Download R-30iB Basic Operator Manual PDF

TitleR-30iB Basic Operator Manual
File Size12.6 MB
Total Pages848
Table of Contents
                            B-83284EN_04
SAFETY PRECAUTIONS
	SAFETY PRECAUTIONS
	1 WORKING PERSON
	2 DEFINITION OF WARNING, CAUTION AND NOTE
	3 WORKING PERSON SAFETY
		3.1 OPERATOR SAFETY
		3.2 SAFETY OF THE PROGRAMMER
		3.3 SAFETY OF THE MAINTENANCE ENGINEER
	4 SAFETY OF THE TOOLS AND PERIPHERAL DEVICES
		4.1 PRECAUTIONS IN PROGRAMMING
		4.2 PRECAUTIONS FOR MECHANISM
	5 SAFETY OF THE ROBOT MECHANISM
		5.1 PRECAUTIONS IN OPERATION
		5.2 PRECAUTIONS IN PROGRAMMING
		5.3 PRECAUTIONS FOR MECHANISMS
		5.4 PROCEDURE TO MOVE ARM WITHOUT DRIVE POWER IN EMERGENCY OR ABNORMAL SITUATIONS
	6 SAFETY OF THE END EFFECTOR
		6.1 PRECAUTIONS IN PROGRAMMING
	7 STOP TYPE OF ROBOT
TABLE OF CONTENTS
1 INTRODUCTION
	1.1 MANUAL PLAN
2 OVERVIEW
	2.1 APPLICATION TOOL SOFTWARE
		2.1.1 System Setting
		2.1.2 Jog Feed of the Robot
		2.1.3 Program
		2.1.4 Test Operation (Test Execution)
		2.1.5 Automatic Operation (Operation Execution)
	2.2 ROBOT
	2.3 CONTROLLER
		2.3.1 Teach Pendant
		2.3.2 Operator Panel
		2.3.3 Remote Controller
		2.3.4 CRT/KB
		2.3.5 Communication
		2.3.6 Input/Output
		2.3.7 Peripheral I/O
		2.3.8 Motion of the Robot
		2.3.9 Emergency Stop Devices
		2.3.10 Extended Axis
3 SETTING UP THE ROBOT SYSTEM
	3.1 I/O
		3.1.1 Digital I/O
		3.1.2 Group I/O
		3.1.3 Analog I/O
	3.2 ROBOT I/O
	3.3 PERIPHERAL I/O
	3.4 OPERATOR’S PANEL I/O
	3.5 I/O LINK SCREEN
		3.5.1 I/O Link List Screen
		3.5.2 Model B Unit List Screen
		3.5.3 Signal Count Setting Screen
	3.6 I/O CONNECTION FUNCTION
	3.7 SIMULATED INPUT SKIP FUNCTION
	3.8 SETTING AUTOMATIC OPERATION
		3.8.1 Robot Service Request (RSR)
		3.8.2 Program Number Selection (PNS)
		3.8.3 STYLE
		3.8.4 Prog Select Screen
		3.8.5 Cell Interface I/O
		3.8.6 Custom I/O
	3.9 SETTING COORDINATE SYSTEMS
		3.9.1 Setting a Tool Coordinate System
		3.9.2 Setting a User Coordinate System
		3.9.3 Setting a Jog Coordinate System
		3.9.4 Setting a Cell Coordinate System
		3.9.5 Setting a Cell Floor
	3.10 SETTING A REFERENCE POSITION
	3.11 JOINT OPERATING AREA
	3.12 USER ALARM
	3.13 VARIABLE AXIS AREAS
	3.14 INTERFERENCE PREVENTION AREA FUNCTION
	3.15 SYSTEM CONFIG MENU
	3.16 SETTING THE GENERAL ITEMS
	3.17 PAYLOAD SETTING
	3.18 OTHER SETTINGS
4 PROGRAM STRUCTURE
	4.1 PROGRAM DETAIL INFORMATION
		4.1.1 Program Name
		4.1.2 Program Comment
		4.1.3 Subtype
		4.1.4 Group Mask
		4.1.5 Write Protection
		4.1.6 Interruption Disable
		4.1.7 Stack Size
	4.2 LINE NUMBER, PROGRAM END SYMBOL, AND ARGUMENT
	4.3 MOTION INSTRUCTIONS
		4.3.1 Motion Format
		4.3.2 Position Data
		4.3.3 Feed Rate
		4.3.4 Positioning Path
		4.3.5 Additional Motion Instructions
	4.4 PALLETIZING INSTRUCTIONS
		4.4.1 Palletizing Instruction
		4.4.2 Palletizing Motion Instruction
		4.4.3 Palletizing End Instruction
	4.5 REGISTER INSTRUCTIONS
		4.5.1 Register Instructions
		4.5.2 Position Register Instructions
		4.5.3 Position Register Axis Instructions
		4.5.4 Arithmetic Palletizing Register Instructions
		4.5.5 String Register, String Instructions
	4.6 I/O INSTRUCTIONS
		4.6.1 Digital I/O Instructions
		4.6.2 Robot I/O Instructions
		4.6.3 Analog I/O Instructions
		4.6.4 Group I/O Instruction
	4.7 BRANCH INSTRUCTIONS
		4.7.1 Label Instruction
		4.7.2 Program End Instruction
		4.7.3 Unconditional Branch Instructions
		4.7.4 Conditional Branch Instructions
		4.7.5 Arguments
	4.8 WAIT INSTRUCTIONS
		4.8.1 Time-specified Wait Instruction
		4.8.2 Conditional Wait Instructions
		4.8.3 The Output When Wait on Input
	4.9 SKIP CONDITION INSTRUCTION
	4.10 PAYLOAD INSTRUCTION
	4.11 OFFSET CONDITION INSTRUCTION
	4.12 TOOL OFFSET CONDITION INSTRUCTIONS
	4.13 FRAME INSTRUCTIONS
	4.14 PROGRAM CONTROL INSTRUCTIONS
		4.14.1 Pause Instruction
		4.14.2 Abort Instruction
	4.15 OTHER INSTRUCTIONS
		4.15.1 RSR Instruction
		4.15.2 User Alarm Instruction
		4.15.3 Timer Instruction
		4.15.4 Override Instruction
		4.15.5 Comment Instruction
		4.15.6 Multi-language Comment Instruction
		4.15.7 Message Instruction
		4.15.8 Parameter Instruction
		4.15.9 Maximum Speed Instructions
	4.16 MULTIAXIS CONTROL INSTRUCTIONS
		4.16.1 Program Execution Instruction
	4.17 OPERATION GROUP INSTRUCTIONS
		4.17.1 Asynchronous Operation Group Instruction
		4.17.2 Synchronous Operation Group Instruction
	4.18 FOR/ENDFOR INSTRUCTION
		4.18.1 FOR Statement
		4.18.2 ENDFOR Statement
		4.18.3 FOR/ENDFOR Statement Combination
		4.18.4 Backward Execution of FOR/ENDFOR Statement
		4.18.5 Examples of FOR/ENDFOR Statement Execution
		4.18.6 Alarms of FOR/ENDFOR Statement
	4.19 MIXED LOGIC INSTRUCTION
	4.20 DIAGNOSIS INSTRUCTION
5 PROGRAMMING
	5.1 TIPS ON EFFECTIVE PROGRAMMING
		5.1.1 Motion Instructions
		5.1.2 Predefined Position
	5.2 TURNING ON THE POWER AND JOG FEED
		5.2.1 Turning On the Power and Turning Off the Power
		5.2.2 Three-Mode Switch
		5.2.3 Moving the Robot by Jog Feed
	5.3 CREATING A PROGRAM
		5.3.1 Registering a Program
		5.3.2 Changing a Standard Motion Instruction
		5.3.3 Teaching a Motion Instruction
		5.3.4 Teaching an Additional Motion Instruction
		5.3.5 Teaching a Control Instruction
		5.3.6 TP Start Prohibition
	5.4 CHANGING A PROGRAM
		5.4.1 Selecting a Program
		5.4.2 Changing a Motion Instruction
		5.4.3 Changing a Control Instruction
		5.4.4 Program Edit Instructions
	5.5 PROGRAM OPERATION
		5.5.1 Changing Program Information
	5.6 BACKGROUND EDITING
	5.7 SINGULAR POINT CHECK FUNCTION
	5.8 OTHER EDITING FUNCTION
		5.8.1 Auto Position Renumbering
		5.8.2 Fixed Program Name
		5.8.3 Filtered Program List
			5.8.3.1 Method to use the original program name specified in the system configuration menu as the head of the string
			5.8.3.2 Method to register 6 or more strings as the head of string
6 EXECUTING A PROGRAM
	6.1 PROGRAM HALT AND RECOVERY
		6.1.1 Halt by an Emergency Stop and Recovery
		6.1.2 Halt by a Hold and Recovery
		6.1.3 Halt Caused by an Alarm
	6.2 EXECUTING A PROGRAM
		6.2.1 Starting a Program
		6.2.2 Robot Motion
		6.2.3 Resuming a Program
	6.3 TESTING
		6.3.1 Specifying Test Execution
		6.3.2 Step Test
		6.3.3 Continuous Test
		6.3.4 Program Look/Monitor
	6.4 MANUAL I/O CONTROL
		6.4.1 Forced Output
		6.4.2 Simulated I/O
		6.4.3 Wait Release
	6.5 OPERATING THE HAND MANUALLY
	6.6 AUTOMATIC OPERATION
		6.6.1 Automatic Operation by Robot Start Request (RSR)
		6.6.2 Automatic Operation with Program Number Selection (PNS)
		6.6.3 External Override Selection Function
	6.7 ONLINE POSITION MODIFICATION
7 STATUS DISPLAY
	7.1 LEDS ON THE TEACH PENDANT
	7.2 USER SCREEN
	7.3 REGISTERS
	7.4 POSITION REGISTERS
	7.5 PALLETIZING REGISTERS
	7.6 STRING REGISTERS
	7.7 4D GRAPHICS
		7.7.1 4D GRAPHICS Display
			7.7.1.1 Graphic models
			7.7.1.2 Operation procedure
		7.7.2 Current Position
	7.8 SYSTEM VARIABLES
	7.9 PROGRAM TIMER
	7.10 SYSTEM TIMER
	7.11 EXECUTION HISTORY
	7.12 MEMORY USE STATUS DISPLAY
	7.13 STOP SIGNAL
	7.14 PROGRAM STATUS
	7.15 POWER CONSUMPTION MONITOR
8 FILE INPUT/OUTPUT
	8.1 FILE INPUT/OUTPUT UNITS
		8.1.1 Memory Card (only on R-30iB)
		8.1.2 USB Memory
	8.2 SETTING A COMMUNICATION PORT
	8.3 FILES
		8.3.1 Program File
		8.3.2 Default Logic File
		8.3.3 System File/Application File
		8.3.4 Data File
		8.3.5 ASCII File
	8.4 SAVING FILES
		8.4.1 Saving with Program Selection Screen
		8.4.2 Saving all the Program Files Using the File Screen
		8.4.3 Saving with a Function Menu
		8.4.4 File Manipulation
		8.4.5 ASCII save
	8.5 LOADING FILES
		8.5.1 Loading Using the Program Selection Screen
		8.5.2 Loading a Specified Program File Using the File Screen
	8.6 PRINTING FILES
	8.7 SUBDIRECTORIES
	8.8 AUTOMATIC BACKUP
		8.8.1 Overview of Automatic Backup
		8.8.2 Usable Memory Cards
		8.8.3 Setting of Automatic Backup
		8.8.4 Perform Automatic Backup
		8.8.5 Version Management
		8.8.6 Restore the Backup
	8.9 IMAGE BACKUP FUNCTION
	8.10 ASCII PROGRAM LOADER FUNCTION
		8.10.1 Overview
		8.10.2 Loading an ASCII Teach Pendant Program from the Teach Pendant
		8.10.3 Viewing ASCII Program Loading Errors
		8.10.4 Example ASCII File
	8.11 FILE MEMORY
9 UTILITY
	9.1 MACRO INSTRUCTION
		9.1.1 Setting Macro Instructions
		9.1.2 Executing Macro Instructions
	9.2 SHIFT FUNCTIONS
		9.2.1 Program Shift Function
		9.2.2 Mirror Shift Function
		9.2.3 Angle Entry Shift Function
	9.3 COORDINATE SYSTEM CHANGE SHIFT FUNCTIONS
	9.4 POSITION REGISTER LOOK-AHEAD EXECUTION FUNCTION
	9.5 TIME BEFORE FUNCTION
	9.6 DISTANCE BEFORE FUNCTION
		9.6.1 Overview
		9.6.2 Specification
		9.6.3 Configuration
		9.6.4 Instruction
		9.6.5 Entering Distance before
		9.6.6 Caution and Limitations
	9.7 POINT LOGIC INSTRUCTION
	9.8 CONDITON MONITOR FUNCTION
	9.9 COLLISION DETECTION FOR AUXILIARY AXIS
		9.9.1 General
		9.9.2 Caution
		9.9.3 Initial Setting
		9.9.4 Tuning Procedure
	9.10 PASSWORD FUNCTION
		9.10.1 Overview of the Password Function
		9.10.2 Password Operations by the Install User
		9.10.3 Disabling the Password Function
		9.10.4 Password Operations by Program Users and Setup Users
		9.10.5 Password Configuration File
			9.10.5.1 Overview
		9.10.6 XML Syntax for Password Configuration Files
			9.10.6.1 Software parts ID, Screen ID
			9.10.6.2 Basic tag
			9.10.6.3 Comment tag
			9.10.6.4 Level name tag
			9.10.6.5 Local Labels tag
			9.10.6.6 Screen Access tag
			9.10.6.7 Features tag
			9.10.6.8 Default menu type tag
			9.10.6.9 Default screen tag
			9.10.6.10 FCTN/display menu access tag
			9.10.6.11 EDCMD access tag
		9.10.7 Password Log
		9.10.8 Screen Restrictions According to Password Level
		9.10.9 Password Auto Login Function
		9.10.10 USB Password Function
	9.11 BACKGROUND LOGIC
		9.11.1 Execution Modes and Scan Time
		9.11.2 Available Instructions for Background Logic
		9.11.3 Execution and Setting of Background Logic
		9.11.4 Other Instructions and Functions
		9.11.5 Backup for Background Logic
	9.12 ORIGINAL PATH RESUME
		9.12.1 Original Path Resume
		9.12.2 Resume Offset
	9.13 MULTITASKING FUNCTION
		9.13.1 Overview
		9.13.2 Functions
			9.13.2.1 Notes on program creation
			9.13.2.2 How to start programs in multitasking
			9.13.2.3 Behavior of main program and subprogram
			9.13.2.4 Notes on main program and subprogram
		9.13.3 Monitor
		9.13.4 Halt and Forced Termination
		9.13.5 Cycle Stop Signal (CSTOPI)
	9.14 ERROR SEVERITY TABLE
		9.14.1 Error Severity Table Overview
		9.14.2 Modifying Error Severity
	9.15 DIAGNOSTIC LOG
		9.15.1 Overview
		9.15.2 Operations
		9.15.3 Getting Out the Save Data
		9.15.4 Output to External Device
		9.15.5 Delete the Data Saved in FROM
		9.15.6 Limitation
	9.16 ROBOT TOOLS OF ROBOT HOMEPAGE
		9.16.1 Setup for ROBOT TOOLS
			9.16.1.1 Setup IP Address
			9.16.1.2 Setup HTTP AUTHENTICATION
		9.16.2 Usage of ROBOT TOOLS
	9.17 GROUP MASK EXCHANGE
	9.18 CIRCLE ARC MOTION INSTRUCTION
		9.18.1 Way of Teaching
		9.18.2 Normal Motion
		9.18.3 Direction of the Circular Motion
		9.18.4 Cases Circular Path Cannot be Planned
			9.18.4.1 Shortage of the circle arc motion instruction
			9.18.4.2 Teaching of same position
			9.18.4.3 The case the three points are in line
			9.18.4.4 The case circular arc bigger than 180 deg
		9.18.5 Resume After Pause
			9.18.5.1 Resume after JOG
		9.18.6 Resume After Pause and Modification of Programs
			9.18.6.1 Change of destination point
			9.18.6.2 Change of next destination point
			9.18.6.3 Deletion of next circle arc motion instruction and resume
			9.18.6.4 Current instruction becomes the first circle arc motion after modification
		9.18.7 Pause and Resume from Another Circle Arc Motion Instruction
		9.18.8 Start of Program from the Circle Arc Motion
		9.18.9 Single Step Execution
		9.18.10 Backward Execution
		9.18.11 Backward Execution after Abort
		9.18.12 Backward Resume from Different Line
		9.18.13 Logic Instructions between the Circle Arc Motion
		9.18.14 Available Motion Options
		9.18.15 Change of Position Data during Execution of the Circle Arc Motion Instruction
		9.18.16 Restrictions
	9.19 iRCALIBRATION VISION MASTER RECOVERY
		9.19.1 Overview of Vision Master Recovery
		9.19.2 Features and Limitations of Vision Master Recovery
		9.19.3 System Configuration for Executing Vision Master Recovery
	9.20 OVERVIEW OF KAREL
		9.20.1 What is KAREL?
		9.20.2 Feature
		9.20.3 Setup before Use of KAREL
		9.20.4 How to Load KAREL Program
		9.20.5 How to Run KAREL Program
			9.20.5.1 Running KAREL program using SELECT screen
			9.20.5.2 CALL KAREL program by TP program
			9.20.5.3 Register as MACRO program
			9.20.5.4 Message display by KAREL program
		9.20.6 KAREL Variable and KAREL Position Variable
10_ch10_palletizing_function
	10 PALLETIZING FUNCTION
		10.1 PALLETIZING FUNCTION
		10.2 PALLETIZING INSTRUCTIONS
		10.3 TEACHING THE PALLETIZING FUNCTION
			10.3.1 Selecting a Palletizing Instruction
			10.3.2 Inputting Initial Data
			10.3.3 Teaching a Stacking Pattern
			10.3.4 Setting Path Pattern Conditions
			10.3.5 Teaching a Path Pattern
			10.3.6 Notes on Teaching the Palletizing Function
		10.4 EXECUTING THE PALLETIZING FUNCTION
			10.4.1 Palletizing Register
			10.4.2 Controlling the Palletizing Function by a Palletizing Register
		10.5 MODIFYING THE PALLETIZING FUNCTION
		10.6 PALLETIZING FUNCTION WITH EXTENDED AXES
		10.7 PALLETIZING ALL-POINT TEACHING
11_ch11_TeachPendant
	11 APPLICATION FUNCTION OF TEACH PENDANT
		11.1 SCREEN DISPLAY FUNCTIONS
			11.1.1 Internet Browser Screen
			11.1.2 Status Sub-window
				11.1.2.1 Current position display
				11.1.2.2 Operator panel status display
				11.1.2.3 Stop signal status display
			11.1.3 Wide Screen Mode
			11.1.4 Screen Maximization
			11.1.5 Zoom
		11.2 OPERATION FUNCTIONS
			11.2.1 Cursor Positioning by Touch Panel
		11.3 PROGRAM EDIT FUNCTIONS
			11.3.1 ICON Editor
		11.4 CUSTOMIZATION FUNCTIONS
			11.4.1 Overview
			11.4.2 Background Color
			11.4.3 Setting up the HMI Screen
			11.4.4 Menu Favorites
			11.4.5 Top Menu Setup
			11.4.6 User Views
			11.4.7 Setting up iPendant Touch Panel
			11.4.8 History
		11.5 OPERATION PANEL
			11.5.1 Overview
			11.5.2 Basic Operation
			11.5.3 Panel Setup
				11.5.3.1 Operation panel setting screen
				11.5.3.2 Item select screen
				11.5.3.3 Item setting
				11.5.3.4 Panel enable condition setting
				11.5.3.5 Finish setting
				11.5.3.6 Save and restore setting value
				11.5.3.7 Register panel
			11.5.4 Restriction
APPENDIX
	A SCREEN/PROGRAM INSTRUCTIONS
		A.1 LIST OF MENUS
		A.2 LIST OF PROGRAM INSTRUCTIONS
		A.3 PROGRAM INSTRUCTIONS
			A.3.1 Motion Instructions
			A.3.2 Additional Motion Instructions
			A.3.3 Register and I/O Instructions
			A.3.4 String Register, String Instructions
			A.3.5 Mixed Logic Instructions
			A.3.6 FOR/ENDFOR Instructions
			A.3.7 Conditional Branch Instructions
			A.3.8 Wait Instruction
			A.3.9 Unconditional Branch Instructions
			A.3.10 Program Control Instructions
			A.3.11 Other Instructions
			A.3.12 Skip and Offset Condition Instruction
			A.3.13 Frame Setup Instruction
			A.3.14 Macro Instruction
			A.3.15 Multiaxis Control Instructions
			A.3.16 Position Register Look-ahead Execution Instruction
			A.3.17 Status Monitoring Instructions
			A.3.18 Motion Group Instructions
			A.3.19 Diagnose Instruction
			A.3.20 Palletizing Instructions (Software Option:J500)
	B SPECIAL OPERATION
		B.1 START MODE
			B.1.1 Start Up Methods
			B.1.2 Initial Start
			B.1.3 Controlled Start
			B.1.4 Cold Start
			B.1.5 Hot Start
		B.2 MASTERING
			B.2.1 Jig Mastering
			B.2.2 Mastering at the Zero-degree Positions
			B.2.3 Quick Mastering
			B.2.4 Single Axis Mastering
			B.2.5 Setting Mastering Data
		B.3 SOFTWARE VERSION
		B.4 ROBOT AXIS STATUS
		B.5 DIAGNOSIS SCREEN
			B.5.1 Outline
			B.5.2 About Reducer Diagnosis
			B.5.3 Procedure
			B.5.4 Each Item
		B.6 WORLD FRAME ORIGIN
		B.7 I/O MODULE SETTING
		B.8 FSSB LINE SETUP
			B.8.1 Definition of FSSB Line
			B.8.2 Setting 1 (FSSB line)
			B.8.3 Setting 2 (Number of total axes on FSSB line 1)
			B.8.4 Setting 3 (Hardware start axis)
			B.8.5 Setup Examples
				B.8.5.1 Example 1
				B.8.5.2 Example 2
				B.8.5.3 Example 3
		B.9 POSITIONER SETUP
		B.10 EXTENDED AXIS SETUP
		B.11 INDEPENDENT ADDITIONAL AXIS SETUP
	C SYSTEM VARIABLES
		C.1 FORMAT OF A SYSTEM VARIABLE TABLE
		C.2 SYSTEM VARIABLES
	D SAVING RESEARCH DATA
		D.1 DIAGNOSTIC LOG
		D.2 MAINTENANCE DATA
		D.3 All BACKUP
		D.4 IMAGE BACKUP
INDEX
REVISION RECORD
                        

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