GantryProductOperationManual (10.118.48.x) NewUI
GantryProductOperationManual (10.118.48.x) NewUI
GantryProductOperationManual (10.118.48.x) NewUI
Manual(10.118.48.x)_NewUI
匯出日期:2023-04-13
修改日期:2023-04-13
联达产品/LEANTEC Products
–
Gantry Product Operation Manual(10.118.48.x)_NewUI
1 INTRODUCTION
The target readers of this document are for the end users and the employee who using the Syntec Gantry Pick and
Place system. In order to let end users and the colleagues to understand and grasps the operation method of this
system by education training through the document. The content includes the overview of the Syntec Gantry Pick
and Place system, function modules and settings, setting and operation of reference points, setting and operation
of pallet, the editing of pick and place program, abnormality exclusion and the introduction of menu. It is expected
that the readers can have sufficient understanding on the Syntec Gantry Pick and Place system by reading this
document. If more detailed information is required, contact with the Syntec head office.
INTRODUCTION – 2
联达产品/LEANTEC Products
–
Gantry Product Operation Manual(10.118.48.x)_NewUI
1. AUTO:Auto mode
2. TEACH :Manual mode
3. REMOTE:No mapping mode, remain in manual mode
Function Keys
i. [RESET]: Reset the system to its initial state.
ii. [START]: Press the button with enabling device, the arm can run the edited program.
iii. [HOLD]: If you press the button, the current program will be paused until the [START] button
been pressed again.
iv. [SERVO READY]: Press the button to enter the ready state.
Notice: When the emergency stop had been pressed, the ready state cannot be entered. If
this is the case, the emergency stop must be released firs.
v. [MPG]: Mode switch button. By spinning the MPG, the robot arm can be moved; the scale of
the MPG and the amount of robot arm movement can be adjusted by the [OVRD] button.
vi. [JOG]: Mode switch button. Press to switch to JOG mode, and the indicator light at the upper
left of the button will light up.
vii. [INJOG]: Mode switch button. Press to switch to INJOG mode, and the indicator at the upper
left of the button will light up
viii. [ORIGIN]: Triggers the back to home window and moves to the mechanical home in the
default motion sequence.
ix. [Simulation Run]: Run the program at a slower speed to test the correctness of the point or
the movement path. It must be executed with the forward and reverse test run buttons or by
turning the MPG. After pressing, the upper left indicator light turns on means the simulated
function starts, and when the light turns dark means it is OFF.
x. [single step]: When this function is on, the program will enter a block stop after completing
the current command, and the user needs to re-press the start button to start executing the
next command. When the indicator light on the upper left after pressing the button, the
program will start the block function; when it has been turned off, it becomes dark.
xi. [Override (OVRD) Increase (+)/Decrease(-)]: The override of JOG/INJOG/MPG/AUTO mode
can be switched. The current override value will be displayed on the main screen.
xii. [Simulation(SIMU) Forward(+)/Backward(-)]: When the hand simulation is started, press
the [SIMU +] button, and the arm will run according to the edited program until the [SIMU +]
button is released. If you press [SIMU -] button, the program will run back until it reaches the
teaching point of the previous step.
xiii. [ROBOT SWITCH]: The currently controlling arm could be switched when the robot has two
arms.
xiv. [HELP]: Call the Online Help window to provide user-related information.
xv. [Common output keys]: The common output point O (raw jaws, finished jaws, rotating jaws,
sunroof) can be ON/OFF by triggered the button. The buttons in this area could be changed by
editing PLC.
xvi. [ENTER]: Same as the keyboard enter key.
xvii. [BACK]: Same as the keyboard ESC key.
xviii. [Direction keys]: Same as the up/down/left/right keys on the keyboard.
Axis Movement Keys
i. [Axis Movement]: In JOG mode or INJOG mode, press this button to operate the movement
of the robot arm. Note that the button in this area must be used in conjunction with the
enabling device to prevent misoperation.
Extension Keys
i. [Extension Keys](AUX): If the user has special function request, can edit the PLC and use the
buttons in this area.
• The screen is divided into three parts: status bar (icons 1~8), page content (icons 9 and 10), and
fenubar(icon 11).
a. Status bar : Displays the status and the entrance of each main page
b. Page Content : Display the function content of the switching page. The home page (as
shown above) will be initially displayed when it is on.
c. fenubar : Common functions of current page
• Icon Introduction
a. System Time and Inputline : To display current time of the system and inputline that can
show typing.
b. Login Permission : To display the current login permission. To change the login
permission, click on it and the login authority menu will pop up, and the login permission
can be adjusted.
c. System Status : To show that the system is currently ready, not ready, running or paused.
d. Override : Display the corresponding overridr according to the current system mode.
e. System Mode : To display whether the system is currently executing automatically, JOG,
INJOG, MPG or Zero Setting. Please refer to Gantry Product Operation
Manual(10.118.x)#Introduction of System Modes.
f. Alarm Alert : To display whether the system currently having alarm and can click to switch
to alarm page.
g. Main Page Switching Area : To perform page switching between [Main], [Point-Teaching],
[program editing] and [Pallet]
h. Function Panel : Mainly used to perform system mode switching, override modification,
axis selection/movement and program start/stop/reset, etc. For description of Function
Panel, please refer to Gantry Product Operation Manual(10.118.x)#Introduction of
Function Panel.#
i. Main page : For displaying logo, current coordinates, robot arm messages and robot arm
production/motor information.
j. Field switching tab : Switching of robot arm production/motor information fields.
1. [MPG / INJOG Override]: To set the motion override rate from 1µm, 10µm, 100µm to the highest
1000µm in the MPG or INJOG mode.
2. [Manual /Auto Override]: In the "JOG mode" and "automatic mode", after specifying the motion
parameters and speed commands, the arm running speed will be adjusted according to the
"override" setting.
3. [Reset]: Restore the system to its initial state.
4. [Mode Selection]: To perform the modes switching between Zero Setting, JOG, INJOG,
automatic and MPG, as well as perform the back to home operation. If pr961=4 or 5, the absolute
origin will appear, which is used for homing to absolute origin.
5. [Debug]: Click to turn on/off. After it is turned on in automatic mode, the program editing will
enter the sub-program display during processing. It is orange when turned on.
6. [Hand simulation]: Click to turn on/off. After it is turned on in the automatic mode, the program
will be executed at a slower speed to test the correctness of the point position or the moving
path. Use the MPG/simulation MPG to execute the pick and place program. It is orange when
turned on.
7. [Axial Selection]: To select the direction of axial movement in the JOG/INJOG mode. Note that
the button in this area must be used in conjunction with the enabling device to prevent
misoperation.
8. [Close ]: To close the Function Panel popup.
9. [Start]: To start the pick and place program in automatic mode.
10. [Pause]: To pause the pick and place program in automatic mode.
The debug mode is only supported to be turned on/off before starting machining.
As shown in figure, if the cyc. subprogram is running under debug mode, the program steps table
will be refreshed and contents in table will be switched to subprogram contents, and the cursor will
move with the current executing step of the subprogram.
As shown in figure, if the MACRO subprogram is running under debug mode, a window showing the
MACRO content will pop up, and the cursor will move with the current executing step number of the
MACRO.
Note: After each axial origin setting is performed, it is necessary to reset the
position limit of each axis, the reference point of the arm motion and the workpiece
position in the pallet.
• To start/ pause/ reset of the pick and place program, and the use of MPG simulation.
STEP 1: First enter [Main] → [Function Panel] to switch the system to automatic mode and
ensure that the system is in a ready state.
STEP 2: Determine whether the system requires MPG simulation to carry out the program. If
yes, enter [Main] → [Function Panel], click simulation button on the Function Panel.
STEP 3: After pressing the Enabling Device on the back of the box, click the [Start] button to
execute the program. At this point, the system is in Busy state.
STEP 4: After pressing the [Pause] button, the system stops moving and is in a pause state.
After confirming that execution can be resumed, repeat step 3 to continue with the program.
STEP 5: If the system is in an alarm state or cannot continue to execute the program, the
system can be initialized by the [Reset] button.
Remarks:
a. If the process is in the simulation state, the robot will remain still after the program
started. At this time, the MPG must be rotated or the [Forward Test Run] button must
be pressed to move the robot; if the MPG is reversed or the [Reverse Test Run] button
is pressed, the robot will move back to the point taught in the previous step.
b. Some alarm conditions cannot be initialized by the [Reset] button. At this time, reset
can only be performed by power-off restart.
O:Modifiable ▽:Viewable
Main Screen O O O O
I/O Monitor O O O O
Alarm O O O O
Peripheral O O O O
Control
Diagnosis O O O O
Reference Point ▽ O O O
Program ▽ ▽ O O
Teaching
Safety Area O O
Maintenance O O
Parameter O
Software Install O
After the system is booted normally, click on the avatar on the lower left corner to call out the permission
login window. S elect the permissions you want to log in, and enter the password to successfully switch
permissions.
• Use"Up/Down Button" to switch from different words with the same pronunciation
1. "INCRE": Users can switch the keyboard to increment input mode with this button
2. "Original Value Label": The label shows the original values of inputs followed by "+" sign, which provides
users for confirmation when doing calculation
3. "Increment Value Input": What users input by the increment input keyboard will be shown here
Instruction for operation
• The "Original Value Label" will show 0 when original value of the inputbox are empty
• Input value into "Increment Value Input" and press "ENTER" to complete the calculation and set the
result back to inputs
• If input value only contains signs or other invalid value(e.g. : 0.0.6), it won't add or subtract value
when doing calculation
• If the keyboard shows up again after being closed, increment input mode will be set to off as default
• If the keyboard is showing up, the content of the keyboard won't be changed by any selection of
other inputs
1. Arm Coordinates : To display the current robot's coordinate position, this 2 + 1 type gantry pick
and place system includes the robot's two axes (X, Z) and pallet axis (Y1).
2. Remaining Coordinates : To display the remaining distance before the arm reaches the
command coordinates.
3. Current Program : To display the name, type of command and speed of current program. (In
multi-system, display main program not current execute program.)
4. Robot Arm Production / Motor Information :
a. Production
i. Current Speed : To display the current movement speed of the robot arm during
operation.
ii. Target / Current Cycle : Used for workpiece count. The current number of
workpieces will continue to accumulate throughout the execution of cycled
program until it equals to the number of target workpieces, then the robot will stop
running. Reset the count can be achieved by pressing Clear button .
iii. Single Cycle Time : To display the time required for the program to executes a
complete cycle.
b. Motor
a. The tab can switch the name edited setting of PLC M code or the subprogram.
b. [Number] : It is used to input the PLC M code or subprogram number to be edited.
c. [Current Name] : Display the name currently recorded by the controller for the
entered number.
d. [New Name] : It is the name about to edit to.
i. After changing the name online, all the updated display names in other pages
will be "valid only after rebooting".
ii. If the name has been edited online, no matter which standard language is
switched to (currently supports Traditional Chinese, Simplified Chinese,
English), the edit name will be displayed.
e. [Close] : When the editing has been completed or is not wanted to be saved, the close
in the upper right corner can be clicked to leave this function window.
f. [Restore Original Settings] : This function will remove all online edited strings
corresponding to the current tab and restore them to the original settings or custom
imported strings.
i. No customized strings : display the original string.
Situation : Use the original setting string. The original string will be displayed
no matter how many times you use online editing after using this function.
ii. Customized strings: display customized strings
Situation: Import customized strings, after using this function. The imported
custom strings will be displayed no matter how many times you use online
editing.
g. [Save & Continue] : Save the content entered on the current screen and clear the
number, current name, and name editing fields for users to continue to edit.
2. Customized display name : The user can customize the corresponding action name and
change it to a name that is convenient for the user to operate. The following describes the
customization steps.
a. On the file explore page, click [Import/Export Custom], and select [Export] to export
the file to the USB drive.
Step 5: After closing Edit Name window, modified results can be viewed on peripheral control page.
Step 6: After rebooting, all pages that originally displayed "Subprogram 2" will display their name
as "Sub2" in the controller .
1. Machine safe area : Click to turn on/off the machine safe area setting.
2. Station safe area : Click to turn on/off the station safe area setting.
3. Cube safe area : Click to turn on/off the cube safe area setting.
4. Set safe zone : Before enabling the safe zone, the points of safe zone need to be set
first. The following describes the setting methods.
5. Safe zone fenubar : Click to turn on all the safe area.
STEP 2 : Move the robot to E line on the top of machine, then click [E line] button
to fill the current Z coordinate into the column and straight become effective. If
value fine tune is required, can click the input column of corresponding
coordinate to fine tune the value, special attention is required when changing is
done here.
STEP 3 : In the Ready or Not Ready mode. Click [Setting Y Line] button to set the
safe position in the Y direction. And click [Back Safe Area Setting] w hen it is
needed to return.
STEP 4 : Repeat steps 2 and 3, after the JOG the robotic arm position to other
lines, performed point setting, and change for a safe one. Besides that, A-G line
setting do not require to follow any sequence order and can be done in random
order.
Step 5: After finishing setting the point, click [Open safe area] to open and close
this safe zone.
Note: The zero point needs to be reset to take effect each time restart the
SYNTEC simulator, otherwise, it will not take effect.
To clear the alarm, click the "X" button in the upper right corner or the return button in
the lower left corner of the alarm window to close it. Then, after manually moving the
corresponding axis away from the safe area, click the "Reset" button on the teach
pendant or the Function Panel.
If the axis cannot be moved manually at this time, the safe zone function needs to be
closed first, and after moving it out from the safe zone, the corresponding safe zone
must be reopened to ensure the normal operation of the robot.
• Front view
• Top view
iv. Press the "Open safe gap protect" button to enable the protection
function
1. Coordinate System : Click to select which coordinate system will be used as the basis
to create the current user coordinate system. The options are "Robot Coordinates",
"User Coordinates" and "Pallet Coordinates", as shown in the figure below
a. Robot Coordinates : The coordinate system set by the direction of the robot
arm mechanism
b. User Coordinates : A coordinate system defined and created by the user. only
available in robot one
2. User Coordinate System : Choose which set of user coordinate system to create, there
are three sets to choose from
3. Coordinate system teaching method : Step-guided teaching is adopted. When the
point to be taught is clicked, the icon will automatically change to a schematic
diagram of this point, so that the user can know the meaning and teaching method of
the current point and the following with text description.
2.3.1.4 APP
App developed for different application areas.
Pr4100, Pr731 and Pr732 will be modified to 2 when OP-38 (Multi Gantry Robot) is on or
Pr4100 (multi Robot) is set to 2 on this page.
Beginning Version 2+0 2+1 2+2 3+0 3+1 4+0 4+1 5+0 Dual
Chann
el
10.118.14/10.118.1
2B
10.118.6
Before 10.118.6
The display method of Syntec system model is (arm axis + pallet axis) Ex: The 4 + 1 model is
a four-axis arm axis with a one-axis pallet axis.
If the axis combination (arm axis + pallet axis) is set incorrectly, the system will enter the
protection window when restarting.
11. Serial PLC Axis Param : Through the serial PLC axis parameter page setting and
diagnosis screen, the parameter setting and monitoring status can be
executed.(Current serial plc axis doesn't support mastering, speed control or hand
wheel mode).
12. SetPoint Axis : Similar to case of Serial PLC Axis application, multi-axis application of
PTP(point to point) positioning.(Setpoint axis' name can't be set as system axis' name,
or it will cause confusion or can't move axis problem).
13. Extended Param : This page shows the PLC driven register controller parameters.
14. Subscribe Channel : Setting page of subscribe channel, users are allowed to subscribe
different contents to monitor according to the parameter setup.
15. Gantry Calibration : Provide calibration function of Gantry.
2.3.3.1 Diagnostics
[Diagnose] is mainly used for the diagnosis of the system state by the machinery factory and
Syntec personnel. If necessary, please contact the relevant personnel. The information in this
area mainly includes system status data such as PLC status, system data, global variable
status, local variable status, operation record, and SRI status
2.3.3.2 Maintenance
[Maintenance] is mainly used for the diagnosis of the system status by the machinery factory
and Syntec personnel. If necessary, please contact the relevant personnel. The information in
this area mainly includes alarm display, network setting, rapid diagnosis, extended parameter
bits, system settings, data backup, about, and so on.
Operation instruction:
1. Use the tap to select the desired parameter address to be changed.
2. Use [PageUp]/ [PageDown] to switch between the upper and lower pages.
3. Only [0] or [1] can be entered.
4. Annotations can be made for each bit.
Note:
1. In the [O Point Monitor] screen, press the button before the corresponding description to force
the output of the O point signal. After the output done, the corresponding button changes from
white to orange. Press again to turn off the output, and the corresponding button changes back
to white. Before executing, please pay attention to the position of the robot and the status of the
output cylinder to avoid accident.
2. For security reasons, the buttons of O point cannot be used during busy state, pause state, or
single step execute.
3. If the contacts output on the page conflict on the PLC, they will be overwritten by the PLC
commands.
1. The tabs can be switched between input and output to modify the name settings online.
2. No.:Enter the number of the input or output that is to be modified.
3. Displays the name recorded for the input number in the current state of the controller.
4. New Name:Modify the name of the online modification to be set.
a. After changing names online, all updated display names in other pages will be
"reboot required".
b. If an online modification has been made, the name of the online modification will be
displayed no matter which standard language it is switched to (currently supporting
Traditional Chinese, Simplified Chinese, and English).
5. Close: When finished making changes or when no changes are needed to be saved, click
the close button in the upper right corner to leave this function screen.
6. Restore Original Settings: This function removes all online change strings corresponding
to the current page tab and restores them to their original or custom import strings.
a. No customization String: Displays the original string.
Scenario: Using the original setting string, no matter how many times it is modified
online, the original setting string will be displayed after using this function.
b. With custom string: Displays the custom string.
Scenario: Importing a custom string will display the imported custom string after
using this function no matter how many times it is modified online.
7. Save & Continue:Save the content entered on the current screen and clear the Number,
Current Name, and New Name fields for users to modify continuously.
This feature "requires a reboot to take effect". "Original settings" means the display string is
restored to what it was before the online modification feature was used.
• Restore Single Original Settings: Type empty in the [Modify Name] field, and press [Save &
Continue] button to restore the name of the corresponding input number.
• Restore Multiple Original Settings: Using the [Restore Original Settings] button, which will
remove all currently modified strings.
STEP 2:If the name of Output 2 is to be modified, enter 2 in the number field, and the current
name will show the display name of the controller's current Output 2.
STEP 5:After closing Edit Name window, modified results can be viewed on the page.
STEP 6:After rebooting, all the pages in the robot controller that used to display "Output2" will
display their display names as "Op2".
1. [Backup]: To execute the Syntec Backup (SB) and Maker Backup (MB). Among them, the Syntec
Backup contains system software and all system data.
2. [Restore]: To perform the restoration of SB and MB backup files.
3. [Import/ Export]: To import and export PLC files.
4. [Macro Management]: To import and export Macro data.
5. [Driver Management]: To perform the program updated of serial driver.
6. [Program]: To import and export the pick and place program.
7. [RefPoint]: To import and export reference point files.
8. [Pallet]: To import and export pallet files.
9. [All User Prog]: After clicking, choose the [Export All] or [Import All] button, which is used to
quickly backup and restore processing data such as pick and place programs, reference points,
pallets, and peripheral subprograms.
10. [Import/Export Custom String]: Select customized string files which filename must be
"CustomizedString_XXX.xml"(can choose more than one file). The system will import the Ocres
folder (CHS imports CHS\String, KOR imports KOR\String) according to the corresponding suffix.
After import selected customized string files successfully the system will hint correspond
messages and must restart system again.
1. Export all : Create a folder with the serial number of the controller at the selected path,
and export the pick and place program, reference point files, pallet files and peripheral
control subprogram to the folder.
2. Import all : Import the selected folder's programs. The rules are shown below.
a. Master Folder : Please select the folder which contains all user program
subfolders.
For example, as shown above, the master folder M9A0001 should be selected
for import.
b. Folder Structure : The folder structure must be the same as the output folder
from using the "Export all" function.
The name of the subfolder must comply with corresponding name : Pallet,
PalletRobot2, PCSubProg, RefPoint, RefPointRobot2, RobotProgram and
RobotProgram2. If subfolder's name is Illegal, the files in the subfolder will not
be imported.
c. Others :
If the same file is present, a prompt will ask if all files need to be overwritten
or not. Click "Yes", all files will be overwrite. Click "No" to cancel the action.
The names of the subfolders will be prompted when imported successfully.
Only files with certain extension can be imported. (For example, the file
which extension isn't ".cyc" in folder RobotProgram can't be imported to the
controller.)
File Type Extension
the [Main] → .
1. Reference Point Display Block : To display the reference point number, name and coordinates.
2. Reference Point Updates & Storage :
a. Updates : To update the reference point coordinates in the currently executing program,
the reference point must be named to use this function. (After modifying the coordinates
of the reference point, the "Reference Point Import" action must be performed to update
the point coordinates in the program. The updating is not case sensitive).
b. Storage : To save the current modified/edited reference point file.
3. Reference Point Editing Command Block : To place the functional components for reference
point teaching, editing and verification.
a. Set : In the auto/manual mode, the current coordinate point is taught to the selected
number of reference point in the reference point command block.
b. Insert : Insert a blank reference point above the selected reference point number.
1. [Automatic reference point file selection] : The controller automatically selects the reference point
file of AUTOxx.rt after changing the value of register R10600 through PLC or MACRO.
For example, if R10600 is set to 1, the reference point file is automatically selected as AUTO1.rt; if
R10600=2, AUTO2.rt is selected; and so on.
2. [Automatic reference point file import] : Turn on the automatic import function (R10604=1), and the
program will automatically update the reference point file after changing the program.
Example, there are two programs that correspond to the following reference points: Currently, we are
using program A plus reference point AUTO1.rt. When we switch to program B, there is an auto-import
function, and the reference point file AUTO1.rt will be automatically updated to the new program B. No
need to manually update the reference point file again.
Click [Main] → → [Reference File Management] → [New Reference File] through the
teach pendant. The following window pops up. Enter the reference point file name as AUTO2 and
click [OK].
After confirmation, a new reference point screen will pop up. The reference point file name is
AUTO2.
STEP 2: In this screen, under the manual (JOG/ INJOG) mode, move the (X,Z ) axis in teach
pendant. After clicking the [Set] button, the current arm coordinate can be set as the reference
point, as the shown in the figure below.
STEP 3: Set the name of the reference point by clicking [Name]. Here we set P1, as the shown in the
figure below.
STEP 4: Lastly, click [Complete Edit] to save the data, as shown in the figure below.
4.4.2 3.4.2 Example of Point Coordinate Update In Pick And Place Program
Example : As shown in the figure, the "StrPt” coordinate in the AUTO2 file is (0, 0), and the “Initial
point” is called to perform point initialization in the RobotProgram. In this example, after modifying
the coordinates (0,0) of the "initial point" to (0,100), then import and update to the RobotProgram.
The following figure shows the content of the reference point and the display screen of the pick and
place program.
STEP 1: Select the “StrPt” line to highlight it, click on “Coordinate Editing” and change the point
coordinate to (0,100).
STEP 2: Click [Complete Edit] to save the reference point file and click [Reference Point Update].
Pop-up window prompt: “The current reference point file will be updated to the current pick and
place RobotProgram and the subprogram called in the program.”
Click [Confirm] to update the coordinates in the current reference point file to the current pick and
place program and its subprogram.
As shown in the figure below, the coordinates in the program are automatically changed to the
modified “Strpt” coordinates.
Click「 」can enter the page of pallet selection, as shown in the following figure.
Based on the selected pallet, entering the corresponding pallet teach page as shown below.
1. Pallet teach page content : Shows the functions of the pallet teaching and can be switched to
different pallet pages from the fenubar below.
2. Pallet fenubar : Switch to different pallet pages.
1. [Pallet Wait Point] : When the robotic arm enters or exits the pallet, it will first or last pass this
waiting point. This process is to ensure that the start or end of the picking or placing process is
performed in a safe zone.
2. [Starting Point] : The starting point is the intersection point of the X and Y axes on the XY plane.
3. [X Direction Last Workpiece Point] : It is the last point in the X-axis direction of the arm
coordinate system.
4. [Y Direction Last Workpiece Point] : It is the last point in the Y-axis direction of the arm
coordinate system.
After determining [Starting Point], [X Direction Last Workpiece Point] and [Y Direction Last
Workpiece Point], in combination with related parameter settings, the robot arm can automatically
calculate the coordinates of each workpiece point on the matrix pallet position.
After understanding the concept of the matrix pallet, refer to the figure below to understand the
action flow of the matrix pallet. When the system enters the execution of the pallet program, first, it
determines whether to enter the waiting point. If it is necessary to pass the waiting point, the
corresponding pallet replacement program and peripheral actions are executed when reaching the
waiting point. Then, it reaches the workpiece point and executes the corresponding peripheral
action. Finally, it is determined whether or not a waiting point needs to be passed, and a
corresponding replacement pallet program is executed if necessary.The flow chart of the pallet
action is shown in the figure below.
1. Point teaching : Through the teaching of these three points, the robot arm can decide the order and
position of picking and placing.
2. Advanced Parameter : Used to set whether the wait point is showed or not.
3. Waiting point ( advanced parameter ) : Set a waiting point to allow the pick and place movement to
decide whether to pass this point or not. The waiting point is also used to determine the timing of the
pallet change.
4. The "Point Teach", "Point Edit" and "Go to Point" buttons are used to set/edit the coordinates selected
by Icon 1.
5. Peripheral Control: Displays the Peripheral Control setting page.
1. Decreased Speed Heigh : After the robot moves to the position above the material, it will pick(place)
the material, as shown by the length of the orange arrow in the figure below. The deceleration height is
the height of the robot above the workpiece before it goes down. (The value of the deceleration height
should be all positive. It must be based on the Z-axis of the coordinate system that vertical to the
ground and the upward direction as positive direction.)
2. Rise Height : To set the height raise of the Z axis after the robot pick/ unload the material. The
purpose is to get the arm away from the workpiece, so it is recommended that this value be greater
than the height of the workpiece. (The setting value of height raise should be positive. It must be based
on the Z-axis of the coordinate system that vertical to the ground and the upward direction as positive
direction. )
3. Rise Speed ( advanced parameter ) : To set the speed raise of the Z axis after the robot pick/ unload
the material. Can be set to move speed or deceleration speed .
4. Z Direction Number( advanced parameter ) : To set the number of workpieces in the Z axis direction
of the pallet.
5. Z Direction Workpiece Offset(mm) ( advanced parameter ) : Negative value can be input. When it is
positive, teach point is the bottom layer of the pallet. When it is negative, teach point is the top layer of
the pallet. The value represents the height of each workpiece.
6. X Direction Last Workpiece Point : It is the last point in the X-axis direction of the arm coordinate
system.
7. Workpiece No. : To record the workpiece number currently picked/ unloaded. It defaults to 1, the
user can directly input the value, and the robotic arm will pick (place) the material to the workpiece
position of the number, the order follows direction X → Y → Z.
8. Swap Program ( advanced parameter ) : To specify the program name for the pallet replacement.
a. Swap Program function's filename limitations are shown below:
Length Limit Invalid characters Allowable extension
Maximum length of 31 ("), (<), (>), (|), (:), (*), (?), (/), (\), (.CYC)→ call sub program
characters ( ), ( .) (without extension) ,
(.txt)→ call macro
b. Examples for "call sub program" and "call macro" are shown below:
i. Enter filename:SUB_5.CYC → call sub program
ii. Enter filename:SUB_6 or SUB_7.txt → call macro
c. Show error message when filename is invalid
9. Swap Timing ( advanced parameter ) : When the pick/place pallet has been empty/full, it will execute
the pallet replacement program. The program can be chosen to execute before/after picking and
placing or no change. The following introduces three types of pallet replacement timing is based on the
passing of the waiting point.
a. No Change : Not execute the program of changing.
b. Before Picking : After the arm has finished picking and placing all the workpieces on the pallet
and leaves the pallet area, it will return to the pallet area again from the outside and reach the
waiting point of to execute the program of changing the pallet.
c. After Picking : When the arm has finished picking and placing all the workpieces on the pallet
and is ready to leave the pallet area, the pallet changing program will be executed when passed
the waiting point during leaving procedure.
10. Pass by Waiting Point ( advanced parameter ) : To set if waiting point needed to be passed when
entering or exiting the pallet.
11. Z Direction Pick&Place ( advanced parameter ) : To set the Z-axis direction to pick/ place the
material from top to bottom/bottom up. The situations of Z Direction Object Offset(mm)/Pick&Place's
combination are as follows:
Pick (top down) Place (bottom up)
Z Direction Object Teach the top of the pallet, and Teach the top of the pallet, and
Offset( Positive value ) pick the workpiece from the top place the workpiece from the
layer. bottom layer.
Z Direction Object Teach the bottom of the pallet, Teach the bottom of the pallet,
Offset( Negative value ) and pick the workpiece from the and place the workpiece from the
top layer. bottom layer.
12. Advanced Parameters : For setting whether the advanced parameters are showed or not.
13. Move Speed : The action of the robot is to move horizontally first, and then move down to the
position of the deceleration height above the workpiece with the same speed. As described by the blue
arrow in the example below.
14. Reduced Speed : The speed of the robot moving down from the deceleration height. As described by
the orange arrow in the figure below.
1. Peripheral Control : To perform peripheral actions control by peripheral devices. Among them, PLC M
code and subroutine can be chosen to use, as shown in the figure below.
2. [Wait Time] : To set the timer to carry out wait time, unit in ms.
2. [File manager] : After enter file manager. The file manager supports add, copy, delete,
import to controller or export to USB functions.
3. [Pallet Copy] : Copy the currently editing pallet data to selected pallet number.(The
corresponding button of the current pallet will not be enabled. That is, when the current
pallet is the No. 1 pallet, the No. 1 pallet button of the "specify paste pallet" will not be
activated.)
b. [Pallet Parameters] : Pass by wait point, swap prog., swap timing, X.Y.Z dir. num., Z direction
object offset(mm), Pick&place Z dir., rise speed, rise height, reduced speed, reduced height,
move speed and pallet
c. [Pallet Move] : Arrived wait point move、arrived workpiece move
4. [Run] : Execute the copy function
[Inclined Pallet] : After clicking, inclined pallet function is enable. Settings of pick & place directions is
allowed to be set in advanced parameters setting page. According to the setting, the robot coordinate
will be rotated, shifted.
[Pallet Teach Mode] : The default three-point teaching mode can be switched to the single-point
teaching mode. When the single-point teaching mode is turned on, only the starting point of the pallet
needs to be taught, and other points can be replaced by input parameters. After clicking, the point
teaching page is the single point teaching page for setting the starting point of the pallet and the X and Y
spacing.
1. Pick place direction: When picking and placing materials, workpiece will be placed or picked
(used on the inclined pallet) according to the motion direction between the pick and place
direction point and the first workpiece point.
2. Incliend Pallet Shift enabled hint label : Hint the incliend Pallet Shift function is enabled.
After enabling the Inclined pallet function in the advanced settings page, the pallet parameter page
will display the incliend pallet shift entrance.
Incliend pallet shift function : By setting the shift parameters, this function eliminates the need to
re-teach the workpiece by replacing the workpiece.
(Applicable to V-shaped inclined pallet, and the workpiece is cylindrical.)
1. Incliend pallet shift enable button : Enable/Disable the incliend pallet shift function.
2. Incliend pallet shift hint picture : The corresponding picture is displayed according to the
selection of 4.
3. Relationship between the pallet and the coordinates : Showing the relationship between the
inclined pallet and the coordinates.
4. Incliend pallet shift parameters :
a. Workpiece diameter D : Current workpiece diameter
b. Reference workpiece diameter d : Reference value of workpiece diameter, used to
calculate the basis of workpiece offset due to diameter
c. Workpiece Length L : Current length of workpiece
d. Reference workpiece length l : The reference value of workpiece length, which is used to
calculate the workpiece offset due to length
e. Pick Offset S : Only when picking up the workpiece, after picking up the workpiece, first
move anti-interference lift offset H, then move anti-interference offset S
f. Pick Offset H : Only when picking up the workpiece, after picking up the workpiece, first
move anti-interference lift offset H, then move anti-interference offset S
g. V-shape angle & Pallet Coord Relationship : Select the current corresponding pallet type
according to 3.
Example : When the vector formed by the starting point of the pallet and the last
workpiece point in the X direction of the pallet, where the positive direction points to the V
opening, is CaseD.
h. Pallet V-shape angle : Angle of V-shape pallet.
Hint : If the direction vector of the dimension offset is calculated as 0, an alarm will be displayed
during processing. The following is an example.
Example 1: CaseA pallet, the dimension offset is Y direction, but the number in Y direction is 1.
Since the number in the Y direction is 1, the direction vector is 0, so an alarm will appear.
Example 2: CaseB pallet, the dimension offset is X direction, and the number in X direction is 2.
But when teaching points, the vector formed by "start point" and "end point in X direction" is
0. An alarm will appear.
1. The starting point of the Pallet : teach the robot arm to pick and place the workpiece on the first
point of the Pallet.
2. X, Y direction spacing : Enter the spacing between two adjacent workpieces on the Pallet. The X
and Y directions are the X and Y directions under mechanical coordinates .
3. Pick and place order : It can be determined that the X direction or Y direction is the priority order
of the robot arm. For example: Select X direction priority, the robot arm will first pick and place
the workpiece in the X direction and then change the next row of workpieces in the Y direction for
pick and place.
In single-point teaching mode, if the inclined pallet setting is turned on, the advanced parameter
page is as follows
The setting of the inclined pallet changes from point teaching to input inclination angle, and the
feeding direction will be perpendicular to the plane of the pallet. The inclined angle is set as shown
in the figure below, which is calculated counterclockwise from the X-axis direction of the machine.
Click [ ] → [Pallet 1] through the teach pendant to pop up the following window:
Under the manual mode, through the [Peripheral control] point the material loading gripper to
the workpiece, and manually move the axis to the first workpiece position, then click [Starting
Point] → [Set Point]; using the same way to set [X Last Point] and [Y Last Point].
5. [X Direction Number] = 3
6. [Y Direction Number] = 4
• After the arm enters the pallet, determine the peripheral action when it reaches the
waiting point.
Considering that the robot enters the pallet to pick the material, when the waiting point is
reached, it should be ensured that the loading gripper points to the workpiece and is in the
unclamping state.
Therefore, use the teach pendant to perform the following operations:
[Step 1] → [Peripheral Control] → [gripper Reverse] → [Confirm],
[Step 2] → [Peripheral Control] → [Loading gripper Release] → [Confirm]
• Confirm the peripheral actions when reached the workpiece
When the arm reaches workpiece point, the loading gripper should clamp the workpiece to
complete the material picking.
Therefore, use the teach pendant to perform the following operations:
[Step 1] → [Peripheral Control] → [Loading gripper Clamp] → [Confirm],
Until now, the parameters of the picked pallet have been finished configuring. Next, set the
placed pallet parameters. Since the material is pick and place on the same pallet, fine-tuned
of the point parameters of the pallet is enough.
STEP 4: Export the data of pallet to other pallet
Click [ ] → [Pallet 1] →[Advanced]→ [Copy Pallet Data] from the teach pendant to pop up
the following window:
After clicked [Specify the pallet to paste ], then click [Select the copy pallet data ] and then click
[Confirm ] to import the file data of pallet 1 to the specified pallet.
Step 5: Refer to Step 1 – 3 and the action flow of placing pallet, perform the parameter setting
for placing pallet.
Click the [Main] → [ ] button through the teach pendant to enter the pick and place teaching
screen, as shown below:
in non-automatic mode.
4. [Save File] : After modifying/ adding the steps of the program, file saving is required.
5. [Page Switching] : Perform the page up/down of the page of the pick and place
program.
6. [Robot Program Fenubar] : Performs fast switching between the pages of pick and
place program, file management, and macro program. These button are enable while
in non-automatic mode and in ready or not ready state. These buttons are enabled
when authority is higher than training level and in non-automatic mode.
7. [Start Block] : The specified start block can be input under any mode except "In
process", "Hold" and "Axial status"
When the processing is started, it will directly go to the block for processing according
to the specified block number, and reset the value to 1.
(When you enter a number greater than 1, the Start Block function is on. The label of
Start Block's backcolor will be yellow and the program cursor will be automatically
1. [New File] : To open a new pick and place program file. Can not create the PCSubProg
file that it's filename start with PCSubProg here.
2. [Copy File] : To copy the selected program data into a new file
3. [Delete File] : To delete the selected pick and place file.
4. [Import File] : To copy the pick and place programs from external devices such as
network/U disk to the controller.
5. [Export File] : To copy the pick and place programs from the controller to external
devices such as network/U disk.
• New file function's filename limitations are shown below:
Length limit Invalid characters
Maximum length of 31 characters ("), (<), (>), (|), (:), (*), (?), (/), (\), ( ), (.)
Minimum length of 1 character
Single/ 2+0 X Z
Multi
Robot
2+1 X Z Y1
2+2 X Z Y1 Y2
3+0 X Y Z
3+1 X Y Z Y1
4+0 X Y Z C
4+1 X Y Z C Y1
5+0 X Y Z B C
1. Permissions must be in "Edit Mode" (included) or above to access the list of peripheral
subprograms.
2. Peripheral subprograms are prohibited to teach "Motion Command", "Call Peripheral
subprograms".
1. [Move Commands] : There are three kinds of movement modes: circle Movement,
rapid movement and slow movement.
2. [Move Target Point] : Select the point where the current step will move to.
3. [Single Axis Movement] : It is used to set whether the current arrival point is axially
independent motion or multi-axis interpolation motion.
4. [Current Coordinate] : The current coordinate position of the arm.
5. [Reference Point] : Point information in the current reference point file. The settings
can be taught at the bottom of the page.
6. [Speed] : Set the movement speed in arc/slow movement in mm/min. Fast moving
does not require setting this parameter.
7. [Smoothing Corner] : Set the smoothness of the corner.
1. Select [Pallet]
2. After confirming the pallet program number to be executed, click [Confirm]
a. The action to be performed is written in the PLC. The terminal action can be
changed by changing the M code in the PLC.
2. (Peripheral) subprogram:
a. Press to execute a subprogram. This subprogram can be edited in the program
editing screen. The terminal action is achieved by the commands of Gantry
Product Operation Manual(10.118.x修編中)#Input, Output Commands.
i. Enter Input command teach window and press signal button "I".
When signal is selected to be "I", number selection can be
done by direct input or button selection on the list. The list
provides I0~I127 for customized string. I-bit from 128 to 511 can
only be select by direct input.
ii. Use direct input or button selection on the list to select the signal
bit. In this example, press "Input0".
iii. Click the duration (ms) input box. The meaning of this argument :
How long the signal should be for this continuous time to be
recognized as valid. (Unit : ms, integer only) Default value : 10ms.
iv. Select target status "ON"
v. WaitTime (ms) is an optional, this example did not enter it. The
meaning of this argument : If the signal is not recognized as valid
after waiting for this amount of time, execute OutOfTime Action.
(Unit : ms, integer only)
Caution: Wait command will wait for the signal infinitely if this
field left empty, because the signal condition must be met before
executing the next block.
vi. OutOfTime : Select action Alarm will t rigger alarm COR-338
G10 L1820 signal condition waiting timeout; select Pass will
execute next line command.
vii. Press "Confirm" to teach this command.
• AdvWait (Not enable stop)
• All parameter is the same as "Wait" command. Uncheck "Enable Stop"
to teach this command.
Caution : While robot arm is approaching target point, it passes
without stop at the point if signal is recognized as valid.
To pass without stop at the point, set "Corner Rounding" for the
previous move command.
4. Output Commands : Output Command can be categorized into "Signal" and
"AdvSignal".
Output commands can be used to control output signals of the ON/OFF status of O/R/A
bits.
Both commands support O-bit(0-511), A-bit (0-511), Register(0-65535.15)。For
detailed instructions, check G10 L1805 for Signal and G10 L1803 for AdvSignal
in Industry Machine Application Manual(CHT) .
1. [Call M Code] : Enter the number of the M code (>0 integer). The program will execute
the pre-written M code when the program runs to this line.
2. [Call Subprogram] : Call Subprogram function can call "sub program" or "macro".
Maximum length of ("), (<), (>), (|), (:), (*), (?), (.CYC)→ call sub
31 characters (/), (\), ( ), (.) program
Minimum length of 1 (without extension) ,
character (.txt)→ call macro
b. Examples are shown below:
i. Enter filename:SUB_5.CYC → call sub program
ii. Enter filename:SUB_6 or SUB_7.txt → call macro
c. Show error message when filename is invalid
d. Calling subprogram commands cannot be taught in peripheral subprogram.
3. [End of Subprogram] : The end of the subprogram is a flag to identify the
subprogram. When the teaching pick and place program is subprogram, this must be
added at the end of the program.
4. [Wait] : Provides a timer to stop the arm and wait for a period of time. The timer can
refer to a "variable (#/@)" or a "positive integer".
3. 「Goto」:Jump to the corresponding label row. Click directly on the label provided
on the UI to teach. The total number of the fixed label is 12, and the number ranges
4. 「Label」:Name a line in the program, and you can jump to this line by using the
Goto command with this label. Click directly on the label provided on the UI to teach.
The total number of the fixed label is 12, and the number ranges from 10000 to 10011.
1. [IF Relevant Command] : There are IF; ELSEIF; ELSE and END_IF. Each IF instruction
must end with a END_IF.
2. [Condition 1] : The first condition consisting either a local variable (#), a global
variable (@), and a bit (A).
3. [Logical connection] : NONE, AND, OR.
4. [Condition 2] : The second condition consisting either a local variable (#); a global
variable (@), and a bit (A).
[Loop] is used to implement the loop execution function in the pick and place program. It can
execute the FOR loop or WHILE loop instruction of a certain loop condition. When the system
executes to the [Loop] command, the loop execution process will be performed.
1. [WHILE Loop Related Commands] : There are WHILE and END_WHILE. Each WHILE
command must be terminated with a END_WHILE.
2. [WHILE Loop Condition] : The loop condition of the WHILE loop consisting either a
local variable (#), a global variable (@), and a bit (A).
3. [FOR Loop Related Commands] : There are FOR and END_FOR. Each FOR loop
command must end with a END_FOR.
4. [FOR Loop Condition] : The loop condition of a FOR loop consisting either a local
variable (#), a global variable (@), and a bit (A).
5. [EXIT commands] : Used to jump out of FOR loop and WHILE loop.
In the step edit pop-up window, there are also other functions as the following:
1. [Execute Step] : Use to execute the double-clicked program steps under hand
simulation mode to verify the current program steps.
2. [Edit Command] : Use to modify the command that has been taught. If a motion
command is to be edited, edit window in the figure below will pop-up, and other
command will pop-up the edit window corresponding to that particular command.
3. [Go to Subprogram] : The following two commands support direct program editing
a. Call subprogram
i. The sub-file name of program is CYC (i.e., robot.cyc). It will directly open
the program editing when clicking to enter the sub-program function.
ii. The program is a macro program (456). Click to enter the subprogram
function will open the macro program editing page.
iii. The program is a TXT file (123.txt). Click to enter the subprogram
function to open the macro program editing page.
i. If this TXT file has a program CYC file with the same name, a hint
will pop up to inform the user.
b. Peripheral subprogram
i. The program action is a peripheral subprogram, click the function to
enter the subprogram and it will directly enter the peripheral
subprogram.
ii. After entering the peripheral subprograms, the display name of the
corresponding multi-language string of the current peripheral
subprogram and the name of the previous program can be seen, and the
previous program can be returned to the previous one through the
"Back to previous program" button.
Note: If the program is run while the page is displayed as a
subprogram, the current page jumps back to the main program page
and executes the main program.
DI(0) of the gantry arm is the service request signal from CNC 1 while DI(1) is the service request signal
from CNC 2. Therefore, the pick and place program for the gantry robotic arm can be made of the
following separate flows: initialization, pick material, unload material, CNC 1 service and CNC 2 service.
As shown in the figure below :
1. [INITAIL.CYC] : The initialization program for the robotic arm, which used to return arm
to the specified starting point and initial status.
2. [GET.CYC] and [SET.CYC] : The material picking and material placing programs for the
robotic arm, respectively, which used to plan the material picking/ placing at pallet or
a specified position.
3. [CNC1.CYC] and [CNC2.CYC] : The pick and place programs for machine CNC 1 and CNC
2, respectively which used to plan the actions of the robotic arm when entering the
machines to execute the material picking and placing .
By referring to the flow of the above pick and place program, teach the following MAIN program:
7 6. Abnormality Exclusion
1. By referring to the cross indicator on the screen, tap 9 times on the screen following order.
2. After the cross indicator disappears, click anywhere on the screen to complete the adjustment.
8 7. Appendix
7. Appendix – 104