MOTOMAN

MOTOMAN XRC
OPERATORS MANUAL
Command Syntax

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

MOTOMAN ROBOTICS AB
A subsidiary of YASKAWA Electric Corporation

MANUAL NO. MRS50060

 MOTOMAN ROBOTICS AB

Reference list

Operator’s manual for Basic Programming

Operator’s manual for Arc Welding
Operator’s manual for General application
Operator’s manual for Spot Welding
Operator’s manual for Handling application
Optional function manual, for specific function
MOTOMAN XRC Alarm list

Reference list

990503
First release of this manual
MOTOMAN ROBOTICS AB
Operator’s manual MOTOMAN XRC Page: III

Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060TOC.fm

1. Table of basic instructions .................................... 1

❏ Move instruction 1
❏ I/O instructions 3
❏ Control instructions 4
❏ Shift instructions 6
❏ Operating instruction 7
2. General-Purpose instructions ............................. 12
❏ General-purpose instruction 12
3. Handling instructions .......................................... 13
❏ Handling instructions 13
4. Spot welding instructions .................................... 14
❏ Spot welding instructions 14
5. Arc welding instructions ...................................... 15
❏ Arc welding instructions 15
6. Coordinated operation instructions ..................... 16
7. Independent control instructions ......................... 20
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Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060TOC.fm
MOTOMAN ROBOTICS AB
Operator’s manual MOTOMAN XRC Page: 1

Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

1. Table of basic instructions

Note!
Some of the instructions are only available if an optional software or application is
installed in the controller.

✔ <> indicates numerical or alphabetical data.

✔ If multiple items are shown in one section, select one of the items.
■ Move instruction
Function Moves to the taught point with joint motion type.
Position data, These data do
Base axis position data, not appear on
Station axis position data the display.
MOVJ VJ=<play speed (%)> VJ:
Format 0.01 to 100.00
PL=<positioning level> PL:0 to 4
NWAIT
UNTIL statement
Example MOVJ VJ=50.00 PL=2 NWAIT UNTIL IN#(16)=ON

Function Moves to the taught point with linear motion type.

Position data, These data do
Base axis position data, not appear on
Station axis position data the display.
V=<play speed>, V:0.1 to 1500.0
VR=<play speed of the posture>, mm/sec
VE=<play speed of external axis> 0.6 to 9000.0
MOVL cm/min
Format VR:0.1 to 180.0
deg/sec
VE:0.01 to
100.00%
PL=<positioning leve> PL:0 to 4
NWAIT
UNTIL statement
Example MOVL V=138 PL=0 NWAIT UNTIL IN#(16)=ON

Function Moves to the taught point with circular motion type.

Position data, These data do
Base axis position data, not appear on
Station axis position data the display.
MOVC V=<play speed>, Same with
Format VR=<play speed of the posture>, MOVL.
VE=<play speed of external axis>
PL=<positioning level> PL:0 to 4
NWAIT
Example MOVC V=138 PL=0 NWAIT
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■ Move instruction
Function Moves to the taught point with spline motion type.
Position data, These data do
Base axis position data, not appear on
Station axis position data the display.
MOVS V=<play speed>, Same with
Format VR=<play speed of the posture>, MOVL.
VE=<play speed of external axis>
PL=<positioning leve> PL:0 to 4
NWAIT
Example MOVS V=120 PL=0
Moves the specified increment from the current position with linear
Function
motion type.
P<variable number>,
BP<variable numbe>,
EX<variable numbe>
V=<play speed>, Same with
VR=<play speed of the posture>, MOVL.
VE=<play speed of external axis>
PL=<positioning leve> PL:0 to 4
NWAIT
UNTIL statement
IMOV BF,RF,TF,UF# (<user coordinate number>) BF:
Format base coordi-
nates
RF:
robot coordi-
nates
TF:
tool coordi-
nates
UF:
user coordi-
nates
Example IMOV P000 V=138 PL=1 RF

Function Defines a reference point(e.g. wall point for weaving).

Position data, These data do
Base axis position data, not appear on
Station axis position data the display.
REFP
Format <reference point number> wall point 1 for
weaving :1
wall point 2 for
weaving :2
Example REFP 1

Function Sets play speed.

VJ=<play speed(%)>, VJ:Same with
V=<play speed>, MOVJ.
SPEED
Format VR=<play speed of the posture>, V,VR,VE:
VE=<play speed of external axis> Same with
MOVL.
Example SPEED VJ=50.00
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Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

■ I/O instructions
Function Turns the external output signals ON and OFF.
OT# (<output number>),
OGH# (<output group number>),
OG# (<output group number>)

DOUT Number of addressed output signals:

Format
OT#(xx)=1;OGH#(xx)=4(per group);
OG#(xx)=8(per group)

OGH#(xx) is not subject to parity check; only

the binary specification is allowed.
Example DOUT OT#(12) ON

Function Outputs a pulse signal as an external output signal.

OT# (<output number>)
PULSE
Format T=<time(sec)> 0.30
sec(default)
Example PULSE OT# (10) T=0.60

Function Sets input signals in variables.

B<variable number>
IN# (<input number>),
IGH# (<input group number>),
IG# (<input group number>),
OT# (<output number>),
OGH# (<output group number>),
OG# (<output group number>),
SIN# (<specific input number>),
SOUT# (<specific output number>)

DIN Format Number of addressed input signals:

IN#(xx)=1;IGH#(xx)=4(per group);
IG#(xx)=8(per group)

Number of addressed output signals:

OT#(xx)=1;OGH#(xx)=4(per group);
OG#(xx)=8(per group)

IGH#(xx) and OGH#(xx) are not subject to par-

ity check; only the binary specification is
allowed.
DIN B016 IN#(16)
Example
DIN B002 IG#(2)
Waits until the external input signal status matches the specified
Function
status.
IN# (<input number>),
WAIT IG# (<input group number>)
Format
<status>,B<variable number>
T=<time(sec)>
WAIT IN# (12)=ON T=10.00
Example
WAIT IN# (12)=B002
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■ I/O instructions
Outputs the specified voltage to the general-purpose analog out-
Function
put port.
AOUT AO# (<output port number>)
Format
<output voltage(V)> -14.1 to +14.0
Example AOUT AO# (2) 12.7

■ Control instructions
Jumps to the specified label or job. If a user coordinate system
Function number is specified, the job is executed using the coordinate sys-
tem indicated by that number when calling a relative job.
<label number>,JOB:<job name>,
JUMP IG# (<input group number>),
B<variable number>,
Format I<variable number>,D<variable number>
IF statement
UF#(<User coordinate system No.>) 1 to 24
Example JUMP JOB:TEST1 IF IN#(14)=OFF

Function Indicates a jump destination.

* <jump destination> 8 characters or
Format
(label) less
Example *123
Calls the specified job and execute it. If a user coordinate system
Function number is specified, the job is executed using the coordinate sys-
tem indicated by that number when calling a relative job.
JOB:<job name>,IG# (<input group number>),
B<variable number>,I<variable number>,
Format D<variable number>
CALL
IF statement
UF#(<User coordinate system No.>) 1 to 24
CALL JOB: TEST-1 IF IN# (24)=ON
CALL JOB: TEST-1 UF#(2)
Example CALL IG#(2)
(The job is called by the patterns of input signal. In this example,
Job 0 cannot be called.)
Function Returns to the called job.
RET IF statement
Format
Example RET IF IN#(12)=OFF

Function Declares the end of a job.

END
Format
Example END

Function No operation.
NOP
Format
Example NOP
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Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

■ Control instructions
Function Stops for the specified time.
TIMER T=<time(sec)> T:
Format
0.01 to 655.35
Example TIMER T=12.50
Evaluates the specified condition and makes a judgment accord-
Function ingly. Described after an instruction that specifies a certain action.
Format:<Item1>=,<>,<=,>=,<,><Item2>
IF
statement <Item1>
Format
<Item2>
Example JUMP *12 IF IN#(12)=OFF
Monitors the specified input signal during an action and stops the
Function action when the specified signal status is observed. Described
after an instruction that specifies a certain action.
UNTIL
statement IN# (<input number>)
Format
<status>
Example MOVL V=300 UNTIL IN#(10)=ON

Function Instructs a pause.

PAUSE IF statement
Format
Example PAUSE IF IN#(12)=OFF

Function Dispalys a comment entered on the job header display.

’
Format <comment>
(comment)
Example Draws 100mm size square.
Function Enables a specified interruption level.
0 to 255 for
<Interruption level> constants.
Format B <variable No.> When omitted,
EI LB <Local variable No.> all levels are
disabled.
EI LEVEL=1
Example EI LEVEL=B001
EI
Function Disables a specified interruption level.
0 to 255 for
<Interruption level> constants.
Format B <variable No.> When omitted,
DI LB <Local variable No.> all levels are
disabled.
DI LEVEL=1
Example DI LEVEL=B001
DI
Function Starts the TCP function
TL# (<Tool File Number>)
Then omitted,
TCPON Format the slave side
RB1, RB2 or RB3
starts the TCP
function.
Example TCPON RB1 TL#(1)
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■ Control instructions
Function Ends the TCP function
TL# (<Tool File Number>)
Then omitted,
TCPOF Format the slave side
RB1, RB2 or RB3
completesthe
TCP function.
TCPOF
Example
TCPOF RB1
Function Execute a search function
Direct IN No. 1
to 3.
RIN#(<direct IN No.>) = <status> Status=ON/
OFF
B <variable>
Direct IN sig-
T = <time in seconds> nal input check
SRCH Format
start delay time
A length of
passing over
the target point
DIS= <distance in mm>
specified by the
position type
variable.
Example MOVL P000 V=138 SRCH RIN#(1)=ON T=1.00 DIS=10.00

■ Shift instructions
Function Starts a shift operation.
P<variable number>, BF,RF,TF, BF:
UF#(<user coordinate number>), base coordi-
EX<variable number> nates
RF:
robot coordi-
SFTON
Format nates
TF:
tool coordinates
UF:
user coordi-
nates
Example SFTON P001 UF#(1)

Function Stops a shift operation.

SFTOF
Format
Example SFTOF
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Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

■ Shift instructions
Obtains the parallel shift value between the reference position and
the shift target position by the elements of the specified coordinate
system and in consideration of the Cartesian displacements and
Function
postural change, and stores the obtained element values in the
specified position variable.
Format:MSHIFT <Data1><Coordinate><Data2><Data3>
data1 PX<variable number>
coordi- BF,RF,TF, BF:
nate UF# (<user coordinate number>) base coordi-
nates
MSHIFT RF:
robot coordi-
nates
Format
TF:
tool coordinates
UF:
user coordi-
nates
data2 PX<variable numbe>
data3 PX<variable numbe>
Example MSHIFT PX000 RF PX001 PX002
Creates a user coordinate system using the position data of the
Function given three points as the definition point.
Format: MFRAME UF#(xx) <Data 1><Data 2><Data 3>
UF#(<User coordinat system No. 1>) 1 to 24
MFRAME Data 1 Definition point ORG position data
Format Data 2 Definition point xx position data
Data 3 Definition point xy position data
IF statement
Example MFRAME UF#(1) P001 P002 P003

■ Operating instruction
Adds Data1 and Data2, and stores the result in Data1.
Function
Format:ADD<Data1><data2>
Data1 Data1 must
ADD always be a
Format variable.
Data2
Example ADD I012 I013
Subtracts Data2 from Data1, and stores the result in Data1.
Function
Format:SUB<Data1><data2>
Data1 Data1 must
SUB always be a
Format variable.
Data2
Example SUB I012 I013
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■ Operating instruction
Multiplies Data1 by Data2, and stores the result in Data1.
Format:MUL<Data1><data2>

Data1 can be an element in a position variable.

Function
Pxxx(0):all axis data, Pxxx(1):X-axis data,
Pxxx(2):Y-axis data, Pxxx(3):Z-axis data,
MUL Pxxx(4):Tx-axis data, Pxxx(5):Ty-axis data,
Pxxx(6):Tz-axis data
Data1 Data1 must
always be a
Format variable.
Data2
MUL I012 I013
Example
MUL P000 (3) 2 (Multiply the Z-axis data by 2.)
Divides Data1 by Data2, and stores the result in Data1.
Format:DIV<Data1><data2>

Data1 can be an element in a position variable.

Function
Pxxx(0):all axis data, Pxxx(1):X-axis data,
Pxxx(2):Y-axis data, Pxxx(3):Z-axis data,
DIV Pxxx(4):Tx-axis data, Pxxx(5):Ty-axis data,
Pxxx(6):Tz-axis data
Data1 Data1 must
always be a
Format
variable.
Data2
DIV I012 I013
Example
DIV P000 (3) 2 (Divide the Z-axis data by 2)
Function Increments the value of the specified variable by 1.
INC B<variable number>,I<variable number>
Format
Example INC I043

Function Decrements the value of the specified variable by 1.

DEC B<variable number>,I<variable number>
Format
Example DEC I043
Obtains the AND of Data1 and Data2, and stores the result in
Function Data1.
Format:AND<Data1><data2>
AND
Data1 B<variable number>
Format
Data2 B<variable number>
Example AND B012 B020
Obtains the OR of Data1 and Data2, and stores the result in Data1.
Function
Format:OR<Data1><data2>
OR Data1 B<variable number>
Format
Data2 B<variable number>
Example OR B012 B020
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Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

■ Operating instruction
Obtains the NOT of Data1 and Data2, and stores the result in
Function Data1.
NOT Format:NOT<Data1><data2>
Data1 B<variable number>
Format
Data2 B<variable number>
Example NOT B012 B020
Obtains the exclusive OR of Data1 and Data2, and stores the result
Function in Data1.
XOR Format:XOR<Data1><data2>
Data1 B<variable number>
Format
Data2 B<variable number>
Example XOR B012 B020
Sets Data2 to Data1.
Function
Format:SET<Data1><data2>
Data1 Data1 must
SET always be a
Format variable.
Data2
Example SET I012 I020
Function Sets data to an element in a position variable.
P<variable number> (<element number>),
BP<variable number> (<element number>),
SETE
Format EX<variable number> (<element number>)
D<variable number>,
<double-precision integer type constant>
Example SETE P012 (3) D005
Function Extracts an element in a position variable.
D<variable number>
GETE P<variable number> (<element number>),
Format
BP<variable number> (<element number>),
EX<variable number> (<element number>)
Example GETE D006 P012 (4)
Sets a status variable to the specified variable.
Function
Saves the system variable as a user variable.
B<variable number>,I<variable number>,
D<variable number>,R<variable number>, User variable
PX<variable number>
GETS Format
$B<variable number>,$I<variable number>,
$D<variable number>,$R<variable number>, System variable
$PX<variable number>
GETS B000 $B000
Example GETS I001 $I[1]
GETS PX003 $PX001
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■ Operating instruction
Converts a pulse data position type data (Data2) into a (cartesian)
position variable of the specified coordinate system, and stores the
Function
converted variable in Data1.
Format:CNVRT<Data1><Data2><coordinate system>
Data1 PX<variable number>
Data2 PX<variable number>
BF:
base coordinate
system
RF:
robot coordi-
CNVRT nate system
Format TF:
BF,RF, TF,
tool coordinate
UF# (<user coordinate number>),
system
MTF
UF:
user coordinate
system
MTF:
master tool
coordinate sys-
tem
CNVRT PX000 PX001 BF
Example
CNVRT LPX000 LPX001 TF
Starting with the variable number in Data1, clears (sets to zero) as
Function many variables as specified by a number in Data2.
Format:CLEAR<Data1><Data2>
Data1 B<variable number>,I<variable
number>,
D<variable number>,R<variable
number>
Data2 <number of variable>,ALL,STACK ALL:Clears vari-
ables of the vari-
CLEAR able number in
Format Data1 and of all
the variable
numbers that
follow.
STACK:Clears
all variables in
the job call
stack.
CLEAR B000 ALL
Example
CLEAR STACK
Obtains the sine of Data2, and stores the result in Data1.
Function
Format:SIN<Data1><data2>
Data1 R<variable number> Data1 must
SIN always be a real
Format type variable.
Data2 <constant>,R<variable number>
Example SIN R000 R001 (Sets the sine of R001 to R000)
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Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

■ Operating instruction
Obtains the cosine of Data2, and stores the result in Data1.
Function
Format:COS<Data1><data2>
Data1 R<variable number> Data1 must
COS always be a real
Format type variable.
Data2 <constant>,R<variable number>
Example COS R000 R001 (Sets the cosine of R001 to R000)
Obtains the arc tangent of Data2, and stores the result in Data1.
Function
Format:ATAN<Data1><data2>
Data1 R<variable number> Data1 must
ATAN always be a real
Format type variable.
Data2 <constant>,R<variable number>
Example ATAN R000 R001 (Sets the arc tangent of R001 to R000)
Obtains the square root of Data2, and stores the result in Data1.
Function
Format:SQRT<Data1><data2>
Data1 R<variable number> Data1 must
SQRT always be a real
Format type variable.
Data2 <constant>,R<variable number>
Example SQRT R000 R001 (Sets the square root of R001 to R000)
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2. General-Purpose instructions
The following instructions are added when the General-application is used.

■ General-purpose instruction
Function Turns ON work tools ( work commands ).

TOOLON Format

Example TOOLON

Function Turns OFF work tools ( work commands ).

TOOLOF Format

Example TOOLOF

Function Starts weaving.

Format WEV# (< weaving condition file 1 to 16

WVON
number > )

Example WVON# WEV# (12)

Function Stops weaving.

WVOF Format

Example WVOF
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Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

3. Handling instructions
The following instructions are added when the Handling application is used.

Data variables are denoted with parentheses. In cases where multiple choices
are possible, all choices are listed. Select one choice only.

■ Handling instructions

Function Turns ON/OFF signals to the tool valves to open and close tools.

# (Device number) #1 or #2
Set when two manipulators
are used for handling.

(Tool Number) 1 to 4
Required

Format (Tool Output Status) ON or OFF

HAND
Required

ALL Valve simultaneous control

Used to turn tool valves 1
and 2 ON or OFF simulta-
neously if a 3P solenoid is
used.

HAND 1 ON
Example
HAND #1 1 OFF ALL

Monitors the sensor inputs used for handlling applications and out-
Function
puts the monitored results to variable $B06.

$B06 Result variable. Cannot be

displayed on screen.

# (Device number) #1 or #2
Set when two manipulators
are used for handling.

(Tool Sensor Number) 1 to 8

Format
HSEN Required
(Sensor Input Status) ON or OFF
Required

T=(signal waiting time) or T:0.01 to 655.35 seconds

FOREVER FOREVER: Unlimited
time. If omitted, T=0.

HSEN 1 ON FOREVER
Example HSEN #2 1 OFF
HSEN 1 ON T=10.00
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4. Spot welding instructions

The following instructions are added when the Spot Welding-application is used.

Data variables are denoted with parentheses. In cases where multiple choices are
possible, all choices are listed. Select one choice only.

■ Spot welding instructions

Function Presses a gun.
GUN # (<gun No.>) 1-8
Format T=<gun presing time (sec.)> 0.01-655.35
GUNCL ATT=<anticipator condition (sec.)> 0-655.35
MOVL V=1000 NWAIT
Example GUNCL GUN # (1) T=2.0 ATT=0.5
MOVL V=1000
Fuction Start up the welding sequence from gun pressure.
GUN # (<gun 1 No.>) 1-8
MODE=<gun 1 operation mode specifica- 0-4
tion>
WTM=<gun 1 welding condition> 1-255
Format GUN # (<gun 2 No.>) 1-8
SPOT MODE=<gun 2 operation mode specifica- 0-4
tion>
WTM=<gun 2 welding condition> 1-255
ATT=<anticipator condition (sec.)> 0-655.35
MOVL V=1000 NWAIT
Example SPOT GUN # (1) MODE=2 WTM=2 ATT=0.5
MOVL V=1000
Alernates short open and full open of a double stroke gun at
Function
any time than welding.
GUN # (<gun No.>) 1-8
Format LONG
STROKE
SHORT
MOVL V=1000
Example STROKE GUN #(1) LONG
MOVL V=1000
Verfies short open or full open status of a double stroke gun
Function
at any time other than welding.
GUN # (<gun No.>) 1-8
Format LONG
STRWAIT SHORT
MOVL V=1000
STROKE GUN # (1) LONG
Example
STRWAIT GUN # (1) LONG
MOVL V=1000
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Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

5. Arc welding instructions

The following instructions are added when the Arc Welding-application is used.

Data variables are denoted with parentheses. In cases where multiple choices
are possible, all choices are listed. Select one choice only.

■ Arc welding instructions

Function Turns the start signal to the welder (rectifier) ON.
ARCON (ARCSET must be set first)
ARCON ASF#(1) (Using an Arc Start File)
ARCON Format
ARCON AC=<> AVP=<> T=<> V=<>
(Setting each condition)
ARCON ASF#(1)
Example
ARCON AC=220 AVP=100 T=0.50 V=60 RETRY
Fuction Turns the start signal to the welder OFF.
ARCOF (ARCSET must be set first)
ARCOF AEF#(2) (Using an Arc End file)
ARCOF Format
ARCOF AC=<> AVP=<> T=<>
(Setting each condition)
ARCOF AEF#(2)
Example
ARCOF AC=160 AVP=70 T=0.50 ANTSTK
Function Welding condition setting instruction
ARCSET AC=<> AVP=<>
ARCSET Format
(Set conditions, speed analogue output)
Example ARCSET AC=200 AVP=100
Gradually changes welding values, used together with a
Function MOV instruction. Changes in the beginning of MOV instruc-
tion.
AC, AV = the
ARCCTS ARCCTS AC=<> AV=<> DIS=<> aimed values
Format
(Set conditions) DIS = during
this distance
Example ARCCTS AC=100 AV=16 DIS=100.0
Gradually changes welding values, used together with a
Function MOV instruction. Changes in the end of the MOV instruc-
tion.
AC, AV = the
ARCCTE ARCCTE AC=<> AV=<> DIS=<> aimed values
Format
(Set conditions) DIS = during
this distance
Example ARCCTE AC=100 AV=16 DIS=100.0
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6. Coordinated operation instructions

< > shows numbers or character data. When there are more than one
item in the additional item, choose one.

Function While coordinating the slave side with the master side, moves
to teaching position with linear interpolation. (Coordinated
move instruction to the slave side manipulator)

Addi- Position data, base axis position Not shown on the display
tional data
items
V=<Play speed> V: 0.1 to 1500.0 mm/sec
VR=<Play speed for posture> 0.6 to 9000.0 cm/min
VR: 0.1 to 180.0°/sec
SMOVL
PL=<Positioning level> PL: 0 to 4

UNTIL statement

NWAIT

+MOV instruction

Example SMOVL V=150

+MOVL

Function While coordinating the slave side with the master side, moves
to teaching position with circular interpolation. (Coordinated
move instruction to the slave side manipulator)

Addi- Position data, base axis position Not shown on the display
tional data
items
V=<Play speed> V: 0.1 to 1500.0 mm/sec
VR=<Play speed for posture> 0.6 to 9000.0 cm/sec
SMOVC VR: 0.1 to 180.0°/sec

PL=<Positioning level> PL: 0 to 4

NWAIT

+MOV instruction

Example SMOVC V=150 NWAIT

+MOVJ
MOTOMAN ROBOTICS AB
Operator’s manual MOTOMAN XRC Page: 17

Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

Function While coordinating the slave side with the master side, moves
by only the specified increments with linear interpolation.

Addi- P <Variable No.>, BP <Variable

tional No.>
items
V=<Play speed,> V: 0.1 to 1500.0 mm/sec
VR=<Play speed for posture>, 0.6 to 9000.0 cm/min
VS=<Speed at reach point> VR: 0.1 to 180.0°/sec
VS: 0.1 to 1500.0 mm/sec
0.6 to 9000.0 cm/min

SIMOV PL <Positioning level> PL: 0 to 4

UNTIL statement

NWAIT

+IMOV instruction

Example SIMOV P000 V=138 PL=1

+IMOV P001

SIMOV P001 BP002

+IMOV P000

Function During coordinated movement, specifies a reference point

such as wall point for weaving. (Reference point instruction to
the slave side manipulator)

Addi- Position data, base axis position Not shown on the display
tional data
SREFP items
<Reference point No.> Wall point 1 for weaving:
1
Wall point 2 for weaving:
2

Example SREFP 1

Function The master side moves to the teach position with joint move-
ment. This instruction should always be placed after a coordi-
nated move instruction (individual movement). (Coordinated
move instruction to the master side manipulator)

Addi- Position data, Not shown on the display

tional base axis position data,
+MOVJ
items station axis position data

VJ=<Play speed (%)> Effective in parameter

setting

Example MOVL=138 PL=0

+MOVJ
 MOTOMAN ROBOTICS AB
Page: 18 Operator’s manual MOTOMAN XRC
Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

Function The master side moves to the teach position with linear inter-
polation. This instruction should always be placed after a coor-
dinated move instruction (coordinated movement, individual
movement). (Coordinated move instruction to the master side
manipulator)

Addi- Position data, base axis position data, station axis position
tional data
+MOVL items
V=<Play speed> Effective in parameter
setting

Example SMOVL V=276

+MOVL

MOVL V=276
+MOVL

Function The master side moves by only the specified increment with
linear interpolation.

Addi- P <Variable No.>, BP <Variable

tional No.>
items
V=<Play speed>, V: 0.1 to 1500.0 mm/sec
VR=<Play speed for posture>, 0.6 to 9000.0 cm/min
VE=<Play speed of external VR: 0.1 to 180.0°/sec
axes>, VE: 0.01 to 100.00 %
VS=<Speed at reach point> VS: 0.1 to 1500.0 mm/sec
+IMOV 0.6 to 9000.0 cm/min

BR, RF, TF, UF# BF: Base coordinate

(<User coordinate Nos.> ) RF: Robot coordinate
TF: Tool coordinate
UF: User coorcinate

Example IMOV P000 V=138 PL=1 RF

+IMOV P001

SIMOV P001 BP002

+IMOV P000

Function Starts coordinated shift movement.

Addi- <Robot axis position variable>

SSFTON tional
item

Example SSFTON P000

Function Stops coordinated shift movement.

Addi- None
SSFTOF tional
item

Example SSFTOF
MOTOMAN ROBOTICS AB
Operator’s manual MOTOMAN XRC Page: 19

Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

Function Starts coordinated weaving.

Addi- WEV# 1 to 16
SWVON tional (<Weaving condition file No.>)
item

Example SWVON WEV#(3)

Function Stops coordinated weaving.

Addi- None
SWVOF tional
item

Example SWVOF
 MOTOMAN ROBOTICS AB
Page: 20 Operator’s manual MOTOMAN XRC
Created: 99-02-10 Revised: 99-05-06 Doc. name: Mrs50060-ch1.fm

7. Independent control instructions

< > shows numbers or character data. When there are more than one
item in the additional item, choose one.

Function Starts a job.

Addi- JOB: <Job name>

tional
items SUB1, SUB2 Sub task that is started

SYNC Added to following side

task
PSTART
IF statement

Example PSTART SUB1

PSTART JOB:TEST-1 SUB1

Remarks If the job name is omitted, the master job registered in the
selected task is started.

Function Waits for completion of subtask.

Addi- SUB1, SUB2 Subtask waiting for com-

PWAIT tional pletion
item

Example PWAIT SUB1

Function Clears the data stored in the mail boxes for the task.

Addi- MB Mail boxes for the task

tional
items ALL Mail boxes for all the
tasks
CLEAR
Example CLEAR MB
CLEAR MB ALL

Remarks Without ALL, the mail boxes (2) for the task are cleared.
With ALL, the mail boxes (6) for all the tasks are cleared.

Function Synchronizes tasks.

Addi- <Synchronous signal> 1 to 32

TSYNC tional
item

Example TSYNC 1
Notes
Headquarters:
Sweden MOTOMAN Robotics Europe AB
Box 504, SE-385 25 Torsås, Sweden
Tel: +46-486-48800, +46-486-41410

Group companies:
France MOTOMAN Robotics SARL
Rue Nungesser et Coli, D2A Nantes-Atlantique, F-44860 Saint-Aignan-de-Grand-Lieu, France
Tel: +33-2-40131919, Fax: +33-40754147
Germany MOTOMAN Robotec GmbH
Kammerfeldstraße 1, DE-85391 Allershausen, Germany
Tel: +49-8166-90-0, Fax: +49-8166-90-103
Germany MOTOMAN Robotec GmbH
Im Katzenforst 2, DE-61476 Kronberg/Taunus, Germany
Tel: +49-6173-60-77-30, Fax: +49-6173-60-77-39
Great Britain MOTOMAN Robotics UK (Ltd)
1 Swan Industrial Estate, Banbury, OXON OX16 8DJ, England
Tel: +44-1295-272755, Fax: +44-1295-267127
Italy MOTOMAN Robotics Italia SRL
Via Emilia 1420/16, IT-41100 Modena, Italy
Tel: +39-059-280496, Fax: +39-059-280602
Netherlands MOTOMAN benelux B.V
Zinkstraat 70, NL-4823 AC Breda, Netherlands
Tel: +31-76-5424278, Fax: +31-76-5429246
Slovenia RISTRO d.o.o.
Lepovce 23, SI-1310 Ribnica, Slovenia
Tel: +386-61-861113, Fax: +386-61-861227
Spain MOTOMAN Robotics España S.A.
Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), Spain
Tel: +34-93-6303478, Fax: +34-93-6543459
Sweden MOTOMAN Mecatron Robotic Systems AB
Box 4004, SE-390 04 Kalmar, Sweden
Tel: +46-480-444600, Fax: +46-444699

Distributors:
Czech Republic MGM Spol s.r.o.
Trebízského 1870, CZ-39002 Tábor, Czech Republic
Tel: +420-361-254571, Fax: +420-361-256038
Denmark Robia A/S
Hjulmagervej 4, DK-7100 Vejle, Denmark
Tel: +45-79428000, Fax: +45-79428001
Finland Robia Suomi OY
Messinkikatu 2, FI-20380 Turku, Finland
Tel: +358-22145600, Fax: +358-22145660
Greece Kouvalias Industrial Robots
25, El. Venizelou Ave., GR-17671 Kallithea, Greece
Tel: +30-1-9589243-6, Fax: +30-1-9567289
Hungary REHM Hegesztéstechnika Kft.
Tápiószele, Jászberényi út 4., H-2766, Hungary
Tel: +36-30-9510065, Fax: +36-1-2562012
Israel KNT Engineering Ltd.
9 Hapalmach Street, IL-Kfar Azar 55905, Israel
Tel: +972-35351945, Fax: +972-03535943
Norway ROBIA ASA
Industriveien 1, NO-3300 Hokksund, Norway
Tel: +47-32252820, Fax: +47-32252840
Portugal Electro-Arco S.A.
Rua Vice-Almirante Azevedo Coutinho 4, Venda Nova, PT-2700 Amadora, Portugal
Tel: +351-21-4968160, Fax: +351-21-4990319
South Africa Robotic Systems S.A. PTY Ltd
P.O Box 90741, ZA-Bertsham 2013, South Africa
Tel: +27-11-4943604, Fax: +27-11-4942320
Switzerland Messer SAG
Langweisenstrasse 12, CH-8108 Dällikon, Switzerland
Tel: +41-18471717, Fax: +41-18442432

MOTOMAN ROBOTICS EUROPE AB

a subsidiary of YASKAWA Electric Corporation