1L21700R E 2 - FDCommandReference

No.
1L21700R-E-2
series
INSTRUCTION MANUAL
COMMAND REFERENCE
■ Read and follow these instructions and all safety blocks carefully.
■ Have only trained and qualified persons install, operate, or service this unit.
■ Give this manual to the operator.
■ For help, call your distributor.

Be Sure to Read Instruction Manuals Before Use
Thank you for using the Daihen "Almega" series arc welding robot.
Please be sure to read the instruction manuals listed below (including this manual) and the instruction manuals
provided with the equipment, and use all the products correctly.
In particular, please be sure to read "Chapter 1 Safety Precautions" in the "Quick Start" instruction manual before
starting to use the products in order to ensure your safety and the safety of others. Store the instruction manual in
a safe place for future reference.
Instruction manuals related to the manipulator “V/B/H/S series”, and the robot control unit “FD11” are as follows.
■Standard Manuals
Instruction
Instruction Manual Type Main Contents
Manual No.
QUICK START Point on Safety, Transportation and Installation,
1L21700A
Turning the power on/off and manual operation, etc.
SETUP Safety precautions, installing & connecting method,
1L21700B starting up, periodical inspection, solution at the time
of failure
CONTROLLER MAINTENANCE Specifications of controller, explanation of each parts
1L21700K
and maintenance, parts list, etc.
MANIPULATOR Specifications or maintenance of manipulator, parts
1L11130A
（NB4 / NB4L / NB15 / NV6 / NV6L / NV20 / NH5） list, etc.
1L11446A
（NS3） list, etc.
1L11312A
（NV50） list, etc.
1L11306A
（NV166 / NV210） list, etc.
BASIC OPERATIONS Explanation of manual operation, teaching, automatic
1L21700C operation, file utilities, backing-up data, basic
operations of Arc/Spot welding application, etc.
EXTERNAL INPUT/OUTPUT Interfacing method with external control device, list of
1L21700H
I/O signals and start/halt the automatic operation, etc.
Software PLC Create program, Input/output relay lists, List of
1L21700J
command words, etc.
CONTROL AND MAINTENANCE Edit logging, User Check, Troubleshooting, etc.
1L21700L
FUNCTION
■Application Manuals
Instruction
Instruction Manual Type Main Contents
Manual No.
APPLICATION MANUAL Basic settings, functions for arc welding, teaching
1L21700F
(ARC WELDING) technique, etc.
APPLICATION MANUAL Basic settings, functions for arc welding, teaching
1L21700E
(SPOT WELDING) technique, etc.
Instruction manuals are available other than the above for each optional function that you have purchased.
[Notes] 1. Specifications and information contained in these manuals are subject to change at any time without notice.
2. The screen display of a teach pendant shown in the manual are described as examples, which may be different from the actual
ones.
3. Although we cautiously compiled this standard specification to eliminate as much error as possible, we do not take any
responsibility for damages resulting from neither direct nor indirect errors.
4. The manual is a part of robot products. When transferring or selling off a robot, be sure to append the manual.
5. No part of this manual may be reproduced without permission.
6. Prohibited altering or remodeling
- Do not alter or remodel our products.
- You may get injured or have your equipment damaged because of fire, failure or malfunction caused by altering or
remodeling the product.
- The warranty does not cover any altered or remodeled products.
-1-
Notice
Notes on Safety
The instructions that you are required to obey in order to prevent injury or physical damage to the operator or other
nearby persons are classified and explained as shown below in the provided instruction manuals (including this
manual).
Cases in which death or serious injury are assured if handed incorrectly, and which
avoidance of such dangers is also considered extremely difficult.
DANGER
Cases in which death or serious injury can be expected if handled incorrectly.

WARNING
Cases in which injury or physical damage can be expected if handled incorrectly.

CAUTION
The following symbols are also used for important checkpoints:
A particularly important checkpoint is shown.

IMPORTANT
INFO.
Useful information is shown.
POINT Info for deeper understanding for the main text is shown.
Note that even the matters which are described as CAUTION can result in serious accident depending on the
conditions. Be sure to keep the safety notes since they describe very important matters.
The meanings of “Serious injury”, “Minor injury”, and “Damage” described above are as follows.
Injury which has the aftereffect by loss of eyesight, an injury, the burn (high/low
Serious injury temperature), an electric shock, fracture, poisoning, etc. and that which requires
hospitalization and long-term treatment as an outpatient.
Injury which does not require either hospitalization or long-term treatment as an

Minor injury
outpatient, a burn (high temperature, low temperature), and an electric shock.
Direct and indirect damage in connection with damage of property and

Damage
equipment.
-2-
Chapter 1 Command Reference
This document is a reference manual for application commands (Functions) and

move commands.
1.1 What is command? .....................................................................................1-1

1.1.1 Outline of the command ........................................................................1-1
1.1.2 Format of Move command and application command ..........................1-1
1.2 Command list (order of SLIM command) ....................................................1-2
1.3 Detail of each command (order of FN code No.) ......................................1-19

This is dummy page. DＯＮOT ERASE.
1.1 What is command?
1.1 What is command?
1.1.1 Outline of the command

There are two categories for the commands in a playback program. One is motion command
that can be taught using [REC] key and the other is application command that can be taught
using [FN] key. However, these are simply treated as "Commands" in the robot language
program.
Robot language program Executable program
Command Move command
Application command
Fig 1.1.1 What is command?
Excepting three motion commands (MOVE, MOVEJ and MOVEX), the all command are called
as "Application command (function)".
Application commands (functions) have code No. that starts from "FN". Motion commands do
not have FN code No.
There are 100 or more various application commands for some kinds of applications or optional
functions. For details. please refer to the respective option manuals.
1.1.2 Format of Move command and application command
Move command (step 3)

Application command (step 1,2 and 4)
・ Parameters are surrounded by [ ] after command.
・ FN code No. and title is displayed on the right side.
Fig 1.1.2 Format of move command and application command for executable program
ALLCLR - - - - - (1)
SHIFTA 0,-10.5,23.3,0 - - - - - (2)
MOVEX A=4,M1X,L,(*,*,*,*,*,*),S=1800,H=1,MS,CONF=0000 - - - (3)
END - - - - - (4)
Move command (3)

Application command (1) (2) (4)
・ Parameters are displayed after command.
・ Respective parameters are separated by comma.
Fig 1.1.3 Format of move command and application command for robot language program
1-1
1.2 Command list (order of SLIM command)

The command sorted in an order of SLIM command is described hereinafter.
The respective outlines are described in short. For more details, please refer to 1.3 Detail of each command
(order of FN code No.).
Because this manual covers all the commands without any distinguishments like standard or
option, please be sure that there are some cases where some commands are not available
depending on the specification of the controller.
IMPORTANT If the command is not displayed on the teach pendant screen, it is a command that is
protected by option protect or non-supported command in an old system software version.
1-2
SLIM
FN code Name Description
command
* 601 Label Label. This is used as a label that can be referred by GOTO
command etc.
ABOVE 163 Elbow The above-the-elbow (less than 180-degree angle formed by
config.(above) J2 axis and J3 axis) posture is forcibly selected for calculating
the robot postures.
ABS 657 Let ABS function Calculates the absolute value of real number.
ACOS 649 LET ACOS function Get ACOS variables
ADAPTOFF 365 Adaptive Motion Ends Adaptive Motion. (Option)

OFF
ADAPTON 364 Adaptive Motion Starts Adaptive Motion with the specified condition. (Option)
ON
ADDP 635 Add pose variable Adds the value of pose variable.
ADDR 69 Add shift value The specified values in the specified shift register are added
up. (Option)
ADDVF 638 Add real variable Adds the value of real variable.
ADDVI 637 Add integer Adds the value of integer variable.

variable
AE 415 Arc end Terminates arc welding with the specified conditions. This is
available only when connected with a weld power interface.
AEM 419 Multi Pass Welding This ends the multi-pass welding under the designated
End conditions.
AEMV 662 Multi Pass Welding Multi-pass welding end.

End(Variable)
AES 741 Stitch pulse The arc welding will be terminated at the specified conditions.
welding end
command
Cycle pulse
welding end
command
AEV 666 ASV Arc Terminates arc welding with the specified conditions.
end(Variable)
AIMBASEPL 725 Aimed angle This switches between the standard planes of aimed angle.
standard plane
selection
AIMREFPT 726 Aimed angle This switches between the standard planes of aimed angle.
standard plane
selection
ALIGNL 321 Left alignment This command controls the start and end of the left alignment
function. (Glass panel handling)
ALIGNMENT 304 Alignment This command controls the start and end of the alignment
ALIGNR 320 Right alignment This command controls the start and end of the right
alignment function. (Glass panel handling)
ALIGNT 322 Slider alignment This command controls the start and end of the Slider
alignment function. (Glass panel handling)
ALLCLR 0 Output signal all This command is used to set all the output signals to OFF.
reset
ANG2ENC 820 Set encoder Set an angle variable(As angle) to encoder variable(As
Variable (angle) encoder)
ANG2POS 813 Set position Set an angle variable(As angle) to position variable(As
Variable (angle) position)
1-3
SLIM
command
ANG2POSE 810 Set Pose Variable Set an Angle variable(As Angle)to Pose variable Pn
(Angle)
AOUT 46 Analog output The TCP (robot tool center point) linear speed and other data
are output as analog voltages.
Offset can be designated using distance or time. (OPTION)
AS 414 Arc start Starts arc welding with the specified conditions.
This is available only when connected with a weld power
interface.
ASIN 648 LET ASIN function Get ASIN variables

ASM 418 Multi Pass Welding This starts the multi-pass welding under the designated
Start conditions.
ASMV 661 Multi Pass Welding Multi-pass welding start

Start(Variable)
ASS 740 Stitch pulse Starts arc welding with the specified conditions.
welding start
command
Cycle pulse
welding start
command
ASV 665 Arc start (Variable Starts arc welding with the specified conditions.
specification)
ATN 655 Let ATN function Calculates the ATN value of real number.
ATN2 656 Let ATN2 function Calculates the ATN2 value of real number.
AUTOZERO 319 Analog input auto Auto zero the analog input signal is executed. (Option)
zero set
BARC 613 Draw the arc This command is used for the user screen to draw the arc.
BELOW 164 Elbow The below-the-elbow (180-degree angle or more formed by

config.(below) J2 axis and J3 axis) posture is forcibly selected for calculating
the robot postures.
BGCOLOR 617 Designate back This can designate the background color used in color
ground color graphics command.(CLS, PRINT) Total 16 colors (0 to 15)
are available.
BREAK 688 BREAK End the execution of an innermost instruction that encloses
this with the loop or the condition structure. The control shifts
to the instruction immediately after the ended instruction.
CALIBROB 702 Calibration This is to execute deviation revision against the task program
Execution as a calibration target.
CALL 21 Step call This command is used to call the step which has been
specified in the same program.
CALLFAR 454 CallFar Program This command is used to call the program of other unit.
(Option)
CALLFARI 455 CallFarI Program Using an input signal, this command is used to call the
program of other unit. (Option)
CALLFARIV 694 CallFarI Call the task program in other unit, if there is a signal input.
Program(Variable)
CALLFARN 456 CallFarN Program Using a pass count (number of passes), this command is
used to call the program of other unit. (Option)
CALLFARNV 695 CallFarN Call the task program in other unit by the passing frequency.
Program(Variable)
CALLFARV 693 CallFar Call the task program in other unit.
Program(variable)
1-4
SLIM
command
CALLI 24 Step Using an input signal, this command is used to call the step
call(I-condition) which has been specified in the same program.
CALLMCR 671 Call usertask This command is used to call the specified user task program.
Program
CALLN 27 Step call(freq. Using a pass count (number of passes), this command is
condition) used to call a step specified in the same program.
CALLP 80 Program call This command is used to call the specified program.
CALLPBCD 402 Program This command enables to call the program externally
call(external BCD designated by the BCD code.
prog.)
CALLPBIN 403 Program The robot calls the program externally designated by the
call(external BIN binary code.
prog.)
CALLPI 81 Program Using an input signal, this command is used to call the
call(I-condition) specified program.
CALLPIV 691 Program Call the specified task program.

call(I-cond…)(Varia
ble)
CALLPN 82 Program call(freq. Using a pass count (number of passes), this command is
condition) used to call the specified program.
CALLPNV 692 Program This command enables to call the specified task program by
call(freq…)(Variabl the passing number.
e)
CALLPR 102 Relative program This command is used to call a subprogram and makes the
call first step position and orientation the same as the current step
in the base program and all point positions in the subprogram
become relative to that step position.
CALLPRI 103 Conditional relative Using an input signal, this command is used to call the
program call specified program.
CALLPRN 104 Relative program Using a pass count (number of passes), this command is
call (freq. used to call the specified program.
condition)
CALLPV 690 Program This command enables to call the specified task program.
call(Variable)
CallProc 806 Call User Call User procedure
Procedure
CASE 687 CASE Two or more conditions are judged.
CHGCOORD 113 Change coord. This makes it possible to select the number of the user
No.(shift) coordinate system used to implement shifts based on the
coordinate system.The number of the user coordinate system
must be selected without fail before implementing shift-related
commands based on the coordinate system.
CHGENDLESS 373 Change endless The control of the endless rotation axis to change.
control
CHGGUN 95 Mount Connect or disconnect mechanism2(Option)
Mechanism2 (dedicated to mechanism 2 only)
CHGMEC 301 Mount Mechanism Connect or disconnect the designated mechanism(Option)
CHGXXGUN 238 Change This is the function command used in mechanism change
Mechanism2 without electric disconnection, or mechanism change without
removing and mounting.
1-5
SLIM
command
CHGXXMEC 302 Change As for the change mechanism, refer to the function command
Mechanism CHGXXGUN: Change Mechanism (FN238).
CHGXXGUN (FN238) is a command exclusive for the
mechanism 2, meanwhile, CHXXMEC (FN302) allows you to
designate an arbitrary mechanism.
Except this point, it is the same command as CHGXXGUN
(FN238).
CLRREGWR 699 Clear register of Clear the written flag of shift register. (Option)
written sts
CLS 609 Clear user screen This is to clear the user screen. (Paint screen with back
ground color.)
CNVI 550 Conveyor interlock Robot waits until conveyor register reaches up to the
designated distance, stationarily. (Option)
CNVSYNC 55 Conveyor counter Reset conveyor counter (Option)

reset
CNVSYNCCH 274 Conveyor Used to select a mechanism that is synchronized with the
G synchronize select conveyor with the conveyor synchronization function.
CNVSYNCI 562 Conveyor Robot waits until conveyor register reaches up to the
interlock(sync.) designated distance, synchronizing to the conveyor. (Option)
COLOR 616 Designate color This can designate the color used in color graphics
command. Total 16 colors (0 to 15) are available.
0; Black 1: Gray 2: Dark Blue 3: Blue 4: Dark Green
5: Green 6: Dark Sky Blue 7: Sky Blue 8: Dark Red 9:
Red 10:Purple 11:Pink 12:Dark Yellow 13:Yellow
14:Light Gray 15:White
COLSEL 230 Set interference The threshold value to be considered as interference can be
detection level switched during playback.
COMPOFF 207 Compliance OFF When this function command is executed, the soft
compliance control function becomes disabled. (Option)
COMPON 206 Compliance ON When this function command is executed, the soft
compliance control function becomes enabled, and the robot
can be moved according to external force. (Option)
COS 653 Let COS function Calculates the COS value of real number.
CVTCOORDPOS 821 Coord. Trans Translate a position variable(As Position）to a designated

(position) coordinate.
DELAY 50 Timer delay This command is used to place the robot in the standby
status.
DIM 801 Any variable You can define some variables as Integer, real and Array, as
you like.
DIVVF 644 Divide real variable Divides the value of real variable.
DIVVI 643 Divide integer Divides the value of integer variable.

variable
DOUT 278 Digital output The TCP (robot tool center point) linear speed and other data
are output using general-purpose output signals.
DPRESETM 280 Output This command is used to set one of the general-purpose
signal(Distance) output signals with advancing distance.
DSPALLET 65 Direction select This limits the shift direction, and it is started by the palletizing
palletize work. (Option)
DYNCALIBRO 295 Robot calibration Start/End calibration cycle of Dynalog PC (Option)

B
1-6
SLIM
command
DYNMESPOS 296 Measurement point The Dynalog PC to take a measurement of the current
position of the robot’s TCP. (Option)
ELSE 678 Condition Move the control to the following instruction.
ELSEIF 677 Condition Move the control to the following instruction when the
condition consists.
Move the control to ELSE and ENDIF for the failure.
ENC2ANG 817 Set angle Variable Set an encoder variable(As encoder) to Angle variable(As
(encoder) Angle)
ENC2POS 814 Set position Set an encoder variable(As encoder) to position variable(As
Variable (encoder) position)
ENCS2POSE 811 Set Pose Variable Set an encoder variable(As Encoder)to Pose variable Pn
(encoder)
END 92 End This command is used to end program playback.
If the program is a called program, return to the original
program.
ENDIF 679 Condition end End IF-ENDIF.
EndProc 804 End Procedure Finish and exit Procedure, and back to source procedure
ENDS 689 SWITCH end It is a terminator of the SWITCH-ENDS structure.
ENDW 664 WHILE end It is terminator of the WHILE-ENDW structure.
EP 498 Execution Pass This designates per pass whether the function commands are
Specification to be executed or not in the multi-pass section.
EQUALIZE 287 Equalize value This command is used to the equalizing motion as defined by
the servo gun.
EQUALIZECL 248 Equalize clear The equalize setting clear.

R
ET 486 End tracking This ends the seam tracking. This is used when the arc
sensor (AX-AR) is connected.
EXIT 619 User task end This can terminate the user task.
ExitProc 803 Exit User Stop procedure routine and back to source procedure
Procedure
FBUSREL 312 Field bus release In the field bus master, error detection Enabled/Disabled of
the specified node is switched.
FCASEEND 88 Case jump end This command is used to end the case jump(FCASEI,
FCASEN).
FCASEI 87 Case Using an input signal, this command is used to select one of
jump(I-condition) a multiple number of steps and executes it.
FCASEN 86 Case jump(freq. Using a pass count (number of passes), this command is
condition) used to select one of a multiple number of steps and execute
it.
FETCH 528 Fetch Input cond. Determine judgment the input condition of a following
function.
FHCLAMP 362 FLEXhand Clamp Execute clamp moiton by FLEXhand. (Option)
FHCLAMP2 366 New FH Clamp Execute clamp moiton by FLEXhand

FHCLAMPDCT 368 FH Clamping Detect clamp status by FLEXhand
Detection
FHUNCLAMP 363 FLEXhand Execute unclamp moiton by FLEXhand (Option)
Unclamp
FHUNCLAMP2 367 New FH Unclamp Execute unclamp moiton by FLEXhand
1-7
SLIM
command
FLIP 165 Wrist config.(flip) The wrist-flip posture is forcibly selected for calculating the
robot postures.
FOR 604 Loop Start This is loop command. Loop starts here.
See also; NEXT(FN605)
FORK 450 Fork Program This command is used to start the program of other unit.
(Option)
FORKI 451 ForkI Program Using an input signal, this command is used to start the
program of other unit. (Option)
FORKMCR 670 Fork Usertask This command is used to start the specified user task
Program program.
FORKMCRDS 673 Fork User Task This command is used to start the specified user task
T Program (distance) program with advancing distance.
FORKMCRTM 672 Fork User Task This command is used to start the specified user task
Program (time) program. Furthermore, the command enables advance
execution to be specified.
FORKN 452 ForkN Program Using a pass count (number of the passes), this command is
used to start the program of other unit.(Option)
FORKWAIT 453 Wait Fork-Program This command leads the robot to await the completion of the
task program of the other unit which was started up by the
FORK, FORKI or FORKN command. (Option)
FRANGE 202 Flange axis rot. The rotational direction of the J6 axis is specified for
config. calculating the robot postures
GARC 623 Display ellipse This command is used for the user screen to draw the ellipse.
GBOX 612 Draw the box This command is used for the user screen to draw the box.
GE 413 Gas OFF Stops the shield gas.
GETANG 823 Set angle variable Substitute robot position to angle variables
(pos.data)
GETANGLE 157 Set real variable This command is used to store the current angle value of
(angle) each axis in a real number variable.
GETBYTE 587 Get buffer (byte) This command is used to read one byte data from the buffer,
and stored the integer variable.
GETENC 824 Set encoder Substitute robot position to encoder variables

variable (pos.data)
GETFIGURE 158 Set real variable The robot figure is used to store in real number variables.
(figure)
GETFORCE 360 Get force/torque The force/torque data are acquirable to a real variable.
(Option)
GETINT 585 Get buffer (integer) This command is used to read data from the buffer, and
stored the integer variable.
GETP 142 Set real variable This command is used to store the current coordinate values
(coordinate) (RPY angle expression) in real number variables.
GETPELR 94 Set real This command is used to store the current coordinate values
variable(Euler pos) (Eulerian angle expressions) in the real number variables
GETPOS 822 Set position Substitute robot position to positional variables

variable (pos.data)
GETPOSE 143 Set real variable This stores the pose variable Pn into the real variable V!.
(pose)
1-8
SLIM
command
GETREAL 586 Get buffer (real) This command is used to read data from the buffer, and
stored the real variable.
GETSFT 145 Set real variable This command replaces the values of the specified shift
(shift) register with the specified real number variables (7
consecutive variables are used).
GETSTR 584 Get buffer (string) This command is used to read data from the buffer, and to
store data in the string variable.
GETTIPCON 306 Get tip Used to get tip consumption amount.

consumption
GFONT 683 Set the font The font of the user screen is set.
GLINE 611 Display position This command is used for the user screen to draw the straight
specification line.
GMSGBOX 685 Create message Create a message box on the user screen.
box
GOSUB 91 Line call Execute a sub-routine call by a designated line No. or label.
GOTO 90 Line jump This is used to jump to a designated line or label.
GPAINT 614 Paint This command is used to paint out the enclosed area on the
user screen.
GS 412 Gas ON Starts to output the shield gas.
GSEA 167 Servo gun search This command is used to detect the electrode tip
consumption of the servo gun.
GSEA_ORDE 229 Servo gun search Servo gun search2 is execute before servo gun search1
R order
GSETP 615 Draw the pixel This command is used for the user screen to draw a pixel.
GSOFTKEY 684 Create soft key Create a soft key on the user screen.
GUNOPEN 218 Gun Open This command is used to change stroke of air gun.
ICH 410 Inching Performs inch the wire with specified time and wire speed
IF 602 Condition If condition is satisfied then command(jump/call) after “THEN”

is executed, else command(jump/call) after “ELSE” is
executed.
IF 676 Condition Move the control to the following instruction when the
condition consists.
Move the control to ELSEIF, ELSE, and ENDIF for the failure.
INCLUDE 697 Translate table The conversion rule is read from “inc file”
included (file)
INCLUDEIO 698 Translate table The conversion rule is read from “I/O NAME”.
included (I/O)
INH 310 Inhibit This determines to inhibit the fetch control.
INPUT 271 Strings input This receives the character string data from the specified
communication (serial) port, and holds it in the specified
character string variable. (Option)
JMP 20 Step jump The robot jumps to the step specified in the same program.
JMPI 23 Step Using an input signal, this command causes the robot to jump
jump(I-condition) to the step specified in the same program.
JMPN 26 Step jump(freq. Using a pass count (number of passes), the robot jumps to
condition) the step specified in the same program.
1-9
SLIM
command
JMPP 83 Program jump This command is used to jump to the start of the specified
program.
JMPPBCD 400 Program jump(to This command enables to externally jump to the program
ext. BCD prog.) designated by the BCD code.
JMPPBIN 401 Program jump(to The robot jumps to the program externally designated by the
ext. BIN prog.) binary code.
JMPPI 84 Program Using an input signal, this is used to jump to the start of the
jump(I-condition) specified program.
JMPPIV 681 Program jump This command enables to jump to the specified task program
(I-cond…)(Variable top.
)
JMPPN 85 Program jump(freq. Using a pass count (number of passes), this command is
condition) used to jump to the start of the specified program.
JMPPNV 682 Program This command enables to jump to the specified task program
jump(freq…)(Varia top by the passing number.
ble)
JMPPV 680 Program This command enables to jump to the specified task program
jump(Variable) top.
LCALLMCR 593 Call User Task This command is used to call the specified user task program.
Program with At this time, ten real numbers can pass the arguments to the
Arguments program.
LCALLP 590 Program call with This command is used to call the specified program. At this
Arguments time, ten real numbers can pass the arguments to the
program.
LCALLPI 591 Conditional Using an input signal, this command is used to call the
program call with specified program. At this time, ten real numbers can pass
Arguments the arguments to the program.
LCALLPN 592 Conditional Using a pass count (number of passes), this command is
program call after used to call the specified program. At this time, ten real
specified number numbers can pass the arguments to the program.
of passes with
Arguments.
LEFTY 161 Arm The left-arm system posture is forcibly selected for calculating
config.(left/front) the robot postures
LET 634 Let variable Sets the variable of the same type.
LETCOORDP 630 Let pose variable Stores the pose data recorded by the specified rectangular
coordinates value in the pose variables.
LETLF 629 Set local real Sets the value into the specified local real variable register.
variable
LETLI 628 Set local integer Sets the value into the specified local integer variable
variable register.
LETPE 632 Let pose element Stores the pose element recorded by the specified
rectangular coordinates value in the pose variables.
LETPOSE 144 Set pose variable This stores the real variable V!. into the pose variable.
LETR 68 Set shift value The shift amount data is set in the specified shift register.
(Option)
LETRE 633 Let shift element Sets the shift element in the specified shift register.
LETVF 76 Set real variable Substitute a value for a global float variable.
Can not substitute for a local variable.
1-10
SLIM
command
LETVI 75 Set integer variable Substitute a value for a global integer variable.
LETVS 77 Set strings variable Substitute a value(string) for a global string variable.
LETX 71 Pose X Substitute a value for the X component of a pose. LETX,

LETY, and LETZ are available only for an already recorded
pose. These functions are used in a case where only 1 pose
is made and parallel shift is applied for the pose.
LETY 72 Pose Y Substitute a value for the Y component of a pose.
LETZ 73 Pose Z Substitute a value for the Z component of a pose.
LOCATE 610 Locate the display This command is used to specify the position of the character
pos displayed on the user screen.
LOCCVT 53 Coord. trans(shift It is possible to proceed with playback while offsetting each
value) recorded point based on the difference (skew amount)
measured beforehand between the recorded position of the
three points serving as the reference and the actual position
obtained from the visual device, etc. (OPTION)
LOCCVT1 54 Coord. trans(posi. It is possible to proceed with playback while offsetting each
value) recorded point based on the difference (skew amount)
measured beforehand between the recorded position of the
three points serving as the reference and the actual position
obtained from the visual device, etc.
LOCCVT3 275 Base angle shift The start or end of the shift operation is specified. When shift
operation start has been specified, the shift operation is
performed on the basis of the shift amount stored in the
specified shift register.
MAPPING 305 Mapping This command controls the start and end of the mapping
MAX 659 Let MAX function Calculates a larger real number out of two.
MESPOS 700 Taking of a This is to specify the measurement point.

Measuring/Referen
ce point
MESQCP 701 Taking of a Quick Obtain and store the quick check pints.
check point
MIN 658 Let MIN function Calculates a smaller real number out of two.
MODUSRCOO 626 Modify User Modifies the existent user coordinates using pose variables
RD coordinate
MOVE - Movement Move the robot based on a traditional Cartesian coordinate
(Cartesian system of NACHI AW controller.(XYZRPY)
coordinates or
pose designation)
MOVEJ - Movement (Axis Move the robot using joint values(angles) in NACHI AW
values) controller format.
MOVEX 645 Movement (Unified Move the robot based on this controller original format.
format) Position data can be given in any of Cartesian coordinates,
joint values and encoder data.
MPE 497 Multi Pass Section This represents the end position of the section where a series
End of movements for multi-pass welding is repeated.
MPS 496 Multi Pass Section This represents the start position of the section where a
Start series of movements for multi-pass welding is repeated.
1-11
SLIM
command
MULTIM 264 Multi output signal This command is used to set the pre-defined multiple output
signals to ON or OFF using the binary format.
MULVF 642 Multiply real Multiplies the real variables.

variable
MULVI 641 Multiply integer Multiplies the integer variables.
variable
NEXT 605 Loop End Please refer to "FOR"(FN604).
NONFLIP 166 Wrist The wrist-non-flip posture is forcibly selected for calculating
config.(non-flip) the robot postures.
NOP 600 NOP No operation
NRLCRD 171 Select robot Used to switch functions to a specified user coordinate
language system.
coordinate system
OFFSET 499 Multi Offset This sets offset in the movement steps in the multi-pass
Specification welding section.
OFFSETV 660 Multi Offset It gives offset to the movement steps between multi-pass
condition welding section.
specification
(Variable)
ONGOTO 603 ON GOTO Jump Next command(jump/call) is determined by the value of
condition. It's order is 1,2,3… from left.
OPEANG 827 Extraction angle Substitute or Extract an angle variable to a global real
Variable variable (V!) or local real variable (L!).
OPEENC 828 Extraction encoder Substitute or Extract an encoder variable to a global integer
Variable variable (V%) or local integer variable (L%), any integer
variable.
OPEPOS 826 Extraction position Substitute or Extract a position variable to a global real
Variable variable (V!) or local real variable (L!).
OPEPOSE 825 Extraction pose Substitute or Extract a pose variable to a global real variable
Variable (V!) or local real variable (L!).
OUT 44 Binary output This command is used to set the general-purpose output
signal signals in any group to ON or OFF using the binary format.
OUTDIS 43 Discrete output This command is used to set the general-purpose output
signal signals in any group to ON or OFF using the discrete format.
PALLET2 47 Palletize start Start palletizing based on the pre-designed palletizing

pattern. (OPTION)
PALLET2_EN 48 Palletize end Finish palletizing based on the pre-designed palletizing

D pattern. Confirmation signal can be output. (OPTION)
PALLET2_RES 49 Palletize reset When a condition signal has been input, the palletize counter
ET is forcibly reset. (palletizing operation is forcibly terminated)
(OPTION)
PALLET3 249 Palletize start Start palletizing based on the pre-designed palletizing pattern.
PALLET3_APR 374 Palletize approach Starts approaching motion.
selection
PALLET3_EN 250 Palletize end Finish palletizing based on the pre-designed palletizing
D pattern.
PALLET3_GET 377 Get palletize Store some palletize register to some variables.
REG register
PALLET3_OPT 375 Palletize optimize Optimize Step position based on the locus of previous step
path and following step
PALLET3_RES 251 Palletize reset The palletize counter is forcibly reset. (palletizing operation is
ET forcibly terminated)
PALLET3_SEL 376 Palletize select Select Work grasp position from registered by Palletize
GR grasp position pattern.
1-12
SLIM
command
PALLET3_SEL 388 Palletize select The function compares the Z-axis value of target step and the
Z height(Z) Z-axis value of reference step after palletizing shift by using
target palletizing number set by the first parameter of the
function, and then Z-axis value of target step will be adjust
higher value of both.
PALLET3_SET 378 Set palletize Set some variables to some palletize registers.
REG register
PAUSE 620 Pause user task This can make a brief stop of user task.
PAUSEINPUT 252 Pause Input The robot is pause when the designated [Pause input] signal
is turned off.
POS2ANG 816 Set angle Variable Set a position variable(As position) to Angle variable(As
(position) Angle)
POS2ENC 819 Set encoder Set a position variable(As position) to encoder variable(As
Variable (position) encoder)
POS2POSE 809 Set Pose Variable Set a position variable(As Position)to Pose variable Pn
(position)
POSAUTO 160 Disable posture Used to disable the posture control for robot posture
control calculation.
POSE2ANG 815 Set angle Variable Set Pose variable Pn to Angle variable(As Angle)
(pose)
POSE2ENC 818 Set encoder Set Pose variable Pn to encoder variable(As encoder)
Variable (pose)
POSE2POS 812 Set position Set a Pose variable Pn to position variable(As position)
Variable (pose)
POSESAVE 74 Pose file save Pose variables are stored to the pose file.
PRINT 101 Output strings The character string data is output to the screen or specified
RS232C serial port.
PRINT 606 Print String Please refer to "PRINT"( FN101).
PRINTF 669 Print string with Draw the string data on the screen with form. Or Output string
format data with form via RS232C.
PRSD 308 Read press data This reads a press brake synchronization setting file, in the
press brake synchronization function.
PRSI 564 Press interlock This sets interlock, in the press brake synchronization
function.
PRSS 307 Press brake shelter This executes retreat actions after work process, in the press
brake synchronization function.
REGC 224 Shift register copy Data is copied between shift registers. (Option)
RELMOV 407 Move of External The designated external axis moves the specified distance
axis from the current position.
REM 99 Comment This command is used to provide comments inside programs.
RESET 34 Output signal reset This command is used to set one of the general-purpose
output signals to OFF.
RETI 25 Step Using an input signal, this command is used to return the
return(I-condition) robot to the step following the one which executed the step
call command in the same program.
RETN 28 Step return(freq. Using a pass count (number of passes), this command is
condition) used to return the robot to the step following the one which
executed the step call command in the same program.
1-13
SLIM
command
RetProc 805 Return User Set a return value of user procedure
Procedure
RETURN 22 Step return This command is used to return the robot to the step following
the one which executed the step call command in the same
program. The commands that call a sub-routine are CALL,
CALLI, CALLN, and GOSUB. Normally, only GOSUB is used
in robot language.
RIGHTY 162 Arm The right-arm system posture is forcibly selected for
config.(right/back) calculating the robot postures
RINT 29 Robot Executing step is interrupted by input signal

interrupt(I-condition
)
RSCLR 111 RS232C buffer The send/receive buffer inside the specified RS232C port is
clear cleared. (Option)
RTC 411 Retract Performs to retract the wire with specified time and wire
speed.
SEA 59 Search Detect the work position shift amount, and store those data to
the shift register (Option)
SEAMEND 246 Seam weld end Stop the seam welding.
SEAMOV 313 Seam override Set the electrode rotation speed override.
SEAMSPD 247 Seam electrode Set the electrode rotation speed while welding.
speed
SEAMST 245 Seam weld start Start the seam welding.
SEAMTHICK 311 Seam panel thick Set the thickness of the work.
SET 32 Output signal set This command is used to set one of the general-purpose
output signals to ON.
SETBYTE 583 Set buffer (byte) This command is used to stored byte data at an arbitrary
position in the buffer.
SETINT 581 Set buffer (integer) This command is used to stored integer value at an arbitrary
SETM 105 Output signal This command is used to set any general-purpose output
signal to ON or OFF
SETMD 35 Output This command is used to set one of the general-purpose

sig(ON/OFF/delay/ output signals to come with a pulse or delay and to ON or
pulse) OFF.
SETO 100 Consecutive output This command is used to set any number of consecutive
signal ON/OFF general-purpose output signals to ON or OFF altogether.
SETREAL 582 Set buffer (real) This command is used to stored real value at an arbitrary
SETSTR 580 Set buffer (string) This command is used to stored string at an arbitrary position
in the buffer.
SETVELO 309 Set velocity This command is used to set the speed in an endless axis.
SF0 470 Wire Extension This detects and corrects the wire extension. This is used
when the touch sensor (AX-WD) is connected.(OPTION)
1-14
SLIM
command
SF1 471 One Direction This detects the deviation of a workpiece by a touch sensor.
Search(Touch) *This is used when the touch sensor (AX-WD) is connected.
(Option)
SF2 472 Pattern Detect setting deviation of the work object by the touch
Search(Touch) sensor attached to the welding wire and store the deviation
volume/gap volume file in the specified file / gap file.
SF3 473 Deviation call This receives the stored deviation and execute a
compensation. (Option)
*This is used when the touch sensor (AX-WD) and the laser
search (AX-RD) are connected.
SF4 474 Dev. vector This calculates a new deviation on the basis of stored
composition deviation. This is used when the touch sensor (AX-WD) and
the laser search (AX-RD) are connected.
SF5 475 Store of tracking Store the cumulative volume of the weld line tracking
deviation augmenter up to the present will be stored in the deviation
file.
SF8 478 Generation of a Exchange the deviation volume between the general purpose
DEV. file register and the deviation file.
SF9 479 Generation of a This stores variable values to a gap file. This is used when
GAP.file the touch sensor (AX-WD) and the laser search (AX-RD) are
connected.
SGSPRT 279 Servo gun Servo gun separated status is changed.

separation
SGTIPRST 270 Reset consumption Reset the tip consumption of designated servo gun
SHIFTA 58 XYZ shift The playback position is shifted in parallel (Option)
SHIFTR 52 Shift The start or end of the shift operation is specified. When shift
operation start has been specified, the shift operation is
performed on the basis of the shift amount stored in the
SIGREQ 723 Shift value get Using external signals, the command requests shift amount
(signal) input, and the shift amount data which is input is stored in the
designated shift register.
SIN 652 Let SIN function Calculates the SIN value of real number.
SLEND 351 Seal end Stop the dispensing process
SLPRS 355 Seal press ctrl Start/Stop pressure control in the dispensing process.
SLPRSG 356 Seal press ctrl 2 Start/Stop pressure control in the dispensing process. Control
level can be designated.
SLREADY 353 Flow ready Pressure in the pump is controlled to a specified value.
SLRELOAD 352 Reload Refill the booster pump.
SLSTART 350 Seal start Start the dispensing.
SOCKBIND 572 Bind the socket This command is used to assign a socket an port No.
SOCKCLOSE 571 Close the socket This command is used to close the socket.
SOCKCONNE 574 Connect to server This command is used to connect to server.

CT
SOCKCREATE 570 Create Socket This command is used to create the socket.
SOCKRECV 577 Receive data This command is used to receive the data.
1-15
SLIM
command
SOCKSEND 575 Send data This command is used to transmit the data stored in the
specified buffer.
SOCKSENDST 576 Send string This command is used to transmit the specified string.
R
SOCKWAIT 573 Wait for connect This command is waited for until the connection from the
client is done to the allocated port.
SPDDOWNA 169 Analog input speed The playback speed of the robot is changed in accordance
override with the input voltage. (Option)
SPDDOWND 277 Digital input speed The playback speed of the robot is changed in accordance
override with digital input signals
SPF 439 Servo OFF This turns OFF the servo power source in unit of mechanism.
SPN 438 Servo ON This turns ON the servo power source in unit of mechanism.
SPOT 119 Spot welding Execute spot welding in accordance with pre-defined
sequence.
SPOT2 268 Spot welding By recording the spot welding function to the welding step,
spot welding can be carried out by a designated sequence
SPOTIWB1 199 Spot welding Execute spot welding in accordance with pre-defined
sequence. （dedicated to welding I/F＝MEDbus only）
(Option)
SPRAYOFF 409 Spray End Turn OFF the start signal of thermal spraying
SPRAYON 408 Spray Start Turn ON the start signal of thermal spraying
SQR 651 Let SQR function Calculates the square root of the real number.
SREQ 51 Shift data request The command requests the shift amount data from the
external device using the serial port. Once it has been input
from the external device, the shift amount data is stored in the
SREQ2 315 Shift amount The command requests the shift amount data (binary data)
request (binary) from the external device using the serial port. Once it has
been input from the external device, the shift amount data is
stored in the specified shift register.
ST 485 Start tracking This starts seam tracking. This is used when the arc sensor
(AX-AR) is connected.
STOOL 67 Select the stated This command is used to select the coordinate system of the
tool No. stationary tool number from among the user coordinate
systems
STOP 41 Robot stop This command is used to stop the robot.
STOPI 42 Robot Using an input signal, this command is used to stop the robot.
stop(I-condition)
SUBVF 640 Subtract real Subtracts the real variable.
variable
SUBVI 639 Subtract integer Subtracts the value of integer variable.
variable
SWITCH 686 SWITCH Two or more conditions are judged.
SYNCSPOT 303 Sync spot welding Enabling to perform synchronous welding with two servo
guns.
SYNCSPOTIW 316 Sync spot welding Enabling to perform synchronous welding with two servo
B guns.（dedicated to welding I/F＝MEDbus only）(option)
1-16
SLIM
command
TAN 654 Let TAN function Calculates the TAN value of real number.
TIMER 650 Let TIMER function Sets the time value passed since the power-on into the
specified real variable register.
TIPDRESS 265 Tip dress Execute the tip dress of spot welding gun.
TITLE 608 User screen title This is to draw the title of user screen.
USE 98 Select pose file This function is used to select a pose file.
Pose data is controlled as a file, and poses P1 - P9999 can
be recorded into a file. For example, it is useful when to
change only the position data of the robot according to the
type of workpiece, and when to play back a same program.
USRERR 467 User Error Output Output the user customized error, alarm and information.
UsrProc 802 User Procedure Define User Procedure

VCHKGRP 336 Vision group check Check the measurement group of the vision sensor.(Option)
VDATA 334 Vision data Get the data from the vision sensor.(Option)
VGROUP 335 Vision group Change the measurement group of the vision sensor.(Option)
change
ＶＬＯＣＣＶＴ 342 Vision location The start or end of the shift operation with the vision sensor
convert are specified.
When shift operation start has been specified, the shift
operation is performed on the basis of the shift amount stored
in the specified shift register. (Option)
VRESET 330 Vision reset Data of the vision sensor is cleared. (Option)
VSHIFT 333 Vision shift Get the shift value from the vision sensor. (Option)
VSTART 331 Vision start Start the measurement of vision sensor. (Option)
ＶＷＡＩＴ 343 Vision measure The measurement completion of the vision sensor is waited
wait for. (Option)
VWORK 332 Vision work Distinguish work with the vision sensor. (Option)
WAIT 552 Wait I-cond with This command is used to wait for any one general-purpose
timer input signal for up to the specified time.
WAITA 553 Wait I-group(AND) This command is used to wait for any of group
with timer general-purpose input signal (AND logic) with designated
time.
WAITAD 558 Wait I-group This command is used to wait for any of group
BCD(AND) with general-purpose input signal (AND logic) with designated
timer time. The condition is written in BCD format.
WAITE 555 Wait I-group with This command is used to wait for any of group
timer general-purpose input signal with designated time.
WAITED 560 Wait I-group BCD This command is used to wait for any of group
with timer general-purpose input signal with designated time. The
condition is written in BCD format.
WAITI 525 Wait Input cond This command is used to wait for any one general-purpose
input signal.
WAITJ 526 Wait not Input cond This command is used to wait for any one general-purpose
input signal using negative logic.
1-17
SLIM
command
WAITO 554 Wait I-group(OR) This command is used to wait for any of group
with timer general-purpose input signal (OR logic) with designated time.
WAITOD 559 Wait I-group This command is used to wait for any of group
BCD(OR) with general-purpose input signal (OR logic) with designated time.
timer The condition is written in BCD format.
WAITR 127 Wait shift value This initiates a jump to the shelter step when the robot has
receive been waiting for the shift amount data to be input from the
external source into the specified shift register and the data
has not been input within the specified time. (Option)
WAX 441 Axis Weaving Starts weaving with the simple harmonic motion of the axes.
WAXV 668 Axis Weaving Starts weaving with the simple harmonic motion of the axes.
(variable)
WE 443 Weaving End Terminates weaving
WELDCND 33 Spot condition This function outputs signals assigned to the "weld condition
output output."
WELDGRP 282 Weld condition with When this function command is executed, the welding
group machine number to be used by the welding function (FN119)
and the welding condition group number are designated.
WFP 440 Fix Pattern Starts weaving with the specified waveform, attitude, and
Weaving frequency.
WFXP 667 Fixed pattern Starts weaving with the specified waveform, attitude, and
weaving (Variable) frequency.
WHILE 663 WHILE loop Execute the instruction in WHILE-ENDW repeatedly until the
condition doesn't consist.
WINDOW 607 User screen Open user screen, or close user screen.
open/close
WSF 442 Taught Weaving This carries out weaving in the taught pattern.
ZF1 480 One Direction This detects the setting deviation of a workpiece. This is used
Search(Laser) when the laser search (AX-RD) is connected.
ZG1 483 High-speed groove This searches the groove information at high speed. This s
search used when the laser search (AX-RD) is connected.
1-18
1.3 Detail of each command (order of FN code No.)
1.3 Detail of each command (order of FN code No.)

Detail of each command is described hereinafter, sorted in an order of FN code number.
Because this manual covers all the commands without any distinguishments like standard or
option, please be sure that there are some cases where some commands are not available
IMPORTANT depending on the specification of the controller.
If the command is not displayed on the teach pendant screen, it is a command that is
protected by option protect or non-supported command in an old system software version.
1-19
Function commands (FN codes)
Command name ALLCLR

FN code 0
Title name All output signals clear
This command is used to set all the
General description
general-purpose output signals to OFF.
General description
When this function command is executed, it is possible to set all the general-purpose output signals (O1 to O2048) to OFF.
However, the command cannot set any of the status signals (signals with pre-assigned applications such as the gun signals
and starting signal) to OFF.
Which signals have been assigned as status signals can be identified on the monitor screen. Signals whose numbers are
displayed in the bold italics are status signals so any of the other signals can be set to OFF altogether.
■ Example of operation
Robot path Step2 Step3 ALLCLR(FN0)
Accuracy
Step1 Step4
Output signal
Time
The robot is not decelerated by this command. If positioning is not
specified, the command is executed at the position reached by
the robot in the accuracy range of the move command
immediately before.
■ Parameter
None
■ Example of screen display

ALLCLR FN0: All output signals clear
See
SET; Output signal ON (FN32)
RESET; Output signal OFF (FN34)
SETO; Consecutive output signal ON/OFF (FN100)
SETM；Output signal ON/OFF (FN105)
Command name JMP

FN code 20
Title name Step jump
The robot jumps to the step specified in the same
General description
program.
■ General description
When this function command is executed, the robot is able to jump to the step specified in the same program. It makes no
difference whether the jump destination step is a move command or function command.
Bear in mind that if the jump destination step is a function command, the function command at the jump destination will be
executed as soon as the jump command has been executed.
In step 4, record JMP: step jump (FN20), and 7 as the number of the jump destination step. When this is played back, the robot
skips steps 5 and 6 upon arriving at step 4 and jumps to step 7.
Step 4
JMP; Step jump (FN20)

Step number = 7
１２３５
● ● ● ●
９８７６
● ● ● ●

immediately before.
Step 4

Step number = 7
1 2 3 5
● ● ● ●
10 9 8 6
● ● ● ●
Step 7: Output command
Step 7: Robot moves to step 8
after the output command has
been executed at this position.
■ Parameter
Parameter This specifies the number of the step serving as the robot's jump destination.
Step No.
No. 1 （1-9999）

JMP[35] FN20; Step jump
See
JMPI: Conditional step jump (FN23)
JMPN; Conditional step jump after specified number of passes (FN26)
Command name CALL

FN code 21
Title name Step Call
This command is used to call the step which has
General description
been specified in the same program.
When this function command is executed, a step specified in the same program is called. It makes no difference whether the
call destination step is a move command or function command.
Bear in mind that if the call destination step is a function command, the function command at the call destination will be
executed as soon as the call command has been executed.
When the step return command is subsequently executed, operation returns to the step following the one which executed the
call.
The step call and step return commands are used in tandem.
In step 4, record CALL: step call (FN21), 8 as the number of the call destination step, and in step 12, record RETURN: step
return (FN22). When this is played back, the robot skips steps 5 to 7 upon arriving at step 4 and jumps to step 8. Then it
advances to steps 9 through 12, and after the RETURN: step return (FN22) command is executed, it returns to the step
following the one which executed the call, that is to say, step 5.
Step 4
CALL: Step call (FN21),
call destination step = 8
１２３５
● ● ● ●
Step 12
RETURN:
Step return (FN22)
８６
● １１
● ● ●
１３ 7: END (FN92)
１０ ● ●
９
immediately before.
The robot is returned to the step following the one with CALL; step call (FN21) command by the RETURN: step return (FN22)
command, the RETI: conditional step return (FN25) command or by the RETN: conditional step return after specified number
of passes (FN28) command.
The step call command can be executed again at the call destination (between steps 8 and 11 in the above figure). Up to 8
layers of calls can be executed. If calls exceeding 8 layers are executed or the number of step calls and step returns does not
coincide, the "Aa138 Wrong call command setting" alarm is detected during playback, and the robot stops.
Occurrence of
alarm
ＣＡＬＬＲＥＴＵＲＮ
● ● ● ● ● ● ● ● ● ● ● ● ●
Example where RETURN is played back

even though this is not during CALL
■ Parameter
Parameter
Step No. This specifies the number of the call destination step.（1-9999）
No. 1

CALL[12] FN21: Step call
See
CALLI: Conditional step call (FN24) command
CALLN: Conditional step call after specified number of passes (FN27) command
RETURN: Step return (FN22)
RETI: Conditional step return (FN25) command
RETN: Conditional step return after specified number of passes (FN28) command
Command name RETURN

FN code 22
Title name Step return
This command is used to return the robot to the
General description step following the one which executed the step call
command in the same program.
When this function command is executed, the robot is returned to the step following the one which executed the step call
command in the same program. It makes no difference whether the return destination step is a move command or function
command.
Bear in mind that if the return destination step is a function command, the function command at the return destination will be
executed as soon as the return command has been executed.
In step 4, record CALL: step call (FN21), 8 as the number of the call destination step, and in step 12, record RETURN: step
return (FN22). When this is played back, the robot skips steps 5 to 7 upon arriving at step 4 and jumps to step 8. Then it
advances to steps 9 through 12, and after the RETURN: step return (FN22) command is executed, it returns to the step
following the one which executed the call, that is to say, step 5.
Step 4
CALL: Step call (FN21)

１２３５
● ● ● ●
Step 12
RETURN：
Step return (FN22)
● ● ８ ● ６●
１３１１
7: END (FN92)
● ●
１０９
immediately before.
The robot is returned to the step following the one with CALL; step call (FN21) command by the RETURN: step return (FN22)
command, the RETI: conditional step return (FN25) command or by the RETN: conditional step return after specified number
of passes (FN28) command.
coincide, the "A2138 Wrong call command setting" alarm is detected during playback, and the robot stops.
Occurrence of
alarm
CALL RETURN
● ● ● ● ● ● ● ● ● ● ● ● ●

■ Parameter
None
RETURN FN22; Step return
See
CALL; Step call (FN21)
Command name JMPI

FN code 23
Title name Conditional step jump
Using an input signal, this command causes the
General description robot to jump to the step specified in the same
program.
When this function command is executed, the robot is able to jump to the step specified in the same program. It makes no
difference whether the jump destination step is a move command or function command.
When the specified input signal has been input, the robot jumps; when it has not been input, it does not jump and the command
is passed by.
In step 4, record JMPI: step jump (FN23), 7 as the number of the jump destination step and I1 as the input signal.
If, when this is played back, input signal I1 has been input, the robot jumps to step 7, but if the signal has not been input, the
robot advances to step 5.
Step 4
Step Number = 7
Input signal = I1
１２３５
● ● ● ●
When the I1 signal When the I1 signal
has been input has not been input
９８７６
● ● ● ●
The robot is not decelerated by this command. If no positioning is
specified, the input signal is inspected just before the command
value reaches the accuracy range of the move command, and if it
has been input, an inside arc is drawn. If the input signal has not
been input, the command value heads toward the recorded point,
and the input signal is inspected when the robot has reached the
accuracy range.
■ Parameter
Step No.
No. 1 （1-9999）
This records the number of the input signal which is to serve as the condition for
Parameter executing the jump. When number 5101 or above is specified, multiple input
Input signal
No. 2 signals can be specified.
（1-2048、5101～5196）

JMPI [7,I1] FN23: Conditional step jump
See
JMPN: Conditional step jump after specified number of passes (FN26)
Command name CALLI

FN code 24
Title name Conditional step call
Using an input signal, this command is used to call
General description the step which has been specified in the same
program.
When this function command is executed, a step specified in the same program is called. It makes no difference whether the
call destination step is a move command or function command.
When the specified input signal has been input, the step is called; when it has not been input, the step is not called and the
robot passes the command by.
call.
In step 4, record CALLI: conditional step call (FN24), 8 as the number of the call destination step and I1 as the input signal.
If, when this is played back, input signal I1 has been input, the robot jumps to step 8 and advances to steps 9 through 12, and
after the RETURN: step return (FN22) command is executed, it returns to the step following the one which executed the call,
that is to say, step 5.
If input signal I1 has not been input at step 4, the robot simply advances to step 5.
Step 4
CALLI: Conditional step call (FN24)
Step number = 8
Input signal = I1
１２３５
● ● ● ●
When the I1 signal When the I1 signal
has been input has not been input
Step 12
RETURN:
step return (FN22)
● ● ８ ● ６●
１３１１
7: End (FN92)
● ●
１０９
accuracy range.
The robot is returned to the step following the one with the CALLI: conditional step call (FN24) command by the RETURN: step
return (FN22) command, the RETI: conditional step return (FN25) command or by the RETN: conditional step return after
specified number of passes (FN28) command.
Occurrence of
CALL alarm RETURN
● ● ● ● ● ● ● ● ● ● ● ● ●

■ Parameter
Parameter
No. 1
Parameter executing the jump. When number 5101 or above is specified, multiple input
Input signal
（1-2048、5101～5196）

CALLI [8,I1] FN24; Conditional step call
See
Command name RETI

FN code 25
Title name Conditional step return
Using an input signal, this command is used to
return the robot to the step following the one which
General description
executed the step call command in the same
program.
When this function command is executed, the robot returns to the step following the one which executed the step call
command in the same program when the specified signal has been input. It makes no difference whether the return destination
step is a move command or function command.
When the specified input signal has been input, the robot returns; when it has not been input, it does not return but passes the
command by.
In step 4, record CALL: step call (FN21) and in step 11, record RETI: conditional step return (FN25), and I1 as the input signal.
When this is played back, the robot advances to steps 3 through 8 through 12, and if input signal I1 has been input where the
RETI: conditional step return command was executed, the robot returns to the step following the call source step, that is to say,
step 5. If input signal I1 has not been input at step 12, the robot simply advances to step 13.
Step 4
Call destination step = 8
１２３５
● ● ● ●
When the I1 signal
has not been input
When the I1 signal

has been input
● ● ● １１８ ● ６●
１４１３
7：End (FN92)
● ●
１０９
Step 15 Step 12
RETURN： RETI: Conditional step return (FN25)
Step return (FN22) Input signal = I1

accuracy range.
Occurrence of
CALL alarm RETURN
● ● ● ● ● ● ● ● ● ● ● ● ●
Example where RETURN is played back even though this

is not during CALL
■ Parameter
Parameter executing the return. When number 5001 or above is specified, multiple input
Input signal
（1-2048、5001～5196）

RETI [I1] FN25; Conditional step return
See
Command name JMPN

FN code 26
Conditional step jump after specified number of
Title name
passes
Using a pass count (number of passes), the robot
General description
jumps to the step specified in the same program.
When this function command is executed, the robot jumps to the step specified in the same program in accordance with the
number of passes. It makes no difference whether the jump destination step is a move command or function command.
The robot passes for the specified number of passes, and on the next time (specified number of passes 1) the jump command
is executed. (For instance, if "2" is specified as the number of passes, the robot passes twice, and on the third time the jump
command is executed.)
In step 4, record JMPN: conditional step jump after specified number of passes (FN26), 6 as the number of the jump
destination step, 1 as the register number, and 2 as the number of passes.
When this is played back, the robot passes on the first and second times, and it advances to step 5; on the third time, however,
it jumps to step 7.
Step 4
JMPN: Conditional step jump after specified
number of passes (FN26)
Step number = 6
Register number = 1
Number of passes = 2
1 2 3 5
● ● ● ●
Third time First time, second time
9 8 7 6
● ● ● ●
immediately before.
A global integer variable common to all units is used for the number of passes.
The current number of passes can be referenced using monitor/integer variables.
■ Parameter
Step No.
No. 1 （1-9999）
A "register" refers to the memory used for counting. Since an integer variable (1 to
Parameter Register
200) is used, this parameter specifies its number.
No. 2 number
（1-200）
This records the number of passes which is to serve as the condition for executing
Parameter Number of the jump. The robot passes for the specified number of passes, and on the next
No. 3 passes time (specified number of passes 1) the jump command is executed.
（0-10000）

JMPN [6, V1%, 2] FN26; Conditional step jump after specified
number of passes
See
Command name CALLN

FN code 27
Conditional step call after specified number of
Title name
passes
Using a pass count (number of passes), this
General description command is used to call a step specified in the
same program.
When this function command is executed, the step specified in the same program is called in accordance with the number of
passes. It makes no difference whether the call destination step is a move command or function command.
The robot passes for the specified number of passes, and on the next time (specified number of passes 1) the call command is
executed. (For instance, if "2" is specified as the number of passes, the robot passes twice, and on the third time the call
call.
In step 4, record CALLN: conditional step call after specified number of passes (FN27), 8 as the number of the call destination
step, 1 as the register number, and 2 as the number of passes. In step 12, record RETURN: step return (FN22). When this is
played back, the robot passes on the first and second times, and it advances to step 5; on the third time, however, it jumps to
step 8, and returns to the step following the step which executed the RETURN: step return FN22) command, that is to say, step
5.
Step 4
CALLN: Conditional step call after specified
Step number = 8
Register number = 1
1 2 3 5
● ● ● ●
Third time First time,
Step 12 second time
RETURN:
Step return (FN22)
● ● 8 ● 6 ●
13 11 7: End (FN92)
● ●
10 9

immediately before.
The robot is returned to the step following the one with CALLN: conditional step call after specified number of passes (FN27)
command by the RETURN: step return (FN22) command, the RETI: conditional step return (FN25) command or by the RETN:
conditional step return after specified number of passes (FN28) command.
Occurrence of
alarm
CALL RETURN
● ● ● ● ● ● ● ● ● ● ● ● ●

■ Parameter
Parameter
No. 1
A "register" refers to the memory used for counting. Since an integer variable (1
Parameter Register
to 200) is used, this parameter specifies its number.
No. 2 number
（1-200）
This records the number of passes which is to serve as the condition for
Parameter Number of executing the call. The robot passes for the specified number of passes, and on
No. 3 passes the next time (specified number of passes 1) the call command is executed.
（0-10000）

CALLN [8, V1%, 2] FN27; Conditional step call after
specified number of passes
See
Command name RETN

FN code 28
Conditional step return after specified number of
Title name
passes
command is used to return the robot to the step
General description
following the one which executed the step call
command in the same program.
When this function command is executed, the robot is returned to the step following the one which executed the step call
command in the same program in accordance with the number of passes. It makes no difference whether the return destination
step is a move command or function command.
The robot passes for the specified number of passes, and on the next time (specified number of passes 1) the return command
is executed. (For instance, if "2" is specified as the number of passes, the robot passes twice, and on the third time the return
In step 4, record CALL: step call (FN21) and in step 11, record RETN: conditional step return after specified number of passes
(FN26), 1 as the register number, and 2 as the number of passes.
When this is played back, the robot advances to steps 3 through 8 through 12, and for the first and second times it simply
advances to step 13; however, on the third time, it returns to step 5.
Step 4
1 2 3 5
● ● ● ●
First time, second time

Third time
● ● ● 11 8 ● 6 ●
14 13 7: End (FN92)
● ●
10 9
Step 15 Step 12
RETURN： RETN: Conditional step return after specified

Step return(FN22) Register number = 1

immediately before.
Occurrence of
alarm
CALL RETURN
● ● ● ● ● ● ● ● ● ● ● ● ●
Example where RETURN is played back even

though this is not during CALL
■ Parameter
Parameter Register
No. 1 number
(1-200)
This records the "number of passes" which is to serve as the condition for
Parameter Number of executing the return. The robot passes for the specified number of passes, and on
No. 2 passes the next time (specified number of passes 1) the return command is executed.
(0-10000)

RETN [V1%, 2] FN28; Conditional step return after
See
Command name RINT

FN code 29
Title name Robot Interrupt (I-condition)
General description Executing step is interrupted by input signal
Normal application commands are executed after the recording position has been reached. For this reason, it is not possible to
conduct such operations as changing the movement path or out-putting the output signals until the target step has been
reached. By using this application command, such operations as detecting obstacles and changing the movement path or
outputting general-purpose output signals can be conducted while moving between MOVE commands.
The normal procedure to be followed when handling work with a poor positioning accuracy is to use the inputs of the sensors
attached to the gripper or other end effecter as the robot interrupt input signals and perform the grip/release operations at the
position where contact is made with the work.
A case where the robot interrupt was recorded after MOVE(N+1) as shown in the figure is explained as an example.
・ The robot interrupt section (range within which the interrupt processing is valid) extends from MOVE(N+1), which is the
movement command immediately before the robot interrupt command RINT step, to MOVE(N+2) which is the movement
command immediately after this step.
・ When the input of the input signal I5 is detected in this section, the process of moving to MOVE(N+2) is exited immediately,
and operation transfers to executing the command which has been recorded following MOVE(N+2). Since, in the case of
the example provided, the command recorded after the MOVE(N+2) movement command is the SETM application
command and the next one is the DELAY application command, these application commands are executed at the position
where I5 is detected, and the robot next heads from that position toward the position of the MOVE(N+3) movement
command. (Path indicated by the dotted line in the figure)
・ The steps at both ends of the robot interrupt section (the MOVE(N+1) and MOVE(N+2) movement commands in the case
of the figure) forcibly entail the positioning of the robot irrespective of what has been recorded.
・ If the input of the input signal (I5) has not been detected by the time when the position where MOVE(N+2) was recorded is
reached, the robot moves as usual up to the position where MOVE(N+2) was recorded, and the next SETM (FN105)
command is executed.
・ When the input of the input signal (I5) is detected as the robot heads toward MOVE(N+2) and then the robot heads toward
the position where MOVE(N+3) was recorded, it moves along the positioning path.
・ Record the MOVE(N+2) movement command at a low recording speed. If the robot is operated at a high speed, the
response to the interrupt detection may become slow.
■ Parameter
This is used to specify the number of the input signal serving as the robot interrupt
Parameter condition.
Input signal
No. 1 (1 to 2048): General-purpose input signal number
(5101 to 5196): Multiple input signal number
Search basis write setting status These parameters are used by the search
Parameter
Search position 0: No done function. When a robot interrupt command is
No. 2
1: Done used on its own, use the “0” setting for all the
Parameter X,Y and Z coordinate value when a parameters.
Standard X
No. 3 search basis write has been For details on the search function, refer to
Parameter performed SEA: Search(FN59).
Standard Y
No. 4 (-3000～3000)
Parameter
Standard Z
No. 5
RINT[34,0,0,0,0] FN29; Robot Interrupt (I-condition)
See
SEA; Search (FN59)
Command name SET

FN code 32
Title name Output signal ON
This command is used to set one of the
General description
general-purpose output signals to ON.
When this function command is executed, it is possible to set any one of the general-purpose output signals (O1 to O2048) to
ON. However, the command cannot set any of the status signals (signals with pre-assigned applications such as the gun
signals and starting signal) to ON.
displayed in the bold italics are status signals so any of the other signals can be set to ON.
Robot path
Step2 Step3 SET(FN32)
Accuracy
Step1 Step4
Output signal
Time
immediately before.
■ Parameter
Parameter Output signal This specifies the number of the general-purpose output signal which is to be set to
No. 1 number ON. (1-2048)

SET[O12] FN32; Output signal ON
See
ALLCLR; All output signals clear (FN0)
SETM；Output signal ON/OFF (FN105)
Function commands(FN codes)
Command name WELDCND

FN code 33
Title name Spot condition output
General
Output spot condition signals on manual.
description
This function outputs signals assigned to the "weld condition output." The signals are outputted by the binary of 0-65535.
Notes -- this function is not concerned with a setup of "Check with function " of "Teach/Playback condition", but is performed.
However, it does not execute at the time of step back operation.
Please refer to SETM (FN32) about the timing of outputs.
■ Parameter
Parameter No.1 1～6 Welder number
Parameter No.2 0～65535 Weld condition data

WELDCND[1,1] FN33; Spot condition output
See
SEAMST Seam weld start (FN245)
Command name RESET

FN code 34
Title name Output signal off
General description
general-purpose output signals to OFF.
OFF. However, the command cannot set any of the status signals (signals with pre-assigned applications such as the gun
signals and starting signal) to OFF.
displayed in the bold italics are status signals so any of the other signals can be set to ON.
Robot path
Step2 Step3 RESET(FN34)
Accuracy
Step1 Step4
Output signal
Time

immediately before.
■ Parameter
Parameter Output signal This specifies the number of the general-purpose output signal which is to be set to
No. 1 number OFF.（1-2048）

RESET [O12] FN34; Output signal OFF
See
ALLCLR: All output signals clear (FN0)
SET; Output signal OFF (FN32)
SETO: Consecutive output signal ON/OFF (FN100)
SETM: Output signal ON/OFF (FN105)
Command name SETMD

FN code 35
Title name Output with pulse or delay ON/OFF
General description general-purpose output signals to come with a
pulse or delay and to ON or OFF.
ON or OFF. Furthermore, the command enables pulse output, advance output or delayed output to be specified.
and starting signal) to ON or OFF. Which signals have been assigned as status signals can be identified on the monitor screen.
Signals whose numbers are displayed in the bold italics are status signals so any of the other signals can be set to ON or OFF.
Robot path Step2 Step3 SETMD(FN35)
Accuracy
Step1 Step4
Output signal
Time
Pulse time
Advance output
(Delay time minus)
Delayed output
(Delay time plus)
immediately before.
If an advanced output or delayed output has been specified, the output can cover both the move command immediately before
(step 1 in the above figure) and the move command immediately after (step 4 in the above figure).
■ Parameter
This specifies the number of the general-purpose output signal which is to be set to
Parameter Output signal
ON or OFF.
No. 1 number
(1-2048)
Parameter "1" is specified for ON, and "0" for OFF.
ON/OFF
No. 2 (0-1)
If "0.0" is specified as the time, the command is executed at the timing which
coincides with the recorded point.
If a minus value is specified, the command is output ahead of the original execution
Parameter timing by the amount equivalent to the delay time setting. Conversely, if a plus value
Delay time
No. 3 is specified, it is output after the timing by the amount equivalent to the delay time
setting. (Increment: seconds)
In either case, it can be executed beyond the time lapse to the step before or after.
(-10.0 – 10.0)
This is set when the output signal is to be output as a pulse signal. It is used to specify
Parameter the width of the pulse signal. When "0.0" is specified as the time, a level signal is
Pulse time
No. 4 output. (Increment: seconds)
(0.0 – 10.0)

SETMD [O12, 1, -5, 3] FN35; Output with pulse or delay ON/OFF
See
ALLCLR: All output signals clear (FN0)
SET: Output signal ON (FN32)
RESET: Output signal OFF (FN34)
Command name STOP

FN code 41
Title name Stop
General description This command is used to stop the robot.
When this function command is executed, the robot is stopped.
The robot will not start unless the start command is input again.
In step 4, record STOP: stop (FN41).
When this is played back, the robot stops at step 4. This command does not establish the program end status (status
established by executing the END: FN92 command to end the program): this means that the robot will head to step 5 without
returning to the first step if it is restarted at the step 4 position. This should be borne in mind.
Step 4
STOP: Stop (FN41)
１２３５
● ● ● ●
Robot stops here.
９８７６
● ● ● ●
The robot stops after reaching the recorded point regardless of
the accuracy of the move command immediately before.
■ Parameter
None

STOP FN41; Stop
See
STOPI: Conditional stop (FN42)
END: End (FN92)
Command name STOPI

FN code 42
Title name Conditional stop
Using an input signal, this command is used to stop
General description
the robot.
When this function command is executed, the robot is stopped.
When the specified input signal has been input, the robot stops; when it has not been input, the robot does not stop and
passes.
When the robot has stopped, it will not start unless the start command is input again.
In step 4, record STOPI: conditional stop (FN41), and I1 as the input signal.
If, when this is played back, input signal I1 has been input, the robot stops at step 4, and if it has not been input, it advances to
step 5.
Step 4
STOPI：Conditional stop (FN42)
Input signal = I1
１２３５
● ● ● ●
If the I1 signal has been input,
If the I1 signal has not
the robot stops here.
been input.
９８７６
● ● ● ●
The robot stops after reaching the recorded point regardless of
the accuracy of the move command immediately before.
■ Parameter
Parameter executing the stop. When number 5101 or above is specified, multiple input signals
Input signal
No. 1 can be specified.
(1-2048、5101～5196)

STOPI[I1] FN42; Conditional stop
See
STOP: Stop (FN41)
Command name OUTDIS

FN code 43
Title name Discrete format output signals
This command is used to set the general-purpose
General description output signals in any group to ON or OFF using the
discrete format.
When this function command is executed, it is possible to set the general-purpose output signals (O1 to O2048) in any group to
ON or OFF using the discrete format.
The general-purpose output signals are divided up into groups of ten: "group" here refers to such a group. With the discrete
format, by specifying a number, any one signal inside a group of ten signals can be set to ON while the other signals are set to
OFF.
and starting signal) to ON or OFF.
displayed in the bold italics are status signals so any of the other signals can be set to ON or OFF.
Group Output Group Output Group Output
signal signal signal
1 1～10 11 101～110 21 201～210
2 11～20 12 111～120 … …
3 21～30 13 121～130 30 291～300
4 31～40 14 131～140 … …
5 41～50 15 141～150 50 491～500
6 51～60 16 151～160 … …
7 61～70 17 161～170 100 991～1000
8 71～80 18 171～180 … …
9 81～90 19 181～190 … …
10 91～100 20 191～200 204 2031～
2040
Robot path Step2 Step3 OUTDIS (FN43)

Accuracy Group2, data 7
Step1 Step4
Output signal
Time
immediately before.
When "group 2, data 7" has been specified
Output signal 11 12 13 14 15 16 17 18 19 20
number
ON/OFF status ○ ○ ○ ○ ○ ○ ● ○ ○ ○
○: OFF, ●: ON
■ Parameter
Parameter This specifies the number of the group which is to be output.
Group Number
No. 1 (1–204)
This specifies the data which is to be output. Since ten signals per group are specified
Parameter
Data using the discrete format, the maximum setting range for the data is 10.
No. 2
(1–10)

OUTDIS [Group2, 7] FN43; Discrete format output signals
See
OUT: Binary format output signal (FN44)
Command name OUT

FN code 44
Title name Binary format output signals
This command is used to set the general-purpose
General description output signals in any group to ON or OFF using the
binary format.
When this function command is executed, it is possible to set the general-purpose output signals (O1 to O2048) in any group to
ON or OFF using the binary format.
The general-purpose output signals are divided up into groups of ten: "group" here refers to such a group. With the binary
format, a number is specified, this number is then converted into a binary number and used to set the signals inside the
corresponding group to ON or OFF.
Group Output Group Output Group Output
signal signal signal
1 1～10 11 101～110 21 201～210
2 11～20 12 111～120 … …
3 21～30 13 121～130 30 291～300
4 31～40 14 131～140 … …
5 41～50 15 141～150 50 491～500
6 51～60 16 151～160 … …
7 61～70 17 161～170 100 991～1000
8 71～80 18 171～180 … …
9 81～90 19 181～190 … …
10 91～100 20 191～200 204 2031～
2040
Robot path Step2 Step3 OUT (FN44)

Accuracy group 2, data 6
Step1 Step4
Output signal
Time

immediately before.
When "group 2, data 6" has been specified
As a binary number "6" is 00 0000 0110.
9 8 7 6 5 4 3 2 1 0
Binary number 2 2 2 2 2 2 2 2 2 2
Output signal
20 19 18 17 16 15 14 13 12 11
number
ON/OFF status ○ ○ ○ ○ ○ ○ ○ ● ● ○
○: OFF, ●: ON
■ Parameter
Parameter This specifies the number of the group which is to be output.
Group number
No. 1 (1-204)
This specifies the data which is to be output. Since ten signals per group are
Parameter
Data specified using the binary format, the maximum setting range for the data is 1023.
No. 2
(0-1023)
OUT[OB2, 6] FN44; Binary format output signals
See
OUTDIS: Discrete format output signals (FN43)
Command name AOUT

FN code 46
Title name Analog output
The TCP (robot tool center point) linear speed and
Outline
other data are output as analog voltages
By using these function commands, the TCP (robot tool center point) linear speed and other data can be output externally as
analog voltages. They are useful for sealing and other applications. The TCP speed, a direct specification or OFF can be
selected as the output voltage. If TCP speed has been specified, the TCP speed output data in the constant setting mode must
be designed ahead of time. (→ Constants/TCP speed data)
There are 4 channels for the analog output, and the data can be output from any of the ports. The command cannot be used if
the analog output PCB (option) has not been installed.
This command can be executed before the recorded point is reached. Specify its amount as a time or distance.
Step 7
AOUT；Analog output
(FN046)
Step 6
●
AOUT Step 8
execution ●
timing First-out can be
specified by time or
Step 5 distance
●
Analog output
Speed pattern 1 Analog output PCB
Matched in any
way by the AOUT Ch 1
function command
Speed pattern 6 Ch 2
Ch 3
Ch 4
Record the AOUT command (FN46) in steps 2, 5, 7 and 11 in the figure shown below.
When these steps are played back, the analog output changes to the specified data each time the AOUT command (FN46) is
executed. The analog output remains unchanged at those steps in which the AOUT command (FN46) has not been recorded.
AOUT AOUT AOUT AOUT

[TCP speed] [Number A] [TCP speed] [OFF] END
2 5 7 11 13
Step ● ● ● ● ● ● ● ●
1 3 4 6 8 9 10 12
+10 V Voltage proportionate

Voltage A to TCP speed
Output voltage
0
Time
(The same applies for

–10 V
digital outputs as well.)
If a first-out time of 0.2 sec. has been specified in the AOUT command of step 7 in this example, the analog
voltage changes from numerical data A to the TCP speed 0.2 sec. before the robot reaches step 6 (the
previous movement command).
In the teach mode, any analog voltage can be output by performing a manual operation (shortcut R206).
The analog voltage which is output last is held even if the mode is switched between teach and playback.
■ Parameter
Parameter Channel This is used to specify the number of the port from which the analog values will be
No. 1 number output. (1 to 4)
This is used to specify the type of data to be output as analog data. (0 to 2)
Parameter Output signal 0: OFF (0 V is output)
No. 2 type 1: TCP speed
2: Directly specified
When output signal type = 0:
This recorded data is not used.
Parameter Specify the number of the pre-designed TCP speed pattern.(0 to 6)
Output data
No. 3 When "0" is specified, OFF (0 V) is established.
The parameter is used to directly specify the output voltage.
(–10 V to 10 V)
This enables the output to be started before the recorded point is reached. Select the
Parameter specification method. (0 to 1)
Pre-out type
No.4 0: Specified as a time
1: Specified as a distance
This is used to initiate pre-out using a negative numerical value.
When pre-out type = 0:
Parameter
Pre-out data Specify it as a time. (–1.0 to 0 sec.)
No. 5
Specify it as a distance. (–500 to 0 mm)

AOUT[2,1,6,1,-100] FN46; Analog output
See
DOUT: Digital output (FN278)
DPRESETM: Distance specification output preset (FN280)
Command name PALLET2

FN code 47
Title name Palletize start
Start palletizing based on the pre-designed palletizing
Outline
pattern.
When this function command is executed, the specified palletizing can be started.
It is executed in tandem with the FN48 "Palletize end" command which is used to end palletizing.
As shown in the figure below, record “PALLET2: Palletize start” (FN47) in step N and “PALLET2 END: Palletize end”
(FN48) in step N+3.
When the program is played back and the robot reaches step N, the shift amount is calculated from the palletize number
specified by FN47 and the palletize counter, and the shift operation is performed. Step N+1 and step N+2 are shifted. (The
robot passes along the path indicated by the dotted lines in the figure below.) When it reaches step N+3, FN48 is executed,
and the palletizing operation is ended. The robot now heads toward the point where step N+4 is recorded.
StepN+3
FN48[1,0]
StepN+1
StepN+4
StepN
StepN+2
FN47[1]
Pallet ﾊﾟﾚｯﾄ
■ Parameter
Data Description, setting range
Parameter Palletize No. This specifies the palletizing number to be executed. (1 to 200)
No. 1

PALLET2[999] FN47; Palletize start
See
PALLET2_END: Palletize end (FN48)
PALLET2_RESET: Palletize reset (FN49)
DSPALLET: Direction select palletize (FN65)
Command name PALLET2＿END

FN code 48
Title name Palletize end
Finish palletizing based on the pre-designed palletizing
Outline
pattern.
When this function command is executed, the specified palletizing work can be completed.
It is executed in tandem with the FN47 "Palletize start" command which is used to start palletizing.
As shown in the figure below, record “PALLET2: Palletize start” (FN47) in step N and “PALLET2 END: Palletize end”
(FN48) in step N+3.
robot passes along the path indicated by the dotted lines in the figure below.)
When it reaches step N+3, FN48 is executed, and the palletizing operation is ended. The robot now heads toward the point
where step N+4 is recorded.
■ Parameter
Parameter Palletize No. This specifies the number of the palletizing operation which is to be ended.
No. 1 (1 to 200)
Parameter Output signal This specifies the number of the output signal.
No. 2 When all the palletizing tasks specified have been completed, the general-purpose
output signal specified is set to ON.
(0 to 2048)

PALLET2_END[200,O1] FN48; Palletize end
See
PALLET2: Palletize start (FN47)
Command name PALLET2_RESET

FN code 49
Title name Palletize reset
When a condition signal has been input, the palletize
Outline counter is forcibly reset. (palletizing operation is
forcibly terminated)
If the condition signal (input signal) is at the ON status when the command is executed, the specified palletize counter can
be forcibly reset (cleared to zero).
The fact that the counter has been reset can be output to an external source using an output signal. Furthermore, it is possible
to jump to a specified step only when the counter has been reset.
As shown in the figure below, record "PALLET2: Palletize start" (FN47) in step N, "PALLET2_END: Palletize end" (FN48) in
step N+3, and "PALLET2_RESET: Palletize reset" (FN49) in step N+2.
When the program is played back and the robot reaches step N, the shift amount file corresponding to the palletize number
specified by FN47 is loaded, and the shift operation is performed. Normally, step N+1 and step N+2 are shifted, and when
the robot reaches step N+3, the FN49 command is executed to end the palletizing operation.
However, if the reset condition signal (the I1 signal in the example) has been input when the robot reached step N+2, an
acknowledge signal (O1 in the example) is output, the palletize counter is reset, and the robot heads toward the point where
step N+4 is recorded.
■ Parameter
Parameter Palletize This is used to specify the palletizing number for which the counter is to be reset.
No. 1 No. (1 to 200)
Parameter Input This is used to specify the number of the input signal serving as the condition for resetting
No. 2 Signal the palletizing. By specifying numbers from 5101 to 5196, a multiple number of input
conditions can be specified.
(1 to 5196)
Parameter Output This is used to specify the number of the output signal (acknowledge signal) which
No. 3 signal indicates that the palletizing has been reset.
number (1 to 2048)
* If <All output> has been selected as the setting for the "Palletize acknowledge signals"
under "Handling teach/playback conditions," the output signals which have been specified
here are output regardless of whether the reset process is to be executed or not.
Parameter Step No. This is used to specify the number of the jump destination step. Operation jumps to
No.4 the step specified here only when palletizing has been reset.
(0 to 9999)

PALLET2_RESET[200, I1, O5, 99] FN49; Palletize reset
See
Command name DELAY

FN code 50
Title name Timer
This command is used to place the robot in the
General description
standby status.
When this function command is executed, the robot is placed in the standby status. During standby, the robot rests at a
recorded point.
Robot path Step2 Step3 ALLCLR(FN0)
Accuracy Step4 DELAY(FN50)
Step1 Step5
Standby at step 2 position
until prescribed time has
elapsed
Output signal
Time
Timer execution time

If positioning is not specified, the command is executed at the
position reached by the robot in the accuracy range of the move
command immediately before.
With the move command immediately before the timer command, the in-position check is not conducted so that the command
value passes through the recorded point without fail. This means that even when "0 seconds" has been set for the timer, the
cycle time will be longer compared with when no recording is performed.
■ Parameter
Parameter This specifies the standby time in increments of seconds.
Standby time
No. 1 (0－60. 0)

DELAY [3.0] FN50; Timer
See
WAIT: Input signal wait with timer (FN552)
Command name SREQ

FN code 51
Title name Shift amount request
The command requests the shift amount data from the
external device using the serial port. Once it has been
Outline
input from the external device, the shift amount data is
This command sends a character string (command) requesting a shift amount to the external device connected to the
controller by the RS232C cable, and it sets the shift amount data character string, which is input as the response from the
external device, into the specified shift register.
Shift amount reques t comm and
SHIF T 1 CR LF
FD control unit
RS232C cable
Visual device
Shif t amount data
SHIFT X, Y,Z, Θ x,Θ y,Θz CR
The RS232C cable is an optional accessory.
When this function command is executed, the character string data below is output from the RS232C port, and the shift amount
data is thereby requested.
SHIFT *1 CR LF (*1=Register number, CR=0x0d, LF=0x0a)
The robot continues to operate even after the request data has been output.
When the shift amount data is input from the external device in the following format, it is stored in the specified shift register.
SHIFT X,Y,Z,dX,dY,dZ CR (all values are real numbers)
The receive time, wait time and communication conditions are set by selecting "8 Communication" from "Constant Setting" and
then "1 Serial port." The data input wait time can be set in "Timeout time," and if this is set to "0," the serial port will remain in
the wait status until an input arrives. (The robot continues to operate.)
As shown in the figure, when SREQ (FN51) is executed at step N+3, the shift amount request command is sent to the external
device through the serial port, and it is ensured that the data can be received at any time. The robot continues to operate as is
and heads toward step N+4. When the shift data is received from the external device at any position, the legitimacy of the data
is checked, and the data is stored in the specified shift register only when the data is found to be legitimate.
But received shift data is committed after executing the function “WAITR: Wait shift value receive” (FN127) which is
programmed at step N+6.
This shift register value is used for the shift operations by the "SHIFTR: Shift2" (FN52) or such other command which is
programmed in step N+7.
If you use SREQ, you must put “RSCLR: Buffer clear” (FN111) at the step before SREQ.
If you don’t use “RSCLR: Buffer clear” (FN111), robot might move as you don’t want.
IMPORTANT
If you use SREQ and there is possibility that the specified shift register is written, you must put
“CLRREGWR: Clear register of written sts” (FN699) at the step before SREQ.
If you don’t use “CLRREGWR: Clear register of written sts” (FN699), Received shift data might be not
used.
# The case CLRREGWR needed
1. “Shift clearance on step 0” is set “No clear.
IMPORTANT 2. The specified shift register at SREQ is used “LETR; Set shift value” (FN68) etc.
3. In case that you use SREQ command again at the shelter step which is specified by WAITR; Wait
shift value receive” (FN127) etc.
If you use SREQ, you must put “WAITR: Wait shift value receive” (FN127) at the step before using the
If you don’t use “WAITR: Wait shift value receive” (FN127), Received shift data aren’t used.
IMPORTANT
Shift amount
PC
request command
Step N ：MOVE Shift data
Step N+1：FN111 RSCLR
Step N+2：FN699 CLRREGWR

Step N+5：MOVE
Step N+3：FN51 SREQ Step N+4：MOVE
Step N+6：FN127 WAITR
Step N+7：FN52 SHIFTR

・Request command sent
・Data received
・Shift register clear
・Data checked
・On-line shift commenced
・”Data request flag” ON
・Data stored
・ Receive wait status
established
S H I F T 1 CR LF
This is the shift register

number specified by FN51.
What follows this number is
fixed.
Shift amount request command
«Example of response 1»
For shift amounts when only X value is 10 mm
S H I F T 1 0 , 0 , 0 , 0 , 0 , 0 CR
«Example of response 2»
For shift amounts when only θz value is 5 degrees (abbreviation)
S H I F T , , , , , 5 CR
Response data
If the response data from the external device is sent in any other format, the values will not be set correctly in the shift register.
■ Parameter
This is used to specify the number of the shift register in which to store the shift
Parameter Shift register
amount received from the external device.
No. 1 number
(1 to 9)
This is used to specify the number of the port to be used to transfer the data. At the
Parameter
Port number present time, only port 1 can be used.
No. 2
(1 to 1)
SREQ[R1, 1] FN51; Shift amount request
See
SHIFTR: Shift2 (FN52)
RSCLR: Buffer clear (FN111)
WAITR: Wait shift value receive (FN127)
CLRREGWR: Clear register of written sts (FN699)
Command name SHIFTR

FN code 52
Title name Shift
The start or end of the shift operation is specified.
Outline
operation is performed on the basis of the shift amount
This function command proceeds with playback while shifting the recorded position in the robot program on the basis of the
shift amount data stored in the specified shift register. One of four options — “Machine coordinates (robot coordinates)”, “Tool
coordinates,” “User coordinates” or “Absolute coordinates (world coordinates)” — can be selected for the coordinate system to
be moved.
If the shift amount data has not been set in the specified shift register, it is possible to jump to the shelter step. Alternatively, the
robot can be stopped immediately without escaping.
As shown in the figure, shift start is recorded at the position (step N) where the shift is to start, and shift end is recorded at the
position (step N+2) where shift is to end.
When the program is played back, the robot reads the contents of the shift register specified by FN52 after it has reached step
N, and it then moves toward the position (step N'+1) established by shifting the next target position (step N+1). The position
established by similarly shifting the recorded position as far as the position (step N+2) where shift end has been recorded
serves as the target position. (Path of dotted line in figure below)
StepN’+2
StepN’+1 FN52(0,0, R1, N+8)
Ｚ
StepN+2
StepN+1 FN52(1,0, R1, N+8)
StepN
FN52(1,0,R1,N+8) Ｙ
StepN+3
Robot StepN+8
origin point Ｘ (Shelter step)
If, when FN52 is executed at step N, the shift data has not been set at the time when the specified shift register is read, the
robot moves toward the shelter step in the event that an shelter step has been set by the FN52 command. (Path of alternate
long and short dash line in figure above)
■ Parameter
Parameter Start/end This is used to specify the start or end of the shift operation.
No. 1 1: Start / 0: End
Coordinate This is used to specify the coordinate system to be shifted.
system 0: Machine coordinates (robot coordinates)
1: Tool coordinates
2: User coordinate
Parameter
3: Absolute coordinates (world coordinates)
No. 2
If user coordinates are to be specified, they must first be registered in "10 User
coordinate system registration" selected on the Service Utilities menu, and then the
number of the user coordinates to be used by the shift must be selected using
"FN113 shift coordinate system selection" in the application command.
Parameter Shift register This is used to specify the shift register number.
No. 3 number (1 to 9)
Shelter step This is used to specify the number of the shelter step when the shift amount data
was not set in the specified shift register.
Parameter (0 to 10000)
No.4 When 10000 is specified as the shelter step number, an alarm (A2118: “No data
has been input in shift register.”) results immediately with no escape operation
performed, and the robot can be stopped.

SHIFTR[0, 0, R1, 10] FN52;Shift2
See
SREQ: Shift amount request (FN51)
Command name LOCCVT

FN code 53
Title name Coordinate transform (Offset amount)
It is possible to proceed with playback while offsetting
each recorded point based on the difference (skew
amount) measured beforehand between the recorded
Outline
position of the three points serving as the reference
and the actual position obtained from the visual
device, etc.
When this function command is used, it is possible to proceed with playback while offsetting the skew based on the skew
amount (mm) between the recorded position of the three points serving as the reference and the actual position obtained
from the visual device or other external device.
Any already taught three points can be specified as the three points serving as the reference. The skew amounts are
stored in shift registers 1, 2 and 3.
Before this application command is executed, the SREQ; shift amount request (FN51) command, etc. must be played
back and the skew amount entered.
As shown in the figure, the LOCCVT command is recorded with the three points of steps 1, 3 and 6 which were originally
taught serving as the reference points. Before the FN53 command is played back, the skew amount corresponding to the
offset position (at the right in the figure below) must first be set in shift registers 1, 2 and 3. When FN53 is now played back, a
coordinate transform matrix is generated from the three reference points at taught and the three reference points at offset,
and the recorded positions are shifted according to this matrix and played back.
Reference
point 1
Reference 6
point 1 6
2 5
3
Reference 4 Offset
point position
3 4
Taught point
When the shift operation end is executed by FN53, the shift playback ends, and the recorded positions are played back.
* As the three reference points, specify the points in such a way that other recorded positions are enclosed.
* Specify the three reference points in such a way that they are not aligned on a single straight line.
* The θx, θy and θz data in the shift registers are not used.
■ Parameter
Parameter Reference This is used to specify the first step to be used as the reference.
No. 2 step 1 (1 to 9999)
Parameter Reference This is used to specify the second step to be used as the reference.
No. 3 step 2 (1 to 9999)
Parameter Reference This is used to specify the third step to be used as the reference.
No.4 step 3 (1 to 9999)

LOCCVT[1,1,2,3] FN53;Coordinate transform (Offset amount)
See
LOCCVT1: Coordinate transform (Coordinate values) (FN54)
Command name LOCCVT1

FN code 54
Title name Coordinate transform (Coordinate values)
It is possible to proceed with playback while offsetting
each recorded point based on the difference (skew
amount) measured beforehand between the recorded
Outline
position of the three points serving as the reference
and the actual position obtained from the visual
device, etc.
When this function command is used, it is possible to obtain the actual coordinates of the three points serving as the reference
from the visual device or other external device, and proceed with playback while offsetting the coordinates on the basis of the
data obtained.
Any already taught three points can be specified as the three points serving as the reference.
The coordinates are stored in shift registers 1, 2 and 3.
Before this function command is executed, the "SREQ: Shift amount request" (FN51) command, etc. must be played back and
the skew amount entered.
As shown in the figure, the LOCCVT1 command is recorded with the three points of steps 1, 3 and 6 which were originally
taught serving as the reference points. Before the FN54 command is played back, the coordinates of the offset position (at the
right in the figure below) must first be set in shift registers 1, 2 and 3. When FN54 is now played back, a coordinate transform
matrix is generated from the three reference points at taught and the three reference points at offset, and the recorded
positions are shifted according to this matrix and played back.
Reference
point 1
Reference 6
point 1 6
2 5
3
Reference 4 Offset
point position
3 4
Taught point
When the shift operation end is executed by FN54, the shift playback ends, and the recorded positions are played back.
* As the three reference points, specify the points in such a way that other recorded positions are enclosed.
* Specify the three reference points in such a way that they are not aligned on a single straight line.
* The θx, θy and θz data in the shift registers are not used.
■ Parameter
Parameter Reference This is used to specify the first step to be used as the reference.
No. 2 step 1 (1 to 9999)
Parameter Reference This is used to specify the second step to be used as the reference.
No. 3 step 2 (1 to 9999)
Parameter Reference This is used to specify the third step to be used as the reference.
No.4 step 3 (1 to 9999)

LOCCVT1[1,1,2,3] FN54;Coordinate transform (Coordinate values)
See
LOCCVT: Coordinate transform (Offset amount) (FN53)
Command name CNVSYNC

FN code 55
Title name Conveyor Counter Reset
General description Reset conveyor counter
This function is used in conveyor synchronizing application.
Conveyor counter (read value of conveyor pulse) is reset at step0 forcibly, but this function allows to clear conveyor counter in
any step.
Please refer to the “Conveyor Synchronization Manual” (option) for detail operations.
Conveyor Counter is reset where the step CNVCYNC：Conveyor Counter Reset（FN55）is executed.
■ Parameter
Parameter Conveyor Conveyor number which counter should be reset.(1-*)
No. 1 number (* is conveyor quantity defined)

CNVSYNC[1] FN55; Conveyor Counter Reset
See
CNVI; Conveyor Interlock (FN550)
CNVYSYNCI; Synchronizing Conveyor Interlock (FN562)
Command name SHIFTA

FN code 58
Title name XYZ shift
Outline The playback position is shifted in parallel
The XYZ shift function shifts the position which has already been taught in a parallel direction for each of the 3 dimensions.
During the shift operations, the tool poses are maintained. One of four options — “Machine coordinates (robot coordinates)”,
“Tool coordinates,” “User coordinates” or “Absolute coordinates (world coordinates)” — can be selected for the coordinate
system to be moved.
The shift amounts are recorded as parameters. In other words, this command is useful when the amounts of the parallel
movement by which the robot is to be shifted are already known.
The shift operation is considered to have ended when 0.0 mm is specified for all the shift amounts recorded in FN58.
Use of this shift function will not update the actual recorded positions in the robot program.
In the example shown in the figure, the XYZ shift (FN58) command with the shift amounts specified is recorded at step N at
which the shift operation is to be started, and the XYZ shift command with zero recorded for all the shift amounts is recorded at
the shift end step.
When the program is played back, the robot, after it has reached step N, plays back toward the target position, step N'+1,
which is obtained by adding the shift amount in the specified coordinate system recorded in FN58 to the next recorded position
(step N+1). After the robot has reached step N+2, the shift operation is ended by executing FN58 with 0 mm set for all the shift
amounts.
StepN’+2
StepN’+1 FN58(0, 0, 0, 0)
Ｚ
StepN+2
StepN+1 FN52(0, 0, 0, 0)
StepN
FN58(0, 100, 0, 50) Ｙ
StepN+3
Robot
origin Ｘ
point
If positions are to be shifted based on the user coordinate system, "User coordinate system registration" must be
performed, and the user coordinate numbers must be selected using the "CHGCOORD: Change coord. No.
(shift)" (FN113) command beforehand.
If a specified shift amount exceeds the value specified in "Shift Amount Limit" selected from "Machine
constants" under "Constant Setting," an error results, and the robot is stopped.
This function can be used together with other shift functions. If shift amounts in the reverse direction from the
ones specified by FN58 have been specified by another shift-related command, they will be set to 0.0 mm as a
result.
■ Parameter
Coordinate The parallel movement amounts specified by the parameters No. 2 to 4 serve as
system the movement amounts in the coordinate system which is specified here. A value
from 0 to 3 is specified by this parameter for the coordinates.
0: Machine coordinates (robot coordinates)
1: Tool coordinates
Parameter
2: User coordinates
No. 1
3: Absolute coordinates (world coordinates)
If user coordinates are to be specified, they must first be registered in "10 User
coordinate system registration" selected on the Service Utilities menu, and then the
number of the user coordinates to be used by the shift must be selected using
"FN113 shift coordinate system selection" in the function command.
Shift value X This is used to specify the shift amount in the X direction as defined by the coordinate
Parameter
system specified by the parameter No.1.
No. 2
(–3000 mm to 3000 mm)
Shift value Y This is used to specify the shift amount in the Y direction as defined by the coordinate
Parameter
No. 3
(–3000 mm to 3000 mm)
Shift value Z This is used to specify the shift amount in the Z direction as defined by the coordinate
Parameter
No.4
(–3000 mm to 3000 mm)

SHIFTA[0, -10.5, 23.3, 0.0] FN58; XYZ Shift
See
Command name SEA

FN code 59
Title name Search
Detect the work position shift amount, and store
General description
those data to the shift register
By using this application command, it is possible to detect shift amounts when there are variations in the work positions and
store those amounts in the shift register. By using the shift amounts stored in the shift register, any multiple number of steps
can be shifted altogether by the shift command. When shift amounts in the work positions are to be detected, the search
command must be used together with the robot interrupt signal. This is the case so as to capture the position where contact is
made with the work.
Weld line (steps 5 and 6) is Amount of work shift

shifted in accordance with is detected by the
the amount of work shift searching motion of
detected and played back. steps 2 and 3.
Position where
Searching motion Work shift interrupt is
3 amount generated during
6 5 playback
2 Position during
“basis write mode”
4
1
7 Search start
Before calculating the shift amounts, the work position serving as the basis must be obtained. This is called the basis write
mode. The difference between the basis position obtained in the basis write mode and the actual work positions obtained in
the normal mode are stored in the specified shift register as the shift amount. The recording positions are then shifted using the
shift amount stored in the shift register.
For details on the robot interrupt application command, refer to 2.1 RINT: Robot interrupt (I-condition) (FN29), and for details
on the shift application command, refer to 2.3 SHIFTR: Shift2 (FN52).
Please refer to the “Application Manual / Material Handling” for detail operations.
Set the “Search range,” and

1) Teaching perform the teaching for the
searching motion.
↓
Obtain the position to be used the
2) Search basis write basis in the “Search basis write”
mode.
↓
The searching motion is executed
with normal playback. The shift
3) Search execution
amounts obtained are stored in the
shift register.
↓
Playback is performed in
accordance with what is stored in
4) Shift execution the shift register while the
prescribed steps
are shifted.
・ The teaching of the searching motion must be recorded without fail in the following sequence: Search start (SEA: FN59)
_ Robot interrupt (RINT: FN29) _ Search end (SEA: FN59). The search start command declares the processes
performed when a recorded robot interrupt has been subsequently implemented to be “search processes.”
・ The number of robot interrupts (RINT: FN29) permitted between the search start (SEA: FN59) and search end (SEA:
FN59) is limited to one only. If two or more robot interrupts are recorded, the search function will not work correctly.
・ The search section (range within which the interrupt processing is valid) is between MOVE(N+1), which is the movement
command immediately before the robot interrupt command RINT step, and MOVE(N+2) which is the movement command
immediately after this step, and it extends beyond MOVE(N+2) along the straight line which links these two points up to
the position specified by “Search range.”
・ Movement command MOVE(N+2) is recorded at a low speed using linear interpolation ON. If the speed at which a
searching motion is performed is too high, the current position data obtained when the interrupt was detected will vary,
resulting in a poor accuracy.
・ When an interrupt is detected during a searching motion, it will be interpreted that the robot has reached MOVE(N+2) at
that point, and after search end (SEA: FN59) has been executed, the next step, namely, movement command
MOVE(N+3) will be executed.
Upon completion of the teaching, perform “search basis write.” “Search basis write” refers to the task that remembers the
“basis position.” The remembered basis position serves as the basis for future searching motions, and the difference between
this position and the position obtained by a normal searching motion is used as the shift amount.
” Search basis write” selection menu is in Service/22 Handling application/1 Handling teach/playback condition.
■ Parameter
Start2/ This is used to specify the start and end of the search.
Start/ 2 (start2): The machine coordinates at which the shift amounts are not canceled when
Parameter End the position was detected by FN29 (robot interrupt) are obtained.
No. 1 1 (start): The machine coordinates at which the shift amounts were canceled when the
position was detected by FN29 (robot interrupt) are obtained.
0 (end): This is used to end the search.
Coordinate This is used to specify the coordinate system that serves as the basis for the shift
amounts to be set in the shift register.
0 (machine coordinates): The shift amounts are set in the shift register as the shift
Parameter
amounts in the machine coordinate
No. 2
system.
1 (tool): The shift amounts are set in the shift register as the shift amounts in the tool
coordinate system.
Parameter Register This is used to specify the number of the shift register in which the shift amounts are to
No. 3 No. be set. (1 to 9)

SEA[2,0,9] FN59; Search
See
RINT; Robot Interrupt (I-condition) (FN29)
SHIFTR; Shift2 (FN52)
Command name DSPALLET

FN code 65
Title name Direction select palletize
This limits the shift direction, and it is started by the
Outline
palletizing work.
The direction in which the position is to be shifted during the palletizing tasks can be specified using this function command.
When the FN47 "Palletize start" command is used, the shift is normally implemented in all the X, Y and Z axis directions for the
user coordinate system.
Z StepN+3
StepN+1
StepN+4
FN48[1,0]
StepN
FN47[1]
StepN+2
Example of using FN47 command

X
(palletize start)
However, if there is an obstruction, for instance, above the Z axis direction, shifting in the Z axis direction would not be
desirable in step N+1 shown in the figure. FN65 is useful at times like this.
(Example of shifting only in the X

and Y directions)
StepN+4
FN48[1,0] StepN+3
StepN+1
StepN
FN65[1,1]
StepN+2
Example of using FN65 command

X
(Direction select palletize)
In this example, the shift operation is undertaken only in the X and Y directions of the user coordinate system.
■ Parameter
Parameter Palletize This specifies the palletizing number to be executed. (1 to 200)
No. 1 No.
Parameter Shift This is used to specify the shift direction. The shift direction numbers are as follows. Here
No. 2 direction all the X, Y and Z values denote the values used in the user coordinate system. (0 to 6)
No.
0: All directions (Same shift as with FN47)
1: XY plane (Only the X and Y values for the shift amounts are used)
2: YZ plane (Only the Y and Z values for the shift amounts are used.)
3: ZX plane (Only the Z and X values for the shift amounts are used)
4: X direction (Only the X value for the shift amounts is used)
5: Y direction (Only the Y value for the shift amounts is used)
6: Z direction (Only the Z value for the shift amounts is used)
DSPALLET[1, 1] FN65; Direction select palletize
See
Command name STOOL

FN code 67
Title name Stationary tool number selection
This command is used to select the coordinate
General description system of the stationary tool number from among
the user coordinate systems.
A stationary tool is not one of the robot's tools but one which is settled externally. If "stationary tool interpolation" is specified as
the interpolation type for the move command, the step concerned will conduct the interpolation playback using the coordinates
of the stationary tool.
In the case of linear interpolation:
"LIN" for normal interpolation, "S-LIN" for stationary tool interpolation
The coordinate system of the stationary tool is registered as the user coordinate system. The STOOL command has the
function of selecting the stationary tool coordinate system which has been registered as the user coordinate system.
This is the stationary tool tip position.
Stationary tool nozzle (Defined by user coordinates)
P１
P0
Robot hand
Normal interpolation
1 2 operation 3 4
○; LIN
○ ○ ○ ○ ●; S-LIN
14 ● ○ ● 5○ Step 6
10 9
STOOL [1]
● ● ● ●
13 12 8 7
Stationary tool Step 11 Stationary tool

interpolation at user interpolation at user
STOOL [2] coordinate 1
coordinate 2
The robot is not decelerated by this command. If positioning is not specified, the
command is executed at the position reached by the robot in the accuracy range of
the move command immediately before.
Once the number of the stationary tool is selected, the interpolation operation is performed by that stationary
tool until another stationary tool number is selected.
The normal interpolation tool number remains unaffected by this command.
If the move command for the stationary tool interpolation has been played back without the STOOL command having been
recorded, Alarm No.2971 “Stationary tool is not selected” occurs.
■ Parameter
This specifies the number of the user coordinate system which is to be used as the
Parameter User
stationary tool coordinate system.
No. 1 coordinate No.
(1-100)

STOOL [1] FN67; Stationary tool number selection
See
None
Command name LETR

FN code 68
Title name Set shift value
The shift amount data is set in the specified shift
Outline
register
When this function command is used, the shift amount data can be set in the specified shift register.
Even while the specified shift register is being used by the "SHIFTR: Shift2" (FN52) or other command, the new values
specified by LETR will be set in the shift register without adversely affecting the operation of the other command being
executed. The changed shift values become valid when the next "SHIFTR: Shift2" (FN52) command is played back.
Shift register values when LETR[R1,100,100,100,10,11,12] has been executed
① When the command has been executed while shift register values were already set
Before LETR is After LETR is
executed executed
Request flag 0 0
Setting flag 1 1
X 110 100
Y 120 100
Z 130 100
θX 5 10
θY 6 11
θZ 7 12
② When the command has been executed with the shift registers in the initial status
executed executed
Request flag 0 0
Setting flag 0 1
X 0 100
Y 0 100
Z 0 100
θX 0 10
θY 0 11
θZ 0 12
After this command has been executed, the request flag of the shift register is always set to "0," and the setting flag is always
set to "1." The values specified by the parameters are stored in X through θz.
■ Parameter
Parameter Shift register This is used to specify the number of the shift register in which the shift amount data
No. 1 number specified by the parameters No.2 to 7 is to be assigned. (1 to 9)
Parameter Shift value X This is used to specify the value of the shift amount in the X direction.
No. 2 (–3000.0 to 3000.0 mm)
Parameter Shift value Y This is used to specify the value of the shift amount in the Y direction.
No. 3 (–3000.0 to 3000.0 mm)
Parameter Shift value Z This is used to specify the value of the shift amount in the Z direction.
No.4 (–3000.0 to 3000.0 mm)
Parameter Angle shift X This is used to specify the amount of rotation around the X axis.
No. 5 (–360.0 to 360.0 deg)
Parameter Angle shift Y This is used to specify the amount of rotation around the X axis.
No. 6 (–360.0 to 360.0 deg)
Parameter Angle shift Z This is used to specify the amount of rotation around the X axis.
No. 7 (–360.0 to 360.0 deg)

LETR[R1,100.0,-100.0,50.0,10.0,0.0,0.0] FN68;Set shift value
See
ADDR: Add shift value (FN69)
Command name ADDR

FN code 69
Title name Add shift value
The specified values in the specified shift register are
Outline
added up
When this function command is used, the specified values in the specified shift register can be added up.
Even while the specified shift register is being used by the "SHIFTR: Shift2" (FN52) or other command, the new values
specified by ADDR will be set in the shift register without adversely affecting the operation of the other command being
executed. The changed shift values become valid when the next "SHIFTR: Shift2" (FN52) command is played back.
Shift register values when ADDR[R1,100,100,100,10,11,12] has been executed
① When the command has been executed while shift register values were already set
Before ADDR is After ADDR is
executed executed
Request flag 0 0
Setting flag 1 1
X 110 210
Y 120 220
Z 130 230
θX 5 15
θY 6 17
θZ 7 19
② When the command has been executed with the shift registers in the initial status
Before ADDR is After ADDR is
executed executed
Request flag 0 0
Setting flag 0 1
X 0 100
Y 0 100
Z 0 100
θX 0 10
θY 0 11
θZ 0 12
After this command has been executed, the request flag of the shift register is always set to "0," and the setting flag is always
set to "1." The values specified by the parameters are added to the original values and stored in X through θz.
■ Parameter
Parameter Shift register This is used to specify the number of the shift register in which the shift amount data
No. 1 number specified by the parameters No.2 to 7 is to be added.
Parameter Shift value X This is used to specify the value of the shift amount in the X direction.
No. 2 (–3000.0 to 3000.0 mm)
Parameter Shift value Y This is used to specify the value of the shift amount in the Y direction.
No. 3 (–3000.0 to 3000.0 mm)
Parameter Shift value Z This is used to specify the value of the shift amount in the Z direction.
No.4 (–3000.0 to 3000.0 mm)
Parameter Angle shift X This is used to specify the amount of rotation around the X axis.
No. 5 (–360.0 to 360.0 deg)
Parameter Angle shift Y This is used to specify the amount of rotation around the X axis.
No. 6 (–360.0 to 360.0 deg)
Parameter Angle shift Z This is used to specify the amount of rotation around the X axis.
No. 7 (–360.0 to 360.0 deg)

ADDR[R1,100.0,-100.0,50.0,10.0,0.0,0.0] FN69; Add shift value
See
LETR: Set shift value (FN68)
Application Command (FN Code)
Command
LETX
name
FN code 71
Title name Assign X component of pose
Outline Used to assign a value to the X component of pose.
Outline
Use this command in robot languages.
Executing this command makes it possible to set shift amount to a specified pose variable. The commands LETX (FN71),
LETY (FN72), and LETZ (FN73) are only enabled for already-recorded positional data. Use these commands to record only a
single point in the pose and move the robot in parallel with the point.
Parameters
Pose Used to make setting of pose variable.
Parameter 1
variable (Setting range: 1 to 9999)
Assigning Used to make setting of value of the X component to be assigned to pose variable.
Parameter 2
value (Setting range: −3000.0 to 3000.0 mm)
Example of screen display

LETX[P1,5] FN71: Assign X component of pose
Related commands
LETY: Assign Y component of pose (FN72)
LETZ: Assign Z component of pose (FN73)
Command
LETY
name
FN code 72
Title name Assign Y component of pose
Outline Used to assign a value to the Y component of pose.
Outline
Parameters
Parameter 1
Assigning Used to make setting of value of the Y component to be assigned to pose variable.
Parameter 2

LETY[P1,10] FN72: Assign Y component of pose
Related commands
LETY: Assign X component of pose (FN71)
Command
LETZ
name
FN code 73
Title name Assign Z component of pose
Outline Used to assign a value to the Z component of pose.
Outline
Parameters
Parameter 1
Assigning Used to make setting of value of the Z component to be assigned to pose variable.
Parameter 2

LETX[P1,10] FN73: Assign Z component of pose
Related commands
LETX: Assign X component of pose (FN71)
Command
POSESAVE
name
FN code 74
Title name Pose file save
Outline Pose variables are stored to the pose file.
Outline
Pose variables are not saved when the main power is down.
This command can save pose variables to the pose file.
Before this command, pose file must be selected by FN98 USE function.
If pose file is not selected when executing FN74, information “I2151 : The program or the file does not exist.” is detected and
robot stops immediately.
Parameters
None

POSESAVE FN74: Pose file save
Command name LETVI

FN code 75
Title name Integer variable assignment
This command is used to assign a value to the
General description
specified integer variable register.
When this function command is executed, a value is assigned to the specified (global) integer variable. The (global) integer
variables are registers used to count the number of passes by the conditional functions, which are initiated after the specified
number of passes, of the flow control system such as the conditional program call after the specified number of passes
command. They can be referenced from all the units.
This command is used for initial resetting and for setting the initial values.
In step 4, record LETVI: integer variable assignment (FN75), "1" as the variable number, and "5" as the assigned value. When
this is played back, "5" is set in the first integer variable. The variables which have been set can be checked on the integer
variable register screen of the monitor screen.
Step 4
LETVI; Integer variable assignment (FN75)

Variable number = 1、Assigned value = 5
１２
３
● ● ●
５６
● ●
immediately before.
■ Parameter
Integer
Parameter This specifies the integer variable number to which the value will be assigned.
variable
No. 1 (1-200)
number
This specifies the value which is to be set in the integer variable.
Parameter Assigned
(-2147483647～
No. 2 value
+2147483647)

LETVI [V1%,5] FN75; Integer variable assignment
See
LETVF: Set real var. (FN76)
LETVS: Set strings variable (FN77)
Command name LETVF

FN code 76
Title name Real number variable assignment
This command is used to assign a value to the
General description
specified real number variable register.
When this function command is executed, a value is assigned to the specified (global) real number variable. The (global) real
number variables are registers used to store values by the robot axis coordinate acquisition commands and timer variable read
commands. They can be referenced from all the units.
In step 4, record LETVF: real number variable assignment (FN76), "1" as the variable number, and "5.5" as the assigned value.
When this is played back, "5.5" is set in the first real number variable. The variables which have been set can be checked on
the real number variable register screen of the monitor screen.
immediately before.
■ Parameter
Real number This specifies the number of the real number variable to which the value will be
Parameter
variable assigned.
No. 1
number (1－200)
Parameter Assigned This specifies the value which is to be set in the real number variable.
No. 2 value (–1.0E38～+1.0E38)

LETVF [V1!,5.5] FN76; Real number variable assignment
See
LETVI: Set real var. (FN75)
LETVS: Set strings variable (FN77)
Command name LETVS

FN code 77
Title name Character string variable assignment
This command is used to assign a character string
General description
to the specified character string variable register.
When this function command is executed, a character string is assigned to the specified (global) character string variable. The
(global) character string variables are registers used to store the characters displayed on the screen using user macros, and
the character string data transmitted from the peripheral devices. They can be referenced from all the units.
In step 4, record LETVS: character string variable assignment (FN77), "1" as the variable number, and "1A" as the value to be
assigned. When this is played back, "1A" is set in the first character string variable. The variables which have been set can be
checked on the character string variable register screen of the monitor screen.
immediately before.
■ Parameter
Character
Parameter This specifies the number of the character string variable to which the value will be
string variable
No. 1 assigned. (1-50)
number
Parameter Assigned This specifies the value which is to be assigned to the character string variable
No. 2 value using characters with a length of up to 199 characters.

LETVS [V1$,"1A"] FN77; Character string variable assignment
See
LETVI: Set integer variable (FN75)
LETVF: Set real var. (FN76)
Command name CALLP

FN code 80
Title name Program call
This command is used to call the specified
General description
program.
When this function command is executed, the specified program is called.
Bear in mind that if a function command has been recorded in the first step in the call destination program, the function
command at the jump destination will be executed as soon as the call command has been executed.
When the playback of the program at the call destination is completed (in the status established by executing the END
command), the robot returns to the step following the step with the call command of the call source program.
In step 4, record CALLP: program call (FN80) and "2" as the program number. When this is played back, the robot skips steps
5 and 6 upon arriving at step 4 and jumps to the first step in program 2. When the playback of program 2 is completed (in the
status established by executing the END command), the robot returns to step 5 following the step with the call command of call
source program 1.
Program 1 Step 4
CALLP; Program call (FN80)
Program number = 2
１２３５６
● ● ● ● ●
7: End (FN92)
Program 2
１
5: End (FN92) ●４ ●
● ●
３２
command is executed at the position reached by the robot in the accuracy range
of the move command immediately before.
The program call can be executed again at the call destination (during program 2 in the above figure.) Up to 8 layers of calls
can be executed. If calls exceeding 8 layers are executed, the "A2138 Wrong call command setting" alarm is detected during
playback, and the robot stops.
■ Parameter
Parameter
Program No. This specifies the number of the program serving as the call destination. (1-9999)
No. 1

CALLP [2] FN80; Program call
See
CALLPI: Conditional program call (FN81)
CALLPN: Conditional program call after specified number of passes (FN82)
Command name CALLPI

FN code 81
Title name Conditional program call
General description
the specified program.
When this function command is executed, the specified program is called. When the specified input signal has been input, the
step is called; when it has not been input, the step is not called and the robot passes the command by.
In step 4, record CALLPI: conditional program call (FN81), "2" as the program number, and I1 as the input signal.
When this is played back, the robot arrives at step 4, and if input signal I1 has been input, it jumps to the first step in program 2,
and when the playback of program 2 is completed (the END command is executed), the robot returns to step 5 following the
step with the call command of call source program 1. If the signal has not been input, the robot does not jump to program 2.
Program 1 Step 4
CALLPI; Conditional program call (FN81)
Program number = 2
Input signal = I1
1 2 3 5 6
● ● ● ● ●
When the I1 signal 7: End (FN92)
has been input When the I1 signal
has not been input
Program 2
5: End (FN92) ●4 ●
1
● ●
3 2
The robot is not decelerated by this command. If no positioning is specified, the
input signal is inspected just before the command value reaches the accuracy
range of the move command, and if it has been input, an inside arc is drawn. If
the input signal has not been input, the command value heads toward the
recorded point, and the input signal is inspected when the robot has reached the
accuracy range.
■ Parameter
Parameter
No. 1
Parameter executing the call. When number 5101 or above is specified, multiple input signals
Input signal
(1-2048、5101—5196)

CALLP [2,I1] FN81; Conditional program call
See
CALLP: Program call (FN80)
CALLPN: Conditional program call after specified number of passes (FN82)
Command name CALLPN

FN code 82
Conditional program call after specified number of
Title name
passes
General description
command is used to call the specified program.
When this function command is executed, the specified program is called. The robot passes for the specified number of passes,
and on the next time (specified number of passes +1) the call command is executed. (For instance, if "2" is specified as the
number of passes, the robot passes twice, and on the third time the call command is executed.)
In step 4, record CALLPN: conditional program call after specified number of passes (FN82), "2" as the program number, "1" as
the register number, and "2" as the number of passes.
When this is played back, the robot passes by for the first and second times, and then advances to steps 5; however, on the
third time, it jumps to the first step in program 2. When the playback of program 2 is completed (the END command is
executed), the robot returns to step 5 following the step with the call command of call source program 1.
Step 4
Program 1
CALLPN; Conditional program call after specified number
of passes (FN82)
Program number = 2
Register number = 1
１２３５６
● ● ● ● ●
Third time 7: End (FN92)
Program 2
5: End (FN92) ●４ ●
１
● ●
３２
The robot is not decelerated by this command. If positioning is not specified,
the command is executed at the position reached by the robot in the accuracy
range of the move command immediately before.
■ Parameter
Parameter
No. 1
Parameter Register
No. 2 number
(1-200)
Parameter Number of the call. The robot passes for the specified number of passes, and on the next time
No. 3 passes (specified number of passes +1) the call command is executed.
(0-10000)

CALLPN [2, V1%, 2] FN82; Conditional program call after
See
CALLP: Program call (FN80)
CALLPI: Conditional program call (FN81)
Command name JMPP

FN code 83
Title name Program jump
This command is used to jump to the start of the
General description
specified program.
When this function command is executed, the robot jumps to the specified program.
Bear in mind that if a function command has been recorded in the first step in the jump destination program, the function
command at the jump destination will be executed as soon as the jump command has been executed.
The robot does not return to the source program even when the playback of the program at the jump destination is completed.
In step 4, record JMPP: program jump (FN83), and "2" as the program number. When this is played back, the robot skips steps
5 and 6 upon arriving at step 4 and jumps to the first step in program 2. The robot does not return to the source program even
when the playback of the program 2 is completed.
Program 1 Step 4
JMPP; Program jump (FN83)
Program number = 2
１２３５６
● ● ● ● ●
7: End (FN92)
Program 2
１
5: END (FN92)
●４ ●
● ●
３２
The robot is not decelerated by this command. If positioning is not specified, the command is
executed at the position reached by the robot in the accuracy range of the move command
immediately before.
■ Parameter
Parameter This specifies the number of the program which is to serve as the jump destination.
Program No.
No. 1 (1-9999)

JMPP [2] FN83; Program jump
See
JMPPI: Conditional program jump (FN84)
JMPPN: Conditional program jump after specified number of passes (FN85)
Command name JMPPI

FN code 84
Title name Conditional program jump
Using an input signal, this is used to jump to the
General description
start of the specified program.
When this function command is executed, the specified program is called. When the specified input signal has been input, the
robot jumps; when it has not been input, it does not jump and the command is passed by.
The robot does not return to the jump source program even when the playback of the program at the jump destination is
completed (the END command is executed).
In step 4, record JMPPI: conditional program jump (FN84), "2" as the program number, and "1" as the input signal. If, when this
is played back, input signal I1 has been input, the robot jumps to the first step in program 2; and if it has not been input, it
advances to steps 5 and 6. The robot does not return to the jump source program even when the playback of program 2 is
Program 1 Step 4
JMPPI; Conditional program jump (FN84)

Program number = 2
Input signal = I1
１２３５６
● ● ● ● ●
7: End (FN92)
When the I1 signal
has been input
When the I1 signal
has not been input
Program 2
5: End (FN92)
●４ ●
１
● ●
３２
The robot is not decelerated by this command. If no positioning is specified, the input
signal is inspected just before the command value reaches the accuracy range of the
move command, and if it has been input, an inside arc is drawn. If the input signal has
not been input, the command value heads toward the recorded point, and the input
signal is inspected when the robot has reached the accuracy range.
Unlike the program call command, the robot can jump any number of times.
■ Parameter
Program No.
No. 1 (1-9999)
Parameter executing the jump. When number 5101 or above is specified, multiple input signals
Input signal
(1-2048、5101—5196)

JMPPI [2,I1] FN84; Conditional program jump
See
JMPP: Program jump (FN83)
JMPPN: Conditional program jump after specified number of passes (FN85)
Command name JMPPN

FN code 85
Conditional program jump after specified number
Title name
of passes
General description command is used to jump to the start of the
specified program.
When this function command is executed, the robot jumps to the specified program. The robot passes for the specified number
of passes, and on the next time (specified number of passes +1) the jump command is executed. (For instance, if "2" is
specified as the number of passes, the robot passes twice, and on the third time the jump command is executed.)
The robot does not return to the jump source program even when the playback of the program at the jump destination is
In step 4, record JMPPN: conditional program jump after specified number of passes (FN85), "2" as the program number, "1"
as the register number, and "2" as the number of passes.
third time, it jumps to the first step in program 2. The robot does not return to the jump source program even when the playback
of program 2 is completed (the END command is executed).
Step 4
Program 1 JMPPN: Conditional program jump after specified
Program number = 2
Register number = 1
１２３５６
● ● ● ● ●
7: End (FN92)
Third time
Program 2
5: End (FN92)
●４ ●
１
● ●
３２
The robot is not decelerated by this command. If positioning is not specified, the command
is executed at the position reached by the robot in the accuracy range of the move
■ Parameter
Program No.
No. 1 (1-9999)
Parameter Register
No. 2 number
(1-200)
This records the number of passes which is to serve as the condition for executing the
Parameter Number of jump. The robot passes for the specified number of passes, and on the next time
No. 3 passes (specified number of passes +1) the jump command is executed.
(0-10000)

JMPPN [2, V1%, 2] FN85; Conditional program jump after
See
JMPP: Program jump (FN83)
JMPPI: Conditional program jump (FN84)
Command name FCASEN

FN code 86
Conditional case jump after specified number of
Title name
passes
Using a register, this command is used to select
General description
one of a multiple number of steps and execute it.
When this function command is executed, one of a multiple number of steps is selected and executed. It makes no difference
whether the selected step is a move command or function command. As the condition under which the step selection is
executed, Register is divided by a "dividing number" and, based on its "quotient" or "remainder", just the one step to be
executed is decided on.
Bear in mind that if the step selected is a function command, the function command at the jump destination will be executed
as soon as the conditional case jump after the specified number of passes command has been executed.
The FCASEN: conditional case jump after specified number of passes (FN86) command must always be paired with the
FCASEEND: case jump end (FN88) command for use.
In the example presented below, only one step among steps 5, 6 and 7 enclosed between the FCASEN and FCASEEND
commands is executed.
Step 4
FCASEN: Conditional case jump after
specified number of passes (FN86) One of the steps is
Register number = 1 played back in
Mode = 2 ５ accordance with the
Dividing number = 3 register 1 value.
●
１２３
９１０
６
● ● ● ● ●
● 11: End (FN92)
７ ●
Step 8
FCASEEND：Case jump end (FN88)
command is executed at the position reached by the robot in the accuracy range of
the move command immediately before.
Operation proceeds as follows in numerical sequence starting from the step following the step in which FCASEN is recorded:
step executed when the quotient (or remainder) is 0 → step executed when the quotient (or remainder) is 1 → step executed
when the quotient (or remainder) is 2 and so on.
Step 4: FCASEN: Conditional case jump after specified number
of passes (FN86)
Step 5: (Selected when quotient or remainder is 0)
Step 8: FCASEEND: Case jump end (FN88)
Mode Explanation
"Quotient" The "quotient" of the [pass count divided by the dividing number] serves as the condition of the
assignment command.
In the example of the table presented below, step 5 is executed when the Register is 0, 1 or 2,
and step 6 is executed when it is 3, 4 or 5.
"Remainder" The "remainder" of [pass count divided by the dividing number] serves as the condition of the
assignment command.
In the table below, Register is add, the steps are executed in numerical order as follows: 5 → 6 →
7 → 5 → 6 → 7.
"Quotient" and "remainder" when 3 is the dividing number
Register 0 1 2 3 4 5 6 7 8 9 10 11
Quotient 0 0 0 1 1 1 2 2 2 3 3 3
Remainder 0 1 2 0 1 2 0 1 2 0 1 2
Any number of steps between the FCASEN and FCASEEND commands can be recorded provided that this number does not
exceed the maximum number of 999 steps allowed per program. Either move commands or function commands can be the
steps enclosed. If a step to be executed has not been recorded, an alarm is detected, and the robot stops.
Global integer variable is used for Register.

The current number of Register can be referenced using monitor/integer variables.
■ Parameter
Parameter Register Global integer variable (1 to 200) is used, this parameter specifies its number.
No. 1 number (1-200)
1: The quotient of the [register value divided by the dividing number] is used as the
condition for the command.
Parameter
Mode 2: The remainder of the [register value divided by the dividing number] is used as the
No. 2
condition for the command.
(1-2)
Parameter Dividing This specifies the number that will divide the register value.
No. 3 number (1-127)

FCASEN [V1%, 2, 3] FN86; Conditional case jump after
See
FCASEEND: Case jump end (FN88)
Command name FCASEI

FN code 87
Title name Conditional case jump
Using an input signal, this command is used to
General description select one of a multiple number of steps and
executes it.
When this function command is executed, one of a multiple number of steps is selected and executed. It makes no difference
whether the selected step is a move command or function command. The "ON/OFF statuses of up to 8 input signals" are used
as the condition under which the step selection is executed. The input signals are converted into an 8-bit binary value and,
based on this, just the one step to be executed is decided on. Bear in mind that if the step selected is a function command, the
function command at the jump destination will be executed as soon as the conditional case jump command has been
executed.
The FCASEI: conditional case jump (FN87) command must always be paired with the FCASEEND: case jump end (FN88)
command for use. In the example presented below, only one step among the four steps (steps 5, 6, 7 and 8) enclosed between
the FCASEI and FCASEEND commands is executed.
Step 4
FCASEI： Conditional case jump (FN87)

BIT0 = I1,
BIT1 = I2,
BIT2 = 0,
BIT3 = 0,
BIT4 = 0, ５
BIT5 = 0, ●
BIT6 = 0, One of the steps is played
BIT7 = 0 back in accordance with the
statuses of the input signals
６
● (I1 and I2).
１２３
１０１１
７
● ● ● ● ●
● 12: End (FN92)
８
●
Step 9
FCASEEND：Case jump end (FN88)

immediately before.
Operation proceeds as follows in numerical sequence starting from the step following the step in which FCASEI is recorded:
step executed when the input signal is 0 → step executed when the input signal is 1 → step executed when the input signal is 2
and so on.
Step 4: FCASEI: Conditional case jump (FN87)
Step 5: (Selected when the input signal is 0)
Step 9: FCASEEND: Case jump end (FN88)
These steps correspond in sequence to BIT 0, BIT 1, BIT 2 and so on from the first parameter of FCASEI. If, for instance, in the
example presented in the previous figure, input signals I1 and I2 are both set to ON:
Bit 7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
— — — — — — I2 I1
0 0 0 0 0 0 1 1 = decimal number "3"
Therefore, step 8 will be selected.
Any number of steps between the FCASEI and FCASEEND commands can be recorded provided that this number does not
exceed the maximum number of 999 steps allowed per program. Either move commands or function commands can be the
steps enclosed. If a step to be executed has not been recorded, an alarm is detected, and the robot stops.
■ Parameter
Parameter No. 1 Input signal BIT 0
Parameter No. 2 Input signal BIT 1 The numbers of the input signals corresponding to bits 0 through
Parameter No. 3 Input signal BIT 2 7 are specified in sequence starting from the first parameter.
Parameter No. 4 Input signal BIT 3 If an input signal is not going to be used, 0 is specified. When
Parameter No. 5 Input signal BIT 4 number 5101 or above is specified, multiple input signals can be
Parameter No. 6 Input signal BIT 5 specified.
Parameter No. 7 Input signal BIT 6 (1–2048, 5101–5196)
Parameter No. 8 Input signal BIT 7
Pack the input signals in sequence starting from the lower bits. If the registration of any input signal is missing, an alarm results
during playback, and the robot stops.
FCASEI [I1,I2,I3,I0,I0,I0,I0,I0] FN87; Conditional case jump
See
Command name FCASEEND

FN code 88
Title name Case jump end
General description This command is used to end the case jump.
This function command is paired with the FCASEN: conditional case jump after specified number of passes (FN86) command
or FCASEI: conditional case jump (FN87) command for use. It signals the end of the case jump.
Refer to the FCASEN: conditional case jump after specified number of passes (FN86) or FCASEI: conditional case jump
(FN87) commands.
Step 4
FCASEN: Conditional case jump after specified
Register number = 1 One of the steps is played
Mode = 2 back in accordance with
Dividing number = 3 ５
the register 1 value.
●
１２３
９１０
６
● ● ● ● ●
● 11: End (FN92)
７ ●
Step 8
The robot is not decelerated by this command. If positioning is not specified, the command
is executed at the position reached by the robot in the accuracy range of the move
■ Parameter
None

FCASEEND FN88; Case jump end
See
FCASEN: Conditional case jump after specified number of passes (FN86)
FCASEI: Conditional case jump (FN87)
Command
GOTO
name
FN code 90
Title name Line jump
Outline Used to jump to a specified line or label.
Outline
Executing this command transfers control to a line specified by line number or label without conditions.
Parameters
Used to make setting of line number or label of jump destination.
Parameter 1 Line No./ Label
(Setting range: 1 to 9999)

GOTO[100] FN90: Line jump
Related commands
∗LABEL: Label (FN601)
Command
GOSUB
name
FN code 91
Title name Line call
Outline Used to subroutine-call a specified line or label.
Outline
Executing this command makes the program jump to a specified line. Executing any of the commands RETURN: Step return
(FN22), RETI: Step return with conditions (FN25), and RETN: Step return with conditions for number of times (FN28) return to
a line next to the call in which call was made.
Parameters
Used to make setting of line number or label of jump destination.
Parameter 1 Line No./ Label

GOSUB[100] FN91: Line call
Related commands
RETI: Step return with conditions (FN25)
RETN: Step return with conditions for number of times (FN28)
Command name END

FN code 92
Title name END
General description This command is used to end program playback.
When this function command is executed, the playback of the program is ended.
In the single cycle mode, operation stops immediately; in the continuous mode, operation returns to the start of the program
and continues.
At least one END command is required in a program. This command does not signify the very end of the file so steps can still
be recorded after this function. It is also permissible to record a multiple number of END commands in a program.
In step 4, record END: End (FN92).
When this is played back in the single cycle mode, the robot stops at step 4. The program end status is established, and the
"program end" signal is output. If operation is now started again immediately, the robot returns to the first step.
However, if this program is the call destination program, the robot does not stop after END but returns to the call source
program. The "program end" signal is not output.
Step 4
END: End (FN92)
１２３５
● ● ● ●
Playback ends here.
９８７６
● ● ● ●
After the robot reaches the recorded point, playback ends
regardless of the accuracy of the move command immediately
before.
■ Parameter
None

END FN92; End
"Program end" basic output signal
See
STOP: Stop (FN41)
Command name GETPELR

FN code 94
Real number variable assignment (coordinate
Title name
values)
This command is used to store the current
General description coordinate values (Eulerian angle expressions) in
the real number variables.
When this function command is executed, the current axis coordinate values of the robot expressed as Eulerian angles are
stored in the real number variables of the specified numbers.
(The GETP: real number variable assignment (coordinate values) (FN142) command is used when the wrist posture is to be
expressed as the R (roll), P (pitch) and Y (yaw) angles.)
In the example of the figure presented below, when the robot arrives at the recorded point in step 2 and positioning is
completed, the GETPELR command in step 3 is executed, and six real number variables are assigned with the coordinate
values in sequence starting from the specified real number variable, as shown below.
Step 3 GETPELR: Coordinate value assignment (FN94)
First variable number = 1
Step 2
● ● Step 4
Real number Current

variable coordinate value
First variable number
V1! X axis
● V2! Y axis
Step 1 V3! Z axis
V4! α
V5! β
V6! γ
After the robot reaches the exact recorded point, the GETPELR command is executed
regardless of the accuracy of the move command immediately before and regardless of
whether positioning is specified.
The assigned values can be referenced by monitor/real number variables.
■ Parameter
This specifies the first number of the
Real number register (real number variable) in which a
Parameter
variable coordinate value is to be stored. Six
No. 1
number variables are then used in succession.
(1-195)

GETPELR [V1!] FN94; V! Set real var. (cur.pos)
See
GETP: Real number variable assignment (coordinate values) (FN142)
GETANGLE: Real number variable assignment (axis angles) (FN157)
Command name CHGGUN

FN code 95
Title name Mechanism change
Connect or disconnect mechanism2
General description
(dedicated to mechanism 2 only)
There is an application that uses a tool changer to change the spot welding gun, hand grippers or other tools so that one robot
can be employed for a multi purpose use. If the tool to be changed is a spot welding gun or hand gripper and it is air-driven, it
can be changed by I/I sequences. On the other hand, if it is a servo gun or other servo-driven tool, it is not possible to
disconnect it in order to implement the change while still keeping the power supplied to their motors. Therefore, changing servo
guns and other such tools requires a function that makes it possible to electrically connect and disconnect the motor. This is
called the mechanism change function.
This command can implement this utility. (dedicated to mechanism 2 only)
Connecting and disconnecting the tools mechanically must be implemented using I/O sequences.
An example is given for tool changing system where the signals have been allocated as shown in the figure below. The method
shown here represents an example only, and will actually differs on the environment that depends on the customer’s facility.
Connection with tool changer (sample)

Connecting operation
STEP N 500mm/s LIN A1 T31
STEP N+1 RESET[O25] FN34; Output OFF
Unclamp
STEP N+2 SET[O26] FN32; Output ON
STEP N+3 WAITI[I26] FN525; Wait input (positive) Waiting for unclamp finish
STEP N+4 100mm/s LIN A1 T31 Move to the connect/disconnect position
STEP N+5 DELAY[0.5] FN50; Delay
STEP N+6 WAIT[I24] FN525; Wait input (positive) Waiting for seating
STEP N+7 RESET[O26] FN34; Output OFF
Clamp
STEP N+9 WAITI[I25] FN525; Wait input (positive) Waiting for clamp finish
STEP N+10 CHGGUN[1] FN95; Mechanism change Electrical connection
STEP N+11 100mm/s LIN A1 T1 Move away
At step N, the mechanism is moved by the following linear movement to the position where the changer can be connected. At
this position, the changer is set to the unclamp status by the way or precaution.
At step N+4, the mechanism is moved to the position where the changer is connected. At first its seating is checked and the
changer is clamped. After it has been clamped, the mechanism change function is executed.
At step N+11, the mechanism is disengaged from the stand.
Shown below is the transition of signal statuses when this series of operations is performed.
Connecting Operation
Connection
process
Chuck Seating Chuck

open check close
Move Move to changer Away form the
Connecting position stand
<Output Signals>
ATC clamp
ATC unclamp
Mechanism disconnection enable
Sub-mechanism number
<Input Signals>
ATC clamp limit
ATC unclamp limit
ATC seating check
Disconnecting Operation
STEP N+2 CHGGUN[0] FN95; Mechanism change Electrical disconnection
STEP N+3 RESET[O25] FN34; Output OFF Unclamp
STEP N+5 WAIT[I26] FN525; Wait input (positive) Waiting for unclamp finish
STEP N+6 100mm/s LIN A1 T31
At step N, the mechanism is moved by the following movement to the position where it can be brought to the stand. At step
N+1, the mechanism is moved to the changer disconnect position. At this position, the mechanism function is executed, and
the mechanism is electrically disconnected. Next, the changer is set to the unclamp status.
After the unclamp status has been checked, the mechanism is electrically disconnected at the step N+6. Shown below is the
transition of the signal statuses when this series of operations is performed.
Disconnecting Operation
Disconnect
mechanism
Chuck
open
Move to mechanism Away from
Stand position The stand
<Output Signals>
ATC clamp
ATC unclamp
Mechanism disconnection enable
<Input Signals>
ATC clamp limit
ATC unclamp limit
ATC seating check
■ Parameter
Connect / This is used to specify whether the mechanism is to be connected or disconnected
Parameter
Disconnect O; Connect
No. 1
1; Disconnect
CHGGUN[0] FN95; Mechanism change
See
CHGMEC; Mechanism Change（mechanism can be designated）(FN301)
Command
USE
name
FN code 98
Title name Pose file select
Outline Used to select pose file.
Outline
Pose data are controlled as files and one file can record poses P1 to P999. For example, this command is useful in playing
back the same program by changing only the data on robot positions according to the types of workpieces.
Parameters
Pose file Used to make setting of pose file number.
Parameter 1
number (Setting range: 1 to 9999)

USEL[2] FN098: Pose file select
Command name REM

FN code 99
Title name Comment
This command is used to provide comments inside
General description
programs.
This command is used to provide comments inside programs.
Using the software keyboard, alphanumerics and symbols can be input.
A comment provided in step 0 is handled specially as the "program name," and it appears on the program directory by the R17
short-cut and on the status window at the top of the screen.
Software keyboard
Entire text of comment entered using .
The robot is not decelerated by this command.
More than one comment may be recorded in a program.
■ Parameter
Parameter
Comment Comments consisting of up to 230 characters can be recorded.
No. 1

REM [“Test program”] FN99; Comment
See
None
Command name SETO

FN code 100
Title name Consecutive output signal ON/OFF
This command is used to set any number of
General description consecutive general-purpose output signals to ON
or OFF altogether.
When this function command is executed, any number of consecutive general-purpose output signals (O1 to O2048) are set to
ON or OFF altogether. It makes no difference how many consecutive signals are involved.
Robot path
Step2 Step3 SETO (FN100)
Accuracy
Step1 Step4
Output signal
Time
immediately before.
■ Parameter
This specifies the number of the first consecutive output signals which are to be
turned ON or OFF.
No. 1 number
(1–2048)
This specifies the number of the last consecutive output signals which are to be
turned ON or OFF.
No. 2 number
(1–2048)
Parameter "1" specified for ON, and "0" for OFF.
ON/OFF
No. 3 (0–1)

SETO [O1, O512, 1] FN100; Consecutive output signal ON/OFF
See
Command name PRINT

FN code 101
Title name Strings output
The character string data is output to the specified
Outline
serial port
When this function command is used, character string data can be output to the specified communication (serial) port. A
character string consisting only of single-byte alphanumerics (up to 199) can be output.
At the present time, only port 1 (RS232C) can be used.
When the robot reaches the step in which the PRINT (FN101) command is recorded, the character string is sent from the
specified serial port.
The robot continues moving while the data is being sent.
■ Parameter
Parameter This is used to specify the number of the port from which the character string is
Port number
No. 1 to be output. At the present time, only port 1 (RS232C) can be used. (1 to 1)
Output This is used to specify the character string to be output.
Parameter
character (Up to 199 single-byte alphanumerics)
No. 2
string
The character string is input using the soft keyboard.

PRINT[#1, "TEST WORK"] FN101; Strings output
T E S T W O R K CR LF
Example of data sent (TEST WORK)
See
RSCLR: RS232C Buffer clear (FN111)
Command name CALLPR

FN code 102
Title name Relative program call
This command is used to call a subprogram and
makes the first step position and orientation the
General description same as the current step in the base program and
all point positions in the subprogram become
relative to that step position.
[Relative Program Call] calls a subprogram and makes the first step position and orientation the same as the current step in the
base program and all point positions in the subprogram become relative to that step position. （Refer to the illustration below）
This is a very convenient function for spot welding, weld gun sticking, grinding, cutting and other frequently repeated simple
task actions.
When you make the program to operate as follows
Program 1
1 6,7 (subprogram to be called)
1 MOVE
2 5 2 MOVE
3 MOVE
4 MOVE
3 4 5 MOVE
6 MOVE
7 END
Tool direction
Program 2
7,8,9 (Main(Base) program)
1 MOVE
2 CALLPR 1
3 MOVE
4 CALLPR 1
5,6 5 MOVE
6 CALLPR 1
7 MOVE
8 CALLPR 1
1,2 3,4
9 END
Below shows a task(program 1) to be repeated numerous times.
When CALLPR is recorded in program 2 as above the robot will operate as shown here. CALLPR function cannot be executed
again while executing CALLPR function. After other shifts are applied, the shift by CALLPR is done.
The CALLPR outputs abnormality when move command has never been executed before CALLPR is executed. Please note
immediately after having turned on the power supply of controller and immediately after selecting program.
This function cannot be used with two manipulators or more included in a unit. There is a possibility of doing the operation that
the robot doesn't anticipate.
■ Parameter
Parameter
No. 1

CALLPR [2] FN102; Relative program call
See
CALLPRI: Conditional relative program call (FN103)
CALLPRN: Relative program call (freq. condition) (FN104)
Command name CALLPRI

FN code 103
Title name Conditional relative program call
General description
the specified program.
If the designated input signal is being input, [Relative Program Call] calls a subprogram and makes the first step position and
orientation the same as the current step in the base program. Then all point positions in the subprogram become relative to
that step position. (Refer to the illustration below)
If the input signal is not being input the main program simply continues on. This is a very convenient function for spot welding,
weld gun sticking, grinding, cutting and other frequently repeated simple task actions.
Program 1
1 6,7 1 MOVE
2 MOVE
2 5 3 MOVE
4 MOVE
5 MOVE
3 4 6 MOVE
7 END
Tool direction
Program 2
7,8,9 1 MOVE
2 CALLPRI 1,I1 ← I1 ON
3 MOVE
4 CALLPRI 1,I1 ← I1 OFF
5 MOVE
5,6 6 CALLPRI 1,I1 ← I1 OFF
7 MOVE
8 CALLPRI 1,I1 ← I1 ON
1,2 3,4 9 END
When CALLPRI function is executed and the designated I signal is being input program 2 is played and robot will operate as
shown here. CALLPRI function cannot be executed again while executing CALLPRI function. After other shifts are applied, the
shift by CALLPRI is done.
The CALLPRI outputs abnormality when move command has never been executed before CALLPRUI s executed. Please note
immediately after having turned on the power supply of controller and immediately after selecting program.
■ Parameter
Parameter
No. 1
Input signal
(1-2048, 5101-5196)

CALLPRI [2,I1] FN103; Conditional relative program call
See
CALLPR : Relative program call (FN102)
CALLPRN: Relative program call (freq. condition) (FN104)
Command name CALLPRN

FN code 104
Title name Relative program call (freq. condition)
General description
command is used to call the specified program.
Depending on the number of times CALLPRN function has been passed, [Relative Program Call] calls a subprogram and
makes the first step position and orientation the same as the current step in the base program. Then all point positions in the
subprogram become relative to that step position. （Refer to the illustration below） This is a very convenient function for spot
welding, weld gun sticking, grinding, cutting and other frequently repeated simple task actions.
When the cycle (frequency. + 1) is reached, [Relative Program Call] calls a subprogram, if the cycle is not (frequency + 1) the
main program will simply continue on.
Program 1
1 6,7
1 MOVE
2 MOVE
2 5 3 MOVE
4 MOVE
3 4 5 MOVE
6 MOVE
Tool direction 7 END
Program 2
6,7,8
1 MOVE
2 MOVE
3 CALLPRN 1,V1%,2
4 MOVE
4,5 5 CALLPRN 1,V1%,2
6 MOVE
7 CALLPRN 1,V1%,2
1 2,3 8 END
When CALLPRN function is being passed on the 3rd (Freq. + 1) cycle program 2 will operate, as shown here. CALLPRN
function cannot be executed again while executing CALLPRN function. After other shifts are applied, the shift by CALLPRN is
done.
The CALLPRN outputs abnormality when move command has never been executed before CALLPRN is executed. Please
note immediately after having turned on the power supply of controller and immediately after selecting program.
■ Parameter
Parameter
No. 1
Parameter Register
No. 2 number
(1-200, 301-500)
Parameter Number of the call. The robot passes for the specified number of passes, and on the next time
(0-10000)

CALLPN [2, V1%, 2] FN104; Relative program call
(freq. condition)
See
CALLPR: Relative program call (FN102)
CALLPRI: Conditional relative program call (FN103)
Command name SETM

FN code 105
Title name Output signal ON/OFF
This command is used to set any general-purpose
General description
output signal to ON or OFF.
When this function command is executed, any general-purpose output signal (O1 to O2048) is set to ON or OFF.
Single-action recording is possible using the [OUT] key on the teach pendant.
Robot path
Step2 Step3 SETM (FN105)
Accuracy
Step1 Step4
Output signal
Time
immediately before.
■ Parameter
Parameter Output signal This specifies the number of the output signal which is to be turned ON or OFF.
No. 1 number (1–2048)
Parameter "1" specified for ON, and "0" for OFF.
ON/OFF
No. 2 (0–1)

SETM [O17, 1] FN105; Output signal ON/OFF
See
Command name RSCLR

FN code 111
Title name RS232C Buffer clear
The send/receive buffer inside the specified RS232C
Outline
port is cleared
When this function command is used, the send/receive buffer inside the specified RS232C port can be cleared.
At the present time, only port 1 can be used as the RS232C port.
When the robot reaches the step in which the RSCLR (FN111) command is recorded, the send/receive buffer inside the
specified RS232C port is cleared. The robot continues moving while the buffer is being cleared.
■ Parameter
This is used to specify the number of the
serial port whose send/receive buffer is to
Parameter
Port number be cleared. (1 to 1)
No. 1
At the present time, only port 1 can be
specified.

RSCLR[#1] FN111; RS232C Buffer clear
See
PRINT: Strings output (FN101)
Command name CHGCOORD

FN code 113
Title name Change coord. No. (shift)
This makes it possible to select the number of the user
coordinate system used to implement shifts based on
the coordinate system. The number of the user
Outline
coordinate system must be selected without fail before
implementing shift-related commands based on the
coordinate system.
The user coordinate system can be selected as the coordinate system to serve as the reference for shifting when a command
such as the "SHIFTR: Shift 2 (FN52)" or "SHIFTA: XYZ shift (FN58)" is used to implement shift operations. The CHGCOORD
command specifies the number of the user coordinate system to be used at this time.
When a shift operation has been executed using a user coordinate system with no user coordinate system number selected by
this function command, an alarm results, and the robot is stopped.
The user coordinate system must be registered ahead of time using Service Utilities/User coordinates. Up to a hundred
coordinate systems can be registered.
In the figure below, the function command “SHIFTA: XYZ shift” (FN58) has been recorded in step 13, and a user coordinate
system has been selected as the coordinate system to be used for this. Therefore, the command “CHGCOORD: Change coord.
No. (shift)” (FN113) is recorded in step 11 which comes before, and user coordinate system No.1 has been specified.
The move commands executed in step 14 and the subsequent steps operate with the positions (positions of steps 14' and 15'
in the figure) shifted by 121.3 mm in the X direction of user coordinate system No.1 serving as the movement target.
Origin point of user

Step 13 coordinates 1
SHIFTA(2, 121.3, 0.0, 0.0) Ｚ
FN58;XYZ
Ｙ
Step 11 Shifting by Ｘ
CHGCOORD(1) specifying user
FN113;Change coord. coordinates Step 14
No. (shift)
Step 12
Step 15
Step 10 Step 14’
Ｚ
Ｙ Step 15’
Robot Shifting by 121.3 mm in X
origin direction based on user
Ｘ
point coordinates 1
■ Parameter
This is used to specify the user coordinate number to be used by the shift-related
User
Parameter function commands.
coordinate
No. 1 (0 to 100)
number
When "0" is specified, the user coordinates are not selected.

CHGCOORD[ 5] FN113; Change coord. No. (shift)
See
SHIFTA: XYZ shift (FN58)
Command name SPOT

FN code 119
Title name Spot welding execution
Execute spot welding in accordance with
General description
pre-defined sequence.
Spot welding can be performed in the specified step by recording the spot welding function in the welding step. By using this
function, the output timings of the pressurizing signal, power-on signal, stroke signal and other welding control signals can be
programmed by the controller without having to use an external sequencer. A higher level of welding control tailored to each
weld point can be exercised by setting a multiple number of welding conditions and welding sequences.
This function is used with either an air gun or servo gun.
With an air gun:
Pass previous Welding Next recorded

recorded point point point
Moving FN119
tip Full open
Half open
settled
tip Stroke
(press) timing
Full open signal
half open signal Weld cond. (weld)

timing+0.02sec
Weld condition keep
signals press signal timing
off
press signal
Pressure control
signals weld signal timing
weld signal
weld completion Robot move start
timing
input (WI)
Gun open timing WI waiting time

Spot welding sequence (Air gun)
With a servo gun:

FN119 Stroke
Moving (weld finish)
tip
Stroke (press)
moving tip
clearance
settled
tip Settled tip
clearance
Full open signal
half open signal

Weld condition
weld cond. signal timing
signals
press signal
Pressure control
weld signal
weld completion Robot move start timing

input (WI)

Spot welding sequence (servo gun)
■ Parameter
This parameter specifies the number of the first welder for which the welding control
Parameter Welder
signal is output.
No. 1 number
(1–6)
This specifies the number of the welding condition. It establishes the welding force
Parameter
Condition# and welding condition signal.
No. 2
(1–255)
Welding This specifies the number of the welding sequence. It establishes the output timing of
Parameter
sequence the pressurizing signal, power-on signal and stroke signal.
No. 3
number (1－64)
This specifies the number of the weld point. Use this parameter when controlling the
Parameter Welding point welding points. If welding trouble has occurred, this weld point number is output. In
No. 4 number the case of automatic recording, the step number is recorded.
(0–16000)

SPOT [1, 1, 2, 3] FN119; Spot welding
See
GSEA: Servo gun search (FN167)
Command name WAITR

FN code 127
Title name Wait shift reg. receive
This initiates a jump to the shelter step when the robot
has been waiting for the shift amount data to be input
Outline from the external source into the specified shift register
and the data has not been input within the specified
time.
When this function command is used, the robot operation is stopped and the wait status is established until the shift amount
data is input into the specified shift register or until the specified time arrives. As soon as the input of the shift amount data has
been detected within the specified time, the next step is executed. The input is judged to have been detected by the setting of
"input completed" data in the specified shift register to "1."
When the input of the shift amount data has not been detected within the specified time, operation jumps to the shelter step.
The input of the shift amount data can be confirmed even more definitely by having this function command before the
shift-related command that use the shift registers.
If the robot is stopped during shift amount receive wait and then restarted, the remaining time in the specified time serves as
the wait time.
In the figure, the "WAITR: Wait shift reg. receive" (FN127) command is recorded in step 13.
When the program is played back, the robot, after reaching step 13, is set to the wait status until the shift amount data is input
in the specified shift register. When the data input is confirmed, the robot heads toward the next step, and when a timeout
occurs, it heads towards shelter step 99.
Step 13 Step 15
WAITR(R1,10.0, 99) SHIFTR(1,0,R1,0)
FN127; Wait shift reg. FN52; Shift 2 / Start
Step 11
i
SREQ(R1,1)
FN51; Shift amount
Step 12 Step 14
request
Step 16
Step 10 Escape destination
Step 99 when shift amount Shift
could not be received operation
■ Parameter
Shift register This is used to specify the number of the shift register into which the input of the shift
Parameter number amount data is awaited. (1 to 9)
No. 1
Wait time This is used to specify the wait time.

Parameter (0.0 to 60.0 sec.)
No. 2 When 0.0 sec. is specified, the wait status is established until the shift amount data is
input.
Shelter step This is used to specify the step to which the robot is to escape in the event that the data
number was not input during the specified time.
No. 3 When 10000 is specified as the shelter step number, an alarm (A2118: “No data has
been input in shift register.”) results immediately with no escape operation performed,
and the robot can be stopped.

WAITR[R1, 10.5, 15] FN127; Wait shift reg. receive
See
Command name GETP

FN code 142
Real number variable assignment (coordinate
Title name
values)
This command is used to store the current
General description coordinate values (RPY angle expression) in real
number variables.
When this function command is executed, the current coordinate value expressed as RPY (roll, pitch and yaw) angle of each of
the robot's axes is stored in the real number variables with the specified numbers.
(If a wrist posture is to be expressed as Eulerian angles, use the GETPELR: real number variable assignment (coordinate
values) (FN94) instead.)
completed, the GETP command in step 3 is executed, and six real number variables are assigned with the coordinate values in
sequence starting from the specified real number variable, as shown below.
Step3 GETP： Coordinate value assignment (FN142)

Step2
● ● Step4
Real number Current

variable coordinate value
● First variable number V1!
V2!
X axis
Y axis
Step1 V3! Z axis
V4! R (Roll)
V5! P (Pitch)
V6! Y (Yaw)
The robot reaches the exact recorded point, the GETP command is executed regardless of
the accuracy of the move command immediately before and regardless of whether
positioning is specified.
■ Parameter
Real number This specifies the first number of the register (real number variable) in which a
Parameter
variable coordinate value is to be stored. Six variables are then used in succession.
No. 1
number (1–195)

GETP [V1!] FN142; V! Set real var. (cur.pos)
See
GETPELR: Real number variable assignment (Eulerian angle coordinate value) (FN94)
Command
GETPOSE
name
FN code 143
Title name Assign real variable (pose variable)
Outline Used to save pose variable Pn in the real variable V!.
Outline
This command is used to save pose variable Pn in the real variable V!.
Parameters
Used to make setting of leading numbers of real variables in which the current
robot coordinate values (X, Y, Z, r, p, y) and also pose file numbers.
The coordinate values are saved in six real variables in the order in which the
Leading variables were specified.
Parameter 1 variable V! [Leading variable number] = X
number
V! [Leading variable number + 1] = Y
V! [Leading variable number + 2] = Z
V! [Leading variable number + 3] = r
V! [Leading variable number + 4] = p
V! [Leading variable number + 5] = y
Pose
Used to make setting of robot posture (pose).
Parameter 2 variable
number

GETPOSE[V1!, 2] FN143: Assign real variable (pose variable)
Command
LETPOSE
name
FN code 144
Title name Assign pose variable
Outline Used to assign real variable V! to pose variable.
Outline
This command is used to assign the real variable V! to pose variable.
Parameters
Pose
Used to make setting of pose variable number to be assigned.
Parameter 1 variable
number
Used to make setting of leading numbers of real variables.
Taking the values of specified real variables as coordinate values, assign these
Leading values to the pose coordinate values in order.
Parameter 2 variable X = V! [Leading variable number]
number Y = V! [Leading variable number + 1]
Z = V! [Leading variable number + 2]
r = V! [Leading variable number + 3]
p = V! [Leading variable number + 4]
y = V! [Leading variable number + 5]

LETPOSE[2, V1!] FN144: Assign pose variable
Command name GETSFT

FN code 145
Title name Real number variable assign (shift)
This command replaces the values of the specified
Outline shift register with the specified real number variables
(7 consecutive variables are used).
When this function command is used, the values (X, Y, Z, θx, θy, θz) recorded in the specified shift register can be assigned in
sequence from the number of the specified real number variable. Furthermore, the numerical value (1) indicating that the
values have been assigned is set in the number of the next specified real number variable.
The numerical values at the time concerned are assigned regardless of whether or not the data has been set in the specified
shift register.
When the robot reaches the step where the "GETSTF: Set real var. (shift)" (FN145) command is recorded, the contents of the shift
register are immediately read, copied into the real number variables, and set. The robot does not stop.
The numerical values are set (written over the existing data) in 7 consecutive real number variables regardless
of their usage status up to this point.
■ Parameter
Real number This is used to specify the starting number of the real number variables which will
Parameter variable store the numerical values inside the shift register. The numerical values are set
No. 1 number (overwritten) in 7 consecutive real number variables whose number starts with this.
(1 to 94)
Parameter Shift register This is used to specify the shift register number. (1 to 9)
No. 2 number

GETSFT[ V1!, R1] FN145; Set real var.(shift)
See
Command name GETANGLE

FN code 157
Title name Real number variable assignment (axis angles)
This command is used to store the current angle
General description
value of each axis in a real number variable.
When this function command is executed, the current angle value (in degrees) for each axis of all the mechanisms in the unit is
stored in a real number variable with the specified number.
completed, the GETANGLE command in step 3 is executed, and the number of real number variables corresponding to the
number of axes starting from the specified real number variable are assigned in sequence to the axis angle values (in degrees),
as shown below.
Step3 GETANGLE: Coordinate value assignment (FN157)
Step2
● ● Step4
Real number Current angle of each

variables axis
First variable number
● V1!
V2!
Axis 1 of mechanism 1
Axis 1 of mechanism 1
Step1 V3! Axis 1 of mechanism 1
… …
… …
Vn! Axis j of mechanism m
n: Total number of axes for mechanisms configuring unit, n: 1 to 54
The robot reaches the exact recorded point, the GETANGLE command is executed regardless of the
accuracy of the move command immediately before and regardless of whether positioning is specified.
■ Parameter
This specifies the first number of the register (real number variable) in which a
Real number coordinate value is to be stored. Following this, the number of variables that
Parameter
variable corresponds to the "total number of axes of the mechanisms configuring the unit"
No. 1
number are used in succession.
(1–195)
Since the total number of axes is high, the number of variables may exceed 200, in which case an error occurs in playback.

GETANGLE [V1!] FN157; V! Set real var. (cur.ang)
See
GETP: Real number variable assignment (RPY angle coordinate value) (FN142)
Command
GETFIGURE
name
FN code 158
Title name Set real variable(figure)
General The robot figure is used to store in real number
description variables.
When this function command is executed, the position of the mechanism is stored in the V! variable.
You can choice the kind and type of the position of the mechanism as follow.
Kind
Angle The current angle of each of the mechanism's axes is
stored in the V! variable.
Unit [deg] or [mm]
TCP The current TCP coordinate of each of the mechanism is
Coordinate stored in six chosen V! variables in （X,Y,Z, R,P,Y）order.
(RPY) Output is in user coordinate if you use “FN171 NRLCRD”
or else is in the mechanism coordinate
Unit [mm]/[deg]
TCP The current TCP coordinate of each of the mechanism is
Coordinate stored in six chosen V! variables in （X,Y,Z, α,β,γ）
(EULER) order.
Output is in user coordinate if you use “FN171 NRLCRD”
or else is in the mechanism coordinate
Unit [mm]/[deg]
Type
Com Get the command value in the time.
Current Get the current value in the time.
Object Get the object value in the time.
This is not depend on accuracy of the move command.
The value reflects “shift” if you use “shift” and so on.
This function is carried out while passing. Was that, if the step that an accuracy of the move command is large, gotten value
in the time when enter accuracy extent.
case Type＝com or cur
Step2 Step3 GETFIGURE: Set real variable (figure)

accuracy (FN1 8)
Step1 Step4
Get the value in this time
Gotten value in the time when enter accuracy extent.

Gotten the value after positioning If you command it.
case Type＝obj
Step2 Step3 GETFIGURE: Set real variable (figure)

accuracy (FN1 8)
Step1 Step4
Get the value in this time
This is not depend on accuracy of the move command.

The value reflects “shift” if you use “shift” and so on.
■ Parameter
Parameter Top Variable
Select a register used to store in result. （1-195）
No. 1 (figure)
Parameter Mechanism
Select the Mechanism No. (1-9)
No. 2 No.
0：ang
Parameter
Kind 1：TCP（RPY）
No. 3
2：TCP（EULER）
0：Com
Parameter
Type 1：Cur
No. 4
2：Obj
If valables is over 200, make an error in the time starting.
GETFIGURE[V1!, 1, 1, 2] FN158; Set real variable(figure)
See
GETP；Set real variable（Set real variable(pos)（FN142）
NRLCRD；Change coord. for R-Lang(FN171)
Command
POSAUTO
name
FN code 160
Title name Disable posture control
Used to disable the posture control for robot posture
Outline
calculation.
Outline
In order to perform a robot posture calculation, this command disables setting used to find the calculation result in a posture
that is forcedly set.
Parameters
Used to select posture control to be disabled.
(Selection range: 0 to 4)
Select posture
Parameter 1
control
0: All / 1: Right and left arm system / 2: System above/below elbow / 3: Wrist
posture system / 4: Flange shaft

POSAUTO[0] FN160: Disable posture control
Related commands
LEFTY: Left arm system (FN161)
RIGHTY: Right arm system (FN162)
ABOVE: System above elbow (FN163)
BELOW: System below elbow (FN164)
Command name LEFTY

FN code 161
Title name Arm config. (left/front)
The left-arm system posture is forcibly selected for
Outline
calculating the robot postures
This command obtains the angles of the robot axes by calculating them from the head coordinates when shift-related operations
are executed. The angles of two patterns capable of expressing the same position are obtained by the calculation. Which angle is
to be selected is normally determined automatically and sometimes the robot is not set to the desired pose. When this function
command is used, the poses of the left-arm system are forcibly selected from among the calculation results in the subsequent
steps.
When the "LEFTY: Arm config. (left/front)" (FN161) command is played back, the poses of the left-arm system are forcibly
selected when shift-related operations are executed in the subsequent steps.
The robot does not stop when this command is executed.
Tool tip
J6 axis Pose selected by

right-hand system
(RIGHTY)
J5 axis
Pose selected by left-hand

+Z
system (LEFTY)
+X J1 axis
+Y
As soon as the first step (step 0) in the program is played back, the forced selection status is released, and the
process of automatically determining which angle to select is restored. However, the forced selection status
continues at step 0 of a program which has been called.
■ Parameter
None.

LEFTY FN161; Arm config.(left/front)
See
RIGHTY: Arm config. (right/back) (FN162)
ABOVE: Elbow config. (above) (FN163)
BELOW: Elbow config. (below) (FN164)
Command name RIGHTY

FN code 162
Title name Arm config. (right/back)
The right-arm system posture is forcibly selected for
Outline
This command obtains the angles of the robot axes by calculating them from the head coordinates when shift-type operations are
executed. The angles of two patterns capable of expressing the same position are obtained by the calculation. Which angle is to
be selected is normally determined automatically and sometimes the robot is not set to the desired pose. When this function
command is used, the poses of the right-arm system are forcibly selected from among the calculation results in the subsequent
steps.
When the "RIGHTY: Arm config. (right/back)" (FN162) command is played back, the poses of the right-arm system are
forcibly selected when shift-related operations are executed in the subsequent steps.
Tool tip
J6 axis Pose selected by

right-hand system
(RIGHTY)
J5 axis
Pose selected by left-hand

+Z
system (LEFTY)
+X J1 axis
+Y
As soon as the first step (step 0) in the program is played back, the forced selection status is released, and the process
of automatically determining which angle to select is restored. However, the forced selection status continues at step 0
of a program which has been called.
■ Parameter
None.

RIGHTY FN162; Arm config.(right/back)
See
LEFTY: Arm config. (left/front) (FN161)
Command name ABOVE

FN code 163
Title name Elbow config. (above)
The above-the-elbow (less than 180-degree angle
Outline formed by J2 axis and J3 axis) posture is forcibly
selected for calculating the robot postures
This command obtains the angles of the robot axes by calculating them from the head coordinates when shift-related operations are
executed. The angles of two patterns capable of expressing the same position are obtained by the calculation. Which angle is to be
selected is normally determined automatically and sometimes the robot is not set to the desired pose. When this function command
is used, the poses of the above-the-elbow system (less than 180-degree angle formed by J2 axis and J3 axis) are forcibly selected
from among the calculation results in the subsequent steps.
When the "ABOVE: Elbow config. (above)" (FN163) command is played back, the poses of the above-the-elbow system (less
than 180-degree angle formed by J2 axis and J3 axis) are forcibly selected when shift-related operations are executed in the
subsequent steps.
Pose selected by J3 axis

Tool tip
above-the-elbow
system (ABOVE) Upper
J2 axis
Lower
Pose selected by
below-the-elbow
system (BELOW)
As soon as the first step (step 0) in the program is played back, the
forced selection status is released, and the process of automatically
determining which angle to select is restored. However, the forced
selection status continues at step 0 of a program which has been called.
■ Parameter
None.

ABOVE FN163; Elbow config. (above)
See
Command name BELOW

FN code 164
Title name Elbow config. (below)
The below-the-elbow (180-degree angle or more
Outline formed by J2 axis and J3 axis) posture is forcibly
selected for calculating the robot postures
selected is normally determined automatically and sometimes the robot is not set to the desired pose. When this function command
is used, the postures of the below-the-elbow system (180-degree angle or more formed by J2 axis and J3 axis) are forcibly selected
from among the calculation results in the subsequent steps.
When the "BELOW: Elbow config. (below)" (FN164) command is played back, the poses of the below-the-elbow system
(180-degree angle or more formed by J2 axis and J3 axis) are forcibly selected when shift-related operations are executed in
the subsequent steps.
Pose selected by J3 axis
Tool tip
above-the-elbow
system (ABOVE) Upper
J2 axis
Lower
Pose selected by
below-the-elbow
system (BELOW)
■ Parameter
None.

BELOW FN164; Elbow config.(below)
See
Command name FLIP

FN code 165
Title name Wrist config. (flip)
The poses of the wrist-flip system (where the J5 axis
Outline angle is negative) is forcibly selected for calculating the
robot postures
selected is normally determined automatically and sometimes the robot is not set to the desired pose. When this application
command is used, the poses at which the angle of the J5 axis is negative are forcibly selected from among the calculation results in
the subsequent steps.
When the "FLIP: Wrist config. (flip)" (FN165) command is played back, the poses at which the angle of the J5 axis is negative
are forcibly selected when shift-related operations are executed in the subsequent steps.
Pose selected by
Hand installation surface
wrist-flip system (FLIP)
J5 axis = –30 deg. +
J4 axis = +180 deg.

Pose selected by
wrist-non-flip system (NONFLIP)
J4 axis = +0 deg.
J5 axis = +30 deg.

+
■ Parameter
None.

FLIP FN165; Wrist config.(flip)
See
NONFLIP: Wrist config. (nonflip) (FN166)
Command name NONFLIP

FN code 166
Title name Wrist config. (nonflip)
The poses of the wrist-non-flip system (where the J5
Outline axis angle is positive) is forcibly selected for
selected is normally determined automatically and sometimes the robot is not set to the desired pose.
When this function command is used, the poses at which the angle of the J5 axis is positive are forcibly selected from among the
calculation results in the subsequent steps.
When the "NONFLIP: Wrist config. (nonflip)" (FN166) command is played back, the poses at which the angle of the J5 axis is
positive are forcibly selected when shift-related operations are executed in the subsequent steps.
Pose selected by
Hand installation surface
wrist-flip system (FLIP)
J5 axis = –30 deg. +
J4 axis = +180 deg.

Pose selected by
wrist-non-flip system (NONFLIP)
J4 axis = +0 deg.
J5 axis = +30 deg.

+
■ Parameter
None.

NONFLIP FN166; Wrist config.(nonflip)
See
FLIP: Wrist config. (flip) (FN165)
Command name GSEA

FN code 167
Title name Servo gun search
This command is used to detect the electrode tip
General description
consumption of the servo gun.
As welding is performed over and over again, the electrodes gradually start to wear down, and their length shortens. If welding
is performed after the electrode lengths have changed, the settled side electrode can no longer be pressed against the work
piece: as a result, the work piece is subjected to extra stress, the welding force at the settled side becomes inadequate, etc.
The tip consumption must be compensated in order to eliminate these discrepancies.
GSEA is a function command which detects the tip consumption to perform this compensation.
Pressurizing Pressurizing Pressurizing
New tip Consumed tip Consumed tip

(without compensation) (with compensation)
There are three kinds of detection operations: gun search 1 which detects the total tip consumption, gun search 2 which
detects the tip consumption on the moving side, and gun search 3 which adds simplified compensation to the tip consumption
obtained by gun searches 1 and 2.
Search system Description of features
Total tip consumption detection
The total tip consumption is measured and subdivided into the settled side tip consumption and
moving side tip consumption according to a constant ratio.
Gun Search 1
When gun search 1 is used independently, there is no need for a reference stand, and the tip
consumption can be measured in a short period of time. On the other hand, the measurement
accuracy is not as good as when both gun search 1 and gun search 2 are performed.
Moving side tip consumption detection
This is used together with gun search 1.
The moving side tip consumption is measured. The settled side tip consumption is calculated by
Gun Search2
subtracting the moving side tip consumption from the total tip consumption obtained by gun search
1. This has the highest measurement accuracy.
It is necessary to provide a reference stand.
Simplified tip consumption detection
This is used together with gun search 1 and gun search 2. It measures the overall tip consumption.
With gun search 3, the tip consumption can be compensated in a simplified way for the tip
consumption after gun search 1 and gun search 2 have been executed.
Gun Search 3
The measurement accuracy is not as good as when gun search 3 is performed together with gun
search 1 and gun search 2. However, its advantage is that the search operation is completed in one
go except when the tips have been replaced.
Reference write is not required.
In accordance with the trouble detection level set by constants/spot welding application/servo gun tip consumption detection,
an error or information is output, and the corresponding alarm signal is output for the tip consumption obtained.
■ Parameter
This specifies the number of the welder to which the servo gun whose electrode tip
Parameter Welder
consumption are to be detected is connected.
No. 1 number
(1–6)
This specifies the type of gun search to be executed. (1–3)
1: Gun search 1 = Total tip consumption detection
Parameter Gun search
2: Gun search 2 = Moving side tip consumption detection
No. 2 number
3: Gun search 3 = Total tip consumption detection (simplified tip consumption
detection)
Parameter This specifies the welding force when detecting the tip consumption.
Pressure
No. 3 (1.0 – 100.0) [kN]
For detail, refer to information in the FD CONTROLLER OPERATING MANUAL “SPOT WELDING Chapter 4 Servo gun
wear amount measurements”.

GSEA [1,1,1.5] FN167; Servo gun search
See
SPOT: Spot welding execution (FN119)
Command name SPDDOWNA

FN code 169
Title name Analog input speed override
The playback speed of the robot is changed in
Outline
accordance with the input voltage
With this function command, the playback speed of the robot can be changed in accordance with the analog input voltage. It is
necessary to set a velocity override pattern beforehand in the "Constant Setting" mode. (→ Constant Setting / Signals / Velocity
override depend on input)
Four analog input channels are provided, any of which can be specified.
This function, however, cannot be used when an analog input board (option) is not installed.
In the following diagram, record "SPDDOWNA (FN169) / Start" in steps 4 and 7, and "SPDDOWNA (FN169) / End" in step 9.
When this is played back, the velocity override is performed by analog input signals in the sections indicated by the bold lines
in the diagram. As far as step 6 the operation is performed in accordance with the port 1, and as far as step 8 in accordance
with the port 2. Thus, the command played back later has priority.
Step 4 Step 7
SPDDOWNA: SPDDOWNA:
Analog input speed Override Analog input speed override
Start, port1 Start, port2
3 5 11
2 10
6
8
The velocity override
1 is enabled in the
Step 9
steps indicated by
bold lines SPDDOWNA:
Analog input speed override
End
If the rate of velocity override by F keys and R codes is set to 50% and that by input signals set to 50%, the actual rate of
velocity override is 25% (50% x 50%).
The velocity override by digital input (FN277) is also available, yet this cannot be used together with the SPDDOWNA
command.
■ Parameter
Parameter Specify whether to start or end the velocity override by input signals.
Start/end
No. 1 (1: Start, 0: End)
Parameter Select the analog input port to refer to from the four ports. It is ignored when "0:
Input port No.
No. 2 End" is selected as the setting of the first parameter. (1 to 4)

SPDDOWNA[1,4] FN169; Analog input speed override
The correspondence between input voltage and speed override must be designed beforehand using "Constant Setting →
Signals → Velocity override depend on input". The velocity override by input signal cannot be set over 100%.
If no pattern is defined (all the parameters on the screen are set to 0), the velocity override function is disabled.
See
SPDDOWND: Digital input speed override (FN277)
Command
NRLCRD
name
FN code 171
Title name Select robot language coordinate system
Used to switch functions to a specified user coordinate
Outline
system.
Outline
Using this command makes it possible to switch the following functions to a specified user coordinate system.
x LETX (FN71): Assign X component of pose
x LETY (FN72): Assign Y component of pose
x LETZ (FN73): Assign Z component of pose
x GETP (FN142): Assign real variable (coordinate value)
x GETPOSE (FN143): Assign real variable (pose variable)
x LETPOSE (FN144): Assign pose variable
Parameters
User coordinate Used to make setting of user coordinate system number.
Parameter 1
system number (Setting range: 0 to 100)
∗When “0” is set to this parameter, the robot will run in the machine coordinate system, but not in the user coordinate
system.
NRLCRD[1] FN171: Select robot language coordinate system
Related commands
LETX: Assign X component of pose (FN71)
GETP: Assign real variable (coordinate value) (FN142)
GETPOSE: Assign real variable (pose variable) (FN143)
LETPOSE: Assign pose variable (FN144)
Command name SPOTIWB1

FN code 199
Title name Spot welding
Execute spot welding in accordance with
General description pre-defined sequence.
（dedicated to welding I/F＝MEDbus only）
This function is dedicated to the MEDAR spot welder (IWB timer controller) interface application only. (welding I/F＝MEDbus)
Spot welding can be performed in the specified step by recording the spot welding function in the welding step. By using this
function, the output timings of the pressurizing signal, power-on signal, stroke signal and other welding control signals can be
programmed by the controller without having to use an external sequencer. A higher level of welding control tailored to each
weld point can be exercised by setting a multiple number of welding conditions and welding sequences.
FN199 Stroke
Moving (weld finish)
tip
Stroke (press)
moving tip
clearance
settled
tip Settled tip
clearance
Full open signal
half open signal

Weld condition
weld cond. signal timing
signals
press signal
Pressure control
weld signal
weld completion Robot move start timing

input (WI)

Spot welding sequence (servo gun)
■ Parameter
This parameter specifies the number of the first welder for which the welding control
Parameter Welder
signal is output.
No. 1 number
(1–1)
Welding This specifies the number of the welding sequence. It establishes the output timing of
Parameter
sequence the pressurizing signal, power-on signal and stroke signal.
No. 2
number (1-64)
This specifies the number of the weld point. Use this parameter when controlling the
Parameter Welding point welding points. If welding trouble has occurred, this weld point number is output. In
No. 3 number the case of automatic recording, the step number is recorded.
(0–16000)

SPOTIWB1[1,2,3] FN199; Spot welding
See
GSEA; Servo gun search (FN167)
Command name FRANGE

FN code 202
Title name Flange axis rot. config.
The rotational direction of the J6 axis is specified for
Outline
Restrictions stemming from the wiring that accompanies the tools and the installation conditions of the robot sometimes make
it preferable for the rotational direction of the tools to be fixed. During palletizing operations and rotational shifts based on the
robot language, etc., the poses that minimize the rotational amount are often selected automatically. This sometimes results in
operations which differ from the desired rotational direction.
When this finction command is used, the rotational direction of the J6 axis can be forcibly specified.
When the "FRANGE: Flange axis rot. config." (FN202) command is played back, the poses are forcibly selected with the
rotational direction of the J6 axis specified when shift-related operations are executed in the subsequent steps.
Counterclockwise
rotation
Center of flange axis
(J6 axis) rotation
Clockwise
rotation
■ Parameter
ON/OFF This is used to specify whether to specify the rotational direction or release the
Parameter
specification.
No. 1
(1: ON/2: OFF)
Rotational This is used to specify the rotational direction of the J6 axis.
Parameter
direction (1: Clockwise rotation/
No. 2
–1: counterclockwise rotation)

FRANGE[1,1] FN202; Flange axis rot. config.
See
FLIP: Wrist config.(flip) (FN165)
NONFLIP: Wrist config. (nonflip) (FN166)
Command
COMPON
name
FN code 206
Title name Software compliance ON
Used to enable the software compliance control
Outline
function.
Outline
Using this command enables the software compliance control function, thus making it possible to run the robot according to
external force.
Parameters
Used to make setting of condition number that is selected within the software
Condition
Parameter 1 compliance data.
number
Used to select whether or not to retrieve the current position and take it as a
command position. (1: ON / 2: OFF)
Command
1: Used to retrieve the current position that made a change due to external force in a
Parameter 2 position
step in progress and perform a calculation of locus to the subsequent step according
replace
to this position.
0: Used to perform a normal locus calculation in a step in progress without retrieving
the current position.

COMPON[1,1] FN206: Software compliance ON
Related commands
COMPOFF: Software compliance OFF (FN207)
Command
COMPOFF
name
FN code 207
Title name Software compliance OFF
Used to disable the software compliance control
Outline
function.
Outline
Using this command disables the software compliance control function.
Parameters
None

COMPOFF FN207: Software compliance OFF
Related commands
COMPON: Software compliance ON (FN206)
Command name GUNOPEN

FN code 218
Title name Gun Open
General description This command is used to change stroke of air gun.
This function changes a stroke of air gun to half open or full open.
If you select half open, half open signal is on and full open signal off.
If you select half open, half open signal is on and full open signal off.
If you use this function, you must set “Full/half gun open function” of [Constant Setting][13 Spot welding application][1 Spot
welder setting] is enabled.
Step Ｎ+2
GUNOPEN(1, 1) Step Ｎ+1
FN218；Full open Move Accuracy
Accuracy Step Ｎ+3
Move
Step Ｎ
Move Step Ｎ+4
Move
Half open signal
Full open signal
■ Parameter
Parameter Welder The number of Welder number.
No. 1 number (1–6)
Parameter Half open / "1" means full open stroke, and "0" means half open stroke.
No. 2 Full open (0–1)

GUNOPEN [1, 1] FN218; Gun Open
Command name REGC

FN code 224
Title name Shift register copy
Outline Data is copied between shift registers
When this function command is used, data can be copied between shift registers.
The "REGC: Shift register copy" (FN224) command is recorded in step N.
When the program is played back, the robot, after reaching step N, copies the contents of the copy source shift register into
the copy destination shift register. The "data input completed flag" of the copy destination shift register is always set to "1."
StepN
FN224(R1, R2)
Ｚ
[Shift register 1] [Shift register 2]
Ｙ
・Data request flag Copy ・Data request flag
・Data input complete flag ・Data input complete flag
Ｘ・X, Y, Z values ・X, Y, Z values
・θX, θY, θZ values ・θX, θY, θZ values
■ Parameter
Parameter Copy source shift This is used to specify the number of the copy source shift register.
No. 1 register number (1 to 9)
Parameter Copy destination This is used to specify the number of the copy destination shift register.
No. 2 shift register number (1 to 9)

REGC[ R1, R4] FN224; Shift register copy
See
SREQ: Shift data request (FN51)
Command name GSEA_ORDER

FN code 229
Title name Servo gun search order
Servo gun search2 is execute before servo gun
General description
search1
When gun search 1 and gun search 2 are to be used together, their execution sequence can be specified. The execution
sequence is specified using a function command. Under normal circumstances, set so that gun search 1 is executed first
followed by gun search 2. In this case, there is no need to register the function command. Use this sequence when, due to
the system configuration or other factors, it is better to execute gun search 2 first.
Please refer to GSEA: Servo gun search (FN167) for the detail of Servo gun search.
First Search 1, First Search 2,

and next search 2 and next search 1
1 REM[search] FN99: comment 1 REM[search] FN99: comment
2 300 mm/s LIN A1 T1 2 300 mm/s LIN A1 T1
4 GSEA[1,1,10] FN167: Servo gun search
5 300 mm/s LIN A4 T1 4 GSEA_ORDER[1] FN229; Servo gun search
6 300 mm/s LIN A1 T1 order
8 300 mm/s LIN A4 T1 5 GSEA[1,2,10] FN167: Servo gun search
　10 END FN99:end 7 300 mm/s LIN A1 T1
9 300 mm/s LIN A4 T1
10 300 mm/s LIN A1 T1
　11 END FN99:end
If what has been specified in the search sequence and the gun search sequence differ, an alarm is detected during playback,
and the robot stops.
■ Parameter
Parameter Gun number This parameter specifies the number of the gun which is to measure the wear amount.
No. 1 (1–32)
Execution This parameter specifies the execution sequence of gun search 1 and gun search 2.
Parameter sequence (0–1)
No. 2 0; Gun search 1 is executed first followed by gun search 2.
1; Gun search 2 is executed first followed by gun search 1.

GSEA_ORDER[1,1] FN229; Servo gun search order
See
SPOT: Spot welding (FN119)
SGTIPRST: Reset servo gun tip consumption (FN270)
Command
COLSEL
name
FN code 230
Title name Select interference detection level
Outline Used to select a detection level.
Outline
Using this command makes it possible to select a threshold used to determine interference.
For example, use this command to reduce interference detection sensitivity or prevent detection errors in cases where you
want to put a robot tip in narrow places, have a close look at interference, keep threshold levels low, increase detection
sensitivity, and make the robot conduct contact work.
Parameters
Used to make setting of detection level number.
Parameter 1 Level number 0: Normal sensitivity

1: High sensitivity
2: Low sensitivity
3: Disabled
∗ The operator class Expert or greater is required.

COLSEL[3] FN230: Select interference detection level
Command
CHGXXGUN
name
FN code 238
Used to select a mechanism to be operated manually.
Outline (Command dedicated to Mechanism 2 / Mechanism
change type “Unlock”)
Outline
This application command is used for mechanism changes without electrical disconnection or unlocked mechanism changes
(e.g. to control two gun arms with a single motor for servo gun application).
Use this application command to make mechanism changes.
(Command dedicated to Mechanism 2 / Mechanism change type “Unlock”)
Example of motion
When the mechanism change type is set to “Unlock”, teaching will be conducted as shown below.

STEP N+2 CHGXXGUN[1] FN238: Mechanism change Change to sub-mechanism 1
STEP N+3 100mm/s LIN A1 T1 Move to weld point
STEP N+4 SPOT[1,1,1,1,] FN119: Spot welding
STEP N+7 CHGXXGUN[2] FN238: Mechanism change Change to sub-mechanism 2
STEP N+8 100mm/s LIN A1 T2 Move to weld point
STEP N+9 SPOT[1,1,1,1,] FN119: Spot welding
For steps in which mechanism changes are made, teach positions in which both guns can move. If one gun is located outside
the motion range even though the other gun is located within the motion range (software limit), “software stroke over” error
may be detected when executing the mechanism change function.
Set a correct tool number to the spot welding function execution step. Not doing so will disable proper equalizing operation. If the
“Tool number check” parameter on the Servo Gun usage condition screen is set to “Enabled”, the tool number recorded and that
set with the “Spot welding gun setting” parameter will be verified. If different, an error will be detected to stop playback of
mechanism change.
Parameters
Sub-mechanism Used to make setting of sub-mechanism number.
Parameter 1
number (Setting range: 1 to 31)

CHGXXGUN[1] FN238: Mechanism change
Command name SEAMST

FN code 245
Title name Seam weld start
General
Start the seam welding.
description
Execution of this command starts seam welding.
First, pressurization operation of the electrode by the side of pressurization is carried out, and a work is put. Next, after
applying delay by pressurization waiting time, the weld signal and a welding condition signal are outputted. Furthermore,
rotation of electrodes which synchronized with a robot's speed is started. The rotation direction is specified by a parameter.
By this command, welding conditions can be automatically changed according to welding speed. It can have a maximum of 5
sets of correspondences of the welding speed and a welding condition number. This correspondence data is recorded as a
parameter of a function. Moreover, the welding condition output signals can be outputted by the WELDCND function(FN33) to
use this automatic welding condition change function. In this case, the parameter 1 of a function is set as 0.
Furthermore, when the parameter 1 of a function is set as 2, electrodes are rotated at the speed specified with the parameters,
without carrying out pressurization. Pressurization side electrode rotates at the speed set as the parameter 3, and settle side
electrode rotates at the speed set as the parameter 5.
This is used in dressing of electrodes.
The robot shall move to a specified position according to specified motion command and start seam welding as follow time
chart.
Record point
Robot speed
(Welding speed)
Gun signal
Weld cond. signal

Weld cond 1 Weld cond 2
Weld signal
Rotation speed of
electrode
Threshold
Pressurization side pressurization
electrode waiting time
Settle side
electrode
■ Parameter
Welding condition
Parameter No.1 0-2
(0:Manu/1:Auto)
Rotation direction
Parameter No.2 0-1
(0:Normal/1:Reverse)
Parameter No.3 0.0-10.0 Press wait time(sec)
Parameter No.4 0-65535 Weld condition 1 (Auto)
Parameter No.5 0-1000 Weld speed 1 (Auto)
0-1000 Speed of electrode (Dress)
0-1000 Speed of electrode (Dress)
Seam gun type
Parameter No.13 0-1
(0:Both type/1:One type)
Parameter No.14 0-30 Press value(mm) (One type)
Weld operation
Parameter No.15 0-1
(0:Continue/1:Pitch/2:Dress)
Parameter No.16 0-5000 Welding distance(mm) (Pitch)
Parameter No.17 0-5000 Idle distance(mm) (Pitch)
The Unit of Parameter No.5, No.7 and No.9 are changed by the parameter,“unit of velocity” in [Constant menu] [Spot
Welding Application] [Seam Welding] monitor. Details is explained by the manual of Seam Welding.
SEAMST[1,0,0.6,1,5,2,10,3,15,4,20,5,0,0,0,0,0] FN245;Seam weld start
See
SEAMEND: Seam weld end (FN246)
SEAMSPDD: Seam electrode speed (FN247)
WELDCND: Spot condition output (FN33)
SEAMOV: Seam override (FN313)
Command name SEAMEND

FN code 246
Title name Seam weld end
General
Stop the seam welding.
description
Execution of this command ends seam welding started by the seam welding start function SEAMST.
From position attainment of the move command on which the function was recorded, weld signal turns off previously only the
order to time or order to distance specified with the parameter, and it ends welding. Then, rotations of electrodes are stopped at
the same time a robot is positioned by hold time progress. Next, gun signals are made to turn off and between electrodes are
opened wide. Furthermore, the following step is performed after the open waiting time progress specified with the parameter.
The robot shall move to a specified position according to specified motion command and end seam welding.
Record point
Robot speed
(Welding speed)
Gun signal
Weld condition signal
Weld signal
Hold distance
Open wait time

Rotation speed of
electrode
Hold time
Pressurization side
electrode
Settle side
electrode
■ Parameter
Parameter No.1 0-10.0 Time (sec)
0-5000.0 Distance (mm)
Parameter No.2 0-10 Open wait time (sec)
Pre-out timing of electric off
Parameter No.3 0-1
0:Order to time / 1:Order to distance

SEAMEND[1,1,0] FN246;Seam weld end
See
SEAMST: Seam weld start (FN245)
SEAMSPD： Seam electrode speed (FN247)
WELDCND: Spot condition output (FN33)
Command name SEAMSPD

FN code 247
Title name Seam electrode speed
General
Set the electrode rotation speed while welding.
description
Fundamentally, the rotation speed of electrodes are automatically controlled after seam welding start function execution to
become the speed corresponding to a robot's speed. However, the speed of electrodes can be specified by this command to
tune speed only for a specific part finely.
Function execution point
Robot speed
(Welding speed)
Rotation speed
of electrode Set speed
Synchronous control Fixed speed control
■ Parameter
Speed 1
Parameter No.1 0-1000
Welding speed of move-side electrode.
Speed 2
Parameter No.2 0-1000
Welding speed of settle-side electrode.
The Unit of Parameter No.1 and No.2 are changed by the parameter, “unit of velocity” in [Constant menu] [Spot Welding
Application] [Seam Welding] monitor. Details is explained by the manual of Seam Welding.

SEAMSPD[30,30] FN247;Seam electrode speed
See
Command name EQUALIZECLR

FN code 248
Title name Equalize clear
General description The equalize setting clear.
The equalize setting set by the EQUALIZE; Equalize value (FN287) function is cleared.
■ Parameter
Parameter This parameter specifies the welder number.
Welder No.
No. 1 (1–6)

EQUALIZECLR[1] FN248 ; Equalize clear
See
SPOT ; Spot welding (FN119)
TIPDRESS ; Tip dress (FN265)
EQUALIZE ; Equalize value(FN287)
Command name PALLET3

FN code 249
Title name Palletize start
General Start palletizing based on the pre-designed palletizing
description pattern.
When this function command is executed, the specified palletizing can be started.
It is executed in tandem with the FN250 "Palletize end" command which is used to end palletizing.
As shown in the figure below, record “PALLET3: Palletize start” (FN249) in step N and “PALLET3 END: Palletize end” (FN250)
in step N+3.
StepN+3
FN48[1,0]
StepN+1
StepN+4
StepN
StepN+2
FN47[1]
Palletﾊﾟﾚｯﾄ
■ Parameter
Parameter No.1 Palletize No. This specifies the palletizing number to be executed. (1 to 100)
Palletize 0:palletize
Parameter No.2
type 1:de-palletize
Layer count O-signal No. for layer counter. (1 to 1024)
Parameter No.3
signal The counter is outputted by binary data. This number shows the last bit.
Work count O-signal No. for work counter. (1 to 1024)
Parameter No.4
signal The counter is outputted by binary data. This number shows the last bit.

PALLET3[1, 0, O1, O11] FN249 Palletize start
See
PALLET3_APR: Palletize approach selection(FN374)
PALLET3_OPT: Palletize optimize path(FN375)
PALLET3_SELGR: Palletize select grasp position(FN376)
PALLET3_GETREG: Get palletize register(FN377)
PALLET3_SETREG: Set palletize register(FN378)
Command name PALLET3_END

FN code 250
Title name Palletize end
General Finish palletizing based on the pre-designed
description palletizing pattern.
When this function command is executed, the specified palletizing work can be completed.
It is executed in tandem with the FN249 "Palletize start" command which is used to start palletizing.
As shown in the figure below, record “PALLET3: Palletize start” (FN249) in step N and “PALLET3 END: Palletize end” (FN250)
in step N+3.
Refer to the picture of FN249 PALLET3’s Help screen.
■ Parameter
Palletize No. This specifies the number of the palletizing operation which is to be ended. (1
Parameter No.1
to 100)
Completion
Parameter No.2 When the palletizing finishes all works, this O-signal is outputted. (1 to 1024)
signal

PALLET3_END[1, O11] FN250 Palletize end
See
Command name PALLET3_RESET

FN code 251
Title name Palletize reset
General The palletize counter is forcibly reset. (palletizing
description operation is forcibly terminated)
The specified palletize counter can be forcibly reset (cleared to zero).
If this function is executed while palletizing is under execution, the palletizing is forcibly terminated.
● Signals
When this function is executed, layer counter signal and work counter signal are cleared. And ACK signal is turned on.
■ Parameter
Parameter No.1 Palletize No. This specifies the palletizing number to be reset. (1 to 100)

PALLET3[1] FN251 Palletize reset
See
Command name PAUSEINPUT

FN code 252
Title name Pause Input
The robot is pause when the designated [Pause
General description
input] signal is turned off.
The robot enters the state of the standby if the designated input signal is turned off when this function is effective. Moreover,
when the designated input signal is turned on, the robot restarts operation.
■ Parameter
Parameter No. 1 1～4 Signal No.
Parameter No. 2 0～1 enabled/disabled(1/0)

PAUSEINPUT[4,1] FN252;Pause Input
Command name MULTIM

FN code 264
Title name Multi Output signal
This command is used to set the pre-defined
General description multiple output signals to ON or OFF using the
binary format.
When this function command is executed, it is possible to set any general-purpose output signals (O1 to O2048) to ON or OFF
using the binary format.
Up to 16 general-purpose output signals (O1 to O2048) are combined in any way, and by defining them as a group (multiple
output signals) and specifying a number, these multiple output signals are set to ON or OFF using the binary format. This
command differs from the OUT: binary format output signal (FN44) command in that up to 16 general-purpose output signals
forming a group can be combined in any way.
The group must have already been defined in the constants mode.
Robot path Step2 Step3 MULTIM (FN264)
Accuracy
Step1 Step4
Output signal (16bit)

Time
Strobe signal
40 msec 200 msec

immediately before.
As soon as the accuracy is matched, a 16-bit signal is output, and 40 ms later the strobe signal is output by a 200 ms pulse.
If the output data setting has exceeded the number of defined bits of the general-purpose output signals, the data is output
within the range of the number of bits defined. (Error stop does not occur.)
Definition of multiple output signals (constants mode)

The multiple output signals are defined ahead of time by input/output signals/output signal assignment/compound output
signals in the constants mode. Compound output signals can be defined in 96 different ways from 5101 to 5196, and one
compound output signal is formed by combining up to 16 general-purpose output signals.
Bit0 Bit7
Bit8 Bit15
Names can be given just like with general-purpose output signals.
The output data (0 to 65535) specified by the function command (FN264) is converted into a 16-bit binary value, and the
general-purpose output signals concerned are set to ON or OFF. In order to provide the read timing of the output signals, one
strobe signal can be defined in addition to the 16 general-purpose output signals. (If this signal is not going to be used, its
number is zero.) It is not possible to specify other multiple output signals as signals which configure multiple output signals.
■ Parameter
This specifies the numbers of the multiple output signals to be output. It is defined in
advance in the constants mode.
No. 1 number
(5101 – 5196)
Parameter This specifies the data to be output in the binary format by the multiple output signals.
Output data
No. 2 (0 – 65535)
MULTIM [05102, 65535] FN264; Multiple output signals
See
OUTDIS: Discrete format output signals (FN43)
OUT: Binary format output signal (FN44)
Command name TIPDRESS

FN code 265
Title name Tip dress
General description Execute the tip dress of spot welding gun
During the course of welding, the tips of the electrodes eventually wear down and their shapes change. Since the shape of the
electrode tips determines the current density of the current-carrying path, proper welding cannot be performed if the electrodes
have worn down.
Therefore, before the wear amounts become significant and the welding quality is impaired, the electrodes must be ground and
reshaped. This work is known as “tip dressing”. A machine called a “tip dresser” is used to dress the tips. It has a rotary blade
matching the shape of the electrodes.
The electrodes are ground by rotating the rotary blade while pressure remains applied to the blade by the spot welding gun.
Normally, tip dressing is taught so that it is performed when the prescribed number of welding times or cycles have been
executed.
The tips are generally dressed by executing welding operations in the welding OFF status. For the rotational direction and
speed of the dresser and the time to be controlled, an interface using I/O signals between the robot controller and tip dresser is
required.
This function, which utilizes the characteristics inherent to a servo gun, divides the tip dressing cycle into six periods, two of
which are the tip dressing start time and the initial pressurizing time. By specifying the servo gun welding force and rotational
speed of the tip dresser for each of these periods, the function achieves high-quality tip dressing without using an external
sequencer.
Tip Dress Parameters

Initial/pre/real/finish pressure
Initial/pre/real/finish press time
Dressing start & stop
Dressing speed Spot welding
Over pressing amount gun
Pressing speed
Tip
Dresser Tip dress normal
Inputs FN265
Tip Dress
Function
Outputs
Tip dress forward rotation Press &

Tip dress reverse rotation Pressure control
Tip dress rotating speed
Tip dressing
Tip dress normal
Proceed with the same teaching as for the spot welding function (FN119). Record the positions where contact has been made
on the tip dresser at both the moving and fixed sides, and record the tip dressing function TIPDRESS (FN265) in the step
concerned.
When TIPDRESS(FN265) is executed, pressure and rotating speed of tip dresser is controller under the condition that is
defined in Service / 20 Spot welding application / 3 Tip dress.
Servo gun
Pressure
Initial Real
pressure pressure Finish
Pre-pre pressure
ssure time
Tip Dresser
Rotating Speed
Rotation 3
Rotation 2
Rotation 4
Rotation 1 time
Tip dress Initial-press Pre-press Real press Finishing Tip dress

start time time time time time Stop time
<output signals>
Tip dressing
Rotation 1
Rotation 2
Rotation 3
Rotation 4
The tip dressing signal is set to ON from the dress start time to the dress
stop time.
The rotational speed 1 signal is set to ON during the dress start time and
initial time. The rotational speed 2 signal is set to ON during the preliminary
time, and the rotational speed 3 signal is set to ON during the main time.
The rotational speed 4 signal is set to ON during the finishing time and
dress stop time.
(In the case of an air gun, the pressurizing force itself may be treated
as the output data of the pressurizing control signals.)
Input & output signals should be assigned in Constant setting / 3 Input & output / 2 Input signal assignment or 3 Output signal
assignment.
■ Parameter
Parameter Welder
This is used to specify the number of the tip dressing welder. (1-6)
No. 1 number
Tip dressing
Parameter
sequence is used to specify the sequence number to be used for tip dressing.(1-8)
No. 2
number

TIPDRESS[1,3] FN265; Tip dress
See
SPOT; Spot welding (FN119)
Command
SPOT2
name
FN code 268
Title name Spot welding
Used to output welding signals according to the set
Outline
sequence.
Outline
By recording the spot welding function in steps in which welding is carried out, spot welding can be carried out in the steps
specified. Using this function enables the controller to program timing for outputting welding control signals such as
pressurization signal, weld start signal, and stroke signal without using any external programmable logic controller. In addition,
making setting of multiple welding conditions and welding sequence enables detailed welding control by welding point.
This function is used for both air guns and servo guns.
Examples of motions
Welding with air gun:
Passing preceding recording point Weld recording point Executing next step
Moving-side
electrode
Fully open
Half open
Fixed-side
electrode
Timing for stroke
(pressurization)
Fully-open signal
Half-open signal Timing for weld condition signal

(welding) + 0.02 sec.
Weld condition signal Save
Timing for pressurization signal
OFF
Pressurization signal
Pressure control signal Timing for weld start signal
Weld start signal
Weld completion (WI) Timing for starting robot movement
Timing for releasing gun Weld completion waiting time

Welding sequence (with air gun)
Welding with servo guns:
Passing preceding recording point Weld recording point Next recording point
Moving-side Recording FN268

electrode
Stroke (after weld completion)
Stroke (for pressurization)
Moving-side clearance
Fixed-side clearance
Fixed-side
electrode
Fully-open signal
Half-open signal
Weld condition signal Fixed at 0.02 sec.
Pressurization signal
Pressure control signal Timing for

pressurization signal
Weld start signal
Weld completion (WI)
Timing for releasing gun Weld completion waiting time Timing for starting robot movement
Welding sequence (with servo gun)
Parameters
Weld
Used to make setting of welding condition output data.
Parameter 1 condition
output data
Weld Used to make setting of welding sequence number and also determine timing for
Parameter 2 sequence outputting pressurization signal, weld start signal, and stroke signal.
No. (Setting range: 1 to 64)
Used to make setting of gun pressure for pressurization. This parameter is ignored for
Parameter 3 Pressure welding with air gun.
(Setting range: 0.5 to 10.0 [kN], or 50 to 1,020 [kgf] depending on the selection of unit)
Used to make setting of thickness of plate to be welded.
Parameter 4 Thickness
(Setting range: 0 to 20.00 [mm])

SPOT2[1, 2, 1.5, 0.7] FN268: Spot welding
Related commands
GSEA: Servo gun weld point search (FN167)
Command name SGTIPRST

FN code 270
Title name Reset servo gun tip consumption
General description Reset the tip consumption of designated servo gun
The tip consumption amounts can be cleared to zero using a function command. (They cannot be preset to the desired values.)
When the electrodes are to be replaced automatically, record this function command in the electrode replacement program.
Please refer to GSEA: Servo gun search (FN167) for the detail of Servo gun search.
When SGTIPRST (FN270) is executed, the moving tip or settled tip or both tip consumption of designated servo gun is reset.
Also, the tip consumption amounts can be cleared to 0 by the following method.
・ R code (R339)
・ Manual operation
・ Input signal
■ Parameter
Parameter Gun number This parameter specifies the number of the gun whose tip consumption amounts are to
No. 1 be reset. (1–31)
Tip selection This parameter specifies the tip whose amounts is to be reset. (0–2)
0: The consumption amount of only the moving side electrode is reset.
Parameter
1: The consumption amount of only the settled side electrode is reset.
No. 2
2: The consumption amounts of both the moving side and settled side electrode are
reset.

SGTIPRST[1,0] FN270; Reset servo gun tip consumption
See
GSER_ORDER: Servo gun search order (FN229)
Command name INPUT

FN code 271
Title name Strings input
This receives the character string data from the
Outline specified communication (serial) port, and holds it in
the specified character string variable.
When this function command is used, a character string which is input from the specified serial port can be read and then
stored in the specified character string variable. Only character strings consisting of up to 100 single-byte alphanumerics per
string can be read.
The robot stops until the input process of the character string is completed. If the process of inputting the character string could
not be completed even after the timeout time has elapsed, it is aborted, and execution is transferred to the next step.
When the step where the "INPUT: Strings input" (FN271) command is recorded is played back, the robot checks the
positioning and then waits for the data input from the specified serial port.
When any data is received during the specified timeout time, the received data is stored in the specified character string
variable. The standby status is released, and the robot moves to the next step.
If no data is input even after the timeout time has elapsed, the robot simply moves to execute the next step.
■ Parameter
Parameter Port number This is used to specify the number of the input destination port.
No. 1 At the present time, only port 1 can be used. (1 to 1)
Character string This is used to specify the number of the character string variable in which the
Parameter
variable number received character string is to be stored.
No. 2
(1 to 100)
Parameter Connection This is used to specify the timeout time.
No. 3 time out (1.0 to 60.0 sec.)

INPUT[#1, V100$, 45.5] FN271; Strings input
See
PRINT: Strings output (FN101)
RSCLR: RS232C Buffer clear (FN111)
Command
CNVYSYNCCHG
name
FN code 274
Title name Conveyor synchronize select
Used to select a mechanism that is synchronized with
Outline the conveyor with the conveyor synchronization
function.
Outline
Using this application command makes it possible to specify a mechanism that follows the conveyor with the conveyor
synchronization function.
If this application command is not used, such mechanism will be determined in the order of slider and manipulator included in
the targeted unit. The mechanism is automatically selected in such a manner that the slider moves to the motion range in
synchronization with the conveyor, and then the manipulator is synchronized with it.
Example of motion
Enter a mechanism number that you want to synchronize with the conveyor.
Parameters
Mechanism Used to make setting of mechanism that is synchronized with the conveyor.
Parameter 1
Setting “0” to the mechanism number that you want to synchronize will return the system to the default state:
Default: The mechanism is automatically selected in such a manner that the slider moves to the motion range in
synchronization with the conveyor, and then the manipulator is synchronized with it.

CNVYSYNCCHG[2] FN274: Conveyor synchronize select
Command name LOCCVT3

FN code 275
Title name Base angle shift
The start or end of the shift operation is specified.
Outline operation is performed on the basis of the shift
amount stored in the specified shift register.
shift amount data stored in the specified shift register. If the shift amount data has not been set in the specified shift register, it
is possible to jump to the shelter step. Alternatively, the robot can be stopped immediately without escaping.
It is similar to FN52 (shift 2) excluding the thing that the shift processing method and the shift are always done in the machine
coordinate system.
■ Operation example
The shift beginning is recorded at position Step N where the shift wants to begin as shown in the figure below and the shift
end is recorded in position (Step N+2) 'which wants to end shifting. The robot reads the content of the shift register specified
with FN275 after it reaches step N, and faces position (Step N+1) 'by which the following target position Step N+1 is shifted
when reproducing. The robot works as a target position, position where the record position was similarly shifted to position
(Step N+2) 'where the shift end is recorded.(solid line tracks of figure below)
The shift is done in the machine coordinate system regardless of the coordinate system selection.
(Step N+2)’
(Step N+1)’ FN275(0,R1,N+6)
Step N+1 Step N+2

Ｚ
Step N
FN275(1,R1,N+6)
Ｙ
Step N+6 Step N+3
When FN275 is executed in step N, if the shift data is not set when the specified shift register is read, the robot faces the
shelter step (Step N+6) which is set with FN275.
■ About the shift operation

Ｘ
Ｘ’
WORK
Ｙ
Robot coordinate
Ｙ’
The work when teaching and the position of the robot are shown by the solid line. (Hereafter, explain by two dimensions for
the simplification of the explanation)
Two point chain line shows the thing which shifts more than the position of work teaches, and also shows the appearance by
which robot coordinate system (X'-Y') is described to become as the work when the shifting work is taught is the same as the
relative position between robots.
In the base angle shift,

1. It is assumed the one to show the amount of conversion of the robot coordinate system from robot coordinate system
(X-Y) shown by the solid line from which showed in 2 point chain line in amount (X,Y,Z,θx,θy,θz) of the shift. X, Y, and Z
correspond to the position of "Starting point of robot coordinate system (X'-Y')" in robot coordinate system (X-Y).
2. θx, θy, and θz are the amounts of the rotation in X axis, Y axis, and Z axis circumference respectively. The plus of ± of the
rotation is a direction to each coordinates axis as shown in the figure below where a right screw proceeds.
Ｚ
ＸＹ
3. Robot coordinate system (X-Y) sequentially
(1) θx rotation X axially of robot coordinate system (X-Y)
(2) θy rotation Y axially of robot coordinate system (X-Y)
(3) θz rotation Z axially of robot coordinate system (X-Y)
(4) X, Y, and Z translation in robot coordinate system (X-Y).
It becomes robot coordinate system (X'-Y') in robot coordinate system
■ Parameters
Parameter This is used to specify the start or end of the shift operation.
Start/End
This is used to specify the number of the shelter step when the shift amount data
Parameter Shelter step (0 to 10000)
No. 3 When 10000 is specified as the shelter step number, an alarm (A2118: “No data has
been input in shift register.”) results immediately with no escape operation performed,
and the robot can be stopped.
LOCCVT3 [１,R1,100] FN275; Base angle shift
See
This function begins processing before the record point reaches. Therefore, it is necessary to have been set before the shift amount data
processing.
When shift amount data is set by using SREQ: Shift amount request (FN51) or SREQ2: Shift amount request 2(FN315), it is better to record
WAITR: Wait shift value receive(FN127) before this function, to confirm the shift amount data is surely input.
Command name SPDDOWND

FN code 277
Title name Digital input speed override
The playback speed of the robot is changed in
Outline
accordance with digital input signals
With this function command, the playback speed of the robot can be changed in accordance with digital input signals. It is
necessary to design the velocity override patterns (Constant Setting / Signals / Velocity override depend on input) and allocate
input signals beforehand in the "Constant Setting" mode.
Four digital input ports are provided, any of which can be specified.
In the following diagram, record "SPDDOWND (FN277) / Start" in steps 4 and 7, and "SPDDOWND (FN277) / End" in step 9.
When this is played back, the velocity override is performed by digital input signals in the sections indicated by the bold lines in the
diagram. As far as step 6 the operation is performed in accordance with the port 1, and as far as step 8 in accordance with the port
2. Thus, the command played back later has priority.
Step 4 Step 7
SPDDOWND: SPDDOWND:
Digital input speed override Digital input speed override
Start, port1 Start, port2
3 5 11
2 10
6
8
The velocity
1 override is enabled
in the steps Step 9
indicated by bold SPDDOWND:
lines Digital input speed override
End
If the rate of velocity override by f keys and R codes is set to 50% and that by input signals set to 50%, the actual rate of
velocity override is 25% (50% x 50%).
The velocity override by analog input (FN169) is also available, yet this cannot be used together with the SPDDOWND
command.
■ Parameter
Parameter Specify whether to start or end the velocity override by input signals.
Start/end
No. 1 (1: Start, 0: End)
Parameter Select the digital input port to refer to from the four ports. It is ignored when "0: End" is
Input port No.
No. 2 selected as the setting of the parameter No.1. (1 to 4)

SPDDOWND[1,4] FN277; Digital input speed override
The correspondence between digital input signals and speed override must be designed beforehand using "Constant Setting
→ Signals → Velocity override depend on input". The velocity override by input signal cannot be set over 100%.
In addition, 7 bits per port must be allocated to the digital input signals (Constant Setting → Signals). The speed override is
executed by reading out this signal in the binary format and referencing the above table.
If not even one digital input signal has been allocated, the speed override will not function.
See
SPDDOWNA: Analog input speed override (FN169)
Command name DOUT

FN code 278
Title name Digital output
The TCP (robot tool center point) linear speed and
Outline other data are output using general-purpose output
signals.
When this function command is used, the TCP (robot tool center point) linear speed and other data can be output to an external
device as 12-bit digital values (0 to 4095) using general-purpose output signals. They are useful for sealing and other applications.
The TCP speed, a direct specification or OFF can be selected as the output data.
The output signals must be allocated in advance (⇒ Constant Setting/Signals). When the TCP speed has been specified, the
TCP speed output data must be designed ahead of time (⇒ Constants/TCP speed data).
One output port is provided for each TCP speed output pattern. (6 ports)
This command can be executed before the recorded point is reached. Specify its amount as a time or distance.
Step 7
DOUT: Digital output
（FN278）
Step 6
●
DOUT Step 8
execution ●
timing First-out can be
specified by time or
Step 5 distance
●
Digital output
Speed pattern 1 DOUT function General-purpose

command (fixed output signals
match) Port 1 (12 bits)
Port 2 (12 bits)
Speed pattern 6
Port 3 (12 bits)
Port 4 (12 bits)
Port 5 (12 bits)
Port 6 (12 bits)
Record the DOUT command (FN278) in steps 2, 5, 7 and 11 in the figure shown below.
When the program is played back, the output changes to the specified data each time the DOUT command (FN278) is
executed. The output value remains unchanged at those steps in which the DOUT command (FN278) has not been recorded.
DOUT DOUT DOUT DOUT
[TCP speed] [Number A] [TCP speed] [OFF]
１３
2 5 7 11
END
Step ● ● ● ● ● ● ● ●
1 3 4 6 8 9 10 12
4095 Voltage proportionate

Voltage A to TCP speed
Output voltage
Time
(The same applies for

0 analog outputs as well.)
If a first-out time of 0.2 sec. has been specified in the DOUT command of step 7 in this example, the output changes from
numerical data A to the TCP speed 0.2 sec. before the robot reaches step 6 (the previous movement command).
In the teach mode, any data can be output by performing a manual operation (shortcut R278).
The data which is output last is held even if the mode is switched between teach and playback mode.
■ Parameter
Parameter This is used to specify the number of the output signal port from which data will be
Port number
No. 1 digitally output. (1 to 6)
This is used to specify the type of data to be output digitally. (0 to 2)
Parameter Output signal 0: OFF (“0” is output)
No. 2 type 1: TCP speed
2: Directly specified
Parameter
Output data (With digital outputs, the speed pattern numbers and output signal port numbers
No. 3
correspond on a 1:1 basis.)
Directly specify the output data.
(0 to 4095)
This enables the output to be started before the recorded point is reached. Select the
Parameter specification method. (0 to 1)
Pre-out type
No.4 0: Specified as a time
1: Specified as a distance
This is used to initiate pre-out using a negative numerical value.
Parameter
Pre-out data Specify it as a time. (–1.0 to 0 sec.)
No. 5
Specify it as a distance. (–500 to 0 mm)

DOUT[2,1,0,1,-100] FN278; Digital output
See
AOUT: Analog output (FN046)
DPRESETM: Distance specification output preset (FN280)
Command name SGSPRT

FN code 279
Title name Servo gun separation
General description Servo gun separated status is changed.
Separate the servo gun from the robot.
During servo gun separating, because the servo gun axis is separated from the robot, at the external signal it
becomes possible to operate.
At external play stop and emergency stop, it stops also the servo gun axis.
External operation)
Ext. squeeze, Wide open, Small open, Ext. gun search1～3
During servo gun separating, because the servo gun

axis does not operate to record position of the
CAUTION
program, step set and program set etc. please keep
noting sufficiently.
■ Parameter
Parameter No. 1 1～6 Welder No.
Parameter No. 2 0～1 Separation/Release(1/0)

SGSPRT[1,1] FN279;Servo gun separation
■ Status display
During servo gun separating, icon is indicated.
Command name DPRESETM

FN code 280
Title name Advanced output (distance)
General description general-purpose output signals with advancing
distance
ON or OFF. And this enables advanced output designated by distance from the recorded point.
Robot path Step2 Step3
Accuracy DPRTESETM(FN280)
Advancing
distance
Step1 Step4
Output signal
Time
In advanced output, the output can cover plural MOVE steps. Advancing distance is calculated linear length from recorded
point, so if MOVE step is recorded by JOINT output point differs from the real moving length of robot TCP.
■ Parameter
This specifies the number of the general-purpose output signal which is to be set to ON
or OFF.
No. 1 number
(1-2048)
Parameter "1" is specified for ON, and "0" for OFF.
ON/OFF
No. 2 (0-1)
This specifies the output advancing timing that is designated by the linear
Parameter
No. 3
Output timing length from the recorded point.
(-500 - 0) [mm]

DPRESETM[2048,1,-100] FN280; Advanced output (distance)
See
ALLCLR; All output signals clear (FN0)
SET; Output signal ON (FN32)
SETM; Output signal ON/OFF (FN105)
SETMD; Output with pulse or delay ON/OFF (FN35)
Command name WELDGRP

FN code 282
Title name Weld condition with group
Used to designate the welding condition group
General description
number for the welding function (FN119).
When this function command is executed, the weld controller number to be used by the welding function (FN119) and the
welding condition group number are designated.
1 REM[TEST] FN99: Comment

2 WELDGRP[1,2] FN282: Weld condition w
3 100 % LIN A1 T1
4 SPOT[1,1,1,0] FN119: Spot welding
5 100 % LIN A4 T1
6 100 % LIN A4 T1
7 WELDGRP[1,3] FN282: Weld condition w
8 100 % LIN A4 T1
9 SPOT[1,1,1,0] FN119: Spot welding
10 100 % LIN A1 T1
11 END FN99: End
Group No.2 designated in step 2 is enabled until step 6.

Group No.3 is enabled from step 7 to step 11.
Caution of check back

Beware that weld group No. may be different from that of normal playback.
- In case of check-go from step 0
FN119 of step 4 is executed on the group No.2.
- In case of check back from step 11
FN119 of step 4 is executed on the group No.3.
Utilize the shortcut R371 that can change group No. manually.
If spot welding command is executed without designating spot weld condition group number,
Alarm “A2063: Weld condition group number is not set.” is detected and robot stops. FN282 must be recorded
before FN119.
■ Parameter
Parameter Welder This specifies the weld controller number. Its maximum number is according to the
No. 1 number registered data.
Parameter This specifies the weld condition group number.
Group number
No. 2 (1 to 16)

WELDGRP[1,1] FN282; Weld condition w/group
)
See
Command name EQUALIZE

FN code 287
Title name Equalize value
This command is used to the equalizing motion as
General description
defined by the servo gun.
This command is used to the equalizing motion as defined by the servo gun.
1. The equalize start is order position to before the pressing motion.
2. The equalize end is order the open position to after the pressing motion.
Moving tip
Welding Equalize end :

Equalize start : Move-tip
Move-tip
WI
Equalize start :
Settle-tip Equalize end :
Settle-tip
Settled tip
Spot welding command and tip dress command is referring to after this command.
A Step zero, EQUALIZECLR; Equalize clear (FN248) is executed to the release of this command.
And, you can confirm current equalize setting by Servo gun data monitor and Equalize confirmation / clear (R376).
■ Parameter
Parameter This parameter specifies the welder number.
Welder No.
No. 1 (1–6)
This is used to specify the equalizing motion as defined by the pressing start position
Parameter Equalize Start : by moving tip.
No. 2 Move-tip Range: Clearance Limit : move-tip – Large opening end(#1)
Initial value: Clearance : move-tip
This is used to specify the equalizing motion as defined by the pressing start position
Parameter Equalize Start : by settled tip.
No. 3 Settle-tip Range: Clearance Limit : settle-tip – Large opening end(#1)
Initial value: Clearance : settle-tip
This is used to specify the equalizing motion as defined by the open position by
Parameter Equalize End : moving tip.
No. 4 Move-tip Range: Clearance Limit : Move-tip – Large opening end(#2)
Initial value: Clearance : move-tip
This is used to specify the equalizing motion as defined by the open position by
Parameter Equalize End : settled tip.
No. 5 Settle-tip Range: Clearance Limit : settle-tip – Large opening end(#2)
Initial value: Clearance : settle-tip
#1 [Equalize Start: Move-tip + Equalize Start: Move-tip] value is limited the Large opening end value.
#2 [Equalize End: Move-tip + Equalize End: Move-tip] value is limited the Large opening end value.

EQUALIZE[1,5,5,20,20] FN287 ; Equalize value
See
SPOT ; Spot welding (FN119)
TIPDRESS ; Tip dress (FN265)
EQUALIZECLR ; Equalize clear(FN248)
Command name DYNCALIBROB

FN code 295
Title name Robot calibration
Outline Start/End calibration cycle
This function calibrates the robot using the DynalogFMS. This makes it possible to improve the accuracy of a robot program.
IF the [FN296 Measurement point] is executed after starting a calibration cycle, the current position of the TCP will be
measured. If the calibration cycle is finished after the measurement of each point, the characteristic of the robot will be
calculated automatically and the robot program will be compensated based on the result.
When the step where the "DYNCALIBROB: Robot calibration" (FN295) command is recorded is played back, the robot checks
the positioning and then waits for the Reply data from Dynalog PC.
When any data is received during the specified timeout time, the standby status is released, and the robot moves to the next
step.
If no data is input even after the timeout time has elapsed, the robot jumps to the specified escape step.
■ Parameter
Calibration When “1” is designated, a calibration cycle will be started.
Parameter
Start/Finish When “0” is designated, a calibration cycle will be finished.
No. 1
(0 –1 )
Parameter Alphanumeric character
Robot program name
No. 2 (Max 8 characters)
Vision model name
This specifies the wait unit in seconds.
Parameter
Wait time IF “0” is designated, the robot will forever.
No. 4
(0.0 – 300.0)
This specifies the number of the step to which the robot is to jump if condition
Parameter is not satisfied even though the wait time has elapsed. Any step in the same
Escape destination step
No. 5 program can be designated.
(1 – 9999)

DYNCALIBROB
FN295; Robot Calibration
[1,program1,modelA,5,15]
See
DYNMESPOS: Measurement point (FN296)
Command name DYNMESPOS

FN code 296
Title name Measurement point
The Dynalog PC to take a measurement of the current
Outline
position of the robot’s TCP
This function calibrates the robot using the DynalogFMS. This makes it possible to improve the accuracy of a robot program.
If this function is executed after starting a calibration cycle [FN295 Robot calibration], the current position of the TCP will be
measured. If the calibration cycle is finished [FN295 Robot calibration] after the measurement of each point, the characteristic
of the robot will be calculated automatically and the robot program will be compensated based on the result.
When the step where the "DYNMESPOS: Measurement point" (FN296) command is recorded is played back, the robot checks
the positioning and then waits for the measurement completion data from Dynalog PC.
When measurement completion data is received during the specified timeout time, the standby status is released, and the
robot moves to the next step.
If no data is input even after the timeout time has elapsed, the robot jumps to the specified escape step.
■ Parameter
Parameter Robot position name Alphanumeric character

Vision target name
Parameter This specifies the number of the pin
Pin number
No. 3 (1 – 9)
Segment name
This specifies the wait unit in seconds.
Parameter
Wait time IF “0” is designated, the robot will forever.
No. 5
(0.0 – 300.0)
This specifies the number of the step to which the robot is to jump if
Parameter condition is not satisfied even though the wait time has elapsed. Any step in
No. 6 the same program can be designated.
(1 – 9999)
DYNMESPOS
FN296; Measurement Point
[point1,targetA,1,segmentA,5,10]
See
DYNCALIBROB: Robot calibration (FN295)
Command name CHGMEC

FN code 301
General description Connect or disconnect the designated mechanism
About mechanism change itself, please refer to description of function CHGGUN; mechanism change (FN95).
CHGGUN (FN95) is dedicated to mechanism 2 only, but on the other hand mechanism can be designated on CHGMEC
(FN301).
This point is only difference between CHGGUN (FN95) and CHGMEC (FN301).
Please refer to CHGGUN; mechanism change (FN95).
■ Parameter
Parameter Mechanism Specify the mechanism number to be connected or disconnected. (1-9)
No. 1 number
Connect / This is used to specify whether the mechanism is to be connected or disconnected.
Parameter
Disconnect O; Connect
No. 2
1; Disconnect

CHGMEC[2,0] FN301; Mechanism change
See
CHGGUN; Mechanism Change（designated to mechanism 2 only）(FN95)
Command
CHGXXMEC
name
FN code 302
Outline Used to select a mechanism to be operated manually.
Outline
For mechanism change, refer to information on the Application Command CHGXXGUN: Mechanism change (FN238).
While the CHGXXGUN (FN238) is a command dedicated to Mechanism 2, the CHXXMEC (FN302) can specify arbitrary
mechanisms.
Except for that point, this command is the same as the CHGXXGUN (FN238).
Example of motion
For detail, refer to information on the Application Command CHGXXGUN: Mechanism change (FN238).
Setting the Parameter 1 to Mechanism 2 will provide exactly the same motion as that provided by the CHGXXGUN (FN238).
Parameters
Used to make setting of mechanism number to perform change operation.
Parameter 1 Mechanism No.
Sub-mechanism Used to make setting of sub-mechanism number.
Parameter 2

CHGXXMEC[1,31] FN302: Mechanism change
Related commands
CHGXXGUN: Mechanism change (dedicated to Mechanism 2) (FN238)
Command
SYNCSPOT
name
FN code 303
Title name Spot sync welding
Outline Used to weld with two servo guns at a time.
Outline
This is a command to control special servo gun that enables welding at two weld points at a time as one of multi gun system
patterns. Since this command enables spot welding at two points at a time, cycle time can be significantly reduced.
There are limits to workpiece shapes that can be welded.
For detail of multi-gun synchronous welding, refer to information in the “Multi-gun synchronous welding” section in
the “APPLICATION MANUAL / SPOT WELDING”.
Parameters
Parameter 1 Welder No. Used to makes setting of welder number used for welding. A gun set with this
parameter serves as the master for synchronous welding.
Parameter 2 Weld condition Used to make setting of welding condition number that determines the pressure,
No. welding condition signal, and others of a gun set with the Parameter 1.
Parameter 3 Weld sequence Used to make setting of welding sequence number that determines timing for
No. outputting the pressurization signal, weld start signal, and stroke signal a gun set with
the Parameter 1.
Parameter 4 Welder No. Used to makes setting of welder number used for welding.
Parameter 5 Weld condition Used to make setting of welding condition number that determines the pressure,
No. welding condition signal, and others of a gun set with the Parameter 4.
Parameter 6 Weld sequence Used to make setting of welding sequence number that determines timing for
No. outputting the pressurization signal, weld start signal, and stroke signal a gun set with
the Parameter 4.
Parameters 7 Welder No. Used to make settings of welder number, welding condition number, and welding
to 18 Weld condition sequence number for the third and later welders following the setting procedure for
No. the first and second welders.
Weld sequence
No.
Parameter 19 Weld point No. Used to control weld points. If a weld fault occurs, the relevant weld point number will
be output, thus making it possible to identify the weld point. To disable this function,
set this parameter to “0”.

SYNCSPOT[1,1,1,2,1,1 →] FN303: Spot sync welding
Related commands
Command name ALIGMENT

FN code 304
Title name Alignment
This command controls the start and end of the
Outline
alignment function.
This command controls the start and end of the alignment function.
From the Parameter No.3 onward, the values are automatically substituted in when the alignment standard is written.
When the function is recorded, they must be set to zero.
[Unload direction 1]
In case the sensing position and the unload position are on the same
side, relative to the slider axis.
Sensor
Sensing pos. Unload pos.
Slider
axis
Sensor
Sensing pos.
Slider
axis
Unload pos.
[Unload direction 2]
In case the sensing position and the unload position are on the
opposite side, relative to the slider axis.
About rotary alignment shift action (The same applies to both right and left alignment.)
The rotary alignment shift action is used to carry out the shifts (1) to (3) shown below at a time.
(1) Used to carry out a shift by the amount of misplacement of the glass in the rotation direction (the direction of the J3 axis).
∗ For the right and left alignment, this shift amount [DEG] is stored to the set real variable number.
Shift of rotary axis – Plan view
Negative direction
Insertion direction
Positive direction
Glass position for alignment
Standard glass position
(2) Used to carry out a shift by the amount of misplacement of the glass in the front and back directions (the direction of the J5
axis for the hand on the right side or that of the J4 axis for that on the left side).
∗ For the right and left alignment, this shift amount [DEG] is stored to the set real variable number.
Shift of front-back axis
- Plan view
Positive direction Negative direction
Insertion direction
(3) Used to carry out a shift by the amount of misplacement of the glass in the lateral direction (the direction of the slider axis).
∗ For the right and left alignment, this shift amount [mm] is stored to the number of the set real variable number plus 2.
Shift of slider axis J3＝90°

- Plan view ＋
Positive direction
Insertion direction
Negative direction
Standard glass position －
■ Parameters
Parameter Start/ end Set 1 to start alignment and 0 to stop it.
No.1
Parameter Shift type Set the type of shift.
No.2 0: Rotary shift
1: Parallel shift, fixed sensor 1, unload direction 1.
Parameter Set standard Indicates whether alignment standard writing has been completed.
No.3 value When the function is set, it must be set to zero.
Parameter Standard 1 When the function is set, it must be set to zero.
No.4
Parameter Standard 2 When the function is set, it must be set to zero.
No.5

ALIGNMENT[1,0,0,0,0] FN304; Alignment
See
ALIGNR ; Right alignment (FN320)
ALIGNL ; Left alignment (FN321)
ALIGNT ; Slider alignment (FN322)
Command name MAPPING

FN code 305
Title name Mapping
This command controls the start and end of the
Outline
mapping function.
This command controls the start and end of mapping.
■ Parameters
Parameter Start/ end Set 1 to start mapping and 0 to stop it.
No.1
Parameter Cassette Set the cassette number.
No.2 number (1 - 32)

MAPPING[1,0,0,0,0] FN305; Mapping
See
Command
GETTIPCON
name
FN code 306
Title name Get tip consumption
Outline Used to get tip consumption amount.
Outline
Using this command makes it possible to get the consumption amounts of the moving- and fixed-side gun tips.
Parameters
Used to make setting of gun number which you want to detect the tip consumption
Parameter 1 Gun No. amount.
Moving-side Used to make setting of variable in which the consumption amount of the moving-side
Parameter 2 save variable tip is saved.
Fixed-side Used to make setting of variable in which the consumption amount of the fixed-side
Parameter 3 save variable tip is saved.

GETTIPCON[1,V1!,V1!] FN306: Get tip consumption
Related commands
Short-cut (R code)
R code 307
Title name Press brake shelter
This executes retreat actions after work process, in the
Outline
press brake synchronization function.
■ Outline
When this function is used, the tool tip coordinates of the first manipulator registered in the unit are taken into real
variables. The robot moves to the position with addition of the "retreat distance" of the press brake data to the coordinates.
At movement, it retreats at the speed designated by the "retreat distance" of the press brake data.
■ Action example
Parameter Conveyor This designates a conveyor number registered as press brake. (1-2)
No.1 number
This designates the start number of the real variables to store the current robot
position values (X, Y, Z, R, P, Y). (1-195)
The position values are stored to 6 real variables sequentially from the designated
real variables.
Parameter Real variable V![Start variable number] =X
No.2 number V![Start variable number+1] = Y
V![Start variable number+2] = Z
V![Start variable number+3] = R
V![Start variable number+4] = P
V![Start variable number+5] = Y
■ Screen display example

PRSS[1,V1!] FN307; Press brake shelter
Reference
PRSD; Read press data (FN308)
Command
PRSD
name
FN code 308
Title name Read press data
This reads a press brake synchronization setting file, in
Outline
the press brake synchronization function.
■ Outline
When this function command is executed, the synchronization data registered in PRESS.CON file is read.
■ Action example
No.1 number
Parameter Press data This designates a press condition number to be read. (1-10)
No.2 number

PRSD[1,10] FN308; Read press data
Reference
PRSS; Press brake shelter (FN307)
Command name SETVELO

FN code 309
Title name Set velocity
This command is used to set the speed in an
General description
endless axis.
Only one-axis mechanism can use the function. And it must be set an endless axis. Allowed endless type is an speed control
type or change control type.
The rotation speed of an endless axis can be freely changed between arbitrary record points.
When this function is used for a change control type endless axis, it is necessary to change the velocity control by the
CHGENDLESS; Change endless control (FN373).
■ Parameter
First parameter Explanation
Mechanism No. This specifies the mechanism number of an endless axis. (1-9)
Second parameter Explanation

This specifies the number of rotations of deceleration machine output sides.
Velocity
Maximum speed is different depending on the specification of the axis.

SETVELO [2,500] FN309; Set velocity
See
CHGENDLESS; Change endless control(FN373)
Command name INH

FN code 310
Title name INHIBIT
General description Execution is controlled ahead.
This function code is used combine with the input functions such as INP, INPB, GETSIG, and GETSIGB, of the robot
language and the signal acquisition timing may be matched to actual step execution.
In the AX controller, the step execution processing is done in AX to make the robot work smoothly, and the robot works
follows to it.
Therefore, a part of application instruction is executed earlier than the displays executing. (execution step ahead)
・
・
・
M OVE
↓
M OVE Actual
executing step
↓
FU N CTIO N
↓
Executing step
FU N CTION
inside A X
controller ↓
M OVE
・
・
・
When this function is executed waits until execution is controlled the step ahead, and the execution step in AX is
corresponding to an actual execution step.
Afterwards, the step execution is restarted as usual.
・
・
・
M O VE
↓
Waits until the execution Actual
M O VE
step on the inside is executing step
corresponding to an ↓
actual execution step.
FU N CTION
↓
Executing step Actual
IN H(FN 310)
inside AX executing step
controller ↓
FU N CTIO N
After the step agrees, the
step execution is ・
restarted as usual. ・
・
■ Parameter
None

INH FN310; Inhibit
Command name SEAMTHICK

FN code 311
Title name Seam panel thick
General
Set the thickness of the work.
description
When performing seam welding on 3-dimensional space, a difference appears in the welding speed of move-side electrode
and settle-side electrode by the thickness of a work. According to this speed difference, the rotation speed of electrode can be
adjusted automatically, and welding by the optimal electrode rotation can be performed. In this command, the thickness of the
work used as the basement of the amount of compensation is specified.
When welding the work of 3-dimensional form as shown in the following figure by setting work board thickness by this
command, according to board thickness, the rotation speed of electrode can be changed automatically, and it can weld at the
electrode rotation speed optimal at a work contact surface.
Move-side electrode
Fast
The thickness of the work
Teaching
Settle-side Line
electrode Work
Slow
■ Parameter
Panel thickness[mm]
Parameter No.1 -100.0 - 100.0
Set the thickness of the work.

SEAMTHICK[0.5] FN311; Seam panel thick
See
SEAMST Seam weld start (FN245)
Command name FBUSREL

FN code 312
Title name Field bus release
In the field bus master, error detection
General description
Enabled/Disabled of the specified node is switched.
In the field bus function, when AX is used as master, the error detection is done in each slave connected with it. This function is
used to invalidate the error detection of a specific slave temporarily because of the mechanism change etc.
Enabled/Disabled of the error detection is switched specifying the slave node of each field bus master by using this function.
In the example of the figure below, the example of invalidating the error detection of slave 2 which leads to mastering is shown
by using this application instruction. When slave 1 occurs the error, mastering detects the error in the figure below. However,
even if slave 2 occurs the error, mastering does not detect the error.
Master
Slave 1
（Node no：１）
Slave 2
（Node no：2）
Slave 3
（Node no：3）
An example is given for tool changing system where the signals have been allocated as shown in the figure below. The method
shown here represents an example only, and will actually differs on the environment that depends on the customer’s facility.
Connection with tool changer (sample)

STEP N+2 FBUSREL[1,1,0] Error detection
FN312;Fieldbus release
Disabled.
STEP N+3 CHGGUN[0] FN95; Mechanism change Electrical disconnection
STEP N+4 RESET[O25] FN34; Output OFF Unclamp
STEP N+6 WAIT[I26] FN525; Wait input (positive) Waiting for unclamp finish
STEP N+8 DELAY[0.5] FN50; Delay
STEP N+9 WAIT[I24] FN525; Wait input (positive) Waiting for seating
STEP N+10 RESET[O26] FN34; Output OFF Clamp
STEP N+12 WAITI[I25] FN525; Wait input (positive) Waiting for clamp finish
STEP N+13 CHGGUN[1] FN95; Mechanism change Electrical connection
STEP N+14 100mm/s LIN A1 T1 Move away
STEP N+15 FBUSREL[1,1,1] FN312;Fieldbus release Error detection enabled
The error does not occur even if it is a field bus disengaging (error detection invalidity) and the specified slave node is
physically cut off in step N+2 before the disengaging of the mechanism.
It is a field bus disengaging (effective the error detection) in STEP N+15 after enough time passes until the mechanism is
connected in step N+13 and the link of the field buses establishes, and the error detection of the field bus is restarted.
< Note >
It is necessary to see enough time until the link establishes before executing the field bus disengaging (effective the error
detection) after reconnecting the field bus. Error "E0960 A part or all I/O links are stopping." is generated when becoming the
error detection effective before the field bus link is established.
Time until the link establishes after reconnecting the field bus is different according to the system environment etc. which the
customer uses.
When field bus master is connected with the field bus slave by one-to-one, one example of the average time until the link
establishes is shown as follows.
Protocol type Average time until the link establishes
Device net 8-10[sec]
Device net
2[sec]
(Quick Connect Enable)
CC-Link 2[sec]
JEMANET 1[sec]
PROFIBUS 2[sec]
■ Parameter
Parameter Channel No. Channel number which the field bus master is using is specified.(1-4)
No. 1
Parameter Slave The slave node number of the object of the error detection is specified.
No. 2 Node No. (0-127)
Error detection Enabled/Disabled of the error
Parameter
Enabled/Disabled detection is specified.
No. 3
(0=Disabled/1=Enabled)

FBUSREL[1,3,0] FN312; Fieldbus release
Command name SEAMOV

FN code 313
Title name Seam override
General
Set the electrode rotation speed override.
description
This function overrides the rotational speed of the electrode to the welding speed according to the correction rates specified by
the parameter.
The override values are cleared when step 0 of the unit that contains the electrode mechanism executions.
Note)
The rotational speed is not corrected in the welding off.
Function execution point
Robot speed
(Welding speed)
Override
Rotation speed
of electrode
If this function is executed before welding, the override values which are specified by this function are applied at time when the
welding is begun.
When this function is executed again during welding at the override speed, the rotational speed of the electrodes is changed at
the override speed newly specified.
■ Parameter
Parameter No.1 -20-20 Override (Move) [%]
Parameter No.2 -20-20 Override (Settle) [%]

SEAMOV[6,6] FN313;Seam override
See
Command name SREQ2

FN code 315
Title name Shift amount request (binary)
The command requests the shift amount data (binary)
from the external device using the serial port. Once it
Outline
has been input from the external device, the shift
amount data is stored in the specified shift register.
This command sends binary code data (command) requesting a shift amount to the external device connected to the controller
by the RS232C cable, and it sets the shift amount binary data, which is input as the response from the external device, into the
0x21 0x07 T ID
Robot
controller
RS232C cable
Visual device
Shift amount data
0x06 0x1B 0x16 X Y Z R P W
The RS232C cable is an optional accessory.
When this function command is executed, following binary data is output from the RS232C port, and the shift amount data is
thereby requested.
0x21 0x07 T ID
Here, T and ID is as followed.
T = time out (4 bytes integer [msec])
Designated time value is transmitted from lower byte to upper byte.
ID = ID of virtual frame (1 byte integer)
The robot continues to operate even after the request data has been output.
When the shift amount data is input from the external device in the following format, it is stored in the specified shift register.
0x06 0x1B 0x16 X Y Z R P W
Here, from X to W is following binary data received from lower byte to upper byte. XYZ direction is right hand coordinate
system.
X = X direction shift amount (4 byte floating real value [mm])
Y = Y direction shift amount (4 byte floating real value [mm])
Z = Z direction shift amount (4 byte floating real value [mm])
R = Rotating amount on Z axis (4 byte floating real value [degree])
P = Rotating amount on Y axis (4 byte floating real value [degree])
W = Rotating amount on X axis (4 byte floating real value [degree])
Shift request command, time out shift data must

be manages by little-endian control (sending from
lower byte to upper byte). When treating these
CAUTION
data in personal computer, beware to follow the
little-endian control.
The receive time, wait time and communication conditions are set by selecting "8 Communication" from "Constant Setting" and
then "1 Serial port." The data input wait time can be set in "Timeout time," and if this is set to "0," the serial port will remain in
the wait status until an input arrives. (The robot continues to operate.) If this function is again executed while waiting for the
previous receive, next request command is not sent until receiving is completed. But time out is set to “0” and
FN111(RSCLR) is executed, waiting status is abort.
As shown in the figure, when SREQ2 (FN315) is executed, the shift amount request command is sent to the external device
through the serial port, and it is ensured that the data can be received at any time. The robot continues to operate as is and
heads toward step N+1. When the shift data is received from the external device at any position, the legitimacy of the data is
checked, and the data is stored in the specified shift register only when the data is found to be legitimate.
But received shift data is committed after executing the function “WAITR: Wait shift value receive” (FN127) which is
programmed at step N+2.
This shift register value is used for the shift operations by the "SHIFTR: Shift2" (FN52) or such other command.
Shift amount
request command PC
Shift data
Step N Step N+3

FN315 (R1,1,1,1) Step N+1 FN52(1,0,R1,0)
・Request command sent

・Shift register clear
・Data received Step N+2
・”Data request flag” ON
・Data checked FN127(R1,15,10)
・Receive wait status established
・Data stored
On-line shift
start
Fixed Time out * 1000 Virtual frame ID

X direction shift amount
Y direction shift amount Z direction shift amount
Rotating amount on Z axis Rotating amount on Y axis
Rotating amount on X axis
Response data
If the response data from the external device is sent in any other format, the values will not be set correctly in the shift register.
■ Parameter
This is used to specify the number of the shift register in which to store the shift amount
received from the external device.
No. 1 number
(1 to 9)
This is used to specify the number of the port to be used to transfer the data. At the
Parameter
Port number present time, only port 1 can be used.
No. 2
(1 to 1)
This is used to specify the waiting time.
Parameter
Time out (0.0 to 3600.0 sec)
No. 3
This is sent as the time out data of sending command to the vision sensor.
Parameter Virtual frame This is used to specify the virtual frame ID of the vision sensor.
No. 4 ID (0 to 255)
SREQ2[R1,1,1.5,1] FN315: Binary Shift data
See
CLRREGWR: Clear register of written sts (FN699)
Command
SYNCSPOTIWB
name
FN code 316
Title name Spot sync welding
Used to weld with two servo guns at a time.
Outline
（dedicated to welding I/F＝MEDbus only）
■ Outline
This function is dedicated to the MEDAR spot welder (IWB timer controller) interface application only. (welding I/F＝MEDbus)
This is a command to control special servo gun that enables welding at two weld points at a time as one of multi gun system
patterns. Since this command enables spot welding at two points at a time, cycle time can be significantly reduced.
There are limits to workpiece shapes that can be welded.
For detail of multi-gun synchronous welding, refer to information in the “Multi-gun synchronous welding” section in
the “APPLICATION MANUAL / SPOT WELDING”.
■ Parameters
Used to makes setting of welder number used for welding. A gun set with this
Parameter 1 Welder No. parameter serves as the master for synchronous welding.
Weld sequence Used to make setting of welding sequence number with the Parameter 1.
Parameter 2
Used to makes setting of welder number used for welding.
Parameter 3 Welder No.
Weld sequence Used to make setting of welding sequence number with the Parameter 3.
Parameter 4
Welder No. Used to make settings of welder number and welding sequence number for the
Parameters 5
Weld sequence third and later welders following the setting procedure for the first and second
to 12
No. welders.
Used to control weld points. If a weld fault occurs, the relevant weld point
number will be output, thus making it possible to identify the weld point. To
Parameter 13 Weld point No.
disable this function, set this parameter to “0”.

SYNCSPOTIWB[1,1,2,1 →] FN316: Spot sync welding
Related commands
SPOTIWB1: Spot welding (FN199)
Command name AUTOZERO

FN code 319
Title name Analog input auto zero set
Outline Auto zero the analog input signal is executed.
The analog signal input is prepared two channels for the servo amplifier. The analog input signal has the unavoidable offset
value when it is 0V. The measurement accuracy of the analog input signal decreases if the influence of the offset is not
removed.
This function executes the autozero of the analog input, and removes the influence of the offset.
This function is used as follows.
SETM O4,1 Digital output port 4 resets the analog signal

DELAY 0.5 wait until analog input becomes 0.
SETM O4,0
AUTOZERO Execute auto zero
We recommend that this function is executed at the beginning of the program when the analog input signal is used.
For the convenience, the above-mentioned functions is used as the user macro.
Please execute this function when the analog input signal is always 0V. The measurement accuracy of the
analog input signal decreases when executing it, except when the analog input signal is 0V.
■ Parameter
None.

AUTOZERO FN319; Analog input auto zero set
Command name ALIGNR

FN code 320
Title name Right Alignment
This command controls the start and end of the right
Outline
alignment function.
Glass panel transferring allocation only.
This command controls the start and end of the right alignment function.
Right alignment is performed by the right arm seen from the robot rear.
Alignment shift is carried out in two steps. One shift is glass rotating direction and another one is slider direction.
Alignment shift is carried out according to the deviation compared with the base position. So at first, base position registration
is necessary using the master work (glass).
Alignment shift amount is stored into the designated global real variables on the order of J3 axis shift amount [DEG] ->
front/back axis (J5) shift amount [mm] -> slider shift amount [mm].
For example, when real variable No.100 is designated, each data is stored as followed.
V![100] is occupied by J3 axis shift amount [DEG]
V![101] is occupied by front/back axis (J5) shift amount [mm]
V![102] is occupied by slider shift amount [mm].
So free real variables is maximum 198.
Top view
Correct glass position

Alignment sensor
Shifted glass position
Hand folk
Inserting direction
Slider direction
Rotating alignment shift amount
3 shift amount calculated by alignment are stored into the real variables designated by argument.
n designated real variables number
V![n] Rotating (J3) axis shit amount (plus/minas is based on monitor data)
V![n+1] Front/back (J5) axis shit amount (plus/minas is based on monitor data)
V![n+2] Slider shit amount (plus/minas is based on monitor data)
<Rotating shift when extracting the glass>

Robot program sample
1 100% JOINT AT T1
↑ Alignment start
2 ALIGNR[1, 1, 0, 0, 0] ;FN320
3 100% JOINT AT T1
↑ Move gripper under the glass (Getting input from alignment sensor, but shift is never carried out)
4 100% JOINT AT T1
↑ Sane position as step 3 (shift is carried out)
5 20% JOINT AT T1
↑ Move with shifting
6 SET[O1] ;FN32
↑ Vacuum ON and alignment is completed
7 ALIGNR[0, 1, 0, 0, 0] ;FN320
8 20% JOINT AT T1
↑ Lift up the glass (back to the taught position because no shift)
9 WAITI[I3] ;FN525
↑ Waiting for vacuum complete input I3
10 100% JOINT AT T1
↑ Hand returns
Top view
Fixed Sensor
Slider direction
■ Parameters
Parameter
Start/ end Set 1 to start alignment and 0 to stop it.
No.1
Parameter
Real variable number Set the real variable number to store the shift amount. (1 to 198)
No.2
Parameter Indicates whether alignment standard writing has been completed.
Set standard value
No.3 When recording, this must be set to “0”.
Parameter
Standard 1 When recording, this must be set to “0”.
No.4
Parameter
No.5

ALIGNMENR[1,0,0,0,0] FN320; Right alignment
See
ALIGNMENT ; Alignment (FN304)
Command name ALIGNL

FN code 321
Title name Left Alignment
This command controls the start and end of the left
Outline
alignment function.
This command controls the start and end of the left alignment function.
Left alignment is performed by the left arm seen from the robot rear.
Alignment shift is carried out in two steps. One shift is glass rotating direction and another one is slider direction.
Alignment shift amount is stored into the designated global real variables on the order of J3 axis shift amount [DEG] ->
front/back axis (J5) shift amount [mm] -> slider shift amount [mm].
For example, when real variable No.100 is designated, each data is stored as followed.
V![100] is occupied by J3 axis shift amount [DEG]
V![101] is occupied by front/back axis (J5) shift amount [mm]
V![102] is occupied by slider shift amount [mm].
So free real variables is maximum 198.
Top view
Correct glass position

Alignment sensor
Hand folk
Inserting direction
Slider direction
Rotating alignment shift amount
3 shift amount calculated by alignment are stored into the real variables designated by argument.
n designated real variables number
V![n] Rotating (J3) axis shit amount (plus/minas is based on monitor data)
V![n+1] Front/back (J4) axis shit amount (plus/minas is based on monitor data)
V![n+2] Slider shit amount (plus/minas is based on monitor data)
<Rotating shift when extracting the glass>

1 100% JOINT AT T1
↑ Alignment start
2 ALIGNL[1, 1, 0, 0, 0] ;FN321
3 100% JOINT AT T1
↑ Move gripper under the glass (Getting input from alignment sensor, but shift is never carried out)
4 100% JOINT AT T1
↑ Sane position as step 3 (shift is carried out)
5 20% JOINT AT T1
↑ Move with shifting
6 SET[O1] ;FN32
↑ Vacuum ON and alignment is completed
7 ALIGNL[0, 1, 0, 0, 0] ;FN321
8 20% JOINT AT T1
↑ Lift up the glass (back to the taught position because no shift)
9 WAITI[I3] ;FN525
↑ Waiting for vacuum complete input I3
10 100% JOINT AT T1
↑ Hand returns
Top view
Fixed Sensor
Slider direction
■ Parameters
Parameter
No.1
Parameter
No.2
Set standard value
Parameter
No.4
Parameter
No.5

ALIGNMENL[1,0,0,0,0] FN321; Left alignment
See
Command name ALIGNT

FN code 322
Title name Slider Alignment
This command controls the start and end of the slider
Outline
alignment function.
This command controls the start and end of the slider alignment function.
Only fixed sensor 1 is used. Fixed sensor 2 is not used.
(If the direction of sensing position and unloading position is different, shift amount must to be used after multiplying -1.)
Real variables are available 1 to 200.
Top view
Fixed Sensor
Slider direction
Slider alignment shift amount

1 100% JOINT AT T1
↑ Alignment start
2 ALIGNT[1, 1, 0, 0, 0] ;FN322
3 100% JOINT AT T1
↑ Path through the fixed sensor position (Getting input from alignment sensor, but shift is never carried out)
4 100% JOINT AT T1
↑ Shifting is carried out from here
5 20% JOINT AT T1
・・
X 100% JOINT AT T1
↑ Alignment end (next step is not shifted)
10 ALIGNT[0, 1, 0, 0, 0] ;FN322
As for the shift direction of slider alignment

Slider shift
Top view (J3=-90degree)

＋－
In this case, minus shift amount is stored into the real variable.
When the glass must be loaded on the cassette at J3=-90 degree side (direction of sensing position and unloading position is
same), slider axis is shifted by the shift amount as it was.
When the glass must be loaded on the cassette at J3=+90 degree side (direction of sensing position and unloading position is
different), slider axis is shifted by the shift amount after changing the sign of shift amount programmed by robot language.
Slider shift
Top view (J3=+90degree)
＋－
In this case, plus shift amount is stored into the real variable.
When the glass must be loaded on the cassette at J3=+90 degree side (direction of sensing position and unloading position is
same), slider axis is shifted by the shift amount as it was.
When the glass must be loaded on the cassette at J3=-90 degree side (direction of sensing position and unloading position is
different), slider axis is shifted by the shift amount after changing the sign of shift amount programmed by robot language.
■ Parameters
Parameter
No.1
Parameter
No.2
Set standard value
Parameter
No.4
Parameter
No.5

ALIGNMENT[1,0,0,0,0] FN322; Slider alignment
See
Command name VRESET

FN code 330
Title name Vision reset
General description Data of the vision sensor is cleared.
This instruction used to clear data of the vision sensor built into AX controller.
In general, it is necessary to execute this instruction before measuring.
Operations and parameters are different from which vision sensor uses.
[Vision sensor type1]

This instruction can clear the measurement data of the vision sensor.
If it is not possible to communicate with the vision sensor, the error is detected.
■ Parameter
None

VRESET FN330;Vision reset

You can clear the measure result of vision. This function will be done at before actual function execution timing (pre-execution).
■ Parameter
Parameter No.1 0～999 Measure condition No.
If you set 0, all measure results are cleared.

VRESET[1] FN330; FN330;Vision reset
See
VSTART: Vision start (FN331)
VWORK: Vision discrimination (FN332)
VSHIFT: Vision shift (FN333)
VDATA: Vision data (FN334)
VLOCCVT: Vision location convert (FN342)
VWAIT: Vision wait (FN343)
Command name VSTART

FN code 331
Title name Vision start
General description Start the measurement of vision sensor.
[High-speed synchro vision is unavailable]
When this instruction is executed, the AX controller request to start the measurement of the vision sensor.
The next step is not executed until the measurement is completed.
Jumps to the shelter step specified by the parameter the vision sensor notifies abnormality.
[High-speed synchro vision is available]

When this instruction is executed, the AX controller request to start the measurement of the vision sensor.
The next step is executed without waiting to complete the measurement.
VWAIT(FN343) is used to wait to complete the measurement

STEP4
STEP5
STEP1 STEP2
STEP3 VSTART (FN331) STEP10 (Shelter step)

After checking position, this function is executed.
The step executed based as follows on the completion notification received from the vision sensor is decided. When it is
normal completion, the following STEP4 is executed. When it is abnormal completion of being not able the measurement etc.,
jumps to the shelter step
Because the operation moved to the shelter step is done when abnormality occurs when measuring with the vision sensor,
Robot error is not detected.
Please turn on the output signal by the routine in the shelter step when it is necessary to detect error on the outside. It is
necessary to confirm an error content on the display of the vision sensor.

This function is executed without checking position.The shelter step specified by the parameter is ignored. Please use
VWAIT(FN343) when you want to jump to the shelter step when failure occurs when vision measuring.
■ Parameter
Parameter No.1 1-256 Measurement No.
Parameter No.2 1-9999 Shelter step No.

VSTART[1,10] FN331;Vision start
Case: Disabled hardware trigger
The function will be done after robot position will be at the step.
Next target step will be judged after receiving the completion note from vision sensor.
Robot moves to the next step if the note from vision sensor is complete.
Robot moves to the shelter step if note from vision sensor is abnormal, for example, vision couldn’t measure for some reason.
You should check what kind of error happened by the logging data of vision monitor.
Case: Enabled hardware trigger

This function is optional of the vision sensor. Set appropriate signal number to the 3rd parameter(Trigger No.) when measuring
with the robot moving. Please wait the measurement completion with VWAIT(FN343) when you use the trigger signal. The
shelter step specified by the parameter in this function is disregarded, and the shelter step of VWAIT(FN343) is used.
■ Parameter
Parameter No.1 1～999 Measure condition No.
Parameter No.2 0～16 Image Proc. No. / Measure point No.
Parameter No.3 0～3 Trigger No.
Parameter No.4 1～10000 Shelter step No.
Robot will stop with recognition error if you set [10000] for shelter step.

VSTART[1,10,0,10000] FN331; Vision start
See
VRESET: Vision reset (FN330)
Command name VWORK

FN code 332
Title name Vision work
General description Distinguish work with the vision sensor
When this instruction is executed, the AX controller request to start the distinction of the work with the vision sensor.
The next step is not executed until the distinction is completed.
STEP4
STEP5
STEP1 STEP2
STEP3 VWORK (FN332) STEP10 (Shelter step)

■ Parameter
Parameter No.1 1-256 Start Measure No.
Parameter No.2 1-256 End Measure No.

VWORK[1,5,10] FN332;Vision work
See
Command name VSHIFT

FN code 333
Title name Vision shift
General description Get the shift value from the vision sensor
The shift values are acquired from the last measurement result of the vision sensor when this function is executed, and stores
the shift values in the shift register specified by the parameter.
The next step is not executed until the function is completed.

STEP4
STEP5
STEP1 STEP2
STEP3 VSHIFT (FN333) STEP10 (Shelter step)


This function is executed without checking position. The following STEP4 is executed when the calculation of the shift amount
succeeds, but it jumps to the shelter step when failure occurs.
■ Parameter
Parameter No.1 1-9 Shift register No.
VSHIFT[1,10] FN333;Vision shift

Robot moves to the next step if the note from vision sensor is complete.
Robot moves to the shelter step if note from vision sensor is abnormal, for example, vision couldn’t measure for some reason.
You should check what kind of error happened by the logging data of vision monitor.
■ Parameter
Parameter No.1 1～999 Measure Condition No.
Parameter No.2 0～16 Detect No.
Parameter No.3 1～9 Shift register No.
Parameter No.4 1～3 Base coordinate
Parameter No.5 1～10000 Shelter step No.
VSHIFT[1,1,1,1,10000] FN333; Vision shift
See
Command name VDATA

FN code 334
Title name Vision data
General description Get the data from the vision sensor
The kind of data specified that this function is executed from the last measurement result of the vision sensor by the parameter
is acquired, and stores data in the real variable register. Three kinds of data of X scale, Y scale, and the score can be selected.
The next step is not executed until the function is completed.
STEP4
STEP5
STEP1 STEP2
STEP3 VDATA (FN334) STEP10 (Shelter step)

■ Parameter
Data select
1: X Scale
Parameter No.1 1-16
2: Y Scale
3: Score
Parameter No.2 1-200 Real variable No.

VDATA[1,1,10] FN334;Vision data
See
Command name VGROUP

FN code 335
Title name Vision group change
Change the measurement group of the vision
General description
sensor
This function change the measurement group of the vision sensor.
The group number after this processing is stored in the specified integer variable. The next step is not executed until
processing is completed.
Jumps to the shelter step specified by the parameter when the measurement group is not correctly changed, or when the
vision sensor notifies abnormality.
STEP4
STEP5
STEP1 STEP2
STEP3 VGROUP (FN335) STEP10 (Shelter step)

Because the operation moved to the shelter step is done, Robot error is not detected.
■ Parameter
Parameter No.1 1-20 Measurement group No.
Parameter No.2 1-200 Integer variable No.

VGROUP[2,1,10] FN335;Vision group change
See
Command name VCHKGRP

FN code 336
Title name Vision group check
General description Check the measurement group of the vision sensor
This function acquires the measurement group of the vision sensor in the integer variable specified by the parameter.
The next step is not executed until processing is completed.
Step jumps to the shelter step specified by the parameter when the vision sensor notifies abnormality. Moreover, Step jumps to
the shelter step when this value and the acquired measurement number are different when the values other than 0 are set in
the measurement group number of the parameter.
STEP4
STEP5
STEP1 STEP2
STEP3 VCHKGRP (FN336) STEP10 (Shelter step)

Because the operation moved to the shelter step is done, Robot error is not detected.
■ Parameter
Parameter No.1 0-20 Measurement group No.
Parameter No.2 1-200 Integer variable No.

VCHKGRP[2,1,10] FN336;Vision group check
See
Command name VLOCCVT

FN code 342
Title name Vision location convert
The start or end of the shift operation with the vision
sensor are specified.
Outline When shift operation start has been specified, the shift
operation is performed on the basis of the shift
amount stored in the specified shift register.
shift amount data stored in the specified shift register. If the shift amount data has not been set in the specified shift register, it
is possible to jump to the shelter step.
The parameters are different from which vision sensor uses.

The shift beginning is recorded at position Step N where the shift wants to begin as shown in the figure below and the shift
end is recorded in position (Step N+2) 'which wants to end shifting. The robot reads the content of the shift register specified
with FN342 after it reaches step N, and faces position (Step N+1) 'by which the following target position Step N+1 is shifted
when reproducing. The robot works as a target position, position where the record position was similarly shifted to position
(Step N+2) 'where the shift end is recorded.(solid line tracks of figure below)
The shift is done in the machine coordinate system regardless of the coordinate system selection.
(Step N+2)’
(Step N+1)’ FN342(0,R1,N+6)
Step N+1 Step N+2

Ｚ
Step N
FN342(1,R1,N+6)
Ｙ
Step N+6 Step N+3
When FN342 is executed in step N, if the shift data is not set when the specified shift register is read, the robot faces the
shelter step (Step N+6) which is set with FN342.

■ Parameters
Parameter This is used to specify the start or end of the shift operation.
Start/End
Parameter Shelter step
No. 3 was not set in the specified shift register.
(0 to 9999)
VLOCCVT[1,R1,100] FN342; Vision location

■ Parameters
Parameter Start/End This is used to specify the start or end of the shift operation.
Base Set a base coordinate for calculation of correction.
Parameter
coordinate 0:World
No. 3
1:Flange
Parameter Shelter step
No. 4
(0 to 10000)
VLOCCVT[1,R1,0,100] FN342; Vision location
See
Command name VWAIT

FN code 343
Title name Vision measure wait
The measurement completion of the vision sensor
General description
is waited for.
It waits until the measurement of the vision sensor is completed when this function is executed.
The next step is not executed until the measurement is completed.
It jumps to the shelter step when failure occurs when measuring by the vision sensor.
STEP4
STEP5
STEP1 STEP2
STEP3 VSTART (FN331) STEP10 (Shelter step)
When passing over the position, this function is executed.

■ Parameter
Parameter No.1 1-256 Measurement No.
The maximum value of the shelter step is 10000 for vision sensor type 2. Robot will stop with recognition error if you set
[10000] for shelter step.

VWAIT[1,10] FN343;Vision measure wait
See
Command name SLSTART

FN code 350
Title name Seal start
General
Start the dispensing.
description
This instruction used to actuate the dispense applicator and start the dispensing.
Flow rate and execution timing parameters are set in “Sealing Schedule.”
This instruction contains a schedule number used as an input parameter.
The robot shall move to a specified position according to specified motion command and start dispensing according to the
parameters specified in the sealing schedule.
Record point
Robot motion
Valve on timing
Flow valve output signal

Pump start timing
Motor rotation
Flowing output signal
Seal start timing

(Distance)
■ Parameter
Parameter No.1 1-6 Gun No.
Parameter No.2 1-255 Seal Schedule No.

SLSTART[1,1] FN350;Seal start
See
SLEND: Seal end (FN351)
SLRELOAD: Reload (FN352)
SLREADY： Flow ready (FN353)
SLPRS： Seal press ctrl (FN355)
Command name SLEND

FN code 351
Title name Seal end
General
Stop the dispensing process
description
This instruction used to stop the dispensing process.
This instruction is executed according to the timing described to the seal schedule specified by the last executed seal start
function.
The pressure correction is turned off.
The robot shall move to a specified position according to specified motion command and start dispensing according to the
parameters specified in the sealing schedule.
Record point
Robot motion
Valve off timing
Flow valve output signal
Pump stop timing
Motor rotation
Seal end timing (Distance)

Flowing output signal
■ Parameter

SLEND[1] FN351;Seal end
See
SLSTART: Seal start (FN350)
Command name SLRELOAD

FN code 352
Title name Reload
General
Refill the booster pump.
description
This instruction used to refill the booster pump. The reload operation ends automatically when reaching the reload limit.
The robot can move while reloading.
Record point
Robot motion
Motor rotation
Reload valve output sig.
Reloading output sig.
Reload limit output sig.
■ Parameter

SLRELOAD[1] FN352;Reload
See
SLSTART: Seal start (FN350)
Command name SLREADY

FN code 353
Title name Flow ready
General Pressure in the pump is controlled to a specified
description value.
The motor which controls the pump is moved when this instruction is executed, and controls to the value for which pressure in
the pump is specified by the parameter of the function.
The change of the bead shape when beginning to dispense in controlling pressure in the pump can be controlled.
The robot can move in the flow ready control.
Record point
Robot motion
Target pressure
Pressure in the pump
Motor rotation
In ready output signal
■ Parameter
Parameter No.1 1-6 Gun number
Parameter No.2 0-50.0 Pre-pressure[MPa]

SLREADY[1,1.2] FN353; Flow ready
See
SLSTART Seal start (FN350)
SLPRS: Seal press ctrl (FN355)
Command name SLPRS

FN code 355
Title name Seal press ctrl
General
Start/Stop pressure control in the dispensing process
description
This instruction declares start/end of pressure control as flow control.
When this instruction for which start(ON) is specified by the parameter is executed, the dispensing will be executed by the
pressure control. When this instruction is executed specifying end (OFF), the pressure control is canceled. Even if the pressure
control end is not executed, the pressure control is canceled by the seal end function.
Robot motion
Spd proportion Prs ctrl Spd proportion
FN350 SLSTART FN351 SLEND

Seal start Seal end
FN355 SLPRS[*,1] FN355 SLPRS[*,0]

Press ctrl (start) Press ctrl (end)
■ Parameter
Parameter No.2 0-1 ON/OFF(1/0)

SLPRS[1,1] FN355; Seal press ctrl
See
Command name SLPRSG

FN code 356
Title name Seal press ctrl 2
General
Start/Stop pressure control in the dispensing process
description
This instruction declares start/end of pressure control as flow control.
When this instruction for which start (ON) is specified by the parameter is executed, the dispensing will be executed by the
pressure control.
During pressure control, the control level is corrected by the value specified by the parameter.
It is happen the pulsation or the oscillation though the response improves if a big value is set.
When this instruction is executed specifying end (OFF), the pressure control is canceled. Even if the pressure control end is
not executed, the pressure control is canceled by the seal end function. It is possible to end with FN355.
Robot motion
Spd proportion Prs ctrl Spd proportion
FN350 SLSTART FN351 SLEND

Seal start Seal end
FN356 SLPRS2[*,1,1] FN356 SLPRS2[*,0,0]

Press ctrl 2 (start) Press ctrl 2 (end)
■ Parameter
Parameter No.2 0-1 ON/OFF(1/0)
Parameter No.3 0.0-10.0 Rate

SLPRSG[1,1,1.2] FN356; Seal press ctrl 2
See
Command name GETFORCE

FN code 360
Title name Get force/torque
General The force/torque data are acquirable to a real
description variable.
By executing this command, the force / torque data inputted from the force sensor are acquirable to a real variable.
The force / torque data are stored in six variables from the specified variable number.
STEP N-1 MOVE STEP N MOVE STEP N+2 MOVE
STEP N+1 GETFORCE[1]

Real variable Real variable
V1! 0.00 V1! 2.50 Fx
V2! 0.00 V2! 13.23 Fy
V3! 0.00 V3! -1.87 Fz
V4! 0.00 V4! 12.50 Tx
V5! 0.00 V5! -8.32 Ty
V6! 0.00 V6! 4.55 Tz
■ Parameter
Parameter No.1 1-195 Variable No.

GETFORCE[1] FN360;Get force/torque
Command name FHCLAMP

FN code 362
Title name FH Unclamp
General
Execute clamp moiton by FLEXhand
description
By this command,the FLEXhand clamps the work.
■ Parameter
Parameter No.1 1-2 FLEXhand Number
Clamping direction
Parameter No.2 1-2 1:close
2:open
Air force mechanism
Parameter No.3 0-1 0:not use
1:use
Parameter No.4 0-50[kN] Clamping force

FHCLAMP[1,1,1,2] FN362; FLEXhand clamp
Command name FHUNCLAMP

FN code 363
Title name FH Unclamp
General
Execute unclamp moiton by FLEXhand
description
By this command,the FLEXhand unclamps the work.
■ Parameter
Specifying method of opened finger position
Parameter No.2 0-1 0:absolute
1:relative
-1000-1000[
Parameter No.3 Opened finger position
mm]

FHUNCLAMP[1,1,1,10] FN363; FLEXhand unclamp
Command name ADAPTON

FN code 364
Title name Adaptive Motion ON
General
Starts Adaptive Motion with the specified condition.
description
During recording steps from Adaptive Motion ON function (FN364) to Adaptive Motion OFF function (FN365), Adaptive Motion
function becomes valid and robot moves in accordance with external force.
１ MOVE (P1) P3
２ MOVE (P2) P4
P2
３ ADAPTON (FN364) Interval of valid
４ MOVE (P3) Adaptive Motion
５ MOVE (P4)
６ ADAPTOFF (FN365)
７ MOVE (P5) P1 P5
８ END
■ Parameter
Condition Conditional numbers selected in “Constants-39 Adaptive Motion” shall be set up.
Parameter No.1
No. (1~10)
Command 1: After taking in present position changed by external force, trace calculation to
position next step is done based on its position.
Parameter No.2
replacing 0: Trace is normally calculated without taking in present position halfway in the
ON/OFF(1/0) step.

ADAPTON[1,1] FN364; Adaptive Motion ON
You can change the condition number by executing ADAPTON

again while Adaptive Motion is running.
See
ADAPTOFF: Adaptive Motion OFF (FN365)
Command name ADAPTOFF

FN code 365
Title name Adaptive Motion OFF
General
Ends Adaptive Motion.
description
This command enables to end Adaptive Motion function.
１ MOVE (P1) P3
２ MOVE (P2) P4
P2
３ ADAPTON (FN364) Interval of valid
４ MOVE (P3) Adaptive Motion
５ MOVE (P4)
６ ADAPTOFF (FN365)
７ MOVE (P5) P1 P5
８ END
When this function is executed, a trajectory to the next step is

created form robot’s present position.
■ Parameter
Nil

ADAPTOFF FN365; Adaptive Motion OFF
See
ADAPTON: Adaptive Motion ON (FN364)
Command name FHCLAMP２

FN code 366
Title name New FH Clamp
General
Execute clamp moiton by FLEXhand
description
By this command,the FLEXhand clamps the work.
■ Parameter
Clamping direction
Parameter No.2 1-2 1:close
2:open
Air force mechanism
1:use
Parameter No.4 0-50[kN] Clamping force
Parameter No.5 0-500 Clamping speed
Brake during clamping
1:use
Parameter No.7 0-2[s] Brake delay time

FHCLAMP2[1,1,0,1,0,0,1] FN366; New FLEXhand clamp
Command name FHUNCLAMP２

FN code 367
Title name New FH Unclamp
General
Execute unclamp moiton by FLEXhand
description
By this command,the FLEXhand unclamps the work.
■ Parameter
Specifying method of opened finger position
Parameter No.2 0-1 0:absolute
1:relative
-1000-1000[
Parameter No.3 Opened finger position
mm]

FHUNCLAMP2[1,1,1,10] FN367; New FLEXhand unclamp
Command name FHCLAMPDCT

FN code 368
Title name FH Clamping Detection
General
Detect clamp status by FLEXhand
description
This command detects that the FLEXhand clamps the work.
■ Parameter
Parameter No.2 0-1000[mm] Clamping position
Parameter No.3 0-60[sec] Wait time
Parameter No.4 1-9999 Escape destination step
1-200 or
Parameter No.5 Real variable number for clamping position value.
301-500

FHCLAMPDCT[1,85,1,7,V1!] FN368;Fhand Clamping Detection
Command name CHGENDLESS

FN code 373
Title name Change endless control
General description The control of the endless rotation axis to change.
It is a function to change the control of the endless rotation axis to the position control or the speed control.
If you use the position control, endless rotation axis moves to recorded position.
if you use the velocity control, endless rotation axis doesn’t move to recorded position. The axis rotates by the speed setting of
SETVELO; Set velocity (FN309).
Only endless axis set by “Change control” can use the function. Please set the endless rotation axis to "Change" by [Constant
setting][Machine constant][Endless Rotation].
This function becomes in position only when the control changes, and robot stops one moment. Robot doesn’t stop when the
control doesn’t change.
Please record the function between the start and the end section.
FN373[2,1] Change endless control

Rotate stop
MOVE
(Velocity is 0)
FN309[2,1000] Set velocity
Forward rotate
MOVE
by 1500 rpm.
MOVE
Velocity control
FN309[2,-1500] Set velocity Backward rotate
MOVE by 1500 rpm.
FN309[2,0] Set velocity Rotate stop
MOVE (Velocity is 0)
MOVE
It moves to angle
MOVE
of the record in
MOVE Position control
the move step
MOVE
MOVE Rotate stop
Velocity control
(Velocity is 0)
※The speed control is continued at
the next cycle.
The example is the mechanism 2 as an endless aixs.
■ Parameter
Parameter Mechanism This specifies the mechanism number of a change type endless axis.
No. 1 Number (1 – 9)
The changed control is specified.

Parameter
Control 0:Potision control
No. 2
1:Velocity control

CHGENDLESS[2,0] FN373;Change endless control
See
SETVELO;Set velocity(FN309)
Command name PALLET3_APR

FN code 374
Title name Palletize approach selection
General
Starts approaching motion.
description
‘Approaching motion’ is for preventing from collision with works already stacked at the time of stacking a new work.
‘Approach distance’ is defined in palletize pattern, and ‘Approach direction’ is desgined each works. When this function is
executed, robot performs ‘Approaching motion’ according to the setting from next step.
Yp
3 2 1
Yp
(Xa, Ya) 4
8 Xp
Xp 5 6 7
Approach distance Approach direction
Following figure shows FN249 palletize start is recorded at step N+1. And FN374 Palletize approach selection is recorded at
step N+1. And Move step N+2, N+3 and N+4 are also recorded.
StepN :MOVE
StepN+1:FN249 PALLET3
StepN+2:FN374 PALLET3_APR
Zp
StepN+3:MOVE
StepN+4:MOVE
StepN+5:MOVE
Xp
Program sample of approach
Robot starts palletizing based on the palletize pattern of FN249 and the palletize counter. At next step of FN374, Robot moves
with palletizing shift and approach shift that includes some value and direction.
(Xa, Ya)
Zp
StepN+3:MOVE
StepN+4:MOVE
StepN+5:MOVE
Xp
Approach motion 1
（Appr-down）
(Xa, Ya)
Zp
StepN+3:MOVE
StepN+4:MOVE
StepN+5:MOVE
Xp
Approach motion 2
（Down-appr）
You can select Appr-down or Down-appr by the parameter of function.
■ Set Approach direction

Approach direction 1to 8 is set by pallet coordinate. Approach direction doesn’t change even if work rotates.
■ Approach motion
The next step of PALLET3_APR will move with approach shift. In case of Down-appr, robot has some approach shift from next
two step of function. Please be careful when you add some steps.
■ Parameter
Parameter No.1 Palletize No. This specifies the palletizing number to be reset. (1 to 100)
Route Select Appr-down(0) or Down-appr(1)
Parameter No.2
selection

PALLET3_APR[1, 0] FN374 Palletize approach selection
See
Command name PALLET3_OPT

FN code 375
Title name Palletize optimize path
General Optimize Step position based on the locus of
description previous step and following step
Palletizing motion often has some useless motion when steps are recorded as avoiding the interference in case of big
cargo. This function optimizes and adjusts the next position automatically based on the locus of previous step and
following step.
Not selected
2'
Optimize step
position 2' 3
4
2 2' 2
1 1
Lower Position Higher Position
Concretely a Z axis value of “Next move position” will be replaced with higher Z axis value of two command positions.
Regarding two command positions, one is the previous step of the function, another is the reference move step where is
set by parameter of the function.
A Z axis value is calculated by the pallet coordinates used as reference Palletize Pattern.
■ Parameter
Reference Reference move step (1 to 9999)
Parameter No.2
step Z axis value will be compared.

PALLET3_OPT[1, 20] FN375 Palletize optimize path
■ Example of teaching
Steps for Palletizing

[P10] [P7]
[Ａ(P0,P8)]
[P1] [P3]
[P9] [P4]
[P2]
[P5]
[P6]
1 REM Program Name

2 *TOP
3 RESET [O1]
4 SET[O2]
5 100% LIN A8 T2 Move to P1
6 WAITI[I3]
7 WAITI[I2]
8 30% LIN A1P T2 Move to P2
9 RESET[O2]
10 SET[O1]
11 WAITI[I1]
12 100% LIN A8 T1 Move to P3 （Compared with ①）
13 PALLET3[1,0,10,O20] Palletizing START
14 PALLET3_APR[1,1] Approach function Enabled
15 PALLET3_OPT[1,17] Optimized locus（Refer step 17）
17 100% LIN A8 T1 Move to P4 （Compared with ②）
19 30% LIN A1P T1 Move to P6
20 RESET[O1]
21 SET[O2]
22 100% LIN A8 T2 Move to P7 （Compared with ①）
23 PALLET3_OPT[1,26] Optimized locus（Refer step 26）
25 PALLETIZE_END[1,O30] Palletizing END
26 100% LIN A8 T2 Move to P8 （Compared with ②）
27 GOTO *TOP Go to top of loop
28 END
See
Command name PALLET3_SELGR

FN code 376
Title name Palletize select grasp position
General Select Work grasp position from registered by
description Palletize pattern.
This function selects one Work grasp position from “Work grasp position” which is set by Palletize pattern which has maximum
4 positions.
Suppose that robot grasps some cargo at once. Robot moves toward to cargo position set by Palletize pattern, but robot
cannot put a cargo correctly if every cargo has different grasp position.
If you select the grasp position for every cargo correctly, robot target position would be the center of cargo.
If you want to change a work grasp position for cargo (work) number, please use FN377 PALLET_GETREG. This function can
get a current work number and store V% variable etc. Then please record SWICH command and FN376 PALLET3_SELGR to
move correctly.
■ Default
If this function never runs before, automatically work grasp position is set to one. After changing work grasp position, the
position would be kept until the palletize END.
■ Parameter
Work grasp
Parameter No.2 Work grasp position (1 to 4) which is set by Palletize pattern.
position

PALLET3_SELGR[1, 1] FN376 Palletize select grasp position
See
Command name PALLET3_GETREG

FN code 377
Title name Get palletize register
General
Store some palletize register to some variables.
description
Palletize register means internal variables that shows some status of palletize.
You don’t have to use the function normally because it is for system software. If you want to check some status and use them
for changing sequence of robot program, the function offers some useful status to you.
(Example)
Change locus depended on the palletize counter.
Skip palletize counter with intension.
Modify shift values.
This function stores some palletize registers to some variables. If you want to change back some palletize registers from some
variables, you use FN378 PALLET3_SETREG.
■ Palletize Registers
No. Register name Description Type Range
1 Palletize No. Target palletize No. Int. 1～100
2 Pallet No. Target pallet No. Int. 1～100
3 Running status Stop or Running Int. 0/1
4 Type Palletizing or De-palletizing Int. 0/1
5 Layer counter Layer No. in running Int. 0～50
6 Work counter Work No. in running Int. 0～99
7 Total counter Total work counter in running（） Int. 0～4950
8 Grasp position sel. Work grasp position No. in use Int. 1～4
9 Approach dir. Approach direction in use Int. 0～8
10 Layer count signal LSB Signal No. of Layer count signal Int. 0～1024
11 Work count signal LSB Signal No. of work count signal Int. 0～1024
12 Work complete signal Work complete signal No. Int. 0～1024
13 Shift value X Current shift value of X axis based on the pallet coordinate Real ―
14 Shift value Y Current shift value of Y axis based on the pallet coordinate Real ―
15 Shift value Z Current shift value of Z axis based on the pallet coordinate Real ―
16 Shift value Rz Current shift value of Rz axis based on the pallet coordinate Real ―
■ Parameter
Variable No. Target variable No. to store value
Parameter No.1
Select from V!, V%, L! or L%
Register type
Parameter No.3 Set number of Palletize Registers(1 - 255)
(Start)
Register type Set number of Palletize Registers(1 - 255)
Parameter No.4
(End) You can select and get consecutive register values from Start to End

PALLET3_GETREG[V1%, 1, 1, 2] FN377 Get palletize register
See
Command name PALLET3_SETREG

FN code 378
Title name Set palletize register
General
Set some variables to some palletize registers.
description
Palletize register means internal variables which shows some status of palletize.
You don’t have to use the function normally because it is for system software. If you want to check some status and use them
for changing sequence of robot program, the function offers some useful status to you.
(Example)
Change locus depended on the palletize counter.
Skip palletize counter with intension.
Modify shift values.
This function sets some variables to some palletize registers. If you want to change back some variables from some palletize
registers, you use FN377 PALLET3_GETREG.
Some registers cannot written. Please refer to table below "Palletize Registers" which register is writable.
When the register that cannot be written is specified, it is not changed though alarm doesn't occur.
■ Cautions
Changing registers effect the motion of robot. Do not replace the registers if you don’t use them.
■ Palletize Registers
No. Register name Description Type Range Write
1 Palletize No. Target palletize No. Int. 1～100
2 Pallet No. Target pallet No. Int. 1～100
3 Running status Stop or Running Int. 0/1
4 Type Palletizing or De-palletizing Int. 0/1 ○
5 Layer counter Layer No. in running Int. 0～50 ○
6 Work counter Work No. in running Int. 0～99 ○
7 Total counter Total work counter in running Int. 0～4950
8 Grasp position sel. Work grasp position No. in use Int. 1～4 ○
9 Approach dir. Approach direction in use Int. 0～8 ○
10 Layer count signal LSB Signal No. of Layer count signal Int. 0～1024 ○
11 Work count signal LSB Signal No. of work count signal Int. 0～1024 ○
12 Work complete signal Work complete signal No. Int. 0～1024 ○
13 Shift value X Current shift value of X axis based on the pallet coordinate Real ― ○
14 Shift value Y Current shift value of Y axis based on the pallet coordinate Real ― ○
15 Shift value Z Current shift value of Z axis based on the pallet coordinate Real ― ○
16 Shift value Rz Current shift value of Rz axis based on the pallet coordinate Real ― ○
■ Parameter
Register type
Parameter No.2 Set number of Palletize Registers(1 - 255)
(Start)
Register type Set number of Palletize Registers(1 - 255)
Parameter No.3
(End) You can select and get consecutive register values from Start to End
Variable No. Target variable No. to store value
Parameter No.4
Select from V!, V%, L! or L%

PALLET3_SETREG[ 1, 1, 2, V1%] FN378 Set palletize register
See
Command name PALLET3_SELZ

FN code 388
Title name Palletize select height (z)
The function compares the Z-axis value of target step
and the Z-axis value of reference step after
General palletizing shift by using target palletizing number set
description by the first parameter of the function, and then Z-axis
value of target step will be adjust higher value of
both.
Optimize path selection adjusts not only the Z direction (height) shift value but also X and Y direction shift because target step
is inside palletize section. This function can be placed the target step at outside of palletize section, and then you can get only
Z direction shift.
A target step of Z-axis direction is the next move step of the function.
The function compares the Z-axis value of target step and the Z-axis value of reference step after palletizing shift by using
target palletizing number set by the first parameter of the function, and then Z-axis value of target step will be adjust higher
value of both.
■ Parameter
Reference
Parameter No.2 Compared move step. (1 to 9999)
Step

PALLET3_SELZ[1, 12] FN388 Palletize select height(z)
See
PALLET3_APR: Palletize approach selection (FN374)
PALLET3_OPT: Palletize optimize path (FN375)
PALLET3_SELGR: Palletize select grasp position (FN376)
PALLET3_GETREG: Get palletize register (FN377)
PALLET3_SETREG: Set palletize register (FN378)
Function Commands (FN Codes)
Command name JMPPBCD

FN code 400
Title name Program jump (Selecting ext.BCD prog.)
This command enables to externally jump to the
General description
program designated by the BCD code.
This command enables to jump to the program externally designated by the BCD code.
However, if the designated input signal has not been entered, it will not jump but only pass. Alternatively, it is also available to
wait in the current step until the signal is entered.
For the branch program No., enter it in “Branch Prg.No.(BCD)” in the standard input signal. To use this function command,
the signal must be assigned in advance. If not assigned, the program No. is to be designated to 0 and to jump to the head
step of the program No. 0.
Note that, if a function command is stored in the head step of the destination program, the function command in the destination
is to be executed in the step where the jump command was executed.
Even after completing the playback of the destination program, the robot will not return to the original program.
In the multi-unit specifications, the program in the destination is confined to the

one within the same unit. (It is not available to jump to the program in the
different unit.)
● With the wait input signal “OFF”
Store the JMPPBCD command, the input signal=1 and the wait signal=0 in the step 4. (0: Input wait ”OFF”/ 1: Input wait
“ON”) And during playback, the program 2 is supposed be specified by the external signal (BCD code).
By performing playback, the robot will jump to the head step of the program 2 when the input signal I1 has been entered;
while it will proceed to the step 5~6 when not entered.
Step４
Program 1
JMPPBCD; Program jump (Selecting ext.BCD prog.)
Input signal = I1
Wait signal = 0 (Not wait)
1 2 3 5 6
● ● ● ● ●
END
When I1 signal is When I1 signal is
input. not input.
4 ●END Program 2
1 ●
This is the number input

to the standard input
3 ● 2 signal
●
"Jump Prg. No.(BCD)".
● With the wait input signal “ON”

Store the JMPPBCD command, the input signal=1 and the wait signal=0 in the step 4. (0: Input wait ”OFF”/ 1: Input wait
while it will wait in the step 3 until the signal is entered in the input signal I1 when not entered. If the input signal I1 is
entered while waiting, the robot will jump to the head of the program 2.
Step 4
Program １
JMPPBCD; Program jump (Selecting ext.BCD prog.)
Input signal = I1
Wait signal = 1 (Wait)
1 2 3 5 6
● ● ● ● ●
ＥＮＤ
When I1 signal has been
input or is being input
during the waiting status.
4 ●END Program 2
1 ●
This is the number input to

the standard input signal
3 ● 2 "Jump Prg. No.(BCD)".
●
■ Parameters
This parameter stores the input signal No. as the jump execution condition.
Parameter
Input signal (1～2048, 5001～5196)
No.1
Multiple signals can be specified by designating 5001～5196.
The robot jumps when the designated input signal above has been entered; while it will not
jump but only pass when not entered. Alternatively, the robot can even wait in the current
Parameter
Wait signal step until the signal is entered.
No.2
0: Wait signal “OFF”
1: Wait signal “ON”
JMPPBCD[I1, 1] FN400;Program jump (Selecting ext.BCD prog.)
See
CALLPBCD ; Program call (Selecting ext.BCD prog.) (FN402)
JMPPBIN ; Program jump (Selecting ext.BIN prog.) (FN401)
CALLPBIN ; Program call (Selecting ext.BIN prog.) (FN403)
Command name JMPPBIN

FN code 401
Title name Program jump (Selecting ext.BIN prog.)
The robot jumps to the program externally
General description
designated by the binary code.
This command enables to jump to the program externally designated by the binary code.
However, if the designated input signal has not been entered, it will not jump but only pass. Alternatively, it is also available to
the signal must be assigned in advance. If not assigned, the program is to be designated to 0 and to jump to the head step of
the program No. 0.
Note that, if the function command is stored in the head step of the destination program, the function command in the
destination is to be executed in the step where the jump command was executed.
After completing the playback of the destination program, the robot will not return to the original program.
In the multi-unit specifications, the program in the destination is confined to the

one within the same unit. (It is not available to jump to the program in the
different unit.)
Store the JMPPBIN command, the input signal=1 and the wait signal=0 in the step 4. (0: Input wait ”OFF”/ 1: Input wait
“ON”) And during playback, the program 2 is supposed be specified by the external signal (Binary code).
Step 4
Program 1
JMPPBIN; Program jump (Selecting ext.BIN prog.)
Input signal = I1
1 2 3 5 6
● ● ● ● ●
END
When I1 signal is When I1 signal is
input. not input.
4 ● 1 ● Program 2
END

2 the standard input signal
3 "Jump Prg. No.(BIN)".
● ●

Store the JMPPBIN command, the input signal=1 and the wait signal=0 in the step 4. (0: Input wait ”OFF”/ 1: Input wait
Step 4
Program 1
JMPPBIN; Program jump (Selecting ext.BIN prog.)
Input signal = I1
1 2 3 5 6
● ● ● ● ●
END
during the waiting status.
4 ● Program 2
END 1 ●

3 ● ● "Jump Prg. No.(BIN)".
■ Parameters
This parameter stores the input signal No. as the jump execution condition. (1～2048,
Parameter
Input signal 5001～5196)
No.1
The robot jumps when the designated input signal above has been entered; while it will not
jump but only pass when not entered.
Parameter
Wait signal Alternatively, the robot can even wait in the current step until the signal is entered.
No.2
JMPPBIN[I1, 1] FN401;Program jump (Selecting ext.BIN prog.)
See
JMPPBCD ; Program jump (Selecting ext.BCD prog.) (FN400)
Command name CALLPBCD

FN code 402
Title name Program call (Selecting ext.BCD prog.)
This command enables to call the program
General description
externally designated by the BCD code.
This command enables to call the program externally designated by the BCD code.
However, if the designated input signal has not been entered, it will not call but only pass. Alternatively, it is also available to
the signal must be assigned in advance. If not assigned, the program No. is to be designated to 0 and to jump to the head
step of the program No. 0.
Note that, if a function command is stored in the head step of the call destination program, the function command in the
destination is to be executed in the step where the call command was executed.
Even after completing the playback of the destination call program, the robot will not return to the original program.
In the multi-unit specifications, the program in the call destination is confined to

the one within the same unit. (It is not available to cal the program in the
different unit.)
Store the CALLPBCD command, the input signal=1 and the wait signal=0 in the step 4. (0: Input wait ”OFF”/ 1: Input wait
Step 4
Program 1
CALLPBCD; Program call (Selecting ext.BCD prog.)
Input signal = I1
1 2 3 5 6
● ● ● ● ●
END
When I1 signal is
input. When I1 signal is
not input.
4 1
●END
Program 2
●

3 2 the standard input signal
● ● "Jump Prg. No.(BCD)".

Store the CALLPBCD command, the input signal=1 and the wait signal=0 in the step 4. (0: Input wait ”OFF”/ 1: Input wait
Step 4
Program 1
CALLPBCD; Program call (Selecting ext.BCD prog.)
Input signal = I1
1 2 3 5 6
● ● ● ● ●
END
during the waiting status
4 ●END Program 2
1 ●

3 ● ● "Jump Prg. No.(BCD)".
■ Parameters
This parameter stores the input signal No. as the call execution condition.
Parameter
Input signal (1～2048､5001～5196)
No.1
The robot calls when the designated input signal above has been entered; while it will
not call but only pass when not entered.
Parameter
No.2
CALLPBCD[I1, 1] FN402;Program call (Selecting ext.BCD prog.)
See
Command name CALLPBIN

FN code 403
Title name Program call (Selecting ext.BIN prog.)
The robot calls the program externally
General description
designated by the binary code.
This command enables to call the program externally designated by the binary code.
However, if the designated input signal has not been entered, it will not call but only pass. Alternatively, it is also available to
the signal must be assigned in advance. If not assigned, the program is to be designated to 0 and to jump to the head step of
the program No. 0.
Note that, if the function command is stored in the head step of program in the call destination. Note that, if the function
command is stored in the head step of the destination program, the function command in the destination is to be executed in
the step where the call command was executed.
After completing the playback of the call destination program, the robot will not return to the original program.
In the multi-unit specifications, the program in the call destination is confined to

the one within the same unit. (It is not available to call the program in the
different unit.)
Store the CALLPBIN command, the input signal=1 and the wait signal=0 in the step 4. (0: Input wait ”OFF”/ 1: Input wait
Step 4
Program 1
CALLPBIN; Program call (Selecting ext.BIN prog.)
Input signal = I1
1 2 3 5 6
● ● ● ● ●
END
When I1 signal is
input. When I1 signal is
not input.
4 ●END Program 2
1 ●

3 ●
● "Jump Prg. No.(BIN)".
Store the CALLPBIN command, the input signal=1 and the wait signal=0 in the step 4. (0: Input wait ”OFF”/ 1: Input wait
Step 4
Program 1
CALLPBIN; Program call (Selecting ext.BIN prog.)
Input signal = I1
1 2 3 5 6
● ● ● ● ●
When I1 signal has been END

during the waiting status
4 Program 2
● END 1 ●

3 ●
● "Jump Prg. No.(BIN)".
■ Parameters
This parameter stores the input signal No. as the call execution condition. (1～2048, 5001
Parameter
Input signal ～5196)
No.1
The robot calls when the designated input signal above has been entered; while it will not
call but only pass when not entered.
Parameter
No.2
CALLPBIN[I1, 1] FN403;Program call (Selecting ext.BIN prog.)
See
Command name RELMOV

FN code 407
Title name Move of External axis
The designated external axis moves the
General description
specified distance from the current position.
This command enables an external axis such as a slider, a positioner etc. (auxiliary axis) to move the specified distance or
angle from the current position. This is to be used for repeatedly using the program, created when the external axis was in a
particular position, in an arbitrary position on the external axis.
Workpiece Workpiece Workpiece

A B C
Relative move Relative move
The program for the workpiece A created in this position can be also
executed in the workpiece B and C.
A single RELMOV command can specify a single relative move of the external axis.
The type of interpolation from the current position to the target position is the axis interpolation motion.
This function command enables the designated external axis to move the specified distance or angle from the current position.
The simplest way of executing this command is to call the program, created when the external axis was in a particular position,
again after executing this RELMOV command.
Steps Operation of Slider Destination of Slier
100% JOINT Slider moves to point A.
A
CALLP [100] Program 100 is called.
Slider shifts +3000mm from
RELMOV +3000
point A. B
Slider shifts +3000mm from
RELMOV +3000
point B. C
Table Table Table
A B C
+3000mm +3000mm
■ Parameters
Parameter
Mechanism No. This specifies the mechanism No. defined in the current unit. (1~9)
No.1
This designates the axis No. for move in the mechanism specified above.
Parameter
Axis No. For the 1st axis slider : 1
No.2
For the 2nd axis positioner : 2
Parameter
Rate of Move Speed This specifies the move speed. (1~100%)
No.3
For slider, this specifies the move distance from the current position.
Parameter Distance/ (-9999~9999mm)
No.4 Angle of Movement For positioner, this specifies the rotation angle from the current position.
(-999.9~999.9deg)
RELMOV[4, 1, 100, 3000] FN407; Move of External axis
Application command (FN code)
Command
SPRAYON
name
FN code 408
Title names Spray Start
General
Turn ON the start signal of thermal spraying
description
If this application command is executed, after the spray start signal being turned ON to the spray machine set in a parameter,
the robot operation will be started after passage of delay time set in a parameter similarly.
■ Parameter
Parameter name Details Range
Thermal spraying This specifies the number of the number
1~6
ID of the thermal spray machine to be used.
This sets the thermal spraying method.
Kind of Thermal
(0: Plane, 1: Drain, 2: Polyhedron, 3: 0~5
spraying
Expanded synch, 4: Proportion control,
5: Lattice frame)
This is used to set the robot movement 1~999
Speed
speed during thermal spraying. mm/sec
This is used to set the waiting time from
Delay time the start of thermal gas spraying to the 0~99.9 sec
start of the robot movement.
Specify the axis number set by "thermal
spray constant-number sets" - "rotation
central-axis setting".
Rotation Shaft No It is effective only when the thermal 1~50
spraying type of the second parameter
falls on "Expanded synchronize thermal
spray".

SPRAYON[1, 1, 150, 20, 12] FN408; Spray Start
See
SPRAYOFF; Spray End (FN409)
Command
SPRAYOFF
name
FN code 409
Title names Spray End
General
Turn OFF the start signal of thermal spraying
description
If this application command is executed, the spray start signal will be turned-OFF that has been taught by the previous spray
start command.

SPRAYOFF FN409; Spray End
See
SPRAYON: Spray Start (FN408)
Command name ICH

FN code 410
Title name Inching
Performs inch the wire with specified time and
General description
wire speed.
The robot performs to inch the wire with specified time and wire speed.
Specified time and speed determines the inching value.
The robot does not stop operating while the inching or retract command is executed.
Furthermore, if the arc start command is placed immediately after an inching or retract command in the teaching, welding will
be started as soon as the inching or retract operation is completed.
The inching or retract command is not executed in the following situations.
・ When welding ON/OFF has been set to OFF

・ During a welding section (If TIG filler wire is used by the APDA-301,
the retract command can be executed. In the case of other power
supplies, neither inching commands nor retract commands can be
executed in the welding section.)
・ If operation has been temporarily stopped and restarted during
inching or retraction
■ Parameters
Conditions Range Unit
Time 0.0 ～ 9.9 sec
Wire speed 1 ～ 9999 cm/min
ICH[W1,2.0s, 6%] FN410;Inching
[ ] shows the welder number, time, and wire speed from the left.
See
RTC ; Retract (FN411)
Command name RTC

FN code 411
Title name Retract
Performs to retract the wire with specified time
General description
and wire speed.
The robot performs to retract the wire with specified time and wire speed.
Specified time and speed determines the retract value.
The robot does not stop operating while the inching or retract command is executed.
Furthermore, if the arc start command is placed immediately after an inching or retract command in the teaching, welding will
be started as soon as the inching or retract operation is completed.
The inching or retract command is not executed in the following situations.
・ When welding ON/OFF has been set to OFF

・ During a welding section (If TIG filler wire is used by the APDA-301,
the retract command can be executed. In the case of other power
supplies, neither inching commands nor retract commands can be
executed in the welding section.)
・ If operation has been temporarily stopped and restarted during
inching or retraction
■ Parameters
Time 0.0 ～ 9.9 sec
Wire speed 1 ～ 9999 cm/min
RTC[W1,2.0s, 6%] FN411;Retract
[ ] shows the welder number, time, and wire speed from the left.
See
ICH ;Inching (FN410)
Command name GS
FN code 412
Title name Gas ON
General description Starts to output the shield gas.
The robot starts to output the shield gas.
Prior to starting welding, the robot normally performs pre-flow for the duration which was set in the welding constants
("pre-flow time"). However, pre-flow can be started from any position by teaching the following commands.
The robot performs pre-flow from the position of the operation command that was taught immediately before the gas ON
command (GS). When automatic operation is temporarily stopped during pre-flow initiated by the gas ON command (GS),
pre-flow is suspended but it is then resumed after operation has been restarted.
■ Parameters
Parameter
Welder No. This specifies the welder number (1 to 12) to be controlled to output the shield gas.
No.1
GS[W1] FN412;Gas ON
See
GE; Gas OFF(FN413)
Command name GE
FN code 413
Title name Gas OFF
General description Stops the shield gas.
The robot stops the shiled gas performed to start with Gas ON command (GS).
■ Parameters
Parameter
Welder No. This specifies the welder number (1 to 12) to be controlled to stop the shield gas.
No.1

GE[W1] FN413;Gas OFF
See
GS; GasON(FN412)
Command name AS
FN code 414
Title name Arc start(DL(S-2))
General description Starts arc welding with the specified conditions.
This command enables to start Arc welding with the specified conditions. If it has been already started, the welding
condition is changed to the specified one.
The welding start position is a move command shortly before AS(FN414). To select the command, designate the FN
code “414” or press F key <AS>.
■ Parameters
After selecting the Arc start instructions (AS), specify the “Arc start control conditions” first. “Arc start control conditions”
are the ones displayed on the page 1. Specify the “Arc start conditions” from on and after the page 2.
● Arc start control conditions

Conditions Description
When multiple welders are connected to a single
Welder
controller, select a target welder to start welding.
This is used to specify the welding condition file
number to use in the arc start command.
Condition file ID 0:The welding conditions are set
AS Cond. file directly with the arc start command. A
welding condition file is not used.
Condition file ID 1 to 999:The welding condition
file of the specified number is used.
This is used to set the retry operations if an arc is
not generated at the start of welding.
Retry No. 0 : The standard internal arc retry
Retry no. operation is performed.
Retry No. 1 to 99 : The arc retry operation is
performed using the retry condition file of the
specified number
This is used to set the restart (retry) operation if
arc run-out occurs during welding.
Restart No. 0 : A restart operation is not
Restart no. performed.
Restart No. 1 to 99 : The arc restart operation is
performed using the
retry condition file of the specified number.
This is used to set the welding method to be used
for the welding. The items displayed here are the
Welding process
welding methods which have been registered in
the welding characteristic data.
This is used to select whether to specify the
Current cond. welding conditions by current or by wire feed
speed.
Please set it to "Standard" usually.
Welding control Please select "Synchro" when you periodically
change welding condition synchronizing with
weaving end point.
This is used to select the method for setting the
slope control which is to be exercised at arc start.
Slope cond. Whether the range in which the slope control is to
be exercised will be specified as a time (time
specification) or distance (distance specification)
is selected.
This selects the method used to set the APCS
(spatter adjustment) parameters.
When “AUTO” is specified, the APCS cond.
setting parameter is automatically adjusted by
APCS cond. the welder.
When “TEACH” is specified, the welder exercises
spatter suppression control in accordance with
the APCS cond. setting parameter among the
setting conditions on page 2.
This is used to set the operation method for RS
control.
This condition can be set when the "RS control"
RS control optional software is set
and the "RS control" welding constant is set to
"Enabled".
This is used to set the operation method for robot
RS control.
This condition can be set when the "Robot RS
Robot RS control control" optional software is set and
the "Robot RS control" welding constant is set to
"Enabled".
The robot movement conditions at welding start
Move cond. no. and in the welding sections are specified by file
numbers. Normally, this item is set to “0.”
This condition can be set when the "Gas flow
control unit" arc constant is set to "ON". For
Gas Flow Rate Setting
details, see the separate instruction manual for
option [Gas saver GFC].
●Welding start conditions

Welding current
1 to rated A
(When "Current cond." is "Current".)
Wire speed
1 to rated cm/min
(When "Current cond." is "Speed".)
Welding voltage
0.1 to rated V
(When individual adjustment)
Arc length tuning
-100 to +100 -
(When unified adjustment)
Welding speed 1 to 999 cm/min
Gas Flow Rate - L/min
Arc char.1(Short) -100 to 100 -
Arc char.2(Arc) -100 to 100 -
APCS cond. AUTO/TEACH -
APCS parameter 1 EP -100 to 100 -
APCS parameter 1 EN -100 to 100 -
Slope time
(when “Time” has been set for “Slope 0.0 to 9.9 sec.
cond.”)
Slope distance
(when “Distance” has been set for “Slope 0 to 99 mm
cond.”)
Initial current
(when “Current” has been set as the 1 to rating A
“Current cond.”)
Initial wire speed
(when “Wire speed”has been set as the 1 to rating cm/min.
Initial voltage
0.1 to rating V
(with separate adjustments)
Ini. arc length
-100 to 100 -
(with synergic adjustments)
EN ratio 0 to 100 %
AC frequency 1.0 to 10.0 Hz
Arc length fine adjustment at AC -100 to 100 -
EP start time 100 to 999 ms
EP robot stop time 0 to 999 ms
EP start current
1 to rating A
(When “Current” is set to “Current cond.”)
EP start wire feed speed
(When “Feed speed” is set as “Current 1 to rating cm/min.
cond.”)
EP start voltage (with separate
0.1 to rating V
adjustments)
EP start arc length fine adjustment
-100 to 100 -
Slowdown speed 1 to 9999 cm/min.
Start current 1 to 600 A
Start adjust time -50.0 to 999.9 ms
Hot start time 0 to 990 ms
Start voltage adj. -15.0 to 15.0 V
※ Since incorrect settings may cause the poor welding quality, some of the parameters above may not be displayed
depending on the operator qualification.
Please see each manual in detail.
Checkpoints for setting the conditions

Concerning the welding current and wire feed speed
The welding current (or the wire feed speed) inputted as the welding condition is equal to the average current (or the
average wire feed speed) in welding. The optimum welding waveform control parameter for the welding current (or wire feed
speed) which has been set is automatically calculated based on the welding current (or wire feed speed) which has been
input.
Concerning the arc length fine adjustment

DL-350 (S-2) has two modes (Synergetic adjustments / Separate adjustments).
In the case of using in the synergetic adjustment mode, the optimum voltage is automatically output according to the set
current value. The “arc length fine adjustment” is an adjustment value to increase or reduce the voltage which is
automatically output. For instance, if the adjustment value is set to +5, the output voltage will be raised by about 0.5 V as a
theoretical value.
Concerning the input of the wire feed speed

The wire feed speeds which are actually valid as welding conditions differ according to the welder and welding mode used. If
the standard software has been installed in the welder, the minimum speed is approximately 130 cm/min. and the maximum
speed is approximately 1800 cm/min. as a general rule. However, depending on the welding mode, the maximum and
minimum wire feed speed may be more restricted than the ranges given.
Concerning the setting range of the welding speed

Although any speed from 1 to 999 cm/min. can be set as the welding speed, the maximum speed is actually 600 cm/min. or
so. Since this is the maximum operable speed and not a speed which can be used for actual welding, it must be adjusted to
ensure optimum welding.
Concerning the Arc characteristic 1(SHORT)

The arc characteristic is expressed in the form of a numerical value which enables the arc hardness or softness to be set.
A “+” figure yields a soft arc with minimized short-circuit current peaks.
A “–” figure yields a hard arc yielded by a high short-circuit current.
Concerning the Arc characteristic 2(Arc)

As with the Arc char.1 setting, the values for this condition enable hard or soft to be set for the arcs.
A “+” figure yields soft arcs with a minimal current rise immediately after arcs are generated.
A “–” figure yields hard arcs where the current rises sharply immediately after arcs are generated.
What is slowdown speed?

The slowdown speed denotes the speed at which the wire is fed until the arc is started at the arc start point.

AS[W1,OFF,0,150A, 21.0V, 80cm/m, →]
[ ] shows Welder No., Condition file No. (OFF indicates no number is specified), Arc retry condition No., and welding
conditions (Current/Voltage/Speed) from the left.
See
AE; Arc end (FN415)
Command name AS
FN code 414
Title name Arc start(WBML)
The welding start position is a move command shortly before AS(FN414). To select the command, designate the FN
code “414” or press F key <AS>.
■ Parameters
After selecting the Arc start instructions (AS), specify the “Arc start control conditions” first. “Arc start control conditions”
are the ones displayed on the page 1. Specify the “Arc start conditions” from on and after the page 2.

This specifies the target welding power supply
when a multiple number of welding power
Welder supplies are connected.
It need not be set if only one welding power
supply is being used.
AS Cond. file directly with the arc start command. A welding
condition file is not used.
specified number
performed using theretry condition file of the
specified number.
Welding process
speed.
is selected.
This is used to set the operation method for RS
control.
This condition can be set when the "RS control"
RS control optional software is set
and the "RS control" welding constant is set to
"Enabled".
This is used to set the operation method for robot
RS control.
This condition can be set when the "Robot RS
Robot RS control control" optional software is set and
the "Robot RS control" welding constant is set to
"Enabled".
control unit" arc constant is set to "ON". For
details, see the separate instruction manual for
option [Gas saver GFC].

Welding current
1 to rated A
Wire speed
1 to rated cm/min
(When "Current cond." is "Speed".)
Welding voltage
0.1 to rated V
(When individual adjustment)
Arc length tuning
-100 to +100 -
(When unified adjustment)
Gas Flow Rate - L/min
APCS parameter 1 -100 to 100 -
Slope time
cond.”)
Slope distance
cond.”)
Initial current
(when “Current” has been set as the 1 to rating A
Initial wire speed
(when “Wire speed”has been set as the 1 to rating cm/min.
Initial voltage
0.1 to rating V
Ini. arc length
-100 to 100 -
Slowdown speed 1 to 9999 cm/min.
Start adjust time -50.0 to 999.9 ms
Start voltage adj. -15.0 to 15.0 V

input.

The Welbee Inverter M350L has two modes: synergic adjustments and separate adjustments.
theoretical value.




Concerning the spatter adjustment parameter:

This is the adjustment value for the detection sensitivity of spatter generation. It enables to substantially prevent spatter from
being generated by properly setting this parameter.
It is unnecessary to set it when the spatter adjustment manner has been set to ‘Auto’ as the detection sensitivity can be
automatically corrected. While this parameter becomes settable by changing the spatter adjustment manner to ‘Teach’, in
which the detection sensitivity can be manually adjusted.
For details, refer to the instruction manual.


AS[W1,OFF,0,150A, 21.0V, 80cm/m, →]
See
AE; Arc end (FN415)
Command
AS
name
FN code 414
Title name Arc start(WBM)
General
Starts arc welding with the specified conditions.
description
This command enables to start Arc welding with the specified conditions. If it has been already started, the welding condition is
changed to the specified one.
The welding start position is a move command shortly before AS (FN414). To select the command, designate the FN code
“414” or press F key <AS>.
■ Parameter
After selecting the Arc start instructions (AS), specify the “Arc start control conditions” first. “Arc start control conditions” are the
ones displayed on the page 1. Specify the “Arc start conditions” from on and after the page 2.

Conditions Setting range
When multiple welders are connected, specify
Welder No. the welder to be used. This setting is
unnecessary when there is only 1 welder.
"0" is selected if the welding conditions are to be
specified directly using numbers; a file number (1
to 999) is selected if they are to be specified by a
file.
Enter the number and press [Enter] → F11<Input
value> key. Then, the conditions stored in the
WFP cond. file previously created condition files are to be called.
If you entered the file number not created yet, the
initial conditions are to be called. Also, called
conditions can be modified. If writing after
modification, the modified details are reflected in
the files. If newly creating the files, they will be
stored in the internal memory.
Retry no.
operation is performed. Retry No. 1 to 99 : The
arc retry operation is performed using the retry
condition file of the specified number
arc run-out occurs during welding. Restart No. 1
Restart no. to 99 : The arc restart operation is performed
using the retry condition file of the specified
number.
This is used to select the welding method to use.
The welding methods registered as welding
Welding process
characteristic data are displayed as selection
choices.
speed.
Whether the range in which the slope control is to
Slope cond.
is selected.
and in the welding sections are specified by file
Move cond. no.
numbers.
Normally, this item is set to “0.”
This is used to switch Disable/Enable the
Penetration
penetration adjustment function of welding power
adjustment *1
source in the welding section.
control unit" arc constant is set to "ON".
*1: This is displayed only when the "Penetration adjustment" is ON using F5<Constant settings>-"3 constant of weld".
● Welding start conditions
Conditions Setting range Unit
Welding current
1 to rated A
Wire feed speed
1 to rated cm/min
(When "Current cond." is "feed speed")
Welding voltage (When individual
0.1 to rated V
adjustment)
Arc length tuning (When unified
-100 to 100 -
adjustment)
Gas Flow Rate - L/min.
Arc characteristics 1 (short) -100 to 100 -
Arc characteristics 2 (arc) -100 to 100 -
Slope time
cond.”)
Slope distance
cond.”)
Initial current (when “Current” is set as
1 to rated A
the “Current cond.”)
Initial wire speed (when “feed speed” is
1 to rated cm/min
set as the “Current cond.”)
Initial voltage (with individual
0.1 to rated V
adjustments)
Ini. arc length (with synergic adjustments) -100 to 100 -
Slow down speed 1 to 9999 cm/min
Start adjustment time -50.0 to 999.9 ms
Start voltage adjustment -15.0 to 15.0 V
For further details, refer to respective operating manual.

Welding current or Wire feed speed
The welding current (or wire feed speed) to be input as welding condition becomes the average current at the time of welding
(or average wire feed speed). The welding waveform control parameters are calculated automatically appropriate to the set
welding current (or wire feed speed) on the basis of the input welding current (or wire feed speed).
Arc length fine adjustment

Welbee Inverter M350 has two modes, Unified adjustment and individual adjustment.
When using in unified adjustment mode, the optimum voltage for the current which has been set is output automatically. The
"arc length fine adjustment" is an adjustment value for increasing or reducing the voltage which is output automatically. For
example, if set to +5, the voltage increases to approximately 0.5V in the logical value.
Wire feed speed input

The valid wire feed speed as welding condition varies as per the welder or welding mode to be used. If the standard software
is installed on the welder, the standards are minimum of approximately 130cm/sec and maximum of approximately
1800cm/sec. However, the range for minimum and maximum wire fees speed may become narrower on the basis of welding
mode.

The welding speed can be set between the range of 1 to 999cm/sec.though the actual maximum speed for it is
approximately 600cm/sec. However, even this value cannot be used during actual welding, though it is a maximum value
which can be used for an operation. Adjust the value to get appropriate welding done.
Arc characteristics 1 (short)

The arc characteristics value is expressed in the form of a numerical value which enables the arc hardness or softness to be
set.
Soft arc with a suppressed peak of short circuit current is on the + side.
Hard arc according to the high short circuit current is on - side.
Arc characteristics 2 (arc)

This arc characteristic is same as arc characteristics 1, and value is expressed in the form of a numerical value which
enables the arc hardness or softness to be set.
Soft arc with a suppressed current change during the arc period is on the + side.
Hard arc with large current change during the arc period is on the - side.
Slow down speed

The slow down speed shows the wire feed speed till the arc start at the time of starting welding.

AS[W1,OFF,0,150A, 21.0V, 80cm/m, →]
See
AE; Arc end (FN415)
Command name AS
FN code 414
Title name Arc start(WBP)
The welding start position is a move command shortly before AS(FN414). To select the command, designate the FN code
■ Parameters
After selecting the Arc start instructions (AS), specify the “Arc start control conditions” first. “Arc start control conditions” are
the ones displayed on the page 1. Specify the “Arc start conditions” from on and after the page 2.

specified number
specified number.
Welding process
speed.
is selected.
Normally, it is set to “Normal”. This condition can
be set when the “Synchro-MIG” optional software
is installed is enabled to select “Synchro” and
Welding control “FC”.
When “Synchro” is selected, Synchro-MIG
welding is exercised. Or, When “FC” is selected,
FC-MIG welding is exercised.
This switches Disable/Enable for the penetration
Penetration adjustment
adjustment of welding power supply during
*
welding section.
Set the operation method used for RS control.
This condition can be set when the “RS control”
optional software is installed and the “RS control”
arc constant is enabled.
When “disabled” is selected, RS control is not
exercised.
When “RS control” is selected, RS control is
exercised. Select the RS condition file using “RS
RS control number.” The RS control condition can be
adjusted with each arc start command (area),
and adjusting this condition to achieve a more
efficient arc start is also possible to
accommodate work whose groove shapes, for
instance, differ depending on the welding area.
When “0” is specified for “RS number,” operation
is based on the initial value (recommended
condition).
*： This is indicated only when f5<Arc Constant> – [3 Constant of weld] - “Penetration adjustment” is set ON.
Note that the welding method for the selected welding characteristic data is DC pulsed or DC wave pulsed with the wire
material of a soft/hard aluminum in use, “Penetration adjustment” becomes disabled.

Welding current
(when “Current” has been set for “Current 1 to rating A
cond.”)
Wire speed
(when “Feed speed” has been set as the 1 to rating cm/min
Welding voltage (with individual
0.1 to rating V
adjustments)
Arc length tun. (with synergic
-100 to 100 －
adjustments)
Arc characteristic -10 to 10 0.1ms
Arc char.1(Short) -100 to 100 －
Arc char.2(Arc) -100 to 100 －
Slope time
cond.”)
Slope distance
cond.”)
Initial current
cond.”)
Ini. wire speed
(when “Wire speed” has been set as the 1 to rating cm/min
Initial voltage
0.1 to rating V
(with individual adjustments)
Ini. arc length
-100 to100 －
Slow down 1 to 9999 cm/mi.
Start current adj. -500 to 300 A
Start voltage adj -20.0 to20.0 V
Start adjust time -100 to 100 ms
Gas Flow Rate Setting Disable / Enable
Gas Flow Rate Separately stated L/min
Wave frequency 0.5 to 32.0 Hz
Amplitude rate 0 to 100 %
Base current 20 to 200 A
Standup time 0.1 to 3.0 ms
Falling time 0.1 to 3.0 ms
Peak current 1 20 to 600 A
Peak time 0.1 to 3.0 ms
Peak time 1 0.1 to 3.0 ms
Standup gain 0 to 5 －
Falling gain 0 to 5 －
※ Since incorrect settings may cause the poor welding quality, some of the parameters above may not change

input.

The Welbee Inverter P350 has two modes: synergic adjustments and separate adjustments.
theoretical value.





Concerning the pulse conditions

To adjust the pulse conditions, proceed by changing “arc characteristic” and “wave frequency”. For details, refer to the
instruction manual.
“Base current”, “Standup time”, “Falling time”, “Peak current”, and “Peak time” can be set depending on the operator
qualification. However, the welding quality may deteriorate if they are set carelessly. In principle, therefore, do not change
these conditions.

AS[W1,OFF,0,150A, 21.0V, 80cm/m, Hi DC→]
[ ] shows Welder No., Condition file No. (OFF indicates no number is specified), Arc retry condition No., welding
conditions (Current/Voltage/Speed) , and welding process from the left.
See
AE; Arc end (FN415)
Command name AS
FN code 414
Title name Arc start(WBPL)
The welding start position is a move command shortly before AS(FN414). To select the command, designate the FN code
■ Parameters
After selecting the Arc start instructions (AS), specify the “Arc start control conditions” first. “Arc start control conditions” are
the ones displayed on the page 1. Specify the “Arc start conditions” from on and after the page 2.

specified number
performed using theretry condition file of the
specified number.
Welding process
speed.
is selected.
Normally, it is set to “Normal”. This condition can
be set when the “Synchro-MIG” optional software
is installed is enabled to select “Synchro” and
Welding control “FC”.
When “Synchro” is selected, Synchro-MIG
welding is exercised. Or, When “FC” is selected,
FC-MIG welding is exercised.
This switches Disable/Enable for the penetration
Penetration adjustment
adjustment of welding power supply during
*
welding section.
Set the operation method used for RS control.
This condition can be set when the “RS control”
optional software is installed and the “RS control”
arc constant is enabled.
When “disabled” is selected, RS control is not
exercised.
When “RS control” is selected, RS control is
exercised. Select the RS condition file using “RS
RS control number.” The RS control condition can be
adjusted with each arc start command (area),
and adjusting this condition to achieve a more
efficient arc start is also possible to
accommodate work whose groove shapes, for
instance, differ depending on the welding area.
When “0” is specified for “RS number,” operation
is based on the initial value (recommended
condition).
*： This is indicated only when f5<Arc Constant> – [3 Constant of weld] - “Penetration adjustment” is set ON.
Note that the welding method for the selected welding characteristic data is DC pulsed or DC wave pulsed with the wire
material of a soft/hard aluminum in use, “Penetration adjustment” becomes disabled.

Welding current
cond.”)
Wire speed
0.1 to rating V
adjustments)
-100 to 100 －
adjustments)
Slope time
cond.”)
Slope distance
cond.”)
Initial current
cond.”)
Ini. wire speed
(when “Wire speed” has been set as the 1 to rating cm/min
Initial voltage
0.1 to rating V
(with individual adjustments)
Ini. arc length
-100 to100 －
AUTO /
APCS cond. －
TEACH
APCS parameter 1 -100 to 100 －
Slow down 1 to 9999 cm/min
Start current adj. -500 to 300 A
Start voltage adj -20.0 to20.0 V
Start adjust time -100 to 100 ms
Gas Flow Rate Setting Disable / Enable
Gas Flow Rate Separately stated L/min
Switch time 0.1 to 3.0 ms
※ Since incorrect settings may cause the poor welding quality, some of the parameters above may not change

input.

The Welbee Inverter P500L has two modes: synergic adjustments and separate adjustments.
theoretical value.







instruction manual.
these conditions.

AS[W1,OFF,0,150A, 21.0V, 80cm/m, Hi DC→]
[ ] shows Welder No., Condition file No. (OFF indicates no number is specified), Arc retry condition No., welding
conditions (Current/Voltage/Speed) , and welding process from the left.
See
AE; Arc end (FN415)
Command name AE
FN code 415
Title name Arc end(DL(S-2))
Terminates arc welding with the specified
General description
conditions.
This command enables to end Arc welding, performing the crater process with the specified conditions. The welding end
position is a move command shortly before AE(FN415). To select the command, designate the FN code “415” or press F
key <AE>.
■ Parameters
Set "Welding end control conditions" first, after selecting this command (AE). "Welding end control conditions" are the
conditions displayed on Page 1. "Welding end conditions" are displayed on Page 2 and after.
●Welding end control conditions

Conditions Details
This specifies the target welder when a multiple
Welder number of welders are connected. It need not be
set if only one welder is being used.
number to use in the arc end command.
Condition file ID 0 : The welding conditions are
AE Cond. file set directly with the arc end command. A
welding condition file is not used.
Condition file ID 1 to 999: The welding condition
Welding process
speed.
This selects the method used to set the slope
control which is to be exercised at arc end. It
selects whether the range in which the slope
Slope cond.
control is to be exercised will be specified as a
time (time specification) or distance (distance
specification).
Selecting the setting method for the spatter
adjustment parameter.
AUTO: ”APCS parameter” is automatically
APCS cond. adjusted in the welder side.
TEACH: The spatter inhibitory control is
performed by the welder according to
“APCS parameter”.
●Welding end conditions

Welding current
(when “Current” has been set for a 1 to rating A
Wire feed speed
(when “Feed speed” has been set for a 1 to rating cm/min.
Welding voltage
0.1 to rating V
Arc length fine adjustment.
-100 to 100 -
Crater time 0.0 to 9.9 sec.
Postflow time 0.0 to 9.9 sec.
EN ratio 0 to 100 %
AC frequency 1.0 to 10.0 Hz
Arc length fine adjustment at AC -100 to 100 -
Slope time
0.0 to 9.9 sec.
(When “Time” is set to “Slope cond.”)
Slope distance
0 to 99 mm
(When “Distance” is set to “Slope cond.”)
Robot stop time 0.0 to 9.9 sec.
Burnback V. 0.1 to rating V
Burnback adjust T. 0 to 999 ms
Burnback pulse control ON/OFF -
Burnback pulse control value -10 to 10 -

The welding current (or wire feed speed) which is input as a welding condition becomes the average current (or average wire
feed speed) during welding. The welding waveform control parameter optimally suited for the welding current (or wire feed
speed) which has been set is calculated automatically on the basis of the welding current (or wire feed speed) which has
been input.

DL-350 (S-2) has two modes (Synergetic adjustments / Separate adjustments).
theoretical value.
When crater treatment is not performed

When crater treatment is not going to be performed, set the crater time to “0.” However, in this case, set the same conditions
as for regular welding as the crater current or wire feed speed setting value. Unless the same conditions are set, the
appropriate burnback voltage level may not be displayed properly at the teaching stage.

AE[W1,OFF,130A, 18.0V, 0.1s,0.1s]
[ ] shows Welder No., Condition file No. (OFF indicates no number is specified), and arc end conditions (Current/
Voltage/ Crater time/ Postflow time) from the left.
See
AS; Arc start (FN414)
Command name AE
FN code 415
Title name Arc end(WBML)
General description
conditions.
key <AE>.
■ Parameters

Conditions Details
AE Cond. file set directly with the arc end command. A welding
Welding process
speed.
Slope cond.
specification).

Welding current
(when “Current” has been set for a 1 to rating A
Wire feed speed
(when “Feed speed” has been set for 1 to rating cm/min.
Welding voltage
0.1 to rating V
Arc length fine adjustment.
-100 to 100 -
Slope time
cond.”)
Slope distance
(When “Distance” has been set for “Slope 0 to 99 mm
cond.”)
Burnback adjust T. -500 to 500 ms
Retract adj. T. -990 to 990 ms
Burnback pulse control ON / OFF -
Burnback pulse control value -10 to 10 -

been input.

The Welbee Inverter M350L has two modes: synergic adjustments and separate adjustments.
When it is used in the unified adjustment mode, the optimum voltage for the current which has been set is output
automatically. The “arc length fine adjustment” is an adjustment value for increasing or reducing the voltage which is output
automatically. For instance, if a setting of +5 is used, the output voltage will be raised by about 0.5 V as a theoretical value.




Concerning the retract adjustment time

The wire is automatically retracted in order to adjust its protrusion length after processing the arc end. By setting the retract
adjustment time, it enables to adjust the amount of wire retracting after the arc end.
The retract time before adjustment depends on the type of wire feeding unit as given in below table. Also note that the retract
time is 0 when the wire material is a SUS with the setting for burnbuck pulse output is “ON”. Even if setting the retract time to
a negative value, the retract time becomes 0, in which the wire cannot be inched.
Wire feeding unit Retract time (ms)

Standard wire feeding unit 200
Servo wire feeding unit 100

AE[W1,OFF,130A, 18.0V, 0.1s,0.1s]
See
Command
AE
name
FN code 415
Title name Arc end(WBM)
General
Terminates arc welding with the specified conditions.
description
This command enables to end Arc welding, performing the crater process with the specified conditions.
The welding end position is a move command shortly before AE (FN415). To select the command, designate the FN code
“415” or press F key <AE>.
■ Parameter
● Welding end control conditions

"0" is selected if the welding conditions are to be
specified directly using numbers; a file number (1
to 999) is selected if they are to be specified by a
file.
Enter the number and press [Enter] → F11<Input
value> key. Then, the conditions stored in the
Condition file ID previously created condition files are to be called.
If you entered the file number not created yet, the
initial conditions are to be called. Also, called
conditions can be modified. If writing after
modification, the modified details are reflected in
the files. If newly creating the files, they will be
stored in the internal memory.
This is used to select the welding method to use.
The welding methods registered as welding
Welding process
characteristic data are displayed as selection
choices.
speed.
This is used to specify the method for setting the
slope control which is to be exercised at arc end.
Whether the range in which the slope control is to
Slope cond.
is selected.
● Welding end conditions

Conditions Setting range Unit
Welding current
1 to rated A
Wire feed speed
1 to rated cm/min
(When "Current cond." is "feed speed")
Welding voltage (When individual
0.1 to rated V
adjustment)
Arc length tuning (When unified
-100 to 100 -
adjustment)
Arc characteristics 1 (short) -100 to 100 -
Arc characteristics 2 (arc) -100 to 100 -
Slope time
cond.”)
Slope distance
0 to 99 mm
(when “Distance” has been set for “Slope
cond.”)
Burnback voltage 0.1 to rated V
Anti-sticking adjustment time -500 to 500 ms
Retract adjustment time -990 to 990 ms
Anti-sticking pulse output Not exist/ Exist -
Anti-sticking pulse output adjustment
-10 to 10 -
value
For further details, refer to respective operating manual.

Welding current or Wire feed speed
The welding current (or wire feed speed) to be input as welding condition becomes the average current at the time of welding
(or average wire feed speed). The welding waveform control parameters are calculated automatically appropriate to the set
welding current (or wire feed speed) on the basis of the input welding current (or wire feed speed).
Arc length fine adjustment

Welbee Inverter M350 has two modes, Unified adjustment and individual adjustment.
When using in unified adjustment mode, the optimum voltage for the current which has been set is output automatically. The
"arc length fine adjustment" is an adjustment value for increasing or reducing the voltage which is output automatically. For
example, if set to +5, the voltage increases to approximately 0.5V in the logical value.
If crater process is not conducted

If crater process is not conducted, set the crater time as 0. However, in such cases, set the condition for crater current or wire
feed speed set value similar to conditions set at the time of actual welding. If the conditions are not same, optimum value of
anti-sticking voltage may not display correctly at the time of teaching.





AE[W1,OFF,130A, 18.0V, 0.1s,0.1s]
See
Command name AE
FN code 415
Title name Arc end(WBP)
General description
conditions.
key <AE>.
■ Parameters

Conditions Details
Welding process
speed.
Slope cond.
specification).

Welding current
cond.”)
Wire speed
0.1 to rating V
adjustments)
-100 to 100 －
adjustments)
Post flow time 0.0 to 9.9 sec.
Slope time
cond.”)
Slope distance
cond.”)
Robot stop time 0.0 ～ 9.9 sec.
Burnback adj. T. -500 to 500 ms
Burnback delay T -99 to 99 ms
Burnback pulse ON/OFF －
Burnback pulse value -10 to 10 －
End pls curr. -500 to 500 A
End pls time -9.9 to 9.9 ms
Retract adj. T -990 to 990 ms
※ Since incorrect settings may cause the poor welding quality, some of the parameters above may not change depending
on the operator qualification.

been input.

The Welbee Inverter P350 has two modes: synergic adjustments and separate adjustments.

Concerning the burnback pulse control

Teaching of this parameter is available only when the wire material is SUS. This should be normally set to “ON”.
Meanwhile, the burnback pulse output value should be normally set to “0”.
This shall be set to “OFF” only when a meltdown occurs on the thin plate during burnback.

instruction manual.
these conditions.





AE[W1,OFF,130A, 18.0V, 0.1s,0.1s Hi DC]
[ ] shows Welder No., Condition file No. (OFF indicates no number is specified), arc end conditions (Current/ Voltage/
Crater time/ Postflow time), and welding process from the left.
See
Command name AE
FN code 415
Title name Arc end(WBPL)
General description
conditions.
key <AE>.
■ Parameters

Conditions Details
Welding process
speed.
Slope cond.
specification).

Welding current
cond.”)
Wire speed
(when “Feed speed” has been set as 1 to rating cm/min
the “Current cond.”)
0.1 to rating V
adjustments)
-100 to 100 －
adjustments)
Post flow time 0.0 to 9.9 sec.
Arc characteristic -10 to 10 0.1ms*2
Slope time
cond.”)
Slope distance
(when “Distance” has been set for 0 to 99 Mm
“Slope cond.”)
Robot stop time 0.0 ～ 9.9 sec.
AUTO /
APCS cond. －
TEACH
Burnback delay T -99 to 99 ms
Burnback pulse ON/OFF －
Burnback pulse value -10 to 10 －
End pls curr. -500 to 500 A
End pls time -9.9 to 9.9 ms
Retract adj. T -990 to 990 ms
Switch time 0.1 to 3.0 ms
※ Since incorrect settings may cause the poor welding quality, some of the parameters above may not change depending
on the operator qualification.

been input.

The Welbee Inverter P500L has two modes: synergic adjustments and separate adjustments.

Concerning the burnback pulse control

Teaching of this parameter is available only when the wire material is SUS. This should be normally set to “ON”.
Meanwhile, the burnback pulse output value should be normally set to “0”.
This shall be set to “OFF” only when a meltdown occurs on the thin plate during burnback.

instruction manual.
these conditions.






AE[W1,OFF,130A, 18.0V, 0.1s,0.1s]
See
Command name ASM

FN code 418
Title name Multi Pass Welding Start
This starts the multi-pass welding under the
General description
designated conditions.
General description
This starts the multi-pass welding under the designated conditions. For teach and playback, the optional software "Multi-pass
Welding function" is required.
As for details, refer to the instruction manual for multi-pass welding function (optional).
Example of operation
The robot moves to the next position of the MPS

command and repeats the movement. The movement
style follows the interpolation kind of the stop.
At present, only repeated movements to one side are
supported. Turning movements are not available.
12 JOINT
3 MPS 13 MPE
4 JOINT
5 JOINT
6 OFFSET (Start)
7 JOINT 9 LIN (CIR1/CIR2)
8 ASM The movements are repeated for the 10 AEM
set times 11 OFFSET (End)
Step Command
1 100% JOINT
2 100% JOINT
3 MPS [3 times] Multi-pass welding start condition file (ASM*ARCW.001)
4 100% JOINT Multi-pass welding start Weaving condition
5 100% JOINT Pass
condition file number file number
6 OFFSET [Start] First pass
1 1
7 100% JOINT (AS**ARCW.001) (WFP.001)
8 ASM [1] Second 2 2
pass (AS**ARCW.002) (WFP.002)
9 300cm/m LINE 3 3
10 AEM [1] Third pass
(AS**ARCW.003) (WFP.003)
11 OFFSET [End] Fourth 4 4
12 100% JOINT pass (AS**ARCW.004) (WFP.004)
13 MPE 5 5
Fifth pass
(AS**ARCW.005) (WFP.005)
14 100% JOINT : : :
15 END
Parameter
This designates the multi-pass welding start condition file number. (1 - 999)
Parameter
AS Cond. file This file is to be created in advance by <Arc Condition> - [6 Arc start in multi-pass
No. 1
welding].

ASM[W1,001, ->] FN418;MultiPass Welding Start
See
AEM: Multi Pass Welding End (FN419)
MPS; Multi Pass Section Start (FN496)
MPE; Multi Pass Section End (FN497)
EP; Execution Pass Specification (FN498)
OFFSET; Multi Offset Specification (FN499)
Command name AEM

FN code 419
Title name Multi Pass Welding End
This ends the multi-pass welding under the
General description
designated conditions.
General description
This ends the multi-pass welding under the designated conditions. For teach and playback, the optional software "Multi-pass
As for details, refer to the instruction manual for multi-pass welding function (optional).

command, and repeats the movement. The movement
style follows the interpolation kind of the step.
12 JOINT
3 MPS 13 MPE
4 JOINT
5 JOINT
6 OFFSET (Start)
8 ASM The movements are repeated for the 10 AEM
set times 11 OFFSET (End)
Step Command
1 100% JOINT
2 100% JOINT
3 MPS [3 times]
4 100% JOINT
5 100% JOINT
6 OFFSET [Start] Multi-pass welding end condition file
(AEM*ARCW.001)
7 100% JOINT
Multi-pass welding end
8 ASM [1] Pass
condition file number
9 300cm/m LINE First pass 1 (AE**ARCW.001)
10 AEM [1] Second pass 2 (AE**ARCW.002)
11 OFFSET [End] Third Pass 3 (AE**ARCW.003)
12 100% JOINT Fourth pass 4 (AE**ARCW.004)
Fifth pass 5 (AE**ARCW.005)
13 MPE
: :
14 100% JOINT
15 END
Parameter
This designates the multi-pass welding end condition file number. (1 - 999)
Parameter
AS Cond. file This file is to be created in advance by <Arc Condition> - [7 Arc end in multi-pass
No. 1
welding].

AEM[W1,001, ->] FN419;Multi Pass Welding End
See
ASM: Multi Pass Welding Start (FN418)
EP; Execution Pass Specification (FN498)
OFFSET; Multi Offset Specification (FN499)
Command name SPN

FN code 438
Title name Servo ON
This turns ON the servo power source in unit of
General description
mechanism.
General description
This turns ON the servo power source in unit of designated mechanism. For teach and playback, the optional software
"Mechanism-by-Mechanism Servo ON/OFF function" is required.
• At check go operation (when <Service Utilities> - [1 Teach / Playback Condition] - [9 Check with function] is set to
"Enabled")
• At automatic operation (at playback)
To turn OFF the servo power source, use SPF (FN439).
Parameter
This designates the mechanism number to turn ON the servo power source. (1 - 9)
When a mechanism that does not exist, or a mechanism that does not belong to the
Parameter Mechanism
unit of teach objective is designated, though there is no error at teaching, it is detected
No. 1 No.
as an alarm "A4911" at check go operation, and an error "E4911" at automatic
operation.

SPN[1] FN438;Servo ON
See
SPF; Servo OFF (FN439)
Command name SPF

FN code 439
Title name Servo OFF
This turns OFF the servo power source in unit of
General description
mechanism.
General description
This turns OFF the servo power source in unit of designated mechanism. For teach and playback, the optional software
"Mechanism-by-Mechanism Servo ON/OFF function" is required.
• At check go operation (when <Service Utilities> - [1 Teach / Playback Condition] - [9 Check with function] is set to
"Enabled")
• At automatic operation (at playback)
To turn ON the servo power source, use SPN (FN438).
Parameter
This designates the mechanism number to turn OFF the servo power source. (1 - 9)
When a mechanism that does not exist, or a mechanism that does not belong to the
Parameter Mechanism
unit of teach objective is designated, though there is no error at teaching, it is detected
No. 1 No.
as an alarm "A4911" at check go operation, and an error "E4911" at automatic
operation.

SPF[1] FN439;Servo OFF
See
SPN; Servo ON (FN438)
Command name WFP

FN code 440
Title name Fixed pattern weaving
Starts weaving with the specified waveform,
General description
attitude, and frequency.
This command enables to start with the specified waveform, attitude, and frequency.
The robot starts weaving from a position of the movement command taught immediately before this command (WFP).
■ Parameters
Conditions Range
WFP cond. file 0 ～ 999
Frequency 0.0 ～ 20.0 [Hz]
Linear func./ Sine wave /
Function Type
Circle
Amplitude (right amplitude, left amplitude)
0.0 ～ 50.0 [mm]
* When the linear or sine wave function has been set as the operation pattern
Radius (right radius, left radius)
0.0 ～ 50.0 [mm]
* When the arc has been set as the operation pattern
Stopping time (center, 1/4 period, 3/4 period) 0.0 ～ 9.9 [sec.]
Move at Stop Time Not exist/ Exist
Keep weaving time Not keep/ Keep
Weav Start Direct. Right/ Left
Weav Angle (right angle of inclination, left angle of inclination) -180 ～ 180 [deg.]
Torch Angle (right angle of inclination, left angle of inclination) -180 ～ 180 [deg.]
Push Angle (right crosswise angle, left crosswise angle)
-180 ～ 180 [deg.]
* When the linear or sine wave function has been set as the operation pattern
Circle center ratios (front circle center ratio, back circle center ratio)
1 ～ 100 [%]
* When the arc has been set as the operation pattern
WFP cond. file

"0" is selected if the welding conditions are to be specified directly using numbers; a file number (1 to 999) is selected if
they are to be specified by a file.
Enter the number and press [Enter]→F11<Input value> key. Then, the conditions stored in the previously created
condition files are to be called. If you entered the file number not created yet, the initial conditions are to be called.
Also, called conditions can be modified. If writing after modification, the modified details are reflected in the files. If
newly creating the files, they will be stored in the internal memory.
Frequency
This is the weaving frequency (number of waveforms per second).
Function Type
One of the following can be selected as the weaving operation pattern (waveform).
Linear function Sine wave Circle
Amplitude
This condition is for setting the weaving amplitude when the linear function or trigonometric function has been set as
the operation pattern. Both the left and right amplitudes relative to the advance direction can be set.
The radius from the center of the circle is set when the arc has been set as the operation pattern. Both the left and right
radii relative to the advance direction can be set.
Left
amplitude
Left Advance
amplitude direction
When Linear function or Sine wave is set

Left radius
Right radius Advance

direction
When Circle is set
Stopping time
The center stop time, 1/4 period stop time and 3/4 period stop time are set.
Deeper penetration can be obtained by setting the stopping time.
3/4 period stop time
Advance direction
Left amplitude
Main path
Right amplitude
Center period stop time
Move at stop time

This condition is for selecting whether the robot is to move forward in the advance direction or stop during the weaving
stop time when weaving stop time has been set. The initial setting is "Not Exist"
Move at stop time : Not Exist Move at stop time : Exist
Keep weaving time

The condition is for setting whether the actual welding time is to be maintained even when the weaving stop time has
been set. If the weaving stop time is not set, the condition will be devoid of meaning.
Weave start direction

This condition is for setting whether the weaving is to start on the right or left relative to the advance direction. Right is
the initial setting, and weaving starts from the right side relative to the advance direction.
Start
開始点 point
左振幅
Left amplitude
右振幅
Right amplitude 進行方向 direction
Advance
When oscillation start is on the right side
Left amplitude
左振幅進行方向
Advance direction
Right amplitude
右振幅
開始点
Start point
When oscillation start is on the left side
Weave angle
This condition is for setting angle of the weaving from the main path. It can be set both for the left and right amplitude.
The initial value is 0 degrees, and the weaving plane is perpendicular to the torch.
Right Left
右振幅
amplitude 左振幅
amplitude
Weaving at an angle of inclination of 0 degrees
Right (+) (+) Left

左傾斜角
右傾斜角
weave angle Right Left weave angle
右振幅
amplitude 左振幅
amplitude
0゜ 0゜
(-) (-)
Weaving when there is an angle of inclination
Torch angle
When the angle of inclination of the torch is set, this condition makes it possible to determine the welding posture in
respect of the work piece surface at the weaving end point.
－ 0°
トーチ左傾斜角
Left torch angle
＋
0°
－
トーチ右傾斜角
Right torch angle
*Welding progresses downward.

紙面表面から裏面方向が溶接方向
(This figure is viewed from above)
Push angle
When the crosswise angle is set, this enables a change into a waveform such as the one shown in the figure below.
However, when the crosswise angle is set, the amplitude is tilted in the advance direction and is thus shortened. If, for
instance, the angle is set to -45 degrees, the amplitude will be about 70% of what it would be if the angle were 0 degrees.
Left 左前後角
push angle
0゜
(-) (+)
Advance
進行方向 direction
(-) (+)
0゜
Right右前後角
push angle
Circle rate
The circle center ratio is set when the arc has been set as the operation pattern. This ratio is for determining the
percentage of the advance direction component to be reflected in the arc radius (for determining to what extent the arc is
to be distorted).
For instance, if it is assumed that the circle in Fig. (A), when the front and back center circle ratios are 100% has:
・A left radius and right radius of the same length
・A front circle center ratio and back circle center ratio of 100%
Then the circle will have a perfectly round shape. (Perfect circles are formed in cases where weaving is performed
immediately. Normally, they are not formed since the speed component of the advance direction is added.)
The center circle ratio is what determines the extent to which the arcs are to be distorted in the advance direction.
The circle shown in Fig.(B) is formed if 50% is set as the front center circle ratio and 75% is set as the back center circle
ratio.
Seam
Waveform when
Front circle 100% is set as the
ratio front center circle
=100% ratio and as the
back center circle
ratio.
Back circle
ratio
=100%
Left radius Right radius

= 10mm = 10mm
(A)
Seam
Waveform when
50% is set as the
front center circle
Front circle ratio and 75% is
前円心率
ratio set as the back
=50%
=50% center circle ratio
Back
後円心率circle
ratio
=75%
=75%
Left 左半径
radius 右半径
Right radius
(B)

WFP[OFF, 5.0Hz →] FN440;Fix Pattern Weaving
[ ] shows Condition file number, and Frequency from the left.
See
WAX; Axis weaving (FN441)
WE; Weaving end(FN443)
Command name WAX

FN code 441
Title name Axis Weaving
Starts weaving with the simple harmonic motion
General description
of the axes.
This command enables to start weaving with the simple harmonic motion of the axes.
The robot starts weaving from a position of the movement command taught immediately before this command (WAX).
■ Parameters
Conditions Range
WFP cond. file 0 ～ 999
Frequency 0.0 ～ 20.0 [Hz]
Stopping time (center, 1/4 period, 3/4 period) 0.0 ～ 9.9 [sec.]
Move at Stop Time Not exist/ Exist
Keep weaving time Not keep/ Keep
Axis No. 1 ～ 6
Amplitude (right amplitude, left amplitude) 0.0 ～ 50.0 [mm]
WFP cond. file

"0" is selected if the welding conditions are to be specified directly using numbers; a file number (1 to 999) is selected if
they are to be specified by a file.
Enter the number and press [Enter]→F11<Input value> key. Then, the conditions stored in the previously created
condition files are to be called. If you entered the file number not created yet, the initial conditions are to be called.
Also, called conditions can be modified. If writing after modification, the modified details are reflected in the files. If
newly creating the files, they will be stored in the internal memory.
Frequency
This is the weaving frequency (number of waveforms per second).
Stopping time
The center stop time, 1/4 period stop time and 3/4 period stop time are set. Deeper penetration can be obtained by
setting the stopping time.
Advance direction
Left amplitude
Main path
Right amplitude
Center period stop time
Move at stop time

This condition is for selecting whether the robot is to move forward in the advance direction or stop during the weaving
stop time when weaving stop time has been set. The initial setting is "Not Exist"
Move at stop time : Not Exist Move at stop time : Exist
Keep weaving time

The condition is for setting whether the actual welding time is to be maintained even when the weaving stop time has
been set. If the weaving stop time is not set, the condition will be devoid of meaning.
Axis number
This condition specifies the number of the axis which will be used to conduct the weaving.
Amplitude
This condition is for setting the weaving amplitude. Both the left and right amplitudes relative to the advance direction
can be set.
Left
amplitude
Left Advance
amplitude direction

WAX[OFF, 5.0Hz →] FN441;Axis Weaving
[ ] shows Condition file number, and Frequency from the left.
See
WFP; Fixed Pattern weaving (FN440)
WE; Weaving end(FN443)
Command name WSF

FN code 442
Title name Taught Weaving
General description This carries out weaving in the taught pattern.
General description
Taught weaving (optional) is the weaving operation where points for weaving can be taught according to the groove shape.
A weaving pattern as shown in the figure below can be created arbitrarily.
1 2
1, 2 and 3 are the taught
weaving points.
As for details of taught weaving, refer to the instruction manual for taught weaving. This help explains its outline.
Parameter
Condition Description Setting range
Weaving condition
Control of This sets whether the weaving speed is designated by the frequency or Frequency /
Weaving speed by the speed between points. Point speed
Frequency This sets the weaving frequency in the case when "Control of Weaving 0.1～10.0 [Hz]
speed" is set to "Frequency".
Point speed This sets the speed in the case when "Control of Weaving speed" is set 1～999 [cm/min]
to "Point speed".
Motion type This sets whether to loop or repeat between taught points. Loop /
Repeat
Move at Stop This sets whether or not to move the robot in the main track direction Not exist /
Time during stop time, in the case when stop time is set in teaching point. Exist
Advancing Advancing
direction direction
Stop time
Keep weaving This sets whether or not to maintain the actual welding time even in the Not keep /
time case where stop time is set in teaching point. Keep
Weaving plane This sets "User" when the number of teaching points is 3 points or User /
more. Advance /
This sets "Advance" or "Torch" when the number of teaching points is 2 Torch
points.
Advance ·······The plane perpendicular to the advancing direction is the
weaving plane.
Torch … ······The plane perpendicular to the torch direction is the
weaving plane.
Torch Torch Seam direction

Seam direction
Plane perpendicular Plane

to the advancing perpendicular
direction to the torch
Weaving waveform Weaving waveform
Condition Description Setting range
Comment By [ENABLE] and [EDIT], a comment may be added. Arbitrary
character string
Parameter at teaching points
Stopping time This sets the stop time at each point. 0.0 ~ 9.9 [sec]
Curveture Curvature level becomes valid only when the number of teaching points -5 ~ 5
is 2 points, and this sets what a curvature should be drawn. (When the
curvature level is 0, a straight line results.)
When the number of teaching points is 3 points or more, the torch
moves in a straight line between points, so even if this is set, setting is
ignored. (Normally, leave it "0".)
Torch Seam direction
Seam
(Arc upward) (from the front
+5
to the depth)
Viewed from the Curvature level 0

front side
-5
(Arc downward)
Teaching point
Curvature level when the weaving plane is set to "Advance"
Torch Seam direction
Seam
-5 (Arc forward)
Seam
Viewed from direction
Curvature level 0
the top
Teaching point
+5
(Arc backward)
Curvature level when the weaving plane is set to "Torch"
Positional data This sets the point position and posture with the seam coordinate
Posture data system as reference.

WSF[001, 60cm/min ->] FN442;Taught Weaving
See
WE; Weaving End (FN443)
Command name WE
FN code 443
Title name Weaving End
General description Terminates weaving
This command is used to end the weaving while it is being executed.
TCP returns to the main path if it is midway through a weaving waveform.
Main path
TCP returns to the

main path at the end
position.
■ Parameters
None

WE[1] FN443;Weaving End
See
Command
FORK
name
FN code 450
Title name Start other unit
Outline Used to start the work program of other unit.
Outline
This command is used to start the work program of other unit. (The command starts a specified work program in addition to a
work program currently being played back.)
If the FORK command is taught, teach the FORKWAIT command that waits for the completion of the FORK command to a
proper position.
Even though the FORK command and the FORKWAIT command are not necessarily taught by the set, it is recommended to
teach them by the set for the safety purpose in order to avoid resource conflict or multiple execution of the FORK command.
■ Example of motion
Unit1.001
001 100% JOINT
002 FORK [002,0] Unit2.002
003 600cm/m LIN 001 100% JOINT
004 600cm/m LIN 002 600cm/m LIN
005 600cm/m LIN 003 600cm/m LIN
006 FORKWAIT 004 600cm/m LIN
007 100% JOINT 005 600cm/m LIN
008 100% JOINT 006 END
009 END
: Shaded portions move in parallel.

2: FORK [2,0] 6: FORKWAIT
1 3 4 5 7 8 9: END
Unit1.001
1 2 3 4 5
Unit2.002 6: END
If the FORKWAIT command is not used in the source work program of the FORK command, the source work program of the
FORK command may be completed before its destination work program is completed.
In this case, the handling of the start signal for the source work program of the FORK command varies with the setting of
“Service” → “1 Teach/Playback Condition” → “27 Start during FORK”.
When the “Start during FORK” parameter is set to “Prohibited”:

The error message “E6080: The system attempted to start a unit including a resource that is in starting mode” will be
output. The system accepts no starting signal unless the FORM command is completed.
When the “Start during FORK” parameter is set to “Allowed”:

The system will accept the starting signal and play back it.
Parameters
Parameter 1 Program No. Used to make setting of program number to be started.
Parameter 2 Resource Used to make setting of a period of time waiting for a mechanism to be used in the
conflict work program that is started to be released if this mechanism is being started in a
waiting time different unit, in seconds.
(Setting range: ∞ (−1) or 0 to 99)
If the relevant mechanism is released within the set period of time, the set program will
be started.
If it is not released, a fault will be output.

FORK[1,-1] FN450: Start other unit
Related commands
FORKI: Start other unit (Input) (FN451)
FORKN: Start other unit (Number of times) (FN452)
FORKWAIT: Fork complete waiting (FN453)
Command
FORKI
name
FN code 451
Title name Start other unit (Input)
Used to start the work program of other unit according to
Outline
input signal.
Outline
This command is used to start the work program of other unit according to input signal. (The command starts a specified work
program in addition to a work program currently being played back.)
Without input signal, the work program cannot be started.
If the FORKI command is taught, teach the FORKWAIT command that waits for the completion of the FORKI command to a
proper position.
Even though the FORKI command and the FORKWAIT command are not necessarily taught by the set, it is recommended to
teach them by the set for the safety purpose in order to avoid resource conflict or multiple execution of the FORKI command.
Unit1.001
001 100% JOINT
002 FORK [002,0] Unit2.002
003 600cm/m LIN 001 100% JOINT
004 600cm/m LIN 002 600cm/m LIN
005 600cm/m LIN 003 600cm/m LIN
007 100% JOINT 005 600cm/m LIN
008 100% JOINT 006 END
009 END

1 3 4 5 7 8 9: END
Unit1.001
1 2 3 4 5
Unit2.002 6: END

output. The system accepts no starting signal unless the FORK command is completed.

Parameters
be started.
Parameter 3 Input signal Used to make setting of input signal number that determines whether or not to start the
No. work program.
(Setting range: 1 to 2048 or 5001 to 5064)

FORKI[1,-1,I1] FN451: Start other unit (Input)
Related commands
FORK: Start other unit (FN450)
Command
FORKN
name
FN code 452
Title name Start other unit (Number of times)
Used to start the work program of other unit according to
Outline
the number of pass times.
Outline
This command is used to start the work program of other unit. (The command starts a specified work program in addition to a
work program currently being played back.)
This command makes the unit pass by the specified number of times and starts the work program of a different unit when the
number of pass times reaches “specified number of pass times + 1”.
For example, when the “Number of times” parameter is set to “2”, the unit will pass two times, and the work program of a
different unit will be started at the third pass.
When the number of pass times is less than the set value, such work program will not be started.
If the FORKN command is taught, teach the FORKWAIT command that waits for the completion of the FORKN command to a
proper position.
Even though the FORKN command and the FORKWAIT command are not necessarily taught by the set, it is recommended to
teach them by the set for the safety purpose in order to avoid resource conflict or multiple execution of the FORKN command.
Unit1.001
001 100% JOINT
002 FORK [002,0] Unit2.002
003 600cm/m LIN 001 100% JOINT
004 600cm/m LIN 002 600cm/m LIN
005 600cm/m LIN 003 600cm/m LIN
007 100% JOINT 005 600cm/m LIN
008 100% JOINT 006 END
009 END

1 3 4 5 7 8 9: END
Unit1.001
1 2 3 4 5
Unit2.002 6: END

output. The system accepts no starting signal unless the FORK command is completed.

Parameters
be started.
The term “register” means a memory used to count.
Parameter 3 Register No. Since integer variables are used, this parameter makes setting of the register number.
Used to record the number of pass times that serves as condition for executing jump.
Number of The relevant unit passes by the specified number of times and executes jump when the
Parameter 4
times number of pass times reaches “specified number of pass times + 1”.
(Recording range: 0 to 10000)

FORKN[1,-1,V1%,5] FN452: Start other unit (Number of times)
Related commands
Command
FORKWAIT
name
FN code 453
Title name Fork complete waiting
Used to wait for the completion of the work programs of
Outline other unit started by the FORK, FORKI and FORKN
commands.
Outline
This command is used to wait for the completion of all programs started by the FORK, FORKI and FORKN commands.
Unit1.001 : Shaded portions move in parallel.

001 100% JOINT
002 FORK [002,0] Unit2.002
003 FORK [003,0] 001 100% JOINT Unit2.003
004 600cm/m LIN 002 600cm/m LIN 001 100% JOINT
005 600cm/m LIN 003 600cm/m LIN 002 600cm/m LIN
006 FORKWAIT 004 600cm/m LIN 003 600cm/m LIN
007 100% JOINT 005 600cm/m LIN 004 600cm/m LIN
008 END 006 END 005 600cm/m LIN
006 END
2: FORK [002,0]

Unit1.001 1 4 5 7 8: END
Unit2.002 1 2 3 4 5 6: END
Unit3.003 1 2 3 4 5 6: END
Parameters
N/A

FORKWAIT FN453: Fork complete waiting
Related commands
Command
CALLFAR
name
FN code 454
Title name Call other unit
Outline Used to call the work program of other unit.
Outline
Using this command makes it possible to call the work program of other unit.
When the work program of other unit is called, the relevant unit will stop executing its own work program, and resume it when
the execution of the program called is completed.
It is impossible to further call the program of other unit with the program of call destination.
However, it is possible to call the program within the unit using the CALLP command with the program of call destination (for a
maximum of eight hierarchies).
Example of motion
Record “CALLFAR: Call other unit (FN454), Program No.=2” in Step 4.
When playing back this program, the robot will reach Step 4, and then skip Steps 5 and 6 to jump to the leading step of the
Program 2.
When the playback of the Program 2 is completed (the END: End command is executed), the robot will return to the next step,
Step 5 of call command of the call source program 1.
Step 4
Program 1
CALLFAR: Call other unit (FN454)
Program No.=2
1 2 3 5 6
● ● ● ● ●
7: END (FN92)
Program 2
1
5: END (FN92) ● ●
4
● ●
3 2
This command will not cause the robot to decelerate.

If no step positioning is specified, this command will be executed when the robot reaches the accuracy range of the
immediately preceding movement command.
Parameters
Parameter 1 Program No. Used to make setting of program number to be called.
conflict work program that is called to be released if this mechanism is being started in a
If the relevant mechanism is released within the set period of time, the set program
will be called.

CALLFAR[1,-1] FN454: Call other unit
Related commands
CALLFARI: Call other unit (Input) (FN455)
CALLFARN: Call other unit (Number of times) (FN456)
Command
CALLFARI
name
FN code 455
Title name Call other unit (Input)
Used to call the work program of other unit if input signal
Outline
is input.
Outline
Using this command makes it possible to call the work program of other unit if input signal is input.
This command makes the unit pass by the specified number of times and calls the work program of other unit when the number of
pass times reaches “specified number of pass times + 1”.
For example, when the “Number of times” parameter is set to “2”, the unit will pass two times, and the work program of other unit
will be called at the third pass.
Note that, if application command is recorded in the leading step of the program of call destination program, the application
command of jump destination will be executed on the spot where the call command is executed.
When the work program of other unit is called, the relevant unit will stop executing its own work program, and resume it when the
execution of the program called is completed.
Example of motion
Record “CALLFARI: Call other unit (Input) (FN455), Program No. of other unit=2, Input signal=I1)” in Step 4.
When playing back this program, the robot will reach Step 4, jump to the leading step of the Program 2 when the input signal I1
is input, and return to the next step, Step 5 of call command of the call source program 1, when the playback of the Program 2
is completed (the END: End command is executed).
If the input signal is not input, the robot will not jump to the Program 2.
Step 4
Program 1
Program No.=2
Input signal No. =I1
1 2 3 5 6
● ● ● ● ●
If the input signal 7: END (FN92)
I1 is input If the input signal I1
is not input
Program 2
5: END (FN92) ●4 ●
1
● ●
3 2

If no step positioning is specified, the input signal will be inspected just before the command value reaches the accuracy range
of the movement command. If the input signal is input, the robot will make an inward turn.
If the input signal is not input, the command value will move toward the recorded point. And when the robot reaches the
accuracy range, the input signal will be inspected.
Parameters
be called.
Parameter 3 Input signal Used to make setting of input signal number that determines whether or not to start the
No. work program.
(Setting range: 1 to 2048 or 5001 to 5064)
CALLFARI[1,-1,I1] FN455: Call other unit (Input)
Related commands
CALLFARN: Call other unit (Number of times) (FN456)
Command
CALLFARN
name
FN code 456
Title name Call other unit (Number of times)
Used to call the work program of other unit according to
Outline
the number of pass times.
Outline
This command is used to call the work program of other unit.
This command makes the unit pass by the specified number of times and calls the work program of other unit when the number of
pass times reaches “specified number of pass times + 1”.
For example, when the “Number of times” parameter is set to “2”, the unit will pass two times, and the work program of other unit
will be called at the third pass.
Note that, if application command is recorded in the leading step of the program of call destination program, the application
command of jump destination will be executed on the spot where the call command is executed.
When the work program of other unit is called, the relevant unit will stop executing its own work program, and resume it when the
execution of the program called is completed.
Example of motion
Record “CALLFARN: Call other unit (Number of times) (FN456), Program No. of other unit =2, Register No.=1, Number of
times=2)” in Step 4.
When playing back this program, the robot will pass the first and second calls to move to the Step 5, but jump to the leading
step of the Program 2 at the third call.
When the playback of the Program 2 is completed (the END: End command is executed), the robot will return to the next step,
Step 5 of call command of the call source program 1.
Step 4
Program 1 CALLFARN: Call other unit (Number of times) (FN456)
Program No.=2
Register No.=1
Number of times=2
1 2 3 5 6
● ● ● ● ●
Third call 7: END (FN92)
First and Second calls
Program 2
5: END (FN92) ●4 ●
1
● ●
3 2

If no step positioning is specified, this command will be executed when the robot reaches the accuracy range of the
immediately preceding movement command.
Parameters
be called.
The term “register” means a memory used to count.
Parameter 3 Register No. Since integer variables are used, this parameter makes setting of the register number.
Used to record the number of pass times that serves as condition for executing jump.
Number of The relevant unit passes by the specified number of times and executes jump when the
Parameter 4
times number of pass times reaches “specified number of pass times + 1”.
(Recording range: 0 to 10000)

CALLFARN[1,-1,V1%,5] FN456: Call other unit (Number of times）
Related commands
Command name USRERR

FN code 467
Title name User Error Output
General description Output the user customized error
When this function is played, this can output the user error (or alarm or information) that is defined in Service / 25.Root
Diagnosis / 6.User error definition. Total 997 errors (or alarm or information) can be defined.
Error Playback aborted, and motor power OFF.

Alarm Playback aborted, but motor power is still ON.
Information Playback continued.
When this function is played, this can output the user error (or alarm or information). If designated error is not defined, default
error is detected.
■ Parameter
Parameter This specifies the error number to be happened in recorded step.
Error code
No. 1 (7003-7999)

USRERR[7003] FN467; User error
USRERR[7004] FN467; User alarm
USRERR[7005] FN467; User information
Command name SF0

FN code 470
Title name Wire Extension
This detects and corrects the wire extension.
General description * This is used when the touch sensor (AX-WD) is
connected.
General description
SF0 is the command to detect the wire extension so that the search motions and deviation detection of SF1 and SF2 should be
carried out correctly. By this command, for example, even if the wire extension length changes, it is possible to limit mistake in
detection or deviation caused by that to minimum.
As for details on the respective functions, teach examples and so forth of the touch sensor (AX-WD), refer to the
instruction manual for the touch sensor. This help explains its outline.
When SF0 is executed, deviation between the search point at teaching and the touch point detected during automatic
operation is detected.
Change amount of Teaching

Teaching wire extension length approach point
approach point Search direction
Teaching
search point
Teaching
search point The change of the wire
Reference surface extension length is Reference surface
detected automatically.
(a) Search point teaching (b) Touch at automatic operation
In SF1 and SF2 after SF0, the wire top positions are corrected so as to be always constant.
As for the correction of SF0, until welding is executed, the search command and the motion command just before it is corrected
automatically.
SF0 Teaching Method

(1) Select FN470 "Wire Extension".
(2) Set necessary parameters (to be described later).

(3) Select f9 <Vector Teach>.
During teaching of search vectors, voltage of

DC50V is impressed. Do not touch the wire or
Warning
electricity conductive portions, otherwise electric
shock may result.
(4) By manual operation, movements are made until the wire touches the reference surface.
Movement is made until the wire touches
the reference surface.
When it touches, "Touched" is displayed on
the teach pendant screen.
Search direction
Reference
surface
(5) When the wire touches, select f12 <Record Current Position>, and record the reference position.
(6) Press f12 <Complete> and record SF0.
Parameter
Parameter name Description Range
This selects the sensor to become a teach objective in the case where plural sensors
Sensor
are connected.
Mechanism No. The mechanism number to use the sensor is displayed. This cannot be edited. －
Welder No. This sets the welding machine number. 1~4
This is the speed of search motions at playback. When the search speed is increased,
that tact time is shortened, but the detection precision decreases, and the coasting run
6 ~ 360
Search speed amount after touching increases. (The wire may be bent.) Set around 60cm/min
[cm/min]
(10mm/sec) as a standard amount. Set an appropriate search speed according to your
purpose.
This sets the maximum searching distance so as to detect the search idle run at
Search range execution of SF0. 0 ~ 999
(Max.) When after start of search, touch is not detected in motions on set distance from the [mm]
reference position, a failure is detected.
This sets the minimum searching distance so as to detect that the wire has already
Search range touched at execution of SF0. 0 ~ 999
(Min.) When after start of search, touch is detected in motions on set distance, a failure is [mm]
detected.
This sets the allowable range of wire extension deviation detected by SF0. When the
Over deviation 0 ~ 999
wire extension deviation after touch detection is larger than the set value, a failure is
range [mm]
detected.
Tool No. This sets the tool number. 1 ~ 32
Taught Vector When the search vector is taught, a value is set. The value cannot be edited. -

SF0[ 150cm/m, M1] FN470;Wire Extension
Command name SF1

FN code 471
Title name One Direction Search (Touch)
This detects the deviation of a workpiece.
General description * This is used when the touch sensor (AX-WD) is
connected.
General description
SF1 is the command that detects the deviation of a workpiece from the positional difference between the search point at
teaching and the touch point at automatic operation, and records it to the deviation correction file.
• The deviation of a workpiece to be detected by SF1 is in one direction. When a workpiece displaces in 3 dimensional
manners, carry out SF1 in 3 directions.
• Only by executing SF1, the deviation of a workpiece cannot be corrected. To correct the deviation, teaching of SF3
(receiving deviation amount) is necessary.
• In SF1, there are the following 2 methods.

y Search motion to move the torch attached to manipulator
y Search motion to rotate or slide the external axis, while keeping the torch standstill
The latter method is specially called "external axis search".

The external axis search is available whether the external axis is a slider or a positioner. (However, it is not available in
other case than the robot's external axis.) And it is available in both the control methods (coordinate control and
simultaneous control).
As for details on the respective functions, teaching examples and so forth of the touch sensor (AX-WD), refer to the
instruction manual for the touch sensor. This help explains its outline.
SF1 Teach Method

(1) Select the mechanism for search motions as the manual operation mechanism.
(2) Select FN471 "One Direction Search (Touch)".

During teaching of search vectors, voltage of

DC50V is impressed. Do not touch the wire or
Warning
electricity conductive portions, otherwise electric
shock may result.
The wire moves to the point where it
touches the workpiece.
When it touches, "Touched" is displayed on
the teach pendant screen.
Search direction
Parameter
This selects the sensor to become a teach objective in the case where plural
Sensor -
sensors are connected.
The manual operation mechanism at the moment when a command is selected is
selected as the mechanism to carry out search motions, and is displayed here.
When the manipulator is selected, it becomes the one direction search, and when
Mechanism No. -
the external axis is selected, it becomes the external axis search.
Editing is not available, so if a wrong mechanism is displayed, exit teaching by reset
once, and newly select the correct mechanism and select the command once again.
This sets the number of deviation length detected by SF1. Detected deviation is
Store No. 1 ~ 999
stored per number. Stored deviation can be received by SF3 command.
When deviation has been already stored by the same store number, when the
Dev. deviation composition is set to "ON", the detected deviation and the already stored Disabled/
Composition deviation can be composed. When the deviation composition is set to "OFF", the Enabled
detected deviation is overwritten.
This designates the logic of touch detection.
This judges the touch detection from changes from the wire off status to the wire OFF → ON/
Touch Logic
touch status by "OFF → ON", while from the wire touch status to the wire off status ON → OFF
by "ON → OFF".
Manipulator:
This is the speed of search motions at playback. When the search speed is 6 ~ 360
increased, that tact time is shortened, but the detection precision decreases, and [cm/min]
Search Speed coasting amount after touching increases. (The wire may be bent.) Set around
60cm/min (10mm/sec) as a standard amount. Set an appropriate search speed
according to your purpose. External axis:
1 ~ 100 [%]
Manipulator:
0 ~ 999 [mm]
Search range This sets the maximum searching distance so as to detect the search idle run at
(Max.) execution of SF1. Slider:
Search range When after start of search, touch is not detected in motions on set distance from the 0 ~ 9999 [mm]
(Max.) reference position, a failure is detected.
Positioner:
0 ~ 180 [deg]
Manipulator:
This sets the minimum searching distance so as to detect that the wire has already 0 ~ 999 [mm]
Search range touched at execution of SF1. Slider:
(Min.) When after start of search, touch is detected in motions on set distance, a failure is 0 ~ 9999 [mm]
detected. Positioner:
0 ~ 180 [deg]
Manipulator:
0 ~ 999 [mm]
This sets the allowable range of wire extension deviation detected by SF1. When the
Over deviation Slider:
range 0 ~ 9999 [mm]
0 ~ 180 [deg]
Manipulator:
This designates the coordinate system to store the deviation. In the list box,
Store Machine /
coordinate systems that can be selected are displayed, so select one. At the
Coordinates Tool /
external axis search, it is fixed to each axis coordinate system.
Other
External axis:
Axis

Taught Vector When search vectors are taught, the value is set. The value cannot be edited. －

SF1[150cm/m, No.1, M1] FN471; One Direction Search
Parameters displayed on the screen are "Search speed", "Store No.", and "Mechanism No." from the left.
See
SF3; Deviation call (FN473)
SF4; Dev. vector composition (FN474)
Command
SF2
name
FN code 472
Title names Pattern Search(Touch)
Detect setting deviation of the work object by the touch
General sensor attached to the welding wire and store the
description deviation volume/gap volume file in the specified file /
gap file.
Use of this application command allows reflecting the deviation volume from the reference position of the work to the
"deviation revision file", with the touch sensing by using the search pattern prepared beforehand.
As for details on the respective functions, teach examples and so forth of the touch sensor, refer to the instruction
manual for the touch sensor. This help explains its outline.
■ Parameter
This sets the types of the sensor to be
Sensor 1~12
used.
A mechanism number corresponding to
Mechanism No. the parameter "Sensor" will be －
automatically set.
Number of the search pattern to be used.
Pattern number Specify the number registered as the 1~99
search pattern file (SFM file) beforehand.
The results of the search operation will
Store No.
be stored as the deviation volume in the 1~999
DEV
deviation file (DEV**).
The gap volume calculated by the search
Store No. operation will be stored in the GAP
1~999
GAP revision file (GAP**) specified by this
parameter.
Set the moving speed at the time of
search movement.
6~360
Search Speed The same value will be used for all
cm/min
search operations and it is not possible
to be changed by command.
Set the torch speed at the time of
movement in other than search
movement. 6~360
Move speed
The same value will be used for all move cm/min
operations and it is not possible to be
changed by command.
If this parameter is tuned ON, the
deviation value can be stored by adding
the said-value to the existing deviation
Disabled/
Dev. Composition file, at the time when the detected
Enabled
deviation value is stored.
By this compounding the file number can
be reduced.
This is used to reverse the movement of
Disabled/
Direction reversal right and left sides in the pattern search
Enabled
operations.
Basic coordinate system at the deviation
issuance time.
The rectangular coordinate system now
registered will be displayed as choice
Store coordinates －
candidate, however it will become
"machine" if all items are not registered.
User coordinate system cannot be
selected.
Designate the basic coordinate system Direction
for the search movement. specify/
Vector
Tool
coordinates
Vector start point will be memorized,
Vector Un-teaching/
when the direction specify is selected by
Start Finished
vector.
Vector end point will be memorized,
Vector Un-teaching
when the direction specify is selected by
End /Finished
vector.
The "reference position" as a calculation Un-teaching
Reference point standard of deviation will be specified. /
Finishing
"Dummy point" will be memorized. Un-teaching
Dummy point /
Finishing
This is used to set the maximum
movement volume possible to search at
the search movement. Error of the
Search range 0.0~999.9
"Search range exceeded" will be
Max mm
generated when search is not finished if
this maximum movement volume is
exceeded at each search movement.
This is used to set the minimum required
search volume at the search movement.
Search range Error of the "Search range is short" will 0.0~999.9
Min be generated when search is finished at mm
less than this movement volume in each
search movement.
If the deviation volume detected and
generated in the SF2 exceeds the value
Over deviation 0.0~999.9
specified by this parameter, it will be
range mm
treated as disorder of "Deviation range
exceeded".
This designates the maximum gap
volume issued by SF2. If the deviation
Gap range -999.0
volume exceeding this maximum value is
Max ~999.0 mm
detected, it will be treated as disorder of
"GAP over".
This designates the minimum gap
volume issued by SF2. If the deviation
Gap range -999.0
volume less than this minimum value is
Min ~999.0 mm
detected, it will be treated as disorder of
"GAP short".
Groove depth It is used to measure the groove
-999.0
range information using SF2.
~999.0 mm
Max
Groove depth It is used to measure the groove
-999.0
~999.0 mm
Min
Groove angle1 It is used to measure the groove
-180.0
~180.0 deg
Max
-180.0
~180.0 deg
Min
-180.0
~180.0 deg
Max
-180.0
~180.0 deg
Min

SF2[S1, 01, DEV001, GAP001, →] FN472; Pattern Search
Parameters displayed on the screen show "Sensor No.", "Pattern number.", "Store No DEV", and " Store No GAP" from the
left.
Command name SF3

FN code 473
Title name Deviation call
This receives the stored deviation.
General description * This is used when the touch sensor (AX-WD) and
General description
In SF3, this receives the stored deviation, and corrects positions. To the teaching position of the manipulator, the position of the
manipulator is corrected by the deviation received by SF3.
• The objective to be corrected by SF3 is the move command (LIN / CIR / JOINT).
• By receiving the deviation by the touch sensor, only the position is corrected. The torch posture is not changed.
• SF3 is a section command. Designate receiving before the step at which you want to start correction, and teach the end of
receiving before the step at which you want to end the correction.
• In the receiving section, irresponsive of presence or absence of an arc command, all the teaching points become objectives
for receiving.
• Receiving deviation can be made only between devices of the same mechanism kind. For example, deviation stored by a
positioner cannot be received by a manipulator.
• Deviation receiving section can be designated per mechanism. Use this function with sufficient care on up to where and
which deviation should be reflected.
• Receiving deviation is made in the coordinate system where deviation is stored, which please note. Especially, as for
deviation files, files stored by various kinds of mechanisms exist. For example, if a receiving number is wrong, deviation
stored by the neighbor manipulator is received.
• In the case where deviation is received between units or so, there may be the case when there is no stored coordinate
system. In such a case, receiving is not carried out (movement toward the teaching point), which please note.
• Only one deviation amount to be received by one mechanism in a section. When to simultaneously reflect (receive) plural
search results, convert plural search results into one deviation composed by SF4 in advance.
As for details on the respective functions, teach examples and so forth of the touch sensor (AX-WD), and the laser
search (AX-RD), refer to the respective instruction manuals. This help explains its outline.
Parameter

This sets the mechanism to receive deviation in the case where there are plural
Mechanism No. -
mechanisms. It cannot be set in a single manipulator machine.
This sets the number of the deviation to be received. It is necessary to store the
Call No. 1 ~ 999
deviation by SF1 in advance.
This select whether or not to receive the posture deviation. Select only "Disabled". Disabled /
Posture calling
Even if "Enabled" is selected, the posture deviation is not received. Enabled
Start /
SF3 Section This selects start / end / all end of SF3 section. End /
All End
X direction offset
-99.9 ~
Y direction offset This is set when to make offset further to the received deviation.
99.9
Z direction offset

SF3[No.1, ON, M1] FN473;Deviation call
Parameters displayed on the screen show "Call No.", "Section Start or End", and "Mechanism No." from the left.
See
When using the touch sensor:
SF1; One Direction Search (Touch) (FN471)
When using the laser search:

ZF1; One Direction Search (Laser) (FN480)
Command name SF4

FN code 474
Title name Dev. vector composition
This calculates a new deviation on the basis of
stored deviation.
General description
* This is used when the touch sensor (AX-WD) and
General description
In SF4, a new deviation is calculated on the basis of stored deviation. And at the same time, by receiving this deviation,
positions may be corrected.
Parameter

DEV file 1 No. This designates the number of the DEV file 1 to calculate the deviation. 1 ~ 999
-100 ~ 100
DEV file 1 Rate This designates the composition ratio of the DEV file 1 to calculate the deviation.
[%]
-100 ~ 100
[%]
-100 ~ 100
[%]
Dev. storage No. This select start / end / all end of SF3 section. 1 ~ 999
SF4 is calculated on the basis of the above parameters by the following equation.
Deviation to be calculated (stored)

＝（DEV file 1×Rate 1）＋（DEV file 2× Rate 2）＋（DEV file 3×Rate 3）

SF4[001,002,003,No.004] FN474;Dev.vector composition
Parameters displayed on the screen show "DEV file 1 No.", "DEV file 2 No.", "DEV file 3 No.", and "Store No." from the
left.
See
When using the touch sensor:
When using the laser search:

ZF1; One Direction Search (Laser) (FN480)
Command
SF5
name
FN code 475
Title names Store of tracking deviation
Store the cumulative volume of the weld line tracking
General
augmenter up to the present will be stored in the
description
deviation file.
If the tracking command is used in a case where a deviation is generated between the step site and the welding line in the
actual work, arc welding can be made by revising the tool location so that the route between the step site and step can be
coincided with the welding line in the actual work.
In this case by using this application command at any step site on the tracking section, deviation volume during the tracking
can be stored. The stored deviation volume can be received by using the "FN473 deviation call," as necessary.
This command can be effective only when the arc sensor, TIG-AVC, and laser sensor are being used.
As for details on the respective functions, teach examples and so forth of each sensor, refer to the instruction
manual of each sensor. This help explains its outline.
■ Parameter
Sensor This specifies the sensor executing the 1~12
tracking revision.
Mechanism No. A mechanism number corresponding to
the parameter "Sensor" will be 1~9
automatically set.
DEV. storage No. The deviation revision file in the storage 1~999
location will be designated.
Store Coordinates Basic coordinate system at the deviation －
issuance time.
Basement of This sets the standard of deviation Tracking
Store issuance. only/
Teaching
Point
Posture-deviation Select the Enabled when issuing posture Disabled/
ingredient Enabled

SF 5[S2 ,No. 999 , → ] FN4 75; Sto re o f t rack ing dev iat ion
Parameters displayed on the screen show "Sensor" and "DEV. storage No.", from the left.
Command
SF8
name
FN code 478
Title names Generation of a DEV. file
General Exchange the deviation volume between the general
description purpose register and the deviation file.
By use of this application command, the values of designated general purpose register can be stored into a deviation file
(DEV***) as deviation volume. And a designated deviation volume can be obtained from the deviation revision file to the
general purpose register.
With this deviation volume can be temporarily evacuated in the general purpose register, deviation volume can be treated in
various ways, including when diverging the task programs depending upon the deviation volume or when deviation volume in
a specified direction is desired to be used.
■ Parameter
Storing direction This sets the storing direction of the Register →
generated deviation volume. File /
File →
Register
Register This sets the register kinds to be stored. Local/
Kind Global real
number
Register No. This sets the top number of the register 1~195,
[real number/variable] to be stored. 301~495
DEV file No. This sets the top number of the
1~999
"Deviation revision file" to be stored.
Mechanism No. This sets the mechanism number when All
new files are generated. mechanisms
in the
present unit
Store Coordinates It will be enabled when the mechanism is
a manipulator and it make possible to
select the coordinate system registered
-
in the registration coordinate system of a
unit at present as the issuance
coordinate system.
Posture-deviation This sets whether to issue posture
Disabled/
deviation volume when the deviation
Enabled
revision file is generated.
Compensative-Su This sets the maximum permissible value
rveillance val. of the position deviation volume. -999.9~
Position 999.9 mm
Max
Compensative-Su This sets the minimum permissible value
rveillance val. of the position deviation volume. -999.9~
Position 999.9 mm
Min
Compensative-Su This sets the maximum permissible
rveillance val. posture deviation volume. -90.0~
Posture 90.0 deg
Max
Compensative-Su This sets the minimum permissible
rveillance val. posture deviation volume. -90.0~
Posture 90.0 deg
Min

SF 8[R- >F, L1! , DE V00 1 → ] FN4 78; Gen erat ion of a D EV f ile
Parameters displayed on the screen show "Storing direction", "Register Kind", "Register top No.", and "DEV file No.", from the
left.
Command name SF9

FN code 479
Title name Generation of a GAP file
This stores variable values to a gap file.
General description * This is used when the touch sensor (AX-WD) and
General description
By use of this function command, the values of designated actual variables (global actual numbers, local actual numbers) can
be stored into a gap file (GAP***) as gap values. In the case when there is not a gap file, one is newly created and gap values
are stored into it. And gap values designated from gap file to variables can be obtained.
Thereby, in the case where there is restriction in available "gap file" or 3 gap values or more are to be composed, gap values
can be saved to variables (and can be composed by calculation by register), accordingly more gap values can be handled.
Parameter

This designates the method (storage direction) to handle generated gap Register->File /
Storing direction
value. File->Register
Local /
Register Kind This designates the kind of actual variable to store gap value.
Global
Register No. This designates the number of actual variable to store gap value. 1 ~ 200
GAP file No. This designates the number of a gap file to store gap value. 1 ~ 999
Root Gap /
Gap Depth /
Data kind This designates the kind of data to be obtained.
Gap Angle 1 /
Gap Angle 2

SF9[R->F,G001,GAP001] FN479;Generation of a GAP file
See
Command name ZF1

FN code 480
Title name One Direction Search (Laser)
This detects the setting deviation of a workpiece.
General description * This is used when the laser search (AX-RD) is
connected.
General description
ZF1 is the command that detects the deviation of a workpiece from the positional difference between the search point at
teaching and the touch point at automatic operation, and records it to the deviation correction file.
• The deviation of a workpiece to be detected by ZF1 is in one direction. When a workpiece displaces in 3 dimensional
manners, carry out ZF1 in 3 directions.
• Only by executing ZF1, the deviation of a workpiece cannot be corrected. To correct the deviation, teaching of SF3
(receiving deviation amount) is necessary.
• In ZF1, there are the following 2 methods.

y Search motion to move the manipulator
y Search motion to rotate or slide the external axis, while keeping the manipulator standstill.
The latter method is specially called "external axis search".

The external axis search is available whether the external axis is a slider or a positioner. (However, it is not available in
other case than the robot's external axis.) And it is available in both the control methods (coordinate control and
simultaneous control).
As for details on the respective functions, teach examples and so forth of the laser search (FD-RD), refer to the
instruction manual for the laser search. This help explains its outline.
ZF1 Teach Method

(1) Select the mechanism for search motions as the manual operation mechanism.
(2) Select FN480 "One Direction Search (Laser)".

Set
設定距離
distance
アンタッチ・
Untouch
Touch
タッチ・
Parameter
This selects the sensor to become a teach objective in the case where plural sensors
Sensor -
are connected.
selected as the mechanism to carry out search motions, and is displayed here. When
the manipulator is selected, it becomes the one direction search, and when the
Mechanism No. -
external axis is selected, it becomes the external axis search.
This sets the number of deviation length detected by ZF1. Detected deviation is stored
Store No. 1 ~ 999
per number. Stored deviation can be received by SF3 command.
Dev. deviation composition is set to "ON", the detected deviation and the already stored Disabled/
Composition deviation can be composed. When the deviation composition is set to "OFF", the Enabled
This designates the logic of touch detection.
This judges the touch detection from changes from the wire off status to the wire touch OFF → ON/
Touch Logic
status by "OFF → ON", while from the wire touch status to the wire off status by "ON ON → OFF
→ OFF".
Manipulator:
6 ~ 360
When the search speed is increased, the tact time is shortened, but the detection
Search Speed [cm/min]
precision declines. Set an appropriate search speed according to your purpose.
External axis:
1 ~ 100 [%]
Manipulator:
0 ~ 999 [mm]
This sets the maximum searching distance so as to detect the search idle run at
Search range execution of ZF1. Slider:
(Max.) When after start of search, touch is not detected in motions on set distance from the 0 ~ 9999 [mm]
reference position, a failure is detected.
Positioner:
0 ~ 360 [deg]
Manipulator:
This sets the minimum searching distance so as to detect laser touch is already made 0 ~ 999 [mm]
Search range at execution of ZF1. Slider:
(Min.) When after start of search, touch is detected in motions on set distance, a failure is 0 ~ 9999 [mm]
0 ~ 360 [deg]
Manipulator:
0 ~ 999 [mm]
This sets the allowable range of wire extension deviation detected by ZF1. When the
range 0 ~ 9999 [mm]
0 ~ 360 [deg]
Manipulator:
Machine /
Tool /
This designates the coordinate system to store the deviation. In the list box, coordinate Other
Store
systems that can be selected are displayed, so select one. At the external axis search,
Coordinates
it is fixed to each axis coordinate system.
External axis:
Axis

This sets the reference distance for touch detection. From the sensor nozzle
176 mm → reference distance 0mm
Detecting level 276 mm → reference distance 100mm 0 ~ 99
Normally, the height of the tool top becomes same as that of the reference distance
0mm.
Taught Vector When search vectors are taught, the value is set. The value cannot be edited. -

ZF1[90cm/m, No.1, M1] FN471;OneDirectionSearch(Laser)
Parameters displayed on the screen shows "Search Speed", "Store No.", and "Mechanism No." from the left.
See
Command name ZG1

FN code 483
Title name High-speed groove search
This searches the groove information at high
speed.
General description
* This is used when the laser search (AX-RD) is
connected.
General description
This carries out a search motion crossing the groove (seam) once, and obtains the groove (seam) shape, and searches the
welding position by simple image processing method, and detects deviation from teaching of the welding portion.
As for details on the respective functions, teach examples and so forth of the laser search (FD-RD), refer to the
instruction manual for the laser search. This help explains its outline.
Parameter
This selects the sensor to become a teach objective in the case where plural
Sensor -
sensors are connected.
selected as the mechanism to carry out search motions, and is displayed here. When
the manipulator is selected, it becomes the one direction search, and when the
Mechanism No. -
external axis is selected, it becomes the external axis search.
This sets the number of deviation detected by ZG1. Detected deviation is stored per
File Number DEV 1 ~ 999
number. Stored deviation amount can be received by SF3 command.
File Number GAP This sets the number of the gap value detected by ZG1. 1 ~ 999
File Number GFF This sets the number of the GFF file (image processing parameter file) to be used. 1 ~ 999
Manipulator:
6 ~ 360
[cm/min]
When the search speed is increased, the tact time is shortened, but the detection
Search Speed
precision declines. Set an appropriate search speed according to your purpose. External axis:
1 ~ 100 [%]
Manipulator:
Machine /
Tool /
This designates the coordinate system to store the deviation. In the list box, Other
Store Coordinates coordinate systems that can be selected are displayed, so select one. At the
external axis search, it is fixed to each axis coordinate system.
External axis:
Axis

deviation composition is set to "ON", the detected deviation and the already stored Disabled/
Dev. composition
deviation can be composed. When the deviation composition is set to "OFF", the Enabled
In the trial operation of the soft key, if the trail operation is selected to ON, trial operation
mode gets in. However, in the section where this parameter is set to OFF, acquisition of
the reference position is not carried out (trial operation is not carried out), and normal
deviation detection mode gets in.
Speaking reversely, only the section where this parameter is set to ON become the
objective for reference position acquisition.
The above contents are summarized as shown below.
Automatic Trial operation
setting Result
correction setting
OFF Deviation detection
OFF motion (normal motion)
(Not designated)
Auto modify OFF Deviation detection ON/OFF
ON motion (normal motion)
(Not designated)
Deviation detection
ON (Designated) OFF motion (normal motion)
Reference position
acquisition motion
ON (Designated) ON (without deviation
detection)
At teaching, this parameter becomes valid. And even in trail operation, it does not
get invalid automatically, therefore, if the trail operation is left ON by the setting of
the soft key, acquisition of reference position is always executed in the next
playback motion, which please note.
Stable waiting
This sets the stability waiting time at distance measurement. 0.3 ~ 9.9 [sec]
time
This is the position to be the reference of deviation store. Coordinates of the
reference position are displayed, which can be confirmed easily.
Vertical Base • The reference position cannot be registered by teaching. Be sure to execute trial
Distance operation to register it.
• When correction is erroneous, by checking the reference position, it may be easy
to specify the problem.
Manipulator:
0 ~ 999 [mm]
This sets the allowable range of wire extension deviation detected by ZF1. When the
range 0 ~ 9999 [mm]
0 ~ 360 [deg]
This parameter is the one to be used in the image processing portion. This sets the
maximum expected gap value. 0.0 ~ 99.9
Max. Gap value
Designate the maximum value and the minimum value of the gap value obtained as [mm]
the result of image processing by the parameter "gap watch value".
This sets the minimum depth value to be used in the process of image processing.
0.0 ~ 99.9
Min. Depth value As same as the above "maximum gap value", this may be used or not according to
[mm]
applicable shapes.
When the gap value detected in the image processing exceeds the value of this
Gap watch range -999 ~ 999
parameter, it is judged as a failure. As for the troubleshooting, designation can be
(Max.) [mm]
made by sensor constant.
When the gap value detected in the image processing is below the value of this
Gap watch range -999 ~ 999
(Min.) [mm]
When the groove depth detected in the image processing exceeds the value of this
Groove depth -999 ~ 999
range (Max.) [mm]
When the groove depth detected in the image processing is below the value of this
Groove depth -999 ~ 999
range (Min.) [mm]
When the groove angle 1 detected in the image processing exceeds the value of this
Groove angle 1 -360 ~ 360
range (Max.) [deg]
When the groove angle 1 detected in the image processing is below the value of this
range (Min.) [deg]
When the groove angle 2 detected in the image processing exceeds the value of this
range (Max.) [deg]
When the groove angle 2 detected in the image processing is below the value of this
range (Min.) [deg]
This parameter is the one to designate the allowable deviation at circular detection,
Allowable arc dev to be used in the process of image processing. As same as the above "maximum 0 ~ 100 [%]
gap value", this may be used or not according to applicable shapes.

SF4[DEV001,GAP002,90cm/m] FN483;High-speed groove search
Parameters displayed on the screen show "DEV file No.", "GAP file No.", and "Search speed" from the left.
See
Command name ST
FN code 485
Title name Start Tracking
This starts seam tracking.
General description *This is used when arc sensor (AX-AR/AX-AR2) or
TIG arc sensor (AX-TR/AX-TR2) is connected.
General description
ST is the start command of seam tracking.
In tracking section, it detects the workpiece deviation while welding, and corrects taught seam.
• Teach the move command in tracking section by linear interpolation (LIN) or circular interpolation (CIR).
• Teach ST in the following section.

Arc Sensor: Welding section and weaving section.
TIG Arc Sensor: Welding section
• Deviation stored by ET, SF4, and SF5 is data of the designated coordinate system. In the case to shift a task program
including motion commands of different coordinate systems, shift may not be available by the coordinate system to be the
reference or shift may be made in unexpected direction, which please note.
Parameter
This is the parameter necessary for the arc sensor, and the basic data to set the
Sample data No. 1 ~ 50
values to be used in common according to mainly joint kinds and so forth.
<Arc Sensor>
This sets the speed to correct the detected deviation.
1 (slow) → 5 (fast)
When 0 is set here, correction is not carried out.

When the chasing speed is fast, position is corrected fast to deviation occurrence, but
when it is too fast, bead snakes by seam tracking becomes conspicuous. On the
Chasing
contrary, when the chasing speed is slow, bead snaking decreases and becomes near
sensibility 0~5
taught track, but large deviation may not be corrected. In the arc sensor, current
(Horizontal)
deviation is detected, and reflected to positions after that, so in the case of a
workpiece with a large rotation deviation, tool center may see offset. To make the
status as small as possible, it is necessary to set the left and right chasing speed
large.
<TIG Arc Sensor>

Set 0 here.
This sets the speed to correct the detected deviation.
1 (slow) → 5 (fast)
Chasing
When 0 is set here, correction is not carried out.
sensibility 0~5
When the chasing speed is fast, position is corrected fast to deviation occurrence, but
(Vertical)
when it is too fast, changes of extension by seam tracking becomes conspicuous.
On the contrary, when the chasing speed is slow, extension changes from the desired
value (changes of extension cannot be corrected).
<Arc Sensor>
-9.999 ~
This sets the offset amount to the detected deviation.
Offset (Horizontal) 9.999
<TIG Arc Sensor>
[mm]
Set 0 here.
-9.999 ~
Offset (Vertical) This sets the offset amount to the detected deviation. 9.999
[mm]
Chasing torch /
This sets the chasing method of manipulator.
coordinates work
This sets the maximum value of correction in tracking function.
Erroneous deviation of a set workpiece, and tracking deviation by some problem can
1.0 ~
Tracking deviation be detected. Set about +5 ~ -10mm to the expected maximum deviation of workpiece.
99.9
range When the total of the deviation corrected by tracking function (total of vertical direction
[mm]
and horizontal direction) exceeds this value, "processing at correction amount monitor
value over" is executed.
Undetecting
Not in use at present
range
Arc stable
surveillance value
Wire speed stable
surveillance value
<TIG Arc sensor only>
Input the actual arc voltage. Set the value to realize the desired stand-off. Normally,
Arc Standard 0.1 ~
the value should be between 5V and 15V (10V in average). TIG arc sensor controls
Voltage 99.9[V]
the distance between the tip point of electrode and workpiece according to the arc
refenece value.
z Offset (Horizontal)
At setting the horizontal offset, refer to the figure below.
Advancing
When the right toward the When the left toward the direction
welding advancing welding advancing
direction is the upper plate direction is the upper plate
When the lower plate is curved When symmetrical
z Offset (Vertical)
At setting the vertical offset, refer to the figure below.
Wire extension
z Chasing coordinates
At setting the chasing method, refer to the figure below.
Torch reference Workpiece reference
Point C Point C
Point B Point B
Correction
motion example
Point A Point A
(1) Correction value at point B (1) Correction value at point B

(2) Correction value at point C (2) Correction value at point C
Correction motion Scale Horizontal movement

image
- Straight line - Straight line including corner
Applicable - Moderate curve - Circle or arc with diameter below
workpiece - Circle or arc with diameter over 100mm
100mm

ST[S1, No.1 ] FN485;Start Tracking
See
ET；End Tracing (FN486)
Command name ET
FN code 486
Title name Tracking end
This ends the seam tracking.
General description * This is used when the arc sensor (AX-AR) is
connected.
General description
ET is the command to end the seam tracking.
In ET, deviation (touch sensor deviation + arc sensor deviation, or arc sensor deviation) in the designated coordinate system in
the execution of ET is stored into the deviation correction file of the designated store number.
• Teach ET in the tracking section and the welding section and the weaving section.
• Teach the move command in the tracking section by linear interpolation (LIN) or circular interpolation (CIR).
• When the stored number is further stored, a new deviation is overwritten.
• When to carry out corner winding process or so in the section by use of the deviation stored by ET, designate receiving by
SF3 after ET.
Parameter
This sets the number of deviation to be stored. Contents of store may be selected by
"Basement of Store".
Store No. 1 ~ 999
Detected deviation is stored per number.
Stored deviation can be received by SF3 command.
Endpoint This sets the end point detection whether disabled or enabled. Be sure to set this to Disabled/
detection "Disabled". Enabled
Endpoint 0 ~ 999
detection offset [mm]
Endpoint 0 ~ 999
detection range [mm]
This selects an store coordinate system. Coordinate systems for selection are
Store Coordinates -
displayed, so select the one you want.
This designates the contents to be stored.
Tracking only :
Only the amount corrected by the arc sensor is stored as deviation. In the receiving Tracking
Basement of section of SF3, received amount becomes subtracted amount. only /
Store Teaching Point : Teaching
The deviation of the present torch position to the teaching point is stored. In the Point
receiving section of SF3, its amount is also included. It is convenient for carrying
out corner winding process or so.
This designates whether to keep the tracking correction amount at the moment of ET,
Keep Disabled/
or to move as taught toward the next teaching point. Correction is kept until arc end
compensation Enabled
command.
z "Keep compensation"
As for "Keep compensation" parameter movements, refer to the table below.
Keep SF3 receiving Movement

compensation
Disabled None It moves toward the next teaching point.
(Without correction)
In section Only correction in SF3 is continued.
(It moves to the point corrected by only SF3.)
Receiving changed to just Only correction amount newly designated is continued.
after ET At this moment, do not designate the store number by ET. (It may go to
an unexpected position.)
Enabled None It is continuously corrected by the deviation corrected by the arc sensor.
In section The deviation corrected by the arc sensor and the deviation designated
in SF3 are continued simultaneously.
Receiving changed to just The newly designated correction amount and the deviation corrected by
after ET the arc sensor are continued simultaneously.
At this moment, do not designate the store number by ET. (It may go to
an unexpected position.)
ET[S1, Store No.1 ] FN486;End Tracking
See
ST；Start Tracing (FN485)
Command name MPS

FN code 496
Title name Multi Pass Section Start
This represents the start position of the section
General description where a series of movements for multi-pass
welding is repeated.
General description
This is the command to represent the start of multi-pass section. For teach and playback, the optional software "Multi-pass
The multi-pass section means the section where taught movements including not only welding but also approach movements
to workpiece and retreat movements are carried out repeatedly.
As for details, refer to the multi-pass welding function instruction manual (optional).

command and repeats the movement. The movement
style follows the interpolation kind of the step.
12 JOINT
3 MPS 13 MPE
4 JOINT
5 JOINT
6 OFFSET (Start)
8 ASM The movements are repeated 10 AEM
for the set times 11 OFFSET (End)
(1) Joint interpolation movements are carried out from the position of step 2 to the teach position of step 4. In the
conventional DAIHEN multi-pass welding function, since MPS had position data, the robot moved to the teach position of
MPS. While, in the AX controller, MPS does not have position data, the robot moves to the next step of MPS.
(2) The robot moves to the arc start point of step 7, and starts welding under the multi-pass welding condition taught by ASM.
(3) After completion of welding, the robot moves to the position of step 12.
(4) If the number of repetitions in the multi-pass section is smaller than the number of repetitions set by MPS (3 times), the
step execution shifts to MPS. The robot moves to the position of step 4.
(5) The robot carries out the steps 5 ~ 12 once again.
(6) After execution of MPE of step 13, if repetition movements are completed by the set number, the robot moves to the
position of step 14, and completes its movements.
Parameter
Parameter Variable No. The number of the integer variable to count the number of passes is
No. 1 designated here. ( 1 - 200)
As for the integer variable to be designated here, designate a number
different from the integer variable to be used for other applications.
The pass number now under execution may be confirmed on the integer
variable monitor.
Parameter Number of the pass "How many times to be repeated" is designated as the number of passes. (1
No. 2 - 100)

MPS[V1%,1,0] FN496;Multi Pass Section Start
See
Command name MPE

FN code 497
Title name Multi Pass Section End
This represents the end position of the section
General description where a series of movements for multi-pass
welding is repeated.
General description
This is the command to represent the end of multi-pass section. For teach and playback, the optional software "Multi-pass
Refer to the multi-pass welding start MPS (FN496).
Parameter
None

MPE FN497;Multi Pass Section End
See
Command name EP
FN code 498
Title name Execution Pass Specification
This designates per pass whether the function
General description commands are to be executed or not in the
multi-pass section.
General description
This is the command to designate per pass whether the function commands are to be executed or not in the multi-pass section.
In the case when this command is not taught, the function commands in the multi-pass area are executed at every execution of
each pass.
For teach and playback, the optional software "Multi-pass Welding function" is required.
By teaching EP <FN498>, the following movements are available. The designated parameter is shown in [ ].
Step Command Contents

: :
3 MPS [10 times]
4 EP [==, 5] At the stage when the number of passes becomes 5, the waiting
5 CALLP [100] program for checking the forming condition is called.
6 EP [==, 10] At the stage when the number of passes becomes 10 (final pass),
7 SET [200] signal is output to the outside.
8 100% JOINT
9 100% JOINT
10 OFFSET [Start]
11 100% JOINT
12 ASM
13 300cm/m LINE
14 AEM
15 OFFSET [End]
16 100% JOINT
17 MPE
：：
Parameter
Parameter Condition One of the following conditions for executing the function commands taught in the next
No. 1 step is selected here.
y == (execution only at the designated number of pass)
y <= (execution at one over the designated number of pass)
y >= (execution at one below the designated number of pass)
y Forward (not supported at present)
y Return (not supported at present)
(0: == / 1: <= / 2: >= / 3: Forward / 4: Return)

Parameter Number of The number of pass for comparison with the first parameter is designated here. (1 -
No. 2 the pass 100)

EP[1,0] FN498; Execution Pass Specification
See
Command name OFFSET

FN code 499
Title name Multi Offset Specification
This sets offset in the movement steps in the
General description
multi-pass welding section.
General description
This is the command to set the offset in the movement steps in the multi-pass welding section. This is used when to weld the
second pass and passes after that with shift from the first pass.
For teach and playback, the optional software "Multi-pass Welding function" is required.
As shown below, by teaching the OFFSET command to the step just before the arc start point, and further the OFFSET
command again to the step just after the arc end point, the entire multi-pass welding section is shifted by the designated offset
amount.
Offset works on the entire section between the "start

designation" and the "end designation" of the OFFSET
command. This is same to the case where plural move
commands are taught in the section.
Second pass
First pass
Third pass
6 OFFSET (Start) 9 LIN (CIR1/CIR2)

7 JOINT 10 AEM
8 ASM 11 OFFSET (End)
Parameter
Parameter Multi Offset The number of the multi offset condition file is designated here. (1 - 999)
No. 1 No. This file is to be created in advance in <Arc condition> - [9 Multi offset condition].
Parameter Mechanism The mechanism number to which offset is set is designated here. (1 - 9)
No. 2 No. Normally, since the manipulator having the welding torch is set as mechanism 1,
designate "1".
Parameter Section Kind Since the offset becomes valid over the entire multi-pass welding section, whether to
No. 3 "start" or "end" the offset is designated here.
(1 : start, 0 : end)
Designate "start" for the start position of the multi-pass welding section, while
designate "end" for the end position.

OFFSET[1,1,1] FN499; Multi Offset Specification
See
Command name WAITI

FN code 525
Title name Input signal wait (positive logic)
This command is used to wait for any one
General description
general-purpose input signal.
When this function command is executed, the robot is made to stand by until the specified general-purpose input signal is
input.
It can be recorded in a single action using the [IN] dedicated key on the teach pendant.
It is not possible to wait for a status signal (a signal such as the welding finish signal and start signal whose application has
already been assigned). Which signals have been assigned as status signals can be identified on the monitor screen. Signals
whose numbers are displayed in the bold italics are status signals so any of the other signals can be awaited.
■ Example of operation 1
Robot path Step 2 Step 3 WAITI (FN525)

Accuracy
Step 1 Step 4
Input signal inspected here

accuracy range.
In the case of an interlock signal requiring a stringent accuracy, either reduce the accuracy level in step 2 or record positioning
"P" in step 2 in the figure above.
If SET (FN32) has been recorded after WAITI (FN525)
Robot path Step 2 Step 3 WAITI (FN525)
Accuracy
Step 4 SET (FN32)
Step 1 Step 5
Time
Output signal
(when the i signal
was input)
If the input signal has been input, step 4 is executed at the time
when the accuracy is matched.
If it has not been input, after arriving at step 2, the input signal is
checked, and after it has been input, step 4 is executed.
If SET (FN32) has been recorded before WAITI (FN525)
Robot path Step 2 Step 3 SET(FN32)
Accuracy
Step 4 WAITI(FN525)
Step 1 Step5
Time
Output signal
(when the i signal
was input)
If the input signal has been input, step 3 is executed at the time
when the accuracy is matched.
If it has not been input, step 3: SET is not executed at the above
location; instead, after arriving at step 2, step 3: SET is executed.
Then, the input signal is checked again, and after it has been
input, the robot moves toward step 5.
■ Parameter
This specifies the number of input signal to be awaited. When number 5101 or above
Parameter Input signal
is specified, multiple input signals can be awaited.
No. 1 number
(1–2048, 5101–5196)

WAITI [I7] FN525; Input signal wait (positive logic)
See
WAITJ: Input signal wait (negative logic) (FN526)
Command name WAITJ

FN code 526
Title name Input signal wait (negative logic)
General description
general-purpose input signal using negative logic.
When this function command is executed, the robot is made to stand by until the one specified general-purpose input signal is
set to OFF.
Robot path Step 2 Step 3 WAITJ (FN526)

Accuracy
Step 1 Step 4

accuracy range.
■ Parameter
No. 1 number
(1 – 2048, 5101 – 5196)

WAITJ [I7] FN526; Input signal wait (negative logic)
See
WAITI: Input signal wait (positive logic) (FN525)
Command
FETCH
name
FN code 528
Title name Fetch Input cond.
General Determine judgment the input condition of a following
description function.
This has a parameter I-signal No., it decides judgment the input condition of a following function. Input condition function (ex.
WAITI, JMPI, etc.) might cause robot deceleration, because pathway might not be decided immediately before.
‘FN258 FETCH’ function decides judgment the input condition in any timing, it also prevents from deceleration.
■ Target functions of FETCH function

It is effective for the functions with parameter I signal No.
■ Out of target functions of FETCH function

Follows function is off the subject.
・FN29 RINT Robot interrupt (I-condition)
Functions with I-cond. in short pitch
Step4 Step5 Step7 Step8
1 100% LIN A1 T1
2 100% LIN A8 T1 Step3
3 100% LIN A8 T1 Step6:WAITI

5 100% LIN A8 T1
6 WAITI[I1]
I condition function judges
I signal at the time of
8 100% LIN A8 T1 passing a previous MOVE
… command.
I condition function judges I signal when robot passes a previous move command. Therefore, when the
movement section is short the migration pathway might not be decided immediately before, and the robot
decelerate.
Using ‘FETCH’ function

Step5 Step6 Step8 Step9
1 100% LIN A1 T1
3 100% LIN A8 T1 Step7:WAITI

3 FETCH[I1] Step2
4 100% LIN A8 T1 Step3:FETCH
5 100% LIN A8 T1 It decides pass or stop
6 100% LIN A8 T1 Step1 on the Step7:WAITI.
7 WAITI[I1]
8 100% LIN A8 T1
9 100% LIN A8 T1
…
I-condition is decided at the time of executing ‘FETCH’ function.
It prevents from robot deceleration because the pathway is decided.
■ Parameter
Parameter
Input signal I signal No. to fetch.(1-5196)
No. 1
FETCH[I1] FN528; Fetch Input cond.

■ Effective span of FETCH function
The result of ‘FETCH’ function keeps until execution a function with fetched I-signal condition. However, when follows occur
the effect of FETCH is lost.
(1) Stopping playback. (include Motor-OFF and power-OFF)
(2) Executing ‘END’.
(3) Program No. is changed by executing program jump, call, return, and so on.
(4) Executing step jump.
■ Plural execution of FETCH function (1)

When some ‘FETCH’ functions with same I-signal are executed, the judgment of I-signal is revised whenever it executes.
For example, in case of execution FETCH[I1] - FETCH[I1] - WAITI[I1], the second FETCH is effective for WAITI.
■ Plural execution of FETCH function (2)

Some pairs of FETCH and I-cond. function can be recorded. These works independently.
FETCH[I1]
FETCH[I2]
MOVE
WAITI[I1]
MOVE
WAITI[I2]
■ Settings
Some error is supported.
Refer to ‘Constants: 6 Signals: 1 Signal Condition’
Setting function
Error occurs when a fetched signal status by function FETCH(Fn528) is changed before the
Detect fetch error intended function working.
Choice: Disabled / Enabled
Detect an error when a fetched signal by a function FETCH(Fn528) spends the designated
Effective span of
number of move steps.
a fetched signal
Range: 0～9999（0: disabled）
■ Monitor
Fetched signals indicate back color on ‘User Inputs monitor’.
dark red Fetched signal OFF

red Fetched signal ON
The monitor shows state of current unit.
■ Others
‘FETCH’ function does not work while operating ‘Check back’.
‘FETCH’ function is managed separately each units. Executing ‘FETCH’ in one unit does not affect other unit.
Command name CNVI

FN code 550
Title name Conveyor Interlock
Robot waits until conveyor register reaches up to
General description
the designated distance, stationarily
This function is used in conveyor synchronizing application.
Robot waits until conveyor register reaches up to the designated distance (= interlock distance). While waiting, robot is
stationary. When conveyor register reaches, robot proceeds to the next step. If conveyor register had already reached to the
interlock distance before the start of waiting, robot immediately proceeds to the next step.
Please refer to the “Conveyor Synchronization Manual” (option) for detail operations.
In case of CNVI：Conveyor Interlock (FN550) is recorded at step4, robot will wait until conveyor register reaches up to 2000mm
in the position of step4 stationary.
● Step 4
● CNVI: Conveyor Interlock (FN550)

Interlock distance=2000
3
stationary
●
5
● Playback position
Recorded position
● Conveyor moving direction
7 6
●
■ Parameter
Interlock Input the conveyor interlock distance.
Parameter
distance Linear conveyor; (0-30,000) mm
No. 1
Circular conveyor; (0-180) degree

CNVI[3000] FN550; Conveyor Interlock
See
CNVSYNC; Conveyor Counter Reset (FN55)
CNVYSYNCI; Synchronizing Conveyor Interlock (FN562)
Command name WAIT

FN code 552
Title name Input signal wait with timer
General description general-purpose input signal for up to the specified
time.
When this function command is executed, the robot is made to stand by until the specified general-purpose input signal is input.
If the input signal is not input even after the specified time has elapsed, the robot jumps to the specified escape step.
The escape step can be designated with a move command or a function command. Bear in mind that when a function
command has been designated, the command will be executed straight away.
Robot path
Step 2 Step 3 WAIT(FN552)

Accuracy
Step 1 Step 4
Input signal inspected from here

accuracy range.
If the input signal is not set to ON even after the specified time
has elapsed, the robot jumps to the specified escape step.
■ Parameter
No. 1 number
(1 – 2048, 5101 – 5196)
Parameter This specifies the wait unit in seconds.
Wait time
No. 2 (0.0 – 60.0)
This specifies the number of the step to which the robot is to jump if the input signal is
Parameter Escape step not input even though the wait time has elapsed. Any step in the same program can
No. 3 number be designated.
(1 – 9999)

WAIT [I7, 3.0, 7] FN552; Timer input signal
See
WAITI: Input signal wait (positive logic) (FN525)
WAITJ: Input signal wait (negative logic) (FN526)
Command name WAITA

FN code 553
Title name Wait group input (AND) with timer
This command is used to wait for any of group
General description general-purpose input signal (AND logic) with
designated time
When this function command is executed, the robot is stand by until the specified group input satisfies the condition that is all
designated bit (I signal) should be ON. One “group” is constructed by 10 general-purpose input signals (I1~I2048) as shown
below.
Group Input Sig. Group Input Sig. Group Input Sig.
1 1～10 11 101～110 21 201～210
2 11～20 12 111～120 … …
3 21～30 13 121～130 30 291～300
4 31～40 14 131～140 … …
5 41～50 15 141～150 50 491～500
6 51～60 16 151～160 … …
7 61～70 17 161～170 100 991～1000
8 71～80 18 171～180 … …
9 81～90 19 181～190 … …
10 91～100 20 191～200 204 2031～2040
Robot path Step 10 Escape destination step
WAITA (FN553)
Step 2 Step 3 Group2,AND
Accuracy =&B0000001001,
time = 60sec,
step = 10
Step 1 Step 4
The robot is not decelerated by this command. If no positioning is specified, the input signal is inspected just before the
command position reaches the accuracy range of the move command, and if it has been input, an inside arc is drawn.
If the input signal has not been input, the robot toward the recorded point and the condition is inspected when the robot has
reached.
If the condition is not satisfied even after the specified time has elapsed, the robot jumps to the specified escape step. On this
sample as followed table, signals described “ON” should be “ON”, and signals described “any” does not matter ON or OFF.
In case of “GROUP2, AND=&B0000001001”

Output signals 20 19 18 17 16 15 14 13 12 11
ON/OFF status Any Any Any Any Any Any ON Any Any ON
■ Parameter
Parameter This specifies the group number.
Group number
No. 1 (1-204)
This specifies the condition of 10 input signals. “1” should be ON, and “0” does not
Parameter
AND condition matter ON/OFF.
No. 2
(0000000000 - 1111111111)
Wait time
No. 3 (0.0 – 60.0)
This specifies the number of the step to which the robot is to jump if condition is not
Escape
Parameter satisfied even though the wait time has elapsed. Any step in the same program can
destination
No. 4 be designated.
step
(1 – 9999)

WAITA[Group2, &B00000101，60.0，10] FN553;Wait group input (AND) with timer
See
WAITO; Wait group input (OR) with timer（FN554）
WAITE; Wait group input with timer（FN555）
Command name WAITO

FN code 554
Title name Wait group input (OR) with timer
General description general-purpose input signal (OR logic) with
designated time
When this function command is executed, the robot is stand by until the specified group input satisfies the condition that is at
least one designated bit (I signal) should be ON. One “group” is constructed by 10 general-purpose input signals (I1~I2048) as
shown below.
1 1～10 11 101～110 21 201～210
2 11～20 12 111～120 … …
3 21～30 13 121～130 30 291～300
4 31～40 14 131～140 … …
5 41～50 15 141～150 50 491～500
6 51～60 16 151～160 … …
7 61～70 17 161～170 100 991～1000
8 71～80 18 171～180 … …
9 81～90 19 181～190 … …
10 91～100 20 191～200 204 2031～2040
WAITO (FN554)
Step 2 Step 3 Group2, OR
Accuracy =&B0000001001,
time = 60sec,
step = 10
Step 1 Step 4
reached.
sample as followed table, at least one signal described “ON” should be “ON”, and signals described “any” does not matter ON
or OFF.
In case of “GROUP2, OR=&B0000001001”

Output signals 20 19 18 17 16 15 14 13 12 11
ON/OFF status Any Any Any Any Any Any ON Any Any ON
■ Parameter
Group number
No. 1 (1-204)
This specifies the condition of 10 input signals. At least one “1” signal should be ON,
Parameter
OR condition and “0” does not matter ON/OFF.
No. 2
(0000000000 - 1111111111)
Wait time
No. 3 (0.0 – 60.0)
Escape
destination
step
(1 – 9999)
WAITO[Group2, &B00000101，60.0，10] FN554;Wait group input (OR) with timer
See
WAITA; Wait group input (AND) with timer（FN553）
Command name WAITE

FN code 555
Title name Wait group input with timer
General description
general-purpose input signal with designated time
bit (I signal) ON/FF should coincident. One “group” is constructed by 10 general-purpose input signals (I1~I2048) as shown
below.
1 1～10 11 101～110 21 201～210
2 11～20 12 111～120 … …
3 21～30 13 121～130 30 291～300
4 31～40 14 131～140 … …
5 41～50 15 141～150 50 491～500
6 51～60 16 151～160 … …
7 61～70 17 161～170 100 991～1000
8 71～80 18 171～180 … …
9 81～90 19 181～190 … …
10 91～100 20 191～200 204 2031～2040
WAITE (FN555)
Step 2 Step 3 Group2, cond
Accuracy =&B0000001001,
time = 60sec,
step = 10
Step 1 Step 4
reached.
sample as followed table, all signals described “ON” should be “ON”, and all signals described “OFF” should be “OFF”.
In case of “GROUP2, cond.=&B0000001001”

Output signals 20 19 18 17 16 15 14 13 12 11
ON/OFF status Off Off Off Off Off Off ON Off Off ON
■ Parameter
Group number
No. 1 (1-204)
This specifies the condition of 10 input signals. “1” signal should be ON, and “0” signal
Parameter
condition should be “OFF”.
No. 2
(0000000000 - 1111111111)
Wait time
No. 3 (0.0 – 60.0)
Escape
destination
step
(1 – 9999)
WAITE[Group2, &B00000101，60.0，10] FN555;Wait group input with timer
See
Command name WAITAD

FN code 558
Title name Wait group input BCD (AND) with timer
General description general-purpose input signal (AND logic) with
designated time
designated bit (I signal) should be ON.
The only one difference from WAITA (FN553) is how to designate condition that is here BCD (Binary Coded Decimal).
In case of “condition = 63”, signals described “ON” should be “ON”, and signals described “any” does not matter ON or OFF.
In case of “GROUP2, AND=63”

Output signals 20 19 18 17 16 15 14 13 12 11
ON/OFF status Any Any Any ON ON Any Any Any ON ON
BCD 0 6 3
■ Parameter
Group number
No. 1 (1-204)
This specifies the condition of 10 input signals. “1” should be ON and “0” does not
Parameter
AND condition matter ON/OFF, then describe it by BCD,
No. 2
(0 - 399)
Wait time
No. 3 (0.0 – 60.0)
Escape
destination
step
(1 – 9999)

WAITAD[Group2, 63，60.0，10] FN558; Wait group input BCD (AND) with timer
See
Command name WAITOD

FN code 559
Title name Wait group input BCD (OR) with timer
General description general-purpose input signal (OR logic) with
designated time
When this function command is executed, the robot is stand by until the specified group input satisfies the condition that is at
least one designated bit (I signal) should be ON.
The only one difference from WAITO (FN554) is how to designate condition that is here BCD (Binary Coded Decimal).
In case of “condition = 63”, at least one signal described “ON” should be “ON”, and signals described “any” does not matter ON
or OFF.
In case of “GROUP2, OR=63”

Output signals 20 19 18 17 16 15 14 13 12 11
ON/OFF status Any Any Any ON ON Any Any Any ON ON
BCD 0 6 3
■ Parameter
Group number
No. 1 (1-204)
This specifies the condition of 10 input signals. At least one “1” should be ON and “0”
Parameter
AND condition does not matter ON/OFF, then describe it by BCD,
No. 2
(0 - 399)
Wait time
No. 3 (0.0 – 60.0)
Escape
destination
step
(1 – 9999)

WAITOD[Group2, 63，60.0，10] FN559; Wait group input BCD (OR) with timer
See
Command name WAITED

FN code 560
Title name Wait group input BCD with timer
General description
general-purpose input signal with designated time
bit (I signal) should be coincident.
The only one difference from WAITE (FN555) is how to designate condition that is here BCD (Binary Coded Decimal).
In case of “condition = 63”, signals described “ON” should be “ON”, and signals described “OFF” should be “OFF”.
In case of “GROUP2, cond.=63”

Output signals 20 19 18 17 16 15 14 13 12 11
ON/OFF status Off Off Off ON ON Off Off Off ON ON
BCD 0 6 3
■ Parameter
Group number
No. 1 (1-204)
This specifies the condition of 10 input signals. “1” should be ON and “0” should be
Parameter
AND condition “OFF”, then describe it by BCD,
No. 2
(0 - 399)
Wait time
No. 3 (0.0 – 60.0)
Escape
destination
step
(1 – 9999)

WAITED[Group2, 63，60.0，10] FN558; Wait group input BCD with timer
See
Command
CNVYSYNCI
name
FN code 562
Title name Sync conveyor interlock
Used to make the robot wait until the conveyor travels a
Outline distance specified by the conveyor register while
following the conveyor.
Outline
The CNVYSYNCI command is an application command dedicated to synchronization with the conveyor.
Recording this application command enables the conveyor to wait for interlock until the conveyor travels a specified distance
while in playback mode. The robot also moves while following the conveyor even in interlock waiting mode. When the
conveyor reaches an interlocking distance, the robot will proceed to the next step. If the conveyor already reaches the
interlocking distance when the robot starts waiting for interlock, the robot will not wait but immediately proceed to the next
step.
For detail of the conveyor synchronization function, refer to information in the FD CONTROLLER OPERATING MANUAL
“CONVEYOR SYNCHRONIZATION FUNCTION” (OPTION).
Example of motion
Record “CNVYSYNCI: Sync. conveyor interlock (FN562)” in Step 4.
When playing back this command, the robot will complete positioning in the Step 4, and subsequently wait while following the
conveyor until the conveyor register (the current conveyor position found by the current conveyor counter) reaches a distance
of 2,000 mm. After that, the conveyor will proceed to the next step.
● Step 4
● CNVYSYNCI: Sync. conveyor interlock (FN562)

Interlocking distance=2000
3 Waiting while following the

conveyor until it reaches the
● interlocking distance.
5
Recorded position ● Playback position
●
7 6
● Conveyor traveling direction
Parameters
Used to enter an interlocking distance.
Interlocking
Parameter 1 Setting range: 0 to 30000 mm for straight conveyors
distance
0 to 180 deg. for circular conveyors.

CNVYSYNCI[3000] FN562: Sync. conveyor interlock
Related commands
CNVSYNC: Conveyor counter reset (FN55)
CNVI: Conveyor interlock (FN550)
Command
PRSI
name
FN code 564
Title name Press interlock
This sets interlock, in the press brake synchronization
Outline
function.
■ Outline
When the parameter 1 (downward) is designated, "synchronization start position" of the press brake setting data is used,
and when the conveyor register becomes larger than the value, the interlock is released. At waiting for interlock, the robot
stops and waits.
When the parameter 0 (upward) is designated, "retreat start position" is used, and when the conveyor register becomes
smaller than the value, the interlock is released. At waiting for interlock, the robot waits in synchronization.
■ Parameters
No.1 number
Parameter Upward/ This designates punch upward/downward.
No.2 Downward (Upward: 0 / Downward: 1)

PRSI[1,0] FN564; Press interlock
Command name SOCKCREATE

FN code 570
Title name Create Socket
General description This command is used to create the socket.
The socket is made. It is necessary to execute this function before other socket functions are executed when communicating
with a socket.
■ Parameter
The socket number used is specified. When the socket number that has already been
Parameter made is specified, it becomes an
Socket No.
No. 1 error.
( 1 – 16 )
Whether the specified socket is used with TCP or it uses it with UDP is specified. 0 If
Parameter
TCP/UDP TCP and 1 is specified, it becomes UDP if is specified.
No.2
(0–1)

SOCKCREATE[1,0] FN570; Create the socket
See
SOCKCLOSE ; Close the socket (FN571)
SOCKBIND ; Bind the socket (FN572)
SOCKWAIT ; Wait for connect (FN573)
SOCKCONNECT ; Connect to server (FN574)
SOCKSEND ; Send data (FN575)
SOCKSENDSTR ; Send string data (FN576)
SOCKRECV ; Receive data (FN577)
Command name SOCKCLOSE

FN code 571
Title name Close the socket
General description This command is used to close the socket.
The socket made with SOCKCREATE is cleared, and it puts it into the state that can be used again. When the user task
program ends, it is closed automatically.
■ Parameter
The socket number used is specified. When the socket number not made is specified,
Parameter
Socket No. it becomes an error.
No. 1
( 1 – 16 )

SOCKCLOSE[1] FN571; Close the socket
See
SOCKCREATE ; Open the socket (FN570)
Command name SOCKBIND

FN code 572
Title name Bind the socket
This command is used to assign a socket an port
General description
No.
When AX Controller is used as a server, the port where the connection from the client is waited is specified for the socket.
■ Parameter
Parameter
No. 1
( 1 – 16 )
The waiting port when operating as a server is specified. When the port number used
Parameter
Port No. is specified, it becomes an error.
No. 2
( 1 – 65535 )

SOCKBIND[1,48952] FN572; Bind the socket
See
Command name SOCKWAIT

FN code 573
Title name Wait for connect
This command is waited for until the connection
General description
from the client is done to the allocated port.
SOCKWAIT is waited for until the connection from the outside is done to the allocated port. Meanwhile, the program stops.
When the time-out is done, the reproduction of the program is restarted. SOCKWAIT is used only in the case of TCP.
■ Parameter
Parameter Waiting Socket
it becomes an error.
No. 1 No.
( 1 – 16 )
The socket to connect it with the client that has been connected is specified. When
the client has connected it, the socket is made by the specified socket. Therefore,
Parameter Communicatio
after the communication ends, it is necessary to close by using the SOCKCLOSE
No. 2 n Port No.
function.
( 1 – 16 )
The time of connected waiting time-out is set every second. It keeps waiting for the
Parameter
Timeout connection without doing the time-out when 0 is set.
No. 3
( 0 – 20 )

SOCKWAIT[1,2,5] FN573; Wait for connect
See
Command name SOCKCONNECT

FN code 574
Title name Connect to server
General description This command is used to connect to server.
This command is connected with the server for TCP. It is necessary to set IP address with SOCKCONNECT though this
command doesn't connect with the server for UDP.
■ Parameter
Parameter
No. 1
( 1 – 16 )
The least significant byte of IP address of the server is specified. Other values use the
Parameter
IP Address same one as the setting of TCP/IP of the AX Controller.
No. 2
( 1 – 254 )
Parameter The port number of the server is specified.
Port No.
No. 3 ( 1 – 65535 )
Parameter The time of connected waiting time-out is set every second.
Timeout
No. 4 ( 1 – 20 )

SOCKCONNECT[1,2,48952,5] FN574; Connect to server
See
Command name SOCKSEND

FN code 575
Title name Send data
This command is used to transmit the data stored
General description
in the specified buffer.
This command transmits the data stored in the specified buffer. When it doesn't connect or the other party closes, it becomes
an error. When SOCKSEND is done because the other party's cutting cannot be recognized at once, it is likely not to become
an error when the other party doesn't do the close processing and it cuts it. When the data of length that exceeds the size of the
buffer is transmitted, it is necessary to transmit ,divided into two portions.
■ Parameter
Parameter
No. 1
( 1 – 16 )
Parameter The buffer number is specified.
Buffer No.
No. 2 ( 1 – 16 )
Parameter The size of the transmitted data is set.
Data Length
No. 3 ( 1 – 1024)
Timeout
No. 4 ( 1 – 20 )
Parameter Integer
The variable in which the transmitted data size (unit of the byte) is written is specified.
No. 5 Variable

SOCKSEND[1,1,10,5,V1%] FN575; Send Data
See
Command name SOCKSENDSTR

FN code 576
Title name Send string
This command is used to transmit the specified
General description
string.
This command transmits the specified string. At that time, the terminal character that shows the end of the string can be added.
When it doesn't connect or the other party closes, it becomes an error. When SOCKSENDSTR is done because the other
party's cutting cannot be recognized at once, it is likely not to become an error when the other party doesn't do the close
processing and it cuts it. When the data of length that exceeds the size of the buffer is transmitted, it is necessary to transmit,
divided into two portions.
■ Parameter
Parameter
No. 1
( 1 – 16 )
Parameter The transmitted string data is specified. String data can be specified by the string
String
No. 2 variable and the string constant.
Parameter The size of the transmitted data is set.
Data Length
No. 3 ( 1 – 1024)
Timeout
No. 4 ( 1 – 20 )
Parameter Integer
The variable in which the transmitted data size (unit of the byte) is written is specified.
No. 5 Variable
The termination character is specified. When the terminal character is specified, the
Data Length becomes long only as for the length of the terminal character.
(0–3)
Parameter Termination
No. 6 character 0 : The terminal character is not added.
1 : It transmits applying “¥r” as a terminal character.
2 : It transmits applying “¥n” as a terminal character.
3 : It transmits applying “¥r¥n” as a terminal character.

SOCKSENDSTR[1,”ABC”,3,5,V1%,3] FN576; Send String Data
See
Command name SOCKRECV

FN code 577
Title name Receive data
General description This command is used to receive the data.
This command is used to receive the data. Operation changes into this command with TCP in UDP.
In the following cases, the step is completed for TCP.

1. The size of the data actually received becomes more than the receive data length.
2. Other party's telecommunications equipment closed the socket.
3. The timeout was done.
The reception of data is waited for when the received data size is smaller than the set receive data size. This command is
completed, when receive data reaches the set data size.
In the following cases, the step is completed for UDP.

1. Data was received.
2. The timeout was done.
UDP stores the data that was able to be received in the buffer when data is received, and completes the function. Therefore,
the data length actually received might be smaller than the specified receive data length. The excess data is cut short, when
the data length actually received is larger than the specified receive data length, and the error is returned.
Moreover, it is possible to reply to the other party of the communication by doing SOCKSEND after it receives the data. It is
necessary to set the destination again by using SOCKCONNECT to transmit data to other parties of the communication.
■ Parameter
The socket number used is specified. When the socket number not made is
Parameter
Socket No. specified, it becomes an error.
No. 1
( 1 – 16 )
Parameter The number of the buffer where the received data is stored is specified.
Buffer No.
No. 2 ( 1 – 16 )
Parameter The size of the receive data is set.
Data Length
No. 3 ( 1 – 1024)
Timeout
No. 4 ( 1 – 20 )
The variable in which the received data size (unit of the byte) is written is specified.
Parameter Integer
The data size actually received might be smaller than the value specified by the
No. 5 Variable
receive data length.

SOCKRECV[1,1,3,5,V1%] FN577; Receive data
See
Command name SETSTR

FN code 580
Title name Set buffer (string)
This command is used to stored string at an
General description
arbitrary position in the buffer
This command is used to stored string at an arbitrary position in the buffer. When the writing string overflows of the buffer
(When starting position + data size exceeds the size of the buffer), the controller outputs "E2250 step data is abnormal".
Data size
String
Starting
Point
Buffer
■ Parameter
Parameter The number of the buffer to store data is specified.
Buffer No.
No. 1 ( 1 – 16 )
Parameter The string stored in the buffer is specified. The string data can be specified by the
String
No. 2 string variable and the string constant.
Parameter The stored position of the buffer is specified.
Starting point
No. 3 ( 0 – 1023)
Parameter The data size of the data stored in the buffer is specified.
Data size
No. 4 ( 1 – 199 )

SETSTR[1,”ABC”,0,3] FN580; Set buffer (string)
See
SETINT ; Set buffer(integer) (FN581)
SETREAL ; Set buffer(real) (FN582)
SETBYTE ; Set buffer(byte) (FN583)
GETSTR ; Get buffer(string) (FN584)
GETINT ; Get buffer(integer) (FN585)
GETREAL ; Get buffer(real) (FN586)
GETBYTE ; Get buffer(byte) (FN587)
Command name SETINT

FN code 581
Title name Set buffer (integer)
This command is used to stored integer value at an
General description
This command is used to stored integer value at an arbitrary position in the buffer. The integral value with the sign is stored by
four bytes in the big endian in this command.
■ Parameter
Buffer No.
No. 1 ( 1 – 16 )
Parameter The integer value stored in the buffer is specified. The integer value can be specified
Integer value
No. 2 by the integer variable and the integer constant.
Starting point
No. 3 ( 0 – 1020)

SETINT[1,53,0] FN581; Set buffer (integer)
See
SETSTR ; Set buffer(string) (FN580)
Command name SETREAL

FN code 582
Title name Set buffer (real)
This command is used to stored real value at an
General description
This command is used to stored real value at an arbitrary position in the buffer.
The real number value is expressed in the form of the single precision floating point number defined by IEEE754. The data is
stored in the buffer by the big endian by four bytes.
■ Parameter
Buffer No.
No. 1 ( 1 – 16 )
Parameter The real value stored in the buffer is specified. The real value can be specified by the
Real value
No. 2 real variable and the real constant.
Starting point
No. 3 ( 0 – 1020)

SETREAL[1,53.2,0] FN582; Set buffer (real)
See
Command name SETBYTE

FN code 583
Title name Set buffer (byte)
This command is used to stored byte data at an
General description
arbitrary position in the buffer.
This command is used to stored byte data at an arbitrary position in the buffer. This command is userd, when the data that
cannot correspond with SETSTR, SETINT, and SETREAL is stored in the buffer.
■ Parameter
Buffer No.
No. 1 ( 1 – 16 )
Parameter The value stored in the buffer is specified. The value can be specified by the variable
Integer value
No. 2 and the constant.
Starting point
No. 3 ( 0 – 1020)

SETBYTE[1,53,0] FN583; Set buffer (byte)
See
Command name GETSTR

FN code 584
Title name Get buffer (string)
This command is used to read data from the buffer,
General description
and to store data in the string variable.
This command is used to read data from specified position of the buffer, and to store data in the specified string variable. When
the reading string overflows of the buffer (When starting position + data size exceeds the size of the buffer), it becomes it ,
saying that "E2250 step data is abnormal".
String
Starting
Data size
Point
Buffer
■ Parameter
Parameter The number of the buffer to read data is specified.
Buffer No.
No. 1 ( 1 – 16 )
Parameter
String variable The string variable to store the read data is specified.
No. 2
Parameter The read position of the buffer is specified.
Starting point
No. 3 ( 0 – 1023)
Parameter The data size of the data read in the buffer is specified.
Data size
No. 4 ( 1 – 199 )

GETSTR[1,V1$,0,3] FN584; Get buffer (string)
See
Command name GETINT

FN code 585
Title name Get buffer (integer)
General description
and stored the integer variable.
This command is used to read four bytes data from the specified position of the buffer, and stored the integer variable. When
this command is used, it is necessary to confirm the big endian the data stored in the buffer, and the integer value with the sign
in four bytes. It is necessary to use the GETBYTE function for other integral values.
■ Parameter
Buffer No.
No. 1 ( 1 – 16 )
Parameter Integer
The integer variable to store the read data from the buffer is specified.
No. 2 variable
Starting point
No. 3 ( 0 – 1020)

GETINT[1,V1%,0] FN585; Get buffer (integer)
See
Command name GETREAL

FN code 586
Title name Get buffer (real)
General description
and stored the real variable.
This command is used to read four bytes data from the specified position of the buffer, and stored the real variable. When this
command is used, it is necessary to confirm the big endian the data stored in the buffer, and the floating point number provided
for by IEEE754 in four bytes.
■ Parameter
Buffer No.
No. 1 ( 1 – 16 )
Parameter
Real variable The real variable to store the read data from the buffer is specified.
No. 2
Starting point
No. 3 ( 0 – 1020)

GETREAL[1,V1!,0] FN586; Get buffer (real)
See
Command name GETBYTE

FN code 587
Title name Get buffer (byte)
This command is used to read one byte data from
General description
the buffer, and stored the integer variable.
This command is used to read one byte data from the buffer, and stored the integer variable.
■ Parameter
Buffer No.
No. 1 ( 1 – 16 )
Parameter Integer
The integer variable to store the read data from the buffer is specified.
No. 2 variable
Starting point
No. 3 ( 0 – 1023)

GETBYTE[1,V2%,0] FN587; Get buffer (byte)
See
Command name LCALLP

FN code 590
Title name Program call with Arguments
This command is used to call the specified
General description program. At this time, ten real numbers can pass
the arguments to the program.
When this function command is executed, the specified program is called and passed the arguments.
In step 4, record LCALLP: program call with Arguments (FN590) and "2" as the program number, and “10” as an argument.
When this is played back, the robot calls the Program 2 upon arriving at step 4. The program2 can get the value “10” passed an
argument1 in LCALLP command by using variable of argument “A1!”.
When the playback of program 2 is completed (in the status established by executing the END command), the robot returns to
step 5 following the step with the call command of call source program 1.
Program 1 Step 4
CALLP; Program call with Args (FN590)
Program number = 2
Argument 1 = 10
1 2 3 5 6
● ● ● ● ●
7: End (FN92)
Program 2
1
5: End (FN92) ● 4
●
V1! = A1!
● ●
3 2
The robot is not decelerated by this command. If positioning is not specified, the command is executed
at the position reached by the robot in the accuracy range of the move command immediately before.
■ Parameter
Parameter
No. 1
Parameter This specifies the value of an argument passed to the program serving as the call
Argument 1-10
No.2-No.11 destination. (-1E38 – 1E38)

LCALLP [2,10,0,0,0,0,0,0,0,0,0] FN590; Program call with Arguments
See
LCALLPI: Conditional program call with Arguments (FN591)
LCALLPN: Conditional program call after specified number of passes with Arguments (FN592)
Command name LCALLPI

FN code 591
Title name Conditional program call with Arguments
General description the specified program. At this time, ten real
numbers can pass the arguments to the program.
When this function command is executed, the specified program is called and passed the arguments. When the specified input
signal has been input, the step is called; when it has not been input, the step is not called and the robot passes the command
by.
In step 4, record LCALLPI: conditional program call with Arguments (FN591), "2" as the program number, and I1 as the input
signal, and “10” as an argument.
When this is played back, the robot arrives at step 4, and if input signal I1 has been input, it jumps to the first step in program 2.
The program2 can get the value “10” passed an argument1 in LCALLP command by using variable of argument “A1!”. When
the playback of program 2 is completed (the END command is executed), the robot returns to step 5 following the step with the
call command of call source program 1.
If the signal has not been input, the robot does not jump to program 2.
Step 4
Program 1 CALLPI; Conditional program call with

Arguments (FN591)
Program number = 2
Input signal = I1
Argument 1 = 10
1 2 3 5 6
● ● ● ● ●
When the I1 signal 7: End (FN92)
has been input When the I1 signal
has not been input
Program 2
5: End (FN92) ●4 ●
1
● ● V1! = A1!
3 2
command value reaches the accuracy range of the move command, and if it has been input, an inside arc is drawn. If the
input signal has not been input, the command value heads toward the recorded point, and the input signal is inspected
when the robot has reached the accuracy range.
■ Parameter
Parameter
No. 1
Input signal
(1-2048、5101—5196)
Argument 1-10
No.3–No.12 destination. (-1E38 – 1E38)

LCALLP [2,I1,10,0,0,0,0,0,0,0,0,0] FN81; Conditional program call with Args
See
LCALLP: Program call with Arguments (FN590)
LCALLPN: Conditional program call after specified number of passes with Arguments (FN592)
Command name LCALLPN

FN code 592
Conditional program call after specified number of
Title name
passes with Arguments.
command is used to call the specified program. At
General description
this time, ten real numbers can pass the arguments
to the program.
When this function command is executed, the specified program is called and passed the arguments. The robot passes for the
specified number of passes, and on the next time (specified number of passes +1) the call command is executed. (For instance,
if "2" is specified as the number of passes, the robot passes twice, and on the third time the call command is executed.)
In step 4, record LCALLPN: conditional program call after specified number of passes with Args (FN592), "2" as the program
number, "1" as the register number, "2" as the number of passes, and “10” as the argument 1.
third time, it jumps to the first step in program 2. The program2 can get the value “10” passed an argument1 in LCALLP
command by using variable of argument “A1!”.
When the playback of program 2 is completed (the END command is executed), the robot returns to step 5 following the step
with the call command of call source program 1.
Step 4
Program 1 CALLPN; Conditional program call after specified number
of passes (FN592)
Program number = 2
Register number = 1
Argument 1 = 10
１２３５６
● ● ● ● ●
Third time 7: End (FN92)
Program 2
5: End (FN92) ●４ ●
１
● ● V1! = A1!
３２

specified, the command is executed at the position reached by the
robot in the accuracy range of the move command immediately
before.
■ Parameter
Parameter
No. 1
Parameter Register
No. 2 number
(1-200)
This records the number of passes which is to serve as the condition for executing the
Parameter Number of call. The robot passes for the specified number of passes, and on the next time
(0-10000)
Argument 1-10
LCALLPN[2,V1%,2,10,0,0,0,0,0,0,0,0,0] FN82; Conditional program call after
specified number of passes with Arguments
See
LCALLP: Program call with Arguments (FN590)
LCALLPI: Conditional program call with Arguments (FN591)
Command name LCALLMCR

FN code 593
Title name Call User Task Program with Arguments
This command is used to call the specified user
General description task program. At this time, ten real numbers can
pass the arguments to the program.
When this function command is executed, the specified user task program is called and passed the arguments. When program
call user task program, program stop one’s playback and start specified user task program.
When the playback of the user task program at the call destination is completed (in the status established by executing the
END command), the program returns to the step following the step with the call command of the call source program.
In step 4, record LCALLMCR: User Task Program Call with Arguments (FN593) and "1" as the program number, “10000” as the
shelter step, and“10” as an argument.
When this is played back, the program1 call the user task program 1 upon arriving at step 4. The program2 can get the value
“10” passed an argument1 in LCALLP command by using variable of argument “A1!”. When the start of User Task 1 fails, the
program1 jumps shelter step.
When the playback of user task program 1 is completed (in the status established by executing the END command), the robot
returns to step 5 following the step with the call command of call source program 1.
Step 4
Program 1 CALLP; User Task Program Call (FN671)
Program number = 1
Shelter step = 10000
Argument 1 = 10
１２３５６
● ● ● ● ●
7: End (FN92)
User Task 1
１
5: End (FN92) ●４ ●
V1! = A1!
● ●
３２
■ Parameter
Parameter
No. 1
This is used to specify the number of the shelter step when the specified user task
program was not starting.
Shelter step
No. 2 When 10000 is specified as the shelter step number, an alarm results immediately
with no escape operation performed, and the robot can be stopped.
Argument 1-10

LCALLMCR [1,10000,10,0,0,0,0,0,0,0,0,0] FN593; Call User Task Program
with Arguments
Command name NOP

FN code 600
Title name Doing nothing
Outline Doing nothing
Doing nothing. This is used as a punctuation mark in program.
no parameters necessary
<SLIM sample> NOP

NOP FN600;NOP
Command name *
FN code 601
Title name Label
Outline Doing nothing
Doing nothing.
This is used as a label that can be referred by GOTO command.
Beginning from *, and open software keyboard by [Enable]+[Edit] to input characters of label.
<SLIM sample> *LOADING

*[LOADING] FN601;Label
See
ONGOTO ;ONGOTO jump(FN603)
Command name IF
FN code 602
Title name Condition (IF-THEN-ELSE)
If condition is satisfied then command after “THEN”
Outline
is execute, else command after “ELSE” is executed
General description
This is flow control statement (IF-THEN-ELSE).
If condition is satisfied then command after “THEN” is execute, else command after “ELSE” is executed. If “ELSE” is not
described and condition is not satisfied, then next step is executed.
Parameter
IF This is condition.
No. 1
Parameter Command after this (described with the line number or label) is executed when
THEN
No. 2 condition is satisfied.
Command after this (described with the line number or label) is executed when
Parameter
ELSE condition is not satisfied.
No. 3
This is not to be described all the time.
z First Parameter Designation Method

The first parameter can be described freely by use of the soft keyboard.
At present, condition equations where integer variables or actual value variables are calculated in comparison can be
described.
[Description example]
IF V1% = 1 THEN 10 ELSE 20
; To step 10 when the integer variable "1" is "1", and
to step 20 in other cases
IF V2! <> 0 THEN 30

; To step 30 when the integer variable "2" is "other than 0", and
to the next step in other cases
IF V3% > 1 THEN *FINISH ELSE *LOADING

; To the label (*FINISH) when the integer variable "3" is "1 or
higher", and
to the label (*LOADING) in other cases
z Integer Variables
Numeric values not containing decimal point are handled.
Format Vn%, V%[n] n=1 ~ 200 (Global integer variable)
Ln%, L%[n] n=1 ~ 200 (Local integer variable)
* Vn% is same in meaning as V%[n].
Range -2147483648 ~ +2147483647
Sample IF V1%=1 ; When the variable 1 is 1
IF V2%<>0 ; When the variable 2 is not 0
Storage All the global integer variables are stored even if the main
power source is turned off.
All the local integer variables are not stored.
z Actual Value Variables

Numeric values containing decimal point are handled.
Format Vn!, V![n] n=1 ~ 100 (Global integer variable)
Ln!, L![n] n=1 ~ 100 (Local integer variable)
* Vn! is same in meaning as V![n].
Range -1.0E38 ~ +1.0E38
Sample IF V1!=103.45 ; When the variable 1 is 103.45
IF V2!<>1.567E-2 ; When the variable 2 is not 1.567E-2
Storage All the global integer variables are stored even if the main
power source is turned off.
All the local integer variables are not stored.
z Relation Calculation Equation
The relation calculation is used when to compare 2 numeric values. The result is obtained as true (1) or false (0), and is used
for changing the program executional sequences in condition judgment texts and so forth.
Operator Calculation contents Example
= Equal V1%=V2%
<> Not equal V1%<>V2%
< Smaller V1%<V2%
> Larger V1%>V2%
<= Smaller or equal V1%<=V2%
>= Larger or equal V1%>=V2%

IF V1%>1 THEN 100 ELSE 400 FN602;Condition
Command name ONGOTO

FN code 603
Title name ON GOTO jump
Outline Next command is determined by the value of condition
This is flow control statement.
Next command is determined by the value of condition.
It’s order is from 1 to 2,3,…
This is condition.
Parameter
ON One integer variable is designated.
No. 1
(1-200：global variables, 201-400:local variables)
Command after this (described with the line number or label) is executed depending on
the value of condition.
The order is;
command executed when condition=1,
Parameter
GOTO command executed when condition=2,
No. 2 command executed when condition=3,
，．．
Press [Enable]+[Edit] to open software keyboard. Characters must includes
comma that separates each command.
<SLIM sample> ON V3% GOTO *CASE1,*CASE2,*CASE3

ON V3% GOTO *CASE1,*CASE2… FN603;ON GOTO jump
Command name FOR

FN code 604
Title name Loop Start
Outline This is loop command. Loop starts here.
Plural commands enclosed with FOR and NEXT are repeated.
This command is used with the set of NEXT command (no exception).
Please key in each parameters on the following diagram.
Parameter
Scope
No. 1
Parameter This is to designate the variable to be used to determine the loop counter.
Type
No. 2
Parameter Variable
No. 3 number
Parameter
Initial Val This is loop starting counter.
No. 4
Parameter
End Val This is loop ending counter.
No. 5
Parameter
Increments This is the increments in every loop.
No. 6
<SLIM sample> FOR V3%=1 TO 100 STEP 2

FOR V3%=1 TO 10 STEP 1 FN604;Loop Start
See
NEXT ;Loop End(FN605)
Command name NEXT

FN code 605
Title name loop End
Outline This is loop command. Loop ends here.
Plural commands enclosed with FOR and NEXT are repeated.
This command is used with the set of FOR command (no exception).
No parameter.
<SLIM sample> NEXT

NEXT FN605;Loop End
See
FOR ;Loop Start (FN604)
Command name PRINT

FN code 606
Title name Print string
The character string data is output to the screen or
Outline
specified RS232C serial port
When this function command is used, character string data can be displayed on the TP screen or output to the specified serial
port. (RS232C is option)
Device number can designate to where output data. #0 is screen, #1 is RS232C. If device number is omitted, #0 is selected. If
character is omitted, line feed code is only sent. Plural characters can be combined by “;” or “,”. If last character was “;”, line
feed code is not sent.
FN101 is same as this function.
When the robot reaches the step in which the PRINT command is recorded, the character string is sent.
The robot continues moving while the data is being sent.
■ Parameter
This is used to specify the number of the port from which the character string is to be
Parameter output.
Port number
No. 1 0; screen
1; RS232C
Output This is used to specify the character string to be output. Press [Enable]+[Edit] to open
Parameter
character software keyboard to input characters.
No. 2
string (Up to 199 single-byte alphanumeric)
<SLIM sample> PRINT #0,ABC

PRINT[#0,TEST ABC] FN606;Print string
Command name WINDOW

FN code 607
Title name User screen open/close
Outline Open user screen, or close user screen.
User task can draw the custom dialog on the screen, this is called “User screen”. User screen can be drawn on any place at
the mode screen (where 12 F keys are displayed on left side and right side).
Size of TP screen is 640 * 480 dots, left top corner is (0,0). WINDOW command can designate the position of user screen.
The position can be designated in every 16 dots. When one of width or height is defined 0, user screen can be closed.
This command is available only in user task, and is permitted being written in robot language only. Please refer to the “User
task” operating manual for the detail of user task and user screen.
(0,0) 640
+X
+Y User screen title
User screen
480
WINDOW command
can designated the
left top position and
size of user screen.
■ Parameters
Parameter This is to define the X position of left top corner of user screen. (0 to
X position of left top corner
No. 1 624)
Parameter This is to define the Y position of left top corner of user screen. (0 to
Y position of left top corner
No. 2 464)
Parameter
No. 3 Width This is to define the width of user screen. (0 to 640)
Parameter
No. 4
Height This is to define the height of user screen. (0 to 480)
<SLIM sample> WINDOW 64,160,80,64
See
TITLE ;User title (FN608)
Command name TITLE

FN code 608
Title name User screen title
Outline This is to draw the title of user screen
This is to draw the title of user screen.
Task” operating manual for the detail of user task and user screen.
(0,0) 640
+X
+Y User screen title
User screen
480
WINDOW command
can designated the
left top position and
size of user screen.
■ Parameters
Parameter
Title This is the character pattern data which show a title.
No. 1
<SLIM sample> TITLE “MONITOR”
See
WINDOW ;User screen open/close(FN607)
Command name CLS

FN code 609
Title name Erase user screen
Outline This is to erase user screen
This is to erase user screen. (User screen is fully painted by background color.) Its color can be designated by BGCOLOR
command.
■ Parameters
No parameters.
<SLIM sample> CLS
See
WINDOW ;User screen open/close (FN607)
TITLE ;User title (FN608)
BGCOLOR ;Background color (FN617)
Command name LOCATE

FN code 610
Title name Locate the display pos
This command is used to specify the position of the
Outline
character displayed on the user screen.
The position of the character displayed by the PRINT command in the user screen is specified by the row and the column.
■ Parameters
Parameter
Row number The row to which the character string is displayed is specified. (0 to 22)
No. 1
Parameter Column
The column at the character string head is specified. (0 to 80)
No. 2 number
<SLIM sample> LOCATE 12,5
See
PRINT ; Print strings (FN606)
Command name GLINE

FN code 611
Title name Display position specification
This command is used for the user screen to draw the
Outline
straight line.
This command describes a straight-line in the user screen. A straight-line color is a value set by the COLOR command.
■ Parameters
Parameter
X position of start of line X position of the point that the straight line begins is specified. (0 to 639)
No. 1
Parameter
Y position of start of line Y position of the point that the straight line begins is specified. (0 to 479)
No. 2
Parameter
X position of end of line X position of the point that the straight line ends is specified. (0 to 639)
No. 3
Parameter
Y position of end of line X position of the point that the straight line ends is specified. (0 to 479)
No. 4
<SLIM sample> GLINE 10,10,100,100
See
GBOX ; Draw the box (FN612)
GSETP ; Draw the pixel (FN615)
COLOR ; Color (FN616)
Command name GBOX

FN code 612
Title name Draw the box
Outline
box.
This command describes a box in the user screen. A box color is a value set by the COLOR command.
■ Parameters
Parameter
X position of left top corner This is to define the X position of left top corner of the box. (0 to 639)
No. 1
Parameter
Y position of left top corner This is to define the Y position of left top corner of the box. (0 to 479)
No. 2
Parameter
Width This is to define the width of the box. (0 to 640)
No. 3
Parameter
Height This is to define the height of the box. (0 to 480)
No. 4
Parameter 1: paint out
Select of paint out
No. 5 0: not paint out
<SLIM sample> GBOX 64,160,80,64,1
See
GLINE ; Draw the line FN611)
BGCOLOR ; Background color (FN617)
Command name BARC

FN code 613
Title name Draw the arc
Outline
arc.
This command describes an arc in the user screen. An arc color is a value set by the COLOR command.
■ Parameters
Parameter
X position of left top corner This is to define the X position of arc center. (0 to 639)
No. 1
Parameter
Y position of left top corner This is to define the Y position of arc center. (0 to 479)
No. 2
Parameter
Arc radius This is to define the arc radius. (0 to 800)
No. 3
Parameter
Starting point of arc This is to define the angle of starting point of the arc. (0 to 360)
No. 4
Parameter
Center angle This is to define the center angle. (0 to 360)
No. 5
<SLIM sample> BARC 64,160,80,45,90
See
GLINE ; Draw the line (FN611)
Command name GPAINT

FN code 614
Title name Paint
This command is used to paint out the enclosed area
Outline
on the user screen.
This command is used to paint out the enclosed area on the user screen. An paint out color is a value set by the COLOR
command.
■ Parameters
Parameter
X position of left top corner This is to define the X position of paint out starting. (0 to 639)
No. 1
Parameter
Y position of left top corner This is to define the Y position of paint out starting. (0 to 479)
No. 2
Parameter
Border color This is to define the border color to paint out. (0 to 15)
No. 3
<SLIM sample> GPAINT 64,160,8
See
Command name GSETP

FN code 615
Title name Draw the pixel
This command is used for the user screen to draw a
Outline
pixel.
This command describes a pixel in the user screen. A pixel color is a value set by the COLOR command.
■ Parameters
Parameter
X position of left top corner This is to define the X position of pixel. (0 to 639)
No. 1
Parameter
Y position of left top corner This is to define the Y position of pixel. (0 to 479)
No. 2
<SLIM sample> GSETP 64,160
See
Command name COLOR

FN code 616
Title name Color
This can designate the color used in color graphics
Outline
command
This can designate the color used in color graphics command. Total 16 colors (0 to 15) are available.
■ Parameters
0; Black
1: Gray
2: Dark Blue
3: Blue
4: Dark Green
5: Green
6: Dark Sky Blue
Parameter 7: Sky Blue
Color
No. 1 8: Dark Red
9: Red
10:Purple
11:Pink
12:Dark Yellow
13:Yellow
14:Light Gray
15:White
<SLIM sample> COLOR 15
See
GLINE ;Draw line (FN611)
GBOX ;Draw rectangle (FN612)
BGCOLOR ;Background color (FN616)
Command name BGCOLOR

FN code 617
Title name Background color
This can designate the background color used in color
Outline
graphics command
This can designate the background color used in color graphics command.(CLS, PRINT) Total 16 colors (0 to 15) are available.
■ Parameters
Parameter
Color (refer to COLOR command)
No. 1
<SLIM sample> BGCOLOR 15
See
COLOR ;Color(FN616)
Command name EXIT

FN code 619
Title name User task end
Outline This can terminate the user task
This can terminate the user task.
User task never ends (back to the top command after finishing the last command) unless otherwise stopped by manual
operation or this EXIT command is executed.
■ Parameters
No parameters.
<SLIM sample> EXIT
See
OPENMCR ;Start user task(FN621)
WAITMCR ;Wait user task(FN622)
Command name PAUSE

FN code 620
Title name Pause user task
Outline This can make a brief stop of user task
This can pause (make a brief stop of) user task for designated time period.
This command (longer than 300msec pause) must be recorded in

user task in order to avoid the CPU overload.
If not recorded, cycle time of robot program operated
simultaneously with user task may varies.
■ Parameters
Parameter
Pause time This is to define the pause time of user task. (0 to 999) [msec]
No. 1
<SLIM sample> PAUSE 300
See
EXIT ;End user task (FN619)
OPENMCR ;Start user task (FN621)
Command name GARC

FN code 623
Title name Display ellipse
Outline
ellipse.
This command describes a ellipse in the user screen. A ellipse color is a value set by the COLOR command.
■ Parameters
Parameter This is to define the X position of left top corner of the box to which
X position of left top corner
No. 1 oval is inscribed. (0 to 639)
Parameter This is to define the Y position of left top corner of the box to which
Y position of left top corner
No. 2 oval is inscribed. (0 to 479)
Parameter This is to define the width of the box to which oval is inscribed. (0 to
Width
No. 3 640)
Parameter This is to define the height of the box to which oval is inscribed. (0 to
Height
No. 4 480)
Parameter 1: paint out
Select of paint out
No. 5 0: not paint out
<SLIM sample> GARC 64,160,80,45,1
See
Command name MODUSRCOORD

FN code 626
Title name Modify User coordinate
Modifies the existent user coordinates using
General description
pose variables
Executing this function command, the origin position and posture on the existent user coordinates can be modified using three
pose variables.
The MODUSRCOORD command is so useful that the pose variables, that have been operated/ modified while executing the
teaching programs, can be designated as a reference point on the user coordinates; however, the user coordinates that have
been once modified can be never restored.
Therefore, if necessary to store the original user coordinates, be sure to duplicate the user coordinates file before executing
MODUSRCOORD.
<Requirements for MODUSRCOORD>

・Existent user coordinates
…Required to register in [Service] Æ [10 User Coord. Definition] beforehand.
MODUSRCOORD can not create the new user coordinates.
・Pose variable
…Be sure to register three points in advance to define the user coordinates as the pose variables. For details of the definition
of user coordinates, see [Service Menu] Æ [10 User coordinate] in this document.
■ Parameter
Designates the existent user coordinate No. (1~100)
1st parameter User coordinate No.
st
Designates the 1 pose variable No. to define the user coordinates.
nd st
2 parameter 1 pose variable No. (1~9999)
Designates the 2nd pose variable No. to define the user coordinates.
3rd parameter 2nd pose variable No. (1~9999)
Designates the 3rd pose variable No. to define the user coordinates.
4th parameter 3rd pose variable No. (1~9999)
* The pose variables used in the 2nd ~ 4th parameters depend on the USE command.
MODUSRCOORD[1,1,2,3] FN626; Modify User coordinate
The parameters shown on the screen are “User coordinate No.”, “1st pose variable No.”, “2nd pose variable No.”, and “3rd
pose variable No.” from the left.
See
LETCOORDP; Let pose variable (Coordinates designation) (FN630)
LETPE; Let pose element (FN632)
Command name LETLI

FN code 628
Title name Set local integer variable
Sets the value into the specified local integer
General description
variable register
This function command allows to set the value into the specified local integer variable. The local integer variables can be
referred to by each unit.
st
The step 4 is recorded by “LETLI: Set local integer variable (FN628)”, “Variable No.=1”, and “Set value=5”. The 1 integer
variable is set to 5 by playback. The set variables can be checked by the register screen of local integer variable on the
monitor.
Step 4
LETLI; Set local integer variable (FN628)
Variable No.=1, Set value=5
１２
３
● ● ●
５６
● ●
The robot will not slow down by this command. Without any positioning
designation, this command is executed where the robot reaches the accuracy
range of the move command right before.
■ Parameter
1st parameter Local integer variable No. Designates the integer variable No. to set the value. (1-200)
nd Designates the value to set in the integer variables.
2 parameter Set value
(-2147483647~+2147483647)
LETLI[L1%,5] FN628;Set local integer variable
See
LETLF; Set local real variable (FN629)
Command name LETLF

FN code 629
Title name Set local real variable
Sets the value into the specified local real
General description
variable register
This function command allows to set the value into the specified local real variable. The local real variables can be referred to
by each unit.
st
The step 4 is recorded by “LETLF: Set local real variable (FN629)”, “Variable No.=1”, and “Set value=5.5”. The 1 real variable
is set to 5.5 by playback. The set variables can be checked by the register screen of local real number variable on the monitor.
Step 4
LETLF; Set local real variable(FN629)
Variable No.=1, Set value=5.5
１２
３
● ● ●
５６
● ●
The robot will not slow down by this command. Without any positioning designation, this
command is executed where the robot reaches the accuracy range of the move
command right before.
■ Parameter
1st parameter Local real variable No. Designates the real variable No. to set the value. (1-200)
2nd parameter Set value Designates the value to set in the real variable. (-1.0E38~+1.0E38)
LETLF[L1!,5.5] FN629;Set local real variable
See
LETLI; Set local real variable (FN628)
Command name LETCOORDP

FN code 630
Title name Let pose variable
Stores the pose data recorded by the specified
General description rectangular coordinates value in the pose
variables
This function command allows to record the pose variable set command of the coordinates designation.
・ The LETCOORDP command is the pose set command by each mechanism. If there exist multiple mechanisms in the unit,
execute the LETCOORDP command for the number of registered mechanisms.
* Also, in order not to forget initializing the pose variables (= Execution of LETCOORDP command for all the mechanisms),
it is recommended to teach the LETCOORDP command for the number of registered mechanisms when starting to run the
program.
・ Before executing LETCOORDP under the structure of synchronized unit, be sure to execute this command first in the
operation standard mechanism.
・ The robot does not move by executing LETCOORDP only. To move the robot, it is required to teach the MOVEX
command.
■ LETCOORDP Teach Method

(1) Select FN630 “Let pose variable”.
(2) Enter the pose No. of the set destination.

(3) Select the mechanism No. of the pose set destination.
Be sure to teach the operation standard mechanism first. In the synchronized system of the robot
and positioner, the positioner is the operation standard mechanism.
(4) Set the required parameters (described in the following).
(5) Move the robot by manual operation to the position for carrying out the pose record, and then press F8 “Record
Current Position” key. Or, specify the value directly for the position to carry out the pose record.
(6) Press f12 <Complete> to record LETCOORDP.
■ Parameter
Pose No. Enters the pose variable No. of the set destination. 1~9999
Selects the mechanism No. of the pose set destination.
Mechanism 1~9
Æ Be sure to teach the operation standard mechanism first.
Selects the method of how to deal with the pose data other than the
record mechanism. Do nothing/
Other Poses
If selecting “Initialize”, a function variable in the MOVE command step Initialize in the previous step
right before is set as the pose datum.
XYZ element:
Enters the rectangular coordinates value of the specified coordinates
Rectangular -99999.9~99999.9[mm]
base. The current position can be also obtained by F8 “Record
coordinates RPY (Rotation) element:
Current Position” key.
-360.0~360.0[deg]
Manipulator:
Designates the coordinates of the rectangular coordinates value.
Coordinate Base/ User/ Absolute/
The external axis is fixed to the axis coordinates in being recorded.
Workpiece
External axis:
Each axis
User coordinate Enters the user coordinate No. when “User” has been selected in
1~100
No. [Coordinate].
Designates the selection method of redundant solution in the reverse
conversion, With "Configuration” selected, the radio button for
Axis angle refer Previous step/ Configuration
redundant solution selection become ON in the J1, J3, J5, and J6
axis.
Selects the redundant solution of the J1 axis.
・ Left arm: +45 ~ 135º
J1 axis angle Left arm/ Right arm/ Less
・ Right arm: -45 ~ -135º
selection than ±90º/±90 or more
・ Less than ±90º: -45 ~ +45º
・ ±90º or more: -135º or below or +135º or more

J3 axis angle Upper elbow/
・ Upper elbow: 79.1º or below
selection Lower elbow
・ Lower elbow: 79.1º or more

J5 axis angle
・ Flip: 0º or below Flip/ Non-flip
selection
・ Non-flip: 0º or more

・ Less than ±180º: -180 ~ +180º Less than ±180º
J6 axis angle
0~360º/
selection ・ 0 ~ 360º：0 ~ 360º
0~ -360º
・ 0 ~ -360: 0 ~ -360º

LETCOORDP[P1,M1,0,User1] FN630;Let pose variable
The parameters appeared on the screen are “Pose variable No.”, “Mechanism No.”, “Other Poses(0/1)”, and
“Coordinates (+ User coordinate No.)” from the left.
See
LETPE; Let shift element (FN633)
LET; Let variable (FN634)
ADDP; Add pose variable (FN635)
Command name LETPE

FN code 632
Title name Let pose element
Stores the pose element recorded by the
General description specified rectangular coordinates value in the
pose variables
This function command allows to record the let pose element command of the coordinates designation by each single element.
・ The LETPE command allows to specify a pose storage position by the parameter and set the pose only in that element.
*For smooth teaching operation, it is recommended to use FN630 (the LETCOORDP command) on the pose storage of all
the elements, and the LETPE command on a single element or when modifying the pose data of only 1 axis.
nd
(The following is the example when setting 10º only into the 2 axis of the mechanism 5 using LETPE.)
・ If there is no original pose variable, it is not available to use LETPE. In that case, execute FN630 (LETCOORDP) and
create the pose data.
・ The robot does not move by executing LETPE only. To move the robot, it is required to teach MOVEX command.
■ LETPE Teach Method

(1) Select FN632 “Let pose element”.
(2) Enter the pose variable No. of the set destination.

(3) Select the mechanism No. of the pose set destination.
(4) Select the element of the pose set destination.
(6) Press f12 <Complete> to record LETPE.
■ Parameter
Pose No. Enters the pose variable No. of the set destination. 1~9999
Mechanism Selects the mechanism No. of the pose set destination. 1~9
Selects the element of the pose set destination. Manipulator:
Selects the elements of rectangular coordinates when the mechanism X/Y/Z/r/p/y
Element
is a manipulator, and the axis angle element when the mechanism is External axis:
an external axis. J1/J2/J3/J4/J5/J6
Set/
Selects the type of pose operation.
Pose operation Add/
Addition and subtraction are carried out to the original pose data.
Subtract
Selects a type of the pose set value. Global real variable/
Type It becomes available to input [Variable No.] with a variable selected, Local real variable/
and [Constant value] with a constant selected. Real constant
Manipulator:
Designates the coordinates of the rectangular coordinates value. Robot/ User/ World/ Work
Coordinate
The external axis is fixed to the axis coordinates in being recorded.
External axis:
Each axis
1~100
No. [Coordinate].

LETPE[P1,M1,X = V1!,User1] FN632;Let pose element
The parameters appeared on the screen are “Pose variable No.”, “Mechanism No.”, “Pose element=Pose set value”,
and “Coordinates (+ User coordinate No.)” from the left.
See
Command name LETRE

FN code 633
Title name Let shift element
Sets the shift element in the specified shift
General description
register
This function command allows to set the shift amount data in the specified shift register by a single element.
Even if the specified shift register has been occupied by “SHIFTR; Shift2 (FN52)” or others, the value specified by LETRE can
be newly set in the shift register without any influence exerted on the robot motion. The modified shift value becomes effective
by the next playback of the SHIFTR; Shift2 (FN52).
・ The LETRE command allows to specify the shift element storage position by the parameter and set the shift amount data
only in that element.
*For smooth teaching operation, it is recommended to use FN68 (LETR command) on the shift amount set of all the
elements, and LETRE command on modifying the shift amount data.
(The following is an example when setting 10mm only into the X element using LETRE.)
Shift register value when executing LETRE [R1, X = 10.00].
<1> Executing with the specified shift register value
Before After executing
executing LETRE LETRE
Request flag 0 0
Set flag 1 1
X 110 10
Y 120 100
Z 130 100
θX 5 10
θY 6 11
θZ 7 12
<2> Executing with the initial shift register

Before After executing
executing LETR LETR
Request flag 0 0
Set flag 0 0
X 0 10
Y 0 0
Z 0 0
θX 0 0
θY 0 0
θZ 0 0
By executing this command, the request flag of shift register always becomes “0” and the set flag “1”. The values specified by
the parameter are stored in X ~ θz.
■ LETRE Teach Method
(1) Select FN633 “Let shift element”.
(2) Enter the shift register No. of the set destination.

(3) Select the shift element of the set destination.
(5) Press f12 <Complete> to record LETRE.
■ Parameter
Shift register No. Enters the shift register No. of the set destination. 1~9
Element Selects the shift element of the set destination. X/Y/Z/θX/θY/θZ
Selects the type of shift operation.
Shift operation Set/ Add/ Subtract
Addition and subtraction are carried out to the original shift amount data.
Selects a type of the shift amount substitution value. Global real variable/
Type It becomes available to input [Variable No.] with a variable selected, and Local real variable/
[Constant value] with a constant selected. Real constant

LETRE[R1,X = V1!] FN633;Let shift element
The parameters appeared on the screen are “Shift register No.” and “Shift element=Shift amount set value”.
See
LETR; Let shift amount (FN68)
Command name LET

FN code 634
Title name Let variable
General description Sets the variable of the same type
This function command allows to set the variable of the same type.
This is executed when using this command as a storage of the operation result while executing the program or copying the
contents of variables.
・ There are six types of variables available in the LET command; the global/local integer variable, global/local real variable,
pose variable, and shift variable (shift register).
*Values can be set each other only within the same type for the pose variable and shift variable, while it is available across
the scope and type for the integer variable and real variable.
■ LET Teach Method

(1) Select FN634 “Let variable”.
(2) Select the type of variable of the set destination.

(3) Enter the variable No. of the set destination.
(4) Select the type of variable to set.
(5) Enter the variable No. of the set value.
■ Parameter
Global integer variable/
Global real variable/
Variable type of Local integer variable/
Selects the variable type of the set destination.
set destination Local real variable/
Pose variable/
Shift variable
Pose variable:
1~9999
Variable No. of Shift variable:
Enters the variable No. of the set destination.
set destination 1~9
Others:
1~200
Same as the set destination.
Variable type/
However, if different kinds of variable type are selected for setting
Variable No. of -
the pose variable/shift variable, the variable type of the set
set value
destination is applied.

LET[V1%,V2%] FN634;Let variable
The parameters appeared on the screen are “Set destination variable” and “Set value variable” from the left.
See
Command name ADDP

FN code 635
Title name Add pose variable
General description Adds the value of pose variable
This function command allows to add the shift amount of shift register to the pose variable based on the specified coordinates.
・ If there is no original pose variable, it is not available to use ADDP. In this case, execute FN630 (LETCOORDP command)
and create the pose data.
The robot does not move by executing ADDP only. To move the robot, it is required to teach MOVEX command.
■ ADDP Teach Method

(1) Select FN635 “Add pose variable”.
(2) Enter the pose variable No. of the add destination.

(3) Select the shift mechanism No.
(5) Press f12 <Complete> to record ADDP.
■ Parameter
Pose No. Enters the pose variable No. of the add destination. 1~9999
Shift mechanism Selects the manipulator of the shift target. 1~9
Shift register No. Enters the shift register No. (added value). 1~9
Robot/ User/ World/
Coordinate Designates the coordinates of the rectangular coordinates value.
Work
1~100
No. [Coordinate].

ADDP[P1,M1,R1,User1] FN635;Add pose variable
The parameters appeared on the screen are “Pose variable No.”, “Mechanism No.”, “Shift register No.”, and
“Coordinates (+ User coordinate No.)” from the left.
See
Command name ADDVI

FN code 637
Title name Add integer variable
General description Adds the value of integer variable
This function command allows to add the integer variables.
Any steps can be recorded by “ADDVI: Add integer variable (FN637)”, “Global variable No. of the add destination=1”, and
nd st
“Global variable No. of the add value=2”. The 2 variable is added to the 1 variable by playback of this command. The set
variables can be checked by the register screen of global integer variable on the monitor. (Local integer variables are also
available.)
Execution sample of ADDVI [V1%, V2%]
Global variable Before After executing
executing ADDVI ADDVI
V1% 1 3
V2% 2 2
■ ADDVI Teach Method

(1) Select FN637 “Add integer variable”.
(2) Select the variable type of the add destination.

(3) Enter the variable No. of the add destination.
(4) Select the type of add value.
(5) Enter the variable No. of add value or add constant.
(6) Press F12 <Complete> to record ADDVI.
■ Parameter
Variable type of Global integer variable/
Enters the variable type of add destination.
add destination Local integer variable
Variable No. of
the add Enters the variable No. of the add destination. 1~200
destination
Enters the type of add value. Global integer variable/
Type of add
※ Selecting “Integer constant”, the value to add can be directly Local integer variable/
value
designated. Integer constant
Variable No.:
Variable No. of
Enters the variable No. with “Variable” selected, and the constant 1~200
add value
value with “Integer constant” selected in the variable type of add Constant value:
or
value. -2147483647~
Add constant
2147483647

ADDVI[V1%,V2%] FN637;Add integer variable
The parameters appeared on the screen are “Variable of the add destination”, “Add variable (or add constant)” from the
left.
See
SUBVI; Subtract integer variable (FN639)
MULVI; Multiply integer variable (FN641)
DIVVI; Divide integer variable (FN643)
Command name ADDVF

FN code 638
Title name Add real variable
General description Adds the value of real variable
This function command allows to add the real variables.
Any steps can be recorded by “ADDVF: Add real variable (FN638)”, “Global variable No. of the add destination=1”, and “Global
nd st
variable No. of the add value=2”. The 2 variable is added to the 1 variable by playback of this command. The set variables
can be checked by the register screen of global real number variable on the monitor. (Local variables are also available.)
Execution sample of ADDVF [V1!, V2!]
executing ADDVF ADDVF
V1! 1.1000 3.3000
V2! 2.2000 2.2000
■ ADDVF Teach Method

(1) Select FN638 “Add real variable”.
(2) Select the variable type of the add destination.

(3) Enter the variable No. of the add destination.
(4) Select the type of add value.
(5) Enter the variable No. of the add value or add constant.
(6) Press F12 <Complete> to record ADDVF.
■ Parameter
Variable type of Global real variable/
Enters the variable type of the add destination.
add destination Local real variable
Variable No. of
Enters the variable No. of the add destination. 1~200
add destination
Enters the type of add value. Global real variable/
Type of add
※ Selecting “real constant”, the value to add can be directly Local real variable/
value
designated. Real constant
Variable No.:
Variable No. of
1~200
add value Enters the variable No. with “Variable” selected, and the constant value
Constant value:
or with “real constant” selected in the variable type of add value.
-1e+038~
Add constant
1e+038

ADDVF[V1!,V2!] FN638;Add real variable
The parameters appeared on the screen are “Variable of add destination”, “Add variable (or add constant)” from the left.
See
SUBVF; Subtract real variable (FN640)
MULVF; Multiply real variable (FN642)
DIVVF; Divide real variable (FN644)
Command name SUBVI

FN code 639
Title name Subtract integer variable
General description Subtracts the value of integer variable
This function command allows to subtract the integer variables.
Any steps can be recorded by “SUBVI: Subtract integer variable (FN639)”, “Global variable No. of the subtract destination=1”,
nd st
and “Global variable No. of the subtract value=2”. The 2 variable is subtracted from the 1 variable by playback of this
command. The set variables can be checked by the register screen of global integer variable on the monitor. (Local integer
variables are also available.)
Execution sample of SUBVI [V1%, V2%]
executing SUBVI
SUBVI
V1% 2 1
V2% 1 1
■ SUBVI Teach Method

(1) Select FN639 “Subtract integer variable”.
(2) Select the variable type of the subtract destination.

(3) Enter the variable No. of the subtract destination.
(4) Select the type of subtract value.
(5) Enter the variable No. of the subtract value or subtract constant.
(6) Press F12 <Complete> to record SUBVI.
■ Parameter
Enters the variable type of the subtract Global integer variable/
Variable type of subtract destination
destination. Local integer variable
Enters the variable No. of the subtract
Variable No. of subtract destination 1~200
destination.
Enters the type of subtract value. Global integer variable/
Type of subtract value ※ Selecting “Integer constant”, the value to Local integer variable/
subtract can be directly designated. Integer constant
Variable No.:
Enters the variable No. with “Variable”
Variable No. of subtract value 1~200
selected, and the constant value with “Integer
or Constant value:
constant” selected in the variable type of
Subtract constant -2147483647
subtract value.
~2147483647

SUBVI[V1%,V2%] FN639;Subtract integer variable
The parameters appeared on the screen are “Variable of the subtract destination”, “Subtract variable (or subtract
constant)” from the left.
See
ADDVI; Add integer variable (FN637)
Command name SUBVF

FN code 640
Title name Subtract real variable
General description Subtracts the real variable
This function command allows to subtract the real variable.
Any steps can be saved by “SUBVF: Subtract real variable (FN640)”, “Global variable No. of the subtract destination=1”, and
nd st
“Global variable No. of the subtract value=2”. By playback of this command, the 2 variable is subtracted from the 1 variable.
The set variables can be checked by the register screen of global real number variable on the monitor. (Local variables are
also available.)
Execution sample of SUBVF [V1!, V2!]
executing SUBVF SUBVF
V1! 2.2000 1.1000
V2! 1.1000 1.1000
■ SUBVF Teach Method

(1) Select FN640 “Subtract real variable”.
(2) Select the variable type of the subtract destination.

(3) Enters the variable No. of the subtract destination.
(4) Select the type of subtract value.
(5) Enter the variable No. of the subtract value or subtract constant.
(6) Press F12 <Complete> to record SUBVF.
■ Parameter
Enters the variable type of the subtract Global real variable/
Variable type of subtract destination
destination. Local real variable
Enters the variable No. of the subtract
Variable No. of subtract destination 1~200
destination.
Enters the type of subtract value. Global real variable/
Type of subtract value ※ Selecting “Real constant”, the value to Local real variable/
subtract can be directly designated. Real constant
Variable No.:
Enters the variable No. with “Variable”
Variable No. of subtract value 1~200
selected, and the constant value with “Real
or Constant value:
constant” selected in the variable type of
Subtract constant -1e+038~
subtract value.
1e+038

SUBVF[V1!,V2!] FN640;Subtract real variable
The parameters appeared on the screen are “Variable of subtract destination”, “Subtract variable (or subtract constant)”
from the left.
See
ADDVF; Add real variable (FN638)
Command name MULVI

FN code 641
Title name Multiply integer variable
General description Multiplies the integer variables
This function command allows to multiply the integer variables.
Any steps can be recorded by “MULVI: Multiply integer variable (FN641)”, “Global variable No. of the multiply destination=1”,
st nd
and “Global variable No. of the multiply value=2”. The 1 and the 2 variable are multiplied by playback of this command. The
set variables can be checked by the register screen of global integer variable on the monitor. (Local integer variables are also
available.)
Execution sample of MULVI [V1%, V2%]
executing MULVI MULVI
V1% 2 6
V2% 3 3
■ MULVI Teach Method

(1) Select FN641 “Multiply integer variable”.
(2) Select the variable type of the multiply destination.

(3) Enter the variable No. of the multiply destination.
(4) Select the type of multiply value.
(5) Enter the variable No. of the multiply value or multiply constant.
(6) Press F12 <Complete> to record MULVI.
■ Parameter
Enters the variable type of the multiply Global integer variable/
Variable type of multiply destination
Variable No. of multiply destination Enters the variable No. of the multiply destination.
1~200
Enters the type of multiply value. Global integer variable/
Type of multiply value ※ Selecting “Integer constant”, the value to Local integer variable/
multiply can be directly designated. Integer constant
Variable No.:
Variable No. of multiply value Enters the variable No. with “Variable” selected, 1~200
or and the constant value with “Integer constant” Constant value:
Multiply constant selected in the variable type of multiply value. -2147483647~
2147483647

MULVI[V1%,V2%] FN641;Multiply integer variable
The parameters appeared on the screen are “Variable of multiply destination”, “Multiply variable (or multiply constant)”
from the left.
See
Command name MULVF

FN code 642
Title name Multiply real variable
General description Multiplies the real variables
This function command allows to multiply the real variables.
Any steps can be recorded by “MULVF: Multiply real variable (FN642)”, “Global variable No. of the multiply destination=1”, and
st nd
“Global variable No. of the multiply value=2”. The 1 and the 2 variables are multiplied by playback of this command. The set
variables can be checked by the register screen of global real number variable on the monitor. (Local variables are also
available.)
Execution sample of MULVF [V1!, V2!]
executing MULVF MULVF
V1! 2.2000 6.6000
V2! 3.0000 3.0000
■ MULVF Teach Method

(1) Select FN642 “Multiply real variable”.
(2) Select the variable type of the multiply destination.

(3) Enter the variable No. of the multiply destination.
(4) Select the type of multiply value.
(5) Enter the variable No. of the multiply value or multiply constant.
(6) Press F12 <Complete> to record MULVF.
■ Parameter
Variable type of multiply destination Enters the variable type of the multiply destination.
Local real variable
Variable No. of multiply destination Enters the variable No. of the multiply destination. 1~200
Enters the type of multiply value. Global real variable/
Type of multiply value ※ Selecting “Real constant”, the value to multiply Local real variable/
can be directly designated. Real constant
Variable No.:
Variable No. of multiply value Enters the variable No. with “Variable” selected, and 1~200
or the constant value with “Real constant” selected in Constant value:
Multiply constant the variable type of multiply value. -1e+038~
1e+038

MULVF[V1!,V2!] FN642;Multiply real variable
The parameters appeared on the screen are “Variable of multiply destination”, “Multiply variable (or multiply constant)”
from the left.
See
Command name DIVVI

FN code 643
Title name Divide integer variable
General description Divides the value of integer variable
This function command allows to divide the integer variables.
Any steps can be recorded by “DIVVI: Divide integer variable (FN643)”, “Global variable No. of the divide destination=1”, and
st nd
“Global variable No. of the divide value=2”. The 1 variable is divided by the 2 variable by playback of this command. The set
variables can be checked by the register screen of global integer variable on the monitor. (Local integer variables are also
available.)
Execution sample of DIVVI [V1%, V2%]
executing DIVVI DIVVI
V1% 4 2
V2% 2 2
■ DIVVI Teach Method

(1) Select FN643 “Divide integer variable”.
(2) Select the variable type of the divide destination.

(3) Enters the variable No. of the divide destination.
(4) Select the type of divide value.
(5) Enter the variable No. of the divide value or divide constant.
(6) Press F12 <Complete> to record DIVVI.
■ Parameter
Enters the variable type of the divide Global integer variable/
Variable type of divide destination
Enters the variable No. of the divide
Variable No. of divide destination 1~200
destination.
Enters the type of divide value. Global integer variable/
Type of divide value ※ Selecting “Integer constant”, the value to Local integer variable/
divide by can be directly designated. Integer constant
Enters the variable No. with “Variable” Variable No.:
Variable No. of divide value
selected, and the constant value with “Integer 1~200
or
constant” selected in the variable type of Constant value:
Divide constant
divide value. -2147483647~2147483647

DIVVI[V1%,V2%] FN643;Divide integer variable
The parameters appeared on the screen are “Variable of divide destination”, “Variable of divide value (or divide
See
Command name DIVVF

FN code 644
Title name Divide real variable
General description Divides the value of real variable
This function command allows to divide the real variables.
Any steps can be recorded by “DIVVF: Divide real variable (FN644)”, “Global variable No. of the divide destination=1”, and
st nd
“Global variable No. of the divide value=2”. The 1 variable is divided by the 2 variable by playback of this command. The set
variables can be checked by the register screen of global real variable on the monitor. (Local variables are also available.)
Execution sample of DIVVF [V1!, V2!]
executing DIVVF DIVVF
V1! 4.4000 2.0000
V2! 2.2000 2.2000
■ DIVVF Teach Method

(1) Select FN644 “Divide real variable”.
(2) Select the variable type of the divide destination.

(3) Enters the variable No. of the divide destination.
(4) Select the type of divide value.
(5) Enter the variable No. of the divide value or divide constant.
(6) Press F12 <Complete> to record DIVVF.
■ Parameter
Variable type of divide Global real variable/
Enters the variable type of the divide destination.
destination Local real variable
Variable No. of divide
Enters the variable No. of the divide destination. 1~200
destination
Enters the type of divide value. Global real variable/
Type of divide value ※ Selecting “Real constant”, the value to divide by can be Local real variable/
directly designated. Real constant
Variable No.:
Variable No. of divide value Enters the variable No. with “Variable” selected, and the 1~200
or constant value with “Real constant” selected in the variable Constant value:
Divide constant type of divide value. -1e+038~
1e+038

DIVVF[V1!,V2!] FN644;Divide real variable
The parameters appeared on the screen are “Variable of divide destination”, “Variable of divide value (or divide
See
Command name ASIN

FN code 648
Title name LET ASIN function
General description Get ASIN variables
It calculates the real value of ASIN and set the result to real variable.
Record ASIN, designated global variable1(V1!) and original global variable2(V2!). After acting the function, ASIN value of V2! is
stored V1!
You can see the values by some monitors. You can use Local variables too.
Functionality of ASIN[V1!,V2!]
Global variables Before ASIN After ASIN
V1! 0.0000 1.5708
V2! 1.0000 0.0000
■ Parameters
Parameters Contents Range
Real Global Var. /
Type of designated variables Set the type of designated variable
Real Local Var.
Variable number Set the number of variables 1～200
Set the type of original value Real Global Var. /
Type of original value ※You can set the value directly if you use “Real Real Local Var.
constant value” Real constant value
Variables：
Variable number
Set variable number if you use variable type 1～200
or
Set real constant if you use Real constant value. Constant：
Constant value
-1e+038～1e+038

ASIN[V1!,V2!] FN648;ASIN
Displayed parameters on the screen from left are “Designated variables”, “Original value set by some variables, or real
value”
See
ACOS; Let ACOS function (FN649)
SIN; Let SIN function (FN652)
COS; Let COS function (FN653)
TAN; Let TAN function (FN654)
ATN; Let ATN function (FN655)
ATN2; Let ATN2 function (FN656)
Function commands (FN codes)）
Command name ACOS

FN code 649
Title name LET ACOS function
General description Get ACOS variables
■General description
It calculates the real value of ACOS and set the result to real variable.
Record ACOS, designated global variable1(V1!) and original global variable2(V2!). After acting the function, ACOS value of V2!
is stored V1!
You can see the values by some monitors. You can use Local variables too.
Functionality of ACOS[V1!,V2!]
Global variables Before ACOS After ACOS
V1! 0.0000 1.5708
V2! 1.0000 0.0000
■ Parameters
Parameters Contents Range
Real Global Var. /
Type of designated variables Set the type of designated variable
Real Local Var.
Variable number Set the number of variables 1～200
Set the type of original value Real Global Var. /
Type of original value ※You can set the value directly if you use “Real constant Real Local Var.
value” Real constant value
Variables：
Variable number
Set variable number if you use variable type 1～200
or
Set real constant if you use Real constant value. Constant：
Constant value
-1e+038～1e+038
■Example of screen display

ACOS[V1!,V2!] FN649;ACOS
Displayed parameters on the screen from left are “Designated variables”, “Original value set by some variables, or real
value”
See
ASIN; Let ASIN function (FN648)
Command name TIMER

FN code 650
Title name Let TIMER function
Sets the time value passed since the power-on
General description
into the specified real variable register
This function command allows to set the time value into the specified real variable register by 1ms.
■ Parameter
Real variable Designates the real variable No. to set.
1st parameter
No. (1-200)

TIMER[V1!] FN650;Let TIMER function
Command name SQR

FN code 651
Title name Let SQR function
General description Calculates the square root of the real number
This function command allows to calculate the square root of the real number and set its return value into the specified real
variable register.
Any steps can be recorded by “SQR: Let SQR function (FN651)”, “Global variable No. of the set destination=1”, and “Global
nd st
variable No. of the set value=2”. The square root of the 2 variable is set into the 1 variable by playback of this command.
The set variables can be checked by the register screen of global real number variable on the monitor. (Local variables are
also available.)
Execution sample of SQR [V1!, V2!]
executing SQR SQR
V1! 0.0000 2.0000
V2! 4.0000 4.0000
■ SQR Teach Method

(1) Select FN651 “Let SQR function”.
(2) Select the variable type of the set destination.

(4) Select the type of set value.
(5) Enter the variable No. of the set value or set constant.
(6) Press F12 <Complete> to record SQR.
■ Parameter
Variable type of set destination Enters the variable type of the set destination.
Local real variable
Variable No. of set destination Enters the variable No. of the set destination. 1~200
Enters the type of set value. Global real variable/
Type of set value ※ Selecting “Real constant”, the set value can be directly Local real variable/
designated. Real constant
Variable No.:
Variable No. of set value Enters the variable No. with “Variable” selected, and the 1~200
or constant value with “Real constant” selected in the Constant value:
Set constant variable type of set value. -1e+038~
1e+038

SQR[V1!,V2!] FN651;Let SQR function
The parameters appeared on the screen are “Variable of set destination” and “Variable of set value (or set constant)”
from the left.
Command name SIN

FN code 652
Title name Let SIN function
General description Calculates the SIN value of real number
This function command allows to calculate the SIN value of the real number and set its return value into the specified real
variable register.
Any steps can be recorded by “SIN: Let SIN function (FN652)”, “Global variable No. of the set destination=1”, and “Global
nd st
variable No. of the set value=2”. The SIN value of the 2 variable is set into the 1 variable by playback of this command. The
set variables can be checked by the register screen of global real number variable on the monitor. (Local variables are also
available.)
Execution sample of SIN [V1!, V2!]
executing SIN SIN
V1! 0.0000 0.8415
V2! 1.0000 1.0000
■ SIN Teach Method

(1) Select FN652 “Let SIN function”.

(6) Press F12 <Complete> to record SIN.
■ Parameter
Local real variable
Variable No. of set destination Enter the variable No. of the set destination. 1~200
Type of set value ※ Selecting “Real constant”, the set value can be Local real variable/
Variable No.:
Variable No. of set value Enters the variable No. with “Variable” selected, and 1~200
or the constant value with “Real constant” selected in the Constant value:
1e+038

SIN[V1!,V2!] FN652;Let SIN function
from the left.
See
Command name COS

FN code 653
Title name Let COS function
General description Calculates the COS value of real number
This function command allows to calculate the COS value of the real number and set its return value into the specified real
variable register.
Any steps can be recorded by “COS: Let COS function (FN653)”, “Global variable No. of the set destination=1”, and “Global
nd st
variable No. of the set value=2”. The COS value of the 2 variable is set to the 1 variable by playback of this command. The
available.)
Execution sample of COS [V1!, V2!]
executing COS COS
V1! 0.0000 0.5403
V2! 1.0000 1.0000
■ COS Teach Method

(1) Select FN653 “Let COS function”.

(6) Press F12 <Complete> to record COS.
■ Parameter
Local real variable
Variable No.:
1e+038

COS[V1!,V2!] FN653;Let COS function
from the left.
See
Command name TAN

FN code 654
Title name Let TAN function
General description Calculates the TAN value of real number
This function command allows to calculate the TAN value of real number and set its return value into the specified real variable
register.
Any steps can be recorded by “TAN: Let TAN function (FN654)”, “Global variable No. of the set destination=1”, and “Global
nd st
variable No. of the set value=2”. The TAN value of the 2 variable is set into the 1 variable by performing playback of this
command. The set variables can be checked by the register screen of global real number variable on the monitor. (Local
variables are also available.)
Execution sample of TAN [V1!, V2!]
executing TAN TAN
V1! 0.0000 1.5574
V2! 1.0000 1.0000
■ TAN Teach Method

(1) Select FN654 “Let TAN function”.

(6) Press F12 <Complete> to record TAN.
■ Parameter
Local real variable
Variable No.:
1e+038

TAN[V1!,V2!] FN654;Let TAN function
from the left.
See
Command name ATN

FN code 655
Title name Let ATN function
General description Calculates the ATN value of real number
This function command allows to calculate the ATN value of the real number and set its return value into the specified real
variable register.
Any steps can be recorded by “ATN: Let ATN function (FN655)”, “Global variable No. of the set destination=1”, and “Global
nd st
variable No. of the set value=2”. By playback of this command, the ATN value of the 2 variable is set into the 1 variable. The
available.)
Execution sample of ATN [V1!, V2!]
executing ATN ATN
V1! 0.0000 0.7854
V2! 1.0000 1.0000
■ ATN Teach Method

(1) Select FN655 “Let ATN function”.

(5) Enter the variable No. of the set value or set constant value.
(6) Press F12 <Complete> to record ATN.
■ Parameter
Local real variable
Variable No.:
Variable No. of set value Enters the variable No. with “Variable” selected, and 1~200
or the constant value with “Real constant” selected in the Constant value:
1e+038

ATN[V1!,V2!] FN655;Let ATN function
from the left.
See
Command name ATN2

FN code 656
Title name Let ATN2 function
General description Calculates the ATN2 value of real number
This function command allows to calculate the ATN2 value of the real number and set its return value into the specified real
variable register.
Any steps can be recorded by “ATN2: Let ATN2 function (FN656)”, “Global variable No. of the set destination=1”, “Global
variable No.1 of the set value=2” and “Global variable No.2 of the set value=3”. By playback of this command, the ATN2 value
of the 2nd and 3rd variable are set into the 1st variable. The set variables can be checked by the register screen of global real
variable on the monitor. (Local variables are also available.)
Execution sample of ATN2 [V1!, V2!, V3!]
executing ATN2 ATN2
V1! 0.0000 0.4636
V2! 1.0000 1.0000
V3! 2.0000 2.0000
■ ATN2 Teach Method
(1) Select FN656 “Let ATN2 function”.

(4) Select the type of set value 1.
(5) Enter the variable No. of the set value 1 or the set constant.
(8) Press F12 <Complete> to record ATN2.
■ Parameter
Local real variable
Enters the type of set value 1. Global real variable/
Type of set value 1 ※ Selecting “Real constant”, the set value can be Local real variable/
Variable No.:
Variable No. of set value 1 Enters the variable No. with “Variable” selected, and the
1~200
or constant value with “Real constant” selected in the
Constant value:
Set constant 1 variable type of set value 1.
-1e+038~1e+038
Variable No.:
1~200
Constant value:
-1e+038~1e+038
ATN2[V1!,V2!,V3!] FN656;Let ATN2 function
The parameters appeared on the screen are “Variable of set destination”, “Variable of set value 1 (or set constant 1)”,
and “Variable of set value 2 (or set constant 2)” from the left.
See
Command name ABS

FN code 657
Title name Let ABS function
General description Calculates the absolute value of real number
This function command allows to calculate the absolute value of real number and set its return value into the specified real
variable register.
Any steps can be recorded by “ABS: Let ABS function (FN657)”, “Global variable No. of the set destination=1” and “Global
nd st
variable No. of the set value=2”. By playback of this command, the absolute value of the 2 variable is set into the 1 variable.
The set variables can be checked by the register screen of global real variable on the monitor. (Local variables are also
available.)
Execution sample of ABS [V1!, V2!]
executing ABS ABS
V1! 0.0000 1.1000
V2! -1.1000 -1.1000
■ ABS Teach Method

(1) Select FN657 “Let ABS function”.

(6) Press F12 <Complete> to record ABS.
■ Parameter
Local real variable
Variable No.:
Variable No. of set value Enters the variable No. with “Variable” selected, and the
1~200
Constant value:
Set constant variable type of set value.
-1e+038~1e+038

ABS[V1!,V2!] FN657;Let ABS function
The parameters appeared on the screen are “Variable of set destination” and “Variable of set value (or substitution
Command name MIN

FN code 658
Title name Let MIN function
General description Calculates a smaller real number out of two
This function command allows to set a smaller real number out of two into the real variable register.
Any steps can be recorded by “MIN: Let MIN function (FN658)”, “Global variable No. of the set destination=1”, “Global variable
No. of the set value 1 = 2”, and “Global variable No. of the set value 2 =3”. By playback of this command, a smaller variable of
nd rd st
the 2 or 3 is set into the 1 variable. The set variables can be checked by the register screen of global real variable on the
monitor. (Local variables are also available.)
Execution sample of MIN [V1!,V2!, V3!]
executing MIN MIN
V1! 0.0000 1.0000
V2! 1.0000 1.0000
V3! 2.0000 2.0000
■ MIN Teach Method
(1) Select FN658 “Let MIN function”.

(8) Press F12 <Complete> to record MIN.
■ Parameter
Local real variable
Variable No.:
1~200
Constant value:
-1e+038~1e+038
Type of set value 2 ※ Selecting “Real constant”, the substitution value can Local real variable/
be directly designated. Real constant
Variable No.:
1~200
Constant value:
-1e+038~1e+038
MIN[V1!,V2!,V3!] FN658;Let MIN function
The parameters appeared on the screen are “Variable of set destination”, “Variable of set value 1 (or set constant 1)”
See
MAX; Let MAX function (FN659)
Command name MAX

FN code 659
Title name Let MAX function
General description Calculates a larger real number out of two
This function command allows to set a larger real number of the two into the real variable register.
Any steps can be recorded by “MAX: Let MAX function (FN659)”, “Global variable No. of the set destination=1”, “Global
variable No. of the set value 1 =2” and “Global variable No. of the set value 2 =3”. By playback of this command, a larger
nd rd st
variable of the 2 or 3 is set into the 1 variable. The set variables can be checked by the register screen of global real
variable on the monitor. (Local variables are also available.)
Execution sample of MAX [V1!, V2!, V3!]
executing MAX MAX
V1! 0.0000 2.0000
V2! 1.0000 1.0000
V3! 2.0000 2.0000
■ MAX Teach Method
(1) Select FN659 “Let MAX function”.

(5) Enter the variable No. of the set value 1 or set constant.
(7) Enter the variable No. of the set value 2 or set constant.
(8) Press F12 <Complete> to record MAX.
■ Parameter
Local real variable
Variable No.:
Variable No. of set value 1 Enters the variable No. with “Variable” selected, and the 1~200
Constant value:
-1e+038～1e+038
Type of set value 2 ※ Selecting “Real constant”, the substitution value can Local real variable/
be directly designated. Real constant
Variable No.:
Variable No. of set value 2 Enters the variable No. with “Variable” selected, and the 1~200
Constant value:
-1e+038～1e+038
MAX[V1!,V2!,V3!] FN659;Let MAX function
The parameters appeared on the screen are “Variable of set destination”, “Variable of set value 1 (or set constant 1)”
See
MIN; Let MIN function (FN658)
Command
OFFSETV
name
FN code 660
Title name Multi Offset condition specification (Variable)
General It gives offset to the movement steps between
description multi-pass welding section.
This command gives offset to the movement steps between multi-pass welding section. Multi Offset condition number can be
specified by variables. Except multi offset condition number, other parameters are same as FN499 OFFSET.
Method to specify the condition file that can be used in OFFSETV

command
Specification method Setting range
Direct value Range of each condition file number
Global variables Variable number：1 to 200, 301 to 500
Local variables Variable number：1 to 200, 301 to 500
What are Global variables / Local variables ?

Variable type Explanation
These variables can be referenced from all the units.
Global variables
These variables start with V.
These variables exist in each unit respectively and
Local variables cannot be referenced from other units.
These variables start with L.
Global integer variables / Local integer variables can be used in OFFSETV.
■ Parameter
1st Multi Offset Specify the multi offset condition file
parameter condition number by direct value /Global variable
number /Local variable method.
This file is already created by the <Arc
condition setting> - [9 Multi offset
condition].
2nd Mechanism ID This specifies the mechanism number that
parameter gives the offset. (1 to 9)
Normally, "1" is specified because the
Manipulator with welding torch has
Mechanism 1.
3rd Section type Offset becomes enabled for entire
parameter multi-pass welding section, so this
specifies whether to "Start" or "End" the
offset.
(1: Start / 0: End)
Specify "Start" in case of start position of

multi-pass welding section and "End" in
case of end position.

OFFSETV[1,1,1] FN660;Multi Offset condition specification (Variable)
See
OFFSET；Multi Offset condition specification (FN499)
Command
ASMV
name
FN code 661
Title names Multi Pass Welding Start(Variable)
General
Multi-pass welding start
description
Start the multi-pass welding start under the specified conditions by the commands used in the multi-pass interval (MPS to
MPE).
As the parameter kinds of multi-pass welding start number, direct value, global integral / variable, and local integral / variable
can be selected.
Please refer to the Multi-path welding manual (option) for detail.
This is V1%=1 in this example.
It moves to the next step position of the MPS command, and

will repeat the movement. Movement form depends on the
interpolation kind of the steps.
At present, repeated movement in one direction can be
supported, and reciprocal motion is not possible.
12 JOINT
3 MPS 13 MPE
4 JOINT
5 JOINT
6 OFFSETV(Start)
8 ASMV 10 AEMV
It will be repeated for the
predetermined number 11 OFFSETV(End)
Step Command
1 100% JOINT
2 100% JOINT
3 MPS [3 times] Multi-pass welding start condition file (ASM*ARCW.001)
4 100% JOINT Welding start Weaving condition
5 100% JOINT Pass
condition file No. file number
6 OFFSETV [Start] The 1st pass
1 1
7 100% JOINT (AS**ARCW.001) (WFP.001)
2 2
8 ASMV [W1,V1%] The 2nd pass
(AS**ARCW.002) (WFP.002)
9 300cm/m LINE 3 3
10 AEMV [W1,V1%] The 3rd pass
(AS**ARCW.003) (WFP.003)
11 OFFSETV [End] 4 4
The 4th pass
12 100% JOINT (AS**ARCW.004) (WFP.004)
13 MPE 5 5
The 5th pass
(AS**ARCW.005) (WFP.005)
14 100% JOINT ：：：
15 END
■ Parameter
This sets the welding machine number to
Welder -
be used.
Specified method for the multi-pass Direct value/
welding start condition file can be Global
AS Cond. File
selected. variable/
Type
Local
variable
AS Cond. File Multi-pass welding start condition file ID
1-999
Direct val will be specified at the direct value.
AS Cond. File Multi-pass welding start condition file ID
1-200,
G variable will be specified at the global variable.
301-500
number
AS Cond. File Multi-pass welding start condition file ID 1-200,
L variable number will be specified at the local variable. 301-500
This sets the mechanism number to be
Mechanism ID 1~9
used.

ASMV[W1,V6%, →] FN661; Multi Pass Welding Start(Variable)
See
MPS; Multi-pass section end (FN496)
MPE; Multi-pass section end (FN497)
EP; Execution pass end (FN498)
OFFSETV；Multi Offset specification (Variable)(FN660)
AEMV; Multi Pass Welding End(Variable) (FN662)
Command
AEMV
name
FN code 662
Title names Multi Pass Welding End(Variable)
General
Multi-pass welding end
description
End the multi-pass welding under the specified conditions by the commands used in the multi-pass interval (MPS~MPE).
As the parameter kinds of multi-pass welding end number, direct value, global integral /variable, and local integral / variable
can be selected.
This is V1%=1 in this example.
It moves to the next step position of the MPS command,

and will repeat the movement. Movement form depends
on the interpolation kind of the steps.
At present, repeated movement in one direction can be
supported, and reciprocal motion is not possible.
12 JOINT
3 MPS 13 MPE
4 JOINT
5 JOINT
6 OFFSETV(Start)
8 ASMV 10 AEMV
It will be repeated for the
predetermined number 11 OFFSETV(End)
Step Command
1 100% JOINT
2 100% JOINT
3 MPS [3 times] Multi-pass welding ending condition file (AEM*ARCW.001)
4 100% JOINT
5 100% JOINT Pass Welding ending condition file No.
6 OFFSETV [Start] The 1st pass 1 (AE**ARCW.001)
7 100% JOINT The 2nd pass 2 (AE**ARCW.002)
The 3rd pass 3 (AE**ARCW.003)
8 ASMV [W1,V1%]
The 4th pass 4 (AE**ARCW.004)
9 300cm/m LINE The 5th pass 5 (AE**ARCW.005)
10 AEMV [W1,V1%] ：
11 OFFSETV [End] ：
：
12 100% JOINT
13 MPE
14 100% JOINT
15 END
■ Parameter
This sets the welding machine number to
Welder -
be used.
Specified method for the multi pass Direct value/
welding end condition file can be Global
AS Cond. file
selected. variable/
Type
Local
variable
AS Cond. file Multi-pass welding end condition file ID
1-999
Direct val will be specified at the direct value.
AS Cond. file Multi-pass welding end condition file ID
1-200,
G variable will be specified at the global variable.
301-500
number
AS Cond. file Multi-pass welding end condition file ID 1-200,
L variable number will be specified at the local variable. 301-500
This sets the mechanism number to be
Mechanism ID 1~9
used.

AEMV[W1,V6%, →] FN662; Multi Pass Welding End(Variable)
See
MPS; Multi-pass section termination (FN496)
MPE; Multi-pass section termination (FN497)
EP; Execution pass termination (FN498)
OFFSETV; Multi Offset specification(Variable) (FN660)
ASMV; Multi‐pass welding start(Variable)(FN661)
Command name WHILE

FN code 663
Title name WHILE loop
Execute the instruction in WHILE-ENDW repeatedly
Outline
until the condition doesn't consist.
This application instructions repeatedly executes the instruction in WHILE-ENDW until the result of evaluating the condition
becomes 0. The condition is evaluated before the loop is executed every time. Therefore, the WHILE loop is executed 0 times
or more. Use it together with ENDW. In the following example, while V1% is less than 10,the instructions between WHILE and
ENDW are executed repeatedly.
Example:
V1%=0
WHILE V1%<10
Instruction 1
Instruction 2
V1%=V1%+1
ENDW
■ Parameter
It is a conditional expression.
Parameter Conditional The conditional expression that compare
No. 1 expression the integer variable or the real number
variable can be described now.
■ Method of specifying the first parameter
The first parameter can be freely described with a soft keyboard.
The conditional expression that compare the integer variable or the real number variable can be described now.
description example:
WHILE V1% = 1
; While integer variable 1 is equal to 1
WHILE V2! < 0
; While real number variable 2 is Negative
WHILE V3% > 1
; While integer variable 3 is larger than 1
- Integer variable
Treat the numerical value that doesn't contain the decimal point.
Format Vn% and V% n ; n=1-200 (global integer variable)
Ln% and L% n ; n=1-200 (local integer variable)
- Vn% and V% n are the same meanings.
Range -2147483648～+2147483647
Sample WHILE V1%=1 ;while variable 1 is one
WHILE V2%<>0 ;while variable 2 is not 0
Preservation Even if the main power supply is cut, all a global integer variables are preserved.
All a local integer variables are not preserved.
- Real number variable
Treat the numerical value including the decimal point.
Format Vn!, V!n ; n=1-100 (global real variable)
Ln!, L!n ; n=1-100 (local real variable)
- Vn! With V. n is the same meaning.
Range -1.0E38～+1.0E38
Sample WHILE V1!>0 While variable 1 is larger than 0
Preservation Even if the main power supply is cut, all a global real number variables are preserved.
All a local real number variables are not preserved.
- Relational operation type
Use the relational operation when you compare two numerical values. The result obtains by truth (1) and false (0), and is used
for the change in the order of executing the program like the condition judgment sentence etc. etc.
Operator Content of operation Example
= It is equal. V1%=V2%
<> It is not equal. V1%<>V2%
< It is small. V1%<V2%
> It is large. V1%>V2%
<= It is small or equal. V1%<=V2%
>= It is large or is equal. V1%>=V2%
WHILE V1%<10 FN663;WHILE loop
See
ENDW: WHILE end (FN664)
Command name ENDW

FN code 664
Title name WHILE end
Outline It is terminator of the WHILE-ENDW structure.
Execute the instructions described in the WHILE-ENDW loop repeatedly.
Use it together with WHILE.
■ Parameter
None.

ENDW FN664;WHILE loop end
See
WHILE; WHILE loop (FN663)
Command
ASV
name
FN code 665
Title name Arc start (Variable specification)
General
description
Condition file No. such as Arc start condition file, retry condition file can be specified indirectly through variables. This allows
you to change the Arc start conditions by the input of internal counter value or signal from external source.
In case of the conditions that are not required to be changed, the file No. can be specified by direct value.
The welding start position is a move command just before the ASV (FN665). To select the command, designate the FN code
“665”.
Method to specify the condition file that can be used in ASV/AEV

command
Global variables Variable number: 1 to 200, 301 to 500
Local variables Variable number: 1 to 200, 301 to 500

Global variables
Global integer variables / Local integer variables can be used in ASV/AEV.
Modification of variable value during welding

When the condition file number is set by variable, if the variable value is changed during the welding, it will not be reflected
in the welding condition. However, in case of restart after temporary stop or emergency stop, the condition file of changed
variable value will be used
Change in condition by signal from external source

As for the teaching data, the data is pre-fetched from some steps before the step to be executed. Therefore, if the Welding
condition file no. is replaced from the external source during playback motion, it may not be reflected. In case of replacing
the welding condition file no. from external source, check the welding condition file no. before starting the program.
■ Parameter
For details of each setting items, also refer to arc start command (FN414).
Setting items of ASV <FN665>

Item set Setting range Remarks
When multiple welders are
connected, specify the welder to
Welder No. Welder 1 to Welder 4 be used. This setting is
unnecessary when there is only 1
welder.
Direct value Specify the welding conditions
specification: 1 to file to be used in Arc start
999 command. Set the condition file
Condition file ID
Variables no. in case of direct value and
specification: Global/ variable number in case of
Local variable variable.
Retry no. Specify respective condition files
Restart no. Direct value of retry no., restart no., Move
specification: 0 to 99 cond. no.
Variable Movement is different in case of
Move cond. no. specification: Browse condition file no. 0 and condition
file no 1 to 99.
Set the method of movement of
RS control.
This condition can be set if the
"RS control" optional software is
RS control NO / Yes set and welding constant "RS
control" is set to "Enabled".
NO : RS control is not performed.
Yes : RS control is performed.
It can be set when RS control is
"Yes".
Direct value
specification: 0 to Set the condition file no. in case
999 of direct value specification and
RS No.*１ variable number in case of
Variables variable specification.
specification: Global/
Local variable Movement is different in case of
condition file no. 0 and condition
file no 1 to 99.
Set the control by robot RS no.
NO: Robot RS control is not
performed.
Robot RS control NO / Robot RS No.
Robot RS No.: Performs robot
RS by the Robot RS condition file
of specified No.
Direct value It can be set when Robot RS
specification: 1 to control is "Robot RS No."
999 Set the condition file no. in case
Robot RS No.
Variables of direct value specification and
specification: Global/ variable number in case of
Local variable variable specification.
*1: RS No. can be set only for DL-350(S-2), DP-400R and WB-M350L.

ASV[W1,V1%,00,00,00,00,00,00→]
[ ] shows Welder No., Arc start conditions (Variable), Arc retry No. (Variable), RS control condition No. (Variable), Move cond.
no. (Variable), Restart No. (Variable) from the left.
See
AE; Arc end (FN415)
AEV; Arc end (Variable specification)(FN666)
Command
AEV
name
FN code 666
Title name ASV Arc end(Variable)
General
Terminates arc welding with the specified conditions.
description
Arc end conditions file can be specified indirectly through variables. This allows you to change the Arc end conditions by input
of internal counter value or signal from external source.
In case of the conditions that are not required to be changed, the file No. can be specified by direct value.
The welding start position is a move command just before the AEV (FN 666). To select the command, designate the FN code
“666”.
Method to specify the condition file that can be used in AEV

command
Global variables Variable number: 1 to 200, 301 to 500
Local variables Variable number: 1 to 200, 301 to 500

Global variables
Global integer variables / Local integer variables can be used in AEV.
Modification of variable value during welding

When the condition file number is set by variable, if the variable value is changed during the welding, it will not be reflected
in the welding condition. However, in case of restart after temporary stop or emergency stop, the condition file of changed
variable value will be used
Change in condition by signal from external source

As for the teaching data, the data is pre-fetched from some steps before the step to be executed. Therefore, if the Welding
condition file no. is replaced from the external source during playback motion, it may not be reflected. In case of replacing
the welding condition file no. from external source, check the welding condition file no. before starting the program.
■ Parameter
For details of each setting items, also refer to arc start command (FN415).
Setting items of AEV <FN666>

Item set Setting range Remarks
When multiple welders are
connected, specify the welder
Welder Welder 1 to Welder 4 to be used. This setting is
unnecessary when there is
only 1 welder.
Specify the welding conditions
Direct value specification: file no. to be used in Arc end
1 to 999 command. Set the condition
AS Cond. File
Variables specification: file no. in case of direct value
Global/ Local variable and variable number in case
of variable.

AEV[W1,V1%, →]
[ ] shows Welder No., Arc end condition (Variable) from left.
See
AE; Arc end (FN415)
ASV; Arc start (Variable specification)(FN665)
Command
WFPV
name
FN code 667
Title names Fixed pattern weaving (Variable)
General Starts weaving with the specified waveform, attitude,
description and frequency.
Start weaving under the conditions memorized in the specified fixed pattern weaving condition file.
The robot starts weaving from a position of the movement command taught immediately before the fixed pattern weaving
(variable) (WFPV).
As the specification method of the condition file ID, direct value, global integral / variable, and local integral / variable can be
selected.
For details of the fixed pattern weaving, refer to the fixed pattern weaving (WFP).
■ Parameter
Specified method for the weaving start Direct value/
condition number can be selected. Global
Weav cond. File
variable/
Type
Local
variable
Weav cond. File This condition specifies the direct
1~999
Direct val number of the weaving start number.
Weav cond. File This specifies the weaving start number
1~200,
G variable as a global variable.
301~500
number
Weav cond. File This specifies the weaving start number 1~200,
L variable number as a global variable. 301~500

WFPV [V100%, →] FN667; Fixed pattern weaving (Variable)
See
WAXV; Axis weaving (variable) (FN668)
Command
WAXV
name
FN code 668
Title names Axis Weaving (variable)
General Starts weaving with the simple harmonic motion of the
description axes.
Start weaving with the simple harmonic motion of the axis under the conditions memorized in the specified particular weaving
condition file.
The robot starts weaving from a position of the movement command taught immediately before the particular weaving
(variable) (WAXV).
As the specification method of the condition file ID, direct value, global integral / variable, and local integral / variable can be
selected.
For details of the axis weaving, refer to the axis weaving (WAX).
■ Parameter
Specified method for the weaving start Direct value/
condition number can be selected. Global
Weav cond. file
variable/
Type
Local
variable
Weav cond. file This condition specifies the direct
1~999
Direct val number of the weaving start number.
Weav cond. file This specifies the weaving start number
1~200,
G variable as a global variable.
301~500
number
Weav cond. file This specifies the weaving start number 1~200,
L variable number as a global variable. 301~500

WAXV [V100%, →] FN668; Axis Weaving (variable)
See
WFPV; Fixed Pattern weaving (variable) (FN667)
Command name PRINTF

FN code 669
Title name Print string with format
Draw the string data on the screen with form. Or
General description
Output string data with form via RS232C.
The function draws some string data and output some string data via RS232C.
You should select “Device”. Device number must start character”#”. The form is based on the “Printf” function of C language
library. Corresponding sub parameters will translate to some string data and output to the device. Sub parameters will be
designate max.5, and you can skip too.
■Example of operation
When the robot reaches the step where FN669 is recorded, the function will act with no motion pause.
■ Parameters
Set port number of string code
#0： User display(It is only available by User task）
#1： RS232C port
1st parameter Device number
#2： Not supported now
#3： Not supported now
#4： Playback logging monitor
Set the string data.
You can set the data from Soft keyboard by ［Enable］＋［Edit］.
（Max. 100 characters）
Corresponding sub parameters will translate to some string data and
2nd parameter String data with form output to the device if you use below string forms
You must start 「%」character. If you use 「%」itself, you should put
「%%」
% [flag] [] []
3rd parameter 1st sub parameter Set the variable number.

4th parameter 2nd sub parameter You can use Integer variables, Real variables, String variables, and
5th parameter 3rd sub parameter Optional variables (You can also skip).
6th parameter 4th sub parameter

PRINT[#4, ″V1%% = %d″, V1%] FN669;Print string with format
Command name FORKMCR

FN code 670
Title name Fork User Task Program
This command is used to start the specified user
General description
task program.
When this function command is executed, the specified user task program is started. Started user task program finish after the
program is executed once from start to end.
In step 4, record FORKMCR: User Task Program Start (FN670) and "1" as the program number. When this is played back, the
program1 start the user task program 1 upon arriving at step 4. (program1 and user task 1 operate concurrently.)
When the start of User Task 1 fails, the program1 jumps shelter step.
Program 1 Step 4
FORKMCR; FN670
Program No = 1
1 2 3 5 6
● ● ● ● ●
7 : END(FN92)
User Task 1
● ● ● ●
1 2 3 4
5 : END(FN92)
■ Parameter
Parameter
No. 1
Shelter step

FORKMCR [1,6] FN670; Fork User Task Program
See
CALLMCR: Call user task program (FN671)
FORKMCRTM: Fork user task program (Time) (FN672)
FORKMCRDST: Fork user task program (Distance) (FN673)
Command name CALLMCR

FN code 671
Title name Call User Task Program
This command is used to call the specified user
General description
task program.
When this function command is executed, the specified user task program is called. When program call user task program,
program stop one’s playback and start specified user task program.
When the playback of the user task program at the call destination is completed (in the status established by executing the
END command), the program returns to the step following the step with the call command of the call source program.
In step 4, record CALLMCR: User Task Program Call (FN671) and "1" as the program number.
When this is played back, the program1 call the user task program 1 upon arriving at step 4. When the start of User Task 1 fails,
the program1 jumps shelter step.
When the playback of user task program 1 is completed (in the status established by executing the END command), the robot
returns to step 5 following the step with the call command of call source program 1.
Program 1 Step 4
CALLP; User Task Program Call (FN671)
Program number = 1
１２３５６
● ● ● ● ●
7: End (FN92)
User Task 1
１
5: End (FN92) ●４ ●
● ●
３２
■ Parameter
Parameter
No. 1
Shelter step

CALLMCR [1,6] FN671; Call User Task Program
See
FORKMCR: fork user task program (FN670)
Command name FORKMCRTM

FN code 672
Title name Fork User Task Program (time)
General description task program. Furthermore, the command enables
advance execution to be specified.
When this function command is executed, the specified user task program is started. Furthermore, the command enables
advance execution earlier than at the position reached by the robot in the accuracy range of the move command.
In step 4, record FORKMCRTM : User Task Program Start with early execution (FN672) and "1" as the program number.
When this is played back, the program1 start the user task program 1 before specified seconds from arriving at step 4.
(program1 and user task 1 operate concurrently.)
Program 1 Step 4
FORKMCRST; FN672
Program No = 1
1 2 3 5 6
● ● ● ● ●
Advance time 7 : END(FN92)
User Task 1
● ● ● ●
1 2 3 4
5 : END(FN92)
■ Parameter
Parameter
No. 1
If "0.0" is specified as the time, the command is executed at the timing which
coincides with the recorded point.
Parameter Advance
the command is starting user task program ahead of the original execution timing
No. 2 execution time
by the amount equivalent to the delay time setting.(Increment: seconds)
(-10.0 – 0.0)
Shelter step

FORKMCRTM [1,-2,6] FN672; Fork User Task Program(Time)
See
FORKMCR: Fork user task program (FN670)
Command name FORKMCRDST

FN code 673
Title name Fork User Task Program (distance)
General description
task program with advancing distance.
When this function command is executed, the specified user task program is started. Furthermore, the command enables
advanced execute designated by distance from the recorded point. Advancing distance is calculated linear length from
recorded point, so if MOVE step is recorded by JOINT output point differs from the real moving length of robot TCP.
In step 3, record FORKMCRDST : Fork User Task Program (distance) (FN672) and "1" as the program number.
When this is played back, the program1 start the user task program 1 before specified distance from arriving at step 3.
(Program1 and user task 1 operate concurrently.)
Robot path Step3

Accuracy FORKMCRDST(FN673)
Step2
Advancing
distance
Program 1 Step4
Step1
User Task 1
Time
■ Parameter
Parameter
No. 1
Advance This specifies the output advancing timing that is designated by the linear length
Parameter
execution from the recorded point.
No. 2
timing (-1500.0 – 0.0)
Shelter step

FORKMCRDST [1,-100,6] FN670; Fork User Task Program (Distance)
See
FORKMCR: Fork user task program (FN670)
Command name IF
FN code 676
Title name Condition
Move the control to the following instruction when the
condition consists.
Outline
Move the control to ELSEIF, ELSE, and ENDIF for
the failure.
It is conditional.
Use it together with ELSEIF, ELSE, and ENDIF.
IF conditional expression
Instruction 1
Instruction 2
･･
Instruction I
ELSEIF conditional expression
Instruction J
･･
Instruction K
ELSE
Instruction L
･･
Instruction M
ENDIF
If the condition of the IF instruction consists, it moves the control to instruction 1 and moves the control to ENDIF after
executing instruction I.
If the condition of the IF instruction is a failure, it moves the control to ELSEIF. If the condition of the ELSEIF instruction
consists, it moves the control to instruction J and moves the control to ENDIF after executing instruction K.
If the condition of the ELSEIF instruction is a failure, it moves the control to ELSE and moves to control to instruction L and
moves the control to ENDIF after executing instruction M.
■ Parameter
Parameter Conditional
The conditional expression that comparing operates the integer variable or the real
No. 1 expression
number variable can be described now.

The conditional expression that comparing operates the integer variable or the real number variable can be described now.
IF V1% = 1
; if integer variable 1 is 1
IF V2! > 0
; if real number variable 2 is larger than 0
IF V3% >= 1
; When integer variable 3 is 1 or more.

IF V1%<10 FN676;IF condition
See
ELSEIF; ELSEIF Condition (FN677)
ELSE; ELSE (FN678)
ENDIF; Condition end (FN679)
Command name ELSEIF
FN code 677
Move the control to the following instruction when the
Outline condition consists.
Move the control to ELSE and ENDIF for the failure.
It is conditional.
Use it together with IF, ELSEIF, ELSE, and ENDIF.
Instruction 1
Instruction 2
･･
Instruction I
Instruction J
･･
Instruction K
ELSE
Instruction L
･･
Instruction M
ENDIF
■ Parameter
Parameter Conditional
The conditional expression that comparing operates the integer variable or the real
No. 1 expression
number variable can be described now.

The conditional expression that comparing operates the integer variable or the real number variable can be described now.
IF V1% = 1
; if integer variable 1 is 1
IF V2! > 0
; if real number variable 2 is larger than 0
IF V3% >= 1
; When integer variable 3 is 1 or more.

ELSEIF V1%=10 FN677;ELSEIF condition
See
IF; IF Condition (FN676)
ELSE; ELSE (FN678)
Command name ELSE
FN code 678
Outline Move the control to the following instruction.
It is conditional.
Instruction 1
Instruction 2
･･
Instruction I
Instruction J
･･
Instruction K
ELSE
Instruction L
･･
Instruction M
ENDIF
■ Parameter
None.

ELSE FN678;ELSE
See
IF; IF Condition (FN676)
ELSE; ELSE (FN678)
Command name ENDIF

FN code 679
Title name Condition end
Outline End IF-ENDIF.
It is a terminator of IF – ENDIF structure.
Instruction 1
Instruction 2
･･
Instruction I
Instruction J
･･
Instruction K
ELSE
Instruction L
･･
Instruction M
ENDIF
■ Parameter
None.

ENDIF FN679;condition end
See
IF; Condition (FN676)
ELSEIF; Condition (FN677)
ELSE; Condition (FN678)
Command
JMPPV
name
FN code 680
Title names Program jump(Variable)
General This command enables to jump to the specified task
description program top.
This application command enables to jump to the specified task program.
As the specification method of the task program number, direct value, global integral / variable, and local integral / variable
can be selected.
It will be recorded in the Step 4 as JMPPV: Program jump(Variable) (FN680) and Jump task program No. = V1%.
When it is replayed, the robot will, after reaching to Step 4, jumps to the top step of the task program specified by V1%,
skipping the Steps 5-6. In this example, it has jumped to Task program No. 2 at V1%=2. After completing the playback of the
task program designated in V1% (by execution of the END command), it will not return to the original task program from
where the jump has been made.
Step 4
Program 1
JMPPV; Program jump(Variable) (FN680)
Jump program No. ＝V1%
１２３５６
● ● ● ● ●
7: End (FN92)
Program 2
１
5: End (FN92) ●４ ●
● ●
３２
The robot is not decelerated by this command. If positioning is
not specified, the command is executed at the position reached
by the robot in the accuracy range of the immediately preceding
movement command.
■ Parameter
The task program No. in the jump
Jump program No. destination will be selected as a direct 0～9999
number.
Jump program No. 1～200
destination will be selected as a global
(G Variable) 301～500
integral variable.
destination will be selected as a local
(L Variable) 301～500
integral variable.
JMPPV[10] FN680; Program jump(Variable)
JMPPV[V25%] FN680; Program jump(Variable)
JMPPV[L25%] FN680; Program jump(Variable)
See
JMPPIV; Program jump (I-cond…)(Variable) (FN681)
JMPPNV; Program jump (freq…)(Variable) (FN682)
Command
JMPPIV
name
FN code 681
Title names Program jump (I-cond…)(Variable)
description program top.
However, it will jump if a specified input signal has been entered, and it will not jump but only pass, if a specified input signal
has not been entered.
can be selected.
It will be recorded in the Step 4 as JMPPIV: Program jump (I-cond…)(Variable)(FN681), Jump task program No. = V1%, and
Entry signal = I1.
When it is replayed, the robot will, after reaching to Step 4, jumps to the top step of the task program specified by V1%, if
input signal I1 is entered. In this example, it has jumped to Task program No. 2 at V1%=2. After completing the playback of
the task program specified by V1% (by execution of the END command), it will not return to the original task program from
where the jump has been made.
If there is no entry made, it will proceed to Step 5-6, without jumping to the task program specified by V1%.
Step 4
Program 1
JMPPIV; Program jump (I-cond…)(Variable) (FN681)
Jump program No.＝V1%
Input signal ＝I1
１２３５６
● ● ● ● ●
When input I1 7: End (FN92)
signal is entered When input I1
signal is not entered
Program 2
5: End (FN92) ●４ ●
１
● ●
３２
not specified, the input signal will be inspected before reaching
to the accuracy range of the movement command, and the input
signal will make an inner rotation, if the positioning has been
entered. If positioning is not specified, the command value will
proceed to the recording point, and the input signal will be
inspected where the robot reached the accuracy range.
■ Parameter
Jump program No. destination will be selected as a direct 0～9999
number.
integral variable.
integral variable.
The input signal number, as a condition
for execution of jump, will be recorded.
Input Sig. 1～5196
Multiple input signals can be specified
if 5101 and over are selected.
JMPPIV[10,I5] FN681; Program jump (I-cond…)(Variable)
JMPPIV[V25%,I5] FN681; Program jump (I-cond…)(Variable)
JMPPIV[L25%,I5] FN681; Program jump (I-cond…)(Variable)

See
JMPPNV; Program jump(freq…)(Variable) (FN682)
Command
JMPPNV
name
FN code 682
Title names Program jump(freq…)(Variable)
description program top by the passing number.
After passing for the specified number of times, execute a jump next to the specified number of times (specified number + 1).
(For example, if "2" is specified, pass for two times and then makes a jump on the third time.)
can be selected.
It will be recorded in the Step 4 as JMPPNV: Program jump(freq…)(Variable) (FN682), Jump Task program No. = V1%, Entry
signal =1, and Frequency = 2.
When it is replayed, the robot will proceed to Step 5, skipping for the 1st and 2nd time, however, it will jump to the top step of
the task program specified by V1% on the 3rd time. In this example, it has jumped to Task program No. 2 at V1%=2. After
completing the playback of the task program specified by V1% (by execution of the END command), it will not return to the
original task program from where the jump has been made.
Step 4
Program 1 JMPPNV; Program jump(freq…)(variable) (FN85)
Call Program No.＝V1%
Register No.＝1
Number of times＝2
１２３５６
● ● ● ● ●
The 3rd time 7: End (FN92)
The 1st time,
2nd time
Program 2
5: End (FN92) ●４ ●
１
● ●
３２
by the robot in the accuracy range of the immediately preceding
movement command.
■ Parameter
Jump Program No. destination will be selected as a direct 0～9999
number.
Jump Program No. 1～200
integral variable.
Jump Program No. 1～200
integral variable.
Specify the integration variable for 1～200
Register No.
counting. 301～500
The frequency number, as a condition
After passing for the specified number
Frequency 0～10000
of times, execute a jump next to the
specified number of times (specified
number + 1).
JMPPNV[10,V5%,8] FN682; Program jump(freq…)(Variable)
JMPPNV[V10%,V5%,8] FN682; Program jump(freq…)(Variable)
JMPPNV[L10%,V5%,8] FN682; Program jump(freq…)(Variable)

See
JMPPIV; Program jump(I-cond…)(Variable) (FN681)
Command name GFONT

FN code 683
Title name Set the font
Outline The font of the user screen is set.
The font of the character string where it draws to the user screen is set.
If this function is executed, PRINTF; Print string (FN606) will draw the string of the font set by this function.
It returns to the default font when WINDOW; User screen open / close (FN607) is executed.
This command is available only in user task, and is permitted being written by robot language only. Please refer to the “User
■ Parameter
Parameter The height of the character is specified.
Height
No. 1 When 0 is set, It become same height of the current font.
Parameter The width of the character is specified.
Width
No. 2 When 0 is set, It become same width of the current font.
Parameter 0:disabled
Bold
No. 3 1:enabled (Bold)
Italic
No. 4 1:enabled (Italic)
Under line
No. 5 1:enabled (Under line)
<SLIM sample> GFONT 16,8,0,0,0
See
PRINT ; Print String (FN606)
WINDOW ; Open/Close user display (FN607)
TITLE ; Set the title on user display (FN608)
CLS ; Set the title on user display (FN609)
LOCATE ; Locate the diplay pos (FN610)
BARC ; Draw the arc (FN613)
GPAINT ; Paint (FN614)
GSETP ; Draw the arc (FN615)
COLOR ; Ste the color (FN616)
BGCOLOR ; Set the bkgr color (FN617)
GARC ; Display ellipse (FN623)
GSOFTKEY ; Create soft key (FN684)
GMSGBOX ; Create message box (FN685)
Command name GSOFTKEY

FN code 684
Title name Create soft key
Outline Create a soft key on the user screen.
This function creates a soft key on the user screen.
The “AC00USK.INC file (User soft key definition file)” where the definition of a soft key is described is necessary to create a
soft key by this function.
You can make or edit the user soft key definition file in [Service][User task][User task softkey] menu.
The user soft key definition file can be made or be edited by text editor because it is descried by the text form.
Please refer to "User task operation manual" for the description of the file.
The coordinates of the soft key are specified by relative coordinates on the upper-left of the user screen.
But, an actual display position of the user soft key become a position adjusted by a multiple of 80 on teach pendant.
Specified Y coordinate
80
User screen 160

Specified X coordinate
240
The soft key displayed in user soft key

320
position adjusted by a
multiple of 80.
400
480
80 160 240 320 400 480 560 640
Teach pendant
■ Parameter
Parameter X coordinates of the user soft key are specified.
X coordinate
No. 1 (0 – 560)
Parameter Y coordinates of the user soft key are specified.
Y coordinate
No. 2 (0 – 400)
The soft key number described in the user soft key definition file (AC00USK.INC) is
Parameter Soft key specified.
No. 3 number When 0 is specified, a soft key to specified coordinates is deleted.
(0 - 96)
<SLIM sample> GSOFTKEY 80,160,1
See
GFONT ; Set the font (FN683)
GMSGBOX ; Create message box (FN685)
Command name GMSGBOX

FN code 685
Title name Create message box
Outline Create a message box on the user screen.
This function creates a message box on the user screen.
It is for selecting some items by the user screen. When this function is executed, the user task stops processing until the button
of the message box is selected. It is necessary to activate the user screen to display the message box.
■ Parameter
0: Display the “OK” button.
1: Display the “OK” and “Cancel” button.
Parameter
Display form 2: Display the “YES” and “NO” button.
No. 1
3: Display the “YES”, “NO” and “Cancel” button.
4: Display the user definition buttons specified parameter No.6 – No.9.
0: Not display an Icon.
1: Display the icon of warning.
Parameter
Icon 2: Display the con of question.
No. 2
3: Display the icon of caution.
4: Display the icon of information.
Parameter The string of the title bar is specified.
Title
No. 3 (normal-width 20 characters)
Parameter The string of the text is specified.
Text
No. 4 (normal-width 100 characters)
Parameter The default select button is specified.
Default
No. 5 (1 -4)
Parameter When the user definition is specified by parameter No.1, the string of the button is
Button 1
No. 6 specified.
Parameter These parameters are not used, and please specify the empty string when
Button 2
No. 7 specifying it by the parameter No.1 excluding the user definition.
Parameter (normal-width 8 characters)
Button 3
No. 8
Parameter
Button 4
No. 9
<SLIM sample 1> GMSGBOX 2, 2, ”Confirm”, ”Is counter reset?”, 2, ””, ””, ””, ””
<SLIM sample 2> GMSGBOX 4, 4, ”Select processing”,
”Please select the processing”,
2, ”set”,”all set”,”return”,”cancel”
See
GFONT ; Set the font(FN683)
GSOFTKEY ; Create soft key (FN684)
Command name SWITCH

FN code 686
Title name SWITCH
Outline Two or more conditions are judged.
Two or more conditions are judged.
Use it together with CASE, BREAK, and ENDS.
SWITCH V1%
CASE 1
Instruction 1
･･
Instruction I
BREAK
CASE 2
CASE 3
Instruction J
･･
Instruction K
BREAK
CASE
Instruction L
･･
Instruction M
BREAK
ENDS
When the value of integer variable V1% is one, it executes from instruction I to instruction K and moves the control to ENDS.
When the value of integer variable V1% is 2 or 3, it executes from Instruction J to instruction K and moves the control to ENDS.
When the value of integer variable V1% is not equal to 1, 2 and 3, it executes from Instruction L to instruction M and moves the
control to ENDS.
■ Parameter
Parameter
Expression It is an expression of the integer type.
No. 1


SWITCH V1% FN686;SWITCH
See
CASE; CASE (FN687)
BREAK; BREAK(FN688)
ENDS; SWITCH end (FN689)
Command name CASE

FN code 687
Title name CASE
Outline Two or more conditions are judged.
Two or more conditions are judged.
Use it together with SWITCH, BREAK, and ENDS.
SWITCH V1%
CASE 1
Instruction 1
･･
Instruction I
BREAK
CASE 2
CASE 3
Instruction J
･･
Instruction K
BREAK
CASE
Instruction L
･･
Instruction M
BREAK
ENDS
control to ENDS.
■ Parameter
Parameter Integer
It is an integer constant.
No. 1 constant

CASE 5 FN687;CASE
See
SWITCH; SWITCH(FN686)
BREAK; BREAK(FN688)
ENDS; SWITCH end (FN689)
Command name BREAK

FN code 688
Title name BREAK
End the execution of an innermost instruction that
encloses this with the loop or the condition structure.
Outline
The control shifts to the instruction immediately after
the ended instruction.
It is possible to use it in the WHILE-ENDW structure, the FOR-NEXT structure, and the SWITCH-ENDS structure.
The control moves to the following instruction of the first ENDW instruction in the direction of the program end.
The control moves to the following instruction of the first NEXT instruction.
The control moves to the following instruction of the first ENDS instruction.
Example:
WHILE 1
Instruction 1
Instruction 2
V1%=V1%+1
IF V1% > 10
BREAK
ENDIF
ENDW
Instruction 3
It exits the WHILE-ENDW loop, and moves the control to instruction 3, when the value of V1% becomes larger than ten.
■ Parameter
None

BREAK FN688;BREAK
See
CASE; CASE(FN687)
ENDS; SWITCH end(FN689)
WHILE; WHILE loop (FN663)
ENDW; WHILE loop end(FN664)
FOR; FOR(FN604)
NEXT; NEXT(FN605)
Command name ENDS

FN code 689
Title name SWITCH end
Outline It is a terminator of the SWITCH-ENDS structure.
It is a terminator of the SWITCH-ENDS structure.
Use it together with SWITCH, CASE, and BREAK.
SWITCH V1%
CASE 1
Instruction 1
･･
Instruction I
BREAK
CASE 2
CASE 3
Instruction J
･･
Instruction K
BREAK
CASE
Instruction L
･･
Instruction M
BREAK
ENDS
control to ENDS.
■ Parameter
None

ENDS FN689;SWITCH end
See
CASE; CASE(FN687)
BREAK; BREAK(FN688)
Command
CALLPV
name
FN code 690
Title names Program call(Variable)
General This command enables to call the specified task
description program.
This application command enables to call the specified task program.
can be selected.
It will be recorded in the Step 4 as CALLPV: Program call(Variable) (FN690) and Call task program No. = V1%.
task program specified by V1% (by execution of the END command), it will return to the next step 5 of the task program 1, the
original call task program.
Step 4
Program 1
CALLPV; Program call(Variable) (FN690)
Call program No.＝V1%
１２３５６
● ● ● ● ●
7: End (FN92)
Program 2
１
5: End (FN92) ●４ ●
● ●
３２
by the robot in the accuracy range of the move command
immediately before.
■ Parameter
The task program No. in the call
Call program No. destination will be selected as a direct 0～9999
number.
Call program No. 1～200
integral variable.
integral variable.
CALLPV[10] FN690; Program call(Variable)
CALLPV[V10%] FN690; Program call(Variable)
CALLPV[L10%] FN690; Program call(Variable)
See
CALLPIV; Program call(I-cond…)(Variable) (FN691)
CALLPNV; Program call(freq…)(Variable) (FN692)
Command
CALLPIV
name
FN code 691
Title names Program call(I-cond…)(Variable)
General
Call the specified task program.
description
However, if the designated input signal has not been entered, it will not call but only pass.
As the specification method of the task program No. direct value, global integral / variable, and local integral / variable can be
selected.
It will be recorded in the Step 4 as CALLPIV: Conditioned Program call(I-cond…)(Variable) (FN691), Call task program No. =
V1%, and Entry signal = I1.
When it is relayed, the robot will, after reaching to Step 4, jumps to the top step of the task program specified by V1%, if input
signal I1 is entered. In this example, it has jumped to Task program No. 2 at V1%=2. After completing the playback of the task
program specified by V1% (by execution of the END command), it will return to the next step 5 of the task program 1, the
Step 4
Program 1
Input signal＝I1
１２３５６
● ● ● ● ●
signal is entered When input I1
signal is not entered
Program 2
5: End (FN92) ●４ ●
１
● ●
３２
not specified, the input signal will be inspected before reaching
to the accuracy range of the movement command, and the input
signal will make an inner rotation, if the positioning has been
entered. If positioning is not specified, the command value will
proceed to the recording point, and the input signal will be
inspected where the robot reached the accuracy range.
■ Parameter
number.
integral variable.
integral variable.
This parameter records the input signal
No. as the call execution condition.
Input Signal 1～5196
Multiple input signals can be specified
if 5101 and over are selected.
CALLPIV[10,I10] FN691; Program call(I-cond…)(Variable)
CALLPIV[V10%,I10] FN691; Program call(I-cond…)(Variable)
CALLPIV[L10%,I10] FN691; Program call(I-cond…)(Variable)
See
CALLPV; Program call (Variable)(FN690)
CALLPNV; Program call(freq…)(Variable) (FN692)
Command
CALLPNV
name
FN code 692
Title names Program call(freq…)(Variable)
General This command enables to call the specified task
description program by the passing number.
After passing for the specified number of times, execute a call next to the specified number of times (specified number + 1).
(For example, pass-by for two times if the specified number is "2," and make a call on the 3rd time.)
can be selected.
It will be recorded in the Step 4 as CALLPNV: Program call(freq…)(Variable) (FN692), Call task program No. = V1%, Register
No. = 1, and Frequency = 2.
completing the playback of the task program specified by V1% (by execution of the END command), it will return to the next
step 5 of the task program 1, the original call task program.
Step 4
Program 1 CALLPNV; Program call(freq…)(Variable) (FN692)
Register No.＝１
Number of times＝２
１２３５６
● ● ● ● ●
The 1st time,
2nd time
Program 2
5: End (FN92) ●４ ●
１
● ●
３２
by the robot in the accuracy range of the move command
immediately before.
■ Parameter
number.
integral variable.
integral variable.
Register No.
counting. 301～500
for execution of call, will be recorded.
Frequency 0～10000
of times, execute a call next to the
number + 1).
CALLPNV[10,V5%,8] FN692; Program call(freq…)(Variable)
CALLPNV[V10%,V5%,8] FN692; Program call(freq…)(Variable)
CALLPNV[L10%,V5%,8] FN692; Program call(freq…)(Variable)

See
CALLPV; Program call(Variable)(FN690)
Command
CALLFARV
name
FN code 693
Title names CallFar Program(variable)
General
Call the task program in other unit.
description
Call the task program in other unit.
Note that, if the application command is stored in the head step of the call destination task program, the application command
in the call destination is to be executed in the step where the call command was executed.
If a call is made, the task program in the original location will be stopped once and resumed, after the task program execution
in the call destination has been completed.
It is not possible to make further call to outside unit using the task program of the call destination.
It is possible, however, to make further call to inside of the unit using the CALL demand in the task program of the call
destination (at most 8 layers).
As the specification method of the task program number, direct value, global integral / variable, and local integral / variable can
be selected.
It will be recorded in the Step 4 as CALLFARV: CallFar Program(variable) (FN693) and Task program No. of other unit = V1%.
task program specified by V1% (by execution of the END command), it will return to the next step 5 of the task program 1, the
Step 4
Program 1
CALLFARV; CallFar Program(variable) (FN693)
PProgram No.＝V1%
１２３５６
● ● ● ● ●
7: End (FN92)
Program 2
１
5: End (FN92) ●４ ●
● ●
３２

If positioning is not specified, the command is executed at the position reached by the robot in the accuracy range of the move
■ Parameter name
Program No. destination will be selected as a direct 0～9999
number.
Program No. 1～200
integral variable.
Program No. 1～200
integral variable.
In a case where the mechanism, to be
used in the task program of call
destination, is activated in another unit,
specify the time length waiting for
opening of the mechanism by the
second unit.
Waiting time (∞(-1), 0-99) -1～99
If the mechanism is opened within the
specified length of time, the specified
task program will be called.
It will become abnormal if the
mechanism will not be opened in the
specified time.

CALLFARV[10,30] FN693; CallFar Program(variable)
CALLFARV[V10%,60] FN693; CallFar Program(variable)
CALLFARV[L10%,60] FN693; CallFar Program(variable)
See
CALLFARIV; CallFarI Program(Variable) (FN694)
CALLFARNV; CallFarN Program(Variable) (FN695)
Command
CALLFARIV
name
FN code 694
Title names CallFarI Program(Variable)
General Call the task program in other unit, if there is a signal
description input.
Call the task program in other unit, if there is a signal input.
Note that, if the application command is recorded in the head step of the destination task program, the application command in
the destination is to be executed in the step where the call command was executed.
be selected.
It will be recorded in the Step 4 as CALLFARIV: CallFarI Program(Variable)(FN694), Task program No. of other unit = V1%,
and Input signal = I1.
When it is relayed, the robot will, after reaching to Step 4, jumps to the top step of the task program specified by V1%, if input
signal I1 is entered. In this example, it has jumped to Task program No. 2 at V1%=2. After completing the playback of the task
program specified by V1% (by execution of the END command), it will return to the next step 5 of the task program 1, the
Step 4
Program 1
Program No.＝V1%
Input signal＝I1
１２３５６
● ● ● ● ●
signal is entered When input I1 signal
is not entered
Program 2
5: End (FN92) ●４ ●
１
● ●
３２

If positioning is not specified, the input signal will be inspected before reaching to the accuracy range of the movement
command, and the input signal will make an inner rotation, if the positioning has been entered.
If positioning is not specified, the command value will proceed to the recording point, and the input signal will be inspected
where the robot reached the accuracy range.
■ Parameter name
number.
Program No. 1～200
integral variable.
Program No. 1～200
integral variable.
second unit.
Wait time (∞(-1), 0-99) -1～99
specified time.
This parameter stores the input signal
No. as the call execution condition.
Port number 1～5196
Multiple input signals can be specified if
5101 and over are selected.
CALLFARIV[10,30,I5] FN694; CallFarI Program(Variable)
CALLFARIV[V10%,60,I5] FN694; CallFarI Program(Variable)
CALLFARIV[L10%,60,I5] FN694; CallFarI Program(Variable)
See
CALLFARV; CallFar Program(Variable) (FN693)
CALLFARNV; CallFarN Program(Variable) (FN695)
Command
CALLFARNV
name
FN code 695
Title names CallFarN Program(Variable)
General Call the task program in other unit by the passing
description frequency.
After passing for the specified number of times, execute a call on the task program in another unit next to the specified number
of times (specified number +1). (For example, pass-by for two times if the specified number is "2," and make a call on the 3rd
time.)
Note that, if the application command is recorded in the head step of the destination task program, the application command in
the destination is to be executed in the step where the call command was executed.
be selected.
It will be recorded in the Step 4 as CALLFARNV: CallFarN Program(Variable) (FN695), Task program No. of other unit = V1%,
Variables No. = 100, Frequency = 2.
completing the playback of the task program specified by V1% (by execution of the END command), it will return to the next
step 5 of the task program 1, the original call task program.
Step 4
Program 1 CALLFARNV; CallFarN Program(Variable) (FN695)
Program No.＝V1%
Variable No.＝100
Number of times＝2
１２３５６
● ● ● ● ●
The 1st time,
2nd time
Program 2
5: End (FN92) ●４ ●
１
● ●
３２

If positioning is not specified, the command is executed at the position reached by the robot in the accuracy range of the move
■ Parameter name
number.
Program No. 1～200
integral variable.
Program No. 1～200
integral variable.
second unit.
Waiting time (∞(-1), 0-99) -1～99
specified time.
Variable number
counting. 301～500
Frequency of times, execute a jump next to the 0～10000
number + 1).
(0-10000)
CA LLFA RNV[ 10, 25,V 100 %,2] FN 695; Cal lFa rN P rog ram( Var iabl e)
CA LLFA RNV[ V10 0%,2 5,V 1%,2 ] F N695 ; Ca llF arN Pro gram (Va riab le)
CA LLFA RNV[ L10 0%,2 5,V 1%,2 ] F N695 ; Ca llF arN Pro gram (Va riab le)
See
CALLFARV; CallFar Program(Variable) (FN693)
Command name INCLUDE

FN code 697
Title name Translate table included (file)
General description The conversion rule is read from “inc file”.
This command reads specified “inc file”, and adds the conversion rule to the table.
START_INPUT,I10
END_OUTPUT,O100
COUNT,V100%
CNT_MAX,255
EX) INCLDUE FILE
The conversion processing is done from the next step of INCLUDE Command according to the table of the conversion rule.
The conversion rule described in two or more files is applied by using INCLUDE Command more than once.
When reproducing, nothing is processed.

INCLUDE [“SAMPLE.INC”] FN670; Translate table included(file)
See
INCLUDEIO : Translate table included (I/O) (FN698)
Command name INCLUDEIO

FN code 698
Title name Translate table included (I/O)
General description The conversion rule is read from “I/O NAME”.
This command makes the conversion rule from “I/O NAME”, and adds it to the table. The conversion processing is done from
the next step of “INCLUDEIO Command” according to the table of the conversion rule. Signal with “I/O NAME” where
prohibited character is included is not added to the conversion rule. This Command can be used with “INCLUDE Command
(FN697)”. The table of conversion rule can be added up to 9999.
When play backing, nothing is processed.

INCLUDEIO FN698; Translate table included(I/O)
See
INCLUDE : Translate table included (file) (FN697)
Command name CLRREGWR

FN code 699
Title name Clear register of written sts
Outline Clear the written flag of shift register
This command resets the written flag of the specified shift register. “SHIFTR: Shift2" (FN52) or other command, this command
will reset the written flag of shift register without adversely affecting the operation of the other command being executed.
The Shift register values when CLRREGWR[R1] has been executed.
executed executed
Request flag 0 0
Setting flag 1 0
X 110 110
Y 120 120
Z 130 130
θX 5 5
θY 6 6
θZ 7 7
Written flag of shift register set 0 when this command is executed.
Other shift register values are not changed after this command is executed.
Please see “SREQ: Shift amount request” (FN51) about how to use.
■ Parameter
This is used to specify the number of the shift register in which to clear the written flag
of the shift register. Setting 0 means clear written flag of all shift registers.
No. 1 number
(0 to 9)

SREQ[R1, 1] FN51; Shift amount request
See
Command
MESPOS
name
FN code 700
Title names Taking of a Measuring/Reference point
General
This is to specify the measurement point.
description
By executing this command, deviation will be calculated and the results will be stored in the "Register for MESPOS
command".
■ Parameter
This specifies the mechanism number
Mechanism No. that becomes the check target. This is 1~32
"1" in general.
This specifies the tool number that
Tool No. becomes the check target. This is "1" in 1~32
general.
Calibration This sets the Calibration Sensor number.
1~2
Sensor No. This is "1" in general.
This is used to set the speed when
sensing the laser light. It is general to 6~360
Search Speed
specify within the range of 30 ～ 120 cm/min
[cm/min.].
This sets the maximum searching
distance so as to detect the search idle
run at execution. After start of the search,
Search range
when laser light cannot be detected if the 0~999 mm
Max
set distance is activated after passing
through the reference point, a failure
shall be detected.
This sets the minimum searching
distance so as to detect laser touch is
Search range already made at execution. After start of
0~999 mm
Min search, when laser light is detected
before set distance is activated, a failure
shall be detected.
This sets the measurement point
number.
It must be "1" if it is the 1st point, and it
must be "2" if it is the 2nd point. It must
Measurement 1A~21A,
be "A" if it is for the progress movement,
point No. 1B~21B
and it must be "B" if it is for the retreat
movement.
For example it must be "1A", if it is in A
on the 1st point.
Taught Vector (X, The results of taught vector will be
-
Y, Z) displayed.
MESPOS[ 60cm/m, M1, T1, 1A, →] FN700; Taking of a Measuring/Reference point
See
MESQCP; Taking of a Quick check point (FN701)
CALIBROB; Calibration Execution (FN702)
Command
MESQCP
name
FN code 701
Title names Taking of a Quick check point
General
Obtain and store the quick check pints.
description
By executing this command, quick check points will be obtained and the results will be stored in the "Register for MESQCP
command".
■ Parameter
Mechanism No. that becomes the check target. This is 1~9
"1" in general.
general.
Calibration This sets the Calibration Sensor number.
1~2
Sensor No. This is "1" in general.
This is used to set the speed when
sensing the laser light. It is general to 6~360
Search Speed
specify within the range of 30 ～ 120 cm/min
[cm/min.].
This sets the maximum searching
distance so as to detect the search idle
run at execution. After start of the search,
Search range
when laser light cannot be detected if the 0~999 mm
Max
set distance is activated after passing
through the reference point, a failure
shall be detected.
This sets the minimum searching
distance so as to detect laser touch is
Search range already made at execution. After start of
0~999 mm
Min search, when laser light is detected
before set distance is activated, a failure
shall be detected.
This sets the measurement point
number.
It must be "1" if it is the 1st point, and it
must be "2" if it is the 2nd point. It must 1A～21A,
Measurement
be "A" if it is for the progress movement,
Point No. 1B～21B
and it must be "B" if it is for the retreat
movement.
For example it must be "1A", if it is in A
on the 1st point.
Taught Vector (X, The results of taught vector will be
-
Y, Z) displayed.
MESQCP[ 60cm/m, M1, T1, 1Q, →] FN701; Taking of a Quick check point
See
MESPOS; Taking of a measuring/Reference point (FN700)
CALIBROB; Calibration Execution (FN702)
Command
CALIBROB
name
FN code 702
Title names Calibration Execution
General This is to execute deviation revision against the task
description program as a calibration target.
It reflects the deviation measured by the "deviation measurement program" in the task program.
■ Parameter
Mechanism No. that becomes the calibration target. This 1~9
is "1" in general.
general.
CALIBROB[1, 1] FN702; Calibration Execution
See
MESPOS; Taking of a measuring/Reference point (FN700)
MESQCP; Taking of a Quick check point (FN701)
Function commands (FN code)
Command
SIGREQ
name
FN code 723
Title name Shift value get (signal)
Using external signals, the command requests shift
General
amount input, and the shift amount data which is input is
description
stored in the designated shift register.
The robot controller requests the shift amounts using external output signals, and the external unit inputs the shift amounts
using signals in response to the requests, after which the controller stores these amounts in the specified shift register.
Shift amount
request signals
External
Controller Shift amounts + unit
ACK
The shift amount data (X, Y, Z, θX, θY, θZ) and shift amount input completed notice signal (ACK signal) are input from the
external unit. This controller acquires the ACK signal input pending from the specified pending time, and the shift amount from
the shift amount input signal after the ACK signals are received. If the ACK signal is not received during the specified period,
operation jumps to the save destination step.
The signals must be allocated before this application
command is used. For details, refer to [Constant Setting]
IMPORTANT [17 Handling Application] [3 Shift signal allocation].
If the robot has been stopped while waiting to receive the shift amounts and then restarted, the remaining time in the specific
period serves as the wait time.
When, as shown in the figure, SIGREQ (FN723) is executed at step N, the "shift amount request" is output to the external unit,
and the shift amount input is awaited until the shift amount reception is completed. Once shift data has been received from an
external unit, whether or not the data is appropriate is checked, and it is only when the data has been found to be correct that
its values are stored in the designated shift register and operation moves to the next step. Shift operations can be performed
with the shift register values using the SHIFTR: shift 2 (FN52) command, for example, such as the one contained in step N+2.
External unit StepN-1: MOVE

StepN: SREQ ;FN723
StepN+1: MOVE
StepN+2: SHIFTR ;FN52
・Request signal issued Shift amount Shift data
・Shift register cleared request signal
・"Data request flag" ON ・Data received
・Data checked
StepN ・Data saved
N723(R1)
StepN+2
StepN-1 FN52(1,0,R1,0)
MOVE StepN+1
On-line
shift start
■ Parameter
This specifies the number (1 to 9) of the
1st Shift shift register where the shift amount data
parameter Register No. input is awaited.
This specifies the wait time
(0.0 to 60.0 seconds).
2nd
Timer When 0.0 sec. is specified, the wait is
parameter
extended until the shift amount data is
input.
This specifies the save step (0 to 10000)
when the data was not input during the
specified period.
3rd When 10000 is specified as the save
Shelter No.
parameter step, the save operation is not performed,
an alarm (A2118: Shift register contains
no data.) results immediately so that the
robot is stopped.

SIGREQ[R1,1.5, 100] FN723;Shift value get (signal)
See
SHIFTR; Shift (FN52)
Command
AIMBASEPL
name
FN code 725
Title name Aimed angle standard plane selection
General This switches between the standard planes of aimed
description angle.
Standard plane of the aimed angle can be selected from the XY, YZ, ZX planes of the standard coordinate system.
■ Parameter
Mechanism No. 1 to 9
Standard coordinate 0 : Count / 1 : Machine / 2 : User / 3 : Absolute /
system 4 : Work
Standard plane 0 : XY / 1 : YZ / 2 : ZX

AIMBASEPL［M1,User,No.1, XY］
Regarding the contents of [ ], display the Mechanism number, Standard coordinate system, Standard plane respectively.
See
AIMREFPL; reference to define the aimed angle standard plane (FN726)
Command
AIMREFPT
name
FN code 726
Title name Aimed angle standard plane selection
General This switches between the standard planes of aimed
description angle.
The standard plane of the aimed angle can be defined if the reference position is taught to any place.
■ Parameter
Mechanism No. 1 to 9
Work coordinate system is selected in case of
Standard coordinate Synchronized units and in any other cases,
system machine coordinate system is selected
automatically.
Standard plane Reference position data

AIMREFPT［M1,Taught］
Regarding the contents of [ ], display the Mechanism number and reference position status from the left side.
See
AIMBASEPL; Aimed angle standard plane selection (FN725)
Command
ASS
name
FN code 740
Stitch pulse welding start command
Title name
Cycle pulse welding start command
General
description
This command enables to start Arc welding with the specified conditions. If it has been already started, the welding condition
is changed to the specified one.
The welding start position is a move command just before ASS (FN740). To select the command, designate the FN code
“740”.
AES and ASS commands with same names, function numbers are used in the Cycle pulse welding and Stitch pulse welding.
These commands automatically change from cycle pulse welding to stitch pulse welding depending upon the selected type
of welder.
■ Stitch pulse welding start command

 Method to set the welding conditions of the ASS commands is, registering the welding conditions in the welding conditions
start file and specifying that file number (conditions file ID) when teaching the welding start commands.
 The "welding speed" in the welding start conditions file corresponds to the speed of movement of the movement pitch. A
high welding speed leads to more vibrations of the torch tip. Hence, it is necessary to take precautions.
 If the cooling time is short, ripples produced would be lesser number.

Specify the file number of the welding conditions
file to be used in Arc start command.
Conditions file number:
Set the welding conditions directly by using
Condition file ID
Start welding command. Do not use the
welding conditions file.
Conditions file ID1 to 999:
Use the file number of the specified file.
Welding time This specifies the welding time.
This specifies the time required for cooling after
Cooling time
the welding is over.
This specifies the distance between the two
Movement pitch
welds.
Move cond. no.
numbers.
This sets the RS control (Yes/No) at the time of
welding start (ASS commands position, or when
the operations are restarted).
If "No" is set : RS control is not performed.
If "Yes" is set : RS control is performed.
RS control for Section
start
These conditions will be displayed only when the
DP welding current is used, and can be set only if
the following conditions are met.
・Optional software for "RS Control" is installed.
・Arc Constant "RS Control" is set to "Enable".
This sets the RS Control (Yes/No) for the interval
between the two weldings (points where the
welding is repeated more than twice).
RS control between
the sections These conditions will be displayed only when
using the DP welding current, and can be set only
if the following conditions are met.
・"RS Control" for Section welding is set to "Yes".
■ Cycle pulse welding start conditions
 As a method to set the welding conditions for ASS commands, on specifying the conditions file ID, press f7<edit>, and
carry out the settings on the edit window of the welding conditions file.
 The "welding speed" in the welding start conditions file corresponds to the speed of movement of the movement pitch. A
high welding speed leads to more vibrations of the torch tip. Hence, it is necessary to take precautions.

Specify the file number of the welding conditions
file to be used in Arc start command.
Conditions file ID0:
Set the welding conditions directly by using
Condition file ID
Start welding command. Do not use the
This specifies the time for which the Pulse
Pulse output time
welding is done.
Movement time will be automatically calculated
Direct Current output
and displayed.
time
This item cannot be entered.
This specifies the distance between the two
Movement pitch
welds.
Move cond. no.
numbers.
This sets the RS control (Yes/No) at the time of
welding start (ASS commands position, or when
the operations are restarted).
RS control for Section
start
These conditions will be displayed only when the
DP welding current is used, and can be set only if
the following conditions are met.
If the arc stops during the DC power supply, this
sets the stage at which the arc is re-lit.
Enable Similar to the pulse
welding, if the arc stops, it
is restored immediately.
Next Pitch After going to the next pitch
(RS) without the arc, use the RS
control to start the arc.
Re-striking during DC Next Pitch After going to the next pitch
supply without the arc, start the
arc.
"Next Pitch (RS)" can, however, be selected only

when the following conditions are met.
・"RS Control" for Section welding is set to "Yes".
Regarding RS control
RS control can effectively minimize the spatter at the time of arc start.
Rs control is an optional functionality.
Regarding the re-striking during DC supply

If the relighting is set to "Enable", and the arc is re-lit, some spatter may arise which affects the bead appearance. If the RS
control is enabled, set "Next pitch (RS)", under normal conditions. If the RS control is disabled, set "Next pitch (RS)". During
the DC power supply, as the bead formation is not done in this section, bead appearance is not greatly affected even if the
arc is re-lit in the next pitch.

ASS[W1,001,150A, +0V,100cm/m,ACP→]
[ ] shows Welder No., Condition file No. (OFF indicates no number is specified), and arc conditions (Current/
Voltage/ Speed) from the left.
See
AES; End Stitch pulse welding (FN741)
Command
AES
name
FN code 741
Stitch pulse welding end command
Title name
Cycle pulse welding end command
General The arc welding will be terminated at the specified
description conditions.
The welding ending position will be decided by the movement command made immediately prior to the AES (FN741). To
select the command, designate the FN code “741”.
AES and ASS commands with same names, function numbers are used in the Cycle pulse welding and Stitch pulse welding.
These commands automatically change from cycle pulse welding to stitch pulse welding depending upon the selected type
of welder.
■ Stitch pulse welding ending conditions

 Method to set the welding conditions of the AES commands is - registering the welding conditions in the welding end
conditions file and specifying that file number (conditions file ID) when teaching the welding end commands.
 If you set the "Crater time" of the arc end conditions to 0.0 (sec), do not carry out the welding at the AES command
position.
● Welding ending control conditions

Welder the welder to be used. This setting is
The welding condition file number shall be
specified used for the welding ending command.
Conditions file ID0:
Directly set the welding conditions by the
AE Cond. file
welding ending command. Do not use the
■ Cycle pulse welding ending conditions

 As a method to set the welding conditions for AES commands, on specifying the conditions file ID, press f7<edit>, and
carry out the settings on the edit window of the welding conditions file.
 If you set the "Crater time" of the arc end conditions to 0.0 (sec), do not carry out the welding at the AES command
position.
● Welding ending control conditions

The welding condition file number shall be
specified used for the welding ending command.
Conditions file number:
Directly set the welding conditions by the
Condition file ID
welding ending command. Do not use the

AES[W1,001,150A, +0V,0.0s,0.0s,ACP→]
[ ] shows Welder No., Condition file No. (OFF indicates no number is specified), and arc conditions (Current/
Voltage/ Speed) from the left.
See
AE; Arc end (FN415)
ASS; Stitch pulse arc start (F740)
Command name DIM

FN code 801
Title name Any variable
General You can define some variables as Integer, real and
description Array, as you like.
You can define some variables as Integer, real and Array, as you like.
And you define maximum three dimensions of array.
DIM Integer
Single (Real)
String
Position XYZRPY
Angle Deg or mm
Encoder Hex.
■ Parameters
Set Data type, Array and Variable name.
Data type）
Integer, Single(Real), String, Position, Angle, Encoder
1st Array）
Variables
Parameter None, One dimension, two dimension, three dimension(For only Integer,
Single and String)
Variable name）
Initial letter must be English letter. Maximum letters are 20 which can be
used some English letters, numbers and underline.

DIM intData[2,2,2] As INTEGER FN801;DIM
DIM sngData[2,2] As SINGLE FN801;DIM
DIM strData[2] As STRING FN801;DIM
DIM posData As POSITION FN801;DIM
DIM angData As ANGLE FN801;DIM
DIM encData As ENCODER FN801;DIM
Command name UsrProc

FN code 802
Title name User Procedure
General description Define User Procedure
You can make some procedures in your programs. And you can call and use the procedures. To read and modify program
easily, you should merge some similar procedures by using sub parameter of procedure.
■Example of operation
‘ AREA1 Interlock
CallProc V1% = InToOut(V11%, V21%) ‘Call User Proc
‘AREA2 Interlock
CallProc V2% = InToOut(V12%, V22%) ‘Call User Proc
END
UserProc InToOut(intIN As Integer, intOUT As Integer) As Integer

Dim intSts As Integer
intSts = INP(intIN) ‘ Get Input signal
Output(O[intOUT], intSts) ‘ Ouput signal control
RetProc InToOut = intSts ‘ Set data to return value
EndProc
■ Parameter
Define User procedure.
1st parameter Name Initial letter must be English letter. Maximum letters are 20 which can be used
some English letters, numbers and underline
Define a return value type
None
Integer
2nd Single(Real)
Return value
parameter String
Position
Angle
Encoder
3rd parameter
4th
5th
6th
Set Data type, Array, Variable name and number of array
7th
Sub parameter You can skip the parameter when you set none of data type.
8th
9th
th
10
th
11
12th

UsrProc SignalCheck(intSigNo As INTEGER) As INTEGER
See
ExitProc:Exit User procedure(Fn803)
EndProc:End User procedure(Fn804)
RetProc:Return User Procedure(Fn805)
CallProc:Call User procedure(Fn806)
Command name ExitProc

FN code 803
Title name Exit User Procedure
General Stop procedure routine and back to source
description procedure
Stop procedure routine and back to source procedure

ExitProc FN803;End User procedure
See
UsrProc:User procedure(Fn802)
Command name EndProc

Command name 804
Title name End Procedure
Finish and exit Procedure, and back to source
General description
procedure
Finish and exit Procedure, and back to source procedure

EndProc FN804;End user procedure
See
Command name RetProc

FN code 805
Title name Return User Procedure
General
Set a return value of user procedure
description
Set a return value of user procedure

RetProc AAAA＝V1% FN805;Return User Procedure
See
Command
CallProc
name
FN code 806
Title name Call User Procedure
General
Call User procedure
description
Call User procedure.

CallProc V1% = AAAA(V11%) FN806;Call User Procedure
See
Command name POS2POSE

FN code 809
Title name Set Pose Variable (position)
Set a position variable(As Position)to Pose variable
General description
Pn
Set a position variable(As Position) to Pose variable Pn.
■ Parameters
1st Mechanism number (0-9)
Mechanism number
parameter 0 means all mechanism of the unit
nd
2
Position variable Set position variable
parameter
Set the number of coordinates as below.
0:Base
3th 1:Tool
Coordinate
parameter 2:User
3:World
4:Work
When you select tool or user coordinate, you should select the coordinate
4th
Coordinate number number. It will be fixed “1”if you use other coordinates.
parameter
5rd Pose variable
Set Pose variable number (1-9999)
parameter number

POS2POSE[0, posData, 0, 1, Pn] FN809;Set pose variable(position)
See
DIM; Any variable (FN801)
POSE2POS; Set position variable(pose) (FN812)
ANG2POS; Set position variable(angle) (FN813)
ENC2POS; Set position variable(encoder) (FN814)
POS2ANG; Set angle variable(position) (FN816)
POS2ENC; Set encoder variable(position) (FN819)
CVTCOORDPOS; Coord. trans(position) (FN821)
GETPOS; Set position variable(pos.data) (FN822)
OPEPOS; Extraction position variable (FN826)
Command name ANG2POSE

FN code 810
Title name Set Pose Variable (Ange)
Set an Angle variable(As Angle)to Pose variable
General description
Pn
Set Angle variable(As Angle) to Pose variable Pn.
■ Parameters
Mechanism number
2nd
Angle variable Set Angle variable
parameter
3rd Pose variable
parameter number

ANG2POSE[0, angData, Pn] FN810;Set Pose Variable (Angle)
See
POSE2ANG; Set angle variable(pose) (FN815)
ENC2ANG; Set angle variable(encoder) (FN817)
ANG2ENC; Set encoder variable(angle) (FN820)
GETANG; Set angle variable(pos.data) (FN823)
OPEANG; Extraction angle variable (FN827)
Command name ENC2POSE

FN code 811
Title name Set Pose Variable (encoder)
Set an encoder variable(As Encoder)to Pose
General description
variable Pn
Set encoder variable(As Encoder) to Pose variable Pn.
■ Parameters
Mechanism number
2nd
Encoder variable Set Encoder variable
parameter
3rd Pose variable
parameter number

ENC2POSE[0, encData, Pn] FN811;Set Pose Variable (Encoder)
See
POSE2ENC; Set encoder variable(pose) (FN818)
GETENC; Set encoder variable(pos.data) (FN824)
OPEENC; Extraction encoder variable (FN828)
Command name POSE2POS

FN code 812
Title name Set position Variable (pose)
Set a Pose variable Pn to position variable(As
General description
position)
Set a Pose variable Pn to position variable (As position).
■ Parameters
Mechanism number
2nd Pose variable
parameter number
3rd
parameter
0:Base
4th 1:Tool
Coordinate
parameter 2:User
3:World
4:Work
5th
parameter

POSE2POS[0, Pn, posData, 0, 1] FN812;Set position variable(pose)
See
POS2POSE; Set pose variable(position) (FN809)
Command name ANG2POS

FN code 813
Title name Set position Variable (angle)
Set an angle variable(As angle) to position
General description
variable(As position)
Set an angle variable(As angle) to position variable(As position).
■ Parameters
Mechanism number
nd
2
Angle variable Set angle variable
parameter
rd
3
parameter
0:Base
4th 1:Tool
Coordinate
parameter 2:User
3:World
4:Work
5th When you select tool or user coordinate, you should select the coordinate
Coordinate number
parameter number. It will be fixed “1”if you use other coordinates.

ANG2POS[0, angData, posData, 0, 1] FN813;Set position variable(angle)
See
Command name ENC2POS

FN code 814
Title name Set position Variable (encoder)
Set an encoder variable(As encoder) to position
General description
variable(As position)
Set an encoder variable(As encoder) to position variable(As position).
■ Parameters
Mechanism number
nd
2
encoder variable Set encoder variable
parameter
rd
3
parameter
0:Base
4th 1:Tool
Coordinate
parameter 2:User
3:World
4:Work
5th When you select tool or user coordinate, you should select the coordinate
Coordinate number
parameter number. It will be fixed “1”if you use other coordinates.

ENC2POS[0, encData, posData, 0,1] FN814;Set position variable(encoder)
See
Command name POSE2ANG

FN code 815
Title name Set angle Variable (pose)
General description Set Pose variable Pn to Angle variable(As Angle)
Set Pose variable Pn to Angle variable(As Angle).
■ Parameters
Mechanism number
2nd Pose variable
parameter number
3rd
parameter

POSE2ANG[0, Pn, angData] FN815;Set angle Variable (pose)
See
ANG2POSE; Set pose variable(angle) (FN810)
Command name POS2ANG

FN code 816
Title name Set angle Variable (position)
Set a position variable(As position) to Angle
General description
variable(As Angle)
Set a position variable(As position) to Angle variable(As Angle).
■ Parameters
Mechanism number
nd
2
parameter
0:Base
3th 1:Tool
Coordinate
parameter 2:User
3:World
4:Work
4th
parameter
5rd
parameter

POS2ANG[0, posData, 0, 1, angData] FN816;Set angle variable(position)
See
Command name ENC2ANG

FN code 817
Title name Set angle Variable (encoder)
Set an encoder variable(As encoder) to Angle
General description
variable(As Angle)
Set an encoder variable(As encoder) to Angle variable(As Angle).
■ Parameters
Mechanism number
nd
2
Encoder variable Set encoder variable
parameter
rd
3
parameter

ENC2ANG[0, encData, angData] FN817;Set angle variable(encoder)
See
Command name POSE2ENC

FN code 818
Title name Set encoder Variable (pose)
Set Pose variable Pn to encoder variable(As
General description
encoder)
Set Pose variable Pn to encoder variable(As encoder).
■ Parameters
Mechanism number
2nd Pose variable
parameter number
3rd
parameter

POSE2ENC[0, Pn, encData] FN818;Set encoder Variable (pose)
See
ENC2POSE; Set pose variable(encoder) (FN811)
Command name POS2ENC

FN code 819
Title name Set encoder Variable (position)
Set a position variable(As position) to encoder
General description
variable(As encoder)
Set a position variable(As position) to encoder variable(As encoder).
■ Parameters
Mechanism number
nd
2
parameter
0:Base
3th 1:Tool
Coordinate
parameter 2:User
3:World
4:Work
4th
parameter
5rd
Encoder variable Set encoder variable
parameter

POS2ENC[0, posData, 0, 1, encData] FN819;Set encoder variable(position)
See
Command name ANG2ENC

FN code 820
Title name Set encoder Variable (angle)
Set an angle variable(As angle) to encoder
General description
variable(As encoder)
Set an angle variable(As angle) to encoder variable(As encoder).
■ Parameters
Mechanism number
nd
2
parameter
rd
3
parameter

ANG2ENC[0, angData, encData] FN820;Set encoder Variable (angle)
See
Command
CVTCOORDPOS
name
FN code 821
Title name Coord. trans（position）
General Translate a position variable(As Position）to a
description designated coordinate.
Translate a position variable(As Position）to a designated coordinate.
■ Parameter
1st Mechanism number(0-9)
Mechanism number
parameter 0 means all mechanism of the unit.
2nd
Position variable1 Set an acquired position variable.
parameter
Set a coordinate of an acquired position variable.
0:Base
3rd 1:Tool
Coordinate1
parameter 2:User
3:World
4:Work
4th If you select tool or user coordinate as acquired coordinate, you should select
Coordinate number1
parameter the coordinate number. It will be fixed “1”if you use other coordinates.
5th
Position variable2 Set a substituted position variable.
parameter
Set a coordinate of a substituted position variable.
0:Base
6th 1:Tool
Coordinate2
parameter 2:User
3:World
4:Work
7th If you select tool or user coordinate as substituted coordinate, you should
Coordinate number1
parameter select the coordinate number. It will be fixed “1”if you use other coordinates.

CVTCOORDPOS[0, posData, 0, 1, posData, 0, 1] FN821;Coord.trans(Position)
See
DIM:Any Variable(FN801)
POS2POSE:Set pose variable (position) (FN809)
POSE2POS: Set position variable (pose) (FN812)
ANG2POS: Set position variable (angle) (FN813)
ENC2POS:Set position variable (encoder) (FN814)
POS2ANG: Set angle variable (pos.data) (FN816)
POS2ENC:Set encoder variable (pos.data)(FN819)
GETPOS:Set position Variable (pos.data) (FN822)
OPEPOS:Extraction position variable(FN826)
Command name GETPOS

FN code 822
Title name Set position variable (pos.data)
General description Substitute robot position to positional variables
The code substitutes the designated mechanism position to positional variables. You can select the mechanism position
from below types.
Types
Command Get the command position when it does.
position
Current Get the current position when it does.
position
Target Get the target command position where it is recorded.
position It isn’t depended on the accuracy setting of the step. If you
use the shift function, the values include the shift values.
The function acts with no motion pause. Then the results are related with the accuracy of the step.
Types＝Command or Current position
Step2 Step3
Accuracy
GETPOS：FN822
Step1 Step4
Get the position
Get the position when robot reach the inside range of accuracy.
If the position is pause recorded, GETPOS acts after reaching the step position.
Type＝Target position
Step2 Step3
Accuracy
GETPOS：FN822
Step1 Step4
Get the position
The function gets the step position where is not related with the accuracy. If you use the
shift function, the value includes the shift values.
■ Parameters
1st Mechanism Mechanism number(0-9)
parameter number 0 means all mechanism of the unit.
0：Command position
2nd
Types 1：Current position
parameter
2：Target position
3rd Position
Set position variables.
parameter variables
0:Base
4th 1:Tool
Coordinate
parameter 2:User
3:World
4:Work
When you select tool or user coordinate, you should select the coordinate number.
5th Coordinate
It will be fixed “1”if you use other coordinates.
parameter number
GETPOS[0,0,posData,0,1] FN822;Set position variable(pos.data)
See
Command name GETANG

FN code 823
Title name Set angle variable (pos.data)
General description Substitute robot position to angle variables
The code substitutes the designated mechanism position to angle variables. You can select the mechanism position from
below types.
Types
position
position
Step2 Step3
Accuracy
GETANG：FN823
Step1 Step4
Get the position
If the position is pause recorded, GETANG acts after reaching the step position.
Step2 Step3
Accuracy
GETANG：FN823
Step1 Step4
Get the position
■ Parameters
2nd
parameter
2：Target position
3rd Angle
Set angle variables.
parameter variables
GETANG[0, 0, angData] FN823;Set angle variable(pos.data)

See
Command name GETENC

FN code 824
Title name Set encoder variable (pos.data)
General description Substitute robot position to encoder variables
The code substitutes the designated mechanism position to encoder variables. You can select the mechanism position from
below types.
Types
position
position
Step2 Step3
Accuracy
GETENC：FN824
Step1 Step4
Get the position
If the position is pause recorded, GETENC acts after reaching the step position.
Step2 Step3
Accuracy
GETENC：FN824
Step1 Step4
Get the position
■ Parameters
2nd
parameter
2：Target position
3rd Encoder
Set encoder variables.
parameter variables
GETENC[0, 0, encData] FN824;Set encoder variable(pos.data)

See
Command name OPEPOSE

FN code 825
Title name Extraction pose Variable
Substitute or Extract a pose variable to a global
General description
real variable (V!) or local real variable (L!).
Substitute or Extract a pose variable to a global real variable (V!) or local real variable (L!).
■ Parameters
Mechanism number
2nd Pose variable
Set pose variable number
parameter number
3rd
Real variable Set the global real variable(V!) or Local real variable(L!), any single variable.
parameter
Set operation target.
0：All
1：X
4th 2：Y
Target
parameter 3：Z
4：R
5：P
6：Y
Select Extract or Let(Substitution) to pose variable.
5th
Operation 0：Extract
parameter
1：Let

OPEPOSE[0, Pn, sgnData, 0, 0] FN825;Extraction pose variable
See
Command name OPEPOS

FN code 826
Title name Extraction position Variable
Substitute or Extract a position variable to a global
General description
Substitute or Extract a position variable to a global real variable (V!) or local real variable (L!).
■ Parameters
Mechanism number
nd
2
parameter
rd
3
parameter
0：All
1：X
2：Y
4th 3：Z
Target
parameter
4：R
5：P
6：Y
7：Configuration
Select Extract or Let(Substitution) to position variable.
5th 0：Extract
Operation
parameter
1：Let

OPEPOS[0, posData, sgnData, 0, 0] FN826;Extraction position variable
See
Command name OPEANG

FN code 827
Title name Extraction angle Variable
Substitute or Extract an angle variable to a global
General description
Substitute or Extract an angle variable to a global real variable (V!) or local real variable (L!).
■ Parameters
Mechanism number
nd
2
parameter
rd
3
parameter
0：All
1：J1
4th 2：J2
Target
parameter 3：J3
4：J4
5：J5
6：J6
Select Extract or Let(Substitution) to angle variable.
5th
Operation 0：Extract
parameter
1：Let

OPEANG[0, angData, sgnData, 0, 0] FN827;Extraction angle variable
See
Command name OPEENC

FN code 828
Title name Extraction encoder Variable
Substitute or Extract an encoder variable to a
General description global integer variable (V%) or local integer
variable (L%), any integer variable.
Substitute or Extract an encoder variable to a global integer variable (V%) or integer real variable (L%), any integer variable.
■ Parameters
Mechanism number
nd
2
parameter
rd
3 Set the global integer variable(V%) or Local integer variable(L%), any integer
DINT variable
parameter variable.
0：All
1：J1
4th 2：J2
Target
parameter 3：J3
4：J4
5：J5
6：J6
Select Extract or Let(Substitution) to encoder variable.
5th 0：Extract
Operation
parameter
1：Let

OPEENC[0, encData, intData, 0, 0] FN828;Extraction encoder variable
See
Move commands
Command name MOVE

FN code -
Title name (move command)
Move robot to the position expressed by the AW
General description
coordinate system
This is the move command in which robot position is expressed by XYZ value of tool top and rpy (roll, pitch and yaw) angle of
wrist attitude. To keep upper compatibility with NACHI-Fujikoshi AW controller, coordinate system is same as AW (front is Y). X
and Y axis direction is different from FD coordinate system (= world wide standard).
Wrist attitude is fixed by the rotation on the order of r -> p -> y.
New functionalities developed in FD controller such as synchronize control, Smooth and others can not be described by this
command.
<Format> MOVE Interpolation, Pose, Speed (or Time), Accuracy, Tool

<Example> MOVE L,P1,S=500,A=3
Ｚ＋
Wrist poses;
r
Ｘ＋ Angle round Z axis; Roll angle ( r )
Angle round Y axis; Pitch angle ( p)
Angle round X axis; Yaw angle ( y)
y
Ｙ＋ p Expression of XYZ coordinates

inherited from AW series
There are 3 move commands. MOVE and MOVEJ is prepared to keep upper compatibility with NACHI-Fujikoshi AW controller.
Please use MOVEX as usual.
Playback Robot Language
MOVE command
XYZ coordinate (AW compatible）
(example)
500mm/sec LIN A3 T1 MOVEJ command

Encoder data Joint angle (AW compatible)
MOVEX command
XYZ coordinate (AX)
Joint angle (AX)
Encoder data
■ Parameter
Interpolatio This is to define the interpolation to move the desired position,
n by P,L,LE,C or CE description.
P Joint move (interpolation OFF)
L Linear interpolation
LE Stationary tool linear interpolation
C Circular interpolation
CE Stationary tool circular interpolation
Pose This is to define the desired position.

Following list shows its variety to describe the robot pose.
XYZ coordinate system is same as NACHI-Fujikoshi AW.
(X,Y,Z,r,p,y) Pose constant
Pn ( or P[n] ) Pose variable
Pn + (X,Y,Z,r,p,y) Pose variable + Shift constant
Pn + Rn Pose variable + Shift variable
P* + (X,Y,Z,r,p,y) Current position + Shift constant
P* + Rn Current position + Shift variable
R,p and y angle is written in degree.
If there are some aux. axes, maximum two axis angle data is
added following the (X,Y,Z,r,p,y) statement.
(X,Y,Z,r,p,y,J7)
(X,Y,Z,r,p,y,J7,J8)
J7 and J8 angle is written in degree.
Speed This is to define the speed or time to achieve the desired

(or Time) position. (1[mm/s]～5000[mm/s] or 0.1[s]～100[s])
S for TCP speed, T for time.
S=100 TCP line speed is 100mm/sec.
T=5 Time to achieve next position is 5 seconds.
S=V1% Speed is designated by global variable V1%.
T=L![1] Time is designated by local variable L![1].
Variables can be used as followed.
Vn% (or V%[n]) global variable (integer)
Vn! (or V![n]) global variable (float)
Ln% (or L%[n]) local variable (integer)
Ln! (or L![n]) local variable (float)
Accuracy This is to define the accuracy number. If omitted, accuracy

defined in previous step is use. When in-position check is
necessary, add “P”. (1 – 8, 1P – 8P)
A=1 Accuracy number is 1
Tool This is to define the tool number. If omitted, tool defined in

previous step is use. (1 - 32)
H=1 Tool number is 1.
See
MOVEJ; (Move command)
MOVEX; (Move command)
AX coordinate base position is different from AW.

Z+
Z+
Y+
Y+
J1 swing center and height of J2 axis
（0,0,0）on the ground (0,0,0)
FD coordinate base position AW coordinate base position

Move commands
Command name MOVEJ

FN code -
Move robot to the position expressed by the AW
General description
axis angle
This is the move command in which robot position is expressed by axis angle. To keep upper compatibility with
NACHI-Fujikoshi AW controller, J3 value is the angle from ground level. Except J3 angle, this is same as MOVEX-J command.
New functionalities developed in FD controller such as synchronize control, Smooth and others can not be described by this
command.
<Format> MOVEJ Interpolation, Pose, Speed (or Time), Accuracy, Tool

<Example> MOVEJ L,(0,90,0,0,0,0),S=500,A=3
MOVE command
(example)

MOVEX command
XYZ coordinate (AX)
Joint angle (AX)
Encoder data
■ Parameter
Interpolatio This is to define the interpolation to move the desired position,
n by P,L,LE,C or CE description
C Circular interpolation
CE Stationary tool circular interpolation
Pose This is to define the desired position. Axis angle is degree.

(J1,J2,J3,J4,J5,J6) Pose constant
If there are some aux. axes, maximum two axis angle data can
be added.
(J1,J2,J3,J4,J5,J6,J7,J8)

(or Time) position. (1[mm/s]～5000[mm/s] or 0.1[s]～100[s])
S=100 TCP line speed is 100mm/sec.
T=5 Time to achieve next position is 5 seconds.
S=V1% Speed is designated by global variable V1%.
T=L![1] Time is designated by local variable L![1].

A=1 Accuracy number is 1

H=1 Tool number is 1.
See
MOVE; (Move command)
MOVEX; (Move command)
J3 axis angle value of FD is different from AW.
J3=45 degree J3=0 degree
J2=45 degree J2=45 degree
J3(V) axis angle is base

on the ground
J3 axis angle of AX J3 axis angle of AW

Move commands
Command name MOVEX

FN code 645
General description Move robot.
This is the move command.
MOVEX command supports following three statement of robot position.
- XYZ value of tool top and rpy (roll, pitch and yaw) angle of wrist attitude.
- Axis angle
- Axis encoder data
XYZ coordinate system is same as international standard (front = X).
Wrist attitude is fixed by the rotation on the order of r -> p -> y.
New functionalities developed in FD controller such as synchronize control, Smooth and others can be described by this
command.
To record the MOVEX command, there are two manners provided; Robot language compile system (1) and TP teaching
system (2). For the details of TP teaching system, see "■How to teach MOVEX on TP" in this document.
<Format>
MOVEX Accuracy, Acceleration, Smooth, Conveyor, Synchronize
Mechanism, Interpolation, Pose, Configuration, Speed, Tool
Mechanism, Interpolation, Pose, Speed, Tool
Mechanism, Interpolation, Pose, Speed, Tool
…
<Example>
MOVEX A=1,AC=1,SM=1,HM=1
M1W,P,P1,S=100,H=1,
M2X,L,P2,S=100,H=2,MS
M3J,L,(0,0,0,0,0,0),S=100,H=3
Ｚ＋
W rist poses;
r Angle round Z axis; Roll angle ( r )
Angle round Y axis; Pitch angle ( p)
AX coordinates Angle round X axis; Yaw angle ( y)
(same as international
standard) p
Ｙ＋
Ｘ＋ y
MOVE command
(example)

MOVEX command
XYZ coordinate (AX)
Joint angle (AX)
Encoder data
■ MOVEX Teach Method

(1) Select FN645 “Record MOVEX”.
(3) Press F12 <Complete> to record MOVEX.
■ Parameter
* The setting example of parameter is indicated as “A” for the robot language compile system and “B” for the TP teaching
system. (Without any specific indication of “B”, the description indicates the robot language compile system.)

A : A=1 Accuracy number is 1
B : Input 1 in [Accuracy number]. Accuracy number is 1
Acceleration This is to define the acceleration. Bigger value is smaller
acceleration. No description is treated das 0. (0 - 3)
A : AC=1 Acceleration number is 1
B : Input 1 in [Acceleration]. Acceleration number is 1
Smooth This is to define the smoothness. Bigger value is larger
smoothness. No description is treated das 0. (0 - 3)
A : SM=1 Smoothness number is 1
B : Input 1 in [Smoothness]. Smoothness number is 1
Fine motion Enable/disable of fine motion is switched.
To make fine motion enable, “F” is applied.
When nothing is specified, fine motion becomes disable.
A:F Fine motion is enalbed.
B : Select “F” in [Fine motion] Fine motion is enabled.
Synchronize This is to define the master robot of synchronize control.
This is significant only when plural mechanism exits.
If not described, synchronizing is executed as same start
control.
A : HM Mechanism 1 is master
B : Select “Synchronize” in Mechanism 1 is master
[Synchronize].
Mechanism This is to define pose of each mechanism. (varies from 1 to 9)
“M”, “mechanism number” and “pose definition”.
A : M2X “M2” is mechanism 2, “X” means that pose is
described by FD coordinate system (international
standard)
A : M3J “M3” is mechanism 3, “J” means that pose is
described by axis angle.
A : M4E “M4” is mechanism 4, “E” means that pose is
described by axis encoder data.
B : Select the proper mechanism and pose definition in [Pose
type].
Encoder The pose is recorded by axis encoder
data. Please input the axis angle to the
“Edit Box”.
Angle The pose is recorded by axis angle data.
Please input the axis angle to the “Edit
Box”.
Cartesian The pose of the robot is recorded by the
Cartesian coordinate value.
Variable type The pose of the robot is recorded by
using the value of pose variable.
Before the first “M”, all statement is treated as for the
mechanism 1. “Pose definition”. can be omitted, then treated
as “X”.
Pose definition “X” is significant only when its mechanism is
the manipulator.
Interpolation This is to define the interpolation to move the desired position,
by P,L,LE,C1,C1E,C2 or C2E description.
A:
C1 Circular interpolation (start or middle of circle)
C1E Stationary tool circular interpolation
(start or middle of circle)
C2 Circular interpolation (end of circle)
C2E Stationary tool circular interpolation (end of circle)
B : Select any of the following in [Interpolation].
JOINT Joint move (interpolation OFF)
LIN Linear interpolation
S-LIN Stationary tool linear interpolation
CIR1 Circular interpolation (start)
S-CIR1 Stationary tool circular interpolation (start)
CIR2 Circular interpolation (end)
S-CIR2 Stationary tool circular interpolation (end)
Pose This is to define the desired position.
Following list shows its variety to describe the robot pose.
$$ In case that pose definition is “X”

Pose is expressed by XYZ coordinate system same as
international standard (front = X).
A : (X,Y,Z,r,p,y) Pose constant
B : Select “Cartesian” in Pose constant
[Pose type].
A : Pn ( or P[n] ) Pose variable
B : Select “Variable type” Pose variable
in [Pose type].
A : Pn + (X,Y,Z,r,p,y) Pose variable + Shift constant
A : Pn + Rn Pose variable + Shift variable
A : P* + (X,Y,Z,r,p,y) Current position + Shift constant
A : P* + Rn Current position + Shift variable
R,p and y angle is written in degree.
$$ In case that pose definition is “J”

Pose is expressed by axis angle (degree).
A : (J1,J2,J3,J4,J5,J6) Pose constant
B : Select “Angle” in [Pose type]. Pose constant
J3 is not the angle from ground level.
No expression for J7 and after. They are next mechanism.
$$ In case that pose definition is “E”

Pose is expressed by axis encoder data (HEX).
A : (E1,E2,E3,E4,E5,E6) Pose constant
B : Select “Encoder” in [Pose Pose constant
type].
Configuration This is to define the supplement information to fix robot pose.

This is significant only when pose is expressed by XYZ
coordinate system.
A : CONF=ijkl
i ; 1:FLIP / 1:NONFLIP (wrist flip / no flip)
j ; 0:ABOVE / 1:BELOW (upper elbow / lower elbow)
k ; 0:LEFTY / 1:RIGHTY / 2:FRONT / 3:REAR(*) (left hand /
right hand/ front/ rear)
l ; flange axis rotation direction specification (0:-180
[deg]~180[deg] /1:0~360[deg] /2:-360~0[deg])
B : Select “Configuration” in [Axial angle refer], and then the
configuration type in each axis.
[J1]: “Left”, “Right”, “Less 90deg”, “Over 90deg” (*)
[J3]: “On elbow”, “Under elbow”
[J5]: “Flip”, “Non Flip”
(*) About “Less 90deg” and “Over90deg”
These are available only when [16 Configuration J1 Extend]
has been set [Enable] by proceeding to [Constant] - [5
Operation Constants] - [1 Operation condition].
When no description of configuration, robot pose is
determined as the nearest pose with previous pose.
(or Time) position. (1[mm/s]~5000[mm/s] or 0.1[s]~100[s])
A : S=100 TCP line speed is 100mm/sec.
A : T=5 Time to achieve next position is 5 seconds.
A : D=0.1 Wrist angle speed 0.1 degree/sec
A : R=50 50% ratio compared with maximum power
A : S=V1% Speed is designated by global variable V1%.
A : T=L![1] Time is designated by local variable L![1].
A : D=L![1] Angle speed is designated by local variable L![1].
A : R=V1% Ratio is designated by global variable V1%.
B : Press [F11 Speed Setting] to specify the speed.

A : H=1 Tool number is 1.
B : Input 1 in [Tool number]. Tool number is 1.
Speed This is to define the speed master robot.

master This is significant only when synchronize control enabled.
definition Plural mechanism can be speed master.
A : MS speed master robot.
B : Input the number in [Speed speed master robot.
base mechanism].
See
MOVE; (Move command)
MOVEJ; (Move command)
AX coordinate base position is different from AW.

Z+
Z+
Y+
Y+
J1 swing center and height of J2 axis
（0,0,0）on the ground (0,0,0)
FD coordinate base position AW coordinate base position

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No.

■ Give this manual to the operator.

■ For help, call your distributor.

Cases in which death or serious injury can be expected if handled incorrectly.

Cases in which injury or physical damage can be expected if handled incorrectly.

The following symbols are also used for important checkpoints:

A particularly important checkpoint is shown.

Injury which does not require either hospitalization or long-term treatment as an

Direct and indirect damage in connection with damage of property and

This document is a reference manual for application commands (Functions) and

1.1 What is command? .....................................................................................1-1

1.3 Detail of each command (order of FN code No.) ......................................1-19

1.1 What is command?

1.1.1 Outline of the command

Robot language program Executable program

Command Move command

Fig 1.1.1 What is command?

1.1.2 Format of Move command and application command

Move command (step 3)

Move command (3)

1.2 Command list (order of SLIM command)

ACOS 649 LET ACOS function Get ACOS variables

ADAPTOFF 365 Adaptive Motion Ends Adaptive Motion. (Option)

ADDVI 637 Add integer Adds the value of integer variable.

AEMV 662 Multi Pass Welding Multi-pass welding end.

ASIN 648 LET ASIN function Get ASIN variables

ASMV 661 Multi Pass Welding Multi-pass welding start

BELOW 164 Elbow The below-the-elbow (180-degree angle or more formed by

CALLPIV 691 Program Call the specified task program.

CHGMEC 301 Mount Mechanism Connect or disconnect the designated mechanism(Option)

CNVSYNC 55 Conveyor counter Reset conveyor counter (Option)

CVTCOORDPOS 821 Coord. Trans Translate a position variable(As Position）to a designated

DIVVI 643 Divide integer Divides the value of integer variable.

DYNCALIBRO 295 Robot calibration Start/End calibration cycle of Dynalog PC (Option)

ELSE 678 Condition Move the control to the following instruction.

ENDIF 679 Condition end End IF-ENDIF.

ENDW 664 WHILE end It is terminator of the WHILE-ENDW structure.

EQUALIZECL 248 Equalize clear The equalize setting clear.

FHCLAMP 362 FLEXhand Clamp Execute clamp moiton by FLEXhand. (Option)

FHCLAMP2 366 New FH Clamp Execute clamp moiton by FLEXhand

GE 413 Gas OFF Stops the shield gas.

GETENC 824 Set encoder Substitute robot position to encoder variables

GETPOS 822 Set position Substitute robot position to positional variables

GETTIPCON 306 Get tip Used to get tip consumption amount.

GOTO 90 Line jump This is used to jump to a designated line or label.

GS 412 Gas ON Starts to output the shield gas.

IF 602 Condition If condition is satisfied then command(jump/call) after “THEN”

LETX 71 Pose X Substitute a value for the X component of a pose. LETX,

LETY 72 Pose Y Substitute a value for the Y component of a pose.

LETZ 73 Pose Z Substitute a value for the Z component of a pose.

MESPOS 700 Taking of a This is to specify the measurement point.

MULVF 642 Multiply real Multiplies the real variables.

NOP 600 NOP No operation

PALLET2 47 Palletize start Start palletizing based on the pre-designed palletizing

PALLET2_EN 48 Palletize end Finish palletizing based on the pre-designed palletizing

PRINT 606 Print String Please refer to "PRINT"( FN101).

REM 99 Comment This command is used to provide comments inside programs.

RINT 29 Robot Executing step is interrupted by input signal

SEAMEND 246 Seam weld end Stop the seam welding.