter and press [SELECT] to enter the letter.

Fig. 3-7: For numbers and upper-case letters

Fig. 3-8: For numbers and lower-case letters

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 Overview of programming pendant

3.3.3.4 Entering symbols

Press the [PAGE] key to call the window for entering symbols.
Move the cursor to the desired symbol and press [SELECT].
Note that only certain symbols are available for the entry of jobs.

Fig. 3-9: For symbols

NOTICE
When the focus is in a text box [Result], it can move a cursor position if you press [Shift]+[]
or [Shift]+[].

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Overview of programming pendant

3.3.3.5 Registering word functions

This function activates the use of registered words during character input by entering the
word (string) in advance.
Using this function makes it easier to enter the same strings. It can register 32 words of up
to eight characters each.
The characters that can be entered are limited by the content. If a registered word contains
a limited character, the word cannot be used.
For example, lower-case letters, decimal points, and symbols cannot be used in the JOB
name.

Select {SETUP} → {SET WORD} from {Main Menu}.

– The REGISTER WORD window appears.
– The registered words are displayed in the word area.
– If no word is registered, [Name order], [Delete] and [Delete All] are not active in the
button area

1 2

1 Word area 2 Area key

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 Overview of programming pendant

• Word registration
It can register 32 words of up to eight characters each.
Register a word by means of the [REGISTER WORD] button if word processing with
use of the keypad is active (S2C410=1) or register the word in the word registration
screen.
For example, register the word "TEST".
Select {KEYBORD}.

Use the keypad to enter "TEST" and select "Regist".

The input keypad appears.

Select [REGISTER WORD].

– The word area appears.
– Confirm that TEST is in the word area.

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Overview of programming pendant

• Back space
Deletes the last character of the string entered.
Select {Back space} in the word registration screen.
– Deletes the last character of the string entered.
• Cancel
Deactivate the input string.
Select {CANCEL} in the word registration screen.
– Cancel the string if there is a string entered.
– Cancel the word registration screen if there is no string entered there.
• Use of words
For example, use the entered word {TEST}.
Select {REGISTER WORD}.
– The word area appears.
The characters that can be entered are limited by the content. If a registered word
contains a limited character, the word cannot be used.
For example, lower-case letters, decimal points, and symbols cannot be used in the
JOB name.

Select TEST in the word area.

– The entered word "TEST" appears in the text box at the top.

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 Overview of programming pendant

Select {KEYBORD}.
Use the programming pendant to move the cursor to "1" and press [Select].
– The "1" is added in {Result} after "TEST" is displayed.

When "TEST1" is displayed in {Result}, select {Regist}.

A message box appears with the message {TEST1 word registration succeeded}, and
registration is concluded.

• Changing the order of the words displayed

You can change the order of the words displayed
1) Name Order display

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Overview of programming pendant

Select {Name Order} in the button area.

– The words are displayed in alphabetical order.
– The {Name Order} button changes to {Register order}.

2) Register Order display

Select the {Register order} button.
– The words are displayed in the order of registration.
– The {Register order} button changes to {Name Order}.

• You can delete the registered words.

Delete the words when word processing with use of the keypad is active (S2C410=1)
or delete the word in the word registration screen.
For example, delete the word "TEST".
– Select {REGISTER WORD}.
– The word area appears.

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 Overview of programming pendant

Select "TEST" in the word area and then the {Delete} button.
– A dialogue box appears with the question "'TEST' Do you delete a word?"

Select {YES}.
TEST is deleted from the word area.
• You can delete all registered words.
Delete the words when word processing with use of the keypad is active (S2C410=1)
or delete the word in the word registration screen.
– Delete all registered words.
Select the {Delete All} button.
– A dialogue box appears with the question "Do you delete all words?"

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Overview of programming pendant

Select {YES}.
– All words are deleted.

3.3.3.6 Bilingual function

When the bilingual function is activated (optional), you can alternate between two
languages with a single touch.
Press [SHIFT] + [AREA].

You can switch between English and Japanese by pressing [AREA] and [SHIFT]
simultaneously.

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 Overview of programming pendant

NOTICE
Under the following circumstances, the two languages cannot be displayed alternately:
 When entering characters or numbers and when a confirmation dialogue box is
displayed.
 During axis movements and during forward-backward or test actions in learning mode.
 Current JOB names, other names and comments: the registered names and comments
should remain as they are.

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Mode

4 Mode
The robot controller can be operated in the following three modes.
• TEACH mode
• PLAY mode
• REMOTE mode

4.1 TEACH mode

The following work can be performed in TEACH mode.
• Preparation and learning of a JOB.
• Changing of a registered JOB.
• Setting of property files.
• Setting of property parameters.

4.2 PLAY mode

The following work can be performed in PLAY mode.
• Playback of a taught JOB.
• Setting, modification or deletion of condition files.

4.3 REMOTE mode

In REMOTE mode, commands such as SERVO ON Ready, Start, Cycle Change and Call
Master JOB can be controlled via external input signals.
The movements via external input signals are released in REMOTE mode when [START]
is deactivated on the programming pendant.
The data transfer function (option) is also available in REMOTE mode.
The following table shows how each movement is entered in the different modes.

Mode TEACH PLAY REMOTE mode

Operation mode mode

SERVO ON Ready PP PP External input signal

Start Invalid PP External input signal
Cycle Change PP PP External input signal
Call master JOB PP PP External input signal
Note: PP refers to the programming pendant.

4.4 Priority of TEACH mode

The following operations are disabled in TEACH mode.
1. Playback via [START].
2. Playback from the external input signals.

4 - 48
 Security mode

5 Security mode

5.1 Security mode types

The following five modes are available for the robot controller.
The user ID has to be entered for operations in EDITING MODE and MANAGEMENT
MODE. It must consist of 4 to 8 letters, numbers, or symbols.
• OPERATING MODE
You can monitor the operation of the production line and stop the robot. If irregularities
are detected, repairs etc. can be carried out.
• EDITING MODE
In addition to the functions that are possible in OPERATING MODE, JOB and operating
files can be edited.
– Teaching in editing mode
– Editing of the robot's JOG operations
– Editing of JOB and operating files
• MANAGEMENT MODE
In addition to the functions that are possible in EDITING MODE, you can make the
following changes.
– The parameters of the robot controller
– The time in management mode
– User ID
– etc.
• SAFETY MODE
In addition to the operations possible in MANAGEMENT MODE, you can edit the
relevant files of the safety functions in order to manage the safety of the system.
If the optional functional safety function is enabled, SAFETY MODE is activated, in
which files such as the tool files can be edited.
• One-time MANAGEMENT MODE
Maintenance work can be carried out in a higher-security mode than MANAGEMENT
MODE.
The one-time security code provided by YASKAWA must be entered.
In addition to the operations that are possible in SAFETY MODE, the load restriction is
lifted for the following data:
– CMOS.BIN
– Function definition parameters (FD.PRM)
– Batch parameters (ALL.PRM)
It is necessary to enter the password in order to work in OPERATING MODE,
MANAGEMENT MODE, and SAFETY MODE.
The password for OPERATING MODE and MANAGEMENT MODE should have 4 to 16
characters/numbers.
The password for SAFETY MODE must have 9 to a maximum of 16 characters/numbers.

5 - 49
Security mode

Main menu Submenu Permitted security mode

Display Editing
JOB JOB Operation Editing
SELECT JOB Operation Operation
1
CREATE NEW JOB Editing Editing
MASTER JOB Operation Editing
JOB CAPACITY Operation -
1
RES. START (JOB) Editing Editing
RES. STATUS2 Operation -
CYCLE Operation Operation
3
TRASH JOB LIST Editing Editing
JOB EDIT (PLAY) Editing Editing
PLAY EDIT JOB LIST Editing Editing
VARIABLE BYTE Operation Editing
INTEGER Operation Editing
DOUBLE Operation Editing
REAL Operation Editing
STRING Operation Editing
POSITION (ROBOT) Operation Editing
POSITION (BASE) Operation Editing
POSITION (ST) Operation Editing
LOCAL VARIABLE Operation -

5 - 50
 Security mode

Main menu Submenu Permitted security mode

Display Editing
IN/OUT EXTERNAL INPUT Operation Editing
EXTERNAL OUTPUT Operation Editing
UNIVERSAL INPUT Operation Operation
UNIVERSAL OUTPUT Operation Operation
SPECIFIC INPUT Operation -
SPECIFIC OUTPUT Operation -
RIN Operation -
CPRIN Operation -
REGISTER Operation Management
AUXILIARY RELAY Operation -
CONTROL INPUT Operation -
PSEUDO INPUT SIG Operation Management
NETWORK INPUT Operation -
NETWORK OUTPUT Operation -
ANALOG OUTPUT Operation -
SV POWER STATUS Operation -
LADDER PROGRAM Management Management
I/O ALARM Management Management
I/O MESSAGE Management Management
TERMINAL Operation Editing
I/O SIMULATION LIST Operation Operation
SERVO ON FACTOR Management -
SERVO OFF FACTOR Operation -

5 - 51
Security mode

Main menu Submenu Permitted security mode

Display Editing
ROBOT CURRENT POSITION Operation -
COMMAND POSITION Operation -
SERVO MONITOR Management -
WORK HOME POS Operation Editing
SECOND HOME POS Operation Editing
DROP AMOUNT Management Management
POWER ON/OFF POS Operation -
TOOL Editing Editing
INTERFERENCE Management Management
SHOCK SENS LEVEL Operation Editing
USER COORDINATE Editing Editing
HOME POSITION Management Management
ROBOT TYPE Management -
ANALOG MONITOR Management Management
1
OVERRUN&S-SENSOR Operation Operation
LIMIT RELEASE1 Editing Editing
ARM CONTROL1 Management Management
SHIFT VALUE Operation -
SOFTLIMIT SETTING Management Management
SHOCK SENS LV. (CUR- Operation -
RENT)
SYSTEM INFO VERSION Operation -
MONITORING TIME Operation Management
ALARM HISTORY Operation Management
I/O MSG HISTORY Operation Management
USER DEFINITION MENU Operation Editing
EX.MEMORY LOAD Editing -
SAVE Operation -
VERIFY Operation -
DELETE Operation -
DEVICE Operation Operation
FOLDER Operation Management
1
INITIALIZE Operation -

5 - 52
 Security mode

Main menu Submenu Permitted security mode

Display Editing
PARAMETER S1CxG Management Management
S2C Management Management
S3C Management Management
S4C Management Management
A1P Management Management
A2P Management Management
A3P Management Management
A4P Management Management
A5P Management Management
A6P Management Management
A7P Management Management
A8P Management Management
RS Management Management
S1E Management Management
S2E Management Management
S3E Management Management
S4E Management Management
S5E Management Management
S6E Management Management
S7E Management Management
S8E Management Management

5 - 53
Security mode

Main menu Submenu Permitted security mode

Display Editing
SETUP TEACHING COND. Editing Editing
OPERATE COND. Management Management
OPERATE ENABLE Management Management
FUNCTION ENABLE Management Management
JOG COND. Management Management
PLAYBACK COND. Management Management
FUNCTION COND. Management Management
DISPLAYING COLOR COND. Editing Editing
DATE/TIME Management Management
GRP COMBINATION Management Management
SET WORD Editing Editing
RESERVE JOB NAME Editing Editing
USER ID Editing Editing
SET SPEED Management Management
KEY ALLOCATION Management Management
JOG KEY ALLOC. Editing Management
RES. START(CNCT) Management Management
AUTO BACK SET Management Management
WRONG DATA LOG Editing Management
ENERGY SAVING FUNC- Editing Management
TION
ENCODER MAINTENANCE Editing Management
SAFETY FUNC M-SAFETY SIGNAL ALLOC Operation Management
TIMER DELAY SET Operation Management
SAFETY LOGIC CIRCUIT Operation Management
PM PM (REDUCER) Operation Management
INSPECTION RECORD Operation Management
DISPLAY SETUP CHANGE FONT Operation Operation
CHANGE BUTTON Operation Operation
INITIALIZE LAYOUT Operation Operation
CHANGE WINDOW PAT- Operation Operation
TERN

5 - 54
 Security mode

Main menu Submenu Permitted security mode

Display Editing
ARC WELDING ARC START COND. Operation Editing
ARC END COND. Operation Editing
ARC AUX COND. Operation Editing
WELDER COND. Operation Editing
ARC WELD DIAG. Operation Editing
WEAVING Operation Editing
ARC MONITOR Operation Editing
ARC MONITOR (SAMPL) Operation -
APPLI COND. Management Management
HANDLING HANDLING DIAGNOSIS Operation Editing
SPOT WELDING WELD DIAGNOSIS Operation Editing
I/O ALLOCATION Management Management
GUN CONDITION Management Management
SPOT WELDER COND. Management Management
APPLICATION CONDITION Management Management
SETTING
SPOT WELDING WELD DIAGNOSIS Operation Editing
(MOTOR GUN) GUN PRESSURE Editing Editing
PRESSURE Editing Editing
I/O ALLOCATION Management Management
GUN CONDITION Management Management
CLEARANCE SETTING Operation Editing
SPOT WELDER COND. Management Management
TIP INSTALLATION Operation Management
APPLICATION SETTING Management Management
GENERAL WEAVING Operation Editing
GENERAL DIAG. Operation Editing
COMMON TO ALL I/O VARIABLE CUSTOMIZE Operation Operation
APPLICATIONS
1. Displayed only in TEACH mode.

2. Displayed only in PLAY mode.

3. Only displayed when the "Restore JOB" function is enabled.

The following three modes are available for the robot controller.
The user ID has to be entered for operations in EDITING MODE and MANAGEMENT
MODE. It must consist of 4 to 8 letters, numbers, or symbols.

5 - 55
Security mode

• OPERATING MODE
You can monitor the operation of the production line and stop the robot. If irregularities
are detected, repairs etc. can be carried out.
• EDITING MODE
In addition to the functions that are possible in OPERATING MODE, JOB and operating
files can be edited.
– Teaching in editing mode
– Editing of the robot's JOG operations
– Editing of JOB and operating files
• MANAGEMENT MODE
In addition to the functions that are possible in EDITING MODE, you can make the
following changes.
– The parameters of the robot controller
– The time in management mode
– User ID
– etc.

Main menu Submenu Permitted security mode

Display Editing
JOB JOB Operation Editing
SELECT JOB Operation Operation
CREATE NEW JOB1 Editing Editing
MASTER JOB Operation Editing
JOB CAPACITY Operation -
CYCLE Operation Operation
VARIABLE BYTE Operation Editing
INTEGER Operation Editing
DOUBLE Operation Editing
REAL Operation Editing
STRING Operation Editing
POSITION (ROBOT) Operation Editing
POSITION (BASE) Operation Editing
POSITION (ST) Operation Editing
LOCAL VARIABLE1 Operation -

5 - 56
 Security mode

Main menu Submenu Permitted security mode

Display Editing
IN/OUT EXTERNAL INPUT Operation Editing
EXTERNAL OUTPUT Operation Editing
UNIVERSAL INPUT Operation Operation
UNIVERSAL OUTPUT Operation Operation
SPECIFIC INPUT Operation -
SPECIFIC OUTPUT Operation -
RIN Operation -
CPRIN Operation -
REGISTER Operation Management
AUXILIARY RELAY Operation -
CONTROL INPUT Operation -
PSEUDO INPUT SIG Operation Management
NETWORK INPUT Operation -
NETWORK OUTPUT Operation -
LADDER PROGRAM Management Management
I/O ALARM Management Management
I/O MESSAGE Management Management
TERMINAL Operation Editing
I/O SIMULATION LIST Operation Operation
ROBOT CURRENT POSITION Operation -
COMMAND POSITION Operation -
SERVO MONITOR Management -
WORK HOME POS Operation Editing
SECOND HOME POS Operation Editing
DROP AMOUNT Management Management
POWER ON/OFF POS Operation -
TOOL Editing Editing
INTERFERENCE Management Management
SHOCK SENS LEVEL Operation Editing
USER COORDINATE Editing Editing
HOME POSITION Management Management
ROBOT TYPE Management -
ANALOG MONITOR Management Management
OVERRUN Editing Editing
LIMIT RELEASE Editing Editing
ARM CONTROL Management Management
SHIFT VALUE Operation -
MANUAL RELEASE OF Operation Operation
BRAKE
HAND VIBRATION CONTROL Operation Management

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Security mode

Main menu Submenu Permitted security mode

Display Editing
SYSTEM INFO VERSION Operation -
MONITORING TIME Operation Management
ALARM HISTORY Operation Management
I/O MSG HISTORY Operation Management
NETWORK SERVICE Management -
USER DEFINITION MENU Operation Operation
SECURITY Operation Operation
EX.MEMORY LOAD Editing -
SAVE Operation -
VERIFY Operation -
DELETE Operation -
DEVICE Operation Operation
FOLDER Operation Management
PARAMETER S1CxG Management Management
S2C Management Management
S3C Management Management
S4C Management Management
A1P Management Management
A2P Management Management
RS Management Management
S1E Management Management
S2E Management Management
S3E Management Management
S4E Management Management
S5E Management Management
S6E Management Management
S7E Management Management
S8E Management Management

5 - 58
 Security mode

Main menu Submenu Permitted security mode

Display Editing
SETUP TEACHING COND. Editing Editing
OPERATE COND. Management Management
OPERATE ENABLE Management Management
FUNCTION ENABLE Management Management
JOG COND. Management Management
PLAYBACK COND. Management Management
FUNCTION COND. Management Management
DISPLAYING COLOR COND. Editing Editing
DATE/TIME Management Management
GRP COMBINATION Management Management
RESERVE JOB NAME Editing Editing
USER ID Editing Editing
SET SPEED Management Management
KEY ALLOCATION Management Management
JOG KEY ALLOC. Editing Management
RES. START(CNCT) Management Management
AUTO BACK SET Management Management
WRONG DATA LOG Editing Management
ENERGY SAVING FUNC- Editing Management
TION
ENCODER MAINTENANCE Editing Management
DISPLAY SETUP CHANGE FONT Operation Operation
CHANGE BUTTON Operation Operation
INITIALIZE LAYOUT Operation Operation
CHANGE WINDOW PAT- Operation Operation
TERN
GENERAL GENERAL DIAG. Operation Editing
1. Displayed only in TEACH mode.

5 - 59
Security mode

5.2 Changing the security mode

1. Select {SYSTEM INFO} from {Main Menu}.
– The submenu appears.

2. Select {SECURITY}.
– The SECURITY window appears.

– The security mode can be selected from the following: OPERATING MODE, EDITING
MODE, MANAGEMENT MODE, or SAFETY MODE.

3. Select the desired security mode.

– If the selected security mode is a higher-level mode than the current security mode, the
password-entry status window appears for the user ID.

4. Enter the password if required.

– Password recognition is set as follows in the factory:
EDITING MODE: [0000000000000000]
MANAGEMENT MODE: [9999999999999999]
SAFETY MODE: [5555555555555555]
5. Press [ENTER].
– The security mode is also changed if the password entered is correct.

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 Security mode

Carry out the following steps to change the security mode to one-time management mode.
1. Switch from security mode to management mode.
– If you switch to management mode, you can select OPERATING MODE, EDITING
MODE, MANAGEMENT MODE, SAFETY MODE, or ONE-TIME MANAGEMENT
MODE.

2. Select ONE-TIME MANAGEMENT MODE.

3. A keypad is displayed so that you can enter characters. Enter the one-time security
code provided by YASKAWA.
4. If the entered security code is correct, the ONE-TIME MANAGEMENT MODE is set.

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Robot coordinate systems and operations

6 Robot coordinate systems and operations

6.1 Control group and coordinate systems

6.1.1 Control group

An axis group can be controlled simultaneously for the robot controller.

This group is called a control group and subdivided into three units:
• ROBOT is the actual robot.
• STATION is the positioners.
• The tools that do not belong to ROBOT or BASE.
BASE and STATION are the external axes.

2
3
Fig. 6-1: Control group

1 Robot: These are the axes for the actual robot.

2 Positioner: Each axis that is not a robot or base axis.
The axis indicates the tilt or rotational axis of the clamp.
3 Track: This is the axis that moves the entire robot.
It corresponds to the servo track.
This access controls the path of the moving robot.

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 Robot coordinate systems and operations

6.1.2 Coordinate systems

The following coordinate systems can be used to operate the robot:

• Joint coordinates
Each axis of the robot is moved separately.
• Cartesian coordinates
The tool tip of the robot is moved parallel to the X-, Y- and Z-axis.
• Cylindrical coordinates
The  -axis moves around the S-axis. The R-axis moves parallel to the L-axis arm. In a
vertical movement, the tool tip of the robot moves parallel to the Z-axis.
• Tool coordinates
The actual direction of the tool mounted in the wrist joint is defined as the Z-axis. This
axis controls the coordinates of the tool end point.
• User coordinates
The Cartesian coordinates of the X-, Y- and Z-axis are set at any point and angle.
The tool tip of the robot is moved parallel to these axes.
• Teaching line coordinates
In two steps, the Cartesian coordinates XYZ are set and the direction of the Z-axis of
the robot coordinates is set. The tool tip of the robot is moved parallel to these axes.
They can only be used for arc welding.

U
R
B

Z Z
L

r
Y
S
r
X
1 2 3

Z
Z

Y
X
X Y

Y X
Z
4 5 6

1 Joint coordinates 4 Tool coordinates

2 Cartesian coordinates 5 User coordinates
3 Cylindrical coordinates 6 Teaching line coordinates

6 - 63
Robot coordinate systems and operations

6.2 General operation

6.2.1 Safety check

Before you operate the robot controller, read section 1.8 "Safety" on page 13 again and
secure the area around the robot and the peripheral devices.

6.2.2 Selecting TEACH mode

Move the selector switch on the programming pendant to TEACH.

6.2.3 Selecting CONTROL GROUP

If the robot controller has multiple control groups or coordinate control systems (optional
function), select the control group first.
If two or more of ROBOT, BASE and STATION are registered, switch the control group by
pressing [SHIFT] + [ROBOT] or [SHIFT] + [EX]. AXIS].
Once you have selected a job, the control group registered in the selected job is activated.
The registered control group in the job editor can be switched by means of [ROBOT] or [EX.
AXIS].
Check the selected control group in the status display of the programming pendant.

6.2.4 Selecting a coordinate system

Select a coordinate system. To do so, press [COORD].

Each time you press [COORD], the coordinate system is changed in the following order:
JointCartesian (cylindrical)Tool User Path-related (for arc welding
only)
Check the selected coordinate in the status display of the programming pendant.

6.2.5 Setting the manual speed

Select the manual speed. To do so, press [FAST] or [SLOW]. The selected speed applies
not just to the axis movements but also to the movements [FWD] and [BWD].

NOTICE
If the robot is controlled manually using the programming pendant, the maximum speed of
the TCP is limited to 250 mm/s.

Each time you press [FAST], the speed is changed in the following order:
INCHSLOWMEDFAST

FAST INCH SLW MED FST

Each time you press [SLOW], the speed is changed in the following order:
FASTMEDSLOWINCH

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 Robot coordinate systems and operations

SLOW FST MED SLW INCH

Check the selected manual speed in the status display of the programming pendant.

6.2.6 SERVO ON

Press [SERVO ON READY]. The "SERVO ON" LED begins to flash.

Press the hold-to-run switch, and the "SERVO ON" LED begins to flash.

6.2.7 Axis operation

Secure the area around the robot. Press [AXIS KEY]. The axis is moved in accordance with
the settings for the control group, coordinates and manual speed (see Chapter 6.3
"Coordinate systems and axis movements" on page 66.)

6.2.8 High speed

If [HIGH SPEED] is pressed together with an [Axis Key], the robot works at high speed.

NOTICE
[HIGH SPEED] is ineffective if the manual speed is set to INCH.

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Robot coordinate systems and operations

6.3 Coordinate systems and axis movements

6.3.1 Joint coordinates

In operation in joint coordinate mode, the S-, L-, U-, R-, B- and T-axes of the robot move
independently. The movement of each axis is described in the table below.

Axis description Axis movement key Movement

Main axes S-axis The main unit turns to the right
and left.

L-axis The lower arm moves forwards

and backwards.

U-axis The upper arm moves up and

down.

Joint axes R-axis The joint rolls to the right and

left.

B-axis The joint moves up and down.

T-axis The joint turns to the right and

left.

E-axis The lower arm turns to the right

and left.

Tab. 6-1: Axis movement in the joint coordinates

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 Robot coordinate systems and operations

NOTICE
If two or more axis keys are pressed at the same time, the robot executes a combined
movement. However, if two different direction keys are pressed at the same time for the
same axis (e.g. [S-] + [S+]), none of the axes are moved.

1 7-axis robot
2 6-axis robot

L-axis

1 2

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Robot coordinate systems and operations

6.3.2 Cartesian coordinates

In the case of Cartesian coordinates, the robot moves parallel to the X-, Y- or Z-axes. The
movement of each axis is described in the table below.

Axis description Axis movement key Movement

Base axes X-axis Moves parallel to the X-axis.

Y-axis Moves parallel to the Y-axis.

Z-axis Moves parallel to the Z-axis.

Joint axes The movement around the TCP is executed (see Chapter
6.3.8 "Control point operation" on page 75.)

Tab. 6-2: Axis movement in the Cartesian coordinates

NOTICE
If two or more axis keys are pressed at the same time, the robot executes a combined
movement. However, if two different direction keys are pressed at the same time for the
same axis (e.g. [X-] + [X+]), none of the axes are moved.

3
2
Z+
X- X+ U+
S- S+

3
Y+
L+

Z-
U-
1 1
Y-
L-

1 Y-axis 3 Z-axis
2 X-axis

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 Robot coordinate systems and operations

6.3.3 Cylindrical coordinates

In the case of cylindrical coordinates, the robot moves as follows. The movement of each
axis is described in the table below.

Axis description Axis movement key Movement

Base axes -axis The main unit rolls around the S-
axis.

R-axis Moves vertically to the Z-axis.

Z-axis Moves parallel to the Z-axis.

Joint axes The movement around the TCP is executed (see Chapter
6.3.8 "Control point operation" on page 75.)

Tab. 6-3: Axis movement in the cylindrical coordinates

NOTICE
If two or more axis keys are pressed at the same time, the robot executes a combined
movement. However, if two different direction keys are pressed at the same time for the
same axis (e.g. [Z-] + [Z+]), none of the axes are moved.

1 R-axis
2 -axis
3 Z-axis
3

1
2

1 R-axis X+
S+ 1
2 Moves vertically to the R-ax- Y+
L+

is.
3 Rolls around the -axis Y-
L-

1
X- Y- Y+
S- L- L+

3 2

Tab. 6-4: Rolls around the -axis and moves vertically to the R-axis.

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Robot coordinate systems and operations

6.3.4 Tool coordinates

In the case of tool coordinates, the robot moves parallel to the X-, Y- or Z-axes, which are
defined at the tool tip. The movement of each axis is described in the table below.

Axis description Axis movement key Movement

Base axes X-axis Moves parallel to the X-axis.

Y-axis Moves parallel to the Y-axis.

Z-axis Moves parallel to the Z-axis.

Joint axes The movement around the TCP is executed (see Chapter
6.3.8 "Control point operation" on page 75.)

Tab. 6-5: Axis movement in the cylindrical coordinates

NOTICE
If two or more axis keys are pressed at the same time, the robot executes a combined
movement. However, if two different direction keys are pressed at the same time for the
same axis (e.g. [X-] + [X+]), none of the axes are moved.

1 Y-axis
X-axis 2
2
3 Z-axis

2 3
1

1 2
1
3 3

The tool coordinates are defined at the tool tip. It is assumed that the actual direction of the
tool mounted on the robot joint flange is the Z-axis. The tool coordinate axis direction
therefore moves with the joint.
In the case of tool coordinate movement, the robot can be moved independently of the
position and alignment of the robot using the actual tool direction as a reference.
These movements are most favourable if the robot has to move in parallel and at the same
time the tool alignment with the workpieces has to be maintained.

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 Robot coordinate systems and operations

NOTICE
The tool file should be entered in advance for the tool coordinates. Additional information
can be found in Chapter 4.3 "Tool data setting" in the "System Setup" manual with
document number E1102000145XX01* or higher.

6.3.5 Selecting the tool

Tool numbers are used to specify a tool if more than one tool is used in the system.
You can make a selection from among the registered tool files when you change the tools
on the robot.

NOTICE
This can only be done if more than one tool is used.
To use multiple tool files with a robot, set the following parameters:
S2C431: Parameter that specifies the tool number switch:
1: Can be switched
0: Cannot be switched

1. Press [COORD] and select the tool coordinates.

– Each time you press [COORD], the coordinate system is changed in the following order:
JointCartesian (cylindrical)Tool User Path-related (for arc
welding only).
Note the change in the status display.
2. Press [SHIFT] + [COORD].
– The TOOL NO SELECT window appears.

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Robot coordinate systems and operations

3. Move the cursor to the desired tool.

– The TOOL NO. SELECT window appears with an example: "TOOL NO. 0 (TOOL 1) is
selected."
4. Press [SHIFT] + [COORD].
– The display switches back to the previous window.

6.3.6 User coordinates

In the case of user coordinates, the robot moves parallel to each axis of the coordinates
specified by the user. Up to 24 coordinate types can be registered. Each coordinate has a
user number and is referred to as a user coordinate file.
The figure and table below describe the movement of each axis when the axis key is
pressed.

Axis description Axis movement key Movement

Base axes X-axis Moves parallel to the X-axis.

Y-axis Moves parallel to the Y-axis.

Z-axis Moves parallel to the Z-axis.

Joint axes The movement around the TCP is executed (see Chapter
6.3.8 "Control point operation" on page 75.)

Tab. 6-6: Axis movement in the user coordinates

NOTICE
If two or more axis keys are pressed at the same time, the robot executes a combined
movement. However, if two different direction keys are pressed at the same time for the
same axis (e.g. [X-] + [X+]), none of the axes are moved.

1 Y-axis 1

2 Z-axis
X- X+
S- S+

Y+

X-axis
L+

3
4 Station, etc. 3
2

Moves parallel to the Z-axis.

2
5
Y-
L- 1
6

6 Moves parallel to the X- or Z-axis. 2

1
Z+ 3
U+

4 4

Z-
U-
1

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 Robot coordinate systems and operations

6.3.6.1 Selecting user coordinates

Select the coordinate system from among the user coordinates entered, as described
below.
1. Press [COORD] to select the user coordinates.
– Each time you press [COORD], the coordinate system is changed in the following order:
JointCartesian (cylindrical)Tool User Path-related (for arc
welding only)Note the change in the status display.
2. Press [SHIFT] + [COORD].
– The USER COORD SELECT window appears.

NOTICE
You will find more information on the registration of user coordinates in Chapter 4.8.2
"Setting user coordinates" in the "System Setup" manual with document number
E1102000145XX01* or higher.

3. Select the desired user ID.

6.3.6.2 Using user coordinates

<Example>
The user coordinate settings enable problem-free TEACH-IN in different situations. For
example:
• If multiple positioners are used, manual operation can be simplified by defining the user
coordinates for each clamp.

1 Clamp
1
2 User coordinates 2

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Robot coordinate systems and operations

• For arrangement or stacking, the incremental value for the movement can be
programmed easily by setting the user coordinates in a range.

• In the case of conveyor belts, the direction of movement of the conveyor belt is
specified.

6.3.7 External axes

The external axis can be operated by selecting BASE or STATION for the control group.
The movement of each axis is described in the table below.

Axis description Axis movement key Movement

BASE or 1st axis The first axis moves.
STATION

2nd axis The second axis moves.

3rd axis The third axis moves.

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 Robot coordinate systems and operations

6.3.8 Control point operation

The movement around the TCP (tool centre point) can merely change the joint alignment
at a fixed TCP position in all coordinate systems. The joint coordinates are excepted from
this. The movement of each axis is described in the table below.

Axis descrip- Axis movement key Movement

tion
Main axes The TCP moves. These movements are
different, depending on the coordinate sys-
tem (e.g. joint, cylindrical, Cartesian, tool or
user).

Joint axes The joint axes move with the fixed TCP.
These movements are different, depending
on the coordinate system (e.g. joint, cylin-
drical, Cartesian, tool or user).

E-axis * Available only for a 7-axis robot.

The arm position changes, while the posi-
tion and posture of the tool remains un-
changed (change of the Re angle).

Tab. 6-7: Axis movement around the TCP

NOTICE
If two or more axis keys are pressed at the same time, the robot executes a combined
movement. However, if two different direction keys are pressed at the same time for the
same axis (e.g. [X-] + [X+]), none of the axes are moved.
Re is an element that specifies the posture of the 7-axis robot and is not changed by means
of the coordinates entered.
Re is defined below.

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Robot coordinate systems and operations

TCP

Fig. 6-2: Gas welding

Fig. 6-3: Spot welding

The rotation of each joint axis is different in each coordinate system.

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 Robot coordinate systems and operations

• In the case of Cartesian or cylindrical coordinates, the axial rotations are based on the
X-, Y- or Z-axis.

Z-axis
+
-

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

Y-axis

X-axis

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

X-axis
+

Z-axis

+ +

Y-axis

• In the case of the user coordinates, the axial rotations are based on the X-, Y- or Z-axis
of the user coordinates.

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

Z-axis

Y-axis

X-axis

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Robot coordinate systems and operations

Control point change

The TCP is the destination point of the axis movements and is specified as a distance from
the front side of the flange.
The TCP change movement is an axis movement in which the desired tool file is selected
from a list of registered files (see section 6.3.5 "Selecting the tool" on page 71), and the axis
is then moved while the TCP is simultaneously changed. With the exception of the joint
coordinates, this can be done for all coordinate systems. The axis movement corresponds
to the movement around the TCP.
<Example 1>
TCP change movement with multiple tools.
1. The TCPs for tool 1 and tool 2 are referred to as P1 and P2.
2. If tool 1 is selected for an axis movement, P1 (the TCP of tool 1) is the destination point
of the movement. Tool 2 follows tool 1 and is not controlled by the axis movement.
3. On the other hand, if tool 2 is selected for an axis movement, P2 (the TCP of tool 2) is
the destination point of the movement. In this case, tool 1 only follows tool 2.

Tool 1 Tool 2

P1 P2
P1 P2

1 1

Fig. 6-4: Selection of tool 1 (tool 2) and axis movements with control of P1 (P2)

1 Workpiece
<Example 2>
TCP change movement with a single tool.
1. The two corners of the workpiece held by the tool are referred to as P1 and P2 of the
TCP.

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 Robot coordinate systems and operations

2. When two TCPs are selected alternately, the workpieces are as shown below:

1 1
P1
P1 P2
P2

Fig. 6-5: Movement around the TCP with P1 (P2) selected

1 Workpiece

NOTICE
You will find more information on the registration of the tool data settings in the System
Setup manual with the document number E1102000145XX01* or higher.

6.3.9 Path-related coordinates

The path-related coordinates are the coordinates that are set with the two successive steps
and the direction of the Z-axis of the robot coordinates. They can only be used for arc
welding.

Each axis of the path-related coordinate system

X-axis Direction of movement
Tangential direction in an arc movement
Y-axis Gy is the outer product direction of the Z-axis of the base coordinates and of
the X-axis of the path-related coordinates.
θR is the angle of Gy and the Z-axis of the tool coordinates.
If θR is smaller than θL, the Y-axis of the path-related coordinates is Gy.
If θL is smaller than θR, the Y-axis of the path-related coordinates is -Gy.
Z-axis The Z-axis of the path-related coordinates is the outer product direction of
the X-axis of the base coordinates and Gy.

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Robot coordinate systems and operations

5 5

1 1

θR θL θR
θL
Gy Gy
6 6
2 2

3 3

4 θL > θR θL < θR 4

Fig. 6-6: Path-related coordinates

1 Tool coordinate axis 4 Y-axis (direction of movement)

2 Step n-1 5 Z-axis
3 Step n 6 Y-axis

䠵
䠴

1 2

Fig. 6-7: Linear interpolation and the path-related coordinates

1 Step 1 3 Step 3
2 Step 2

Step Instructions Instructions for the path-related coordinate system

NCP
1 MOVL None
2 MOVL 12
3 MOVL 345

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 Robot coordinate systems and operations

2
X

Y 3
1

Fig. 6-8: Circular interpolation and the path-related coordinates

1 Step 1 3 Step 3
2 Step 2

Step Instructions Instructions for the path-related coordinate system

NCP
1 MOVC None
2 MOVC 123
3 MOVC 456

• Welding torch angle and angle of movement

Welding torch angle and angle of movement

Welding torch angle The angle between the Y-axis of the path-related coordinates and
the direction of the projected Z-axis of the tool coordinates in the
YZ layer of the path-related line coordinates.
Angle of movement The angle after deducting 90 degrees from the angle between the
X-axis of the path-related coordinates and the Z-axis of the tool
coordinates.

1
2

A
Fig. 6-9: Welding torch angle and angle of movement

1 Path-related coordinates, Z-axis 3 Path-related coordinates, Y-axis

2 Tool coordinates, Z-axis 4 Path-related coordinates, X-axis

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Robot coordinate systems and operations

1
2 2

3 4
5 6

7 8

1 Path-related coordinates, Z-axis 5 Welding torch angle

2 Tool coordinates, Z-axis 6 Angle of movement
3 Path-related coordinates, Y-axis 7 View A
4 Path-related coordinates, X-axis 8 View B

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 Playback

7 Playback

7.1 Preparations for playback

Selecting JOBs
Playback is the execution of a taught JOB. Before playback, you must call the JOB you want
to execute.

7.1.1 Calling JOBs

1. Select {JOB} from {Main Menu}.

2. Select {SELECT JOB}.

– The JOB LIST window appears.

3. Select the desired JOB.

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Playback

7.1.2 Registering master JOBs

If a particular JOB is executed quite often, it is advisable to register this JOB as a master
JOB (master registration).
A JOB registered as a master JOB can be called more easily than when using the method
described on the previous page.

NOTICE
Only one JOB can be registered as the master JOB. When a master JOB is registered, this
automatically cancels the existing registration of a master JOB.

Ensure that a master JOB is registered in TEACH mode.

1. Select {JOB} from {Main Menu}.
2. Select {MASTER JOB}.
– The MASTER JOB window appears.

3. Press [SELECT].
– The selection dialogue box appears.

4. Select {CALL MASTER JOB}.

– The JOB LIST window appears.

5. Select a JOB to be registered as the master JOB.

– The selected JOB is registered as the master JOB.

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 Playback

7.1.3 Calling master JOBs

This function calls a master JOB. The JOB can be called in the JOB CONTENT,
PLAYBACK, JOB SELECT, or MASTER JOB window.
• Calling the JOB CONTENT, PLAYBACK, and JOB SELECT windows.
1. Select {JOB} from {Main Menu}.

2. Select {MASTER JOB}.

– The master JOB is called, and the JOB CONTENT window appears.
• Calling from the MASTER JOB window
1. Select {JOB} from {Main Menu}.

2. Select {MASTER JOB}.

– The MASTER JOB window appears.

3. Press [SELECT].
– The selection dialogue box appears.

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Playback

4. Select {CALL MASTER JOB}.

– The master JOB is called, and the JOB CONTENT window (in TEACH mode) or the
PLAYBACK window (in PLAY mode) appears.

7.1.4 The PLAYBACK window

If the key selector switch on the programming pendant is set to PLAY when the JOB
CONTENT window is displayed, the PLAYBACK window appears.

B
D
C, E
F

A. JOB contents
The cursor is moved in accordance with the playback movement. The contents are run
through automatically, as required.
B. Override speed settings
Displayed when the override speed setting is made.
C. Cycle time
Displays the robot's operating time. Each time the robot starts, the previous cycle time is
reset and a new measurement is started. The cycle time display can be switched on or off.
D. Start no.
First step of the measurement. The measurement starts when the indicator light in the
[START] button comes on and playback begins.
E. Movement time
Displays the robot's weaving time.
F. Playback time
Shows the time between the beginning and the end of the measurement. The measurement
ends when the robot stops and the indicator light in the [START] button goes out.

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 Playback

7.1.4.1 Displaying the cycle time

Carry out the steps described below to switch the display of the cycle time on or off.
1. Select {DISPLAY} from {Main Menu}.
2. Select {CYCLE TIME}.
– The cycle time is displayed.
– Repeat the same steps to hide the display of the cycle time.

7.1.4.2 Operating cycle

There are three different operating cycles for the robot:
• AUTO: Continuous repetition of a JOB.
• 1 CYCLE: One-time execution of a JOB. If a JOB is called during execution, it is
executed and the programme then returns to the original JOB.
• 1 STEP: Execution of a step (instruction).
The operating cycle can be changed as follows:
1. Select {JOB} from {Main Menu} and then select {CYCLE}.
2. Select the operating cycle you want to change.
– The operating cycle is changed.

• Automatic setting of the operating cycle

The automatic setting of the operating cycle can be changed as follows:
This setting can only be carried out in MANAGEMENT MODE.
1. Select {SETUP} from {Main Menu}.
2. Select {OPERATE COND}.
– The OPERATING CONDITION window appears.

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Playback

3. Select the desired setting.

– The selection dialogue box appears.

NOTICE
The NONE setting
The operating cycle is not changed if NONE is set. If the operating cycle changes when
CYCLE SWITCH IN PLAY MODE = NONE is set, the current cycle is continued even after
a change to PLAY mode:

4. Select a cycle.
– The operating cycle is specified when the mode is changed.

7.2 Playback

7.2.1 Playback mode

NOTICE
Make sure that there is nobody near the robot, and start playback as described below.

During playback, the taught JOB is executed. Carry out the steps described below to start
playback.
• Programming pendant ([START] button)
• Peripheral device (external start input)
Playback is started when the key selector switch on the programming pendant is set
accordingly.

Key selector switch on the pro- The JOB is started by

gramming pendant
[PLAY] [START] button on the programming pendant
[REMOTE] Peripheral device

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 Playback

For playback with the programming pendant, take the following steps:

7.2.1.1 Selecting the starting device

1. Move the key selector switch on the programming pendant to PLAY.
– REMOTE mode is deactivated and PLAY mode activated. The machines thus have to
be started by means of the programming pendant.

7.2.1.2 SERVO ON
1. Press [SERVO ON READY].
– The robot controller servo power supply is on, and the SERVO ON indicator light on the
programming pendant is lit.

7.2.1.3 Initial operation

1. Press [START].
– The indicator light in the [START] button comes on, and the robot goes into operation.

7.2.2 Special playback functions

The following special functions can be executed during playback.

• Movement at low speed
• Movement at limited speed
• Movement at the test-run speed
• Machine-lock operation
• Test-mode operation
Two or more special functions can be executed simultaneously. If multiple functions are
selected, the play speed is limited to the speed of the slowest of these functions. The
settings for special functions are made in the SPECIAL PLAY window.
When the PLAYBACK window is displayed, you move the cursor to the menu area and
select {UTILITY}  {SPECIAL PLAY}. The SPECIAL PLAY window appears.

7.2.2.1 Movement at slow speed

The robot is moved at low speed in the first step after the start.
After this step, the robot stops independently of the selected operating cycle, and the
operation is aborted at slow speed.
Even if the robot's movement is stopped during slow operation, the status of slow speed is
retained until it reaches the first step.
After the completion of a step, the robot moves at the taught speed when you press
[START].
1. Select LOW SPEED START in the SPECIAL PLAY window.
– The setting switches between VALID and INVALID.

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Playback

2. Select COMPLETE:
– The PLAYBACK window appears.

7.2.2.2 Movement at limited speed

The robot works in TEACH mode at limited speed. The speed is normally limited to 250 mm
per second.
However, robot movements carried out in steps and for which the set speed is under this
limit are executed at the actual playback speed.
1. Select SPEED LIMIT in the SPECIAL PLAY window.
– The setting switches between VALID and INVALID.
2. Select COMPLETE:
– The PLAYBACK window appears.

7.2.2.3 Movement at test-run speed

The test-run speed is a constant speed that is independent of the taught speeds.The robot
executes all the steps at a constant speed, which enables a JOB that consists of
movements at slow speed to be checked quickly. The test-run speed is 10% of the
maximum speed.

NOTICE
Be careful in steps with speeds under the test-run speed, since they are executed at a
speed that is higher than the programmed speeds.

1. Select DRY-RUN SPEED in the SPECIAL PLAY window.

– The setting switches between VALID and INVALID.
2. Select COMPLETE:
– The PLAYBACK window appears.

Fig. 7-1: Safety speed and test-run speed

1 Speed 4 Test-run speed

2 PLAY speed 5 Safety speed
3 Step

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 Playback

7.2.2.4 Machine-lock operation

A JOB is executed without the robot being moved to check the input and output status.
1. Select MACHINE LOCK in the SPECIAL PLAY window.
– The setting switches between VALID and INVALID.
2. Select COMPLETE:
– The PLAYBACK window appears.

NOTICE
 The machine-lock setting is retained even after the mode has been changed. If the
machine is set to VALID in TEACH mode, the setting is retained even after the switch
to PLAY mode
 The same applies when you switch from PLAY mode to TEACH mode.
 Note that the status of the machine lock becomes INVALID if one of the following steps
is carried out.
 CANCEL ALL SELECT is selected in the SPECIAL PLAY window.
 The power is switched off.

7.2.2.5 Test-mode operation

The machine runs without work instructions such as TOOL ON being executed. The test
mode is used primarily to check the programme's travel path.
1. Select CHECK-RUN in the SPECIAL PLAY window.
– The setting switches between VALID and INVALID.
2. Select COMPLETE:
– The PLAYBACK window appears.

7.2.2.6 Locking test mode during test mode

Weaving is not executed in the weaving section of the JOB.
1. Select WEAV PROHIBIT IN CHK-RUN in the SPECIAL PLAY window.
– The setting switches between VALID and INVALID.
2. Select COMPLETE:
– The PLAYBACK window appears.

7.2.2.7 Cancelling all special functions

All special functions are deactivated by the following operation:
1. Select {EDIT} from {Main Menu}.
2. Select CANCEL ALL SELECT.
– The message "All special functions canceled" appears.

NOTICE
The special functions are also automatically cancelled if the main power supply is switched
off.

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7.3 Holding and switching on again

The robot stops under the following conditions:
• [HOLD]
• EMERGENCY STOP
• Stop due to alarm
• Miscellaneous

7.3.1 [HOLD]

The hold stops all movements of the robot.

NOTICE
The indicator light in the [HOLD] button stays on for as long as you press it. At the same
time, the indicator light in the [START] button goes out.

7.3.1.1 Holding using the programming pendant.

• [HOLD]
1. Press [HOLD] on the programming pendant.
2. The robot stops. The indicator light in the [HOLD] button stays on for as long as you
press it.

• Enable
1. Press [START] on the programming pendant.
2. The robot continues its movement at the position at which it was stopped.

7.3.1.2 External input signal (system input)

• [HOLD]
1. Switch the HOLD signal on via an external input (system input).
– The robot is stopped temporarily.

External holding

– The [HOLD] output signal is activated.

– The indicator light in the [HOLD] button on the programming pendant lights up.
• Enable
1. Switch the HOLD signal off via an external input (system input).
– The HOLD signal is enabled.
– Press [START] or switch on the external input signal (system input) to continue the
movement. The robot continues its movement at the position at which it was stopped.

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 Playback

7.3.2 EMERGENCY STOP

In case of an EMERGENCY STOP, the servo power supply of the robot is switched off and
the robot is stopped immediately. An EMERGENCY STOP can take place in the following
manner:
• Switch on the front door of the robot controller
• Programming pendant
• External input signal (system input)

• EMERGENCY STOP

1. Press the EMERGENCY STOP button.

–The servo power is switched off, and the robot is immediately stopped.

–On the front door of the robot controller

–On the programming pendant

Use of the EMERGENCY STOP button on the programming pendant

Robot stops by P.P. emergency stop

Use of an external input signal (system input)

Robot stops by external emergency stop

• Enable

1. Move the cursor in the direction of the ar-

row.

–On the front door of the robot controller

–On the programming pendant

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Playback

–Press [SERVO ON READY] and then the hold-to-run button on the programming pen-
dant in order to switch on the servo power again.

CAUTION!
Restart after an EMERGENCY STOP
 Before a restart after an EMERGENCY STOP, check the position for the next
movement and make sure that the robot cannot collide with the workpiece or clamp.
 An EMERGENCY STOP during high-spieed movements in continuous steps can lead
to the robot being stopped two or three steps before the displayed step. Under these
conditions, there is a risk that the robot will collide with the workpiece or clamp when
restarted.

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 Playback

7.3.3 Stop due to alarm

If an alarm is triggered during operation, the robot stops immediately. The ALARM window
appears on the programming pendant and indicates that the machine was stopped due to
an alarm.
– If more than one alarm is triggered at once, all alarm messages can be displayed in the
window. Move down through the display area of the window.

In the alarm status, the following functions are available:

• Window change
• Mode change
• Alarm reset
• EMERGENCY STOP
In case of changes in the ALARM window, select {SYSTEM INFO}. then select {ALARM
HISTORY} under {Main Menu} to call the window again.
• Enabling alarms
<Minor Alarms>
1. Press [SELECT].
– Select RESET in the ALARM window to enable the alarm status.
– In case of an external input signal (system input), activate the ALARM RESET setting.
<Main Alarms>
1. Switch the power supply OFF and remedy the cause of the alarm.
– In case of a major alarm, such as a hardware fault, the servo power of the robot is
switched off automatically and the robot is stopped. If an enable does not help, switch
the power supply OFF and remedy the cause of the alarm.

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7.3.4 Miscellaneous

7.3.4.1 Temporary stop due to mode change

If the PLAY mode is switched during playback in TEACH mode, the robot is stopped
immediately.

!Stopped by switching mode

To start the movement again, switch back to PLAY mode and restart.

7.3.4.2 Temporary stop due to PAUSE instruction

During the execution of a PAUSE instruction, the robot is stopped.

!Robot stops by execution PAUSE command

7.4 Changing the PLAY speed

1. Set the override speed.
2. Move the robot.
– The PLAY speed is increased or reduced by the set ratio.
– If the MODIFY option is set to ON, the PLAY speed is changed when the individual
steps are reached.
– Once a cycle has been terminated by the END instruction, the override speed setting is
cancelled.

NOTICE
 Let's assume the robot is moving from step 1 to step 2. In this case, the PLAY speed of
step 2 is not changed if the override speed is cancelled before step 2 is reached.
 After the change by the override speed, the PLAY speed is limited by the maximum and
minimum speeds of the robot.
 If movement at the safety speed is programmed with the MODIFY: ON setting, the robot
is moved at safety speed. However, the saved PLAY speed is changed in accordance
with the override speed setting.
 The PLAY speed set with the SPEED instruction is not changed.

7.4.1 Override speed

Speed changes using the override speed function have the following characteristics:
• The speed can be changed during playback.
The JOB can be executed with different speeds until the speed is set exactly.
• The speed can be increased or reduced in relation to the current PLAY speed.
A percentage of 10% to 150% can be set in increments of 1%.
This is helpful, for example, when all PLAY speed settings have to be increased by
150% at the same time.

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 Playback

The flow of operations is described below:

1 Start the override speed function.

1 2 Call a JOB in order to set an override speed.
3 Set the override speed (change the speed da-
ta: OFF; enter the percentage).
2
4 Try out changes without changing the regis-
3 tered speed.
4
5 Start playback.
5
6 If necessary, set the percentage during play-
6 back.
7 7 (1 cycle completed)
8 8 Yes
9
9 Reset and playback?
10
10 No
10
11 11 Change?
8 12 Call a JOB in order to set an override speed.
12 13 Set the override speed (change the speed da-
ta: ON; enter the percentage).
13 14
14 Change the PLAY speed.
15 15 Start playback.
Change the PLAY speed at the same time.
7
16 End
16

7.4.1.1 Setting the override speed

1. Select {UTILITY} from the menu of the PLAYBACK window.
2. Select {SPEED OVERRIDE}.
– The PLAYBACK window shows the status of the override speed.

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Playback

3. Select ON or OFF.
– Each time you press [SELECT], the display alternates between PERMIT and
PROHIBIT.
– Select ON to change the registered PLAY speed during playback.
– If you select OFF, the registered PLAY speed is not changed. To change the play speed
temporarily (e.g. to try out several speeds), select OFF.

4. Position the cursor on the override speed percentage, and move it up and down to
change the percentage.
To enter the percentage directly, move the cursor to the override speed percentage and
press [SELECT].
– The numeric input line appears. Use the numeric keypad to enter the override
percentage.

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 Playback

7.4.1.2 Cancelling the override speed setting

1. Select {UTILITY} from the menu of the PLAYBACK window.
2. Select {SPEED OVERRIDE}.
– The setting of the override speed percentage is cancelled.
– In case of cancelling, the override speed setting is not shown in the PLAYBACK
window.

NOTICE
In the following cases, the override speed setting is cancelled automatically:
 When a movement has been set at the test-run speed.
 When there is a switch to a mode other than PLAY mode.
 When a warning signal occurs.
 When a JOB was executed and terminated with the END instruction.
 When the servo power is switched off.

7.4.2 Specifying the override speed function in playback mode

7.4.2.1 Outline of functions

This specification allows the robot to change its working speed temporarily in playback
mode.
The working speed is specified by setting the override speed percentage (1% to 100% in
increments of 1%) for the working speed specified in the current JOB (PLAY speed).
This function also allows the override speed function to be set automatically when the mode
changes from TEACH to PLAY.
The override speed function can be executed by setting the parameter S2C701 with this
specification.

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7.4.2.2 Setting the override speed function

NOTICE
Move the key selector switch to PLAY.

1. Select {JOB} from the main menu and then select {JOB}.

– The PLAYBACK window appears.

2. Select {UTILITY} in the menu area.

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 Playback

3. Select {SPEED OVERRIDE}.

– The override speed setting is activated (as shown below, an asterisk (*) appears next
to {SPEED OVERRIDE} and SPEED ADJUSTMENT in the input line).

4. Set the override speed percentage.

– 1. Highlight the RATIO input box with the cursor.
– 2. Hold down the [SHIFT] key and press the cursor (up or down) to change the
percentage.

Note: To enter the value directly:

1. Highlight the RATIO input box with the cursor and press [SELECT].
2. Enter the desired percentage using the numeric keypad.
3. Press [ENTER].
5. The setting is completed.

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7.4.2.3 Executing the override speed function

NOTICE
Move the key selector switch to PLAY.

1. The JOB is started.

– Press [START].
2. The override speed function is executed.
– The robot moves at the specified percentage of the speed.

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7.4.2.4 Adapting the override speed percentage

NOTICE
 Move the key selector switch to PLAY.
 This can be carried out during playback.

1. Change the override speed percentage.

– Highlight the RATIO input box, hold down the [SHIFT] key, and press the cursor (up or
down) when SPEED ADJUSTMENT is displayed in the input line.
Note: The value is increased or decreased in increments of 1%.

2. The adjustment is completed.

– The robot moves at the specified percentage of the speed.

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7.4.2.5 Deactivating the override speed function

1. Select {UTILITY} in the menu area.

2. Select {*SPEED OVERRIDE}.

– The override speed function is deactivated. (As shown below, the asterisk next to
{SPEED OVERRIDE} and the input line SPEED ADJUSTMENT disappear.)

3. That completes the procedure.

– In addition, the override speed function is also automatically deactivated when:
• You set the mode of the test-run speed.
• You change the mode to any mode other than PLAY.
• An alarm or error occurs.
• You switch off the machine.

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7.4.2.6 Activating the automatic override speed setting

NOTICE
The function is activated by the parameter S2C702.

This function enables the automatic override speed setting when the mode is changed from
TEACH to PLAY. The percentage corresponds to the manually selected speed in TEACH
mode.

Manual speed Applicable percentage

Inching mode Maximum link speed x S1CxG045
Low Maximum link speed x S1CxG045
Average Maximum link speed x S1CxG046
High Maximum link speed x S1CxG047

7.4.2.7 Manual speed in TEACH mode

NOTICE
The function is activated by the parameter S2C699.

The manual speed (inching, low, medium and high) in TEACH mode is changed by means
of [MANUAL SPEED] on the programming pendant.
The manual speed is automatically set to LOW when:
• Switch from PLAY to TEACH mode.
• The coordinate system is changed in TEACH mode.
• The servo power supply is switched off in TEACH mode.

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7.4.2.8 Parameter

Parameter Description Details Set value

S2C699 Automatic change Sets the manual speed automatically to 0
from manual speed LOW.
to LOW D7 D0

4 3 2 1

1 The mode is changed to TEACH: 1

(Activate).
2 The operating coordinates are
changed: 4 (Activate).
3 The servo is switched off: 8 (Acti-
vate).
4 The speed is set to LOW: 16 (A.cti-
vate)
S2C701 Override speed set- Defines the use of the override speed 0
ting setting.
0: Deactivates continuous cycle opera-
tion; activates speed adjustment (stan-
dard specification).
1: Activates continuous cycle operation;
deactivates speed adjustment.
S2C702 Automatic override Defines whether the override speed is 0 to 1
speed setting of 1 at set automatically when the mode is
mode switch (if switched to PLAY.
S2C701 = 1) 0: Deactivate the override speed func-
tion.
1: Sets the percentage in accordance
with the manual speed.
S2C709 Automatic override Defines whether the override speed is 0 to 1
speed setting of 2 at set automatically when the mode is
mode switch (if switched to PLAY.
S2C701 = 1) 0: Deactivate the override speed func-
tion.
1: Sets the most recently used percent-
age.

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7.4.3 Inputs signal for the specification of the override speed

7.4.3.1 Outline of functions

This specification allows the robot to change its working speed temporarily during playback
and use external input signals.
The working speed is specified by setting the override speed percentage (1% to 255% in
increments of 1%) for the specified working speed (PLAY speed) of the current JOB.

2
3
1
4

6
7
Fig. 7-2: PLAY speed and override speed

1 Maximum PLAY speed 5 Override speed percentage 1% to

255%
2 Speed 6 Minimum override speed
3 PLAY speed 7 Step
4 Maximum override speed

NOTICE
 The override speed function can be continued in playback mode.
 The values of the PLAY speed of the JOB are not changed.
 The maximum and minimum speeds of the robot limit the possible changes to the PLAY
speed by means of the override speed.

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7.4.3.2 Executing the override speed function

NOTICE
 Move the key selector switch to PLAY.
 See section 7.4.3 "Inputs signal for the specification of the override speed" on page 107
to execute the override speed function with this specification.

1. Playback of a JOB.
2. Input of external signals for the override speed.
– The message "Overriding speed" and the percentage of the override speed are
displayed on the screen.

3. The override speed function is executed.

– The robot moves at the specified percentage of the speed.

7.4.3.3 Deactivating the override speed function

The override speed function is deactivated when:
• The external signals are deactivated.
• The mode is changed from PLAY to TEACH.

7.4.3.4 Parameter

Parame- Set val-

ter ue
S2C701 Override speed set- Defines the use of the override speed func-
ting tion.
*To activate the override speed function
with external signals, set "1" as the value.
0: Deactivates continuous cycle operation; 1
activates speed adjustment (standard
specification).
1: Activates continuous cycle operation;
deactivates speed adjustment.

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Parame- Set val-

ter ue
S4C287 Universal general in- Specifies the signals used.
put group number Eight universal input points correspond to 1 to 512
setting (signals 1 to the signals 1 to 8 from S4C288 to S4C295.
8)
S4C288 Speed percentage Defines the speed percentage by means
(%) signal 1 of the universal input signals set in
S4C289 Speed percentage S4C287.
(%) signal 2 Priority: Signal 1 > signal 8
S4C290 Speed percentage
(%) signal 3
S4C291 Speed percentage If parameters S4C288 to S4C295 are all
(%) signal 4 set to "0", the input status 1 to 255 of the 0 to 255
S4C292 Speed percentage universal input signals (8 points) is applied
(%) signal 5 to the speed percentage.
S4C293 Speed percentage
(%) signal 6
S4C294 Speed percentage
(%) signal 7
S4C295 Speed percentage
(%) signal 8

The override speed percentage can be defined in two ways using the parameters (S4C288
to S4C295) as follows:
Setting the speed percentage for each signal
• Specify the speed percentage from 1 to 255 in the parameters (S4C288 to S4C295).
Set "0" as the speed percentage for unused signals: The override speed is not effective
even if external signals are applied.
• The signal priority is: "Signal 1 > signal 8." If signals 1 to 3 are applied at the same time,
for example, the override speed is obtained by using the speed percentage of signal 1.
Using eight external signals as data for the speed percentage
• Set all parameters (S4C288 to S4C295) to "0". The override speed is obtained by
applying the input status of the signals from 1 to 255 as the speed percentage. If the
signals 5 and 7 are applied at the same time, for example, the override speed is
obtained by applying 80% of the percentage of the speed.

NOTICE
If this function is activated, the override speed cannot be controlled with a programming
pendant.

7.5 Playback with reserved start

7.5.1 Preparing the reserved start

In the case of the reserved start function, the JOBs registered at the various stations are
listed in reserved order at the stations using the [START] buttons.

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3
1
2

1 Station 1 (JOB 1 registered) 3 Station 3 (JOB 3 registered)

2 Station 2 (JOB 2 registered)
If three stations are processing three different workpieces, for example, (see the figure
above), the JOBs are registered as follows:
• JOB 1 is registered for processing workpiece 1 in station 1.
• JOB 2 is registered for processing workpiece 2 in station 2.
• JOB 3 is registered for processing workpiece 3 in station 3.
To execute the JOBs, prepare workpiece 1 and press that [START] button at station 1. The
robot performs JOB 1.
Prepare workpieces 2 and 3 whilst JOB 1 is being performed and press the [START]
buttons of stations 2 and 3.
Even if JOB 1 is in progress, the JOBs at the various stations are reserved in the order in
which the [START] buttons have been pressed. They also will be executed in this order.
During playback, the reservation status can be checked in the start reservation window.

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7.5.1.1 Enabling the reserved status

The [START] button of the station is activated when the reserved stat function was enabled
and the following start command could not be executed:
• [START] on the programming pendant
• Use of an external input signal (system input)

NOTICE
The OPERATING CONDITION window is only displayed if SECURITY MODE is set in
MANAGEMENT MODE.

1. Select {SETUP} from {Main Menu}.

2. Select {OPERATE COND}.
– The OPERATING CONDITION window appears.
– The cursor moves up/down on the screen when it is at the top/bottom of the elements.

3. Select RESERVED START.

– Each time you press [SELECT], the display alternates between PERMIT and
PROHIBIT. Select PERMIT.

NOTICE
When the reserved start is enabled, an external start and start via the programming
pendant are blocked, even if PERMIT is set.
Independently of the selected operating cycle, the reserved start is automatically set to 1
CYCLE.

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7.5.1.2 Registering the I/O signal for the reserved start

Register the I/O signal for the reserved start within the scope of the preparations for the start
of the station.

NOTICE
This step can be executed only if:
 The TEACH mode is set.
 The SECURITY MODE is in MANAGEMENT MODE.
 The setting for RESERVED START JOB CHANGE is set to PERMIT in the
OPERATING CONDITION window.

1. Select {SETUP} from {Main Menu}.

2. Select {RES. START(CNCT)}.
– The RESERVED START (CNCT) window appears.

3. Select START IN or START OUT for each station.

– You can now enter the numbers.

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4. Specify the signal number and press [ENTER].

– The input/output signal number is registered.

7.5.1.3 Registering JOBs at stations

Register the start JOB for each station.

NOTICE
This step can be executed only if:
 The TEACH mode is set.
 The setting for RESERVED START JOB CHANGE is set to PERMIT in the
OPERATING CONDITION window.

1. Select {JOB} from {Main Menu}.

2. Select {RES. START(JOB)}.
– The RESERVED START (JOB) window appears.
–  Indicates that the input/output number is registered.
–  Indicates that the input/output number is not registered.

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3. Select a JOB name for each station.

– The selection dialogue box appears.

4. Select SETTING START JOB.

– The JOB LIST window appears.
5. Select a JOB.
– The start JOB is registered.

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7.5.1.4 Deleting JOBs from stations

Delete the registered JOB for each station.

NOTICE
This step can be executed only if:
 The TEACH mode is set.
 The setting for RESERVED START JOB CHANGE is set to PERMIT in the
OPERATING CONDITION window.

1. Select {JOB} from {Main Menu}.

2. Select {RES. START(JOB)}.
– The RESERVED START (JOB) window appears.
3. Select the JOB name of the station to be deleted.
– The selection dialogue box appears.

4. Select CANCEL START JOB.

– The registered JOB is deleted.

7.5.2 Playback of reserved start

7.5.2.1 Starting operation

1. Move the key selector switch to PLAY.

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2. Press the [START] button on the station.

– The JOB registered for the station is started and the robot performs the programmed
JOB.

NOTICE
 During the execution of the JOB, the indicator light in the [START] button of the station
comes on.
 If the workpiece has to be prepared for the station, conclude the preparation before
pressing the [START] button.
 If the [START] button on a station is pressed during the JOB of another station, the JOB
is reserved at this station and prepared for the start. JOBs are reserved and executed
in the order in which the [START] buttons are pressed.
 If a JOB is reserved, the indicator light in the [START] button of the station flashes.
 A station JOB being executed if not reserved even if the [START] button is pressed.
 To interrupt a JOB in progress, perform the HOLD function.
 The reservations are cancelled if the [START] button is pressed again during JOB
reservation.

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7.5.2.2 Checking the JOB reservation status

The JOB reservation status can be checked during playback.
1. Select {JOB} from {Main Menu}.
2. Select {RES. STATUS}.
– The RESERVATION STATUS window appears.

A
B

A. STATUS
The reservation status is displayed.
STARTING: Displays the station that is currently running.
STOP: Displays the station at which the processing has been temporarily cancelled by
PRESSING the [HOLD] button.
RESERVE1, RESERVE2, etc.: Displays the order in which the JOBs have been reserved
for the start.
B. START IN
The input signal status is displayed.
“”: Input signal ON
“”: Input signal OFF

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7.5.2.3 Resetting the JOB reservation

NOTICE
When STARTING appears, the JOB cannot be reset.

1. Select {JOB} in the RESERVATION STATUS window.

2. Select {RESET RESERVATION} or {RESET ALL}.
– If you select {RESET RESERVATION}, the JOB reservation is reset with a status of
RESERVE.
– If you select {RESET ALL}, the JOB reservation is reset with a status of STOP and
RESERVE.

– The confirmation dialogue box appears.

3. Select YES.

NOTICE
All JOB reservations are automatically reset under the following conditions:
 If the reserved stop is set to PROHIBIT (if RESERVED START is set to PROHIBIT in
the OPERATING CONDITION window).
 If another JOB is called or the HOLD function is performed.

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7.5.3 HOLD function

The HOLD function stops all movements of the robot. You can execute the HOLD function
with the following keys or by signal:
• [HOLD] on the programming pendant
• External input signal (system input)
• HOLD button for station axis

NOTICE
The [HOLD] indicator light stays on for as long as you press the [HOLD] button. At the same
time, the indicator light in the [START] button goes out.

7.5.3.1 [HOLD] on the programming pendant

• Stop
1. Press [HOLD] on the programming pendant.
– The robot is stopped temporarily.
– The [HOLD] indicator light stays on for as long as you press the [HOLD] button.

• Enable
1. Press the [START] button on the stopped station.
– The robot continues its movement at the position at which it was stopped.

7.5.3.2 Stopping due to an external input signal (system input)

• Stop
1. Enter the ON signal for the external input (system input) for which the HOLD function is
set.
– The robot is stopped temporarily.

External holding

– The [HOLD] indicator light for the external output signal comes on. The indicator light in
the [HOLD] button of the programming pendant lights up and the indicator light in the
[START] button goes out.

• Enable
1. Enter the OFF signal for the external input (system input) for which the HOLD function
is set.
– The HOLD function is triggered.
2. To restart the robot, press the [START] button.
– The robot continues its movement at the position at which it was stopped.

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7.5.3.3 Stopping the station

• Stop
1. Press the [HOLD] button on the station.
– The robot is stopped temporarily.

• Enable
1. Press the [HOLD] button on the stopped station.
– The HOLD function is triggered.
– Press the [START] button on the station. The robot continues its movement at the
position at which it was stopped.

NOTICE
If you press the [START] button on the station at which the HOLD function was not
triggered, the robot will not restart. The JOB registered for the station is reserved or the
reservation, if already executed, will be cancelled.

7.6 Opening the JOB stack

During the execution of the programmed JOBs combined with CALL or JUMP instructions,
the JOB stack can be displayed. This allows you to check where the current JOB is at the
moment and how many JOBs still have to be executed.

1 2 3 4
5
6

5
7

5
8
10
5
9
10

10

Stack level 1 JOB A

Stack level 2 JOB B
Stack level 3 JOB C
Stack level 4 JOB D
Called JOB Return

JOBs can be called for up to 12 stack levels.

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1. Select {DISPLAY} from the menu of the PLAYBACK window.

2. Select {JOB STACK}.

– The status window for the JOB stack appears.
– To close the status window for the JOB stack, select {DISPLAY} and then {JOB STACK}
from the menu.

– In the above example, the playback of JOB C is executed, and JOB C is called by JOB
B. JOB B is called by JOB A.

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Editing JOB's

8 Editing JOB's
This section explains how the JOBs are managed without the robot moving. JOBs can only
be copied, deleted, and edited in TEACH mode. Other commands can be executed in any
other mode.

NOTICE
JOBs cannot be edited if the editing lock is set.
Refer to the "TEACH-IN" chapter in the "Fundamentals and Information for Beginners"
manual with document number E1102000144XX01* or higher).
For fundamental information on editing movement instructions.
• Movement instructions with position data cannot be added, deleted or modified. Refer
to the "Editing steps" chapter in the "Fundamentals and Information for Beginners"
manual with document number E1102000144XX01* or higherThis section explains the
following editing commands for movement instructions.
For movement instructions:
• Insertion, deletion and modification of additional items
• Changing of the interpolation type or the PLAY speed for movement instructions
• Setting, modification or deletion of UNTIL instructions (interruption conditions based on
input signals)
• Setting and deletion of NWAIT instructions
For movement instructions that use position variables:
• Insertion and deletion of movement instructions
You will find more information on character input in Chapter 3.3.3 "Entering characters in
operation" on page 37.

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8.1 Copying JOBs

This operation is used to copy registered JOBs and use them to create new JOBs. To copy
JOBs, open either the JOB CONTENT or the JOB LIST window.

8.1.1 Copying JOBs in the JOB CONTENT window

The current editing JOB becomes the source JOB for copying in the JOB CONTENT
window.
1. Select {JOB} from {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.

3. Select {JOB}  {COPY JOB} on the pull-down menu.

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4. Enter the JOB name.

– Enter the new JOB name.
– The name of the source JOB is displayed in the text box. Part of the name can be
changed in order to create a new name.

NOTICE
You will find more information on character input in Chapter 3.3.3 "Entering characters in
operation" on page 37.

5. Press [ENTER].
– The confirmation dialogue box appears.
– If you select YES, the JOB is copied and the new JOB is displayed.
– If you select NO, the JOB is not executed and the operation is aborted.

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8.1.2 Copying JOBs in the JOB LIST window

In the JOB LIST window, select the source JOB from the registered JOBs and specify the
destination folder.
1. Select {JOB}  {SELECT JOB} on {Main Menu}.
– The JOB LIST window appears.

2. Move the cursor to the source JOB.

3. Select {JOB}  {COPY JOB} on the pull-down menu.

4. Enter the JOB name.

– Enter the new JOB name.
– The name of the source JOB is displayed in the text box. Part of the name can be
changed in order to create a new name.

NOTICE
You will find more information on character input in Chapter 3.3.3 "Entering characters in
operation" on page 37.

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5. Press [ENTER].
– The confirmation dialogue box appears.
– If you select YES, the JOB is copied and the new JOB is displayed.
– If you select NO, the JOB is not executed and the operation is aborted.

8.2 Deleting JOBs

This function is used to delete JOBs registered in the robot controller. To delete JOBs, open
either the JOB CONTENT or the JOB LIST window.

8.2.1 Deleting JOBs in the JOB CONTENT window

The current editing JOB is deleted in the JOB CONTENT window.

1. Select {JOB} from {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Select {JOB}  {DELETE JOB} on the pull-down menu.

4. Press YES.
– The confirmation dialogue box appears.
– If you select YES, the editing JOB is deleted. After deletion is completed, the {JOB
LIST} window appears.
– If you select NO, the deletion of the JOB is aborted.

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8.2.2 Deleting JOBs in the JOB LIST window

In the JOB LIST window, select the JOB you want to delete from the list of registered JOBs.
1. Select {JOB}  {SELECT JOB} on {Main Menu}.
– The JOB LIST window appears.

2. Position the cursor on the JOB you want to delete.

3. Select {JOB}  {DELETE JOB} on the pull-down menu.

4. Press YES.
– The confirmation dialogue box appears.
– If you select YES, the selected JOB is deleted. After deletion is completed, the JOB
LIST window appears.
– If you select NO or CANCEL, the deletion of the JOB is aborted and the JOB LIST
window appears.

To select all registered JOBs simultaneously, select {EDIT} from the menu and then
SELECT ALL.

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8.3 Renaming JOBs

This function is used to change the name of a registered JOB. To delete the names of
registered JOBs, open either the JOB CONTENT or the JOB LIST window.

8.3.1 Deleting JOB names in the JOB CONTENT window

1. Select {JOB} from {Main Menu}.

2. Select {JOB}.
– The JOB CONTENT window appears.

3. Select {JOB}  {RENAME JOB} on the pull-down menu.

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4. Enter the JOB name.

– Enter the new JOB name.
– The name of the source JOB is displayed in the text box. Part of the name can be
changed in order to create a new name.

NOTICE
You will find more information on character input in Chapter 3.3.3 "Entering characters in
operation" on page 37.

5. Press [ENTER].
– The confirmation dialogue box appears.
– If you select YES, the JOB name is changed and the new JOB name is displayed.
– If you select NO, the JOB name is not changed and the operation is aborted.

8.3.2 Changing JOB names in the JOB LIST window

In the JOB LIST window, select the JOB you want to rename from the list of registered
JOBs.
1. Select {JOB}  {SELECT JOB} on {Main Menu}.
– The JOB LIST window appears.

2. Move the cursor to the JOB whose name you want to change.

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3. Select {JOB}  {RENAME JOB} on the pull-down menu.

4. Enter the JOB name.

– Enter the new JOB name.
– The name of the source JOB is displayed in the text box. Part of the name can be
changed in order to create a new name.

NOTICE
You will find more information on character input in Chapter 3.3.3 "Entering characters in
operation" on page 37.

5. Press [ENTER].
– The confirmation dialogue box appears.
– If you select YES, the JOB name is changed and the new JOB name is displayed.
– If you select NO, the JOB name is not changed and the operation is aborted.

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 Editing JOB's

8.4 Editing comments

To identify each JOB more clearly, you can add up to 32 characters to every JOB comment.
The comments are displayed and edited in the JOB HEADER window.
1. Select {JOB} from {Main Menu}.
2. Select {JOB}.
3. Select {DISPLAY} from the pull-down menu.
4. Select {JOB HEADER}.
– The JOB HEADER window appears.

5. Select COMMENT.
– The input window appears.
6. Enter your comments.
– Comments about JOBs that are already registered are displayed in the text box. Part of
the comments can be edited in order to create new comments.

NOTICE
You will find more information on character input in Chapter 3.3.3 "Entering characters in
operation"on page 37.

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Editing JOB's

7. Press [ENTER].
– The comment is registered and displayed in the COMMENT area of the JOB HEADER
window.

8.5 JOB folder function

This function allows the JOBs in every folder to be classified.
The JOBs can be classified and displayed, which improves visibility.
Up to 100 folders can be registered for this function, including NONE (no folders).
The folder name can have up to 322 1-byte characters.
However, the name of NONE (no folders) cannot be changed.

8.5.1 Displaying JOBs by folders

To display JOBs by folders, carry out the following steps.

1. Open the {JOB LIST} window.

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2. Select {DISPLAY}  {FOLDER} on the pull-down menu.

– The folder name is displayed at the start of each JOB.

– If you press [SELECT] on the folder name, the JOBs registered in this folder are
hidden.

NOTICE
 Folders without JOBs are not displayed in the {JOB LIST} window.
 If you move the cursor to the folder name when the JOB details are displayed, all
information is displayed as asterisks (*).

8.5.2 Terminating the display of JOBs by folders

To terminate the display of JOBs by folders, carry out the following steps.
1. Open the {JOB LIST} window.

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2. Select {DISPLAY}  {*FOLDER} on the pull-down menu.

– The folder name disappears, and only the JOB names are displayed.

8.5.3 Registering JOBs in folders

This section explains how the JOBs are allocated to the specified folders.
You can assign a JOB to the desired folder by creating a new JOB or by changing the folder
after creating a new JOB.

8.5.3.1 Registering JOBs in folders (by creating a new JOB)

1. Open the {NEW JOB CREATE} window.

2. Move the cursor to the folder name and then select [SELECT].
– The {JOB FOLDER LIST} window appears.

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3. Move the cursor to the folder name to select it and then select [SELECT].
– The name of the selected folder is displayed in the name box.

4. Press [ENTER].
– A new JOB is created.

NOTICE
Before it is sent, the folder name is set to NONE or FOLDER001 to 099.

8.5.3.2 Changing the folder registration of a JOB

The folder in which the created JOB is registered can be changed to a different folder.
• If you change the folder of a JOB
1. Open the {JOB LIST} window.
2. Move the cursor to the JOB whose registered folder you want to change.

3. Select {JOB}  {FOLDER CHANGE} on the pull-down menu.

– The {JOB FOLDER LIST} window appears.

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4. Position the cursor on the name of the folder into which the JOB is to be moved, and
press [SELECT].

– This JOB is moved to the specified folder.

• If you change the folder for multiple JOBs

1. Open the {JOB LIST} window.
2. Move the cursor to the JOB whose registered folder you want to change.
3. Press [SHIFT] + [SELECT] to select the JOB.
– Select all JOBs you want to change.

4. Select {JOB}  {FOLDER CHANGE} on the pull-down menu.

– The {JOB FOLDER LIST} window appears.

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5. Position the cursor on the name of the folder into which the JOB is to be moved, and
press [SELECT].

– The JOBs are moved to the specified folder.

NOTICE
When a JOB is loaded from an external storage medium, the folder name of the loaded JOB
is automatically registered if:
• The loaded JOB has a folder name.
• This folder name is not yet registered in the robot controller.
The following requirements must be met:
Among the 99 folder names except for NONE, there should be a folder with the default
name containing all JOBs that are not registered.
If no folder meets this requirement, the folder name of the loaded JOB is registered as
NONE.
If the bilingual function is activated:
• The folder names can be registered in the first and second language.
Example:
The following folder name can be set to FOLDER001:
First language: FOLDER 1
Second language: FOLDER-1
• The folder name of a JOB loaded from an external storage medium is registered
automatically. The language of the folder name depends on the language loaded and
used.

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8.5.4 Changing folder names

8.5.4.1 Changing folder names in the display of the folder list

1. Open the {JOB FOLDER LIST} window.
2. Move the cursor to the folder name you want to change.
3. Select {DATA}  {RENAME (FOLDER)} on the submenu.

4. Enter the new name of the folder.

– The folder name is changed.

– The folder name of the JOB registered in the folder is also changed.

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8.5.4.2 Changing folder names in the JOB display by folders in the JOB LIST
window
1. Display the JOBs by folders in the {JOB LIST} window.
2. Move the cursor to the folder name you want to change.
3. Select {JOB}  {RENAME (FOLDER)} on the submenu.

4. Enter the new name of the folder.

– The folder name is changed.

– The folder name of the JOB registered in the folder is also changed.

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8.5.4.3 Changing the order of the JOBs in the display of JOBs by folders
When the JOBs are displayed by folders, the order of the JOBs can be changed.
• Display by names
1. Select {DISPLAY}  {NAME} on the submenu.

– The JOBs are displayed in alphabetical order for each folder.

• Display by dates
1. Select {DISPLAY}  {DATE} on the submenu.

– The JOBs are displayed in chronological order for each folder.

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8.6 Setting the editing lock for individual JOB units

To avoid changes being made to the registered JOBs or dates inadvertently, an editing lock
can be set for each JOB.
A JOB protected with an editing lock cannot be edited or deleted.
The editing lock can be set or released in the {JOB HEADER} window.

NOTICE
The setting of the editing lock can only be changed if the SECURITY MODE is set as the
MANAGEMENT MODE.

1. Select {JOB} from {Main Menu}.

2. Select {JOB}.
3. Select {DISPLAY} from the pull-down menu.
4. Select {JOB HEADER}.
– The JOB HEADER window appears.

5. Select EDIT LOCK and set the editing lock.

– Each time you press [SELECT], the setting alternates between ON (editing lock
activated) and OFF (editing lock deactivated).

8.7 Changing position data for JOBs with the editing lock
activated
You can change the position data even for a JOB with an activated editing lock.
1. Select {SETUP} from {Main Menu}.
2. Select {TEACHING CONDITION SETTING}.
– The {TEACHING CONDITION SETTING} window appears.

NOTICE
The TEACHING CONDITION SETTING window is only displayed if EDITING MODE or
MANAGEMENT MODE is set as the SECURITY MODE.

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3. Select STEP ONLY CHANGING, and press [SELECT].

– Each time you press [SELECT], the setting alternates between PROHIBIT and
PERMIT.

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 Convenient functions

9 Convenient functions

9.1 Direct open function

The direct open function immediately calls the JOB CONTENT window or the condition file
of a JOB called by means of a CALL instruction.
Move the cursor to the name of the desired JOB or condition file.
Press the [DIRECT OPEN] key to display the contents of the file. You can use the direct
open function for the following windows:
• The JOB CONTENT window for a JOB name specified directly by means of an CALL
instruction.
• The CONDITION FILE window for a file name specified directly by means of an editing
instruction.
• The COMMAND POS window for a movement instruction.
• I/O window with an I/O instruction (if the I/O numbers are defined).
Example for direct open:

1
1
DIRECT
OPEN

2
DIRECT
OPEN

3
DIRECT
OPEN

3
4
DIRECT
OPEN

1 COMMAND POS window 3 WEAVING CONDITION window

(in the 8th line) (in the 10th line)
2 USER OUTPUT window 4 JOB CONTENT window for JOB-C (in
(in the 9th line) the 11th line)

1. Move the cursor in the JOB CONTENT window to the JOB name or the condition file
for which the window is displayed.

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2. Press [DIRECT OPEN].

– The indicator light in the [DIRECT OPEN] button comes on, and the JOB CONTENT
window or condition file appears.
– If you press the [DIRECT OPEN] button again, the indicator light in the button goes off,
and the previous JOB CONTENT window is restored.

NOTICE
 The direct open function cannot be used again as long as a directly opened window is
displayed.
 If you open another window while the direct open function is effective, the function is
cancelled automatically and the indicator light on the [DIRECT OPEN] button goes off.
 As soon as a further JOB CONTENT window is opened by means of the direct open
function, the previous JOB can be executed continuously (this continues until the JOB
CONTENT window is closed).

9.2 Parallel shift function

9.2.1 Function overview

A parallel shift is the shifting of an object from a fixed position in which all points within this
object are shifted by the same distance.
In the model described below for the parallel shift, the shift value can be defined as the
distance L (three-dimensional coordinate shift).
The parallel shift function is important for the actual operation of the robot, since it reduces
the amount of work involved at TEACH-IN because a taught travel path (or taught position)
can be shifted.

In the example shown in figure below, the taught position A is shifted in increments of the
distance L so that the JOB taught at position A can also be executed at positions B to G.
This example is a three-dimensional XYZ shift, which can be recognised by the robot.

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A B C D E F G
L

1 Teach-in position

9.2.1.1 Step for the parallel shift

The block from the SFTON instruction to the SFTOF instruction is shifted.

Line (step) 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

9.2.1.2 JOB for the parallel shift

When an entire series of JOBs is shifted, the range to be shifted by means of the shift
instruction can be defined using the method described above. The method described
below, in which the part to be shifted becomes a new JOB, can also be used.

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SFTON P 
CALL JOB:   JOB that executes the shift
SFTOF 

9.2.2 Setting shift values

9.2.2.1 Coordinate systems

The shift value for the parallel shift is the X, Y and Z increment in each coordinate.
The following four coordinate systems result:
• Base coordinate system
• Robot coordinate system
• Tool coordinate system
• User coordinate system
In systems without a servo track, the base coordinates and robot coordinates are the same.

2 3

1
4

1 Base coordinates 3 Tool coordinates

2 Robot coordinates 4 User coordinates

9.2.2.2 Setting shift values

Use the current position (coordinates) of the robot in the window when you set the shift
value for the position variables.

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1 2

1 Teach-in position 3 The differences are the shift values.

2 Position to be moved to (move the ro-
bot using the programming pendant).

The shift value is the XYZ difference between the shift position and the teach-in position
and the difference in the angle shift RX, RY, and RZ (normally set to "0").
If the shift is carried out at the same pitch intervals (e.g. for palletising), ascertain the
difference between the teach-in position and the final shift position. Then divide the
difference by the number of pitch intervals (number of divisions) to calculate the shift value
per pitch.

L1

L2

L1
L2=
3

1 2

Fig. 9-1: (a) Creating the shift data

1 Teach-in position 3 Number of pitches

2 Final shift position

The posture of the joint is determined by the angle shift of the coordinates of the joint axes.
If the shift value is only specified with X, Y and Z (RX, RY, RZ=0), the joint is shifted and
remains in the same position as the teach-in position. Since the shift is generally carried out
without a change of joint posture, an angle shift does not have to be specified for the joint.
In a parallel shift, the following movement is executed:

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2 (RX,RY,RZ=0)

1 (RX,RY,RZ 0)

Fig. 9-2: (b) Creating the shift data

1 Teach-in position 3 Shift with change of the joint posture

2 Shift without a change of the joint pos- 4 Shift value
ture

The shift value is calculated in the position data window for the coordinates in which the
shift is executed. Since the calculation is generally carried out in the user coordinates, the
position data window is used for the user coordinates.

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9.2.3 Registering shift instructions

To register shift instructions, carry out the following steps.

1. Select {JOB} from {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.

1 2

1 Address area 2 Instruction area

3. Move the cursor to the address area.

9.2.3.1 Registering SFTON instructions

You can start the parallel shift using this function. To start the parallel shift, carry out the
following steps.
1. Move the cursor to the line before the position at which the SFTON instruction is to be
registered.

0020 MOVL V=138

1 0021 MOVL V=138
0022 MOVL V=138

1 The line directly before the position at which the SFTON instruction is to be regis-
tered.
2. Press [INFORM LIST].
– The dialogue box for instruction groups appears.

IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SFTON SHIFT
SFTOF OTHER
MSHIFT SAME
PRIOR

3. Select {SHIFT}.
4. Select the SFTON instruction.
– The SFTON instruction is displayed in the input line.

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5. If necessary, change the additional items or numeric values.

– If no changes are necessary, proceed to step 6.
– To add or modify additional items, check the following points:
• To change the position variables, move the cursor to the number of the position variable
and press [SHIFT] + the cursor key to increase or reduce the value.

SFTON P000

To enter the value directly using the numeric keys, press [SELECT] to call the input line.

P=
SFTON

Enter the numeric value in the input line and press [ENTER].
– To add the coordinate system in which the shift is executed, move the cursor to the
instruction in the input line, and press [SELECT]. The DETAIL EDIT window appears.

SFTON P001

Move the cursor to UNUSED and press [SELECT]. The selection dialogue box appears.
Position the cursor on the coordinate system to be added, and press [SELECT].

– Once the coordinate system has been added, press [ENTER]. The DETAIL EDIT
window is closed, and the JOB CONTENT window appears.

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6. Press [INSERT] and then [ENTER].

– The instruction in the input line is registered.

0020 MOVL V=138

1 0021 SFTON P001 BF
0022 MOVL V=138

1 The line in which the SFTON instruction is registered.

9.2.3.2 Registering SFTOF instructions

You can end the parallel shift using this function. To end the parallel shift, carry out the
following steps.
1. Move the cursor to the line before the position at which the SFTOF instruction is to be
registered.

0030 MOVL V=138

1 0031 MOVL V=138

1 The line directly before the position at which the SFTOF instruction is to be regis-
tered.
2. Press [INFORM LIST].
– The dialogue box for instruction groups appears.
3. Select {SHIFT}.
4. Select the SFTOF instruction.
– The SFTOF instruction is displayed in the input line.

SFTOF

5. Press [INSERT] and then [ENTER].

– The SFTOF instruction is registered.

0030 MOVL V=138

0031 SFTOF
0032 MOVL V=138

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9.2.3.3 Registering MSHIFT instructions

If you try to apply a parallel shift to the joint posture, it is possible in the following cases that
the robot is not shifted to the destination posture.
• A posture shift (Rx, Ry, Rz) is executed based on a shift value specified by the user. If
a shift is calculated between two points by means of an INFORM instruction (ADD
instruction, SUB instruction, etc.) and a joint shift (Rx, Ry, Rz) is specified in the shift
value.
In these cases, the MSHIFT instruction can be used to calculate the optimum shift value for
a shift to the destination position and posture.
By means of an MSHIFT instruction, the shift value between the reference position and the
destination position (shift position) for a parallel shift is determined in the specified
coordinate system and set as the specified position variable.
To register MSHIFT instructions, carry out the following steps.
1. Move the cursor to the line before the position at which the MSHIFT instruction is to be
registered.

0003 MOVJ VJ=10.00

1 0004 GETS PX001 $PX000
0005 END

1 The line directly before the position at which the MSHIFT instruction is to be regis-
tered.
2. Press [INFORM LIST].
– The dialogue box for instruction groups appears.

IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SFTON SHIFT
SFTOF OTHER
MSHIFT SAME
PRIOR

3. Select {SHIFT}.
4. Select the MSHIFT instruction.
– The MSHIFT instruction is displayed in the input line.

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5. If necessary, change the numeric data or additional items.

– If no changes are necessary, proceed to step 6.
– To add or modify additional items, check the following points:
– To change the position variables, move the cursor to the number of the position variable
and press [SHIFT] + the cursor key to increase or reduce the value.

MSHIFT PX000 BF PX001 PX002

– To enter the value directly using the numeric keys, press [SELECT] to call the input line.

PX =
MSHIFT 0 BF PX001 PX002

– Enter the numeric value in the input line and press [ENTER].
– To add the coordinate system in which the shift is executed, move the cursor to the
instruction in the input line, and press [SELECT]. The DETAIL EDIT window appears.

MSHIFT PX000 BF PX001 PX002

– Move the cursor to BF and press [SELECT]. The selection dialogue box appears.
Position the cursor on the coordinate system to be changed , and press [SELECT].

– Once the coordinate system has been changed, press [ENTER]. The DETAIL EDIT
window is closed, and the JOB CONTENT window appears.

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6. Press [INSERT] and then [ENTER].

– The instruction in the input line is registered.

0003 MOVJ VJ=10.00

0004 GETS PX001 $PX000
1 0005 MSHIFT PX000 RF PX001 PX002

1 The line in which the MSHIFT instruction is registered.

9.2.4 Continuation of the parallel shift function

CAUTION!
 If you cancel the shift function after executing a parallel shift instruction to edit a JOB,
you must restart the JOB.
 Since a shift is not executed when the JOB is restarted, a collision between the
workpiece and the clamp can result.

The shift function is cancelled if you perform one of the following actions after executing a
parallel shift instruction:
• Editing of a JOB (modification, deletion, addition)
• Copying of JOBs
• Renaming of JOBs
• Registration of a new JOB
• Deletion of a JOB
• Modification of a selected JOB
• Restart after an alarm
• If the robot controller's power supply is switched off.

NOTICE
The parallel shift remains effective in the case of all other actions.

9.2.5 Examples of usage

9.2.5.1 Example of the use of a shift addition/subtraction

Line Instruction
0000 NOP
0001 SET B000 0
0002 SUB P000 P000 Set the first shift value to zero.

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Line Instruction

0003 *A
0004 MOVJ Step 1
0005 MOVL Step 2
0006 Grip the workpiece
0007 MOVL Step 3
0008 MOVL Step 4
0009 SFTON P000 UF#(1) Shift start
0010 MOVL Shift position step 5
0011 Release the work-
piece
0012 SFTOF Shift end
0013 ADD P000 P001 Add the shift value for the next step.
0014 MOVL Step 6
0015 MOVL Step 7
0016 INC B000
0017 JUMP *A IF B00<6

0018 
SFTON P000 Since the shift data remains saved, the
UF#(1)SFTOFSUB same data can be used to unload a work-
P000 P001 piece (with a subtraction instead of an ad-
dition).

1 Workpiece
1,7 3 4,6

1 5

9.2.5.2 Example of the use of an MSHIFT instruction

Line Instruction Explanation

0000 NOP
0001 MOVJ VJ=20.00 Move the robot to the reference posi-
tion.
0002 GETS PX000 $PX000 Set the reference position as the po-
sition variable P000.

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Line Instruction Explanation

0003 MOVJ VJ=20.00 Move the robot to the reference posi-
tion.
0004 GETS PX001 $PX000 Set the reference position as the po-
sition variable P001.
0005 MSHlFT PX010 BF PX000 Set the shift value and define it as the
PX001 position variable P010.
0006 END

9.3 JOB conversion with the parallel shift function

If the robot and base positions are moved after the teach-in of a job, the whole JOB has to
be modified.
In cases such as these, the JOB conversion with the parallel shift function reduces the time
required for this because all the steps of the JOB are shifted by the same value to create a
new JOB.

If you perform the JOB conversion with the parallel offset function, all JOB steps are shifted
by the same value.

NOTICE
Steps outside the maximum range of the P point:
• "/OV" is displayed for steps in a position outside the maximum range of the robot's P
point. If the position is adjusted, "/OV" disappears.
Position variable
• Position variables are not subject to the JOB conversion with the parallel shift function.
JOB without conversion
The following JOBs cannot be converted.
• JOBs without group axes
• Parallel JOBs (option)

CAUTION!
If a JOB name is not defined after conversion if the JOB conversion with parallel shift has
been performed, the position data of the JOB are shifted and converted. After the shift, the
data are overwritten with the new position data. You must save the JOB on an external
storage medium or copy the JOB before performing the conversion.

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9.3.1 Coordinate systems for conversion

In case of a JOB conversion with a parallel shift, the coordinate system in which the
conversion is carried out is specified. The following coordinate systems can be used:
• Base coordinate system
• Robot coordinate system
• Tool coordinate system
• User coordinate system (64 types)
• Master tool coordinate system (R*+R* JOB)
• Pulse coordinate system
In the case of a normal JOB, for which the group axes are registered, the shift conversion
is carried out in accordance with the selected coordinate system. The connections between
the group combinations and coordinates are shown in the table below.
The corresponding explanations are provided after 1 to 4 in the table.

Group com- Explanation

bination in Coordinate system that can be used
the JOB
R The shift is carried out on the basis of the selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user coor-
dinates, and pulse coordinates
R(B) The shift is carried out on the basis of the selected coordinates.
1. Base coordinates The base axis is shifted by the specified
amount.
The robot's TCP is shifted by the specified
amount within the base coordinates.
2. Robot coordi- The base axis is shifted by the specified
nates amount.
The robot's TCP is shifted by the specified
amount within the robot coordinates. These
shift movements are carried out inde-
pendently of each other.
3. Tool coordinates The base axis is shifted by the specified
amount.
The robot's TCP is shifted by the specified
amount within the tool coordinates. These
shift movements are carried out inde-
pendently of each other.
4. User coordinates The base axis is shifted by the specified
amount.
The robot's TCP is shifted by the specified
amount within the user coordinates.
5. Pulse coordi- The taught position of each axis is shifted in
nates accordance with the value entered on the
basis of the pulse values.
S The shift is carried out on the basis of the pulse values regardless of the
coordinates.
R+S The robot is shifted within the selected coordinates. The station axis is
shifted on the basis of the pulse values regardless of the coordinates.

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Group com- Explanation

bination in Coordinate system that can be used
the JOB
Base coordinates, robot coordinates, tool coordinates, user coor-
dinates, and pulse coordinates
R (b) + S The robot is shifted within the selected coordinates (as in 1 to 5 above).
The station axis is shifted on the basis of the pulse values regardless of
the coordinates.
R+R Two robots are shifted within the selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user coor-
dinates, master tool coordinates1, pulse coordinates.

R(B) + R(B) Two robots are shifted within the selected coordinate system (as in 1 to
5 above). Two base axes are also shifted.
1. In the master tool coordinates, the conversion is only carried out at the "slave" (from the perspective of the
SMOV instruction).

About 1 to 4 in the table

1. Base coordinates
The base axis is shifted by B. The robot's TCP is shifted by A within the base
coordinates.

2 B

1 Base coordinates 2 Stand

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2. Robot coordinates
The base axis is shifted by B. The robot's TCP is shifted by A within the base
coordinates.
These shift movements are carried out independently of each other.

1 Base coordinates 2 Robot coordinates

3. Tool coordinates
The base axis is shifted by B. The robot's TCP is shifted by A within the tool coordinates.
These shift movements are carried out independently of each other.

1 Base coordinates 2 Tool coordinates

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4. User coordinates
The base axis is shifted by B. The robot's TCP is shifted by A within the user
coordinates.
These shift movements are carried out independently of each other.

1
2

1 Base coordinates 2 User coordinates

• Conversion of R*+R* JOBs with the master tool coordinates
For R*+R* jobs, a JOB conversion with parallel shift can be carried out within the master
tool coordinates. Only steps taken at the "slave" (from the perspective of the SMOV
instruction) are converted (i.e., the steps of R2 in the figure below).

1
6

5
3

1 R2 (SLAVE) 4 X-axis
2 R1 (MASTER) 5 Z-axis
3 Master tool coordinates 6 Y-axis

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1
2

1 Displays R2 3 Travel path after conversion

2 Displays R1

9.3.2 Executing the JOB conversion with parallel shift

A
B
C
D
E

A. SOURCE JOB
Selects the JOB before conversion.
The JOB displayed in the JOB CONTENT window is set at the beginning. To change the
JOB, carry out the following steps:
Move the cursor to the JOB name, and press [SELECT]. The JOB LIST window appears.
Select the desired JOB.
B. STEP SECTION (start step  end step)
Specifies the step section of the source JOB.
All steps are set at the beginning. If a source JOB does not contain any steps, "***" is
displayed.
To change the step section, carry out the following steps.
Move the cursor to the step section and press [SELECT]. The input line appears.
Specify the step number and press [ENTER].
C. DESTINATION JOB
Specifies the converted JOB.

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If the converted JOB is not specified ("********" is displayed), the source JOB is overwritten
with the converted JOB.
If the converted JOB is specified, the source JOB is copied and converted.
To change the JOB, carry out the following steps.
Move the cursor to the name of the converted JOB and press [SELECT]. The input line
appears.
The name of the source JOB is displayed in the input line. To enter a different name than
the name of the source JOB, press [CANCEL] and then enter a JOB name.
D. COORDINATES
Selects the conversion coordinates.
Move the cursor to the coordinate name and press [SELECT]. The selection dialogue box
appears.
Select the desired coordinates.
If you select the user coordinates, the number input line appears. Specify the desired user
coordinate number and press [ENTER].
E. BASE POINT
Calculates the difference as a shift value on the basis of the two teach positions.
F. SHIFT VALUE
The axis shown is changed in accordance with the setting of "4. Coordinates."
To enter the shift value, move the cursor to the input line and press [SELECT].
If the shift value is calculated on the basis of the two teach-in positions, the difference is
displayed as a shift value.

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9.3.2.1 JOB conversion with the parallel shift

The shift value can be entered in two ways:
• Enter the shift value directly using the numeric keypad.
• Calculate the shift value by teaching the initial base point and the calculated base point.
In addition to the two abovementioned methods, position variables can also be used, which
are set using parameters. More information on this method can be found in Chapter 9.3.3
"Specifying the shift value by means of position variables" on page 166.

The individual methods for setting the shift value for the JOB conversion with parallel shift
are described in the following:
• Input via the numeric keypad
1. Select {JOB} from {Main Menu}.
2. Select {JOB}.
– The {JOB CONTENT} window appears.
3. Select {UTILITY} from the pull-down menu.
4. Select {PARALLEL SHIFT JOB}.
– The PARALLEL SHIFT JOB window appears.

5. Enter the conversion elements.

– Enter a value for each element.
6. Select the shift value you want to change.

7. Enter the shift value directly using the numeric keypad.

8. Press [ENTER].
– The shift value is set.

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9. Open the PARALLEL SHIFT JOB window and select EXECUTE.

– The confirmation dialogue box appears if the converted JOB is not specified. Select
YES to execute the conversion.
– When the conversion is completed, the JOB CONTENT window opens.
– If you select CANCEL, the JOB CONTENT window appears and the conversion is not
carried out.

NOTICE
If an alarm is output during conversion, the conversion is stopped.

• Calculation through teach-in

1. Select {JOB} from {Main Menu}.
2. Select {JOB}.
– The {JOB CONTENT} window appears.
3. Select {UTILITY} from the pull-down menu.
4. Select {PARALLEL SHIFT JOB}.
– The PARALLEL SHIFT JOB window appears.

5. Enter the conversion elements.

– Enter a value for each element.
6. Open the PARALLEL SHIFT JOB window. Select TEACH SETTING in the BASE
POINT element.
– The BASE POINT window appears.

7. Select BASE POINT(SRC).

8. Move the robot to the initial base point using the axis keys.

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9. Press [MODIFY] and [ENTER].

– The initial base point is set.

10. Select BASE POINT(DEST).

11. Move the robot to the converted base point using the axis keys.
12. Press [MODIFY] and [ENTER].
– The converted base point is set.

13. Select EXECUTE.

– The difference is calculated on the basis of the two teach-in positions and set as the
shift value.

14. Open the PARALLEL SHIFT JOB window and select EXECUTE.
– The confirmation dialogue box appears if the converted JOB is not specified. Select
YES to execute the conversion.
– When the conversion is completed, the JOB CONTENT window opens.
– If you select CANCEL, the JOB CONTENT window appears and the conversion is not
carried out.

NOTICE
If an alarm is output during conversion, the conversion is stopped.

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9.3.3 Specifying the shift value by means of position variables

The shift value can be defined using position variables set via parameters.
Parameter S2C652: SHIFT VALUE FOR PARALLEL SHIFT JOB CONVERSION
0: Shift value through numbers/teach-in (default setting).
1: Shift value via position variables.

A
B
C
D
E

A. FILE NO.
Specifies the position variables.
B. SHIFT JOB NAME
The job displayed in the JOB CONTENT window is set at the beginning.
To change the JOB, carry out the following steps.
Move the cursor to the name of the converted JOB and press [SELECT].
The JOB LIST window appears. Move the cursor to the desired JOB and press [SELECT].
The PARALLEL SHIFT JOB window appears again, and the selected JOB name is
displayed.
C. MODE
Specifies the conversion mode.
SINGLE (INDEPENDENT JOB CONVERSION)
Only the selected JOB is converted, even if the selected JOB includes JOBs called by
JUMP or CALL instructions.
Associated JOBs are not converted.
RELATIVE (RELATIVE JOB CONVERSION)
The selected JOB and all associated JOBs (the JOBs called by JUMP or CALL instructions)
are converted.
You will find information on each conversion mode in Chapter 9.3.3.1 "Deleting selected
JOBs" on page 167.
D. COORDINATES
Specifies the conversion variables.
Move the cursor to the coordinate name and press [SELECT]. The selection dialogue box
appears. Select the desired coordinates.
If you select the user coordinates, the input line appears.
Specify the desired user coordinate number and press [ENTER].

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E. CONV. METHOD
Specifies the conversion methods for the associated JOBs (e.g. a coordinated JOB with two
robots or a system with multiple stations).
COMMON (COMMON SHIFT)
All robots (or bases or stations) are converted using the same shift value.
EACH (INDIVIDUAL SHIFT)
Each robot (or base or station) is converted separately with different shift values.
You will find information on each conversion mode in Chapter 9.3.3.2 "Deleting coordinated
JOBs" on page 168.

9.3.3.1 Deleting selected JOBs

A JOB can be converted in two ways:
• Conversion of independent JOBs
Only the selected JOB is converted, even if the selected JOB includes JOBs called by
JUMP or CALL instructions.
Associated JOBs are not converted.

2
1

JOB JOB

JOB JOB JOB JOB

1 Selected JOB (editing JOB) 3 Associated JOBs are not converted.

2 Converted
• Conversion of associated JOBs
The selected JOB and all associated JOBs (the JOBs called by JUMP or CALL
instructions) are converted.

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2
JOB JOB

JOB JOB JOB JOB

1 Selected JOB (editing JOB) 2 Converted

9.3.3.2 Deleting coordinated JOBs

An associated JOB (such as a coordinated JOB with two robots or a system with multiple
stations) can be converted in two ways:
• Common shift
Each robot (or base or station) is converted with the same shift value.

Fig. 9-3: Coordinated JOB with R1 + R2

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Fig. 9-4: System with multiple stations

• Individual shift
Each robot (or base or station) is converted separately with different shift values.

Fig. 9-5: Coordinated JOB with R1 + R2

Fig. 9-6: System with multiple stations

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• Use of variables for individual shift

NOTICE
Please always use variables with consecutive numbers after the selected number.
Variables with numbers that are not consecutive cannot be selected.

Example 1) P010 is selected for a coordinated JOB with R1 + R2:

Use P010 for R1.
Use P011 for R2.

JOB R1
JOB R2

P010 P011

Example 2) EX005 is selected for multiple JOBs with four stations:

Use EX005 for S1.
Use EX006 for S2.
Use EX007 for S3.
Use EX008 for S4.

JOB S1 JOB S2 JOB S3

EX005 EX006 EX007

• Relationship between variables and JOBs in the case of conversion to an individual

shift.
• In case of the conversion of an independent JOB:
– Coordinated JOB with R1 + R2
Different shift values can be set for each robot and stand.

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5 2
JOB

R1 + R2

51 3

1 Variables 4 P001 for R1

2 BP001 for base R1 5 P002 for R2
3 P002 for base R2
• JOB with R (+ S) Use one variable for a JOB with one robot.

1
JOB

2 3
R

1 Variables 3 BP001 for base R1

2 P001 for R1
• In case of the conversion of an associated JOB:
• Different shift values can be set for each robot, base, and station.

4 9
2

5 10

R1 + R2 R1 R2 S1 S12
6

1 In the case of a system with R1 and 6 EX001 for S1

R2
2 JOB without group axes 7 EX002 for S1
3 Variables 8 EX0012 for S1
4 P001 for R1 9 BP001 for base R1
5 P002 for R2 10 P002 for base R2

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9.3.3.3 Procedure
To execute a JOB conversion with parallel shift using position variables, carry out the
following steps.
1. Set the parameter.
– Set parameter S2C652 (SHIFT VALUE FOR PARALLEL SHIFT JOB CONVERSION)
to 1
2. Set the position values.
– Specify a position variable in advance when you set a shift value by means of position
variables.
– You will find information on setting position variables in the "Fundamentals and
Information for Beginners" manual (document number E1102000144XX01* or higher )
in Chapter 2.9.4 "User variables."
3. Select {JOB} from {Main Menu}.
4. Select {JOB}.
– The {JOB CONTENT} window appears.
5. Select {UTILITY} from the pull-down menu.
6. Select {PARALLEL SHIFT JOB}.
– The PARALLEL SHIFT JOB window appears.

7. Enter the conversion elements.

– Enter a value for each element.
8. Select EXECUTE.
– The JOB conversion with parallel shift is executed. The JOB CONTENT window
appears on completion of the conversion.
– If you select CANCEL, the JOB CONTENT window appears and the conversion is not
carried out.

NOTICE
If an alarm is output during conversion, the conversion is stopped.
Specify the position variable in advance if you want to use the set value as the shift value.
The input line on which the editing lock or the comment-out function has been activated
cannot be changed.

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9.4 PAM function

9.4.1 Function overview

The function for setting the position during playback (PAM: Position Adjustment by Manual)
allows the position to be set easily while the movement of the robot is monitored and without
the need to stop the robot. The positions can be set in TEACH mode and PLAY mode.
The following data can be set using the keypad on the programming pendant:
• TEACH-IN point (position)
• TEACH-IN point (posture angle)
• Speed of movement
• Position level
Input ranges for the adjustment data
You will find the input ranges for the adjustment data in the table below:

Data Input range

Number of adjustment steps Up to 10 steps can be set at the same time.
Position adjustment range (X, Y, Z) Unit: mm, with an accuracy of two decimal points,
up to ±10 mm.
Posture angle adjustment range Unit: Degrees, with an accuracy of two decimal
(Rx, Ry, Rz) points, up to ±10 degrees.
Speed adjustment range (V) Unit: %, with an accuracy of two decimal points, up
to ±50%.
PL adjustment range 0 to 8
Adjustment coordinates Robot coordinates, base coordinates, tool coordi-
nates and user coordinates (default coordinates:
robot coordinates).

NOTICE
The input ranges for the adjustment data can be changed by means of the following
parameters (you will find more information in the System Setup manual (document number:
E1102000145XX01* or higher) in Chapter 3 "Parameters."
 S3C1098: Range for position adjustment (unit: 0.001 mm).
 S3C1099: Range for speed adjustment (unit: 0.01%).
 S3C1100: Specification of the adjustment coordinate.
 S3C1102: Adjustment range for the posture angle (unit: 0.01 degrees)

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NOTICE
 The data of the base axis and station axis cannot be adjusted.
 The adjustment is made during execution of a TCP instruction by setting the data of the
selected tool.
 If user coordinates are used for adjustment, an error can occur if teach-in was not
carried out with the user coordinates.
 If you would like to adjust the PL and the step you want to adjust does not include the
PL, an error message is output.
 The position variables and the steps of the reference point cannot be adjusted. If you
still try to make this adjustment, an error message will be output.
 If you would like to adjust the speed of a step that has no speed "tag," an error message
is output.

9.4.2 Procedures

9.4.2.1 Setting the data

1. Select {JOB} from {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window (in TEACH mode) or the PLAYBACK window (in PLAY
mode) appears.
3. Select {UTILITY} from the pull-down menu.

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4. Select {PAM}.
– The PAM window appears.

A
B G
C

A. JOB
Enter the name of the JOB to be adjusted.
Position the cursor and press [SELECT] to call the JOB LIST window.
Move the cursor to the desired JOB, and press [SELECT] to enter the adjusted JOB.
B. Status
Indicates the adjustment status of the PAM function.
NOT DONE is displayed if no adjustment is carried out. DONE is displayed once the
adjustment is carried out.
C. Input Coord
Determine the desired coordinates.
Position the cursor and press [SELECT] to call the selection dialogue box.
Move the cursor to the desired coordinate system, and press [SELECT] to set the input
coordinates.
D. Step number
Determine the step number.
Position the cursor and press [SELECT] to call the input line.
Enter the step number and press [ENTER] to set the value.
E. XYZ coordinate adjustment
Specify the direction and the value of the X, Y and Z coordinates.
Position the cursor and press [SELECT] to call the input line.
Enter the numeric data and press [ENTER] to set the data.
E. Rx, Ry, Rz coordinate adjustment
Specify the direction and the value of the posture angle for Rx, Ry and Rz.
Position the cursor and press [SELECT] to call the input line.
Enter the numeric data and press [ENTER] to set the data.
G. V coordinate adjustment
Determine the speed.
Position the cursor and press [SELECT] to call the input line.
Enter the numeric data and press [ENTER] to set the data.

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H. PL
The position level of the JOB to be adjusted in step "D. Step number" is displayed. The
data can be changed.
If the position level is not yet specified, [-] is displayed and the setting cannot be made.
To change the position level, position the cursor, press [SELECT], enter the value and
press [ENTER].
5. Set the adjustment data.

NOTICE
The input line on which the editing lock or the comment-out function has been activated
cannot be changed.
If you select the editing lock, the following error messages appear.
 1011: EDIT LOCK is set for this line.
 1012: This line is defined as a comment.

9.4.2.2 Making adjustments

1. Select COMPLETE:
– The confirmation dialogue box appears.

2. Select YES.
– In TEACH mode, the JOB setting can be made immediately. In PLAY mode, the JOB
can be set immediately before execution (movement).
– After the JOB is set, the set data is removed from the PAM window. If the position set
for the step exceeds the software limit switch, an error message is output. The data of
this step cannot be removed from the window.

• Cancelling the processing of the adjustments

During the processing of the adjustments, the STOP button in the PAM window is pressed
in PLAY mode. The cancel the processing of the adjustments, select STOP. The adjustment
also cancelled automatically in the following cases:

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• When the mode is changed

• When an alarm occurs
• When the power is switched off

• Deleting data
If the data setting is incorrect or the adjustment of a step is unnecessary, the data can be
deleted.
1. Move the cursor to the step whose name you want to remove.

1 Steps whose data has to be deleted

2. Select {EDIT} from the pull-down menu.
3. Select {LINE CLEAR}.
– The data in the line is deleted.
• Copying data
To enter the same data as before, carry out the following steps:
1. Move the cursor to the line you want to copy.
2. Select {EDIT} from the main menu.
– The pull-down menu appears.

3. Select {LINE COPY}.

4. Position the cursor on the line to which the element is to be copied.
5. Select {EDIT} from the main menu.

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6. Select {LINE PASTE}.

– The desired data is copied to the line.
– If the line in which the data is to be copied does not have a speed value or PL value, it
cannot be copied.

• Resetting adjustments
After the position adjustment in the PAM function, the JOB status can only be reset to the
status prior to the adjustment during TEACH mode. In this case, carry out the steps
described below
Note that the JOB cannot be undone during playback.
1. Move the cursor to the line you want to copy.
– Following position adjustment, the status is DONE.

2. Select {EDIT} from the main menu.

– The pull-down menu appears.

3. Select {UNDO} from the pull-down menu.

– The confirmation dialogue box appears.

4. Select YES.
– If you select YES, the status changes to NOT DONE and the job is undone. If you select
NO, the status does not change and the job is not undone.

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9.5 Mirror-shift function

The mirror-shift function converts a JOB into a JOB in which the travel path is symmetrical
to that of the initial JOB. The conversion can be carried out for the specified coordinate,
which can be selected from the X-Y, X-Z or Y-Z coordinates of the robot coordinates and
user coordinates.
There are three types of mirror-shift functions:
• The pulse mirror-shift function
• The robot-coordinate mirror-shift function
• The user-coordinate mirror-shift function

1 3

1 The original travel path before the 3 The converted travel path after the
mirror shift mirror shift
2 Mirror shift

9.5.1 Pulse mirror-shift function

The pulse mirror-shift function executes the mirror shift by reversing the sign (+/-) for the
axes specified by means of the parameter.

1 1

2 2

3 3

1 R-axis 3 S-axis
2 T-axis

9.5.1.1 Parameter setting

Specify the axis for which the sign is to be reversed by means of the following parameters.

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1 The first axis (0: not reversed, 1: re- 2 The sixth axis
versed)

9.5.1.2 Destination JOB

JOBs without a group axis and relative JOBs cannot be converted.

9.5.1.3 Specification of group axes

In a system with multiple group axes, the group axes specified in the original JOB and the
converted JOB must be the same.
• Robot axis: Same model
• Base axis: Same configuration
• Station axis: Same configuration
 Position variables
Position variables cannot be converted by means of the mirror-shift function.

9.5.2 Robot-coordinate mirror-shift function

The robot-coordinate mirror-shift function executes the mirror shift on the X-Z coordinate of
the robot coordinates.

Z Z

Y Y

X X

9.5.2.1 Destination JOB

JOBs without a group axis cannot be converted.

9.5.2.2 Specification of group axes

In a system with multiple group axes, the group axes specified in the original JOB and the
converted JOB must be the same.

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• Robot axis: Same model

• Base axis: Same configuration
• Station axis: Same configuration
 Position variables
Position variables cannot be converted by means of the mirror-shift function.

NOTICE
 The mirror-shift conversion for the base axis is not executed by means of the robot-
coordinate mirror-shift function.
 The robot-coordinate mirror-shift function carries out the mirror-shift conversion for the
station axis by reversing the sign for the axes specified by means of the parameter
S1CxG065 "Mirror-shift sign-reversing axis specification."

9.5.3 User-coordinate mirror-shift function

The user-coordinate mirror-shift function executes the mirror shift on the X-Z, X-Y or Y-Z
coordinate of the specified user coordinates.

Z Z
Y Y

X X

9.5.3.1 Destination JOB

JOBs without a group axis cannot be converted.

9.5.3.2 Specification of group axes

In a system with multiple group axes, the group axes specified in the original JOB and the
converted JOB must be the same.
• Robot axis: Same model
• Base axis: Same configuration
• Station axis: Same configuration
 Position variables
Position variables cannot be converted by means of the mirror-shift function.

NOTICE
The user-coordinate mirror-shift function carries out the mirror-shift conversion for the
station axis by reversing the sign for the axes specified by means of the parameter
S1CxG065 "Mirror-shift sign-reversing axis specification."

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9.5.4 Notes on the mirror-shift function

For robots such as a polishing joint whose centres of rotation on the S-axis and T-axis are
shifted in the direction of the X coordinate, the mirror shift cannot be executed correctly with
the pulse mirror-shift function.
Be sure to use the robot-coordinate mirror-shift function or the user-coordinate mirror-shift
function with the user coordinates specified in the centre of rotation of the T axis.
1. Use of the robot-coordinate mirror-shift function
If the robot-coordinate mirror-shift function is used, the mirror shift is executed on the
X-Z coordinate of the robot coordinates. The converted JOB has the following travel
path:

1 2

Fig. 9-7: Robot-coordinate mirror-shift conversion

1 After the conversion 2 Before the conversion

2. Use of the user-coordinate mirror-shift function
In order to be able to use the user-coordinate mirror-shift function, specify the user
coordinates in the centre of rotation of the T axis.

2 3

Fig. 9-8: User-coordinate mirror-shift conversion

1 User conversion 3 Before the conversion

2 After the conversion

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9.5.5 Procedures

9.5.5.1 Opening the JOB CONTENT window

To open the JOB CONTENT window of the JOB you want to convert, carry out the following
steps:
• For the current JOB
1. Select {JOB} from {Main Menu}.
2. Select {JOB}.
• For another JOB
1. Select {JOB} from {Main Menu}.
2. Select {SELECT JOB}.
– The JOB LIST window appears.
3. Select the desired JOB.

9.5.5.2 Mirror-shift function

1. Open the JOB CONTENT window.
2. Select {UTILITY} from the pull-down menu.
– The MIRROR SHIFT window appears.
3. Select {MIRROR SHIFT}.
– The MIRROR SHIFT window appears.

9.5.5.3 Explanation of the mirror shift window

A
B
C
D
E
F
G
H

A. SOURCE JOB
Selects the source JOB of the conversion.
To convert a different JOB, move the cursor to the name and press [SELECT] to call the
JOB list. Select the desired JOB and press [SELECT].
B. SOURCE CTRL GROUP
Displays the control group of the conversion source JOB.
C. STEP SELECTION
Shows the conversion steps.
The steps from the first to the last step of the selected JOB are specified as the initial value.
C. DESTINATION JOB

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Specifies the converted JOB name.

To enter the name, move the cursor to the name and press [SELECT].
The name of the source JOB of the conversion is displayed in the input area as an initial
values. If "***" is displayed, the name of the converted JOB matches that of the conversion
source JOB.
E. DEST CTRL GROUP
Selects the control group for the converted JOB.
If the name of the destination JOB is entered, the same control group is automatically set
as for the conversion source JOB.
To change the control group, move the cursor to the control group and press [SELECT] to
call the selection dialogue box.
F. COORDINATES
Specifies the coordinates used for conversion.
PULSE: Executes the pulse mirror-shift conversion.
ROBOT: Executes the mirror-shift conversion on the basis of the Cartesian coordinates.
USER: Executes the mirror-shift conversion on the basis of the specified user coordinates.
G. USER COORD NO.
Specifies the user coordinate number when USER is selected in "6. COORDINATES."
This item cannot be set when PULSE or ROBOT is selected in "6. COORDINATES."
H. TARGET
Specifies the coordinate in which the conversion takes place when ROBOT or USER is
selected in COORDINATES. XY, XZ or YZ can be selected.
Always specify XZ for ROBOT.
I. EXECUTE
To execute the mirror-shift function, press EXECUTE or [ENTER]. If no JOB is entered after
the conversion, a JOB is created with the name of the conversion source JOB.

9.6 Multi-window function

In the case of the multi-window function, the universal display is divided into 4 windows,
which are all visible at the same time
Optionally, up to seven window patterns can be selected as required.

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9.6.1 Setting the window pattern of the universal display

The window pattern of the universal display can be changed in the adjustment window.

Number of windows Window pattern

1 1 window

2 2 windows

1 2

3 2 windows

1
2
4 3 windows

1
2 3
5 3 windows

1 2
3
6 3 windows

1 2
3
7 4 windows

1 2
3 4

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9.6.1.1 Setting the window pattern

1. Select {DISPLAY SETUP} → {CHANGE WINDOW PATTERN} from {Main Menu}.

2. The window for the selection of the window pattern appears in the middle of the screen.

Select the desired window pattern.

1. Selection via key 1:
When the "Window Design" is displayed in the window, the possible window patterns
are scrolled through up and down depending of the direction of movement of the cursor.
– Select the desired window pattern from "Window Design."

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2. Selection via key 2:

Press [SELECT] when the cursor is on "Window Design." The list of possible window
patterns appears. Select the desired pattern and press [SELECT] to close the list.

3. Selection by tapping:
To select a window pattern, tap the desired template on the universal display.
– Select a template using the pattern icons.

4. Tap the [OK] button or move the cursor to the button and press [SELECT].
– The window for selecting the window pattern is closed and the selected window pattern
(selected using method 1, 2, or 3) is displayed.

Cancelling the adjustment procedure

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1. Tap the [CANCEL] button or move the cursor to the button and press [SELECT].
– The window for the selection of the window pattern is closed. The window setting in the
universal display does not change.

The cursor is moved in the window for selecting the window pattern by pressing the [AREA]
key.

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9.6.2 Displaying the multi-window

9.6.2.1 Multi-window and single-window mode

If you select more than two window patterns in the window for selecting the window pattern,
several windows are opened at once in the universal display.
This is the so-called multi-window mode.
To display a single active window, press [SHIFT] + [MULTI].
This is the so-called single-window mode.
By pressing [SHIFT] + [MULTI], you can switch the display from single-window mode to
multi-window mode. The mode can be changed as required.

9.6.2.2 Status indicator in multi-window mode

If you select more than two windows as the desired setting, appears at the top of the
window. This display does not appear in case of only one window.

9.6.2.3 Display of the active and inactive window

In multi-window mode, one window should be active, whilst the others are inactive. The title
of the active window is dark blue, whilst the title of the inactive windows is light blue.
Each press of a key affects the active window.
In addition, the menu area and keys in the universal display are used for actions in the
active window.

9.6.2.4 Limitations in multi-window mode

Due to the size limitation, a window in multi-window mode can have different content than
in single-window mode. The normal window content appears again as soon as you switch
to single-window mode.
• The input line in the JOB window appears only when the window is active.
• An auxiliary window is not opened.

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9.6.3 Using the multi-window function

9.6.3.1 Switching between multi-window and single-window mode

If more than two windows are shown in the universal display, you can switch from multi-
window mode to single-window mode.
1. Switch to multi-window mode.

2. Press [SHIFT] + [MULTI].

– The active window displayed in the universal display in single-window mode.

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3. Press [SHIFT] + [MULTI] to in step 2 status.

– The universal display switches to the preset window pattern in multi-window mode.

9.6.3.2 Switching the active window

1. Switch the active window in multi-window mode.

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2. Key operation:
Press [MULTI].
– The window to be activated is switched.
– The active window is switched in the order specified in 9.6.1 "Setting the window pattern
of the universal display" on page 185. (12341).

3. Selection by tapping:
Open the window you want to activate.
– The tapped window becomes active.
1. Switch the active window in single-window mode.

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2. Press [MULTI].
– he active window is switched in the order specified in 9.6.1 "Setting the window pattern
of the universal display" on page 185. (12341).

NOTICE
If an alarm is output before you can select the menu, the active window cannot be switched.
The active window cannot be switched if:
 The alarm window is displayed.
 The direct activation is switched on.
 A window has been opened by a key.

9.6.4 Changing the axis movement control group

The corresponding control group for the axis movement is selected automatically according
to the window status or its movement in the active window. Based on this function, the
control group for the axis movement can vary according to the currently active window if the
universal display is in multi-window mode.
For safety reasons and in order not activate another control group by mistake, the user is
informed before the switch of the active window when the user executes the switch using
the [MULTI] button or the touch screen.
It the user executes the switch of the control group for axis movement using the main menu
and not the [MULTI] button or the touch screen, no message appears.

9.6.4.1 S2C540 "Selection of the notification type regarding the change of the
axis movement control group when switching the active window"
The notification type regarding a change in the axis movement control group when
switching the active window can be changed using a parameter.

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• Set value: 0
– Let the message appear on the screen for three seconds.
– The "Control group switched by switching the active window" message appears.

• Set value:1
– Open the confirmation dialogue box to confirm the change of the active window.
– The "Control group will be changed. Switch the active window?" message appears.
– YES: After the window is activated, a message appears on the screen.
– NO: The window is not activated.

• Set value: 2
– No message regarding a change in the control group appears on the screen.

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9.7 Simple menu function

The simple menu function is available as of the version DS1.50-00.
This function allows the user to create a USER DEFINITION menu by registering the
layouts (screen-dividing layouts and screen to be displayed) in the universal display.
Up to eight layouts can be registered for the user-defined menu.
The registered layouts can be called easily using the buttons of the simple menu.

9.7.1 Registering layouts in the USER DEFINITION menu

9.7.1.1 Registration with the {REGIST} key

Use the {REGIST} button on the USER DEFINITION menu to register the layouts.
1. Press the [SIMPLE MENU] key or click the {Simple Menu} button on the screen while
the layout to be registered is displayed on the universal display.
– The USER DEFINITION menu appears.

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2. Press [REGIST].
– The USER DEFINITION menu is closed.
– A confirmation dialogue box appears with the message "Do you register a current
layout?"

3. Select YES.
• The layout is registered and the dialogue box closes.
– *If you select NO, the layout is not registered.

9.7.1.2 Registration with the keys

Use the programming keys to register the layouts in the USER DEFINITION menu.
1. Press [SHIFT] + [SIMPLE MENU] while the layout to be registered is displayed on the
universal display.
– A confirmation dialogue box appears with the message "Do you register a current
layout?"

2. Select YES.
– The layout is registered and the dialogue box closes.
– *If you select NO, the layout is not registered.

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9.7.1.3 Prerequisites for registering the layouts

In some cases it is not possible to register the layouts in the USER DEFINITION menu.
In the following situations, the layout cannot be registered, and the messages listed below
appear.

Prerequisites Message
1 The layout is already registered. This layout is already registered.

2 Eight layouts are registered already. There is not an undefined domain.

3 In order to register a layout, a win- The screen which I cannot register is included
dow is required that cannot be called [W1W2W3W4].
from {Main Menu}.

The numbers W1 to W4 refer to the windows

that are actually open in the universal display.
The window with the marked number cannot
be registered.
*For layouts 1 to 4, see table 9.7.1.4 "The dis-
played layout name" on page 198.
4 A single window is displayed in Cannot be registered in the current OPERAT-
multi-window mode. ING MODE.

The screens that cannot be called from {Main Menu} cannot be registered.
In addition, the layouts of the windows called by means of {EXTERNAL MEMORY DEVICE}
or the ladder editor (optional function) cannot be registered.

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9.7.1.4 The displayed layout name

Once a layout has been registered in the USER DEFINITION menu, it is named in
accordance with the status of the universal display at the time the layout was generated.
You will find more information below.

Status of the universal dis- Name registered in the USER DEFINITION menu
play
1 Single-window mode (identical in the submenu and main menu)
2 Multi-window mode Layout -n ("n" stands for a number from 0 to 7)

You can change the name according to the registration. See Chapter 9.7.3.3 "Changing the
name of the registered layout" on page 201.

9.7.2 Opening registered layouts

9.7.2.1 Opening
To open a registered layout, carry out the following steps.
1. Press the [SIMPLE MENU] key or click the {Simple Menu} button in the lower left corner
of the screen.
– The USER DEFINITION menu appears.

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2. Press a button on the USER DEFINITION menu to display the desired layout.
– The USER DEFINITION menu is closed.
– The selected layout appears in the universal display.

9.7.2.2 Prerequisite for calling the layout

In some cases, the layout cannot be opened. In the following situations, the layout cannot
be called, and the messages listed below appear.

Prerequisites Message
1 The registered layout windows There are no windows to display within the cho-
cannot be displayed due to the se- sen layout.
curity mode or the purpose.

If the screen that is not displayed is not part of the layout to be called due to the above
reasons, the message "Please selected a Main Menu" appears on the screen.

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9.7.3 Editing the USER DEFINITION menu

For the objects registered in the USER DEFINITION MENU window, the "Change
registered names" and "Delete registered elements" editing procedures can be performed.
Editing is performed in the USER DEFINITION MENU window. The USER DEFINITION
MENU window can be opened in OPERATING MODE, for example, and the menu can be
edited in EDITING MODE, for example.

9.7.3.1 Opening the USER DEFINITION MENU using the {EDIT} button
1. Press the [SIMPLE MENU] key or click the {Simple Menu} button in the lower left corner
of the screen.
– The USER DEFINITION window appears.

2. Press the {EDIT} button.

– The USER DEFINITION menu is closed.
– The USER DEFINITION MENU window appears in the active window of the universal
display.

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9.7.3.2 Opening the USER DEFINITION MENU window in the main menu
The USER DEFINITION MENU window can be opened in the main menu.
1. Select {SYSTEM INFO} from {Main Menu}.
– The {SYSTEM INFO} submenu appears.

2. Select {USER DEFINITION}.

– The USER DEFINITION MENU window appears in the active window of the universal
display.

9.7.3.3 Changing the name of the registered layout

The registered layout names can be changed.
1. Open the USER DEFINITION MENU window.

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2. Move the cursor to the layout name you want to change, and press [SELECT].
– The input line appears.

3. Enter the layout name and press the [ENTER] key or click the {ENTER} button.
– The input keypad is closed.
– The name is changed.

* If input via the software keypad is cancelled using the [CANCEL] key or {CANCEL}
button, the editing of the name is also cancelled.

If the bilingual feature is enabled, the name can be entered in either language.

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9.7.3.4 Deleting layouts

The layouts registered in the USER DEFINITION menu can be deleted.
1. Open the USER DEFINITION MENU window.

2. Move the cursor to the layout to be deleted and press [SHIFT] + [SELECT] (multiple
selection is possible).
– A bullet point (●) appears next to the selected line.

3. Select {DATA} from the menu.

– The pull-down menu appears.

4. Select {DELETE MENU}.

– The confirmation dialogue box with the message "Delete? Layout -4 (layout name)"
appears in the line with the bullet point (●) next to it.

5. Select YES.
– The highlighted layout is deleted.
*If you select NO, the layout is not deleted.

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9.7.3.5 Deleting all layouts

All layouts registered in the USER DEFINITION menu can be deleted at the same time.
1. Open the USER DEFINITION MENU window.
2. Select {EDIT} from the main menu.
– The pull-down menu appears.

3. Select {SELECT ALL}.

– A bullet point (●) appears next to all the registered layouts.

4. Select {DATA} from the menu.

– The pull-down menu appears.

5. Select {DELETE MENU}.

– The confirmation dialogue box with the message "Delete? Layout -0 (layout name)"
appears in the line with the bullet point (●) next to it.

6. Select YES.
– The highlighted layouts are deleted.
*If you select NO, the layouts are not deleted.

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Position the cursor on the line with the bullet point (●) and press [SHIFT] + [SELECT] to
delete the bullet point (●).
If you select {EDIT}  {CANCEL SELECT} from the pull-down menu, the bullet points (●)
disappear.

9.7.4 Saving/loading the data of the USER DEFINITION MENU on an

external storage medium

The data registered in the USER DEFINITION menu (user menu data) can be saved on an
external storage medium and loaded from there.
The corresponding file has the name USERMENU.DAT.

9.7.4.1 Saving user menu data

The user menu data can be saved at the OPERATING MODE security level or higher.
1. Select {EX. MEMORY} from {Main Menu}.
– The {EX. MEMORY} submenu appears.

2. Select {SAVE}.
– The {SAVE} window of the external storage medium appears.

3. Select {FILE/GENERAL DATA}.

– The {FILE/GENERAL DATA} window of the external storage medium appears.

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4. Select {USER MENU DATA}.

– “The marking appears next to {USER MENU DATA}.

5. Press [ENTER].
– A confirmation dialogue box with the message SAVE? appears.

6. Select YES.
– The user menu data is saved.
*If you select NO, the user menu data is not saved.

9.7.4.2 Loading user menu data

The user menu data can be loaded at the OPERATING MODE security level or higher.
1. Select {EX. MEMORY} from {Main Menu}.
– The {EX. MEMORY} submenu appears.

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2. Select {LOAD}.
– The {LOAD} window of the external storage medium appears.

3. Select {FILE/GENERAL DATA}.

– The {FILE/GENERAL DATA} window of the external storage medium appears.
4. Select {USER MENU DATA}.
– “The marking appears next to {USER MENU DATA}.

5. Press [ENTER].
– A confirmation dialogue box with the message LOAD? appears.

6. Select YES.
– The user menu data is loaded.
*If you select NO, the user menu data is not loaded.

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9.8 Parameter setting function

NOTICE
Information on the frequently used parameter settings can be found in the "System Setup"
manual ( E1102000145XX01* or higher) in Chapter 3 "Parameters."

• TEACHING CONDITION SETTING

The parameters that are important for teaching are displayed.
• OPERATE CONDITION SETTING
The parameters that are important for the mode switch/power supply are displayed.
• OPERATE ENABLE SETTING
The parameters that are important for activating/deactivating the robot are displayed.
• FUNCTION ENABLE SETTING
It is indicated whether the optional, function-relevant parameter settings are activated/
deactivated.
• JOG CONDITION SETTING
The JOG-related parameters are displayed.
• PLAYBACK CONDITION SETTING
The parameters that are important for playback are displayed.
• FUNCTIONAL CONDITION SETTING
The execution of every function-relevant parameter is displayed.
Select the menu listed above in the {SETUP} window of the main menu.

Select a menu with the cursor. After that, the parameter setting can be changed in three
ways depending on the parameter content:

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• In case of two options:

The option changes each time [SELECT] is pressed.

• In case of three or more options:

A dialogue box with the available options appears. Select an option to change the
setting.

• If a value has to be entered:

Enter a value using the numeric keypad, and press [ENTER] to change the settings.

9.8.1 Teaching condition setting

Select {SETUP}.  {TEACHING CONDITION SETTING} to open the following window.

• LANGUAGE LEVEL (S2C211)

Setting Parameter value

SUBSET 0
STANDARD 1
EXPANDED 2

• INSTRUCTION INPUT LEARNING (S2C214)

Setting Parameter value

VALID 0

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Setting Parameter value

INVALID 1

• MOVE INSTRUCTION SET POSITION (S2C206)

Setting Parameter value

STEP 0
LINE 1

• BUZZER WHEN POSITION TEACHING (S2C433)

Setting Parameter value

CONSIDER 0
NOT CONSIDER 1

• STEP ONLY CHANGING (S2C203)

Setting Parameter value

PERMIT 0
PROHIBIT 1

• RECT/CYL INDRICAL (S2C196)

Setting Parameter value

CYL 0
RECT 1

• TOOL NO. SWITCH (S2C431)

Setting Parameter value

PROHIBIT 0
PERMIT 1

• TOOL NO. INTERLOCK FOR STEP ENTRY(S2C234)

Setting Parameter value

PERMIT 0
PROHIBIT 1

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• POS. TEACH ONLY JOG CONTROL GROUP (S2C320)

Setting Parameter value

PROHIBIT 0
PERMIT 1

• JOB UNDELETE FUNCTION (S2C413)

Setting Parameter value

INVALID 0
VALID 1

• INDEPENDENT: MOTION OF NEXT/TEST(S2C231)

 The setting appears only if independent control is valid.

Setting Parameter value

SINGLE 0
ALL 1

• BWD OPERATION NO GROUP AXIS (S2C688 d0 Bit).

• BWD OPERATION CONCURRENT JOB (S2C688 d1 bit)
 The setting appears only if independent control is valid.

Setting Parameter value

PERMIT 0
PROHIBIT 1

• STATION TWIN (S2C434)

 The setting appears only if STATION TWIN SYNCHRONOUS JOB is valid.

Setting Parameter value

INVALID 0
VALID 1

• CLEARANCE TEACHING METHOD (S2C612)

 The setting appears only if the servo gun is used.

Setting Parameter value

UPPER TIP 0

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Setting Parameter value

LOWER TIP 1
GUN CLOSE 2

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9.8.2 Operate condition setting

Select {SETUP}.  {OPERATE CONDITION SETTING} to open the following window.

• SPEED DATA INPUT FORM (S2C221)

Setting Parameter value

mm/sec 0
cm/min 1
inch/min 2
mm/min 3

• CYCLE SWITCH IN TEACH MODE (S2C313)

Setting Parameter value

Step 0
Cycle 1
Auto 2
None 3

• CYCLE SWITCH IN PLAY MODE (S2C314)

Setting Parameter value

Step 0
Cycle 1
Auto 2
None 3

• CYCLE SWITCH IN LOCAL MODE (S2C294)

Setting Parameter value

Step 0
Cycle 1
Auto 2

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Setting Parameter value

None 3

• CYCLE SWITCH IN REMOTE MODE (S2C293)

Setting Parameter value

Step 0
Cycle 1
Auto 2
None 3

• SET CYCLE ON POWER ON (S2C312)

Setting Parameter value

Step 0
Cycle 1
Auto 2
None 3

• SECURITY MODE WHEN POWER ON (S2C195)

Setting Parameter value

Operating mode 0
Editing mode 1
Management mode 2

• JOB STEP WHEN POWER ON (S2C215)

Setting Parameter value

Power OFF 0
Initial 1

• GENERAL OUT KEEP WHEN POWER ON (S2C235)

Setting Parameter value

Power OFF 0
Initial 1

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9.8.3 Setting for operate enable

Select {SETUP}.  {OPERATE ENABLE SETTING} to open the following window.

• EXTERNAL START (S2C219)

Setting Parameter value

PERMIT 0
PROHIBIT 1

• PP START (S2C220)

Setting Parameter value

PERMIT 0
PROHIBIT 1

• EXTERNAL MODE SWITCH (S2C225)

Setting Parameter value

PERMIT 0
PROHIBIT 1

• EXTERNAL CYCLE SWITCH (S2C227)

Setting Parameter value

PERMIT 0
PROHIBIT 1

• PP CYCLE SWITCH (S2C228)

Setting Parameter value

PERMIT 0
PROHIBIT 1

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• EXTERNAL SERVO ON (S2C229 d0 bit).

• PP SERVO ON (S2C229 d1 bit).
• DSW SERVO ON (S2C229 d2 bit)

Setting Parameter value

PERMIT 0
PROHIBIT 1

9.8.4 Setting for function enable

Select {SETUP}.  {FUNCTION ENABLE SETTING} to open the following window.

• MASTER JOB CHANGE (S2C207)

Setting Parameter value

PERMIT 0
PROHIBIT 1

• RESERVED START (S2C222)

Setting Parameter value

PERMIT 0
PROHIBIT 1

• RESERVED START JOB CHANGE (S2C209)

Setting Parameter value

PERMIT 0
PROHIBIT 1

• JOB SELECT WHEN REMOTE OR PLAY (S2C224)

Setting Parameter value

PERMIT 0
PROHIBIT 1

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• I/O-VARIABLE CUSTOMIZE FUNCTION (S2C397)

Setting Parameter value

Invalid 0
Valid 1

• GENERAO I/O NAME DISP. ON JOB (S2C544)

Setting Parameter value

Invalid 0
Valid 1

• ANTICIPATION FUNCTION (S2C646)

Setting Parameter value

Invalid 0
Valid 1

• ALL AXES ANGLE DISP FUNCTION (S2C684 d0 bit)

Setting Parameter value

Invalid 0
Valid 1

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9.8.5 JOG condition setting

Select {SETUP}.  {JOG CONDITION SETTING} to open the following window.

• COORD SWITCH WHEN JOG OPERATION (S2C197)

Setting Parameter value

Tool & User OK 0
Tool NG 1
User NG 2
Tool & User NG 3

• MANUAL SPEED SAVE EVERY COORDS (S2C204)

Setting Parameter value

Invalid 0
Valid 1

9.8.6 Playback condition setting

Select {SETUP}.  {PLAYBACK CONDITION SETTING} to open the following window.

• CHECK/MACHINE LOCK (S2C208)

Setting Parameter value

PERMIT 0
PROHIBIT 1

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• MASTER CALLING UP (S2C210)

Setting Parameter value

PERMIT 0
PROHIBIT 1

• INITIAL MOVE SPEED OF ROBOT (S2C217)

Setting Parameter value

Special Play 0
Low speed 1

• START METHOD AFTER ABSO OVER (S2C316)

Setting Parameter value

Vacuum check 0
Low speed 1

• SIGNAL NO. WHEN DROP VALUE OVER (S2C240)

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9.8.7 Functional condition setting

Select {SETUP}.  {FUNCTIONAL CONDITION SETTING} to open the following window.

• COORDINATE (PAM) (S3C1100)

Setting Parameter value

Stand 0
Robot 1
Tool 2
User 1 3
.... ....
User 63 65

• POSITION ADJUST RANGE (PAM) (S3C1098)

• SPEED ADJUST RANGE (PAM) (S3C1099)
• POSTURE ANGLE ADJUST RANGE (PAM) (S3C1102)

9.9 Jog key allocation

This function allows the external axis to be operated without switching the control group by
means of the operating keys of the 7th axis (E+, E-) and 8th axis (8+,8-) on the
programming pendant.
An external axis must be allocated for this purpose.

CAUTION!
 An external axis can only be operated by means of the allocated keys of the 7th and 8th
axes when a robot is operated. Operate external axes with the operating keys for the
1st axis. If the robot is equipped with a 7th and 8th axis, the existing axes are operated
using the keys on the programming pendant.
 If the robot has 7 axes, for example, the E axis is operated even if the operation of the
external axis is allocated to the operating key for the 7th axis (E+, E-).

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NOTICE
This function allows a different control group from the one displayed in the upper part of the
programming pendant to be operated (status display or LED of the [ROBOT] or [EX.AXIS]
key).
In addition, the robot and the external axes can be controlled simultaneously if multiple axis
operating keys are pressed at the same time. Please note the axis movements when
operating the keys.

9.9.1 Allocating the JOG key

CAUTION!
 Allocation of the JOB keys is only valid in MANAGEMENT MODE, while the
confirmation of the allocated axes is valid in OPERATING MODE and EDITING MODE.

NOTICE
The setup conditions are saved in the following parameters. Even if the external axes are
allocated to a key with the same numbering (e.g., S1 for the 1st axis), the parameter value
to be saved depends on the composition of the system's control group. You should
therefore always check the allocation status when loading the parameter file (ALL.PRM or
AC.PRM) before you execute the function.

Parameters for saving the setup conditions of the JOG key allocation.
S2C739 7th axis
S2C740 8th axis
1. Select {SETUP} from the main menu.
2. Select {JOG KEY ALLOCATION}.
– The JOB key assignment window appears.

3. Position the cursor on GROUP, and press [SELECT].

– A list of the external axes that can be allocated appears.

4. Select an external axis to be allocated.

– The selected external axis is listed under GROUP, and "1" is specified under AXIS NO.

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5. In the cases in which the external axis consists of more than two axes and the axis is
operated by the second axis: Position the cursor on AXIS NO, and press [SELECT].
– A list of the selected external axes appears.

6. Select an axis number.

– The selected axis is specified under AXIS NO.

9.9.2 Cancelling jog key allocation

1. Select {SETUP} from the main menu.

2. Select {JOG KEY ALLOCATION}.
– The JOB key assignment window appears.
3. Position the cursor on GROUP, and press [SELECT].
– A list of the external axes that can be allocated appears.

4. Select NONE.
– "******" is specified under GROUP and AXIS NO.

9.9.3 Control of the allocated external axis

CAUTION!
 If the same external axis (same group and axis number) is allocated to the keys of the
7th and 8th axis, it is not operated, even when the two keys are pressed individually. In
this case, the message "Check the setting of JOG KEY ALLOCATION (7th and 8th)"
appears to point out that the same external axis is allocated between different keys.
Cancel the allocation or allocate a different external axis to one of the keys.

1. Press the [ROBOT] key.

– A robot marker on the left-hand side of the status area of the programming pendant
indicates that the robot has been selected for operation. In addition, the LED of the
[ROBOT] key comes on.

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2. Press the axis keys for the 7th axis (E+, E-) or 8th axis (8+, 8-).
– The allocated external axis is operated provided the there is no 7th or 8th axis and the
allocation has been made correctly.

9.10 Energy-saving function

The energy-saving function interrupts the robot's power supply after the motor is slowed
down. None of the robot's axes can be operated for a certain period when the servo power
is switched on in PLAY mode. The following duration is preset: 10 minutes.
The energy-saving function is active when all the following prerequisites are met.
1. The energy-saving function is valid.
2. The system's input signal (signal that suppresses the energy-saving mode #40580) is
switched off.
When the function is valid, the robot has the following status:
1. The message "On energy saving mode" appears on the programming pendant.
2. The servo is switched on.
3. The JOBs currently being executed are executed without interruption.
4. The system output signal (ENERGY-SAVING:SOUT#0576 (#50727)) indicates that the
energy-saving function is switched on while the other signals do not change.

CAUTION!
This function is cancelled in the following cases:
 When the programming pendant switches to TEACH mode.
 When the system input signal of the external SERVO OFF (1, 2, 3) is entered.
 When the axis that belongs to the corresponding control group of the executed JOB is
to be operated and the energy-saving function is valid.
 When there is an emergency stop or SERVO OFF in the event of an alarm.

NOTICE
This function is not cancelled when the system's input signal (signal that suppresses the
energy-saving function #40580) is switched on. This signal merely prevents a switch to the
energy-saving function.

9.10.1 Setting the energy-saving function

9.10.1.1 Setting the energy-saving function to valid/invalid

CAUTION!
 The energy-saving function can only be set to valid/invalid in MANAGEMENT MODE.
Confirmation of the energy-saving function is possible only in OPERATING MODE and
EDITING MODE.

1. Select {SETUP} from the main menu.

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2. Select {ENERGY SAVING FUNCTION}.

– The ENERGY SAVING FUNCTION window appears.

3. Position the cursor on ENERGY SAVING FUNCTION, and press [SELECT].

– Each time you press the key, the display alternates between valid and invalid.


Press the [SELECT] key.


4. Position the cursor on {SETTING TIME}, and press the [SELECT] key.
– Under {SETTING TIME}, enter the period after which you want the energy-saving
function to start after the robot has stopped (unit: minutes). The presetting is: 10
minutes A period from 1 to 60 minutes can be entered.

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9.10.1.2 Deleting the total energy-saving time

1. Select {SETUP} from the main menu.
2. Select {ENERGY SAVING FUNCTION}.
– The ENERGY SAVING FUNCTION window appears.
3. Position the cursor on {ACCUMULATED ENERGY-SAVING TIME}.
4. Position the cursor on {DATA}, and press the [SELECT] key.
– CLEAR ACCUMULATED appears on the pull-down menu.

5. Selected {CLEAR ACCUMULATED}.

– The confirmation dialogue box appears.

6. Select YES.
– The total energy-saving time is deleted.

9.10.2 Confirming the energy-saving function

9.10.2.1 Confirming the total energy-saving time

1. Select {SETUP} from the main menu.
2. Select {ENERGY SAVING FUNCTION}.
– The ENERGY SAVING FUNCTION window appears. The total energy-saving time is
counted as long as the energy-saving function is active.

9.10.2.2 Confirming the system output signal

1. Select {IN/OUT} from the main menu.

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2. Select {SPECIFIC OUTPUT}.

– The SPECIFIED OUTPUT window appears.
3. Press the [PAGE] or [SELECT] key to display SOUT#0576 (#50727).
– The system output status is displayed during the valid energy-saving function. In the
valid energy-saving function, the signal is activated.

– On termination of the energy-saving function, the signal is switched off.

9.11 Colour adjustment function for instructions

This function allows every instruction in the JOB window to be displayed on a colour-to-
colour basis.
Corresponding colours are defined on the basis of the following instructions.
• Movement instructions
• DEVICE instructions
• Comment instructions
• Label instruction
• Macro instruction (if the macro function is active)
• I/O instruction
• Instructions for which LINE EDIT LOCK is set
• Instructions for which LINE COMMENT is set
• All instructions other than those listed above
The colour of each instruction in the job window can be set in the DISPLAY COLOR
CONDITION SETTING dialogue box.

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1. Select {SETUP} from {Main Menu}.

2. Select {DISPLAY COLOR CONDITION SETTING}.

– The {COLORCONDITION SETTING} window appears.

3. Move the cursor to the instruction you want to change, and press [SELECT].
– The list of colours that can be selected for the instruction is displayed.

4. Select a colour.
– The desired colour for the instruction is set.

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5. Select the JOB window.

– Each instruction is displayed in the JOB window in its selected colour.

9.12 Function for outputting the current robot position

9.12.1 Function overview

Output of the current Cartesian position (base coordinates) of the robot to the specified
register.

9.12.2 Parameter

The following parameters specify the function and number of the output register.

S1CxG Meaning
208 Specify a function that outputs a specific value of the current Cartesian position
(base coordinates) to the register.
0: Invalid
1: Valid
209 Specify the output size to the register.
0: 2-byte output
1: 4-byte output
210 Cartesian position (setpoint position) X register number of the output destina-
tion.
211 Cartesian position (setpoint position) Y register number of the output destina-
tion.
212 Cartesian position (setpoint position) Z register number of the output destina-
tion.
213 Cartesian position (setpoint position) Rx register number of the output destina-
tion.
214 Cartesian position (setpoint position) Ry register number of the output destina-
tion.

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S1CxG Meaning
215 Cartesian position (setpoint position) Rz register number of the output destina-
tion.
216 Cartesian position (setpoint position) Re register number of the output destina-
tion.
217 Specify a function that outputs an FB value of the current Cartesian position
(base coordinates) to the register.
0: Invalid
1: Valid
218 Specify the output size to the register.
0: 2-byte output
1: 4-byte output
219 Cartesian position (FB value) X register number of the output destination.
220 Cartesian position (FB value) Y register number of the output destination.
221 Cartesian position (FB value) Z register number of the output destination.
222 Cartesian position (FB value) Rx register number of the output destination.
223 Cartesian position (FB value) Ry register number of the output destination.
224 Cartesian position (FB value) Rz register number of the output destination.
225 Cartesian position (FB value) Re register number of the output destination.

(Example 1)

S1C1G Set value

208 1
209 0
210 10
211 11
212 12
213 13
214 14
215 15
216 16

If you set the parameters as shown above, the current Cartesian position of the robot is
output to the registers as follows:

M010 = current Cartesian position of the robot (setpoint value) X [unit: mm]
M011 = current Cartesian position of the robot (setpoint value) Y [unit: mm]
M012 = current Cartesian position of the robot (setpoint value) Z [unit: mm]
M013 = current Cartesian position of the robot (setpoint value) Rx [unit: de-
grees]
M014 = current Cartesian position of the robot (setpoint value) Ry [unit: de-
grees]
M015 = current Cartesian position of the robot (setpoint value) Rz [unit: de-
grees]

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M016 = current Cartesian position of the robot (setpoint value) Re [unit: de-
grees]
(Example 2)

S1C1G Set value

217 1
218 1
219 10
220 12
221 14
222 16
223 18
224 20
225 22

M010 = The lower 2 bytes of the current Cartesian po- X [unit: μmm]
sition of the robot (FB value)
M011 = The lower 2 bytes of the current Cartesian po- X [unit: μmm]
sition of the robot (FB value)
M012 = The lower 2 bytes of the current Cartesian po- Y [unit: μmm]
sition of the robot (FB value)
M013 = The lower 2 bytes of the current Cartesian po- Y [unit: μmm]
sition of the robot (FB value)
M014 = The lower 2 bytes of the current Cartesian po- Z [unit: μmm]
sition of the robot (FB value)
M015 = The lower 2 bytes of the current Cartesian po- Z [unit: μmm]
sition of the robot (FB value)
M016 = The lower 2 bytes of the current Cartesian po- Rx [unit: 0.001 degrees]
sition of the robot (FB value)
M017 = The lower 2 bytes of the current Cartesian po- Rx [unit: 0.001 degrees]
sition of the robot (FB value)
M018 = The lower 2 bytes of the current Cartesian po- Ry [unit: 0.001 degrees]
sition of the robot (FB value)
M019 = The lower 2 bytes of the current Cartesian po- Ry [unit: 0.001 degrees]
sition of the robot (FB value)
M020 = The lower 2 bytes of the current Cartesian po- Rz [unit: 0.001 degrees]
sition of the robot (FB value)
M021 = The lower 2 bytes of the current Cartesian po- Rz [unit: 0.001 degrees]
sition of the robot (FB value)
M022 = The lower 2 bytes of the current Cartesian po- Re [unit: 0.001 degrees]
sition of the robot (FB value)
M023 = The lower 2 bytes of the current Cartesian po- Re [unit: 0.001 degrees]
sition of the robot (FB value)

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NOTICE
 When checking the register output function for the setpoint value (S1CxG208=1), do not
forget to set the output register number (S1CxG210 to 216) for each coordinate value.
 When checking the register output function for the FB value (S1CxG217=1), do not
forget to set the output register number (S1CxG219 to 225) for each coordinate value.
 If the register output size (S1CxG209=1 or S1CxG218=1) is set at 2 bytes, the unit of
the coordinate values of the X-, Y- and Z-axes is "mm," and the unit of the Rx, Ry, Rz
and Re angle values is "degrees." In both cases, only the lower 2 bytes are output.
 If the register output size (S1CxG209=1 or S1CxG218=1) is set at 4 bytes, the unit of
the coordinate values of the X-, Y- and Z-axes is "μm," and the unit of the Rx, Ry, Rz,
and Re angle values is "0.0001 degrees."
 If the register output size (S1CxG209=1 or S1CxG218=1) is set at 4 bytes, the upper
byte of the coordinate value is output to the following register of the specified output
register number. Therefore, confirm the usage status of the register before you set the
output size for the register.

9.13 Soft-limit setting function

9.13.1 About the soft-limit setting function

You use the soft-limit setting function to set the soft limit in order to limit the movement
range of the robot by means of the software.

9.13.2 Window of the soft-limit setting function

The soft-limit setting window is only displayed in TEACH mode and MANAGEMENT
MODE.

1. Select {ROBOT} from {Main Menu}.

2. Select {SOFTLIMIT SETTING}.
– The SOFTLIMIT SETTING window appears.

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3. Select the desired control group.

– Use [PAGE] or the selection dialogue box to switch to the desired control group.
– As for the selection dialogue box, select [PAGE] and position the cursor on the desired
control group. Press [SELECT].

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9.13.3 Setting the soft limit by entering a numeric value

1. Position the cursor on the desired axis for soft limit (+) or soft limit (-), and press
[SELECT].
2. Enter the values for soft limit (+) and soft limit (-), and press [ENTER].
– The soft limit is set.

9.13.4 Setting the current value as the soft limit

1. Move the robot with the axis keys.

– Use the axis keys to put the robot in the position whose value is the maximum or
minimum value for the soft limit.
2. Position the cursor on the desired axis for soft limit (+) or soft limit (-).
– To change the maximum value of the first soft limit, position the cursor on the first axis
for soft limit (+).
– To change the minimum value of the first soft limit, position the cursor on the first axis
for soft limit (-).

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3. Press [MODIFY].
– The message "Update the data with <ENTER>" is displayed.

– If you take one of the following steps, the change is cancelled.

• Press [MODIFY].
• Press [SELECT].
• Press one of the arrow keys: [] [] [] [].
• Press [PAGE].
• Press [DIRECT OPEN].
• Press one of the numeric keys.
• Select the reserved window.
• Switch the window.
• Change the mode.
– The message "Update operation <CHANGE> has been cancelled" appears.

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 Convenient functions

4. Press [ENTER].
– The current position is set as the soft limit.

9.13.5 Resetting soft limit (+) and soft limit (-) to the initial value

1. Select {DATA} from the pull-down menu.

– {Initial Maker Value} appears.

2. Select {Initial Maker Value}.

– The confirmation dialogue box appears.

3. Select YES.
– The initial value is set for all displayed axes. If you select NO, the operation is cancelled.

NOTICE
The initial value limits the robot's mechanical range of movement and depends on the robot
model.
It differs from the movement range set to add the base station axes.

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9.13.6 Changing the coordinate display for soft limit (+) and soft limit (-)

1. Select {DISPLAY} from the pull-down menu.

– {Coordinate Change} appears.

– If the coordinate displayed is a pulse coordinate, the robot axis switches to the angle
display, the base axis switches to the distance display, and the station axes switch for
each axis to the value of the display parameter of the station axis (S2C265 to 288).
– If the first bit is OFF, the first axis switches to the angle display.
– If the second bit is ON, the second axis switches to the distance display.
– If the displayed coordinates are angle/distance, all axes switch to the pulse display.

NOTICE
 If the display of the soft-limit value is the angle display, then the pulse display and the
sign may differ.
 Be sure to confirm the movement range by JOG operation after you have changed the
soft-limit value.

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9.14 JOB editing function during playback

Jobs can be edited both during playback and in PLAY mode. <Editable>: User job. <Not
editable>: Macro job and system job.

9.14.1 JOB editing during playback

9.14.1.1 Basic operation

To edit a JOB during playback, carry out the following steps.
1. Select {JOB} from the main menu during playback, and then select {SELECT JOB} from
the submenu.
– The JOB LIST window appears.

2. Select {EDITING} from the {JOB} pull-down menu.

3. Select the JOB to be edited from the JOB list.

– The selected JOB is registered in the display of the PLAY EDIT JOB LIST submenu.

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4. Edit the selected JOB.

– Edit the JOB selected in the previous step in the same way as in TEACH mode.

– You will find information on possible editing restrictions in Chapter 9.14.1.2

"Processing" on page 239.
5. Select {WRITING} from the {JOB} pull-down menu in order to mirror the edited data.

– If the JOB you want to write is already in the JOB LIST, a confirmation dialogue box
appears: "Overwrite?" Select YES to mirror the edited data. Refer to the "Note" on the
next page.

– If a JOB with the same name is not in the JOB LIST, the JOB is added to the JOB LIST.
Refer to the "Note" on the next page.
If data is mirrored during playback, the message "Requesting playback edit JOB writing"
appears, and the status becomes a write request. To save the JOB, execute the
LATESTJOB instruction in the write request status, or terminate playback. If data is mirrored
in PLAY mode but not playback, the JOB is written immediately.
However, if the JOB to be written is executed (including JOBs in the JOB LIST), the
message "Error 5240: Can not write in the JOB in execution." appears, and the edited data
is not mirrored.
If a JOB in the JOB LIST is to be written that is in PLAY mode but not playback, the message
"Error 5241: Can not write in the JOB in JOB STACK." appears, and the edited data is not
mirrored.
If data is mirrored during teach-in, the JOB is written immediately.

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9.14.1.2 Processing
The data of the selected JOB (see step 4 in Chapter 9.14.1.1 "Basic operation" on page
237) can be edited in the same way as the normal TEACH mode.
However, the functions for influencing the movement of the robot are limited as follows:
• The TEACH-IN position cannot be edited.
• The pull-down menu is limited during editing, as shown in Fig. 9-9: "EDIT pull-down
menu * Cursor is on line number" to Fig. 9-12: "UTILITY pull-down menu".

Fig. 9-9: EDIT pull-down menu * Cursor is on line number

Fig. 9-10: EDIT pull-down menu * Cursor is on instruction

Fig. 9-11: DISPLAY pull-down menu

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Convenient functions

Fig. 9-12: UTILITY pull-down menu

In addition to the described JOB editing function, the {JOB} pull-down menu also contains
{CREATE NEW JOB}, {RENAME JOB}, {COPY JOB}, and {DELETE JOB}.
All the above operations are executed for the JOBs in the PLAY EDIT JOB LIST.
To save the edited data in the JOB from the JOB list, {WRITING} is required.
Only JOBs contained in the PLAY EDIT JOB LIST can be deleted using {DELETE JOB}.
The JOBs in the JOB LIST are not deleted.
The above-mentioned operations {WRITING}, {DELETE JOB}, {RENAME JOB}, and
{COPY JOB} can be executed in the same way in the PLAY EDIT JOB LIST display.

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9.14.1.3 Editing multiple JOBs

To delete or write multiple JOBs simultaneously in the PLAY EDIT JOB LIST display, carry
out the following steps.
• Deleting multiple JOBs
1. Select {Main Menu} → {JOB} and then the {PLAY EDIT JOB LIST} submenu.

2. Select the JOB to be deleted by means of [SHIFT] + [SELECT].

– "●" appears to the left of the selected JOB.

3. Select {DELETE JOB} from the {JOB} pull-down menu.

– A confirmation dialogue box appears for each job selected. Select YES to delete the job
from the PLAY EDIT JOB LIST display.

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• Writing multiple JOBs

1. Select {Main Menu} → {JOB} and then the {PLAY EDIT JOB LIST} submenu.

2. Select the JOB to be written by means of [SHIFT] + [SELECT].

– "●" appears to the left of the selected JOB.

3. Select {WRITING} from the {JOB} pull-down menu.

– If the JOB you want to write is already in the JOB LIST, a confirmation dialogue box
appears, asking you to confirm that you want to overwrite it. Select YES to mirror the
edited data.
– TIf you select NO, the edited data is not mirrored. To cancel the write operation, press
[CANCEL] while the confirmation dialogue box is displayed.
– If a JOB of the same name is not in the JOB LIST, the JOB to be written is added to the
JOB LIST. See the note below.

If data is mirrored during playback, the message "Requesting playback edit JOB writing"
appears, and the status becomes a write request. To save the JOB, execute the
LATESTJOB instruction in the write request status, or terminate playback. If data is mirrored
in PLAY mode but not playback, the JOB is written immediately.
However, if the JOB to be written is executed (including JOBs in the JOB LIST), the
message "Error 5240: Can not write in the JOB in execution." appears, and the edited data
is not mirrored.
If a JOB in the JOB LIST is to be written that is in PLAY mode but not playback, the message
"Error 5241: Can not write in the JOB in JOB STACK." appears, and the edited data is not
mirrored.
If data is mirrored during teach-in, the JOB is written immediately.

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9.14.1.4 Cancelling the write request

To cancel a write request, carry out the following steps.
1. Select {Main Menu} → {JOB} and then the {PLAY EDIT JOB LIST} submenu, or select
{Main Menu} → {JOB} then the {JOB EDIT (PLAY)} submenu.

2. Select {WRITING CANCEL} from the {JOB} pull-down menu.

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CAUTION!
• If the mode is changed to TEACH during editing of the JOB.
Even if the mode is changed to TEACH without mirroring or cancellation of the edited data,
the changed data is saved. In this case, select {Main Menu} → {JOB} and then the
{SELECT JOB} submenu or {PLAY EDIT JOB LIST} to edit the data in the same way as in
play mode. However, the teaching of the position is not possible.
The data of a JOB edited in PLAY mode is not mirrored when the mode is changed to
TEACH mode as long as {WRITING} has not been executed.

• Write a JOB.
{WRITING} works differently, depending on the status of the robot.
Select {JOB} then {WRITING} to mirror the edited data in the JOB. The data is mirrored as
described below, depending on whether or not the JOB is executed.
1. If the JOB is not executed: The data is mirrored immediately.
2. If the JOB is executed: The data is mirrored when the LATESTJOB instruction is
executed or the job is completed.
The message "Requesting playback edit JOB writing" is displayed when waiting for
mirroring (during a write request).
It is not possible to write in the executed JOB, not even with the LATESTJOB instruction.
If there is a power failure during the write request, the write request is cancelled after the
restart and the JOB is not mirrored.

• During file transfer

{WRITING} cannot take place during file transfer (i.e., data transfer to an external storage
medium).
Moreover, a file cannot be transferred during a write request.
• During a write request
Editing is not possible during a write request (when the message "Requesting playback edit
JOB writing" is displayed).
To edit data, wait for the write operation to finish or cancel the write request.

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9.15 Logging function

The logging function can save instructions given by the controller and the curve of the data
processing (log) in chronological order and display them on the screen.
You can select the logging function and save the log file on an external device.

9.15.1 Data for logging

With this function, the following data can be saved:

• Data on instructions
– START, HOLD, and E-STOP (instructions given in REMOTE mode are also saved
in the log)
– Mode switch (PLAY / TEACH / REMOTE) (instructions given in REMOTE mode are
also saved in the log)
– Safety fence OPEN
– Selection of JOBs (including directly opened JOBs).
– Call of the master JOBs. Data and JOBs initialised.
– Loading and saving of files and JOBs (normal termination/cancelling of the
operation) (loading and saving operations of the DCI function or data transfer are
not saved in the logs)
– Creation of a new JOB, deletion and renaming, JOB conversion with parallel shift,
conversion with mirror shift, PAM (position correction during playback).
– Editing of the robot's zero position
– Login/logout (only available if the (optional) password protection function is used)
• Edited data
• JOB data
– Adding of instructions
– Changing of the requirements of instructions
– Adding of instructions
– "Cut," "Add," and "Add in reverse" operations
– UNDO and REDO operations
– Editing of the JOB headers
– Setting of the editing lock and adding of comments
– Lifting of the editing lock and cancelling of all comments
• Editing of CIO: Editing in the window of the ladder editor. When the recording is
executed, the editing process will be output (adding/changing/deleting lines). The
recorded lines are the actual lines in the line editing and must not correspond with the
recording time.
• Editing of variables (settings made in REMOTE mode are also saved in the log)
• Editing of the I/Os: Logs of the activation and deactivation of the general input and
output signals are recorded

NOTICE
In the log, only the editing operations made by the users themselves are recorded. If
variables or I/O statuses are changed by instructions in the JOB, they are not recorded in
the log.

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9.15.2 Number of saved log entries

For each data type, the following number of log entries is saved:
• Data on instructions: 100 entries
• Edited data: 200 entries
If the number of saved entries exceeds the number mentioned above, old data is deleted
and new data is recorded.

9.15.3 Procedures

9.15.3.1 Displaying the log list

To open the log list, carry out the following steps.
Main menu  {SYSTEM INFO}  {LOGDATA}.

Select {LOGDATA}. The {LOGDATA} appears.

The log list appears in the {LOGDATA} window. You can arrange the log list according to
the desired log type (data on instructions/edited data).
To select the desired log type, select {DISPLAY}. The ALL}, {OPERATION}, and {EDITING}
log types appear on the pull-down menu.

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Shows only the logs that contain data on instructions.

Shows only the logs that contain edited data.

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9.15.3.2 Displaying log details

To display the desired log details, move the cursor to the desired log in the {LOGDATA}
window and press [SELECT].

By tapping the {RETURN} button at the bottom of the window or pressing [CANCEL], you
can return to the {LOGDATA} window.
The entries shown in the {DETAIL} window are shown in the tables on the following pages.
The following entries are always displayed, however, regardless of whether the displayed
log type is OPERATION or EDIT:
• INDEX
• DATE
• EVENT
• LOGIN NAME

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 9.15.3.3 Displaying log details

Log name Comment Elements shown in the detailed display

START - Series JOB name Line number Current value -
HOLD - Series JOB name Line number Current value -
ESP - Series JOB name Line number Current value -
TEACH MODE - - - - - -
PLAY MODE - - - - - -
REMOTE mode - - - - - -
SELECT JOB - Series JOB name - - -
SAFETY FENCE OPEN - Series JOB name Line number Current value -
MASTER JOB CALL - Series JOB name - - -
FILE INIT - File names - - - -
FILE LOAD END - File names - - - -
FILE SAVE END - File names - - - -
FILE LOAD ERROR - File names - - - -
FILE SAVE ERROR - File names - - - -
JOB CREATE - JOB name - - - -
JOB DELETE - JOB name - - - -
JOB RENAME - JOB name - - - -
PARALLEL SHIFT - JOB name - - - -
MIRROR SHIFT - JOB name - - - -
PAM - JOB name - - - -
ORG ABSO - Group number Axis number Setting Current value -

Convenient functions
LOGIN - - - - - -
LOGOUT - - - - - -
9

Tab. 9-1: Log that contains data on instructions

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9 - 250

Convenient functions
Log name Comment Elements shown in the detailed display
JOB EDIT(INS) - Series JOB name Line number Value after editing Current value
JOB EDIT(MOD) - Series JOB name Line number Value after editing Current value
JOB EDIT(DEL) - Series JOB name Line number Deleted line -
JOB EDIT(P. REG) - Series JOB name Line number Current value -
JOB EDIT(P. MOD) - Series JOB name Line number Current value -
JOB EDIT(CUT) - Series JOB name Processing of starting Processing of end posi- -
position tion
JOB EDIT(PASTE) - Series JOB name Processing of starting Processing of end posi- -
position tion
JOB EDIT(R. PST) - Series JOB name Processing of starting Processing of end posi- -
position tion
JOB EDIT(UNDO) - Series JOB name - - -
JOB EDIT(REDO) - Series JOB name - - -
JOB EDIT(HEADER) Numeric value JOB name Element number Value before editing Value after editing -
Character string JOB name Element number Value after editing -
JOB EDIT(EDITLOCK) - Series JOB name Processing of starting Processing of end posi- -
position tion
JOB EDIT(EDITLOCK - Series JOB name Processing of starting Processing of end posi- -
CLR) position tion
JOB EDIT(EDITLOCK - Series JOB name Processing of starting Processing of end posi- -
CLR ALL) position tion
JOB EDIT(COMMENT) - Series JOB name Processing of starting Processing of end posi- -
position tion
JOB EDIT(COMMENT - Series JOB name Processing of starting Processing of end posi- -
CLR) position tion
JOB EDIT(COMMENT - Series JOB name Processing of starting Processing of end posi- -
CLR ALL) position tion
OTHER FILE EDT Numeric value File names Element number Value before editing Value after editing -
Character string File names Element number Value after editing -
 Log name Comment Elements shown in the detailed display
PARAMETER EDIT - Parameter type Parameter num- Value before editing Value after editing -
ber
LADDER EDIT(ADD) - Line number Value after edit- System/user - -
ing
LADDER EDIT(CHG) - Line number Value after edit- System/user - -
ing
LADDER EDIT(DEL) - Line number Deleted line System/user - -
COMPILE - - - - - -
VARIABLE EDIT Numeric value Variable type Edit number Value before editing Value after editing -
Character string Variable type Edit number Value after editing - -
Position variable Variable type Edit number Set value - -
I/O EDIT - Number of I/Os Value after edit- - - -
ing

Tab. 9-2: Log that contains edited data

Convenient functions
9
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Convenient functions

9.15.3.4 Updating log information

If a new log is added during the display of the {LOGDATA} window, press [SELECT]. The
confirmation dialogue box "Log was added. Refresh the display" appears. If you select
YES, the log data is updated.
If you select NO, the log data is not updated. When you press [SELECT] again, the same
confirmation dialogue box appears.
If the log type to be displayed is set to OPERATION or EDIT, the abovementioned
confirmation dialogue box appears only if the added log is of the displayed type and
[SELECT] is pressed.

9.15.3.5 Deleting log information

You can delete log information only in MANAGEMENT MODE. press {DATA} on the pull-
down menu of the LOGDATA window. Select {INITIALIZE}. The confirmation dialogue box
“Initialize?” appears. If you select YES, all data of the currently display log type is deleted.

9.15.3.6 Selecting certain instructions for logging

You can prevent the recording of unnecessary logs by selected the instructions whose log
data should be recorded in advance.
Select {SETUP} from {Main Menu}.  {LOGDATA COND.} The LOGDATA CONDITION
SETTING window appears.

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Move the cursor to the element whose data you want to log and press [SELECT]. The
setting switches between SAVE and NOT SAVE. If you set NOT SAVE for an element, its
log data is not recorded even if SAVE has been selected.

The name of the elements and destination logs are as follows:

Name of the elements Destination log

START OPERATION LOG START
HOLD OPERATION LOG HOLD
E. STOP OPERATION LOG ESP
SAFETY FENCE LOG SAFETY FENCE OPEN
MODE SWITCH LOG • TEACH MODE
• PLAY MODE
• REMOTE MODE
JOB SELECTION LOG SELECT JOB
MASTER JOB SELECTION LOG MASTER JOB CALL
LOG ON/LOG OFF LOG • LOGIN
• LOGOUT
FILE INITIALIZE LOG FILE INIT
FILE LOAD LOG • FILE LOAD END
• FILE LOAD ERROR

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Name of the elements Destination log

FILE SAVE LOG • FILE SAVE END
• FILE SAVE ERROR
JOB CREATE/DELETE LOG • JOB CREATE
• JOB DELETE
JOB RENAME LOG JOB RENAME
JOB SHIFT LOG • PARALLEL SHIFT
• MIRROR SHIFT
JOB PAM LOG PAM
ABSO SET LOG ORG ABSO
JOB EDIT LOG • JOB EDIT(INS)
• JOB EDIT(MOD)
• JOB EDIT(DEL)
• JOB EDIT(P. REG)
• JOB EDIT(P. MOD)
JOB CUT/PASTE LOG • JOB EDIT(CUT)
• JOB EDIT(PASTE)
• JOB EDIT(R. PST)
JOB UNDO/REDO LOG • JOB EDIT(UNDO)
• JOB EDIT(REDO)
JOB HEADER EDIT LOG JOB EDIT(HEADER)
LINE EDIT PROHIBIT/RELEASE • JOB EDIT(EDITLOCK)
LOG • JOB EDIT(EDITLOCK CLR)
• JOB EDIT(EDITLOCK CLR ALL)
COMMENT/RELEASE LOG • JOB EDIT(COMMENT)
• JOB EDIT(COMMENT CLR)
• JOB EDIT(COMMENT CLR ALL)
FILE EDIT LOG OTHER FILE EDT
PARAMETER EDIT LOG PARAMETER EDIT
VARIABLE EDIT LOG VARIABLE EDIT
SIGNAL EDIT LOG I/O EDIT
LADDER EDIT LOG • LADDER EDIT(ADD)
• LADDER EDIT(CHG)
• LADDER EDIT(DEL)

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9.16 Speed-dependent analogue output function

The speed-dependent analogue output function automatically changes the value of the
analogue output depending on the robot's speed of movement. This function makes it
unnecessary to reset the analogue output value depending on the speed of movement, thus
reducing the duration of JOB TEACH-IN.
If the thickness of a seal or paint is to remain the same, for example, the amount of sealant
or paint taken can be controlled by the robot's speed of movement.

1 Speed: slow 2 Speed: fast

Amount taken: small Amount taken: large

NOTICE
The following expansion board is required for the speed-dependent analogue output
function.
 Expansion board for the analogue output: JANCD-YEW02-E

9.16.1 Instructions

9.16.1.1 Instructions for the speed-dependent analogue output function

The instructions ARATION and ARATIOF are used for the speed-dependent analogue
output function.
• ARATION
The speed-dependent analogue output function is executed after the execution of the
ARATION instruction. This instruction is valid during circular interpolation, linear
interpolation or spline interpolation. It is only executed in playback or by means of the
[FWD] key. It is not executed as long as the axis is in operation.
This instruction is also used when each set value for the speed-dependent analogue
output function is changed.

ARATION AO#(1) BV=10.00 V=200.0 OFV=2.00

1 2 3 4

1 Output port number

General analogue output port for the execution of the speed-dependent analogue
output function.
Setting range: 1 to 40

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2 Basic voltage
Output voltage at the speed set with the basic speed.
Setting range: -14.00 to +14.00V
3 Basic speed
Speed of movement used as a basis when the set voltage is output.
Setting range: 0.1 to 1,500.0 mm/s
Setting range: 1 to 9,000 cm/min
4 Offset voltage
Analogue voltage when the speed of movement is "0".
Setting range: -14.00 to +14.00V
The output characteristic data for the relationship between the speed of movement and the
analogue voltage is calculated on the basis of the set value of the ARATION instruction. The
speed-dependent analogue output function is executed depending on this output
characteristic data. The output characteristic data is shown in the graphic below.

14V

3
4 5
0

Fig. 9-13: Output characteristic data when the speed-dependent analogue output function is used

1 Analogue voltage 4 Basic speed

2 Basic voltage 5 Speed of movement
3 Offset voltage

NOTICE
If the value of the analogue output is greater than ± 14.00 V due to the speed of movement,
the value is limited to ± 14.00 V.

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 Convenient functions

• ARATIOF
If the ARATIOF instruction is used, the speed-dependent analogue output function is
terminated, and the set offset voltage becomes the fixed output power.

ARATIOF AO#(1)
1

1 Output port number

General analogue output port for the termination of the speed-dependent analogue
output function.
Setting range: 1 to 40

9.16.1.2 Registering instructions

The instructions can be registered when the cursor is in the address area of the JOB
CONTENT window in TEACH mode. Carry out the following steps before you register an
instruction.
1. Select {JOB} from {Main Menu}.
2. Select {JOB CONTENT}.
3. Move the cursor to the address area.

1 2

1 Address area 2 Instruction area

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Convenient functions

• ARATION
1. Position the cursor on a line above the position at which you want to register the
ARATION instruction.

1 The line above the position at which the ARATION instruction is to be registered.
2. Press [INFORM LIST].
3. Select [IN/OUT].
– The dialogue box for instruction groups appears.

4. Select ARATION.
– The ARATION instruction is displayed in the input line.

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 Convenient functions

5. Change the additional items and values.

– Registration without changes: To register without changes, carry out step 6.
– Registration with added or changed additional items:
• If you press [SHIFT] and use the cursor to change the output port number, you position
the cursor on the output port number and press [SHIFT] and the cursor simultaneously
to change the output port number.

If you use the numeric keys, move the cursor to the output port number and press
[SELECT] to call the numeric input line. Enter a number and press [ENTER] to change
the number displayed.
• To change the base voltage, speed, and offset voltage, move the cursor to the
instruction in the input line, and press [SELECT]. The DETAIL EDIT window appears.

Move the cursor to the additional item you want to change, and press [SELECT]. The
selection dialogue box appears.
Move the cursor to the additional item you want to change, and press [SELECT].

Move the cursor to the additional item you want to change, and press [SELECT]. The
selection dialogue box appears.
Move the cursor to the additional item you want to change, and press [SELECT].
6. Press [INSERT] and then [ENTER].
– The instruction in the input line is registered.

1 The line in which the ARATION instruction is registered.

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Convenient functions

• ARATIOF
1. Position the cursor on a line above the position at which you want to register the
ARATION instruction.

1 The line above the position at which the ARATIOF instruction is to be registered.
2. Press [INFORM LIST].
3. Select [IN/OUT].
– The dialogue box for instruction groups appears.

4. Select ARATIOF.
– The ARATIOF instruction is displayed in the input line.

5. Press [INSERT] and then [ENTER].

– The ARATIOF instruction is registered.

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9.16.1.3 Analogue output window

The current settings can be confirmed in the analogue output window.

A
B
C
D
E
F
G

A: TERMINAL
General analogue output port
B:OUTPUT (V)
Specifies the current output voltage.
C: BASIC (V)
Specifies the basic voltage used for the speed-dependent analogue output function.
This value is used until a new value is set by means of the ARATION instruction.
D: TRAIT
Specifies the current output characteristic data of the output port.
SP RAT:
During the execution of the speed-dependent analogue output function
STATIC: Fixed output status
E: OFFSET (V)
Specifies the offset voltage used for the speed-dependent analogue output function.
This value is used until a new value is set by means of the ARATION instruction.
F: BASIC SPD
Specifies the basic speed used for the speed-dependent analogue output function.
This value is used until a new value is set by means of the ARATION instruction.
G: ROBOT
Specifies the robot number used for the speed-dependent analogue output function.
1. Select {IN/OUT} from {Main Menu}.
2. Select {ANALOG OUTPUT}.
– The analogue output window appears. The numbers of the output terminals for AOUT4
can be switched and displayed by means of the [PAGE] key.

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9.16.2 Examples

9.16.2.1 Examples of output characteristic data

The graphic below shows how the output characteristic data is changed when the following
JOB is executed.

Output voltage (V)

MOVJ VJ=50.00
ARATION AO#(1) BV=7.00 V=150.0 OFV=-10.00 7.00
MOVL V=50.0 -4.33
MOVC V=100.0 1.33
MOVC V=100.0 1.33
MOVC V=100.0 1.33
MOVL V=200.0 12.67

(V)
1

14V

10
2 7
5

5
0 50 100 150 200
(mm/s)
4
-5

3 -10

1 Analogue voltage 4 Basic speed

2 Basic voltage 5 Speed of movement
3 Offset voltage

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 Convenient functions

9.16.2.2 Example of a change to the speed of movement and the analogue output
value
The graphic below shows how the analogue output is changed when the speed changes.

4 MOVL V=200.0
ARATION AO#(1) BV=10.00 V=200.0 OFV=-2.00
5 MOVC V=150.0
6 MOVC VR=20.0 When the speed at the tool centre point is 100 mm per second.
7 MOVC V=150.0
8 MOVL V=180.0
9 MOVL When the speed at the tool centre point is 180 mm per second.
10 AOUT AO# (1) 10.00

1
(V)
2

10
4 10
7
8.8
200 8
5 96
7

180
2
5 7
4
4
150
63

100
3
Fig. 9-14: Speed-dependent analogue output voltage

1 Analogue voltage 3 Time

2 Speed of movement (mm per second)

NOTICE
 Since the speed-dependent analogue output function is valid for the calculated speed,
the robot's actual speed of movement may deviate from this.
 If a speed is specified, the speed-dependent analogue output for the speed of
movement at the tool centre point is executed at this speed.

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9.16.3 Filter process

In the speed-dependent analogue output function, the analogue signal of the output can be
filtered by setting a filter constant in the parameters.

9.16.3.1 If the parameter is set to 0

The analogue signal is output on the basis of the speed reference (the speed determined
by means of a path movement).

3
4

1 2

1 Voltage 4 Actual speed of the robot

2 Speed 5 Time
3 Analogue output signal

9.16.3.2 If the parameter is not set to 0

The analogue signal is output on the basis of the speed of the filtered speed reference. As
a result of the filtering, the output signal can be close to the actual speed of the robot.

3
4

1 2

1 Voltage 4 Actual speed of the robot

2 Speed 5 Time
3 Analogue output signal

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9.16.3.3 Parameter setting

Set the parameters during the actual movements.

Parameter Analogue output Content Unit

number
S3C1111 Analogue output no. 1 Primary filter constant [ms]
S3C1112 Analogue output no. 1 Secondary filter constant [ms]
S3C1113 Analogue output no. 2 Primary filter constant [ms]
S3C1114 Analogue output no. 2 Secondary filter constant [ms]
S3C1115 Analogue output no. 3 Primary filter constant [ms]
S3C1116 Analogue output no. 3 Secondary filter constant [ms]
S3C1117 Analogue output no. 4 Primary filter constant [ms]
S3C1118 Analogue output no. 4 Secondary filter constant [ms]
S3C1119 Analogue output no. 5 Primary filter constant [ms]
S3C1120 Analogue output no. 5 Secondary filter constant [ms]
S3C1121 Analogue output no. 6 Primary filter constant [ms]
S3C1122 Analogue output no. 6 Secondary filter constant [ms]
S3C1123 Analogue output no. 7 Primary filter constant [ms]
S3C1124 Analogue output no. 7 Secondary filter constant [ms]
S3C1125 Analogue output no. 8 Primary filter constant [ms]
S3C1126 Analogue output no. 8 Secondary filter constant [ms]
S3C1127 Analogue output no. 9 Primary filter constant [ms]
S3C1128 Analogue output no. 9 Secondary filter constant [ms]
S3C1129 Analogue output no. 10 Primary filter constant [ms]
S3C1130 Analogue output no. 10 Secondary filter constant [ms]
S3C1131 Analogue output no. 11 Primary filter constant [ms]
S3C1132 Analogue output no. 11 Secondary filter constant [ms]
S3C1133 Analogue output no. 12 Primary filter constant [ms]
S3C1134 Analogue output no. 12 Secondary filter constant [ms]
S3C1135 Analogue output no. 13 Primary filter constant [ms]
S3C1136 Analogue output no. 13 Secondary filter constant [ms]
S3C1137 Analogue output no. 14 Primary filter constant [ms]
S3C1138 Analogue output no. 14 Secondary filter constant [ms]
S3C1139 Analogue output no. 14 Primary filter constant [ms]
S3C1140 Analogue output no. 14 Secondary filter constant [ms]
S3C1141 Analogue output no. 16 Primary filter constant [ms]
S3C1142 Analogue output no. 16 Secondary filter constant [ms]
S3C1143 Analogue output no. 17 Primary filter constant [ms]
S3C1144 Analogue output no. 17 Secondary filter constant [ms]
S3C1145 Analogue output no. 18 Primary filter constant [ms]
S3C1146 Analogue output no. 18 Secondary filter constant [ms]
S3C1147 Analogue output no. 19 Primary filter constant [ms]
S3C1148 Analogue output no. 19 Secondary filter constant [ms]

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Parameter Analogue output Content Unit

number
S3C1149 Analogue output no. 20 Primary filter constant [ms]
S3C1150 Analogue output no. 20 Secondary filter constant [ms]
S3C1151 Analogue output no. 21 Primary filter constant [ms]
S3C1152 Analogue output no. 21 Secondary filter constant [ms]
S3C1153 Analogue output no. 22 Primary filter constant [ms]
S3C1154 Analogue output no. 22 Secondary filter constant [ms]
S3C1155 Analogue output no. 23 Primary filter constant [ms]
S3C1156 Analogue output no. 23 Secondary filter constant [ms]
S3C1157 Analogue output no. 24 Primary filter constant [ms]
S3C1158 Analogue output no. 24 Secondary filter constant [ms]
S3C1159 Analogue output no. 25 Primary filter constant [ms]
S3C1160 Analogue output no. 25 Secondary filter constant [ms]
S3C1161 Analogue output no. 26 Primary filter constant [ms]
S3C1162 Analogue output no. 26 Secondary filter constant [ms]
S3C1163 Analogue output no. 27 Primary filter constant [ms]
S3C1164 Analogue output no. 27 Secondary filter constant [ms]
S3C1165 Analogue output no. 28 Primary filter constant [ms]
S3C1166 Analogue output no. 28 Secondary filter constant [ms]
S3C1167 Analogue output no. 29 Primary filter constant [ms]
S3C1168 Analogue output no. 29 Secondary filter constant [ms]
S3C1169 Analogue output no. 30 Primary filter constant [ms]
S3C1170 Analogue output no. 30 Secondary filter constant [ms]
S3C1171 Analogue output no. 31 Primary filter constant [ms]
S3C1172 Analogue output no. 31 Secondary filter constant [ms]
S3C1173 Analogue output no. 32 Primary filter constant [ms]
S3C1174 Analogue output no. 32 Secondary filter constant [ms]
S3C1175 Analogue output no. 33 Primary filter constant [ms]
S3C1176 Analogue output no. 33 Secondary filter constant [ms]

The parameters are set as follows by default.

• Small robots with a load-carrying capacity of 6 kg and 16 kg:
Primary filter constant: 50 ms
Secondary filter constant: 50 ms
• Large robots with a load-carrying capacity of 60 kg and 130 kg:
Primary filter constant: 100 ms
Secondary filter constant: 100 ms

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9.16.4 Precautions

9.16.4.1 In case of interruptions in the speed-dependent analogue output function

If the robot is stopped and an editing step is carried out, the speed-dependent analogue
output function is interrupted. This interruption affects all outputs, and the analogue voltage
set immediately before the interruption is output at all outputs.
The speed-dependent analogue output function is not interrupted in the other cases.

9.16.4.2 When multiple robots are used

The JOB attribute at which the instruction is executed determines the robot for which the
speed-dependent analogue output function is executed.
In the case of a coordinated JOB, the speed-dependent analogue output function is
executed with the robot's speed of movement on the slave side.

9.17 QR Code creation function

This function encodes the status of the robot controller (system configuration, alarm
information, current position data, etc.) in a QR code shown on the display of the
programming pendant.
Using this function, you can send the current status of the robot controller quickly and
precisely to your local YASKAWA branch in case of questions or irregularities.
You can also use the Android app "MOTOMAN Touch!" to send the QR code attached to
the robot controller with serial number and other information, as well as photos of the
situation, to your local YASKAWA branch. This app lets you sent correct information within
a short period of time. This can help you minimise downtimes.

NOTICE
<Function for creating a QR code>

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• During the execution of the function for creating a QR code, only the keys provided for
this function and the following additional keys are available: (details regarding the keys
to be used only for this function can be found in Section 9.17.4 "Procedure" on page
273).
[START]
[HOLD]
[E-STOP]
Hold-to-run button
Accordingly, the operation of the robot in TEACH mode (JOG mode) is not possible.
During the execution of the function for creating a QR code, the robot stops operation.
Do not execute this function whilst one of the axis key is pressed since the JOB
executed by the key will resume immediately when the function is completed.
• Even if PLAYBACK OPERATION CONTINUATION FUNCTION (S2C437=1) is set to
"Valid," the window for executing the function for creating a QR code is not displayed.
<MOTOMAN Touch!>
• Information regarding the download of "MOTOMAN Touch!" can be obtained from your
local YASKAWA branch.
• "MOTOMAN Touch!" is not used to prevent faults or minimise restoration times.
• Please inform your local YASKAWA branch about sending data using "MOTOMAN
Touch!" Otherwise, the processing by YASKAWA could be delayed.

9.17.1 Main function

Function for creating a QR code

Element Specification
QR code data • ALARM (the last four alarms)
• ALARM HISTORY (the last ten alarms for each alarm)
MAJOR FAILURE ALARM
MINOR FAILURE ALARM
USER ALARM (SYSTEM)
USER ALARM (USER)
OFF-LINE ALARM
• MONITORING TIME
SYS MONITORING TIME
SERVO POWER TIME
PLAYBACK TIME
MOVING TIME
OPERATING TIME
• HOME POSITION
• CURRENT POSITION
• SERVO MONITOR
Note: In MAINTENANCE MODE, only the data in the ALARM and
ALARM HISTORY are available.

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Element Specification
Function • Instructions executed by a key
Switch of the display (using the [FWD] or [BWD] key)
Execution of the function for creating a QR code
• Instructions executed by a button on the display
Switch of the display ("Next," "Back," or "First").
Execution of the function for creating a QR code
Format of the QR • Format type: 10 to 18
code (set automatically according to the number of data items)
• 8-bit byte data (binary)
• Level of error correction
Level M
• Maximum number of data in a QR code
Max. 560 byte (for format type 18)

The function for creating a QR code is available from Version DN1.52-00 on.
Most important information regarding "MOTOMAN Touch!"

Function Explanation
Reading/display of Read the QR code on the robot controller using the QR code read-
the serial number of er of your smartphones. After that, the serial number, etc. is dis-
the robot controller, played.
etc.
Reading/display of Read the QR code for programming using the QR code reader of
the alarm history of your smartphones. After that, the alarm history, etc. is displayed.
the robot controller,
etc.
Photo in attachment Attach photos that clarify the situation to the e-mail.
Sending an e-mail Attach the abovementioned QR code data and photos to an e-
mail and send it to the responsible call centre (use the mailer).

"MOTOMAN Touch!" runs under Android 4.0.3 (API level 15) and later versions of this
operating system. It is possible, however, that the app might not work on the devices of
certain manufacturers or types.
QR code is a trademark of DENSO WAVE INCORPORATED.
Android is a trademark of Google Inc.

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9.17.2 Starting the function for creating a QR code

• To start the function, select {SYSTEM INFO} from {Main Menu}.  {QR CODE}.
1. Select {SYSTEM INFO} from {Main Menu}.
The {QR CODE} submenu appears.

2. Select the {QR CODE} submenu.

The window for creating a QR code appears.

3. Select the data that you want to encode in a QR code and then {Create}.
A QR code appears.

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• To start the function, select {UTILITY}.  {QR CODE DISPLAY}.

1. Select {UTILITY} from the pull-down menu.
If the window has a function to display QR code data, {QR CODE} will appear in the
submenu.

2. Select {QR CODE DISPLAY} from the submenu.

The function for creating a QR code is started and a QR code of the data displayed in
the window appears.

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• To start the function, select {UTILITY}.  {QR CODE ALL PAGE}.

1. Select {UTILITY} from the pull-down menu.
If the window has a function to display QR code data, {QR CODE} will appear in the
submenu.

2. Select {QR CODE ALL PAGE} from the submenu.

The function for creating QR codes is start and the QR code of the window whose
pages or displays can be switched are displayed (when ALARM HISTORY is selected,
a list of the last ten alarms will appear for each alarm).

9.17.3 Display configuration

The window of the function for creating a QR code comprises two areas.
• An area in which the data to be converted into a QR code appears.
• An area in which the QR code is displayed.

The display status of the button depends n whether the button function is switched on or off
and which display is active.

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 Convenient functions

Example: {Next}

Normal display Active display No display

The QR code number and total number of QR codes are displayed in the display area for
the QR code.

9.17.4 Procedure

9.17.4.1 Data for QR code select area

Select the data that you want to encode in a QR code and then press {Create}.
The QR code is displayed.
For this purpose, use the keys on the programming pendant or the buttons on the display.
The following keys are available on the programming pendant.
• Cursor
– Switch of the active display
• [SELECT]
– If the list of data to be encoded as a QR code is activated, select the data to be
converted into a QR code.
– If {Create} is activated, create a QR code.
• [PAGE]
– Displays the following QR codes one after the other (insofar as more than two QR
codes were generated).
– Displays the previous QR code when you press [SHIFT] + [PAGE].
• [AREA]
– Switch of the active display
• [CANCEL]
– Termination of the function for creating a QR code

9.17.4.2 Area for displaying QR codes

Display a QR code or switch between the QR codes, one after the other.
For this purpose, use the keys on the programming pendant or the buttons on the display.
The following keys are available on the programming pendant.

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• Cursor
– Switch of the active display
• [SELECT]
– If {Return} is activated: Display of the first QR code.
– If {BACK} is activated: Display of the previous QR code.
– If {Next} is activated: Display of the next QR code.
– If {Close} is activated: Termination of the function for creating a QR code
• [PAGE]
– Displays the following QR codes one after the other (insofar as more than two QR
codes were generated).
– Displays the previous QR code when you press [SHIFT] + [PAGE].
• [AREA]
– Switch of the active display
• [CANCEL]
– Termination of the function for creating a QR code

9.17.5 Structure of a QR code

9.17.5.1 Basic structure

The basic structure of a QR code is as follows:

• Data header
• System information
• Data 1

If the data volume is too large, the function divides the data into several sections before it
is encoded into a QR code.
At this point in time, the data header and system information are added to the initial data.

• Data header
• System information
• Data 1

• Data 2

• Data 3

To separate the data, the following characters are used: "(comma)," "(space)," and "(line
break)."
Data that was not selected in the "Data for QR code select" area is not included in the QR
code.

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9.17.5.2 Data header

No Item Construction
.
1 Version ??x.xx
2 Year, month, date YYMMDD
3 Time HHTT

Note: “?”: any one character, “*” : any line, “X”: any number
1. Version

Structure : "??x.xx"
?? : Version of the controller.
If the controller is robot controller , “D2” is indicated.
x.xx : Version of the QR Code Creation function (decimal number).
2. Year, month, date

Structure : "YYMMDD"
YY : Year when the QR code is created (last two digits).
MM Month when the QR code is created.
DD : Date when the QR code is created.
3. Time

Structure : "YYMMDD"
HH : Hour when the QR code is created.
TT Minute when the QR code is created.

9.17.5.3 System information

No Item Construction
.
1 System version ??x.xx
2 Parameter version xx.xx
3 Purpose of system *

Note: “?”: any single character, “*” : any line, “x”: any number
1. Version

Structure : “*.x.xx*(*)-xx”
System version number displayed on the version window
2. Parameter version

Structure : "xx.xx"
Parameter version number displayed on the version window.

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3. Purpose of system

Structure : "*"
Purpose of system displayed on the version window.

9.17.5.4 Alarm
Up to four alarms can be encoded in one QR code.

No Position Structure
.
1 Alarm data code <Alarm>
2 Alarm data Refer to the alarm data

1. Alarm data code

Structure : <Alarm>
The first line of the alarm data.
• Alarm data

No Position Structure
.
1 Alarm number xxxx
2 Subordinate code *
3 Information on options. *
4 Date on which the alarm occurred. YYYY/MM/DD
5 Time at which the alarm occurred. HH:TT:SS

Note: "?": any character, "*": any line, "X": any number
1. Alarm number

Structure : "xxxx"
Alarm number
2. Subordinate code

Structure : "*"
Subordinate code
Only the highlighted characters are displayed, if present.
Example: Subordinate code

[R1 : HIGH : RT]

3. Information on options.

Structure : "*"

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Subordinate code
Information on options.
4. Date on which the alarm occurred.

Structure : "YYYY/MM/DD"
Date on which the alarm occurred.
5. Time at which the alarm occurred.

Structure : "HH:TT:SS"
Time at which the alarm occurred.

9.17.5.5 Alarm history

The latest ten alarms, in the order of registration, for each alarm can be codified.

No Item Construction
.
1 Alarm history data code <ALARM HISTORY>
2 Major failure alarm code MAJYOR
3 Major failure alarm data Refer to Alarm data
4 Minor failure alarm code MINOR
5 Minor failure alarm data Refer to Alarm data
6 User alarm (system) code IO_SYS
7 User alarm (system) data Refer to Alarm data
8 User alarm (user) code IO_USR
9 User alarm (user) data Refer to Alarm data
10 OFF line alarm code OFFLINE
11 OFF line alarm data Refer to Alarm data

1. Alarm history data code

Structure : “ <ALARM HISTORY>”

The first line of the alarm history data.
2. Major failure alarm code

Structure : "<MAJYOR>"
The first line of the major failure alarm data.
4. Minor failure alarm code

Structure : “<MINOR>”
The first line of the minor failure alarm data.
6. User alarm (system) code

Structure : “ IO_SYS”
The first line of the user (system) alarm data.
8. User alarm (user) code

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Structure : “ IO_USR”
The first line of the user (user) alarm data.
10. OFF line alarm code

Structure : “ OFFLINE”
The first line of the OFF line alarm data.
• Alarm History Data
Following shows the structure of the alarm history data (one line).

No Item Construction
.
1 Alarm number xxxx
2 Sub code *
3 Mode *
4 Information about options *
5 Date of alarm occurrence YYYY/MM/DD
6 Time of alarm occurrence HH:TT:SS

Note: “?”: any single character, “*” : any line, “X”: any number
1. Alarm number

Structure : “ xxxx”
Alarm number
2. Sub code

Structure : “*”
Sub code
Only the inverted characters are displayed if there are.
Example: Sub code

[R1:HIGH:RT]
3. Mode

Structure : “*”
Mode
4. Information about options

Structure : “*”
Sub code
Information about options.
5. Date of alarm occurrence

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 Convenient functions

Structure : “YYYY/MM/DD”
Date when the alarm occurred.
6. Time of alarm occurrence

Structure : “HH:TT:SS”
Time when the alarm occurred.

9.17.5.6 Monitoring time

No Item Construction
.
1 Monitoring time data code <MONITORING TIME>
2 System monitoring time code SYS MONITORING TIME
3 System monitoring time data Refer to System monitoring time data.
4 SERVO power time code SERVO POWER TIME
5 SERVO power time data Refer to Data for SERVO power time,
play back time and moving time.
6 Playback time code PLAYBACK TIME
7 Playback time data Refer to Data for SERVO power time,
playback time and moving time.
8 Moving time code MOVING TIME
9 Moving time data Refer to Data for SERVO power time,
playback time and moving time.
10 Operating time code OPERATING TIME
11 Operating time data Refer to Data for SERVO power time,
playback time and moving time.

1. Monitoring time data code

Structure : "<MONITORING TIME>"

The first line of the monitoring time data.
2. System monitoring time code

Structure : "SYS MONITORING TIME"

The first line of the system monitoring time data.
4. SERVO power time code

Structure : "SERVO POWER TIME"

The first line of the SERVO power time data.
6. Playback time code

Structure : "PLAYBACK TIME"

The first line of the playback time data.
8. Moving time code

Structure : "MOVING TIME"

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The first line of the moving time data.

10. Operating time code

Structure : "OPERATING TIME"

The first line of the operating time data.

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 Convenient functions

• System monitoring time data

Following shows the structure of the system monitoring time data (one line).

No Item Construction
.
1 Item code *
2 Starting date of measurement YY/MM/DD
3 Starting time of measurement HH:TT
4 Elapsed time xxxxx:xx’xx

Note: “?”: any single character, “*” : any line, “X”: any number
1. Item code

Structure : "*"
CONTROL POWER
SERVO POWER
PLAYBACK TIME
MOVING TIME
OPERATING TIME
ENERGY TIME
2. Starting date of measurement

Structure : "YY/MM/DD"
Date when the measurement is started.
3. Starting time of measurement

Structure : "HH:TT"
Time when the measurement is started.
4. Playback time code

Structure : "xxxxx:xx’xx"
Elapsed time since the measurement is started (do not use “0”).

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• Data for SERVO power time, playback time and moving time
Following shows the structure of the SERVO power time data, playback time data and
moving time data (one line).

No Item Construction
.
1 Control group *
2 Starting date of measurement YY/MM/DD
3 Starting time of measurement HH:TT
4 Elapsed time xxxxx:xx’xx

Note: “?”: any single character, “*” : any line, “X”: any number
1. Control group

Structure : "*"
Control group
Robot : R1 to R8
Base : B1 to B8
Station : S1 to S24
Setting is unnecessary if the control group does not exist in the system.
2. Starting date of measurement

Structure : "YY/MM/DD"
Date when the measurement is started.
3. Starting time of measurement

Structure : "HH:TT"
Time when the measurement is started.
4. Elapsed time

Structure : "xxxxx:xx’xx"
Elapsed time since the measurement is started (do not use “0”).

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• Operating time data

No Item Construction
.
1 Purpose of operation *
2 Starting date of measurement YY/MM/DD
3 Starting time of measurement HH:TT
4 Elapsed time xxxxx:xx’xx

Note: “?”: any single character, “*” : any line, “X”: any number
1. Purpose of operation

Structure : "*"
Purpose of this operation.
Setting is unnecessary if the control group does not exist in the system.
2. Starting date of measurement

Structure : "YY/MM/DD"
Date when the measurement is started.
3. Starting time of measurement

Structure : "HH:TT"
Time when the measurement is started.
4. Elapsed time

Structure : "xxxxx:xx’xx"
Elapsed time since the measurement is started (do not use “0”).

9.17.5.7 Home position

No Position Structure
.
1 Zero position data code <ZERO POSITION>
2 Zero position data Refer to the zero position data

1. Zero position data code

Structure : <ZERO POSITION>

The first line of the zero position data.
• Zero position data
Following the structure of the zero position data (one line).

No Position Structure
.
1 Control group (robot/station) ?xx
2 Axis name 1 to 8: Absolute data 1 to 8 ?:-xxxxx • • •

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No Position Structure
.
3 Control group (base) ?xx
4 Axis name 1 to 8: Absolute data 1 to 8 ?:-xxxxx • • •

Note: "?": any character, "*": any line, "X": any number
1. Control group (robot/station)

Structure : <ZERO POSITION>

Control group
Robot : R1 to R8
Station : S1 to S24
If the system does not contain a control group, this setting is not required.
2. Axis name: Absolute data

Structure : "?:-xxxxx • • • "

? : S, L, U, R, B, T, E, 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxxxx : Absolute data
Display "*" if "*" is used for the display.
3. Control group (base)

Structure : "?xx"
Control group
Base : B1 to B8
If the system does not contain a control group, this setting is not required.
4. Axis name: Absolute data

Structure : "?:-xxxxx • • • "

? : 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxxxx : Absolute data
Display "*" if "*" is used for the display.

9.17.5.8 Current position

No Position Structure
.
1 Data code of the current position <CURRENT POSITION>
2 Current position data See the current position data (pulse coor-
dinates) and Chapter "Teaching condition
setting."

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1. Data code of the current position

Structure : <CURRENT POSITION>

The first line of the current position data.
2. Current position data

The setting of the current position requires a coordinate (pulse, robot, or user) select-
ed in the current position window. If a coordinate other than the one specified is se-
lected, the current position must be set with the pulse coordinate.
• Current position data (pulse coordinate)
Following the structure of the current position data (one line).

No Position Structure
.
1 Coordinate *
2 Tool TOOL:xx
3 Control group (robot/station) ?xx
4 Axis name 1 to 8: Absolute data 1 to 8 ?:-xxxxx • • •
5 Control group (base) ?xx
6 Axis name 1 to 8: Absolute data 1 to 8 ?:-xxxxx • • •

Note: "?": any character, "*": any line, "X": any number
1. Coordinate

Structure : "*"
: PULSE (pulse coordinates)
2. Tool

Structure : "TOOL:xx"
xx : 00 to 63 (tool number)
3. Control group (robot/station)

Structure : "?xx"
Control group
Robot : R1 to R8
Station : S1 to S24
If the system does not contain a control group, this setting is not required.
4. Axis name: Current position data

Structure : "?:-xxxxx • • • "

? : S, L, U, R, B, T, E, 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxxxx : Current position data
Display "*" if "*" is used for the display.

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5. Control group (base)

Structure : "?xx"
Base : B1 to B8
If the system does not contain a control group, this setting is not required.
6. Axis name: Current position data

Structure : "?:-xxxxx • • • "

? : 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxxxx : Current position data

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• Current position data (base/user/robot coordinates)

No Position Structure
.
1 Coordinate *
2 Tool TOOL:xx
3 Control group (robot/station) ?xx
4 Coordinate of the X-axis X:-xxx.xxxmm
5 Coordinate of the Y-axis Y:-xxx.xxxmm
6 Coordinate of the Z-axis Z:-xxx.xxxmm
7 Angle Rx Rx:-xxx.xxxxdeg.
8 Angle Ry Ry:-xxx.xxxxdeg.
9 Angle Rz Rz:-xxx.xxxxdeg.
10 Re angle (7-axis robot) Re:-xxx.xxxxdeg.
11 Diagram (front or rear) *:*
12 Diagram (up or down) *:*
13 Diagram (flip or no flip) *:*
14 Coordinate of the X0-axis (base) X0:-xxx.xxxmm
15 Coordinate of the Y0-axis (base) Y0:-xxx.xxxmm
16 Coordinate of the Z0-axis (base) Z0:-xxx.xxxmm

Note: "?": any character, "*": any line, "X": any number
1. Position code

Structure : "*"
: ROBOT (robot coordinate)
: BASE (base coordinate)
: USER#1 to USER#63 (user coordinate)
2. Tool

Structure : "TOOL:xx"
xx : 00 to 63 (tool number)
3. Control group

Structure : "?xx"
Control group
Robot : R1 to R8
If the system does not contain a control group, this setting is not required.
4. Coordinate of the X-axis

Structure : "X:-xxx.xxxmm"
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • • Current position data (unit: mm)

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5. Coordinate of the Y-axis

Structure : "Y:-xxx.xxxmm"
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • • Current position data (unit: mm)
6. Coordinate of the Z-axis

Structure : "Z:-xxx.xxxmm"
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • • Current position data (unit: mm)
7. Angle Rx

Structure : "Rx:-xxx.xxxxdeg."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • • Current position data (unit: degrees)
8. Angle Ry

Structure : "Ry:-xxx.xxxxdeg."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • • Current position data (unit: degrees)
9. Angle Rz

Structure : "Rz:-xxx.xxxxdeg."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • • Current position data (unit: degrees)
10. Angle Re

Structure : "Re:-xxx.xxxxdeg."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • • Current position data (unit: degrees)
11. Diagram (front or rear)

Structure : "*"
* : FRONT
: REAR
* : S<180
: S>=180

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12. Diagram (up or down)

Structure : "*"
* : UP
: DOWN
* : R<180
: R>=180
xxx.xxx• • • Current position data (unit: degrees)
13. Diagram (flip or no flip)

Structure : "*"
* : FLIP
: NO FLIP
* : T<180
: T>=180
xxx.xxx• • • Current position data (unit: degrees)
14. Coordinate of the X0-axis

Structure : "X0:-xxx.xxxxmm."
- : :- (minus sign)
If no negative data is present, this setting is not required.
14. Coordinate of the Y0-axis

Structure : "X0:-xxx.xxxxmm."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • • Current position data (unit: degrees)
14. Coordinate of the Z0-axis

Structure : "Z0:-xxx.xxxxmm."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • • Current position data (unit: degrees)

9.17.5.9 Servo monitor

No Position Structure
.
1 Data of the servo monitor <SERVO MONITOR>
2 Feedback pulse code FEEDBACK PULSE
3 Feedback pulse data Refer to the servo monitor data
4 Error pulse code ERROR PULSE
5 Error pulse data Refer to the servo monitor data
6 Speed deviation code SPEED DEVIATION
7 Speed deviation data Refer to the servo monitor data

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Convenient functions

No Position Structure
.
8 Speed instruction code SPEED INST
9 Speed instruction data Refer to the servo monitor data
10 Speed feedback code FEEDBACK SPEED
11 Speed feedback code Refer to the servo monitor data
12 Torque instruction code TORQUE SPEC
13 Torque instruction data Refer to the servo monitor data
14 Code of the maximum torque MAX TORQUE
15 Data of the maximum torque Refer to the servo monitor data
16 Cumulative encoder rotation code ENCODER ROTATE SUM
17 Cumulative encoder rotation data Refer to the servo monitor data
18 Position code in 1 turn IN 1 TURN POSITION
19 Position data in 1 turn Refer to the servo monitor data
20 Absolute value code of the motor MOTOR ABSOLUTE
21 Absolute value data of the motor Refer to the servo monitor data
22 Encoder temperature code ENCODER TEMP.
23 Encoder temperature data Refer to the servo monitor data
24 Code of the maximum torque (constant MAX TRQ (CONST)
engine speed)
25 Data of the maximum torque (constant Refer to the servo monitor data
engine speed)
26 Code of the minimum torque (constant MIN TRQ (CONST)
engine speed)
27 Data of the minimum torque (constant Refer to the servo monitor data
engine speed)
28 Code of the ratio of motor torque and MOTOR DUTY CYCLE
load
29 Data of the ratio of motor torque and Refer to the servo monitor data
load
30 Time code of the load ratio measure- MEASURE TIME DUTY
ment
31 Time data of the load ratio measure- Refer to the servo monitor data
ment

1. Data code of the servo monitor

Structure : <SERVO MONITOR>

The first line of the servo monitor data.
2. Feedback pulse code

Structure : FEEDBACK PULSE

The first line of the feedback pulse data.
4. Error pulse code

Structure : ERROR PULSE

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The first line of the error pulse data.

6. Speed deviation code

Structure : SPEED DEVIATION

The first line of the speed deviation data.
8. Speed deviation code

Structure : SPEED INST

The first line of the speed instruction data.
10. Speed feedback code

Structure : FEEDBACK SPEED

The first line of the speed feedback data.
12. Torque instruction code

Structure : TORQUE SPEC

The first line of the torque instruction data.
14. Code of the maximum torque

Structure : MAX TORQUE

The first line of the maximum torque data.
16. Cumulative encoder rotation code

Structure : ENCODER ROTATION SUM

The first line of the cumulative encoder rotation data.
18. Position code in 1 turn

Structure : IN 1 TURN POSITION

The first line of the position data in 1 turn.
20. Absolute value code of the motor

Structure : MOTOR ABSOLUTE

The first line of the motor absolute value data.
22. Encoder temperature code

Structure : ENCODER TEMP.

The first line of the encoder temperature data.
24. Code of the maximum torque (constant engine speed)

Structure : MAX TRQ(CONST) TEMP.

The first line of the maximum torque data (constant engine speed).
26. Code of the minimum torque (constant engine speed)

Structure : MIN TRQ(CONST) TEMP.

The first line of the minimum torque data (constant engine speed).

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28. Code of the ratio of motor torque and load

Structure : MOTOR DUTY CYCLE

The first line of the data of the ratio of motor torque and load.
30. Time code of the load ratio measurement

Structure : MEASURE TIME DUTY

The first line of the time data of the load ration measurement.
• Servo monitor data
Following the structure of the servo monitor data (one line).

No Position Structure
.
1 Control group (robot/station) ?xx
2 Axis name 1 to 8: Servo monitor data 1 to 8 ?:-xxxxx • • •
3 Control group (base) ?xx
4 Axis name 1 to 8: Servo monitor data 1 to 8 ?:-xxxxx • • •

Note: "?": any character, "*": any line, "X": any number
1. Control group (robot/station)

Structure : ?xx
Control group
Robot : R1 to R8
Station : S1 to S24
If the system does not contain a control group, this setting is not required.
2. Axis name: Servo monitor data

Structure : ?:-xxxxx • • •
? : S, L, U, R, B, T, E, 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
- :- (minus sign)
If no negative data is present, this setting is not required.
xxxxx • • • Current position data
3. Control group (base)

Structure : ?xx
Base : B1 to B8
If the system does not contain a control group, this setting is not required.
4. Axis name: Servo monitor data

Structure : ?:-xxxxx • • •
? : 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
- :- (minus sign)

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 Convenient functions

If no negative data is present, this setting is not required.

xxxxx • • • Current position data

9.17.6 MOTOMAN Touch!

9.17.6.1 Installing method of MOTOMAN Touch!

(for the case that download from Google Play is not possible)
1. Connect your smartphone to a PC with a USB cable.
2. Start Windows Explorer on the PC. Copy the "MOTOMAN Touch.apk" file and add it to
the Download folder of your smartphone.

3. In the File Manager of your smartphone, tap the Download folder.

4. Tap the "MOTOMAN Touch.apk" file.

5. After the "Install blocked" dialogue box opens, tap {Settings}.

Allowing the installation of the *.apk file on your smartphone

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Convenient functions

1. Scroll through the display to the "Security" screen. Then activate the "Unknown
sources" check box.

2. In the "Unknown sources" dialogue box, tap {OK}.

3. Tap {Install}.

9.17.6.2 Starting MOTOMAN Touch!

1. Tap the "MOTOMAN Touch!" icon.

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 Convenient functions

2. At the initial start, the software licensing agreement appears. To confirm it, select
{Agree}.

3. The "MOTOMAN Touch!" login screen appears. Select {Use without log-in}.

NOTICE
 The login function is not always available.

4. The starting screen of "MOTOMAN Touch!" appears.

– Basic operation
– To return to the previous screen, press the Return button ( ) on your
smartphone.
– To return to the starting screen of "MOTOMAN Touch!", tap the robot icon ( ).

9.17.6.3 Setting the call centre

First set up a call centre as the recipient of your e-mails. This step is a necessary
prerequisite for the use of "MOTOMAN Touch!"
The e-mail created with "MOTOMAN Touch!" is sent to the call centre defined here.

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Convenient functions

1. On the starting screen of "MOTOMAN Touch!", tap "Call center information setting"
( ).

2. Tap the pen icon ( ) at the bottom edge of the "Call Center Information" screen.

3. On the "Call Center Information" screen, tap the empty box next to "Country."

4. Select the country in which you are located.

5. Select your local YASKAWA branch on the "Company/Office" screen.

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 Convenient functions

6. The starting screen of "MOTOMAN Touch!" appears again, where more detailed
information regarding your selected YASKAWA branch are shown.

7. To return to the starting screen of "MOTOMAN Touch!", tap the Enter button ( ) on
your smartphone.

9.17.6.4 Registration of customer information

First enter the corresponding data. The call centre to which you have sent the QR code data
sends a replay e-mail to the e-mail address set up in this section. Make sure that all
information has been entered correctly.
1. On the starting screen of "MOTOMAN Touch!", tap {Registration of Customer Info}
( ).
2. In the boxes "Company name," "Address," "Post Code," "Country," and "Name," enter
the corresponding information.

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Convenient functions

3. Tap the check mark icon ( ) at the bottom edge of the screen.

NOTICE
 Tap the check mark icon ( ) to save the entered data in the smartphone.

To confirm the saved data, return to the starting screen of "MOTOMAN Touch!" and tap
{Registration of Customer Info} ( ).

9.17.6.5 Reading the product code

Using this function, the QR code added to the robot controller is read. This step is a
necessary prerequisite for the use of "MOTOMAN Touch!"
1. On the starting screen of "MOTOMAN Touch!", tap {Product code reading} ( ).
2. Start the camera function of "MOTOMAN Touch!" Focus the QR code on the robot
controller so that it is recorded in the red square.

NOTICE
 Use the zoom or flash function if required by local photography
conditions. If you cannot achieve a sufficient focus using the autofocus, tap the QR
code on the screen to set the focus.

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 Convenient functions

3. After the successful recording of the QR code, the serial number of the product will
appear on the "Product Information" screen. Tap the envelope icon ( ) and proceed
according to the description in Chapter 9.17.6.7 "Inquiry Mail" on page 299 .

9.17.6.6 Calling up of the product code

On the "Reading history of product code" screen, up to 100 QR codes can be called again.
1. On the starting screen of "MOTOMAN Touch!", tap {Reading history of product code}
( ).
2. On the "Reading history of product code" screen, tap the desired QR code. The serial
number of the product will appear.

3. Tap the envelop icon ( ) and proceed with the next step (Chapter 9.17.6.7 "Inquiry
Mail" on page 299).

NOTICE
 To delete the entire history, tap the deletion icon ( ) at the bottom of the screen.
Please not that deleted history data cannot be restored.

9.17.6.7 Inquiry Mail

After reading the QR code of the product, you can attach data i nthis screen and send an
e-mail to your selected call centre.

1. {Add controller data (Read the QR code)}

By tapping this button, you can read the QR code of the robot controller shown in the
display of the programming pendant and send it by attaching it to an e-mail (in this case,
the code does not remain in the creation history).

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Convenient functions

2. {Attach photo}
With this button, a photo taken with the smartphone can be attached to the e-mail. Tap
the button to open the photo gallery and select the desired images, one after another.
A simultaneous selection of all desired images at once is not possible.
3. {e-mail sending}
By tapping this button, you can send a QR code of the product to the call centre. If the
QR code of the robot controller and the photos are already selected, they will also be
sent as attachments.
There are three possibilities to contact the call centre.
• {QR code transmission only}: Sending of an inquiry e-mail
This method is used if you have already called the call centre. The QR code data are
transferred as supplementary information.
• {QR code transfer and incoming call}: Call the call centre after sending an inquiry
e-mail.
This method is used if you plan to call the call centre after sending an inquiry e-mail.
• {Call back request with QR code}: You have sent an inquiry e-mail to the call
centre and requested a callback.
This method is used if you plan to request a callback from he call centre after sending
an inquiry e-mail.

9.17.6.8 Sending method of controller data

1. Tap {Add controller data (Read the QR code)} on the "Inquiry Email" screen.
2. The "QR codes that has already been read" screen appears in which the previously
read QR codes are listed. No codes appear at first.

3. Tap the camera icon.

4. The camera function is started. Focus the QR code on the programming pendant so
that it is recorded in the red square.

NOTICE
 Use the zoom or flash function if required by local photography
conditions. If you cannot achieve a sufficient focus using the autofocus, tap the QR
code on the screen to set the focus.

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 Convenient functions

5. After the successful recording of the QR code, the product information appears on the
{Controller Data} screen.

6. To record more than two codes, repeat step 3 above ( ).

7. After all codes are read, tap the button.

8. The "Inquiry Email" screen appears again. The check box on the left side of the {Add
controller data (Read the QR code)} button is activated. This means that all codes have
been read.

9.17.6.9 Attaching method of picture

1. On the "Inquiry Email" screen, tap {Attach photo}.
2. Select {Gallery} in the app selection screen.

3. Tap the screen to select the desired photos in the photo gallery. You always select only
one photo. To select more than two photos, return to the "Inquiry Email" screen and
select the next photo.

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4. The overall size of the selected photos is displayed at the bottom of the {Attach photo}
button.

5. Tap the "Cancel" button ( ) to delete the attached photos again.

9.17.6.10 Sending an E-Mail

Transmission type (QR code transmission only)

1. On the "Inquiry Email" screen, tap {e-mail sending}.
2. On the "Transmission type" dialogue box, select {QR code transmission only}. Then tap
{OK}.

(Additional Instructions)
At the next call of this function, the "Transmission Type" set in this step is automatically
preselected.
3. On the {e-mail sending} screen, tap {OK}.

(Additional Instructions)
On this screen, the transmission type can not only be selected by tapping {OK}, but also
by tapping {QR code transmission only}.
When you tap the name of the call centre (to the right below the "e-mail Address" box),
you can change the e-mail address of the recipient.
4. On the {e-mail sending} screen, select an e-mail service, such as {Gmail}.

Gmail is a trademark of Google Inc.

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5. The selected e-mail service is started. The title of the mail {QR code transmission only}
and QR code data are added to the mail and the selected photos are attached. The data
you registered on the {Registration of Customer Info} screen is also added to the e-mail.

6. Then e-mail is then sent (with letter, if pertinent).

Transmission type (QR code transfer and incoming call)

(QR code transmission only)
1. On the "Inquiry Email" screen, tap {e-mail sending}.
2. On the "Transmission type" dialogue box, select {QR code transfer and incoming call}.
Then tap {OK}.
(Additional Instructions)
At the next call of this function, the "Transmission Type" set in this step is automatically
preselected.
3. On the {e-mail sending} screen, tap {OK}.

(Additional Instructions)
On this screen, the transmission type can not only be selected by tapping {OK}, but also
by tapping {QR code transfer and incoming call}.
When you tap the name of the call centre (to the right below the "e-mail Address" box),
you can change the e-mail address of the recipient. This change is also mirrored in the
information for the call centre. The next time the app is called, the last address selected
will appear before the other addresses.
4. On the {e-mail sending} screen, select an e-mail service, such as {Gmail}.

Gmail is a trademark of Google Inc.

5. The selected e-mail service is started. The title of the mail {QR code transfer and
incoming call} and QR code data are added to the mail and the selected photos are
attached. The data you registered on the {Registration of Customer Info} screen is also
added to the e-mail.

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6. Then e-mail is then sent (with letter, if pertinent).

7. After the successful sending of the e-mail, the {e-mail sending} appear again. Then tap
one of the telephone numbers listed under "Phone number of call center."
8. Select a telephone app. Then tap {Dial}.

9. The telephone number of the call centre appears in the keypad. Tap the telephone
receiver icon to set up the call.

Requesting a callback after sending the QR code

(QR code transmission only)
1. On the "Inquiry Email" screen, tap {e-mail sending}.
2. On the "Transmission type" dialogue box, select {QR code transfer and incoming call}.
Then tap {OK}.
(Additional Instructions)
At the next call of this function, the "Transmission Type" set in this step is automatically
preselected.
3. On the {e-mail sending} screen, tap {OK}.

(Additional Instructions)
On this screen, the transmission type can not only be selected by tapping {OK}, but also
by tapping {Call back request with QR code}.
When you tap the name of the call centre (to the right below the "e-mail Address" box),
you can change the e-mail address of the recipient. This change is also mirrored in the
information for the call centre. The next time the app is called, the last address selected
will appear before the other addresses.
By tapping a telephone number under "Phone number of call center," you can change
the telephone number of the call centre that should call you back. This change applies
only once, however, The telephone number that you entered in the customer data is not
changed.

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4. On the {e-mail sending} screen, select an e-mail service, such as {Gmail}.

Gmail is a trademark of Google Inc.

5. The selected e-mail service is started. The title of the mail {Call back request with QR
code} and QR code data are added to the mail and the selected photos are attached.
The data you registered on the {Registration of Customer Info} screen is also added to
the e-mail.

6. Then e-mail is then sent (with letter, if pertinent).

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External storage devices

10 External storage devices

10.1 Storage medium

The following data storage media can be used in the robot controller to save and load data
such as jobs and parameters.

Unit Function Data carrier (desti- Required optional functions

nation of the saved/
loaded data)
CF: Standard CompactFlash card No requirements.
Pendant (CF card) The programming pendant has a
slot.
USB: Standard USB stick No requirements.
Pendant The programming pendant has a
slot.
FC1(DX) Optional1 Personal computer Personal computer with FC1 emula-
(FC1 emulator) tor
PC Optional1 Personal computer Via RS-232C: "Data transfer func-
(MOTOCOM32 host) tion" and "MOTOCOM32"“
Via Ethernet: "Ethernet function" and
the two above-mentioned require-
ments.
FTP Optional1 FTP server and per- Data transfer function,
sonal computer MOTOCOM32 and FTP function
1. You will find information on all optional functions in the corresponding manuals.

10.1.1 CompactFlash card (CF card)

The programming pendant has a CF card slot. Use a FAT16- or FAT32-formatted

CompactFlash card.

10.1.1.1 Recommended CompactFlash cards

The model number may change when the corresponding product is discontinued or new
products are released.
If necessary, please contact your YASKAWA branch office.

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 External storage devices

10.1.1.2 Notes on handling CompactFlash cards

• The CompactFlash card must not be subjected to any shocks, impacts or other strong
external forces.
• It must not come into contact with water, oil, organic solvents, dust or dirt.
• Never keep the CompactFlash card in locations where there is strong static electricity
or where there are sources of electronic interference.
• Do not remove the CompactFlash card or switch the power off while the card is being
accessed (to read or write data).
• Carry out regular backups of the data saved on the data carriers. This largely eliminates
the risk of damaging or losing data as a result of error or accidents.
* CompactFlash cards have a limited service life.
The service life depends on the products and how they are used. Normal use of a
CompactFlash card as an external storage medium for the robot controller has no
negative effects on the CompactFlash card.

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10.1.1.3 Inserting the CompactFlash card

Take care to insert the CompactFlash card correctly.
Hold the CompactFlash card in such a way that the notch and the clip of the card are
pointing down, and insert it slowly into the slot on the programming pendant. The display of
the programming pendant must be facing up. Do not force the CompactFlash card into the
slot. This could damage the card or the slot. Once you have inserted the card, close the slot
flap before switching on.

START HOLD
REMOTE TEACH
PLAY

JOB EDIT DISPLAY UTILITY

JOB CONTENT
J:TEST01 S:0000
CONTROL GROUP:R1 TOOL:
0000 NOP
0001 SET B000 1
0002 SET B001 0
1
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OT#(10) ON
0006 TIMER T=3.00
0007 MOVJ VJ=80.00
0008 MOVJ VJ=100.00
0009 MOVJ VJ=100.00
2
0010 MOVJ VJ=100.00
0011 MOVJ VJ=100.00
MOVJ VJ=0.78
3
Main Menu Short Cut Turn on servo power

LAYOU
YOUT
LAYOUT TOO
TOOL
OOL SE
SEL GO BACK
DIRECT
DIREC
COORD OPEN
Multi PAGE
AGE ARE
AREA
SELECT
MAIN
MENU
ENTRY
ENTRY
SIMPLE
MENU
SERVO
SE
ON
VO

READY
READ ASSIST
CANCE
CANCEL 4 5
SE VO ON
SERVO
X- X+ X- X+
S- S+ R- R+
HIGH
SPEED
Y- Y+ Y- Y+
L- L+ B- B+
FAST
Z- Z+ MANUAL SPEED
Z- Z+
U- U+ T- T+
SLOW
8- 8+

INTER 7 8 9 TEST
SHIFT
SHIFT
LOCK START

ROBOT INFORM 4 5 6 BWD FWD

LIST

EX.AXIS
WELD 1 2 3 DELETE INSERT
ON/OFF

MOTION 0 . -
AUX MODIFY ENTER
TYPE

Fig. 10-1: Use of a CompactFlash card

1 Slot for CompactFlash card 4 Notch

2 Direction of insertion 5 Click
3 Surface

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 External storage devices

10.1.2 USB stick

The programming pendant has a USB port. Use a FAT16- or FAT32-formatted USB stick.

10.1.2.1 Recommended USB stick

The model number may change when the corresponding product is discontinued or new
products are released.
If necessary, please contact your YASKAWA branch office.

10.1.2.2 Notes on handling a USB stick

• The USB stick must not be subjected to any shocks, impacts or other strong external
forces.
• It must not come into contact with water, oil, organic solvents, dust or dirt.
• Never keep the USB stick in locations where there is strong static electricity or where
there are sources of electronic interference.
• Do not remove the USB stick or switch the power off while the USB stick is being
accessed (to read or write data).
• Carry out regular backups of the data saved on the data carriers. This largely eliminates
the risk of damaging or losing data as a result of error or accidents.
* USB sticks have a limited service life.
The service life depends on the products and how they are used. Normal use of a USB
stick as an external storage medium for the robot controller has no negative effects on
the USB stick.

10.1.2.3 Inserting USB sticks

Take care to insert the USB stick correctly. Insert the USB stick into the USB port on the
programming pendant.
If you apply force, you may damage the USB stick or port.

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External storage devices

Fig. 10-2: Use of a USB stick

1 USB port 3 Surface

2 Direction of insertion 4 USB stick

NOTICE
If you use a USB stick, it is not possible to ensure that the programming pendant is sealed
tight.
If the USB stick is left inserted in the programming pendant, it can fall out.
 Use a CompactFlash card if you want to keep the programming pendant sealed.
 Use a CompactFlash card if you don't want to run the risk of a USB stick falling out.

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 External storage devices

10.2 Handling data

10.2.1 Data classification

The data that can be saved online for the robot controller can be subdivided into the
following six categories.
1. JOB
2. FILE/GENERAL DATA
3. PARAMETERS1
4. I/O DATA
5. SYSTEM DATA
6. SYSTEM BACKUP (CMOS.BIN)
Data saved on an external storage device can be loaded into the robot controller again.
The data in the six categories varies depending on the application or option.
If the device is set to PC or FTP, only data of type 1. JOB and 2. FILE/GENERAL DATA can
be processed.
Even the 1. JOB whose name has more than nine letters cannot be processed with FC1
and FC2.

NOTICE
 PARAMETER, SYSTEM DATA, I/O DATA and SYSTEM BACKUP (CMOS.BIN), which
contain the data of the previous three records, have system-specific information of each
controller.
 If this data is loaded from other controllers, it is possible that this data will be overwritten
inadvertently. In addition, this may result in unforeseen movements or a faulty system
initialisation.
 Do not load this backup data into other controllers.
 If the same JOB is loaded into two controllers, the travel paths of the two robots will
differ due to their initial postures or mechanical faults in the components.
 Read the operating manual before commissioning.

1
PARAMETER BATCH comprises all P4 parameters

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External storage devices

Data classification File name (saved Save Load
data) OPN1 EDIT2 MAN3 OPN EDIT MAN
6. SYSTEM BACKUP (CMOS.BIN) CMOS.BIN 4   X5 X X
1. JOB Single JOB JOBNAME.JBI    X  
Related JOB (JOB + condition) JOBNAME.JBR    X  
2. FILE/GENERAL DATA Tool data TOOL.CND    X  
Weaving data WEAV.CND    X  
User coordinates UFRAME.CND    X  
Data-type variable VAR.DAT    X  
Arc-start condition data ARCSRT.CND    X  
Arc-end condition data ARCEND.CND    X  
Additional welding property data ARCSUP.DAT    X  
Welding machine characteristic data WELDER.DAT    X  
Definition of welding machine character- WELDUDEF.DAT    X  
istic data:
Collision-detection threshold data SHOCKLVL.CND    X  
Motor-gun pressure data SPRESS.CND    X  
Motor-gun SPRESSCL.CND    X  
pressure power data
Welding-gun property data SGUN.DAT    X  
Welding machine characteristic data for SWELDER.DAT    X  
spot welding
Position data – partial/full opening STROKE.DAT    X  
Spot-welding I/O assignment data SPOTIO.DAT    X  
Air-gun characteristic data AIRGUN.DAT    X  
Spot-welding condition file SPOTWELD.DAT    X  
Clearance data CLEARANCE.DAT    X  
Interference range file CUBEINTF.CND    X  
 Data classification File name (saved Save Load
data) OPN 1
EDIT 2
MAN 3
OPN EDIT MAN
6 3. PARAMETERS ALL.PRM    X X 
3. PARAMETERS Robot parameters RC.PRM    X X 
System definition parameters SD.PRM    X X 
Coordinate zero position parameters RO.PRM    X X 
System parameters SC.PRM    X X 
ClO parameters CIO.PRM    X X 
Function definition parameters FD.PRM    X X 
Application parameters AP.PRM    X X 
Transmission parameters (general) RS.PRM    X X 
Sensor parameters SE.PRM    X X 
Servo power parameters SV.PRM    X X 
Servo motor parameters SVM.PRM    X X 
Movement control parameters AMC.PRM    X X 
Servo power block parameters SVP.PRM    X X 
Movement function parameters MF.PRM    X X 
SERVOPACK parameters SVS.PRM    X X 
Converter parameters SVC.PRM    X X 
Expanding the robot controller parame- RE.PRM    X X 
ters
4. I/O DATA CIO programme CIOPRG.LST    X X 

External storage devices

I/O name data IONAME.DAT    X X 
Pseudo-input signal PSEUDOIN.DAT    X X 
External I/O name data EXIONAME.DAT    X X 
Register name data IOMNAME.DAT    X X 
10
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External storage devices

Data classification File name (saved Save Load
data) OPN 1
EDIT 2
MAN 3
OPN EDIT MAN
6 5. SYSTEM DATA User word registration name UWORD.DAT    X X 
SV monitoring signal SVMON.DAT    X X 
Variable name VARNAME.DAT    X X 
Second zero position HOME2.DAT    X X 
Alarm list data ALMHIST.DAT    X X X
Calibration data of the zero position ABSO.DAT    X X 
System information SYSTEM.SYS    X X X
Zero position data OPEORG.DAT    X X 
I/O message list data IOMSGHST.DAT    X X X
Function key assignment data KEYALLOC.DAT    X X 
Arc monitoring data ARCMON.DAT    X X X
1. OPN = operating mode

2. EDIT = editing mode

3. MAN = management mode

4. O = possible

5. X = not possible
 External storage devices

10.3 Displaying previously existing files

The following data categories indicate whether or not the file to be saved with the same file
name already exists on an external data carrier.
• JOB
No marker appears if there is a file with the same name in the selected folder.
The asterisk (*) indicates that there is no file with this name in the folder.
• FILE/GENERAL DATA, PARAMETER, SYSTEM DATA, I/O DATA
A black dot () appears if there is a file with the same name in the selected folder.
A small white circle () indicates that there is no file with this name in the folder.

You can check whether the JOB has been saved after editing by means of TO SAVE TO
FD in the JOB HEADER window.

Fig. 10-3: Example of a JOB

Fig. 10-4: Example of FILE/GENERAL DATA

• Saving through overwriting
6. SYSTEM BACKUP (CMOS.BIN)can be overwritten.
See the specifications regarding 1. JOB, 2. FILE/GENERAL DATA, 3. PARAMETER, 4.
I/O DATA, and 5. SYSTEM DATA cannot be overwritten.
Before saving, delete the destination file on the carrier.
If "CF: Programming pendant" or "USB: programming pendant" is used as a storage
medium, the file does not have to be deleted because another folder can be set up to
create the data.

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10.4 Performing a data backup

To perform the data backup, carry out the following steps:
1. Connect the medium for data backup
2. Select device
To select the destination device for saving the data, selct {EXTERNAL MEMORY
DEVICE}  {DEVICE}.
The selected storage medium does not become valid until the robot controller is
restarted.
• FC1  Data backup via FDDWIN32 software
• FC2  Data backup via software
• PC  Networked systems via IP address
• CF: Programming pendant  CompactFlash card on the programming pendant
• USB: Programming pendant  USB stick on the programming pendant
3. Select folder
• Select a folder.
• Note that a folder can be created only in MANAGEMENT MODE.
• On the storage medium, you can also select a folder which was crated on the PC.
4. Select data path
The path or task must be selected to indicate how the data is to be transported or
edited.
• LOAD  Data from the storage medium to the controller.
• SAVE  Data from the controller to the storage medium.
• DELETE  Deletes data on the storage medium only.
• COMPARE  Compares the data on the storage medium and in the controller.
5. Select data type
• Select the desired data type in the data menu, such as JOB, user data, or system data.
6. Execute
• Select the desired data using the [SELECT] key.
• To perform the data transfer, press the [ENTER] key.
• The "Save?" confirmation dialogue box appears. Confirm the dialogue box.

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2
3 4 5 6 7 *1 8 9 *2
{LOAD} {SAVE} {VERIFY} {DELETE} {FORMAT} {DEVICE} {FOLDER}

*3
13 12 10
15
14
{EXECUTE} 11
16 *4

17

1 Main menu {FD/PC CARD} 10 Open folder*3

2 Submenu 11 Select folder
3 Load 12 Select device
4 Save 13 Select floppy disk
Select size
5 Verify 14 Execute
6 Delete 15 Select data category
7 Format*1 16 Select data*4
8 Unit 17 Select [ENTER] or {EXECUTE}
9 Folder*2

10.4.1 Managing folders

When CompactFlash cards are used, folders can be used to classify and sort data, JOBs
and condition files.
The folders can be created hierarchically by creating a higher-level folder.
• Constraints
Folder name: Up to 8 1-byte characters plus three characters for the file name
extension.
Long folder names that exceed this maximum number of characters cannot be used.
The maximum path length is 42 1-byte characters.
If the maximum path length of the folder name is exceeded, the following alarm is
output:
ERROR 3360: INVALID FOLDER
• Selecting folders
1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.
2. Select {FOLDER}.
– The FOLDER LIST window appears.
3. Move the cursor to a folder and press [SELECT].
– Select the desired folder.

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4. To move the hierarchy from a subfolder to a higher-level folder, set the cursor to [..] and
press [SELECT].

• Creating a folder
1. Select the MANAGEMENT MODE as the security mode. Select {EXTERNAL MEMORY
DEVICE} from {Main Menu}.
2. Select {FOLDER}.
– The FOLDER LIST window appears.
3. Move the cursor to a folder and press [SELECT].
– Select a higher-level folder in which you want to create the new folder.
– This step is not necessary if you create the folder at the root level.
4. Select {DATA}  {CREATE NEW FOLDER} from the pull-down menu. Enter the folder
name using the screen keypad, and press [ENTER].
– A folder is created.

• Deleting a folder
1. Select the MANAGEMENT MODE as the security mode. Select {EXTERNAL MEMORY
DEVICE} from {Main Menu}.
2. Select {FOLDER}.
– The FOLDER LIST window appears.
3. Move the cursor to a folder and press [SELECT].
– Select a higher-level folder containing the folder to be deleted.
– This step is not necessary if you create the folder at the root level.
4. Delete the files and subfolders contained in the folder to be deleted.
– The folder cannot be deleted if it contains files or subfolders.
Move the cursor to the folder you want to delete.
5. Select {DATA}  {DELETE FOLDER} from the pull-down menu.

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 External storage devices

• Setting the initial folder

You can speed up the selection of a folder at a lower level of the folder hierarchy.
If you select {LOAD}, {SAVE}, {VERIFY} or {DELETE} from the submenu of
{EXTERNAL MEMORY DEVICE}, the folder set as the initial folder becomes the current
folder.
1. Select the MANAGEMENT MODE as the security mode. Select {EXTERNAL MEMORY
DEVICE} from {Main Menu}.
2. Select {FOLDER}.
– The FOLDER LIST window appears.
3. Move the cursor to a folder and press [SELECT].
– Select a folder as the root folder.
4. Select {DISPLAY}  {ROOT FOLDER} from the pull-down menu.
– The INITIAL FOLDER SETTING window appears.

– The currently selected folder is displayed in CURRENT FOLDER, and the initial folder
is displayed in ROOT FOLDER.

5. Select {EDIT}  {SETUP FOLDER} from the pull-down menu. Position the cursor on
AUTO CHANGE, and press [SELECT].
– The initial folder opens in the ROOT FOLDER output line.

– Check whether AUTO CHANGE is set to ON so that the setting of the initial folder is
valid. After that, at every selection of {EXTERNAL MEMORY DEVICE}  {FOLDER},
the set initial folder becomes the current folder.

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External storage devices

NOTICE
If the initial directory does not exist due to a change of the CompactFlash card, for example,
and you enter the {LOAD}, {SAVE}, {VERIFY}, {DELETE}, or {FOLDER} instructions under
{EXTERNAL MEMORY DEVICE}, error message ERROR 3360: INVALID FOLDER
appears.
At the same time, the initial folder becomes invalid. Make sure AUTO CHANGE is set to ON
so that the setting of the initial folder is valid.

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 External storage devices

10.4.2 Saving data

To transfer data from the memory of the robot controller to an external storage medium,
carry out the following steps:

NOTICE
Data such as PARAMETER, SYSTEM DATA and I/O DATA and batch data such as
PARAMETER BATCH, BATCH CMOS and ALL CMOS AREA that contains PARAMETER,
SYSTEM DATA or I/O DATA contains specific information for the corresponding controllers.
 This data is prepared as backup data that can be loaded into the controller used for
saving.
 When data is loaded from another controller, it can result in the destruction or loss of
important system information.
 You should therefore exercise great care when handling the saved data.

• Saving a JOB
1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.
2. Select {SAVE}.
– The following window appears:

3. Select {JOB}.
– The JOB LIST window appears.

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External storage devices

4. Select the JOB you want to save.

– The selected JOB is marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected JOB is saved.

• Saving condition files or general data

1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.
2. Select {SAVE}.
– The following window appears:

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 External storage devices

3. Position the cursor on {FILE/GENERAL DATA} and make a selection.

– The selection window appears.
– The displayed contents depend on the applications and options.

4. Select the condition files or general data you want to save.

– The selected files are marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected files are saved.

• Saving parameters
1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.
2. Select {SAVE}.
– The following window appears:

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External storage devices

3. Move the cursor to {PARAMETER} and make a selection.

– The selection window for the parameters appears.

4. Select the parameters you want to save.

– The selected parameters are marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected parameters are saved.

• Saving I/O data

1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.

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2. Select {SAVE}.
– The following window appears:

3. Move the cursor to {I/O DATA} and make a selection.

– The selection window for the I/O data appears.

4. Select the I/O data you want to save.

– The selected I/O data is marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected I/O data is saved.

• Saving the system data

1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.

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External storage devices

2. Select {SAVE}.
– The following window appears:

3. Move the cursor to {SYSTEM DATA} and make a selection.

– The selection window for the system data appears.

4. Select the system data you want to save.

– The selected system data is marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected system data is saved.

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 External storage devices

NOTICE
Data types JOB, FILE/GENERAL DATA, PARAMETER, SYSTEM DATA and I/O DATA
cannot be overwritten.
 In this case, delete the file with the same name or create a new folder in which the data
can be saved.

• Saving SYSTEM BACKUP (CMOS.BIN)

1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.
2. Select {SAVE}.
– The following window appears:

3. Select {SYSTEM BACKUP(CMOS.BIN).

– The confirmation dialogue box appears.

4. Select YES.
– If CMOS.BIN does not exist, the saving of SYSTEM BACKUP(CMOS.BIN) begins.
– If CMOS.BIN is already created, proceed with step 5.
5. The confirmation dialogue box appears.

6. Select YES.
– The saving of SYSTEM BACKUP (CMOS.BIN) begins.

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External storage devices

NOTICE
After SYSTEM BACKUP (CMOS.BIN) is started, the hourglass appears and all operations
are disabled. When the hourglass disappears, the operations become valid again.
As long as the hourglass is visible in the status area, do not switch the power supply off.
SYSTEM BACKUP (CMOS.BIN) cannot be saved if:
 The servo is switched on.
 Data is transferred together with a data update.
 A backup is transferred automatically.

10.4.3 Loading data

To transfer data from an external storage medium to the memory of the robot controller,
carry out the following steps.

NOTICE
PARAMETER, SYSTEM DATA, I/O DATA and SYSTEM BACKUP (CMOS.BIN), which
contain the data of the previous three records, have system-specific information of each
controller.
If this data is loaded from other controllers, it is possible that this data will be overwritten
inadvertently. In addition, this may result in unforeseen movements or a faulty system
initialisation.
Do not load this backup data into other controllers.
If the same JOB is loaded into two controllers, the travel paths of the two robots will differ
due to their initial postures or mechanical faults in the components.
 Read the operating manual before commissioning.
 Exercise great care when handling the saved data.

• Loading JOBs
1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.
2. Select {LOAD}.
– The following window appears:

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 External storage devices

3. Select {JOB}.
– The selection window for the JOBs appears.

4. Select the JOB you want to load.

– The selected JOBs are marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected JOBs are loaded.

• Loading condition files or general data

1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.
2. Select {LOAD}.
– The following window appears:

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External storage devices

3. Position the cursor on {FILE/GENERAL DATA} and make a selection.

– The selection window for the settings file/general data appears.

4. Select the condition files or general data you want to load.

– The selected files are marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected files are loaded.

• Loading parameters
1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.
2. Select {LOAD}.
– The following window appears:

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 External storage devices

3. Move the cursor to {PARAMETER} and make a selection.

– The selection window for the parameters appears.

4. Select the parameters you want to load.

– The selected parameters are marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected parameters are loaded.

• Loading I/O data

1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.

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External storage devices

2. Select {LOAD}.
– The following window appears:

3. Move the cursor to {I/O DATA} and make a selection.

– The selection window for the I/O data appears.

4. Select the I/O data you want to load.

– The selected I/O data is marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected I/O data is loaded.

• Loading system data

1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.

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2. Select {LOAD}.
– The following window appears:

– The selection window for the system data appears.

3. Move the cursor to {SYSTEM DATA} and make a selection.

– The selected system data is marked with a star.

4. Press [ENTER].
– The confirmation dialogue box appears.

5. Select YES.
– The selected system data are loaded.

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External storage devices

10.4.4 Verifying data

To verify the data saved on the robot controller and the data saved on an external storage
medium, carry out the following steps:

NOTICE
SYSTEM BACKUP (CMOS.BIN) cannot be verified.

• Verifying JOBs
1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.
2. Select {VERIFY}.
– The following window appears:

3. Select {JOB}.
– The selection window for the JOBs appears.

4. Select the JOB you want to verify.

– The selected JOBs are marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

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 External storage devices

6. Select YES.
– The selected JOBs are verified.

• Verifying files
1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.
2. Select {VERIFY}.
– The following window appears:

3. Select a group in which the file you want to verify is located.

4. Select the file you want to verify.
– The selected files are marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected files are verified.

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External storage devices

10.4.5 Deleting data

To delete one or more files from external storage media, carry out the following steps.
• Deleting JOBs
1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.
2. Select {DELETE}.
– The following window appears:

3. Select {JOB}.
– The selection window for the JOBs appears.

4. Select the JOB you want to delete.

– The selected JOBs are marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected JOBs are deleted.

• Deleting files
(Condition file/general data, parameters, system data, and I/O data)

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 External storage devices

1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.

2. Select {DELETE}.
– The following window appears:

3. Select a group in which the file you want to delete is located.

4. Select the file you want to delete.

– The selected files are marked with a star.

5. Press [ENTER].
– The confirmation dialogue box appears.

6. Select YES.
– The selected files are deleted.

• Deleting SYSTEM BACKUP (CMOS.BIN)

1. Select {EXTERNAL MEMORY DEVICE} from {Main Menu}.

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2. Select {DELETE}.
– The following window appears:

3. Select {SYSTEM BACKUP(CMOS.BIN)}.

– If CMOS.BIN already exists on the storage medium, a confirmation dialogue box
appears.
– This dialogue box does not appear if CMOS.BIN does not exist on the storage medium.

4. Select YES.
– SYSTEM BACKUP (CMOS.BIN) is deleted.

NOTICE
SYSTEM BACKUP (CMOS.BIN) is not deleted while data is being transferred together with
a data update.

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 External storage devices

10.4.6 JOB selection mode

To select JOBs and files for loading, saving, verifying, and deleting, carry out the following
steps.
• Individual selection
JOBs and data files are selected singly and individually.
• Batch selection
JOBs and files are selected together in a single action.
• Marker (*) selection
Loading: The files on the external storage medium are selected.
Saving: The files in the memory of the robot controller are selected.
Verification: The files on the external storage medium and in the memory of the robot
controller are selected.

• Applying a single selection

1. In the JOB LIST window or file selection window, position the cursor on the job or file
you want to select.

2. Press [SELECT].
Move the cursor to the corresponding file and press [SELECT] again.
*To cancel the selection, select {EDIT} and then {CANCEL SELECT}.
– The selected JOBs are marked with a star.

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• Applying a batch selection

1. Select {EDIT} from the menu of the JOB LIST window or the file selection window of the
external storage medium.
– The pull-down menu appears.

2. Select {SELECT ALL}.

*To cancel the selection, select {EDIT} and then {CANCEL SELECT}.
– All JOBs are selected.

• Loading by means of a marker (*)

1. Select {EDIT} from the menu of the JOB LIST window or the file selection window of the
external storage medium.
– The pull-down menu appears.

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2. Select {SELECT MARKER (*)}.

*To cancel the selection, select {EDIT} and then {CANCEL SELECT}.

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Error

11 Error
An error message warns the user not to continue with the next step.
It is caused by an operating error or access error in connection with the use of the
programming pendant or an external device (e.g. computer, PLC, etc.).
If an error occurs, confirm the error message and reset the message.
To reset the error, proceed as follows.
• Press [CANCEL] on the programming pendant.
• Enter the alarm/error reset signal (system input).

NOTICE
An error differs from an alarm in that it does not stop the robot even if it occurs during the
operation of the robot (during playback).

If two or more errors occur, they appear in the message window.

To call the list of current errors, activate the message window and press [SELECT].

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 Error

11.1 System and general operation

Error Data Error message Description

number
10 - Turn off servo power and perform cor- If the servo power is
rective action switched on, the function
cannot be executed.
20 - Press TEACH Not in the specified operat-
ing mode
30 - Illegal setting for number of variables Parameter setting error

31 - Illegal setting for number of variable

names
32 - Illegal setting for number of sub-tasks

40 - Undefined robot position variables Variable of the position

type cannot be used
50 - Press [MODIFY].
60 - Undefined points (ORG, XX, XY) Three base points (ORG,
XX, XY) of the user coordi-
nates are not entered
70 - Programme and current tool different The tool number entered
with the positioning data
does not match the tool
number selected on the
programming pendant
80 - Same position in the 3 points

90 - Set robot exactly to the teach-in posi-

tion
100 - In overrun recovery state

110 - Switch the servo power on

120 - Set to PLAY mode
130 - No start using external signal

140 - No start using P.BOX

180 - TEACH mode ON selection signal

190 - Set variable

200 - Defined group axis
210 - Undefined coordinated robots

212 - Cannot be registered in this combina-

tion
230 - While releasing the software limits
240 - Undefined robot

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Error

Error Data Error message Description

number
270 - No gun condition file selected

280 - Number of I/O points missing

290 - Cannot set the same number

300 - Undefined user frame
310 - Cannot enter master JOB

320 - Cannot execute CHECK RUN

330 - Cannot execute MACHINE LOCK

340 - Cannot execute MASTER JOB

341 - Master JOB cannot be called The master JOB cannot be

called as long as the man-
ual brake is released.
350 - No initialisation is possible.
380 - Position not verified Second zero position not
verified
381 - Robot range not verified.
382 - Axis range not verified.
383 - Select the joint coordinate system and
execute a forward movement.
390 - Can specify SERVO OFF by safety
relay
410 - Time could not be measured Time could not be mea-
sured for the TRT function.
420 - Incorrectly specified TEACH-IN points The teach-in points for tool
calibration were incorrect.
430 - Enter the start of the reserved JOB

460 - Time for the measurement exceeded

500 - Undefined calibration data of the ro-

bot
510 - Undefined axis
520 - Cannot select two coordinated combi-
nations
530 - Start reservation mode
550 - Start reserved JOB change prohibit is
set
560 - Cannot execute TEACH-IN position
while software limit is released

11 - 344
 Error

Error Data Error message Description

number
590 - Enter combination of the group axis [SYNCHRO] was pressed
for coordinated JOB not
registered as group
600 - Out of setting data range

610 - Cannot use the user coordinates

620 - Select JOB (robot)

650 - Incorrect measured data
660 - Wrong data type of position variable

680 - Defined data

X File number
X
X
700 - Wrong CMOS memory board type

710 - Palletizing shift value deleted.

720 - Defined name.

721 - Already registered for IN/OUT signal
name.
722 - Already registered for variable name.

723 - Already registered for local variable

name.
724 - The existing names cannot be over-
written.
740 - This name cannot be defined.

741 - This name cannot be deleted. The name cannot be delet-

ed as long as the alias
function is valid.
760 - Error in start condition record

770 - During robot or station operation

800 - The gun of the destination is not con-
nected.
801 - The group axis of the destination is
not connected.

810 - Servo power supply is limited

820 - Modification range over

930 - Undefined conveyor calibration data

11 - 345
Error

Error Data Error message Description

number
940 - Input signal for non-motorised weld-
ing is ON.
950 - Adjustment stroke is negative.

960 - I/O axis mode request

970 - ERRCPU signal error

971 - ERRCPU error signal
980 - TIMER DATA TRANSMISSON ER-
ROR

11 - 346
 Error

11.2 Editing

Error Data Error message Description

number
1010 - EDIT LOCK mode
1011 - EDIT LOCK is set for this line.
1012 - This is a comment line.
1020 - Enter correct value
1030 - Invalid ID
1050 - Enter correct date
1060 - Enter correct time
1061 - Enter correct time The input time value is not
correct.
1062 - Values above 0 are unacceptable. Values other than 0 can not
Go to the OPERATING TIME be entered.
screen to set the values to 0.
1063 - Enter 500000 or less for the value The value for the time is too
"HHHHHH". large.
1070 - Enter a number with 8 digits

1080 - A negative value can not be set

1090 - Enter correct value

(START-END signal no.)

1130 - No further variable names can be

registered in this JOB.

1600 - A position confirmation has not

been specified

11 - 347
Error

11.3 Defined JOB data

Error Data Error message Description

number
2010 - Incorrect character
2020 - Name not entered
2030 - Undefined JOB name
2040 - Defined JOB name
2050 - Address not found
2070 - Set robot exactly to the teach-in position

2080 - Press INSERT or MODIFY

2090 - Only the movement instruction can be

modified
2100 - JOB cannot be edited
2110 - Software limit exceeded
2111 - Software limit exceeded: Change centre
position or pulse duration

2120 - Cannot insert/modify/delete with servo

power off

2150 - Insertion is not possible from this point

2160 - Cannot change or delete this position

2170 - Press INSERT to record the same step

as the previous step

2180 - Cannot insert data

2210 - Impermissible data setting
2220 - Display editing instruction
2240 - Excess instruction equation

2250 - Odd number of parentheses in the equa-

tion
2260 - Incorrect selection of the group axis

2270 - Cannot insert any more instructions in

the JOB
2280 * JOB memory is full
1 Too little space to save
the position file
2 Too little space to save
the JOB registration

11 - 348
 Error

Error Data Error message Description

number
3 Too little space to save
the command file
4 Too little storage pool
5 Pass condition file for
multi-layer missing
128 The instruction has ex-
ceeded the maximum
length
2290 - Undefined master JOB
2291 * Undefined SUB-master JOB

1 SUB-master 1
2 SUB-master 2
3 SUB-master 3
4 SUB-master 4
5 SUB-master 5
6 SUB-master 6
7 SUB-master 7
8 SUB-master 8
2292 - Undefined master start JOB

2293 * Undefined SUB start JOB

1 SUB-master 1
2 SUB-master 2
3 SUB-master 3
4 SUB-master 4
5 SUB-master 5
6 SUB-master 6
7 SUB-master 7
8 SUB-master 8
2300 - Cannot teach JOB without specification
of the group axis

2310 * Same label exists

XXX Line number
2340 - Editing data not found.
2360 - Cannot create editing area

2370 - Cannot cut/copy NOP and END instruc-

tions
2371 - The EDIT LOCK/COMMENT functions
cannot be used on NOP and END.

11 - 349
Error

Error Data Error message Description

number
2372 - This line cannot be defined as a comment
line.
2390 - Incorrect selection of the group axis

2400 - Movement to edit through cutting and

pasting not possible
2430 - Reverse data not found
2440 - Move C- and W-axis to base position Laser cutting

2450 - Relative JOB not permitted

2470 - Incorrect JOB type

2480 - Incorrect JOB coordinate setting

2500 - Cannot convert the JOB

2501 - Positions cannot be converted as macro
arguments.

2510 - Cannot correct position in the JOB

2520 - Enter JOB name

2530 - Impermissible step number
2540 - Enter step number
2550 - Duplicated step number
2551 - Duplicated line number
2560 - Cannot correct steps of position variables
and REFP

2570 - The step does not contain speed

2580 - The step does not contain PL/CONT

2590 - Software limit range exceeded

2600 - Cannot teach the position in the parallel
JOB
2610 - Incorrect JOB type
2620 - Cannot correct the PLAY speed in the
JOB
2630 - Conveyor position not reset

2640 - False JOB name

2650 - Defined JOB name
2670 - Undefined destination JOB
2710 - Relative JOB cannot be moved with
pulse type

11 - 350
 Error

Error Data Error message Description

number
2730 - Cannot use robot macro JOB

2740 - Cannot use parallel macro JOB

2750 - Cannot use JOB without specification of

the group axis
2760 - Cannot insert/modify/delete for group
axis detachment
2761 - Cannot insert/modify/delete for axis de-
tachment
2762 - The execution of this instruction is not
permitted as axis detachment has been
set up.
2763 - Cannot change as axis detachment has
been set up.
2764 - Cannot add/change/delete as axis de-
tachment has been set up.
2770 - The JOB contains instructions that can-
not execute a reverse paste.
2780 - Arithmetic error
2790 - Step goes beyond operating range.
2822 - A job cannot be copied during inching
mode
2823 - Copying, cutting, and pasting are not
possible during inching mode
2870 - The maximum pressure was not set. The maximum pressure
for the gun condition file
was not set.
2871 - The pulse value and stroke value are not The pulse and stroke
set correctly. are not specified cor-
rectly in the gun condi-
tion file.
2872 - The values for torque and pressure are The torque and pres-
not set correctly. sure are not specified
correctly in the gun con-
dition file.
2880 - This group name cannot be changed.
2881 - The group name already exists.
2882 - That is not a suitable group name.
2890 - Maximum stroke range exceeded.
2891 - The first pulse value is not set correctly.
2892 - The first stroke value is not set correctly.
2893 - The first torque value is not set correctly.
2894 - The first pressure value is not set correct-
ly.

11 - 351
Error

Error Data Error message Description

number
2895 - The maximum pressure generation pow-
er exceeds the set range.
2896 * The pulse value exceeds the set range.
xxx Pulse number
2897 * The stroke value exceeds the set range.
xxx Stroke number
2898 * The torque value exceeds the set range.
xxx Torque number
2899 * The pressure value exceeds the set
range.
xxx Pressure number

11.4 External storage devices

Error Data Error message Description

number
3010 - Floppy disk cable not connected

3020 - Floppy disk not inserted in drive

3021 - CompactFlash card not in Compact-

Flash card slot.

3022 - USB stick not inserted.

3030 - Floppy disk protection is activated.

3040 - File not saved on data carrier.

3050 - File saved on data carrier.

3060 - Memory space on data carrier does

not suffice.
3070 - Number of files on data carrier.

3080 - I/O error on data carrier.

3090 * Data carrier transfer error

1 Framing error
2 Overrun error
3 Parity error
4 Data code error

11 - 352
 Error

Error Data Error message Description

number
5 Data read error
6 Data write error
7 Data timeout
8 Serial I/O error
9 Error other than those above
3110 - Syntax error
3120 * Hex code error
1 Data record specification er-
ror
2 FEO data record specifica-
tion error
3 Data record type error
4 General data record error
3130 - Verification error
3140 - Incorrect pseudo-instruction

3150 * Concurrent I/O data record error

1 Format error
2 Ladder programme is too
long
3 Data range exceeded
4 Specification error of the
channel number
5 Specification error of the re-
lay number
6 Error of the timer value
7 Specification error of the tim-
er number
3160 - Cannot load impermissible system
data
3170 * Condition file data error
1 Format error
2 Specified file number is omit-
ted
3 Specified tool is omitted
4 User file is not entered
3190 * Error in JOB data record
1 The number of the position-
ing data record (NPOS) is
wrong for the format
2 The number of the user coor-
dinate data record (NPOS) is
wrong for the format

11 - 353
Error

Error Data Error message Description

number
3 The tool data record (TOOL)
is wrong for the format
4 The positioning data section
data record is wrong for the
format
5 The robot type for the orthog-
onalisation data record
(RCONF) is wrong for the for-
mat
6 The data record (DATE) is
wrong for the format
7 The comment data record
(COMM) is wrong for the for-
mat
8 The JOB attribute data re-
cord (ATTR) is wrong for the
format
9 The control group data re-
cord (GROUP) is wrong for
the format
10 The local variable data re-
cord (LVARS) is wrong for
the format
11 The JOB argument data re-
cord (JARGS) is wrong for
the format
12 The data record of the teach-
in coordinates for the relative
JOB (FRAME) is wrong for
the format
13 The coordinates of the posi-
tioning data do not corre-
spond to the relative JOB
coordinates.
3200 - NOP or END instruction not found

3210 - Storage area of the positioning num-

ber not found
3220 * Syntax error in instruction data

2 Internal control error

3 Instruction/tag not defined
4 Instruction/tag missing
5 Instruction/tag no longer re-
quired
6 SUB instruction
7 No instruction

11 - 354
 Error

Error Data Error message Description

number
8 Invalid instruction
9 Invalid tag
10 Invalid character
11 Undefined intermediate code
12 Intermediate code missing
13 Syntax stack overflow
14 Syntax stack underflow
15 Array type tag [ARRAY]
16 Element type tag incomplete
[ELEMENT]
17 Macro JOB not entered
18 Input format error
19 Data size exceeded
20 MIN value exceeded
21 MAX value exceeded
22 Error in the execution of the
instruction
23 JOB call argument setting er-
ror
24 Macro JOB call argument
setting error
25 Positioning vector setting er-
ror
26 System error
27 Softkey designation error
28 Numeric input line overflow
29 Real data precision error
30 Element format error
35 BOOL TYPE data error
36 CHAR data error
37 BYTETYPE, BINARY/HEXA-
DECIMAL BYTE TYPE data
error
38 INTEGER TYPE, DECIMAL
WORD TYPE data error
39 BINARY/HEXADECIMAL
WORD TYPE data error
40 DOUBLE PRECISION INTE-
GER TYPE, DECIMAL
DWORD TYPE data error
41 BINARY/HEXADECIMAL
WORD TYPE data error
42 REAL TYPE data error

11 - 355
Error

Error Data Error message Description

number
43 LADDER SPECIAL TYPE
data error
44 JCL text
45 Invalid text
46 LABEL NAME data error
47 JOB NAME data error
48 STRING data error
49 COMMENT data error
51 The JOB contains instruc-
tions that exceed the maxi-
mum size
58 Invalid instruction/tag detec-
tion
3230 - Syntax error
3240 - Undefined application
3250 - Cannot load this file
3260 - Excess input data
3270 - Cannot verify this file
3280 - Incorrect welding condition (STAN-
DARD/ENHANCED)

3290 - Serial port not defined

3300 - Serial port used
3310 - Protocol used
3340 - Impermissible number of multi-layer
data
3350 - Not enough memory
3360 - Invalid folder
3370 - Incorrect folder name
3450 - Cannot load macro JOB in the current Load in MANAGEMENT
security mode MODE.
3460 * Data backup is not possible on this
data carrier
1 The memory of the Compact-
Flash card does not suffice.
2 No access to CompactFlash
card.
3470 - Database not found
3480 - Database access error
3490 - Same database already exists
3500 - Check that the data carrier is inserted
correctly.

11 - 356
 Error

Error Data Error message Description

number
3501 - Check that the data carrier is inserted
correctly.
3510 - Cannot delete folder. Check attribute
and file in folder

3520 - Same folder already exists

3530 - Cannot load in the current security
mode
3550 - Automatic backup in progress. Wait
until the backup is completed.

3551 - Automatic backup in progress. Exe-

cute SORT FILE when the backup is
completed.

3560 - Sorting of backup file failed.

3570 - Actuator data transmission error.

3580 - Backup file is being accessed. Wait

until this procedure is completed.

3581 - Backup file is being accessed. Exe-

cute SORT FILE when this procedure
is completed.

3600 - System configuration data does not

match.
3610 - Path too long.
3620 - Too many folders.

11 - 357
Error

11.5 Concurrent I/O

Error Data Error message Content

number
4010 * Impermissible relay number
XX Line no.
X
4030 * Impermissible instruction
XX Line no.
X
4040 * Relay number duplicated in Multiple output for relay or memo-
OUT or GOUT instruction ry.

XX Line no.
X
4050 * The relay is not used.
XX Line no.
X
4060 * Excess STR-[NOT] instruc-
tions
XX Line no.
X
4070 * Excess AND [OR] STR in-
structions
XX Line no.
X
4080 * Syntax error in CRT instruc-
tions
XX Line no.
X
4090 * Enter STR [-NOT] at head of STR [-NOT] required
block
XX Line no.
X
4120 - Concurrent I/O memory is full Memory capacity exceeded
(10,000 steps)
4130 - END instruction not found END instruction not found

4140 - Incorrect ladder programme Position and number of the PART

instruction were incorrect.
4150 * Incorrect use of the GSTR and GSTR and GOUT are not used
GOUT commands together.
XX Line no.
X

11 - 358
 Error

Error Data Error message Content

number
4190 - Ladder programme not found

4220 - Excess TMR/CNT or arithme- More than 100 TMR, CNT or

tic instructions arithmetic instructions used
4230 - Syntax error in TMR/CNT in-
structions

11 - 359
Error

11.6 Maintenance mode

Error Data Error message Description

number
8011 - Select the overflow input.

8012 - Error while reading the plant data

file
8021 - YIU unit not found
8030 - Too many boards (DEVICEN-
ET(MASTER))
8031 - Too many boards (MSC01B)

8033 - Too many boards

8034 - Too many channels

8035 - Invalid configuration

8040 - Memory error (ControlNet output
condition)

8041 - Memory error (UNIWIRE CON-

NECT DAT)
8042 - Memory error (IP network config-
uration data)

8050 - Robot model is not entered

8051 - Select the model

8060 - Cannot get UNIWIRE connection
data
8070 - DHCP is already set for use for
another item.
8071 - DNS is already set for use for an-
other item.
8072 - DHCP is not set for use.
8073 - DNS is not set for use.
8074 - Device information not found

8080 - No support function.

8205 - ENABLE unit off

8206 - FLASH access error
8210 - I/O module configuration is not
modified.
8211 - OPTION, BOARD or MODULE
SETUP is not completed.

11 - 360
 Error

Error Data Error message Description

number
8212 - Setting cannot be changed (func-
tion conflict)
8213 - Check the setting of external I/
Os.
8216 - Setting cannot be changed. Invalid settings for high-speed
Check the setting for the control spot welding. Check the config-
group. uration of the control group for
the high-speed spot welding
function in "SPOT WELDING
USING MOTOR GUN."
8217 - Setting cannot be changed. Invalid settings for high-speed
Check the setting for the correct spot welding. Check the config-
high-speed function. uration of the control group for
the high-speed spot welding
function in "SPOT WELDING
USING MOTOR GUN."
8250 - The setting group set up in the
axis detachment function is pres-
ent twice.
8251 - The setting group set up in the ro-
bot detachment function is pres-
ent twice.

11 - 361
Error

11.7 Special error messages

Apart from the normal alarms and error messages, in some cases a message box is
displayed on the programming pendant.
This message is displayed if the programming pendant system no longer permits access.

11.7.1 Messages

11.7.1.1 Fatal error

This message is displayed in the event of a critical error.
The message is "Fatal application Error".
The message in the message box varies depending on the status of the error.
The programming pendant then switches to one of the following statuses.
1. The window becomes inactive.
2. The window disappears, and a blue background appears

11.7.1.2 Application transaction error

This message is displayed if the system or software of the programming pendant no longer
permits access due to an unexpected action or software error etc.
The message in the message box varies depending on the status of the error.

The following messages may be displayed:

Message Meaning
syntax error There is an unauthorised component in the internal
processing description.

11 - 362
 Error

Message Meaning
expression too complex (stack Overflow of the internal stack.
overflow)
function nesting depth exceeded Nesting of internal processing is not permissible.
bad radix The cardinal number used is not permissible.
divide by 0 The memory is running out.
out of memory There is insufficient memory.
argument list does not match a The internal processing of the programming pen-
function dant is not permissible.
register is not available System data has been specified that is not avail-
able.

The programming pendant then switches to one of the following statuses.

1. The window becomes inactive.
2. Press the [OK] button to close the message box and continue with operation.

11.7.1.3 Other errors

Some errors other than those above may result in the message box being displayed. In
these cases, the tile of the dialogue box can be "Ypp" or "YPPMain."

11.7.2 Procedure for error messages

11.7.2.1 Fatal error

If this message is displayed, the programming pendant can no longer be operated. Restart
the system.

11.7.2.2 Application transaction error

To close the message box and resume operation, press [OK]. The system may become
unstable as a result, however.
Restart the system if no further actions can be taken in the window.

11.7.2.3 Other errors

In the case of most errors, you can press [OK] to close the message box and resume
operation.
Restart the system if no further actions can be taken in the window.
In some cases, the message box is displayed as a result of a particular action although the
instability of the programming pendant is generally the main cause of the error.
If the programming pendant invariably crashes as a result of a particular action after
displaying a message, please contact your local YASKAWA branch.

11 - 363
YASKAWA Headquarter