Motoman XRC Controller

Search Function
Manual
for UP/SKX-Series Robots

Part Number: 142639-1

Release Date: November 28, 2006
Document Status: Final

Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
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The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.

©2006 by MOTOMAN
All Rights Reserved

Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
 TABLE OF CONTENTS
Section Page
1 INTRODUCTION
1.1 About this Document .................................................................................................... 1-1
1.2 Reference to Other Documentation................................................................................ 1-1
1.3 Customer Service Information ...................................................................................... 1-1
2 SAFETY
2.1 Introduction .................................................................................................................. 2-1
2.2 Standard Conventions .................................................................................................. 2-2
2.3 General Safeguarding Tips............................................................................................ 2-4
2.4 Mechanical Safety Devices ........................................................................................... 2-4
2.5 Installation Safety ......................................................................................................... 2-5
2.6 Programming Safety ..................................................................................................... 2-5
2.7 Operation Safety ........................................................................................................... 2-6
2.8 Maintenance Safety....................................................................................................... 2-7
3 SEARCH FUNCTION
1 Search Function ............................................................................................................ 1-1
2 Wiring........................................................................................................................... 2-1
3 Instructions................................................................................................................... 3-1
4 Registration of Instructions........................................................................................... 4-1
5 Alarm List ..................................................................................................................... 5-1
6 Instruction List.............................................................................................................. 6-1

MOTOMAN i Search Function

 NOTES

Search Function ii MOTOMAN

 SECTION 1
INTRODUCTION
1.1 About this Document
This manual provides instructions for the Search Function and contains the
following sections:
SECTION 1 – INTRODUCTION
General information about this manual, a list of reference documents, and
customer service information.
SECTION 2 – SAFETY
Provides information for the safe use and operation of Motoman products.
SECTION 3 – SEARCH FUNCTION
Provides detailed instructions to utilize the Search Function.

1.2 Reference to Other Documentation

For additional information refer to the following:
• Concurrent I/O Parameters Manual (P/N 142102-1)
• Operator’s Manual for General Purpose (P/N 142099-1)
• Operator’s Manual for Handling (P/N 142100-1)
• Operator’s Manual for Spot Welding (P/N 142101-1)
• Operator’s Manual for Arc Welding (P/N 142098-1)
• Motoman UP6, XRC Manipulator Manual (P/N 142104-1)
• Motoman SK16X, XRC Manipulator Manual (P/N 142105-1)
• Motoman SK45X, XRC Manipulator Manual (P/N 142106-1)
• Motoman UP130, XRC Manipulator Manual (P/N 142107-1)

1.3 Customer Service Information

If you are in need of technical assistance, contact the Motoman service staff at
(937) 847-3200. Please have the following information ready before you call:
• Robot Type (UP6, SK16X, etc.)
• Application Type (welding, handling, etc.)
• Robot Serial Number (located on the back side of the robot arm)
• Robot Sales Order Number (located on back side of XRC controller)

MOTOMAN 1-1 Search Function

INTRODUCTION

NOTES

Search Function 1-2 MOTOMAN

 SECTION 2
SAFETY
2.1 Introduction
.

It is the purchaser's responsibility to ensure that all local, county,

state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.

We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not been
trained!
We recommend that all personnel who intend to operate, program, repair, or use
the robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)

MOTOMAN 2-1 Search Function

SAFETY

2.2 Standard Conventions

This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
• DANGER
• WARNING
• CAUTION
• NOTE
Pay particular attention to the information provided under these headings which
are defined below (in descending order of severity).

DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent hazards
that, if not avoided, will result in immediate, serious personal injury
or loss of life in addition to equipment damage.

WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards that
can result in personal injury or loss of life in addition to equipment
damage.

CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.
NOTE: Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.

Search Function 2-2 MOTOMAN

 SAFETY

2.3 General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General safeguarding
tips are as follows:
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also to
Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health
Standards for General Industry (OSHA).

2.4 Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user's responsibility. The conditions under which the equipment
will be operated safely should be reviewed by the user. The user must be aware of
the various national codes, ANSI/RIA R15.06 safety standards, and other local
codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following safety
measures are available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

MOTOMAN 2-3 Search Function

SAFETY

2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The
following suggestions are intended to supplement, but not replace, existing federal,
local, and state laws and regulations. Additional safety measures for personnel and
equipment may be required depending on system installation, operation, and/or
location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local
codes, and ANSI/RIA R15.06 safety standards are permitted to install the
equipment.
• Identify the work envelope of each robot with floor markings, signs, and
barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
• Eliminate areas where personnel might get trapped between a moving robot
and other equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.

2.6 Programming Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Programming tips are
as follows:
• Any modifications to PART 1 of the MRC controller PLC can cause severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. YOUR
WARRANTY WILL BE VOID if you use these special passwords.
• Back up all programs and jobs onto a floppy disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before any service procedures are done and before any
changes are made to options, accessories, or equipment.
• The concurrent I/O (Input and Output) function allows the customer to
modify the internal ladder inputs and outputs for maximum robot
performance. Great care must be taken when making these modifications.
Double-check all modifications under every mode of robot operation to
ensure that you have not created hazards or dangerous situations that may
damage the robot or other parts of the system.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.

Search Function 2-4 MOTOMAN

 SAFETY
• Inspect the robot and work envelope to be sure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place.
• Check the E-STOP button on the teach pendant for proper operation before
programming.
• Carry the teach pendant with you when you enter the workcell.
• Be sure that only the person holding the teach pendant enters the workcell.
• Test any new or modified program at low speed for at least one full cycle.

2.7 Operation Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Operation tips are as
follows:
• Be sure that only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
are permitted to operate this robot system.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Ensure that all safeguards are in place.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.

MOTOMAN 2-5 Search Function

SAFETY

2.8 Maintenance Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Maintenance tips are
as follows:
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
• Back up all your programs and jobs onto a floppy disk whenever program
changes are made. A backup must always be made before any servicing or
changes are made to options, accessories, or equipment to avoid loss of
information, programs, or jobs.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• Be sure all safeguards are in place.
• Use proper replacement parts.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).

Search Function 2-6 MOTOMAN

 YASKAWA

YASNAC XRC OPTIONS

INSTRUCTIONS
SEARCH FUNCTION

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

MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-¨¨¨ INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL for BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

YASKAWA MANUAL NO. RE-CKI-A420

 MANDATORY
• This manual explains the search function of the YASNAC XRC. Read this
manual carefully and be sure to understand its contents before handling
the YASNAC XRC.

• General items related to safety are listed in Section 1: Safety of the

Setup Manual. To ensure correct and safe operation, carefully read the
Setup Manual before reading this manual.

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

• The drawings and photos in this manual are representative examples

and differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

resentative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your prod-
uct’s warranty.

ii
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”,or ”PROHIBITED”.

Indicates a potentially hazardous situation which, if not avoided,

WARNING could result in death or serious injury to personnel.

Indicates a potentially hazardous situation which, if not avoided,

CAUTION could result in minor or moderate injury to personnel and dam-
age to equipment. It may also be used to alert against unsafe
practices.

Always be sure to follow explicitly the items listed under this

M A N D A T O R Y heading.

PROHIBITED Must never be performed.

Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.

N OT E To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.

iii
 WARNING
• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.

Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.

Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON

Injury may result from unintentional or unexpected manipulator motion.

TURN

Release of Emergency Stop

• Always set the Teach Lock before entering the robot work envelope to
teach a job.

Operator injury can occur if the Teach Lock is not set and the manipulator is started from
the playback panel.

• Observe the following precautions when performing teaching operations

within the working envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no persons are present in the manipulator’s work envelope

and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations

Injury may result if anyone enters the working envelope of the manipulator during opera-
tion. Always press an emergency stop button immediately if there are problems.The
emergency stop button is located on the right side of both the YASNAC XRC playback
panel and programming pendant.

iv
 CAUTION
• Perform the following inspection procedures prior to conducting manip-
ulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the XRC cabinet
after use.

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

• Read and understand the Explanation of the Alarm Display in the setup
manual before operating the manipulator.

Definition of Terms Used Often in This Manual

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

Equipment Manual Designation

YASNAC XRC Controller XRC

YASNAC XRC Playback Panel Playback Panel

YASNAC XRC Programming Pendant Programming Pendant

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

Equipment Manual Designation

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

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

ex. page key

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

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

Keys pressed When two keys are to be pressed simultaneously,

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

Displays The menu displayed in the programming pendant is

denoted with { }.
ex. {JOB}

Playback Panel Buttons Playback panel buttons are enclosed in brackets.

ex. [TEACH] on the playback panel

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.

vi
1 Search Function

2 Wiring
2.1 Direct IN Signal Connection to XRC . . . . . . . . . . . . . . . .2-1
2.2 Confirmation of Direct IN Signal Status . . . . . . . . . . . . .2-2
2.2.1 RIN Input Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

3 Instructions
3.1 SRCH (Search Instruction) . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.2 GETS (System Variable Fetch Instruction) . . . . . . . . . .3-1
3.2.1 System Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.3 CNVRT (Position Type Variable Conversion Instruction)
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.3.1 PX Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3

4 Registration of Instructions
4.1 SRCH Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
4.2 GETS Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.3 CNVRT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3

5 Alarm List

6 Instruction List

vii
viii
1 Search Function

The search function moves the manipulator to a specified position and stops it when a speci-
fied direct input signal comes ON.
Position data at the point the manipulator stops can be taken-in. This information can be used
with other instructions, for instance, to obtain the distance from a goal position and modify
operation accordingly.

<Example> A manipulator performs a handling operation of panels.

1. The manipulator moves to the search starting position.

Panel
Search
starting
position

Stocker

2. The manipulator moves to the goal position in the search operation at low-speed.
When the manipulator comes to the position to take the panel, a input signal (Direct-IN
signal) from the sensor comes ON, then the manipulator stops. At this moment, the
difference between the search starting position and the detected position is calculated.

Direct IN signal

1-1
3. On the base of the calculated difference, the program is modified to proceed the oper-
ation.

1-2
 2.1 Direct IN Signal Connection to XRC

2 Wiring

The output signal of the sensor is connected to the direct-input signal input port of XRC. The
signal input from this port is called a direct IN signal.
The output signal of the sensor can be connected via a sequencer to the direct-input signal
input port. However, in this case, variation due to the scanning timing of the sequencer may
be caused. Therefore, it is recommended to connect the output signal of the sensor directly to
the port of XRC.

2.1 Direct IN Signal Connection to XRC

Connect the direct IN signal to the XRC in the following manner.

1. Turn the breaker handle of XRC to the OFF position to turn OFF the main power sup-
ply.
2. Remove the CN06 connector of the I/O contactor unit, then make connection as shown
in Fig. 1.
(Fig.1 shows the connection diagram for a direct IN signal DIN1. For direct IN signals
DIN2 to 4, refer to Fig. 2.)
3. Install the CN6 connector to the I/O contactor unit.

Breaker I/O contactor unit

handle JZNC-XIU01 Tool for removal
231-131
CN06

1
2 3
4
5
6
7
8
9
10

CN06 Connector (WAGO)

XRC

Fig 1 Direct IN Signal DIN1 Connection Diagram

2-1
2.2 Confirmation of Direct IN Signal Status

CN06
1
DIN1+
Sensor 1
à 5mA 2
DIN1-
3
DIN2+
Sensor 2
à 5mA 4
DIN2-
5
DIN3+
Sensor 3
à 5mA 6
DIN3-
7
DIN4+
8
DIN4-

NOTE:DIN4 can not be used for SEARCH function.

Fig 2 Direct IN Signals Connection Diagram

2.2 Confirmation of Direct IN Signal Status

Check the status of direct-input signal on the RIN input status display.

2.2.1 RIN Input Status Display

Operation

Select {IN/OUT} under the top menu Select {RIN}*1

Explanation
*1 The RIN input status display is shown.
{l} indicates the ON status of direct IN signal.
{¡} indicates the OFF status of direct IN signal.

DATA EDIT DISPLAY UTILITY

L
RIN INPUT R1 C S
RIN #001 DIRECT IN1
RIN #002 DIRECT IN2
RIN #003 DIRECT IN3
RIN #004 DIRECT IN4

2-2
 3.1 SRCH (Search Instruction)

3 Instructions

3.1 SRCH (Search Instruction)

The SRCH is an instruction to execute the search function. It is set as an additional item to
the move instruction.

Format : MOVL <position type variable> <V = Speed> SRCH RIN# (direct IN No. ) =
<status><T = time> DIS = <distance>

<Position type variable>: Robot position type variable

<Speed>: Control point speed (Set a speed for the object to be searched)
<Direct IN No.>:1 to 3
<Status> : Status of direct IN No.
ON or OFF, or B type variable
<Time>: Direct IN signal input check start delay time (in units of 0.01 s)
Before the starting point detecting unit relay is switched (to 200 V), direct IN may be
input continuously. Therefore, T must be set to 0.1 s or longer.
<Distance> : Specifies a length of passing over the target point specified by the position
variable, in units of 0.1 mm, 0 to 6553.4 mm

3.2 GETS (System Variable Fetch Instruction)

Save the system variable ($ variable) as a user variable.

XRC can not use system variables directly for operating instructions. Use GETS instruction to
fetch the values as a user variable.

Format : GETS <user variable> <system variable>

• The user and the system variables must be of the same type.
<Example>GETS B000 $B000
• Position type variable can be specified by only PX variables.
• PX variables are position type variables that are defined in a job. In a job for a single
manipulator, PX000 equals to P000.

3-1
3.3 CNVRT (Position Type Variable Conversion Instruction)

3.2.1 System Variables

The GETS is the only instruction that refers to system variables written by the controller sys-
tem.

System Variable Type Explanation

$B002 : Specifies detected/not detected of

$B type B type the SRCH instruction
0 : Not detected 1 : Detected

$PX000 : Current pulse

$PX002 : Detecting position pulse
$PX011 : REFP1 pulse

$PX type PX type

$PX018 : REFP8 pulse
$PX021 : SREFP1 pulse

$PX028 : SREFP8 pulse

3.3 CNVRT (Position Type Variable Conversion

Instruction)

The CNVRT is an instruction to convert a pulse data position type variable into a Cartesian
data position type variable using a specified coordinate system.

Format : CNVRT <PX variable> <PX variable> <coordinate system>

B A
<PX variable (A)> : Pulse data
<PX variable (B)> : Cartesian data (the converted Cartesian data are stored.)
<Coordinate system> : Base coordinate system : BF
Robot coordinate system : RF
Tool coordinate system :TL
User coordinate system : UF
Master tool coordinate system : MTF

Specifying the master tool coordinate system is to convert into a relative position with the
master manipulator when the coordinated system is set.

3-2
 3.3 CNVRT (Position Type Variable Conversion Instruction)

3.3.1 PX Variables
The PX variables are a group of position type variables that are defined by the control group
specified in the job header.

• When the control group is R1, PX000 indicates P000.

• When the control group is R1 + B1, PX000 indicates P000 and BP000.
• When the control group is R1 + B1 + ST1, PX000 indicates P000, BP000 and EX000.
• When the control group is R1 + R2 + B1 + B2 + ST1 and the master in the coordinated job
is R1 + B1, PX000 incidates the following variables.

P000 : R2 (slave)

P001 : R1 (master)

BP000 : B2 (slave)

BP001 : B1 (master)

EX000 : ST1

3-3
3.3 CNVRT (Position Type Variable Conversion Instruction)

3-4
 4.1 SRCH Instruction

4 Registration of Instructions

4.1 SRCH Instruction

Operation

Move the cursor to the instruction area Move the cursor to the move instruction where
SRCH instruction is to be registered Press [SELECT] two times*1 Select {UNTIL}
Select {SRCH}*2 Set each item on the detail edit display of SRCH instruction
Press [ENTER]*3 Press [ENTER] two times*4

Explanation
*1 Press [SELECT] once to display the contents registered in the job in the input buffer
line. Press [SELECT] once more, and the detail edit display of the move instruction is
shown.

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
MOVL
SPEED V= 500
POS LEVEL PL= 0
NWAIT UNUSED
UNTIL UNUSED

=> MOVL V=500 PL=0

!

*2 The detail edit display of SRCH instruction is shown.

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
SRCH
DIRECT INPUT RIN#(%) 1
NAME =
INPUT STATUS ON
TIME T =0.10
DISTANCE DIS=10.0

=> SRCH RIN #(1)=ON T=0.10 DIS=10.0

!

*3 Returns to the detail edit display of the move instruction.

*4 Press [ENTER] once to display the set contents in the input buffer line. Press [ENTER]
once more, and the set contents are registered in the job.

4-1
 4.2 GETS Instruction

4.2 GETS Instruction

Operation

Move the cursor to the address area Move the cursor to the line where GETS instruc-
tion is to be registered Press [INFORM LIST]*1 Select {GETS}*2 Press
[ENTER] two times*3 Set variables in the detail edit display of GETS instruction
Press [ENTER] two times*4

Explanation
*1 The instruction list dialog is displayed. The cursor moves to the instruction list dialog
while the cursor in the address area changes to an under bar.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:010 TOOL:0
0018 MOVJ VJ=12.50 OR
0019 MOVJ VJ=50.00 NOT
0020 MOVL V=100 SRCH RIN#1= XOR
MFRAME
0021 MOVL V=50 SETE
0022 MOVL V=50 GETE
0023 MOVL V=100 GETS
0024 MOVJ VJ=100.00
=> OR B000 0
!

*2 At this stage, the instruction on the cursor position is diaplayed with the previously reg-
istered additional items in the input buffer line.
J:TEST S:010 TOOL:0
0018 MOVJ VJ=12.50 OR
0019 MOVJ VJ=50.00 NOT
0020 MOVL V=100 SRCH RIN#(1)= XOR
MFRAME
0021 MOVL V=50 SETE
0022 MOVL V=50 GETE
0023 ARCOF AEF#(1) GETS
0024 MOVJ VJ=100.0
=> GETS B000 $B000

*3 The detail edit display of GETS instruction is shown.

JOB EDIT DISPLAY UTILITY
L
DETAIL EDIT R1 C S
GETS
PUT TO B000
GET FROM $B000

=> GETS B000 $B000

!

*4 Press [ENTER] once to display the set contents in the input buffer line. Press [ENTER]
once more, and the set contents are registered in the job.

4-2
 4.3 CNVRT Instruction

4.3 CNVRT Instruction

Operation

Move the cursor to the address area Move the cursor to the line where CNVRT instruc-
tion is to be registered Press [INFORM LIST]*1 Select {CNVRT}*2 Press
[ENTER] two times*3 Set variables on the detail edit display of CNVRT instruction
Press [ENTER] two times*4

Explanation
*1 The instruction list dialog is displayed. The cursor moves to the instruction list dialog
while the cursor in the address area changes to an under bar.
JOB EDIT DISPLAY UTILITY
L
JOB CONTENT R1 C S
J:TEST S:010 TOOL:0
0018 MOVJ VJ=12.50 CNVRT
0019 MOVJ VJ=50.00 SET
0020 MOVL V=100 SRCH RIN#1= OR
NOT
0021 GETS PX000 $PX002 XOR
0022 MOVL V=50 MFRAME
0023 MOVL V=50 SETE
0024 MOVL V=100
=> CNVRT PX000 PX000 BF
!

*2 At this stage, the instruction on the cursor position is displayed with the previously reg-
istered additional items in the input buffer line.
J:TEST S:010 TOOL:0
0018 MOVJ VJ=12.50 CNVRT
0019 MOVJ VJ=50.00 SET
0020 MOVL V=100 SRCH RIN#(1)= OR
NOT
0021 GETS PX000 $PX002 XOR
0022 MOVL V=50 MFRAME
0023 MOVL V=50 SETE
0024 MOVL V=100
=> CNVRT PX000 PX000 BF

*3 The detail edit display of CNVRT instruction is shown.

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
CNVRT
DESTINATION PX000
SOURCE PX000
COORDINATE BF

=> CNVRT PX000 PX000 BF

!

*4 Press [ENTER] once to display the set contents in the input buffer line. Press [ENTER]
once more, and the set contents are registered in the job.

4-3
4.3 CNVRT Instruction

4-4
5 Alarm List

Alarm
Message Cause Remedy
No.

WRONG CON- A jump call was made to a job Call job to the control
TROL GROUP which is different from the control group which includes
4474
AXIS group. the control group to be
called.

UNDEFINED An undefined position data was Define the position data.

4499 POSITION VARI- used.
ABLE

REFP POS The distance between the search Reset the alarm and
ERROR start point and target point was increase the distance
4507
(SEARCH too short to determine the search between the search start
MOTION) direction. point and target point.

5-1
5-2
6 Instruction List

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

Function Executes a search function.

Addi- RIN#(<direct IN No.>) = <status> Direct IN No. :

tional 1 to 3
item Status : ON,
OFF, B <vari-
able No.>

T = <timežs> Direct IN sig-

nal input
SRCH check start
delay time

DIS = <distancežmm> A length of

passing over
the target
point speci-
fied by the
position type
variable

Example MOVL P000 V=138 SRCH RIN#(1)=ON T=1.00 DIS=10.0

Function Saves the system variable as a user variable.

Addi- B <variable No.>, I <variable No.>, User variable

tional D <variable No.>, R <variable No.>,
items PX <variable No.>
GETS $B <variable No.>, $I <variable No.>, System vari-
$D <variable No.>, $R <variable No.>, able
$PX <variable No.>
Example GETS B000 $B000
GETS I001 $I[1]
GETS PX003 $PX001

6-1
 Function Converts a pulse data position type data of Data 2 into a Carte-
sian data position type variable using a specified coordinate
system, then saves in Data 1.
Format : CNVRT <Data 1><Data 2> coordinate system

Addi- Data 1 PX <variable No.>

tional
items Data 2 PX <variable No.>

BF, RF, TF, UF# (<user coordinate sys- BF:Base

temNo.>) ,MTF coordinate
system
RF : Robot
CNVRT coordinate
system
TF : Tool
coordinate
system
UF : User
coordinate
system
MTF : Master
tool coordi-
nate system

Example CNVRT PX000 PX001 BF

CNVRT LPX000 LPX001 TF

6-2
YASNAC XRC OPTIONS
INSTRUCTIONS
SEARCH FUNCTION

TOKYO OFFICE
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105-6891, Japan
Phone 81-3-5402-4511 Fax 81-3-5402-4580
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
MOTOMAN INC. TROY FACILITY
1050 S. Dorset, Troy, OH 45373, U.S.A.
Phone 1-937-440-2600 Fax 1-937-440-2626
YASKAWA MOTOMAN CANADA LTD.
2280 ARGENTIA ROAD, MISSISSAUGA, ONTARIO, L5N 6H8, CANADA.
Phone 1-905-813-5901 Fax 1-905-813-5911
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Germany.
Phone 49-6196-569-300 Fax 49-6196-888-301
Motoman Robotics AB
Box 504 S38525 Torsås, Sweden
Phone 46-486-48800 Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeldstraβe1,85391 Allershausen, Gemany
Phone 49-8166-900 Fax 49-8166-9039
YASKAWA ELECTRIC KOREA CORPORATION
Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-282-3003 Fax 65-289-3003
YATEC ENGINEERING CORPORATION
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING OFFICE
Room No. 301 Office Building of Beijing Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone 86-21-6553-6600 Fax 86-21-6531-4242
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
TAIPEI OFFICE
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083
Phone 86-10-6233-2782 Fax 86-10-6232-1536
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone 86-10-6788-0551 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

YASKAWA

Specifications are subject to change without notice MANUAL NO. RE-CKI-A420

for ongoing product modifications and improvements. C Printed in Japan February 1999 99-2