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Any reproduction or alteration of this product is prohibited without the consent of

MUSASHI ENGINEERING, Inc.

Microsoft and Windows are registered trademarks of Microsoft Corporation in the United States and other
countries.

Other company names and product names used in this document are trademarks or registered
trademarks of their respective companies.

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1 Introduction ........................................................................ 12
1.1 Introduction .................................................................................. 12
1.2 Setting of the Desktop Robot Type ................................................ 12
1.3 Working Environment ................................................................... 13
1.4 Installation ................................................................................... 13
1.5 Launching..................................................................................... 14
1.6 Exit............................................................................................... 15
1.7 Uninstallation............................................................................... 15
1.8 How to Connect to Desktop Robot ................................................. 16
1.8.1 Connection Diagram ...................................................................... 16
1.8.2 Driver Installation (ΩX /SX Series Only) ........................................ 17
1.8.3 Connection Setting ........................................................................ 17
2 MuCADV............................................................................. 22
2.1 Functions ...................................................................................... 22
2.2 Command, Program, Project ......................................................... 23
2.3 New Functions .............................................................................. 23
2.3.1 Support Desktop Robot ΩX/SX Series ............................................ 23
2.3.2 Mu-Sketch .................................................................................... 23
2.4 Compatibility with MuCAD and MuPRO Files .............................. 24
3 Main Screen ........................................................................ 25
3.1 Overview ...................................................................................... 25
3.2 Screen Configuration .................................................................... 25
3.3 Basic Operations ........................................................................... 26
3.3.1 Creating New Projects ................................................................... 26
3.3.2 Opening a Project .......................................................................... 26
3.3.3 Saving a Project ............................................................................ 27
3.3.4 Printing ........................................................................................ 27
3.3.5 Undo/Redo .................................................................................... 27
3.3.6 Display of Instruction Manual ....................................................... 27
3.4 Toolbar List................................................................................... 28
4 CAD Screen ......................................................................... 29
4.1 Overview ...................................................................................... 29
4.2 Screen Display Methods ................................................................ 29
4.3 Screen Configuration .................................................................... 29
4.4 List of Icons .................................................................................. 30

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4.5 Creating a Graphic Object............................................................. 31
4.5.1 Creating a Graphic Object ............................................................. 31
4.5.2 Creating a Special Object .............................................................. 32
4.6 Editing a Graphic Object............................................................... 37
4.6.1 Selection of a Graphic Object ......................................................... 37
4.6.2 Cut/Copy/Paste/Delete ................................................................... 38
4.6.3 Move/Transform/Duplicate by Dragging ......................................... 38
4.6.4 Starting the Editing Dialog of Graphic Objects ............................... 39
4.6.5 Sub channelization ........................................................................ 39
4.6.6 Processing Tools ............................................................................ 41
4.6.7 Divide object into same size pieces ................................................. 46
4.6.8 Batch Processing ........................................................................... 47
4.7 Pattern Processing ........................................................................ 49
4.7.1 Copy ............................................................................................. 49
4.7.2 Transformation (Flip/Rotate/Stretch) ............................................. 50
4.7.3 Pattern Generator ......................................................................... 55
4.7.4 Coating gap adjuster ..................................................................... 58
4.8 Drawing Support Functions .......................................................... 59
4.8.1 Zoom ............................................................................................. 59
4.8.2 Ruler............................................................................................. 59
4.8.3 Nozzle Position .............................................................................. 60
4.8.4 Tracking........................................................................................ 61
4.8.5 Crosshair Cursor ........................................................................... 61
4.8.6 Auxiliary Line ............................................................................... 62
4.8.7 Grid .............................................................................................. 62
4.8.8 Snap ............................................................................................. 63
4.8.9 Legend .......................................................................................... 64
4.8.10 Selecting an Application Start Point .............................................. 64
4.8.11 Opening the Program Screen ......................................................... 64
4.9 External Graphic Data .................................................................. 64
4.9.1 DXF Data/Gerber Data .................................................................. 65
4.9.2 How to Import External Graphic Data ........................................... 65
4.9.3 Show/Hide External Graphic ......................................................... 66
4.9.4 CAD Objects Imported as External Graphics.................................. 66
4.9.5 Usage after Import ........................................................................ 67

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 4.10 Image Files ................................................................................... 67
4.10.1 Import Methods for Images............................................................ 67
4.10.2 Correction of Image Display Position ............................................. 70
4.10.3 Correction of Image Transmittance ................................................ 70
4.10.4 Lens Distortion Compensation Function ........................................ 70
4.11 Generate Application Program from DXF file ................................ 72
4.11.1 Supported DXF Object ................................................................... 72
4.11.2 Screen Composition ....................................................................... 73
4.11.3 Procedure ...................................................................................... 74
4.11.4 Inserting of CH Call Before Starting Application and After Ending
Application.................................................................................... 75
4.11.5 Deploying Block ............................................................................ 75
4.12 Generating Application Program from Gerber Data ...................... 76
4.12.1 Supported Gerber Format .............................................................. 76
4.12.2 Screen Composition ....................................................................... 77
4.12.3 Procedure ...................................................................................... 78
4.12.4 Setup of CH Call Destination for Each Aperture ............................. 79
4.12.5 Copying and Pasting of CH Number .............................................. 79
4.12.6 Saving the Selection Status (Export) .............................................. 79
4.12.7 Reproduce the Selection Status Saved Previously (Import) ............. 79
4.12.8 Setup of Offset Amount for Each Aperture ..................................... 80
4.13 Generating Application Program from Coordinate Data ................ 81
4.13.1 Read File Format .......................................................................... 81
4.13.2 Screen Composition ....................................................................... 82
4.13.3 Procedure ...................................................................................... 83
5 Program Screen .................................................................. 84
5.1 Overview ...................................................................................... 84
5.2 Screen Display Methods ................................................................ 84
5.3 Screen Configuration .................................................................... 84
5.4 Command Input ............................................................................ 85
5.5 Command Editing ......................................................................... 87
5.5.1 Cut/Copy/Paste/Delete ................................................................... 87
5.5.2 STEP Insertion ............................................................................. 88
5.5.3 STEP Splitting .............................................................................. 89
5.5.4 ABS/INC Conversion ..................................................................... 90

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 5.5.5 I/O Value Conversion ..................................................................... 91
5.5.6 Subchannelization ......................................................................... 92
5.6 Copy and Paste Using Excel .......................................................... 93
5.6.1 Pasting from MuCADV to Excel ..................................................... 93
5.6.2 Pasting Dispensing Programs in Excel into the Program Screen ..... 94
6 3D Locus Screen.................................................................. 95
6.1 Overview ...................................................................................... 95
6.2 3D Locus Screen Configuration ..................................................... 96
6.3 Screen Display Methods ................................................................ 97
6.4 View Setup.................................................................................... 97
6.5 Operation of 3D Locus Screen ....................................................... 98
6.5.1 Display Switching of 3D Locus Screen............................................ 98
6.5.2 Mouse Operations on the 3D Locus Screen ..................................... 98
6.6 Run Debug Function ..................................................................... 98
6.7 Run Time Calculation Function ................................................... 100
7 Channel List ......................................................................101
7.1 Overview ..................................................................................... 101
7.2 Screen Configuration ................................................................... 101
7.3 Creation of New Channels ........................................................... 102
7.4 Edit of Channels .......................................................................... 102
7.4.1 Cut/Copy/Paste/Delete ................................................................. 102
7.4.2 Comment Edit/Channel Number Change/Edit Lock ...................... 103
7.4.3 Display of CAD Screen/Program Screen/3D Locus Screen ............. 103
7.5 File Input and Output .................................................................. 103
7.5.1 Text Input and Output................................................................. 103
7.5.2 Channel List File Output............................................................. 104
7.5.3 Import of Channels from .mc5 Files ............................................. 104
7.6 Sending and Running Channels ................................................... 104
7.6.1 Sending a Channel ...................................................................... 104
7.6.2 Running a Channel ..................................................................... 105
7.6.3 Generate Special Channel ........................................................... 105
8 Communication Controller.................................................106
8.1 Overview ..................................................................................... 106
8.2 Startup Method ........................................................................... 106
8.3 Screen Configuration ................................................................... 107

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 8.4 About JOG/STEP mode ................................................................ 108
8.5 Channel Data............................................................................... 108
8.5.1 Sending and Receiving Channel Data .......................................... 110
8.5.2 Running a Channel ..................................................................... 111
8.5.3 Delete Channel (ΩX/SX series only) ............................................. 112
8.5.4 Test Shot (ΩX/SX series only)....................................................... 112
8.6 Speed Setup ................................................................................. 113
8.7 IO Monitor ................................................................................... 114
8.8 Teaching Pendant ........................................................................ 114
9 Test Run Program (Test Mode) ......................................... 116
9.1 Overview ..................................................................................... 116
9.2 Compatible robots ....................................................................... 116
9.3 Startup Method ............................................................................ 116
9.3.1 Start from the "Channel Data" dialog box ................................... 116
9.3.2 Start from the channel list ........................................................... 117
9.4 Screen Configuration .................................................................. 117
9.5 Operation Method........................................................................ 118
9.6 Unavailable commands ............................................................... 119
10 Editing Dispenser Settings (MuCOM lite) .........................120
10.1 Overview ..................................................................................... 120
10.2 How to Connect with Target Dispenser ........................................ 120
10.3 Connecting with a Dispenser........................................................ 120
10.3.1 Connection Type A (USB Connection) ......................................... 120
10.3.2 Connection Type B (USB Connection) .......................................... 121
10.3.3 Connection Type C (RS-232C Connection) .................................... 122
10.4 Startup Procedures ...................................................................... 122
10.5 Screen Configuration ................................................................... 123
10.6 MuCOM lite Environment Settings .............................................. 125
10.6.1 Overview ..................................................................................... 125
10.6.2 Setting Procedures ...................................................................... 125
10.6.3 Screen Configuration ................................................................... 125
10.7 Sending/Receiving Dispenser Settings.......................................... 126
10.7.1 At MuCOM lite Startup ............................................................... 126
10.7.2 Batch Sending/Receiving of All Settings ....................................... 126
10.7.3 Sending/Receiving of Each Item Group ........................................ 126

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 10.7.4 Sending/Receiving Only the Selected Channel .............................. 126
10.7.5 Changing the Current Channel of the Dispenser .......................... 127
10.8 Editing Items ............................................................................... 127
10.8.1 Editing Numeric Values and Character Strings ............................ 127
10.8.2 Selecting from Options ................................................................ 127
10.8.3 Batch Setting of Items ................................................................. 128
10.8.4 Copy/Pasting a Set Value ............................................................. 129
10.9 Saving and Importing Settings..................................................... 130
10.9.1 Saving Settings ........................................................................... 130
10.9.2 Importing Settings ...................................................................... 130
10.10 Displaying/Hiding Channel Items ................................................ 130
11 Configuration .....................................................................132
11.1 Overview ..................................................................................... 132
11.2 Startup Method ........................................................................... 132
11.3 Communication............................................................................ 133
11.4 Coordinate System ....................................................................... 134
11.5 Automatic Programming .............................................................. 135
11.6 Image Data .................................................................................. 136
11.7 IO Name ...................................................................................... 137
11.8 CAD Screen Display (1)................................................................ 139
11.9 CAD Screen Display (2)................................................................ 140
11.10 Program Screen Display............................................................... 141
11.11 Print Settings .............................................................................. 141
11.12 Other ........................................................................................... 142
12 Command Reference ..........................................................143
12.1 Command List ............................................................................. 143
12.2 Details ......................................................................................... 145
12.2.1 How to View Each Command ....................................................... 145
12.2.2 PTP MOTION ............................................................................. 146
12.2.3 PTP SPEED ................................................................................ 146
12.2.4 RETURN .................................................................................... 147
12.2.5 SELECT RTN. ............................................................................ 147
12.2.6 RETURN W ................................................................................ 147
12.2.7 MATRIX...................................................................................... 148
12.2.8 STRAIGHT1 ............................................................................... 149

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12.2.9 Line ............................................................................................ 151
12.2.10 STRAIGHT2 ............................................................................... 152
12.2.11 ELBOW ...................................................................................... 153
12.2.12 SQ.BRACKET ............................................................................. 154
12.2.13 SQUARE ..................................................................................... 156
12.2.14 TRACK ....................................................................................... 157
12.2.15 ARC1 .......................................................................................... 158
12.2.16 Curve .......................................................................................... 159
12.2.17 Circle .......................................................................................... 160
12.2.18 ARC2 .......................................................................................... 161
12.2.19 ARC3 .......................................................................................... 162
12.2.20 ELLIPT.ARC ............................................................................... 163
12.2.21 SPLINE ...................................................................................... 164
12.2.22 3D ARC ....................................................................................... 166
12.2.23 3D Curve 2 .................................................................................. 167
12.2.24 3D ELL.ARC ............................................................................... 168
12.2.25 3D Curve 1 .................................................................................. 169
12.2.26 ARC＋Ｗ ..................................................................................... 169
12.2.27 STRING OUT.............................................................................. 171
12.2.28 TIMER ........................................................................................ 173
12.2.29 REPEAT ..................................................................................... 174
12.2.30 JUMP ......................................................................................... 174
12.2.31 CALL CH. ................................................................................... 175
12.2.32 CALL STEP ................................................................................ 175
12.2.33 STOP .......................................................................................... 175
12.2.34 Jump END .................................................................................. 176
12.2.35 BLANK ....................................................................................... 176
12.2.36 WAIT IN ..................................................................................... 176
12.2.37 WAT.IN LAP ............................................................................... 177
12.2.38 WAT.IN UP ................................................................................. 177
12.2.39 IN JUMP .................................................................................... 178
12.2.40 TIM.IN.JMP................................................................................ 178
12.2.41 WAIT.TIM.IN .............................................................................. 179
12.2.42 BIN.IN.JMP ................................................................................ 180
12.2.43 Binary IN.................................................................................... 180

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12.2.44 BCD IN JMP ............................................................................... 181
12.2.45 BCD IN ....................................................................................... 181
12.2.46 OUT............................................................................................ 182
12.2.47 TIM.OUT .................................................................................... 183
12.2.48 Pulse .OUT ................................................................................. 184
12.2.49 SET OUT .................................................................................... 184
12.2.50 FLICKER OUT ........................................................................... 185
12.2.51 BINARYOUT .............................................................................. 186
12.2.52 BCD OUT ................................................................................... 187
12.2.53 COUNT BCD TIMER OUT .......................................................... 188
12.2.54 COUNT OUT .............................................................................. 188
12.2.55 RESET OUT ............................................................................... 189
12.2.56 DIS BCD OUT............................................................................. 189
12.2.57 OFFSET...................................................................................... 190
12.2.58 THETA COR. .............................................................................. 191
12.2.59 SET VAR. .................................................................................... 191
12.2.60 ADD.VAR .................................................................................... 192
12.2.61 ADD.C.VAR................................................................................. 192
12.2.62 PAR ADD V ................................................................................. 193
12.2.63 ADD PAR V ................................................................................. 193
12.2.64 VAR.MOTION ............................................................................. 194
12.2.65 SET COUNT ............................................................................... 194
12.2.66 BCDSET C .................................................................................. 195
12.2.67 IN COUNT SET .......................................................................... 195
12.2.68 COUNT+..................................................................................... 196
12.2.69 COUNT UP ................................................................................. 196
12.2.70 IN.COUNT+ ................................................................................ 197
12.2.71 IN.COUNT UP ............................................................................ 197
12.2.72 RESET CNT................................................................................ 198
12.2.73 IN RST.CNT ................................................................................ 198
12.2.74 CMPR.C.JMP .............................................................................. 199
12.2.75 COUNT JUMP ............................................................................ 200
12.2.76 SET PAL.1 .................................................................................. 201
12.2.77 SET PAL.2 .................................................................................. 202
12.2.78 P.SET .......................................................................................... 203

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 12.2.79 CEL.MOTION ............................................................................. 204
12.2.80 P.MOVE ...................................................................................... 204
12.2.81 PALLETIZE ................................................................................ 205
12.2.82 P.RETURN .................................................................................. 205
12.2.83 TEST SHOT ................................................................................ 206
12.2.84 RESET TEST SHOT.................................................................... 206
12.2.85 NOZZLE REF POS ...................................................................... 207
12.2.86 NOZZLE ADJUSTMENT............................................................. 207
12.3 BCD ............................................................................................. 208
12.4 Binary Format ............................................................................. 209
13 Troubleshooting ................................................................. 211
13.1 Robot-Related .............................................................................. 211
13.1.1 MuCOM lite-Related ................................................................... 213
13.1.2 MuCOM lite Error Messages ....................................................... 214
13.2 Communication Error .................................................................. 215
14 List of Shortcut Keys .........................................................219

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1 Introduction
1.1 Introduction
MuCADV is application pattern making/editing software for the desktop robot ΩX/SX
series / Ω series/DS series/100S-01/Alpha series/ CROSS MASTER Ωx/SX series With
MuCADV, the following operations become available:
・ List display of programs, efficient command input with various editing functions
・ Intuitive creation of application programs by direct editing of application result
simulations
・ High transformation functions such as rotation or flipping of application patterns
・ Application program operation confirmation/debug by operating the robot in
virtual space
・ Data transmission/reception with the desktop robot
・ Creation of application programs based on existing drawings with DXF/Gerber
data
・ Transmission/Reception of dispenser setting data

1.2 Setting of the Desktop Robot Type

There is no support for some of the commands for the Ω series/DS
series/100S-01/Alpha series desktop robot (see P.143 "Command Reference" regarding
support for commands). Therefore, it is necessary to set the type of the robot to connect
with MuCADV.See P.142 "11 Configuration 11.12 Other" for setting methods for the
robot type.

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1.3 Working Environment
MuCADV can be used after installing in a PC that satisfies the following conditions.
OS Windows R 10、Windows R 8.1、Windows R 7
CPU Pentium4 2GHz equivalent or higher
Memory 512MB or higher (1GB or higher recommended)
Display XGA (1024x768) or higher resolution
HDD free space 100MB or more
1 or more free USB port (during communication)*1
Required during communication with the SHOTMASTER ΩX/SX
USB port
series and CROSS MASTER ΩX/SX series, and during
communication with dispenser
1 or more free serial port (during communication) *2
Required during communication with the SHOTMASTER Ω
Serial port
/DS/100S-01 series and during communication with dispenser
(Use of a USB-Serial converter is available)
*1 Two ports are required when connecting a dispenser and robot by USB connection at the same time.

*2 Two ports are required when connecting a dispenser and robot by RS-232C (serial) connection at the

same time.

1.4 Installation
MuCADV can be installed with the following procedure.
(1) Insert the CD-ROM media of
MuCADV in the drive.

(2) MuCADV Setup starts automatically.

*If it does not start, execute the
setup program by double-clicking
[setup] > [setup.exe] in the folder..

(3) First, install the drivers for the SX

series. Follow the screen
instructions to install them.

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 (4) After the drivers are installed, the
MuCADV installation starts.

(5) The End User License Agreement is

displayed. Read the content
carefully, and only if you can agree
to all conditions select "Agree to
conditions of EULA", and click the
[Next] button.

(6) Content to install is displayed. If

there is no problem, click the [Install]
button and start installation.

(7) Sometimes a "User account control"

dialog appears during the process.
Click the [Yes] button and continue
installation.
(8) Click the [Finish] button to complete
installation.

1.5 Launching
When installation is completed correctly,
"MuCADV" is added to programs in the
Start menu of Windows. Click [MuCADV]
to launch MuCADV.

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1.6 Exit
To quit MuCADV, click on the [x] button in the top right of the window, or select [File] >
[Exit] from the menu.

1.7 Uninstallation
If you want to uninstall MuCADV, perform uninstallation with the following procedure.
(1) Run "Windows [Control Panel] - [Programs and Features]".
(2) Select and right click [MuCADV] to show a menu, and then click [Uninstall] in the
menu.

Programs and Features screen Confirmation screen

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1.8 How to Connect to Desktop Robot
1.8.1 Connection Diagram

For connecting with a dispenser, see P. 120 "Connecting with a Dispenser".

■ΩX /SX Series

Communication between the PC on which MUCAD V is installed and the desktop robot
OmΩegaX/SX series is made with the USB connection.

USB(A Type) USB(B Type)

USB connection diagram

■Other than ΩX /SX Series

Communication between the PC on which MuCADV is installed and the desktop robot
Ω/DS series/100S-01 is made with the RS-232C (serial) connection.

USB cable

Special cable

D-SUB15 pin (Omega/DS series)

D-SUB9 pin D-SUB9 pin (100S-01)

RS-232C (serial) connection diagram

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 1.8.2 Driver Installation (ΩX /SX Series Only)

Drivers for the ΩX /SX series are installed automatically during installation. (Ver.3.0.0 and
higher)

1.8.3 Connection Setting

When performing communication between the PC on which MuCADV is installed and the
desktop robot Ω series/DS series/100S-01/Alpha series, it is necessary to set the COM
port number used for communication, the baud rate and the time for timeout processing.
These settings are not necessary when performing communication between the PC and
desktop robot ΩX/SX series.

▪ Confirming COM No. and setting COM

It is necessary to set the COM port number that connected PC and desktop robot Ω
series/DS series/100S-01/Alpha series in MuCADV. Confirmation of the COM port
number to which the desktop robot is connected and its setting in MuCADV can be
performed with the following procedure.

▪ Confirmation method for COM port number connected to the desktop robot
To confirm COM port number connected to the desktop robot Ω series/DS
series/100S-01/Alpha series, there are 2 ways. One is the way which uses COM port
search function of MuCADV. The other is the way which confirms COM port number
manually. Confirm the COM port number with either way and set it in MuCADV.

The way which uses COM port search function of MuCADV

(1) Start MuCADV and select [File] > [Configuration] from the menu.
(2) After confirming whether the power of desktop robot is ON and whether the desktop robot
and
PC is connected correctly, click the [Search for COM Ports] button.
(3) The screen shown below is displayed and search for available COM port starts.

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(4) After COM port search ends and the combination of available COM port and baud rate is
detected, the screen shown below is displayed. “Hit Counts” represents the number of
combination of available COM port and baud rate which are detected.

From the combo box on the center of screen, it is possible to select the setting which you
want to use from the detected combination of COM port and baud rate.
By clicking [Set the selected COM Ports], the selected value is set in the [COM Number]
and [Communication Speed] of Configuration dialogue.
When the combination of available COM port and baud rate can’t be found after the COM
port search, the screen shown below is displayed.

Confirm contents shown below and perform operations from (2) again.
・ The desktop robot and PC are connected correctly?
・ The correct connection cable is used?
・ The connection cable isn’t disconnected?
・ The power of robot is ON?
・ When the RS-232C-to-USB conversion device is used, the driver of conversion
device is installed correctly?
(5) Reflect the setting by clicking the [OK] or [Apply] button at the bottom of the [Configuration]
screen.

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The way which confirms COM port number manually
(1) Remove the cable connecting PC and desktop robot. When the RS-232C-to-USB
conversion cable is used to connect the desktop robot and PC, remove the USB
cable from the PC.
Click Windows "[Control Panel] > [System] > [Device Manager]"

Device Manager Display

(2) Click [Ports ] in Device Manager, and confirm items in [Ports].

(3) Connect PC and desktop robot; turn on the power of the desktop robot.
(4) Open Device Manager again, and run [Action] > [Scan for hardware changes].
(5) Clicking [Ports ] in Device Manager again will show the new item.
This becomes the COM port used for communication with the desktop robot, and the
number displayed at the end ("COM1" in the figure below) becomes the COM port
number used for communication between desktop robot and PC.

▪ About change of COM port number

The COM port number is automatically assigned by Windows, but the user can change
the number manually. Change the COM number with the following procedure.
(1) Open the Properties screen for the COM port where you want to change the COM
port number.

(2) In the [Port Settings] tab, click the [Advanced] button.

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 (3) From the combo box of [COM Port Number], select the COM port number you want to
set and click the [OK] button.

▪ On problems with defective drivers

When the communication driver to be used is not
correctly installed, communication is not possible
between PC and desktop robot. Confirmation is
required whether a driver is installed correctly.
State where a driver is incorrectly
When a question "?" or “!” mark like the one in the
hardware list in Device Manager in the figure on installed
the right is displayed, the communication driver is
not correctly installed. Reinstall the
communication driver.

▪ MuCADV communication settings

After confirming/setting the COM number, set MuCADV for communication. The
communication setting includes the COM number setting and baud rate setting.

(1) Launch MuCADV, from the menu click [File] > [Configuration].

Communication setup screen

(2) Set the COM number set in Device Manager to [Serial Port to be Used].
(3) Set the baud rate. Set the baud rate to the baud rate set in the desktop robot.
(4) Set the time for the communication timeout processing.

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▪ Connection check
The following method can be used to check whether MuCADV is connecting with the
desktop robot.
(1) Launch MuCADV with the procedure described in P.14
Introduction Launching.
(2) Click [File] > [Communication Controller] from the menu, or click
the [Communication Controller] button on the toolbar .
(3) Click the [△] button in [XY], and if the robot moves the desktop
robot and MuCADV are connected correctly. If it does not move,
see P.211 "Troubleshooting".

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2 MuCADV
2.1 Functions
MuCADV consists of a program function, a CAD function, a 3D display function,
communication function, and channels list function. This instruction manual mainly
describes these 5 functions.
Function Name Details
CAD function A function to draw/edit application shape with a
(See P.29 "CAD Screen") mouse. You can edit programs intuitively and
efficiently because this function allows you to directly
edit simulation results of application programs. In
addition, this function enables advanced
transformation operations such as rotation or flipping
of application patterns.
Program function A function to create an application program by
(See P.84 "Program directly inputting commands. You can grasp the
Screen") overall program because this function shows a list of
commands in the application program.
3D display function A function to show application processes in 3D.You
(See P.95 "3D Tracking can check/debug operations using robot operation
Screen") simulations in a virtual space, or calculate the
execution time of application programs.
Channel list function A function to manage channels. You can perform
(See P.101 "Channel List") operations such as copying channels or exporting
channels to a text file.
Communication function A function for serial communication between PC and
(See P.106 "Communication desktop robot with RS-232C or USB.In addition to
Controller") sending/receiving channel data, you can set robot
parameters such as speed data.

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2.2 Command, Program, Project
A command is a command for operating the desktop robot. For a list of commands and
details of those commands, see P.143 "Command Reference Command List", and P.145
"Command Reference Details", respectively.
A program consists of one or more commands to achieve some goal. Furthermore, a
project is a group of programs.

MuCADV saves one project in one .mc5 format file.

A unique channel is assigned to each program within a project. Step numbers are
assigned to commands within a program from 1 in order.

Command Program Project

2.3 New Functions

2.3.1 Support Desktop Robot ΩX/SX Series

MuCADV supports desktop robot ΩX/SX series. You can program for application more
effectively with new commands of desktop robot ΩX/SX series.
The communication method between the PC which is installed MuCADV and the desktop
robot ΩX/SX series is USB.

2.3.2 Mu-Sketch

Mu-Sketch function for designation dispensing locus with handwriting is added in

MuCADV.
When you perform application handwriting characters or illustration, you can design
dispensing locus instinctively.

23
2.4 Compatibility with MuCAD and MuPRO

Files
MuCAD/MuPRO project files (except some formats) can be opened with MuCADV. The
table below shows the compatibility with MuCADV.
Used Application File Extension Importing with MuCADV

MuCAD .mpj Possible

MuCAD II for α .mcd Possible

MuCAD IV/MuCAD III for Ω .mc3 Possible

MuPRO .mu1, .mu2, .mu3 Possible

24
3 Main Screen
3.1 Overview
When MuCADV is launched, the main screen is displayed as shown in the figure below.

④
1

⑤
1

3.2 Screen Configuration

Item Description

① Menu Various types of operations can be run from the menu.

② Toolbar Buttons for functions that are called often are placed at the top of the screen as

toolbars. For the content of each button, see P.28 "Main Screen Toolbar List".

You can freely move and reposition the toolbar by dragging the part of the toolbar

circled in red in the figure below.

25
 Item Description

③ Status bar The following 3 information items are displayed in the status bar.

・ Descriptions regarding menu items/toolbar buttons

・ Mouse cursor coordinates on the CAD screen

・ Set Robot

・ Total number of steps in the project

④ Channel This is the area for managing the application program. For details, see P.101 "Channel

data List".

⑤ CAD screen This is the screen for creating/editing application programs visually. For details, see

P.29 "CAD Screen".

⑥ Program This is the screen for creating/editing application programs by directly inputting

screen commands. For details, see P.84 "Program Screen".

⑦ 3D tracking This is the screen for simulating application programs created/edited on the program

screen screen. For details, see P.95 "3D Tracking Screen".

3.3 Basic Operations

This section explains the basic operation method of MuCADV.

3.3.1 Creating New Projects

To create a new project, either select [File] > [Create Project] from the menu, or click the
[Create Project] button .

3.3.2 Opening a Project

To open an existing project, either select [File] > [Open Project] from the menu, or click
the [Open Project] button on the file toolbar .
Also, projects can be opened by dragging and dropping the icon of mc5 files to the main
screen.

26
 3.3.3 Saving a Project

To save a project being edited to a file, select [File] > [Overwrite Save] or [Save as] from
the menu.
Also, a project can be overwritten and saved by clicking the [Overwrite Save] button
on the file toolbar.

3.3.4 Printing

To print the state of the CAD screen, program screen or 3D tracking screen, select the
screen you want to print, and select [File] > [Print] from the menu. Also, the printing
results can be confirmed in advance by selecting [File] > [Print Preview] from the menu.

To set printer and paper, select [File] > [Print Settings] from the menu. See P.141
"Configuration Print Settings"regarding setting of fonts etc. for printing.

3.3.5 Undo/Redo

To undo the last operation done by the user, or to restore the previous state, perform any
of the following.
・ Select [Edit] > [Undo] from the menu.
・ Click the [Undo] button on the Undo toolbar.
・ Press [Ctrl+Z].
Also, to restore an operation cancelled with [Undo], perform any of the following.
・ Select [Edit] > [Redo] from the menu.
・ Click the [Redo] button on the Undo toolbar.
・ Press [Ctrl+Y].

3.3.6 Display of Instruction Manual

This instruction manual can be opened by either selecting [Help] > [Instruction Manual]
from the menu, or by pressing the [F12] key.

27
3.4 Toolbar List
Create project Select

Open project Zoom

File Overwrite save Straight line 1

Communication Controller Dot

Baud rate setup Round, Arc 1

Undo Straight line 2

Undo / Redo
Redo Round, Arc 2

Add new channel Round, Arc 3

Display program screen Ellipse, Elliptical arc

Display CAD screen CAD tool STRING OUT

Channel
Display 3D tracking screen Elbow

Send selected channel Square bracket

Send/receive channel data Rectangle

Insert step Track

Program Switch ABS/INC Spline

Subchannelize pattern R

Snap to grid Mu-Sketch

Snap to object Fill in a rectangle

Snap to auxiliary line Fill in a ellipse

Snap to drawing Coating

Grid Display all

CAD utility
Image data Display vertical view

External graphic data Display horizontal view

3D tracking
Set 3D tracking display
Synchro speed function

switching Run time

Select / move Enlarge cursor Display all

Split line / arc Application midpoint

Selection Selection
cut
Comprehensive
cursor Start end point idle run cursor
application midpoint cut

Change travel path Dispenser MuCOM lite

28
 4 CAD Screen
4.1 Overview
The CAD screen is a screen for creation, editing and checking application programs
visually. It enables intuitive and efficient creation of programs.

4.2 Screen Display Methods

To display the CAD screen for a certain channel, select the channel from the channel list,
and click the [CAD Screen Display] button on the channel list toolbar, or press the
[F8] key.
Also, the CAD screen can also be displayed by selecting the target channel on the
channel list, and selecting [CAD Screen Display] from the right-click menu.

4.3 Screen Configuration

Ruler Canvas

Nozzle position

Grid

Crosshair cursor

29
4.4 List of Icons
Name Description

Select A mode to perform selection and split of graphic objects

Select / move A mode to perform selection, moving, transformation of graphic objects

Split line / arc A mode to perform split of graphic objects

Start end point idle run A mode to set idle run on the start and end point of graphic objects

Change travel path A mode to change application sequence

Application midpoint cut A mode to cut a middle range of an application track.

Comprehensive A mode to cut a middle range of multiple application tracks in a
application midpoint cut comprehensive manner.

Zoom A mode to zoom in/zoom out of CAD screen display

Display all A mode to display the entire application track

Straight line 1 A mode to draw straight lines

Dot A mode to draw dots

Round, Arc 1 A mode to draw circles/arcs

Straight line 2 A mode to draw straight lines

Round, Arc 2 A mode to draw circles/arcs

Round, Arc 3 A mode to draw circles/arcs

Ellipse, Elliptical arc A mode to draw ellipses/elliptical arcs

STRING OUT A mode to add String OUT

Elbow A mode to draw elbows

Square bracket A mode to draw square brackets

Rectangle A mode to draw rectangles

Track A mode to draw tracks

Spline A mode to draw splines

R A mode to set R

Mu-Sketch A mode to draw lines and curves by mouse dragging

Fill in a rectangle A mode to fill in specified rectangle

Fill in a ellipse A mode to fill in specified ellipse

Snap to grid Selects enable/disable snap to grid

Snap to object Selects enable/disable snap to object

Snap to auxiliary line Selects enable/disable snap to auxiliary line

Snap to drawing Selects enable/disable snap to drawing

30
 Grid Selects show/hide grid

Image data Selects show/hide image data

External graphic data Selects show/hide external graphic data

Synchro speed function Switches between enabling and disabling the function to
switching automatically insert the steps for synchro speed function.

4.5 Creating a Graphic Object

4.5.1 Creating a Graphic Object

A track drawn with a single application command is called a graphic object. This section
describes how to create a graphic object on the CAD screen.

(1) Select draw commands with any of the following methods.

・ Select a draw command from the menu among [CAD] > [Draw Commands].
・ Right-click places where nothing is displayed on the CAD screen to display the
menu, and select a draw command from among [Draw Commands].
・ Click a draw command from a button inside the CAD screen toolbar.
(2) Left-click on the CAD screen to specify the start point of a graphic object.
(3) Operate in accordance with the selected draw command. For details, see P.143
"Command Reference".

31
 4.5.2 Creating a Special Object

You can generate application specific program, such as “Fill in a specified region”, with
functions shown below.

(1) Mu-Sketch
About
You can create a program consists of lines and curves which approximates a track you
dragged with mouse.
To set the accuracy of approximation, select [File] > [Configuration] from the menu, and
select [CAD Screen display(3)].
Usage
Select button from the toolbar, or select [CAD] > [ Draw Commands] >
[Mu-Sketch] from the menu.
Then, drag on CAD screen to specify a track.

(2) Coating
About
You can create a program to coat area specified by mouse dragging.
Usage
Select [CAD] > [Draw Commands] > [Coating] from the menu.
Then, drag on CAD screen to specify area to coat.
After the dragging, a dialog shown below will appear and you can configure about
coating.
The meaning of each parameter is given below.

Coating area Coating area you specified by mouse dragging is

shown. To change area, change value in these boxes.
Approach run Set the length of approach run.
Pitch Set the distance between lines.
Pitch uniformization If area height (or width, if you check [X direction])) is
not dividable by pitch specified above, generated

32
 program cannot get to the end of the area. If you
check this control, pitch adjusted to area width is
dividable by which.
Use “Loop” command If you check this, “Loop” command is used to reduce
step counts.
X direction Set direction of movement.

33
(3) Fill in a rectangle
About
You can create a program to fill spirally in a rectangle specified by mouse dragging.
Usage
Select button from the toolbar, or select [CAD] > [ Draw Commands] > [Fill in a
rectangle] from the menu.
Then, drag on CAD screen to specify area to fill.
After the dragging, a dialog shown below will appear and you can configure about
filling.
The meaning of each parameter is given below.
Left, Right, Top, Bottom Area you specified by mouse dragging is shown. To
change area, change value in these boxes.
Width, Height Width and height of area you specified by mouse is
shown. To change size of area, change value in
these boxes.
Pitch Set the distance between lines.
Pitch uniformization If area height or width is not dividable by pitch
specified above, generated program cannot get to
the end of the area. If you check this control, pitch
adjusted to area width is dividable by which.
Start position and direction Set start position and direction.

34
(4) Fill in an ellipse
About
You can create a program to fill spirally in an ellipse specified by mouse dragging.
Usage
Select button from the toolbar, or select [CAD] > [ Draw Commands] > [Fill in an
ellipse] from the menu.
Then, drag on CAD screen to specify area to fill.
After the dragging, a dialog shown below will appear and you can configure about
filling.
The meaning of each parameter is given below.
Center The coordinate of center of the area specified by
mouse dragging is shown. To change the position of
the area, change value in these boxes.
Radius The half of width and height of the area specified by
mouse dragging is shown. To change the size of
area, change value in these boxes.
Pitch Set the distance between lines.
Use circle If you check this control, “Arc1” command is used
instead of “Ellipse Arc” command.
Subchannelize If you check this control, generated program is
output as sub-channel .
Periphery → Center Make the filling toward the center from the
periphery.
Center → Periphery Make the fill towards from the center to the
periphery.

35
 (5) Synchro speed function
Overview
This function automatically inserts a step for synchro speed function for the line to be
drawn.

Use condition
The synchro speed function can be used only for the following combination:
Applicable robot SX / ΩX

Supported dispenser MJET-4 / MSD-3

Usage
Click the button in the toolbar or select [Environment settings] > [Automatic
programming] and check [Automatically inserts SS function ON/OFF steps].
When this function is enabled, the color of the icon changes as follows.

Status Icon display

Disabled

Enabled

Use the drawing command to create a graphic object on the CAD screen.
Steps for the synchro speed function are inserted automatically onto the drawing start
and end points.

SS function start step

SS function end step

36
4.6 Editing a Graphic Object
4.6.1 Selection of a Graphic Object

To enter selection mode, click the [Selection] button on the toolbar or press the
[ESC] key, and then click the [Select / Move] button on the toolbar. Selection mode
is used to select, move and transform graphic objects.

A graphic object can be selected either by clicking the object with the mouse or by
dragging around the object.
When you select an object by mouse click, only the clicked object is selected. On the
other hand, when you select objects with mouse drag, only the portion inside the
rectangle that can be drawn with a single stroke starting from the point first entered in the
rectangle is selected. If a portion of the drawing is outside the rectangle, the drawing after
the portion is not selected even if it is inside the rectangle. Also, if both start and end
points of the graphic object do not exist in the selected area, then the object cannot be
selected. The dispensing command needs to be completed within the selected area.
Also, you can switch between select/deselect of the graphic object by clicking the graphic
object while pressing the [Ctrl] key. However, if switching select/deselect will result in the
selected object to be not drawn in a single stroke, then the operation is disabled.

Select a shape Only the portion that can be drawn

with a single stroke is selected.

37
 4.6.2 Cut/Copy/Paste/Delete

A selected graphic object can be cut/copied/deleted. Each operation can be performed

with the following methods.
・ Select any operation from the [Edit] menu.
・ Right-click the selected object on the CAD screens, and select any operation.
Also, cut/copied graphic objects can be pasted with the following methods.
・ Select [Edit] > [Paste] from the menu.
・ On the CAD screen, right-click the place where you want to paste, select [Paste].

4.6.3 Move/Transform/Duplicate by Dragging

By dragging a created graphic object, its placement can be moved or transformed. Also,
the graphic object can be moved/duplicated by right-dragging.

・Move

A graphic object can be moved horizontally by dragging its linear/curved portion. At that
time, graphic objects in front of or behind the graphic object can be transformed/moved.

・Transform

A graphic object can be transformed by dragging its end point. At that time, graphic
objects in front of or behind the graphic object can be transformed/moved.

38
・Duplicate

By right-dragging and dropping a selected

object, a menu like the one shown in the figure
is displayed.

Select [Move Here] to move the dragged object to that position.

Select [Copy to Here] to insert a copy of the dragged object to that position.

4.6.4 Starting the Editing Dialog of Graphic Objects

For graphic objects of some commands such as [Straight Line1] and [Circle, Arc1],
double-clicking any of them will show the editing dialog in order to set parameters of the
graphic object.

Regarding parameters in the editing dialog see P.143 "Command Reference".

4.6.5 Sub channelization

Sub channelization is a function to separate part of a channel currently being edited into
a separate channel.

By sub-channelizing operations and application patterns that are used often, it is possible
to reuse the processing on multiple channels.

Also, rotation and size stretching functions can be used on sub-channelized channels.
For details on these operations, see P.49 "CAD Screen Pattern Processing".

39
Sub-channelization procedure

(1) Follow P.37 "CAD Screen Graphic Object Selection" to select the graphic object you
want to sub-channelize.

(2) Sub-channelization can be performed by either right-clicking the selected object or

selecting [Pattern Sub-channelization] or by clicking the [Pattern Sub-channelization]
button on the toolbar. Pattern sub-channelization can also be performed with
[Ctrl+G].

Sub-channelization

(3) When sub-channelization is performed, the selected graphic object is moved to

another channel, and in the original channel, a channel call [CH. Call] command that
calls the moved channel is inserted.

Also, if the item "automatically convert coordinates to INC during sub-channelization"

is checked in the configuration, the sub-channelized object is completely converted to
INC coordinates. See P.135 "Configuration Automatic Programming".

40
 4.6.6 Processing Tools

・R
In the drawn figure, performs Add R with the following procedure.

(1) Click the [R] button on the toolbar.

(2) Input the R value. The units are mm.

(3) Select the vertex to add R.

Add R

Appearance of Add R

* Add R can be performed at the tangent of [Straight Line1] when there are 2 [Straight
Line1] in a continuous STEP on the program screen.
* Add R can be released by clicking the rectangle beside the inserted arc.

When Adding R at the tangent of [Straight Line1] in continuous STEP on the program
screen, the [Arc, Circle1] command is inserted between [Straight Line1] and [Straight
Line1].

41
・Split of line segment or arc

Splits a drawn graphic object such as line segment or arc at an optional position.

(1) Click the [Split Line Segment/Arc] button on the toolbar.

(2) When you select a graphic object such as line segment or arc, a rectangle showing
the split point is displayed.
(3) Create the split point by clicking the mouse at the position where you want to create it.

A rectangle “■” appears. A split point is created.

・Start end point idle run

The application start position and application end position for a line segment or arc to be
dispensed can be shifted.

(1) Click the [Start End Point Idle Run] button on the toolbar.
(2) Select an application start point or end point of a line segment or arc object.
The application start/end position can be moved.
(3) Click at the move destination. The application start or end position is shifted.

Shifted.
Select the application start or end point “■”.

42
・Change travel path

Travel path can be changed (switching edge point coordinates) by selecting 2 edge
points.

(1) Click the [Change Travel Path] button on the toolbar.

(2) Select the source edge point.
(3) Select the destination edge point.
(4) The travel path is changed.

Select the move destination

Select the move source

Before execution After execution

Before
execution

After
execution

Replaced
* Change of travel path is only enabled when ABS is set.

43
•Dot addition function
A dot can be added between any two dots in the middle of a dotted drawing.
(1) Click the dot icon .
(2) In the CAD screen, right-click the track of PTP movement to which you want to add a
dot.
(3) Select [Draw Command Insertion] > [Dot] from the popup menu.
(4) Click on the desired point. A dot is added.

（2）,(3)
(1)

（4）

44
・Application midpoint cut

Specify part of the application track, and the discharge signal can be turned off
temporarily for that part only.

(1) Click the [Application Midpoint Cut] button on the toolbar.

(2) Select the application midpoint cut target by clicking the line, or arc object.

(3) Click the start point and end point of the section to pause application.

(4) The object is segmented, and the dispensing signal goes OFF in the selected section.

Comprehensive application midpoint cut

The dispensing signal can be turned off temporarily only for a specified range of a
desired application track.
(1) Click the [Comprehensive Application Midpoint Cut] button from the toolbar.
(2) Select a range containing the line segment object subject to application midpoint cut.
(3) The application signal is turned off for the selected range.
(1)

(2)
Solid line: Application ON

Dotted line: Application OFF

(3)

45
 4.6.7 Divide object into same size pieces

You can divide “Line1” object and “Arc1” object into specified number of same size pieces.
(1) Select a “Line1” object or “Arc1” object on CAD screen.
(2) Select [Divide object into same size pieces] from the right-click menu.
(3) “Divide object into same size pieces” dialog will be shown, and enter the “Divide count”
value.

46
 4.6.8 Batch Processing

・Setting idle run

Idle run can be set at the start or end point of the entire created application program.
To perform the setting of idle run, select [CAD] > [Batch Operation] > [Idle Run Setting]
from the menu, and input the quantity of idle run in the "Idle Run Setting" dialog.

・Batch offset of coordinate value

Moves the entire created application program horizontally. This is effective when fine
adjusting the application position after application program creation.
To perform batch offset of coordinate values, select [CAD] > [Batch Operations] > [Batch
Offset of Coordinate Values] from the menu, and input the offset value in the "Coordinate
Offset" dialog.

47
・Batch R setting
For all points touching 2 continuous lines, Add R can be performed with the following
procedures.

(1) Click [CAD] > [Batch Operations] > [Batch R Setting] from the menu.
(2) Input the value of R in the displayed "R Value Batch Setting" dialog.

Batch R
setting

R Value Batch Setting dialog Appearance of R setting

48
4.7 Pattern Processing
Transformation and special operations are possible on sub-channel s created in the
procedure of P.92 "CAD Screen Subchannelization", and channels not including ABS
coordinates (see P.90 "Program Screen ABS/INC").

4.7.1 Copy

Apart from normal methods (see P.38 "CAD Screen Cut/Copy/Paste/Delete"),

sub-channel s can be copied with the following methods.

▪ Drag and drop form the channel list

You can copy a channel by selecting the channel you want to copy from the channel list,
then dragging and dropping it at the place where you want to paste it on the CAD screen.

▪ Right-drag of sub-channel start point

Right-drag the start point of the sub-channel on the CAD screen, the menu will be
displayed by releasing the button at the position where you want to move/copy.
Item Description

Move here Moves the sub-channel .

Copy here (insert pattern) Copies the sub-channel .

Copy here (save to a different Copies and calls dragged sub-channel content to a new channel.

sub-channel )

Copy here rotate to the right 90 degrees Copies the dragged sub-channel content to a new channel, and calls

Copy here rotate to the left 90 degrees those channels after performing various transformations.

Copy here, flip horizontally See P.50 "CAD Screen Transformation (Flip/Rotate/Stretch)" regarding

Copy here, flip vertically any transformation.

Copy here, rotate the specified angle

49
 4.7.2 Transformation (Flip/Rotate/Stretch)

The following 6 types of transformation operations can be performed on sub-channel s

created in the procedure of P.92 "CAD Screen Subchannelization", and channels not
including ABS coordinates (see P.90 "Program Screen ABS/INC").

11 commands shown below are objects of transformation operations.

・ PTP MOTION ・ ELLIPT.ARC

・ STRAIGHT１ ・ SPLINE

・ STRAIGHT２ ・ 3D ELL.ARC

・ ARC１ ・ 3D ARC

・ ARC２ ・ STRING OUT

・ ARC３

There are the following two methods to perform transformation operations:

・ Right-click the channel of the transformation target in the channel list, and select a
command in [Pattern Rotation].

・ Right-click the sub-channel start point on the CAD screen and select a command.

Also, by right-dragging the sub-channel start point on the CAD screen, a new channel
with transformation can be inserted into the dragged channel.

Image before transformation

50
・Rotate 90 degrees clockwise
Rotates the sub-channel 90
degrees clockwise centering on the
start point of the sub-channel .

・Rotate 90 degrees counterclockwise

Rotates the sub-channel 90
degrees counterclockwise centering
on the start point of the
sub-channel .

・Horizontal flip
Flips horizontally based on a
straight line parallel to the Y axis
passing through the sub-channel
start point.

・Vertical flip
Flips vertically based on a straight
line parallel to the X axis passing
through the sub-channel start
point.

51
 ・ Rotate the specified angle
Rotates the sub-channel the
specified angle counterclockwise,
centering on the start point of the
sub-channel .

・ Stretch
Stretches the sub-channel the
specified scale factor. At that time,
stretches based on the start point.

The following 3 points are precautions on pattern rotation.

Precaution 1 "Rotation" of patterns which include W axis travel (rotation)

Coordinate values within the pattern are all relative value (INC). Because the W axis
coordinate values (amount of rotation) are also relative value, in patterns which also
include W axis travel, the state of W axis within the pattern, and the coordinate values do
not change. As a result, the orientation of the W axis does not match as shown in Fig. B
below. When a pattern containing W axis travel is rotated, in the step just before calling the
rotated pattern, it is necessary to manually insert a command to adjust the orientation of
the W axis (PTP travel to the W axis ABS coordinate position of the start point) (Fig. C
below).

W axis
orientatio
n

52
 Ａ. Original pattern Ｂ． Pattern rotation

Initial orientation
is adjusted

Insert command
for adjustment

C. Orientation modification before pattern call

Precaution 2 "Flipping" of patterns which include W axis travel (rotation)

When a pattern including W axis travel is flipped, the state of the W axis (coordinate value)
within the pattern is automatically calculated and flipped, following the vertical flip, or the
horizontal flip command. However, the same as the pattern rotation of precaution 2, a
manual operation is needed to adjust the W axis orientation of the start point by insertion
of a PTP command. By the way, after flipping the W axis ABS coordinates, when flipped
vertically multiply the initial W axis ABS coordinate value by -1 (-θ), and when flipped
horizontally the value of the initial W axis ABS coordinate is subtracted from 180° (180-θ).

Precaution 3 Full rotation when work placement orientation has changed

When the orientation of work is changed, it is

necessary for the complete program to rotate to
match the orientation of the work. The procedures
below enable rotation of the complete program.

Program to be rotated

(1) Open the program screen of the channel to be

rotated.

53
(2) Click [Select All] from the right-click menu.

(3) Right-click on the command being selected,

click [Deploy CH Call].

(4) When a dialog box saying "Okay to deploy

CHCALL" is displayed, click [Yes].

(5) Select other than the first PTP travel, click

[Pattern Subchannelization] from the right-click
menu.

(6) Rotate the pattern newly created in (5) with the

method in P.50 "CAD Screen Transformation
(Flip/Rotate/Stretch)" so that it matches the
orientation of the work.

54
 4.7.3 Pattern Generator

Pattern Generator is a function for the purpose of wafer mapping. It calculates the chip
array on the wafer from the wafer size, effective diameter, pitch of chips on the wafer, etc.,
and generates a program that calls sub-channel s in line with that array.
The following explains how to use pattern generator.

1. Creation of sub-channel for application

Create the pattern to dispense on each chip, and sub-channel ize in accordance with the
sequence in P.92 "CAD Screen Subchannelization".

2. Starting pattern generator

By right-clicking the start point of the sub-channel on the CAD screen and select
[Pattern Generator], or with the sub-channel selected, selecting [CAD] > [Pattern
Generator] from the menu, the screen shown below is displayed.

・ Red broken lines represent the center line of wafer.

・ ”Device(1, 1)” at the top left represents the device position under the mouse cursor.
・ “0055/0058” represents that there are 58 devices on the wafer and 55 devices among
them are objects of dispensing.

55
3. Calculation of chip array
Set various parameters, and calculate the chip array.
The meaning of each parameter is given below.
Item Details

Pitch size Interval between adjacent chips is set in XY direction respectively.

Wafer size Sets diameter of wafers.

Effective diameter Sets diameter of area where chips will be placed within the wafer.

Orientation flat angle Sets orientation flat orientation.

Orientation flat length Sets orientation flat length.

Application sequence Selects and sets application sequence for each chip.

4. Setting ON/OFF for each chip

By clicking each chip, the sub-channel call for that chip can be switched between
ON/OFF.
By specifying the area by dragging, the sub-channel call for the chips in the area can be
switched to OFF.

5. Select application order in which each chip will be dispensed

Select the order each chip will be dispensed in, from [Application Order].This can be
selected from the 2 types shown in the figure below.
If you want to set the moving direction to Y, check [Y direction] check box.

6. Select whether using “Repeat” command or not.

By using the [Repeat] command, it is possible to reduce steps of generated programs.
However, it becomes difficult to do fine adjustments like adjusting the particular
device’s dispensing position of generated program.

56
7. Select whether using “PTP Move” command of not
If you want to use “PTP Move” command to move between CH.CALL, check [Use
“PTP Move”]. If you do not check this, “Straight Line1” command is used instead.

8. Use [Inversion] function

You can set ON/OFF state of each chip from upper-right quarter by clicking [Inversion]
button.

9. Save / Load setting

By clicking [save] button, you can save all settings such as “pitch size”, “wafer size”
and ON/OFF state of each cell.
You can load saved settings by clicking [load] button and selecting saved file.

10. Selection of save destination channel

Select the save destination channel by clicking the [OK] button.

57
 4.7.4 Coating gap adjuster

When you execute an application program created via P. 32 “CAD Screen - Coating“,
gaps between screen display and actual result may arise, especially with JET
dispensers.
You can adjust these gaps with “Coating gap adjuster”.
The following explains how to use Coating gap adjuster.

1. Creation an application program via “Coating”

For details, refer to page 32 “CAD Screen - Coating“.

2. Subchannelization
For details, refer to page.92 "CAD Screen Subchannelization".

3. Open “Coating gap adjuster” dialog

Right click the created sub-channel on the CAD Screen, and choose “Coating
gap adjuster”.

4. Specify volume of adjustment

Enter volume of adjustment and click “OK” button, then adjustment will be
executed.
If you check the “Back” checkbox, inverse operation will be executed and you
can get back to the original state.

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4.8 Drawing Support Functions
4.8.1 Zoom

Perform any of the following to zoom the CAD screen display.

・ Click the [Zoom] button on the toolbar to transition to zoom mode, then left-click
the CAD screen to zoom in and right-click to zoom out.
・ Press the [PgUp] button on the keyboard to zoom in, and press the [PgDn] button to
zoom out.
・ Rotate the mouse wheel forward (away from you) to zoom in, rotate it backward
(towards you) to zoom out.
Also, press the [F5] key, or while displaying in zoom mode click the [Display All] button
, then the entire application program is displayed.

4.8.2 Ruler

You can switch between show/hide of the ruler that displays the actual dimensions when
executing application.
To switch between show/hide of the ruler, select [CAD] > [Display Options] > [Ruler] from
the menu.
The scale values of the ruler can only display from the "minimum stroke value" to the
"maximum stroke value" in P.134 "Configuration Coordinate System".

59
 4.8.3 Nozzle Position

Displays Z axis value of selected

dispensing line

On the CAD screen, the coordinate

values can be displayed for the Z axis of
the start point and end point of a Z axis value display
selected graphic object. scroll button
Also, the Z axis coordinate values can be
changed by dragging with the mouse.
To switch between show/hide of the
Operation panel
nozzle position, select [CAD] > [Display
Options] > [Nozzle Position] from the
Details:
menu.

0005: Step number

Z axis value display bar
Displays the Z axis
coordinate value of Step
number 0005 on the
program screen.
E: Abbreviation for END

Z axis value display scale

Switch button for display switch button
direction

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 4.8.4 Tracking

You can switch between show/hide of the track of a non-dispensing nozzle travel.
To switch between show/hide of the track, select [CAD] > [Display Options] > [Track] from
the menu.

4.8.5 Crosshair Cursor

You can switch between show/hide of the crosshair cursor.

To switch between show/hide of the crosshair cursor, select [CAD] > [Display Options] >
[Crosshair Cursor] from the menu.

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 4.8.6 Auxiliary Line

You can draw a horizontal/vertical auxiliary line on the CAD screen.

・ Adding an auxiliary line
Click on the ruler, then you can add a horizontal or vertical auxiliary line from the
point.
・ Deleting an auxiliary line
Right-click an auxiliary line on the ruler to delete the auxiliary line.

・ Moving an auxiliary line

Drag an auxiliary line to move. Also, double-click the auxiliary line to display the
"Auxiliary Line" dialog.
Enter coordinates in the "Position" dialog box and click the [OK] button to move the
auxiliary line to the specified position. You can delete the auxiliary line by clicking the
[Delete This Auxiliary Line] button in the "Position" dialog box.

4.8.7 Grid

You can switch between show/hide of dots (grid) displayed at a set intervals on the CAD
screen.
To display grid, select [CAD] > [Display Options] > [Grid] from the menu, or click the
[Grid] button on the toolbar. See P.140 "Configuration CAD Screen Display (2)" for
setting methods of grid interval and display color.

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 4.8.8 Snap

・Snap to grid
You can switch between ON/OFF of snap to grid displayed on the CAD screen.
See P.62 "CAD Screen Grid" for methods to switch between show/hide of grid.
See P.140 "Configuration CAD Screen Display (2)" for setting methods of grid interval
and display color.
To switch between ON/OFF of snap to grid, select [CAD] > [Snap] > [Snap to Grid] from
the menu, or click the [Snap to Grid] button on the toolbar.

・Snap to object
You can switch between ON/OFF of snap to graphic object displayed on the CAD screen.
To switch between ON/OFF of snap to graphic object displayed on the CAD screen,
select [CAD] > [Snap] > [Snap to Object] from the menu, or click the [Snap to Object]
button on the toolbar.

・Snap to auxiliary line

You can switch between ON/OFF of snap to auxiliary line (see P.62 "CAD Screen
Auxiliary Line").
To switch between ON/OFF of snap to auxiliary line, select [CAD] > [Snap] > [Snap to
Auxiliary Line] from the menu, or click the [Snap to Auxiliary Line] button on the
toolbar.

・Snap to drawing
You can switch between ON/OFF of snap to external graphic data (see P.64 "CAD
Screen External Graphic Data") imported with [Import External Graphic Data] in the
[CAD] menu.
To switch between ON/OFF of snap to external graphic data, select [CAD] > [Snap] >
[Snap to Drawing] from the menu, or click the [Snap to Drawing] button on the
toolbar.

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 4.8.9 Legend

You can display a window that shows a list of descriptions

for various lines and dots to be displayed on the CAD
screen.
Select [CAD] > [Display Options] > [Legend] from the
menu.

4.8.10 Selecting an Application Start Point

Press the [F6] key on the CAD screen to select the first application start point for the
channel. Also, you can press the [TAB] key while selecting an application start point to
jump to the next application start point. Furthermore, when you press the [TAB] key
consecutively, you can repeat jumping among start points in order of application.

4.8.11 Opening the Program Screen

To open the program screen of the channel being edited, perform any of the following.
・ Select [Display Program Screen] from the right-click menu of the CAD screen.
・ Select [Program] > [Display Program Screen] from the menu.
・ Press the [F7] key.

4.9 External Graphic Data

You can import DXF format files and Gerber data as external graphics. The imported
graphics are displayed as background on the CAD screen.
You can snap to the displayed background with the "snap to drawing" function (see
P.63 "CAD Screen Snap"), which makes it easy to create an application program based
on an existing drawing.

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 4.9.1 DXF Data/Gerber Data

・ DXF
DXF (Drawing Exchange File Formats) is a CAD drawing format specified by Autodesk,
Inc. in the U.S.

・ Gerber data
Gerber data is a plotter control format developed by Gerber Scientific Instrument
Company and one of the standard data formats used by the CAD systems for designing
printed boards.

4.9.2 How to Import External Graphic Data

(1) Prepare a DXF file/Gerber data you want to use as a rough design in advance.
(2) Import of the DXF file/Gerber data.
Run [CAD] > [Import External Graphic Data] from the menu. After running, set the file
name of the DXF file/Gerber data to be imported.

Setting the file name

(3) Setting the file format and units

Set the file format and units of the file to be imported.

Setting the file format and units

(4) Setting the compensating condition

Set the compensating conditions for placing the imported external graphics on MuCADV
screen. The compensating conditions to be set are if there is an axis flip, rotation angle
and the offset value of each axis. You can flip the external graphics by checking "Invert
Data(X-Axis)" or "Invert Data(Y-Axis)" and can rotate by selecting rotation angle. You can

65
also set the position of the external graphics by setting offset values. Set these
parameters while checking the placement position of the external graphic with [Apply]
button.

Dialog to import external graphic data

4.9.3 Show/Hide External Graphic

Select [CAD] > [Display Options] > [External Graphic Data] from the menu, or click the
[External Graphic Data] button on the toolbar to switch between show/hide of
imported external graphic data.

4.9.4 CAD Objects Imported as External Graphics

The table below shows objects that can be imported to MuCADV from DXF data and
Gerber data.

DXF data LINE (line segment)

POLYLINE (continuous line)

LWPOLYLINE (continuous line)

ARC (arc)

CIRCLE (circle)

Gerber data Straight line

Arc, or circle

Note
・ Files that cannot be imported to MuCADV
Because this function only reads line data required for dispensing, character
information, dimension data, width data, hatching, fill, which are unrelated to
dispensing are not included.

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 4.9.5 Usage after Import

Create application programs using graphics imported to the CAD screen. In usage, trace
shapes displayed on the CAD screen, or near shapes with [Straight Line1], [Dot]. [Circle,
Arc1]. As a result, the traced details are generated as an application program.
Regarding the external graphic data snap function, see P.63 "CAD Screen Snap
Function".

4.10 Image Files

Images can be imported and displayed in the background of the CAD screen.
The user can create application programs using images displayed in the background as
a rough design.

4.10.1 Import Methods for Images

Import images prepared in advance for rough design, as background graphics. The
operation sequence will be as follows.

(1) Display the CAD screen according to the procedure described in P.29 "CAD Screen
Screen Display Methods".
(2) Select [CAD] > [Import Image Data] > [Import Image Data] from the menu.
(3) Set the images to import.
Click the [Browse] button, and select the
image file to import.
When reimporting image data on which
"image data import" has been performed
before, and that still contains image
compensation data, check "Compensation
Completed", otherwise check "New".
When image compensation data is left, operations after (4) will not be needed. Also,
when importing map images captured with an IM350PC, operations after (4) will not
be needed.

67
(4) Specify compensation for image distortion, and actual size.
With mouse operation, match the 4 points of the 4 corners of the blue frame to the 4
corners of the image to be used.

Input the actual size of the blue frame.

(5) Set the image placement position.

To make the display position of the image on the CAD screen and the actual work
position on the desktop robot table agree, set reference points on the work (angles and
marks etc).From coordinates occurring in the respective coordinate systems of image
and robot on the reference point, the appropriate position to place the image on the CAD
screen will be automatically calculated.
Therefore, the position of the reference point in the image, and the position of reference
point of work on the table of the desktop robot must each be specified.

(a) Specification method for position of reference point in the image

When the window "image import wizard (3/5): Image coordinate specification" is opened,
a "+" mark in blue appears at the top left of the image portion. Drag this mark. And move
it so that the intersection of the "+" overlaps with the reference point.

68
 (b) Specification method for position of reference point of work on the table of the
desktop robot
・ Click the [Teaching Pendant] button, and start the teaching pendant.
・ After clicking the [Model] button once, you can switch to JOG mode by clicking the
[+X] button etc. Manipulate the [+X], [-X], [+Y], and [-Y] buttons, and move the nozzle
tip so that it comes into alignment with the reference point of the work. When the
teaching pendant is closed, the coordinates when ending are automatically set as
"reference position robot coordinates".

* When the desktop robot is not connected, since the teaching pendant cannot be used to
set the reference position, input the coordinates manually.
* See P.16 "Introduction How to Connect to Desktop Robot" for connection method for the
desktop robot, and see P.114 "Communication Controller Teaching Pendant" for the
teaching pendant.

Operation with teaching pendant:

・ Press [Mode]
・ Manipulate [+X] [-X] [+Y] [-Y] to
move to reference position

(6) Specify transmittance.

Set transmittance with the slider so that
it is easy to see.

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 4.10.2 Correction of Image Display Position

The position of background images can be corrected. The operation sequence will be as
follows.

(1) Click [CAD] > [Import Image Data] > [Image Display Position Correction] from the
menu.
(2) Set the image display position.
For how to set the image display position, see P.67 "CAD Screen Import Methods for
Images".

4.10.3 Correction of Image Transmittance

Correct image transmittance with the following procedure.

(1) Click [CAD] > [Import Image Data] > [Image Transmittance Correction] from the
menu.
(2) Reset the transmittance.

4.10.4 Lens Distortion Compensation Function

Compensate for barrel distortion caused when photographing with a digital camera and
the like. Set the correction coefficient of lens distortion in the MuCADV. By using this
function, the next time images are imported, the image will be displayed with the
correction coefficient applied automatically.

Image before compensation Image after compensation

Operation methods
There are two methods, direct input of the correction coefficient of lens distortion and
using a lens distortion compensation wizard.

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Operation procedure for lens distortion compensation wizard

(1) Click [CAD] > [Import Image Data] > [Lens Distortion Compensation] from the menu.
(2) Click the [Browse] button; select an image to perform lens distortion compensation.
(3) Input an optimal lens distortion compensation value.

Input a candidate lens distortion compensation value. After inputting the lens distortion
compensation value, click [Reflect] and the compensated image that uses the lens
distortion compensation value is displayed. Since optimal value for the lens distortion
compensation value differs according to the digital camera maker, search for the optimal
lens distortion compensation value by trying various values.
The results of our company's tests suggest that the optimal value will be -0.010 to -0.040,
so use this range as a guide.

(4) Click [OK].

When you click the [OK] button, the lens distortion compensation value is set in the
MuCADV.

* Lens distortion compensation is automatically performed with the lens distortion

compensation value when importing images.

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4.11 Generate Application Program from DXF file
An application program can be generated from the DXF file.
Converts the graphic drawn in the selected layer into an application program.
The application path is automatically optimized.

4.11.1 Supported DXF Object

The objects that can generate a program from the DXF data are as follows.
Object Converted Robot Command

LINE (line segment) STRAIGHT1

POLYLINE (continuous line) STRAIGHT1/ELLIPT.ARC2

LWPOLYLINE (continuous line) STRAIGHT1/ELLIPT.ARC2

ARC (arc) ELLIPT.ARC1

CIRCLE (circle) ELLIPT.ARC1

SPLINE (spline) STRAIGHT1

CAUTION
・ This function targets only the line segment data necessary for application to be
converted, so text information, dimensions data, width data, hatching, and fill are not
supported.
・ SPLINE in DXF file will be converted to STRAIGHT1. It may become unintended shape
by converting. In such case, load after performing disassembly of SPLINE with the CAD
software in use.

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 4.11.2 Screen Composition

Item Content

File: Specifies the DXF file.

Select all Selects all layers.

Select target Deselect all Deselects all layers.

layer Load check box Place a check on the layer to be loaded.

Layer name Layer name is displayed.

X/Y direction offset Sets the position of the graphic.

X axis Reverses the graphic about the X axis.

Reverse
Y axis Reverses the graphic about the Y axis.

Setting Rotation angle Rotates the graphic.

Deploy block A block diagram is deployed when the program is generated.

Sets the unit for the DXF file.

Unit
* When set to inch, it will be converted to mm unit when the program is generated.

Generate program Generates the program.

Cancel Closes the window without generating the program.

Displays the whole graphic.

Enlarges the graphic.

Reduces the graphic.

Displays the DXF graphic. The red frame is the work area. The arrow indicates the origin.

Mouse Operation

Graphic window Mouse center button drag Move the point of view

Mouse left click Select/deselect the application target

Mouse wheel turn Zoom in/zoom out

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4.11.3 Procedure

(1) Prepare a DXF file.

* Place the graphics to convert to application program and the graphics for
workpiece, etc., in separate layers.

(2) Select the channel to generate the program, and display the CAD screen.
(3) Execute [CAD] > [Generate program] > [Generate program from DXF data] from the
menu.
(4) The “Generate Program (DXF)” screen is opened.
(5) Specify the DXF file name to load, and open the file.

* If the unit for the DXF file is inch, change the Unit setup.

(6) Select the layer to generate the program.

(7) Set the offset, reverse, and rotation angle of the graphic.

(8) Press the [Generate program] button to generate the program.

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 4.11.4 Inserting of CH Call Before Starting Application and
After Ending Application

The channels set in [Before start application CH] and [After end application CH] of
[Preference settings] > [Auto programming] > [Z operation channel] are automatically
inserted before starting application and after ending application, respectively.

4.11.5 Deploying Block

The program is generated by deploying all the block of the DXF data as an initial value.
Removing the check mark on [Deploy block] creates CH for each block.
The blank CH after 200ch is automatically assigned as the CH number.

* In case there is a block inside the block (nesting), only 1 layer will be created as CH,
and subsequent block will be deployed.

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4.12 Generating Application Program from
Gerber Data
An application program can be generated from the gerber data.
The application coordinates are extracted from the soldering side of the gerber data, and
program can be generated for only the application target area. Application is assumed to
be a dot. Perform PTP move to the application target coordinate, and perform CH call of
the CH to perform application.
The CH for CH call destination for the application program can be set for each aperture.
The application path is optimized based on the path setting value.

(Term) Aperture is a 2D graphic defined by the extended gerber format.

4.12.1 Supported Gerber Format

The gerber format supported by this function is the extended gerber format (RS-274X).
* Standard gerber is not supported.

The coordinate for flash is recognized as the application dot. Therefore, draw 1 pad with 1
flash. (It cannot be recognized when 1 pad is filled with multiple lines or circles)

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 4.12.2 Screen Composition

Item Content

Aperture shape Displays the shape of the selected aperture.

Select all Selects all apertures.

Deselect all Deselects all apertures.

Name of the aperture. All the corresponding apertures are selected when check marks are placed in the check boxes
Aperture name
Aperture list next to the names.

Total Indicates the total number for each aperture.

Selected Indicates the number of selected for each aperture.

CH The CH number to perform CH call can be set for each aperture.

Offset X/Offset Y The offset amount can be set with the center of the aperture as an origin for each aperture.

Application target Select/Deselect Sets the action when the aperture is clicked with a mouse.

Reverse on X axis Reverses the graphic about the X axis.

Reverse on Y axis Reverses the graphic about the Y axis.

Rotation angle Rotates the graphic.

Setting
X/Y direction offset Sets the position of the graphic.

Sets the path for application.

Path
* It will perform application in order described in the gerber data if there is no sorting.

Generate program Generates the program.

Cancel Closes the window without generating the program.

Displays the whole graphic.

Enlarges the graphic.

Reduces the graphic.

Displays the graphic in the gerber data. The red frame is the work area.

Mouse Operation

Graphic window Mouse center button drag Move the point of view

Mouse left click Select/deselect the application target

Mouse wheel turn Zoom in/zoom out

77
4.12.3 Procedure

(1) Prepare the gerber data.

(2) Select the channel to generate the program, and display the CAD screen.
(3) Execute [CAD] > [Generate program] > [Generate program from gerber data] from
the menu.
(4) The “Generate Program (Gerber Data)” screen is opened.
(5) Specify the gerber data to load, and open the file.
(6) Set the offset, reverse, and rotation angle of the graphic.
(7) Clicking the application target aperture will change the corresponding aperture to red.
Red indicates that the aperture is target for application.
(8) To cancel the target for application, select [Deselect] and click the corresponding aperture.

(9) To change the CH for CH call destination for each aperture, change the CH number
in the aperture list.
(10) Set the path for application.
(11) The “Save Selection Status Confirmation” screen is displayed when the [Generate
program] button is pressed.

(12) To reproduce the current selection status after generating the program, press [Yes]
and save the “program generation setup file”.
* In addition to the selection status, setup for offset, etc., is also saved in the
“program generation setup file”
(13) The program is generated after saving the selection status.

78
4.12.4 Setup of CH Call Destination for Each Aperture

The CH number of the CH call destination can be changed for each aperture.
Select an aperture in the aperture list, and it can be edited by double-clicking the CH
number.

4.12.5 Copying and Pasting of CH Number

(1) Select the line of CH number to copy and perform [Menu Bar] > Edit (F)] > [Copy
Ctrol+C] to copy the CH number to the clipboard.
(2) Select the line of aperture to paste and perform [Menu Bar] > [Edit (F)] > [Paste
Ctrl+V] to paste the CH number.
* CH number is the only data that can be pasted.

4.12.6 Saving the Selection Status (Export)

(1) Open the “Generate Program (Gerber Data)” screen.

(2) Click [Menu Bar] > [File (F)] > [Export].

(3) Save the “Program generation setup file” with a new name.

4.12.7 Reproduce the Selection Status Saved Previously

(Import)

(1) Open the “Generate Program (Gerber Data)” screen.

(2) Click [Menu Bar] > [File (F)] > [Import].

(3) Open the previously saved “Program generation setup file”.

(4) The previous selection status is reproduced.

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4.12.8 Setup of Offset Amount for Each Aperture

An offset amount can be setup for each aperture to match the shape of the aperture.
* The offset amount is the distance from the center coordinate of the aperture.

(1) Select the aperture to perform offset from the aperture list.
(2) Double-click the OffsetX/OffsetY cell.
(3) The Offset Amount Setting screen is displayed.
(4) Either drag the crosshair with the mouse or enter the offset amount in numerical value.
(5) Press [OK] to set.

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4.13 Generating Application Program from
Coordinate Data
The load coordinate data function can be linked to the load function of the external
graphic data (DXF/gerber data load function). By linking them, it is possible to load the
coordinate data with offset amount adjusting the display position at the time of loading
the external graphic. (To link, perform load of the external graphic data in advance.)

The application path is optimized based on the path setting value.

4.13.1 Read File Format

The file format for the coordinate data is as follows.

・ Delimiter: Tab
・ Character code:ASCII,Shift-JIS
・ Describe numbers, period, comma, and symbols with half-width alphanumeric.
(Excluding the comment line.)
・ The line with a number sign “#” is ignored. (Can be used as a comment line)
・ The value under decimal point can be omitted.
・ The + symbol can be omitted.

Number of
Item name Range Remarks
columns
Specify the CH number of the CH call
1 CH number 1 - 999
destination
The coordinate is an absolute coordinate
2 X coordinate ±0.001 - 9999.999 mm
from the origin
The coordinate is an absolute coordinate
3 Y coordinate ±0.001 - 9999.999 mm
from the origin
The coordinate is an absolute coordinate
4 Z coordinate ±0.001 - 9999.999 mm
from the origin (can be omitted)

<Sample>
An sample of the load data is as follows.

#CH number X Y Z
100 12.345 -1.000 30.123
100 22.345 10.000 25.613
150 +52.345 10.000 25.613
200 60 20 30.123

* First line has “#” at the beginning, so it will not be loaded.

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4.13.2 Screen Composition

①
⑦

Item Content
(1) Specifies the load file name.
Specifies the application path. Selection items are as follows.
* Select “No sorting” when the program is generated in the order of the coordinate data.
Path Description
It will move to the +X direction
+X direction: Line feed
and moves to next line.
It will move to the +X direction
+X direction: Return
(2) and returns.
It will move to the +Y direction
+Y direction: Line feed
and moves to next line.
It will move to the +Y direction
+Y direction: Return
and returns.
No sorting

(3) Offsets the load coordinate by linking to the “external graphic data load” function.
(4) Reverses on X axis/Y axis.
(5) Rotates the coordinate against the origin.
(6) Sets the offset amount against the X/Y direction.
(7) Performs loading.

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4.13.3 Procedure

(1) Prepare a coordinate file.

(2) Select the channel to generate the program, and display the CAD screen.
(3) Execute [CAD] > [Generate program] > [Generate program from coordinate data]
from the menu.
(4) The “Generate Program (Coordinate Data)” screen is opened.
(5) Specify the coordinate data to load.

(6) Set the application path.

Path Description
+X direction: Line feed It will move to the +X direction and moves to next line.
+X direction: Return It will move to the +X direction and returns.
+Y direction: Line feed It will move to the +Y direction and moves to next line.
+Y direction: Return It will move to the +Y direction and returns.
No sorting

(7) When linking to a graphic loaded with the external graphic data load function, place a
check in the “External graphic data load”.

* The coordinate is automatically offset so the minimum coordinate of the X/Y

coordinate for application coordinate will be placed in the origin of the robot
similarly as the external graphic data load when this function is turned ON.
* Following message is displayed when this function is turned ON. Clicking “Yes” will
load the “reverse setup”, “rotation angle”, and “XY direction offset” values at the
time of external graphic load.

(8) Set the offset, reverse, and rotation angle.

(9) Press the [Generate Program] button to load the coordinate data and generate the
robot program.

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 5 Program Screen
5.1 Overview
The accessory teaching pendant for the desktop robot has poor operability, additionally, it
can only display commands 1 STEP at time. As a function to solve such a problem, there
is a program function. Through the use of the program function, efficient dispensing
programs can be created .In addition, it is easier to understand the details of dispensing
for one channel, because dispensing programs for one channel can be list displayed.
Therefore, editing work also becomes easy. You can also edit dispensing programs
created with P.29 "CAD Screen".Created dispensing programs are reflected in real time
on the CAD screen and P.95 "3D Locus Screen".

5.2 Screen Display Methods

To display the program screen for a certain channel, select the channel from the channel
list, and click the [View Program Screen] button on the channel list toolbar or press
the [F7] key.
The program screen can also be displayed by selecting the target channel on the
channel list, and selecting [View Program Screen] from the right-click menu.

5.3 Screen Configuration

Step No.

Command Cell Data Cell

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 Item Description

Step No. Displays the step number of each command.

Command Cell Displays each command type. Also when inputting new commands, command

types are input from here.

Data Cell Displays parameters for each command. Also, parameters for each command can

be edited from here.

5.4 Command Input

This section explains how to add new commands on the program screen.

(1) Display the program screen.

Display the program screen according to the procedure in P.84 "Program Screen
Screen Display Methods".

(2) In the command cell, input the type of command you want to add.

Set the type of command you want to add ([PTP Motion] and [CH. Call] etc. For the
command list/details, see P.143 "Command Reference Command List" and P.145
"Command Reference Command Details" respectively) in the command cell.

In order to set the command type in the command cell, use either of the two following
methods.

(a) Select the command from the combo box/dialog box

When the command cell is double-clicked, a combo box is displayed containing several
types of command names and the item "Open Command List".

If the command you want to add is inside the combo box, it can be input into the
command cell by selecting the command.

If the command you want to add is not in the combo box, select "Open Command List"
and open the "Command List" dialog box. Select the command you want to add from the
"Command List" dialog box, and click the [OK] button to input the command into the
command cell.

85
 Command cell combo box "Command List" dialog

(b) Directly input an abbreviated command into the command cell

Input an abbreviated command or number directly into the command cell (e.g. "PM" or
"00:" for the [PTP Motion] command) to set the command type in the command cell. For a
list of abbreviations and numbers that can be input into the command cell, see P.143
"Command Reference Command List".

(3) Set command parameters in data cells.

Some commands require setting of parameters (such as coordinates of the destination of

the [PTP Motion] command and call channel of the [CH. Call] command). Perform either
of the two methods below to set parameters of commands.

(1) Set parameters using the dialog box.

Double-clicking the data cell for the command requiring parameter setting will display the
dialog box for parameter setting. Set each parameter according to the dialog display. For
details on each parameter, see P.145 "Command Reference Command Details".

* Disabled Axes

When you want to render a certain axis inoperable for commands that take coordinates
as parameters such as the [PTP Motion] command etc., you can set the axis as a
disabled axis by leaving blank the edit box to input the coordinates for the axis. For
example, by leaving blank each edit box for X, Y and W, and inputting destination

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 coordinates only for the Z axis edit box, you can move only the Z axis with coordinates for
the X, Y, and W axes unchanged.

(2) Input parameters directly into data cells.

Parameters required for command setting can be input directly into data cells. Input the
space delimited parameters, in the order decided for each command. For the order of
parameters in each command, see P.145 "Command Reference Command Details".
In cases where you want to set to render the coordinate parameter inoperable, input "-".

E.g. In the case of [Straight Line1] it is necessary to input in the order ABS/INC, line
speed, X coordinate, Y coordinate, Z coordinate, W coordinate.

When inputting parameters like the above,

should be input.

5.5 Command Editing

5.5.1 Cut/Copy/Paste/Delete

Each STEP displayed on the program screen can be selected by clicking. Also, multiple
commands can be selected with the methods below.

(1) Drag

Drag on the program screen, and the STEPs from the start point to the end point of the
drag can be selected.

(2) [Shift] + Click

After selecting the STEP that will be the start point, click on the STEP that will be the end
point while pressing the [Shift] key to select STEPs from the start point to the end point.

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(3) [Ctrl] + Click

While pressing the [Ctrl] key, click the STEP, and you can switch between select/deselect
of that STEP.

It is possible to perform any cut/copy/delete operation on the STEPs selected with the
above methods. These operations can be selected from the [Edit] menu, and the
right-click menu of the program screen. Also, shortcut keys, [Ctrl+X]/ [Ctrl+C]/ [Del] are
assigned to cut/copy/delete, respectively.

Cut/copied STEPs can be pasted with the paste command. After selecting the place you
want to paste, select [Paste] from the [Edit] menu or right-click menu of the program
screen.

5.5.2 STEP Insertion

A new STEP can be inserted at any position in an existing program.

(1) Select an appropriate STEP.

(2) Click the insert icon , or select [Insert STEP] from the right-click menu.

(3) Define the details of the new STEP to insert.

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 5.5.3 STEP Splitting

Splits a step of a command such as the [Straight Line1] command into 2 steps.

(1) Select a STEP to split.

(2) When [Program] > [Split Step] is clicked from the menu, the "Split Step" dialog is
displayed.
(3) Specify the coordinate values of the split point.
The split point can be set as coordinate values, or can be specified as the ratio of the
selected STEP to the full drawing length.

Coordinates of the
split point are set

The split point is set

with a ratio

(4) The command is split.

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 5.5.4 ABS/INC Conversion

This function is used to convert coordinate values on the program screen into ABS
setting or INC setting.

* ABS/INC
There are 2 types of methods to specify the coordinates of the desktop robot;
specification in the ABS (absolute) coordinate system, and specification in the INC
(relative) coordinate system. When specified in ABS (absolute) coordinate system, the
coordinates are specified based on an origin point preset in the desktop robot. When
specified in INC (relative) coordinate system, the coordinates are specified regarding the
coordinate of the desktop robot when command run started as the origin point.

(1) Select an appropriate STEP.

(2) Perform conversion with any of the following methods.
Click the [Switch ABS/INS] button from the toolbar
Select [Program] > [Switch ABS/INC] from the menu
Select [Switch ABS/INC] from the right-click menu of the program screen
Press [Ctrl+E]

ABS/INC
Conversion

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 5.5.5 I/O Value Conversion

This function converts the I/O value.

It can convert the I/O value for only the selected channel, or alternatively the I/O value for
all channels within a project.

(1) Select the channels for the conversion, and open the program screen.
(2) When you click [Program] > [I/O Value Conversion] from the menu, the "I/O Value
Conversion" dialog box will be displayed.

Name Function
Input/output Select the applicable input or output signal.
Conversion Select the applicable I/O value for the conversion.
target
After Select the applicable I/O value after the conversion.
conversion Select whether to convert the I/O values for only the selected channel, or
Range
the I/O value for all the channels.

(3) When you click the [OK] button after selecting the applicable conversion, a check
message will be displayed.

(4) When you click the [OK] button the conversion will be performed.

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5.5.6 Subchannelization

Part of a dispensing program created on the program screen is encapsulated into a new
channel as a sub-channel . You can call the newly created channel with the [CH. Call]
command from the program screen.

(1) Select STEPs for sub-channelization.

(2) Perform sub-channelization with any of the following methods.

Select [Program] > [Pattern Sub-channelization] from the menu
Click the [Pattern Sub-channelization] button on the toolbar
Press [Ctrl+G]
(3) Specify the channel number to save
the sub-channelized command.

(4) The STEPs selected in (1) are moved to the channel specified in (3), and the [CH.
Call] command that calls the channel specified in (3) is inserted into the position of
the original STEPs.

Parent Program

Sub-channel

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5.6 Copy and Paste Using Excel
With MuCADV, content copied to the clipboard in applications can be pasted to Microsoft
Office Excel. Also, content copied in Excel can be pasted to the program screen and
CAD screen. However, information other than commands is not copied/pasted. For
example, auxiliary lines etc. cannot be copied/pasted.

Copy/paste between program display

screen and Excel

5.6.1 Pasting from MuCADV to Excel

Select the STEP you want to copy on the program screen. Or, select a graphic object you
want to copy on the CAD screen.
Copy the STEP/graphic object selected by selecting [Edit] > [Copy] from the menu, or with
the [Ctrl+C] key.
Paste the copied STEP/graphic object into Excel. When pasting a graphic object from the
CAD screen, the commands of the STEP that corresponds to the copied graphic object
are pasted.

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 5.6.2 Pasting Dispensing Programs in Excel into the
Program Screen

Write a dispensing program in Excel. Enter the STEP No. in the first column, the
command name in the second column, and the parameters of the command in the third
column.

Dispensing program input in Excel

(1) Copy the dispensing command written in Excel.

(2) Using any of the following methods, paste it into MuCADV.
On the program screen, right-click on the STEP where you want to paste, and select
[Paste] from the displayed menu, or, paste by pressing the [Ctrl+V] key.
On the CAD screen, right-click on the position where you want to paste and select
[Paste].In this case, the copied content will be pasted at the end of the program.

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6 3D Locus Screen
6.1 Overview
The 3D locus screen is a screen to display the simulated results of dispensing programs
created on the program screen or the CAD screen. It is equipped with the following three
simulation functions.

Dispensing program 3D display function

Dispensing program debug function
Dispensing program run time calculation function

The dispensing program 3D display function is a function to display dispensing programs

created with P.29 "CAD Screen", and P.84 "Program Screen".Because it enables
simulation of a dispensing program as a 3D object, the user can readily check the shape
of a created dispensing program.
The dispensing program debug function runs dispensing programs created by the user 1
STEP at a time, and displays the state as 3D images. Because one STEP at a time can
be simulated, dispensing processes can be checked in sequence. In addition,
modifications on the dispensing program can be detected by STEP units. Using this
function, you can modify and check dispensing programs accurately in a short period of
time.
The dispensing program run time calculation function calculates the run time of a series
of dispensing programs. Run time calculation finds run time from the axis speed of the
desktop robot. Calculating run times enables creation of a rough production plan.

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6.2 3D Locus Screen Configuration
⑦

⑧ ⑤
⑥ ①

②
③

3D Locus Screen
Function Description
Name Function
3D
Displays dispensing programs created on the program screen or the CAD screen as
① dispensing
3D locus.
locus line
Projection Displays projection lines of the 3D locus displayed in (1).
②
line The light source exists on the Z axis, and it projects onto the mesh.
It displays the mesh in the height zero (Z=0) region. For setting the mesh interval, see
③ Mesh
P.97 "3D Locus Screen Display Setting".

④ Board Size Shows the valid range of movement of X, Y, and Z axes defined in Configuration.

⑤ Origin Shows the origin of the desktop robot.

⑥ Compass Shows orientation of currently displayed 3D space.

⑦ Toolbar Calls functions for the 3D locus screen.

⑧ Icon Displays the 3D locus screen of the selected channel.

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6.3 Screen Display Methods
The 3D locus screen can be displayed with the following procedures.

(1) Click and select the channel you want to display from the channel list.
(2) Click the [View 3D Locus] button on the toolbar, or select [3D Locus] > [View 3D
Locus Screen] from the menu.

6.4 View Setup

Set display color, display size and whether there is projection display on the 3D locus
screen. The View Setup screen configuration and descriptions are shown below.

3D Locus View Setup

No. Name Function

① Mesh Color Sets mesh color

Height Sets the position on the mesh plane (Z value).

Mesh Interval Sets the intervals of mesh (units: mm).

② 3D BOX Color Displays the color of 3D box

③ Coordinate Size Sets the size of coordinate axis in 3 gradations

Axis Big - Mid - Small
④ Origin Color Sets display color of origin point

Size Sets display size of origin point

⑤ Project Locus on Mesh Sets whether or not to project locus onto the
mesh plane

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6.5 Operation of 3D Locus Screen
6.5.1 Display Switching of 3D Locus Screen

The 3D locus screen can be displayed from a specified direction. There are 3 directions
for display direction; full view, vertical view (XY plane), and horizontal view (YZ plane).

(1) Full View

Displays the entire dispensing graphic. Click the [Full View] button on the toolbar.
(2) Vertical View
Displays the XY plane of the dispensing graphic. Click the [Vertical View] button
on the toolbar.
(3) Horizontal View
Displays the YZ plane of the dispensing graphic. Click the [Horizontal View] button
on the toolbar.

6.5.2 Mouse Operations on the 3D Locus Screen

You can enlarge/reduce, move in parallel, and rotate the display screen.

(1) Enlargement/Reduction
You can enlarge or reduce the screen by scrolling the wheel button of the mouse.
(2) Parallel Movement
Right-drag the 3D graphic, and the view becomes parallel movement.
(3) Rotation Movement
Wheel button drag on the 3D graphic or right-drag while pressing the [Shift] key, and
the view becomes rotation movement.

6.6 Run Debug Function

This function runs the dispensing program created in a channel 1 STEP at a time, and
displays the result in the 3D locus screen. Also, it displays the states of [Counter] value
and [Variable] value that are being run.

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 ①

②
④
③

"Run Debug" Dialog

No. Name Function
① Number of Step numbers to run debug
Execution
Commands
② Current Step Displays the currently running step No.

③ Run Debug advances 1 STEP

④ Counter Displays the values of the counters.

⑤ Variable Displays the values of variables.

(1) Display the 3D locus screen for the channel you want to run debug according to P.97
"3D Locus Screen Screen Display Methods".
(2) Click [3D Locus]> [Run Debug] from the menu to display the Run Debug dialog.
(3) Input the step number you want to start debug from in "Number of Execution
Commands" (the default is 0).
(4) Click the [Run] button.
Every time you click the Run button, 1 is added to the value in "Current Step", and the
3D locus result of the step number displayed in "Current Step", and the values of the
counters and variables are displayed as the result of the debug.

Click

Click

Click

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 When the channel call is performed with the [CH. Call] command, the running channel of
the CH call destination is displayed in the Current Step field.

6.7 Run Time Calculation Function

This function calculates and displays
the dispensing program run time.

"Run Time" Dialog

(1) Display the 3D locus screen for the channel you want to calculate run time for
according to P.97 "3D Locus Screen Screen Display Methods".
(2) Click the [Run Time] button on the toolbar.
The run time is displayed.

The "Run Time" dialog can be displayed on any screen with [Ctrl+R].

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7 Channel List
7.1 Overview

The channel list shows a list of programs downloaded from the desktop robot and
created programs. From the channel list, you can delete/duplicate programs, or call the
CAD screen, program screen, or 3D locus screen of each channel.

7.2 Screen Configuration

Channel number

Comment

Number of steps

mark indicates that the channel is a parent channel.

mark indicates that the channel is a child channel to be called from a parent channel.
mark indicates that Edit Lock (see P.103 "Channel List Comment Edit/Channel
Number Change/Edit Lock" has been applied to the channel.

Name Description

Add new channel Adds a new channel.

View program screen Displays the program screen of the selected channel.

View CAD screen Displays the CAD screen of the selected channel.

View 3D locus screen Displays the 3D locus screen of the selected channel.

Send selected channel Sends the selected channel to the desktop robot.

Displays the "Send/Receive Channel Data" dialog (see P.108

Send/receive channel data
"Communication Controller Channel Data").

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7.3 Creation of New Channels
To create a new channel, perform any of the following.
・ Click the [Add New Channel] button from the channel list toolbar.
・ Select [Channels] > [Add New Channel] from the menu.
・ Select [Add New Channel] from the channel list right-click menu.

The "New Channel" dialog will be displayed, then enter a channel number and comment.

7.4 Edit of Channels

Click a channel in the channel list to select the channel. The following operations can be
performed on the selected channel.

・ Cut/Copy/Paste/Delete
・ Comment Edit/Channel Number Change/Edit Lock
・ Display of CAD screen/program screen/3D locus screen of the channel

7.4.1 Cut/Copy/Paste/Delete

A selected channel can be cut/copied/deleted.

To perform these operations, select a channel, and select respective operation from the
[Edit] menu or the channel list right-click menu.
The cut/copied channel can be pasted from the "Paste Channel" dialog that is displayed
by selecting [Edit] > [Paste] from the menu or by selecting [Paste] from the channel list
right-click menu. The function of each button in the "Paste Channel" dialog is the same
as the "Edit Comment" dialog. See P.103 "Channel List Comment Edit/Channel
Number Change/Edit Lock".

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 7.4.2 Comment Edit/Channel Number Change/Edit Lock

Select [Edit Channel Comment] from the channel list right-click menu, or select
[Channels] > [Edit Channel Comment] from the menu to display the "Edit Channel
Comment" dialog. The "Edit Channel Comment" dialog can also be displayed by
pressing the [Ctrl+H] key.
From this dialog, you can change the channel number and comment. Also, you can set
enable/disable of the edit lock function on a channel.
The edit lock function is a function for protecting channels that you do not want to edit or
delete. When the edit lock function is enabled, the channel cannot be changed/deleted.
Furthermore, when downloading channel data from the desktop robot, if MuCADV
already has channel data with the same number as the channel number of the channel to
be downloaded, the data with the channel number on MuCADV will be overwritten with
the downloaded data, however, if the edit lock function of channel data on MuCADV is
enabled, the data is not overwritten with the data downloaded from the desktop robot.
However, the edit lock function is available only when [Channel Data Edit Lock Function]
in P.142 "Configuration Other" is enabled.

7.4.3 Display of CAD Screen/Program Screen/3D Locus

Screen

You can display the CAD screen/program screen/3D locus screen of the selected
channel. To perform these operations, select respective operation from the [Channels]
menu or from the channel list right-click menu.
Also, while selecting a channel, press the [F7] key to display the program screen, and the
[F8] key to display the CAD screen.

7.5 File Input and Output

7.5.1 Text Input and Output

Channel commands can be input or output in tab-delimited text format (.tsv format).
To output, select [Input/output Channel Text] > [Export] from the channel list right-click
menu, or select [Channels] > [Input/Output Channel Text] > [Export] from the menu.
To input, select [Input/Output Channel Text] > [Import] from the channel list right-click
menu, or select [Channels] > [Input/Output Channel Text] > [Import] from the menu.

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 7.5.2 Channel List File Output

Channel numbers, number of steps, and comments for all channels displayed in the
channel list are output in list-form text format.
Select [Output Channel List File] from the channel list right-click menu, or select
[Channels] > [Output Channel List File] from the menu.

7.5.3 Import of Channels from .mc5 Files

You can import a channel created in another project (.mc5 file) into the current project.
Select [Channels] > [Import Channel from .mc5 File] from the menu, or select [Import
Channel from .mc5 File] from the channel list right-click menu.

Select the .mc5 file of the import source.

When the "Import Channel Data" dialog is displayed, select the channel you want to
import and click the [Import Channel Data] button.

7.6 Sending and Running Channels

You can send/run a channel from the channel list.

7.6.1 Sending a Channel

To send the selected channel data on MuCADV to the desktop robot, perform any of the
following.
・ Select [Channels] > [Send Selected Channel] from the menu.
・ Select [Send Selected Channel] from the channel list right-click menu.
・ Click the [Send Selected Channel] button on the channel list toolbar.

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 7.6.2 Running a Channel

When you select [Run Selected Channel] from the channel list right-click menu, the
selected channel and all the channels that the selected channel calls can be sent to and
run on the desktop robot.

7.6.3 Generate Special Channel

You can generate application specific channel with “Generate Special Channel”

・Generate a nozzle dipping channel

About
You can generate a channel for nozzle dipping.
Usage
Select [Channel] > [Generate Special Channel] > [Nozzle dipping channel] from the
menu. Then, the dialog shown below will appear.

Enter the coordinate of dipping point into [Dipping position]. By clicking button,
[Communication Controller] will be launched and you can specify the position by pushing
JOG keys.
[Dipping speed number] is CP speed number used approaching move to dipping
position and [Dipping length] is the length of approaching move.
By clicking button, you can launch [Speed setting dialog].

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8 Communication Controller
8.1 Overview
When MuCADV communicates with the desktop
robot, the following operations are possible.
・ Sending and receiving of dispensing
programs
・ Confirmation of input/output signals of the
desktop robot
・ Changing of speed parameter etc. of the
desktop robot
・ Remote operation
These operations can be performed from the
Communication Controller dialog.

8.2 Startup Method

Click the [Communication Controller] button on the toolbar, or select [File] >
[Communication Controller] from the menu to start the “Communication Controller”
dialog.

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8.3 Screen Configuration

Item Details

Coordinate Shows the current coordinates of the desktop robot. When Move/Return to Origin

is performed on the communication controller, the current coordinates are

updated automatically. Also, when you enter coordinates in the edit boxes and

click the [Move] button, the robot will move to the input coordinates.

XY/Z/W (JOG keys) Each axis of the desktop robot can be operated.

JOG speed selection When in JOG mode, a switch button for "speed."

STEP movement selection When in STEP mode, a switch button for "movement."

Return to Origin Instructs the desktop robot to return to the origin.

Teaching Pendant / Robot Starts the teaching pendant emulator or displays Robot parameter setting dialog.

Setting For details, see P.114 "Communication Controller Teaching Pendant".

Speed Setup Starts the "Speed Setup" dialog. For details, see P.113 "Communication

Controller Speed Setup".

Channel Data Starts the "Channel Data" dialog to exchange channel data between MuCADV

and the desktop robot. For details, see P.108 "Communication Controller

Channel Data.

IO Monitor Starts the "IO Monitor" dialog to check input/output signal of the desktop robot.

For details, see P.114 "Communication Controller IO Monitor.

Close Closes the "Communication Controller" dialog.

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8.4 About JOG/STEP mode
Manual operation of the desktop robot has two types of operation modes that can be
switched between speed and movement.

Operation
Description Settings Description
mode
Pressing the travel button will start Fast High-speed JOG *1
JOG movement and releasing the button
Slow Low-speed JOG *1
will stop movement.
Clicking the travel button will cause SuperSkip [SSkip] Maximum movement (10mm) *2
movement of a pre-determined Skip Large movement (1mm) *2
STEP amount. Clicking the button once Fine Small movement (0.1mm) *2
moves the robot once. Holding the
SuperFine [SFine] Minimum movement (0.01mm) *2
button continues movement.

*1 JOG speed settings can be configured with speed setup (P.113 "Speed Setup").
*2 Values within brackets are default values. *1 These can be configured with preference
settings (P.134 "Coordinate System"). Speed uses PTP speed settings.

8.5 Channel Data

This dialog is used to send, acquire, and run channel data.
Click the [Communication Controller] button on the toolbar, and then click the
[Channel Data] button.

Note:
There is no compatibility between desktop robot Alpha series and desktop robot Ω, DS
series and 100S-01. So you cannot send / receive channel data for desktop robot Alpha
series to / from desktop robot Ω, DS series and 100S-01 and vice versa. If you try to send
/ receive channel data to / from wrong type desktop robot, the screen shown below is
displayed.

You can open configuration dialog by clicking [Change Setting] button. Please try again,
after selecting the correct desktop robot type.

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 Channel Data Dialog

Item Details
Host PC Channel List Displays all channels on the channel list of MuCADV.
[Send Channel] button Sends the selected channels of the host PC to the dispensing
machine.
[All Select] button Selects all channels on the channel list on the Host PC side.

Test mode *1 Starts test running mode.

Dispensing Channel List Displays all channels on the dispensing machine.

Machine [Acquire Channel] button Receives the selected channels from the dispensing machine to
the host PC.
[All Select] button Selects all channels on the channel list on the Dispensing Machine
side.
[Run Channel] button Runs the selected channels of the dispensing machine.

*1 The [Test Mode] button is only displayed when "ΩX/SX" ・ "XMΩX/SX-L" ・ "XMΩX/
SX-R" is selected in [Robot Selection] in P.142 "Configuration - Other".

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 8.5.1 Sending and Receiving Channel Data

Channel data can be exchanged between MuCADV (host PC) and the dispensing
machine.
The sending and receiving procedures are described below.

Sending channel data from MuCADV (host PC) to dispensing machine

(1) Select the channels you want to send.

Select the channels you want to send from the channel list on the Host PC side. You
can select multiple channels.

(2) Click the [Send Channel] button.

Click the [Send Channel] button. However, if a channel with the same channel
number as the channel to be sent already exists on the Dispensing Machine side, the
"Confirm Overwriting" dialog is displayed. Click the [Yes] or [Yes to All] button to
continue sending. When you want to prohibit overwriting, click the [No] button.

Appearance of channel selection Confirm Overwriting Dialog

(3) Set writing to flash ROM.

Write in the flash ROM on the dispensing machine. When written in the flash ROM,
channel data is retained even after restarting the dispensing machine.
When you click the [Yes] button, the channel data sent in (2) is saved. If you click the
[No] button, the channel data sent in (2) can be run, but not saved in the dispensing
machine.

* Even when you click the [No] button, you can run the sent channel data in (3). However,
note that the data is not saved in the dispensing machine, and it will be deleted when
the power of the dispensing machine is turned OFF.

(4) The channel list of the dispensing machine is updated.

After the sending operation is completed, the list of the channels managed in the
dispensing machine is displayed.

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 Appearance when sending of channel data is complete

Receiving channel data from dispensing machine to MuCADV (host PC)

(1) Select the channel which you want to receive from the list of channels on the
Dispensing Machine side.

Appearance of channel selection

(2) Click the [Acquire Channel] button.

(3) Receive
The received channel is loaded in the channel list of MuCADV.

Appearance of channel reception

8.5.2 Running a Channel

You can run one of the channels displayed in the "Dispensing Machine Channel List" in
the "Channel Data" dialog from MuCADV.

IMPORTANT
When you run the channel data, be sure to place your hand over the emergency stop
button of the desktop robot. When the desktop robot starts such operation that the
user did not intend or that might cause damage to the desktop robot, or shows such
indication, be sure to press the emergency stop button of the desktop robot
immediately. An inappropriate operation of a dispensing program might cause breakage
of the nozzle.

111
(1) Select a channel number.

Select only one channel number to run. When more than one channel is selected, the
channels cannot be run.

(2) Click the [Run CH] button.

(3) The selected channel is run.

Select the channel to run Running Dialog

8.5.3 Delete Channel (ΩX/SX series only)

When you set [Robot selection] to [ΩX/SX], [Channel Delete] button displayed on
screen, and you can delete channels saved in robot.
(1) Select channels to delete.
(2) Click [Channel Delete] button.
(3) Deletion of Selected channels performed.

8.5.4 Test Shot (ΩX/SX series only)

When you set [Robot selection] to [ΩX/SX], [Test Shot Pattern] combo box, [Execute
Test Shot]/[Clear Test Shot Count]/[ Test Shot Pattern] buttons displayed on screen.
・Select Test Shot Pattern
Choose Test shot pattern for execute / setting, via [Test Shot Pattern] combo box.

・Test Shot Setting

Click [Test Shot Setting] button and set details of test shot execution.

・Execute test shot

Click [Execute Test Shot] button and Test shot executed with set details.

・Clear Test Shot

Click [Clear Test Shot] button and clear test shot count.

112
8.6 Speed Setup

Item Description

PTP Speed Sets the movement speed of each axis for PTP Motion.

PTP increase/decrease Sets the acceleration/deceleration time of each axis for PTP Motion.

CP speed Sets Speed/Accelerating time/Decelerating time for 00 to 99 CP speeds.

JOG Low-Speed Sets the movement speed of each axis of the robot when the [JOG] key is

pressed while the [SLOW] button of the communication controller is pressed.

JOG High-Speed Sets the movement speed of each axis of the robot when the [JOG] key is

pressed while the [FAST] button of the communication controller is pressed.

Return to origin (fast) Sets the speed for returning to the origin.

Return to origin (slow) Sets the speed for returning to the origin.

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8.7 IO Monitor

You can monitor the state of input/output signals of the connected desktop robot.
Select the [DIN] tab to check the state of input signal to the desktop robot, and select the
[DOUT] tab to check the state of output signal from the desktop robot.
When you click the button next to each port number while selecting the [DOUT] tab, you
can switch the state of output signal from the robot.
Each signal name can be edited with P.137 "Configuration IO Name".

8.8 Teaching Pendant

It starts the teaching pendant emulator that
can be operated on Windows when you don’t
set [Robot selection] to [ΩX/SX]. The teaching
pendant emulator can be operated in the same
way as the accessory teaching pendant for the
desktop robot. For details of operation
methods, see the instruction manual of the
desktop robot.

* Even if connected correctly with the desktop robot, if the COM number is set to 6 or
higher, the teaching pendant emulator cannot communicate with the desktop robot. Set
the COM number to 1 to 5.For methods to change the COM number, see P.17
"Introduction Connection Setting".

114
 * In the teaching pendant emulator, you can keep a button pressed down by right-clicking
the button. Use this when you need to press several buttons at the same time.

When you set [Robot selection] to [ΩX/SX], [Robot Parameters Setting] dialog will be
shown. You can set following parameters.
Item Details

Soft limit Specify limits of each axis.

Valid axis Set the availability of each axis.
Return condition ON/OFF Set the return condition.
Return order Set the driving order of return.

Binary / BCD Limit Set the limit i/o value in binary/bcd form.

Theta Calibration Set the calibration value of theta.

Lead Correction Set whiter carry lead correction into effect.

Measured / Ordered Stroke Specify Measured Stroke and Ordered Stroke.

Area Specification OUT Set to output OUT signal in range of area 1 and 2.

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9 Test Run Program (Test Mode)

9.1 Overview
In Test Mode, programs that have been created can be sent to the desktop robot and
operated with each step.

9.2 Compatible robots

This function is only compatible with the CROSS MASTER ΩX/SX Series/
SHOTMASTER ΩX/SX Series. For other models, see use the teaching pendant function
on P.114.

9.3 Startup Method

9.3.1 Start from the "Channel Data" dialog box

(1) Select one channel to run a test from the "Channel Data" dialog box.
(2) Click the [Test Mode] button.

116
 9.3.2 Start from the channel list

(1) Select one channel to run a test from the "Channel List."
(2) Click the [Run Test for Selected Channel] button.

9.4 Screen Configuration

Item Content

Return to home Instructs the desktop robot to perform return to origin operation.
Operation position
Step execution Runs one step of a program.
CH: Displays the number and comments for the channel in operation.
Status
STEP: Displays the number of the step in operation.
[>] , [<] (display details button) Switches between displaying [>] and hiding [<] details.
Current robot coordinates Displays the current coordinates of the robot.
Variables Displays the values for the current count and variable coordinates of the
robot.
Close Closes the "Test Mode" dialog box.

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9.5 Operation Method
(1) Starting test mode sends channel data,

including the relevant channels, to the desktop

robot.

(2) After sending channel data, the "Confirm

Return to Origin" dialog box will be displayed.

To start the program from the origin point,

perform the return to origin.

(3) The "Test Mode" dialog box will be displayed.

(4) When you click the [Step Execution] button

one step command will be performed.

(Note)

・ If an emergency stop, return to origin or other operation is run from the robot, click the "Return to Origin" button on

the test mode screen and repeat from the first step.

・ If multiple spline commands are programmed as continuous steps, the continuous steps will operate as a single

step. (Will not stop at each step)

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9.6 Unavailable commands
The following commands are disabled with the test mode function. If step execution is
performed, these commands will be skipped to the next step.

Command

PTP SPEED

ELLIPT.ARC

OFFSET

THETA COR.

SET PAL.1

SET PAL.2

CEL.MOTION

PALLETIZE

TEST SHOT

RESET TEST SHOT

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10 Editing Dispenser Settings (MuCOM lite)

10.1 Overview
You can use the MuCOM lite function to obtain and edit dispenser set values.

10.2 How to Connect with Target Dispenser

This section indicates how to connect with the target dispenser.
Connection Method Model

Connection type A (USB connection) ROBOJET

Connection type B (USB connection) MJET-S-CTR-RM*1

MJET-S-CTR

Connection type C (RS-232C connection) MJET-4-CTR

MJET-S-CTR-RM*2

*1 When using USB port on front of dispenser.

*2 When using RS-232C port on back of dispenser.

10.3 Connecting with a Dispenser

10.3.1 Connection Type A (USB Connection)

Connect a PC with MuCADV installed to the robot.

* Connect to the USB port of the robot.

ROBOJET
Connection cable
PC Robot

Cable Name Cable Type Cable Length

 Connection cable [USB A-B type, 1.5 m] CB-USB-A-B-1.5M 1.5 m

120
 10.3.2 Connection Type B (USB Connection)

Connect a PC with MuCADV installed to the dispenser by using the connection cable.

Connection cable
Dispenser

Connection cable*1 or *2 + *3

PC Robot

Cable Name Cable Type Cable Length

 CONNECT CABLE [USB A-B TYPE 1.5M] CB-USB-A-B-1.5M 1.5 m

 USB SERIAL CONVERSION ADAPTER [DSUB9PIN-USB] *2 DSUB9-USB 0.3 m

 TEACHING CABLE [9-15PIN] TPC-11 1.5 m

*1 When using CROSS MASTER ΩX/SX series/SHOTMASTER ΩX/SX series

*2 Use when the PC used does not have a serial port.

*3 Ω series/DS series/SHOTmini 100S-01

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 10.3.3 Connection Type C (RS-232C Connection)

Connect a PC with MuCADV installed to the dispenser by using the connection cable.

Connection cable + *1

Dispenser

Connection cable*2 or *1 + *3

PC Robot

Cable Name Cable Type Cable Length

CONNECT CABLE [DSUB 9PIN INTERLINK 2M] MUCAD-C7-SMM 2m


CONNECT CABLE [DSUB 9PIN INTERLINK 3.5M] MUCAD-C8-SMM 3.5 m

 USB SERIAL CONVERSION ADAPTER [DSUB9PIN-USB]*1 DSUB9-USB 0.3 m

 CONNECT CABLE [USB A-B TYPE 1.5M] CB-USB-A-B-1.5M 1.5 m

 TEACHING CABLE [9-15PIN] TPC-11 1.5 m

*1 Use when the PC used does not have a serial port.

*2 When using CROSS MASTER ΩX/SX series/SHOTMASTER ΩX/SX series
*3 Ω series/DS series/SHOTmini 100S-01

10.4 Startup Procedures

Click the [MuCOM Lite] button on the toolbar, or click [File] > [Dispenser] > [MuCOM
Lite] from the menu to start up "MuCOM lite".

122
 10.5 Screen Configuration

2 4
1

3
12 6 7 5

13

14
8 9 10 11

123
 Name Function
Dispenser Displays dispenser information such as model name, software version and
1
Information dispensing counter.
2 Dispenser Settings You can display and edit set values that are not dependent on the channel.
3 Channel Information You can display and edit set values that are dependent on the channel.
4 Batch Operation You can receive and send all items.
Dispenser You can perform dispenser operations of [Dispense] *1, 2 and [Clear Dispensing
5
Operation Counter].
6 [Receive] button Receives and updates the display of dispenser operation and setting items.
7 [Send] button Sends setting items.
8 [Send All CH] button Sends all settings of channel information.
[Receive All CH]
9 Receives and updates the display of all settings of channel information.
button
[Send Selected CH]
10 Sends only the settings of the selected channel.
button
[Receive Selected
11 Receives and updates the display of only the settings of the selected channel.
CH] button
12 Auto. Update Updates the items of the dispenser information screen at regular intervals.
13 Check mark Displays the channel that is currently set by the dispenser. * 3
14 Grayed-out areas Items not related to the specified settings are grayed-out. (Can be edited.)
*1 When the dispenser setting is in manual mode, dispensing starts the first time this button is pressed
and stops the second time it is pressed.
*2 The reaction of dispenser operation might be slightly delayed during automatic updating.
*3 Updated when "Dispenser Information" and "Channel Information" are received.

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10.6 MuCOM lite Environment Settings
10.6.1 Overview

You can use the MuCOM lite environment settings screen to select the dispenser
model, specify communication settings, and select the language.

10.6.2 Setting Procedures

Click [Settings(S)] > [Environment Settings(S)] from the menu to display the "MuCOM
Lite Environment Settings" screen.

10.6.3 Screen Configuration





Name Function
 Model For selecting the model being used.
 COM Sets the COM port connected to the dispenser.* 1
 Baud Rate Sets the baud rate (transmission speed) set for the dispenser.* 1
 Find COM Port Automatically sets the COM port and baud rate.* 1
*1 You can select a COM port only when using connection type B or C. It is not necessary to
set a COM port when using connection type A.

125
10.7 Sending/Receiving Dispenser Settings
10.7.1 At MuCOM lite Startup

All settings can be received from the dispenser at MuCOM lite startup.
When the following message is displayed, click [Yes] to receive the settings.

* If dispenser connection settings have not been specified, such as at initial startup,
click [No] to prevent an error from occurring.

10.7.2 Batch Sending/Receiving of All Settings

Click the [Receive All Settings] or [Send All Settings] button to send or receive all set
values.

10.7.3 Sending/Receiving of Each Item Group

Click the [Receive] or [Send] button under an item group to send or receive the set
values corresponding to that item group.

10.7.4 Sending/Receiving Only the Selected Channel

Select the channel you want to send or receive, and click the [Send Selected
CH]/[Receive Selected CH] button, or right-click the desired channel and click [Send
Selected CH]/[Receive Selected CH] from the displayed menu to send or receive only
the specified channel.

126
 10.7.5 Changing the Current Channel of the Dispenser

You can change the current channel of the dispenser from MuCOM lite.
1. Select the channel you want to
change to the current channel and
right-click on it.
2. Click [Change to Current CH] from
the menu.
3. A current channel change
command is sent to the dispenser.

4. The current channel is changed and

the check mark moves to the newly
selected channel.

10.8 Editing Items

10.8.1 Editing Numeric Values and Character Strings

Double-click on the cell of the item to switch to editing mode and be able to edit the
set values.

10.8.2 Selecting from Options

Double-click on an item that is set by selecting an option to display the editing screen.
Select the desired option and press [OK] to fix the setting.

127
10.8.3 Batch Setting of Items

You can change all of the channel settings of a specified range.

1. Right-click on the item

name you want to set
and select "Batch
Setting" from the menu.
2. The batch setting screen is displayed.
3. Set the range of the changed channel from
[Start CH] to [End CH].
4. Specify the set values.
* [For items set by using numeric values]
If different values are specified as set
values for [Start CH] and [End CH], the set
values within the specified channel range
are automatically interpolated.
5. Press [OK] to fix the setting. Press [Cancel]
to cancel the change.

128
10.8.4 Copy/Pasting a Set Value

You can copy and paste items in the channel information field for each channel.
* You can only copy and paste the channel information field.

1. Select the channel you want to copy and

right-click on it.
2. Select [Copy] from the menu and click on it.
3. The channel settings are copied.

4. Select the channel where you want to paste

the settings and right-click on it.
5. Select [Paste] from the menu and click on it.
6. The channel settings are pasted.

129
10.9 Saving and Importing Settings
10.9.1 Saving Settings

You can save set values received and edited with MuCOM lite.
1. Click on Menu > [File] > [Save As(S)].
2. Specify a name and save the settings.

10.9.2 Importing Settings

You can import saved set values with MuCOM lite.

1. Click on Menu > [File] > [Open(O)].
2. On the file selection screen, select the file
you want to import and click [Open].
3. The set values are imported.

10.10 Displaying/Hiding Channel Items

You can hide items not being used. (Channel items only)

 To Hide an Item

1. Right-click on the item name of the

item you want to hide.
2. Click [Hide] to hide the item.

130
 To Redisplay an Item

1. Right-click on the item name of the

channel item you want to redisplay
and select [Displayed Items Settings]
from the menu. Or, click on Menu >
[View(V)] > [Displayed Items
Settings].
2. The "Displayed Items Settings"
screen is displayed.
3. Select the item you want to redisplay
from the items displayed in the
"Hide" list.
4. Click the [Display>>] button to
redisplay the item.
* You can also select an item from
the "Display" list and click the
[<<Hide] button to hide the selected
item.
5. Click [OK] to fix the change.

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11 Configuration
11.1 Overview
Various basic setting functions are provided for MuCADV such as communication,
display, and automatic programming.

11.2 Startup Method

The "Configuration" dialog box is displayed by clicking [File] > [Configuration] from the
menu,

By selecting the list in [Pane A], [Pane B] is switched. To reflect the setting details, click
the [OK] or [Apply] button.
Use the [Apply] button at the time of making display settings so that you can check the
update. If you do not want to reflect the setting details, click the [Cancel] button.

A B

132
11.3 Communication

Item Details

Connection COM Specify the serial port COM number the robot is connected to. For checking the
Number COM number, see P.17 "Introduction Confirming COM No. and Setting COM".
Baud Rate Set the baud rate when communicating with the robot. Set the baud rate to the value
set in the desktop robot. To check the baud rate set in the desktop robot, see the
instruction manual for the desktop robot that you have.
Communication Timeout Set the time for the communication timeout processing.
Search for COM Ports The button to call the function which search combinations of available connection

COM number and baud rate automatically. For details about usage, refer to page 12

“Introduction Connection Setting”

133
11.4 Coordinate System

Item Details

XY Orientation Sets the orientation of the XY coordinate system. The horizontal arrow shows the

orientation of the X coordinate system and the vertical arrow shows the orientation of

the Y coordinate system. Select a combination so that the positive orientation of all

coordinate systems will be correct.

Z Orientation Sets the orientation of the Z coordinate system.

Minimum Stroke Value Sets the minimum stroke value of each robot axis.

The ruler scale on the CAD screen is displayed only for the range set here.

Maximum Stroke Value Sets the maximum stroke value of each robot axis.

θ Compensation When running the P.190 [Theta Compensation] command, the value set
here becomes the compensation value.
Z Axis Movable Range Sets maximum/minimum coordinate values for Z axis.

Restriction

W Axis Display Unit Sets the display units of the W axis.

Amount of Step Sets the amount of movement during Step mode.

Movement

134
11.5 Automatic Programming

Item Details
Z Operation Before dispensing Set the channels to be called when dispensing starts and when it
Channel starts ends. To set the channels, input the channel numbers to be called
into the edit boxes on the left side, or select them from the
After dispensing ends drop-down list on the right side. When automatic programming is not
used, leave the channel number field blank.
Dispense Automatically inserts When inputting a graphic object on the CAD screen, sets whether or
ON/OFF dispense ON/OFF not to automatically insert a step in order to output the signal
Step step switching dispense ON/OFF.
Dispense OUT Specify the OUT signal number used when automatically inserting a
number dispense ON/OFF step.

SS Function Automatically inserts When inputting a graphic object on the CAD screen, sets whether or
ON/OFF Step SS function ON/OFF not to automatically insert a step in order to turn the synchro speed
step function ON/OFF.
SS OUT number Specify the OUT signal number to turn the synchro speed function
ON/OFF.
Default Value Line Speed Sets the line speed number used by default.
R Radius Sets the R radius used by default.
Dot Dispensing Sets default value for timer waiting time inserted when dot
Timer dispensing.
The coordinate Set the default value for the type of coordinate specification method
system uses absolute when inputting commands (see P.90 "Program Screen ABS/INC").
value (ABS)
Subchannelization Automatically Set whether to automatically convert all sub-channel ized commands
converts coordinates to INC when [Pattern Subchannelization] is run.
when sub-channel
ized to INC

135
11.6 Image Data

Item Details

2D (after Maximum Size Set the maximum size of images generated after compensation
Compensation) processing for image files imported in P.67 "CAD Screen Image
BMP Data Files" has finished.
Save Folder Set a folder to save corrected images.
Default Value Image Set default transmittance of images.
Transmittance
Lens Distortion Set a lens distortion correction value used in importing images.
Compensation
Layer Ranking Display a grid on Set whether to display a grid in front of deselected graphic objects.
images
Display auxiliary Set whether to display auxiliary lines in front of deselected graphic
lines objects.
on images

136
11.7 IO Name

Names can be set for OUT/IN signals of each number.

However, because the numbers in the tables below are
reserved, they cannot be changed.
For the correspondence between OUT/IN signal
numbers and connector pin numbers, see the instruction
manual of the desktop robot.

OUT(Ω/DS series/100S-01/Alpha series)

Signal Details Signal Details

Number Number

27 Dispensing 30 Output in program

28 Z axis descent 31 Output when returning to the origin

29 Signal output during error 32 Output during axis travel

IN(Ω/DS series/100S-01)

Signal Details Signal Details

Number Number

18 CH setting1 26 Start input

19 CH setting2 27 Stop input

20 CH setting4 28 Dispense signal input

21 CH setting8 29 Z axis upper limit sensor

22 CH setting10 30 Return to origin input

23 CH setting20 31 Stop signal input

24 CH setting40 32 Condition sensor input

25 CH setting80

137
IN(Alpha series)

Signal Details Signal Details

Number Number

18 Program setting1 26 Start

19 Program setting2 27 Stop

20 Program setting3 28 Dispensing

21 Program setting4 29 Z axis descent

22 Program setting5 30 Return to origin

23 Program setting6 31 Emergency stop

24 Program setting7 32 Z axis upper limit sensor

25 Program setting8

OUT(ΩX/SX series)

Signal Details Signal Details

Number Number

27 Dispensing 30 Output in program

28 Output during stop 31 Output when returning to the origin

29 Signal output during error 32 Output during axis travel

IN(ΩX/SX series)

Signal Details Signal Details

Number Number

18 CH setting1 26 Start input

19 CH setting2 27 Stop input

20 CH setting4 28 Dispense signal input

21 CH setting8 29 Option connector connection detection

22 CH setting10 30 Return to origin input

23 CH setting20 31 Stop signal input

24 CH setting40 32 Condition sensor input

25 CH setting80

138
11.8 CAD Screen Display (1)

Item Details

Line (while dispensing) Sets line width, line type and display color for lines indicating that dispensing

operation is in progress, for each interpolation speed.

Line (idle run) Sets line width, line type and display color for lines indicating that idle run operation

is in progress.

Motion (normal) Sets line width, line type and display color for lines indicating that PTP Motion

operation is in progress.

Motion (during Sets line width, line type and display color for lines indicating that the dispensing

dispensing) signal is ON during PTP Motion.

Line outside Limit Sets line width, line type and display color for lines indicating that the lines are

outside the work area or outside the Z axis maximum/minimum value range.

Edge Point■ Sets size when selected and deselected for "■" indicating pass point and end point.

Repeat Sets whether to color code lines indicating that it is a drawn track with the [Repeat]

command. Also, when color coding, sets line width, line type and display color.

CH. Call Sets whether to color code lines indicating that it is a drawn track with the [CH. Call]

command. Also, when color coding, sets line width, line type and display color.

139
11.9 CAD Screen Display (2)

Item Details

Dispensing Display dispensing Sets whether to display locus lines during dispensing operation using lines

Width width without width, or lines with width.

Dispensing Width Size Sets dispensing width size.

Overlap Color (2 layers Sets color to indicate dispensing width is overlapped.

to 4 layers)

Work Area Offset Sets origin coordinates for area indicating work.

Size Sets size for area indicating work.

Display Color Sets color when displaying the area indicating work on the CAD screen.

Line Width Sets line width when displaying the area indicating work on the CAD screen.

Grid Sets grid pitch and display color.

External Graphic Line Sets line width, line type and display color in order to display lines of

external graphics imported in P.64 "CAD Screen External Graphic Data".

External Graphic Dot Sets size and display color in order to display dots of external graphics

imported in P.64 "CAD Screen External Graphic Data".

Auxiliary Line Sets line width, line type and display color in order to display auxiliary lines.

Font Setting CALLCH Sets font and display color for characters indicating CH call other than Z

Font operation CH call.

Z Operation CH Sets font and display color for characters indicating Z operation CH call.

Display Font

Canvas Setting Sets screen background color.

140
11.10 Program Screen Display

Item Details

CH CALL Sets character color of [CH CALL] command.

OUT Sets character color for [OUT], [PULSE OUT], [SET OUT], [FLICKER OUT], [BINARY OUT],

[BCD OUT], [COUNT OUT], and [OUT RESET].

Timer Sets character color for [Timer] command.

Split Mark Sets character color for STEP line on which "split" processing was performed.

Curve with R Sets character color for dispensing program STEP lines corresponding to R created in CAD.

Start Finish Sets character color for STEP lines on which "start finish offset" was performed on the CAD

Offset screen.

11.11 Print Settings

Item Details

Character Sets character font and background color when printing.

Edge Point ■ Sets size for "■" indicating pass point and edge point.

Work Area Sets line width and color for lines indicating work area.

141
11.12 Other

Item Details

Robot Selection Sets type of desktop robot.

Startup time Sets whether to automatically load previously used project files at startup.
Operation / Input Maximum Loop Specifies the maximum loop count when running the dispensing program.
Restriction Count
Channel Data Sets whether to enable setting of edit lock for each channel in order to
Edit Lock Function protect channels you do not want overwritten or reedited.

Window to open CAD Screen Sets the software to open the CAD screen when the channel list is
by double-clicked.
double-clicking 3D Trajectory Screen Sets the software to open the 3D trajectory screen when the channel list is
channel list double-clicked.
Sets the unit of acceleration.
Acceleration unit

Sets the language.

※The setting is applied when you restart the MuCADV after changing

Language setting the language.

※ The display may not be shown properly depending on the OS
language.

142
 12 Command Reference
This chapter describes desktop robot commands you can use with MuCADV.

12.1 Command List

Classification Command Name SX/ Ω Alpha Page Classification Command Name SX/ Ω Alpha Page

ΩX ΩX

PTP MOTION ○ ○ ○ 146 TIM.OUT ○ ○ 183

PTP SPEED ○ ○ ○ 146 Pulse OUT ○ 184

PTP Operation

RETURN ○ ○ ○ 147 SET OUT ○ ○ ○ 184

I／O OUT

SELECT RTN. ○ ○ 147 FLICKER OUT ○ ○ ○ 185

RETURN W ○ ○ 147 BINARYOUT ○ ○ ○ 186
MATRIX ○ ○ 148 BCD OUT ○ ○ ○ 187
STRAIGHT1 ○ ○ 149 COUNT BCD TIMER OUT ○ ○ 188
LINE ○ 151 Count OUT ○ 188
STRAIGHT2 ○ ○ 152 RESET OUT ○ ○ ○ 189
ELBOW ○ ○ 153 DIS BCD OUT ○ 189
SQ.BRACKET ○ ○ 154 OFFSET ○ ○ ○ 190
INTERPOLATION

Compensation

SQUARE ○ ○ 156 THETA COR. ○ ○ 191

TRACK ○ ○ 157 NOZZLE REF POS ○ 207
ARC1 ○ ○ 158 NOZZLE ADJUST ○ 207
CURVE ○ 159 SET VAR. ○ ○ ○ 191
CIRCLE ○ 160 ADD.VAR ○ ○ ○ 192
VARIABLE

ARC2 ○ ○ 161 ADD.C.VAR ○ ○ ○ 192

ARC3 ○ ○ 162 PAR ADD V ○ ○ 193
ELLIPT.ARC ○ ○ 163 ADD PAR V ○ 193
SPLINE ○ ○ 164 VAR.MOTION ○ ○ ○ 194

143
 3D ARC ○ ○ 166 SET COUNT ○ ○ ○ 194
3D CURVE2 ○ 167 BCDSET C ○ ○ 195
3D ELL.ARC ○ ○ 168 IN Count Set ○ 195
3D CURVE1 ○ 169 COUNT+ ○ ○ 196

○ ○ ○

COUNT
ARC+W 169 Count Up 196
STRING OUT ○ ○ 171 IN.COUNT+ ○ ○ 197
TIMER ○ ○ ○ 173 IN Count Up ○ 197
REPEAT ○ ○ ○ 174 RESET CNT ○ ○ ○ 198
JUMP ○ ○ ○ 174 IN RST.CNT ○ ○ ○ 198

○ ○ ○ ○ ○ ○
STEP Operation

CALL CH. 175 CMPR.C.JMP 199

CALL STEP ○ ○ 175 Count Jump ○ 200
STOP ○ ○ 175 SET PAL.1 ○ ○ 201

BLANK ○ ○ 176 SET PAL.2 ○ ○ 202

PALLETIZE

WAIT IN ○ ○ ○ 176 P. SET ○ 203

WAT.IN LAP ○ ○ 177 CEL.MOTION ○ ○ 204
WAT.IN UP ○ 177 P. MOVE ○ 204
IN JUMP ○ ○ ○ 178 PALLETIZE ○ ○ 205
TIM.IN.JMP ○ ○ 178 P. RET ○ 205
I／O IN

Wait Timer IN ○ 179 TEST SHOT ○ 206

Shot
Test

BIN.IN.JMP ○ ○ 180 RESET TEST SHOT ○ 206

Binary IN ○ 180
BCD IN JMP ○ ○ 181
BCD IN ○ 181

144
12.2 Details
12.2.1 How to View Each Command

Item Description
Overview Simple description of the command.
Abbreviation String to be input in the command cell on the program screen
in order to select the command. If "Abbreviation: 00: / Pm", for
example, you can select the command by inputting "00:" or
"Pm" in the command cell.
Available desktop robot Indicates which type of robot the command can be used
in.”ΩX/SX” indicates desktop robot ΩX/SX series, "Ω"
indicates desktop robot Ω / DS series / 100S-01, and "Alpha"
indicates desktop robot Alpha series.
Input from CAD screen Indicates whether the command can be input from the CAD
screen.
Parameter Description Describes each parameter that needs to be set when using
the command, and the range of value that can be input. Note
that the range indicated here is the range of value that can be
input on MuCADV, and not the range allowed on the desktop
robot.
Input method from CAD Describes input methods if input is possible on the CAD
screen screen.
Other Some commands have additional special instructions.

145
 12.2.2 PTP MOTION

・Overview
This is a command to move from the current position of the desktop robot to the
specified end point. The locus during the movement is not necessarily a straight line.
Abbreviation: 00: / Pm
Available desktop robot ΩX/SX Input from CAD screen Not possible
/ Ω / Alpha

・Parameter Description
Parameter Range Description
ABS / INC ABS / INC See P.90 "Program Screen ABS/INC".
End point coordinates -9999.999 to Coordinates of the end point
(X, Y, Z, W) 9999.999 [mm]

・Coordinate Acquisition
Click the [Get Position] button in the [PTP Motion] edit dialog to set the current
coordinates of the desktop robot to the end point coordinates.

12.2.3 PTP SPEED

・Overview
This command specifies the PTP operation speed of each axis.
Abbreviation: 08: / Pv
Available desktop robot ΩX/SX/Ω/ Input from CAD screen Not possible
Alpha

・Parameter Description
Parameter Range Description
X, Y, Z, W 1 to 9999 [mm/sec] PTP operation speed of each axis

146
 12.2.4 RETURN

・Overview
This command returns all axes to the origin at their respective speed. The speed of
movement for each axis can be set with P.113 "Communication Controller Speed Setup".
Abbreviation: 11: / Hm
Available desktop robot ΩX/SX/Ω / Input from CAD screen Not possible
Alpha

・Parameter Description
No parameters that can be set

12.2.5 SELECT RTN.

・ Overview
This command is a [RETURN] command that can specify driving order. The speed of
movement for each axis can be set with P.113 "Communication Controller Speed Setup".
Abbreviation: 50: / Shm
ΩX/SX/Ω/ Not possible
Available desktop robot Input from CAD screen
Alpha

・ Parameter Description
Parameter Range Description
X, Y, Z, W -,1 ～ 4 Specify the driving order with -, 1, to 4.If you specify - for an
axis, that axis does not return to the origin. For example, if
you specify X=1, Y=2, Z=-, and W=-, then the X axis returns to
the origin first, then the Y axis returns to the origin, but the Z
and W axes do not move.

12.2.6 RETURN W

・ Overview
This command performs origin return after having performed PTP operation in the
direction opposite to the total travel distance of the W axis.
Abbreviation: 51: / Whm
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・ Parameter Description
No parameters that can be set

147
 12.2.7 MATRIX

・Overview
This command runs a specified channel repeatedly while moving in a grid pattern on XY
coordinates.
Movement between grid points is performed with PTP Motion. For the dispensing program
to be run at each grid point, CH data created beforehand is called with the [CH. Call]
command.
Abbreviation: 52: / Mat

Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Direction X/Y Set whether to move in X direction or Y
direction initially.
Route Parallel / Continuity Set order of visiting grid points (see the figure
above).
Channel 1 to 999 [CH] Specify the CH number to call at each grid
point.
P1, P2 0 to 9999.999 [mm] Specify the pitch in X direction and Y
direction.
N1, N2 1～999 Specify the number of points in X direction
and Y direction, respectively.
Replacement -359.999～359.999[°] Specify the angle against X axis.
Angle

148
 12.2.8 STRAIGHT1

・Overview
This command moves the nozzle on a line segment that connects the coordinates of the
current desktop robot position and the end point coordinates.
Abbreviation: 01: / Ln1
Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
ABS / INC See P.90 "Program Screen
ABS/INC".
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed
Setup"
End point -9999.999 to 9999.999 Coordinates of the end point
coordinates (X, Y, Z, [mm]
W)

・Input method from CAD screen

(1) Click the [Straight 1] button on the toolbar.
(2) On the toolbar, set the line speed number to be used and whether to use the absolute
coordinates.
(3) Click the start point on the CAD screen to specify.
(4) Click the end point on the CAD screen to specify.
(5) When inputting STRAIGHT1 from the CAD screen, you can input multiple
[STRAIGHT1] commands consecutively. Every click on the CAD screen will add a
new [STRAIGHT1] command, setting the end point of the previous [STRAIGHT1]
command as the start point, and the clicked point as the end point.
(6) Double-click on the CAD screen to fix the [STRAIGHT1] command input. Note that it
fixes the input up to the point clicked right before the double-click.

149
 A straight line is added at every click

Double-clicked point

Fixed up to here
Point clicked right before the double-click

(7) When you press the [Shift] key during input of STRAIGHT1, the mouse cursor is
restricted on the horizontal/vertical line.
(8) You can call a dialog for editing coordinates or line
length by double-clicking the input Straight 1
object.

・ Coordinate Acquisition
Click the [Get Position] button in the [Straight 1] edit
dialog to set the current coordinates of the desktop
robot to the end point coordinates.

150
 12.2.9 Line

・Overview
This command is equivalent of the [STRAIGHT 1] command for Desktop robot Alpha
series.
You can use this command in the same way as [STRAIGHT 1] command.
Abbreviation: 01: / Ln1
Available desktop robot Alpha Input from CAD screen Possible

・Parameter Description
Parameter Range Description
ABS / INC See P.90 "Program Screen
ABS/INC".
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed
Setup"
End point -9999.999 to 9999.999 Coordinates of the end point
coordinates (X, Y, Z, [mm]
W)

151
 12.2.10 STRAIGHT2

・Overview
This command is the same as the [STRAIGHT1] command, it moves the nozzle on a
line segment that connects the coordinates of the current desktop robot position and the
end point coordinates. However, the [STRAIGHT2] command specifies the end point with
line length and placement angle.
Abbreviation: 53: / Ln2
Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed Setup"
Length 0.001 to 9999.999 Travel distance to end point
[mm]
Replacement -359.999～359.999 [°] Angle of straight line (see the figure above)
Angle

・Input method from CAD screen

(1) Click the [Straight 2] button on the toolbar.
(2) Specify the start point by clicking.
(3) When the [Straight 2] dialog is displayed, set each parameter by referring to Parameter
Description.
(4) You can also set line length and placement angle by dragging the edge point of a
[Straight 2] object on the CAD screen while the [Straight 2] dialog is being displayed. At
this time, if you check the [Lock] check box in the [Straight 2] dialog, the checked item
(Length or Angle) is locked when setting by drag.

152
 Click a start point Edit by dragging the edge point

12.2.11 ELBOW

・Overview
This command creates L-shaped
dispensing locus.
Abbreviation: 54: / Elb

Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
S1 0.001 to 9999.999 Line length on the start point side
[mm]
S2 0.001 to 9999.999 Line length on the end point side
[mm]
Relative -359.9～359.9[°] Angle between S1 and S2
angle
Angle -359.9～359.9[°] Angle between X axis and S1
Line Speed 0～99 Line speed number set in P.113 "Communication
Controller Speed Setup"
Route CW / CCW Whether to bend in CW direction or CCW
direction
R 0 to 9999.999 [mm] R radius

153
・Input method from CAD screen
(1) Click the [ELBOW] button
on the toolbar.
(2) Specify the start point by
clicking.
(3) When the [Elbow] dialog is displayed, set each parameter by referring to
Parameter Description.
(4) You can also set each parameter by dragging the edge point and/or midpoint of a
[Elbow] object on the CAD screen while the [Elbow] dialog is being displayed.

12.2.12 SQ.BRACKET

・Overview
This command creates dispensing locus
in the shape of a square bracket.
Abbreviation: 55: / Sqr

Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
S1 0.001 to 9999.999 [mm] Length of the side which is in contact with the
start point
S2 0.001 to 9999.999 [mm] Length of the side which is not in contact with
either the start point or end point
Line Speed 0～99 Line speed number set in P.113
"Communication Controller Speed Setup"
Replacement -359.999～359.999[°] Angle between X axis and S1
Angle
Route CW / CCW Whether to bend in CW direction or CCW
direction
R 0≤R<S1 and 0≤R< (S2/2) R radius

154
・Input method from CAD screen
(1) Click the [SQ.BRACKET] button on the toolbar.
(2) Specify the start point by clicking.
(3) When the [Sq.Bracket] dialog is displayed, set each parameter by referring to
Parameter Description.
(4) You can also set each parameter by dragging the edge point and/or midpoint of a
[Sq.Bracket] object on the CAD screen while the [Sq.Bracket] dialog is being
displayed.

155
 12.2.13 SQUARE

・Overview
This command
creates a square
dispensing locus.
Abbreviation: 56: /
Rang

Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
S1 0.001 to 9999.999 [mm] Length of the first side
S2 0.001 to 9999.999 [mm] Length of the second side
Line Speed 0～99 Line speed number set in P.113
"Communication Controller Speed
Setup"
Replacement -359.9～359.9[°] Angle between X axis and S1
Angle
Start 0～7 From which point to start dispensing,
P0 to P7 in the figure above
Route CW / CCW Whether to bend in CW direction or
CCW direction
R 0≤R<(S1/2) and 0≤R< (S2/2) R radius

・Input method from CAD screen

(1) Set the robot type to "Ω" by referring to P. 142 "Configuration Other".
(2) Click the [SQUARE] button on the toolbar.
(3) Specify the start point by clicking.
(4) When the [Square] dialog is displayed, set each parameter by referring to Parameter
Description.
(5) You can also set each parameter by dragging each point of a [Square] object on the
CAD screen while the [Square] dialog is being displayed.

156
 12.2.14 TRACK

・Overview
This command creates a track-shaped dispensing locus.
Abbreviation: 57: / Trk
Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
P 0.001 to 9999.999 [mm] Length of the straight line portion
R 0.001 to 9999.999 [mm] Diameter of the arc portion
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed Setup"
Replacement -90～90[°] Angle between X axis and P
Angle
Start Point 0 ～ 3 From which point to start dispensing, P0 to
P3 in the figure above
Route CW / CCW Whether to bend in CW direction or CCW
direction

・Input method from CAD screen

(1) Set the robot type to "Ω" by referring to P.142 "Configuration Other".
(2) Click the [TRACK] button on the toolbar.
(3) Specify the start point by clicking.
(4) When the [Track] dialog is displayed, set each parameter by referring to Parameter
Description.
(5) You can also set each parameter by dragging each point of a [Track] object on the CAD
screen while the [Track] dialog is being displayed.

157
 12.2.15 ARC1

・Overview
The [ARC1] command moves the nozzle on an arc or circle that starts from the current
position of the robot, and passes through the pass point and end point.
Abbreviation: 58: / Arc1
Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
ABS / INC See P.90 "Program Screen ABS/INC".
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed Setup"
Pattern Arc / Circle
Pass Point -9999.999 to 9999.999 XY coordinates of pass point
[mm]
End point -9999.999 to 9999.999 XY coordinates of the end point
[mm]

・Input method from CAD screen

(1) Click the [ARC1] button on the toolbar.
(2) Click the start point on the CAD screen to specify.
(3) Specify the end point and the pass point by clicking them in this order.
(4) Double-click the [Arc1] object to display a dialog box for changing various parameters.
- Absolute coordinate of center point, Absolute distance from start point to center point
Specify the center point coordinates of the arc/circle. At this time, the start point
position and the center angle are not changed, but the pass point and the end point
are changed.
- Radius
Specify the length of the radius of the arc/circle. At this time, the start point position
and the end point are not changed, but the pass point is changed. For this reason, you
cannot set the radius to a value smaller than the half length of the distance between
the start point and end point.
- Center Angle

158
 Set the center angle of the arc (it cannot be set for circle). At this time, the positions of
the start point and the center are not changed, but the pass point and the end point
are changed.

12.2.16 Curve

・Overview
This command is equivalent of the [ARC 1] command for Desktop robot Alpha series.
You can use this command in the same way as [ARC 1] command except for supporting
only arc-mode.
Abbreviation: 58: / Arc1
Available desktop robot Alpha Input from CAD screen Possible

・Parameter Description
Parameter Range Description
ABS / INC See P.90 "Program Screen ABS/INC".
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed Setup"
Pass Point -9999.999 to 9999.999 XY coordinates of pass point
[mm]
End point -9999.999 to 9999.999 XY coordinates of the end point
[mm]

159
 12.2.17 Circle

・Overview
This command is equivalent of the [ARC 1] command for Desktop robot Alpha series.
You can use this command in the same way as [ARC 1] command except for supporting
only circle-mode.
Abbreviation: 58: / Arc1
Available desktop robot Alpha Input from CAD screen Possible

・Parameter Description
Parameter Range Description
ABS / INC See P.90 "Program Screen ABS/INC".
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed Setup"
Pass Point 1 -9999.999 to 9999.999 XY coordinates of pass point 1
[mm]
Pass point 2 -9999.999 to 9999.999 XY coordinates of the pass point 2
[mm]

160
 12.2.18 ARC2

・Overview
The [ARC2] command moves the nozzle on an
arc or circle, taking the input of center point and
center angle.
Abbreviation: 59: / Arc2

Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
ABS / INC See P.90 "Program Screen ABS/INC".
Line Speed 0～99 Line speed number set in P.113 "Communication
Controller Speed Setup"

Center Point -9999.999～9999.999 XY coordinates of the center point of arc or circle

Center Angle -359.999～359.999 [°] Center angle of arc

・Input method from CAD screen

(1) Click the [ARC2] button on the toolbar.
(2) Specify the start point by clicking.
(3) When the [Arc 2] dialog is displayed, set each parameter by referring to Parameter
Description.
(4) You can also set the center angle and center point by dragging the edge point and/or
the center point of an [Arc 2] object on the CAD screen while the [Arc 2] dialog is
being displayed.

161
 12.2.19 ARC3

・Overview
The [ARC3] command moves the nozzle
on an arc or circle, taking the input of
center point direction, radius, and center
angle. The center point direction sets the
direction of the center point viewed from
the start point with a coordinate value. The
center point is on the straight line that
connects the start point and the center
point direction.
Abbreviation: 60: / Arc3

Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
ABS / INC See P.90 "Program Screen ABS/INC".
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed Setup"
Near Center -9999.999 to 9999.999 Direction of the center point viewed from the
[mm] start point
R -9999.999 to 9999.999 Radius of arc or circle
[mm]
Center -359.999 ～ 359.999 [°] Center angle of arc
Angle

・Input method from CAD screen

(1) Click the [ARC3] button on the toolbar.
(2) Specify the start point by clicking.
(3) When the [Arc 3] dialog is displayed, set each parameter by referring to Parameter
Description.
(4) You can also set the center angle and center angle direction by dragging the edge

162
 point and/or the point that indicates the center point direction of an [Arc 3] object on
the CAD screen while the [Arc 3] dialog is being displayed.

12.2.20 ELLIPT.ARC

・Overview
This command creates an elliptical dispensing locus.
Abbreviation: 61: / Eps
Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
ABS / INC See P.90 "Program Screen ABS/INC".
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed Setup"
Near Center -9999.999 to 9999.999 Direction of the center point viewed from the
[mm] start point
R1 -9999.999 to 9999.999 Radius of elliptic arc or ellipse
[mm]
R2 -9999.999 to 9999.999 Radius of elliptic arc or ellipse
[mm]
Center Angle -359.999 ～ 359.999 [°] Center angle of elliptic arc
Replacement -359.999 ～ 359.999 [°] Placement angle of elliptic arc or ellipse
Angle

163
・Input method from CAD screen
(1) Set the robot type to "Ω" by referring to P.142 "Configuration Other".
(2) Click the [ELLIPT.ARC] button on the toolbar.
(3) Specify the start point by clicking.
(4) When the [Ellipt.Arc] dialog is displayed, set each parameter by referring to
Parameter Description.
(5) You can also set the center angle and center angle direction by dragging the edge
point and/or the point that indicates the center point direction of an [Ellipt.Arc] object
on the CAD screen while the [Ellipt.Arc] dialog is being displayed.

12.2.21 SPLINE

・Overview
This command draws a smooth curved line that passes set
points.The curved line needs to pass three or more points
in addition to the start point.
Abbreviation: 62: / Sln

Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
ABS / INC ABS / INC See P.90 "Program Screen ABS/INC".
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed Setup"
Pass Point -9999.999 to 9999.999 [mm] XY coordinate of pass point (three or more
points)

164
・Input method from CAD screen
(1) Click the [SPLINE] button on the toolbar.
(2) Click the start point on the CAD screen to specify.
(3) Click on the CAD screen to add pass points.
(4) When three or more points are added in addition to the start point, double-click on the
CAD screen to fix the input of [SPLINE] command. Note that it fixes the input up to
the point clicked right before the double-click.

Double-clicked here

Clicked right before the double-click Fixed up to here

165
 12.2.22 3D ARC

・Overview
This command creates a circular/arc-shaped dispensing locus that passes three points
(current point, pass point, end point) in a space. It draws a locus line in a shape that cuts a
sphere at an angle, thus the drawn shape becomes a true circle (see the figure below).
Also, when projecting the locus line on the XY plane, it becomes an ellipse.
Abbreviation: 05: / 3darc

Available desktop robot Possible Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
ABS / INC ABS / INC See P.90 "Program Screen ABS/INC".
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed Setup"
Pass Point, -9999.999 to Coordinates of pass point and end point
End Point 9999.999 [mm]
Pattern Arc / Circle Switch arc/circle

166
 12.2.23 3D Curve 2

・Overview
This command is equivalent of the [3D ARC] command for Desktop robot Alpha series.
You can use this command in the same way as [3D ARC] command except for
supporting only arc-mode.
Abbreviation: 05: / 3darc
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
ABS / INC ABS / INC See P.90 "Program Screen ABS/INC".
Line Speed 00～99 Line speed number set in P.113
"Communication Controller Speed Setup"
Pass Point, -9999.999 to Coordinates of pass point and end point
End Point 9999.999 [mm]

167
 12.2.24 3D ELL.ARC

・Overview
This command creates an ellipse/elliptic arc shaped dispensing locus that passes three
points (current point, pass point, end point) in a space. It draws a locus line that cuts a
cylinder of which central axis is parallel to the Z axis, thus the shape becomes ellipse (see
the figure below).Also, when projecting the locus line on the XY plane, it becomes a true
circle.
Abbreviation: 04: / 3deps

Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
ABS / INC ABS / INC See P.90 "Program Screen ABS/INC".
Line Speed 00～99 Line speed number set in P.113 "Communication
Controller Speed Setup"
Pass Point, End -9999.999 to Coordinates of pass point and end point
Point 9999.999 [mm]
Pattern Elliptic Arc / Switch elliptic arc/ellipse
Ellipse
Pass Point, End -9999.999 to Coordinates of pass point and end point
Point 9999.999 [mm]

168
 12.2.25 3D Curve 1

・Overview
This command is equivalent of the [3D ELL.ARC] command for Desktop robot Alpha
series.
You can use this command in the same way as [3D ELL.ARC] command except for
supporting only arc-mode.
Abbreviation: 04: / 3deps
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
ABS / INC ABS / INC See P.90 "Program Screen ABS/INC".
Line Speed 00～99 Line speed number set in P.113 "Communication
Controller Speed Setup"
Pass Point, End -9999.999 to Coordinates of pass point and end point
Point 9999.999 [mm]

12.2.26 ARC＋Ｗ

・Overview
This command synchronizes the W axis with the arc/circle interpolation and elliptic
arc/ellipse interpolation. Set this command in the step just before the [ARC] commands
and the [ELLIPT.ARC] command. W axis operation is synchronized at the speed Vw
[angle/sec], which is k times the path velocity on the circumference in the XY axes
arc/circle interpolation and elliptic arc/ellipse interpolation set in the step right after this
step.
Abbreviation: 63: / Arcw
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

169
 ・Parameter Description
Parameter Range Description
Operation Normal / See below
Mode Continuous
Coefficient k 0.0～999.9 Set coefficient.
Start Speed 0.0 to 999.9 Set start speed for continuous mode.
[angle/sec]
Acceleration 0 to 9999 [msec] Set acceleration time for continuous mode.
Time
Deceleration 0 to 9999 [msec] Set deceleration time for continuous mode.
Time

・Continuous Mode

As shown in the figure above, when the [STRAIGHT1] command and the [ARC1]
command etc. are run continuously, the desktop robot operates continuously without a
pause. Therefore, STEP 6 [ARC1] command in the above figure will start while the
desktop robot is moving. In this case, the W axis that has not been in motion will start
operation with abrupt acceleration in order to synchronize with the operation of XY axes
that have been in motion at a certain speed, which may cause failure such as loss of
synchronicity.
To prevent this type of problem, acceleration and deceleration time and start speed
can be set so that the W axis will not overly accelerate or decelerate when continuous
mode is set.
Use continuous mode when you use this command in continuous interpolations.

170
 12.2.27 STRING OUT

・Overview
This command outputs
OUT signals at even
intervals during straight
line interpolation.
Internally, it is a
combination of the
[STRAIGHT] command
and the [OUT]command.
Abbreviation: 64: / Str
Available desktop robot ΩX/SX/Ω Input from CAD screen Possible

・Parameter Description
Parameter Range Description
ON / OFF Signal is not output if OFF
Line Speed 00～99 Line speed number set in P.113 "Communication
Controller Speed Setup"
Length 0 to 9999.999 [mm] Set locus length.
Replacement -359.9～359.9[°] Set the angle between locus and X axis.
Angle
OUT 01～27 Set output signal number.
OUT Time 0 to 999.9 [sec] Set the output time per time.
Frequency 0 to 999 [times] Set the number of outputs.
Offset 0 to 9999.999 [mm] Set this if distance is corrected at the time of
Distance output.

171
・Input method from CAD screen
(1) Click the [STRING OUT] button on the toolbar.
(2) Specify the start point by clicking.
(3) When the [String OUT] dialog is displayed, set each parameter by referring to
Parameter Description.
You can also set each parameter by dragging the edge point of a [String OUT] object on
the CAD screen while the [String OUT] dialog is being displayed.

Note
・ When the output time length for one time is longer than the interval between outputs,
output is run continuously.
・ If the output signal state is OFF, then output is not performed regardless of the output
time length.

172
 12.2.28 TIMER

・Overview
This command waits for a specified time.
Abbreviation: 06: / Tm
Available desktop robot ΩX/SX/Ω Input from CAD screen Possible
/Alpha

・Parameter Description
Parameter Range Description
Time 0.01 to 999.99 [sec] Time to wait

・Input method from CAD screen

Note: The [TIMER] command can be input on the CAD screen only for dot dispensing.
To use this command for other purposes, input from the program screen.
(1) Click the [Dot] button on the toolbar.

(2) Enter the timer time .

(3) Click the coordinate where you want to perform dot dispensing on the CAD screen to
specify.

173
 12.2.29 REPEAT

・Overview
This command repeatedly runs the steps from the specified step up to the step just
before the step where this command is set, for the specified number of times.
Abbreviation: 09: / Lp
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
Step No. 1 to 9999 [Step] The first step in the range to be run repeatedly.
Specify a step before the step where the [REPEAT]
command is set.
Repeat Count 0 to 999 [times] Number of times to repeat
(Alpha:
1 to 999[times])

12.2.30 JUMP

・Overview
This command jumps to a specified step. After jump, steps are run from the jump
destination step.
Abbreviation: 10: / J
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
Step No. 1 to 9999 [Step] Specify the step number of jump destination.

174
 12.2.31 CALL CH.

・Overview
This command runs a specified channel.
Abbreviation: 07: / Ch

Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
Channel 1 to 999 [Ch.] Specify the channel number of the channel to run,

12.2.32 CALL STEP

・Overview
This command runs the specified step range within the same channel.
Abbreviation: 65: / Sc
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
Start Step No. 1 to 9999 [Step] The first step in the step range to run.
End Step No. 1 to 9999 [Step] The last step in the step range to run.

12.2.33 STOP

・Overview
This command ends running a program.
Abbreviation: 40: / Stp
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
・Parameter Description
No parameters that can be set

175
12.2.34 Jump END
・Overview
This command is equivalent of the [STOP] command for Desktop robot Alpha series.
You can use this command in the same way as [STOP] command.
Abbreviation: 40: / Stp
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
No parameters that can be set

12.2.35 BLANK
・Overview
This command performs nothing. This command is used for improving visibility of a
program.
Abbreviation: 66: / Bnk
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
No parameters that can be set

12.2.36 WAIT IN
・Overview
This command waits until a specified input signal becomes a specified state.
Abbreviation: 21: / Wi
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
IN 1 ～ 36 Input signal number
ON / OFF ON / OFF Proceed to the next step if the signal set with [IN] agrees
with ON/OFF set here

176
 12.2.37 WAT.IN LAP

・Overview
This command waits until a specified input signal becomes a specified state
(reciprocate one time).
Abbreviation: 23: / Wu
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
IN 1 ～ 36 Input signal number
UP / DOWN UP / DOWN Select [UP] to wait until the signal specified with [IN]
transits in the order of "ON→OFF→ON”, or select
[DOWN] to wait until the signal transits in the order of
“OFF→ON→OFF”.

12.2.38 WAT.IN UP

・Overview
This command is equivalent of the [STRAIGHT 1] command for Desktop robot Alpha
series.
You can use this command in the same way as [STRAIGHT 1] command.
Abbreviation: 23: / Wu
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
IN 1 ～ 36 Input signal number
UP / DOWN UP / DOWN Select [UP] to wait until the signal specified with [IN]
transits in the order of "ON→OFF→ON”, or select
[DOWN] to wait until the signal transits in the order of
“OFF→ON→OFF”.

177
 12.2.39 IN JUMP

・Overview
This command jumps to a specified step when the specified input signal is ON at the
time of command run, or runs the step right after this step if the signal is OFF.
Abbreviation: 20: / Ij
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
IN 1 ～ 36 Input signal number
Step No. 1 to 9999 [Step] Destination step to which jump is performed when
the signal specified with [IN] was ON at command
run

12.2.40 TIM.IN.JMP
・Overview
This command jumps to a specified step when the specified input signal becomes the
specified state within the waiting time, or runs the step right after this step if the signal
does not become the specified state.
Abbreviation: 22: / Wt
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
IN 1 ～ 36 Input signal number
ON / OFF ON / OFF Jumps to the specified step when the signal specified
with [IN] agrees with ON/OFF set here within the set
time (if the set time is exceeded, runs the next step).
Step No. 1 to 9999 [Step] Destination step to which jump is performed if the
specified input signal becomes the specified state
within the set time

Time 0.00 to 999.99 [sec] Waiting time length

178
 12.2.41 WAIT.TIM.IN

・Overview
This command is equivalent of the [TIM. IN. JMP] command for Desktop robot Alpha
series.
You can use this command in the same way as [TIM. IN. JMP] command except for the
difference of available waiting time range..
Abbreviation: 22: / Wt
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
IN 1 ～ 36 Input signal number
ON / OFF ON / OFF Jumps to the specified step when the signal
specified with [IN] agrees with ON/OFF set here
within the set time (if the set time is exceeded, runs
the next step).
Step No. 1 to 9999 [Step] Destination step to which jump is performed if the
specified input signal becomes the specified state
within the set time
Time 0.01 to 999.99 [sec] Waiting time length

179
 12.2.42 BIN.IN.JMP

・Overview
This command jumps to the specified step if the specified input signal (binary format,
see P.209 "Command Reference Binary Format") becomes ON, otherwise runs the step
right after this step.
Abbreviation: 24: / Bi
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
IN 00 to FF Input signal (binary value, see P.209 "Command
Reference Binary Format")
Step No. 1 to 9999 [Step] Destination step to which jump is performed when
the input signal (binary value) specified with [IN]
became ON

12.2.43 Binary IN

・Overview
This command is equivalent of the [BIN.IN.JMP] command for Desktop robot Alpha
series.
You can use this command in the same way as [BIN.IN.JMP] command.
Abbreviation: 24: / Bi
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
IN 00 to FF Input signal (binary value, see P.209 "Command
Reference Binary Format")
Step No. 1 to 9999 [Step] Destination step to which jump is performed when
the input signal (binary value) specified with [IN]
became ON

180
 12.2.44 BCD IN JMP

・Overview
This command jumps to the specified step if the specified input signal (BCD format, see
P.206 "Command Reference BCD") becomes ON, otherwise runs the step right after this
step.
Abbreviation: 25: / Bci

Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
IN 000 ～ 999 Input signal (BCD value, see P.206 "Command
Reference BCD")
Step No. 1 to 9999 [Step] Destination step to which jump is performed when
the input signal (BCD value) specified with [IN]
became ON

12.2.45 BCD IN

・Overview
This command is equivalent of the [BCD IN JMP] command for Desktop robot Alpha
series.
You can use this command in the same way as [B CD IN JMP] command.
Abbreviation: 25: / Bci
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
IN 000 ～ 999 Input signal (BCD value, see P.206 "Command
Reference BCD")
Step No. 1 to 9999 [Step] Destination step to which jump is performed when
the input signal (BCD value) specified with [IN]
became ON

181
 12.2.46 OUT

・Overview
Switches between ON/OFF of output signal of the specified number.
Abbreviation: 12: / Ou
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
OUT 1 ～ 29 Output signal number
ON / OFF ON / OFF Output state
Note
・ After automatic operation is completed, OUT signals are reset to OFF.
・ OUT signal state will be maintained even when moving to another channel by CH call
etc.
・ During pause, OUT signals in ON state are also switched to OFF. However, when
restarted, the signals return to ON.
・ All OUT signals are reset to OFF if error, emergency stop, or power OFF occurs.

182
 12.2.47 TIM.OUT

・Overview
This command turns the specified signal output ON for the specified time.
Abbreviation: 13: / Po
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
OUT 1 ～ 29 Output signal number
ON / OFF ON / OFF Does not output signals if OFF.
Output Time 000.00 to 999.99 Time to keep the output signal number specified
[sec] with [OUT] ON.

Note
・ The step right after this step is run when output is started, and if the output time
length is exceeded during the time, the state becomes OFF.
・ The state is maintained while running a channel (including CH. Call).
・ When channel run is paused, the state becomes OFF and the OFF state is
maintained after channel run is restarted.
・ The state becomes OFF when channel run ends (including cases where output time
length was not reached).
・ The state is OFF for cases other than the above.

183
 12.2.48 Pulse .OUT

・Overview
This command is equivalent of the [TIM. OUT] command for Desktop robot Alpha
series.
You can use this command in the same way as [TIM. OUT] command except for the
difference of available output time range and you cannot select "OFF".
Abbreviation: 13: / Po
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
OUT 1 ～ 29 Output signal number
Output Time 000.00 to 999.99 Time to keep the output signal number specified
[sec] with [OUT] ON.

12.2.49 SET OUT

・Overview
When ON/OFF of output signals is set with the [OUT] command, the output signals will
be reset to OFF in case of error or emergency stop. When the [SET OUT] command is
used, the set ON/OFF will be maintained when an error or emergency stop occurred.
Abbreviation: 14: / So
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
OUT 1 ～ 29 Output signal number
ON / OFF ON / OFF Output state
Note
・ The state of OUT signal is maintained during pause or after automatic operation
completion.
・ If the OUT signal number of this command is the same as the OUT number set with
another [OUT] system command that does not maintain signal state, behavior of this

184
 command has priority.
・ Output state is maintained when an error or emergency stop occurs.
・ Output state is reset to OFF when the power of the desktop robot is turned OFF, or
the [RESET OUT] command is run.

12.2.50 FLICKER OUT

・Overview
This command outputs the OUT signal flickering at specified time intervals.
Abbreviation: 15: / Fo
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
OUT 1 ～ 29 Output signal number
ON / OFF ON / OFF Does not output signals if OFF.
ON Time 0.1 Up to 9.9 [sec] Time when output is ON
OFF Time 0.1 Up to 9.9 [sec] Time when output is OFF

Note
・ The state of OUT signal is maintained during pause or after automatic operation
completion.
・ If the OUT signal number of this command is the same as the OUT signal number set
with another [OUT] system command that does not maintain signal state, behavior of
this command has priority.
・ Output state is reset to OFF when the power of the desktop robot is turned OFF, or
the [RESET OUT] command is run.

185
 12.2.51 BINARYOUT

・Overview
This command outputs 2-digit hexadecimal value (binary format), using output signal
numbers 1 to 8.
Abbreviation: 16: / Bo
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
OUT 1 ～ 29 Output value
ON / OFF ON / OFF Does not output signals if OFF.

Note
・ The state of OUT signal is maintained during pause or after automatic operation
completion.
・ If the OUT signal number of this command is the same as the OUT signal number set
with another [OUT] system command that does not maintain signal state, behavior of
this command has priority.
・ Output state is reset to OFF when the power of the desktop robot is turned OFF, or
the [RESET OUT] command is run.

186
 12.2.52 BCD OUT

・Overview
This command outputs 3-digit numerical value (BCD format), using output signal
numbers 1 to 12.
Abbreviation: 17: / Bco
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
OUT 1 ～ 29 Output value
ON / OFF ON / OFF Does not output signals if OFF.

Note
・ The state of OUT signal is maintained during pause or after automatic operation
completion.
・ If the OUT signal number of this command is the same as the OUT signal number set
with another [OUT] system command that does not maintain signal state, behavior of
this command has priority.
― Output state is reset to OFF when the power of the desktop robot is turned OFF, or
the [RESET OUT] command is run.

187
 12.2.53 COUNT BCD TIMER OUT

・Overview
This command turns ON the specified signal output (numerical value of specified count
variable converted to BCD value (see P.206 "Command Reference BCD")) only for the
specified time.
Abbreviation: 18: / Co
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Counter 0 ～ 9 Number of the counter to be converted to BCD
(see P.206 "Command Reference BCD")
ON / OFF ON / OFF Does not output signals if OFF.
Output Time 000.00 to 999.99 Time to output signals
[sec]

Note
・ The step right after this step is run when output is started, and if the output time length
is exceeded during the time, the state becomes OFF.
・ The state is maintained while running a channel (including CH. Call).
・ When channel run is paused, the state becomes OFF and the OFF state is maintained
after channel run is restarted.
・ The state becomes OFF when channel run ends (including cases where output time
length was not reached).
・ The state is OFF for cases other than the above.

12.2.54 COUNT OUT

・Overview
This command is equivalent of the [COUNT BCD TIMER OUT] command for Desktop
robot Alpha series.
You can use this command in the same way as [COUNT BCD TIMER OUT] command
except for the difference of available output time range and you cannot select "OFF"..
Abbreviation: 18: / Co
Available desktop robot Alpha Input from CAD screen Not possible

188
・Parameter Description
Parameter Range Description
Counter 0 ～ 9 Number of the counter to be converted to BCD
(see P.206 "Command Reference BCD")
Output Time 00.01 to 99.99 [sec] Time to output signals

12.2.55 RESET OUT

・Overview
This command forcibly turns all general-purpose signal output to OFF.
Abbreviation: 19: / Or
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
No parameters that can be set

12.2.56 DIS BCD OUT

・Overview
This command outputs channel switching signal for dispensers which connected to
desktop robot.
Supported dispensers are Super Sigma x, Super Sigma CM, Super Sigma CM2, MPP1,
MPP3, MSD2, MJET4, SMP2 and SMP3.
Abbreviation: 73: / Db
Available desktop robot ΩX/SX Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Channel Number 0 to 99 Channel number of dispenser.

189
 12.2.57 OFFSET

・Overview
This command reflects offset coordinate values in each operation. Put this command
right before the range of steps where offset processing of coordinate values is run.
Offset values are applied in operations from the step right after this step up to the
specified step.
Only operation command coordinate in the ABS specification can be changed with
offset processing.
Abbreviation: 26: / Of
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
X, Y, Z, W -9999.999 to 9999.999 Offset of each axis
[mm]
ON / OFF ON / OFF Offset processing is not performed if OFF.
Step No. 1 to 9999 [Step] Step to end offset processing

・Note
You cannot select end step of processing when you use desktop robot Alpha series, and
offset processing is run to the last step

190
 12.2.58 THETA COR.

・Overview
Θ This command reflects theta corrected coordinate values in each operation. Put this
command right before the range of steps where theta correction of coordinate values is
run.
Theta corrected values are applied in operations from the step right after this step up to
the specified step.
[Theta Cor.] in P.134 "Configuration Coordinate" is used for the angle used in theta
correction.
Abbreviation: 67: / Tc
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
ON / OFF ON / OFF Theta correction processing is not performed if OFF.
Step 1 to 9999 [Step] Step to end theta correction

12.2.59 SET VAR.

・Overview
This command declares coordinate variables, and set their initial values.
Abbreviation: 27: /Vs
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
Variable Num 0 ～ 9 Number of coordinate variables to
declare
X, Y, Z, W -9999.999 to 9999.999 [mm] Initial value of variable

191
 12.2.60 ADD.VAR

・Overview
This command adds a coordinate value to the specified coordinate variable.
Abbreviation: 28: / Va
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
Variable Num 0 ～ 9 Specify the coordinate variable number
to add a coordinate value.
X, Y, Z, W -9999.999 to 9999.999 [mm] Specify the coordinate value to add.

12.2.61 ADD.C.VAR

・Overview
This command adds the value of the specified coordinate value multiplied by the
specified counter value, to the specified coordinate variable.
Abbreviation: 29: / Cva
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
Variable Num 0 ～ 9 Specify the coordinate variable number to
add a coordinate value.
X, Y, Z, W -9999.999 to 9999.999 Specify the coordinate value to be
[mm] multiplied by counter value.
Counter 0 ～ 9 Specify the counter number to be used for
multiplication of coordinate value.

192
 12.2.62 PAR ADD V

・Overview
This command assigns the sum of two specified coordinate variables to a specified
coordinate variable.
Abbreviation: 31: / Vpa
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Variable Num 1 0 ～ 9 Coordinate variable to be assigned
Variable Num 2, 0 ～ 9 Coordinate variables to be summed up
Variable Num 3

12.2.63 ADD PAR V

・Overview
This command is equivalent of the [PAR ADD V] command for Desktop robot Alpha
series.
You can use this command in the same way as [PAR ADD V] command..
Abbreviation: 31: / Vpa
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Variable Num 1 0 ～ 9 Coordinate variable to be assigned
Variable Num 2, 0 ～ 9 Coordinate variables to be summed up
Variable Num 3

193
 12.2.64 VAR.MOTION

・Overview
This command performs PTP Motion to the coordinate of specified coordinate variable.
Abbreviation: 30: / Vm
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・ Parameter Description
Parameter Range Description
Variable Num 0 ～ 9 Coordinate variable that specifies the move destination
coordinate

12.2.65 SET COUNT

・Overview
This command sets the initial value of a specified counter number. The count value is
retained even when the power of the desktop robot is turned OFF.
Abbreviation: 32: / Cs
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
Counter 0 ～ 9 Counter number to set initial value
Value 0 ～ 99999 Initial value to be set to counter

194
 12.2.66 BCDSET C

・Overview
This command specifies the specified count value in BCD format (see P.206 "Command
Reference BCD").
Abbreviation: 33: / Ics
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Counter 0 ～ 9 Number of the counter to which a value in BCD format (see
P.206 "Command Reference BCD") is set

12.2.67 IN COUNT SET

・Overview
This command is equivalent of the [BCD SET C] command for Desktop robot Alpha
series.
You can use this command in the same way as [BCD SET C] command.
Abbreviation: 33: / Ics
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Counter 0 ～ 9 Number of the counter to which a value in BCD format (see
P.206 "Command Reference BCD") is set

195
 12.2.68 COUNT+

・Overview
This command adds 1 to the specified counter value.
Abbreviation: 34: / Cu
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・ Parameter Description
Parameter Range Description
Counter 0 ～ 9 Counter number to which 1 is
added

12.2.69 COUNT UP

・Overview
This command is equivalent of the [COUNT+] command for Desktop robot Alpha series.
You can use this command in the same way as [COUNT+] command.
Abbreviation: 34: / Cu
Available desktop robot Alpha Input from CAD screen Not possible

・ Parameter Description
Parameter Range Description
Counter 0 ～ 9 Counter number to which 1 is
added

196
 12.2.70 IN.COUNT+

・Overview
This command adds 1 to the specified counter value if the specified input signal is ON
when this command is run.
Abbreviation: 35: / Icu
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
IN 1 ～ 36 Input signal. If this signal is ON when this command is run,
1 is added to the specified counter value.
Counter 0 ～ 9 Counter number to add 1

12.2.71 IN.COUNT UP

・Overview
This command is equivalent of the [IN.COUNT+] command for Desktop robot Alpha
series.
You can use this command in the same way as [IN.COUNT+] command.
Abbreviation: 35: / Icu
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
IN 1 ～ 36 Input signal. If this signal is ON when this command is run,
1 is added to the specified counter value.
Counter 0 ～ 9 Counter number to add 1

197
 12.2.72 RESET CNT

・Overview
This command resets the specified counter value to 0.
Abbreviation: 36: / Cr
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
Counter 0 ～ 9 Counter number whose counter value is reset to 0

12.2.73 IN RST.CNT

・Overview
This command resets the specified counter value to 0 if the specified input signal is ON
when this command is run.
Abbreviation: 37: / Icr
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible
/Alpha

・Parameter Description
Parameter Range Description
Counter 0 ～ 9 Counter number whose counter value is reset to 0
IN 1 ～ 36 Input signal. If this input signal is ON when this command is
run, the counter value is reset to 0.

198
 12.2.74 CMPR.C.JMP

・Overview
This command compares the value in the specified count "A" with an optional value or
the value in the specified count "B", and if conditions are satisfied, jumps to the specified
step, otherwise runs the step right after this command.
Abbreviation: 39: / Ccj
Available desktop robot ΩX/SX/Ω /Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Comparison Value / Counter Select whether to compare with value, or with
target specified counter value.
Counter 0 ～ 9 Set the counter number for comparison.
Value 0 ～ 99999 Input the value used for comparison with
value.
Comparative “＞”、“＜”、“)”、“(”、“＝”、 Select conditions for comparison.
Condition “／”
Step Num 1 to 9999 [Step] Specify the destination step to jump when
conditions are satisfied.

199
 12.2.75 COUNT JUMP

・Overview
This command compares the value in the specified count with specified value, and if the
value in the count is equal to or more than the specified value, jumps to the specified step,
otherwize runs the step right after this command.
Abbreviation: 38: / _cj
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Counter 0 ～ 9 Set the counter number for comparison.
Value 0 ～ 99999 Input the value used for comparison with
value.
Step Num 1 to 9999 [Step] Specify the destination step to jump when
conditions are satisfied.

200
 12.2.76 SET PAL.1

・Overview
This command defines the pallet shape used for PALLETIZE. This command is used
when the pallet shape is a right-angle lattice arrangement.
Abbreviation: 44: / Ps1

Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Pallet Num. 0 ～ 9 Specify the pallet number to be registered.
ABS / INC ABS / INC See P.90 "Program Screen ABS/INC".
Start Point -9999.999 to Input the pallet start point coordinates.
Coordinates 9999.999 [mm]
Cell Pitch P1, 1 to 9999.999 [mm] Set the pitches of the first and second sides.
P2
Repeat Count 1～9999 Input the number of cells aligned on the first
N1, N2 and second sides.
Replacement -359.999～359.999[°] Set the placement angle against the X axis.
Angle

201
 12.2.77 SET PAL.2

・Overview
This command defines the pallet shape used for
PALLETIZE.
This command is used when the pallet shape is a
right-angle lattice arrangement or zigzag
parallelogram alignment.
Abbreviation: 41: / Ps2

Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Pallet Num. 0 ～ 9 Specify the pallet number to be registered.
ABS / INC ABS / INC See P.90 "Program Screen ABS/INC".
Start Point -9999.999 to 9999.999 Input the pallet start point coordinates.
Coordinates [mm]
Lateral Point -9999.999 to 9999.999 Set the terminal coordinate of the first side.
[mm]
Longitudinal -9999.999 to 9999.999 Set the terminal coordinate of the second
Point [mm] side.
Repeat Count 1 to 9999 Input the number of cells aligned on the first
N1, N2 and second sides.

202
 12.2.78 P.SET

・Overview
This command is equivalent of the [SET PAL.2] command for Desktop robot Alpha
series.
You can use this command in the same way as [SET PAL.2] command except for the
difference of available repeat count range and you cannot select "INC"
Abbreviation: 41: / Ps2

Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Pallet Num. 0 ～ 9 Specify the pallet number to be registered.
Start Point -9999.999 to 9999.999 Input the pallet start point coordinates.
Coordinates [mm]
Lateral Point -9999.999 to 9999.999 Set the terminal coordinate of the first side.
[mm]
Longitudinal -9999.999 to 9999.999 Set the terminal coordinate of the second
Point [mm] side.
Repeat Count 1 to 99 Input the number of cells aligned on the first
N1, N2 and second sides.

203
 12.2.79 CEL.MOTION

・Overview
This command performs PTP Motion to advance one cell on the specified route,
according to the pallet shape set with the [SET PAL.1] or [SET PAL.2] command
beforehand.
Abbreviation: 42: / Cm
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Pallet Num. 0 ～ 9 Pallet set in advance with the [SET PAL.1] or
[SET PAL.2] command
Direction X/Y X / Y direction
Route Parallel / Continuity Select either Parallel or Continuity

12.2.80 P.MOVE

・Overview
This command is equivalent of the [CEL. MOTION] command for Desktop robot Alpha
series.
You can use this command in the same way as [CEL. MOTION] command except for
using [P. SET] command to define pallet.
Abbreviation: 42: / Cm
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Pallet Num. 0 ～ 9 Pallet set in advance with the [SET PAL.1] or
[SET PAL.2] command
Direction X/Y X / Y direction
Route Parallel / Continuity Select either Parallel or Continuity

204
 12.2.81 PALLETIZE

・Overview
The [CEL.MOTION] command is a command for moving to the next cell on a pallet
defined with the [SET PAL.1] or [SET PAL.2] command The [CEL.MOTION] command and
dispensing operation on each cell are usually run as a set. That is, a set of [CEL.MOTION]
command and dispensing operation is repeatedly run for the number of cells on the pallet.
The [PALLETIZE] command is placed right after a set of [CEL.MOTION] command and
dispensing operation in order to indicate the beginning of the set of [CEL.MOTION]
command and dispensing operation, so that these operations are repeated for an
appropriate number of times (number of cells on the pallet).
Abbreviation: 43: / Par
Available desktop robot ΩX/SX/Ω Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Back Step 1 to 9999 [Step] Step number of the [CEL.MOTION] command to be
Number repeated

12.2.82 P.RETURN

・Overview
This command is equivalent of the [PALLETIZE] command for Desktop robot Alpha
series.
You can use this command in the same way as [PALLETIZE] command..
Abbreviation: 43: / Par
Available desktop robot Alpha Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Back Step 1 to 9999 [Step] Step number of the [CEL.MOTION] command to be
Number repeated

205
 12.2.83 TEST SHOT

・Overview
This command executes test shot based on parameters specified in test shot table.

Abbreviation: 70: / Tse

Available desktop robot ΩX/SX Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Test Shot Table A, B, C Test shot table used in test shot execution.

12.2.84 RESET TEST SHOT

・Overview
This command clears test shot count of test shot table.

Abbreviation: 69: / Tsc

Available desktop robot ΩX/SX Input from CAD screen Not possible

・Parameter Description
Parameter Range Description
Test Shot Table A, B, C Test shot table to clear test shot count.

206
 12.2.85 NOZZLE REF POS

・Overview
This command is used in combination with the NOZZLE ADJUST command. It registers
the nozzle reference position by using the nozzle adjuster.
※ For details, refer to the instruction manual of the nozzle adjuster "SMX-NZADJ-1."

Abbreviation: 80: / NDTM

Applicable robot SX/ΩX Input from CAD screen Not allowed

・Parameter description
Parameter Range Description

SENSOR1 -9999.999 to 9999.999 [mm] SENSOR1 position

SENSOR2 -9999.999 to 9999.999 [mm] SENSOR2 position

12.2.86 NOZZLE ADJUSTMENT

・Overview
This command activates nozzle adjuster operation.
※ For details, refer to the instruction manual of the nozzle adjuster "SMX-NZADJ-1."

Abbreviation: 81: / NAJ

Applicable robot SX/ΩX Input from CAD screen Not allowed

・Parameter description
There is no parameter setting available.

207
12.3 BCD
BCD (Binary-coded decimal) is a numeral representation method that expresses each
digit in decimal, 0 to 9, in binary using four digits.
Some commands such as [BCD OUT] expresses 3 digits in decimal with 12 digits in
BCD, and uses for input and output. The 1st to 12th ports of OUT ports are used when
outputting in BCD format, and the 1st to 12th ports of IN ports are used when inputting in
BCD format.
In both input and output, the 1st port represents the least significant bit, and the 12th port
represents the most significant bit.
Decimal BCD Decimal BCD
0 0000 5 0101
1 0001 6 0110
2 0010 7 0111
3 0011 8 1000
4 0100 9 1001

E.g. When inputting decimal "296" in BCD format

(1) Convert each digit to BCD format, following the above table. In this case,
2 → 0010
9 → 1001
6 → 0110
will result.
(2) Noting that the 1st port represents the least significant bit, and the 12th port
represents the most significant bit, set ON/OFF of each port.

Port Number 12 11 10 09 08 07 06 05 04 03 02 01

Decimal expression 2 9 6
BCD format 0 0 1 0 1 0 0 1 0 1 1 0
Thus, when inputting "296" in BCD format, you need to set the 2nd, 3rd, 5th, 8th, and 10th
ports of IN ports to ON, and the 1st, 4th, 6th, 7th, 9th, 11th, and 12th ports to OFF.

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12.4 Binary Format
Binary indicates binary numbers or binary coded data. In MuCADV, binary format
means a data format used for inputting and outputting numerical data with some
commands such as [BINARYOUT]. Numbers from 0 to 255 in decimal are converted to
2-digit hexadecimal or 8-digit binary, and used for input and output of numerical values.
Input and output of data are performed with 8-digit binary format, using the 1st to 8th ports
of OUT ports for outputting data in binary format, and the 1st to 8th ports of IN ports for
receiving input in binary format. Also, when specifying values in binary format on MuCADV,
specify with 2-digit hexadecimal.
Decimal Binary Hexadecimal Decimal Binary Hexadecimal
0 0000 0 8 1000 8
1 0001 1 9 1001 9
2 0010 2 10 1010 A
3 0011 3 11 1011 B
4 0100 4 12 1100 C
5 0101 5 13 1101 D
6 0110 6 14 1110 E
7 0111 7 15 1111 F
※ Conversion method from hexadecimal to decimal (e.g. convert E8 to decimal)
(1) Convert high-order digit and low-order digit to decimal according to the above
table.
E → 14, 8 → 8
(2) Calculate the high-order digit decimal notation x 16 + low-order digit decimal
notation. The result of this is the result of conversion from hexadecimal to decimal.
14 × 16 + 8 ＝ 232
※ Conversion method from decimal to hexadecimal (e.g. convert 190 to hexadecimal)
(1) Divide the numerical value by 16, and find quotient and remainder.
190 / 16 = 11 and remainder 14
(2) Convert the quotient and remainder to hexadecimal respectively, based on the
above table.
11 → B
14 → E
Thus hexadecimal notation for 190 is BE.
To input this value in binary format, set ON/OFF of each port, noting that the 1st port

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 and 8th port represent the least significant bit and most significant bit respectively.

Port Number 8 7 6 5 4 3 2 1
Hexadecimal B E
Binary 1 0 1 1 1 1 1 0
In this case, you can see that the 8th, 6th, 5th, 4th, 3rd, and 2nd ports need to be ON, and
the 7th and 1st ports need to be OFF.

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13 Troubleshooting
13.1 Robot-Related
Question Cause Reference
Communication Is the baud rate set correctly? P.16 "Introduction
doesn't work. For the baud rate, the setting of the desktop robot needs How to Connect
to be set. to Desktop Robot"
See the baud rate described in the instruction manual of P.133
the desktop robot. For the setting method on MuCADV, "Configuration
see the pages on the right. Communication"
Is the communication port number set correctly? P.16 "Introduction
For the communication port number, the number How to Connect
assigned to the PC serial communication port needs to to Desktop Robot"
be set as COM value. See the pages on the right for P.133
setting method. "Configuration
Communication"
Is the communication cable proper?
For the cable to connect between the PC and the
dispensing robot, use a cable of our specifications.
Is the device of the serial port recognized correctly? P.16 "Introduction
If the PC is not recognizing the serial port device, it How to Connect
cannot communicate with the desktop robot. to Desktop Robot"
See the page on the right for details.
Is the desktop robot frozen?
The dispensing robot may be frozen due to
communication failure. Restart the desktop robot once.
Not sure how to See the page on the right. P.16 "Introduction
make How to Connect
communication to Desktop Robot"
Communication Check the error number of the communication error. See P.213
error the page on the right for details. "Troubleshooting
occurs Communication
Error"

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Can't finish Double-click on the CAD screen. P.149 "Command
drawing of However, the double-clicked point is not included as the Reference
[STRAIGHT1] edge point of [STRAIGHT1]. STRAIGHT1"
Can't read MuCADV supports only some data items of DXF P.66 "CAD Screen
DXF/Gerber data/Gerber data. See the page on the right for CAD Objects
data supported data. Imported as
Also, if operations such as grouping and symbolization External
are performed when creating DXF data/Gerber data, Graphics"
then the data cannot be read. Cancel grouping,
symbolization etc., then read the data again.

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 13.1.1 MuCOM lite-Related

Question Cause Reference

No Is the dispenser power turned on? See the

communication Check that the dispenser status allows for communication. dispenser

Check that the dispenser is not in a mode that does not allow communication such as instruction

editing mode. manual.

Is a correct communication cable being used? P.120

Use a cable that complies with our specifications for the cable connecting the PC and ”Connecting
dispenser. If using a model other than the ROBOJET, it is necessary to use a cable for with a
dispenser connection different from the one connecting with the robot. Dispenser”

Does the model name of the dispenser match that of the MuCOM lite environment

settings?

Communication is not possible if the correct model is not selected.

Is the communication port number correctly set?

The number assigned to the PC serial communication port must be set

as the COM value. P.125
* We recommend using the COM port search function ([Find COM Port]). “MuCOM lite
Is the baud rate correctly set? Environment
The baud rate set in the dispenser must match the baud rate setting of the MuCOM lite. Settings”
* We recommend using the COM port search function ([Find COM Port]).

Is the serial port device being correctly recognized?

Communication with the dispenser is not possible if the PC cannot recognize the serial

port device.

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 13.1.2 MuCOM lite Error Messages

Error Message Recovery Procedure Reference

ROBOJET is not connected. Check the connection. P.120

Communication port cannot be opened. ”Connecting

See "No communication" in Troubleshooting.
with a
Timeout occurred.
Dispenser”

P.125
Check the model selection in MuCOM lite “MuCOM lite
Dispenser selection is incorrect.
environment settings. Environment
Settings”

Check the dispenser model. P.125

If the dispenser has custom-order “MuCOM lite
Command is incorrect.
specifications, it might not be compatible with Environment
MuCOM lite. Settings”

Check the file name and try the operation

Files are not found. -
again.

Saved file cannot be imported. File is

File cannot be opened.
corrupted.

Model information cannot be found. Not compatible with this Saved files of a non-compatible model cannot
-
version. be imported.

Dispenser returns a data range error. Revise

Error code: A7 Data error
the setting.

Communication was performed when the

dispenser cannot accept communication.

Error code: A8 Communication cannot be accepted error Perform communication when the dispenser -

is in a status capable of accepting

communication.

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13.2 Communication Error
Error codes are output when communication error occurs. The table below shows a list of
error codes and respective measures.

Error contents of SHOTMASTERΩX /SX series and CROSS MASTER SX series

Error
Error content Measure
code

01 Program step capacity over error The total number of steps of all programs exceeded
40000.Reduce the total number of steps to 40000 or less.

02 Emergency stop The emergency button has been pressed, or an action that
triggers emergency stop has been performed. Release the
emergency stop.

03 Incomplete origin return Origin return has not been completed. Perform origin return.

04 Nonexistence of specified step error The step specified with a command such as [IN JUMP] does
not exist. Modify the program.

05 CH. call exceeded 30layers Nesting has been performed exceeding 30 layers, which is
(30 nest error) the limit of the [CH. CALL] command. Modify the program.

06 Empty channel was called The channel specified with a command such as [CH. CALL]
does not exist. Modify the program.

07 Soft limit over error Movement to a coordinate that exceeds the limit value of
each axis set with the desktop robot has been attempted.
Modify the program.

08 Origin return condition not fulfilled The signal for origin return condition setting (IN32) is off.

09 Pulse payout error Excessive speed setting is performed for complex operation.
Slow down the speed setting to adjust.

10 Count over error Counter value has exceeded 99999 with a command such as
[COUNT+] command. Modify the program.

11 Object error Value exceeding the specified range is input for each input
item of the command. Input a correct value.

12 Error was output by the program Displayed when 29th OUT signal is output with a command
such as [OUT] command.

13 Hard limit over error A movement to a coordinate exceeding the robot hardware
limit has been attempted. Modify the program.

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14 Motor error An error has occurred in the motor. Contact our sales
department.

15 Unacceptable command data A value exceeding the specified range is entered for an input
item of the command. Enter a correct value.

17 Excess continuous interpolation Interpolation command cannot be run continuously

command error exceeding 1024 steps. Modify the program.

18 Immediate stop This is output when the stop button on the teaching pendant
is pressed for a CE model.

19 Maximum speed setting exceeded The maximum speed for the model is exceeded. Lower the
operation speed.
Confirm the maximum speed by referring to the instruction
manual of the robot.

20 Origin offset not adjustable This is output when the origin offset cannot be adjusted
during nozzle adjuster operation. Refer to the instruction
manual of the nozzle adjuster for further details.

21 Unrecognized nozzle adjuster This is output when the sensor of the nozzle adjuster cannot
be recognized.
Refer to the instruction manual of the nozzle adjuster for
further details.

22 Operation disabled An interlock has been activated or an operation disabling

signal has been input.
Release the operation disabling condition.

23 Alarm input An alarm signal has been input.

Release the alarm condition.

24 Transition to manual mode A manual mode selection signal has been input.
Release the alarm condition (transition to manual mode).

-1 Other, communication error See below

216
Error contents of SHOTMASTER Ω /DS /SHOTmini 100S-3A-01/Alpha series
Error Error content Measure
code

01 Program step capacity over error The total number of steps of all programs exceeded
9999.Reduce the total number of steps to 9999 or less.

02 Emergency stop The emergency button has been pressed, or an action that
triggers emergency stop has been performed. Release the
emergency stop.

03 Incomplete origin return Origin return has not been completed. Perform origin return.

04 Nonexistence of specified step error The step specified with a command such as [IN JUMP] does
not exist. Modify the program.

05 CH. call exceeded 10 layers Nesting has been performed exceeding 10 layers, which is
(10 nest error) the limit of the [CH. CALL] command. Modify the program.

06 Empty channel was called The channel specified with a command such as [CH. CALL]
does not exist. Modify the program.

07 Soft limit over error Movement to a coordinate that exceeds the limit value of
each axis set with the desktop robot has been attempted.
Modify the program.

08 Head descent state error Operation has been performed exceeding the range of Z axis
movement. Modify the program.

09 Pulse payout error Excessive speed setting is performed for complex operation.
Slow down the speed setting to adjust.

10 Object error Value exceeding the specified range is input for each input
item of the command. Input a correct value.

11 Count over error Counter value has exceeded 99999 with a command such as
[COUNT+] command. Modify the program.

12 Error was output by the program Displayed when 29th OUT signal is output with a command
such as [OUT] command.

17 Excess continuous interpolation Interpolation command cannot be run continuously

command error exceeding 1024 steps. Modify the program.

18 Timeout error This error occurs when no change in coordinates occurs

within 3 seconds during interpolation. Modify the program.

-1 Other, communication error See below

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- Error Number "-1"
Error number "00" indicates error content that does not fall under error numbers "01" to "18",
and it mainly indicates unestablished communication.The common error contents for error
number "-1" are as follows.

Error item name Error content

Baud rate setting The baud rate is different from the baud rate setting of the desktop robot to
(Baud rate) communicate with. For the baud rate, set the value same as the setting of the
target desktop robot in MuCADV. To find the baud rate setting of the desktop
robot, see the instruction manual of the robot, or use the teaching pendant. For
the setting method of MuCADV baud rate, see P.133 ”Configuration
Communication".
Serial port setting When the communication port number of PC is different from the
communication port number set in MuCADV, communication does not work. For
the communication port number of PC, see P.16 "Introduction How to Connect
to Desktop Robot".
Communication Check whether the cable connecting the PC and the desktop robot is
cable disconnected, or check the connection specifications.
Driver Sometimes communication is not possible because the driver of the RS232C
serial port of PC is not installed correctly. Reinstall the driver and check whether
you can establish communication.

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14 List of Shortcut Keys
Shortcut Key Details Reference
Ctrl+X Cut
Ctrl+C Copy
Ctrl+V Paste
Del Delete
Ctrl+H Edit of channel P.103 "Channel List Comment Edit/Channel Number
comment Change/Edit Lock"
Ctrl+D Send/receive channel P.110 "Communication Controller Send/Receive
data Channel Data"
F7 View program screen P.84 "Program Screen Screen Display Methods"
F8 View CAD screen P.29 "CAD Screen Screen Display Methods"
Ctrl+Z Undo P.27 "Main Screen Undo/Redo"
Ctrl+Y Redo P.27 "Main Screen Undo/Redo"
Ctrl+A Select All
Ctrl+E Switch ABS/INC P.90 "Program Screen ABS/INC Conversion"
Ctrl+G Sub-channelize pattern P.92 "CAD Screen Subchannelization"
ESC Selection mode P.37 "CAD Screen Selection of a Graphic Object"
F1 Straight 1 mode P.31 "CAD Screen Creating a Graphic Object"
F2 Dot mode P.31 "CAD Screen Creating a Graphic Object"
F3 Round, Arc 1 mode P.31 "CAD Screen Creating a Graphic Object"
F5 Display all P.59 "CAD Screen Zoom"
F6 Select first dispensing P.64 "CAD Screen Selecting a Dispensing Start Point"
start point
TAB Select next dispensing P.64 "CAD Screen Selecting a Dispensing Start Point"
start point
F12 Display of Instruction P.27 "Main Screen Display of Instruction Manual"
Manual

219
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