CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.

Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

CRP Programming Instruction

This system supports several types of robot, and make a part

instruction about the six-joint robot. Please refer to this
instruction and debug manual for other type of robots.

Please make sure the operator of this product

accepted the instruction related

Page: 1 of 72
 CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.
Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

Safety Attentions
Please read carefully and understand totally of these instructions and other related documents BEFORE
using this system. Please start using the system ONLY AFTER mastering all equipment knowledge,
safety knowledge, and notices.

Safety attentions in this instruction are graded into four categories- DANGER, CAUTION, MUST, and
FORBID

indicating that death or severe injury will result if wrong operation is taken.

indicating that medium or slight injury or equipment breakdown will result if

wrong operation is taken.

instructions that must be obey.

operations that mustn’t be taken.

It should be noticed that things labeled with CAUTION may also result into severe consequnces in
different situation. So it’s very important to pay attention to every CAUTION instructions, and stay
strictly with them.

Some instructions even may not be labeled with DANGER or CAUTION, but users should also obey
them.

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 CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.
Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

★Before operating the robot, press the “emergency stop” button on the teach
box and make sure main power supply of servo is off and motor is in “off-power and
brake” status. After cutting off the servo power, servo power button on the teach box
is red.
Under an emergency, personal injury or equipment damage may result if robot cannot be stopped
in time.

★When emergency is removed and servo power need connecting, please remove
and deal properly with the incidence which causes the emergency, and then connect
the servo power.
Personal injury may result due to the unwanted robot movement from wrong operation.

★When teaching within the robot movement region, please obey the following
principle: keep observe the robot from the front
follow the operation manual strictly
consider the backup plan if robot move suddenly toward yourself
set up the shelter just in case
Personal injury may result due to the unwanted robot movement from wrong operation.
★When following processes are operated, make sure nobody is in the robot
movement region and operator is in the safe position: powering the robot control electric
tank
controlling the robot using teaching programmer
test running of robot
reoccurrence automatically
Personal injury may result when entering the robot movement region or contacting the robot.
Press the emergency stop button immediately when exception occurs.

Page: 3 of 72
 CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.
Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

★Following items need confirming before operating robot:

Operator is well-trained with robot-operation;

Operator has adequate knowledge of the movement feature of robot;

Operator is fully aware of the danger of robot;

Operator hasn’t drink alcohol;

Operator hasn’t take drugs that affect the nerve system and make reaction slow.

★Following items need checking before robot teaching process. If any abnormal is found, fix it
or take other necessary measurement immediately.

Movement of robot is normal or not;

Home point adjustment is correct or not;

Auxiliary equipment connected to robot is normal or not.

★Please put the teach equipment to original position after usage, and place it firmly.

Please don’t put the teach programmer on robots, claps or ground. Otherwise, personal injury or
equipment damage may result when teach programmer has collision with robot or claps.

Please be cautious with the incidental falling of teach programmer, which may lead to wrong movement
of robot, personal injury and equipment damage.

Page: 4 of 72
 CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.
Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

Safe operation protocols

★All the operators of robot systems should participate in system training, study safety protection
measurements and understand robot functionality.

★Make sure no abnormal or dangerous situation of robot and auxiliary equipment occurs, before
starting operating robot.

★ Unplug the power or press emergency stop button before entering the operation region, even robots
aren’t running.

★ When programming within the movement region of robot, corresponding guard should be set to
make sure that robot can be stopped under emergency circumstances. Please don’t wear gloves when
teach and inch the robot. Please take the slow mode when inching the robot, in case emergency occurs and
robot can be stopped efficiently.

★Operators must be familiar with the emergency stop buttons on the robot controller and periphery
controller, to the degree that these buttons can be pressed exactly under emergency.

★Never think that static status of robot means the finish of program. Static robot is likely to receive the
input signal to get moving.

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 CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.
Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

Catalog
1 Invoke of program instruction .................................................................................................................... 7
2 Description of Program Commands ......................................................................................................... 9
3 Structure of Program Command: .............................................................................................................. 9
4 Description of Additional Options: ........................................................................................................... 10
5 List of Program Commands: .................................................................................................................... 14
6 Description of Program Commands: ...................................................................................................... 17
6.1 Movement instrument ........................................................................................................................ 17
6.2 Logic Instructions ............................................................................................................................... 22
6.3 Calculation instructions ..................................................................................................................... 26
6.4 Pallet instruction ................................................................................................................................. 29
6.5 Welding instructions ........................................................................................................................... 30
6.6 Painting Instruction (Backup Function) ........................................................................................... 31
6.7 Pouring Instruction (Backup Function) ............................................................................................ 31
6.8 Auxiliary Function ............................................................................................................................... 31
6.9 Vision Instruction ................................................................................................................................ 43
6.10 Track instructions ............................................................................................................................. 45
6.11 Communication instructions ........................................................................................................... 46
6.12 Special Instructions.......................................................................................................................... 47
7 Teach program ........................................................................................................................................... 49
7.1 Welding teach program ..................................................................................................................... 50
7.2 Lifting program example.................................................................................................................... 54
8 Program edit functions .............................................................................................................................. 60
8.1 Edit in Program list ............................................................................................................................. 60
8.2 Edit in program edit interface ........................................................................................................... 63
9 Program test-run ........................................................................................................................................ 71
9.1 Preparation:......................................................................................................................................... 71
9.2 Steps for program test-run: ............................................................................................................... 71

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 CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.
Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

1 Invoke of program instruction

1. Turn the mode security switch to teach mode.
2. Switch to the program list interface, create or open a program.

3.Click the < > button in the status control bar, or click the < >< > button
in the functional button area to invoke the frequently used instructions. When using functional area
buttons, repeat clicking the button will result into the different instructions under the menu. Click

< > button to invoke the instructions used last time.

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 CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.
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Tel: +86(28)84203568
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4. After the input of correct instruction parameters, click < > button to input the instruction; click

the < > button to cancel the instructions input.

These two operations should be carried out while pressing the security switch.

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 CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.
Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

2 Description of Program Commands

1．<> contains the selected or input content. [Blank] contains nothing, meaning don’t use.
3 ． Program instruction line should select or input the following types of content: instructions,
judgement symbol, data, status, number.
Instructions: instructions need invoking, e.g. MOVJ, JUMP, GP, LI, etc.
Judgement symbol: Used to judge the condition relationship, e.g. ==, ＞, ＜,>=, <=.
Assignment: Set the certain port into the certain condition, e.g. Y0=ON, M24=OFF.
Data: Data can be divided into digital, integer, minus, and characters according to the different
instructions.
Status: (ON=1, OFF=0). The status can be used as the number 0, 1.
Number: Number should be integer larger than 0 (0 included) according to the different instructions.
The number range may also different.
4．The additions may differ attached to the different instructions. Please pay attention to the additions.

5 ． Positions with downwards arrow symbol should be inputted by <up/down

arrows>selecting rather than directly input. Otherwise errors may occur.

6．Please select the instructions according to the reality where many instructions are available in
additional instructions position.
7．【Shortcut: 8 5 1】Invoke the instructions using shortcut. After showing the program instruction
list, instructions can be invoked by using number button, arrow button, and enter button. Examples are
as following:
【Shortcut: 8 5 1】Press 8,5,1to invoke SWITCH
【Shortcut: 2 1 E】Press 2,1, enter button to invoke RET
【Shortcut: 8 ↑ ↑ E】Press8, upward arrow, upward arrow, enter button to invoke FORBIDAXISEND.

3 Structure of Program Command:

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Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

4 Description of Additional Options:

Additional option
Descriptions
formats and definition
VJ=<%>: Units: 1%, Max: 100%. Actual speed = highest speed of the axis in parameters*
Joint movement speed VJ * automatic operation multiplier

VL=<straight movement
speed>: Units: MM/S, Max: Highest straight movement speed in parameters. Actual speed
straight movement = VL*automatic operation multiplier
speed

Range 0-9. Basically, it’s the radian of transition, which determines if the transition
is performed in rectangular or circle way. Suppose two straight lines need
connecting, parameters should be set to determine the radian of the transition line.
The below figure is the scheme of value selection.

PL=<Smoothness>:
Smoothness

Parameters can be used to judge: X<variable #>, M<variable #>, T<variable #>,
UNITL <condition>: C<variable #>; The condition of user judgment is effective (ON=1), ineffective
Condition judgement (OFF=0). E.g. UNTIL X# (0) ==ON to judge X0 port is effective; UNTIL
M# (3) ==OFF to judge the M3 auxiliary relay is ineffective.

General input X port: this port is related to hardware physical port. Status variable
X<Variable >: (ON=1, X<variable #>: general input OFF=0), range: 0-111.
General input X port Port status can be monitored in the “Monitor”-“I/O port”-“general input port
monitor”. variable # can be referred to “Hardware operation manual”

Internal auxiliary M relay. Status variable

(ON=1, OFF=0), range: 0-800
M<variable #>: Internal
The function definition, variable # of the auxiliary relay can be referred
auxiliary 0-800.
to “PLC manuals”. The status of relay can be monitored in the
“Monitor”-“PLC”-“M”.

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Web: www.crprobot.com

range: 0-99, values should be integer, with positive or negative symbol.

So when Program first invokes the same variable number, the value of the
GI<variable #>: global I variable is same. When Program secondly invokes the variable number, the value
variable of the variable will be covered.
This variable can be monitored in “operation preparation”-“variables”-“global I
variables” list.
range: 0-1000, values should be integer, with positive or negative symbol.
LI<variable #>: local I When different programs invoke the same variable number, the correspondent
variable values are not same, and will not interface and independent.
This variable can only be shown in the variable list when the program is open.
range: 0-99, values should be float, with three decimal places (.000) and positive
or negative symbol.
So when Program first invokes the same variable number, the value of the
GD<variable #>: Global
variable is same. When Program secondly invokes the variable number, the value
D variable
of the variable will be covered.
This variable can be monitored in “operation preparation”-“variables”-“global D
variables” list.
range: 0-1000, float variable, values should be float, with three decimal places
(.000) and positive or negative symbol.
LD< variable #>: local D
When different programs invoke the same variable number, the correspondent
variable
values are not same, and will not interface and independent.
This variable can only be shown in the variable list when the program is open.
Global P variable, combination of multi-data, used to record the joint gesture,
coordination, etc., of lathe. Variable range: 0-999, number range: 0-11.
Data number refers to the certain data in the GP variables combination. Data
number is defined as:

0: operate the whole data combination；

1: operate the x axis data； 2: operate the y axis data；

3: operate the z axis data: 4: operate the J1 axis data；

GP< variable #><data
number>: Global P 5: operate the J2 axis data； 6: operate the J3 axis data；
variable
7: operate the J4 axis data； 8: operate the J5 axis data；

9: operate the J6 axis data； 10: operate the J7 axis data；

11: operate the J8 axis data；

So when Program first invokes the same variable number, the value of the variable
is same. When Program secondly invokes the variable number, the value of the
variable will be covered. So when using the previously used variable number,
please pay attention in case of wrong movement or danger.

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This variable can be monitored in “operation preparation”-“variables”-“global P

variables” list.
Local P variable, combination of multi-data, used to record the joint gesture,
coordination, etc., of lathe. Variable range: 0-1000, number range: 0-11.
Data number refers to the certain data in the LP variables combination. Data
number is defined as:

0: operate the whole data combination；

1: operate the x axis data； 2: operate the y axis data ；

3: operate the z axis data : 4: operate the J1 axis data ；

LP< variable #><data

5: operate the J2 axis data ； 6: operate the J3 axis data ；
number>: Local P
variable
7: operate the J4 axis data ； 8: operate the J5 axis data ；

9: operate the J6 axis data ； 10: operate the J7 axis data ；

11: operate the J8 axis data ；

When different programs invoke the same variable number, the correspondent
values are not same, and will not interface and independent. For example, when
one program invokes variable L90, and another program invokes variable L90,
these two L90 variables are independent and will not interface. This variable can
only be shown in the variable list when the program is open.
General output port, which is related with hardware physical port.
Y<variables>: general Status variable (ON=1, OFF=0), range 0-79.
output port This variable can be monitored in “Monitor”-“IO port”-“general output monitor”.
Variable number is referred to “Hardware manual”.
T<variable #> Internal timer number, status variable (ON=1, OFF=0), range 0-59.
T<variable #>: Timer The status of this variable is ON or OFF.
Status of timer can be monitored in “Monitor”-“PLC”-“monitor of timer”.

TC<variable #>: value in T<variable #>internal timer data, number variable.

the timer This data can be monitored in “Monitor”-“PLC”-“monitor of timer”.

C<variable #>internal counter number, status variable (ON=1, OFF=0), range 0-

C< variable #>: counter 19.
This counter status can be monitored in “Monitor”-“PLC”-“monitor of counter”.
CC< variable #>: value C<variable number>internal counter data, number variable, range 0-19.
in the counter This data can be monitored in “Monitor”-“PLC”-“monitor of counter”.
GS character string variable, range 0-99. This variable is mainly used to read the
barcode and to edit data from external I/O port. This variable should be used with
GS< variable #>: global
READ DATA TO or READ IO BCD instructions. E.g.:
character string variable
READDATATO GS# (0): read barcode to variable GS0
PAUSE IF GS# (0) =123456: pause whenGS0=123456

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……
D< variable >: user- User-defined number variable, which is the specific data user can input. This
defined number variable variable can use +/- symbol, and can be a decimal.
Judge if two variables are equal or not. Both number variable and status variable
is available. E.g.:
==: judge equal
X0==ON；LI0=LI2; etc.

Judge if the former variable is greater than the later one. Number variable is used
here. E.g.:
>: judge greater than
LD0＞LI2； CC0>LD1; etc.

Judge if the former variable is less than the later one. Number variable is used
here. E.g.:
<: judge less than
LD0<LI2； CC0<LD1; etc.

Judge if the former variable is equal to or greater than the later one. Number
>=: judge equal or variable is used here. E.g.:
greater than
LD0＞=LI2； CC0>=LD1; etc.

Judge if the former variable is equal to or less than the later one. Number variable
<=: judge equal or less is used here. E.g.:
than
LD0<=LI2； CC0<=LD1; etc.

=: Setting symbol Set the former variable into the certain status, e.g.:
Y0=ON, M24=OFF, etc.

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5 List of Program Commands:

Type Commands Description

1 MOVJ

1 Movement 2 MOVL

3 MOVC

1 DOUT

2 AOUT

3 WAIT

4 TIME

5 PAUSE

2 Logic 6 JUMP

7 CALL

8;

9*

10 RET

11 TDOUT

1 ADD

2 SUB

3 MUL

3 Calculation 4 DIV

5 INC

6 DEC

7 SET

4 Lifting 1 PALLET

1 ARC START

2 ARC END
5 Welding
3 WEAVE

4 WEAVE END

1 GUN ON

2 GUN OFF
6 Painting
3 GAS ON

4 GAS OFF

7 Pouring

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1 SPEED

1 IF

2 ELSE IF
2 IF
3 ELSE

4 END IF

3 FOR

1 WHILE
4 WHILE
2 END WHILE

1 SWITCH

2 CASE

5 SWITCH 4 DEFAULT

8 Auxiliary Instructions 5 BREAK

6 END SWITCH

6 PULSE TARANSFORM

7 PULSE TARANSFORM END

8 IMPUTED

9 ZERO

10 MOTION FINISH

11 CHANGE USE

12 FORBID AXIS

13 FORBID AXIS END

14 COUNT COORD

15 CHANGE USE

1 RUN VISION

2 GET VISON DATA

10 Vision 3 CLEAR VISON DATA

4 TRIGGER VISON

5 CHANGE VISON

1 TARCK START

2 TARCK END

11 Track 3 GET TRACK DATA

4 CLEAR TARCK DATA

5 RUN IO CUTIN

1 READ IO BCD
12 Communication
2 READ DATA TO

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1 RESET
13 Special instructions
2 CHANG EPOINT

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6 Description of Program Commands:

6.1 Movement instrument

Movement instructions include three instructions: MOVJ、MOVL、MOVC

Move to the teach position in joint interpolation way. Movement
functions
speed of each joint is axis speed*VJ*automatic multiplier.
Position data, blank is shown in this
[blank]
bar on screen.
GP<variable>
GP variable, variable#: 0-999 LP
LP< variable>
variable, variable#: 0-999
VJ speed percentage, percentage:
VJ=<%>
1%-100%.
PL=<smoothness> PL smoothness: 0-9
Not available
Condition. When condition is
[blank]
1Joint move satisfied, the current line will be stopped,
UNTIL<condition>
(MOVJ) additions and the next will be executed. Detailed
can be found in addition description 1.
Not available
Added axis 1 and 2 is cooperated
simultaneously
[blank]
Added axis 1 cooperated
COORD
independently
COORD1
Added axis 2 cooperated
COORD2
independently
Detailed refer to “chap9 1
cooperation manual”
MOVJ VJ=30% PL=3
example
MOVJ VJ=30 GP#0 PL=3 UNTIL M#(0)==ON
Addition description 1: example of UNTIL:
Execution condition. Then condition is satisfied, current program line will be stopped, and next line
will be executed. Otherwise, execute current line before executing the next line. X, M, T, C can be used
as condition.
This function could be used in digging, scooping aluminum, and plate loading.

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position line program

P1 1 MOVJ VJ=30% PL=0

P2 2 MOVL VL=500MM/S PL=0

P3 3 MOVL VL=200MM/S PL=0 UNTIL X# (1) ==ON

4 JUMP *22 IF X# (1) ==ON

P4 5 MOVL VL=200MM/S PL=0

6 *22

P5 7 MOVJ VJ=30% PL=0

Notice:
After X1 is effective, system will jump out of the current 3# line, and execute the 7# line.
The effective time of X1 should be long, otherwise system will execute 5 lines.

Move to the teach position in a straight interpolation way. Each joint will
functions
move in straight interpolation way with the speed of VL*multiplier.
[blank] Position data, blank in this bar on the screen.
GP<variable> GP variable, variable #: 0-999 LP variable, variable#:
LP< variable> 0-999

VL=<straight move Straight move speed, unit MM/S, max parameter of

speed> straight move highest speed.
PL=<smoothness> PL smoothness: 0-9
[blank] Not available
2straight
UNTIL<condition> UNTIL: When condition is satisfied, stop executing the
move
DOUT<addition> current line and move to next line. Details can be
(MOVL) additions
AOUT<addition> found in addition description 1 of MOVJ.
DOUT: output signal in movement. Details can be
found in addition description 2 of MOVL.
AOUT: output analog index in movement. Details can
be found in addition description 3 of MOVL.
[blank] Not available
COORD Added axis 1 and 2 is cooperated simultaneously
COORD1 Added axis 1 cooperated independently
COORD2 Added axis 2 cooperated independently
Detailed refer to “chap9 1 cooperation manual”

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MOVL VL=500MM/S PL=0

MOVL VL=500MM/S GP#3 PL=5 UNTIL X# (0) ==ON
example
MOVL VL=500MM/S PL=0 DOUT Y# (0) ==ON START 10.0 END 10.0
MOVL VL=500MM/S PL=0 AOUT A1=2.0 A2=2.0
Addition description 2: DOUT example:
This addition is used to set a distance where the program should switch certain signal (M、Y)effective
or ineffective, and to set a distance where restore that signal.

Example: MOVL VL=500MM/S PL=0 DOUT Y#(0)==ON START 10.0 END 10.0 Description: After
executing this program, 10MM later, Y0 port change into open (ON). Robot keep moving to the point
10MM away from the end, and Y0 change to close (OFF). Then program come to the end.
This function can be used to open/close the gun in painting operation.
Addition description 3: AOUT example:
This addition is used to output the preset analog index in the movement or at the end point.

1)V I analog output:

VI analog index output can only be used among the welding instructions. If V1 is not among the
welding instructions, when this line is executed, system will alart and prompt: no welding info, AOUT is
not allowed to change the welding current and voltage during the movement.
V is correspondent to welding voltage, while I is correspondent to welding current. When this
instruction is executed from the beginning to the end, analog voltage will change linearly from welding
voltage to setting voltage.
Example:
Welding current 200A~analog index 4.95V, welding voltage 20V~ analog index 4.95V；Welding
current 400A~analog index 9.95V, welding voltage 40V~analog index 9.95V.
ARCSTART# (0)
MOVL VL=500MM/S PL=0 AOUT V=40.0 I=400.0A
ARCEND# (0)
Description:
When 1stline is executed, A1 and A2 will output the arc start voltage. When 1st line is finished, A1
and A2 analog index output is 4.95V (Welding current and voltage).When 2nd line is finished, A1 and A2
analog index output change linearly from4.95Vto 9.95V. When 3rd line is executed, voltage become arc
ending voltage.
This function can be used in the situation where welding current and voltage need changing.

A1 A2 analog output:
When this instruction is between the welding instructions, it’s ineffective, and system will output
according with the welding process settings.

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When this instruction isn’t between the welding instructions, system will output the A1 and A2 analog
indet at the end of this instruction line. This is called point output for short.
A3 A4 analog output:
No matter if this instruction is between the welding instructions or not, when system execute this
instruction, robot will operate from the beginning to end, A3 and A4 analog inex will change linearly from
starting point to the end point. This is called linear output for short.
Example:
MOVJ VJ=30% PL=0 ；Point A A3=0 A4=0
MOVL VL=500MM/S PL=0 AOUT A3=10.0 A4=10.0 ；Point B
Description: Robot moves from point A to point B, and A3 and A4 analog index change linearly from
0V to 10V.
Move to the teach position in the circle interpolation way. Each joint will
move in the circle interpolation with the speed of VL*automatic multiplier.
functions The whole circle consists of two circular arcs, using at least four circular arc

instructions. Details should refer to integrated example。

[blank] Position data, blank in the bar on the screen

GP<variable> GP variable, variable#: 0-999 LP variable,
LP<variable> variable#: 0-999

VL=<straight move Straight move speed, unit MM/S, max is

speed> parameters of highest straight move speed.
PL=<smoothness> PL smoothness: 0-9
Range: 1-3. One circular track must be realized by
three circular instructions. Three circular
instructions define the arc starting point, middle
<variable>POINT
3.Circle move point, and end point.1 POINT is the starting point
(MOVC) of arc, 2 POINT is the middle point of arc, 3 POINT
is the end point of arc.
Not available
additions
UNTIL: When condition is satisfied, system will
stop executing the current line and move to the
[blank] next line. Details can be found in the MOVJ
UNTIL<condition> addition description1.
DOUT<addition> DOUT: output signal during movement. Details can
AOUT<addition> be found in MOVL additions description 2.
AOUT: output analog index during movement.
Details can be found in MOVL additions description
3.
Not available
[blank]
Added axis 1 and 2 is cooperated simultaneously
COORD
Added axis 1 cooperated independently
COORD1
Added axis 2 cooperated independently
COORD2
Detailed refer to “chap9 1 cooperation manual”

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Not available
[blank]
Added axis 1 and 2 is cooperated simultaneously
COORD
example Added axis 1 cooperated independently
COORD1
Added axis 2 cooperated independently
COORD2
Detailed refer to “chap9 1 cooperation manual”
Integrated example of circular program without gesture:
Description
In order to move smoothly, please set the PL of every point (including starting point and every point
on the arc) as 9.
Whole circle consists of ABC arc and CDA arc. Terminal of robot is lacated at the starting point.
Program as follows:
MOVL VL=500MM/S PL=9 Move from starting point to point A, taking A as the first point on
the arc.
MOVC VL=500MM/S PL=9 POINT=2 Move from A to B, taking B as the second point on the arc.
MOVC VL=500MM/S PL=9 POINT=3 Move from B to C, takin C as the third point on the arc and as the
first point on the arc CDA.
MOVC VL=500MM/S PL=9 POINT=2 Move from C to D, taking D as the second point on the arc.
MOVC VL=500MM/S PL=9 POINT=3 Move from D to A, taking A as the third point on the arc.

Whole circle with gesture consists of three arcs.

6 points is needed (2 3 4 5 6 7) as follows:

MOVL VL=500MM/S PL=9 Move from starting point to point 2, taking 2 as the first point on the
arc.
MOVC VL=500MM/S PL=9 POINT=2 Move from point 2 to 3, taking 3 as the second point on the arc.
MOVC VL=500MM/S PL=9 POINT=3 Move from point 3 to 4, taking 4 as the third point on the arc and as
the first point on the next arc.

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MOVC VL=500MM/S PL=9 POINT=2 Move from 4 to 5, taking 5 as the second point on the arc.
MOVC VL=500MM/S PL=9 POINT=3 Move from 5 to 6, taking 6 as the third point on the arc and as the
first point on the next arc.
MOVC VL=500MM/S PL=9 POINT=2 Move from 6 to 7, taking 7 as the second point on the arc.
MOVC VL=500MM/S PL=9 POINT=3 Move from7 to 2, taking 2 as the third point on the arc. At this time,
whole circle with gesture is finished.

6.2 Logic Instructions

Control the status of variables. Only two types of index exists, i.e. “ON
Functions
(effective)” and “OFF (ineffective)”.

Control the output port Y

<variable>in ON or OFF status.
Range of variables numbers should
1 Digital refer to “hardware manual” or “PLC
quantity Y<variable>= ON
Additions manual”.
output M<variable>= OFF
Control the auxiliary relay
(DOUT) M<variables>in ON or OFF status.
Range of variables numbers should
refer to “PLC manual”.

DOUT Y#(0)=ON Control output port Y0 into ON status

example
DOUT M#(0)=OFF Control the auxiliary relay M0 into OFF status

functions Output the analog voltage of analog port.

Set the analog output port, range from A1-
2 Analog AO#<variable>=
A2 in S40 and A1-A4 in S80.
output additions
Variable is the output analog voltage,
(AOUT) <variable>
range0.000-10.000V
AOUT AO#(1)=0.000 output analog 0V voltage in A1 port.
example
AOUT AO#(2)=10.000 output analog 10V voltage in A2 port.
When condition is satisfied, program will execute the following code.
When condition is not satisfied, program will wait until condition is
functions
satisfied. However, there is a waiting time setting, when the condition is
not satisfied but waiting time reachs the set time, program will move on.
3 conditional
ON Judge if the input port X<variable> is ON or
wait (WAIT)
OFF OFF. Range of variable number should refer
X<variable>== to “hardware manual”.
additions
M<variable#>== Judge of the auxiliary relay M<variable#>is
ON or OFF. Range of variable number
should refer to “PLC manual”.

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Instruction waiting time, units 1MS. DT = 0 means

waiting the condition forever. DT ≠0 means whether
DT=<variable>
condition is satisfied or time is reached, program will
move on.
CT=<variable> Signal last time, units 1MS.CT=0 means once
condition is satisfied, program will move on. CT≠0 means condition need
to last for a set time, then condition is regard as satisfied and program
will move on.
WAIT X#(0)==ON T=0
Waiting X0 into On status forever.
example
WAIT M#(1)==OFF T=500 Waiting M1 relay into ON status in 500MS,
otherwise, program will move on.
functions Waiting for a setting time (relay time), then program can move on.
4 Delay
Set the waiting (relay) time, units1MS, range: 1-
(TIME) additions T=<variable>
9999999MS
example TIME T=50 waiting for 50MS
Pause without condition: pause until pressing “operation” button. Pause
functions with condition: when following condition is satisfied, pause, or operate
continuously.
Pause without
[blank]
condition
X<variable#>
M<variable#>
ON
Y<variable#> ==
OFF
T<variable#>
＞
C<variable#> Pause with
5 Pause
condition:
(PAUSE) GI<variable#> ＜
If condition
LI<variable#> GI<variable#>
additions is satisfied,
＞ LI<variable#>
IF GD<variable#> pause,
GD<variable#>
LD<variable#> = otherwise,
LD<variable#>
execue in
GP<variable#><data#> ＜ GP<variable#>
order.
LP<variable#>
=
LP<variable#><data#> TC<variable#>
=
CC<variable#>
TC<variable#> D<variable#>
CC<variable#>
GS<variable#> <character string>

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Pause without condition

PAUSE If X0=ON, pause. Otherwise,
example PAUSE IF X#(0)==ON continue.
PAUSE IF GD#(1)==LD#(1) If GD1=LD1, pause. Otherwise,
continue.

Jump with condition and without condition.

description: 1、When using this instruction, star symbol (*) should be

used to lable which line program need to jump to.

functions Jump without condition: once program is executed here, jump to the
labeled position.
Jump with condition: when this line is executed, if condition is satisfied,
program will jump to the labeled line. If condition is not satisfied, program
will executed in order.
Jump to symbol: jump to the position

*<variable> labeled with *<variable>；variable can

be any character or number.

[blank] jump without condition
6 condition X<variable#>
jump M< variable#>
(JUMP) ON
Y< variable#>
OFF
T< variable#> Jump with
== condition:
C< variable#>
If condition is
GI< variable#> ＞
addition satisfied, jump
LI< variable#> GI< variable#>
LI< variable#> to the position
GD< variable#> ＜
GD< variable#> labeled with
IF
LD< variable#> *<variable>.
＞= LD< variable#>
GP< variable#> If condition is
GP<variable#><data#>
not satisfied,
＜= LP< variable#>
TC< variable#> program will
LP< variable#><data#>
= CC< variable#> be executer in
TC< variable#> order.
D< variable#>
CC< variable#>
GS< variable#> <character
string>

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1 * 345T : label *345T position

……
6 JUMP *SES IF M#(1)==ON : if M1=ON, jump to *SES position
example ……
12 JUMP *345T : Jump to *345T position without condition
13 *SES : label *SES position
…… : Following lines

Call the sub program, including call with condition and call without
condition.

descriptions: 1、The difference of main program and sub program is that

sub program is ended with RET.

% is the subprogram users want to call. If no condition attached, program
functions
will call the sub program at this line. If condition is attached with call
instruction, program will judge if the condition is satisfied. If satisfied, then
call the subprogram.
When using call without condition, there are fixed internal subprograms
inside the robot to control the sliding table and spray gun (e.g. auto rotation
90, quick start, etc.).
%<program name> name of sub program users want to call
[blank] Call without condition. Call<program
name >sub program when this line is
executed.

7 call the sub X<variable#>

program M< variable#>

ON
(CALL) Y< variable#> Call with
OFF
T< variable#> condition:
==
C< variable#> If condition is
＞ satisfied, call
GI< variable#>
additions the <program
LI< variable#> GI<variable>
＜ name> sub
GD< variable#> LI <variable>
IF program.
GD<variable>
LD< variable#> If condition is
＞= LD<variable>
GP< not satisfied,
GP<variable>
variable#><data#> ＜= program will
LP<variable>
LP< variable#> be executed
= TC<variable>
<data#> in order.
CC<variable>
TC< variable#> D<variable>
CC< variable#>
GS< variable#> <character string>
CALL 125 call the subprogram with name of 125
example CALL %SBS IF LD#(1) > LD#(2) If LD1>LD2, call SBS sub program.

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Note for explain. When program comes to this line, notes will not be
function executed. Notes are used to help users to understand the program.
8 notes

( ； ) Users can write the notes to check and

addition ；<notes>
understand the program.

example ；tqzl : notes are tqzl, which will not be executed。

function Label the jump position. It should cooperate with jump instruction.
*<variable> Variable can be any character or
9 jump addition
number.
symbol
* ssb4 : label jump position: *ssb4
example
……

RET instruction means the current program is sub program. System will
10subprogra function
return to main program when RET instruction is executed.
m return
addition none
10 (RET)
……
example
RET : return from sub program to mian program

11output with When this instruction is executed, after a certain period of time, Y or M will
function
time switch to the specific condition defined in the instruction.
(TDOUT) addition none

【shortcut: 2 TDOUT Y#(0)=ON T=1000 : After1S, Y0 port will switch to

ON status.
example
1 1 E】

6.3 Calculation instructions

Add the former variable with later variable, and the result will be set to
function the former variable. E.g. :
A=A+B. This instruction can only be used with number variables.

GI<variable#>
1 Add GI< variable#>
LI< variable#>
(ADD) LI< variable#>
GD< variable#>
GD< variable#> Add the former
【shortcut: 3 LD< variable#>
LD< variable#> variable with later
GP< variable#>
addition GP< variable#><data#> variable, and the
1】 <data#>
LP< variable#><data#> result will be set to the
LP< variable#>
TC< variable#> former variable.
<data#>
CC< variable#>
TC< variable#>
D< variable>
CC< variable#>

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ADD TC#(4) GP#1(1) : TC4=TC4+GP1 x axis coordination

example
ADD CC#(1) 20.5 : CC1=CC1+20.5
Substrct latter variable from the former one and the result will be setto
function the former variable. E.g.:
A=A-B. This instruction can only be used with number variables.
GI< GI< variable#>
variable#> LI< variable#>
LI< GD< variable#>
variable#> LD< variable#>
GD< GP<
2 subtraction variable#> variable#><data#>
(SUB) LD< LP<
variable#> variable#><data#> Subtract latter variable from the
【shortcut: 3
addition GP< TC< variable#> former one and the result will be
variable#>< CC< variable#> set to the former variable.
2】
data#> D< variable>
LP<
variable#><
data#> TC<
variable#>
CC<
variable#>
SUB TC#(4) GP#1(1) : TC4=TC4-GP1 x axis coordination
example
SUB CC#(1) 20.5 : CC1=CC1- 20.5

Multiply the former variable with the latter one and the result will be set
to the former one. E.g.:
Function
A=A×B。This instruction can only be used with number variables.

GI< variable#>
LI< variable#>
GD< GI< variable#>
3 multiplication
variable#> LI< variable#>
(MUL)
LD< variable#> GD< variable#>
Multiply the former
【shortcut: 3 GP< LD< variable#>
variable with the latter
addition variable#><dat GP< variable#><data#>
one and the result will be
3】 a#> LP< variable#><data#>
set to the former one.
LP< TC< variable#>
variable#><dat CC< variable#>
a#> TC< D< variable>
variable#>
CC< variable#>
MUL TC#(4) GP#1(1) : TC4=TC4×GP1 x axis coordination
example
MUL CC#(1) 20.5 : CC1=CC1×20.5
4 division Divide the former variable with the latter one and the result will be set to
function
(DIV) the former one. E.g.:
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【shortcut: 3 A=A÷B。This instruction can only be used with number variables.

GI< variable#>
4】 GI< variable#>
LI< variable#>
LI< variable#>
GD< variable#>
GD< variable#>
LD< variable#>
LD< variable#>
GP<
GP<
variable#><data#> Divide the former variable with
variable#><data
additions LP< the latter one and the result will
#>
variable#><data#> be set to the former one.
LP<
TC< variable#>
variable#><data
CC< variable#>
#> TC<
D< variable>
variable#>
CC< variable#>

DIV TC#(4) GP#1(1) : TC4=TC4÷GP1 x axis

example
DIV CC#(1) 20.5 : CC1=CC1÷20.5

Add 1 to the variable, and the result will be set to the variable. E.g.: A=A+1.
functions This instruction can only be used with number variables, and usually it’s
used to count.
GI< variable#>
LI< variable#>
5
GD< variable#>
increasement
LD< variable#>
+1
GP<
(INC)
variable#><data#> Add 1 to the variable, and the result will be set to
additions
【shortcut: 3 LP< the variable.
variable#><data#>
5】 TC< variable#>
CC< variable#>

INC TC#(4) : TC4=TC4+1

example
INC CC#(1) : CC1=CC1+1

6 decrease Subtract 1 from the variable and the result will be set to the variable. E.g.:
-1 functions A=A-1. This instruction can only be used with number variables, and
(DEC) usually it’s used to count.

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GI< variable#>
【shortcut: 3
LI< variable#>
GD< variable#>
6】
LD< variable#>
GP<
variable#><data#> Subtract 1 from the variable and the result will be
additions
LP< set to the variable.
variable#><data#>
TC< variable#>
CC< variable#>

DEC TC#(4) : TC4=TC4-1

example
DEC CC#(1) : CC1=CC1-1

Set the former variable value as the latter one. E.g.: A=B. This instruction
functions
can only be used with number variables
GI< variable#>
LI< variable#>
GI< variable#>
GD< variable#>
LI< variable#>
LD< variable#>
GD< variable#>
GP<
7 set (SET) LD< variable#>
variable#><data#>
GP< variable#> Set the former variable
【shortcut: 3 additions LP< variable#>
<data#> value as the latter one.
<data#>
LP< variable#>
7】 TC< variable#>
<data#> TC<
CC<variable#>
variable#>
D<data>
CC< variable#>

SET TC#(4) GP#1(1) : TC4=GP1 X axis coordination

example SET CC#(1) TC#(1) : CC1=TC1
SET TC#(1) 5.000 : TC1=5

6.4 Pallet instruction

Operate pallet process. When this instruction is operated, program will

1 Pallet
call the preset palletizing process. Variable number is the process
(PALLET) Function
number, range 0-9.
【shortcut: 4 Detailed palletizing infos can be found in “palletizing process manual”.
#<variable> Variable is the palletizing process number users
addition
E】 want to call.
example PALLET#(1) : Call palletizing process 1#

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6.5 Welding instructions

When this instruction is executed, system will call the preset welding
parameters and start the arc. Variable number is the welding document
number, range 0-7.
function The ARC START and ARC END are used in pair.
Speed of program line will not be controlled by the auto multiplier. Only
MOVL and MOVC can be used between ARC START and ARC END.
Detailed welding infos can be found in “Welding process manual”.
#<variable#> Variable number is the welding parameter
document number that user wants to call.
Method to treat the welding speed.
Blank: Program between arc start and arc end is
1Start arc
executed in 100% speed, without control of
(ARC
multiplier;
START) Blank %
%: Set the percentage of speed between arc start
MM/S
【shortcut: 5 addition and arc end;
MM/S: Set the execution speed of program
1】 between arc start and arc end. In this way, speed
of program setting is not available any longer.
Set the welding current and voltage. Arc start and
arc end is still according to the preset process,
VI
while welding current and voltage become the V I
setting value.
ARCSTART#(1) Call welding parameter document 1#, start arc,
8 MM/S V=20V welding speed 8 MM/S, welding voltage is 20V,
I=200A welding current is 200A.
example
…… starting welding
ARCEND#(1) Arc end, and welding finish.

When this instruction is executed, system will call the preset welding
parameters and end the arc. Variable number is the welding document
function number, range 0-7.
2 end arc The ARC START and ARC END are used in pair.
(ARC END) Detailed welding infos can be found in “Welding process manual”.
#<Variable#> Variable number is the welding parameter
【shortcut: 5 addition
document number that user wants to call.
ARCSTART#(1) Call the welding parameters document 1, start
2】
50% arc, welding program is executed with the speed
example …… of 50% of speed set by program.
ARCEND#(1) Start welding
End the arc, welding finished.

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Weave When this instruction is executed, system will call the preset welding
(WEAVE) weave parameters and weave. Variable number is the welding weave
function document number, range 0-7.
【shortcut: 5
The WEAVE START and WEAVE END are used in pair.
Detailed welding infos can be found in “Welding process manual”.
3】
Variable number is the welding parameter
Weave end addition #<variable#> document number correspondent to the used
(WEAVEEND weave instructions.
) WEAVE#(1) Call the weave document 1#, weave, weave
【shortcut: 5 …… track,
example WEAVEEND#(1) Weave end
4】

Integrated welding example:

ARCSTART #(1) 10MM/s V=20V Call the 1# welding parameter document, speed 10MM/S,
I=200A welding voltage 20V, welding current 200A
WEAVESINE #(1) Call the 1# welding weave parameters
MOVL VL=100MM/S PL=0 Move along the welding track, speed is 10MM/S according to
the ARCSTART
WEAVEEND End weave
ARCEND #(1) End the arc according to 1# welding process, end.

6.6 Painting Instruction (Backup Function)

6.7 Pouring Instruction (Backup Function)

6.8 Auxiliary Function

This instruction is used to change the speed after this instruction by

multiply the additional percentage with the program line speed.
VJ<percentage> is effective to the VJ speed after this line.
1 Speed VL<percentage> is effective to the VL speed after this line.
change Function SPEED VJ=100or SPEED VL=100 can cancel the speed change
(SPEED) function.
This instructions mainly used to change the speed of certain part in the
【Shortcut:
program. In replay mode, the operation multiplier is effective to the
whole program.
8 E】
VJ=<percentage> Range: 1-100, effective to the VJ speed
VL=<percentage > afterwards;
Addition
Range: 1-100, effective to the VL speed
afterwards;

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SPEED VL=30 VL speed afterwards will multiply

MOVL VL=500MM/S 30%.VLspeed change to:
PL=0
500X30%=150MM/S。
SPEDE VL=100
Example
MOVL VL=500MM/S VL speed afterwards will multiply
PL=0 100%.VLspeed change to:
500X100%=500MM/ S. (Equal to no speed
change or cancel of speed change.)
IF condition judgement instruction. The whole instruction should consist
of four parts: IF, ELSEIF (can be omitted or be used repeatedly), ELSE,
ENDIF.
Firstly, judge if the condition is satisfied, if satisfied, the instruction after
Function the IF will be executed; If not satisfied, judge the condition after ELSEIF
(ELSEIF can be used according the situation or not used). If condition
after ELSEIF is satisfied, the instructions after ELSEIF will be executed.
If not satisfied, the instruction after ELSE will be executed. At the end
of the IF condition judgement, use ENDIF to lable the end.
X<Variable#> M< IF condition
Variable#> Y< Variable#> judgement
T< Variable#> C< ON instruction. If
Variable#> OFF condition is
satisfied, the
2 Condition instructions after
(IF→IF) GI< Variable#> the IF will be
LI< Variable#> == executed.
【shortcut: 8 GI< Variable#>
GD< Variable#> If IF condition is
＞ LI< Variable#>
2 LD< Variable#> not satisfied,
GD<Variable#>
GP< Variable#><data#> judge the ELSEIF
1】 ＜ LD<Variable#>
LP< Variable#><data#> condition. If
GP<Variable#>
TC< Variable#> ELSEIF condition
Addition ＞ LP<Variable#>
CC< Variable#> is satisfied, the
TC<Variable#>
= instructions after
CC<Variable#>
the ELSEIF will
＜ D<Variable#>
be executed.If IF
= condition and
GS< Variable#> = <Character ELSEIF
string> condition(s) are
not satisfied, the
instructions after
the ELSE will be
executed.
ENDIF to end the
IF judgement.

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Instruction structure label. In a complete

structure, number should be accordant,
otherwise, program will alart or jump out.
<number> The numbers used in one complete
instruction sturture can be identical with
the numbers used in another complete
instruction structure. Range: 0-8
IF X#(0)==ON 0 IF X0=ON, execute
INC TC#(0) TC0=TC0+1
ELSEIF X#(1) = =OFF 0 IF X0=OFF, execute
DEC TC#(0) TC0=TC0-1
Example ELSE 0 If above two conditions are not satisfied,
ADD TC#(0) TC#(0) execute TC0=TC0+TC0
END IF 0 End IF instruction

IF condition judgement instruction. The whole instruction should

consist of four parts: IF, ELSEIF (can be omitted or be used repeatedly),
ELSE, ENDIF.
Firstly, judge if the condition is satisfied, if satisfied, the instruction after
Function the IF will be executed; If not satisfied, judge the condition after ELSEIF
(ELSEIF can be used according the situation or not used). If condition
after ELSEIF is satisfied, the instructions after ELSEIF will be executed.
If not satisfied, the instruction after ELSE will be executed. At the end
of the IF condition judgement, use ENDIF to lable the end.
X<Variable#> M< IF condition
Variable#> Y< judgement
2 condition Variable#> T< ON instruction. If
(IF→ELSEI Variable#> C< OFF condition is
F) Variable#> == satisfied, the
instructions after the
【shortcut: ＞
GI< Variable#> IF will be executed.
LI< Variable#> If IF condition is not
8 2 2】 ＜ GI< Variable#>
GD< Variable#> satisfied, judge the
LI< Variable#>
LD< Variable#> ELSEIF condition. If
Addition ＞ GD<Variable#>
GP< ELSEIF condition is
LD<Variable#>
Variable#><data#> = satisfied, the
GP<Variable#>
LP< instructions after the
＜ LP<Variable#>
Variable#><data#> ELSEIF will be
TC<Variable#>
TC< Variable#> = executed. If IF
CC<Variable#>
CC< Variable#> = condition and
D<Variable#>
ELSEIF
condition(s)are not
GS< Variable#> <Character satisfied, the
string> instructions after the

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ELSE will be
executed.
ENDIF to end the IF
judgement.
Instruction structure label. In a complete
structure, number should be accordant,
otherwise, program will alart or jump out.
<number> The numbers used in one complete
instruction sturture can be identical with the
numbers used in another complete instruction
structure. Range: 0-8
IF X#(0)==ON 0 IFX0=ON, execute
INC TC#(0) TC0=TC0+1
ELSEIF X#(1)==ON 0 IF X1=ON, execute
ADD TC#(0) 2.000 TC0=TC0+2
ELSEIF X#(2)==ON 0 If X2=ON, execute
Example ADD TC#(0) 3.000 TC0=TC0+3
ELSE 0 Otherwise, execute
ADD TC#(0) TC#(0) TC0=TC0+TC0
ENDIF 0 0#IFinstruciton structure end

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IF condition judgement instruction. The whole instruction should consist

of four parts: IF, ELSEIF (can be omitted or be used repeatedly), ELSE,
ENDIF.
Firstly, judge if the condition is satisfied, if satisfied, the instruction after
Function the IF will be executed; If not satisfied, judge the condition after ELSEIF
(ELSEIF can be used according the situation or not used). If condition
after ELSEIF is satisfied, the instructions after ELSEIF will be executed.
If not satisfied, the instruction after ELSE will be executed. At the end
of the IF condition judgement, use ENDIF to lable the end.
2 condition
Instruction structure label. In a complete structure,
judge
number should be accordant, otherwise, program
will alart or jump out.
(IF→ELSE) Addition <number>
The numbers used in one complete instruction
【 shortcut: sturture can be identical with the numbers used in
another complete instruction structure. Range: 0-8
82
IF X#(1)==ON 0 If X1=ON,
3】 INC TC#(0) execute TC0=TC0+1.
ELSE 0 Otherwise,
ADD TC#(0) 3.000 execute TC0=TC0+3
END IF 0 0#IFinstruction structure end
Example IF X#(1)==OFF 0 If X1=OFF,
ADD TC#(0) 4.00 execute TC0=TC0+4
ELSE 0 otherwise,
ADD TC#(0) 5.00 execute TC0=TC0+5
END IF 0 0#IFinstruction structure end

IF condition judgement instruction. The whole instruction should consist

of four parts: IF, ELSEIF (can be omitted or be used repeatedly), ELSE,
ENDIF.
Firstly, judge if the condition is satisfied, if satisfied, the instruction after
2 Condition
Function the IF will be executed; If not satisfied, judge the condition after ELSEIF
(IF→ENDIF
(ELSEIF can be used according the situation or not used). If condition
)
after ELSEIF is satisfied, the instructions after ELSEIF will be executed.
【 shortcut: If not satisfied, the instruction after ELSE will be executed. At the end
of the IF condition judgement, use ENDIF to lable the end.
82
Instruction structure label. In a complete structure,
4】 number should be accordant, otherwise, program will
alart or jump out.
Addition <number>
The numbers used in one complete instruction sturture
can be identical with the numbers used in another
complete instruction structure. Range: 0-8

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IF <condition><number> IF condition
…… Program if IF condition is satisfied.
ELSEIF < condition ><number> ELSE IF condition
…… Program if ELSEIF condition is satisfied.
Example ELSE<number>
Program if the previous conditions are not satisfied.
……
END IF <number> ENDIF to end IF structure

Function Backup instruction

3 FOR
Addition
(backup)
Example
WHILE loop instruction. The complete structure should consist of
WHILE and ENDWHILE.
When WHILE condition is satisfied, i.e. WHILE condition is ON, the
Function program between WHILE and ENDWHILE will be executed until WHILE
condition is no longer satisfied. Then jump out of this loop.
WHILE condition must be set inside the loop part, otherwise, endless
loop may occur.
X<Variable#> M<
Variable#> Y<
Variable#> T< ON
WHILE loop condition
Variable#> C< OFF
instruction.
Variable#>
4 When WHILE
==
While condition is satisfied,
GI< Variable#>
(WHILE ＞ i.e. WHILE condition is
LI< Variable#>
→WHILE) GI< Variable#> ON, the program
GD< Variable#>
＜ LI< Variable#> between WHILE and
【 shortcut: LD< Variable#>
GD<Variable#> ENDWHILE will be
GP<
84 ＞= LD<Variable#> executed. If WHILE
Variable#><data#
GP<Variable#> condition is not
1】 Addition >
＜= LP<Variable#> satisfied, jump out of
LP<
TC<Variable#> the loop, and execute
Variable#><data# =
CC<Variable#> the program following
>
D<Variable#> ENDWHILE.
TC< Variable#>
CC< Variable#>
GS< Variable#> <Character
string>
Instruction structure label. In a complete
structure, number should be accordant,
<number> otherwise, program will alart or jump out.
The numbers used in one complete instruction
sturture can be identical with the numbers used in

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another complete instruction structure. Range: 0-

8

SET TC#(1) 0.000 SET TC1=0

WHILE TC#(1) < 20 0 IF TC1<20, Execute IF structure
IF X#(1)==ON 0 IF judge: if X1=ON, then
INC TC#(1) TC1=TC1+1
Example ELSE 0 Otherwise if X1≠ON, then
ADD TC#(1) 2.000 TC1=TC1+2
ENDIF 0 IF structureend
ENDWIHILE 0 If TC1≮20, execute TC1=15
SET TC#(1) 15.000
WHILE loop instruction. The complete structure should consist of
Function
WHILE and ENDWHILE.
Instruction structure label. In a complete
4 while
structure, number should be accordant,
(WHILE
otherwise, program will alart or jump out.
→ENDWHI
Addition <number> The numbers used in one complete
LE)
instruction sturture can be identical with
【 shortcut: the numbers used in another complete
instruction structure. Range: 0-8
84
WHILE <condition><number> Judge condition,
2】 ……
Satisfied: Execute ……part；
Example ENDWHILE <number>
Unsatisfied: Execute the program
behind ENDWHILE.
SWITCH condition selection instruction. The complete selection
structure consists of SWITCH,CASE (can be used
repeatedly),BREAK,DEFAULT, ENDSWITCH.
5 switch Claculate the variable value behind the SWITCH, judge the value is
(SWITC Function equal to which value behind CASE. After finding the matched CASE,
H program will be executed from that line until the ENDSWITCH. If no
→SWITCH) identical value can be found, program behind DEFAULT will be executed
until the ENDSWITCH.
【 shortcut:
Notice: The different positions of BREAK may result into different result.
85 X<Variable#> M<
Variable#> Y< Variable#>
1】
T< Variable#> C<
Addition Status variables, CASE= 0or 1
Variable#>

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GI< Variable#>
LI< Variable#>
GD< Variable#>
LD< Variable#>
GP< Variable#><data#>
LP< Variable#><data#> Number variables, CASE equal to specific
TC< Variable#> number
CC< Variable#>

GS< Variable#> Character string, CASE equal to specific

character.
Instruction structure label. In a complete
structure, number should be accordant,
otherwise, program will alart or jump out.
<number> The numbers used in one complete
instruction sturture can be identical with
the numbers used in another complete
instruction structure. Range: 0-8
example SWITCH TC#(2) 0 case10 if TC2=10
CASE 10 0 output 1V vaoltage in A1 port
AOUT AO#(1)=1.000 case10 break to end switch
BREAK 0 case20 if TC2=20
CASE 20 0 output 2V voltage in A1 port
AOUT AO#(1)=2.000 case20 break to end switch
BREAK 0 case30 if TC2=30
CASE 30 0 output 3V voltage in A1 port
AOUT AO#(1)=3.000 case30 break to end switch
BREAK 0 case40 if TC2=40
CASE 40 0 output 4V voltage in A1 port
AOUT AO#(1)=4.000 case40 break to end switch
BREAK 0 case50 if TC2=50
CASE 50 0 output 5V voltage in A1 port
AOUT AO#(1)=5.000 case50 break to end switch
BREAK 0 case60 if TC2=60
CASE 60 0 output 6V voltage in A1 port
AOUT AO#(1)=6.000 case60 break to end switch
BREAK 0 case70 if TC2=70
CASE 70 0 output 7V voltage in A1 port
AOUT AO#(1)=7.000 case70 break to end switch
BREAK 0 case80 if TC2=80
CASE 80 0 output 8V voltage in A1 port
AOUT AO#(1)=8.000 case80 break to end switch
BREAK 0 case90 if TC2=90

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CASE 90 0 output 9V voltage in A1 port

AOUT AO#(1)=9.000 case90 break to end switch
BREAK 0 if TC2 not equal to the above values,
DEFAULT 0 execute ouput 10V in A1 port.
AOUT AO#(1)=10.000 end 0# switch.
ENDSWITCH 0

SWITCH condition selection instruction. The complete selection

structure consists of SWITCH, CASE (can be used repeatedly),
BREAK, DEFAULT, ENDSWITCH.
Claculate the variable value behind the SWITCH, judge the value is
Function equal to which value behind CASE. After finding the matched CASE,
program will be executed from that line until the ENDSWITCH. If no
identical value can be found, program behind DEFAULT will be
executed until the ENDSWITCH.

5 condition <data> Possible values behind SWITCH.

selection
Instruction structure label. In a complete structure,
(SWITC
number should be accordant, otherwise, program
H→CAS
Addition will alart or jump out.
E ) <number>
The numbers used in one complete instruction
【 shortcut: sturture can be identical with the numbers used in
another complete instruction structure. Range: 0-8
85
SWITCH TC#(1) 0 SWITCHcalculate variable TC1
2】 CASE 1 0 TC1=1/2/3/4/5, execute output effective in
CASE 2 0 Y18 port (Y18=ON).
CASE 3 0 CASE1-5 to ENDSWITCH
CASE 4 0 TC1 not equal to the above value, execute
example CASE 5 0 output ineffective in Y18 port (Y18=OFF).
DOUT Y#(18)==ON SWITCHend.
BREAK 0
DEFAULT 0
DOUT Y#(18)==OFF
ENDSWITCH 0

5 switch SWITCH condition selection instruction. The complete selection

(SWITC structure consists of SWITCH, CASE (can be used repeatedly),
H BREAK, DEFAULT, ENDSWITCH.
→DEFAUL Claculate the variable value behind the SWITCH, judge the value is
Function
T) equal to which value behind CASE. After finding the matched CASE,
program will be executed from that line until the ENDSWITCH. If no
【 shortcut:
identical value can be found, program behind DEFAULT will be
85 executed until the ENDSWITCH.
Addition <number
4】 Number range: 0-8。
>

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SWITCH <variabel><number>
CASE <value><number>
……
Example BREAK <number>
DEFAULT <number>
……
ENDSWITCH <number>
SWITCH condition selection instruction. The complete selection
structure consists of SWITCH, CASE (can be used repeatedly),
Function BREAK, DEFAULT, ENDSWITCH.

5 switch BREAK jump out of the current line to ENDSWITCH.

(SWITC Notice: The different positions of BREAK may result into different result.

H→BRE Addition <number

AK) Number range: 0-8。
>

【 shortcut: SWITCH <variable><number>

CASE <value><number>
8 5 5】 ……
Example BREAK <number>
DEFAULT <number>
……
ENDSWITCH <number>
SWITCH condition selection instruction. The complete selection
structure consists of SWITCH, CASE (can be used repeatedly),
Funcitons
BREAK, DEFAULT, ENDSWITCH.
5 switch End symbol of SWITCHstructure.
(SWITC Additions <number>
H Number range: 0-8。
→ENDSWI
SWITCH <variable><number>
TCH)
CASE <value><number>
【 shortcut: ……
BREAK <number>
Example DEFAULT <number>
8 5 6】
……
ENDSWITCH <number>

6 Pulse This complete instruction structure consists of PULSETRANSFORM

transform andPULSETRANSRORMEND.
between Thisfunction will transfer the pluse from output axis to input axis, i.e.
axis originally system sends pulse to output axis to move; after the execution
Function
of this instruction, pulse will be sent to input aixs, and input axis will
(PULSETR move according to the input pluse, and output aixs will stop, and original
ANSFORM input pluse will become ineffective.
) This instructionis effective to joint coordination.

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Output axis is the axis which user

【 shortcut:
wants to transfer pluse from; input axis
Addition <output axis#><input axis#> is the axis which user wants to transfer
8 6】
pluse into. Axis number range:
1-8.
PULSETRANSFORM#(1)(2)
Example ……
PULSETRANSFORMEND

7End of This complete instruction structure consists of PULSETRANSFORM

pulse andPULSETRANSRORMEND PULSETRANSRORMEND will end the
Function
transform pluse transform. And each axis will operate according to the pulse
between received by itself.
axis Addition [none]
(PULSETA
PULSETRANSFORM#(1)(2)
RANSFOR
……
M
PULSETRANSFORMEND
END)
Example
【 shortcut:

8 7】

8 Treat the specific axis joint coordination: divide the coordinationby 360,
imput and the remainder will be set as the current coordination. In this way,
e when zero return, joint will not rotate the whole angle. E.g.: J1
Function
(IMPUTED coordnaiton is 860.245. After inputing, coordination is 140.245. In zero
) return operation, J1 should rotate 140.245 rather than 860.245.
This function is mainly used to the joints with incremental programmer.
【 shortcut:
Addition <axis#> Axis need imputing.range: 1-8
IMPUTED#(1) Impute J1
8 8】 Example
IMPUTED#(2) Impute J2

This zero return instruction is specifically used for incremental

9 zero programmer.
return Function When zero return instruction is executed, system will execute the
(ZERO) mechanicalzero reture movement according the set aixs number and

【 shortcut: the zero return parameters of this axis.

Addition <axis#> Axis need zero return.range: 1-8
8 9】 ZERO #(1) Zero return of axis 1
Example
ZERO #(2) Zero return of axis 2

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Motion finish is effective to theMOVJ, MOVL instructions before the

motion finish line.
Working process: The move instruction will move to the set position
1 0 Finish precisely. In motion finish process, system will compare the electrical
of motion Function machine feedback data with the setting data of program until two data
(MOTION is identical (i.e. when system pluse is about to finish, electric machine
FINISH) will also stop at the position, and position error is within the allowed
limit.), MOTIONFINISH will end. Otherwise, when time is longer than
【 shortcut:
the internal set time, system will prompt that motion finish time out.

8 1 E】 Addition [none]
MOVL VJ=10% PL=5 Effective to the previous MOVL
Example MITIONFINISH instruction to make sure the robot can
move to the accurateposition.

Change tool coordinationinstruction. When this instruction is executer,

program will change from the current coordination number to the
coordination set by CHANGUSE.
If change is from 0# coordination to other coordination or none-0#
coordination to 0# coordination, there’s no need to use this instruction.
Function
If change is from onenone-0# coordination to another none-0#
11Change coordination, this instruction is needed.
tool This operation may cause danger, please check the coordination
coordinatio number carefully and make sure there’s no danger if robot works in the
n coordination.
(CHANGE
Number of coordination need
USE) 【8 1 changing, range:
Addition <coordination#>
0-49。
1 E】
MOVJ VJ=10% PL=0 tool coordination 0#
MOVJ VJ=20% PL=0 USE=3 change to 3#
CHANGEUSE#(4) change to 4#
Example
MOVJ VJ=20% PL=0 USE=4 change to 4#
MOVJ VJ=20% PL=0 change to 0#

FROBIDAXISand FORBIDAXISEND should be used in pair.

12 axis
Forbid the set axis to move, and concel this forbid.
forbidden
Used in the situation where certain axis is not allowed to move. Later,
(FORBID
this forbid may need removing.
AXIS)
This instruction is effective to joint move, but ineffective to straight
Function
【 shortcut: move.
This instruction is effective in replay and remote mode, but ineffective
8 1 1 1 E】 in teach mode. Then switching to replay and remote mode, it’s becomes
effective again. Forbid of axis is ineffective after program is closed.
1 3axis
forbidden
The axis that need forbiddingmove or removing the
end Addition <axis#>
forbid. Range: 1-8~J1-J8axis.
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(FORBID FORBIDAXIS#(1) :forbid J1 move

AXIS END) ……
……
【 shortcut:
Example FORBIDAXISEND# (1) :remove the forbid status of J1
8↑

↑E】

14 When this instructionis executed, system will read the current axis
Function
Coordinait programmer data, and then calculate the current coordination.
on count 0: Coordination calculation time out or beyond the
(COUNT Addition parameters: 0or 1 error range, system will alert.
COORD) 1: Coordiantion calculation operating, no alerm.

【 shortcut: COUNTCOORD(0) Read all axis programmer data, calculate the

coordination, and alert if any error.
8↑ Example COUNTCOORD(1) Calculate coordination without alerm.
↑ E】

6.9 Vision Instruction

Vision run instruction: system will call the process number related
parameters, and establish the connection with the system.
If process document has start based on time or touch, after this
instruction, vision system will start continous start according the
1 vision run preset. Data will be stored in the system.
(RUN Function If connection process is during the program execution, connection
VISION) process will continue until program finish and quit. If there are many
vision-run instructions in one program, only the first one is effective,
【 shortcut: 1
i.e. when program is executed continuously, the first execution of
1 vision run instruction is effective and the rest instructions will not be
effective.
E 1】
Vision document number, range 0-9. One process
Addition <process#> document is correspondent to one set of vision
system.
RUNVISION# (0) Establish the connection of system and
Example
vision with the parameters in 0# process document.
2 Get vision Import vision cache data into the GP52 and GP52 (the values of
function
data GP52 and GP52 is same.).
(GET Vision document number, range 0-9. One process
VISON addition <process#> document is correspondent to one set of vision
DATA) system.

【 shortcut: 1 example GETVISONDATA #(0) Import data into GP52 and GP53.

1 E 2】

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3 Clear vision function Clear the vision data in current cache area.
data Vision document number, range 0-9. One process
(CLEAR addition <process#> document is correspondent to one set of vision
VISON system.
DATA) example CLEARVISONDATA#(0)
【 shortcut: 1 Clear the tool data acquired by 0# process camera in the cache.

1E

3】

When trigger instruction is chosen in certain process document, this

4 vision instruction can trigger the vision system, calculate the tool data, write
trigger the acquired data into vision cache, and write the number of data into
function
(TRIGGER GI50.
VISON) In order to get rid of delay, this instruction will directly trigger the vision
system via output port Y.
【 shortcut: 1
Vision document number, range 0-9. One
addition <process#> process document is correspondent to one set
1 E 4】
of vision system.
example TRIGGERVISON#(0) trigger the 0# process vision system
When this instruction is executed, system will change the tool
function calculation parameters document by the data connect wire to the
5 Camera
vision system.
program
The document userd want to switch into.
change
The system only supports number
(CHANGE addition <documentname>
name, so document in vision system
VISON)
need naming by number.
【 shortcut: 1 The calculation parameter document related to tool A is 111, while the
calculation parameter document related to tool B is 222. Currently,
1 E 5】 example vision system is executing the tool A document.
CHANGVISON# (222) Vision system will call the tool B
calculation parameters document (222).
Integrated vision example:
RUNVISON#(0) run 0# vision process
*22 jump symbol *22
TRIGGERVISON#(0)
Trigger for first time, acquir camera calculation data of tool (相机

计算工件数据).

TIME T= 200 delay 200ms

JUMP *22 IF GI#(50)<=0.000 Judge if GI50 has data. If no, jump to *22, trigger again.

GETVISONDATA#(0) Acquir data from vision cache, write them into GP52 and GP53.
ADD GP#53(3) 10.000 Move GP53 for 10MM in Z direction, in case of collision.

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MOVL VL=500MM/S GP#53 Move to GP53 safe point.

PL=0
MOVL VL=100MM/S GP#52
Move to GP52 grab point (抓取点).
PL=0
DOUT Y#(1)=ON Grabe
MOVL VL=500MM/S GP#53 Move to GP53 safe point.
PL=0
…… Following release track and move.

6.10 Track instructions

1Strat When this instruction is executed, system will call the track process
track(TARCK parameters, write the the current tool position of cache into the GP50
START) function and GP51 (the values of GP52 and GP52 is same). At this time, the
data in GP50 and GP51 is real-time changing. Then system will call
【 shortcut: 1
the GP50 and GP51 data to start tracking.
11 addition <process#> Tracking document number, range 0-
9.
E 1】
example TRACKSTART#(0) Prepare the GP50 and GP51 data
2 End Track end, robot will stop tracking tool. Data of GP50 and GP51 will
function
track(TARCK not be real-time any longer.
END) addition <process#> Tracking document number, range 0-
9.
【 shortcut: 1
example TRACKEND# (0) End of tool tracking.
11E

2】

Call the track document set parameters, judge the data in tracking
cache. If no data in tracking cache, wait. If tool hasn’t entered the AB
function
3Acquir track region, wait. If tool has gone beyond the B, abandon the data and
data(GET wait.
TRACK addition <process#> Tracking document number, range 0-
DATA) 9.

【shortcut: X<data> Compensation data for each axis. If

Y< data > no compensation is need, set the data
1 1 1 E 3】 Z< data > into 0.

GERRTACKDATA# (0) X# (0.0) Y# (0.0) Z# (0.0) Judge if the tracking

example
cache has effective data. No compensation for XYA axis.

4 clear track Clear the tracking cache data related with the set tool number. This
function
data instruction is ued in the cache cleanup situation.

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(CLEAR addition <process#> Tracking document number, range 0-

STACK 9.
DATA) example CLEARTRACKDATA#(0) Clear the 0# tracking docment-related data
in cache.
【 shortcut: 1

1 1 E 4】

5back stage When this instruction is executed, IO detection point will detect if there
IO detection function is object pass through the detection point. If object passing, write the
(RUN IO current data into cache for further call.
CUTIN) addition <process#> Tracking document number, range 0-
9.
【 shortcut: 1
example RUNIOCUTIN# (0) IO detection starts in backstage. Detection
11 point will detect continuously.
E 5】

Integrated tracking example:

MOVL VL=500.00MM\S PL=0 Move to the air above the middle point, waiting for grab.
Start backstage IO detection. If there is object passing, the current
RUNIOCUTIN #(1)
position data will be written into cache.
Judge the data in tracking cache. If no data in tracking cache, wait.
GETTRACKDATA#(1) X#(0.0)
If tool hasn’t entered the AB region, wait. If tool has gone beyond
Y#(0.0) Z#(0.0)
the B, abandon the data and wait.
Track start; write the current tool data of cache into GP50 and
TREACKSTART #(1)
GP51.
Move GP51 for 10mm in Z direction, set this point as safe point.
ADD GP#51(3) 10.000 The meaning of (3) can refer to the data single-axis operation of
GP variable.
MOVL VL=500MM/S GP#51 Move ot GP51 safe point.
PL=0
MOVL VL=100MM/S GP#50 Move to GP50 tracking point.
PL=0
DOUT Y#(0) =ON Output Y0 is effective; grab objective.
MOVL VL=500MM/S GP#51 Lift the objective, move to GP51 safe point.
PL=0
TRACKEND #(1) Track end.
…… Following operation.

6.11 Communication instructions

function Read the status of input port X, and write the data into set variable.

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1Read BCD addition GI<variable> Data storage variable.

data of IO port X<port> Read the intial position of X input port.
B<number> Read the number of X ports.
【 shortcut: ↑
example READIOBCD #(20) #(0) #(4)
↑ E 1】 Read the status data of X0-X3 (4 ports) into GI20 variable.

Communicate the data to the latter variable through serious port.

2read data to Communication port # and communication fuction should bet in
function
(READ DATA operation parameters.
TO) This function is mainly to read barcode, code, etc.

【shortcut: ↑ addition GI<variable#> Communicate data to GI variable.

GD< variable#> Communicate data to GD variable.
↑ E 2】 GS< variable#> Communicate data to GS variable

example READDATATO GI# (20) Read the port data into variable GI20.

6.12 Special Instructions

When this instruction is executed, system will return backwards to

the first line of the program line to line. Even if current execution is
function
within the subprogram, system will quit the subprogram and return to
the first line of main program after this instruction is executed.
addition [none]
example 1 …… Main program XX calls 123
1reset(RESET CALL 123 subprogram
) …… Lines after subprogram is end
--------- -------subprogram123
【shortcut: ↑ E
1 …… program reset
RESET subprogram return
1】
RET
In the above program, when the RESET line in the 4th line of
subprogram is executed, system will directly return to main program
XX untile the dirst line.
If there is no RESET instruction in subprogram 123, when RET
isexecuted, system will return to main program and execute the 9th
line in the main program.

2 Program Move the automatical line pointer when operation. E.g. line pointer
pointer jump stops at 18th line in automatic operation. Aftet the use of
function
(CHANG CHANGEPOINT# (-2), the program stop line will jump to 18-2=16th
EPOINT) line.
addition The lines of jump users want. Positive
【shortvut: ↑ E
<line number> value means jump backwards, and
negative value means jump forwards.
2】
example CHANGEPOINT#(-2)
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Stop line move 2 lines afterwords. E.g. line pointer stops at 18th line
in automatic operation. Aftet the use of CHANGEPOINT# (-2), the
program stop line will jump to 18-2=16th line.

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7 Teach program
Teach program is the process of creating a user program in teach mode, including selecting correct
coordination system, manually move the terminalof robot into the desired position; call the current
coordination data, operation track, and process instructions by certain operation (e.g. press button to
select the instructions, coordination data is invisible).
Movement instruction line includes move instruction, additional speed, smoothness, and joint data
of robot (joint data is invisible in the data program edit interface).
If variables are used, the shutdown data of robot is contained in the variables.
The following sections are the examples to describe the teach program steps. For more program
example, please refer to “process manual”.
This system supports the Chinese character display of program.
Correspondent parameters:
parameter parameter value description
type
0 Letters: program is shown with letters.
operation
program display 1 Characters: Program is shown with Chinese
parameters
characters.
Specific steps:
Firstly, <parameter settings>-<7 system parameters>-<1 operation authority selection>-<confirm>.
Input the integrator password in the prompt interface, click <confirm>, the authority will be changed to
integrator authority.
Then, < parameter settings >-<3 operation parameters>-<confirm>. Choose [program display] using
cursor in the prompt program list. Click <modify> in the sub menu. Input number 1 in the prompt input
window, click <confirm>, as shown in below figure.

At this time, teach program in the system will be displayed in Chinese character, as shown in below:

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7.1 Welding teach program

Scheme as follows:

related instructions:
MOVJ: joint move MOVL: Line move VJ: speed multiplier of joint move VL: Speed
multiplier of straight move
PL: smoothness USE: tool coordination ARCSTART: arc strat
ARCEND: arc end
Program list
program instructions descriptions

MOVJ VJ=50% PL=9 USE=1 In user coordination syetem USE=1, MOVJ joint move,
VJ=50 %( multiplier), PL=9(smoothness), move to program point
1, reach the prepare point.
MOVJ VJ=50% PL=9 USE=1 In user coordination syetem USE=1, MOVJ joint move,
VJ=50 %( multiplier), PL=9(smoothness), move to program point
2, appoarch to objective.
MOVJ VJ=25% PL=0 USE=1 In user coordination syetem USE=1, MOVJ joint move,
VJ=25 %( multiplier), PL=0(smoothness), move to program point
3, touch the objective.
ARCSTART#(0) arc start

MOVL VL=100.0MM/S PL=0 In user coordination syetem USE=1, MOVL joint move,
USE=1 VL=100MM/S, PL=0(smoothness), move to program point 4,
operate in welding track.
ARCEND#(0) arc end

MOVJ VJ=50% PL=9 USE=1 In user coordination syetem USE=1, MOVJ joint move,
VJ=50 %( multiplier), PL=9(smoothness), move to program point
5, depart from the objective.
MOVJ VJ=50% PL=9 USE=1 In user coordination syetem USE=1, MOVJ joint move,
VJ=50 %( multiplier), PL=9(smoothness), move to program point
1, return to prepare point.
Teach program steps
1. Switch to teach mode.

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2. Choose proper coordination system.
3. Enter the program list interface.

4. Click button.
5. Input the new program name (e.g. 555555) in the prompt interface. After the input, click <cinfirm>.
At this time, the new program will shown in the program list interface, as follows:
Description

If input the new program name, system will create a new program and highlight it by bule bar. If input
the already-exist program name, system will highlight the program.

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6. .Clikc submenu button, open program edit window:

7. Holding security switch, move the terminal of robot into program point 1 by coordination button on
the teach box. Click <Movement>-<MOVJ>。

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Prompt instruction edit window.

Input related parameters, presss . Instruction will show in program edit window.

Finish of instruction edit of program point 1.

8. Holding security switch, move the terminal of robot into program point 2 by coordination button in
the teach box. Click<Movement>-<MOVJ>。MOVJ instruction edit window will prompt as follows:

Input related parameters, press . Instruction will show in program edit window.

Finish of instruction edit of program point 2.

9. Repeat step 7 or 8, change VJ speed to 25%, PL=0. Input the instruction line of program point 3.

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10. Click<program instruction>-<5 welding>-<1 ARC START>-<confrim>, following window will

prompt.

Input related parameters, press ,Instruction will show in program edit window.

Input related parameters, press Instruction will show in program edit window.

11. Repeat the above steps, and input the every program points and instructions as follows:

The welding program is created by the above steps.

12 Click sub menu ,then , close program edit window.

7.2 Lifting program example

scheme as follows:

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MOVJ: joint move MOVL: joint move VJ: speed multiplier of joint move VL: Speed
multiplier of straight move
PL: smoothness USE: tool coordination DOUT: number index output
WAIT: conditional wait
7.2.1 program list

program instructions descriptions

MOVJ VJ=50% PL=9 USE=1 In user coordination syetem USE=1, MOVJ joint move,
VJ=50 %( multiplier), PL=9(smoothness), move to program point
1, reach the prepare point.
MOVJ VJ=50% PL=9 USE=1 Move to program point 2, approach to objective (before grab)

MOVL VL=100MM/S PL=0 USE=1 Move to program point 3, touch the objective (grab position)

DOUT Y#(0)=ON grab

WAIT X#(0)=ON T=O detect if grab is finished

MOVL VL=200MM/S PL=9 USE=1 Move to program point 4, leave objective (after grab)

MOVJ VJ=50% PL=9 USE=1 Move to program point 5, back to initial position

MOVJ VJ=50% PL=9 USE=1 Move to program point 6, approach put position

MOVJ VJ=50% PL=9 USE=1 Move to program point 7, reach auxiliary put point

MOVL VL=100MM/S PL=0 USE=1 Move to program point 8, reach put position

DOUT Y#(0)=OFF put

WAIT X#(0)=OFF T=O detect if put is finished

MOVL VL=200MM/S PL=9 USE=1 Move to program point 9, leave put position

MOVJ VJ=50% PL=9 USE=1 Move to program point 10, back to initial position

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7.2.2 Steps for teach program

1. Switch to teach mode.
2. Choose proper coordination system.
3. Enter the program list interface.

4 .Click the button.

5. Input the new program name (e.g. transport) in the prompt interface. After the input, click
<confirm>. At this time, the new program will show in the program list interface, as follows:
Description
If input the new program name, system will create a new program and highlight it by bule
bar. If input the already-exist program name, system will highlight the program.

6.Click sub menu button, open program edit window.

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7. Holding security switch, move the terminal of robot into program point 1 by coordination button on
the teach box. Click <Command>-<Movement>-< MOVJ>-

Prompt instruction edit window.

Description

Is the input window, data can be written into it.

Input related parameters, press . Instruction will show in program edit window.
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Finish of instruction edit of program point 1.

8. Holding security switch, move the terminal of robot into program point 2 by coordination button in
the teach box. Click <Command><1 MOVJ>。MOVJ instruction edit window will prompt as follows:

Input related parameters, presss . Instruction will show in program edit window.

Finish of instruction edit of program point 2.

9. Repeat step 7 or 8, change VJ speed is 100MM/S, PL=0. Input the instruction line of program
point 3.

10. Click<Command>-<2 Logic>-<1 DOUT>, following window will prompt.

Input related parameters, press Instruction will show in program edit window.

11. Click <Command>-<2 logic>-<3 WAIT> ,prompt follow window:

Input related parameters, press Instruction will show in program edit window.

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12. Repeat the above steps, and input the every program points and instructions as follows:

13. Click sub menu , then click close program edit window

The lifting program is created by the above steps.

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8 Program edit functions

Program edit functions mainly include: program list edit, mainly used to create, rename, backup,
delete, and etc. of program; Program interface edit, mainly used to copy, cut, delete, find, replace and
etc. of program line.

8.1 Edit in Program list

Create, rename, backup, delete, open U disk, oped or copy to U disk.

8.1.1: Create program

Click button, Create program window will prompt , type the

program name in the blank, click , Close input window. At this time, cursor will jump to the
new program just created, and highlight it. If input the already-exist program name, system will highlight
the program.
Program name can be any letters, number, Chinese character, and their combination.

If users want to cancel the input, press to quit.

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8.1.2 : Rename the already-exist program

Users should move the cursor at the program need renaming, then click , windows as

follows will prompt: , type the modified

name in the blank, and click , the input window will close. At this time, cursor will jump at the
renamed program in the program list.
Program name can be any letters, number, Chinese character, and their combination.
If the typed name is the same as one already-exist program , the info area will show:

If users want to cancel the input, press to quit.

8.1.3 : Copy the current program and paste into another program with another
name.

Users should move the cursor at the program need backup, then click , windows as

follows will prompt:

Type the new name in the blank, and click , the input window will close. At this time,
cursor will jump at the renamed program in the program list.
Program name can be any letters, number, Chinese character, and their combination.
If the typed name is the same as one already-exist program , the info area will show:

If users want to cancel the input, press to quit.

8.1.4 : Delete the current program

Users should move the cursor at the program need deleting, then click , windows as
follows will prompt:

, confirm delete.The program will diappear.

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If user wants to cancel press , button to quit

Description

Delete is inreversable, so be cautious with delete operation.

8.1.5 : Open the content list of U disk

This list only shows the user program that system can recognize; other types of document will not
show. If U disk is not inserted or not recognized, system will show: please check if U disk is inserted or
disinstalled. Users should insert U disk again.

8.1.5.1: :Copy the program to system.

This button is to copy the selected program (by cursor) to the system program list. Click ,
system will prompt:

Click , Copy the selected program to the system program list. If users want to cancel,

press button to quit.

8.1.5.2 Uninstall the current U disk:

Uninstall the current U disk, and quit the U disk content disk, return to system program list. Info bar
shows: U disk uninstall succeed.

8.1.5.3 EXIT :
Quit from U disk content, and return to system program list.

8.1.6 : Open the selected program and enter the program edit interface.

Description

1. Teach program and program edit should be operated in program edit interface.
2. Operation in play mode should also require program is open.
3. Operation in remote mode doesn’t need open the program manully. After the power-on of driver,
system will automatically open the program, whose name has been set in the remote process.

Users should move cursor at the program users want to open, and then click the button; system will
enter the program edit interface of selected program. The already-exist program line will show as follows:

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8.1.7 Copy the program to U disk

Insert the U disk system can recognize, then select the program (by cursor) that users want to copy.
Click the button, the following window will prompt:

click Copy the selected program and send it to U disk. If users want to cancel, press

button to quit. After copy, click to check if there is the program in the U disk
conten list. Check if the copy has completed.

8.2 Edit in program edit interface

copy-copy current line、copy –copy section、paste、cut-cut current line、cut –cut section、delete、

find、replace、turn into、modify as time sequence、reset.

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8.2.1 1copy->1 copy current line:

Copy cursor located lineto backstage
description

When copy the program line, teach point data will also be copyed. So please pay attention to the
execution position of the copyed program line.
Move the cursor to the line need copying, select <copy current line>; move cursor to the position of
paste, use <paste> to past the line before the cursur line. E.g., copy the line 4 ARCSTART# (0) to the line
before line 8. The specific operation is following:

1. Move cursor at the line 4, as above figure.

2. Choose<Edit>-<1 copy>-<1 copy current line>-<confirm>, info bar shows multiple program line
copy succeed.
3. Move the cursor at the line 8, as below figure.

4. Choose <Edit>-<2 paste>-<confirm>, info bar shows paste succeed. The pasted line will appear
at the position between line 7 and line 8, while cursor is at this line, as below figure:

8.2.2 1copy->2 copy section :

Copy the contains between starting line and end line to the backstage
description
When copy the program section, teach point data will also be copyed. So please pay
attention to the execution position of the copyed program line.
Copy the contents between starting line and end line to the backstage, and then move the cursor
the position of paste, use <paste> to past the section before the cursur line. E.g., copy the line 2 and line
3 to the line before line 8. The specific operation is following:

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1. Choose<Edit>-<1 copy>-<2 copy section>-<confirm>. The following window will prompt:

Input 2 in the starting line, and input 3 at the end line, click , and info bar shows multiple

program lines copy succeed. If users want to concel the copy operation, click button to quit.

2. Move cursor to line 8, as below figure:

3. Choose<Edit>-<2 paste>-<confirm>, info bar shows past secceed. And the copyed section (line
2 and line 3) will appear between the line 7 and line 8, while cursor is at the line 8, as below figure shows:

8.2.3 2paste : used to past after copy and cut

Paste the copyed or cut program into the line where cursor is located.

8.2.4 3cut->1 cut the current line :

Copy the line where cursor is and delete this line.
Move the cursor to the line need cutting, then click “cut current line”. The selected line will be copyed
to backstage and current line will be deleted. Move cursor to the desired position, click <paste>, and the
cut line will appear at the cursor postion. E.g. cut the line 4 ARCSTART# (0) to the position before line 8.
The specific steps are as follows:

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1. Move xursor to the line 4, as above figure.
2. Click<Edit>-<3 cut>-<1 cut current line>-<confirm>. System will show: current line has benn cut
successfully. At this time, line 4 ARCSTART# (0) is copyed to the backstage. And line 4 is deleted in
program edit interface, as below figure:

If users want to cancel the cut operation, press to quit before clicking . If

users want to restore the cut line, move cursor to the proper position and paste the cut line back.
3. Move the cursor to the line 8 (line 7 after cut).

Click<Edit>-<2 paste>-<confirm>. At this time, the cut line will appear at the position above line 8,
as below figure:

8.2.5 3cut->2 cut section:

Copy the contains between starting line and end line to the backstage, and delete them
Cut the content between starting line and end line to the backstage, and then delete them. Move the
cursor the position of paste, use <paste> to paste the section before the cursor line. E.g., copy the line
4, 5, and 6 to the line before line 8. The specific operation is following:

Choose<Edit>-<3 shear>-<2 cut block>. The following window will prompt:

Input 4 in

the starting line. Input 6 at the end line, click , and info bar shows multiple program lines cut
succeed. At this time, the content between line 4 and line 6 has been deleted:
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If users want to cancel the cut operation, click button to quit. If users want to restore
the cut lines, move cursor to the proper position and paste the cut lines back.
2. Move cursor to line 8.
3. Choose<Edit>-<2 paste>, info bar shows paste succeed. And the cut section (line 4, 5, 6) will
appear between the line 7 and line 8, while cursor is at the line 8, as below figure shows:

8.2.6 4 Delete:
Delete the line where cursor is located
Description

Delete of program line is inreversable, please be cautious with delete operation!

Move cursor at the line users want to delete. Click <Edit>-<4 delete>-<confirm>. Info bar will show:

If users want to cancel the delete operation, press cancel button to quit before pressing confirm.
Notice: After pressing confirm button, the deleted line cannot be restored.

8.2.7 5find:
To find specific content, cursor will locate at the found line.
Firstly, move the cursor at the first line, click <edit>-<5 Search>, and following window will prompt:

Then select the addition users want to search, and input the addition values, as shown in above.

Then click , system will search. The nearest line with the same addition value will be found,

and cursor will locate at the line. System prompt: find. If no addition value has been found, system will
prompt: no result.
If there are many addition value is the same with the search condition, every time user clicks

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button, system will search from the cursor position and find the nearest addition value. The

rest can be found in the same manner.

If users don’t want to continue, click to quit.

Additions users can search include: PL、VJ、VL、X、Y、M、GP、LP、GD、LD、GI、LI。

8.2.8 6Replace :
Replace the original content with the new content.
Firstly, move the cursor at the first line, click <Edit>-<6 replace> , and following window will prompt:

Then select the addition users want to replace, and input the original addition values 0 and replaced

value 9, as shown in above. Then click , system will search. The nearest line with the same
addition value will be found, original value will be replaced by new one and cursor will locate at the line.
System prompt: replace succeed. If no addition value has been found, system will prompt: no result.
If there are many addition value is the same with the search condition, every time user clicks

button, system will search from the cursor position and find the nearest addition value. The
rest can be found in the same manner, until every additions with the original value have been replaced.

If users don’t want to continue, click to quit.

Additions users can search include: PL、VJ、VL、X、Y、M、GP、LP、GD、LD、GI、LI。
8.2.9 7 Turn:
Locate the cursor at specific line.
E.g.: move cursor to line 6 using Turn function.

Click <Edit>-<7 Go to>, following window will prompt.

Type the number 6 into the blank. And click < > button. Then cursor will be located at
the line 6, as below figure.

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If users don’t want to move the cursor at the turn window, users can press < > button to
quit.
8.2.10 8Modify as timesequence :
Backup functions, under development, not available now
8.2.11 9 Program reset :
Reset to original condition
Click <Edit>-<9 turn>-<confirm>, system will prompt: Reset.
8.2.12 Modify instructions:
Modify the current program line.

Move curosor to the line users want to modify, click , windows prompt the current

program edit interface. After the modification, users can click to confirm modification, or click

to cancel the modification.

The specific steps are as follows:

Move cursor at the line 2, click , following window will prompt:

In this status, click submenu <move> or <logic>, or click main menu< Command > to select other
instructions to modify the current line. It’s also allowed to modify the addition without program modification.
Description
As for modification of the move instructions with move gesture, it’s necessary to hold the security
switch to record the position and gesture.
As for modification of the move instructions without move gesture, it’s unnecessary to hold the
security switch.
As for modification of the non-move instructions, it’s unnecessary to hold the security switch.
Modify the VJ speed to 30%, PL to 5, as following:

Click confirm modification. Then porgram is:

Click button to cancel modification.

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 CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.
Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

8.2.13 move: Call move instruction

In program edit interface, click this button, system will prompt the move instructions windows as
follows (can also be called by < Command >-<Movement>-<MOVJ>):

Click this button for many times, the instructions will change in the order of the list < Command >-
<Movement>, e.g.MOVJ-MOVL-MOVC-MOVJ……
8.2.14 logic: Call logic instructions
In program edit interface, click this button, system will prompt the logic instructions windows as
follows (can also be called by <Movement>-<1 logic>-<1 DOUT>-<confirm>):

Click this button for many times, the instructions will change in the order of the list < Command >-
<logic >-<confirm>, e.g. DOUT-AOUT-WAIT-TIME-PAUSE-JUMP……
8.2.15 Open process: Open process button
When program line uses CALL instruction, and program calls the process document, users can open
the process interface by pressing this button.
8.2.16 last instruction: Call last instruction
If other instructions have been used before, the last instruction window will be open after pressing
this button.
e.g. In program edit interface, MOVJ line is created as follows:

Click <previous instruction>, the MOVJ window used last time will appear:

This button is mainly for convenient call of the same instructions.

8.2.17 save: Save the program
After the program editing, click the save button to save the program. Then status bar will show
document saved.
8.2.18 close: Close the program edit interface.
Clicking this button can close the program edit window. However, if program hasn’t been saved, the
edited content may lost.

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 CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.
Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

9 Program test-run
Program test-run refer to: after the editing of program, users can allow robot to operate line by line
of the program by certain operation. This is useful to help user to compare the actual move and move
track and to judge is move or track is correct.

9.1 Preparation:

9.1.1 Related parameters

parameter Parameter value description

type
Operation 0 no move: Cursor stop at the line after test-run
parameters Cursor move in order in 1 move downwards: Cursor stop to the next line after
(integrator test-run test-run
authority)
Specific steps for parameters modificaiton:
Firstly, <parameter settings>-<7 system parameters>-<1 operation authority selection>-<confirm>.
Input the integrator password in the prompt interface, click <confirm>, the authority will be changed to
integrator authority.
Then, < parameter settings >-<3 operation parameters>-<confirm>. Choose [cursor move in test-
run] using cursor in the prompt program list. Click <modify> in the sub menu. Input number 0 or 1 in the
prompt input window, click <confirm> to finish the modification of parameter of cursor move in test-run.
9.1.2 Other preparation

1 Switch to robot movement allowance status .

2 Modify the speed into a proper speed by pressing or button or speed multiplier

. It’s suggested that speed multiplier is less than 50%. The modified speed multiplier can be found

in status display area .

9.2 Steps for program test-run:

1. Return to program list interface as follows:

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 CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY CO., LTD.
Add: No.40-42, Huatai Road, Changhua District Chengdu City, China 610052
Tel: +86(28)84203568
Web: www.crprobot.com

2. Move cursor to the line users want to run, as the 555555 in above figure. Then click submenu
<open> button to open this program. Users will enter the program edit interface, as follows:

3. Move cursor at the beginning of the line that users want to test-run, for example, at the beginning
of second line.

4. Holding security switch, then press button in character keyboard. System will control
the robot to execute the current line, such as robot movement, IO output, calculation, logic……
Notice

When cursor is located within the IF, WHILE, SWITCH structure, system will prompt error alert. So
before the test-run, move the cursor beyond the above instruction structure.
When MOVC is test-run of define the points, robot move track will be straight.

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